+ python -m lidar_slam --no-model /working/ca7839dc-a585-45c2-803d-b45cec4266d4 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/ca7839dc-a585-45c2-803d-b45cec4266d4 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 0.022755096 Adjusted end_distance from 9.223372036854776e+18 to 736.542755096 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022755096 meters Centerline goodness : 0.219009 Centerline is valid? [0, False] SLAMing on 0.052755096 meters Centerline goodness : 0.233028 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999400e-01 -9.05792681e-04 -6.16363952e-04 2.41627720e-03] [ 9.05291904e-04 9.99999260e-01 -8.12264261e-04 1.97811669e-03] [ 6.17099239e-04 8.11705785e-04 9.99999480e-01 -1.00538146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.082755096 meters Centerline goodness : 0.220111 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 0.99999719 -0.00189271 -0.00142932 0.00548546] [ 0.00189046 0.99999698 -0.00156982 0.00353393] [ 0.00143229 0.00156711 0.99999775 -0.00223642] [ 0. 0. 0. 1. ]] SLAMing on 0.11275509600000001 meters Centerline goodness : 0.503822 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.00 [[ 0.99999526 -0.00287405 -0.00110812 0.03154096] [ 0.00286845 0.99998328 -0.0050212 0.00531478] [ 0.00112253 0.005018 0.99998678 -0.00425974] [ 0. 0. 0. 1. ]] SLAMing on 0.142755096 meters SLAMing on 0.17275509600000002 meters SLAMing on 0.20275509600000002 meters SLAMing on 0.23275509600000002 meters SLAMing on 0.262755096 meters SLAMing on 0.292755096 meters Centerline goodness : 0.338362 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.01 [[ 0.99994856 -0.00970289 -0.00295421 0.14149755] [ 0.0096566 0.99983635 -0.0152978 0.0112751 ] [ 0.00310216 0.01526848 0.99987862 -0.01005317] [ 0. 0. 0. 1. ]] SLAMing on 0.322755096 meters Centerline goodness : 0.387464 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.01 [[ 0.99996755 -0.00726766 -0.00347483 0.14426968] [ 0.00722873 0.99991239 -0.01108889 0.00906606] [ 0.00355512 0.01106341 0.99993248 -0.01040882] [ 0. 0. 0. 1. ]] SLAMing on 0.352755096 meters Centerline goodness : 0.414007 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.01 [[ 0.99998156 -0.00471712 -0.00382577 0.1465138 ] [ 0.00469109 0.999966 -0.00678229 0.00658242] [ 0.00385763 0.00676422 0.99996968 -0.01044703] [ 0. 0. 0. 1. ]] SLAMing on 0.382755096 meters Centerline goodness : 0.403096 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.01 [[ 0.99997726 -0.00441123 -0.00510155 0.15335922] [ 0.00438941 0.99998121 -0.00427934 0.00697379] [ 0.00512033 0.00425685 0.99997783 -0.01231201] [ 0. 0. 0. 1. ]] SLAMing on 0.412755096 meters Centerline goodness : 0.408365 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.01 [[ 9.99982885e-01 -2.02067027e-03 -5.49066313e-03 1.56288578e-01] [ 2.01895112e-03 9.99997911e-01 -3.18629633e-04 5.20306332e-03] [ 5.49129551e-03 3.07538799e-04 9.99984875e-01 -1.30262037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.442755096 meters Centerline goodness : 0.422996 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.01 [[ 0.99997336 -0.003692 -0.00629654 0.1610808 ] [ 0.00368425 0.99999244 -0.00124213 0.00964661] [ 0.00630108 0.0012189 0.99997941 -0.01438191] [ 0. 0. 0. 1. ]] SLAMing on 0.472755096 meters Centerline goodness : 0.420923 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.02 [[ 9.99964470e-01 -4.22759139e-03 -7.29289010e-03 1.67897818e-01] [ 4.22603137e-03 9.99991044e-01 -2.29305736e-04 1.32234724e-02] [ 7.29379419e-03 1.98477606e-04 9.99973380e-01 -1.69011760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.502755096 meters Centerline goodness : 0.860228 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.02 [[ 9.99956563e-01 -5.19386275e-03 -7.73930595e-03 1.70688969e-01] [ 5.18761329e-03 9.99986202e-01 -8.27352541e-04 1.54099779e-02] [ 7.74349632e-03 7.87168077e-04 9.99969709e-01 -1.78590021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.532755096 meters Centerline goodness : 0.854764 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.02 [[ 0.99994572 -0.00621406 -0.00836323 0.17393943] [ 0.00620331 0.9999799 -0.00131026 0.01711336] [ 0.0083712 0.00125831 0.99996417 -0.01892319] [ 0. 0. 0. 1. ]] SLAMing on 0.5627550960000001 meters Centerline goodness : 0.848271 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.02 [[ 0.99993591 -0.00715509 -0.00877415 0.1768791 ] [ 0.00714006 0.99997299 -0.00174331 0.01840252] [ 0.00878639 0.00168056 0.99995999 -0.02016674] [ 0. 0. 0. 1. ]] SLAMing on 0.5927550960000001 meters Centerline goodness : 0.845415 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.02 [[ 0.99990304 -0.00975813 -0.00993407 0.18299986] [ 0.00973214 0.9999491 -0.00266086 0.02151629] [ 0.00995953 0.00256392 0.99994712 -0.02156185] [ 0. 0. 0. 1. ]] SLAMing on 0.6227550960000001 meters Centerline goodness : 0.850075 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.02 [[ 0.9998819 -0.01114796 -0.01057855 0.18662836] [ 0.01111677 0.9999337 -0.00300295 0.02273892] [ 0.01061132 0.002885 0.99993954 -0.0224428 ] [ 0. 0. 0. 1. ]] SLAMing on 0.652755096 meters Centerline goodness : 0.110993 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.02 [[ 0.99985007 -0.01299004 -0.01144944 0.19112509] [ 0.01295127 0.99991016 -0.00345365 0.02382273] [ 0.01149327 0.00330484 0.99992849 -0.02352197] [ 0. 0. 0. 1. ]] SLAMing on 0.6827550960000001 meters Centerline goodness : 0.122362 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.02 [[ 0.99981351 -0.01486879 -0.01232354 0.19566754] [ 0.01482623 0.99988383 -0.0035382 0.02358265] [ 0.01237472 0.00335483 0.9999178 -0.02439008] [ 0. 0. 0. 1. ]] SLAMing on 0.7127550960000001 meters Centerline goodness : 0.123152 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.02 [[ 0.99953509 -0.02608853 -0.0157794 0.21412251] [ 0.02602309 0.99965193 -0.00433817 0.02442593] [ 0.01588708 0.00392553 0.99986609 -0.02390754] [ 0. 0. 0. 1. ]] SLAMing on 0.7427550960000001 meters Centerline goodness : 0.126814 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:-0.02 [[ 0.9994123 -0.02974534 -0.01703735 0.22061165] [ 0.0296682 0.99954846 -0.00476241 0.02412766] [ 0.01717131 0.00425414 0.99984351 -0.02495543] [ 0. 0. 0. 1. ]] SLAMing on 0.7727550960000001 meters Centerline goodness : 0.126079 Centerline is valid? [False, False] Translation: X:0.23, Y:0.02, Z:-0.02 [[ 0.99913541 -0.03659124 -0.01973631 0.23236306] [ 0.03651742 0.99932466 -0.00408767 0.02444109] [ 0.01987256 0.00336342 0.99979686 -0.02329862] [ 0. 0. 0. 1. ]] SLAMing on 0.8027550960000001 meters Centerline goodness : 0.144406 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:-0.02 [[ 0.99858568 -0.05010929 -0.01776783 0.26040429] [ 0.05015358 0.9987394 0.00205577 0.02256365] [ 0.01764242 -0.00294399 0.99984003 -0.02417195] [ 0. 0. 0. 1. ]] SLAMing on 0.8327550960000001 meters Centerline goodness : 0.147317 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:-0.02 [[ 0.99835207 -0.05396491 -0.01951733 0.26833941] [ 0.05401014 0.99853877 0.00179752 0.02398693] [ 0.01939181 -0.00284869 0.9998079 -0.02441268] [ 0. 0. 0. 1. ]] SLAMing on 0.8627550960000001 meters Centerline goodness : 0.149239 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.02 [[ 0.99770867 -0.0636145 -0.02303507 0.29001009] [ 0.06375267 0.99795158 0.00531362 0.02700823] [ 0.02264986 -0.00677 0.99972054 -0.0217948 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8927550960000001 meters Centerline goodness : 0.154390 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:-0.02 [[ 0.99782797 -0.06334869 -0.01806339 0.30967932] [ 0.06344591 0.99797344 0.00486062 0.0266779 ] [ 0.01771887 -0.00599611 0.99982503 -0.02192562] [ 0. 0. 0. 1. ]] SLAMing on 0.922755096 meters Centerline goodness : 0.159578 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.02 [[ 0.99756928 -0.0677603 -0.01625035 0.34210124] [ 0.06788172 0.99766854 0.00704006 0.02895435] [ 0.01573543 -0.00812605 0.99984317 -0.02033022] [ 0. 0. 0. 1. ]] SLAMing on 0.9527550960000001 meters Centerline goodness : 0.155953 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.02 [[ 0.99726055 -0.07166764 -0.01830718 0.35060534] [ 0.07179786 0.99739765 0.00655726 0.03391393] [ 0.0177896 -0.00785371 0.99981091 -0.01951387] [ 0. 0. 0. 1. ]] SLAMing on 0.9827550960000001 meters Centerline goodness : 0.160453 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.02 [[ 0.99745501 -0.07018735 -0.0125394 0.36841836] [ 0.07025862 0.99751454 0.00533625 0.03695446] [ 0.0121337 -0.00620367 0.99990714 -0.02042443] [ 0. 0. 0. 1. ]] SLAMing on 1.012755096 meters Centerline goodness : 0.168155 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:-0.02 [[ 0.99761492 -0.06866184 -0.00707202 0.38663056] [ 0.06868251 0.99763485 0.00272234 0.04192376] [ 0.00686838 -0.00320157 0.99997129 -0.02272576] [ 0. 0. 0. 1. ]] SLAMing on 1.042755096 meters Centerline goodness : 0.852498 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:-0.02 [[ 0.99767286 -0.06811538 -0.0030258 0.41397283] [ 0.06813342 0.99765617 0.00632412 0.04980869] [ 0.00258794 -0.00651556 0.99997542 -0.02110003] [ 0. 0. 0. 1. ]] SLAMing on 1.072755096 meters Centerline goodness : 0.852819 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:-0.02 [[ 0.99781483 -0.06603827 0.002126 0.43162627] [ 0.06603041 0.99781121 0.00357456 0.05574296] [-0.0023574 -0.00342637 0.99999135 -0.02301359] [ 0. 0. 0. 1. ]] SLAMing on 1.102755096 meters Centerline goodness : 0.855662 Centerline is valid? [False, False] Translation: X:0.46, Y:0.07, Z:-0.02 [[ 0.9978945 -0.06460183 0.00575867 0.45950574] [ 0.06455605 0.99788352 0.00780988 0.06508589] [-0.00625102 -0.00742168 0.99995292 -0.02156303] [ 0. 0. 0. 1. ]] SLAMing on 1.1327550960000001 meters Centerline goodness : 0.132424 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:-0.02 [[ 0.99808746 -0.06091855 0.0105046 0.47721394] [ 0.06084992 0.99812421 0.00673466 0.07164187] [-0.01089516 -0.00608258 0.99992215 -0.02317082] [ 0. 0. 0. 1. ]] SLAMing on 1.1627550960000002 meters Centerline goodness : 0.132424 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:-0.02 [[ 0.99808746 -0.06091855 0.0105046 0.47721394] [ 0.06084992 0.99812421 0.00673466 0.07164187] [-0.01089516 -0.00608258 0.99992215 -0.02317082] [ 0. 0. 0. 1. ]] SLAMing on 1.1927550960000002 meters SLAMing on 1.2227550960000002 meters Centerline goodness : 0.137051 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.02 [[ 0.99851926 -0.05346596 0.01003358 0.53059407] [ 0.05334809 0.9985078 0.01166854 0.09011398] [-0.01064248 -0.01111599 0.99988158 -0.02125675] [ 0. 0. 0. 1. ]] SLAMing on 1.2527550960000002 meters Centerline goodness : 0.305477 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:-0.02 [[ 0.99861407 -0.05065217 0.0142932 0.54857379] [ 0.05053874 0.99868853 0.00818849 0.09882801] [-0.01468922 -0.00745478 0.99986432 -0.02363048] [ 0. 0. 0. 1. ]] SLAMing on 1.282755096 meters Centerline goodness : 0.524648 Centerline is valid? [False, False] Translation: X:0.57, Y:0.11, Z:-0.03 [[ 0.99872069 -0.04717639 0.01820345 0.56709854] [ 0.04707259 0.99887291 0.00608934 0.10655552] [-0.0184702 -0.00522467 0.99981576 -0.02532691] [ 0. 0. 0. 1. ]] SLAMing on 1.312755096 meters Centerline goodness : 0.766664 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.03 [[ 0.99882418 -0.04474809 0.01865103 0.5997856 ] [ 0.04462717 0.99898023 0.00685001 0.12334447] [-0.01893853 -0.00600961 0.99980259 -0.02554122] [ 0. 0. 0. 1. ]] SLAMing on 1.342755096 meters Centerline goodness : 0.222595 Centerline is valid? [False, False] Translation: X:0.62, Y:0.13, Z:-0.03 [[ 0.9988942 -0.04107813 0.02286832 0.61816849] [ 0.04096813 0.99914662 0.00525827 0.13121181] [-0.02306481 -0.00431558 0.99972466 -0.02733479] [ 0. 0. 0. 1. ]] SLAMing on 1.3727550960000001 meters Centerline goodness : 0.751189 Centerline is valid? [False, False] Translation: X:0.66, Y:0.15, Z:-0.03 [[ 9.99096675e-01 -3.44417088e-02 2.48918129e-02 6.59029912e-01] [ 3.44067229e-02 9.99406233e-01 1.83257076e-03 1.46984014e-01] [-2.49401498e-02 -9.74469650e-04 9.99688471e-01 -2.89434906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4027550960000001 meters Centerline goodness : 0.788085 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.03 [[ 0.99918298 -0.03370603 0.02229985 0.66631738] [ 0.0336097 0.99942407 0.00468066 0.15314971] [-0.02244478 -0.00392734 0.99974037 -0.02768664] [ 0. 0. 0. 1. ]] SLAMing on 1.4327550960000002 meters Centerline goodness : 0.669571 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.03 [[ 9.99138422e-01 -3.20234662e-02 2.63990895e-02 6.84575975e-01] [ 3.20154773e-02 9.99487110e-01 7.25338741e-04 1.61871679e-01] [-2.64087776e-02 1.20465646e-04 9.99651220e-01 -2.96170320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4627550960000002 meters Centerline goodness : 0.757047 Centerline is valid? [False, False] Translation: X:0.70, Y:0.17, Z:-0.03 [[ 9.99130781e-01 -2.91442925e-02 2.98042293e-02 7.04013463e-01] [ 2.91819749e-02 9.99573771e-01 -8.30051674e-04 1.68312527e-01] [-2.97673346e-02 1.69907645e-03 9.99555411e-01 -3.10575713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4927550960000002 meters Centerline goodness : 0.757763 Centerline is valid? [False, False] Translation: X:0.73, Y:0.18, Z:-0.03 [[ 0.99932112 -0.02573853 0.0263597 0.7349156 ] [ 0.02578828 0.99966623 -0.00154931 0.17992328] [-0.02631102 0.00222803 0.99965132 -0.03084431] [ 0. 0. 0. 1. ]] SLAMing on 1.5227550960000003 meters Centerline goodness : 0.777447 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.03 [[ 9.99398991e-01 -2.67747941e-02 2.20174410e-02 7.46926834e-01] [ 2.67597048e-02 9.99641415e-01 9.79730770e-04 1.85267593e-01] [-2.20357780e-02 -3.89961721e-04 9.99757107e-01 -3.02800360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.552755096 meters Centerline goodness : 0.816187 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.03 [[ 0.99947297 -0.02498492 0.02072508 0.75172471] [ 0.02493927 0.99968595 0.0024579 0.18970963] [-0.02077998 -0.00193974 0.99978219 -0.03202341] [ 0. 0. 0. 1. ]] SLAMing on 1.582755096 meters Centerline goodness : 0.807107 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.03 [[ 0.999378 -0.02772649 0.02179129 0.78841406] [ 0.02767024 0.99961296 0.00287891 0.20106167] [-0.02186268 -0.00227415 0.9997584 -0.03474451] [ 0. 0. 0. 1. ]] SLAMing on 1.612755096 meters Centerline goodness : 0.669165 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.04 [[ 0.99942425 -0.02700447 0.02054111 0.79345122] [ 0.02693777 0.99963093 0.00351669 0.20476595] [-0.02062849 -0.00296133 0.99978282 -0.03668536] [ 0. 0. 0. 1. ]] SLAMing on 1.6427550960000001 meters Centerline goodness : 0.850485 Centerline is valid? [False, False] Translation: X:0.80, Y:0.21, Z:-0.04 [[ 0.99944599 -0.02719312 0.01918975 0.79857821] [ 0.0271479 0.99962801 0.00261319 0.2098398 ] [-0.01925367 -0.00209078 0.99981244 -0.03884302] [ 0. 0. 0. 1. ]] SLAMing on 1.6727550960000002 meters Centerline goodness : 0.784097 Centerline is valid? [False, False] Translation: X:0.83, Y:0.22, Z:-0.04 [[ 9.99473505e-01 -2.70688071e-02 1.78883520e-02 8.26291970e-01] [ 2.70784880e-02 9.99633266e-01 -2.99147605e-04 2.19466146e-01] [-1.78736941e-02 7.83379629e-04 9.99839946e-01 -3.91774938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7027550960000002 meters Centerline goodness : 0.698776 Centerline is valid? [False, False] Translation: X:0.83, Y:0.22, Z:-0.04 [[ 9.99504339e-01 -2.66445593e-02 1.67673137e-02 8.31188672e-01] [ 2.66470054e-02 9.99644902e-01 7.75554843e-05 2.22083328e-01] [-1.67634261e-02 3.69281655e-04 9.99859416e-01 -4.15536804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7327550960000002 meters Centerline goodness : 0.672099 Centerline is valid? [False, False] Translation: X:0.84, Y:0.22, Z:-0.04 [[ 0.99956066 -0.02515529 0.0156749 0.83520531] [ 0.0251285 0.99968242 0.00190415 0.2238438 ] [-0.01571783 -0.00150942 0.99987533 -0.04295998] [ 0. 0. 0. 1. ]] SLAMing on 1.7627550960000002 meters Centerline goodness : 0.867823 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.04 [[ 0.99945576 -0.03050257 0.01256106 0.85149859] [ 0.03042998 0.99951931 0.00593029 0.22922191] [-0.01273591 -0.00554482 0.99990352 -0.04179963] [ 0. 0. 0. 1. ]] SLAMing on 1.7927550960000003 meters Centerline goodness : 0.882758 Centerline is valid? [False, False] Translation: X:0.86, Y:0.23, Z:-0.04 [[ 0.99944801 -0.03144257 0.01072564 0.85660386] [ 0.03139848 0.99949789 0.004255 0.23263798] [-0.01085404 -0.00391588 0.99993343 -0.04342772] [ 0. 0. 0. 1. ]] SLAMing on 1.822755096 meters Centerline goodness : 0.931203 Centerline is valid? [False, False] Translation: X:0.87, Y:0.24, Z:-0.04 [[ 0.99930038 -0.03651719 0.00807772 0.87274649] [ 0.03645119 0.99930202 0.0081722 0.23774122] [-0.00837051 -0.00787204 0.99993398 -0.04356038] [ 0. 0. 0. 1. ]] SLAMing on 1.852755096 meters Centerline goodness : 0.903311 Centerline is valid? [False, False] Translation: X:0.88, Y:0.24, Z:-0.04 [[ 0.99928749 -0.0372304 0.00619704 0.87771351] [ 0.0371897 0.99928671 0.00655756 0.2413307 ] [-0.00643676 -0.00632243 0.9999593 -0.04499455] [ 0. 0. 0. 1. ]] SLAMing on 1.8827550960000001 meters Centerline goodness : 0.931956 Centerline is valid? [False, False] Translation: X:0.88, Y:0.24, Z:-0.05 [[ 0.99928464 -0.03756852 0.00433851 0.88262898] [ 0.03754484 0.99928027 0.00541489 0.24449251] [-0.00453881 -0.00524813 0.99997593 -0.0464735 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9127550960000002 meters Centerline goodness : 0.937618 Centerline is valid? [False, False] Translation: X:0.90, Y:0.25, Z:-0.04 [[ 0.99932572 -0.03624353 -0.00587438 0.90357031] [ 0.03626496 0.99933578 0.00358372 0.24961651] [ 0.0057406 -0.00379434 0.99997632 -0.04369942] [ 0. 0. 0. 1. ]] SLAMing on 1.9427550960000002 meters Centerline goodness : 0.933505 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.05 [[ 0.99933093 -0.03576572 -0.00764905 0.90869874] [ 0.03579238 0.99935354 0.00337638 0.25220757] [ 0.00752334 -0.0036479 0.99996505 -0.04552104] [ 0. 0. 0. 1. ]] SLAMing on 1.9727550960000002 meters Centerline goodness : 0.943236 Centerline is valid? [False, False] Translation: X:0.93, Y:0.26, Z:-0.05 [[ 9.99340744e-01 -3.59950470e-02 -4.73649378e-03 9.30335005e-01] [ 3.59937774e-02 9.99351952e-01 -3.53060602e-04 2.60019853e-01] [ 4.74613273e-03 1.82343542e-04 9.99988720e-01 -4.73979834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.002755096 meters Centerline goodness : 0.946485 Centerline is valid? [False, False] Translation: X:0.93, Y:0.26, Z:-0.05 [[ 9.99329171e-01 -3.60867990e-02 -6.24103580e-03 9.34001038e-01] [ 3.60811967e-02 9.99348353e-01 -1.00795668e-03 2.62112314e-01] [ 6.27334278e-03 7.82096477e-04 9.99980017e-01 -4.79651695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0327550960000003 meters Centerline goodness : 0.950597 Centerline is valid? [False, True] Translation: X:0.94, Y:0.26, Z:-0.05 [[ 0.9993193 -0.03611257 -0.00753814 0.93705695] [ 0.03610188 0.99934691 -0.00154989 0.26367441] [ 0.00758919 0.00127669 0.99997039 -0.04828958] [ 0. 0. 0. 1. ]] SLAMing on 2.062755096 meters Centerline goodness : 0.952738 Centerline is valid? [True, True] Translation: X:0.97, Y:0.28, Z:-0.05 [[ 0.99929091 -0.03399439 -0.01618819 0.97054673] [ 0.03348802 0.998971 -0.03058579 0.28222391] [ 0.01721128 0.03002199 0.99940105 -0.04645833] [ 0. 0. 0. 1. ]] SLAMing on 2.0927550960000003 meters Centerline goodness : 0.954615 Centerline is valid? [True, True] Translation: X:1.01, Y:0.27, Z:-0.04 [[ 0.99928623 -0.03229723 -0.01959372 1.00857291] [ 0.03187126 0.9992569 -0.02167629 0.2711522 ] [ 0.02027924 0.02103634 0.99957302 -0.03856521] [ 0. 0. 0. 1. ]] SLAMing on 2.122755096 meters Centerline goodness : 0.960042 Centerline is valid? [True, True] Translation: X:1.04, Y:0.28, Z:-0.06 [[ 0.99947928 -0.03017792 -0.01142162 1.04369494] [ 0.02973772 0.99887547 -0.03692517 0.28329724] [ 0.0125231 0.03656629 0.99925276 -0.05504387] [ 0. 0. 0. 1. ]] SLAMing on 2.1527550960000004 meters Centerline goodness : 0.959373 Centerline is valid? [True, True] Translation: X:1.07, Y:0.27, Z:-0.06 [[ 0.99960914 -0.02459243 -0.01329557 1.06937484] [ 0.02427703 0.99943174 -0.02338432 0.27246289] [ 0.01386309 0.02305241 0.99963814 -0.05573993] [ 0. 0. 0. 1. ]] SLAMing on 2.182755096 meters Centerline goodness : 0.960287 Centerline is valid? [True, True] Translation: X:1.11, Y:0.24, Z:-0.04 [[ 0.9993892 -0.02745712 -0.02161769 1.10557953] [ 0.02826597 0.99887616 0.03804526 0.23725184] [ 0.02054878 -0.03863307 0.99904216 -0.03630466] [ 0. 0. 0. 1. ]] SLAMing on 2.2127550960000004 meters Centerline goodness : 0.963230 Centerline is valid? [True, True] Translation: X:1.14, Y:0.28, Z:-0.06 [[ 0.99957086 -0.02537159 -0.01464161 1.14071869] [ 0.02474921 0.99884317 -0.04122868 0.28240685] [ 0.01567071 0.04084862 0.99904245 -0.057595 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2427550960000002 meters Centerline goodness : 0.966973 Centerline is valid? [True, True] Translation: X:1.17, Y:0.27, Z:-0.06 [[ 0.99968785 -0.02221528 -0.01143149 1.17301398] [ 0.02197536 0.99954416 -0.02070148 0.26927309] [ 0.01188617 0.0204438 0.99972035 -0.05853021] [ 0. 0. 0. 1. ]] SLAMing on 2.272755096 meters Centerline goodness : 0.965856 Centerline is valid? [True, True] Translation: X:1.21, Y:0.27, Z:-0.06 [[ 0.99964394 -0.02239988 -0.0144998 1.20640708] [ 0.02220491 0.99966268 -0.01347075 0.26596439] [ 0.01479665 0.01314398 0.99980413 -0.05857408] [ 0. 0. 0. 1. ]] SLAMing on 2.3027550960000003 meters Centerline goodness : 0.968432 Centerline is valid? [True, True] Translation: X:1.23, Y:0.26, Z:-0.06 [[ 9.99741746e-01 -1.86750076e-02 -1.29493152e-02 1.23317044e+00] [ 1.86656955e-02 9.99825428e-01 -8.39622356e-04 2.57125507e-01] [ 1.29627345e-02 5.97697547e-04 9.99915802e-01 -5.78641770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.332755096 meters Centerline goodness : 0.970465 Centerline is valid? [True, True] Translation: X:1.27, Y:0.26, Z:-0.06 [[ 0.99967998 -0.02037242 -0.01499659 1.26770651] [ 0.02027891 0.99977413 -0.00636097 0.25934268] [ 0.01512279 0.00605482 0.99986731 -0.05581685] [ 0. 0. 0. 1. ]] SLAMing on 2.3627550960000003 meters Centerline goodness : 0.973254 Centerline is valid? [True, True] Translation: X:1.31, Y:0.26, Z:-0.05 [[ 0.99954128 -0.02684523 -0.01401979 1.31179857] [ 0.02673357 0.99960984 -0.00809208 0.26156671] [ 0.01423155 0.00771357 0.99986897 -0.05407465] [ 0. 0. 0. 1. ]] SLAMing on 2.392755096 meters Centerline goodness : 0.975519 Centerline is valid? [True, True] Translation: X:1.34, Y:0.25, Z:-0.05 [[ 0.99945536 -0.02883417 -0.01604942 1.34156772] [ 0.02907817 0.99946182 0.01518324 0.24569665] [ 0.01560298 -0.01564166 0.99975591 -0.04885175] [ 0. 0. 0. 1. ]] SLAMing on 2.4227550960000004 meters Centerline goodness : 0.978446 Centerline is valid? [True, True] Translation: X:1.38, Y:0.24, Z:-0.04 [[ 0.99912498 -0.0378409 -0.0178139 1.37668939] [ 0.03826713 0.99897382 0.02422691 0.24118497] [ 0.01687885 -0.0248874 0.99954776 -0.03930052] [ 0. 0. 0. 1. ]] SLAMing on 2.452755096 meters Centerline goodness : 0.978755 Centerline is valid? [True, True] Translation: X:1.40, Y:0.25, Z:-0.04 [[ 9.99302828e-01 -3.22665977e-02 -1.87809819e-02 1.40417116e+00] [ 3.22744858e-02 9.99479036e-01 1.16977266e-04 2.51727365e-01] [ 1.87674232e-02 -7.23042245e-04 9.99823615e-01 -4.06419012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4827550960000004 meters Centerline goodness : 0.979541 Centerline is valid? [True, True] Translation: X:1.43, Y:0.27, Z:-0.04 [[ 0.99920309 -0.03311268 -0.02228767 1.42716848] [ 0.0323047 0.99884082 -0.03568511 0.27145361] [ 0.02344346 0.03493667 0.99911452 -0.04259556] [ 0. 0. 0. 1. ]] SLAMing on 2.5127550960000002 meters Centerline goodness : 0.981345 Centerline is valid? [True, True] Translation: X:1.47, Y:0.25, Z:-0.04 [[ 0.99927499 -0.03275114 -0.01941303 1.46706067] [ 0.03279907 0.99945964 0.00215568 0.24739877] [ 0.01933194 -0.00279084 0.99980923 -0.04234876] [ 0. 0. 0. 1. ]] SLAMing on 2.542755096 meters Centerline goodness : 0.981799 Centerline is valid? [True, True] Translation: X:1.50, Y:0.25, Z:-0.04 [[ 9.99166462e-01 -3.39675385e-02 -2.26403948e-02 1.49828590e+00] [ 3.39467413e-02 9.99422795e-01 -1.30239999e-03 2.51622568e-01] [ 2.26715659e-02 5.32746771e-04 9.99742825e-01 -4.05720039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5727550960000003 meters Centerline goodness : 0.983723 Centerline is valid? [True, True] Translation: X:1.53, Y:0.26, Z:-0.04 [[ 0.99899264 -0.03528023 -0.02773095 1.5250742 ] [ 0.03488585 0.99928496 -0.01457913 0.26004671] [ 0.02822547 0.01359703 0.9995091 -0.03579788] [ 0. 0. 0. 1. ]] SLAMing on 2.602755096 meters Centerline goodness : 0.984245 Centerline is valid? [True, True] Translation: X:1.57, Y:0.24, Z:-0.03 [[ 0.99888344 -0.03704163 -0.02932212 1.56840471] [ 0.03770086 0.99904115 0.02225806 0.24173903] [ 0.02846952 -0.02333868 0.99932217 -0.03285074] [ 0. 0. 0. 1. ]] SLAMing on 2.6327550960000003 meters Centerline goodness : 0.984721 Centerline is valid? [True, True] Translation: X:1.60, Y:0.25, Z:-0.04 [[ 0.99900977 -0.03582458 -0.02638326 1.60163798] [ 0.03590518 0.99935185 0.0025875 0.25471993] [ 0.02627346 -0.00353223 0.99964855 -0.03644969] [ 0. 0. 0. 1. ]] SLAMing on 2.662755096 meters Centerline goodness : 0.986818 Centerline is valid? [True, True] Translation: X:1.65, Y:0.29, Z:-0.03 [[ 0.99832705 -0.04935415 -0.03012104 1.65448615] [ 0.04787456 0.99769888 -0.04801003 0.29327142] [ 0.03242122 0.04648768 0.99839259 -0.03078404] [ 0. 0. 0. 1. ]] SLAMing on 2.6927550960000004 meters Centerline goodness : 0.986120 Centerline is valid? [True, True] Translation: X:1.66, Y:0.23, Z:-0.03 [[ 0.99895314 -0.03355878 -0.03108755 1.65788426] [ 0.03462561 0.99880681 0.03443879 0.23414082] [ 0.02989473 -0.03547916 0.99892319 -0.02823862] [ 0. 0. 0. 1. ]] SLAMing on 2.722755096 meters Centerline goodness : 0.987043 Centerline is valid? [True, True] Translation: X:1.71, Y:0.28, Z:-0.02 [[ 0.99845393 -0.0436482 -0.03441766 1.7114014 ] [ 0.04293698 0.9988541 -0.02113988 0.27581487] [ 0.03530094 0.01962941 0.99918393 -0.02397233] [ 0. 0. 0. 1. ]] SLAMing on 2.7527550960000005 meters Centerline goodness : 0.987186 Centerline is valid? [True, True] Translation: X:1.74, Y:0.27, Z:-0.02 [[ 0.99825083 -0.04401267 -0.03947359 1.74274631] [ 0.04376308 0.99901624 -0.00716518 0.26791192] [ 0.03975012 0.00542516 0.99919492 -0.02008308] [ 0. 0. 0. 1. ]] SLAMing on 2.7827550960000003 meters Centerline goodness : 0.988458 Centerline is valid? [True, True] Translation: X:1.78, Y:0.27, Z:-0.01 [[ 0.99783315 -0.04991957 -0.04286066 1.78103436] [ 0.04941078 0.99869588 -0.01284993 0.2747542 ] [ 0.04344623 0.0107043 0.99899842 -0.01347395] [ 0. 0. 0. 1. ]] SLAMing on 2.812755096 meters Centerline goodness : 0.989658 Centerline is valid? [True, True] Translation: X:1.81, Y:0.27, Z:-0.01 [[ 0.99770694 -0.05198589 -0.04333964 1.81056683] [ 0.05179208 0.99864228 -0.00558348 0.26935683] [ 0.04357106 0.00332602 0.99904479 -0.0143633 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8427550960000003 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:1.85, Y:0.28, Z:0.00 [[ 0.99695231 -0.05289355 -0.05734434 1.84683397] [ 0.05199828 0.99850256 -0.01699448 0.28231038] [ 0.05815737 0.01396087 0.9982098 0.00204295] [ 0. 0. 0. 1. ]] SLAMing on 2.872755096 meters Centerline goodness : 0.990660 Centerline is valid? [True, True] Translation: X:1.88, Y:0.28, Z:0.01 [[ 0.99650651 -0.05800778 -0.06008225 1.88407878] [ 0.05858414 0.99825142 0.00787461 0.27537061] [ 0.0595204 -0.01136696 0.99816237 0.00664923] [ 0. 0. 0. 1. ]] SLAMing on 2.9027550960000004 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:1.93, Y:0.28, Z:0.00 [[ 0.99650772 -0.0698544 -0.04574626 1.93232484] [ 0.07070934 0.99734618 0.01734314 0.27627583] [ 0.04441336 -0.02051726 0.99880253 0.00201331] [ 0. 0. 0. 1. ]] SLAMing on 2.932755096 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:1.97, Y:0.27, Z:-0.00 [[ 0.99677208 -0.07383395 -0.03152732 1.96887468] [ 0.07467972 0.99685413 0.02654792 0.27302411] [ 0.029468 -0.02881668 0.99915026 -0.00483129] [ 0. 0. 0. 1. ]] SLAMing on 2.9627550960000004 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:1.97, Y:0.31, Z:0.01 [[ 0.99629007 -0.06103119 -0.06067365 1.97179377] [ 0.05784379 0.99691932 -0.05297142 0.31260147] [ 0.06371964 0.0492653 0.99675109 0.01493936] [ 0. 0. 0. 1. ]] SLAMing on 2.9927550960000002 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:2.02, Y:0.30, Z:0.02 [[ 0.99561883 -0.06958752 -0.06245582 2.01996476] [ 0.06869205 0.99750352 -0.01637472 0.29710717] [ 0.06343938 0.01201276 0.99791339 0.02292771] [ 0. 0. 0. 1. ]] SLAMing on 3.0227550960000005 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:2.07, Y:0.28, Z:0.01 [[ 0.99557308 -0.08635931 -0.03709879 2.07324459] [ 0.08778119 0.9953925 0.03857753 0.27768414] [ 0.03359633 -0.04166333 0.9985667 0.00798376] [ 0. 0. 0. 1. ]] SLAMing on 3.0527550960000003 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:2.10, Y:0.30, Z:0.01 [[ 0.99529398 -0.08880485 -0.03877607 2.1015328 ] [ 0.08900734 0.99602474 0.00352394 0.30110141] [ 0.03830898 -0.00695872 0.99924171 0.00962386] [ 0. 0. 0. 1. ]] SLAMing on 3.082755096 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:2.07, Y:0.23, Z:0.00 [[ 0.99811307 -0.06039425 -0.01108266 2.06591431] [ 0.06113182 0.99432464 0.08707132 0.2316983 ] [ 0.00576115 -0.08758452 0.99614043 0.00429317] [ 0. 0. 0. 1. ]] SLAMing on 3.1127550960000003 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:2.13, Y:0.43, Z:0.05 [[ 0.99394724 -0.08162485 -0.07352729 2.13319588] [ 0.06264679 0.97093481 -0.23099993 0.42838996] [ 0.09024554 0.2249955 0.97017152 0.04940245] [ 0. 0. 0. 1. ]] SLAMing on 3.142755096 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:2.13, Y:0.15, Z:0.02 [[ 0.99802731 -0.06204219 -0.00960506 2.13409449] [ 0.0625517 0.96959867 0.23657071 0.14615825] [-0.00536431 -0.23670485 0.9715668 0.01554541] [ 0. 0. 0. 1. ]] SLAMing on 3.1727550960000004 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:2.16, Y:0.29, Z:-0.00 [[ 9.98092961e-01 -6.11696886e-02 -8.28914693e-03 2.16104371e+00] [ 6.11713721e-02 9.98127277e-01 -5.05170207e-05 2.86179019e-01] [ 8.27671376e-03 -4.56637809e-04 9.99965643e-01 -2.96407060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.202755096 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:2.25, Y:0.37, Z:0.01 [[ 0.99537327 -0.08863563 -0.03709149 2.25071502] [ 0.08409137 0.99036906 -0.10998982 0.37127228] [ 0.04648328 0.10636185 0.99324038 0.01370796] [ 0. 0. 0. 1. ]] SLAMing on 3.2327550960000004 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:2.28, Y:0.29, Z:0.01 [[ 0.99571311 -0.08257556 -0.04167354 2.27895353] [ 0.08364101 0.99619466 0.02450275 0.29230684] [ 0.03949163 -0.02788333 0.99883078 0.0098488 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2627550960000002 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:2.26, Y:0.24, Z:0.01 [[ 0.99693779 -0.07635268 -0.01689139 2.2592374 ] [ 0.07752148 0.99333935 0.08524881 0.24357585] [ 0.01026991 -0.08629721 0.9962165 0.00612146] [ 0. 0. 0. 1. ]] SLAMing on 3.2927550960000005 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:2.29, Y:0.29, Z:0.00 [[ 9.96618495e-01 -8.07363276e-02 -1.52715691e-02 2.28520866e+00] [ 8.07418637e-02 9.96735013e-01 -2.54716151e-04 2.93983602e-01] [ 1.52422725e-02 -9.79200125e-04 9.99883350e-01 3.73701048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3227550960000003 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:2.31, Y:0.29, Z:0.00 [[ 9.96425170e-01 -8.32047751e-02 -1.46234675e-02 2.31292296e+00] [ 8.32100566e-02 9.96531999e-01 -2.47963528e-04 2.94640811e-01] [ 1.45933850e-02 -9.69742454e-04 9.99893041e-01 3.88993350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.352755096 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:2.34, Y:0.30, Z:0.00 [[ 9.96204641e-01 -8.58289452e-02 -1.44812060e-02 2.34057648e+00] [ 8.58343399e-02 9.96309392e-01 -2.49728093e-04 2.95377464e-01] [ 1.44491954e-02 -9.94204473e-04 9.99895111e-01 4.48118659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3827550960000003 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:2.37, Y:0.30, Z:0.00 [[ 9.96014586e-01 -8.79901509e-02 -1.45834770e-02 2.36848738e+00] [ 8.79957918e-02 9.96120814e-01 -2.55671285e-04 2.95496550e-01] [ 1.45494016e-02 -1.02863228e-03 9.99893623e-01 4.74559699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.412755096 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:2.40, Y:0.29, Z:0.01 [[ 9.95705249e-01 -9.13803509e-02 -1.48555890e-02 2.39860579e+00] [ 9.13974052e-02 9.95814386e-01 4.71745790e-04 2.92787645e-01] [ 1.47503009e-02 -1.82748205e-03 9.99889538e-01 5.37577771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4427550960000004 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:2.43, Y:0.29, Z:0.01 [[ 9.95675558e-01 -9.18907643e-02 -1.36480696e-02 2.42631546e+00] [ 9.19012346e-02 9.95768117e-01 1.40653662e-04 2.92982836e-01] [ 1.35773878e-02 -1.39431986e-03 9.99906851e-01 6.45203318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.472755096 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:2.46, Y:0.29, Z:0.01 [[ 9.95737741e-01 -9.12383382e-02 -1.34876681e-02 2.45536268e+00] [ 9.12590148e-02 9.95826761e-01 9.24287558e-04 2.93692418e-01] [ 1.33470504e-02 -2.15121931e-03 9.99908610e-01 7.68417108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5027550960000005 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:2.48, Y:0.30, Z:0.01 [[ 9.95953912e-01 -8.88196696e-02 -1.36700742e-02 2.48306469e+00] [ 8.88568815e-02 9.96042109e-01 2.13808202e-03 2.95736096e-01] [ 1.34260658e-02 -3.34411132e-03 9.99904274e-01 1.00558774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5327550960000003 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:2.51, Y:0.30, Z:0.01 [[ 9.96144287e-01 -8.67308509e-02 -1.32030220e-02 2.51057563e+00] [ 8.67589417e-02 9.96228099e-01 1.56883407e-03 2.97688820e-01] [ 1.30171552e-02 -2.70826530e-03 9.99911606e-01 1.08863816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5627550960000005 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:2.54, Y:0.30, Z:0.01 [[ 9.96330682e-01 -8.46498077e-02 -1.26325484e-02 2.53829916e+00] [ 8.46462458e-02 9.96410731e-01 -8.17334158e-04 3.00181912e-01] [ 1.26563940e-02 -2.54962700e-04 9.99919872e-01 1.07510129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5927550960000003 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:2.57, Y:0.30, Z:0.01 [[ 0.99641641 -0.08345997 -0.01373926 2.56943623] [ 0.08341152 0.9965069 -0.00406385 0.30345895] [ 0.01403043 0.00290327 0.99989735 0.01199318] [ 0. 0. 0. 1. ]] SLAMing on 3.622755096 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:2.59, Y:0.30, Z:0.01 [[ 9.96777491e-01 -7.95813574e-02 -1.00717536e-02 2.59346234e+00] [ 7.95716669e-02 9.96828220e-01 -1.35987152e-03 3.02748066e-01] [ 1.01480286e-02 5.54063104e-04 9.99948354e-01 8.74184795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6527550960000004 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:2.62, Y:0.30, Z:0.01 [[ 9.96729557e-01 -8.01212978e-02 -1.05246205e-02 2.62471084e+00] [ 8.01245427e-02 9.96784854e-01 -1.13653828e-04 3.01850559e-01] [ 1.04998884e-02 -7.29998273e-04 9.99944608e-01 9.38936989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.682755096 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:2.65, Y:0.30, Z:0.01 [[ 9.96804931e-01 -7.92145489e-02 -1.02461895e-02 2.64959642e+00] [ 7.92164022e-02 9.96857417e-01 -2.25486928e-04 3.02905368e-01] [ 1.02318518e-02 -5.86899782e-04 9.99947481e-01 8.59382762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7127550960000004 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:2.68, Y:0.31, Z:0.01 [[ 0.9964751 -0.08313324 -0.01123557 2.68167717] [ 0.08307332 0.99652714 -0.00569894 0.30584237] [ 0.01167032 0.00474548 0.99992064 0.00703936] [ 0. 0. 0. 1. ]] SLAMing on 3.7427550960000002 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:2.71, Y:0.30, Z:0.01 [[ 9.96360185e-01 -8.45589790e-02 -1.07777640e-02 2.70872872e+00] [ 8.45635562e-02 9.96418087e-01 -3.11402465e-05 3.02450539e-01] [ 1.07417922e-02 -8.80379149e-04 9.99941918e-01 6.29818181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7727550960000005 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:2.73, Y:0.30, Z:0.01 [[ 0.99643067 -0.08380785 -0.01010724 2.73457826] [ 0.08386331 0.99646374 0.00519308 0.29865814] [ 0.00963628 -0.00602217 0.99993544 0.00744254] [ 0. 0. 0. 1. ]] SLAMing on 3.8027550960000003 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:2.77, Y:0.31, Z:0.01 [[ 0.99605654 -0.08823784 -0.00924446 2.76641217] [ 0.08816741 0.99607538 -0.00776855 0.30606876] [ 0.00989366 0.00692286 0.99992709 0.0051797 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8327550960000005 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:2.79, Y:0.29, Z:0.01 [[ 0.99605793 -0.08824105 -0.00906243 2.79057071] [ 0.08830924 0.99606546 0.00742198 0.2942715 ] [ 0.00837185 -0.00819302 0.99993139 0.006534 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8627550960000003 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:2.82, Y:0.30, Z:0.01 [[ 9.95872520e-01 -9.04401214e-02 -7.64904365e-03 2.81706855e+00] [ 9.04415106e-02 9.95901755e-01 -1.64794601e-04 2.96051480e-01] [ 7.63260004e-03 -5.27676648e-04 9.99970732e-01 6.80659473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.892755096 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:2.85, Y:0.30, Z:0.01 [[ 9.95765148e-01 -9.15838980e-02 -8.01000602e-03 2.84555280e+00] [ 9.15854421e-02 9.95797206e-01 -1.74599472e-04 2.95924403e-01] [ 7.99233212e-03 -5.59739873e-04 9.99967904e-01 7.32542238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9227550960000004 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:2.87, Y:0.30, Z:0.01 [[ 9.95734479e-01 -9.19966358e-02 -7.03319608e-03 2.87353952e+00] [ 9.19978235e-02 9.95759196e-01 -1.55154655e-04 2.96447994e-01] [ 7.01764338e-03 -4.92545892e-04 9.99975255e-01 7.18226267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.952755096 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:2.90, Y:0.30, Z:0.01 [[ 9.95730319e-01 -9.20863214e-02 -6.42194259e-03 2.90037756e+00] [ 9.20873081e-02 9.95750926e-01 -1.42515853e-04 2.96669823e-01] [ 6.40777904e-03 -4.49472050e-04 9.99979369e-01 6.75478415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9827550960000004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:2.93, Y:0.30, Z:0.01 [[ 9.95906321e-01 -9.01553243e-02 -6.52819172e-03 2.92786884e+00] [ 9.01562953e-02 9.95927618e-01 -1.45997533e-04 2.95185821e-01] [ 6.51476889e-03 -4.43157715e-04 9.99978680e-01 6.79645825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.012755096 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:2.96, Y:0.29, Z:0.01 [[ 9.96018660e-01 -8.89418086e-02 -6.01529873e-03 2.95591959e+00] [ 8.89426020e-02 9.96036744e-01 -1.36024850e-04 2.94436819e-01] [ 6.00355685e-03 -3.99533032e-04 9.99981899e-01 6.39244283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0427550960000005 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:2.98, Y:0.29, Z:0.01 [[ 9.96355013e-01 -8.51267021e-02 -5.48924238e-03 2.98439118e+00] [ 8.51272973e-02 9.96370076e-01 -1.25538020e-04 2.91676663e-01] [ 5.48000348e-03 -3.42203932e-04 9.99984926e-01 6.37145242e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.072755096000001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:3.01, Y:0.29, Z:0.01 [[ 9.96521517e-01 -8.31830094e-02 -5.04504059e-03 3.01204024e+00] [ 8.31834809e-02 9.96534242e-01 -1.16674576e-04 2.91373844e-01] [ 5.03726104e-03 -3.03395312e-04 9.99987267e-01 6.46592975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.102755096 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:3.04, Y:0.29, Z:0.01 [[ 9.96717136e-01 -8.08328348e-02 -4.58301895e-03 3.03960952e+00] [ 8.08331937e-02 9.96727637e-01 -1.07166325e-04 2.91609880e-01] [ 4.57668421e-03 -2.63645547e-04 9.99989492e-01 6.62139545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.132755096 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.07, Y:0.29, Z:0.01 [[ 9.97079716e-01 -7.62777242e-02 -3.70792489e-03 3.06668230e+00] [ 7.62779259e-02 9.97086591e-01 -8.72031851e-05 2.91495885e-01] [ 3.70377385e-03 -1.95884293e-04 9.99993122e-01 6.08564102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.162755096000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.09, Y:0.29, Z:0.01 [[ 9.97272721e-01 -7.36879600e-02 -4.14787939e-03 3.09443397e+00] [ 7.36881860e-02 9.97281325e-01 -9.85093531e-05 2.90940985e-01] [ 4.14386161e-03 -2.07409017e-04 9.99991393e-01 5.82005079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.192755096 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:3.12, Y:0.29, Z:0.00 [[ 9.97586923e-01 -6.93121069e-02 -4.02028717e-03 3.12194393e+00] [ 6.93122807e-02 9.97595007e-01 -9.62477654e-05 2.88047642e-01] [ 4.01728955e-03 -1.82639761e-04 9.99991914e-01 4.81360515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.222755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.15, Y:0.29, Z:0.00 [[ 9.97720711e-01 -6.73714797e-02 -3.80339325e-03 3.14976684e+00] [ 6.73716177e-02 9.97727947e-01 -9.19564869e-05 2.87055977e-01] [ 3.80094698e-03 -1.64493865e-04 9.99992763e-01 4.25250453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2527550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:0.28, Z:0.00 [[ 9.97944276e-01 -6.39957065e-02 -3.43104238e-03 3.17778492e+00] [ 6.39957960e-02 9.97950165e-01 -8.38080325e-05 2.82901998e-01] [ 3.42937267e-03 -1.35936542e-04 9.99994110e-01 3.33210269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.282755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:0.28, Z:0.00 [[ 9.98030962e-01 -6.26162789e-02 -3.66075542e-03 3.20560404e+00] [ 6.26163678e-02 9.98037666e-01 -9.04546713e-05 2.80935407e-01] [ 3.65923573e-03 -1.38946645e-04 9.99993295e-01 2.97665831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.312755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:3.23, Y:0.28, Z:0.00 [[ 9.98072923e-01 -6.19183361e-02 -4.06933483e-03 3.23297109e+00] [ 6.19184374e-02 9.98081208e-01 -1.01211876e-04 2.78964597e-01] [ 4.06779349e-03 -1.50950021e-04 9.99991715e-01 2.72734195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:0.27, Z:0.00 [[ 9.98160779e-01 -6.04742710e-02 -4.23345323e-03 3.26157649e+00] [ 6.04743632e-02 9.98169745e-01 -1.06358235e-04 2.74236239e-01] [ 4.23213687e-03 -1.49852770e-04 9.99991033e-01 2.69031395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.372755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:0.27, Z:0.00 [[ 9.98184352e-01 -6.01341466e-02 -3.44743155e-03 3.28978077e+00] [ 6.01342024e-02 9.98190298e-01 -8.75362123e-05 2.72012661e-01] [ 3.44645664e-03 -1.19931269e-04 9.99994054e-01 2.33723752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.402755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:0.27, Z:0.00 [[ 9.98268234e-01 -5.87788906e-02 -2.36110691e-03 3.31723088e+00] [ 5.87789122e-02 9.98271023e-01 -6.02966027e-05 2.66060810e-01] [ 2.36056877e-03 -7.85911124e-05 9.99997211e-01 2.50118247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:0.26, Z:0.00 [[ 9.98263341e-01 -5.88677961e-02 -2.21024481e-03 3.34484068e+00] [ 5.88678142e-02 9.98265785e-01 -5.69230662e-05 2.63454494e-01] [ 2.20976271e-03 -7.32880707e-05 9.99997556e-01 2.25922362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:0.26, Z:0.00 [[ 9.98254858e-01 -5.90208042e-02 -1.94516926e-03 3.37312228e+00] [ 5.90208175e-02 9.98256751e-01 -5.06354538e-05 2.60603975e-01] [ 1.94476689e-03 -6.42583920e-05 9.99998107e-01 1.86712812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.492755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:0.25, Z:0.00 [[ 9.98188803e-01 -6.01202264e-02 -2.16146732e-03 3.39993723e+00] [ 6.01202442e-02 9.98191141e-01 -5.68153268e-05 2.53672838e-01] [ 2.16097328e-03 -7.32355202e-05 9.99997662e-01 1.96864166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.43, Y:0.25, Z:0.00 [[ 9.98123466e-01 -6.11916375e-02 -2.26511872e-03 3.42781284e+00] [ 6.11916584e-02 9.98126033e-01 -6.01447342e-05 2.50856913e-01] [ 2.26455432e-03 -7.85745003e-05 9.99997433e-01 1.99134582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:0.25, Z:0.00 [[ 9.98034898e-01 -6.26079398e-02 -2.56677985e-03 3.45593169e+00] [ 6.26079693e-02 9.98038194e-01 -6.89388717e-05 2.47874363e-01] [ 2.56606044e-03 -9.18974739e-05 9.99996703e-01 1.80864190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5827550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:0.24, Z:0.00 [[ 9.97940426e-01 -6.41094056e-02 -2.21122191e-03 3.48366059e+00] [ 6.41094298e-02 9.97942873e-01 -6.00000144e-05 2.44725781e-01] [ 2.21051971e-03 -8.18837359e-05 9.99997553e-01 1.46204040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.612755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:0.24, Z:0.00 [[ 9.97785312e-01 -6.65032426e-02 -1.33757915e-03 3.51071244e+00] [ 6.65032533e-02 9.97786208e-01 -3.65030257e-05 2.37038268e-01] [ 1.33704559e-03 -5.25311819e-05 9.99999105e-01 1.60401433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.54, Y:0.23, Z:0.00 [[ 9.97590873e-01 -6.93714677e-02 -2.20845818e-04 3.53805617e+00] [ 6.93714680e-02 9.97590898e-01 -5.97084755e-06 2.30098217e-01] [ 2.20727984e-04 -9.36393557e-06 9.99999976e-01 1.22998128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:0.23, Z:0.00 [[ 9.97479773e-01 -7.09512536e-02 -1.49503944e-04 3.56617997e+00] [ 7.09512538e-02 9.97479784e-01 -3.92428925e-06 2.27034138e-01] [ 1.49405595e-04 -6.69309309e-06 9.99999989e-01 1.29700631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.702755096000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.59, Y:0.22, Z:0.00 [[ 9.97371724e-01 -7.24542399e-02 1.66816768e-04 3.59470093e+00] [ 7.24542401e-02 9.97371738e-01 4.90840962e-06 2.24346431e-01] [-1.66733965e-04 7.19107320e-06 9.99999986e-01 8.01899333e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.62, Y:0.22, Z:0.00 [[ 9.97298467e-01 -7.34538873e-02 5.42545158e-04 3.62238251e+00] [ 7.34538896e-02 9.97298614e-01 1.56009771e-05 2.21838538e-01] [-5.42225486e-04 2.42932216e-05 9.99999853e-01 2.67083209e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:0.24, Z:-0.01 [[ 9.97165719e-01 -7.50771819e-02 4.89341174e-03 3.64878997e+00] [ 7.52018604e-02 9.96569419e-01 -3.45553638e-02 2.37882460e-01] [-2.28230516e-03 3.48254179e-02 9.99390805e-01 -1.38306322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7927550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:0.19, Z:0.00 [[ 9.97145729e-01 -7.54944212e-02 -9.93316952e-04 3.67966992e+00] [ 7.54836578e-02 9.96549386e-01 3.45186824e-02 1.90526392e-01] [-1.61607855e-03 -3.44951359e-02 9.99403559e-01 3.36858236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:0.21, Z:-0.00 [[ 9.97123810e-01 -7.57895375e-02 -2.31282102e-04 3.70694918e+00] [ 7.57895381e-02 9.97123837e-01 -6.49287213e-06 2.08640763e-01] [ 2.31108989e-04 -1.10545663e-05 9.99999973e-01 -1.84093049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.852755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.74, Y:0.21, Z:-0.00 [[ 9.97084410e-01 -7.63046574e-02 -5.27257794e-04 3.73511449e+00] [ 7.63046600e-02 9.97084549e-01 -1.52236727e-05 2.06698288e-01] [ 5.26882237e-04 -2.50529400e-05 9.99999861e-01 -2.03730198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:0.20, Z:-0.00 [[ 9.97085719e-01 -7.62863091e-02 6.84084652e-04 3.76245654e+00] [ 7.62863132e-02 9.97085953e-01 2.02051261e-05 2.02410613e-01] [-6.83632571e-04 3.20400533e-05 9.99999766e-01 -3.23999559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.912755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:0.20, Z:-0.00 [[ 9.97064109e-01 -7.65630329e-02 1.12490747e-03 3.79080544e+00] [ 7.65630437e-02 9.97064742e-01 3.35863648e-05 2.00932435e-01] [-1.12417705e-03 5.26385807e-05 9.99999367e-01 -3.55722684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.942755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:0.20, Z:-0.00 [[ 9.97051848e-01 -7.67149135e-02 1.56051459e-03 3.81866227e+00] [ 7.67149338e-02 9.97053066e-01 4.69259145e-05 1.99282410e-01] [-1.55951578e-03 7.29272040e-05 9.99998781e-01 -3.60822019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:0.20, Z:-0.00 [[ 9.97032682e-01 -7.69635954e-02 1.56050328e-03 3.84716441e+00] [ 7.69636154e-02 9.97033901e-01 4.73012262e-05 2.00408525e-01] [-1.55951515e-03 7.29411063e-05 9.99998781e-01 -3.58561905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0027550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:0.20, Z:-0.00 [[ 9.97036627e-01 -7.68819640e-02 2.66993572e-03 3.87529594e+00] [ 7.68820202e-02 9.97040194e-01 8.17325239e-05 1.95966321e-01] [-2.66831699e-03 1.23779732e-04 9.99996432e-01 -3.84539227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.032755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:0.19, Z:-0.00 [[ 9.97038648e-01 -7.68385080e-02 3.12684806e-03 3.90336727e+00] [ 7.68385818e-02 9.97043541e-01 9.67088776e-05 1.94376567e-01] [-3.12503463e-03 1.43840082e-04 9.99995107e-01 -3.87516217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:0.19, Z:-0.00 [[ 9.97145742e-01 -7.53748904e-02 4.35841234e-03 3.93007918e+00] [ 7.53750182e-02 9.97155248e-01 1.35169879e-04 1.90066921e-01] [-4.35620215e-03 1.93731340e-04 9.99990493e-01 -3.60075378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.96, Y:0.19, Z:-0.00 [[ 9.97180634e-01 -7.48651798e-02 5.09782596e-03 3.95799089e+00] [ 7.48653389e-02 9.97193640e-01 1.59874035e-04 1.89236350e-01] [-5.09548862e-03 2.22227177e-04 9.99986993e-01 -4.01595885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:0.19, Z:-0.00 [[ 9.97262490e-01 -7.37820236e-02 4.87220106e-03 3.98652596e+00] [ 7.37821483e-02 9.97274371e-01 1.54371958e-04 1.88535881e-01] [-4.87031112e-03 2.05532098e-04 9.99988119e-01 -4.06198129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.152755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.01, Y:0.19, Z:-0.00 [[ 9.97538500e-01 -6.99023273e-02 5.53224230e-03 4.01337266e+00] [ 6.99024254e-02 9.97553818e-01 1.75871183e-04 1.85670294e-01] [-5.53100323e-03 2.11278879e-04 9.99984682e-01 -4.24240614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.04, Y:0.18, Z:-0.00 [[ 9.97664260e-01 -6.80566796e-02 5.85763456e-03 4.04190747e+00] [ 6.80567452e-02 9.97681434e-01 1.88359189e-04 1.84401500e-01] [-5.85687235e-03 2.10732312e-04 9.99982826e-01 -4.15810196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:0.18, Z:-0.00 [[ 9.97793681e-01 -6.61418528e-02 5.74675338e-03 4.06869613e+00] [ 6.61418769e-02 9.97810211e-01 1.86053482e-04 1.83240466e-01] [-5.74647513e-03 1.94458067e-04 9.99983470e-01 -4.14982548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:0.19, Z:-0.01 [[ 9.98222648e-01 -5.95482568e-02 2.35588564e-03 4.09325470e+00] [ 5.95838148e-02 9.98018223e-01 -2.02335492e-02 1.91510443e-01] [-1.14634422e-03 2.03379597e-02 9.99792505e-01 -7.70222890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.272755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.13, Y:0.17, Z:-0.00 [[ 9.98025100e-01 -6.26859034e-02 4.04693382e-03 4.12590219e+00] [ 6.25915337e-02 9.97832858e-01 2.02949853e-02 1.68332162e-01] [-5.31037303e-03 -2.00016009e-02 9.99785845e-01 -9.42518790e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.15, Y:0.18, Z:-0.00 [[ 9.97965872e-01 -6.36104753e-02 4.22195323e-03 4.15371469e+00] [ 6.36104507e-02 9.97974795e-01 1.40246667e-04 1.78194207e-01] [-4.22232406e-03 1.28598961e-04 9.99991078e-01 -4.44848052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3327550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.18, Y:0.18, Z:-0.00 [[ 9.97880108e-01 -6.49889535e-02 3.42434646e-03 4.18126887e+00] [ 6.49889441e-02 9.97885978e-01 1.14139788e-04 1.76824389e-01] [-3.42452514e-03 1.08646836e-04 9.99994130e-01 -3.80744933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:0.18, Z:-0.00 [[ 9.97711034e-01 -6.75130128e-02 3.83213842e-03 4.20926172e+00] [ 6.75130144e-02 9.97718385e-01 1.29108782e-04 1.75195852e-01] [-3.83211148e-03 1.29905960e-04 9.99992649e-01 -3.79001396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:0.17, Z:-0.00 [[ 9.97515559e-01 -7.03399196e-02 3.87361688e-03 4.23746295e+00] [ 7.03399376e-02 9.97523070e-01 1.31755369e-04 1.73429249e-01] [-3.87328987e-03 1.41041939e-04 9.99992489e-01 -3.79390440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:0.17, Z:-0.00 [[ 9.97083173e-01 -7.62025042e-02 4.28074128e-03 4.26581185e+00] [ 7.62025742e-02 9.97092346e-01 1.46974346e-04 1.68772671e-01] [-4.27949418e-03 1.79657858e-04 9.99990827e-01 -3.88280082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.452755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.29, Y:0.16, Z:-0.00 [[ 9.96761207e-01 -8.03964939e-02 1.87102936e-03 4.29371313e+00] [ 8.03965131e-02 9.96762959e-01 6.50743554e-05 1.63291089e-01] [-1.87020451e-03 8.55606438e-05 9.99998248e-01 -2.83128800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.482755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.32, Y:0.16, Z:-0.00 [[ 9.96530375e-01 -8.31376838e-02 3.91617152e-03 4.32123529e+00] [ 8.31377884e-02 9.96538052e-01 1.36341990e-04 1.63673663e-01] [-3.91394909e-03 1.89712904e-04 9.99992322e-01 -3.98484000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.35, Y:0.16, Z:-0.00 [[ 9.96442954e-01 -8.42085412e-02 3.21871371e-03 4.34864052e+00] [ 8.42086159e-02 9.96448140e-01 1.12567558e-04 1.62972593e-01] [-3.21676044e-03 1.58876276e-04 9.99994814e-01 -4.13561959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5427550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.38, Y:0.16, Z:-0.00 [[ 9.96410078e-01 -8.46554532e-02 6.40127201e-04 4.37965839e+00] [ 8.46556551e-02 9.96410223e-01 -2.95042276e-04 1.58095030e-01] [-6.12852350e-04 3.48173485e-04 9.99999752e-01 -4.71655956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.572755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.40, Y:0.16, Z:-0.00 [[ 9.96338713e-01 -8.54699423e-02 2.01442637e-03 4.40432874e+00] [ 8.54693357e-02 9.96340727e-01 3.85472618e-04 1.57275860e-01] [-2.04000136e-03 -2.11889609e-04 9.99997897e-01 -4.51566198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.43, Y:0.15, Z:-0.00 [[ 9.96349728e-01 -8.53555522e-02 1.28395133e-03 4.43174714e+00] [ 8.53555635e-02 9.96350554e-01 4.61435356e-05 1.53936559e-01] [-1.28320423e-03 6.36172902e-05 9.99999175e-01 -4.44849047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.46, Y:0.15, Z:-0.00 [[ 9.96351652e-01 -8.53393515e-02 7.61463147e-04 4.45969898e+00] [ 8.53393551e-02 9.96351943e-01 2.78153539e-05 1.53117839e-01] [-7.61059030e-04 3.72689001e-05 9.99999710e-01 -4.26228202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.662755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.49, Y:0.15, Z:-0.00 [[ 9.96329386e-01 -8.56013066e-02 4.14499703e-04 4.48743679e+00] [ 8.56013076e-02 9.96329472e-01 1.54017494e-05 1.52737868e-01] [-4.14296680e-04 2.01365011e-05 9.99999914e-01 -4.23747718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.692755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:0.13, Z:0.01 [[ 9.96440022e-01 -8.42092068e-02 -4.01145267e-03 4.52022781e+00] [ 8.42864584e-02 9.96085772e-01 2.66256926e-02 1.33970038e-01] [ 1.75362247e-03 -2.68690169e-02 9.99637425e-01 6.53576279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.54, Y:0.17, Z:-0.01 [[ 9.96473644e-01 -8.38964820e-02 -1.28741164e-03 4.54256839e+00] [ 8.37986051e-02 9.95854153e-01 -3.53878437e-02 1.70112623e-01] [ 4.25098982e-03 3.51551702e-02 9.99372825e-01 -1.04214357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7527550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:0.14, Z:-0.00 [[ 9.96541080e-01 -8.31014475e-02 -1.61773941e-04 4.57267308e+00] [ 8.30993165e-02 9.96497302e-01 9.36115906e-03 1.40505896e-01] [-6.16718572e-04 -9.34222286e-03 9.99956170e-01 -9.99358717e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.60, Y:0.15, Z:-0.00 [[ 9.96592090e-01 -8.24831188e-02 8.61503947e-04 4.60072067e+00] [ 8.24831213e-02 9.96592461e-01 3.26842321e-05 1.45070980e-01] [-8.61264236e-04 3.84866874e-05 9.99999628e-01 -1.78837012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.63, Y:0.13, Z:0.01 [[ 9.96727655e-01 -8.07666602e-02 -3.27527446e-03 4.63150046e+00] [ 8.08024163e-02 9.96647063e-01 1.28686024e-02 1.34674922e-01] [ 2.22493863e-03 -1.30911420e-02 9.99911832e-01 6.57919912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:0.14, Z:0.00 [[ 9.96863090e-01 -7.91381959e-02 -1.06123309e-03 4.65929201e+00] [ 7.91387190e-02 9.96863507e-01 4.60283126e-04 1.40933745e-01] [ 1.02147857e-03 -5.42823887e-04 9.99999331e-01 2.04128700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.872755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:0.14, Z:-0.00 [[ 9.97006017e-01 -7.73121408e-02 -1.35456682e-03 4.68640540e+00] [ 7.73032611e-02 9.96991342e-01 -5.69818805e-03 1.44046036e-01] [ 1.79103051e-03 5.57641534e-03 9.99982848e-01 -2.05513037e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:0.14, Z:0.00 [[ 9.97052260e-01 -7.67078073e-02 -1.64426633e-03 4.71554583e+00] [ 7.67142658e-02 9.97043799e-01 4.31103936e-03 1.37993700e-01] [ 1.30871517e-03 -4.42447022e-03 9.99989356e-01 2.80941022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:0.14, Z:0.00 [[ 9.97304274e-01 -7.33546512e-02 -1.81115263e-03 4.74402945e+00] [ 7.33489936e-02 9.97301779e-01 -3.01433693e-03 1.38685162e-01] [ 2.02738138e-03 2.87336488e-03 9.99993817e-01 8.65373969e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.962755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.77, Y:0.14, Z:-0.00 [[ 9.97552833e-01 -6.99165783e-02 1.35082378e-04 4.76749241e+00] [ 6.99162947e-02 9.97538415e-01 -5.36866344e-03 1.39407292e-01] [ 2.40608717e-04 5.36496989e-03 9.99985579e-01 -2.25069370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.992755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:0.13, Z:-0.00 [[ 9.97917756e-01 -6.44860753e-02 -1.30322389e-03 4.79648768e+00] [ 6.44860222e-02 9.97918607e-01 -8.28046173e-05 1.32770118e-01] [ 1.30585112e-03 -1.40752701e-06 9.99999147e-01 -4.77871521e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.022755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:0.13, Z:0.00 [[ 9.97871208e-01 -6.52153480e-02 1.06932079e-04 4.82833630e+00] [ 6.52116054e-02 9.97829029e-01 9.20194273e-03 1.28646094e-01] [-7.06807830e-04 -9.17538049e-03 9.99957656e-01 9.37520094e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:0.14, Z:-0.00 [[ 9.98112514e-01 -6.13628651e-02 -2.45131053e-03 4.85358411e+00] [ 6.13287257e-02 9.98043414e-01 -1.21709529e-02 1.39937214e-01] [ 3.19335887e-03 1.19976447e-02 9.99922927e-01 -3.01274233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0827550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:0.12, Z:0.00 [[ 9.98452920e-01 -5.55937909e-02 1.04783043e-03 4.87998780e+00] [ 5.55736758e-02 9.98356047e-01 1.40275010e-02 1.20267442e-01] [-1.82594980e-03 -1.39475675e-02 9.99901061e-01 2.37027012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.112755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:0.13, Z:-0.00 [[ 9.98445421e-01 -5.56936583e-02 -2.22659232e-03 4.91050473e+00] [ 5.56582479e-02 9.98356505e-01 -1.36546029e-02 1.32305087e-01] [ 2.98340771e-03 1.35094475e-02 9.99904292e-01 -2.51798663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:0.12, Z:0.00 [[ 9.98422733e-01 -5.60356166e-02 -3.47202896e-03 4.93868963e+00] [ 5.60354583e-02 9.98428769e-01 -1.42949995e-04 1.22520213e-01] [ 3.47458389e-03 -5.18322096e-05 9.99993962e-01 1.55526146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:0.12, Z:0.00 [[ 9.98375503e-01 -5.68484324e-02 -3.82232480e-03 4.96599027e+00] [ 5.68482437e-02 9.98382818e-01 -1.58065940e-04 1.20800409e-01] [ 3.82512921e-03 -5.94832900e-05 9.99992682e-01 1.31180489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202755096000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.00, Y:0.11, Z:0.00 [[ 9.98357184e-01 -5.72793962e-02 -1.41579097e-03 4.99677550e+00] [ 5.72934832e-02 9.98262481e-01 1.37650048e-02 1.08897100e-01] [ 6.24879846e-04 -1.38235070e-02 9.99904256e-01 4.52436564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.232755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.02, Y:0.12, Z:-0.00 [[ 9.98119178e-01 -6.12248562e-02 -3.10215556e-03 5.02255016e+00] [ 6.11799109e-02 9.98042716e-01 -1.29520559e-02 1.22371243e-01] [ 3.88907152e-03 1.27379058e-02 9.99911307e-01 -1.81370411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.05, Y:0.11, Z:0.00 [[ 9.98026994e-01 -6.27367825e-02 -2.49311108e-03 5.04983884e+00] [ 6.27384821e-02 9.98029815e-01 6.09371053e-04 1.12418712e-01] [ 2.44996921e-03 -7.64582765e-04 9.99996707e-01 2.62627753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2927550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:0.11, Z:0.00 [[ 9.97787901e-01 -6.64324477e-02 -2.45671075e-03 5.07852758e+00] [ 6.64305978e-02 9.97790705e-01 -8.27210212e-04 1.08651847e-01] [ 2.50623675e-03 6.62179577e-04 9.99996640e-01 2.90425412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:0.11, Z:0.00 [[ 9.97656755e-01 -6.83762777e-02 -2.38396781e-03 5.10677063e+00] [ 6.83762261e-02 9.97659602e-01 -1.03233254e-04 1.06606230e-01] [ 2.38544708e-03 -6.00153693e-05 9.99997153e-01 3.28005611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.13, Y:0.10, Z:0.00 [[ 9.97486622e-01 -7.08528997e-02 5.53360943e-04 5.13148263e+00] [ 7.08481391e-02 9.97467924e-01 6.18728773e-03 1.02181953e-01] [-9.90347068e-04 -6.13253215e-03 9.99980705e-01 3.25396132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.16, Y:0.09, Z:0.01 [[ 9.97325454e-01 -7.30610210e-02 2.00626903e-03 5.16177585e+00] [ 7.30126290e-02 9.97164824e-01 1.82063111e-02 9.33199173e-02] [-3.33075258e-03 -1.80111345e-02 9.99832238e-01 6.83789929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.412755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:0.12, Z:-0.01 [[ 9.96875536e-01 -7.88518375e-02 4.64263352e-03 5.18986216e+00] [ 7.89388364e-02 9.96609476e-01 -2.31994124e-02 1.17088322e-01] [-2.79757627e-03 2.34934107e-02 9.99720077e-01 -8.96177403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.442755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.22, Y:0.11, Z:-0.00 [[ 9.97056374e-01 -7.66223986e-02 -2.75590417e-03 5.21520381e+00] [ 7.65982590e-02 9.97029952e-01 -7.99883956e-03 1.08832966e-01] [ 3.36060928e-03 7.76419651e-03 9.99964211e-01 -1.85213103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:0.09, Z:0.01 [[ 9.97399845e-01 -7.20660475e-02 -1.86950274e-04 5.24432173e+00] [ 7.20524039e-02 9.97153382e-01 2.22167608e-02 8.93131499e-02] [-1.41465604e-03 -2.21724640e-02 9.99753160e-01 7.93035620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5027550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.28, Y:0.11, Z:-0.00 [[ 9.97652754e-01 -6.83043988e-02 -4.84687926e-03 5.27531721e+00] [ 6.82326911e-02 9.97575719e-01 -1.36742632e-02 1.08138899e-01] [ 5.76914138e-03 1.33114507e-02 9.99894756e-01 -9.91920199e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.532755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:0.09, Z:0.01 [[ 9.97815216e-01 -6.60648437e-02 -4.81648436e-04 5.30340999e+00] [ 6.60569651e-02 9.97518694e-01 2.43501847e-02 8.62927622e-02] [-1.12823783e-03 -2.43288011e-02 9.99703374e-01 8.70648597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562755096000001 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:5.33, Y:0.12, Z:-0.00 [[ 9.98035613e-01 -6.24362752e-02 -5.16006478e-03 5.33282814e+00] [ 6.22964215e-02 9.97772344e-01 -2.38643275e-02 1.16080308e-01] [ 6.63856965e-03 2.34959951e-02 9.99701889e-01 -2.72374559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:0.11, Z:0.00 [[ 9.98103763e-01 -6.13598700e-02 -4.88305921e-03 5.36051427e+00] [ 6.13360391e-02 9.98105198e-01 -4.88909438e-03 1.07069112e-01] [ 5.17380098e-03 4.58031599e-03 9.99976126e-01 2.20701337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622755096000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.39, Y:0.11, Z:0.00 [[ 9.98215259e-01 -5.95279556e-02 -4.76637004e-03 5.38901892e+00] [ 5.95317636e-02 9.98226193e-01 6.60953785e-04 1.07168415e-01] [ 4.71857019e-03 -9.43524568e-04 9.99988422e-01 1.91350659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.652755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.42, Y:0.10, Z:0.01 [[ 0.99824852 -0.05862741 -0.00791994 5.41861368] [ 0.05868215 0.99825311 0.00686536 0.10197729] [ 0.00750361 -0.00731809 0.99994507 0.00630904] [ 0. 0. 0. 1. ]] SLAMing on 6.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.45, Y:0.11, Z:0.00 [[ 9.98264900e-01 -5.80462628e-02 -9.89047403e-03 5.44657787e+00] [ 5.80120021e-02 9.98308967e-01 -3.71663094e-03 1.09265166e-01] [ 1.00894854e-02 3.13641601e-03 9.99944181e-01 4.22849613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:0.11, Z:0.00 [[ 9.98000942e-01 -6.25575450e-02 -8.98183500e-03 5.47404357e+00] [ 6.25563981e-02 9.98041347e-01 -4.08851431e-04 1.09973577e-01] [ 8.98981944e-03 -1.53837132e-04 9.99959579e-01 4.80749369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:0.12, Z:-0.00 [[ 9.97858800e-01 -6.52268409e-02 -4.82438649e-03 5.50231426e+00] [ 6.51559516e-02 9.97782070e-01 -1.36250833e-02 1.20160937e-01] [ 5.70240748e-03 1.32815718e-02 9.99895536e-01 -4.12008318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.772755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:0.10, Z:0.01 [[ 0.99762707 -0.06820283 -0.00941266 5.53159076] [ 0.06833746 0.99755233 0.01481013 0.10422726] [ 0.00837953 -0.01541822 0.99984602 0.01203842] [ 0. 0. 0. 1. ]] SLAMing on 6.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:0.12, Z:-0.01 [[ 9.97093884e-01 -7.61559632e-02 -2.01368520e-03 5.55801303e+00] [ 7.61219110e-02 9.97006406e-01 -1.35529045e-02 1.24638687e-01] [ 3.03979154e-03 1.33602326e-02 9.99906128e-01 -5.20605246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8327550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:0.12, Z:0.00 [[ 9.96665752e-01 -8.14963951e-02 -3.96433339e-03 5.58684266e+00] [ 8.14999374e-02 9.96673072e-01 7.40098343e-04 1.15598149e-01] [ 3.89082899e-03 -1.06072359e-03 9.99991868e-01 2.28753889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:0.12, Z:0.00 [[ 9.96651212e-01 -8.16668495e-02 -4.10941392e-03 5.61543420e+00] [ 8.16662925e-02 9.96659683e-01 -3.03451308e-04 1.17581734e-01] [ 4.12046909e-03 -3.31654851e-05 9.99991510e-01 2.18443993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.65, Y:0.11, Z:0.01 [[ 0.99641515 -0.08431967 -0.00685821 5.646529 ] [ 0.08439932 0.99635612 0.01229788 0.10949693] [ 0.00579627 -0.01283262 0.99990086 0.01150698] [ 0. 0. 0. 1. ]] SLAMing on 6.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:0.12, Z:0.01 [[ 9.96087157e-01 -8.81411976e-02 -6.44236788e-03 5.67420739e+00] [ 8.81192643e-02 9.96103378e-01 -3.61315443e-03 1.20790531e-01] [ 6.73573217e-03 3.03132001e-03 9.99972720e-01 7.51285224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.952755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:0.12, Z:0.01 [[ 9.95997269e-01 -8.91667561e-02 -6.22324913e-03 5.70155179e+00] [ 8.91683671e-02 9.96016567e-01 -1.86651006e-05 1.20264025e-01] [ 6.20012354e-03 -5.36326574e-04 9.99980635e-01 9.59734413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.982755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:0.12, Z:0.01 [[ 9.95686780e-01 -9.24768881e-02 -7.47404332e-03 5.73120253e+00] [ 9.24981288e-02 9.95709600e-01 2.54730892e-03 1.18782316e-01] [ 7.20640948e-03 -3.22765683e-03 9.99968824e-01 1.00914458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:0.12, Z:0.01 [[ 9.95496523e-01 -9.45644518e-02 -6.65114742e-03 5.75827940e+00] [ 9.45645120e-02 9.95518689e-01 -3.06140260e-04 1.21849856e-01] [ 6.65029154e-03 -3.24200945e-04 9.99977834e-01 7.50137505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0427550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:0.11, Z:0.02 [[ 0.99537844 -0.09538733 -0.01109103 5.79107871] [ 0.09560795 0.99518823 0.02143589 0.10887323] [ 0.00899295 -0.02239722 0.9997087 0.02124309] [ 0. 0. 0. 1. ]] SLAMing on 7.072755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:0.14, Z:0.00 [[ 9.94856719e-01 -1.01209396e-01 -4.09460386e-03 5.81406352e+00] [ 1.01095459e-01 9.94631099e-01 -2.21062112e-02 1.39542494e-01] [ 6.30997662e-03 2.15785669e-02 9.99747243e-01 1.40725001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.102755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:0.13, Z:0.01 [[ 9.94754139e-01 -1.02175306e-01 -4.94063321e-03 5.84251513e+00] [ 1.02175416e-01 9.94766370e-01 -2.30849533e-04 1.28379099e-01] [ 4.93836289e-03 -2.75172724e-04 9.99987768e-01 8.57381121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:0.13, Z:0.01 [[ 9.94594243e-01 -1.03724068e-01 -4.85903796e-03 5.86966307e+00] [ 1.03724187e-01 9.94606073e-01 -2.28109746e-04 1.30294038e-01] [ 4.85648914e-03 -2.77123123e-04 9.99988169e-01 8.85907397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:0.13, Z:0.01 [[ 9.94842875e-01 -1.01416688e-01 -1.51937770e-03 5.89697573e+00] [ 1.01427171e-01 9.94785470e-01 1.06956620e-02 1.27241604e-01] [ 4.26736243e-04 -1.07946093e-02 9.99941645e-01 1.13469301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.192755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:0.14, Z:0.01 [[ 9.94776865e-01 -1.02021238e-01 -3.26429050e-03 5.92599185e+00] [ 1.01980517e-01 9.94727159e-01 -1.08560714e-02 1.43360663e-01] [ 4.35462826e-03 1.04664747e-02 9.99935743e-01 6.31668120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:0.14, Z:0.01 [[ 9.94889790e-01 -1.00818785e-01 -5.46619015e-03 5.95415158e+00] [ 1.00818874e-01 9.94904763e-01 -2.60017609e-04 1.38777683e-01] [ 5.46455328e-03 -2.92406270e-04 9.99985026e-01 9.53596104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2527550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:0.14, Z:0.00 [[ 9.94990334e-01 -9.98609207e-02 -4.69370709e-03 5.98408234e+00] [ 9.98192070e-02 9.94970041e-01 -8.41089232e-03 1.44436140e-01] [ 5.51001738e-03 7.90023444e-03 9.99953612e-01 2.86081758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:0.14, Z:0.01 [[ 0.9949728 -0.09990425 -0.00694778 6.01102389] [ 0.09995675 0.99496222 0.00767054 0.13780359] [ 0.00614646 -0.00832646 0.99994644 0.01266429] [ 0. 0. 0. 1. ]] SLAMing on 7.312755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.04, Y:0.15, Z:0.00 [[ 9.95040032e-01 -9.94034493e-02 -3.78014904e-03 6.04108547e+00] [ 9.93385750e-02 9.94946372e-01 -1.46138395e-02 1.51493713e-01] [ 5.21371162e-03 1.41658407e-02 9.99886067e-01 1.17578853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.07, Y:0.14, Z:0.01 [[ 9.94997614e-01 -9.97741862e-02 -4.98587456e-03 6.07132682e+00] [ 9.97866743e-02 9.95006146e-01 2.32143798e-03 1.43600543e-01] [ 4.72935624e-03 -2.80734909e-03 9.99984876e-01 7.89665956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.372755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:0.14, Z:0.02 [[ 0.99483548 -0.10121202 -0.007648 6.09621571] [ 0.1012904 0.9947997 0.0106687 0.14379047] [ 0.00652843 -0.01138827 0.99991384 0.01513003] [ 0. 0. 0. 1. ]] SLAMing on 7.402755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.13, Y:0.15, Z:0.01 [[ 9.94961166e-01 -1.00076447e-01 -6.08134105e-03 6.12808429e+00] [ 1.00017232e-01 9.94941618e-01 -9.36647012e-03 1.54636424e-01] [ 6.98794236e-03 8.71103514e-03 9.99937641e-01 6.05992870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:0.15, Z:0.02 [[ 0.99477813 -0.10178767 -0.0074664 6.15207112] [ 0.10185165 0.99476104 0.00875833 0.14639442] [ 0.00653579 -0.00947306 0.99993377 0.01566007] [ 0. 0. 0. 1. ]] SLAMing on 7.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:0.16, Z:0.01 [[ 0.99507124 -0.09896151 -0.00631266 6.18211802] [ 0.09889992 0.9950528 -0.00941944 0.15548964] [ 0.0072136 0.00874869 0.99993571 0.00731049] [ 0. 0. 0. 1. ]] SLAMing on 7.492755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:0.15, Z:0.01 [[ 0.9950933 -0.09859482 -0.00826908 6.21167205] [ 0.09864884 0.99510172 0.00640074 0.14736028] [ 0.0075975 -0.00718507 0.99994532 0.01412295] [ 0. 0. 0. 1. ]] SLAMing on 7.522755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:0.16, Z:0.01 [[ 9.94954248e-01 -1.00126320e-01 -6.38463021e-03 6.23954571e+00] [ 1.00053259e-01 9.94922510e-01 -1.08877649e-02 1.60701658e-01] [ 7.44236414e-03 1.01940248e-02 9.99920343e-01 6.06202427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.15, Z:0.01 [[ 0.99500079 -0.0995798 -0.00756942 6.26681389] [ 0.09963152 0.99500121 0.00679314 0.15216705] [ 0.00685512 -0.00751333 0.99994828 0.01301731] [ 0. 0. 0. 1. ]] SLAMing on 7.5827550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.29, Y:0.16, Z:0.02 [[ 9.94683732e-01 -1.02553940e-01 -9.32540374e-03 6.29278774e+00] [ 1.02602556e-01 9.94710401e-01 4.89227814e-03 1.57205514e-01] [ 8.77435369e-03 -5.82307974e-03 9.99944550e-01 1.51539284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.612755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.32, Y:0.16, Z:0.01 [[ 0.99459142 -0.10356528 -0.0078824 6.32320855] [ 0.10350157 0.99459629 -0.00810162 0.16496923] [ 0.00867885 0.00724196 0.99993611 0.00810313] [ 0. 0. 0. 1. ]] SLAMing on 7.642755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:0.16, Z:0.01 [[ 9.94495936e-01 -1.04419759e-01 -8.62251923e-03 6.35261407e+00] [ 1.04420313e-01 9.94533181e-01 -3.87180781e-04 1.60528662e-01] [ 8.61581080e-03 -5.15316444e-04 9.99962750e-01 1.15207701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.38, Y:0.16, Z:0.02 [[ 0.99433639 -0.10592295 -0.00868767 6.37797519] [ 0.10598434 0.9943436 0.00693771 0.15724735] [ 0.00790367 -0.00781917 0.99993819 0.01804023] [ 0. 0. 0. 1. ]] SLAMing on 7.702755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.41, Y:0.16, Z:0.02 [[ 9.94276799e-01 -1.06533595e-01 -8.01497020e-03 6.40545565e+00] [ 1.06533649e-01 9.94309008e-01 -4.21417890e-04 1.62726184e-01] [ 8.01425224e-03 -4.34857990e-04 9.99967791e-01 1.64219528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.732755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.43, Y:0.16, Z:0.02 [[ 9.94269368e-01 -1.06614943e-01 -7.85346913e-03 6.43231385e+00] [ 1.06614981e-01 9.94300293e-01 -4.15051205e-04 1.63725384e-01] [ 7.85295732e-03 -4.24624763e-04 9.99969075e-01 1.75617617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:6.46, Y:0.16, Z:0.02 [[ 9.94296498e-01 -1.06186708e-01 -9.94267469e-03 6.46356575e+00] [ 1.06237352e-01 9.94329642e-01 4.71051170e-03 1.60337857e-01] [ 9.38610243e-03 -5.73992871e-03 9.99939475e-01 1.87155329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7927550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.49, Y:0.16, Z:0.02 [[ 0.99443659 -0.1047395 -0.01120265 6.49274777] [ 0.10481954 0.99446793 0.0068118 0.16053434] [ 0.01042721 -0.00794816 0.99991405 0.02295352] [ 0. 0. 0. 1. ]] SLAMing on 7.822755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:0.17, Z:0.01 [[ 0.99459099 -0.10358926 -0.00761693 6.52014381] [ 0.10348795 0.99454999 -0.0126709 0.17491594] [ 0.00888799 0.0118141 0.99989071 0.01259959] [ 0. 0. 0. 1. ]] SLAMing on 7.852755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:0.17, Z:0.02 [[ 9.94608844e-01 -1.03310548e-01 -8.95417624e-03 6.54551665e+00] [ 1.03318462e-01 9.94648237e-01 4.24673232e-04 1.70467952e-01] [ 8.86238239e-03 -1.34751547e-03 9.99959820e-01 1.83141222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.882755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.57, Y:0.17, Z:0.02 [[ 9.94930346e-01 -1.00153461e-01 -9.10439819e-03 6.57388342e+00] [ 1.00153027e-01 9.94971917e-01 -5.04764933e-04 1.72554933e-01] [ 9.10917447e-03 -4.09627089e-04 9.99958427e-01 1.78658561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.912755096000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.60, Y:0.17, Z:0.02 [[ 9.95060579e-01 -9.87886242e-02 -9.75974125e-03 6.60105815e+00] [ 9.87880388e-02 9.95108350e-01 -5.43227918e-04 1.74086785e-01] [ 9.76566475e-03 -4.23601011e-04 9.99952225e-01 1.81348232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.942755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:0.19, Z:0.02 [[ 0.99507618 -0.09812536 -0.01395752 6.6296443 ] [ 0.09787688 0.99504476 -0.01749414 0.18544973] [ 0.01560497 0.01604188 0.99974954 0.01504587] [ 0. 0. 0. 1. ]] SLAMing on 7.972755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:0.17, Z:0.02 [[ 0.99538797 -0.0951305 -0.01236829 6.65739769] [ 0.09532178 0.99531915 0.01592342 0.1668271 ] [ 0.0107956 -0.01702895 0.99979671 0.02405048] [ 0. 0. 0. 1. ]] SLAMing on 8.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:0.18, Z:0.01 [[ 0.9954587 -0.0946911 -0.00977636 6.6860171 ] [ 0.09460448 0.9954745 -0.00897294 0.18207677] [ 0.01058177 0.0080073 0.99991195 0.01349068] [ 0. 0. 0. 1. ]] SLAMing on 8.032755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.71, Y:0.18, Z:0.02 [[ 0.99580876 -0.09072256 -0.01158984 6.7128882 ] [ 0.09081617 0.99583695 0.00782238 0.17575396] [ 0.01083193 -0.00884214 0.99990224 0.02293757] [ 0. 0. 0. 1. ]] SLAMing on 8.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:0.18, Z:0.02 [[ 9.95942259e-01 -8.91502297e-02 -1.22984931e-02 6.73955781e+00] [ 8.90844277e-02 9.96007195e-01 -5.79941104e-03 1.84932697e-01] [ 1.27664064e-02 4.68027432e-03 9.99907553e-01 1.92716861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:0.18, Z:0.02 [[ 9.95909488e-01 -8.95252872e-02 -1.22275932e-02 6.76900615e+00] [ 8.95820483e-02 9.95970696e-01 4.17492646e-03 1.80615447e-01] [ 1.18045630e-02 -5.25322172e-03 9.99916524e-01 2.17641199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.80, Y:0.19, Z:0.02 [[ 0.99579532 -0.09051825 -0.0140755 6.79609404] [ 0.09038364 0.99585758 -0.00992346 0.19025908] [ 0.01491545 0.00860954 0.99985169 0.0187952 ] [ 0. 0. 0. 1. ]] SLAMing on 8.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.82, Y:0.18, Z:0.02 [[ 0.99581287 -0.09079984 -0.01058822 6.82465573] [ 0.09089346 0.99582241 0.00872346 0.18185263] [ 0.00975189 -0.00964934 0.99990589 0.02342854] [ 0. 0. 0. 1. ]] SLAMing on 8.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.85, Y:0.19, Z:0.02 [[ 0.99558097 -0.09297716 -0.01318245 6.85157203] [ 0.09281676 0.99560724 -0.01229924 0.19221817] [ 0.01426809 0.01102134 0.99983746 0.01937192] [ 0. 0. 0. 1. ]] SLAMing on 8.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:0.18, Z:0.03 [[ 0.99539476 -0.09516728 -0.01150924 6.88067835] [ 0.09529138 0.99539125 0.01076185 0.18155353] [ 0.01043202 -0.01180902 0.99987585 0.0260205 ] [ 0. 0. 0. 1. ]] SLAMing on 8.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.91, Y:0.19, Z:0.02 [[ 9.95233920e-01 -9.69613497e-02 -1.03894839e-02 6.90815623e+00] [ 9.69603398e-02 9.95288064e-01 -6.02054162e-04 1.90802302e-01] [ 1.03989053e-02 -4.08183163e-04 9.99945847e-01 2.19353269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.94, Y:0.19, Z:0.02 [[ 9.95076425e-01 -9.85678900e-02 -1.03576042e-02 6.93573855e+00] [ 9.85669395e-02 9.95130240e-01 -6.03442800e-04 1.93238088e-01] [ 1.03666452e-02 -4.20445638e-04 9.99946176e-01 2.23653742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:0.19, Z:0.02 [[ 9.94827181e-01 -1.01274001e-01 -7.90298993e-03 6.96301063e+00] [ 1.01273514e-01 9.94858513e-01 -4.62782001e-04 1.93946609e-01] [ 7.90922459e-03 -3.39975446e-04 9.99968664e-01 2.20632335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.99, Y:0.21, Z:0.02 [[ 0.99426855 -0.10648381 -0.0095528 6.99185471] [ 0.10626621 0.99411685 -0.02095659 0.21076185] [ 0.01172813 0.01982133 0.99973475 0.01552369] [ 0. 0. 0. 1. ]] SLAMing on 8.362755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.02, Y:0.18, Z:0.04 [[ 0.99420838 -0.10653094 -0.01417268 7.02296768] [ 0.1068203 0.99404535 0.02152365 0.18457194] [ 0.01179535 -0.02291293 0.99966788 0.03686841] [ 0. 0. 0. 1. ]] SLAMing on 8.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:0.20, Z:0.03 [[ 9.93832857e-01 -1.09911877e-01 -1.46844187e-02 7.05202628e+00] [ 1.09811610e-01 9.93924342e-01 -7.47080395e-03 2.03511611e-01] [ 1.54163313e-02 5.81221078e-03 9.99864268e-01 2.85211050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.20, Z:0.03 [[ 9.93912025e-01 -1.09257883e-01 -1.41986744e-02 7.07813408e+00] [ 1.09349972e-01 9.93985935e-01 5.87752436e-03 1.97761799e-01] [ 1.34711167e-02 -7.39436679e-03 9.99881919e-01 3.13874392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.11, Y:0.20, Z:0.03 [[ 9.93877714e-01 -1.09498928e-01 -1.47334312e-02 7.10532453e+00] [ 1.09498050e-01 9.93986631e-01 -8.68687235e-04 2.04186982e-01] [ 1.47399540e-02 -7.49913106e-04 9.99891080e-01 2.90472687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.13, Y:0.21, Z:0.03 [[ 9.93862501e-01 -1.09557087e-01 -1.53157919e-02 7.13332185e+00] [ 1.09556092e-01 9.93980201e-01 -9.06491409e-04 2.06436795e-01] [ 1.53229065e-02 -7.77010488e-04 9.99882295e-01 2.91964707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.16, Y:0.21, Z:0.03 [[ 9.93993746e-01 -1.08356719e-01 -1.53380069e-02 7.16152323e+00] [ 1.08355505e-01 9.94111790e-01 -9.12600940e-04 2.07988884e-01] [ 1.53465799e-02 -7.54837850e-04 9.99881949e-01 2.93972239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.19, Y:0.21, Z:0.03 [[ 9.94105302e-01 -1.07294850e-01 -1.55712148e-02 7.19001844e+00] [ 1.07293393e-01 9.94226966e-01 -9.31389226e-04 2.09979029e-01] [ 1.55812549e-02 -7.44789490e-04 9.99878327e-01 3.01862475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.22, Y:0.22, Z:0.02 [[ 0.99443999 -0.10433535 -0.01425647 7.21813758] [ 0.10419137 0.99450188 -0.01049607 0.21850651] [ 0.0152732 0.00895231 0.99984328 0.02372952] [ 0. 0. 0. 1. ]] SLAMing on 8.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.25, Y:0.21, Z:0.03 [[ 9.94602851e-01 -1.02738292e-01 -1.44918117e-02 7.24769033e+00] [ 1.02729897e-01 9.94708407e-01 -1.32451166e-03 2.14979503e-01] [ 1.45512050e-02 -1.71379253e-04 9.99894111e-01 2.71568691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.28, Y:0.21, Z:0.04 [[ 0.99477385 -0.10063719 -0.01723787 7.27680366] [ 0.10083817 0.99483964 0.0112141 0.20842639] [ 0.01602036 -0.01289373 0.99978853 0.0355137 ] [ 0. 0. 0. 1. ]] SLAMing on 8.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:0.22, Z:0.03 [[ 9.95013144e-01 -9.84318794e-02 -1.61247563e-02 7.30334866e+00] [ 9.83852240e-02 9.95141662e-01 -3.66349522e-03 2.19263126e-01] [ 1.64070215e-02 2.05878814e-03 9.99863276e-01 3.05896524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.692755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:0.22, Z:0.03 [[ 9.94978237e-01 -9.88364590e-02 -1.58006752e-02 7.33057816e+00] [ 9.88335791e-02 9.95103508e-01 -9.64944693e-04 2.20718923e-01] [ 1.58186791e-02 -6.01538315e-04 9.99874696e-01 3.28002861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:0.22, Z:0.03 [[ 9.95074976e-01 -9.80888393e-02 -1.42958975e-02 7.35897087e+00] [ 9.80863624e-02 9.95177521e-01 -8.76002578e-04 2.21167529e-01] [ 1.43128819e-02 -5.30544340e-04 9.99897425e-01 3.41702293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:0.22, Z:0.03 [[ 9.95046984e-01 -9.83724305e-02 -1.42956373e-02 7.38748064e+00] [ 9.83699221e-02 9.95149528e-01 -8.80232706e-04 2.23084963e-01] [ 1.43128874e-02 -5.30387830e-04 9.99897425e-01 3.44022611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:0.23, Z:0.03 [[ 0.99516625 -0.09751193 -0.01164327 7.41782586] [ 0.0973716 0.99517493 -0.01206756 0.22965906] [ 0.01276382 0.0108755 0.99985939 0.02763465] [ 0. 0. 0. 1. ]] SLAMing on 8.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:0.22, Z:0.04 [[ 0.99502798 -0.09860795 -0.01399264 7.44364617] [ 0.09875886 0.99505561 0.0105365 0.21978132] [ 0.01288447 -0.01186601 0.99984658 0.03923015] [ 0. 0. 0. 1. ]] SLAMing on 8.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.47, Y:0.23, Z:0.04 [[ 9.94987982e-01 -9.92071507e-02 -1.25242618e-02 7.47051168e+00] [ 9.92051850e-02 9.95066693e-01 -7.79650804e-04 2.28470348e-01] [ 1.25398227e-02 -4.66728529e-04 9.99921264e-01 3.51896296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.50, Y:0.23, Z:0.04 [[ 9.94909754e-01 -1.00094549e-01 -1.16474263e-02 7.49820882e+00] [ 1.00092878e-01 9.94977832e-01 -7.27765771e-04 2.30363723e-01] [ 1.16617764e-02 -4.41763155e-04 9.99931902e-01 3.58093792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.53, Y:0.23, Z:0.04 [[ 9.94863662e-01 -1.00600704e-01 -1.12156921e-02 7.52543092e+00] [ 1.00599155e-01 9.94926789e-01 -7.03651845e-04 2.32288386e-01] [ 1.12295804e-02 -4.28251490e-04 9.99936855e-01 3.58494831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.55, Y:0.24, Z:0.03 [[ 0.99473276 -0.10222092 -0.00759109 7.55498808] [ 0.1021154 0.99468515 -0.01318679 0.24059201] [ 0.00889871 0.01234217 0.99988424 0.02684057] [ 0. 0. 0. 1. ]] SLAMing on 8.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:0.23, Z:0.04 [[ 0.99462326 -0.1028748 -0.01188913 7.58252348] [ 0.10301714 0.99460656 0.01205268 0.22752812] [ 0.01058509 -0.01321266 0.99985668 0.04055296] [ 0. 0. 0. 1. ]] SLAMing on 8.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:0.24, Z:0.04 [[ 9.94518309e-01 -1.03944047e-01 -1.13564239e-02 7.61002253e+00] [ 1.03942592e-01 9.94583038e-01 -7.19886863e-04 2.36296422e-01] [ 1.13697346e-02 -4.64475476e-04 9.99935255e-01 3.64185634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:0.24, Z:0.03 [[ 0.99416531 -0.10740467 -0.00997904 7.63798079] [ 0.10731694 0.99418459 -0.00894798 0.24436475] [ 0.01088207 0.00782485 0.99991017 0.02910133] [ 0. 0. 0. 1. ]] SLAMing on 9.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.66, Y:0.26, Z:0.02 [[ 9.93537663e-01 -1.13333630e-01 -6.19677257e-03 7.65839734e+00] [ 1.13219180e-01 9.93433835e-01 -1.64509185e-02 2.56947992e-01] [ 8.02052584e-03 1.56430137e-02 9.99845472e-01 2.23952203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.70, Y:0.23, Z:0.04 [[ 0.99387966 -0.10940909 -0.01525995 7.69683527] [ 0.10975411 0.99366951 0.02397808 0.22858951] [ 0.01253993 -0.02550617 0.99959601 0.04416369] [ 0. 0. 0. 1. ]] SLAMing on 9.112755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:0.24, Z:0.04 [[ 9.93750173e-01 -1.10785518e-01 -1.36807373e-02 7.72396263e+00] [ 1.10783960e-01 9.93844128e-01 -8.74004937e-04 2.44597715e-01] [ 1.36933475e-02 -6.47063701e-04 9.99906032e-01 3.60113110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.75, Y:0.25, Z:0.04 [[ 9.93652766e-01 -1.11660002e-01 -1.36464195e-02 7.75174082e+00] [ 1.11658478e-01 9.93746254e-01 -8.75895839e-04 2.45922309e-01] [ 1.36588808e-02 -6.53402106e-04 9.99906500e-01 3.61937700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:0.25, Z:0.04 [[ 9.93524090e-01 -1.12726913e-01 -1.42311570e-02 7.77924033e+00] [ 1.12725316e-01 9.93625766e-01 -9.16885109e-04 2.46964288e-01] [ 1.42438019e-02 -6.93264218e-04 9.99898312e-01 3.70967241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:7.81, Y:0.25, Z:0.04 [[ 9.93453203e-01 -1.13316397e-01 -1.44957510e-02 7.80737526e+00] [ 1.13314761e-01 9.93558698e-01 -9.36767548e-04 2.49357666e-01] [ 1.45085306e-02 -7.11947847e-04 9.99894492e-01 3.73768718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.83, Y:0.25, Z:0.04 [[ 9.93542840e-01 -1.12541717e-01 -1.43870717e-02 7.83458497e+00] [ 1.12539978e-01 9.93646760e-01 -9.33037143e-04 2.52884935e-01] [ 1.44006727e-02 -6.92108354e-04 9.99896065e-01 3.70656038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.86, Y:0.26, Z:0.04 [[ 9.93699628e-01 -1.11074227e-01 -1.49520987e-02 7.86171781e+00] [ 1.11072153e-01 9.93811870e-01 -9.71622593e-04 2.55037656e-01] [ 1.49674954e-02 -6.95260784e-04 9.99887739e-01 3.75204265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.89, Y:0.26, Z:0.04 [[ 9.93843704e-01 -1.09763475e-01 -1.50556439e-02 7.88977507e+00] [ 1.09761177e-01 9.93957505e-01 -9.81342396e-04 2.57311055e-01] [ 1.50723858e-02 -6.77224232e-04 9.99886176e-01 3.77798772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.92, Y:0.26, Z:0.04 [[ 9.94316415e-01 -1.05361150e-01 -1.52936063e-02 7.91662605e+00] [ 1.05358205e-01 9.94433833e-01 -1.00039288e-03 2.59420654e-01] [ 1.53138821e-02 -6.16599857e-04 9.99882546e-01 3.83696433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:0.26, Z:0.04 [[ 9.94561063e-01 -1.03003330e-01 -1.54468722e-02 7.94476022e+00] [ 1.02999995e-01 9.94680840e-01 -1.01345325e-03 2.61644301e-01] [ 1.54690968e-02 -5.83086603e-04 9.99880176e-01 3.87493765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.97, Y:0.26, Z:0.04 [[ 9.94796835e-01 -1.00645801e-01 -1.58012837e-02 7.97319931e+00] [ 1.00641942e-01 9.94922165e-01 -1.04122996e-03 2.64114154e-01] [ 1.58258428e-02 -5.54459610e-04 9.99874610e-01 3.95528804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.412755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.00, Y:0.27, Z:0.04 [[ 9.95171906e-01 -9.68382714e-02 -1.59758005e-02 7.99969733e+00] [ 9.68337823e-02 9.95300007e-01 -1.05612297e-03 2.67751958e-01] [ 1.60029875e-02 -4.95973285e-04 9.99871821e-01 3.95275493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:0.27, Z:0.04 [[ 9.95301625e-01 -9.53970059e-02 -1.65555825e-02 8.02802634e+00] [ 9.53919302e-02 9.95439187e-01 -1.09780648e-03 2.70602474e-01] [ 1.65848031e-02 -4.86620402e-04 9.99862344e-01 4.03448590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.05, Y:0.27, Z:0.04 [[ 9.95490865e-01 -9.34155599e-02 -1.64763860e-02 8.05462572e+00] [ 9.34102036e-02 9.95627105e-01 -1.09605914e-03 2.72856476e-01] [ 1.65067255e-02 -4.47945711e-04 9.99863654e-01 4.08744416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.08, Y:0.27, Z:0.04 [[ 9.95512993e-01 -9.32164409e-02 -1.62658021e-02 8.08257906e+00] [ 9.32111417e-02 9.95645773e-01 -1.08526717e-03 2.73900758e-01] [ 1.62961418e-02 -4.35756415e-04 9.99867114e-01 4.17117181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.11, Y:0.27, Z:0.04 [[ 9.95470810e-01 -9.36899656e-02 -1.61262647e-02 8.11064525e+00] [ 9.36847452e-02 9.95601326e-01 -1.08052547e-03 2.74810323e-01] [ 1.61565650e-02 -4.35153436e-04 9.99869379e-01 4.27019897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.14, Y:0.28, Z:0.04 [[ 9.95329199e-01 -9.53240297e-02 -1.52680772e-02 8.13771478e+00] [ 9.53194939e-02 9.95446202e-01 -1.02618336e-03 2.75753743e-01] [ 1.52963693e-02 -4.33955125e-04 9.99882910e-01 4.35961912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.592755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:8.17, Y:0.28, Z:0.04 [[ 9.95153951e-01 -9.72012450e-02 -1.48503443e-02 8.16561538e+00] [ 9.71971220e-02 9.95264647e-01 -1.00084397e-03 2.78439228e-01] [ 1.48773060e-02 -4.47416896e-04 9.99889227e-01 4.35144353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:0.28, Z:0.04 [[ 9.94965719e-01 -9.92182341e-02 -1.41052970e-02 8.19322881e+00] [ 9.92146630e-02 9.95065596e-01 -9.54439671e-04 2.81077166e-01] [ 1.41303936e-02 -4.49817538e-04 9.99900060e-01 4.31742718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.22, Y:0.28, Z:0.04 [[ 9.94562430e-01 -1.03241144e-01 -1.36688767e-02 8.22147204e+00] [ 1.03238117e-01 9.94656236e-01 -9.28786145e-04 2.82153773e-01] [ 1.36917224e-02 -4.87413286e-04 9.99906145e-01 4.30932284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:8.26, Y:0.25, Z:0.08 [[ 0.99452388 -0.10117013 -0.02620813 8.25726003] [ 0.10236881 0.99352128 0.04935685 0.24967759] [ 0.0210449 -0.05176946 0.9984373 0.07558266] [ 0. 0. 0. 1. ]] SLAMing on 9.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.28, Y:0.31, Z:0.03 [[ 0.99365735 -0.11198803 -0.01018559 8.27722474] [ 0.11131655 0.99242557 -0.05196265 0.31252343] [ 0.01592763 0.05049924 0.99859708 0.02784107] [ 0. 0. 0. 1. ]] SLAMing on 9.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.31, Y:0.29, Z:0.04 [[ 9.93377141e-01 -1.14126403e-01 -1.33048976e-02 8.30755596e+00] [ 1.14124379e-01 9.93466049e-01 -9.13762901e-04 2.85451502e-01] [ 1.33222486e-02 -6.10701995e-04 9.99911068e-01 4.34882438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:0.29, Z:0.04 [[ 9.93217162e-01 -1.15549760e-01 -1.29585150e-02 8.33495925e+00] [ 1.15547919e-01 9.93301505e-01 -8.93169881e-04 2.87956321e-01] [ 1.29749181e-02 -6.10217790e-04 9.99915636e-01 4.34388512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.36, Y:0.29, Z:0.04 [[ 9.92936501e-01 -1.17907883e-01 -1.32225367e-02 8.36318244e+00] [ 1.17906140e-01 9.93024323e-01 -9.14020828e-04 2.91082804e-01] [ 1.32380708e-02 -6.51453616e-04 9.99912161e-01 4.29678391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.39, Y:0.29, Z:0.04 [[ 9.92785976e-01 -1.19117722e-01 -1.36738645e-02 8.39046584e+00] [ 1.19115925e-01 9.92879900e-01 -9.48622640e-04 2.93162903e-01] [ 1.36895030e-02 -6.86995771e-04 9.99906058e-01 4.28074126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:0.30, Z:0.04 [[ 9.92578001e-01 -1.20753245e-01 -1.44071651e-02 8.41830277e+00] [ 1.20751379e-01 9.92682275e-01 -1.00252726e-03 2.95518399e-01] [ 1.44227959e-02 -7.44598554e-04 9.99895709e-01 4.24028236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.44, Y:0.30, Z:0.04 [[ 9.92726705e-01 -1.19366148e-01 -1.56655988e-02 8.44455992e+00] [ 1.19294644e-01 9.92844072e-01 -5.42554588e-03 2.99339871e-01] [ 1.62011234e-02 3.51726227e-03 9.99862567e-01 4.14233357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.30, Z:0.04 [[ 9.92591030e-01 -1.20537110e-01 -1.52922580e-02 8.47520529e+00] [ 1.20596326e-01 9.92697073e-01 3.00778661e-03 2.97461409e-01] [ 1.48180299e-02 -4.82969215e-03 9.99878543e-01 4.39808652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:0.31, Z:0.04 [[ 0.99273962 -0.11886675 -0.01840509 8.50284636] [ 0.11853995 0.9927873 -0.01793485 0.31267765] [ 0.0204042 0.0156229 0.99966974 0.03948411] [ 0. 0. 0. 1. ]] SLAMing on 9.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.53, Y:0.31, Z:0.05 [[ 9.92908311e-01 -1.17413002e-01 -1.86352833e-02 8.53159162e+00] [ 1.17455691e-01 9.93077388e-01 1.20919949e-03 3.05112873e-01] [ 1.83643028e-02 -3.38944430e-03 9.99825617e-01 4.58197148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.56, Y:0.31, Z:0.05 [[ 9.93018716e-01 -1.16771930e-01 -1.66777278e-02 8.56089477e+00] [ 1.16884579e-01 9.93127717e-01 5.94408088e-03 3.06253601e-01] [ 1.58690120e-02 -7.85195276e-03 9.99843248e-01 4.69331651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.59, Y:0.31, Z:0.05 [[ 9.93528321e-01 -1.12896117e-01 -1.24877097e-02 8.58709700e+00] [ 1.12976256e-01 9.93580126e-01 5.90751729e-03 3.09804306e-01] [ 1.17406045e-02 -7.28010042e-03 9.99904575e-01 4.67045495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.072755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.62, Y:0.32, Z:0.05 [[ 9.93689117e-01 -1.11594254e-01 -1.13428492e-02 8.61511384e+00] [ 1.11592339e-01 9.93753744e-01 -8.03648970e-04 3.16300553e-01] [ 1.13616815e-02 -4.67197837e-04 9.99935345e-01 4.50643308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.64, Y:0.32, Z:0.04 [[ 9.94008009e-01 -1.08801773e-01 -1.05000715e-02 8.64347038e+00] [ 1.08799945e-01 9.94063385e-01 -7.46898734e-04 3.19620989e-01] [ 1.05190006e-02 -3.99983881e-04 9.99944594e-01 4.49602814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.132755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.67, Y:0.33, Z:0.04 [[ 0.99407692 -0.10782229 -0.0136174 8.67147733] [ 0.10757644 0.99404004 -0.01765536 0.33235052] [ 0.01543989 0.01608587 0.9997514 0.04141747] [ 0. 0. 0. 1. ]] SLAMing on 10.162755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.70, Y:0.32, Z:0.05 [[ 0.99417278 -0.10714091 -0.01188699 8.70096717] [ 0.10732023 0.99410149 0.01563986 0.31647877] [ 0.0101412 -0.01682444 0.99980703 0.04975977] [ 0. 0. 0. 1. ]] SLAMing on 10.192755095999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.73, Y:0.33, Z:0.04 [[ 9.94157602e-01 -1.07436431e-01 -1.03959404e-02 8.72874866e+00] [ 1.07434483e-01 9.94211886e-01 -7.47254395e-04 3.28844779e-01] [ 1.04160499e-02 -3.73993851e-04 9.99945682e-01 4.38724030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:0.33, Z:0.04 [[ 9.94023290e-01 -1.08642622e-01 -1.06994998e-02 8.75598230e+00] [ 1.08640595e-01 9.94080794e-01 -7.72137311e-04 3.30896240e-01] [ 1.07200543e-02 -3.94877561e-04 9.99942461e-01 4.41939005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.252755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.78, Y:0.33, Z:0.04 [[ 9.93855741e-01 -1.10241261e-01 -9.88078315e-03 8.78392392e+00] [ 1.10239597e-01 9.93904785e-01 -7.14527402e-04 3.32428233e-01] [ 9.89932805e-03 -3.79116392e-04 9.99950929e-01 4.43777107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.81, Y:0.34, Z:0.04 [[ 0.99335169 -0.11451629 -0.0117657 8.81104059] [ 0.11434018 0.99333308 -0.01468702 0.34127822] [ 0.01336917 0.01324408 0.99982291 0.04185515] [ 0. 0. 0. 1. ]] SLAMing on 10.312755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.84, Y:0.33, Z:0.05 [[ 9.93162354e-01 -1.16220115e-01 -1.10192559e-02 8.83936130e+00] [ 1.16269861e-01 9.93209667e-01 3.98457743e-03 3.32213742e-01] [ 1.04813434e-02 -5.23853964e-03 9.99931347e-01 4.67586065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.87, Y:0.34, Z:0.04 [[ 9.92545272e-01 -1.21413798e-01 -1.06099826e-02 8.86774714e+00] [ 1.21362186e-01 9.92593699e-01 -5.38232230e-03 3.39912971e-01] [ 1.11848901e-02 4.05454787e-03 9.99929227e-01 4.43069120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.89, Y:0.33, Z:0.05 [[ 9.92349336e-01 -1.23180274e-01 -8.33156815e-03 8.89470650e+00] [ 1.23279378e-01 9.92291202e-01 1.26635100e-02 3.31762806e-01] [ 6.70744714e-03 -1.35937363e-02 9.99885104e-01 4.84641193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.92, Y:0.35, Z:0.04 [[ 0.99194666 -0.12623145 -0.01036528 8.92160806] [ 0.12605935 0.99189602 -0.01585338 0.35076449] [ 0.01228248 0.01441907 0.9998206 0.0410473 ] [ 0. 0. 0. 1. ]] SLAMing on 10.432755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.95, Y:0.36, Z:0.03 [[ 9.91635157e-01 -1.28769915e-01 -8.83309461e-03 8.95184563e+00] [ 1.28551333e-01 9.91459340e-01 -2.19757246e-02 3.56242415e-01] [ 1.15874663e-02 2.06563950e-02 9.99719483e-01 3.38564397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:8.98, Y:0.33, Z:0.05 [[ 0.99156172 -0.12886397 -0.014122 8.97990214] [ 0.12916395 0.99135837 0.02291851 0.33264696] [ 0.01104659 -0.02454917 0.99963759 0.05244141] [ 0. 0. 0. 1. ]] SLAMing on 10.492755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:9.01, Y:0.36, Z:0.04 [[ 9.91218806e-01 -1.31913237e-01 -9.17474471e-03 9.01086359e+00] [ 1.31833374e-01 9.91232594e-01 -8.82640425e-03 3.55201206e-01] [ 1.02586256e-02 7.53936033e-03 9.99918956e-01 3.70377283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.04, Y:0.34, Z:0.06 [[ 0.99130744 -0.1305071 -0.01665686 9.03822711] [ 0.13083749 0.99119017 0.02058148 0.3391989 ] [ 0.01382409 -0.02258192 0.99964941 0.05591118] [ 0. 0. 0. 1. ]] SLAMing on 10.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:0.35, Z:0.05 [[ 9.91295215e-01 -1.30781621e-01 -1.51645525e-02 9.06413873e+00] [ 1.30779572e-01 9.91410825e-01 -1.13098007e-03 3.53743122e-01] [ 1.51822129e-02 -8.62078558e-04 9.99884372e-01 4.99271686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:0.36, Z:0.05 [[ 9.91437600e-01 -1.29663942e-01 -1.54514501e-02 9.09222088e+00] [ 1.29661642e-01 9.91557626e-01 -1.15479282e-03 3.56243608e-01] [ 1.54707382e-02 -8.58555368e-04 9.99879952e-01 5.08691498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.12, Y:0.36, Z:0.05 [[ 9.91306630e-01 -1.30806296e-01 -1.41731319e-02 9.11822250e+00] [ 1.30767381e-01 9.91406387e-01 -3.64244146e-03 3.63159467e-01] [ 1.45277878e-02 1.75739303e-03 9.99892922e-01 4.86486608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.15, Y:0.36, Z:0.05 [[ 9.91284956e-01 -1.30945957e-01 -1.43976219e-02 9.14679406e+00] [ 1.30941897e-01 9.91389283e-01 -1.22833873e-03 3.63948820e-01] [ 1.44344940e-02 -6.67618226e-04 9.99895594e-01 4.97978520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.672755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.18, Y:0.36, Z:0.05 [[ 9.91785176e-01 -1.26992781e-01 -1.53296779e-02 9.17657768e+00] [ 1.27028303e-01 9.91898157e-01 1.36219810e-03 3.62603785e-01] [ 1.50324899e-02 -3.29831084e-03 9.99881566e-01 5.22109082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.20, Y:0.37, Z:0.05 [[ 9.92247607e-01 -1.23339428e-01 -1.52338926e-02 9.20329054e+00] [ 1.23336264e-01 9.92364269e-01 -1.15056878e-03 3.67678787e-01] [ 1.52594812e-02 -7.37242286e-04 9.99883296e-01 5.16276413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:0.37, Z:0.05 [[ 9.92500692e-01 -1.21318043e-01 -1.49769781e-02 9.23055253e+00] [ 1.21314726e-01 9.92613446e-01 -1.13315021e-03 3.70000437e-01] [ 1.50038214e-02 -6.92275620e-04 9.99887197e-01 5.18307258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:0.38, Z:0.05 [[ 9.92651230e-01 -1.20361154e-01 -1.25191217e-02 9.25559991e+00] [ 1.20283414e-01 9.92716370e-01 -6.79034840e-03 3.79311842e-01] [ 1.32452312e-02 5.23460500e-03 9.99898576e-01 4.83536308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.29, Y:0.38, Z:0.05 [[ 9.93078386e-01 -1.16485044e-01 -1.50516921e-02 9.28505484e+00] [ 1.16484782e-01 9.93192071e-01 -8.97126388e-04 3.76632334e-01] [ 1.50537231e-02 -8.62376245e-04 9.99886314e-01 5.26318679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.31, Y:0.38, Z:0.05 [[ 9.93078058e-01 -1.16735045e-01 -1.29961240e-02 9.31248228e+00] [ 1.16666924e-01 9.93153665e-01 -5.88447865e-03 3.84741641e-01] [ 1.35940731e-02 4.32752882e-03 9.99898232e-01 4.94458655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.34, Y:0.39, Z:0.05 [[ 9.93324637e-01 -1.14857709e-01 -1.06710902e-02 9.33885893e+00] [ 1.14798880e-01 9.93370797e-01 -5.97304828e-03 3.87931170e-01] [ 1.12864000e-02 4.70814682e-03 9.99925222e-01 4.63243914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.37, Y:0.38, Z:0.06 [[ 0.99400012 -0.10829201 -0.01538162 9.36988662] [ 0.10852195 0.99398096 0.01499427 0.37538149] [ 0.01366528 -0.01657355 0.99976926 0.06003274] [ 0. 0. 0. 1. ]] SLAMing on 10.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.40, Y:0.40, Z:0.05 [[ 0.99399814 -0.10885022 -0.01092398 9.39680578] [ 0.10864819 0.99392371 -0.01764188 0.39825723] [ 0.01277793 0.01634912 0.99978469 0.04655493] [ 0. 0. 0. 1. ]] SLAMing on 10.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:0.39, Z:0.06 [[ 9.94037484e-01 -1.07705101e-01 -1.70026949e-02 9.42673406e+00] [ 1.07758570e-01 9.94174528e-01 2.25784949e-03 3.88424298e-01] [ 1.66604643e-02 -4.07657311e-03 9.99852894e-01 5.83605963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:0.39, Z:0.06 [[ 9.94115509e-01 -1.07298308e-01 -1.48804328e-02 9.45298312e+00] [ 1.07408526e-01 9.94191616e-01 6.81456357e-03 3.89703288e-01] [ 1.40628104e-02 -8.37274868e-03 9.99866058e-01 5.80329799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.48, Y:0.39, Z:0.06 [[ 9.94198501e-01 -1.06373984e-01 -1.59347462e-02 9.48159245e+00] [ 1.06447112e-01 9.94311062e-01 3.81116360e-03 3.92194769e-01] [ 1.54386858e-02 -5.48526085e-03 9.99865770e-01 5.99247856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.51, Y:0.41, Z:0.05 [[ 0.99371611 -0.1108817 -0.01528228 9.51054687] [ 0.11052563 0.99361961 -0.02245334 0.41216353] [ 0.01767444 0.02062316 0.99963108 0.05051171] [ 0. 0. 0. 1. ]] SLAMing on 11.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.54, Y:0.40, Z:0.06 [[ 9.93631620e-01 -1.11563137e-01 -1.58072839e-02 9.54015959e+00] [ 1.11698000e-01 9.93710640e-01 7.91967355e-03 3.97527739e-01] [ 1.48243226e-02 -9.63488006e-03 9.99843692e-01 5.96745256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.57, Y:0.40, Z:0.06 [[ 9.93460366e-01 -1.13182574e-01 -1.50401788e-02 9.56792726e+00] [ 1.13187703e-01 9.93573491e-01 -5.12517891e-04 4.04282406e-01] [ 1.50015310e-02 -1.19319709e-03 9.99886759e-01 5.78678349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.59, Y:0.41, Z:0.06 [[ 9.92991748e-01 -1.17106681e-01 -1.59189577e-02 9.59428234e+00] [ 1.17006719e-01 9.93105919e-01 -7.07536899e-03 4.10587444e-01] [ 1.66377841e-02 5.16315802e-03 9.99848251e-01 5.62054695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.62, Y:0.40, Z:0.06 [[ 0.99314943 -0.11579086 -0.01570627 9.61999648] [ 0.11601678 0.99314393 0.01432651 0.39933209] [ 0.01393971 -0.01605055 0.99977401 0.06276396] [ 0. 0. 0. 1. ]] SLAMing on 11.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.65, Y:0.42, Z:0.05 [[ 0.99258277 -0.12035648 -0.0171393 9.65087593] [ 0.12010617 0.99264838 -0.01495669 0.41997141] [ 0.01881343 0.01278722 0.99974124 0.05476819] [ 0. 0. 0. 1. ]] SLAMing on 11.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.68, Y:0.41, Z:0.06 [[ 9.92408657e-01 -1.21023240e-01 -2.18731065e-02 9.68101057e+00] [ 1.21205907e-01 9.92601106e-01 7.22303317e-03 4.10000777e-01] [ 2.08371149e-02 -9.81935037e-03 9.99734662e-01 6.36609553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.71, Y:0.42, Z:0.06 [[ 9.92317733e-01 -1.21785754e-01 -2.17657360e-02 9.70901756e+00] [ 1.21779156e-01 9.92555877e-01 -1.63331221e-03 4.18578037e-01] [ 2.18026234e-02 -1.02984829e-03 9.99761764e-01 6.09733236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.74, Y:0.42, Z:0.06 [[ 9.92225204e-01 -1.22540732e-01 -2.17465634e-02 9.73645714e+00] [ 1.22480491e-01 9.92462511e-01 -4.08581223e-03 4.23157512e-01] [ 2.20833273e-02 1.39051611e-03 9.99755167e-01 6.02115504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:0.43, Z:0.06 [[ 9.91999426e-01 -1.24714513e-01 -1.95813533e-02 9.76464262e+00] [ 1.24504482e-01 9.92151158e-01 -1.16066443e-02 4.31705926e-01] [ 2.08751793e-02 9.07581820e-03 9.99740895e-01 5.51994050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:0.42, Z:0.07 [[ 0.99187558 -0.1248679 -0.02430717 9.79418025] [ 0.12523256 0.9920272 0.01410138 0.4179824 ] [ 0.02235256 -0.01703086 0.99960508 0.06922623] [ 0. 0. 0. 1. ]] SLAMing on 11.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:0.43, Z:0.07 [[ 9.91765314e-01 -1.26057948e-01 -2.26043117e-02 9.82149210e+00] [ 1.26049017e-01 9.92022335e-01 -1.82517125e-03 4.29632108e-01] [ 2.26540594e-02 -1.03910973e-03 9.99742824e-01 6.56958956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:0.43, Z:0.07 [[ 9.91683251e-01 -1.26784768e-01 -2.21348495e-02 9.84930326e+00] [ 1.26776234e-01 9.91929719e-01 -1.79407148e-03 4.33213090e-01] [ 2.21836760e-02 -1.02702221e-03 9.99753384e-01 6.71823599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:0.44, Z:0.07 [[ 9.91721616e-01 -1.26518462e-01 -2.19388972e-02 9.87635137e+00] [ 1.26509877e-01 9.91963743e-01 -1.78437516e-03 4.36508989e-01] [ 2.19883469e-02 -1.00588377e-03 9.99757721e-01 6.78560559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:0.44, Z:0.07 [[ 9.91780313e-01 -1.26110073e-01 -2.16347067e-02 9.90407236e+00] [ 1.26101550e-01 9.92015771e-01 -1.76318383e-03 4.39824392e-01] [ 2.16843255e-02 -9.79479050e-04 9.99764388e-01 6.90093850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:0.45, Z:0.07 [[ 9.92267340e-01 -1.22591916e-01 -1.94100094e-02 9.93374408e+00] [ 1.22504866e-01 9.92452020e-01 -5.61658621e-03 4.45337329e-01] [ 1.99520511e-02 3.19533447e-03 9.99795832e-01 6.78147205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:0.44, Z:0.07 [[ 9.92422238e-01 -1.21284316e-01 -1.97032020e-02 9.96163116e+00] [ 1.21371798e-01 9.92601623e-01 3.30211324e-03 4.43504188e-01] [ 1.91569357e-02 -5.66850366e-03 9.99800420e-01 7.25023104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:0.45, Z:0.07 [[ 9.92560738e-01 -1.20241689e-01 -1.91080698e-02 9.98906993e+00] [ 1.20174904e-01 9.92742031e-01 -4.60994411e-03 4.52436572e-01] [ 1.95236915e-02 2.27933908e-03 9.99806796e-01 7.06365800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.02, Y:0.46, Z:0.07 [[ 9.92900471e-01 -1.17210814e-01 -2.02553459e-02 1.00182676e+01] [ 1.17237682e-01 9.93103875e-01 1.40025883e-04 4.55463546e-01] [ 2.00992500e-02 -2.51372157e-03 9.99794830e-01 7.32940818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:0.46, Z:0.07 [[ 9.92855713e-01 -1.17641541e-01 -1.99499432e-02 1.00436702e+01] [ 1.17642804e-01 9.93055350e-01 -1.11439511e-03 4.61075951e-01] [ 1.99424970e-02 -1.24053370e-03 9.99800359e-01 7.36583094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.07, Y:0.47, Z:0.07 [[ 9.92790448e-01 -1.17801115e-01 -2.21364679e-02 1.00729013e+01] [ 1.17574035e-01 9.92999843e-01 -1.12985774e-02 4.71600142e-01] [ 2.33124942e-02 8.61444589e-03 9.99691112e-01 7.27398346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.10, Y:0.46, Z:0.08 [[ 9.92954415e-01 -1.16579047e-01 -2.12333444e-02 1.00989982e+01] [ 1.16764133e-01 9.93129886e-01 7.69193882e-03 4.63380346e-01] [ 2.01907501e-02 -1.01170377e-02 9.99744957e-01 7.75032573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:0.47, Z:0.08 [[ 9.92896926e-01 -1.17220084e-01 -2.03751504e-02 1.01266215e+01] [ 1.17209588e-01 9.93105724e-01 -1.71268459e-03 4.72017182e-01] [ 2.04354395e-02 -6.87643721e-04 9.99790938e-01 7.54504229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:0.48, Z:0.08 [[ 9.92795957e-01 -1.18018352e-01 -2.06846782e-02 1.01541511e+01] [ 1.18007573e-01 9.93011162e-01 -1.74526216e-03 4.75425630e-01] [ 2.07460893e-02 -7.08259447e-04 9.99784526e-01 7.63062624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:0.48, Z:0.08 [[ 9.92504849e-01 -1.20388410e-01 -2.09941756e-02 1.01813661e+01] [ 1.20377700e-01 9.92726573e-01 -1.77779755e-03 4.80034500e-01] [ 2.10555022e-02 -7.62757877e-04 9.99778017e-01 7.70048041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:0.48, Z:0.08 [[ 9.92270847e-01 -1.22240568e-01 -2.13496870e-02 1.02092467e+01] [ 1.22229813e-01 9.92500169e-01 -1.81287219e-03 4.83454040e-01] [ 2.14111745e-02 -8.10708017e-04 9.99770426e-01 7.73018163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:0.49, Z:0.08 [[ 9.91721107e-01 -1.26559464e-01 -2.17243627e-02 1.02364461e+01] [ 1.26549228e-01 9.91958602e-01 -1.85088541e-03 4.86719091e-01] [ 2.17839156e-02 -9.13639199e-04 9.99762285e-01 7.83195663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:0.49, Z:0.08 [[ 9.91420942e-01 -1.28876229e-01 -2.18044167e-02 1.02630028e+01] [ 1.28866411e-01 9.91660217e-01 -1.86064302e-03 4.89716663e-01] [ 2.18623653e-02 -9.65176476e-04 9.99760524e-01 7.90347435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:0.49, Z:0.08 [[ 9.91116332e-01 -1.31258506e-01 -2.14387587e-02 1.02907023e+01] [ 1.31249498e-01 9.91347674e-01 -1.83282029e-03 4.93342759e-01] [ 2.14938368e-02 -9.97288201e-04 9.99768483e-01 7.98041624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.32, Y:0.50, Z:0.08 [[ 9.90674170e-01 -1.34517506e-01 -2.16732626e-02 1.03189089e+01] [ 1.34508932e-01 9.90910636e-01 -1.85954311e-03 4.98108858e-01] [ 2.17264075e-02 -1.07304608e-03 9.99763378e-01 8.09955489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.35, Y:0.50, Z:0.08 [[ 9.90470826e-01 -1.35948331e-01 -2.20362080e-02 1.03453660e+01] [ 1.35939660e-01 9.90715300e-01 -1.89800214e-03 5.01448270e-01] [ 2.20896386e-02 -1.11567887e-03 9.99755372e-01 8.12615516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:0.51, Z:0.08 [[ 9.90239214e-01 -1.37574867e-01 -2.23485075e-02 1.03732148e+01] [ 1.37566185e-01 9.90490691e-01 -1.93276259e-03 5.05064304e-01] [ 2.24018882e-02 -1.16050161e-03 9.99748373e-01 8.18789183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.40, Y:0.51, Z:0.08 [[ 9.89907457e-01 -1.39546293e-01 -2.46993641e-02 1.03990260e+01] [ 1.39266414e-01 9.90173266e-01 -1.27188140e-02 5.14862552e-01] [ 2.62315133e-02 9.15065697e-03 9.99614012e-01 8.07522261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.43, Y:0.52, Z:0.08 [[ 0.98978018 -0.14084183 -0.02233308 10.4263866 ] [ 0.14039057 0.98988113 -0.02063597 0.52361948] [ 0.0250135 0.01728972 0.99953759 0.07560847] [ 0. 0. 0. 1. ]] SLAMing on 12.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.46, Y:0.50, Z:0.09 [[ 0.9898578 -0.13968888 -0.02585658 10.45823915] [ 0.14035971 0.98975254 0.02625008 0.50210834] [ 0.02192477 -0.02961307 0.99932095 0.09086308] [ 0. 0. 0. 1. ]] SLAMing on 12.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:0.52, Z:0.08 [[ 9.89939291e-01 -1.39629079e-01 -2.28892928e-02 1.04837754e+01] [ 1.39619921e-01 9.90203138e-01 -2.00562150e-03 5.22256884e-01] [ 2.29450927e-02 -1.21035772e-03 9.99735994e-01 8.36879381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:0.53, Z:0.08 [[ 9.90009091e-01 -1.39141990e-01 -2.28365319e-02 1.05117591e+01] [ 1.39132648e-01 9.90271723e-01 -2.00522608e-03 5.26230668e-01] [ 2.28933829e-02 -1.19211510e-03 9.99737201e-01 8.46763370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:0.53, Z:0.09 [[ 9.90359705e-01 -1.36661009e-01 -2.26146506e-02 1.05387333e+01] [ 1.36651052e-01 9.90617242e-01 -1.99235487e-03 5.30808336e-01] [ 2.26747400e-02 -1.11716781e-03 9.99742271e-01 8.59680055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:0.53, Z:0.09 [[ 9.90539883e-01 -1.35413494e-01 -2.22244545e-02 1.05651745e+01] [ 1.35403494e-01 9.90788599e-01 -1.96112794e-03 5.34425210e-01] [ 2.22852993e-02 -1.06669334e-03 9.99751083e-01 8.64190612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:0.54, Z:0.09 [[ 9.90745341e-01 -1.33890279e-01 -2.22948787e-02 1.05934166e+01] [ 1.33879743e-01 9.90995625e-01 -1.97127313e-03 5.38512107e-01] [ 2.23580616e-02 -1.03180296e-03 9.99749495e-01 8.71080369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.62, Y:0.54, Z:0.09 [[ 9.91681624e-01 -1.26948945e-01 -2.12490675e-02 1.06180911e+01] [ 1.26985851e-01 9.91904451e-01 3.91099355e-04 5.40895868e-01] [ 2.10273950e-02 -3.08617696e-03 9.99774137e-01 8.78905513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.65, Y:0.55, Z:0.09 [[ 9.91519374e-01 -1.28126561e-01 -2.17466240e-02 1.06488727e+01] [ 1.28064281e-01 9.91756812e-01 -4.23852301e-03 5.48780939e-01] [ 2.21104299e-02 1.41761190e-03 9.99754530e-01 8.77302777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.68, Y:0.55, Z:0.09 [[ 9.91760391e-01 -1.26231178e-01 -2.18407067e-02 1.06754112e+01] [ 1.26219287e-01 9.92000492e-01 -1.92765989e-03 5.50664457e-01] [ 2.19093226e-02 -8.44941699e-04 9.99759605e-01 8.89286527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:0.55, Z:0.09 [[ 9.92068576e-01 -1.23651472e-01 -2.25888123e-02 1.07035856e+01] [ 1.23637988e-01 9.92325378e-01 -1.99795584e-03 5.54769679e-01] [ 2.26625019e-02 -8.10726099e-04 9.99742844e-01 9.01717920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.352755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:0.56, Z:0.09 [[ 9.92237539e-01 -1.22262099e-01 -2.27298176e-02 1.07308502e+01] [ 1.22247933e-01 9.92497544e-01 -2.01698007e-03 5.58117922e-01] [ 2.28058884e-02 -7.77349873e-04 9.99739610e-01 9.09486311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:0.56, Z:0.09 [[ 9.92551417e-01 -1.19655138e-01 -2.28983106e-02 1.07587835e+01] [ 1.19639971e-01 9.92815255e-01 -2.03611255e-03 5.61355687e-01] [ 2.29774234e-02 -7.18606823e-04 9.99735726e-01 9.14899751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:0.56, Z:0.09 [[ 9.92664687e-01 -1.18596924e-01 -2.34859374e-02 1.07865816e+01] [ 1.18580488e-01 9.92942231e-01 -2.09620777e-03 5.64165706e-01] [ 2.35687829e-02 -7.04142503e-04 9.99721970e-01 9.21583014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:0.57, Z:0.09 [[ 9.92806394e-01 -1.17370896e-01 -2.36545122e-02 1.08139562e+01] [ 1.17353706e-01 9.93087922e-01 -2.11839221e-03 5.66961688e-01] [ 2.37396480e-02 -6.72791333e-04 9.99717948e-01 9.27160849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:0.57, Z:0.09 [[ 9.92913855e-01 -1.16379370e-01 -2.40399495e-02 1.08414982e+01] [ 1.16361215e-01 9.93204618e-01 -2.15743618e-03 5.69931566e-01] [ 2.41276699e-02 -6.55169461e-04 9.99708671e-01 9.33558046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:0.57, Z:0.09 [[ 9.93138963e-01 -1.14479687e-01 -2.38621288e-02 1.08693371e+01] [ 1.14461071e-01 9.93425410e-01 -2.14904092e-03 5.72856157e-01] [ 2.39512666e-02 -5.96988542e-04 9.99712949e-01 9.34141919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:0.57, Z:0.09 [[ 9.93210042e-01 -1.13800029e-01 -2.41529775e-02 1.08962792e+01] [ 1.13780592e-01 9.93503506e-01 -2.18199462e-03 5.74731299e-01] [ 2.42443789e-02 -5.80961101e-04 9.99705893e-01 9.44174510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:0.58, Z:0.09 [[ 9.93176875e-01 -1.14089208e-01 -2.41525691e-02 1.09247006e+01] [ 1.14069747e-01 9.93470338e-01 -2.18650625e-03 5.77464941e-01] [ 2.42443178e-02 -5.83489994e-04 9.99705893e-01 9.49254704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:0.58, Z:0.10 [[ 9.93138486e-01 -1.14522202e-01 -2.36772516e-02 1.09525588e+01] [ 1.14503456e-01 9.93420522e-01 -2.15044130e-03 5.78948780e-01] [ 2.37677410e-02 -5.75441125e-04 9.99717342e-01 9.52260743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:0.59, Z:0.09 [[ 0.99307086 -0.11548469 -0.0217612 10.98145586] [ 0.1151857 0.99323771 -0.01452981 0.58791357] [ 0.02329201 0.01192256 0.99965761 0.09025007] [ 0. 0. 0. 1. ]] SLAMing on 12.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:0.58, Z:0.10 [[ 9.92899100e-01 -1.16322210e-01 -2.49102483e-02 1.10094666e+01] [ 1.16605225e-01 9.93125734e-01 1.02223902e-02 5.75837610e-01] [ 2.35499177e-02 -1.30544672e-02 9.99637425e-01 9.92559238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.04, Y:0.59, Z:0.09 [[ 0.99239909 -0.12015484 -0.02658673 11.03682229] [ 0.11978297 0.99268421 -0.01516925 0.59102157] [ 0.02821489 0.01186931 0.99953141 0.09460277] [ 0. 0. 0. 1. ]] SLAMing on 12.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.07, Y:0.58, Z:0.10 [[ 9.92369322e-01 -1.20659691e-01 -2.53844042e-02 1.10653166e+01] [ 1.20952033e-01 9.92604817e-01 1.03093407e-02 5.78107849e-01] [ 2.39527601e-02 -1.33009687e-02 9.99624604e-01 9.97287660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:0.59, Z:0.10 [[ 9.92141723e-01 -1.22661764e-01 -2.46757625e-02 1.10926672e+01] [ 1.22643148e-01 9.92448233e-01 -2.27212981e-03 5.86849629e-01] [ 2.47681203e-02 -7.72038405e-04 9.99692925e-01 9.72453901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.772755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:0.59, Z:0.10 [[ 9.91733466e-01 -1.25743491e-01 -2.55598833e-02 1.11194212e+01] [ 1.25724365e-01 9.92062404e-01 -2.36035168e-03 5.86581428e-01] [ 2.56537981e-02 -8.72660334e-04 9.99670506e-01 9.81971718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:0.59, Z:0.10 [[ 9.91454589e-01 -1.27837224e-01 -2.59892655e-02 1.11479538e+01] [ 1.27818030e-01 9.91794720e-01 -2.40529028e-03 5.88101969e-01] [ 2.60835019e-02 -9.37160624e-04 9.99659328e-01 9.86954762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.18, Y:0.59, Z:0.10 [[ 9.91220385e-01 -1.29310261e-01 -2.75863228e-02 1.11757895e+01] [ 1.29062878e-01 9.91580027e-01 -1.05746802e-02 5.93737295e-01] [ 2.87214614e-02 6.92146840e-03 9.99563490e-01 9.80748681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.20, Y:0.59, Z:0.10 [[ 9.90925359e-01 -1.31684471e-01 -2.69468672e-02 1.12045369e+01] [ 1.31873734e-01 9.91252012e-01 5.36353399e-03 5.86471464e-01] [ 2.60048421e-02 -8.86844582e-03 9.99622478e-01 1.01769921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.23, Y:0.59, Z:0.10 [[ 9.90529807e-01 -1.34379449e-01 -2.81578465e-02 1.12305091e+01] [ 1.34151278e-01 9.90911909e-01 -9.85005747e-03 5.94314032e-01] [ 2.92255908e-02 5.97936442e-03 9.99554957e-01 9.95333592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:0.59, Z:0.10 [[ 9.90196682e-01 -1.36893037e-01 -2.77637925e-02 1.12605883e+01] [ 1.37065472e-01 9.90552232e-01 4.39680053e-03 5.87909903e-01] [ 2.68995952e-02 -8.15915461e-03 9.99604842e-01 1.03235731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.29, Y:0.59, Z:0.10 [[ 9.89868887e-01 -1.39468656e-01 -2.66097993e-02 1.12880678e+01] [ 1.39451864e-01 9.90225708e-01 -2.49486168e-03 5.91203999e-01] [ 2.66976623e-02 -1.24120015e-03 9.99642783e-01 1.01943729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:0.60, Z:0.09 [[ 0.98998745 -0.13903163 -0.02439357 11.31117957] [ 0.13847462 0.99009391 -0.02321253 0.60366267] [ 0.0273792 0.01960222 0.99943291 0.0933295 ] [ 0. 0. 0. 1. ]] SLAMing on 13.012755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.34, Y:0.60, Z:0.10 [[ 9.89759812e-01 -1.40142782e-01 -2.71204009e-02 1.13407121e+01] [ 1.40007712e-01 9.90126883e-01 -6.82620483e-03 5.96091670e-01] [ 2.78092814e-02 2.95923793e-03 9.99608867e-01 9.94953868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:0.58, Z:0.11 [[ 0.98972164 -0.14040998 -0.02713156 11.3710684 ] [ 0.14102768 0.98975286 0.02237122 0.58098784] [ 0.0237124 -0.02596758 0.99938151 0.11111371] [ 0. 0. 0. 1. ]] SLAMing on 13.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:0.60, Z:0.10 [[ 9.89678927e-01 -1.40782153e-01 -2.67582970e-02 1.13974447e+01] [ 1.40426909e-01 9.89981459e-01 -1.47307192e-02 6.03929479e-01] [ 2.85640403e-02 1.08210974e-02 9.99533391e-01 1.02765864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:0.59, Z:0.11 [[ 9.89963626e-01 -1.38976348e-01 -2.56436084e-02 1.14271674e+01] [ 1.39259772e-01 9.90209249e-01 9.61031792e-03 5.90586208e-01] [ 2.40569314e-02 -1.30849882e-02 9.99624953e-01 1.09133324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.132755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:11.45, Y:0.60, Z:0.10 [[ 9.89969910e-01 -1.38963904e-01 -2.54678357e-02 1.14539355e+01] [ 1.38691391e-01 9.90260747e-01 -1.21799245e-02 6.04695967e-01] [ 2.69123678e-02 8.52558917e-03 9.99601440e-01 1.04865776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:0.59, Z:0.11 [[ 9.90519084e-01 -1.35293386e-01 -2.38252961e-02 1.14816073e+01] [ 1.35504512e-01 9.90748535e-01 7.47448991e-03 5.94254054e-01] [ 2.25936281e-02 -1.06320600e-02 9.99688195e-01 1.09436443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:0.62, Z:0.09 [[ 0.99070985 -0.13476349 -0.01824252 11.5100327 ] [ 0.13427663 0.99061043 -0.02570546 0.61541179] [ 0.02153539 0.02301711 0.9995031 0.09424181] [ 0. 0. 0. 1. ]] SLAMing on 13.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:0.59, Z:0.11 [[ 0.99089571 -0.13227229 -0.0250943 11.53828323] [ 0.13281817 0.99090734 0.02149366 0.59052499] [ 0.02202311 -0.02463095 0.999454 0.11403508] [ 0. 0. 0. 1. ]] SLAMing on 13.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:0.61, Z:0.11 [[ 9.91266313e-01 -1.29964323e-01 -2.23689633e-02 1.15649636e+01] [ 1.29948869e-01 9.91518367e-01 -2.14930569e-03 6.05301435e-01] [ 2.24585710e-02 -7.76287141e-04 9.99747473e-01 1.07091329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:0.61, Z:0.11 [[ 9.91419583e-01 -1.28827021e-01 -2.21542027e-02 1.15925654e+01] [ 1.28811432e-01 9.91666807e-01 -2.13520995e-03 6.07114142e-01] [ 2.22446602e-02 -7.36825626e-04 9.99752285e-01 1.07730695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.312755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.62, Y:0.61, Z:0.11 [[ 9.91601701e-01 -1.27467654e-01 -2.18646836e-02 1.16195054e+01] [ 1.27452015e-01 9.91842487e-01 -2.11298838e-03 6.08633755e-01] [ 2.19556598e-02 -6.91455116e-04 9.99758706e-01 1.07992693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:0.61, Z:0.11 [[ 9.91849905e-01 -1.25565861e-01 -2.16097088e-02 1.16470378e+01] [ 1.25550075e-01 9.92085080e-01 -2.09109265e-03 6.08642752e-01] [ 2.17012395e-02 -6.39050505e-04 9.99764296e-01 1.09352321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.68, Y:0.61, Z:0.11 [[ 9.91887780e-01 -1.25285702e-01 -2.14970854e-02 1.16751678e+01] [ 1.25269941e-01 9.92120507e-01 -2.08356440e-03 6.10325860e-01] [ 2.15887400e-02 -6.26276538e-04 9.99766740e-01 1.09990660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:0.61, Z:0.11 [[ 9.91860027e-01 -1.25615217e-01 -2.08447852e-02 1.17034565e+01] [ 1.25600346e-01 9.92078851e-01 -2.02625968e-03 6.11433267e-01] [ 2.09341996e-02 -6.08346260e-04 9.99780671e-01 1.10251967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.432755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:0.62, Z:0.11 [[ 9.91261467e-01 -1.29982283e-01 -2.24790856e-02 1.17372661e+01] [ 1.29867206e-01 9.91510013e-01 -6.51173067e-03 6.18271988e-01] [ 2.31346481e-02 3.53553166e-03 9.99726107e-01 1.10165036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.77, Y:0.62, Z:0.10 [[ 9.91446530e-01 -1.29250040e-01 -1.81164651e-02 1.17658693e+01] [ 1.29060688e-01 9.91572733e-01 -1.12629134e-02 6.21525480e-01] [ 1.94195248e-02 8.82845296e-03 9.99772444e-01 1.03701688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.492755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.79, Y:0.61, Z:0.12 [[ 0.99121017 -0.13008257 -0.02410232 11.79171652] [ 0.13043644 0.99136151 0.01373652 0.60946509] [ 0.02210723 -0.0167596 0.99961512 0.11873983] [ 0. 0. 0. 1. ]] SLAMing on 13.522755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.82, Y:0.62, Z:0.11 [[ 9.90914018e-01 -1.32686462e-01 -2.19934635e-02 1.18185803e+01] [ 1.32669895e-01 9.91157799e-01 -2.21717300e-03 6.18134145e-01] [ 2.20931817e-02 -7.20842686e-04 9.99755656e-01 1.14204040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.85, Y:0.63, Z:0.11 [[ 9.90334694e-01 -1.36736064e-01 -2.32474303e-02 1.18502513e+01] [ 1.36522924e-01 9.90580965e-01 -1.05282345e-02 6.25600167e-01] [ 2.44680513e-02 7.25266874e-03 9.99674304e-01 1.13005866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.88, Y:0.62, Z:0.12 [[ 9.90525292e-01 -1.35457522e-01 -2.26032286e-02 1.18752311e+01] [ 1.35626150e-01 9.90741338e-01 6.09491395e-03 6.16362249e-01] [ 2.15683510e-02 -9.10275529e-03 9.99725935e-01 1.17494920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:0.62, Z:0.11 [[ 9.90104464e-01 -1.38586346e-01 -2.20674980e-02 1.19030419e+01] [ 1.38570855e-01 9.90349996e-01 -2.23700183e-03 6.21980346e-01] [ 2.21645645e-02 -8.43046575e-04 9.99753980e-01 1.14856798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:0.64, Z:0.10 [[ 0.98967777 -0.14217737 -0.01798602 11.93424445] [ 0.14174462 0.98962649 -0.02340691 0.63621459] [ 0.02112738 0.02061588 0.99956421 0.10170517] [ 0. 0. 0. 1. ]] SLAMing on 13.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.96, Y:0.61, Z:0.12 [[ 0.98950283 -0.14221202 -0.02568837 11.96254378] [ 0.14270123 0.98959611 0.01832759 0.6120235 ] [ 0.02281471 -0.02180096 0.99950198 0.12269081] [ 0. 0. 0. 1. ]] SLAMing on 13.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:0.63, Z:0.12 [[ 9.89383966e-01 -1.43378386e-01 -2.37066780e-02 1.19880750e+01] [ 1.43361253e-01 9.89667443e-01 -2.42950668e-03 6.25691784e-01] [ 2.38100662e-02 -9.94904119e-04 9.99716005e-01 1.16531446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.02, Y:0.64, Z:0.11 [[ 0.98924241 -0.14474132 -0.02119908 12.01784285] [ 0.1443217 0.98932565 -0.0201497 0.63696301] [ 0.02388929 0.01687345 0.9995722 0.10662834] [ 0. 0. 0. 1. ]] SLAMing on 13.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.05, Y:0.62, Z:0.12 [[ 0.98918728 -0.14433024 -0.02602514 12.04575643] [ 0.14476259 0.989344 0.01556404 0.61852106] [ 0.02350146 -0.01916321 0.99954012 0.12405324] [ 0. 0. 0. 1. ]] SLAMing on 13.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.07, Y:0.63, Z:0.12 [[ 9.89175544e-01 -1.44883737e-01 -2.32474829e-02 1.20716670e+01] [ 1.44867269e-01 9.89448187e-01 -2.39984761e-03 6.31106620e-01] [ 2.33498787e-02 -9.93928794e-04 9.99726860e-01 1.18701311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.10, Y:0.63, Z:0.12 [[ 9.89357758e-01 -1.43693546e-01 -2.28777354e-02 1.21043388e+01] [ 1.43652895e-01 9.89622229e-01 -3.41907677e-03 6.32559407e-01] [ 2.31316148e-02 9.62371970e-05 9.99732424e-01 1.17384204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.852755096000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.13, Y:0.64, Z:0.12 [[ 9.89344073e-01 -1.43740864e-01 -2.31704512e-02 1.21282031e+01] [ 1.43754808e-01 9.89612756e-01 -1.07139162e-03 6.35456161e-01] [ 2.30837768e-02 -2.27088881e-03 9.99730955e-01 1.20531485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:0.64, Z:0.12 [[ 9.89600545e-01 -1.41971016e-01 -2.31299136e-02 1.21602319e+01] [ 1.42008876e-01 9.89865384e-01 -5.73814045e-06 6.35304833e-01] [ 2.28963154e-02 -3.27897457e-03 9.99732468e-01 1.20277846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.18, Y:0.64, Z:0.12 [[ 9.89698447e-01 -1.41423515e-01 -2.22794506e-02 1.21839190e+01] [ 1.41358205e-01 9.89948342e-01 -4.48745712e-03 6.42871039e-01] [ 2.26901372e-02 1.29184619e-03 9.99741711e-01 1.20123843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.21, Y:0.64, Z:0.12 [[ 9.89807492e-01 -1.40560950e-01 -2.28855635e-02 1.22121680e+01] [ 1.40543061e-01 9.90071667e-01 -2.39623292e-03 6.44903188e-01] [ 2.29951648e-02 -8.44597866e-04 9.99735219e-01 1.21342470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:0.65, Z:0.12 [[ 9.89922522e-01 -1.39746897e-01 -2.28955472e-02 1.22400994e+01] [ 1.39728607e-01 9.90186919e-01 -2.40461242e-03 6.48112802e-01] [ 2.30069085e-02 -8.18782921e-04 9.99734971e-01 1.21556373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.27, Y:0.65, Z:0.12 [[ 9.90068035e-01 -1.38752267e-01 -2.26515746e-02 1.22668200e+01] [ 1.38733948e-01 9.90326814e-01 -2.38584345e-03 6.50992612e-01] [ 2.27635029e-02 -7.80395042e-04 9.99740573e-01 1.22240277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:0.65, Z:0.12 [[ 9.90280200e-01 -1.37243442e-01 -2.25690575e-02 1.22944064e+01] [ 1.37224788e-01 9.90537072e-01 -2.38055776e-03 6.53924905e-01] [ 2.26822040e-02 -7.39614901e-04 9.99742452e-01 1.23222236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.32, Y:0.66, Z:0.12 [[ 9.90360044e-01 -1.36685357e-01 -2.24521003e-02 1.23217458e+01] [ 1.36666600e-01 9.90614254e-01 -2.37497684e-03 6.56919599e-01] [ 2.25659952e-02 -7.16370042e-04 9.99745099e-01 1.23970195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.35, Y:0.67, Z:0.12 [[ 9.90208035e-01 -1.37446566e-01 -2.44231157e-02 1.23517143e+01] [ 1.37182633e-01 9.90470883e-01 -1.21800878e-02 6.65659758e-01] [ 2.58644962e-02 8.71039353e-03 9.99627509e-01 1.22560547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.38, Y:0.64, Z:0.14 [[ 0.99031299 -0.13548478 -0.03039835 12.38207547] [ 0.1363987 0.99018986 0.03032214 0.64328924] [ 0.02599195 -0.0341747 0.99907783 0.14074726] [ 0. 0. 0. 1. ]] SLAMing on 14.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.41, Y:0.69, Z:0.12 [[ 0.9901106 -0.13854897 -0.02202686 12.40672777] [ 0.13768626 0.98979277 -0.03678005 0.68539948] [ 0.02689787 0.03338353 0.9990806 0.11520073] [ 0. 0. 0. 1. ]] SLAMing on 14.182755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.44, Y:0.66, Z:0.13 [[ 9.90120920e-01 -1.38085799e-01 -2.43490514e-02 1.24360549e+01] [ 1.38290738e-01 9.90367389e-01 6.93582197e-03 6.63323051e-01] [ 2.31567680e-02 -1.02345507e-02 9.99679458e-01 1.28541611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:0.67, Z:0.13 [[ 9.89803995e-01 -1.40373844e-01 -2.41502650e-02 1.24631971e+01] [ 1.40352543e-01 9.90098223e-01 -2.58324382e-03 6.70752765e-01] [ 2.42737544e-02 -8.32646066e-04 9.99705002e-01 1.25700651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:0.68, Z:0.12 [[ 9.89535174e-01 -1.42211949e-01 -2.44110638e-02 1.24923202e+01] [ 1.42026310e-01 9.89820259e-01 -9.18595805e-03 6.78328870e-01] [ 2.54689185e-02 5.62281528e-03 9.99659801e-01 1.24906405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.272755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:0.68, Z:0.13 [[ 9.89252166e-01 -1.43610937e-01 -2.74963743e-02 1.25193716e+01] [ 1.43249727e-01 9.89577479e-01 -1.46945263e-02 6.83787714e-01] [ 2.93200874e-02 1.05977439e-02 9.99513892e-01 1.25588599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:0.67, Z:0.13 [[ 9.89234828e-01 -1.43959503e-01 -2.62700699e-02 1.25491539e+01] [ 1.44267800e-01 9.89485756e-01 1.02342535e-02 6.73258584e-01] [ 2.45205420e-02 -1.39140052e-02 9.99602493e-01 1.31447421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:0.69, Z:0.13 [[ 9.89039049e-01 -1.45615942e-01 -2.44490615e-02 1.25760281e+01] [ 1.45502874e-01 9.89337443e-01 -6.35112594e-03 6.85886785e-01] [ 2.51131971e-02 2.72410285e-03 9.99680902e-01 1.25894776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:0.67, Z:0.15 [[ 0.98900088 -0.1433918 -0.03627737 12.60844358] [ 0.14443296 0.9891209 0.0279098 0.66683054] [ 0.03188067 -0.03284246 0.99895195 0.14940015] [ 0. 0. 0. 1. ]] SLAMing on 14.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.63, Y:0.69, Z:0.13 [[ 9.88742281e-01 -1.46830963e-01 -2.87987828e-02 1.26322605e+01] [ 1.46680112e-01 9.89157086e-01 -7.29403588e-03 6.92220546e-01] [ 2.95575104e-02 2.98771299e-03 9.99558616e-01 1.34639938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.66, Y:0.71, Z:0.12 [[ 0.98858656 -0.1486674 -0.02438495 12.65904223] [ 0.14793358 0.98855545 -0.02955969 0.70914176] [ 0.02850044 0.02561496 0.99926553 0.12362662] [ 0. 0. 0. 1. ]] SLAMing on 14.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:0.68, Z:0.14 [[ 0.98869186 -0.14658457 -0.03164454 12.69187371] [ 0.14727209 0.98888143 0.0206024 0.68224415] [ 0.0282727 -0.02502978 0.99928683 0.14391564] [ 0. 0. 0. 1. ]] SLAMing on 14.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:0.70, Z:0.14 [[ 9.88661525e-01 -1.47380628e-01 -2.87635148e-02 1.27196530e+01] [ 1.47354546e-01 9.89079077e-01 -3.03596745e-03 6.98901369e-01] [ 2.88968334e-02 -1.23689045e-03 9.99581634e-01 1.36593106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.512755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:0.71, Z:0.13 [[ 0.98837124 -0.1501254 -0.02417979 12.74319663] [ 0.14968765 0.98855062 -0.01900743 0.71420503] [ 0.02675645 0.01516698 0.99952692 0.12801793] [ 0. 0. 0. 1. ]] SLAMing on 14.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.77, Y:0.71, Z:0.13 [[ 9.88357039e-01 -1.49827543e-01 -2.64966047e-02 1.27715595e+01] [ 1.49802845e-01 9.88711559e-01 -2.92592855e-03 7.09934700e-01] [ 2.66358840e-02 -1.07740469e-03 9.99644621e-01 1.33743883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.80, Y:0.71, Z:0.14 [[ 9.88617417e-01 -1.47551804e-01 -2.93950336e-02 1.28028943e+01] [ 1.47741703e-01 9.89016261e-01 4.38463643e-03 7.07579749e-01] [ 2.84252052e-02 -8.67760026e-03 9.99558256e-01 1.38725932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:0.72, Z:0.13 [[ 9.88379831e-01 -1.49740076e-01 -2.61384446e-02 1.28262071e+01] [ 1.49517569e-01 9.88705626e-01 -1.02801270e-02 7.22583177e-01] [ 2.73825742e-02 6.25251346e-03 9.99605473e-01 1.32879973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.85, Y:0.72, Z:0.14 [[ 9.88401728e-01 -1.49526381e-01 -2.65308211e-02 1.28539396e+01] [ 1.49500941e-01 9.88757179e-01 -2.95107760e-03 7.22831223e-01] [ 2.66738038e-02 -1.04953252e-03 9.99643640e-01 1.35459959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.89, Y:0.72, Z:0.14 [[ 9.88683227e-01 -1.47127537e-01 -2.93081074e-02 1.28853444e+01] [ 1.47351411e-01 9.89068240e-01 5.61941672e-03 7.20600775e-01] [ 2.81609473e-02 -9.87441404e-03 9.99554629e-01 1.41521829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.91, Y:0.73, Z:0.14 [[ 9.88644610e-01 -1.47312281e-01 -2.96804230e-02 1.29133025e+01] [ 1.47447265e-01 9.89067007e-01 2.39979711e-03 7.26126881e-01] [ 2.90024076e-02 -6.74884367e-03 9.99556558e-01 1.42734711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:0.74, Z:0.13 [[ 0.98851527 -0.14907004 -0.02481295 12.93662114] [ 0.14867961 0.98874084 -0.01690956 0.74369985] [ 0.02705428 0.01302617 0.99954909 0.13409655] [ 0. 0. 0. 1. ]] SLAMing on 14.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:0.74, Z:0.14 [[ 9.88822672e-01 -1.46581947e-01 -2.72663868e-02 1.29683254e+01] [ 1.46609712e-01 9.89193922e-01 -9.88884479e-04 7.38842031e-01] [ 2.71166967e-02 -3.01968572e-03 9.99627714e-01 1.39514581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:0.74, Z:0.14 [[ 9.88948774e-01 -1.45584859e-01 -2.80244669e-02 1.29968075e+01] [ 1.45623005e-01 9.89339916e-01 -6.85805102e-04 7.43015789e-01] [ 2.78255665e-02 -3.40278097e-03 9.99607002e-01 1.40910039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.02, Y:0.75, Z:0.14 [[ 9.89124293e-01 -1.44704426e-01 -2.63393575e-02 1.30206433e+01] [ 1.44564826e-01 9.89469575e-01 -7.13935297e-03 7.52568885e-01] [ 2.70950888e-02 3.25396284e-03 9.99627565e-01 1.39489333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:0.75, Z:0.14 [[ 9.89244028e-01 -1.43889973e-01 -2.63045396e-02 1.30490148e+01] [ 1.43861370e-01 9.89593344e-01 -2.98649410e-03 7.53859998e-01] [ 2.64605239e-02 -8.29835649e-04 9.99649515e-01 1.41720125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.08, Y:0.76, Z:0.14 [[ 9.89276123e-01 -1.43620440e-01 -2.65691802e-02 1.30771806e+01] [ 1.43436662e-01 9.89621187e-01 -8.70802265e-03 7.60661003e-01] [ 2.75440737e-02 4.80364437e-03 9.99609048e-01 1.41253425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.10, Y:0.76, Z:0.15 [[ 9.89472490e-01 -1.42192269e-01 -2.69360454e-02 1.31039487e+01] [ 1.42312725e-01 9.89818333e-01 2.59916420e-03 7.57947402e-01] [ 2.62922105e-02 -6.40514349e-03 9.99633780e-01 1.46006780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.932755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:0.76, Z:0.14 [[ 9.89519559e-01 -1.41986467e-01 -2.62846834e-02 1.31311154e+01] [ 1.41956730e-01 9.89868308e-01 -3.00338162e-03 7.64736036e-01] [ 2.64448146e-02 -7.59382839e-04 9.99649986e-01 1.44961112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.16, Y:0.77, Z:0.14 [[ 9.89549145e-01 -1.41705701e-01 -2.66830295e-02 1.31598809e+01] [ 1.41478579e-01 9.89888508e-01 -1.02251674e-02 7.72217187e-01] [ 2.78621888e-02 6.34322860e-03 9.99591648e-01 1.42584967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.19, Y:0.77, Z:0.14 [[ 9.89615435e-01 -1.41547822e-01 -2.50100925e-02 1.31891249e+01] [ 1.41472052e-01 9.89930698e-01 -4.78240342e-03 7.72888773e-01] [ 2.54351971e-02 1.19451114e-03 9.99675759e-01 1.42798646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022755096000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.22, Y:0.77, Z:0.15 [[ 9.89436136e-01 -1.42111546e-01 -2.86433583e-02 1.32152862e+01] [ 1.42178208e-01 9.89841033e-01 2.93884633e-04 7.73824236e-01] [ 2.83106070e-02 -4.36324143e-03 9.99589652e-01 1.48033776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.052755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.24, Y:0.78, Z:0.15 [[ 9.89354962e-01 -1.42642927e-01 -2.88054527e-02 1.32426439e+01] [ 1.42411387e-01 9.89757581e-01 -9.94623312e-03 7.83042547e-01] [ 2.99291750e-02 5.73813060e-03 9.99535551e-01 1.46340395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:0.78, Z:0.15 [[ 9.89301856e-01 -1.43120437e-01 -2.82555958e-02 1.32717005e+01] [ 1.43406523e-01 9.89628541e-01 8.36186802e-03 7.76774100e-01] [ 2.67657898e-02 -1.23244483e-02 9.99565756e-01 1.51992088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:0.79, Z:0.15 [[ 9.89159756e-01 -1.44418832e-01 -2.65740172e-02 1.32981354e+01] [ 1.44388178e-01 9.89516334e-01 -3.07891021e-03 7.86547475e-01] [ 2.67400767e-02 -7.91439846e-04 9.99642107e-01 1.48987754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:0.79, Z:0.15 [[ 9.88955490e-01 -1.45776992e-01 -2.67601750e-02 1.33259189e+01] [ 1.45746275e-01 9.89317129e-01 -3.10520344e-03 7.89989292e-01] [ 2.69269667e-02 -8.29287851e-04 9.99637060e-01 1.49872241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.35, Y:0.79, Z:0.15 [[ 9.88762833e-01 -1.46986734e-01 -2.72573047e-02 1.33531688e+01] [ 1.46955125e-01 9.89138080e-01 -3.17015705e-03 7.93263139e-01] [ 2.74272090e-02 -8.71067151e-04 9.99623424e-01 1.50664023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:13.38, Y:0.80, Z:0.15 [[ 9.88394064e-01 -1.49249860e-01 -2.83134705e-02 1.33804783e+01] [ 1.49216572e-01 9.88799042e-01 -3.29684109e-03 7.96580557e-01] [ 2.84883856e-02 -9.66260836e-04 9.99593657e-01 1.50492253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.41, Y:0.81, Z:0.15 [[ 9.88125336e-01 -1.50865593e-01 -2.91185950e-02 1.34091200e+01] [ 1.50513014e-01 9.88509528e-01 -1.39551507e-02 8.06411422e-01] [ 3.08893607e-02 9.40671051e-03 9.99478545e-01 1.49454974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262755096000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.44, Y:0.80, Z:0.16 [[ 9.88125957e-01 -1.50327733e-01 -3.17595134e-02 1.34389354e+01] [ 1.50584946e-01 9.88579737e-01 5.85472713e-03 7.97927313e-01] [ 3.05166835e-02 -1.05677124e-02 9.99478392e-01 1.57778266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:0.81, Z:0.15 [[ 9.87917732e-01 -1.51722484e-01 -3.16044636e-02 1.34670216e+01] [ 1.51767882e-01 9.88415685e-01 -9.71414351e-04 8.05905413e-01] [ 3.13857330e-02 -3.83686504e-03 9.99499982e-01 1.54785123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.49, Y:0.81, Z:0.15 [[ 9.87824498e-01 -1.52456413e-01 -3.09806964e-02 1.34924254e+01] [ 1.52332436e-01 9.88308994e-01 -6.33724001e-03 8.13522832e-01] [ 3.15846538e-02 1.54071597e-03 9.99499893e-01 1.53476749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.352755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:0.82, Z:0.16 [[ 9.87761617e-01 -1.52686442e-01 -3.18408253e-02 1.35191285e+01] [ 1.52645116e-01 9.88273995e-01 -3.73903479e-03 8.16109095e-01] [ 3.20383596e-02 -1.16707141e-03 9.99485959e-01 1.55713951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:13.55, Y:0.82, Z:0.16 [[ 9.87732627e-01 -1.52930523e-01 -3.15675816e-02 1.35472572e+01] [ 1.52889830e-01 9.88236263e-01 -3.71316798e-03 8.20357813e-01] [ 3.17640856e-02 -1.15874500e-03 9.99494722e-01 1.56629328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.57, Y:0.82, Z:0.16 [[ 9.87646228e-01 -1.53543608e-01 -3.12935968e-02 1.35747642e+01] [ 1.53503608e-01 9.88141194e-01 -3.69101880e-03 8.24671571e-01] [ 3.14892245e-02 -1.15825921e-03 9.99503420e-01 1.57509223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:0.83, Z:0.16 [[ 9.87594892e-01 -1.53943774e-01 -3.09458211e-02 1.36016440e+01] [ 1.53904597e-01 9.88078940e-01 -3.65824093e-03 8.28772597e-01] [ 3.11400775e-02 -1.14984408e-03 9.99514369e-01 1.58387245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.63, Y:0.83, Z:0.16 [[ 9.87503598e-01 -1.54566950e-01 -3.07522552e-02 1.36291466e+01] [ 1.54528378e-01 9.87981640e-01 -3.64134407e-03 8.33564534e-01] [ 3.09454950e-02 -1.15625575e-03 9.99520405e-01 1.60259122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:0.84, Z:0.16 [[ 9.87606829e-01 -1.53990292e-01 -3.03272219e-02 1.36571101e+01] [ 1.53952213e-01 9.88071734e-01 -3.60067272e-03 8.37669827e-01] [ 3.05199393e-02 -1.11289395e-03 9.99533539e-01 1.61007827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.84, Z:0.16 [[ 9.87714437e-01 -1.53302428e-01 -3.03076891e-02 1.36841104e+01] [ 1.53263801e-01 9.88178726e-01 -3.60728028e-03 8.42208768e-01] [ 3.05024185e-02 -1.08210883e-03 9.99534107e-01 1.61915917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:0.85, Z:0.16 [[ 9.87898290e-01 -1.52118390e-01 -3.02814182e-02 1.37115133e+01] [ 1.52079045e-01 9.88361735e-01 -3.61171346e-03 8.46910963e-01] [ 3.04784031e-02 -1.03716361e-03 9.99534887e-01 1.62890968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.592755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:0.85, Z:0.16 [[ 9.88368549e-01 -1.49163261e-01 -2.96299237e-02 1.37390025e+01] [ 1.49123984e-01 9.88812157e-01 -3.54337294e-03 8.53080847e-01] [ 2.98269698e-02 -9.16373898e-04 9.99554657e-01 1.63649423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:0.86, Z:0.16 [[ 9.88658448e-01 -1.47303501e-01 -2.92600825e-02 1.37658210e+01] [ 1.47264149e-01 9.89090982e-01 -3.50712707e-03 8.57785766e-01] [ 2.94574958e-02 -8.41610361e-04 9.99565679e-01 1.64107942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:0.86, Z:0.16 [[ 9.88867201e-01 -1.45966104e-01 -2.89059669e-02 1.37932025e+01] [ 1.45926972e-01 9.89289279e-01 -3.47003776e-03 8.62672337e-01] [ 2.91028711e-02 -7.86753708e-04 9.99576112e-01 1.64510798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:0.87, Z:0.17 [[ 9.89241574e-01 -1.43311308e-01 -2.93764676e-02 1.38195775e+01] [ 1.43269486e-01 9.89677403e-01 -3.53450352e-03 8.67207840e-01] [ 2.95797605e-02 -7.12273590e-04 9.99562169e-01 1.65652536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:0.87, Z:0.17 [[ 9.89431174e-01 -1.42048864e-01 -2.91216624e-02 1.38465120e+01] [ 1.42007102e-01 9.89859424e-01 -3.50780027e-03 8.70667421e-01] [ 2.93246310e-02 -6.64755938e-04 9.99569719e-01 1.66011259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.87, Y:0.88, Z:0.17 [[ 9.89668251e-01 -1.40292626e-01 -2.95758667e-02 1.38739623e+01] [ 1.40248602e-01 9.90109892e-01 -3.56803110e-03 8.75081042e-01] [ 2.97839266e-02 -6.16806863e-04 9.99556170e-01 1.67256622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.772755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:0.88, Z:0.17 [[ 9.89728583e-01 -1.39948233e-01 -2.91860284e-02 1.39015579e+01] [ 1.39904945e-01 9.90158646e-01 -3.53010290e-03 8.79208012e-01] [ 2.93928300e-02 -5.89425954e-04 9.99567764e-01 1.67596924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.93, Y:0.88, Z:0.17 [[ 9.89770171e-01 -1.39706649e-01 -2.89319985e-02 1.39288797e+01] [ 1.39663746e-01 9.90192774e-01 -3.50839746e-03 8.83247808e-01] [ 2.91384023e-02 -5.68244133e-04 9.99575225e-01 1.68367666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:0.89, Z:0.17 [[ 9.89738878e-01 -1.39980398e-01 -2.86782535e-02 1.39568609e+01] [ 1.39938100e-01 9.90154115e-01 -3.48658380e-03 8.87487893e-01] [ 2.88839441e-02 -5.62372765e-04 9.99582614e-01 1.69000068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:0.89, Z:0.17 [[ 9.89650823e-01 -1.40585715e-01 -2.87559522e-02 1.39848726e+01] [ 1.40543178e-01 9.90068346e-01 -3.50517157e-03 8.91318995e-01] [ 2.89631350e-02 -5.72556965e-04 9.99580316e-01 1.69822047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.01, Y:0.90, Z:0.16 [[ 9.89566803e-01 -1.41805525e-01 -2.54702854e-02 1.40118060e+01] [ 1.41433612e-01 9.89820644e-01 -1.58627515e-02 9.02471433e-01] [ 2.74604401e-02 1.20948979e-02 9.99549717e-01 1.62777355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.04, Y:0.90, Z:0.17 [[ 9.89412159e-01 -1.42511618e-01 -2.74593870e-02 1.40427301e+01] [ 1.42498561e-01 9.89791997e-01 -2.44181264e-03 8.96584043e-01] [ 2.75270682e-02 -1.49696402e-03 9.99619938e-01 1.67710568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.07, Y:0.89, Z:0.18 [[ 9.89115448e-01 -1.43780391e-01 -3.12702662e-02 1.40697586e+01] [ 1.44084654e-01 9.89535462e-01 7.69298015e-03 8.93329983e-01] [ 2.98369377e-02 -1.21148110e-02 9.99481360e-01 1.75828091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:0.90, Z:0.17 [[ 9.88912077e-01 -1.45417018e-01 -3.01130461e-02 1.40973083e+01] [ 1.45371637e-01 9.89370193e-01 -3.70256761e-03 9.02474980e-01] [ 3.03313666e-02 -7.16068985e-04 9.99539642e-01 1.72826658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.012755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:0.91, Z:0.17 [[ 9.88749851e-01 -1.46809959e-01 -2.86455751e-02 1.41261921e+01] [ 1.46507661e-01 9.89131910e-01 -1.23923640e-02 9.09685072e-01] [ 3.01535749e-02 8.05615184e-03 9.99512811e-01 1.67589510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:0.90, Z:0.18 [[ 9.88505619e-01 -1.47770963e-01 -3.19434573e-02 1.41540210e+01] [ 1.48001426e-01 9.88974701e-01 4.96181228e-03 9.03521471e-01] [ 3.08580594e-02 -9.63245656e-03 9.99477361e-01 1.75883359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:0.91, Z:0.17 [[ 9.88329783e-01 -1.49100281e-01 -3.11985102e-02 1.41811696e+01] [ 1.49052640e-01 9.88821728e-01 -3.86025497e-03 9.10667988e-01] [ 3.14253299e-02 -8.35015356e-04 9.99505754e-01 1.73754857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.91, Z:0.17 [[ 9.88238153e-01 -1.49717745e-01 -3.11440163e-02 1.42092632e+01] [ 1.49670265e-01 9.88728419e-01 -3.86343644e-03 9.13532340e-01] [ 3.13713990e-02 -8.43337877e-04 9.99507441e-01 1.74213705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.92, Z:0.17 [[ 9.88166325e-01 -1.50183926e-01 -3.11785546e-02 1.42375214e+01] [ 1.50136255e-01 9.88657710e-01 -3.87781750e-03 9.16332142e-01] [ 3.14073043e-02 -8.49102781e-04 9.99506308e-01 1.74731852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.26, Y:0.92, Z:0.18 [[ 9.88040524e-01 -1.50931935e-01 -3.15511382e-02 1.42648647e+01] [ 1.50883201e-01 9.88543771e-01 -3.93354655e-03 9.19026192e-01] [ 3.17833789e-02 -8.74033320e-04 9.99494399e-01 1.75698477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.29, Y:0.92, Z:0.18 [[ 9.87805382e-01 -1.52486860e-01 -3.14369944e-02 1.42917098e+01] [ 1.52439068e-01 9.88305075e-01 -3.92548903e-03 9.20587454e-01] [ 3.16679266e-02 -9.14606924e-04 9.99498027e-01 1.76749648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.32, Y:0.92, Z:0.18 [[ 9.87643170e-01 -1.53565102e-01 -3.12846434e-02 1.43194740e+01] [ 1.53518119e-01 9.88138087e-01 -3.91260913e-03 9.23383204e-01] [ 3.15143879e-02 -9.38497925e-04 9.99502858e-01 1.77273606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:0.93, Z:0.18 [[ 9.87438766e-01 -1.54904493e-01 -3.11332918e-02 1.43462214e+01] [ 1.54858343e-01 9.87928976e-01 -3.90279286e-03 9.26415221e-01] [ 3.13620413e-02 -9.67481010e-04 9.99507622e-01 1.78284413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:0.93, Z:0.18 [[ 9.87380570e-01 -1.55339978e-01 -3.08074755e-02 1.43719563e+01] [ 1.55310916e-01 9.87859963e-01 -3.34868349e-03 9.27222229e-01] [ 3.09536560e-02 -1.47831222e-03 9.99519728e-01 1.79651682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:0.93, Z:0.18 [[ 9.87050474e-01 -1.57672080e-01 -2.95106110e-02 1.44014133e+01] [ 1.57609719e-01 9.87491491e-01 -4.44210007e-03 9.31225045e-01] [ 2.98418724e-02 -2.66582125e-04 9.99554597e-01 1.80288806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:0.93, Z:0.18 [[ 9.86786432e-01 -1.59419067e-01 -2.89499518e-02 1.44292369e+01] [ 1.59380514e-01 9.87210482e-01 -3.64923622e-03 9.32271538e-01] [ 2.91614537e-02 -1.01304140e-03 9.99574201e-01 1.82780931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.372755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:0.94, Z:0.18 [[ 9.86679090e-01 -1.60147552e-01 -2.85855865e-02 1.44571561e+01] [ 1.60110011e-01 9.87092567e-01 -3.61223220e-03 9.35042284e-01] [ 2.87951101e-02 -1.01272460e-03 9.99584822e-01 1.83867583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:0.94, Z:0.18 [[ 9.86632154e-01 -1.60436654e-01 -2.85844719e-02 1.44854747e+01] [ 1.60398980e-01 9.87045620e-01 -3.62103341e-03 9.38789329e-01] [ 2.87951242e-02 -1.01229214e-03 9.99584822e-01 1.84490176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:0.94, Z:0.19 [[ 9.86594533e-01 -1.60746012e-01 -2.81415564e-02 1.45132581e+01] [ 1.60709384e-01 9.86995301e-01 -3.57332672e-03 9.42076028e-01] [ 2.83499819e-02 -9.97187594e-04 9.99597561e-01 1.85505394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.95, Z:0.19 [[ 9.86588824e-01 -1.60815656e-01 -2.79431203e-02 1.45415056e+01] [ 1.60779323e-01 9.86983970e-01 -3.55694497e-03 9.46033330e-01] [ 2.81514243e-02 -9.83433808e-04 9.99603186e-01 1.85953346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.492755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:0.95, Z:0.19 [[ 9.86787901e-01 -1.59394684e-01 -2.90340029e-02 1.45678398e+01] [ 1.59354605e-01 9.87214460e-01 -3.70396219e-03 9.50200794e-01] [ 2.92531794e-02 -9.71676978e-04 9.99571562e-01 1.86106259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.95, Z:0.19 [[ 9.86923193e-01 -1.58447035e-01 -2.96166955e-02 1.45959872e+01] [ 1.58404740e-01 9.87367014e-01 -3.78381600e-03 9.53726118e-01] [ 2.98420827e-02 -9.57089194e-04 9.99554168e-01 1.86687934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.552755096000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.62, Y:0.96, Z:0.19 [[ 9.87217351e-01 -1.56504893e-01 -3.01350448e-02 1.46231596e+01] [ 1.56459956e-01 9.87676768e-01 -3.85810347e-03 9.56441663e-01] [ 3.03674957e-02 -9.06141086e-04 9.99538391e-01 1.87825992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.65, Y:0.96, Z:0.19 [[ 9.87376984e-01 -1.55531437e-01 -2.99443557e-02 1.46509354e+01] [ 1.55486450e-01 9.87830564e-01 -3.83927417e-03 9.59785877e-01] [ 3.01770777e-02 -8.65130639e-04 9.99544194e-01 1.88578803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:0.96, Z:0.19 [[ 9.87512352e-01 -1.54604019e-01 -3.02812252e-02 1.46791197e+01] [ 1.54557279e-01 9.87976162e-01 -3.89229128e-03 9.63273465e-01] [ 3.05188926e-02 -8.36498049e-04 9.99533840e-01 1.89876555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:0.95, Z:0.21 [[ 0.98757275 -0.15249154 -0.03803144 14.71171039] [ 0.15333474 0.98796533 0.02032139 0.95146546] [ 0.03447491 -0.02590039 0.99906989 0.20555152] [ 0. 0. 0. 1. ]] SLAMing on 16.672755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.73, Y:0.98, Z:0.18 [[ 0.98794996 -0.15245385 -0.02669626 14.73269582] [ 0.15170644 0.98802622 -0.02809524 0.98379038] [ 0.03065983 0.0237067 0.9992487 0.18476592] [ 0. 0. 0. 1. ]] SLAMing on 16.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:0.97, Z:0.19 [[ 9.88021833e-01 -1.51424945e-01 -2.97210923e-02 1.47623926e+01] [ 1.51377771e-01 9.88468510e-01 -3.84397436e-03 9.73694832e-01] [ 2.99604374e-02 -7.01182110e-04 9.99550839e-01 1.92511506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:0.98, Z:0.19 [[ 9.88096339e-01 -1.50927952e-01 -2.97721155e-02 1.47902493e+01] [ 1.50880104e-01 9.88544533e-01 -3.86011434e-03 9.77128228e-01] [ 3.00136612e-02 -6.77855042e-04 9.99549259e-01 1.93541376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:0.98, Z:0.19 [[ 9.88194780e-01 -1.50418035e-01 -2.90773353e-02 1.48182721e+01] [ 1.50371907e-01 9.88622278e-01 -3.77914530e-03 9.79607684e-01] [ 2.93149531e-02 -6.37882695e-04 9.99570021e-01 1.94529804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.792755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.84, Y:0.98, Z:0.20 [[ 9.88320921e-01 -1.49704133e-01 -2.84680365e-02 1.48448767e+01] [ 1.49659401e-01 9.88730660e-01 -3.70764841e-03 9.82471203e-01] [ 2.87022708e-02 -5.96162798e-04 9.99587827e-01 1.95113648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.87, Y:0.99, Z:0.20 [[ 9.88324749e-01 -1.49640862e-01 -2.86671079e-02 1.48729203e+01] [ 1.49595323e-01 9.88740239e-01 -3.73881496e-03 9.86326960e-01] [ 2.89038026e-02 -5.93301912e-04 9.99582022e-01 1.95557093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.852755096000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.90, Y:0.99, Z:0.20 [[ 9.88355297e-01 -1.49381914e-01 -2.89629289e-02 1.48998330e+01] [ 1.49335083e-01 9.88779401e-01 -3.78548484e-03 9.89616044e-01] [ 2.92034305e-02 -5.83777401e-04 9.99573318e-01 1.96274702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:0.99, Z:0.20 [[ 9.88328371e-01 -1.49550997e-01 -2.90091255e-02 1.49272232e+01] [ 1.49503933e-01 9.88753841e-01 -3.79687454e-03 9.92807229e-01] [ 2.92507106e-02 -5.84419535e-04 9.99571936e-01 1.97236407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:1.00, Z:0.20 [[ 9.88341175e-01 -1.49485581e-01 -2.89099025e-02 1.49542684e+01] [ 1.49438580e-01 9.88763740e-01 -3.79179428e-03 9.95662252e-01] [ 2.91518819e-02 -5.72668366e-04 9.99574830e-01 1.98166607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.98, Y:0.99, Z:0.20 [[ 9.88150751e-01 -1.50407620e-01 -3.05882405e-02 1.49819629e+01] [ 1.50549496e-01 9.88599617e-01 2.37614173e-03 9.94859044e-01] [ 2.98821330e-02 -6.95303042e-03 9.99529246e-01 2.03095302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.972755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:1.00, Z:0.20 [[ 9.88248038e-01 -1.50418616e-01 -2.72039447e-02 1.50089071e+01] [ 1.50196355e-01 9.88605119e-01 -1.00485570e-02 1.00395630e+00] [ 2.84054490e-02 5.84453341e-03 9.99579397e-01 1.97932859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.04, Y:1.00, Z:0.20 [[ 9.88175297e-01 -1.50644232e-01 -2.85639340e-02 1.50375889e+01] [ 1.50598324e-01 9.88587870e-01 -3.76406471e-03 1.00355852e+00] [ 2.88049933e-02 -5.82124824e-04 9.99584881e-01 2.00841756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.032755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.06, Y:1.01, Z:0.20 [[ 9.88134688e-01 -1.50790802e-01 -2.91885529e-02 1.50647937e+01] [ 1.50742688e-01 9.88565519e-01 -3.85453913e-03 1.00707680e+00] [ 2.94360260e-02 -5.91157095e-04 9.99566491e-01 2.00750374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.09, Y:1.01, Z:0.20 [[ 9.88027805e-01 -1.51441129e-01 -2.94387511e-02 1.50923454e+01] [ 1.51392313e-01 9.88466090e-01 -3.89301893e-03 1.01097994e+00] [ 2.96887704e-02 -6.10389686e-04 9.99559005e-01 2.00918323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.092755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.12, Y:1.01, Z:0.20 [[ 9.87831086e-01 -1.52457705e-01 -3.07635226e-02 1.51191787e+01] [ 1.52404633e-01 9.88309775e-01 -4.07643053e-03 1.01305681e+00] [ 3.10253734e-02 -6.61678592e-04 9.99518378e-01 2.01725475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:1.02, Z:0.20 [[ 9.87645687e-01 -1.53645501e-01 -3.08067677e-02 1.51470449e+01] [ 1.53592677e-01 9.88125791e-01 -4.08795754e-03 1.01596528e+00] [ 3.10690580e-02 -6.94240305e-04 9.99516999e-01 2.02658062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.152755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.17, Y:1.02, Z:0.20 [[ 9.87502844e-01 -1.54561939e-01 -3.08016376e-02 1.51740378e+01] [ 1.54509304e-01 9.87982842e-01 -4.09611151e-03 1.01852136e+00] [ 3.10645924e-02 -7.14217817e-04 9.99517124e-01 2.03715400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.20, Y:1.02, Z:0.21 [[ 9.87337659e-01 -1.55607802e-01 -3.08311357e-02 1.52015850e+01] [ 1.55555341e-01 9.87818639e-01 -4.10756155e-03 1.02156846e+00] [ 3.10947391e-02 -7.40397628e-04 9.99516167e-01 2.05237591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.212755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.23, Y:1.03, Z:0.20 [[ 9.86976480e-01 -1.57749838e-01 -3.15026324e-02 1.52299694e+01] [ 1.57311503e-01 9.87420143e-01 -1.59546813e-02 1.03072309e+00] [ 3.36231822e-02 1.07911688e-02 9.99376322e-01 2.04219361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.26, Y:1.02, Z:0.21 [[ 9.87109929e-01 -1.57030537e-01 -3.09095268e-02 1.52580642e+01] [ 1.57334192e-01 9.87515904e-01 7.63488764e-03 1.02091681e+00] [ 2.93247388e-02 -1.23995988e-02 9.99493026e-01 2.11458511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.29, Y:1.03, Z:0.21 [[ 9.87030042e-01 -1.57858580e-01 -2.91952863e-02 1.52854472e+01] [ 1.57811887e-01 9.87461448e-01 -3.91117386e-03 1.03122549e+00] [ 2.94466320e-02 -7.46917123e-04 9.99566075e-01 2.08638535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:1.03, Z:0.21 [[ 9.87035706e-01 -1.57889994e-01 -2.88316567e-02 1.53121989e+01] [ 1.57844243e-01 9.87456437e-01 -3.87028206e-03 1.03485350e+00] [ 2.90810839e-02 -7.30804450e-04 9.99576789e-01 2.08697384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.332755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.34, Y:1.04, Z:0.21 [[ 9.86949942e-01 -1.58422083e-01 -2.88488537e-02 1.53396766e+01] [ 1.58376353e-01 9.87371203e-01 -3.87782273e-03 1.03871425e+00] [ 2.90988602e-02 -7.41759323e-04 9.99576263e-01 2.08735926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.37, Y:1.04, Z:0.21 [[ 9.86904983e-01 -1.58745995e-01 -2.86053129e-02 1.53679828e+01] [ 1.58700915e-01 9.87319182e-01 -3.85391431e-03 1.04245877e+00] [ 2.88543676e-02 -7.36242090e-04 9.99583355e-01 2.08752185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.392755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:1.05, Z:0.21 [[ 9.86829818e-01 -1.59234433e-01 -2.84834231e-02 1.53957776e+01] [ 1.59189687e-01 9.87240523e-01 -3.84627667e-03 1.04610733e+00] [ 2.87324491e-02 -7.38646684e-04 9.99586865e-01 2.08945976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.42, Y:1.05, Z:0.21 [[ 9.86876431e-01 -1.59100948e-01 -2.76006934e-02 1.54230874e+01] [ 1.59058678e-01 9.87262068e-01 -3.73433116e-03 1.04964627e+00] [ 2.78432533e-02 -7.04806414e-04 9.99612053e-01 2.09009857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.45, Y:1.05, Z:0.21 [[ 9.86867171e-01 -1.59235808e-01 -2.71504035e-02 1.54511609e+01] [ 1.59194832e-01 9.87240334e-01 -3.67797615e-03 1.05372009e+00] [ 2.73896389e-02 -6.92530011e-04 9.99624594e-01 2.09399671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.48, Y:1.06, Z:0.21 [[ 9.86927596e-01 -1.59127590e-01 -2.55407667e-02 1.54791550e+01] [ 1.59091096e-01 9.87257818e-01 -3.46758139e-03 1.05729850e+00] [ 2.57671095e-02 -6.41056794e-04 9.99667767e-01 2.09971766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.512755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:1.06, Z:0.21 [[ 9.86998155e-01 -1.58731340e-01 -2.52785260e-02 1.55057388e+01] [ 1.58695271e-01 9.87321620e-01 -3.43943597e-03 1.06039927e+00] [ 2.55039815e-02 -6.16865567e-04 9.99674530e-01 2.10659198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:1.06, Z:0.21 [[ 9.87027511e-01 -1.58640753e-01 -2.46942240e-02 1.55334560e+01] [ 1.58606207e-01 9.87336192e-01 -3.36383378e-03 1.06406365e+00] [ 2.49151422e-02 -5.96460713e-04 9.99689392e-01 2.11143538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.56, Y:1.07, Z:0.21 [[ 9.87116982e-01 -1.58239560e-01 -2.36707924e-02 1.55598068e+01] [ 1.58207545e-01 9.87400594e-01 -3.23103485e-03 1.06761428e+00] [ 2.38838320e-02 -5.55488588e-04 9.99714586e-01 2.10486134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:1.07, Z:0.21 [[ 9.87086383e-01 -1.58505055e-01 -2.31650590e-02 1.55876658e+01] [ 1.58474390e-01 9.87358014e-01 -3.16529687e-03 1.07174146e+00] [ 2.33739222e-02 -5.46647148e-04 9.99726643e-01 2.10245707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:1.08, Z:0.21 [[ 9.87074512e-01 -1.58675374e-01 -2.24951976e-02 1.56156596e+01] [ 1.58646340e-01 9.87330668e-01 -3.08081447e-03 1.07628110e+00] [ 2.26990478e-02 -5.27787336e-04 9.99742204e-01 2.09802505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:1.08, Z:0.21 [[ 9.87167983e-01 -1.58208743e-01 -2.16648830e-02 1.56426244e+01] [ 1.58181556e-01 9.87405566e-01 -2.97376798e-03 1.08064480e+00] [ 2.18625022e-02 -4.91376371e-04 9.99760866e-01 2.09109778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.692755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.67, Y:1.09, Z:0.21 [[ 9.87163794e-01 -1.58120310e-01 -2.24858075e-02 1.56697581e+01] [ 1.57826181e-01 9.87363149e-01 -1.43146041e-02 1.09039883e+00] [ 2.44650873e-02 1.05820097e-02 9.99644677e-01 2.06987326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:1.08, Z:0.21 [[ 9.87253975e-01 -1.57570481e-01 -2.23859911e-02 1.56998350e+01] [ 1.57777876e-01 9.87443737e-01 7.81070701e-03 1.08197702e+00] [ 2.08741698e-02 -1.12431657e-02 9.99718891e-01 2.13726810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:1.09, Z:0.21 [[ 9.87224214e-01 -1.58035305e-01 -2.03271521e-02 1.57266095e+01] [ 1.58011119e-01 9.87433361e-01 -2.80068427e-03 1.09114379e+00] [ 2.05143151e-02 -4.47012714e-04 9.99789459e-01 2.09996232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:1.10, Z:0.21 [[ 9.87147868e-01 -1.58519908e-01 -2.02614137e-02 1.57540167e+01] [ 1.58495850e-01 9.87355679e-01 -2.79797906e-03 1.09501779e+00] [ 2.04487572e-02 -4.49330914e-04 9.99790801e-01 2.09799757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:1.10, Z:0.21 [[ 9.87091428e-01 -1.58846134e-01 -2.04552586e-02 1.57807876e+01] [ 1.58821543e-01 9.87303246e-01 -2.83153709e-03 1.09895901e+00] [ 2.06453220e-02 -4.53749752e-04 9.99786760e-01 2.09600043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:1.10, Z:0.21 [[ 9.87052161e-01 -1.59206507e-01 -1.95274189e-02 1.58080630e+01] [ 1.59184121e-01 9.87245206e-01 -2.70545518e-03 1.10252785e+00] [ 1.97090767e-02 -4.38029624e-04 9.99805661e-01 2.08397670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:1.11, Z:0.21 [[ 9.87010291e-01 -1.59551566e-01 -1.88144482e-02 1.58358158e+01] [ 1.59530781e-01 9.87189504e-01 -2.61017521e-03 1.10627260e+00] [ 1.89898833e-02 -4.25213817e-04 9.99819585e-01 2.08361064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:1.11, Z:0.21 [[ 9.86952528e-01 -1.59996353e-01 -1.80519769e-02 1.58623746e+01] [ 1.59977190e-01 9.87117520e-01 -2.51000656e-03 1.10929409e+00] [ 1.82210146e-02 -4.10647219e-04 9.99833899e-01 2.08467150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.932755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:15.89, Y:1.11, Z:0.21 [[ 9.86866844e-01 -1.60537471e-01 -1.79318850e-02 1.58904815e+01] [ 1.60518592e-01 9.87029659e-01 -2.49662919e-03 1.11329073e+00] [ 1.81001049e-02 -4.14560354e-04 9.99836094e-01 2.08607039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:1.12, Z:0.21 [[ 9.86768465e-01 -1.61196029e-01 -1.74309373e-02 1.59187330e+01] [ 1.61178205e-01 9.86922323e-01 -2.43190131e-03 1.11715618e+00] [ 1.75949940e-02 -4.09763657e-04 9.99845112e-01 2.08459530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.95, Y:1.12, Z:0.21 [[ 9.86660047e-01 -1.61843160e-01 -1.75710728e-02 1.59463811e+01] [ 1.61825057e-01 9.86816404e-01 -2.45671207e-03 1.12092712e+00] [ 1.77370249e-02 -4.19500218e-04 9.99842599e-01 2.08730728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.97, Y:1.12, Z:0.21 [[ 9.86435125e-01 -1.63229576e-01 -1.73738309e-02 1.59735148e+01] [ 1.63211990e-01 9.86588018e-01 -2.43493832e-03 1.12408012e+00] [ 1.75382674e-02 -4.33708833e-04 9.99846099e-01 2.08556048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.052755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.00, Y:1.13, Z:0.21 [[ 9.86251280e-01 -1.64368375e-01 -1.70719323e-02 1.60011426e+01] [ 1.64351542e-01 9.86398925e-01 -2.39397721e-03 1.12748211e+00] [ 1.72332298e-02 -4.44735302e-04 9.99851398e-01 2.09099512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:1.13, Z:0.21 [[ 9.86129919e-01 -1.65136563e-01 -1.66642604e-02 1.60293398e+01] [ 1.65120559e-01 9.86270612e-01 -2.34130836e-03 1.13078048e+00] [ 1.68221060e-02 -4.42777762e-04 9.99858400e-01 2.09701066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:1.13, Z:0.21 [[ 9.85893837e-01 -1.66653669e-01 -1.54886217e-02 1.60565201e+01] [ 1.66639943e-01 9.86015400e-01 -2.18172178e-03 1.13391312e+00] [ 1.56356115e-02 -4.30076984e-04 9.99877664e-01 2.10093895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:1.14, Z:0.21 [[ 9.85745747e-01 -1.67617882e-01 -1.44764485e-02 1.60845695e+01] [ 1.67605987e-01 9.85851953e-01 -2.03964259e-03 1.13810723e+00] [ 1.46135156e-02 -4.15770445e-04 9.99893130e-01 2.10011681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.172755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.11, Y:1.14, Z:0.21 [[ 9.85586342e-01 -1.68578994e-01 -1.41663262e-02 1.61124715e+01] [ 1.68567641e-01 9.85688059e-01 -2.00025293e-03 1.14217366e+00] [ 1.43007792e-02 -4.16562232e-04 9.99897652e-01 2.10290493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:1.15, Z:0.21 [[ 9.85321619e-01 -1.70148022e-01 -1.38187633e-02 1.61400532e+01] [ 1.70137317e-01 9.85418424e-01 -1.95530871e-03 1.14552251e+00] [ 1.39499559e-02 -4.24479366e-04 9.99902605e-01 2.11043622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:1.15, Z:0.21 [[ 9.85167166e-01 -1.71059962e-01 -1.35700196e-02 1.61683156e+01] [ 1.71049668e-01 9.85260528e-01 -1.92420884e-03 1.14952906e+00] [ 1.36991598e-02 -4.25479983e-04 9.99906072e-01 2.11352533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.19, Y:1.15, Z:0.21 [[ 9.85105962e-01 -1.71436104e-01 -1.32629737e-02 1.61947160e+01] [ 1.71426232e-01 9.85195153e-01 -1.88608773e-03 1.15323147e+00] [ 1.33899610e-02 -4.15625358e-04 9.99910264e-01 2.11433243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.292755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.22, Y:1.16, Z:0.21 [[ 9.85058269e-01 -1.71709937e-01 -1.32629099e-02 1.62229735e+01] [ 1.71700084e-01 9.85147462e-01 -1.88653806e-03 1.15743141e+00] [ 1.33898594e-02 -4.18892845e-04 9.99910264e-01 2.12064296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.25, Y:1.16, Z:0.21 [[ 9.85008026e-01 -1.71986129e-01 -1.34148910e-02 1.62493881e+01] [ 1.71976004e-01 9.85099281e-01 -1.91332738e-03 1.16127002e+00] [ 1.35440653e-02 -4.22396526e-04 9.99908186e-01 2.12095989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:1.17, Z:0.21 [[ 9.84981742e-01 -1.72111887e-01 -1.37283179e-02 1.62773763e+01] [ 1.72101289e-01 9.85077312e-01 -1.95855326e-03 1.16552982e+00] [ 1.38605448e-02 -4.33522002e-04 9.99903844e-01 2.12370125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:1.17, Z:0.21 [[ 9.84925423e-01 -1.72402961e-01 -1.41113841e-02 1.63045660e+01] [ 1.72391731e-01 9.85026406e-01 -2.01756848e-03 1.17050629e+00] [ 1.42479207e-02 -4.45531430e-04 9.99898394e-01 2.12264599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:1.18, Z:0.21 [[ 9.84913714e-01 -1.72484057e-01 -1.39364637e-02 1.63324150e+01] [ 1.72473058e-01 9.85012212e-01 -1.99641113e-03 1.17517266e+00] [ 1.40719360e-02 -4.37371797e-04 9.99900890e-01 2.12499533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:1.18, Z:0.21 [[ 9.84932150e-01 -1.72383596e-01 -1.38764619e-02 1.63601442e+01] [ 1.72372620e-01 9.85029802e-01 -1.99216233e-03 1.17955296e+00] [ 1.40121446e-02 -4.29777365e-04 9.99901733e-01 2.13011749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.472755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:1.18, Z:0.21 [[ 9.84981178e-01 -1.72114225e-01 -1.37394290e-02 1.63871774e+01] [ 1.72103360e-01 9.85076911e-01 -1.97815371e-03 1.18380877e+00] [ 1.38748627e-02 -4.16157723e-04 9.99903653e-01 2.13677179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:1.19, Z:0.21 [[ 9.85084597e-01 -1.71561898e-01 -1.32231571e-02 1.64145137e+01] [ 1.71551782e-01 9.85173264e-01 -1.90399752e-03 1.18830191e+00] [ 1.33537543e-02 -3.92857539e-04 9.99910757e-01 2.13983190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.532755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.45, Y:1.19, Z:0.22 [[ 9.85374593e-01 -1.69557732e-01 -1.69436394e-02 1.64474272e+01] [ 1.69701070e-01 9.85467775e-01 7.40346165e-03 1.18522990e+00] [ 1.54420964e-02 -1.01705367e-02 9.99829036e-01 2.20066627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562755096000004 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:16.47, Y:1.20, Z:0.21 [[ 9.85183056e-01 -1.71090452e-01 -1.19332430e-02 1.64693855e+01] [ 1.70956904e-01 9.85212074e-01 -1.14414622e-02 1.20322822e+00] [ 1.37143000e-02 9.23186442e-03 9.99863336e-01 2.11745235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.50, Y:1.20, Z:0.22 [[ 9.85257101e-01 -1.70538247e-01 -1.36070549e-02 1.64971663e+01] [ 1.70527258e-01 9.85350985e-01 -1.97229862e-03 1.20215261e+00] [ 1.37440773e-02 -3.77152542e-04 9.99905475e-01 2.15280265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:1.20, Z:0.22 [[ 9.85420342e-01 -1.69442873e-01 -1.53578406e-02 1.65288805e+01] [ 1.69464761e-01 9.85536239e-01 1.25739625e-04 1.20317796e+00] [ 1.51144028e-02 -2.72651918e-03 9.99882054e-01 2.17280565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.652755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:1.21, Z:0.22 [[ 9.85413006e-01 -1.69320328e-01 -1.70831400e-02 1.65581055e+01] [ 1.69446309e-01 9.85519869e-01 6.20780604e-03 1.20519489e+00] [ 1.57846661e-02 -9.01192783e-03 9.99834801e-01 2.20972524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:1.22, Z:0.22 [[ 9.85433168e-01 -1.69367543e-01 -1.53657518e-02 1.65836947e+01] [ 1.69320859e-01 9.85551603e-01 -4.29938236e-03 1.21586174e+00] [ 1.58719172e-02 1.63501169e-03 9.99872696e-01 2.17355265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.712755096000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.61, Y:1.22, Z:0.22 [[ 9.85457320e-01 -1.69144909e-01 -1.62441088e-02 1.66120863e+01] [ 1.69206680e-01 9.85577428e-01 2.49672544e-03 1.21672016e+00] [ 1.55875186e-02 -5.20902808e-03 9.99864939e-01 2.20312491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.63, Y:1.23, Z:0.21 [[ 9.85336084e-01 -1.70257112e-01 -1.11945090e-02 1.66340865e+01] [ 1.70085171e-01 9.85317455e-01 -1.48508128e-02 1.23336453e+00] [ 1.35586017e-02 1.27290217e-02 9.99827053e-01 2.12115619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.66, Y:1.23, Z:0.22 [[ 9.85503106e-01 -1.69143965e-01 -1.31889186e-02 1.66627368e+01] [ 1.69132947e-01 9.85591308e-01 -1.95442062e-03 1.23150112e+00] [ 1.33294620e-02 -3.04593083e-04 9.99911112e-01 2.16515310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.69, Y:1.24, Z:0.22 [[ 9.85549564e-01 -1.68854130e-01 -1.34290339e-02 1.66902390e+01] [ 1.68842620e-01 9.85641006e-01 -1.99443046e-03 1.23607260e+00] [ 1.35729743e-02 -3.01783194e-04 9.99907837e-01 2.16912184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.832755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:1.24, Z:0.22 [[ 9.85534057e-01 -1.68924073e-01 -1.36850566e-02 1.67176229e+01] [ 1.68912065e-01 9.85629020e-01 -2.03699715e-03 1.24044616e+00] [ 1.38324868e-02 -3.04041097e-04 9.99904280e-01 2.17187997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:1.25, Z:0.22 [[ 9.85473309e-01 -1.69270069e-01 -1.37840735e-02 1.67456915e+01] [ 1.69257858e-01 9.85569657e-01 -2.05618599e-03 1.24550281e+00] [ 1.39332154e-02 -3.06746351e-04 9.99902881e-01 2.17389299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.892755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.77, Y:1.25, Z:0.22 [[ 9.85378278e-01 -1.69804529e-01 -1.40025471e-02 1.67729559e+01] [ 1.69791918e-01 9.85477713e-01 -2.09330938e-03 1.25033818e+00] [ 1.41546515e-02 -3.14817738e-04 9.99899768e-01 2.17697699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.80, Y:1.26, Z:0.22 [[ 9.85209627e-01 -1.70790742e-01 -1.38749116e-02 1.68004401e+01] [ 1.70778395e-01 9.85307271e-01 -2.07860952e-03 1.25536299e+00] [ 1.40260586e-02 -3.21669026e-04 9.99901578e-01 2.17919422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:1.26, Z:0.22 [[ 9.85013930e-01 -1.71879880e-01 -1.43130794e-02 1.68274496e+01] [ 1.71866769e-01 9.85117856e-01 -2.15027927e-03 1.25977258e+00] [ 1.44696599e-02 -3.41887677e-04 9.99895251e-01 2.18627274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:1.26, Z:0.22 [[ 9.84872880e-01 -1.72656303e-01 -1.46700796e-02 1.68543538e+01] [ 1.72642584e-01 9.84982067e-01 -2.20604943e-03 1.26395798e+00] [ 1.48306536e-02 -3.60002190e-04 9.99889955e-01 2.19554354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.012755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.88, Y:1.27, Z:0.22 [[ 9.84483976e-01 -1.74841335e-01 -1.48932381e-02 1.68821593e+01] [ 1.74827430e-01 9.84596541e-01 -2.24061415e-03 1.26886521e+00] [ 1.50555827e-02 -3.97897819e-04 9.99886579e-01 2.19790996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:1.28, Z:0.22 [[ 9.84156825e-01 -1.76551838e-01 -1.62724610e-02 1.69086465e+01] [ 1.76342981e-01 9.84236288e-01 -1.34937853e-02 1.27930013e+00] [ 1.83982992e-02 1.04104667e-02 9.99776537e-01 2.17815089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:1.27, Z:0.22 [[ 9.84106668e-01 -1.76780159e-01 -1.68179077e-02 1.69365576e+01] [ 1.76939759e-01 9.84184827e-01 8.51752079e-03 1.27093704e+00] [ 1.50462009e-02 -1.13579055e-02 9.99822289e-01 2.24644115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.96, Y:1.28, Z:0.22 [[ 9.83617450e-01 -1.79538905e-01 -1.62016733e-02 1.69632435e+01] [ 1.79522888e-01 9.83750747e-01 -2.44950556e-03 1.28107491e+00] [ 1.63781897e-02 -4.99194763e-04 9.99865744e-01 2.21938674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.99, Y:1.29, Z:0.22 [[ 9.83332598e-01 -1.81077966e-01 -1.63637466e-02 1.69894724e+01] [ 1.81061740e-01 9.83468604e-01 -2.48009099e-03 1.28555310e+00] [ 1.65423209e-02 -5.24094118e-04 9.99863029e-01 2.22680499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.02, Y:1.29, Z:0.22 [[ 9.83184788e-01 -1.81871761e-01 -1.64418777e-02 1.70156635e+01] [ 1.81791303e-01 9.83317114e-01 -6.27493852e-03 1.29219656e+00] [ 1.73088138e-02 3.18043372e-03 9.99845133e-01 2.21561138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.05, Y:1.30, Z:0.22 [[ 9.82941936e-01 -1.83072015e-01 -1.76007606e-02 1.70455941e+01] [ 1.83038850e-01 9.83099483e-01 -3.49088078e-03 1.29588581e+00] [ 1.79423813e-02 2.09710125e-04 9.99839001e-01 2.23225584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:1.30, Z:0.22 [[ 9.82716773e-01 -1.84233880e-01 -1.80449675e-02 1.70741869e+01] [ 1.84163882e-01 9.82880267e-01 -5.48126063e-03 1.30206243e+00] [ 1.87458764e-02 2.06329549e-03 9.99822152e-01 2.22874817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:1.30, Z:0.22 [[ 9.82700023e-01 -1.84317373e-01 -1.81044417e-02 1.71014637e+01] [ 1.84341191e-01 9.82862247e-01 -3.58738705e-04 1.30338533e+00] [ 1.78602941e-02 -2.98486182e-03 9.99836037e-01 2.24267101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:1.31, Z:0.22 [[ 9.82365983e-01 -1.85979823e-01 -1.91984830e-02 1.71296326e+01] [ 1.85886566e-01 9.82549389e-01 -6.54856544e-03 1.31224319e+00] [ 2.00813587e-02 2.86434785e-03 9.99794246e-01 2.24602335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:1.31, Z:0.23 [[ 9.82764583e-01 -1.83603808e-01 -2.15271201e-02 1.71595213e+01] [ 1.83826938e-01 9.82918575e-01 8.87303790e-03 1.30628846e+00] [ 1.95302827e-02 -1.26773720e-02 9.99728889e-01 2.31569209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:1.33, Z:0.22 [[ 9.82637679e-01 -1.84605904e-01 -1.85432601e-02 1.71840013e+01] [ 1.84361465e-01 9.82756804e-01 -1.41391270e-02 1.32506654e+00] [ 2.08336813e-02 1.04749763e-02 9.99728079e-01 2.24392017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.372755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:1.32, Z:0.23 [[ 9.82920634e-01 -1.82950233e-01 -1.99057893e-02 1.72126113e+01] [ 1.83074213e-01 9.83088428e-01 4.57982072e-03 1.31974331e+00] [ 1.87312719e-02 -8.14583700e-03 9.99791371e-01 2.30024169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:1.33, Z:0.23 [[ 9.82944437e-01 -1.82959434e-01 -1.86032235e-02 1.72390950e+01] [ 1.82938016e-01 9.83120286e-01 -2.86113477e-03 1.32865975e+00] [ 1.88126780e-02 -5.90900282e-04 9.99822851e-01 2.27827042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:1.34, Z:0.23 [[ 9.82723889e-01 -1.84054378e-01 -1.94356214e-02 1.72671026e+01] [ 1.83950158e-01 9.82910391e-01 -7.03583433e-03 1.33644684e+00] [ 2.03984504e-02 3.33909683e-03 9.99786354e-01 2.28137828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.30, Y:1.34, Z:0.23 [[ 9.82723394e-01 -1.83972501e-01 -2.02200136e-02 1.72964645e+01] [ 1.83957637e-01 9.82930711e-01 -2.60871062e-03 1.33881849e+00] [ 2.03548033e-02 -1.15598496e-03 9.99792151e-01 2.30263186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.492755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:1.35, Z:0.23 [[ 9.82720048e-01 -1.83913095e-01 -2.09112411e-02 1.73238006e+01] [ 1.83725565e-01 9.82920666e-01 -1.05773933e-02 1.34863899e+00] [ 2.24994121e-02 6.55268687e-03 9.99725382e-01 2.30009033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:1.34, Z:0.23 [[ 9.83135098e-01 -1.81436969e-01 -2.29348128e-02 1.73544894e+01] [ 1.81533573e-01 9.83382320e-01 2.18529442e-03 1.34450246e+00] [ 2.21571962e-02 -6.31187816e-03 9.99734574e-01 2.34471956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.552755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:1.36, Z:0.23 [[ 9.83003495e-01 -1.82203210e-01 -2.24970831e-02 1.73761106e+01] [ 1.81867851e-01 9.83190106e-01 -1.61647753e-02 1.36045273e+00] [ 2.50641835e-02 1.17985345e-02 9.99616217e-01 2.30762827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:1.34, Z:0.24 [[ 9.83520431e-01 -1.79847281e-01 -1.85072087e-02 1.74060569e+01] [ 1.80412978e-01 9.82944248e-01 3.56617790e-02 1.33561039e+00] [ 1.17778803e-02 -3.84130289e-02 9.99192534e-01 2.41412997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:1.37, Z:0.23 [[ 9.83184823e-01 -1.81982353e-01 -1.51666296e-02 1.74323381e+01] [ 1.81628507e-01 9.83118025e-01 -2.21367194e-02 1.37262705e+00] [ 1.89390792e-02 1.90097942e-02 9.99639905e-01 2.25879263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:1.37, Z:0.23 [[ 9.83151694e-01 -1.81859497e-01 -1.84355726e-02 1.74614880e+01] [ 1.81837811e-01 9.83324377e-01 -2.85991962e-03 1.36535520e+00] [ 1.86482515e-02 -5.40549355e-04 9.99825960e-01 2.32849509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.672755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:1.37, Z:0.23 [[ 9.83112847e-01 -1.82181660e-01 -1.72908509e-02 1.74913799e+01] [ 1.82074507e-01 9.83255408e-01 -7.59454965e-03 1.37200850e+00] [ 1.83849103e-02 4.31807619e-03 9.99821659e-01 2.30107202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.52, Y:1.37, Z:0.23 [[ 9.83220324e-01 -1.81387941e-01 -1.93961059e-02 1.75200727e+01] [ 1.81368807e-01 9.83411288e-01 -2.75576548e-03 1.37341075e+00] [ 1.95742121e-02 -8.08323951e-04 9.99808080e-01 2.33278968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:1.38, Z:0.24 [[ 9.83162100e-01 -1.81637285e-01 -2.00045573e-02 1.75455509e+01] [ 1.81664384e-01 9.83360479e-01 -4.69407702e-04 1.37783022e+00] [ 1.97569530e-02 -3.17261172e-03 9.99799779e-01 2.35041514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:1.39, Z:0.23 [[ 9.83213241e-01 -1.81572265e-01 -1.79787296e-02 1.75751680e+01] [ 1.81399752e-01 9.83349969e-01 -1.08151939e-02 1.38754401e+00] [ 1.96431225e-02 7.37230478e-03 9.99779874e-01 2.30040277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.792755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:1.38, Z:0.24 [[ 9.83070826e-01 -1.81950331e-01 -2.15830684e-02 1.76007435e+01] [ 1.82127656e-01 9.83253145e-01 6.53982342e-03 1.38184449e+00] [ 2.00316969e-02 -1.03599833e-02 9.99745669e-01 2.38323455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:1.39, Z:0.24 [[ 9.83114405e-01 -1.81852258e-01 -2.03917614e-02 1.76273461e+01] [ 1.81829541e-01 9.83325555e-01 -2.97823357e-03 1.39038817e+00] [ 2.05933386e-02 -7.79880299e-04 9.99787631e-01 2.35974545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.852755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:1.40, Z:0.23 [[ 9.82952803e-01 -1.83066030e-01 -1.70474284e-02 1.76553521e+01] [ 1.83045607e-01 9.83100537e-01 -2.76402566e-03 1.39537165e+00] [ 1.72653352e-02 -4.03550116e-04 9.99850862e-01 2.32879471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882755096000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:17.68, Y:1.40, Z:0.24 [[ 9.82768097e-01 -1.83647678e-01 -2.09856701e-02 1.76832139e+01] [ 1.83621838e-01 9.82991853e-01 -3.16821418e-03 1.39967264e+00] [ 2.12105780e-02 -7.39807503e-04 9.99774757e-01 2.35727307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.912755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:17.71, Y:1.40, Z:0.24 [[ 9.82746539e-01 -1.83772409e-01 -2.09031300e-02 1.77103636e+01] [ 1.83744048e-01 9.82968630e-01 -3.28589863e-03 1.40441127e+00] [ 2.11509785e-02 -6.11620212e-04 9.99776106e-01 2.37624204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:1.41, Z:0.24 [[ 9.82310204e-01 -1.85975959e-01 -2.18999205e-02 1.77376283e+01] [ 1.85825480e-01 9.82543942e-01 -8.73457945e-03 1.41258121e+00] [ 2.31420560e-02 4.51050328e-03 9.99722012e-01 2.36967505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.972755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:1.41, Z:0.24 [[ 9.82223281e-01 -1.86406065e-01 -2.21405809e-02 1.77657629e+01] [ 1.86370638e-01 9.82472650e-01 -3.67115204e-03 1.41388050e+00] [ 2.24368402e-02 -5.20463182e-04 9.99748127e-01 2.38609638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.79, Y:1.41, Z:0.24 [[ 9.82263150e-01 -1.86251529e-01 -2.16672859e-02 1.77924249e+01] [ 1.86330939e-01 9.82485589e-01 1.68789906e-03 1.41430493e+00] [ 2.09734224e-02 -5.69524678e-03 9.99763812e-01 2.40482084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.032755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.82, Y:1.43, Z:0.24 [[ 9.82054540e-01 -1.87308836e-01 -2.20063838e-02 1.78186110e+01] [ 1.87086951e-01 9.82272953e-01 -1.17608439e-02 1.42563700e+00] [ 2.38191855e-02 7.43268286e-03 9.99688652e-01 2.37684981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.85, Y:1.42, Z:0.24 [[ 9.81998540e-01 -1.87456787e-01 -2.32124918e-02 1.78479102e+01] [ 1.87494835e-01 9.82265437e-01 -5.45748884e-04 1.42447371e+00] [ 2.29031327e-02 -3.81629771e-03 9.99730405e-01 2.41689621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:1.43, Z:0.24 [[ 9.81881979e-01 -1.88157445e-01 -2.24623086e-02 1.78749584e+01] [ 1.88138617e-01 9.82138002e-01 -2.96758243e-03 1.43119792e+00] [ 2.26194596e-02 -1.31221197e-03 9.99743286e-01 2.41362302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:1.43, Z:0.24 [[ 9.81927906e-01 -1.87996832e-01 -2.17894048e-02 1.79023838e+01] [ 1.88049908e-01 9.82159395e-01 3.94590191e-04 1.43465309e+00] [ 2.13264869e-02 -4.48495469e-03 9.99762505e-01 2.42397751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.152755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:1.44, Z:0.24 [[ 9.82029996e-01 -1.87502116e-01 -2.14486126e-02 1.79287055e+01] [ 1.87472284e-01 9.82263970e-01 -3.41122398e-03 1.44177306e+00] [ 2.17078111e-02 -6.71096132e-04 9.99764132e-01 2.41019799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:1.45, Z:0.24 [[ 9.81994899e-01 -1.87685964e-01 -2.14475693e-02 1.79568659e+01] [ 1.87656033e-01 9.82228859e-01 -3.41777153e-03 1.44642924e+00] [ 2.17078893e-02 -6.68531566e-04 9.99764132e-01 2.41598818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.212755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.98, Y:1.46, Z:0.24 [[ 9.81837174e-01 -1.88161355e-01 -2.43118810e-02 1.79846650e+01] [ 1.87767598e-01 9.82055884e-01 -1.75946067e-02 1.45908796e+00] [ 2.71862508e-02 1.27100555e-02 9.99549580e-01 2.39738641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:1.45, Z:0.25 [[ 9.82109874e-01 -1.86683296e-01 -2.46889314e-02 1.80138928e+01] [ 1.86964665e-01 9.82319669e-01 9.60635808e-03 1.44838806e+00] [ 2.24590764e-02 -1.40504569e-02 9.99649026e-01 2.47926426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:1.46, Z:0.24 [[ 9.82097766e-01 -1.87040312e-01 -2.23584181e-02 1.80392021e+01] [ 1.87007255e-01 9.82352013e-01 -3.57895407e-03 1.46020371e+00] [ 2.26332457e-02 -6.66303597e-04 9.99743613e-01 2.44144023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:1.46, Z:0.24 [[ 9.82115882e-01 -1.86915416e-01 -2.26057936e-02 1.80658788e+01] [ 1.86881518e-01 9.82375784e-01 -3.62167707e-03 1.46450160e+00] [ 2.28843315e-02 -6.67698453e-04 9.99737896e-01 2.44694838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.332755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:1.47, Z:0.24 [[ 9.82049674e-01 -1.87295701e-01 -2.23329097e-02 1.80936629e+01] [ 1.87262642e-01 9.82303353e-01 -3.58121986e-03 1.46936317e+00] [ 2.26084391e-02 -6.65183870e-04 9.99744175e-01 2.44845740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.12, Y:1.47, Z:0.25 [[ 9.82003580e-01 -1.87582827e-01 -2.19465801e-02 1.81210405e+01] [ 1.87550826e-01 9.82248571e-01 -3.52589606e-03 1.47413820e+00] [ 2.22183945e-02 -6.53656686e-04 9.99752927e-01 2.45395069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.392755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.15, Y:1.48, Z:0.25 [[ 9.81954532e-01 -1.87876889e-01 -2.16234103e-02 1.81491208e+01] [ 1.87845750e-01 9.82192374e-01 -3.48058172e-03 1.47866471e+00] [ 2.18922696e-02 -6.44092747e-04 9.99760128e-01 2.46108819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.18, Y:1.48, Z:0.25 [[ 9.81926894e-01 -1.88139551e-01 -2.05690041e-02 1.81755461e+01] [ 1.88111305e-01 9.82142115e-01 -3.31696487e-03 1.48255615e+00] [ 2.08257375e-02 -6.12245203e-04 9.99782933e-01 2.46754642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.452755096000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:18.20, Y:1.49, Z:0.25 [[ 9.81864470e-01 -1.88440356e-01 -2.07941086e-02 1.82029063e+01] [ 1.88411496e-01 9.82084439e-01 -3.35612514e-03 1.48648307e+00] [ 2.10539999e-02 -6.22589075e-04 9.99778146e-01 2.46308328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:1.49, Z:0.25 [[ 9.81891467e-01 -1.88353686e-01 -2.02986624e-02 1.82290802e+01] [ 1.88326041e-01 9.82101079e-01 -3.28225020e-03 1.49098851e+00] [ 2.05535622e-02 -5.99953262e-04 9.99788573e-01 2.47904389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.512755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:1.50, Z:0.25 [[ 9.81846434e-01 -1.88653686e-01 -1.96816615e-02 1.82571064e+01] [ 1.88627710e-01 9.82043504e-01 -3.18483489e-03 1.49578647e+00] [ 1.99290787e-02 -5.85487948e-04 9.99801225e-01 2.48265487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542755096000004 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:18.28, Y:1.52, Z:0.25 [[ 0.98144977 -0.1902929 -0.02334451 18.28452467] [ 0.18964618 0.98147112 -0.02736349 1.51535067] [ 0.02811904 0.0224287 0.99935293 0.24524914] [ 0. 0. 0. 1. ]] SLAMing on 20.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.31, Y:1.49, Z:0.26 [[ 0.98200641 -0.18729445 -0.02417009 18.31329194] [ 0.18778005 0.98201413 0.01966977 1.49277152] [ 0.02005133 -0.0238545 0.99951434 0.25597099] [ 0. 0. 0. 1. ]] SLAMing on 20.602755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.34, Y:1.51, Z:0.25 [[ 9.82127232e-01 -1.87105395e-01 -2.04370356e-02 1.83381100e+01] [ 1.87076720e-01 9.82339686e-01 -3.32305665e-03 1.51056149e+00] [ 2.06978729e-02 -5.59629160e-04 9.99785619e-01 2.48404410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.632755096000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.37, Y:1.52, Z:0.25 [[ 9.82232468e-01 -1.86426807e-01 -2.15505184e-02 1.83660891e+01] [ 1.86394692e-01 9.82468686e-01 -3.50718146e-03 1.51505400e+00] [ 2.18265422e-02 -5.72034749e-04 9.99761609e-01 2.48473711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:1.52, Z:0.25 [[ 9.82255148e-01 -1.86263631e-01 -2.19245077e-02 1.83923796e+01] [ 1.86230199e-01 9.82499635e-01 -3.57490642e-03 1.51920341e+00] [ 2.22066958e-02 -5.71535198e-04 9.99753238e-01 2.48899106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.692755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:1.52, Z:0.25 [[ 9.82372693e-01 -1.85613726e-01 -2.21683613e-02 1.84191955e+01] [ 1.85579274e-01 9.82622630e-01 -3.61941361e-03 1.52343593e+00] [ 2.24549463e-02 -5.58375298e-04 9.99747700e-01 2.49389549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:1.53, Z:0.25 [[ 9.82397737e-01 -1.85510527e-01 -2.19210246e-02 1.84467926e+01] [ 1.85476716e-01 9.82642126e-01 -3.58344366e-03 1.52838352e+00] [ 2.22052888e-02 -5.45472713e-04 9.99753283e-01 2.49590667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.47, Y:1.53, Z:0.25 [[ 9.82404063e-01 -1.85511722e-01 -2.16253931e-02 1.84739278e+01] [ 1.85478669e-01 9.82641907e-01 -3.54188260e-03 1.53337375e+00] [ 2.19070783e-02 -5.31489282e-04 9.99759870e-01 2.50068964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.50, Y:1.54, Z:0.25 [[ 9.82433040e-01 -1.85389827e-01 -2.13526184e-02 1.85002039e+01] [ 1.85357431e-01 9.82664921e-01 -3.50380772e-03 1.53797403e+00] [ 2.16320393e-02 -5.15610013e-04 9.99765867e-01 2.50579791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.53, Y:1.54, Z:0.25 [[ 9.82364913e-01 -1.85749126e-01 -2.13644401e-02 1.85276625e+01] [ 1.85716711e-01 9.82597064e-01 -3.50884552e-03 1.54244292e+00] [ 2.16444011e-02 -5.20766823e-04 9.99765597e-01 2.51312755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:1.55, Z:0.25 [[ 9.82271110e-01 -1.86222156e-01 -2.15586310e-02 1.85546908e+01] [ 1.86189118e-01 9.82507521e-01 -3.54739495e-03 1.54671252e+00] [ 2.18421206e-02 -5.29478913e-04 9.99761292e-01 2.51947563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:1.55, Z:0.25 [[ 9.82140868e-01 -1.86831490e-01 -2.22105777e-02 1.85824524e+01] [ 1.86796503e-01 9.82391819e-01 -3.65805661e-03 1.55107388e+00] [ 2.25029300e-02 -5.56131356e-04 9.99746622e-01 2.52885221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:1.56, Z:0.25 [[ 9.81797124e-01 -1.88865774e-01 -2.01029106e-02 1.86089300e+01] [ 1.88737206e-01 9.81993988e-01 -8.12862278e-03 1.55988239e+00] [ 2.12761560e-02 4.18649129e-03 9.99764872e-01 2.50049994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:1.56, Z:0.25 [[ 9.81812037e-01 -1.88431682e-01 -2.32083004e-02 1.86379371e+01] [ 1.88282318e-01 9.82078329e-01 -8.48081659e-03 1.56350066e+00] [ 2.43904234e-02 3.95685522e-03 9.99694679e-01 2.52857726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:1.56, Z:0.26 [[ 9.81834684e-01 -1.88407995e-01 -2.24294470e-02 1.86678900e+01] [ 1.88509467e-01 9.82068241e-01 2.48000520e-03 1.56223661e+00] [ 2.15599947e-02 -6.66311822e-03 9.99745352e-01 2.55720108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.69, Y:1.58, Z:0.25 [[ 9.81646905e-01 -1.89318571e-01 -2.29746007e-02 1.86939584e+01] [ 1.89020217e-01 9.81865417e-01 -1.45485502e-02 1.57637551e+00] [ 2.53122767e-02 9.93887529e-03 9.99630185e-01 2.52384610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.72, Y:1.57, Z:0.26 [[ 9.81675897e-01 -1.88971762e-01 -2.45378625e-02 1.87227032e+01] [ 1.89253542e-01 9.81880358e-01 9.69844612e-03 1.56722549e+00] [ 2.22605128e-02 -1.41646082e-02 9.99651856e-01 2.60608791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.052755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.75, Y:1.58, Z:0.26 [[ 9.81668381e-01 -1.89307796e-01 -2.21302545e-02 1.87495520e+01] [ 1.89272863e-01 9.81917628e-01 -3.68169515e-03 1.57917991e+00] [ 2.24270606e-02 -5.74452910e-04 9.99748317e-01 2.57435540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:1.59, Z:0.25 [[ 9.81433855e-01 -1.90906826e-01 -1.84978924e-02 1.87760565e+01] [ 1.90657880e-01 9.81550713e-01 -1.44142486e-02 1.59060934e+00] [ 2.09083979e-02 1.06198626e-02 9.99724991e-01 2.50647833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.112755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:1.58, Z:0.26 [[ 9.81586633e-01 -1.89372713e-01 -2.50131572e-02 1.88050273e+01] [ 1.89576394e-01 9.81847533e-01 6.01776460e-03 1.58218479e+00] [ 2.34195063e-02 -1.06488614e-02 9.99669009e-01 2.61008039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:1.60, Z:0.26 [[ 9.81380912e-01 -1.90817549e-01 -2.19127322e-02 1.88328285e+01] [ 1.90708087e-01 9.81621832e-01 -7.00028817e-03 1.59534883e+00] [ 2.28457941e-02 2.69101395e-03 9.99735379e-01 2.55971242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.172755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.86, Y:1.60, Z:0.26 [[ 9.81167452e-01 -1.91773941e-01 -2.30908519e-02 1.88594346e+01] [ 1.91822164e-01 9.81429692e-01 -1.28897255e-04 1.59658394e+00] [ 2.26867668e-02 -4.30286738e-03 9.99733362e-01 2.60584725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:1.60, Z:0.26 [[ 9.81044261e-01 -1.92523033e-01 -2.20689631e-02 1.88872329e+01] [ 1.92488097e-01 9.81292270e-01 -3.71656085e-03 1.60312903e+00] [ 2.23716265e-02 -6.01902031e-04 9.99749543e-01 2.60277534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:1.61, Z:0.26 [[ 9.80848448e-01 -1.93806118e-01 -1.93780772e-02 1.89144898e+01] [ 1.93617996e-01 9.81013387e-01 -1.11716441e-02 1.61254541e+00] [ 2.11752861e-02 7.20574532e-03 9.99749811e-01 2.56354300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.94, Y:1.59, Z:0.27 [[ 9.81369712e-01 -1.90637831e-01 -2.38894631e-02 1.89411625e+01] [ 1.91327482e-01 9.81037063e-01 3.09850946e-02 1.59034880e+00] [ 1.75295174e-02 -3.49785442e-02 9.99234316e-01 2.70967868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.292755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.97, Y:1.64, Z:0.25 [[ 9.80380326e-01 -1.96246484e-01 -1.84860522e-02 1.89703937e+01] [ 1.95192634e-01 9.79605855e-01 -4.76676420e-02 1.64278473e+00] [ 2.74636521e-02 4.31240771e-02 9.98692176e-01 2.50687543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:1.61, Z:0.27 [[ 9.80363700e-01 -1.95273597e-01 -2.74816106e-02 1.90038754e+01] [ 1.95600207e-01 9.80635553e-01 9.71962750e-03 1.61409983e+00] [ 2.50514578e-02 -1.49041787e-02 9.99575055e-01 2.71775113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:1.63, Z:0.27 [[ 9.80410396e-01 -1.95343614e-01 -2.52255307e-02 1.90298883e+01] [ 1.95248129e-01 9.80734164e-01 -6.21833667e-03 1.62802473e+00] [ 2.59542522e-02 1.17128424e-03 9.99662445e-01 2.66973321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:1.63, Z:0.27 [[ 9.80400244e-01 -1.95350118e-01 -2.55674348e-02 1.90580070e+01] [ 1.95348772e-01 9.80730457e-01 -2.57464938e-03 1.63145257e+00] [ 2.55777201e-02 -2.47038010e-03 9.99669784e-01 2.69682287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.08, Y:1.64, Z:0.27 [[ 9.80403486e-01 -1.95348340e-01 -2.54564574e-02 1.90848164e+01] [ 1.95300490e-01 9.80733686e-01 -4.37674181e-03 1.63729080e+00] [ 2.58209946e-02 -6.80685678e-04 9.99666351e-01 2.69746180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.11, Y:1.64, Z:0.27 [[ 9.80423485e-01 -1.95193453e-01 -2.58709558e-02 1.91122384e+01] [ 1.95143823e-01 9.80764524e-01 -4.45392009e-03 1.64212286e+00] [ 2.62426917e-02 -6.81829364e-04 9.99655369e-01 2.70826371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.472755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:1.65, Z:0.27 [[ 9.80602321e-01 -1.94150321e-01 -2.69210097e-02 1.91392915e+01] [ 1.93819167e-01 9.80931092e-01 -1.44333927e-02 1.65229120e+00] [ 2.92099033e-02 8.93561070e-03 9.99533359e-01 2.68836589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:1.65, Z:0.28 [[ 9.80619896e-01 -1.93855078e-01 -2.83695061e-02 1.91689446e+01] [ 1.94057149e-01 9.80979787e-01 4.52556895e-03 1.64675202e+00] [ 2.69526076e-02 -9.94316843e-03 9.99587260e-01 2.75506364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.532755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:1.66, Z:0.27 [[ 9.80694080e-01 -1.93615970e-01 -2.74222014e-02 1.91951090e+01] [ 1.93368221e-01 9.81059551e-01 -1.14406311e-02 1.66099802e+00] [ 2.91179015e-02 5.91717686e-03 9.99558470e-01 2.71806509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:1.66, Z:0.27 [[ 9.80767578e-01 -1.92879391e-01 -2.98747006e-02 1.92221559e+01] [ 1.92721944e-01 9.81220057e-01 -8.09021960e-03 1.66364765e+00] [ 3.08740920e-02 2.17711471e-03 9.99520911e-01 2.74606292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.25, Y:1.66, Z:0.28 [[ 9.80636334e-01 -1.93576524e-01 -2.96733777e-02 1.92530289e+01] [ 1.93802070e-01 9.81028434e-01 4.89586848e-03 1.66201329e+00] [ 2.81627021e-02 -1.05518285e-02 9.99547658e-01 2.78715042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:1.67, Z:0.28 [[ 9.80448737e-01 -1.94789799e-01 -2.78784473e-02 1.92793450e+01] [ 1.94731283e-01 9.80844762e-01 -4.82498750e-03 1.67200146e+00] [ 2.82842873e-02 -6.98152921e-04 9.99599676e-01 2.77025369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.652755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.31, Y:1.68, Z:0.28 [[ 9.80336450e-01 -1.95397458e-01 -2.75731333e-02 1.93055054e+01] [ 1.95340217e-01 9.80723888e-01 -4.78074585e-03 1.67668783e+00] [ 2.79757761e-02 -6.99402425e-04 9.99608357e-01 2.77896822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.33, Y:1.68, Z:0.28 [[ 9.80166796e-01 -1.96281452e-01 -2.73247904e-02 1.93328240e+01] [ 1.96225405e-01 9.80547339e-01 -4.74399378e-03 1.68193203e+00] [ 2.77244085e-02 -7.11912884e-04 9.99615351e-01 2.78623414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.712755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.36, Y:1.69, Z:0.28 [[ 9.80057038e-01 -1.96825578e-01 -2.73476370e-02 1.93602137e+01] [ 1.96769405e-01 9.80438256e-01 -4.75676404e-03 1.68779674e+00] [ 2.77489223e-02 -7.19278186e-04 9.99614666e-01 2.79593899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:1.69, Z:0.28 [[ 9.79944599e-01 -1.97409684e-01 -2.71661558e-02 1.93877275e+01] [ 1.97354235e-01 9.80320812e-01 -4.73400968e-03 1.69305646e+00] [ 2.75660872e-02 -7.22288668e-04 9.99619722e-01 2.80387456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:1.70, Z:0.28 [[ 9.79885047e-01 -1.97705276e-01 -2.71646420e-02 1.94158437e+01] [ 1.97649701e-01 9.80261242e-01 -4.74268085e-03 1.69812399e+00] [ 2.75660987e-02 -7.21801310e-04 9.99619722e-01 2.81094975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:1.70, Z:0.28 [[ 9.79794735e-01 -1.98182558e-01 -2.69434726e-02 1.94424929e+01] [ 1.98127848e-01 9.80164860e-01 -4.71196392e-03 1.70272726e+00] [ 2.73428741e-02 -7.21494801e-04 9.99625853e-01 2.81664766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.832755096000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.47, Y:1.71, Z:0.28 [[ 9.79687735e-01 -1.98687677e-01 -2.71136388e-02 1.94696843e+01] [ 1.98632346e-01 9.80062582e-01 -4.74612796e-03 1.70740381e+00] [ 2.75160600e-02 -7.35922344e-04 9.99621091e-01 2.82384072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862755096000004 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:19.50, Y:1.71, Z:0.28 [[ 9.79659336e-01 -1.98845774e-01 -2.69804152e-02 1.94965965e+01] [ 1.98790815e-01 9.80030524e-01 -4.73121463e-03 1.71237154e+00] [ 2.73824124e-02 -7.28480147e-04 9.99624766e-01 2.82766895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.892755096000002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:19.52, Y:1.72, Z:0.28 [[ 9.79656610e-01 -1.98819596e-01 -2.72707816e-02 1.95238011e+01] [ 1.98763315e-01 9.80035833e-01 -4.78656944e-03 1.71790996e+00] [ 2.76780070e-02 -7.31236556e-04 9.99616623e-01 2.83625030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922755096000003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:19.55, Y:1.72, Z:0.28 [[ 9.79586182e-01 -1.99173975e-01 -2.72147014e-02 1.95515457e+01] [ 1.99117819e-01 9.79963873e-01 -4.78547508e-03 1.72353328e+00] [ 2.76225663e-02 -7.31146729e-04 9.99618157e-01 2.84276292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.952755096000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:19.58, Y:1.73, Z:0.28 [[ 9.79645691e-01 -1.98738036e-01 -2.82402619e-02 1.95786559e+01] [ 1.98651488e-01 9.80052638e-01 -5.86618713e-03 1.72916722e+00] [ 2.88427777e-02 1.36814895e-04 9.99583951e-01 2.84863680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.61, Y:1.73, Z:0.29 [[ 9.79556874e-01 -1.99275060e-01 -2.75278144e-02 1.96075259e+01] [ 1.99239195e-01 9.79942447e-01 -4.06742843e-03 1.73402937e+00] [ 2.77862109e-02 -1.50034210e-03 9.99612763e-01 2.85840824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.012755096000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:19.63, Y:1.74, Z:0.29 [[ 9.79440019e-01 -1.99862917e-01 -2.74237689e-02 1.96346639e+01] [ 1.99805747e-01 9.79823588e-01 -4.83726787e-03 1.73939977e+00] [ 2.78372461e-02 -7.41612893e-04 9.99612194e-01 2.86272958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042755096000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:19.66, Y:1.74, Z:0.29 [[ 9.79218286e-01 -2.00958768e-01 -2.73335281e-02 1.96611735e+01] [ 2.00902163e-01 9.79599404e-01 -4.82989619e-03 1.74385439e+00] [ 2.77465178e-02 -7.61842246e-04 9.99614701e-01 2.86962322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:1.75, Z:0.29 [[ 9.79014109e-01 -2.01963868e-01 -2.72391419e-02 1.96887087e+01] [ 2.01907919e-01 9.79392660e-01 -4.81763646e-03 1.74875161e+00] [ 2.76508041e-02 -7.83264400e-04 9.99617337e-01 2.88110435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:1.75, Z:0.29 [[ 9.78953908e-01 -2.02255676e-01 -2.72376165e-02 1.97168105e+01] [ 2.02199600e-01 9.79332440e-01 -4.82624624e-03 1.75389093e+00] [ 2.76508171e-02 -7.82762542e-04 9.99617337e-01 2.88818700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:1.76, Z:0.29 [[ 9.78886460e-01 -2.02638896e-01 -2.68099915e-02 1.97437973e+01] [ 2.02584501e-01 9.79253225e-01 -4.75821219e-03 1.75882545e+00] [ 2.72179695e-02 -7.73539256e-04 9.99629223e-01 2.89577894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:1.76, Z:0.29 [[ 9.78900571e-01 -2.02548059e-01 -2.69806399e-02 1.97713682e+01] [ 2.02492817e-01 9.79272019e-01 -4.79280900e-03 1.76431128e+00] [ 2.73921599e-02 -7.71702311e-04 9.99624467e-01 2.90267747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:1.77, Z:0.29 [[ 9.78870753e-01 -2.02674611e-01 -2.71118237e-02 1.97985899e+01] [ 2.02618633e-01 9.79245837e-01 -4.82500310e-03 1.76941397e+00] [ 2.75270461e-02 -7.70306247e-04 9.99620762e-01 2.90814575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:1.77, Z:0.29 [[ 9.78935902e-01 -2.02358811e-01 -2.71184782e-02 1.98252002e+01] [ 2.02302454e-01 9.79311158e-01 -4.83457715e-03 1.77426515e+00] [ 2.75357475e-02 -7.53393552e-04 9.99620536e-01 2.91418767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:1.78, Z:0.29 [[ 9.79244068e-01 -2.00775763e-01 -2.77515366e-02 1.98526493e+01] [ 2.00613422e-01 9.79633226e-01 -8.54384645e-03 1.78164950e+00] [ 2.89017246e-02 2.79918022e-03 9.99578339e-01 2.91488176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282755096000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.88, Y:1.79, Z:0.29 [[ 9.79498651e-01 -1.99485879e-01 -2.80673561e-02 1.98801741e+01] [ 1.99359604e-01 9.79899535e-01 -7.25599021e-03 1.78618141e+00] [ 2.89506568e-02 1.51173562e-03 9.99579699e-01 2.92461355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:1.79, Z:0.29 [[ 9.79645909e-01 -1.98629280e-01 -2.89879768e-02 1.99075503e+01] [ 1.98567027e-01 9.80074353e-01 -5.03959999e-03 1.79038650e+00] [ 2.94113847e-02 -8.19032855e-04 9.99567056e-01 2.94586567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.94, Y:1.80, Z:0.30 [[ 9.80044610e-01 -1.96686028e-01 -2.87605354e-02 1.99356236e+01] [ 1.96628677e-01 9.80466098e-01 -4.83675129e-03 1.79560171e+00] [ 2.91500513e-02 -9.14913984e-04 9.99574628e-01 2.95887659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.372755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:1.80, Z:0.30 [[ 9.80576015e-01 -1.94018548e-01 -2.87659729e-02 1.99638775e+01] [ 1.94110184e-01 9.80979651e-01 4.01307109e-04 1.79917601e+00] [ 2.81409730e-02 -5.97728042e-03 9.99586093e-01 2.97587349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:1.81, Z:0.30 [[ 9.80718248e-01 -1.93391106e-01 -2.81353627e-02 1.99906590e+01] [ 1.93326009e-01 9.81121621e-01 -5.04170465e-03 1.80799465e+00] [ 2.85792335e-02 -4.94805632e-04 9.99591408e-01 2.96507243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:1.81, Z:0.30 [[ 9.80914077e-01 -1.92325621e-01 -2.86082080e-02 2.00173672e+01] [ 1.92257617e-01 9.81331056e-01 -5.13496712e-03 1.81327924e+00] [ 2.90617087e-02 -4.63184354e-04 9.99577512e-01 2.97564165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:1.82, Z:0.30 [[ 9.81093539e-01 -1.91414058e-01 -2.85679337e-02 2.00444808e+01] [ 1.91345728e-01 9.81509283e-01 -5.13222287e-03 1.81852759e+00] [ 2.90220718e-02 -4.31161392e-04 9.99578678e-01 2.97633671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.492755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:1.83, Z:0.30 [[ 9.80956887e-01 -1.91988015e-01 -2.93970739e-02 2.00723025e+01] [ 1.91617326e-01 9.81355498e-01 -1.49728382e-02 1.82899036e+00] [ 3.17235855e-02 9.05472000e-03 9.99455665e-01 2.96264954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:1.82, Z:0.30 [[ 9.81091542e-01 -1.91195396e-01 -3.00617012e-02 2.01017617e+01] [ 1.91398159e-01 9.81504361e-01 3.99181011e-03 1.82344032e+00] [ 2.87424751e-02 -9.67008542e-03 9.99540074e-01 3.02254337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.552755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:1.83, Z:0.30 [[ 9.81108807e-01 -1.91357964e-01 -2.84189874e-02 2.01282929e+01] [ 1.91289545e-01 9.81520234e-01 -5.13232743e-03 1.83359124e+00] [ 2.88759229e-02 -4.00883545e-04 9.99582923e-01 3.00162975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:1.85, Z:0.30 [[ 9.80888002e-01 -1.92303079e-01 -2.96353271e-02 2.01554165e+01] [ 1.91755902e-01 9.81231820e-01 -2.03418273e-02 1.84760399e+00] [ 3.29909219e-02 1.42703055e-02 9.99353770e-01 2.97207279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.612755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:1.84, Z:0.31 [[ 9.81107593e-01 -1.90811060e-01 -3.19222588e-02 2.01856773e+01] [ 1.91167897e-01 9.81520559e-01 8.49866016e-03 1.83683602e+00] [ 2.97107149e-02 -1.44406111e-02 9.99454222e-01 3.05588895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:1.85, Z:0.30 [[ 9.81081172e-01 -1.91339674e-01 -2.94764773e-02 2.02120510e+01] [ 1.91182067e-01 9.81521156e-01 -8.10176378e-03 1.85115594e+00] [ 3.04819749e-02 2.31311406e-03 9.99532640e-01 3.01221599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.672755096000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.24, Y:1.85, Z:0.30 [[ 9.81053727e-01 -1.91421408e-01 -2.98568250e-02 2.02402096e+01] [ 1.91426619e-01 9.81503186e-01 -2.71040018e-03 1.85320430e+00] [ 2.98233975e-02 -3.05634286e-03 9.99550511e-01 3.03477545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:1.86, Z:0.30 [[ 9.80851246e-01 -1.92572614e-01 -2.90967547e-02 2.02665858e+01] [ 1.92500362e-01 9.81282640e-01 -5.29073907e-03 1.85958503e+00] [ 2.95709917e-02 -4.11707815e-04 9.99562598e-01 3.02957449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:1.86, Z:0.30 [[ 9.80643744e-01 -1.93612992e-01 -2.91865669e-02 2.02943209e+01] [ 1.93540613e-01 9.81077885e-01 -5.31180958e-03 1.86444895e+00] [ 2.96627307e-02 -4.39793209e-04 9.99559868e-01 3.03599506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762755096000003 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:20.32, Y:1.88, Z:0.30 [[ 9.80269256e-01 -1.95325760e-01 -3.03320449e-02 2.03217760e+01] [ 1.94918370e-01 9.80690888e-01 -1.58811386e-02 1.87569365e+00] [ 3.28483555e-02 9.65551922e-03 9.99413706e-01 3.02799020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.792755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.35, Y:1.87, Z:0.31 [[ 9.80369939e-01 -1.94679825e-01 -3.12177655e-02 2.03501902e+01] [ 1.94916456e-01 9.80808609e-01 4.69557399e-03 1.86844786e+00] [ 2.97045196e-02 -1.06882558e-02 9.99501577e-01 3.08371766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:1.88, Z:0.31 [[ 9.80248706e-01 -1.95540588e-01 -2.96032444e-02 2.03772786e+01] [ 1.95520330e-01 9.80693020e-01 -3.60568209e-03 1.87797084e+00] [ 2.97367524e-02 -2.25357090e-03 9.99555225e-01 3.06500024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.852755096000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:20.40, Y:1.89, Z:0.31 [[ 9.80090901e-01 -1.96414501e-01 -2.90373680e-02 2.04048063e+01] [ 1.96292733e-01 9.80520251e-01 -7.01423676e-03 1.88502371e+00] [ 2.98494252e-02 1.17476532e-03 9.99553716e-01 3.05530610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:1.89, Z:0.31 [[ 9.80209520e-01 -1.95778095e-01 -2.93297572e-02 2.04320325e+01] [ 1.95704736e-01 9.80648112e-01 -5.37929153e-03 1.88754680e+00] [ 2.98153185e-02 -4.67139638e-04 9.99555315e-01 3.07167950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.46, Y:1.89, Z:0.31 [[ 9.79814569e-01 -1.97697920e-01 -2.96469596e-02 2.04596000e+01] [ 1.97623544e-01 9.80262853e-01 -5.44744140e-03 1.89243348e+00] [ 3.01387610e-02 -5.21454770e-04 9.99545588e-01 3.08206073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.49, Y:1.90, Z:0.31 [[ 9.79530056e-01 -1.99085852e-01 -2.97605804e-02 2.04865049e+01] [ 1.98822735e-01 9.79967014e-01 -1.15832049e-02 1.90084380e+00] [ 3.14704393e-02 5.42901738e-03 9.99489939e-01 3.07601072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.972755096000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:20.51, Y:1.90, Z:0.31 [[ 9.79611938e-01 -1.98637961e-01 -3.00567974e-02 2.05133907e+01] [ 1.98750895e-01 9.80049724e-01 7.87502519e-04 1.89825717e+00] [ 2.93007282e-02 -6.74526225e-03 9.99547882e-01 3.11682876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:1.91, Z:0.31 [[ 9.79523023e-01 -1.99256588e-01 -2.88350279e-02 2.05404428e+01] [ 1.99186277e-01 9.79947207e-01 -5.31964637e-03 1.90699791e+00] [ 2.93167796e-02 -5.32825757e-04 9.99570029e-01 3.10720082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.032755096000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.57, Y:1.91, Z:0.31 [[ 9.79479079e-01 -1.99526140e-01 -2.84614302e-02 2.05680841e+01] [ 1.99457497e-01 9.79892363e-01 -5.25959100e-03 1.91184138e+00] [ 2.89385639e-02 -5.25186273e-04 9.99581054e-01 3.11000415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.062755096000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:20.60, Y:1.92, Z:0.31 [[ 9.79559221e-01 -1.99060346e-01 -2.89605177e-02 2.05960401e+01] [ 1.98988792e-01 9.79987101e-01 -5.36125936e-03 1.91570361e+00] [ 2.94481480e-02 -5.11147409e-04 9.99566179e-01 3.11868306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.092755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:20.62, Y:1.92, Z:0.31 [[ 9.79431507e-01 -1.99674331e-01 -2.90531385e-02 2.06221797e+01] [ 1.99491049e-01 9.79857343e-01 -9.10541978e-03 1.92249434e+00] [ 3.02860497e-02 3.12229395e-03 9.99536396e-01 3.11975891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.65, Y:1.92, Z:0.31 [[ 9.79419779e-01 -1.99629671e-01 -2.97471081e-02 2.06517764e+01] [ 1.99661528e-01 9.79863034e-01 -1.92577648e-03 1.92363682e+00] [ 2.95325337e-02 -4.05320947e-03 9.99555602e-01 3.14888514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.152755096000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.68, Y:1.93, Z:0.31 [[ 9.79446912e-01 -1.99631277e-01 -2.88288187e-02 2.06777673e+01] [ 1.99559990e-01 9.79870960e-01 -5.35833855e-03 1.93022989e+00] [ 2.93182142e-02 -5.04870622e-04 9.99570001e-01 3.14295705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.182755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.71, Y:1.94, Z:0.32 [[ 9.79611894e-01 -1.98819122e-01 -2.88356337e-02 2.07053463e+01] [ 1.98747314e-01 9.80036086e-01 -5.36427253e-03 1.93591117e+00] [ 2.93264815e-02 -4.76099557e-04 9.99569773e-01 3.15210777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.212755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.73, Y:1.94, Z:0.32 [[ 9.79692001e-01 -1.98433182e-01 -2.87724742e-02 2.07321816e+01] [ 1.98361262e-01 9.80114312e-01 -5.36136985e-03 1.94130380e+00] [ 2.92641875e-02 -4.54853135e-04 9.99571608e-01 3.15964516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.242755096000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.76, Y:1.95, Z:0.32 [[ 9.79761209e-01 -1.98104573e-01 -2.86801468e-02 2.07590029e+01] [ 1.98032840e-01 9.80180792e-01 -5.34871904e-03 1.94598297e+00] [ 2.91713347e-02 -4.39143499e-04 9.99574330e-01 3.16563258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.272755096000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:20.79, Y:1.95, Z:0.32 [[ 9.79746381e-01 -1.98103816e-01 -2.91874352e-02 2.07866378e+01] [ 1.98029238e-01 9.80180946e-01 -5.45289813e-03 1.95130590e+00] [ 2.96892077e-02 -4.37508333e-04 9.99559083e-01 3.17367372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.302755096000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:20.81, Y:1.96, Z:0.32 [[ 9.79673947e-01 -1.98461940e-01 -2.91858989e-02 2.08147048e+01] [ 1.98387248e-01 9.80108497e-01 -5.46206984e-03 1.95662114e+00] [ 2.96893605e-02 -4.39062638e-04 9.99559077e-01 3.18255539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.332755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.84, Y:1.96, Z:0.32 [[ 9.79584790e-01 -1.99024721e-01 -2.83337258e-02 2.08422209e+01] [ 1.98954305e-01 9.79994374e-01 -5.31152972e-03 1.96143745e+00] [ 2.88240176e-02 -4.34023004e-04 9.99584407e-01 3.18814997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.362755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.87, Y:1.97, Z:0.32 [[ 9.79445320e-01 -1.99762628e-01 -2.79599233e-02 2.08697964e+01] [ 1.99694105e-01 9.79844221e-01 -5.25036322e-03 1.96687224e+00] [ 2.84451956e-02 -4.40988183e-04 9.99595256e-01 3.19610251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.392755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.90, Y:1.98, Z:0.32 [[ 9.79091044e-01 -2.01461659e-01 -2.81767041e-02 2.08980816e+01] [ 2.01200774e-01 9.79478517e-01 -1.18356856e-02 1.97652796e+00] [ 2.99829132e-02 5.91903913e-03 9.99532886e-01 3.18806701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.422755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:1.97, Z:0.32 [[ 9.79121580e-01 -2.01254267e-01 -2.85946174e-02 2.09252445e+01] [ 2.01375032e-01 9.79513244e-01 1.37856000e-03 1.97454673e+00] [ 2.77313653e-02 -7.10801983e-03 9.99590140e-01 3.23697552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.95, Y:1.98, Z:0.32 [[ 9.78984718e-01 -2.02106625e-01 -2.72366380e-02 2.09510934e+01] [ 2.02041985e-01 9.79363408e-01 -5.13341912e-03 1.98361824e+00] [ 2.77120646e-02 -4.77405530e-04 9.99615833e-01 3.22272255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.98, Y:1.99, Z:0.32 [[ 9.78875751e-01 -2.02613466e-01 -2.73870040e-02 2.09774410e+01] [ 2.02548141e-01 9.79258671e-01 -5.16777729e-03 1.98862181e+00] [ 2.78660224e-02 -4.88574871e-04 9.99611548e-01 3.22914994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.512755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.01, Y:2.00, Z:0.32 [[ 9.78231097e-01 -2.05586885e-01 -2.82480602e-02 2.10067471e+01] [ 2.05207421e-01 9.78591542e-01 -1.57641534e-02 2.00073262e+00] [ 3.08842160e-02 9.62427348e-03 9.99476632e-01 3.20900792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.542755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:2.00, Z:0.32 [[ 9.78307391e-01 -2.05036354e-01 -2.95760509e-02 2.10349082e+01] [ 2.05050086e-01 9.78748027e-01 -2.60050242e-03 1.99935918e+00] [ 2.94806990e-02 -3.52048104e-03 9.99559150e-01 3.24894324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:2.01, Z:0.32 [[ 9.78285075e-01 -2.05111897e-01 -2.97896355e-02 2.10626665e+01] [ 2.04959379e-01 9.78736806e-01 -8.11896736e-03 2.00840828e+00] [ 3.08215095e-02 1.83699940e-03 9.99523216e-01 3.24643573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.602755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.09, Y:2.01, Z:0.33 [[ 9.78472026e-01 -2.04203407e-01 -2.98908486e-02 2.10895660e+01] [ 2.04417686e-01 9.78874465e-01 4.26506756e-03 2.00686468e+00] [ 2.83884471e-02 -1.02834674e-02 9.99544069e-01 3.28678656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.12, Y:2.02, Z:0.32 [[ 9.78229665e-01 -2.05560443e-01 -2.84890489e-02 2.11161733e+01] [ 2.05196220e-01 9.78602833e-01 -1.51988894e-02 2.02351887e+00] [ 3.10037544e-02 9.02215936e-03 9.99478548e-01 3.23755858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.15, Y:2.02, Z:0.33 [[ 9.78267210e-01 -2.05066446e-01 -3.06760211e-02 2.11455597e+01] [ 2.05264736e-01 9.78700487e-01 3.42711893e-03 2.01842563e+00] [ 2.93198497e-02 -9.64934345e-03 9.99523505e-01 3.29995038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.692755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:2.03, Z:0.33 [[ 9.78021932e-01 -2.06509532e-01 -2.87561071e-02 2.11722573e+01] [ 2.06331728e-01 9.78440234e-01 -9.05126508e-03 2.03109299e+00] [ 3.00053047e-02 2.91903848e-03 9.99545477e-01 3.26724746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.722755096000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:21.20, Y:2.04, Z:0.33 [[ 9.78099628e-01 -2.05992866e-01 -2.98002863e-02 2.12000630e+01] [ 2.05684885e-01 9.78530745e-01 -1.30885446e-02 2.03835608e+00] [ 3.18566432e-02 6.67243218e-03 9.99470176e-01 3.27383165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.23, Y:2.04, Z:0.33 [[ 9.78057856e-01 -2.05735219e-01 -3.28001408e-02 2.12274621e+01] [ 2.05647287e-01 9.78607359e-01 -6.06872546e-03 2.03961440e+00] [ 3.33470097e-02 -8.09695353e-04 9.99443506e-01 3.31736093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.26, Y:2.03, Z:0.34 [[ 9.78495619e-01 -2.02945672e-01 -3.68697453e-02 2.12566178e+01] [ 2.03746256e-01 9.78831542e-01 1.93978496e-02 2.02963150e+00] [ 3.21525600e-02 -2.64927834e-02 9.99131796e-01 3.42799700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:2.06, Z:0.33 [[ 9.78403683e-01 -2.04922941e-01 -2.70706833e-02 2.12809837e+01] [ 2.04419171e-01 9.78673906e-01 -2.02531004e-02 2.05884064e+00] [ 3.06436963e-02 1.42819414e-02 9.99428332e-01 3.27663058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.31, Y:2.06, Z:0.33 [[ 9.78429733e-01 -2.04477687e-01 -2.93961240e-02 2.13096511e+01] [ 2.04400759e-01 9.78871098e-01 -5.63059471e-03 2.05655134e+00] [ 2.99263472e-02 -4.99448789e-04 9.99551982e-01 3.33185367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.34, Y:2.06, Z:0.34 [[ 9.78639753e-01 -2.03099390e-01 -3.18570532e-02 2.13385789e+01] [ 2.03082705e-01 9.79154243e-01 -3.79259085e-03 2.06171652e+00] [ 3.19632417e-02 -2.75803637e-03 9.99485240e-01 3.36784060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:2.07, Z:0.33 [[ 9.78885872e-01 -2.02310796e-01 -2.92025782e-02 2.13637328e+01] [ 2.02166057e-01 9.79319736e-01 -7.85747344e-03 2.07007087e+00] [ 3.01883129e-02 1.78779964e-03 9.99542630e-01 3.34901154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:2.07, Z:0.34 [[ 9.79064582e-01 -2.01281606e-01 -3.03028032e-02 2.13916339e+01] [ 2.01197578e-01 9.79533339e-01 -5.82853885e-03 2.07406610e+00] [ 3.08557837e-02 -3.90334666e-04 9.99523771e-01 3.36506325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.962755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.42, Y:2.08, Z:0.34 [[ 9.79024964e-01 -2.01043575e-01 -3.30393726e-02 2.14200208e+01] [ 2.01181832e-01 9.79553518e-01 8.80617973e-04 2.07539530e+00] [ 3.21867911e-02 -7.50906850e-03 9.99453663e-01 3.41172379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.45, Y:2.09, Z:0.34 [[ 9.78978774e-01 -2.01737519e-01 -3.00422043e-02 2.14461210e+01] [ 2.01449969e-01 9.79421066e-01 -1.23403755e-02 2.08817108e+00] [ 3.19134845e-02 6.02896452e-03 9.99472451e-01 3.37219944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:2.09, Z:0.34 [[ 9.78907129e-01 -2.01898915e-01 -3.12675551e-02 2.14747719e+01] [ 2.01810670e-01 9.79406261e-01 -5.98568937e-03 2.09023200e+00] [ 3.18321434e-02 -4.50692245e-04 9.99493127e-01 3.39996338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.052755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:2.10, Z:0.34 [[ 9.78797487e-01 -2.02312126e-01 -3.20200458e-02 2.15013632e+01] [ 2.02110781e-01 9.79317185e-01 -9.43839753e-03 2.09792679e+00] [ 3.32672834e-02 2.76668332e-03 9.99442661e-01 3.40590236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.082755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.53, Y:2.10, Z:0.34 [[ 9.78915750e-01 -2.01688397e-01 -3.23379859e-02 2.15282275e+01] [ 2.01707373e-01 9.79442087e-01 -2.70827325e-03 2.09958202e+00] [ 3.22194117e-02 -3.87163884e-03 9.99473321e-01 3.43029010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.112755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:2.11, Z:0.34 [[ 9.78571338e-01 -2.03190895e-01 -3.33406095e-02 2.15570566e+01] [ 2.02860051e-01 9.79120667e-01 -1.30583249e-02 2.11133011e+00] [ 3.52978125e-02 6.01502474e-03 9.99358736e-01 3.42145711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:2.11, Z:0.34 [[ 9.78656413e-01 -2.02781578e-01 -3.33355092e-02 2.15851308e+01] [ 2.02703573e-01 9.79223330e-01 -5.73862669e-03 2.11215746e+00] [ 3.38065961e-02 -1.14108302e-03 9.99427742e-01 3.44071312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.172755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:2.12, Z:0.34 [[ 9.78040198e-01 -2.06142139e-01 -3.07048763e-02 2.16111862e+01] [ 2.05968287e-01 9.78519497e-01 -8.75555913e-03 2.12120811e+00] [ 3.18502098e-02 2.23905802e-03 9.99490145e-01 3.41133724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:2.12, Z:0.34 [[ 9.78119912e-01 -2.05732729e-01 -3.09108847e-02 2.16385622e+01] [ 2.05720899e-01 9.78604095e-01 -3.59687485e-03 2.12240956e+00] [ 3.09895132e-02 -2.84084008e-03 9.99515673e-01 3.43517218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.67, Y:2.13, Z:0.34 [[ 9.77768104e-01 -2.07578672e-01 -2.96753920e-02 2.16653394e+01] [ 2.07275090e-01 9.78196342e-01 -1.29981955e-02 2.13304069e+00] [ 3.17265080e-02 6.55825140e-03 9.99475071e-01 3.41076986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.262755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.70, Y:2.12, Z:0.35 [[ 9.77459053e-01 -2.07839420e-01 -3.71022308e-02 2.16960386e+01] [ 2.08206770e-01 9.78064637e-01 6.28547145e-03 2.12471472e+00] [ 3.49820111e-02 -1.38687266e-02 9.99291708e-01 3.53380035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.292755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.72, Y:2.14, Z:0.35 [[ 9.77168132e-01 -2.09735409e-01 -3.39632307e-02 2.17222670e+01] [ 2.09632247e-01 9.77757957e-01 -6.61048333e-03 2.13788861e+00] [ 3.45942714e-02 -6.60234724e-04 9.99401221e-01 3.49437110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.322755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.75, Y:2.14, Z:0.35 [[ 9.77139449e-01 -2.09836294e-01 -3.41647118e-02 2.17485062e+01] [ 2.09731580e-01 9.77736313e-01 -6.66080112e-03 2.14226381e+00] [ 3.48017572e-02 -6.56887454e-04 9.99394019e-01 3.51503619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.78, Y:2.15, Z:0.35 [[ 9.76949265e-01 -2.10824766e-01 -3.35119495e-02 2.17762110e+01] [ 2.10724401e-01 9.77523639e-01 -6.53926867e-03 2.14762364e+00] [ 3.41373626e-02 -6.73251780e-04 9.99416924e-01 3.52823114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.80, Y:2.15, Z:0.35 [[ 9.76822718e-01 -2.11447693e-01 -3.32753675e-02 2.18038377e+01] [ 2.11348750e-01 9.77389078e-01 -6.50347504e-03 2.15269451e+00] [ 3.38981256e-02 -6.79965174e-04 9.99425062e-01 3.53676640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.412755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.83, Y:2.16, Z:0.35 [[ 9.76711479e-01 -2.11943151e-01 -3.33884412e-02 2.18317788e+01] [ 2.11757830e-01 9.77280426e-01 -9.03277423e-03 2.15902821e+00] [ 3.45443046e-02 1.75215043e-03 9.99401631e-01 3.54186399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.442755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.86, Y:2.17, Z:0.35 [[ 9.76572504e-01 -2.12569569e-01 -3.34712061e-02 2.18593372e+01] [ 2.12191830e-01 9.77120438e-01 -1.45009370e-02 2.16680295e+00] [ 3.57878575e-02 7.05889991e-03 9.99334479e-01 3.54043283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.472755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.89, Y:2.16, Z:0.36 [[ 9.76458257e-01 -2.12905338e-01 -3.46495200e-02 2.18889947e+01] [ 2.13144857e-01 9.77014936e-01 3.32934940e-03 2.16225318e+00] [ 3.31442624e-02 -1.06363377e-02 9.99393979e-01 3.59560547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:2.17, Z:0.36 [[ 9.76356852e-01 -2.13667514e-01 -3.27641746e-02 2.19153742e+01] [ 2.13571950e-01 9.76906176e-01 -6.43010056e-03 2.17273372e+00] [ 3.33814281e-02 -7.19435927e-04 9.99442426e-01 3.57226160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.532755096000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:21.94, Y:2.18, Z:0.36 [[ 9.76025008e-01 -2.15114714e-01 -3.31789749e-02 2.19421638e+01] [ 2.14739544e-01 9.76563316e-01 -1.45264684e-02 2.18231715e+00] [ 3.55262268e-02 7.05335854e-03 9.99343853e-01 3.57011698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:2.18, Z:0.36 [[ 9.76155276e-01 -2.14388410e-01 -3.40365590e-02 2.19710805e+01] [ 2.14551156e-01 9.76712063e-01 1.16042702e-03 2.17813863e+00] [ 3.29951356e-02 -8.43534004e-03 9.99419915e-01 3.61733215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.592755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.00, Y:2.19, Z:0.36 [[ 9.76034752e-01 -2.15114109e-01 -3.28950226e-02 2.19981724e+01] [ 2.15017653e-01 9.76588637e-01 -6.48404715e-03 2.18738858e+00] [ 3.35197153e-02 -7.44355212e-04 9.99437779e-01 3.60430788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:2.19, Z:0.36 [[ 9.75891014e-01 -2.15723913e-01 -3.31650669e-02 2.20254456e+01] [ 2.15625849e-01 9.76454102e-01 -6.54821681e-03 2.19154872e+00] [ 3.37967726e-02 -7.60899750e-04 9.99428436e-01 3.61673970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.652755096000003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:22.05, Y:2.20, Z:0.36 [[ 9.75833479e-01 -2.15839170e-01 -3.40950741e-02 2.20527238e+01] [ 2.15580715e-01 9.76422628e-01 -1.11268652e-02 2.19868977e+00] [ 3.56928152e-02 3.50772718e-03 9.99356652e-01 3.62251300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.682755096000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:22.07, Y:2.20, Z:0.36 [[ 9.76158451e-01 -2.14107213e-01 -3.56760481e-02 2.20739040e+01] [ 2.13469162e-01 9.76726871e-01 -2.08695034e-02 2.20431898e+00] [ 3.93140661e-02 1.27562060e-02 9.99145477e-01 3.61929124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.712755096000002 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.11, Y:2.19, Z:0.37 [[ 9.76400049e-01 -2.12875545e-01 -3.64272947e-02 2.21091163e+01] [ 2.13692099e-01 9.76692673e-01 2.01769480e-02 2.18774289e+00] [ 3.12830930e-02 -2.74849981e-02 9.99132595e-01 3.71579737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.742755096000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.14, Y:2.21, Z:0.36 [[ 9.76011149e-01 -2.15558487e-01 -3.06067769e-02 2.21359682e+01] [ 2.15221706e-01 9.76465703e-01 -1.39408621e-02 2.21313315e+00] [ 3.28915391e-02 7.01919406e-03 9.99434279e-01 3.61701846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:2.21, Z:0.36 [[ 9.76010547e-01 -2.15382635e-01 -3.18391645e-02 2.21630194e+01] [ 2.15291623e-01 9.76529479e-01 -6.30035460e-03 2.21292998e+00] [ 3.24488697e-02 -7.05492858e-04 9.99473148e-01 3.64908751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.802755096000002 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:22.19, Y:2.22, Z:0.37 [[ 9.76297492e-01 -2.14138457e-01 -3.14313290e-02 2.21888669e+01] [ 2.14125645e-01 9.76798686e-01 -3.81252279e-03 2.21541165e+00] [ 3.15184886e-02 -3.00809717e-03 9.99498642e-01 3.65788279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.832755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:2.22, Z:0.37 [[ 9.76111175e-01 -2.15115383e-01 -3.05343272e-02 2.22168129e+01] [ 2.14951348e-01 9.76586931e-01 -8.59553736e-03 2.22304548e+00] [ 3.16684572e-02 1.82680527e-03 9.99496759e-01 3.65413865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.862755096000004 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:22.24, Y:2.23, Z:0.37 [[ 9.76049765e-01 -2.15367026e-01 -3.07229677e-02 2.22444771e+01] [ 2.15281647e-01 9.76532953e-01 -6.09959634e-03 2.22647134e+00] [ 3.13156423e-02 -6.60581514e-04 9.99509327e-01 3.66965341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.892755096000002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:22.27, Y:2.23, Z:0.37 [[ 9.76285572e-01 -2.14262007e-01 -3.09560073e-02 2.22722731e+01] [ 2.14105018e-01 9.76775052e-01 -8.33904622e-03 2.23127795e+00] [ 3.20237964e-02 1.51345401e-03 9.99485961e-01 3.67307000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.922755096000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.30, Y:2.23, Z:0.37 [[ 9.76456810e-01 -2.13396011e-01 -3.15315785e-02 2.23015024e+01] [ 2.13350301e-01 9.76963747e-01 -4.84630200e-03 2.23392414e+00] [ 3.18393906e-02 -1.99506718e-03 9.99491007e-01 3.69177189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:2.23, Z:0.38 [[ 9.76693635e-01 -2.11707571e-01 -3.53475224e-02 2.23305990e+01] [ 2.11903267e-01 9.77288909e-01 1.84201992e-03 2.23419485e+00] [ 3.41547721e-02 -9.28934461e-03 9.99373383e-01 3.75175636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.982755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.36, Y:2.25, Z:0.37 [[ 9.76729283e-01 -2.12330864e-01 -3.02574160e-02 2.23554574e+01] [ 2.11974141e-01 9.77166462e-01 -1.45831489e-02 2.24973407e+00] [ 3.26629847e-02 7.82999884e-03 9.99435751e-01 3.67576695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.012755096000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:22.38, Y:2.25, Z:0.37 [[ 9.76987925e-01 -2.10958203e-01 -3.14838249e-02 2.23836516e+01] [ 2.10865328e-01 9.77494953e-01 -6.27937629e-03 2.25007365e+00] [ 3.20999658e-02 -5.03972263e-04 9.99484536e-01 3.70769652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.042755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.41, Y:2.25, Z:0.37 [[ 9.77004051e-01 -2.10802808e-01 -3.20196984e-02 2.24102510e+01] [ 2.10706426e-01 9.77528478e-01 -6.39343944e-03 2.25458298e+00] [ 3.26479220e-02 -5.00339982e-04 9.99466789e-01 3.72401387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.072755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:22.44, Y:2.26, Z:0.37 [[ 9.77088263e-01 -2.10338823e-01 -3.24977686e-02 2.24379476e+01] [ 2.10164370e-01 9.77627066e-01 -8.73251350e-03 2.26071865e+00] [ 3.36074848e-02 1.70256337e-03 9.99433659e-01 3.72591980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.102755096000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:22.47, Y:2.26, Z:0.37 [[ 9.76976382e-01 -2.10839436e-01 -3.26171986e-02 2.24672054e+01] [ 2.10807575e-01 9.77517441e-01 -4.45177715e-03 2.26406702e+00] [ 3.28224907e-02 -2.52667141e-03 9.99458003e-01 3.74476361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:2.27, Z:0.37 [[ 9.76944462e-01 -2.11028962e-01 -3.23464998e-02 2.24935766e+01] [ 2.10930140e-01 9.77479683e-01 -6.47644873e-03 2.26992391e+00] [ 3.29847646e-02 -4.95721013e-04 9.99455732e-01 3.74740894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.162755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.52, Y:2.28, Z:0.37 [[ 9.76682384e-01 -2.12624659e-01 -2.97031339e-02 2.25191897e+01] [ 2.12318147e-01 9.77112056e-01 -1.31542713e-02 2.27922428e+00] [ 3.18202127e-02 6.54103073e-03 9.99472205e-01 3.71361449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:2.27, Z:0.39 [[ 9.76816003e-01 -2.10605316e-01 -3.84174087e-02 2.25526374e+01] [ 2.11188813e-01 9.77374354e-01 1.17753242e-02 2.26826584e+00] [ 3.50682441e-02 -1.96156521e-02 9.99192396e-01 3.87051788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.222755096000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.57, Y:2.29, Z:0.37 [[ 9.76680869e-01 -2.12653083e-01 -2.95490504e-02 2.25747234e+01] [ 2.12177303e-01 9.77057290e-01 -1.84348363e-02 2.29184439e+00] [ 3.27913399e-02 1.17353141e-02 9.99393321e-01 3.74235573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:2.29, Z:0.38 [[ 9.76731828e-01 -2.12026964e-01 -3.22413198e-02 2.26021396e+01] [ 2.11928713e-01 9.77263683e-01 -6.47407315e-03 2.29079978e+00] [ 3.28809490e-02 -5.09428109e-04 9.99459146e-01 3.79409588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.282755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:2.30, Z:0.38 [[ 9.76888034e-01 -2.11384288e-01 -3.17246343e-02 2.26284807e+01] [ 2.11288676e-01 9.77402914e-01 -6.37485367e-03 2.29680947e+00] [ 3.23552940e-02 -4.75537710e-04 9.99476317e-01 3.80059704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.312755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.66, Y:2.30, Z:0.39 [[ 9.76982904e-01 -2.10504623e-01 -3.45283850e-02 2.26581966e+01] [ 2.10680104e-01 9.77553933e-01 1.48391169e-03 2.29704834e+00] [ 3.34409883e-02 -8.72420009e-03 9.99402616e-01 3.85459903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:2.31, Z:0.38 [[ 9.76956846e-01 -2.11313738e-01 -3.00304163e-02 2.26828807e+01] [ 2.10981250e-01 9.77391616e-01 -1.38758969e-02 2.31245424e+00] [ 3.22836448e-02 7.22029772e-03 9.99452667e-01 3.78590837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.372755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:2.31, Z:0.38 [[ 9.76823377e-01 -2.11718622e-01 -3.14851667e-02 2.27096562e+01] [ 2.11623606e-01 9.77330559e-01 -6.35832341e-03 2.31407921e+00] [ 3.21175910e-02 -4.52045575e-04 9.99483995e-01 3.82483311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.402755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:2.32, Z:0.38 [[ 9.76682021e-01 -2.12298167e-01 -3.19643209e-02 2.27351600e+01] [ 2.11992908e-01 9.77188771e-01 -1.26929900e-02 2.32418236e+00] [ 3.39298740e-02 5.62080580e-03 9.99408410e-01 3.81250016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.432755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:2.32, Z:0.39 [[ 9.76723764e-01 -2.11657310e-01 -3.48119401e-02 2.27648030e+01] [ 2.11748210e-01 9.77323638e-01 -1.09684551e-03 2.32267369e+00] [ 3.42546873e-02 -6.30005093e-03 9.99393279e-01 3.86153028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.462755096000002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.79, Y:2.33, Z:0.38 [[ 9.76327400e-01 -2.13831312e-01 -3.25726717e-02 2.27898413e+01] [ 2.13730169e-01 9.76870461e-01 -6.59670792e-03 2.33326542e+00] [ 3.32298635e-02 -5.21215937e-04 9.99447600e-01 3.84027265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.492755096000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.82, Y:2.34, Z:0.38 [[ 9.75687040e-01 -2.16722687e-01 -3.26508372e-02 2.28175276e+01] [ 2.16622482e-01 9.76233014e-01 -6.61832199e-03 2.33843212e+00] [ 3.33091658e-02 -6.15494414e-04 9.99444906e-01 3.84841521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.85, Y:2.34, Z:0.39 [[ 9.75312950e-01 -2.18358096e-01 -3.29301134e-02 2.28451750e+01] [ 2.18256732e-01 9.75868484e-01 -6.68587635e-03 2.34391808e+00] [ 3.35953751e-02 -6.66397161e-04 9.99435294e-01 3.86073994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.552755096000002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.87, Y:2.35, Z:0.39 [[ 9.74960212e-01 -2.19959802e-01 -3.27149836e-02 2.28720259e+01] [ 2.19860335e-01 9.75508680e-01 -6.65192876e-03 2.34937922e+00] [ 3.33769074e-02 -7.07361359e-04 9.99442585e-01 3.86788184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.582755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:2.36, Z:0.39 [[ 9.74529152e-01 -2.21832126e-01 -3.29156402e-02 2.28997549e+01] [ 2.21732306e-01 9.75084568e-01 -6.69852028e-03 2.35508190e+00] [ 3.35814798e-02 -7.70557529e-04 9.99435686e-01 3.87790708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.612755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:2.36, Z:0.39 [[ 9.74029582e-01 -2.24006015e-01 -3.29799795e-02 2.29228443e+01] [ 2.23766078e-01 9.74582571e-01 -1.08422969e-02 2.36199513e+00] [ 3.45704529e-02 3.18091723e-03 9.99397201e-01 3.87518191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.642755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:2.37, Z:0.39 [[ 9.73304808e-01 -2.27129939e-01 -3.30112388e-02 2.29543184e+01] [ 2.27156199e-01 9.73853709e-01 -3.00241496e-03 2.36524717e+00] [ 3.28300557e-02 -4.57644261e-03 9.99450471e-01 3.90710293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.672755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:2.37, Z:0.39 [[ 9.72623457e-01 -2.30149938e-01 -3.21654457e-02 2.29815745e+01] [ 2.30058151e-01 9.73154663e-01 -6.57635576e-03 2.37279112e+00] [ 3.28155013e-02 -1.00360509e-03 9.99460923e-01 3.90121712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:2.38, Z:0.39 [[ 9.72311886e-01 -2.31408099e-01 -3.25559274e-02 2.30076084e+01] [ 2.31314448e-01 9.72856203e-01 -6.66598634e-03 2.37783288e+00] [ 3.32147992e-02 -1.04923864e-03 9.99447686e-01 3.91384663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:2.38, Z:0.40 [[ 9.72474444e-01 -2.30468973e-01 -3.43148504e-02 2.30423088e+01] [ 2.30536284e-01 9.73061600e-01 -2.03593505e-03 2.37806253e+00] [ 3.38596831e-02 -5.93092330e-03 9.99408998e-01 3.95249534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.762755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:2.39, Z:0.39 [[ 9.71969274e-01 -2.33086300e-01 -3.07653728e-02 2.30624983e+01] [ 2.32860309e-01 9.72450392e-01 -1.07848048e-02 2.39389331e+00] [ 3.24315891e-02 3.31846471e-03 9.99468449e-01 3.91898644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.792755096000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.09, Y:2.40, Z:0.39 [[ 9.71918889e-01 -2.33085918e-01 -3.23207200e-02 2.30903678e+01] [ 2.32993843e-01 9.72455548e-01 -6.63899811e-03 2.39767724e+00] [ 3.29779204e-02 -1.07796109e-03 9.99455499e-01 3.93994193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.12, Y:2.40, Z:0.39 [[ 9.71747168e-01 -2.33722510e-01 -3.28820697e-02 2.31167170e+01] [ 2.33627246e-01 9.72302709e-01 -6.76401360e-03 2.40335416e+00] [ 3.35522277e-02 -1.10923635e-03 9.99436350e-01 3.94653973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.852755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.14, Y:2.41, Z:0.40 [[ 9.71602330e-01 -2.34323225e-01 -3.28867546e-02 2.31445644e+01] [ 2.34228089e-01 9.72158095e-01 -6.77059746e-03 2.40969424e+00] [ 3.35576329e-02 -1.12467340e-03 9.99436151e-01 3.95687830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.882755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.17, Y:2.42, Z:0.40 [[ 9.71479499e-01 -2.34880464e-01 -3.25384431e-02 2.31721808e+01] [ 2.34787302e-01 9.72023616e-01 -6.70919627e-03 2.41549979e+00] [ 3.32039943e-02 -1.12176664e-03 9.99447966e-01 3.96276848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.912755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.20, Y:2.42, Z:0.40 [[ 9.71409070e-01 -2.35171866e-01 -3.25363160e-02 2.32001309e+01] [ 2.35078523e-01 9.71953155e-01 -6.71949711e-03 2.42143024e+00] [ 3.32040117e-02 -1.12120869e-03 9.99447966e-01 3.97064603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.23, Y:2.43, Z:0.40 [[ 9.71321229e-01 -2.35575480e-01 -3.22376185e-02 2.32264086e+01] [ 2.35483765e-01 9.71855415e-01 -6.66694240e-03 2.42719965e+00] [ 3.29008722e-02 -1.11569307e-03 9.99457997e-01 3.98107292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.972755096000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.25, Y:2.44, Z:0.40 [[ 9.70831250e-01 -2.37555014e-01 -3.24699722e-02 2.32542280e+01] [ 2.37107557e-01 9.71333694e-01 -1.70546514e-02 2.43956006e+00] [ 3.55905960e-02 8.85831279e-03 9.99327194e-01 3.95911741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.29, Y:2.43, Z:0.41 [[ 9.71434592e-01 -2.34404458e-01 -3.70051892e-02 2.32875813e+01] [ 2.34909052e-01 9.71967218e-01 9.87239032e-03 2.42837652e+00] [ 3.36536985e-02 -1.82832354e-02 9.99266307e-01 4.06912150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.032755096000002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:23.31, Y:2.45, Z:0.40 [[ 9.70576730e-01 -2.38813403e-01 -3.08053633e-02 2.33082867e+01] [ 2.38226033e-01 9.70970441e-01 -2.15582902e-02 2.45477101e+00] [ 3.50595058e-02 1.35853353e-02 9.99292885e-01 3.95780405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.062755096000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:23.34, Y:2.44, Z:0.41 [[ 9.71182949e-01 -2.35754838e-01 -3.49762319e-02 2.33416022e+01] [ 2.36085450e-01 9.71716246e-01 5.58542895e-03 2.44314959e+00] [ 3.26701809e-02 -1.36818528e-02 9.99372536e-01 4.06996688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:2.46, Z:0.40 [[ 9.70984664e-01 -2.37111360e-01 -3.10963972e-02 2.33640751e+01] [ 2.36853458e-01 9.71473924e-01 -1.17836093e-02 2.45947652e+00] [ 3.30033666e-02 4.07641469e-03 9.99446927e-01 4.01900192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:2.47, Z:0.40 [[ 9.71108179e-01 -2.36731473e-01 -3.01183322e-02 2.33938866e+01] [ 2.36482349e-01 9.71566153e-01 -1.16322426e-02 2.46574353e+00] [ 3.20156701e-02 4.17371201e-03 9.99478653e-01 4.01330891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.152755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.42, Y:2.47, Z:0.40 [[ 9.71229249e-01 -2.36123576e-01 -3.09742224e-02 2.34211148e+01] [ 2.36040126e-01 9.71722391e-01 -6.37601464e-03 2.46880312e+00] [ 3.16038728e-02 -1.11858743e-03 9.99499847e-01 4.03635057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.182755096000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:23.45, Y:2.48, Z:0.40 [[ 9.71251824e-01 -2.36378462e-01 -2.81978120e-02 2.34462297e+01] [ 2.36135908e-01 9.71649718e-01 -1.16900672e-02 2.47850700e+00] [ 3.01616762e-02 4.69548313e-03 9.99534004e-01 4.00303752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.212755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:2.47, Z:0.41 [[ 9.71322373e-01 -2.35183123e-01 -3.49534931e-02 2.34737300e+01] [ 2.35539930e-01 9.71843543e-01 6.40861775e-03 2.47440849e+00] [ 3.24621278e-02 -1.44577771e-02 9.99368392e-01 4.11686721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.242755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.50, Y:2.49, Z:0.41 [[ 9.70797354e-01 -2.37645025e-01 -3.28228459e-02 2.35015506e+01] [ 2.37324511e-01 9.71338076e-01 -1.33947266e-02 2.49351209e+00] [ 3.50652701e-02 5.21389930e-03 9.99371423e-01 4.06058369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.53, Y:2.49, Z:0.41 [[ 9.71268982e-01 -2.35557836e-01 -3.38979412e-02 2.35288840e+01] [ 2.35675254e-01 9.71831712e-01 -5.46098223e-04 2.49140102e+00] [ 3.30717319e-02 -7.45849763e-03 9.99425150e-01 4.10470936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.302755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.56, Y:2.50, Z:0.41 [[ 9.71207702e-01 -2.35996785e-01 -3.25747963e-02 2.35550560e+01] [ 2.35899854e-01 9.71753281e-01 -6.84255351e-03 2.50033373e+00] [ 3.32694858e-02 -1.03884901e-03 9.99445878e-01 4.09189409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.332755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:2.51, Z:0.41 [[ 9.70329796e-01 -2.39583787e-01 -3.25529601e-02 2.35850594e+01] [ 2.39463231e-01 9.70875605e-01 -7.61055673e-03 2.50709518e+00] [ 3.34282408e-02 -4.10487038e-04 9.99441036e-01 4.09788231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.362755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:2.51, Z:0.41 [[ 9.70498181e-01 -2.38982685e-01 -3.19461617e-02 2.36111390e+01] [ 2.38922522e-01 9.71021647e-01 -5.74364478e-03 2.51101047e+00] [ 3.23930462e-02 -2.05846073e-03 9.99473088e-01 4.11204406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.392755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.64, Y:2.52, Z:0.41 [[ 9.70057857e-01 -2.40983131e-01 -3.02470544e-02 2.36384110e+01] [ 2.40901002e-01 9.70528689e-01 -6.38516405e-03 2.51809277e+00] [ 3.08943509e-02 -1.09256715e-03 9.99522058e-01 4.11754193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.422755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.66, Y:2.52, Z:0.41 [[ 9.69885302e-01 -2.41724512e-01 -2.98623732e-02 2.36649661e+01] [ 2.41644523e-01 9.70344303e-01 -6.31337326e-03 2.52405828e+00] [ 3.05028807e-02 -1.09283099e-03 9.99534081e-01 4.12507070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.452755096000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.69, Y:2.53, Z:0.41 [[ 9.69606132e-01 -2.42890434e-01 -2.94649819e-02 2.36923254e+01] [ 2.42812968e-01 9.70053094e-01 -6.23361284e-03 2.53018602e+00] [ 3.00966818e-02 -1.11033049e-03 9.99546376e-01 4.13108479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:2.54, Z:0.41 [[ 9.69420157e-01 -2.43731727e-01 -2.86252319e-02 2.37200598e+01] [ 2.43658721e-01 9.69842072e-01 -6.06483868e-03 2.53605985e+00] [ 2.92401479e-02 -1.09541053e-03 9.99571815e-01 4.13659808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.512755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.75, Y:2.54, Z:0.41 [[ 9.69212211e-01 -2.44651668e-01 -2.78073881e-02 2.37461679e+01] [ 2.44582905e-01 9.69610432e-01 -5.90027317e-03 2.54130539e+00] [ 2.84058452e-02 -1.08259495e-03 9.99595886e-01 4.14195478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.542755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:2.55, Z:0.41 [[ 9.68919063e-01 -2.45704051e-01 -2.87292460e-02 2.37736927e+01] [ 2.45401277e-01 9.69325015e-01 -1.36831860e-02 2.55176700e+00] [ 3.12099910e-02 6.20770608e-03 9.99493572e-01 4.13098648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.572755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.80, Y:2.55, Z:0.42 [[ 9.69031747e-01 -2.45147932e-01 -2.96641881e-02 2.38027588e+01] [ 2.45281894e-01 9.69451374e-01 9.08264508e-04 2.55061047e+00] [ 2.85353288e-02 -8.15622540e-03 9.99559508e-01 4.17780241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.602755096000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.83, Y:2.56, Z:0.42 [[ 9.68923839e-01 -2.45755443e-01 -2.81221819e-02 2.38294515e+01] [ 2.45685032e-01 9.69331229e-01 -5.98606261e-03 2.56092899e+00] [ 2.87308166e-02 -1.10916039e-03 9.99586570e-01 4.15890827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.632755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.86, Y:2.57, Z:0.42 [[ 9.68966063e-01 -2.45611615e-01 -2.79231554e-02 2.38560700e+01] [ 2.45541865e-01 9.69367707e-01 -5.95325822e-03 2.56715439e+00] [ 2.85299944e-02 -1.08779847e-03 9.99592345e-01 4.16567347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:2.57, Z:0.42 [[ 9.69025000e-01 -2.45391185e-01 -2.78157493e-02 2.38821622e+01] [ 2.45321765e-01 9.69423548e-01 -5.93440666e-03 2.57345607e+00] [ 2.84214935e-02 -1.07322030e-03 9.99595452e-01 4.17139864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.692755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:2.59, Z:0.41 [[ 9.68987129e-01 -2.46097754e-01 -2.23571003e-02 2.39084936e+01] [ 2.45736644e-01 9.69174724e-01 -1.77159810e-02 2.58753270e+00] [ 2.60277996e-02 1.16725988e-02 9.99593069e-01 4.09619874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.722755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.94, Y:2.58, Z:0.42 [[ 9.69411907e-01 -2.43539279e-01 -3.04823577e-02 2.39385553e+01] [ 2.43835574e-01 9.69795758e-01 6.35609498e-03 2.57966019e+00] [ 2.80137025e-02 -1.35943574e-02 9.99515095e-01 4.23224904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:2.59, Z:0.42 [[ 9.69520183e-01 -2.43426590e-01 -2.78228430e-02 2.39648629e+01] [ 2.43355857e-01 9.69918809e-01 -5.95242109e-03 2.59308960e+00] [ 2.84348763e-02 -9.99859419e-04 9.99595147e-01 4.20486928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:2.60, Z:0.42 [[ 9.69720624e-01 -2.42692951e-01 -2.72404726e-02 2.39921861e+01] [ 2.42624610e-01 9.70102691e-01 -5.83675556e-03 2.59958994e+00] [ 2.78425952e-02 -9.49186800e-04 9.99611869e-01 4.20838801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:2.61, Z:0.42 [[ 9.69878069e-01 -2.42131782e-01 -2.66220070e-02 2.40192232e+01] [ 2.42066063e-01 9.70242951e-01 -5.71291175e-03 2.60653266e+00] [ 2.72130921e-02 -9.03456596e-04 9.99629247e-01 4.21652851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:2.61, Z:0.42 [[ 9.70415965e-01 -2.40037758e-01 -2.59755728e-02 2.40448418e+01] [ 2.39974204e-01 9.70763210e-01 -5.58317246e-03 2.61379225e+00] [ 2.65563026e-02 -8.15467704e-04 9.99646987e-01 4.22458198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:2.62, Z:0.42 [[ 9.70635385e-01 -2.39182811e-01 -2.56618771e-02 2.40715295e+01] [ 2.39120388e-01 9.70974241e-01 -5.51939610e-03 2.62041478e+00] [ 2.62371664e-02 -7.78956872e-04 9.99655443e-01 4.23222917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:2.63, Z:0.42 [[ 9.70750819e-01 -2.38702402e-01 -2.57684200e-02 2.40986108e+01] [ 2.38639209e-01 9.71092465e-01 -5.54539423e-03 2.62698327e+00] [ 2.63472175e-02 -7.66159401e-04 9.99652558e-01 4.23761232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.932755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:2.63, Z:0.42 [[ 9.70885768e-01 -2.38145247e-01 -2.58392333e-02 2.41255810e+01] [ 2.38081288e-01 9.71229266e-01 -5.56903933e-03 2.63381378e+00] [ 2.64220598e-02 -7.44936907e-04 9.99650599e-01 4.23771319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.962755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:2.64, Z:0.42 [[ 9.70824939e-01 -2.38361564e-01 -2.61285784e-02 2.41516233e+01] [ 2.38295997e-01 9.71176195e-01 -5.64055039e-03 2.63985141e+00] [ 2.67199437e-02 -7.50348660e-04 9.99642677e-01 4.24607059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.18, Y:2.64, Z:0.43 [[ 9.70758965e-01 -2.38145168e-01 -3.02309680e-02 2.41815592e+01] [ 2.38339660e-01 9.71177382e-01 2.94932944e-03 2.63983230e+00] [ 2.86572638e-02 -1.00683266e-02 9.99538589e-01 4.30900118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:2.66, Z:0.42 [[ 9.70203166e-01 -2.41038972e-01 -2.46176888e-02 2.42035411e+01] [ 2.40735123e-01 9.70479778e-01 -1.46833347e-02 2.65820649e+00] [ 2.74302250e-02 8.31947545e-03 9.99589100e-01 4.21947961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.052755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:2.66, Z:0.43 [[ 9.69903575e-01 -2.42030073e-01 -2.66176552e-02 2.42318214e+01] [ 2.41963100e-01 9.70268370e-01 -5.75738942e-03 2.65961171e+00] [ 2.72197303e-02 -8.56377792e-04 9.99629108e-01 4.25284610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.082755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:2.67, Z:0.43 [[ 9.69565777e-01 -2.43387741e-01 -2.65445115e-02 2.42579651e+01] [ 2.43321410e-01 9.69928671e-01 -5.75017678e-03 2.66569903e+00] [ 2.71458053e-02 -8.83673359e-04 9.99631094e-01 4.25918690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.112755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:2.67, Z:0.43 [[ 9.69002885e-01 -2.45703606e-01 -2.57516503e-02 2.42838956e+01] [ 2.45641907e-01 9.69344571e-01 -5.58175375e-03 2.67157036e+00] [ 2.63336794e-02 -9.16949012e-04 9.99652788e-01 4.26263137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.31, Y:2.68, Z:0.43 [[ 9.68668756e-01 -2.47036703e-01 -2.55677430e-02 2.43118246e+01] [ 2.46976275e-01 9.69005664e-01 -5.54460798e-03 2.67754124e+00] [ 2.61450094e-02 -9.43737422e-04 9.99657715e-01 4.26985294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.172755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:2.68, Z:0.43 [[ 9.68294807e-01 -2.48489662e-01 -2.56525612e-02 2.43378893e+01] [ 2.48429112e-01 9.68634055e-01 -5.57176691e-03 2.68300259e+00] [ 2.62324708e-02 -9.77730033e-04 9.99655391e-01 4.27729552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:2.69, Z:0.43 [[ 9.67498430e-01 -2.51578624e-01 -2.55926627e-02 2.43654804e+01] [ 2.51519358e-01 9.67836288e-01 -5.56163353e-03 2.68899296e+00] [ 2.61686958e-02 -1.05617840e-03 9.99656983e-01 4.28052212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:2.70, Z:0.43 [[ 9.67101799e-01 -2.53106343e-01 -2.55203935e-02 2.43929562e+01] [ 2.53047733e-01 9.67437852e-01 -5.55394669e-03 2.69540492e+00] [ 2.60951338e-02 -1.08664589e-03 9.99658873e-01 4.28545519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.262755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:2.70, Z:0.43 [[ 9.66800046e-01 -2.54255580e-01 -2.55297958e-02 2.44189924e+01] [ 2.54197099e-01 9.67136427e-01 -5.56470070e-03 2.70147783e+00] [ 2.61056517e-02 -1.10964713e-03 9.99658574e-01 4.29189995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.292755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:2.71, Z:0.43 [[ 9.66564966e-01 -2.55124429e-01 -2.57622133e-02 2.44466641e+01] [ 2.55065108e-01 9.66907558e-01 -5.61835451e-03 2.70811181e+00] [ 2.63430583e-02 -1.14053708e-03 9.99652311e-01 4.29652641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:2.71, Z:0.43 [[ 9.66511653e-01 -2.55316172e-01 -2.58626680e-02 2.44741789e+01] [ 2.55256243e-01 9.66856942e-01 -5.64831514e-03 2.71462775e+00] [ 2.64476063e-02 -1.14244507e-03 9.99649548e-01 4.30789307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:2.73, Z:0.43 [[ 9.66212270e-01 -2.56414749e-01 -2.61787389e-02 2.45023038e+01] [ 2.56054848e-01 9.66524171e-01 -1.63383393e-02 2.72798508e+00] [ 2.94917751e-02 9.08311094e-03 9.99523753e-01 4.29321641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.54, Y:2.71, Z:0.45 [[ 9.67132927e-01 -2.51590147e-01 -3.68279689e-02 2.45371603e+01] [ 2.52479447e-01 9.67355973e-01 2.18300158e-02 2.71134125e+00] [ 3.01335388e-02 -3.04108323e-02 9.99083155e-01 4.46124740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:2.75, Z:0.43 [[ 9.66746993e-01 -2.54717166e-01 -2.27907300e-02 2.45550848e+01] [ 2.54045917e-01 9.66766505e-01 -2.86913963e-02 2.74964821e+00] [ 2.93415055e-02 2.19474292e-02 9.99328468e-01 4.25259017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.442755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:2.74, Z:0.43 [[ 9.67163342e-01 -2.52654013e-01 -2.75865745e-02 2.45842171e+01] [ 2.52690432e-01 9.67544644e-01 -2.21535322e-03 2.74075676e+00] [ 2.72509603e-02 -4.82825500e-03 9.99616963e-01 4.33365848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.472755096000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.62, Y:2.74, Z:0.44 [[ 9.67932180e-01 -2.49279729e-01 -3.10951962e-02 2.46154723e+01] [ 2.49431212e-01 9.68391972e-01 1.02934235e-03 2.74431189e+00] [ 2.98557442e-02 -8.75244604e-03 9.99515897e-01 4.37579954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.502755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.64, Y:2.74, Z:0.44 [[ 9.68296011e-01 -2.47413060e-01 -3.44907701e-02 2.46441854e+01] [ 2.47970967e-01 9.68681617e-01 1.28966454e-02 2.74373086e+00] [ 3.02197764e-02 -2.10404799e-02 9.99321802e-01 4.44333246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.532755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.66, Y:2.78, Z:0.42 [[ 9.67883323e-01 -2.50794399e-01 -1.74368235e-02 2.46604919e+01] [ 2.50093359e-01 9.67596542e-01 -3.47885639e-02 2.78207481e+00] [ 2.55965871e-02 2.93104370e-02 9.99242570e-01 4.21131420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.69, Y:2.77, Z:0.43 [[ 9.68607953e-01 -2.47482269e-01 -2.34768067e-02 2.46903351e+01] [ 2.47427714e-01 9.68892150e-01 -5.24673193e-03 2.77180270e+00] [ 2.40449668e-02 -7.26786324e-04 9.99710614e-01 4.30291136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.72, Y:2.78, Z:0.43 [[ 9.68864840e-01 -2.46490635e-01 -2.33085376e-02 2.47178440e+01] [ 2.46436505e-01 9.69144925e-01 -5.21194968e-03 2.77831598e+00] [ 2.38740477e-02 -6.94399742e-04 9.99714733e-01 4.31035928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.74, Y:2.78, Z:0.43 [[ 9.69070121e-01 -2.45716899e-01 -2.29413443e-02 2.47446161e+01] [ 2.45664075e-01 9.69341412e-01 -5.13705928e-03 2.78467949e+00] [ 2.35002574e-02 -6.57693477e-04 9.99723614e-01 4.31347267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.652755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.77, Y:2.79, Z:0.43 [[ 9.69652548e-01 -2.43405850e-01 -2.29679863e-02 2.47701236e+01] [ 2.43346023e-01 9.69924467e-01 -5.40748853e-03 2.79022323e+00] [ 2.35934263e-02 -3.45783089e-04 9.99721577e-01 4.31872690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.682755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.80, Y:2.80, Z:0.43 [[ 9.69452347e-01 -2.44280730e-01 -2.21149603e-02 2.47979328e+01] [ 2.44233789e-01 9.69704297e-01 -4.84076917e-03 2.79680589e+00] [ 2.26274786e-02 -7.08325506e-04 9.99743715e-01 4.32799648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.712755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:2.81, Z:0.43 [[ 9.69293108e-01 -2.44899539e-01 -2.22505218e-02 2.48242280e+01] [ 2.44637640e-01 9.69515549e-01 -1.38573398e-02 2.80783279e+00] [ 2.49658830e-02 7.98850885e-03 9.99656385e-01 4.31483317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.742755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:2.80, Z:0.44 [[ 9.69296397e-01 -2.44768077e-01 -2.35177311e-02 2.48546902e+01] [ 2.44911422e-01 9.69539577e-01 3.37709841e-03 2.80452415e+00] [ 2.19747652e-02 -9.03317030e-03 9.99717716e-01 4.36427152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:2.81, Z:0.43 [[ 9.69016535e-01 -2.46120006e-01 -2.07821216e-02 2.48814534e+01] [ 2.46076225e-01 9.69239189e-01 -4.67824185e-03 2.81493250e+00] [ 2.12942556e-02 -5.80692320e-04 9.99773083e-01 4.33703747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.802755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:2.82, Z:0.43 [[ 9.68787594e-01 -2.47030888e-01 -2.06479622e-02 2.49092363e+01] [ 2.46987726e-01 9.69007426e-01 -4.65516618e-03 2.82048607e+00] [ 2.11579985e-02 -5.89925988e-04 9.99775970e-01 4.33993558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.832755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:2.83, Z:0.43 [[ 9.68739131e-01 -2.47221001e-01 -2.06463569e-02 2.49370448e+01] [ 2.47177731e-01 9.68958943e-01 -4.66227381e-03 2.82691365e+00] [ 2.11580842e-02 -5.86792573e-04 9.99775970e-01 4.34747199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.862755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:2.83, Z:0.43 [[ 9.68175025e-01 -2.49475325e-01 -1.99795500e-02 2.49646277e+01] [ 2.49435219e-01 9.68380962e-01 -4.51488424e-03 2.83173108e+00] [ 2.04741681e-02 -6.12405273e-04 9.99790195e-01 4.34881690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.892755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:2.84, Z:0.44 [[ 9.67830782e-01 -2.50814287e-01 -1.98939777e-02 2.49914408e+01] [ 2.50774648e-01 9.68035018e-01 -4.50332940e-03 2.83728808e+00] [ 2.03875664e-02 -6.30444441e-04 9.99791953e-01 4.35109692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.922755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:2.84, Z:0.44 [[ 9.67469999e-01 -2.52219573e-01 -1.96745455e-02 2.50193207e+01] [ 2.52181060e-01 9.67669811e-01 -4.45531837e-03 2.84306833e+00] [ 2.01621822e-02 -6.51160888e-04 9.99796510e-01 4.35117271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:2.85, Z:0.44 [[ 9.66868552e-01 -2.54508166e-01 -1.97685853e-02 2.50466956e+01] [ 2.54469628e-01 9.67070374e-01 -4.48325152e-03 2.84723464e+00] [ 2.02586373e-02 -6.95789630e-04 9.99794531e-01 4.35400391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:2.85, Z:0.44 [[ 9.66565134e-01 -2.55646960e-01 -1.99116348e-02 2.50732923e+01] [ 2.55607955e-01 9.66769940e-01 -4.52294056e-03 2.85222386e+00] [ 2.04062459e-02 -7.17855595e-04 9.99791513e-01 4.35778169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.012755096000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.10, Y:2.86, Z:0.44 [[ 9.66206086e-01 -2.56981952e-01 -2.01513375e-02 2.51007118e+01] [ 2.56942210e-01 9.66415910e-01 -4.58134860e-03 2.85751147e+00] [ 2.06518971e-02 -7.51202290e-04 9.99786445e-01 4.36442340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.042755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:2.86, Z:0.44 [[ 9.65900121e-01 -2.58113538e-01 -2.03557643e-02 2.51270536e+01] [ 2.58073072e-01 9.66114279e-01 -4.63570485e-03 2.86208083e+00] [ 2.08625327e-02 -7.75646749e-04 9.99782053e-01 4.36223347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.072755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.15, Y:2.87, Z:0.44 [[ 9.65760570e-01 -2.58623027e-01 -2.05097760e-02 2.51532700e+01] [ 2.58581998e-01 9.65978005e-01 -4.67376344e-03 2.86747974e+00] [ 2.10207354e-02 -7.89722414e-04 9.99778728e-01 4.36570669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.102755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:2.87, Z:0.44 [[ 9.65689816e-01 -2.58845759e-01 -2.10250402e-02 2.51809589e+01] [ 2.58802649e-01 9.65918326e-01 -4.79334370e-03 2.87296315e+00] [ 2.15492083e-02 -8.12452890e-04 9.99767459e-01 4.37095442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:2.88, Z:0.44 [[ 9.65567165e-01 -2.59284160e-01 -2.12549896e-02 2.52076352e+01] [ 2.59240055e-01 9.65800727e-01 -4.85276134e-03 2.87841734e+00] [ 2.17863286e-02 -8.24477656e-04 9.99762310e-01 4.37120222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.162755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.24, Y:2.88, Z:0.44 [[ 9.65790229e-01 -2.58408228e-01 -2.17812318e-02 2.52353885e+01] [ 2.58417104e-01 9.66030318e-01 -2.45478882e-03 2.88080218e+00] [ 2.16756679e-02 -3.25783178e-03 9.99759747e-01 4.38030904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.26, Y:2.89, Z:0.44 [[ 9.65653444e-01 -2.58938722e-01 -2.15444608e-02 2.52635961e+01] [ 2.58730237e-01 9.65874987e-01 -1.20072855e-02 2.89222891e+00] [ 2.39184069e-02 6.02067317e-03 9.99695784e-01 4.37098770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.222755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:2.89, Z:0.44 [[ 9.66115925e-01 -2.57070215e-01 -2.31284411e-02 2.52911094e+01] [ 2.57042606e-01 9.66390903e-01 -4.20963853e-03 2.89310379e+00] [ 2.34332878e-02 -1.87799597e-03 9.99723639e-01 4.39966428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.252755096000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.32, Y:2.90, Z:0.44 [[ 9.66503463e-01 -2.55654788e-01 -2.26204735e-02 2.53181768e+01] [ 2.55521856e-01 9.66764737e-01 -8.63271190e-03 2.90116612e+00] [ 2.40756703e-02 2.56352058e-03 9.99706852e-01 4.38896962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.282755096000002 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:25.35, Y:2.90, Z:0.44 [[ 9.66933722e-01 -2.53939059e-01 -2.35399916e-02 2.53459887e+01] [ 2.54047319e-01 9.67190334e-01 1.67867082e-03 2.90077186e+00] [ 2.23413722e-02 -7.60343517e-03 9.99721487e-01 4.42500931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:2.91, Z:0.44 [[ 9.67770419e-01 -2.50942451e-01 -2.11731412e-02 2.53714014e+01] [ 2.50895804e-01 9.68001825e-01 -4.87472977e-03 2.91006006e+00] [ 2.17189159e-02 -5.94633006e-04 9.99763940e-01 4.41102182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.342755096000005 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.40, Y:2.92, Z:0.44 [[ 9.67973046e-01 -2.50162803e-01 -2.11365739e-02 2.53998617e+01] [ 2.50054359e-01 9.68201425e-01 -7.66929864e-03 2.91823028e+00] [ 2.23830342e-02 2.13838193e-03 9.99747182e-01 4.40859253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.372755096000002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.43, Y:2.92, Z:0.44 [[ 9.68345306e-01 -2.48672268e-01 -2.16672854e-02 2.54266750e+01] [ 2.48685044e-01 9.68582028e-01 -2.14584616e-03 2.92067940e+00] [ 2.15201556e-02 -3.31040976e-03 9.99762934e-01 4.43072392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.402755096000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:25.45, Y:2.93, Z:0.44 [[ 9.68697185e-01 -2.47399034e-01 -2.04812718e-02 2.54539922e+01] [ 2.47354372e-01 9.68913556e-01 -4.72597001e-03 2.92755675e+00] [ 2.10137823e-02 -4.88098284e-04 9.99779067e-01 4.42308046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.432755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.48, Y:2.93, Z:0.44 [[ 9.68622936e-01 -2.47677518e-01 -2.06265802e-02 2.54816363e+01] [ 2.47632140e-01 9.68842405e-01 -4.76625883e-03 2.93380312e+00] [ 2.11644007e-02 -4.91096577e-04 9.99775888e-01 4.43038742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.462755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.51, Y:2.94, Z:0.44 [[ 9.68590153e-01 -2.47832446e-01 -2.03025700e-02 2.55091556e+01] [ 2.47788380e-01 9.68802791e-01 -4.69791372e-03 2.93997107e+00] [ 2.08334819e-02 -4.80387967e-04 9.99782844e-01 4.43628062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.492755096000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.54, Y:2.95, Z:0.44 [[ 9.68522533e-01 -2.48087527e-01 -2.04127969e-02 2.55356216e+01] [ 2.48042875e-01 9.68737502e-01 -4.73122301e-03 2.94561540e+00] [ 2.09483993e-02 -4.80952730e-04 9.99780443e-01 4.44439494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.522755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.56, Y:2.95, Z:0.44 [[ 9.68736663e-01 -2.47323599e-01 -1.95016560e-02 2.55627964e+01] [ 2.47282662e-01 9.68932837e-01 -4.52146372e-03 2.95341272e+00] [ 2.00140595e-02 -4.42313717e-04 9.99799601e-01 4.44694151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.552755096000002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.59, Y:2.96, Z:0.45 [[ 9.68639205e-01 -2.47687801e-01 -1.97191250e-02 2.55894586e+01] [ 2.47645863e-01 9.68839797e-01 -4.57965633e-03 2.95985866e+00] [ 2.02389981e-02 -4.47325076e-04 9.99795070e-01 4.45099815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.582755096000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.62, Y:2.97, Z:0.45 [[ 9.68633910e-01 -2.47733381e-01 -1.94041123e-02 2.56160664e+01] [ 2.47692752e-01 9.68828147e-01 -4.50799338e-03 2.96727712e+00] [ 1.99160306e-02 -4.39662723e-04 9.99801560e-01 4.46160284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.612755096000004 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:25.64, Y:2.97, Z:0.45 [[ 9.68429433e-01 -2.48542471e-01 -1.92632730e-02 2.56427694e+01] [ 2.48502439e-01 9.68620897e-01 -4.48286809e-03 2.97324998e+00] [ 1.97729918e-02 -4.45628906e-04 9.99804396e-01 4.46679365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.642755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.67, Y:2.98, Z:0.45 [[ 9.68171638e-01 -2.49522809e-01 -1.95460056e-02 2.56703293e+01] [ 2.49481760e-01 9.68368807e-01 -4.55029941e-03 2.97961476e+00] [ 2.00631456e-02 -4.70901038e-04 9.99798604e-01 4.48157470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.672755096000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.70, Y:2.99, Z:0.45 [[ 9.68071094e-01 -2.49987767e-01 -1.85600051e-02 2.56963709e+01] [ 2.49950703e-01 9.68248891e-01 -4.32802680e-03 2.98792710e+00] [ 1.90526581e-02 -4.49248677e-04 9.99818381e-01 4.48032820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:3.00, Z:0.45 [[ 9.67687735e-01 -2.51452515e-01 -1.87637817e-02 2.57249179e+01] [ 2.51399178e-01 9.67869589e-01 -5.18767560e-03 2.99527024e+00] [ 1.94653478e-02 3.02850744e-04 9.99810486e-01 4.48185201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.75, Y:3.00, Z:0.45 [[ 9.67485273e-01 -2.52174774e-01 -1.94969363e-02 2.57514544e+01] [ 2.52150981e-01 9.67680795e-01 -3.70961178e-03 3.00044461e+00] [ 1.98022813e-02 -1.32717684e-03 9.99803035e-01 4.49271254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.762755096000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.78, Y:3.01, Z:0.45 [[ 9.67092078e-01 -2.53681494e-01 -1.94579545e-02 2.57781804e+01] [ 2.53641291e-01 9.67287657e-01 -4.54801401e-03 3.00775018e+00] [ 1.99751862e-02 -5.36992364e-04 9.99800332e-01 4.49263616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.792755096000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.81, Y:3.01, Z:0.45 [[ 9.66474390e-01 -2.55949909e-01 -2.04180508e-02 2.58051649e+01] [ 2.55905993e-01 9.66689856e-01 -4.77972083e-03 3.01497465e+00] [ 2.09612917e-02 -6.05623781e-04 9.99780105e-01 4.49687280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.822755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.83, Y:3.02, Z:0.45 [[ 9.66430363e-01 -2.56122103e-01 -2.03426079e-02 2.58302461e+01] [ 2.56096085e-01 9.66643390e-01 -3.91813942e-03 3.02042110e+00] [ 2.06675696e-02 -1.42305335e-03 9.99785390e-01 4.50142535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.852755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:3.03, Z:0.45 [[ 9.66030330e-01 -2.57633788e-01 -2.02542239e-02 2.58590628e+01] [ 2.57571034e-01 9.66242594e-01 -5.69308770e-03 3.02864223e+00] [ 2.10372256e-02 2.82793992e-04 9.99778653e-01 4.50413908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:3.04, Z:0.45 [[ 9.65871247e-01 -2.58190530e-01 -2.07457080e-02 2.58851329e+01] [ 2.58145327e-01 9.66093800e-01 -4.87432758e-03 3.03592060e+00] [ 2.13008051e-02 -6.47434697e-04 9.99772902e-01 4.51186755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.912755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.91, Y:3.04, Z:0.45 [[ 9.65857078e-01 -2.58282434e-01 -2.02555864e-02 2.59122643e+01] [ 2.58239326e-01 9.66069244e-01 -4.76090384e-03 3.04248771e+00] [ 2.07979569e-02 -6.32436300e-04 9.99783499e-01 4.51710756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:3.05, Z:0.45 [[ 9.65923067e-01 -2.58057761e-01 -1.99704758e-02 2.59385700e+01] [ 2.58015652e-01 9.66129297e-01 -4.70159136e-03 3.04837178e+00] [ 2.05073439e-02 -6.11319792e-04 9.99789515e-01 4.52567798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.972755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:3.05, Z:0.45 [[ 9.66005989e-01 -2.57737966e-01 -2.00890680e-02 2.59661929e+01] [ 2.57695248e-01 9.66214662e-01 -4.73136738e-03 3.05479102e+00] [ 2.06298051e-02 -6.06328142e-04 9.99786999e-01 4.53880403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.002755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:3.06, Z:0.45 [[ 9.66492305e-01 -2.55923562e-01 -1.98935863e-02 2.59922993e+01] [ 2.55881130e-01 9.66696862e-01 -4.69300459e-03 3.06173121e+00] [ 2.04321179e-02 -5.54640514e-04 9.99791089e-01 4.54407122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.032755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:3.07, Z:0.46 [[ 9.66645808e-01 -2.55289180e-01 -2.05746592e-02 2.60197472e+01] [ 2.55243604e-01 9.66864584e-01 -4.85579046e-03 3.06871795e+00] [ 2.11325401e-02 -5.57720685e-04 9.99776527e-01 4.55631974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:3.08, Z:0.46 [[ 9.66748039e-01 -2.54953543e-01 -1.99228553e-02 2.60466374e+01] [ 2.54910610e-01 9.66953160e-01 -4.70825754e-03 3.07538495e+00] [ 2.04648548e-02 -5.26848437e-04 9.99790434e-01 4.55512332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.092755096000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.07, Y:3.09, Z:0.45 [[ 9.66998533e-01 -2.54061839e-01 -1.91420828e-02 2.60734092e+01] [ 2.53890346e-01 9.67170998e-01 -1.09523022e-02 3.08722431e+00] [ 2.12962293e-02 5.73087013e-03 9.99756784e-01 4.54658580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:3.09, Z:0.46 [[ 9.67247854e-01 -2.52989097e-01 -2.06906988e-02 2.61024343e+01] [ 2.53072688e-01 9.67446130e-01 1.48334347e-03 3.08701285e+00] [ 1.96418668e-02 -6.67101156e-03 9.99784824e-01 4.59688975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.152755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.13, Y:3.10, Z:0.46 [[ 9.67105793e-01 -2.53659535e-01 -1.90584703e-02 2.61289757e+01] [ 2.53619728e-01 9.67293453e-01 -4.51767889e-03 3.09579309e+00] [ 1.95810858e-02 -4.64530617e-04 9.99808164e-01 4.58338233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.182755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.16, Y:3.09, Z:0.47 [[ 9.67197859e-01 -2.52695050e-01 -2.59521300e-02 2.61603209e+01] [ 2.53011120e-01 9.67415100e-01 9.66422202e-03 3.09325311e+00] [ 2.26643813e-02 -1.59133923e-02 9.99616471e-01 4.69603217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.212755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.19, Y:3.11, Z:0.46 [[ 9.67328718e-01 -2.52807228e-01 -1.90697768e-02 2.61852885e+01] [ 2.52773343e-01 9.67516378e-01 -4.20664561e-03 3.10966743e+00] [ 1.95137918e-02 -7.51122125e-04 9.99809306e-01 4.63154221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.242755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:3.12, Z:0.46 [[ 9.67090987e-01 -2.53968785e-01 -1.53257624e-02 2.62091770e+01] [ 2.53673352e-01 9.67105583e-01 -1.88844254e-02 3.12453773e+00] [ 1.96176850e-02 1.43752200e-02 9.99704206e-01 4.56642099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.272755096000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:26.24, Y:3.12, Z:0.46 [[ 9.66829188e-01 -2.54778057e-01 -1.81511051e-02 2.62382955e+01] [ 2.54741570e-01 9.66999459e-01 -4.33352058e-03 3.12339426e+00] [ 1.86561948e-02 -4.34066825e-04 9.99825864e-01 4.60831466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.302755096000002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:26.26, Y:3.13, Z:0.46 [[ 9.66760479e-01 -2.55061523e-01 -1.78268110e-02 2.62644997e+01] [ 2.55026243e-01 9.66924733e-01 -4.26336782e-03 3.13158681e+00] [ 1.83246056e-02 -4.24649130e-04 9.99832000e-01 4.60892291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.332755096000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.29, Y:3.16, Z:0.44 [[ 9.65743118e-01 -2.59482754e-01 -2.98837817e-03 2.62852792e+01] [ 2.59212563e-01 9.65151415e-01 -3.59387440e-02 3.16138273e+00] [ 1.22097217e-02 3.39329695e-02 9.99349527e-01 4.38919114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.362755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:3.13, Z:0.47 [[ 9.66413499e-01 -2.55726602e-01 -2.54726028e-02 2.63234742e+01] [ 2.56412210e-01 9.66139485e-01 2.87623814e-02 3.12813021e+00] [ 1.72547813e-02 -3.43278400e-02 9.99261663e-01 4.72821595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.392755096000002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:26.34, Y:3.16, Z:0.46 [[ 9.65830903e-01 -2.58862596e-01 -1.26816288e-02 2.63437638e+01] [ 2.58733609e-01 9.65886542e-01 -1.09594004e-02 3.16011277e+00] [ 1.50859934e-02 7.30376399e-03 9.99859524e-01 4.55417822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.422755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.37, Y:3.16, Z:0.46 [[ 9.65261817e-01 -2.60753234e-01 -1.66545917e-02 2.63732388e+01] [ 2.60841988e-01 9.65375656e-01 3.36166722e-03 3.15763228e+00] [ 1.52013717e-02 -7.58910581e-03 9.99855651e-01 4.61094411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.40, Y:3.17, Z:0.46 [[ 9.64720869e-01 -2.62605804e-01 -1.87573094e-02 2.63993686e+01] [ 2.62567681e-01 9.64903033e-01 -4.51109871e-03 3.16789231e+00] [ 1.92836255e-02 -5.73112169e-04 9.99813889e-01 4.62462861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:3.18, Z:0.46 [[ 9.64547918e-01 -2.63266317e-01 -1.83891533e-02 2.64268129e+01] [ 2.63229668e-01 9.64723029e-01 -4.42929519e-03 3.17589832e+00] [ 1.89065239e-02 -5.68303247e-04 9.99821094e-01 4.63020714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.512755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.45, Y:3.18, Z:0.46 [[ 9.64007887e-01 -2.65230996e-01 -1.84746667e-02 2.64531036e+01] [ 2.65194233e-01 9.64184710e-01 -4.45685055e-03 3.18372376e+00] [ 1.89950861e-02 -6.02935977e-04 9.99819395e-01 4.62707516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.542755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.48, Y:3.19, Z:0.46 [[ 9.63733080e-01 -2.66216964e-01 -1.86300542e-02 2.64800733e+01] [ 2.66179728e-01 9.63912930e-01 -4.49619316e-03 3.19092347e+00] [ 1.91547131e-02 -6.25812695e-04 9.99816336e-01 4.62990716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:3.20, Z:0.46 [[ 9.63728342e-01 -2.66238666e-01 -1.85649005e-02 2.65071927e+01] [ 2.66220286e-01 9.63905861e-01 -3.49993506e-03 3.19775912e+00] [ 1.88266344e-02 -1.56936650e-03 9.99821532e-01 4.63294373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.602755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.53, Y:3.21, Z:0.46 [[ 9.63444556e-01 -2.67286763e-01 -1.82311034e-02 2.65340747e+01] [ 2.67231716e-01 9.63616963e-01 -5.43668949e-03 3.20688088e+00] [ 1.90209557e-02 3.66019835e-04 9.99819018e-01 4.63033227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.632755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.56, Y:3.21, Z:0.46 [[ 9.63317229e-01 -2.67740923e-01 -1.82952155e-02 2.65611164e+01] [ 2.67705019e-01 9.63490737e-01 -4.42967046e-03 3.21292954e+00] [ 1.88132747e-02 -6.30543137e-04 9.99822816e-01 4.63784302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.59, Y:3.22, Z:0.46 [[ 9.63420115e-01 -2.67380726e-01 -1.81446666e-02 2.65867841e+01] [ 2.67345226e-01 9.63590770e-01 -4.39974117e-03 3.22028728e+00] [ 1.86604392e-02 -6.12090830e-04 9.99825691e-01 4.64915338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.692755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.61, Y:3.22, Z:0.47 [[ 9.64129950e-01 -2.64821884e-01 -1.79668938e-02 2.66114520e+01] [ 2.64916952e-01 9.64266274e-01 3.09216052e-03 3.22233219e+00] [ 1.65059980e-02 -7.74097931e-03 9.99833801e-01 4.66920342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.722755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:3.23, Z:0.47 [[ 9.64068804e-01 -2.65162219e-01 -1.61350366e-02 2.66381463e+01] [ 2.65133534e-01 9.64203692e-01 -3.93071972e-03 3.23325790e+00] [ 1.65997402e-02 -4.88455009e-04 9.99862096e-01 4.65217379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.752755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:3.24, Z:0.46 [[ 9.64209372e-01 -2.64676807e-01 -1.56995097e-02 2.66651202e+01] [ 2.64607353e-01 9.64335096e-01 -6.38518280e-03 3.24170848e+00] [ 1.68295980e-02 2.00244739e-03 9.99856367e-01 4.64720154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:3.24, Z:0.47 [[ 9.64822953e-01 -2.62260697e-01 -1.83301826e-02 2.66971745e+01] [ 2.62367486e-01 9.64961153e-01 3.64363505e-03 3.24071182e+00] [ 1.67323319e-02 -8.32470667e-03 9.99825349e-01 4.69913563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.72, Y:3.26, Z:0.46 [[ 9.64674400e-01 -2.63107773e-01 -1.33267220e-02 2.67211639e+01] [ 2.62881991e-01 9.64685741e-01 -1.65674365e-02 3.26190598e+00] [ 1.72151200e-02 1.24788266e-02 9.99773934e-01 4.62997352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:3.26, Z:0.47 [[ 9.65189162e-01 -2.61053333e-01 -1.61567283e-02 2.67494835e+01] [ 2.60924295e-01 9.65310794e-01 -9.67389398e-03 3.26489599e+00] [ 1.81216665e-02 5.12145469e-03 9.99822672e-01 4.66270135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.78, Y:3.27, Z:0.47 [[ 9.65690561e-01 -2.59121211e-01 -1.72609022e-02 2.67774993e+01] [ 2.59184286e-01 9.65826745e-01 1.48442386e-03 3.26587036e+00] [ 1.62863953e-02 -5.90724873e-03 9.99849918e-01 4.70082418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:3.28, Z:0.47 [[ 9.65766752e-01 -2.58908921e-01 -1.61478057e-02 2.68050725e+01] [ 2.58889293e-01 9.65901259e-01 -3.33058306e-03 3.27563822e+00] [ 1.64595035e-02 -9.63927604e-04 9.99864069e-01 4.69152636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.932755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.83, Y:3.28, Z:0.47 [[ 9.66090480e-01 -2.57712094e-01 -1.59267106e-02 2.68320626e+01] [ 2.57673996e-01 9.66221736e-01 -4.43487163e-03 3.28293658e+00] [ 1.65316540e-02 1.80588112e-04 9.99863327e-01 4.68937555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.962755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.86, Y:3.29, Z:0.47 [[ 9.66429975e-01 -2.56381469e-01 -1.67822765e-02 2.68576716e+01] [ 2.56349195e-01 9.66575613e-01 -4.08345189e-03 3.28853412e+00] [ 1.72682606e-02 -3.55752780e-04 9.99850829e-01 4.69717635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:3.29, Z:0.47 [[ 9.66473974e-01 -2.56252851e-01 -1.62028874e-02 2.68872729e+01] [ 2.56220538e-01 9.66609761e-01 -4.07497197e-03 3.29400306e+00] [ 1.67060923e-02 -2.13158157e-04 9.99860421e-01 4.70306980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.022755096000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.92, Y:3.30, Z:0.47 [[ 9.66446976e-01 -2.56350345e-01 -1.62709284e-02 2.69152622e+01] [ 2.56319556e-01 9.66583881e-01 -3.98573092e-03 3.29948281e+00] [ 1.67489606e-02 -3.18559544e-04 9.99859676e-01 4.71305980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.052755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.94, Y:3.31, Z:0.47 [[ 9.66445481e-01 -2.56373138e-01 -1.59983209e-02 2.69422227e+01] [ 2.56343268e-01 9.66577839e-01 -3.92546523e-03 3.30513200e+00] [ 1.64700063e-02 -3.07313734e-04 9.99864313e-01 4.71489603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.082755096000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.97, Y:3.31, Z:0.47 [[ 9.66596949e-01 -2.55835259e-01 -1.54485696e-02 2.69698716e+01] [ 2.55807329e-01 9.66720351e-01 -3.79111789e-03 3.31168283e+00] [ 1.59043482e-02 -2.87374335e-04 9.99873477e-01 4.71669055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.112755096000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.00, Y:3.32, Z:0.47 [[ 9.66837266e-01 -2.54958054e-01 -1.49027633e-02 2.69958799e+01] [ 2.54931862e-01 9.66952080e-01 -3.66355086e-03 3.31875333e+00] [ 1.53443098e-02 -2.57131695e-04 9.99882236e-01 4.72077991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.02, Y:3.33, Z:0.47 [[ 9.67045413e-01 -2.54162513e-01 -1.49862199e-02 2.70222345e+01] [ 2.54013132e-01 9.67136168e-01 -1.11785722e-02 3.32881585e+00] [ 1.73348893e-02 7.00349033e-03 9.99825211e-01 4.70546114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.172755096000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.05, Y:3.33, Z:0.48 [[ 9.67405235e-01 -2.52686452e-01 -1.66333394e-02 2.70518677e+01] [ 2.52772265e-01 9.67520373e-01 3.24178372e-03 3.32727545e+00] [ 1.52739399e-02 -7.34056542e-03 9.99856401e-01 4.75016449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.202755096000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.08, Y:3.34, Z:0.47 [[ 9.67670233e-01 -2.51805962e-01 -1.44249099e-02 2.70771913e+01] [ 2.51780971e-01 9.67777722e-01 -3.55283153e-03 3.33870077e+00] [ 1.48547306e-02 -1.93948512e-04 9.99889644e-01 4.73773999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:3.35, Z:0.47 [[ 9.67902209e-01 -2.50938065e-01 -1.39785992e-02 2.71045932e+01] [ 2.50914478e-01 9.68003129e-01 -3.44482497e-03 3.34532645e+00] [ 1.43957655e-02 -1.73179240e-04 9.99896361e-01 4.74481511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.262755096000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.13, Y:3.35, Z:0.48 [[ 9.68343302e-01 -2.49302713e-01 -1.26256419e-02 2.71309423e+01] [ 2.49283259e-01 9.68425599e-01 -3.11700047e-03 3.35209783e+00] [ 1.30040715e-02 -1.29034641e-04 9.99915435e-01 4.75161126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.292755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.16, Y:3.36, Z:0.48 [[ 9.68299958e-01 -2.49457260e-01 -1.28944581e-02 2.71578277e+01] [ 2.49436983e-01 9.68385800e-01 -3.18335728e-03 3.35915959e+00] [ 1.32809217e-02 -1.33910021e-04 9.99911796e-01 4.75748625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:3.37, Z:0.48 [[ 9.68192975e-01 -2.49859672e-01 -1.31342328e-02 2.71849737e+01] [ 2.49838611e-01 9.68282048e-01 -3.24699942e-03 3.36615242e+00] [ 1.35289361e-02 -1.37716456e-04 9.99908470e-01 4.76311134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:3.38, Z:0.48 [[ 9.68101941e-01 -2.50246037e-01 -1.24720979e-02 2.72128477e+01] [ 2.50171517e-01 9.68174468e-01 -7.23958888e-03 3.37577834e+00] [ 1.38868452e-02 3.88849638e-03 9.99896012e-01 4.75404184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.24, Y:3.38, Z:0.48 [[ 9.68277471e-01 -2.49565405e-01 -1.24839293e-02 2.72405554e+01] [ 2.49597396e-01 9.68349131e-01 1.04877580e-03 3.37919554e+00] [ 1.18270639e-02 -4.13146223e-03 9.99921523e-01 4.77899366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.412755096000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:27.27, Y:3.39, Z:0.48 [[ 9.68193051e-01 -2.49917716e-01 -1.19729387e-02 2.72663308e+01] [ 2.49900086e-01 9.68267072e-01 -2.97067199e-03 3.38845414e+00] [ 1.23354258e-02 -1.15854432e-04 9.99923909e-01 4.77237874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.442755096000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:27.29, Y:3.40, Z:0.48 [[ 9.68196670e-01 -2.49860151e-01 -1.28496334e-02 2.72928764e+01] [ 2.49839839e-01 9.68281927e-01 -3.18826052e-03 3.39623880e+00] [ 1.32386870e-02 -1.23487123e-04 9.99912357e-01 4.77520320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.472755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:3.40, Z:0.48 [[ 9.67948708e-01 -2.50789269e-01 -1.34179192e-02 2.73187732e+01] [ 2.50767127e-01 9.68041695e-01 -3.33525477e-03 3.40292449e+00] [ 1.38255514e-02 -1.36417506e-04 9.99904413e-01 4.77744792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.502755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:3.41, Z:0.48 [[ 9.67620065e-01 -2.52033725e-01 -1.37989548e-02 2.73464803e+01] [ 2.52010403e-01 9.67718439e-01 -3.43218909e-03 3.40963161e+00] [ 1.42185304e-02 -1.56425144e-04 9.99898899e-01 4.78673719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.532755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:3.42, Z:0.48 [[ 9.67275241e-01 -2.53418165e-01 -1.25635007e-02 2.73724589e+01] [ 2.53398875e-01 9.67356816e-01 -3.13060708e-03 3.41816723e+00] [ 1.29467408e-02 -1.55418227e-04 9.99916175e-01 4.79009679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:3.42, Z:0.48 [[ 9.66789124e-01 -2.55249682e-01 -1.28992093e-02 2.73999107e+01] [ 2.55229510e-01 9.66875155e-01 -3.21430336e-03 3.42490328e+00] [ 1.32923749e-02 -1.84705343e-04 9.99911635e-01 4.79382316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.43, Y:3.43, Z:0.48 [[ 9.66326279e-01 -2.57017772e-01 -1.24654569e-02 2.74266861e+01] [ 2.56999030e-01 9.66406657e-01 -3.11008022e-03 3.43287874e+00] [ 1.28460464e-02 -1.98258087e-04 9.99917466e-01 4.80194454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.45, Y:3.44, Z:0.48 [[ 9.65417428e-01 -2.60484408e-01 -1.08195614e-02 2.74531271e+01] [ 2.60470478e-01 9.65478031e-01 -2.70201207e-03 3.44215846e+00] [ 1.11498809e-02 -2.09606793e-04 9.99937816e-01 4.80677478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.652755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:3.45, Z:0.48 [[ 9.64752346e-01 -2.62956719e-01 -1.03283971e-02 2.74788792e+01] [ 2.62944119e-01 9.64807605e-01 -2.58383185e-03 3.44890023e+00] [ 1.06443520e-02 -2.23033445e-04 9.99943322e-01 4.81158863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.682755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.50, Y:3.46, Z:0.48 [[ 9.64337365e-01 -2.64500675e-01 -9.63532221e-03 2.75039274e+01] [ 2.64498125e-01 9.64384936e-01 -1.56112187e-03 3.45601998e+00] [ 9.70507738e-03 -1.04307650e-03 9.99952361e-01 4.81789392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.712755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.53, Y:3.47, Z:0.48 [[ 9.63442777e-01 -2.67755418e-01 -9.22233997e-03 2.75323230e+01] [ 2.67736779e-01 9.63486706e-01 -3.22255454e-03 3.46617125e+00] [ 9.74845840e-03 6.35587295e-04 9.99952281e-01 4.81513683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.742755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.56, Y:3.47, Z:0.48 [[ 9.62798319e-01 -2.70026156e-01 -1.02602416e-02 2.75598233e+01] [ 2.70014064e-01 9.62852942e-01 -2.57225636e-03 3.47267654e+00] [ 1.05736803e-02 -2.93845445e-04 9.99944054e-01 4.82130276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.59, Y:3.48, Z:0.48 [[ 9.62360279e-01 -2.71574332e-01 -1.04917278e-02 2.75850630e+01] [ 2.71514223e-01 9.62410339e-01 -6.80929663e-03 3.48180158e+00] [ 1.19465774e-02 3.70434328e-03 9.99921776e-01 4.81858312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.802755096000002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.61, Y:3.49, Z:0.48 [[ 9.61329002e-01 -2.75165301e-01 -1.14283760e-02 2.76140490e+01] [ 2.75194951e-01 9.61387839e-01 1.07744090e-03 3.48690044e+00] [ 1.06906273e-02 -4.18080655e-03 9.99934114e-01 4.83903383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.832755096000003 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:27.64, Y:3.50, Z:0.48 [[ 9.60888241e-01 -2.76727543e-01 -1.07543098e-02 2.76402860e+01] [ 2.76714590e-01 9.60948346e-01 -2.70401205e-03 3.49676109e+00] [ 1.10826108e-02 -3.77621049e-04 9.99938515e-01 4.82687366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.862755096000004 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:27.68, Y:3.48, Z:0.51 [[ 9.60724627e-01 -2.75754832e-01 -3.11040801e-02 2.76777292e+01] [ 2.76903223e-01 9.59973968e-01 4.21258391e-02 3.47587777e+00] [ 1.82427035e-02 -4.90841510e-02 9.98628034e-01 5.11207187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.892755096000002 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:27.69, Y:3.54, Z:0.47 [[ 9.59600325e-01 -2.81364206e-01 -1.18319638e-03 2.76885930e+01] [ 2.80958284e-01 9.58425465e-01 -4.98304162e-02 3.54051502e+00] [ 1.51545010e-02 4.74848548e-02 9.98756992e-01 4.69294545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.922755096000003 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:27.72, Y:3.52, Z:0.48 [[ 9.59274093e-01 -2.82131898e-01 -1.39573365e-02 2.77222182e+01] [ 2.82110451e-01 9.59375464e-01 -3.52312662e-03 3.51979719e+00] [ 1.43843126e-02 -5.57866410e-04 9.99896385e-01 4.83567133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.952755096000004 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:27.74, Y:3.54, Z:0.48 [[ 9.59236911e-01 -2.82192105e-01 -1.52369580e-02 2.77447209e+01] [ 2.81929051e-01 9.59278663e-01 -1.73337095e-02 3.53671558e+00] [ 1.95079247e-02 1.23313929e-02 9.99733653e-01 4.80892975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.982755096 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:27.78, Y:3.53, Z:0.49 [[ 9.58967574e-01 -2.82807710e-01 -2.00247651e-02 2.77755276e+01] [ 2.82925163e-01 9.59136519e-01 3.23871643e-03 3.53188808e+00] [ 1.82905495e-02 -8.77133397e-03 9.99794239e-01 4.86569877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.012755096000003 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:27.80, Y:3.54, Z:0.49 [[ 9.58534301e-01 -2.84194058e-01 -2.11123418e-02 2.78020264e+01] [ 2.84240469e-01 9.58752660e-01 -8.32209604e-04 3.54330510e+00] [ 2.04780229e-02 -5.20328048e-03 9.99776763e-01 4.85387979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.042755096000004 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:27.83, Y:3.55, Z:0.48 [[ 9.58578557e-01 -2.84060326e-01 -2.09017063e-02 2.78285290e+01] [ 2.84012153e-01 9.58806028e-01 -5.30067664e-03 3.55451293e+00] [ 2.15463939e-02 -8.55223633e-04 9.99767484e-01 4.84138973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.072755096 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:27.86, Y:3.56, Z:0.48 [[ 9.58502054e-01 -2.84232799e-01 -2.20346994e-02 2.78556430e+01] [ 2.84179128e-01 9.58754874e-01 -5.59589046e-03 3.56248751e+00] [ 2.27164111e-02 -8.98129171e-04 9.99741546e-01 4.84646542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.102755096000003 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:27.88, Y:3.57, Z:0.49 [[ 9.58571074e-01 -2.83925873e-01 -2.29694266e-02 2.78832324e+01] [ 2.83867273e-01 9.58845791e-01 -5.84131349e-03 3.56971613e+00] [ 2.36826380e-02 -9.20954330e-04 9.99719103e-01 4.85174997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.132755096000004 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:27.91, Y:3.58, Z:0.49 [[ 9.58906286e-01 -2.82585362e-01 -2.53820257e-02 2.79095191e+01] [ 2.82513091e-01 9.59241663e-01 -6.46419050e-03 3.57896258e+00] [ 2.61741821e-02 -9.72201624e-04 9.99656925e-01 4.85528661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.162755096000005 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:27.94, Y:3.59, Z:0.49 [[ 9.59099769e-01 -2.81840455e-01 -2.63361302e-02 2.79359942e+01] [ 2.81765277e-01 9.59460666e-01 -6.60000738e-03 3.58686894e+00] [ 2.71286301e-02 -1.09054147e-03 9.99631356e-01 4.85846108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.192755096000003 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:27.96, Y:3.59, Z:0.49 [[ 9.59323302e-01 -2.80997394e-01 -2.71894533e-02 2.79628744e+01] [ 2.80909978e-01 9.59708142e-01 -7.06153573e-03 3.59459040e+00] [ 2.80782129e-02 -8.63492959e-04 9.99605356e-01 4.86532652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.222755096000004 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:27.99, Y:3.59, Z:0.50 [[ 9.59539299e-01 -2.79017523e-01 -3.78623118e-02 2.79901462e+01] [ 2.79609537e-01 9.60047817e-01 1.12559310e-02 3.59274797e+00] [ 3.32090278e-02 -2.13871716e-02 9.99219570e-01 5.00618865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.252755096000005 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:28.01, Y:3.62, Z:0.48 [[ 9.60339401e-01 -2.77805471e-01 -2.39239486e-02 2.80137004e+01] [ 2.77149870e-01 9.60435129e-01 -2.74283083e-02 3.62363713e+00] [ 3.05971348e-02 1.97099659e-02 9.99337447e-01 4.81677608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.282755096000002 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:28.04, Y:3.62, Z:0.49 [[ 9.60773566e-01 -2.75713929e-01 -2.99329929e-02 2.80436144e+01] [ 2.75643036e-01 9.61237744e-01 -6.55102493e-03 3.61910589e+00] [ 3.05789314e-02 -1.95676947e-03 9.99530440e-01 4.88271555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.312755096000004 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:28.07, Y:3.63, Z:0.49 [[ 9.61214494e-01 -2.74090217e-01 -3.06798062e-02 2.80711904e+01] [ 2.73942935e-01 9.61703956e-01 -8.98720707e-03 3.63011081e+00] [ 3.19681966e-02 2.34117517e-04 9.99488859e-01 4.88380632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.342755096000005 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:28.10, Y:3.63, Z:0.50 [[ 9.61113758e-01 -2.73377077e-01 -3.90553248e-02 2.80985366e+01] [ 2.73901395e-01 9.61718714e-01 8.66840757e-03 3.62815820e+00] [ 3.51904929e-02 -1.90286337e-02 9.99199450e-01 5.00624287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.372755096000002 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:28.12, Y:3.66, Z:0.48 [[ 9.61720336e-01 -2.72657998e-01 -2.74155277e-02 2.81213789e+01] [ 2.71981906e-01 9.61950815e-01 -2.60090996e-02 3.65711644e+00] [ 3.34639782e-02 1.75569525e-02 9.99285703e-01 4.84660053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.402755096000003 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:28.15, Y:3.66, Z:0.49 [[ 9.62031752e-01 -2.71056606e-01 -3.19878834e-02 2.81500076e+01] [ 2.70933407e-01 9.62563101e-01 -8.20768366e-03 3.65635741e+00] [ 3.30151031e-02 -7.70533942e-04 9.99454556e-01 4.90182917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.432755096000005 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:28.17, Y:3.67, Z:0.49 [[ 9.61764433e-01 -2.72275334e-01 -2.95857855e-02 2.81724559e+01] [ 2.72025932e-01 9.62212221e-01 -1.22284057e-02 3.66921195e+00] [ 3.17972976e-02 3.71274480e-03 9.99487442e-01 4.88387112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.462755096000002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:28.20, Y:3.67, Z:0.49 [[ 9.62112853e-01 -2.70740159e-01 -3.22277074e-02 2.82003289e+01] [ 2.70682301e-01 9.62648588e-01 -6.22791361e-03 3.67360016e+00] [ 3.27101033e-02 -2.73151426e-03 9.99461149e-01 4.91040071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.492755096000003 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:28.23, Y:3.68, Z:0.49 [[ 9.62910857e-01 -2.67636884e-01 -3.42517059e-02 2.82294386e+01] [ 2.67566071e-01 9.63516082e-01 -6.71989654e-03 3.68210718e+00] [ 3.48005617e-02 -2.69393303e-03 9.99390646e-01 4.92545809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.522755096000004 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:28.25, Y:3.70, Z:0.48 [[ 9.62957818e-01 -2.68363441e-01 -2.63306873e-02 2.82512770e+01] [ 2.67771028e-01 9.63184273e-01 -2.39735819e-02 3.70244336e+00] [ 3.17949369e-02 1.60349529e-02 9.99365780e-01 4.83457782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.552755096000002 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:28.29, Y:3.69, Z:0.50 [[ 9.63294858e-01 -2.65752370e-01 -3.79301167e-02 2.82851012e+01] [ 2.66193853e-01 9.63893994e-01 7.01438799e-03 3.69053362e+00] [ 3.46965214e-02 -1.68536878e-02 9.99255775e-01 4.97164708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.582755096000003 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:28.31, Y:3.71, Z:0.49 [[ 9.63488987e-01 -2.65511352e-01 -3.45353848e-02 2.83095244e+01] [ 2.65362369e-01 9.64107560e-01 -8.91206768e-03 3.70873223e+00] [ 3.56620807e-02 -5.77712467e-04 9.99363739e-01 4.93262079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.612755096000004 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:28.34, Y:3.72, Z:0.49 [[ 9.63693283e-01 -2.64706389e-01 -3.50111968e-02 2.83359074e+01] [ 2.64552302e-01 9.64328902e-01 -9.04697209e-03 3.71897925e+00] [ 3.61571003e-02 -5.43786471e-04 9.99345970e-01 4.94206424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.642755096000002 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:28.36, Y:3.73, Z:0.49 [[ 9.63613429e-01 -2.64997311e-01 -3.50083413e-02 2.83635138e+01] [ 2.64843014e-01 9.64248998e-01 -9.05801051e-03 3.72628240e+00] [ 3.61571064e-02 -5.43294071e-04 9.99345970e-01 4.94906119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.672755096000003 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:28.39, Y:3.73, Z:0.50 [[ 9.63628022e-01 -2.64937663e-01 -3.50580899e-02 2.83896600e+01] [ 2.64782549e-01 9.64265394e-01 -9.08022493e-03 3.73436603e+00] [ 3.62109964e-02 -5.32811230e-04 9.99344025e-01 4.95508421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.702755096000004 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:28.42, Y:3.74, Z:0.50 [[ 9.63575852e-01 -2.65092742e-01 -3.53187554e-02 2.84165243e+01] [ 2.64935143e-01 9.64222771e-01 -9.15525275e-03 3.74326444e+00] [ 3.64821393e-02 -5.35399050e-04 9.99334162e-01 4.96757956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.732755096 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:28.44, Y:3.76, Z:0.50 [[ 9.63485366e-01 -2.65443082e-01 -3.51556431e-02 2.84412114e+01] [ 2.64868910e-01 9.64073344e-01 -2.01754469e-02 3.75709513e+00] [ 3.92480512e-02 1.01271110e-02 9.99178178e-01 4.95906694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.762755096000003 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:28.47, Y:3.75, Z:0.50 [[ 9.63372207e-01 -2.65486666e-01 -3.78261961e-02 2.84718451e+01] [ 2.65723848e-01 9.64048318e-01 1.29532213e-03 3.75273723e+00] [ 3.61223900e-02 -1.12991997e-02 9.99283494e-01 5.01266687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.792755096000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:28.50, Y:3.76, Z:0.51 [[ 9.63355748e-01 -2.64955485e-01 -4.17647454e-02 2.85010938e+01] [ 2.65413509e-01 9.64117638e-01 5.73145661e-03 3.75583856e+00] [ 3.87475468e-02 -1.66063593e-02 9.99111033e-01 5.08489345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.822755096000005 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:28.52, Y:3.78, Z:0.50 [[ 9.62682149e-01 -2.68789037e-01 -3.15520705e-02 2.85226040e+01] [ 2.68094150e-01 9.63079031e-01 -2.45826534e-02 3.78343662e+00] [ 3.69946852e-02 1.52063561e-02 9.99199760e-01 4.96911672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.852755096000003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:28.55, Y:3.78, Z:0.50 [[ 9.62296996e-01 -2.69611950e-01 -3.59706484e-02 2.85508820e+01] [ 2.69449904e-01 9.62968816e-01 -9.37061729e-03 3.78116586e+00] [ 3.71650431e-02 -6.74970884e-04 9.99308913e-01 5.01716360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.882755096000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:28.58, Y:3.79, Z:0.50 [[ 9.62005791e-01 -2.70665301e-01 -3.58490178e-02 2.85778284e+01] [ 2.70504797e-01 9.62673255e-01 -9.34656163e-03 3.78780146e+00] [ 3.70406806e-02 -7.05884858e-04 9.99313509e-01 5.02649324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.912755096000005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:28.61, Y:3.78, Z:0.51 [[ 9.61551428e-01 -2.71453907e-01 -4.16128197e-02 2.86102534e+01] [ 2.71824367e-01 9.62340834e-01 3.41068429e-03 3.78442589e+00] [ 3.91198720e-02 -1.45909267e-02 9.99127990e-01 5.11432105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.63, Y:3.81, Z:0.50 [[ 9.60750141e-01 -2.75516026e-01 -3.24050303e-02 2.86312604e+01] [ 2.74890183e-01 9.61212625e-01 -2.24872642e-02 3.80812483e+00] [ 3.73437259e-02 1.26968175e-02 9.99221816e-01 5.01288765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.972755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.67, Y:3.80, Z:0.51 [[ 9.60119749e-01 -2.76353383e-01 -4.24131595e-02 2.86658040e+01] [ 2.76765725e-01 9.60928837e-01 4.06250379e-03 3.79507797e+00] [ 3.96333414e-02 -1.56389990e-02 9.99091898e-01 5.14200109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.69, Y:3.82, Z:0.50 [[ 9.59335200e-01 -2.80459863e-01 -3.19098542e-02 2.86872609e+01] [ 2.79818094e-01 9.59773891e-01 -2.31497877e-02 3.81858956e+00] [ 3.71188312e-02 1.32794516e-02 9.99222622e-01 5.03681687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.72, Y:3.82, Z:0.51 [[ 9.58845115e-01 -2.81773583e-01 -3.49241159e-02 2.87157853e+01] [ 2.81627135e-01 9.59480334e-01 -9.14580990e-03 3.81556869e+00] [ 3.60860500e-02 -1.06616356e-03 9.99348118e-01 5.08490592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.062755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.74, Y:3.82, Z:0.51 [[ 9.58057668e-01 -2.84543247e-01 -3.40682585e-02 2.87431662e+01] [ 2.84405399e-01 9.58662533e-01 -8.92844546e-03 3.81882721e+00] [ 3.52004918e-02 -1.13523100e-03 9.99379626e-01 5.09618191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.77, Y:3.82, Z:0.51 [[ 9.57629306e-01 -2.86064438e-01 -3.33653819e-02 2.87704382e+01] [ 2.85932917e-01 9.58209680e-01 -8.75076643e-03 3.82352576e+00] [ 3.44743150e-02 -1.16027059e-03 9.99404911e-01 5.10297298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:3.83, Z:0.51 [[ 9.57148514e-01 -2.87751726e-01 -3.26445550e-02 2.87982733e+01] [ 2.87626451e-01 9.57704308e-01 -8.57225613e-03 3.82875430e+00] [ 3.37305124e-02 -1.18451526e-03 9.99430262e-01 5.10977711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:3.84, Z:0.51 [[ 9.57787570e-01 -2.85909932e-01 -2.99746774e-02 2.88253651e+01] [ 2.85803117e-01 9.58255954e-01 -7.88070668e-03 3.83607975e+00] [ 3.09765853e-02 -1.01881331e-03 9.99519591e-01 5.11774200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:3.84, Z:0.51 [[ 9.57961915e-01 -2.85332592e-01 -2.99045382e-02 2.88529105e+01] [ 2.85225681e-01 9.58428054e-01 -7.87242812e-03 3.84093935e+00] [ 3.09076087e-02 -9.88055981e-04 9.99521757e-01 5.12160872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.212755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.88, Y:3.85, Z:0.51 [[ 9.58196469e-01 -2.84539951e-01 -2.99423268e-02 2.88795469e+01] [ 2.84432104e-01 9.58663708e-01 -7.89137640e-03 3.84533853e+00] [ 3.09500338e-02 -9.55070000e-04 9.99520477e-01 5.12975757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:3.85, Z:0.51 [[ 9.58864241e-01 -2.82294073e-01 -2.98232085e-02 2.89075250e+01] [ 2.82185823e-01 9.59327521e-01 -7.86562693e-03 3.85002182e+00] [ 3.08306446e-02 -8.73618262e-04 9.99524241e-01 5.14085405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.93, Y:3.86, Z:0.51 [[ 9.59072284e-01 -2.81558201e-01 -3.00887529e-02 2.89334649e+01] [ 2.81447328e-01 9.59543778e-01 -7.94611447e-03 3.85667081e+00] [ 3.11087693e-02 -8.47500937e-04 9.99515646e-01 5.14577985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:3.86, Z:0.52 [[ 9.59356854e-01 -2.80613352e-01 -2.98424726e-02 2.89609548e+01] [ 2.80503494e-01 9.59820560e-01 -7.89194709e-03 3.86370646e+00] [ 3.08580045e-02 -7.99724305e-04 9.99523458e-01 5.15342468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:3.87, Z:0.52 [[ 9.59609198e-01 -2.79794782e-01 -2.94120022e-02 2.89875909e+01] [ 2.79687366e-01 9.60059537e-01 -7.78865614e-03 3.87105657e+00] [ 3.04164985e-02 -7.52099347e-04 9.99537028e-01 5.15707955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.01, Y:3.88, Z:0.52 [[ 9.60058147e-01 -2.78265997e-01 -2.92641434e-02 2.90130955e+01] [ 2.78158681e-01 9.60503804e-01 -7.75832818e-03 3.87937757e+00] [ 3.02672000e-02 -6.91629337e-04 9.99541604e-01 5.16714568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.392755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:29.04, Y:3.89, Z:0.52 [[ 9.60142176e-01 -2.78062880e-01 -2.84259853e-02 2.90400763e+01] [ 2.77961386e-01 9.60562647e-01 -7.54119499e-03 3.88656716e+00] [ 2.94018661e-02 -6.60706900e-04 9.99567453e-01 5.16859920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:3.89, Z:0.52 [[ 9.60151803e-01 -2.78160805e-01 -2.71124068e-02 2.90674536e+01] [ 2.78068268e-01 9.60534318e-01 -7.20150821e-03 3.89131664e+00] [ 2.80455745e-02 -6.24558911e-04 9.99606450e-01 5.18381352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:3.90, Z:0.52 [[ 9.60034102e-01 -2.78627326e-01 -2.64827545e-02 2.90949254e+01] [ 2.78538977e-01 9.60399102e-01 -7.04295896e-03 3.89742232e+00] [ 2.73963745e-02 -6.14998566e-04 9.99624460e-01 5.19301222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.12, Y:3.90, Z:0.52 [[ 9.59791828e-01 -2.79516046e-01 -2.58925939e-02 2.91218640e+01] [ 2.79431687e-01 9.60140822e-01 -6.89448888e-03 3.90423599e+00] [ 2.67876567e-02 -6.17937101e-04 9.99640955e-01 5.20045755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.15, Y:3.91, Z:0.52 [[ 9.59496911e-01 -2.80664274e-01 -2.43565728e-02 2.91482982e+01] [ 2.80589810e-01 9.59805814e-01 -6.49295174e-03 3.91093092e+00] [ 2.51999198e-02 -6.04238997e-04 9.99682249e-01 5.20582185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:3.92, Z:0.52 [[ 9.59318149e-01 -2.81354986e-01 -2.34107058e-02 2.91753653e+01] [ 2.81286320e-01 9.59603573e-01 -6.24405999e-03 3.91882640e+00] [ 2.42217944e-02 -5.95071224e-04 9.99706432e-01 5.21298166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:3.93, Z:0.52 [[ 9.59117860e-01 -2.82110144e-01 -2.25121589e-02 2.92015914e+01] [ 2.82046688e-01 9.59381846e-01 -6.01164028e-03 3.92625752e+00] [ 2.32937013e-02 -5.83608308e-04 9.99728495e-01 5.21385205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:3.93, Z:0.52 [[ 9.58633730e-01 -2.83756675e-01 -2.24392691e-02 2.92284477e+01] [ 2.83693965e-01 9.58896120e-01 -5.99709486e-03 3.93306003e+00] [ 2.32186437e-02 -6.16867798e-04 9.99730221e-01 5.21701626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:3.94, Z:0.52 [[ 9.58873349e-01 -2.83009643e-01 -2.16204395e-02 2.92588037e+01] [ 2.82923794e-01 9.59116882e-01 -6.99527937e-03 3.94050315e+00] [ 2.27162600e-02 5.90650200e-04 9.99741778e-01 5.22101879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.28, Y:3.95, Z:0.52 [[ 9.58450040e-01 -2.84429917e-01 -2.17518754e-02 2.92829653e+01] [ 2.84401334e-01 9.58694933e-01 -4.46169782e-03 3.94759982e+00] [ 2.21224531e-02 -1.90994793e-03 9.99753444e-01 5.23551968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:3.96, Z:0.52 [[ 9.58160166e-01 -2.85406179e-01 -2.17349611e-02 2.93093186e+01] [ 2.85347389e-01 9.58406453e-01 -5.82572743e-03 3.95520447e+00] [ 2.24936255e-02 -6.20034435e-04 9.99746794e-01 5.23185054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:3.96, Z:0.52 [[ 9.57933857e-01 -2.86187496e-01 -2.14346272e-02 2.93358407e+01] [ 2.86130456e-01 9.58173431e-01 -5.74789078e-03 3.96347814e+00] [ 2.21830648e-02 -6.27000483e-04 9.99753729e-01 5.23727429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:3.97, Z:0.52 [[ 9.57842096e-01 -2.86550261e-01 -2.06752601e-02 2.93625392e+01] [ 2.86497136e-01 9.58065019e-01 -5.55076224e-03 3.97209228e+00] [ 2.13988159e-02 -6.06649072e-04 9.99770835e-01 5.23602322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:3.99, Z:0.52 [[ 9.57808283e-01 -2.86787542e-01 -1.88732603e-02 2.93908331e+01] [ 2.86545971e-01 9.57956567e-01 -1.45128464e-02 3.98591245e+00] [ 2.22418672e-02 8.49246779e-03 9.99716548e-01 5.18316707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.42, Y:3.98, Z:0.53 [[ 9.57660149e-01 -2.86904718e-01 -2.39315976e-02 2.94180277e+01] [ 2.87056504e-01 9.57908652e-01 3.09477090e-03 3.98363966e+00] [ 2.20363801e-02 -9.83345951e-03 9.99708808e-01 5.26223286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:4.00, Z:0.52 [[ 9.57637452e-01 -2.87202954e-01 -2.10943846e-02 2.94424083e+01] [ 2.87147428e-01 9.57869554e-01 -5.68084928e-03 3.99750058e+00] [ 2.18372254e-02 -6.17004253e-04 9.99761349e-01 5.22643542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:4.01, Z:0.52 [[ 9.57443303e-01 -2.87860873e-01 -2.09389475e-02 2.94690221e+01] [ 2.87806265e-01 9.57672035e-01 -5.64151315e-03 4.00563482e+00] [ 2.16766154e-02 -6.24931298e-04 9.99764839e-01 5.23284645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:4.01, Z:0.52 [[ 9.57386117e-01 -2.88080962e-01 -2.05227510e-02 2.94947246e+01] [ 2.88028396e-01 9.57605862e-01 -5.53680641e-03 4.01293001e+00] [ 2.12477552e-02 -6.10273464e-04 9.99774055e-01 5.23703078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:4.02, Z:0.52 [[ 9.57642291e-01 -2.87267641e-01 -1.99636034e-02 2.95262127e+01] [ 2.87193545e-01 9.57850205e-01 -6.54610951e-03 4.02004988e+00] [ 2.10026270e-02 5.35413279e-04 9.99779277e-01 5.22137108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:4.03, Z:0.53 [[ 9.57381530e-01 -2.88020834e-01 -2.15546993e-02 2.95545247e+01] [ 2.88051067e-01 9.57613439e-01 -1.75603637e-03 4.02524997e+00] [ 2.11468448e-02 -4.52765733e-03 9.99766128e-01 5.25182716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:4.04, Z:0.52 [[ 9.56966240e-01 -2.89817087e-01 -1.48886092e-02 2.95792100e+01] [ 2.89566214e-01 9.57008081e-01 -1.69393296e-02 4.04366513e+00] [ 1.91578265e-02 1.18991284e-02 9.99745662e-01 5.17983060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:4.04, Z:0.52 [[ 9.56813347e-01 -2.90175991e-01 -1.74960961e-02 2.96071569e+01] [ 2.90136486e-01 9.56973182e-01 -4.81132958e-03 4.04437617e+00] [ 1.81394271e-02 -4.72711482e-04 9.99835355e-01 5.22016092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:4.05, Z:0.53 [[ 9.56568402e-01 -2.90779003e-01 -2.06025108e-02 2.96322502e+01] [ 2.90956382e-01 9.56716590e-01 6.14415192e-03 4.04623520e+00] [ 1.79241735e-02 -1.18717336e-02 9.99768866e-01 5.30242941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:4.06, Z:0.53 [[ 9.56439125e-01 -2.91430103e-01 -1.71083501e-02 2.96569662e+01] [ 2.91393650e-01 9.56591970e-01 -4.64149167e-03 4.06131935e+00] [ 1.77183807e-02 -5.45960347e-04 9.99842868e-01 5.27554284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:4.07, Z:0.53 [[ 9.56890801e-01 -2.89900567e-01 -1.78229032e-02 2.96898615e+01] [ 2.89855768e-01 9.57056728e-01 -5.10411723e-03 4.06744847e+00] [ 1.85372159e-02 -2.81988472e-04 9.99828131e-01 5.27272242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:4.08, Z:0.53 [[ 9.56770360e-01 -2.90374217e-01 -1.65315753e-02 2.97119772e+01] [ 2.90132874e-01 9.56860119e-01 -1.55444163e-02 4.08152341e+00] [ 2.03321028e-02 1.00760833e-02 9.99742506e-01 5.25001577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:4.08, Z:0.53 [[ 9.56038838e-01 -2.92586493e-01 -1.95674258e-02 2.97389470e+01] [ 2.92769272e-01 9.56156192e-01 7.17559043e-03 4.07841394e+00] [ 1.66100345e-02 -1.25888841e-02 9.99782790e-01 5.32333485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.77, Y:4.10, Z:0.53 [[ 9.56030552e-01 -2.92832857e-01 -1.59531174e-02 2.97681546e+01] [ 2.92718004e-01 9.56154888e-01 -9.16514299e-03 4.09502489e+00] [ 1.79375062e-02 4.09239203e-03 9.99830735e-01 5.26788853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:4.10, Z:0.53 [[ 9.55503166e-01 -2.94310592e-01 -1.98740003e-02 2.97971557e+01] [ 2.94376857e-01 9.55689323e-01 4.29099017e-04 4.09710216e+00] [ 1.88670815e-02 -6.26045120e-03 9.99802400e-01 5.31657327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:4.11, Z:0.53 [[ 9.55013705e-01 -2.96190366e-01 -1.48354617e-02 2.98216431e+01] [ 2.96016724e-01 9.55096558e-01 -1.28321217e-02 4.11382344e+00] [ 1.79700492e-02 7.86330735e-03 9.99807604e-01 5.25870902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:4.11, Z:0.53 [[ 9.54822997e-01 -2.96564877e-01 -1.90346581e-02 2.98492836e+01] [ 2.96595090e-01 9.55002467e-01 -1.28062577e-03 4.11450497e+00] [ 1.85579340e-02 -4.42281520e-03 9.99818004e-01 5.31097938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.88, Y:4.12, Z:0.53 [[ 9.54537425e-01 -2.97391896e-01 -2.04050133e-02 2.98759258e+01] [ 2.97431586e-01 9.54742463e-01 -1.13166994e-03 4.12294612e+00] [ 1.98180821e-02 -4.98887415e-03 9.99791156e-01 5.33653337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:4.13, Z:0.54 [[ 9.54716622e-01 -2.96582851e-01 -2.35538531e-02 2.99034628e+01] [ 2.96716045e-01 9.54962991e-01 2.29657569e-03 4.12722409e+00] [ 2.18119330e-02 -9.18138511e-03 9.99719932e-01 5.38968693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.92, Y:4.14, Z:0.54 [[ 9.54713367e-01 -2.96759381e-01 -2.13601496e-02 2.99248539e+01] [ 2.96498156e-01 9.54922176e-01 -1.45767216e-02 4.14359234e+00] [ 2.47230595e-02 7.58334594e-03 9.99665576e-01 5.36962790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:4.15, Z:0.54 [[ 9.54530737e-01 -2.97298830e-01 -2.20108577e-02 2.99551744e+01] [ 2.97302324e-01 9.54778067e-01 -3.18911743e-03 4.14648607e+00] [ 2.19636051e-02 -3.49976854e-03 9.99752645e-01 5.37959181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:4.16, Z:0.54 [[ 9.54314337e-01 -2.97994268e-01 -2.19900383e-02 2.99787765e+01] [ 2.97869676e-01 9.54565843e-01 -8.81523206e-03 4.15911282e+00] [ 2.36178281e-02 1.86233675e-03 9.99719326e-01 5.37937605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:4.16, Z:0.54 [[ 9.54795898e-01 -2.96231933e-01 -2.47272004e-02 3.00066545e+01] [ 2.96154871e-01 9.55115680e-01 -6.80658701e-03 4.16308733e+00] [ 2.56336653e-02 -8.24179502e-04 9.99671064e-01 5.40691104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:4.16, Z:0.55 [[ 9.55206087e-01 -2.94572482e-01 -2.84321061e-02 3.00368508e+01] [ 2.94915479e-01 9.55484270e-01 8.64119589e-03 4.16194498e+00] [ 2.46209716e-02 -1.66391911e-02 9.99558375e-01 5.45723817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.06, Y:4.18, Z:0.54 [[ 9.55156039e-01 -2.95129191e-01 -2.39938042e-02 3.00626356e+01] [ 2.95058285e-01 9.55456981e-01 -6.52431476e-03 4.17880735e+00] [ 2.48505634e-02 -8.47832072e-04 9.99690818e-01 5.41802602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:4.20, Z:0.53 [[ 9.55397036e-01 -2.94860244e-01 -1.65511042e-02 3.00868754e+01] [ 2.94502203e-01 9.55418816e-01 -2.10556053e-02 4.19509991e+00] [ 2.20216973e-02 1.52421263e-02 9.99641297e-01 5.33062650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:4.20, Z:0.54 [[ 9.55275674e-01 -2.94941008e-01 -2.14053287e-02 3.01157997e+01] [ 2.94634467e-01 9.55470012e-01 -1.63580601e-02 4.19916660e+00] [ 2.52768124e-02 9.31970924e-03 9.99637047e-01 5.36407834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.14, Y:4.20, Z:0.54 [[ 9.55773410e-01 -2.93057553e-01 -2.47883043e-02 3.01444655e+01] [ 2.93134733e-01 9.56070988e-01 -5.42227291e-04 4.19537654e+00] [ 2.38582824e-02 -6.74806652e-03 9.99692576e-01 5.40958968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:4.18, Z:0.56 [[ 9.56096999e-01 -2.90655732e-01 -3.73868211e-02 3.01794756e+01] [ 2.91901380e-01 9.55852587e-01 3.37552334e-02 4.18091810e+00] [ 2.59251376e-02 -4.31865420e-02 9.98730599e-01 5.59180232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.20, Y:4.23, Z:0.53 [[ 9.55635963e-01 -2.94117100e-01 -1.59699317e-02 3.01954875e+01] [ 2.93520918e-01 9.55424330e-01 -3.17776789e-02 4.22996786e+00] [ 2.46044200e-02 2.56803837e-02 9.99367370e-01 5.32937004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.22, Y:4.23, Z:0.54 [[ 9.56213511e-01 -2.92123842e-01 -1.78712832e-02 3.02224282e+01] [ 2.92017152e-01 9.56376441e-01 -8.37175821e-03 4.22586681e+00] [ 1.95372644e-02 2.78646708e-03 9.99805246e-01 5.37702574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.25, Y:4.24, Z:0.53 [[ 9.55791027e-01 -2.93648214e-01 -1.53049035e-02 3.02493756e+01] [ 2.93366706e-01 9.55825819e-01 -1.82477189e-02 4.23960753e+00] [ 1.99872320e-02 1.29510569e-02 9.99716350e-01 5.33757163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.28, Y:4.24, Z:0.54 [[ 9.55845407e-01 -2.93325833e-01 -1.78749249e-02 3.02787397e+01] [ 2.93247149e-01 9.56011525e-01 -6.93353174e-03 4.24007833e+00] [ 1.91224182e-02 1.38561369e-03 9.99816190e-01 5.37423689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.802755096 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:30.31, Y:4.25, Z:0.54 [[ 9.55186870e-01 -2.95380085e-01 -1.92002167e-02 3.03069685e+01] [ 2.95325270e-01 9.55379795e-01 -5.69498887e-03 4.24587784e+00] [ 2.00256854e-02 -2.30530579e-04 9.99799439e-01 5.38510737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.34, Y:4.26, Z:0.54 [[ 9.54340230e-01 -2.98037683e-01 -2.02055504e-02 3.03357786e+01] [ 2.97904541e-01 9.54549610e-01 -9.37695348e-03 4.25640500e+00] [ 2.20818857e-02 2.92947875e-03 9.99751873e-01 5.39741458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:4.26, Z:0.54 [[ 9.53613763e-01 -3.00189280e-01 -2.25208226e-02 3.03629090e+01] [ 3.00100300e-01 9.53879631e-01 -7.31161239e-03 4.26264341e+00] [ 2.36770216e-02 2.13948588e-04 9.99719637e-01 5.41841310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.39, Y:4.27, Z:0.54 [[ 9.53902882e-01 -2.99247464e-01 -2.28089309e-02 3.03905337e+01] [ 2.99334001e-01 9.54148310e-01 3.99165149e-04 4.26645926e+00] [ 2.16436537e-02 -7.20825331e-03 9.99739763e-01 5.42715103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.42, Y:4.28, Z:0.54 [[ 9.53744294e-01 -2.99862956e-01 -2.13079730e-02 3.04156104e+01] [ 2.99691474e-01 9.53973838e-01 -1.09058434e-02 4.28146352e+00] [ 2.35975072e-02 4.01556805e-03 9.99713475e-01 5.40777009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:4.29, Z:0.54 [[ 9.53694631e-01 -2.99831894e-01 -2.38198514e-02 3.04399210e+01] [ 2.99493096e-01 9.53950747e-01 -1.67886041e-02 4.29106781e+00] [ 2.77567240e-02 8.87732055e-03 9.99575289e-01 5.42861650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.982755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:30.47, Y:4.28, Z:0.55 [[ 9.54074885e-01 -2.98437577e-01 -2.60024427e-02 3.04696674e+01] [ 2.98883904e-01 9.54166401e-01 1.53261408e-02 4.27796297e+00] [ 2.02367608e-02 -2.23939976e-02 9.99544387e-01 5.48912689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.012755096 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:30.50, Y:4.28, Z:0.55 [[ 9.53609770e-01 -3.00362279e-01 -2.02708564e-02 3.04999434e+01] [ 3.00826668e-01 9.53320875e-01 2.61270932e-02 4.28248995e+00] [ 1.14770373e-02 -3.10130655e-02 9.99453084e-01 5.47750563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.042755096 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:30.52, Y:4.32, Z:0.54 [[ 9.54075974e-01 -2.99430992e-01 -8.95081684e-03 3.05167415e+01] [ 2.99056168e-01 9.53771305e-01 -2.97608197e-02 4.32175557e+00] [ 1.74483440e-02 2.57172860e-02 9.99516972e-01 5.35107432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.072755096 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:30.55, Y:4.31, Z:0.54 [[ 9.53966389e-01 -2.99457925e-01 -1.65251500e-02 3.05473888e+01] [ 2.99421846e-01 9.54109381e-01 -4.67399473e-03 4.31447551e+00] [ 1.71664654e-02 -4.89157035e-04 9.99852526e-01 5.42947014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.102755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:30.58, Y:4.32, Z:0.54 [[ 9.54185911e-01 -2.98692686e-01 -1.76614538e-02 3.05784743e+01] [ 2.98658561e-01 9.54348939e-01 -4.60082765e-03 4.32138644e+00] [ 1.82294232e-02 -8.84699446e-04 9.99833439e-01 5.44258597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.132755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:30.60, Y:4.33, Z:0.54 [[ 9.53861197e-01 -2.99702785e-01 -1.80847448e-02 3.06003770e+01] [ 2.99656570e-01 9.54032543e-01 -5.27710815e-03 4.33125981e+00] [ 1.88349990e-02 -3.85583889e-04 9.99822531e-01 5.43609802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.162755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.64, Y:4.32, Z:0.56 [[ 9.54325431e-01 -2.97290352e-01 -2.96886892e-02 3.06363243e+01] [ 2.97857831e-01 9.54460905e-01 1.68846889e-02 4.32246493e+00] [ 2.33170381e-02 -2.49564966e-02 9.99416574e-01 5.59157795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.192755096 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:30.65, Y:4.36, Z:0.54 [[ 9.53404977e-01 -3.01478938e-01 -1.13754073e-02 3.06512314e+01] [ 3.01068522e-01 9.53179135e-01 -2.84127067e-02 4.36079356e+00] [ 1.94086335e-02 2.36640389e-02 9.99531549e-01 5.37797852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.222755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:30.68, Y:4.36, Z:0.55 [[ 9.52829649e-01 -3.02941552e-01 -1.84952936e-02 3.06815785e+01] [ 3.02801281e-01 9.53000918e-01 -1.00316643e-02 4.35735698e+00] [ 2.06650398e-02 3.95806860e-03 9.99778620e-01 5.45083094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.252755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:30.71, Y:4.37, Z:0.55 [[ 9.52339697e-01 -3.04398472e-01 -1.97653904e-02 3.07085142e+01] [ 3.04142841e-01 9.52509425e-01 -1.49307829e-02 4.36786260e+00] [ 2.33716282e-02 8.20767528e-03 9.99693153e-01 5.45968297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.282755096 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:30.74, Y:4.36, Z:0.55 [[ 9.52449446e-01 -3.03832890e-01 -2.29265885e-02 3.07379642e+01] [ 3.03963574e-01 9.52680721e-01 2.36407610e-03 4.36492966e+00] [ 2.11234348e-02 -9.22051075e-03 9.99734356e-01 5.50797542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.312755096 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:30.76, Y:4.37, Z:0.55 [[ 9.52724571e-01 -3.03168184e-01 -2.01232376e-02 3.07628019e+01] [ 3.03208353e-01 9.52923654e-01 -1.09750244e-03 4.37413579e+00] [ 1.95086369e-02 -5.05591618e-03 9.99796905e-01 5.50495914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.342755096 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:30.80, Y:4.37, Z:0.56 [[ 9.53238074e-01 -3.00844173e-01 -2.88089932e-02 3.07957852e+01] [ 3.01308010e-01 9.53434099e-01 1.33004897e-02 4.37120559e+00] [ 2.34661016e-02 -2.13589136e-02 9.99496443e-01 5.62195096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.372755096 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:30.82, Y:4.40, Z:0.55 [[ 9.53013383e-01 -3.02384765e-01 -1.81368639e-02 3.08180891e+01] [ 3.02159166e-01 9.53152188e-01 -1.41684581e-02 4.39719530e+00] [ 2.15715174e-02 8.02251054e-03 9.99735119e-01 5.51016351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.402755096 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:30.84, Y:4.41, Z:0.55 [[ 9.52925012e-01 -3.02793010e-01 -1.58213646e-02 3.08411825e+01] [ 3.02562831e-01 9.53005084e-01 -1.53961892e-02 4.40736654e+00] [ 1.97396994e-02 9.88445690e-03 9.99756291e-01 5.47338910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.432755096 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:30.87, Y:4.41, Z:0.55 [[ 9.53074050e-01 -3.02153872e-01 -1.87854463e-02 3.08690057e+01] [ 3.02106376e-01 9.53259011e-01 -5.38472071e-03 4.40918984e+00] [ 1.95344101e-02 -5.43165503e-04 9.99809038e-01 5.50744477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.462755096 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:30.90, Y:4.42, Z:0.55 [[ 9.53186949e-01 -3.01774936e-01 -1.91449451e-02 3.08954413e+01] [ 3.01725452e-01 9.53379040e-01 -5.49156083e-03 4.41701029e+00] [ 1.99096048e-02 -5.42033105e-04 9.99801637e-01 5.51362677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.492755096 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:30.92, Y:4.43, Z:0.55 [[ 9.53105783e-01 -3.01976991e-01 -1.99815765e-02 3.09246340e+01] [ 3.01931035e-01 9.53314757e-01 -5.35022908e-03 4.42520007e+00] [ 2.06643778e-02 -9.33723803e-04 9.99786033e-01 5.52297654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.522755096 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:30.96, Y:4.41, Z:0.57 [[ 9.53606887e-01 -2.99297833e-01 -3.24763504e-02 3.09577689e+01] [ 3.00066784e-01 9.53663060e-01 2.20611149e-02 4.41435937e+00] [ 2.43686518e-02 -3.07827051e-02 9.99229000e-01 5.68257239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.552755096 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:30.98, Y:4.45, Z:0.55 [[ 9.53726139e-01 -3.00019616e-01 -1.98665743e-02 3.09798171e+01] [ 2.99693120e-01 9.53869002e-01 -1.78314363e-02 4.44621075e+00] [ 2.42998901e-02 1.10524312e-02 9.99643616e-01 5.54544256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.582755096 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:31.01, Y:4.45, Z:0.56 [[ 9.54060290e-01 -2.98866305e-01 -2.11635361e-02 3.10076783e+01] [ 2.98688939e-01 9.54285139e-01 -1.11709870e-02 4.44956019e+00] [ 2.35346796e-02 4.33648098e-03 9.99713616e-01 5.56393602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.612755096 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:31.04, Y:4.45, Z:0.56 [[ 9.54264462e-01 -2.98110165e-01 -2.25757952e-02 3.10350523e+01] [ 2.98055675e-01 9.54530747e-01 -5.81950887e-03 4.45347252e+00] [ 2.32841454e-02 -1.17549339e-03 9.99728196e-01 5.58690068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.642755096 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:31.06, Y:4.46, Z:0.56 [[ 9.54508512e-01 -2.97200612e-01 -2.41928963e-02 3.10612386e+01] [ 2.97234764e-01 9.54801765e-01 -2.25504907e-03 4.45830194e+00] [ 2.37696221e-02 -5.03850630e-03 9.99704766e-01 5.60977248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.672755096 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:31.08, Y:4.48, Z:0.55 [[ 9.55067231e-01 -2.96061287e-01 -1.39391125e-02 3.10819486e+01] [ 2.95663806e-01 9.54963861e-01 -2.50387310e-02 4.48079979e+00] [ 2.07243477e-02 1.97923804e-02 9.99589297e-01 5.46861381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.702755096 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:31.11, Y:4.48, Z:0.55 [[ 9.55237889e-01 -2.95173707e-01 -1.98257011e-02 3.11116247e+01] [ 2.95117791e-01 9.55443540e-01 -5.75596425e-03 4.47685872e+00] [ 2.06413474e-02 -3.52601977e-04 9.99786883e-01 5.52684082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.732755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:31.14, Y:4.48, Z:0.55 [[ 9.55283189e-01 -2.95007477e-01 -2.01151170e-02 3.11388902e+01] [ 2.94949788e-01 9.55494880e-01 -5.84437813e-03 4.48455461e+00] [ 2.09440265e-02 -3.49913303e-04 9.99780589e-01 5.52811808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.762755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:31.17, Y:4.49, Z:0.55 [[ 9.55245011e-01 -2.95116317e-01 -2.03305041e-02 3.11658326e+01] [ 2.95057273e-01 9.55461269e-01 -5.91344309e-03 4.49160699e+00] [ 2.11701628e-02 -3.49876076e-04 9.99775826e-01 5.53066364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.792755096 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:31.19, Y:4.50, Z:0.55 [[ 9.55104211e-01 -2.95624421e-01 -1.95485961e-02 3.11914755e+01] [ 2.95569844e-01 9.55304184e-01 -5.69060483e-03 4.49853463e+00] [ 2.03571374e-02 -3.42854858e-04 9.99792713e-01 5.52841350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.822755096 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:31.22, Y:4.51, Z:0.55 [[ 9.55076372e-01 -2.95785372e-01 -1.84428097e-02 3.12184808e+01] [ 2.95736756e-01 9.55254369e-01 -5.37234979e-03 4.50719180e+00] [ 1.92066370e-02 -3.23212365e-04 9.99815483e-01 5.53067395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.852755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:31.24, Y:4.51, Z:0.55 [[ 9.54847815e-01 -2.96535307e-01 -1.82335513e-02 3.12448755e+01] [ 2.96487839e-01 9.55021834e-01 -5.31583427e-03 4.51432828e+00] [ 1.89897721e-02 -3.30213489e-04 9.99819623e-01 5.53556706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.882755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.27, Y:4.52, Z:0.55 [[ 9.54684477e-01 -2.97111875e-01 -1.73805214e-02 3.12711684e+01] [ 2.97068781e-01 9.54842620e-01 -5.07049766e-03 4.52272942e+00] [ 1.81021676e-02 -3.22484883e-04 9.99836090e-01 5.53159380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.912755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.30, Y:4.53, Z:0.55 [[ 9.54227112e-01 -2.98556665e-01 -1.77352017e-02 3.12974636e+01] [ 2.98511948e-01 9.54391845e-01 -5.17908404e-03 4.53002326e+00] [ 1.84725819e-02 -3.52147200e-04 9.99829305e-01 5.53180911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.942755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:31.32, Y:4.54, Z:0.55 [[ 9.53589882e-01 -3.00651853e-01 -1.65770962e-02 3.13238365e+01] [ 3.00613050e-01 9.53733889e-01 -4.84391759e-03 4.53776269e+00] [ 1.72664712e-02 -3.64180640e-04 9.99850857e-01 5.52741605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.972755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:31.35, Y:4.55, Z:0.55 [[ 9.53030722e-01 -3.02462140e-01 -1.57827855e-02 3.13506656e+01] [ 3.02427170e-01 9.53161326e-01 -4.61457239e-03 4.54543011e+00] [ 1.64392742e-02 -3.75313886e-04 9.99864796e-01 5.52669405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.002755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.38, Y:4.55, Z:0.55 [[ 9.52492639e-01 -3.04155099e-01 -1.57304618e-02 3.13780338e+01] [ 3.04120514e-01 9.52622442e-01 -4.60393333e-03 4.55336042e+00] [ 1.63855007e-02 -3.98743515e-04 9.99865669e-01 5.52818167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.032755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.40, Y:4.56, Z:0.55 [[ 9.51864929e-01 -3.06142437e-01 -1.51646006e-02 3.14049228e+01] [ 3.06110478e-01 9.51985629e-01 -4.44268075e-03 4.56246856e+00] [ 1.57965749e-02 -4.13211139e-04 9.99875141e-01 5.52480611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.062755096000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.43, Y:4.57, Z:0.55 [[ 9.51197379e-01 -3.08244263e-01 -1.44575486e-02 3.14316808e+01] [ 3.08215395e-01 9.51307151e-01 -4.23968794e-03 4.57265372e+00] [ 1.50604289e-02 -4.23259008e-04 9.99886496e-01 5.51367078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.092755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:31.46, Y:4.58, Z:0.55 [[ 9.50896381e-01 -3.09214284e-01 -1.35129518e-02 3.14577112e+01] [ 3.09189113e-01 9.50992303e-01 -3.96623273e-03 4.58102089e+00] [ 1.40771290e-02 -4.06581250e-04 9.99900830e-01 5.50755874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.122755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:31.49, Y:4.59, Z:0.55 [[ 9.50601423e-01 -3.10149015e-01 -1.28266718e-02 3.14864844e+01] [ 3.10175214e-01 9.50679406e-01 5.59847531e-05 4.58748300e+00] [ 1.21766892e-02 -4.03173486e-03 9.99917733e-01 5.51547527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.152755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.51, Y:4.60, Z:0.55 [[ 9.50530699e-01 -3.10406723e-01 -1.17922260e-02 3.15114866e+01] [ 3.10341829e-01 9.50599038e-01 -7.02976828e-03 4.59922710e+00] [ 1.33917660e-02 3.02238958e-03 9.99905758e-01 5.49896217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.182755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.54, Y:4.61, Z:0.55 [[ 9.50468806e-01 -3.10567281e-01 -1.25304732e-02 3.15383369e+01] [ 3.10545629e-01 9.50551321e-01 -3.68747856e-03 4.60509432e+00] [ 1.30560680e-02 -3.86450339e-04 9.99914691e-01 5.50818840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.57, Y:4.61, Z:0.55 [[ 9.50446959e-01 -3.10612367e-01 -1.30589488e-02 3.15650671e+01] [ 3.10588823e-01 9.50536583e-01 -3.84533729e-03 4.61385819e+00] [ 1.36074179e-02 -4.01174401e-04 9.99907334e-01 5.49874060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.242755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:31.59, Y:4.63, Z:0.55 [[ 9.50137342e-01 -3.11566875e-01 -1.28496591e-02 3.15914772e+01] [ 3.11450290e-01 9.50206619e-01 -1.03003980e-02 4.62645735e+00] [ 1.54190939e-02 5.78476270e-03 9.99864385e-01 5.47778825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.272755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.62, Y:4.63, Z:0.55 [[ 9.49660347e-01 -3.12976147e-01 -1.38259636e-02 3.16215566e+01] [ 3.12954475e-01 9.49760686e-01 -3.75991351e-03 4.63236387e+00] [ 1.43081199e-02 -7.56256413e-04 9.99897348e-01 5.48646139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.302755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:31.65, Y:4.64, Z:0.55 [[ 9.49734365e-01 -3.12771442e-01 -1.33663953e-02 3.16476537e+01] [ 3.12734425e-01 9.49828332e-01 -4.82898834e-03 4.63948064e+00] [ 1.42061506e-02 4.06124216e-04 9.99899005e-01 5.48218637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.332755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:31.67, Y:4.64, Z:0.55 [[ 9.49851670e-01 -3.12449054e-01 -1.25456970e-02 3.16740593e+01] [ 3.12508481e-01 9.49910091e-01 3.04432020e-03 4.64177409e+00] [ 1.09660892e-02 -6.81228932e-03 9.99916665e-01 5.49229811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.362755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:31.70, Y:4.65, Z:0.55 [[ 9.49477589e-01 -3.13660594e-01 -1.04565660e-02 3.16997795e+01] [ 3.13645533e-01 9.49535104e-01 -3.09281885e-03 4.65309961e+00] [ 1.08989719e-02 -3.43093042e-04 9.99940546e-01 5.47444529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.392755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:31.72, Y:4.67, Z:0.54 [[ 9.48716483e-01 -3.15977578e-01 -9.75734231e-03 3.17246663e+01] [ 3.15827022e-01 9.48708035e-01 -1.43651503e-02 4.66702550e+00] [ 1.37959344e-02 1.05468225e-02 9.99849207e-01 5.44885788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.422755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.76, Y:4.66, Z:0.55 [[ 9.48483962e-01 -3.16588015e-01 -1.22557076e-02 3.17555085e+01] [ 3.16694716e-01 9.48493741e-01 8.00506533e-03 4.66241998e+00] [ 9.09015424e-03 -1.14739939e-02 9.99892853e-01 5.50393311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.78, Y:4.68, Z:0.55 [[ 9.48381827e-01 -3.17000638e-01 -9.08321103e-03 3.17809859e+01] [ 3.16989361e-01 9.48425269e-01 -2.69352329e-03 4.67710615e+00] [ 9.46859546e-03 -3.24792725e-04 9.99955119e-01 5.47493468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.482755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.81, Y:4.69, Z:0.55 [[ 9.48285801e-01 -3.17339973e-01 -7.02711120e-03 3.18071450e+01] [ 3.17333223e-01 9.48311804e-01 -2.08512863e-03 4.68635385e+00] [ 7.32558716e-03 -2.52637970e-04 9.99973136e-01 5.47006190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.512755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.83, Y:4.69, Z:0.55 [[ 9.48239183e-01 -3.17491860e-01 -6.43204328e-03 3.18342500e+01] [ 3.17486196e-01 9.48260969e-01 -1.91043323e-03 4.69452404e+00] [ 6.70580260e-03 -2.30537308e-04 9.99977489e-01 5.47093831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:4.70, Z:0.55 [[ 9.48313142e-01 -3.17279936e-01 -5.96886975e-03 3.18614788e+01] [ 3.17275043e-01 9.48331903e-01 -1.77460873e-03 4.70241717e+00] [ 6.22351735e-03 -2.10888627e-04 9.99980611e-01 5.47320828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:4.71, Z:0.55 [[ 9.48762151e-01 -3.15950594e-01 -5.05995909e-03 3.18875825e+01] [ 3.15947047e-01 9.48775629e-01 -1.50666039e-03 4.71059938e+00] [ 5.27679611e-03 -1.69216780e-04 9.99986063e-01 5.46926652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.602755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.91, Y:4.72, Z:0.55 [[ 9.48974204e-01 -3.15322833e-01 -4.41263257e-03 3.19142904e+01] [ 3.15320132e-01 9.48984452e-01 -1.31313309e-03 4.71936321e+00] [ 4.60158054e-03 -1.45262459e-04 9.99989402e-01 5.46774177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.632755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.94, Y:4.73, Z:0.55 [[ 9.49240183e-01 -3.14526696e-01 -4.00413155e-03 3.19400520e+01] [ 3.14524456e-01 9.49248619e-01 -1.19387659e-03 4.72768326e+00] [ 4.17642241e-03 -1.26121662e-04 9.99991271e-01 5.46808129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:4.74, Z:0.55 [[ 9.49793194e-01 -3.12861747e-01 -3.22721873e-03 3.19659990e+01] [ 3.12860286e-01 9.49798672e-01 -9.60950773e-04 4.73778830e+00] [ 3.36585280e-03 -9.69640700e-05 9.99994331e-01 5.46336096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.692755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.99, Y:4.75, Z:0.55 [[ 9.49917111e-01 -3.12487540e-01 -3.00336346e-03 3.19914907e+01] [ 3.12486266e-01 9.49921854e-01 -8.96525284e-04 4.74741659e+00] [ 3.13311357e-03 -8.68851265e-05 9.99995088e-01 5.46325716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.02, Y:4.76, Z:0.55 [[ 9.50068155e-01 -3.12035920e-01 -2.02133105e-03 3.20183359e+01] [ 3.12035346e-01 9.50070303e-01 -6.01531958e-04 4.75707384e+00] [ 2.10810618e-03 -5.92303755e-05 9.99997776e-01 5.45723151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:4.77, Z:0.55 [[ 9.50357784e-01 -3.11146340e-01 -2.83513867e-03 3.20441471e+01] [ 3.11145195e-01 9.50362010e-01 -8.47566064e-04 4.76545940e+00] [ 2.95812516e-03 -7.66487680e-05 9.99995622e-01 5.45927781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:4.77, Z:0.55 [[ 9.50272209e-01 -3.11408084e-01 -2.78110529e-03 3.20704114e+01] [ 3.11406983e-01 9.50276275e-01 -8.31784767e-04 4.77315816e+00] [ 2.90184288e-03 -7.56336591e-05 9.99995787e-01 5.45569173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:4.78, Z:0.55 [[ 9.50125735e-01 -3.11844442e-01 -3.75925781e-03 3.20975439e+01] [ 3.11842433e-01 9.50133166e-01 -1.12410228e-03 4.78130521e+00] [ 3.92234058e-03 -1.04257602e-04 9.99992302e-01 5.45807855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.12, Y:4.79, Z:0.55 [[ 9.49754356e-01 -3.12975780e-01 -3.58113506e-03 3.21244789e+01] [ 3.12973962e-01 9.49761102e-01 -1.07183284e-03 4.78970727e+00] [ 3.73668050e-03 -1.02824116e-04 9.99993013e-01 5.45769947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.15, Y:4.80, Z:0.55 [[ 9.49408925e-01 -3.14029419e-01 -2.86640963e-03 3.21515832e+01] [ 3.14028258e-01 9.49413249e-01 -8.58013187e-04 4.79826452e+00] [ 2.99084866e-03 -8.55282464e-05 9.99995524e-01 5.45853784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.18, Y:4.81, Z:0.55 [[ 9.48987182e-01 -3.15307054e-01 -2.18847487e-03 3.21775037e+01] [ 3.15306379e-01 9.48989703e-01 -6.55886539e-04 4.80652256e+00] [ 2.28364577e-03 -6.76121688e-05 9.99997390e-01 5.45823998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.20, Y:4.81, Z:0.55 [[ 9.48498836e-01 -3.16773489e-01 -2.12452806e-03 3.22031449e+01] [ 3.16772854e-01 9.48501213e-01 -6.37926201e-04 4.81415887e+00] [ 2.21719555e-03 -6.79205595e-05 9.99997540e-01 5.46380075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.23, Y:4.82, Z:0.55 [[ 9.47468598e-01 -3.19841450e-01 -2.16874898e-03 3.22298510e+01] [ 3.19840799e-01 9.47471077e-01 -6.49737722e-04 4.82111320e+00] [ 2.26263998e-03 -7.80483187e-05 9.99997437e-01 5.47421097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.26, Y:4.83, Z:0.55 [[ 9.46924961e-01 -3.21449470e-01 -1.83226952e-03 3.22562429e+01] [ 3.21449005e-01 9.46926731e-01 -5.50727542e-04 4.82846905e+00] [ 1.91205606e-03 -6.74835588e-05 9.99998170e-01 5.47797361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.28, Y:4.84, Z:0.55 [[ 9.45681706e-01 -3.25090216e-01 -1.56927010e-03 3.22833716e+01] [ 3.25089883e-01 9.45683006e-01 -4.69922387e-04 4.83679834e+00] [ 1.63679923e-03 -6.57568275e-05 9.99998658e-01 5.47893228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.31, Y:4.84, Z:0.55 [[ 9.45216470e-01 -3.26441304e-01 -1.37850898e-03 3.23090970e+01] [ 3.26441046e-01 9.45217473e-01 -4.14626628e-04 4.84468424e+00] [ 1.43834203e-03 -5.80899956e-05 9.99998964e-01 5.48108625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:4.85, Z:0.55 [[ 9.44827963e-01 -3.27564592e-01 -1.24821509e-03 3.23348433e+01] [ 3.27564381e-01 9.44828786e-01 -3.75510089e-04 4.85266049e+00] [ 1.30235335e-03 -5.40783687e-05 9.99999150e-01 5.48336538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.36, Y:4.86, Z:0.55 [[ 9.44532106e-01 -3.28417705e-01 -9.54867495e-04 3.23601830e+01] [ 3.28417582e-01 9.44532588e-01 -2.87046530e-04 4.86056543e+00] [ 9.96174628e-04 -4.24706105e-05 9.99999503e-01 5.48872221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.39, Y:4.87, Z:0.55 [[ 9.44295524e-01 -3.29096863e-01 -1.10339952e-03 3.23861722e+01] [ 3.29096700e-01 9.44296168e-01 -3.31328757e-04 4.86863415e+00] [ 1.15097519e-03 -5.02528773e-05 9.99999336e-01 5.49608126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.41, Y:4.88, Z:0.55 [[ 9.44218182e-01 -3.29319190e-01 -9.46420540e-04 3.24124624e+01] [ 3.29319071e-01 9.44218655e-01 -2.82752889e-04 4.87710713e+00] [ 9.86743882e-04 -4.46939145e-05 9.99999512e-01 5.49865696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:4.89, Z:0.55 [[ 9.44835921e-01 -3.27538089e-01 -1.97056949e-03 3.24382041e+01] [ 3.27537558e-01 9.44837972e-01 -5.95273555e-04 4.88593287e+00] [ 2.05684364e-03 -8.29996812e-05 9.99997881e-01 5.50123642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:4.89, Z:0.55 [[ 9.45131492e-01 -3.26678262e-01 -2.78861879e-03 3.24645422e+01] [ 3.26677197e-01 9.45135599e-01 -8.41976045e-04 4.89498778e+00] [ 2.91067816e-03 -1.15200097e-04 9.99995757e-01 5.50179757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.49, Y:4.90, Z:0.55 [[ 9.45620929e-01 -3.25257565e-01 -2.92823591e-03 3.24908277e+01] [ 3.25256381e-01 9.45625456e-01 -8.85250238e-04 4.90386932e+00] [ 3.05694876e-03 -1.15316261e-04 9.99995321e-01 5.50200995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.52, Y:4.91, Z:0.55 [[ 9.46725892e-01 -3.22014740e-01 -4.07327255e-03 3.25167733e+01] [ 3.22012401e-01 9.46734644e-01 -1.23559396e-03 4.91280181e+00] [ 4.25418771e-03 -1.41875485e-04 9.99990941e-01 5.50612010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.54, Y:4.92, Z:0.55 [[ 9.47134261e-01 -3.20807541e-01 -4.38320556e-03 3.25439027e+01] [ 3.20804821e-01 9.47144392e-01 -1.32917452e-03 4.92130775e+00] [ 4.57793778e-03 -1.47246746e-04 9.99989510e-01 5.50815205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.57, Y:4.93, Z:0.55 [[ 9.47399187e-01 -3.20017095e-01 -4.88261806e-03 3.25707095e+01] [ 3.20013700e-01 9.47411755e-01 -1.48256090e-03 4.92928567e+00] [ 5.10029457e-03 -1.57927683e-04 9.99986981e-01 5.51413525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.60, Y:4.94, Z:0.55 [[ 9.47644665e-01 -3.19286789e-01 -5.05334793e-03 3.25969260e+01] [ 3.19283128e-01 9.47658125e-01 -1.53693815e-03 4.93697799e+00] [ 5.27957027e-03 -1.56977493e-04 9.99986051e-01 5.52137879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:4.94, Z:0.55 [[ 9.47893457e-01 -3.18554080e-01 -4.61427975e-03 3.26230957e+01] [ 3.18551012e-01 9.47904678e-01 -1.40483326e-03 4.94393967e+00] [ 4.82141273e-03 -1.38251230e-04 9.99988367e-01 5.52973633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.65, Y:4.95, Z:0.55 [[ 9.47893819e-01 -3.18553642e-01 -4.57010576e-03 3.26499774e+01] [ 3.18546055e-01 9.47904543e-01 -2.32116250e-03 4.95235777e+00] [ 5.07143878e-03 7.44426423e-04 9.99986863e-01 5.53207312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.68, Y:4.96, Z:0.55 [[ 9.47476238e-01 -3.19794211e-01 -4.52124716e-03 3.26769897e+01] [ 3.19795459e-01 9.47486490e-01 -4.63522445e-04 4.95908263e+00] [ 4.43205239e-03 -1.00669781e-03 9.99989672e-01 5.54643079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:4.97, Z:0.55 [[ 9.46958353e-01 -3.21333663e-01 -3.81498773e-03 3.27033360e+01] [ 3.21278464e-01 9.46923535e-01 -1.07688574e-02 4.97315634e+00] [ 7.07289807e-03 8.97198609e-03 9.99934737e-01 5.53029572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.74, Y:4.96, Z:0.56 [[ 9.46915244e-01 -3.21180289e-01 -1.39549978e-02 3.27388388e+01] [ 3.21370704e-01 9.46840158e-01 1.46487637e-02 4.96315816e+00] [ 8.50825815e-03 -1.83558651e-02 9.99795315e-01 5.64841636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.76, Y:4.98, Z:0.56 [[ 9.46760706e-01 -3.21801294e-01 -9.38573675e-03 3.27636732e+01] [ 3.21831692e-01 9.46795009e-01 1.89020372e-03 4.97883197e+00] [ 8.27809871e-03 -4.81019815e-03 9.99954166e-01 5.61993737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.79, Y:4.99, Z:0.56 [[ 9.45723000e-01 -3.24870872e-01 -8.18065383e-03 3.27909004e+01] [ 3.24913681e-01 9.45732656e-01 4.56548130e-03 4.98770715e+00] [ 6.25351958e-03 -6.97568702e-03 9.99956116e-01 5.62514872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:5.01, Z:0.55 [[ 9.45247735e-01 -3.26336448e-01 3.35288677e-03 3.28075959e+01] [ 3.26332125e-01 9.45017384e-01 -2.12011376e-02 5.01366144e+00] [ 3.75016767e-03 2.11344820e-02 9.99769608e-01 5.49780440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.84, Y:5.01, Z:0.56 [[ 9.44971669e-01 -3.27131891e-01 -3.64306119e-03 3.28382954e+01] [ 3.27129986e-01 9.44978682e-01 -1.12386757e-03 5.00993653e+00] [ 3.81026808e-03 -1.29731543e-04 9.99992732e-01 5.56310869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:5.02, Z:0.56 [[ 9.44887643e-01 -3.27371798e-01 -3.87905619e-03 3.28642466e+01] [ 3.27369632e-01 9.44895596e-01 -1.19879149e-03 5.01819365e+00] [ 4.05775364e-03 -1.37161936e-04 9.99991758e-01 5.56777394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:5.03, Z:0.56 [[ 9.44808019e-01 -3.27594737e-01 -4.41537795e-03 3.28909655e+01] [ 3.27591930e-01 9.44818323e-01 -1.36530644e-03 5.02667923e+00] [ 4.61899719e-03 -1.56489712e-04 9.99989320e-01 5.57140515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.92, Y:5.03, Z:0.56 [[ 9.44951796e-01 -3.27166746e-01 -5.29366928e-03 3.29181844e+01] [ 3.27162689e-01 9.44966606e-01 -1.63936385e-03 5.03493761e+00] [ 5.53868603e-03 -1.82771267e-04 9.99984645e-01 5.57828780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:5.04, Z:0.56 [[ 9.45041316e-01 -3.26892816e-01 -6.16425008e-03 3.29437555e+01] [ 3.26887290e-01 9.45061397e-01 -1.91222121e-03 5.04314463e+00] [ 6.45068617e-03 -2.07886958e-04 9.99979172e-01 5.58057940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:5.07, Z:0.55 [[ 9.43768890e-01 -3.30592160e-01 3.01760294e-03 3.29567459e+01] [ 3.30540786e-01 9.43362424e-01 -2.84627206e-02 5.07243473e+00] [ 6.56285906e-03 2.78596711e-02 9.99590300e-01 5.45836022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.01, Y:5.03, Z:0.58 [[ 9.45889425e-01 -3.22911598e-01 -3.19577080e-02 3.30067034e+01] [ 3.24117057e-01 9.44926559e-01 4.54084987e-02 5.03121593e+00] [ 1.55347562e-02 -5.33094570e-02 9.98457196e-01 5.81616353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:5.08, Z:0.56 [[ 9.45765210e-01 -3.24620373e-01 -1.22385320e-02 3.30220593e+01] [ 3.24373458e-01 9.45746508e-01 -1.85849892e-02 5.07867554e+00] [ 1.76076151e-02 1.36071812e-02 9.99752378e-01 5.59786987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.05, Y:5.08, Z:0.56 [[ 9.46293825e-01 -3.22923480e-01 -1.57614301e-02 3.30508198e+01] [ 3.22917417e-01 9.46422396e-01 -2.99818705e-03 5.07759923e+00] [ 1.58851554e-02 -2.25247440e-03 9.99871286e-01 5.63699589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:5.09, Z:0.56 [[ 9.46650958e-01 -3.22133251e-01 -9.06271604e-03 3.30772770e+01] [ 3.21976866e-01 9.46623144e-01 -1.53467089e-02 5.09264101e+00] [ 1.35226620e-02 1.16099918e-02 9.99841160e-01 5.57081497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:5.10, Z:0.56 [[ 9.45859336e-01 -3.24336704e-01 -1.24827567e-02 3.31030043e+01] [ 3.24297241e-01 9.45941366e-01 -5.12161607e-03 5.09652899e+00] [ 1.34690840e-02 7.96204811e-04 9.99908971e-01 5.60090911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.13, Y:5.10, Z:0.56 [[ 9.45992860e-01 -3.23874279e-01 -1.42464276e-02 3.31331755e+01] [ 3.23861284e-01 9.46098912e-01 -3.27382656e-03 5.09978171e+00] [ 1.45388379e-02 -1.51684981e-03 9.99893155e-01 5.62563995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:5.11, Z:0.56 [[ 9.45636072e-01 -3.24918525e-01 -1.41552592e-02 3.31592712e+01] [ 3.24889151e-01 9.45741906e-01 -4.39162781e-03 5.10777651e+00] [ 1.48141431e-02 -4.46008484e-04 9.99890165e-01 5.63114812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.19, Y:5.11, Z:0.57 [[ 9.45161914e-01 -3.26170902e-01 -1.67779245e-02 3.31853985e+01] [ 3.26239516e-01 9.45286025e-01 1.45252593e-03 5.11393671e+00] [ 1.53861658e-02 -6.84649414e-03 9.99858186e-01 5.67654285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:5.13, Z:0.56 [[ 9.45193200e-01 -3.26353724e-01 -1.01519485e-02 3.32077104e+01] [ 3.26245532e-01 9.45221324e-01 -1.09772768e-02 5.13259373e+00] [ 1.31783133e-02 7.06361953e-03 9.99888212e-01 5.61975984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:5.14, Z:0.56 [[ 9.45242431e-01 -3.26226661e-01 -9.63908925e-03 3.32340762e+01] [ 3.26138571e-01 9.45272615e-01 -9.65996273e-03 5.14155285e+00] [ 1.22629045e-02 5.98732786e-03 9.99906882e-01 5.60932861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:5.15, Z:0.56 [[ 9.45346694e-01 -3.25862410e-01 -1.15463220e-02 3.32614953e+01] [ 3.25824896e-01 9.45416666e-01 -5.04622963e-03 5.14771965e+00] [ 1.25604618e-02 1.00835734e-03 9.99920606e-01 5.62192853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:5.15, Z:0.57 [[ 9.45165727e-01 -3.26177406e-01 -1.64331301e-02 3.32903738e+01] [ 3.26225787e-01 9.45291837e-01 2.79543613e-04 5.15188175e+00] [ 1.54429229e-02 -5.62512584e-03 9.99864928e-01 5.66283389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:5.16, Z:0.57 [[ 9.44853736e-01 -3.27137311e-01 -1.52511544e-02 3.33159210e+01] [ 3.27091700e-01 9.44976798e-01 -5.46546974e-03 5.16317680e+00] [ 1.61999461e-02 1.75543502e-04 9.99868757e-01 5.65110920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:5.17, Z:0.57 [[ 9.44721128e-01 -3.27272338e-01 -1.98697433e-02 3.33439344e+01] [ 3.27296173e-01 9.44919398e-01 -2.13237779e-03 5.16727534e+00] [ 1.94731741e-02 -4.48878859e-03 9.99800303e-01 5.71217837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:5.18, Z:0.57 [[ 9.44252600e-01 -3.28718146e-01 -1.82046231e-02 3.33701676e+01] [ 3.28669616e-01 9.44427868e-01 -5.68197856e-03 5.17898630e+00] [ 1.90607229e-02 -6.18083473e-04 9.99818137e-01 5.69745615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.39, Y:5.19, Z:0.57 [[ 9.43730111e-01 -3.30185461e-01 -1.87360164e-02 3.33949713e+01] [ 3.30134244e-01 9.43915846e-01 -5.85295471e-03 5.18977665e+00] [ 1.96177833e-02 -6.61791011e-04 9.99807334e-01 5.70004102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:5.18, Z:0.58 [[ 9.44091329e-01 -3.28258823e-01 -3.06220125e-02 3.34306204e+01] [ 3.28926733e-01 9.44142777e-01 2.00404902e-02 5.18217079e+00] [ 2.23330841e-02 -2.89924516e-02 9.99330111e-01 5.83994594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.45, Y:5.21, Z:0.58 [[ 9.44073367e-01 -3.29015003e-01 -2.17854229e-02 3.34535816e+01] [ 3.28948092e-01 9.44324311e-01 -6.68948563e-03 5.20687758e+00] [ 2.27734456e-02 -8.50908065e-04 9.99740289e-01 5.75875221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.47, Y:5.24, Z:0.56 [[ 9.43226273e-01 -3.32127604e-01 -3.93093273e-03 3.34694206e+01] [ 3.31771867e-01 9.42649228e-01 -3.66041273e-02 5.23910216e+00] [ 1.58627318e-02 3.32218017e-02 9.99322113e-01 5.56453038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:5.22, Z:0.57 [[ 9.43194891e-01 -3.31736781e-01 -1.82785662e-02 3.35027123e+01] [ 3.31807873e-01 9.43346541e-01 9.16192333e-04 5.22457778e+00] [ 1.69390875e-02 -6.92912010e-03 9.99832513e-01 5.71410179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:5.24, Z:0.57 [[ 9.43551413e-01 -3.30826097e-01 -1.62733973e-02 3.35299028e+01] [ 3.30771773e-01 9.43691695e-01 -6.00162828e-03 5.23683888e+00] [ 1.73425652e-02 2.80064373e-04 9.99849567e-01 5.69576405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:5.26, Z:0.56 [[ 9.43656603e-01 -3.30764484e-01 -1.03475718e-02 3.35525235e+01] [ 3.30497492e-01 9.43564282e-01 -2.13975159e-02 5.25530913e+00] [ 1.68411374e-02 1.67720606e-02 9.99717497e-01 5.61667843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:5.24, Z:0.58 [[ 9.44018624e-01 -3.29124450e-01 -2.24929779e-02 3.35854630e+01] [ 3.29437689e-01 9.44101987e-01 1.19267213e-02 5.24349733e+00] [ 1.73102896e-02 -1.86690817e-02 9.99675857e-01 5.76160127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:5.24, Z:0.59 [[ 9.45322228e-01 -3.24777797e-01 -2.97534573e-02 3.36225479e+01] [ 3.25442515e-01 9.45327143e-01 2.10656617e-02 5.24344115e+00] [ 2.12850916e-02 -2.95968782e-02 9.99335264e-01 5.86800717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:5.29, Z:0.56 [[ 9.44322782e-01 -3.28934487e-01 -7.52240281e-03 3.36321557e+01] [ 3.28542925e-01 9.43937029e-01 -3.22867267e-02 5.28905519e+00] [ 1.77208924e-02 2.80176594e-02 9.99450339e-01 5.63792813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.66, Y:5.28, Z:0.57 [[ 9.44334594e-01 -3.28642529e-01 -1.50420439e-02 3.36634215e+01] [ 3.28608683e-01 9.44454271e-01 -4.73958457e-03 5.28099077e+00] [ 1.57641517e-02 -4.67192573e-04 9.99875629e-01 5.72244941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:5.29, Z:0.57 [[ 9.44228220e-01 -3.28961159e-01 -1.47520970e-02 3.36901758e+01] [ 3.28928596e-01 9.44343340e-01 -4.65133834e-03 5.28903466e+00] [ 1.54611542e-02 -4.60461638e-04 9.99880363e-01 5.72849066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.72, Y:5.30, Z:0.57 [[ 9.44315573e-01 -3.28722841e-01 -1.44704127e-02 3.37161259e+01] [ 3.28691419e-01 9.44426332e-01 -4.56666176e-03 5.29603130e+00] [ 1.51674048e-02 -4.43930664e-04 9.99884870e-01 5.74064117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:5.30, Z:0.58 [[ 9.44231343e-01 -3.28958719e-01 -1.46058697e-02 3.37431801e+01] [ 3.28926676e-01 9.44344196e-01 -4.61321367e-03 5.30444451e+00] [ 1.53105251e-02 -4.48319221e-04 9.99882687e-01 5.75065894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.77, Y:5.31, Z:0.58 [[ 9.44161237e-01 -3.29171354e-01 -1.43449844e-02 3.37695735e+01] [ 3.29140402e-01 9.44270102e-01 -4.53536728e-03 5.31290359e+00] [ 1.50384529e-02 -4.39395969e-04 9.99886820e-01 5.75474446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.80, Y:5.32, Z:0.58 [[ 9.44118314e-01 -3.29309097e-01 -1.40045584e-02 3.37957935e+01] [ 3.29279547e-01 9.44222080e-01 -4.43213249e-03 5.32153610e+00] [ 1.46829548e-02 -4.26957201e-04 9.99892108e-01 5.75657990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:5.32, Z:0.58 [[ 9.45046388e-01 -3.26289250e-01 -2.05584474e-02 3.38321795e+01] [ 3.26537379e-01 9.45130658e-01 1.00687012e-02 5.31889307e+00] [ 1.61451100e-02 -1.62284912e-02 9.99737951e-01 5.82611002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.85, Y:5.35, Z:0.57 [[ 9.44289994e-01 -3.28997300e-01 -8.78539408e-03 3.38472430e+01] [ 3.28612418e-01 9.43987266e-01 -3.00319924e-02 5.35205276e+00] [ 1.81737445e-02 2.54719203e-02 9.99510328e-01 5.71879184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.822755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.88, Y:5.34, Z:0.58 [[ 9.44330082e-01 -3.28605953e-01 -1.60880099e-02 3.38834388e+01] [ 3.28627151e-01 9.44458724e-01 -1.38332364e-03 5.34210484e+00] [ 1.56490297e-02 -3.98064272e-03 9.99869623e-01 5.76607673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.91, Y:5.35, Z:0.58 [[ 9.44063669e-01 -3.29234941e-01 -1.86585984e-02 3.39081686e+01] [ 3.29346000e-01 9.44204079e-01 3.14166920e-03 5.34696135e+00] [ 1.65831774e-02 -9.11107049e-03 9.99820977e-01 5.81356579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.93, Y:5.36, Z:0.58 [[ 9.44222364e-01 -3.28904310e-01 -1.63120193e-02 3.39322591e+01] [ 3.28864176e-01 9.44363126e-01 -5.16140933e-03 5.35890386e+00] [ 1.71020793e-02 -4.90920669e-04 9.99853628e-01 5.78916338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:5.37, Z:0.58 [[ 9.44747986e-01 -3.27379292e-01 -1.65542116e-02 3.39564867e+01] [ 3.27022832e-01 9.44782505e-01 -2.10258024e-02 5.37473171e+00] [ 2.25235418e-02 1.44504793e-02 9.99641873e-01 5.76658805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.99, Y:5.37, Z:0.58 [[ 9.44647805e-01 -3.27290521e-01 -2.28350335e-02 3.39889172e+01] [ 3.27593731e-01 9.44754482e-01 1.10143609e-02 5.36500024e+00] [ 1.79686043e-02 -1.78853057e-02 9.99678571e-01 5.83603755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:5.38, Z:0.58 [[ 9.44419048e-01 -3.28269137e-01 -1.76644959e-02 3.40129507e+01] [ 3.28173948e-01 9.44582371e-01 -8.12435790e-03 5.38485571e+00] [ 1.93525474e-02 1.87577099e-03 9.99810962e-01 5.78339313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.04, Y:5.39, Z:0.58 [[ 9.44676864e-01 -3.27479483e-01 -1.85151591e-02 3.40390653e+01] [ 3.27427166e-01 9.44858152e-01 -5.87575554e-03 5.39105056e+00] [ 1.94183884e-02 -5.11675761e-04 9.99811314e-01 5.79129624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:5.40, Z:0.58 [[ 9.44929403e-01 -3.26774756e-01 -1.80743317e-02 3.40657629e+01] [ 3.26724697e-01 9.45102125e-01 -5.73980020e-03 5.39992348e+00] [ 1.89577111e-02 -4.81624587e-04 9.99820170e-01 5.78999104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.09, Y:5.41, Z:0.58 [[ 9.45087836e-01 -3.26306647e-01 -1.82470148e-02 3.40917461e+01] [ 3.26255445e-01 9.45263852e-01 -5.79957096e-03 5.40780557e+00] [ 1.91406820e-02 -4.72083972e-04 9.99816689e-01 5.79691624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:5.42, Z:0.58 [[ 9.45330846e-01 -3.25634550e-01 -1.76559492e-02 3.41188967e+01] [ 3.25586421e-01 9.45495609e-01 -5.61565996e-03 5.41662264e+00] [ 1.85222753e-02 -4.39880735e-04 9.99828351e-01 5.80358082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.14, Y:5.42, Z:0.58 [[ 9.45640110e-01 -3.24725958e-01 -1.78278960e-02 3.41445387e+01] [ 3.24676635e-01 9.45808054e-01 -5.67521993e-03 5.42387746e+00] [ 1.87046589e-02 -4.21585689e-04 9.99824964e-01 5.81054843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:5.43, Z:0.58 [[ 9.45616080e-01 -3.24781520e-01 -1.80885252e-02 3.41711775e+01] [ 3.24730675e-01 9.45788974e-01 -5.76234186e-03 5.43188830e+00] [ 1.89794298e-02 -4.24935866e-04 9.99819784e-01 5.81959533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.182755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.20, Y:5.44, Z:0.58 [[ 9.45739257e-01 -3.24455292e-01 -1.74934643e-02 3.41968694e+01] [ 3.24407597e-01 9.45900948e-01 -5.57738844e-03 5.43940774e+00] [ 1.83566977e-02 -4.00257542e-04 9.99831422e-01 5.82199192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:5.45, Z:0.58 [[ 9.46129567e-01 -3.23413822e-01 -1.55673619e-02 3.42220478e+01] [ 3.23191028e-01 9.46211110e-01 -1.52346696e-02 5.45435081e+00] [ 1.96571135e-02 9.38273964e-03 9.99762753e-01 5.81264079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:5.46, Z:0.59 [[ 9.46373355e-01 -3.22556774e-01 -1.82921024e-02 3.42495206e+01] [ 3.22544540e-01 9.46547071e-01 -3.69620845e-03 5.45618608e+00] [ 1.85065730e-02 -2.40202456e-03 9.99825853e-01 5.85129792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:5.46, Z:0.59 [[ 9.46368029e-01 -3.22649265e-01 -1.68820903e-02 3.42779572e+01] [ 3.22733931e-01 9.46486475e-01 2.48243361e-03 5.46428934e+00] [ 1.51777148e-02 -7.79771918e-03 9.99854406e-01 5.86283461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.30, Y:5.48, Z:0.58 [[ 9.46355989e-01 -3.22815795e-01 -1.41528863e-02 3.43028963e+01] [ 3.22784279e-01 9.46461768e-01 -4.52009797e-03 5.47770283e+00] [ 1.48543248e-02 -2.90707415e-04 9.99889626e-01 5.84589450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:5.49, Z:0.58 [[ 9.46400253e-01 -3.22734387e-01 -1.30029436e-02 3.43283380e+01] [ 3.22635834e-01 9.46479132e-01 -9.13081614e-03 5.48914314e+00] [ 1.52538431e-02 4.44619115e-03 9.99873768e-01 5.83981296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:5.49, Z:0.59 [[ 9.46201218e-01 -3.23258315e-01 -1.43984990e-02 3.43568164e+01] [ 3.23296199e-01 9.46297767e-01 3.21976028e-04 5.49234205e+00] [ 1.35211860e-02 -4.95963412e-03 9.99896284e-01 5.86622174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:5.50, Z:0.59 [[ 9.46118403e-01 -3.23546644e-01 -1.33242898e-02 3.43826925e+01] [ 3.23518632e-01 9.46212182e-01 -4.26621308e-03 5.50331542e+00] [ 1.39879242e-02 -2.74313289e-04 9.99902127e-01 5.85545364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:5.52, Z:0.58 [[ 9.46149766e-01 -3.23491142e-01 -1.24137332e-02 3.44077250e+01] [ 3.23344544e-01 9.46199235e-01 -1.24625151e-02 5.51635195e+00] [ 1.57773781e-02 7.77749279e-03 9.99845281e-01 5.83887274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:5.52, Z:0.59 [[ 9.46004792e-01 -3.23719314e-01 -1.67553001e-02 3.44364884e+01] [ 3.23648424e-01 9.46152563e-01 -6.85745255e-03 5.52047976e+00] [ 1.80729600e-02 1.06435650e-03 9.99836104e-01 5.86374163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.46, Y:5.53, Z:0.59 [[ 9.45987938e-01 -3.23794513e-01 -1.62460630e-02 3.44616502e+01] [ 3.23787433e-01 9.46124652e-01 -3.13704339e-03 5.52601490e+00] [ 1.63865581e-02 -2.29266581e-03 9.99863103e-01 5.85636191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.49, Y:5.54, Z:0.59 [[ 9.45454736e-01 -3.25271512e-01 -1.77139701e-02 3.44879553e+01] [ 3.25094933e-01 9.45603299e-01 -1.21525922e-02 5.53940405e+00] [ 2.07032806e-02 5.73100389e-03 9.99769238e-01 5.86456216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:5.54, Z:0.59 [[ 9.45232380e-01 -3.25789648e-01 -1.99211580e-02 3.45181283e+01] [ 3.26001894e-01 9.45331327e-01 8.45262091e-03 5.53766804e+00] [ 1.60783184e-02 -1.44840262e-02 9.99765823e-01 5.90519675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:5.56, Z:0.58 [[ 9.44892087e-01 -3.27281381e-01 -8.11430798e-03 3.45388974e+01] [ 3.27104394e-01 9.44821361e-01 -1.77570161e-02 5.56391860e+00] [ 1.34781122e-02 1.41242382e-02 9.99809405e-01 5.77091183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.58, Y:5.55, Z:0.60 [[ 9.46117997e-01 -3.22644996e-01 -2.75851748e-02 3.45767276e+01] [ 3.23104139e-01 9.46258266e-01 1.41070778e-02 5.54761995e+00] [ 2.15511216e-02 -2.22598444e-02 9.99519909e-01 5.98040945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.59, Y:5.58, Z:0.58 [[ 9.44991709e-01 -3.26745631e-01 -1.50984145e-02 3.45945054e+01] [ 3.26300176e-01 9.44907165e-01 -2.60508159e-02 5.58267868e+00] [ 2.27785903e-02 1.96911897e-02 9.99546594e-01 5.83316288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.62, Y:5.58, Z:0.59 [[ 9.45246106e-01 -3.25854252e-01 -1.81330039e-02 3.46224612e+01] [ 3.25900150e-01 9.45404090e-01 -4.46388191e-04 5.57735064e+00] [ 1.72884736e-02 -5.48760200e-03 9.99835484e-01 5.88530714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:5.58, Z:0.59 [[ 9.45594604e-01 -3.24520245e-01 -2.31830975e-02 3.46512762e+01] [ 3.24600286e-01 9.45851229e-01 -3.27553245e-04 5.58128419e+00] [ 2.20340589e-02 -7.21550749e-03 9.99731182e-01 5.94943771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:5.60, Z:0.58 [[ 9.44171435e-01 -3.29167604e-01 -1.37473784e-02 3.46728159e+01] [ 3.28960763e-01 9.44218937e-01 -1.53432218e-02 5.60176732e+00] [ 1.80310265e-02 9.96428363e-03 9.99787775e-01 5.84545572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.71, Y:5.59, Z:0.60 [[ 9.44000096e-01 -3.28800956e-01 -2.74545131e-02 3.47099905e+01] [ 3.29395408e-01 9.43960389e-01 2.09152816e-02 5.58777637e+00] [ 1.90390083e-02 -2.87874184e-02 9.99404223e-01 6.01704937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:5.63, Z:0.58 [[ 9.42696733e-01 -3.33583435e-01 -6.70528946e-03 3.47255966e+01] [ 3.33379529e-01 9.42550255e-01 -2.13800447e-02 5.62580728e+00] [ 1.34521011e-02 1.79194921e-02 9.99748935e-01 5.80696060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:5.62, Z:0.60 [[ 9.42283353e-01 -3.34075301e-01 -2.22660146e-02 3.47588363e+01] [ 3.34295709e-01 9.42442711e-01 6.93656065e-03 5.61502202e+00] [ 1.86671095e-02 -1.39796388e-02 9.99728017e-01 5.97256991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.78, Y:5.64, Z:0.59 [[ 9.40582703e-01 -3.39213740e-01 -1.54342625e-02 3.47849355e+01] [ 3.39161894e-01 9.40709261e-01 -5.94107506e-03 5.63531663e+00] [ 1.65344480e-02 3.53358732e-04 9.99863234e-01 5.90255489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.80, Y:5.65, Z:0.58 [[ 9.40325895e-01 -3.40206779e-01 -6.82348013e-03 3.48047948e+01] [ 3.40087636e-01 9.40284317e-01 -1.43458195e-02 5.65076796e+00] [ 1.12965564e-02 1.11691643e-02 9.99873811e-01 5.81359660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.83, Y:5.65, Z:0.58 [[ 9.39907679e-01 -3.41283993e-01 -9.93932615e-03 3.48331988e+01] [ 3.41268916e-01 9.39960163e-01 -3.22789211e-03 5.65266462e+00] [ 1.04441985e-02 -3.58062481e-04 9.99945394e-01 5.84577027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.86, Y:5.66, Z:0.59 [[ 9.39675115e-01 -3.41945515e-01 -9.16201826e-03 3.48604830e+01] [ 3.41932709e-01 9.39719720e-01 -2.97819962e-03 5.65978305e+00] [ 9.62811124e-03 -3.34253654e-04 9.99953593e-01 5.85383718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.88, Y:5.69, Z:0.57 [[ 9.38973709e-01 -3.43971675e-01 3.44391940e-03 3.48760887e+01] [ 3.43895430e-01 9.38438083e-01 -3.27092936e-02 5.68970280e+00] [ 8.01916537e-03 3.18975149e-02 9.99458974e-01 5.69162261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.92, Y:5.66, Z:0.59 [[ 9.40096657e-01 -3.40339624e-01 -1.96777935e-02 3.49211125e+01] [ 3.40779990e-01 9.39758557e-01 2.68859145e-02 5.66005525e+00] [ 9.34203280e-03 -3.19811566e-02 9.99444812e-01 5.94749021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:5.69, Z:0.58 [[ 9.40944822e-01 -3.38408394e-01 -1.01291885e-02 3.49375357e+01] [ 3.38226958e-01 9.40925164e-01 -1.61975587e-02 5.69389786e+00] [ 1.50121982e-02 1.18150443e-02 9.99817503e-01 5.82614999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.97, Y:5.70, Z:0.58 [[ 9.40714058e-01 -3.38910779e-01 -1.40194183e-02 3.49657107e+01] [ 3.38733936e-01 9.40784390e-01 -1.35665487e-02 5.70225500e+00] [ 1.77870995e-02 8.01339038e-03 9.99809684e-01 5.84880929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.00, Y:5.69, Z:0.59 [[ 9.41663227e-01 -3.36009074e-01 -1.91903371e-02 3.49981707e+01] [ 3.36301453e-01 9.41638370e-01 1.47821744e-02 5.69461335e+00] [ 1.31034130e-02 -2.03735683e-02 9.99706566e-01 5.90566082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:5.71, Z:0.59 [[ 9.41886245e-01 -3.35682507e-01 -1.29443273e-02 3.50211486e+01] [ 3.35656165e-01 9.41975116e-01 -4.22139420e-03 5.71409200e+00] [ 1.36102824e-02 -3.68770122e-04 9.99907308e-01 5.85374534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.05, Y:5.72, Z:0.59 [[ 9.42053259e-01 -3.35232964e-01 -1.24304586e-02 3.50469206e+01] [ 3.35208580e-01 9.42135203e-01 -4.05790906e-03 5.72161628e+00] [ 1.30715175e-02 -3.44029926e-04 9.99914505e-01 5.86028305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.07, Y:5.73, Z:0.59 [[ 9.42751505e-01 -3.33318961e-01 -1.08659899e-02 3.50722297e+01] [ 3.33240434e-01 9.42804198e-01 -8.42951718e-03 5.73258993e+00] [ 1.30542188e-02 4.32595280e-03 9.99905432e-01 5.85819181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.10, Y:5.74, Z:0.59 [[ 9.42529707e-01 -3.33939387e-01 -1.10561262e-02 3.50989025e+01] [ 3.33854105e-01 9.42582947e-01 -8.87832808e-03 5.74303797e+00] [ 1.33861395e-02 4.67695483e-03 9.99899464e-01 5.86442764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.13, Y:5.75, Z:0.59 [[ 9.42478312e-01 -3.34024449e-01 -1.27396984e-02 3.51260116e+01] [ 3.33997801e-01 9.42564372e-01 -4.22783334e-03 5.74896446e+00] [ 1.34201856e-02 -2.70390036e-04 9.99909909e-01 5.88328226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.15, Y:5.76, Z:0.59 [[ 9.42462059e-01 -3.34116863e-01 -1.14538352e-02 3.51515799e+01] [ 3.33951220e-01 9.42482847e-01 -1.42360771e-02 5.76472696e+00] [ 1.55515567e-02 9.59194033e-03 9.99833058e-01 5.87277817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.18, Y:5.76, Z:0.59 [[ 9.42473875e-01 -3.33914737e-01 -1.56186935e-02 3.51804982e+01] [ 3.33984118e-01 9.42576600e-01 1.99042647e-03 5.76414145e+00] [ 1.40571823e-02 -7.09232051e-03 9.99876040e-01 5.92818498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.21, Y:5.77, Z:0.59 [[ 9.42395044e-01 -3.34246713e-01 -1.30658292e-02 3.52081006e+01] [ 3.34381104e-01 9.42385570e-01 9.93557750e-03 5.76976191e+00] [ 8.99211479e-03 -1.37322054e-02 9.99865275e-01 5.94011760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:5.79, Z:0.59 [[ 9.42074699e-01 -3.35294433e-01 -8.53840039e-03 3.52318494e+01] [ 3.35282839e-01 9.42113365e-01 -2.79749899e-03 5.78640840e+00] [ 8.98212695e-03 -2.27326099e-04 9.99959634e-01 5.90791164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.26, Y:5.80, Z:0.59 [[ 9.41823086e-01 -3.36012494e-01 -8.05478381e-03 3.52572879e+01] [ 3.36002173e-01 9.41857503e-01 -2.64256773e-03 5.79517903e+00] [ 8.47439434e-03 -2.17593567e-04 9.99964068e-01 5.91053491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:5.77, Z:0.63 [[ 9.42321479e-01 -3.32350100e-01 -3.96691423e-02 3.53007880e+01] [ 3.33968728e-01 9.41488987e-01 4.54244026e-02 5.77119997e+00] [ 2.22512558e-02 -5.60526433e-02 9.98179835e-01 6.27341747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.30, Y:5.85, Z:0.58 [[ 9.40399375e-01 -3.39860858e-01 1.19838834e-02 3.53006032e+01] [ 3.40009916e-01 9.38969784e-01 -5.22398492e-02 5.84724192e+00] [ 6.50177553e-03 5.32009607e-02 9.98562659e-01 5.75247032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:5.79, Z:0.62 [[ 9.41487343e-01 -3.35255631e-01 -3.47166231e-02 3.53527639e+01] [ 3.36712247e-01 9.40144593e-01 5.24690999e-02 5.78990343e+00] [ 1.50480843e-02 -6.10885056e-02 9.98018912e-01 6.21762036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:5.87, Z:0.58 [[ 9.40952699e-01 -3.38529560e-01 2.39909825e-03 3.53582336e+01] [ 3.38094302e-01 9.39332965e-01 -5.78430918e-02 5.86823960e+00] [ 1.73280443e-02 5.52387348e-02 9.98322804e-01 5.84390152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.39, Y:5.85, Z:0.59 [[ 9.40273743e-01 -3.40209704e-01 -1.19434410e-02 3.53942940e+01] [ 3.40187197e-01 9.40349521e-01 -3.93044368e-03 5.84696236e+00] [ 1.25681841e-02 -3.67312731e-04 9.99920950e-01 5.93963818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:5.86, Z:0.59 [[ 9.40478892e-01 -3.39562575e-01 -1.40254106e-02 3.54193950e+01] [ 3.39531367e-01 9.40583375e-01 -4.62222821e-03 5.85625980e+00] [ 1.47616038e-02 -4.14958785e-04 9.99890955e-01 5.93600708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.44, Y:5.87, Z:0.59 [[ 9.40583139e-01 -3.39250689e-01 -1.45715035e-02 3.54445612e+01] [ 3.39216931e-01 9.40695907e-01 -4.80453610e-03 5.86532297e+00] [ 1.53372959e-02 -4.23835033e-04 9.99882287e-01 5.93415351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.48, Y:5.86, Z:0.61 [[ 9.40855111e-01 -3.37678686e-01 -2.76544040e-02 3.54771745e+01] [ 3.38254494e-01 9.40849254e-01 1.96616023e-02 5.85854888e+00] [ 1.93793214e-02 -2.78529454e-02 9.99424162e-01 6.07136937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.49, Y:5.90, Z:0.59 [[ 9.40782839e-01 -3.38934038e-01 -7.16713179e-03 3.54922860e+01] [ 3.38571784e-01 9.40431648e-01 -3.09428962e-02 5.89986397e+00] [ 1.72277983e-02 2.66839571e-02 9.99495457e-01 5.86791910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:5.89, Z:0.59 [[ 9.40854872e-01 -3.38413927e-01 -1.63745142e-02 3.55239704e+01] [ 3.38371026e-01 9.40997242e-01 -5.40741455e-03 5.89326875e+00] [ 1.72383171e-02 -4.53068847e-04 9.99851307e-01 5.94063922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:5.87, Z:0.63 [[ 9.41890527e-01 -3.33021308e-01 -4.40345754e-02 3.55679153e+01] [ 3.34807701e-01 9.41329725e-01 4.24517677e-02 5.86807210e+00] [ 2.73137116e-02 -5.47280328e-02 9.98127649e-01 6.26927307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.57, Y:5.94, Z:0.58 [[ 9.40583348e-01 -3.39562468e-01 5.43511370e-04 3.55687506e+01] [ 3.39052019e-01 9.39079236e-01 -5.63375285e-02 5.94203427e+00] [ 1.86197100e-02 5.31744199e-02 9.98411632e-01 5.81481998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.61, Y:5.92, Z:0.60 [[ 9.40451088e-01 -3.39556345e-01 -1.59135243e-02 3.56059070e+01] [ 3.39515796e-01 9.40585608e-01 -5.26673616e-03 5.91900352e+00] [ 1.67563856e-02 -4.49785111e-04 9.99859501e-01 5.95338510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.62, Y:5.94, Z:0.59 [[ 9.40653053e-01 -3.39163068e-01 -1.18426332e-02 3.56243019e+01] [ 3.38605205e-01 9.40303335e-01 -3.42950927e-02 5.94113902e+00] [ 2.27672963e-02 2.82498064e-02 9.99341583e-01 5.91673254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.67, Y:5.91, Z:0.62 [[ 9.40847498e-01 -3.36914583e-01 -3.59798333e-02 3.56715392e+01] [ 3.38138157e-01 9.40400833e-01 3.61781702e-02 5.90666425e+00] [ 2.16465120e-02 -4.62042955e-02 9.98697447e-01 6.18126170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.68, Y:5.96, Z:0.59 [[ 9.39506140e-01 -3.42501146e-01 -4.60196097e-03 3.56824165e+01] [ 3.42337701e-01 9.39340827e-01 -2.10644001e-02 5.95535236e+00] [ 1.15373910e-02 1.82147085e-02 9.99767529e-01 5.88890203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:5.93, Z:0.61 [[ 9.40730365e-01 -3.38115178e-01 -2.65425407e-02 3.57253206e+01] [ 3.38750203e-01 9.40548991e-01 2.48172389e-02 5.93225638e+00] [ 1.65734747e-02 -3.23376212e-02 9.99339581e-01 6.12687374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.74, Y:5.97, Z:0.59 [[ 9.39992335e-01 -3.41139783e-01 -6.16914411e-03 3.57399085e+01] [ 3.40988407e-01 9.39898021e-01 -1.78498581e-02 5.97026713e+00] [ 1.18876631e-02 1.46751232e-02 9.99821646e-01 5.94114733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.77, Y:5.98, Z:0.59 [[ 9.40014412e-01 -3.41040200e-01 -8.03041512e-03 3.57688372e+01] [ 3.40939413e-01 9.40012339e-01 -1.17097854e-02 5.97662624e+00] [ 1.15421969e-02 8.26948202e-03 9.99899192e-01 5.92917283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:5.99, Z:0.59 [[ 9.39874349e-01 -3.41470790e-01 -5.82310002e-03 3.57923350e+01] [ 3.41411306e-01 9.39868437e-01 -9.25427520e-03 5.98530271e+00] [ 8.63301257e-03 6.70978370e-03 9.99940223e-01 5.91682801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.83, Y:5.98, Z:0.60 [[ 9.40560840e-01 -3.39190626e-01 -1.71762957e-02 3.58281158e+01] [ 3.39397136e-01 9.40579575e-01 1.09383458e-02 5.97976252e+00] [ 1.24454886e-02 -1.61177653e-02 9.99792642e-01 6.00389609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:6.01, Z:0.59 [[ 9.39756543e-01 -3.41820798e-01 -4.02254925e-03 3.58428537e+01] [ 3.41695574e-01 9.39629458e-01 -1.84557908e-02 6.00971987e+00] [ 1.00882789e-02 1.59694629e-02 9.99821586e-01 5.87560801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.89, Y:5.99, Z:0.61 [[ 9.41166317e-01 -3.36987556e-01 -2.54037692e-02 3.58856343e+01] [ 3.37580613e-01 9.40978780e-01 2.44594533e-02 5.98996135e+00] [ 1.56618764e-02 -3.15962336e-02 9.99377998e-01 6.08783505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:6.03, Z:0.59 [[ 9.41456601e-01 -3.36951896e-01 -1.10854657e-02 3.59038302e+01] [ 3.36791459e-01 9.41473225e-01 -1.41307968e-02 6.02530966e+00] [ 1.51980679e-02 9.57004181e-03 9.99838704e-01 5.93494238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.92, Y:6.05, Z:0.58 [[ 9.41778473e-01 -3.36199702e-01 -4.80288439e-03 3.59209961e+01] [ 3.36007224e-01 9.41571791e-01 -2.32746130e-02 6.04548614e+00] [ 1.23471784e-02 2.03057257e-02 9.99717572e-01 5.84931816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:6.04, Z:0.59 [[ 9.42088211e-01 -3.35146603e-01 -1.21060812e-02 3.59513696e+01] [ 3.35121678e-01 9.42165969e-01 -4.09231830e-03 6.04388004e+00] [ 1.27774643e-02 -2.01685426e-04 9.99918345e-01 5.90537822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:6.05, Z:0.59 [[ 9.42243926e-01 -3.34694245e-01 -1.24958279e-02 3.59764035e+01] [ 3.34667599e-01 9.42326760e-01 -4.22789591e-03 6.05308391e+00] [ 1.31902055e-02 -1.98239486e-04 9.99912986e-01 5.90855221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.00, Y:6.07, Z:0.59 [[ 9.42756249e-01 -3.33267876e-01 -1.19657275e-02 3.60004060e+01] [ 3.33243298e-01 9.42832167e-01 -4.05086239e-03 6.06502823e+00] [ 1.26316951e-02 -1.68522674e-04 9.99920203e-01 5.91847431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.03, Y:6.08, Z:0.59 [[ 9.42463880e-01 -3.34097991e-01 -1.18476869e-02 3.60262989e+01] [ 3.34073935e-01 9.42538329e-01 -4.01305603e-03 6.07502441e+00] [ 1.25076530e-02 -1.75843036e-04 9.99921761e-01 5.92311560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.05, Y:6.09, Z:0.59 [[ 9.41312937e-01 -3.37339832e-01 -1.14800830e-02 3.60521870e+01] [ 3.37317443e-01 9.41382916e-01 -3.89210128e-03 6.08506652e+00] [ 1.21201148e-02 -2.08746954e-04 9.99926527e-01 5.92520085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.08, Y:6.09, Z:0.59 [[ 9.40428019e-01 -3.39798763e-01 -1.14865786e-02 3.60791457e+01] [ 3.39776485e-01 9.40498136e-01 -3.89812927e-03 6.09445568e+00] [ 1.21276853e-02 -2.36959315e-04 9.99926429e-01 5.92582914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.342755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.10, Y:6.10, Z:0.59 [[ 9.39519394e-01 -3.42303412e-01 -1.14752894e-02 3.61049959e+01] [ 3.42281323e-01 9.39589433e-01 -3.89775356e-03 6.10289084e+00] [ 1.21162750e-02 -2.65762178e-04 9.99926560e-01 5.92930804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.13, Y:6.11, Z:0.59 [[ 9.37558184e-01 -3.47639844e-01 -1.14538359e-02 3.61326127e+01] [ 3.47618207e-01 9.37628087e-01 -3.89271555e-03 6.11028986e+00] [ 1.20927013e-02 -3.31914582e-04 9.99926826e-01 5.93262686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.16, Y:6.12, Z:0.59 [[ 9.36630783e-01 -3.50128711e-01 -1.15179306e-02 3.61591744e+01] [ 3.50106970e-01 9.36701529e-01 -3.91854715e-03 6.11940450e+00] [ 1.21608590e-02 -3.62275883e-04 9.99925988e-01 5.93639845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.18, Y:6.13, Z:0.59 [[ 9.35284883e-01 -3.53733640e-01 -1.07097927e-02 3.61848779e+01] [ 3.53715041e-01 9.35346123e-01 -3.64695817e-03 6.12926115e+00] [ 1.13074149e-02 -3.77269926e-04 9.99935998e-01 5.93005003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.21, Y:6.14, Z:0.59 [[ 9.34632069e-01 -3.55470691e-01 -1.01727092e-02 3.62111670e+01] [ 3.55453986e-01 9.34687352e-01 -3.46654932e-03 6.13870614e+00] [ 1.07405593e-02 -3.75981880e-04 9.99942248e-01 5.93037932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:6.15, Z:0.59 [[ 9.33950573e-01 -3.57266276e-01 -9.85576844e-03 3.62390940e+01] [ 3.57279950e-01 9.33997259e-01 -3.96535992e-04 6.14662008e+00] [ 9.34692964e-03 -3.15092344e-03 9.99951352e-01 5.93660171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.26, Y:6.16, Z:0.59 [[ 9.34238908e-01 -3.56532561e-01 -9.06613541e-03 3.62646739e+01] [ 3.56518233e-01 9.34282867e-01 -3.20515550e-03 6.15598508e+00] [ 9.61307728e-03 -2.37861603e-04 9.99953765e-01 5.93808893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.29, Y:6.16, Z:0.60 [[ 9.33989230e-01 -3.57169000e-01 -9.71720549e-03 3.62936757e+01] [ 3.57212960e-01 9.34017536e-01 3.18487848e-03 6.16094357e+00] [ 7.93850047e-03 -6.44575394e-03 9.99947715e-01 5.95316087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:6.18, Z:0.59 [[ 9.34101994e-01 -3.56927838e-01 -7.48225507e-03 3.63186206e+01] [ 3.56829164e-01 9.34093617e-01 -1.19190042e-02 6.17861832e+00] [ 1.12433511e-02 8.46367879e-03 9.99900972e-01 5.92948103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:6.18, Z:0.60 [[ 9.34247573e-01 -3.56459064e-01 -1.08815364e-02 3.63470896e+01] [ 3.56525466e-01 9.34272907e-01 4.87112856e-03 6.17758574e+00] [ 8.42996669e-03 -8.43038485e-03 9.99928930e-01 5.96597918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:6.19, Z:0.59 [[ 9.35248817e-01 -3.53926863e-01 -6.73984876e-03 3.63701847e+01] [ 3.53899313e-01 9.35270396e-01 -4.95606352e-03 6.19363448e+00] [ 8.05766504e-03 2.24992470e-03 9.99965005e-01 5.93443953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:6.21, Z:0.59 [[ 9.35310366e-01 -3.53752591e-01 -7.32282872e-03 3.63966440e+01] [ 3.53688139e-01 9.35322044e-01 -8.79626952e-03 6.20593779e+00] [ 9.96090626e-03 5.63724440e-03 9.99934499e-01 5.92915499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:6.21, Z:0.59 [[ 9.35507306e-01 -3.53180939e-01 -9.45017752e-03 3.64232606e+01] [ 3.53166216e-01 9.35554985e-01 -3.23934103e-03 6.21180513e+00] [ 9.98523419e-03 -3.07056237e-04 9.99950099e-01 5.94833885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:6.22, Z:0.60 [[ 9.35520497e-01 -3.53127627e-01 -1.01132408e-02 3.64496657e+01] [ 3.53110742e-01 9.35575103e-01 -3.46861807e-03 6.21995270e+00] [ 1.06865612e-02 -3.26130663e-04 9.99942844e-01 5.95614944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.48, Y:6.23, Z:0.60 [[ 9.35336636e-01 -3.53604247e-01 -1.04600630e-02 3.64765147e+01] [ 3.53586174e-01 9.35395061e-01 -3.59114472e-03 6.22817596e+00] [ 1.10541353e-02 -3.39604438e-04 9.99938844e-01 5.96129112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:6.24, Z:0.60 [[ 9.34981845e-01 -3.54533550e-01 -1.07197067e-02 3.65034496e+01] [ 3.54514589e-01 9.35043226e-01 -3.68392228e-03 6.23600930e+00] [ 1.13294632e-02 -3.55891950e-04 9.99935756e-01 5.96843289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:6.24, Z:0.60 [[ 9.34679325e-01 -3.55324503e-01 -1.09113026e-02 3.65295311e+01] [ 3.55304875e-01 9.34742939e-01 -3.75289638e-03 6.24370439e+00] [ 1.15327591e-02 -3.69084367e-04 9.99933427e-01 5.97646270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.55, Y:6.25, Z:0.60 [[ 9.35039664e-01 -3.54396027e-01 -1.02118679e-02 3.65545735e+01] [ 3.54430134e-01 9.35080973e-01 1.68937271e-03 6.24604927e+00] [ 8.95021643e-03 -5.19902422e-03 9.99946430e-01 5.99490197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:6.26, Z:0.60 [[ 9.33901732e-01 -3.57445867e-01 -7.74636599e-03 3.65821153e+01] [ 3.57389584e-01 9.33923074e-01 -7.77025137e-03 6.26260041e+00] [ 1.00119542e-02 4.48818070e-03 9.99939807e-01 5.98059654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.61, Y:6.25, Z:0.60 [[ 9.34893433e-01 -3.54766509e-01 -1.07234977e-02 3.66088394e+01] [ 3.54906903e-01 9.34743279e-01 1.72073268e-02 6.25415506e+00] [ 3.91913418e-03 -1.98928602e-02 9.99794436e-01 6.03107640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.63, Y:6.29, Z:0.60 [[ 9.33382764e-01 -3.58868979e-01 -3.10986348e-03 3.66327392e+01] [ 3.58713885e-01 9.33174883e-01 -2.25607259e-02 6.28853482e+00] [ 1.09983912e-02 1.99422415e-02 9.99740638e-01 5.96332252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.66, Y:6.29, Z:0.60 [[ 9.33244591e-01 -3.59113093e-01 -9.60834523e-03 3.66630908e+01] [ 3.59097972e-01 9.33293983e-01 -3.31479451e-03 6.28578927e+00] [ 1.01577969e-02 -3.56823242e-04 9.99948345e-01 6.01827028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.69, Y:6.29, Z:0.60 [[ 9.33270389e-01 -3.59047572e-01 -9.55099832e-03 3.66887031e+01] [ 3.59032597e-01 9.33319194e-01 -3.29800972e-03 6.29432665e+00] [ 1.00982724e-02 -3.51184916e-04 9.99948949e-01 6.02292019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:6.30, Z:0.60 [[ 9.33528222e-01 -3.58376645e-01 -9.55192351e-03 3.67139122e+01] [ 3.58361611e-01 9.33577026e-01 -3.30035752e-03 6.30347386e+00] [ 1.01002274e-02 -3.42065810e-04 9.99948933e-01 6.02787111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:6.31, Z:0.60 [[ 9.33628061e-01 -3.58117916e-01 -9.49750260e-03 3.67402796e+01] [ 3.58103024e-01 9.33676306e-01 -3.28307818e-03 6.31318839e+00] [ 1.00433223e-02 -3.35910498e-04 9.99949508e-01 6.02741927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.092755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.77, Y:6.32, Z:0.60 [[ 9.33544661e-01 -3.58316346e-01 -1.01863669e-02 3.67677781e+01] [ 3.58309419e-01 9.33599383e-01 -2.55971419e-03 6.32327796e+00] [ 1.04271733e-02 -1.26026369e-03 9.99944841e-01 6.03265852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.122755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.79, Y:6.33, Z:0.60 [[ 9.33419581e-01 -3.58650294e-01 -9.89208024e-03 3.67945239e+01] [ 3.58634695e-01 9.33471909e-01 -3.36919513e-03 6.33335904e+00] [ 1.04423418e-02 -4.02770475e-04 9.99945396e-01 6.03269739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.152755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.82, Y:6.34, Z:0.60 [[ 9.33726336e-01 -3.57854857e-01 -9.74841372e-03 3.68198731e+01] [ 3.57830001e-01 9.33777102e-01 -4.24428439e-03 6.34277982e+00] [ 1.06216833e-02 4.74725224e-04 9.99943476e-01 6.03334097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:6.35, Z:0.60 [[ 9.33849181e-01 -3.57517864e-01 -1.03287653e-02 3.68450520e+01] [ 3.57500054e-01 9.33906236e-01 -3.58512868e-03 6.35112108e+00] [ 1.09278458e-02 -3.44564654e-04 9.99940230e-01 6.04582911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.87, Y:6.36, Z:0.61 [[ 9.34310827e-01 -3.56311279e-01 -1.02738481e-02 3.68718133e+01] [ 3.56293564e-01 9.34367254e-01 -3.56798370e-03 6.36081460e+00] [ 1.08708601e-02 -3.26900152e-04 9.99940857e-01 6.05337032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.90, Y:6.37, Z:0.61 [[ 9.34666474e-01 -3.55365993e-01 -1.06580472e-02 3.68967531e+01] [ 3.55346830e-01 9.34727182e-01 -3.70471435e-03 6.37010057e+00] [ 1.12788959e-02 -3.24630980e-04 9.99936339e-01 6.05660509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:6.38, Z:0.61 [[ 9.34938657e-01 -3.54645896e-01 -1.07701688e-02 3.69226749e+01] [ 3.54626256e-01 9.35000635e-01 -3.74577056e-03 6.38004790e+00] [ 1.13985368e-02 -3.17318947e-04 9.99934984e-01 6.05722198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.95, Y:6.39, Z:0.61 [[ 9.35172628e-01 -3.54014679e-01 -1.12144359e-02 3.69492642e+01] [ 3.53993294e-01 9.35239812e-01 -3.90412407e-03 6.39008047e+00] [ 1.18703041e-02 -3.18805124e-04 9.99929495e-01 6.06246842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.332755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.98, Y:6.40, Z:0.61 [[ 9.35737630e-01 -3.52532386e-01 -1.07705520e-02 3.69753028e+01] [ 3.52512521e-01 9.35799570e-01 -3.75317666e-03 6.39964262e+00] [ 1.14021943e-02 -2.84765823e-04 9.99934952e-01 6.06260018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:6.41, Z:0.61 [[ 9.35983347e-01 -3.51885787e-01 -1.05625332e-02 3.70013352e+01] [ 3.51866607e-01 9.36042905e-01 -3.68382816e-03 6.40843544e+00] [ 1.11832710e-02 -2.68600907e-04 9.99937429e-01 6.06796213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.03, Y:6.42, Z:0.61 [[ 9.36234312e-01 -3.51226184e-01 -1.02704282e-02 3.70276346e+01] [ 3.51207989e-01 9.36290609e-01 -3.58388581e-03 6.41725862e+00] [ 1.08748600e-02 -2.51699563e-04 9.99940835e-01 6.07281681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:6.43, Z:0.61 [[ 9.36352022e-01 -3.50913176e-01 -1.02388172e-02 3.70530775e+01] [ 3.50895039e-01 9.36407968e-01 -3.57608287e-03 6.42580979e+00] [ 1.08426046e-02 -2.44277734e-04 9.99941187e-01 6.07468117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:6.44, Z:0.61 [[ 9.36815822e-01 -3.49678480e-01 -1.00536393e-02 3.70770174e+01] [ 3.49615078e-01 9.36863013e-01 -7.54928405e-03 6.43583866e+00] [ 1.20587050e-02 3.55738484e-03 9.99920963e-01 6.07364384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.11, Y:6.44, Z:0.61 [[ 9.36736938e-01 -3.49847576e-01 -1.14272886e-02 3.71068830e+01] [ 3.49867836e-01 9.36799039e-01 -2.40414195e-04 6.44142775e+00] [ 1.07891813e-02 -3.77283586e-03 9.99934678e-01 6.09305710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:6.45, Z:0.61 [[ 9.36748993e-01 -3.49859194e-01 -9.99344153e-03 3.71318579e+01] [ 3.49841795e-01 9.36802271e-01 -3.49610363e-03 6.45237118e+00] [ 1.05850227e-02 -2.21151967e-04 9.99943953e-01 6.08711569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:6.45, Z:0.61 [[ 9.37283272e-01 -3.48276599e-01 -1.42646177e-02 3.71639266e+01] [ 3.48375181e-01 9.37341552e-01 5.05460844e-03 6.45453607e+00] [ 1.16104171e-02 -9.70703872e-03 9.99885479e-01 6.13881160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:6.47, Z:0.61 [[ 9.36871353e-01 -3.49523144e-01 -1.02781495e-02 3.71880931e+01] [ 3.49496769e-01 9.36927621e-01 -4.31753136e-03 6.46998053e+00] [ 1.11389593e-02 4.52791403e-04 9.99937857e-01 6.10569820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:6.48, Z:0.61 [[ 9.36283856e-01 -3.51161458e-01 -7.62699985e-03 3.72138737e+01] [ 3.51064917e-01 9.36278951e-01 -1.16254255e-02 6.48340533e+00] [ 1.12234008e-02 8.20712617e-03 9.99903335e-01 6.06916645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.24, Y:6.49, Z:0.61 [[ 9.35696809e-01 -3.52638047e-01 -1.08576841e-02 3.72419134e+01] [ 3.52615088e-01 9.35759800e-01 -4.02442847e-03 6.48819234e+00] [ 1.15793509e-02 -6.29383506e-05 9.99932955e-01 6.09274209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.27, Y:6.49, Z:0.62 [[ 9.35517341e-01 -3.52868124e-01 -1.70702027e-02 3.72734842e+01] [ 3.53054490e-01 9.35555234e-01 9.43031828e-03 6.48803885e+00] [ 1.26424588e-02 -1.48489380e-02 9.99809821e-01 6.15652395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:6.51, Z:0.61 [[ 9.34258445e-01 -3.56526714e-01 -7.06109134e-03 3.72907753e+01] [ 3.56371219e-01 9.34188770e-01 -1.70556965e-02 6.51322786e+00] [ 1.26772037e-02 1.34180588e-02 9.99829608e-01 6.06227989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:6.51, Z:0.61 [[ 9.33760546e-01 -3.57689791e-01 -1.22170466e-02 3.73198279e+01] [ 3.57671811e-01 9.33840018e-01 -3.70094050e-03 6.51439682e+00] [ 1.27325556e-02 -9.13900950e-04 9.99918520e-01 6.10321463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:6.52, Z:0.61 [[ 9.33365479e-01 -3.58670932e-01 -1.35662911e-02 3.73456926e+01] [ 3.58639299e-01 9.33463979e-01 -4.78051542e-03 6.52410159e+00] [ 1.43782760e-02 -4.03437064e-04 9.99896546e-01 6.10012429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:6.53, Z:0.61 [[ 9.33261261e-01 -3.58916238e-01 -1.42321010e-02 3.73714416e+01] [ 3.58881396e-01 9.33369677e-01 -5.01887252e-03 6.53338892e+00] [ 1.50851664e-02 -4.23716993e-04 9.99886123e-01 6.09978989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:6.53, Z:0.62 [[ 9.33802713e-01 -3.57074367e-01 -2.25917974e-02 3.74054197e+01] [ 3.57338566e-01 9.33932863e-01 8.86320532e-03 6.53188115e+00] [ 1.79343986e-02 -1.63494057e-02 9.99705484e-01 6.18360672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.42, Y:6.56, Z:0.61 [[ 9.33004818e-01 -3.59741775e-01 -9.37359462e-03 3.74209351e+01] [ 3.59509549e-01 9.32925519e-01 -2.00713840e-02 6.56016135e+00] [ 1.59653810e-02 1.53568012e-02 9.99754608e-01 6.05528596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:6.55, Z:0.61 [[ 9.33340894e-01 -3.58510203e-01 -1.85798024e-02 3.74570269e+01] [ 3.58591622e-01 9.33493841e-01 1.13876202e-03 6.55439762e+00] [ 1.69358733e-02 -7.72541464e-03 9.99826732e-01 6.14649951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.48, Y:6.57, Z:0.61 [[ 9.32564544e-01 -3.60802899e-01 -1.20266057e-02 3.74757056e+01] [ 3.60672106e-01 9.32618521e-01 -1.17612500e-02 6.57280266e+00] [ 1.54597283e-02 6.63046356e-03 9.99858507e-01 6.08403242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:6.58, Z:0.61 [[ 9.32383568e-01 -3.61192762e-01 -1.41658594e-02 3.75041083e+01] [ 3.61158205e-01 9.32491070e-01 -5.01552074e-03 6.57773955e+00] [ 1.50211071e-02 -4.39727215e-04 9.99887080e-01 6.10578965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:6.59, Z:0.61 [[ 9.31758497e-01 -3.62778271e-01 -1.47657901e-02 3.75301934e+01] [ 3.62740863e-01 9.31875364e-01 -5.23185981e-03 6.58610988e+00] [ 1.56578811e-02 -4.81325596e-04 9.99877292e-01 6.11039626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.57, Y:6.58, Z:0.62 [[ 9.31925504e-01 -3.61906623e-01 -2.32045395e-02 3.75656334e+01] [ 3.62176870e-01 9.32069669e-01 8.60504386e-03 6.58398317e+00] [ 1.85140251e-02 -1.64234073e-02 9.99693704e-01 6.20766935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:6.60, Z:0.61 [[ 9.31538106e-01 -3.63274138e-01 -1.63907583e-02 3.75899604e+01] [ 3.63186113e-01 9.31680828e-01 -8.16593512e-03 6.60280378e+00] [ 1.82374283e-02 1.65398394e-03 9.99832316e-01 6.14539122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:6.61, Z:0.62 [[ 9.30609504e-01 -3.65501545e-01 -1.93538498e-02 3.76173725e+01] [ 3.65515823e-01 9.30800542e-01 -2.92124086e-03 6.60609962e+00] [ 1.90822919e-02 -4.35560383e-03 9.99808429e-01 6.17729635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:6.63, Z:0.61 [[ 9.29610972e-01 -3.68434954e-01 -8.89525133e-03 3.76348668e+01] [ 3.68191360e-01 9.29508248e-01 -2.12023304e-02 6.62830123e+00] [ 1.60798891e-02 1.64347643e-02 9.99735633e-01 6.06716311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:6.63, Z:0.61 [[ 9.29137183e-01 -3.69449466e-01 -1.45322908e-02 3.76648827e+01] [ 3.69413684e-01 9.29250653e-01 -5.17247281e-03 6.62721526e+00] [ 1.54151080e-02 -5.62490280e-04 9.99881022e-01 6.11885191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.142755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.69, Y:6.63, Z:0.61 [[ 9.29110344e-01 -3.69541087e-01 -1.39051412e-02 3.76913049e+01] [ 3.69602224e-01 9.29187869e-01 2.02474548e-03 6.63190844e+00] [ 1.21722619e-02 -7.02058309e-03 9.99901269e-01 6.13674404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:6.65, Z:0.61 [[ 9.28989430e-01 -3.69948948e-01 -1.07896108e-02 3.77157674e+01] [ 3.69840634e-01 9.29032431e-01 -1.08003361e-02 6.64960123e+00] [ 1.40194714e-02 6.04296153e-03 9.99883462e-01 6.10862685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:6.66, Z:0.61 [[ 9.29117535e-01 -3.69577552e-01 -1.23708669e-02 3.77429606e+01] [ 3.69551478e-01 9.29199770e-01 -4.41501605e-03 6.65563374e+00] [ 1.31266975e-02 -4.69603317e-04 9.99913731e-01 6.13112415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:6.66, Z:0.61 [[ 9.29540896e-01 -3.68533715e-01 -1.16885942e-02 3.77684491e+01] [ 3.68510316e-01 9.29614285e-01 -4.17471972e-03 6.66468611e+00] [ 1.24044091e-02 -4.26794832e-04 9.99922971e-01 6.13332258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.79, Y:6.67, Z:0.61 [[ 9.29844655e-01 -3.67756750e-01 -1.19954152e-02 3.77941877e+01] [ 3.67732018e-01 9.29921928e-01 -4.28617886e-03 6.67357780e+00] [ 1.27310709e-02 -4.25617740e-04 9.99918866e-01 6.13666246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:6.68, Z:0.61 [[ 9.30373347e-01 -3.66404688e-01 -1.23709555e-02 3.78208100e+01] [ 3.66378225e-01 9.30455496e-01 -4.42326068e-03 6.68296184e+00] [ 1.31313270e-02 -4.17164895e-04 9.99913693e-01 6.14305808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:6.68, Z:0.62 [[ 9.31147711e-01 -3.64385729e-01 -1.36740774e-02 3.78484055e+01] [ 3.64543214e-01 9.31113907e-01 1.16248601e-02 6.68285913e+00] [ 8.49619051e-03 -1.58092540e-02 9.99838928e-01 6.17263298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:6.71, Z:0.61 [[ 9.30979753e-01 -3.65007743e-01 -6.78581714e-03 3.78712602e+01] [ 3.64831029e-01 9.30881115e-01 -1.89385577e-02 6.71189738e+00] [ 1.32295092e-02 1.51557371e-02 9.99797621e-01 6.10070801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:6.71, Z:0.61 [[ 9.31154185e-01 -3.64428954e-01 -1.19758716e-02 3.79007118e+01] [ 3.64403866e-01 9.31231122e-01 -4.29183349e-03 6.71367093e+00] [ 1.27163727e-02 -3.67695202e-04 9.99919076e-01 6.14654510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:6.72, Z:0.62 [[ 9.31945982e-01 -3.62408407e-01 -1.16975869e-02 3.79273139e+01] [ 3.62434548e-01 9.32009219e-01 1.23465495e-04 6.72240271e+00] [ 1.08575139e-02 -4.35467280e-03 9.99931573e-01 6.15417413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:6.73, Z:0.62 [[ 9.32386564e-01 -3.61317102e-01 -1.02589971e-02 3.79524322e+01] [ 3.61343274e-01 9.32432551e-01 7.58964409e-04 6.73173914e+00] [ 9.29159604e-03 -4.41466782e-03 9.99947087e-01 6.15251824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:6.75, Z:0.61 [[ 9.32144515e-01 -3.61967701e-01 -9.27284238e-03 3.79766311e+01] [ 3.61904638e-01 9.32182352e-01 -7.81632444e-03 6.74686538e+00] [ 1.14732370e-02 3.93005929e-03 9.99926457e-01 6.14074349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.01, Y:6.76, Z:0.62 [[ 9.31141955e-01 -3.64488442e-01 -1.10831199e-02 3.80051519e+01] [ 3.64422905e-01 9.31203197e-01 -7.52012196e-03 6.75719010e+00] [ 1.30616342e-02 2.96335831e-03 9.99910302e-01 6.15083637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:6.76, Z:0.62 [[ 9.30655695e-01 -3.65683096e-01 -1.24840394e-02 3.80326544e+01] [ 3.65655639e-01 9.30739345e-01 -4.49715491e-03 6.76478598e+00] [ 1.32639202e-02 -3.79556575e-04 9.99911958e-01 6.16307519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:6.77, Z:0.62 [[ 9.29622656e-01 -3.68302707e-01 -1.24432314e-02 3.80593043e+01] [ 3.68275606e-01 9.29705839e-01 -4.48683111e-03 6.77456352e+00] [ 1.32210569e-02 -4.11478734e-04 9.99912513e-01 6.16368281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:6.78, Z:0.62 [[ 9.29121275e-01 -3.69574757e-01 -1.21719004e-02 3.80844739e+01] [ 3.69548885e-01 9.29200907e-01 -4.39274450e-03 6.78423614e+00] [ 1.29335883e-02 -4.16719838e-04 9.99916271e-01 6.16601612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:6.79, Z:0.62 [[ 9.28553570e-01 -3.71017969e-01 -1.15730394e-02 3.81104318e+01] [ 3.70994654e-01 9.28625596e-01 -4.17968765e-03 6.79453192e+00] [ 1.22977599e-02 -4.12471878e-04 9.99924295e-01 6.16724568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:6.81, Z:0.61 [[ 9.27365690e-01 -3.74020165e-01 -1.00892212e-02 3.81363905e+01] [ 3.73871102e-01 9.27374553e-01 -1.40298839e-02 6.81152039e+00] [ 1.46039465e-02 9.23876474e-03 9.99850674e-01 6.14591533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.16, Y:6.82, Z:0.62 [[ 9.27082899e-01 -3.74667660e-01 -1.18929460e-02 3.81623440e+01] [ 3.74605655e-01 9.27156619e-01 -7.15592183e-03 6.81751627e+00] [ 1.37077161e-02 2.17896794e-03 9.99903671e-01 6.16270317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.19, Y:6.82, Z:0.62 [[ 9.27175304e-01 -3.74368233e-01 -1.39421151e-02 3.81905520e+01] [ 3.74490360e-01 9.27201031e-01 7.43088335e-03 6.81894052e+00] [ 1.01452569e-02 -1.21109192e-02 9.99875192e-01 6.19332240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:6.84, Z:0.62 [[ 9.27087650e-01 -3.74706356e-01 -1.01801632e-02 3.82136337e+01] [ 3.74688488e-01 9.27143455e-01 -3.68128148e-03 6.83547762e+00] [ 1.08178712e-02 -4.01519352e-04 9.99941405e-01 6.16294763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:6.85, Z:0.62 [[ 9.27106693e-01 -3.74663059e-01 -1.00385131e-02 3.82398571e+01] [ 3.74645661e-01 9.27160955e-01 -3.63200748e-03 6.84626322e+00] [ 1.06680964e-02 -3.93626927e-04 9.99943017e-01 6.16460018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:6.86, Z:0.62 [[ 9.27085710e-01 -3.74715775e-01 -1.00086569e-02 3.82662583e+01] [ 3.74698447e-01 9.27139653e-01 -3.62461615e-03 6.85639898e+00] [ 1.06376235e-02 -3.89898351e-04 9.99943343e-01 6.16722139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.29, Y:6.87, Z:0.62 [[ 9.27136155e-01 -3.74583007e-01 -1.03015489e-02 3.82911431e+01] [ 3.74564608e-01 9.27193299e-01 -3.73375648e-03 6.86656474e+00] [ 1.09501288e-02 -3.96894997e-04 9.99939967e-01 6.17178927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.32, Y:6.88, Z:0.62 [[ 9.27144617e-01 -3.74566337e-01 -1.01448305e-02 3.83171695e+01] [ 3.74548472e-01 9.27200037e-01 -3.67891652e-03 6.87708737e+00] [ 1.07842855e-02 -3.88843112e-04 9.99941772e-01 6.17261122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:6.89, Z:0.62 [[ 9.27209302e-01 -3.74396215e-01 -1.05064192e-02 3.83430404e+01] [ 3.74377001e-01 9.27268740e-01 -3.81370159e-03 6.88800791e+00] [ 1.11701095e-02 -3.97262118e-04 9.99937533e-01 6.17398552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.37, Y:6.90, Z:0.62 [[ 9.27698606e-01 -3.73177374e-01 -1.06744703e-02 3.83679537e+01] [ 3.73157424e-01 9.27759936e-01 -3.87784103e-03 6.89917219e+00] [ 1.13504684e-02 -3.85790122e-04 9.99935507e-01 6.17392652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:6.91, Z:0.62 [[ 9.27854351e-01 -3.72798519e-01 -1.03714658e-02 3.83940849e+01] [ 3.72779640e-01 9.27912242e-01 -3.76983384e-03 6.90938020e+00] [ 1.10291986e-02 -3.68414566e-04 9.99939109e-01 6.17357282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:6.92, Z:0.62 [[ 9.28208589e-01 -3.71901842e-01 -1.08552081e-02 3.84202229e+01] [ 3.71881054e-01 9.28271987e-01 -3.94954393e-03 6.91908695e+00] [ 1.15454283e-02 -3.70845639e-04 9.99933281e-01 6.18223885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:6.95, Z:0.61 [[ 9.28285635e-01 -3.71846654e-01 -3.98069901e-03 3.84408893e+01] [ 3.71483212e-01 9.27758884e-01 -3.55482193e-02 6.94902130e+00] [ 1.69116153e-02 3.15201384e-02 9.99360034e-01 6.08411844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.48, Y:6.93, Z:0.63 [[ 9.28780175e-01 -3.70023103e-01 -2.12200202e-02 3.84778540e+01] [ 3.70358680e-01 9.28769819e-01 1.48684706e-02 6.92788133e+00] [ 1.42068366e-02 -2.16685594e-02 9.99664263e-01 6.26025848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:6.95, Z:0.62 [[ 9.28700264e-01 -3.70563678e-01 -1.40847509e-02 3.85003950e+01] [ 3.70527050e-01 9.28806990e-01 -5.22306016e-03 6.94988445e+00] [ 1.50174915e-02 -3.68123869e-04 9.99887163e-01 6.20549293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:6.95, Z:0.63 [[ 9.29026535e-01 -3.69452988e-01 -2.03515902e-02 3.85317869e+01] [ 3.69738611e-01 9.29050276e-01 1.26073406e-02 6.94910105e+00] [ 1.42498308e-02 -1.92373227e-02 9.99713393e-01 6.26634722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:6.98, Z:0.61 [[ 9.28665617e-01 -3.70844545e-01 -7.38210521e-03 3.85472297e+01] [ 3.70591726e-01 9.28499525e-01 -2.34606885e-02 6.98092553e+00] [ 1.55545495e-02 1.90513877e-02 9.99697505e-01 6.13638910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:6.97, Z:0.62 [[ 9.28489264e-01 -3.71021098e-01 -1.58440059e-02 3.85800715e+01] [ 3.71126730e-01 9.28572546e-01 4.24001560e-03 6.97401723e+00] [ 1.31391737e-02 -9.81694307e-03 9.99865486e-01 6.21519367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:6.99, Z:0.62 [[ 9.28015466e-01 -3.72335389e-01 -1.23957208e-02 3.86045369e+01] [ 3.72307829e-01 9.28098164e-01 -4.54731542e-03 6.98796774e+00] [ 1.31975722e-02 -3.95044870e-04 9.99912830e-01 6.19070423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:7.00, Z:0.62 [[ 9.27803591e-01 -3.72850606e-01 -1.27640799e-02 3.86297687e+01] [ 3.72821385e-01 9.27891296e-01 -4.68599379e-03 6.99676305e+00] [ 1.35908542e-02 -4.11040069e-04 9.99907556e-01 6.19618924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:7.02, Z:0.62 [[ 9.26941492e-01 -3.75026535e-01 -1.16003469e-02 3.86539067e+01] [ 3.74740893e-01 9.26888897e-01 -2.11242926e-02 7.01605159e+00] [ 1.86744030e-02 1.52338590e-02 9.99709556e-01 6.17550024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:7.01, Z:0.62 [[ 9.26972418e-01 -3.74755275e-01 -1.67517369e-02 3.86859321e+01] [ 3.74954829e-01 9.26979075e-01 1.08936195e-02 7.00634015e+00] [ 1.14460682e-02 -1.63792295e-02 9.99800334e-01 6.24715472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:7.02, Z:0.62 [[ 9.26064329e-01 -3.77227608e-01 -1.02073274e-02 3.87097015e+01] [ 3.77209121e-01 9.26120506e-01 -3.75331550e-03 7.02369963e+00] [ 1.08690694e-02 -3.74485384e-04 9.99940860e-01 6.21347910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:7.04, Z:0.62 [[ 9.25408672e-01 -3.78898533e-01 -7.39540031e-03 3.87310603e+01] [ 3.78637375e-01 9.25236951e-01 -2.38814385e-02 7.04376923e+00] [ 1.58911397e-02 1.92999154e-02 9.99687444e-01 6.18529638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.77, Y:7.03, Z:0.63 [[ 9.25046077e-01 -3.79531736e-01 -1.56657560e-02 3.87651689e+01] [ 3.79773097e-01 9.24915909e-01 1.74056656e-02 7.02923311e+00] [ 7.88350446e-03 -2.20504754e-02 9.99725776e-01 6.27606149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:7.06, Z:0.62 [[ 9.24915062e-01 -3.80091006e-01 -7.93447659e-03 3.87843838e+01] [ 3.79963503e-01 9.24896167e-01 -1.39576940e-02 7.05580187e+00] [ 1.26437609e-02 9.89486991e-03 9.99871105e-01 6.20499570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:7.06, Z:0.62 [[ 9.25161805e-01 -3.79427053e-01 -1.05236085e-02 3.88138593e+01] [ 3.79410846e-01 9.25221401e-01 -3.57352254e-03 7.06102750e+00] [ 1.10925589e-02 -6.86684632e-04 9.99938240e-01 6.24106382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:7.07, Z:0.62 [[ 9.25279789e-01 -3.79129248e-01 -1.08777180e-02 3.88412441e+01] [ 3.79093764e-01 9.25343445e-01 -5.23698799e-03 7.07141373e+00] [ 1.20511204e-02 7.22004063e-04 9.99927122e-01 6.24686325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:7.07, Z:0.63 [[ 9.26077406e-01 -3.77132680e-01 -1.23117597e-02 3.88693269e+01] [ 3.77225905e-01 9.26099632e-01 6.33146498e-03 7.07413312e+00] [ 9.01411379e-03 -1.05077414e-02 9.99904162e-01 6.27050473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:7.10, Z:0.62 [[ 9.26466693e-01 -3.76365883e-01 -2.86160171e-03 3.88920364e+01] [ 3.76298192e-01 9.26401862e-01 -1.33888502e-02 7.09723458e+00] [ 7.69009958e-03 1.13275082e-02 9.99906271e-01 6.16951312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:7.10, Z:0.62 [[ 9.27005612e-01 -3.74994751e-01 -6.28745083e-03 3.89187436e+01] [ 3.74968569e-01 9.27024206e-01 -4.96919383e-03 7.10179683e+00] [ 7.69204072e-03 2.24887412e-03 9.99967887e-01 6.18722291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.94, Y:7.11, Z:0.62 [[ 9.28314610e-01 -3.71728071e-01 -7.08699531e-03 3.89441112e+01] [ 3.71716222e-01 9.28341654e-01 -2.97055500e-03 7.11120440e+00] [ 7.68339162e-03 1.23258482e-04 9.99970475e-01 6.18764336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:7.12, Z:0.62 [[ 9.28882446e-01 -3.70296969e-01 -7.58654100e-03 3.89709983e+01] [ 3.70262101e-01 9.28910279e-01 -5.62761631e-03 7.12421501e+00] [ 9.13110518e-03 2.41838540e-03 9.99955386e-01 6.18398661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:7.14, Z:0.62 [[ 9.28990917e-01 -3.70070790e-01 -4.84625292e-03 3.89970935e+01] [ 3.70029783e-01 9.28988303e-01 -7.66105974e-03 7.13796804e+00] [ 7.33724670e-03 5.32379700e-03 9.99958910e-01 6.15966702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:7.13, Z:0.63 [[ 9.30299755e-01 -3.66110370e-01 -2.24847079e-02 3.90342327e+01] [ 3.66551691e-01 9.30177171e-01 2.02555712e-02 7.12805519e+00] [ 1.34989873e-02 -2.70855606e-02 9.99541970e-01 6.33780255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:7.16, Z:0.63 [[ 9.29765018e-01 -3.67992582e-01 -1.08844263e-02 3.90501895e+01] [ 3.67894808e-01 9.29813675e-01 -9.99704937e-03 7.15660917e+00] [ 1.37993285e-02 5.29058285e-03 9.99890788e-01 6.25259108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:7.17, Z:0.62 [[ 9.29808373e-01 -3.67952065e-01 -8.22606505e-03 3.90777225e+01] [ 3.67835964e-01 9.29802043e-01 -1.28399414e-02 7.16816496e+00] [ 1.23730950e-02 8.91284243e-03 9.99883727e-01 6.21049142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.10, Y:7.18, Z:0.62 [[ 9.29147925e-01 -3.69636377e-01 -7.28576633e-03 3.91044837e+01] [ 3.69542454e-01 9.29141066e-01 -1.16298622e-02 7.17821000e+00] [ 1.10683248e-02 8.11346237e-03 9.99905828e-01 6.19460854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:7.18, Z:0.62 [[ 9.28638547e-01 -3.70854435e-01 -9.87097666e-03 3.91320973e+01] [ 3.70826108e-01 9.28690789e-01 -4.62775176e-03 7.18399352e+00] [ 1.08833074e-02 6.37092816e-04 9.99940572e-01 6.21803465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:7.20, Z:0.62 [[ 9.28043391e-01 -3.72437298e-01 -5.09150743e-03 3.91543682e+01] [ 3.72361929e-01 9.28014656e-01 -1.16358558e-02 7.19810479e+00] [ 9.05862020e-03 8.90269553e-03 9.99919338e-01 6.17397028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.18, Y:7.20, Z:0.62 [[ 9.27483663e-01 -3.73790835e-01 -7.38018414e-03 3.91810176e+01] [ 3.73769869e-01 9.27512445e-01 -4.09262756e-03 7.20328493e+00] [ 8.37499931e-03 1.03735474e-03 9.99964391e-01 6.19494237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:7.20, Z:0.64 [[ 9.26863484e-01 -3.74823711e-01 -2.07669850e-02 3.92131364e+01] [ 3.75240603e-01 9.26659401e-01 2.22900141e-02 7.19517531e+00] [ 1.08890961e-02 -2.84524161e-02 9.99535836e-01 6.36510515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.23, Y:7.22, Z:0.63 [[ 9.26423914e-01 -3.76331936e-01 -1.06304300e-02 3.92329512e+01] [ 3.76311291e-01 9.26484841e-01 -3.95611592e-03 7.22000480e+00] [ 1.13377450e-02 -3.35310443e-04 9.99935669e-01 6.29146840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.942755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.26, Y:7.23, Z:0.63 [[ 9.25640723e-01 -3.78260394e-01 -1.04079694e-02 3.92588380e+01] [ 3.78240701e-01 9.25699169e-01 -3.87561902e-03 7.22968632e+00] [ 1.11006418e-02 -3.49286826e-04 9.99938325e-01 6.30579200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:7.24, Z:0.63 [[ 9.25277998e-01 -3.79155075e-01 -1.01022953e-02 3.92843961e+01] [ 3.79108254e-01 9.25331027e-01 -6.27866428e-03 7.24144454e+00] [ 1.17285547e-02 1.97964639e-03 9.99929259e-01 6.30725217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:7.25, Z:0.63 [[ 9.25244344e-01 -3.79211840e-01 -1.10128995e-02 3.93118385e+01] [ 3.79217758e-01 9.25306028e-01 -1.62682285e-03 7.24915402e+00] [ 1.08072128e-02 -2.67107840e-03 9.99938033e-01 6.32498997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:7.26, Z:0.63 [[ 9.25113341e-01 -3.79566405e-01 -9.72887457e-03 3.93377196e+01] [ 3.79549188e-01 9.25164435e-01 -3.63061127e-03 7.26118033e+00] [ 1.03788668e-02 -3.33859521e-04 9.99946082e-01 6.32394882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.36, Y:7.27, Z:0.63 [[ 9.25044552e-01 -3.79732152e-01 -9.80148627e-03 3.93638682e+01] [ 3.79714649e-01 9.25096417e-01 -3.66128122e-03 7.27159872e+00] [ 1.04576260e-02 -3.34919665e-04 9.99945261e-01 6.32958543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.39, Y:7.29, Z:0.62 [[ 9.24790729e-01 -3.80475314e-01 8.01806295e-04 3.93858058e+01] [ 3.80406303e-01 9.24578503e-01 -2.11101137e-02 7.29460574e+00] [ 7.29054428e-03 1.98274496e-02 9.99776835e-01 6.20421212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.42, Y:7.28, Z:0.64 [[ 9.25476347e-01 -3.78368791e-01 -1.81821058e-02 3.94203070e+01] [ 3.78637923e-01 9.25428083e-01 1.47032912e-02 7.28237951e+00] [ 1.12629648e-02 -2.04919830e-02 9.99726575e-01 6.39146403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.44, Y:7.31, Z:0.63 [[ 9.25162716e-01 -3.79400989e-01 -1.13507059e-02 3.94419596e+01] [ 3.79285123e-01 9.25212977e-01 -1.11239256e-02 7.30875174e+00] [ 1.47222488e-02 5.98628737e-03 9.99873702e-01 6.32475344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:7.31, Z:0.64 [[ 9.25437728e-01 -3.78628843e-01 -1.43251681e-02 3.94706504e+01] [ 3.78686669e-01 9.25523782e-01 1.46119807e-03 7.31206604e+00] [ 1.27050320e-02 -6.77699800e-03 9.99896322e-01 6.35064976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:7.34, Z:0.62 [[ 9.25156153e-01 -3.79564305e-01 -4.12685071e-03 3.94904123e+01] [ 3.79255252e-01 9.24747860e-01 -3.17308985e-02 7.34253934e+00] [ 1.58602128e-02 2.77909062e-02 9.99487928e-01 6.22518077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.242755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:39.53, Y:7.32, Z:0.64 [[ 9.25269282e-01 -3.78617646e-01 -2.29223605e-02 3.95262155e+01] [ 3.79088985e-01 9.25104721e-01 2.17438955e-02 7.32128530e+00] [ 1.29729614e-02 -2.88085729e-02 9.99500760e-01 6.40929572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.54, Y:7.36, Z:0.63 [[ 9.25189683e-01 -3.79317470e-01 -1.19293027e-02 3.95437854e+01] [ 3.79036207e-01 9.25152106e-01 -2.06188163e-02 7.35622442e+00] [ 1.88574967e-02 1.45546784e-02 9.99716238e-01 6.30961924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:7.35, Z:0.64 [[ 9.25077394e-01 -3.79314870e-01 -1.87628713e-02 3.95756830e+01] [ 3.79520167e-01 9.25141334e-01 8.82924471e-03 7.35189061e+00] [ 1.40092440e-02 -1.52886227e-02 9.99784976e-01 6.37380131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.60, Y:7.37, Z:0.63 [[ 9.24913813e-01 -3.79925298e-01 -1.38277593e-02 3.95982186e+01] [ 3.79890041e-01 9.25017063e-01 -5.19519226e-03 7.37120007e+00] [ 1.47646983e-02 -4.47922964e-04 9.99890896e-01 6.33647373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:7.38, Z:0.63 [[ 9.24596506e-01 -3.80696485e-01 -1.38378652e-02 3.96223483e+01] [ 3.80661210e-01 9.24699939e-01 -5.20249709e-03 7.38306928e+00] [ 1.47764455e-02 -4.57327880e-04 9.99890718e-01 6.33985670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:7.40, Z:0.63 [[ 9.24368343e-01 -3.81270311e-01 -1.32708792e-02 3.96444006e+01] [ 3.80988276e-01 9.24370081e-01 -1.96948286e-02 7.40136203e+00] [ 1.97762571e-02 1.31492267e-02 9.99717959e-01 6.33091807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.68, Y:7.40, Z:0.64 [[ 9.24018834e-01 -3.81869541e-01 -1.91010071e-02 3.96765338e+01] [ 3.82039295e-01 9.24126171e-01 6.06602306e-03 7.39822582e+00] [ 1.53353111e-02 -1.29024548e-02 9.99799157e-01 6.38721109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.70, Y:7.42, Z:0.64 [[ 9.23714649e-01 -3.82811889e-01 -1.43633039e-02 3.96983382e+01] [ 3.82774038e-01 9.23826176e-01 -5.40664376e-03 7.41570746e+00] [ 1.53389236e-02 -5.03703799e-04 9.99882225e-01 6.35868710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.72, Y:7.42, Z:0.64 [[ 9.24308623e-01 -3.81363951e-01 -1.46665127e-02 3.97201649e+01] [ 3.81362731e-01 9.24420645e-01 -2.98969022e-03 7.42345132e+00] [ 1.46981872e-02 -2.82986491e-03 9.99887971e-01 6.36706068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:7.44, Z:0.63 [[ 9.23468361e-01 -3.83521570e-01 -1.08347312e-02 3.97489705e+01] [ 3.83411544e-01 9.23512715e-01 -1.09477764e-02 7.44167750e+00] [ 1.42047204e-02 5.95576415e-03 9.99881370e-01 6.33255970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.77, Y:7.46, Z:0.63 [[ 9.22564894e-01 -3.85801534e-01 -5.58501167e-03 3.97707391e+01] [ 3.85606188e-01 9.22410509e-01 -2.16037189e-02 7.46114593e+00] [ 1.34864214e-02 1.77772176e-02 9.99751012e-01 6.27003180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:7.46, Z:0.63 [[ 9.22546973e-01 -3.85682009e-01 -1.25088153e-02 3.98014019e+01] [ 3.85737642e-01 9.22605664e-01 2.29344903e-03 7.45855328e+00] [ 1.06561618e-02 -6.94093538e-03 9.99919132e-01 6.32909201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.82, Y:7.48, Z:0.63 [[ 9.22158275e-01 -3.86784017e-01 -4.71591478e-03 3.98224898e+01] [ 3.86668743e-01 9.22079079e-01 -1.60454100e-02 7.48329870e+00] [ 1.05545545e-02 1.29729107e-02 9.99860143e-01 6.26277138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:7.47, Z:0.64 [[ 9.22220027e-01 -3.85973248e-01 -2.31273290e-02 3.98563906e+01] [ 3.86439607e-01 9.22075366e-01 2.10107041e-02 7.47114360e+00] [ 1.32155706e-02 -2.83138081e-02 9.99511719e-01 6.44062664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.87, Y:7.50, Z:0.64 [[ 9.22335387e-01 -3.86182552e-01 -1.26677041e-02 3.98743918e+01] [ 3.86038631e-01 9.22399019e-01 -1.24187745e-02 7.50345092e+00] [ 1.64805918e-02 6.56405205e-03 9.99842639e-01 6.36554150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.90, Y:7.52, Z:0.63 [[ 9.22368591e-01 -3.86274317e-01 -5.32302538e-03 3.98997854e+01] [ 3.86095146e-01 9.22226266e-01 -2.07183855e-02 7.52212090e+00] [ 1.29120140e-02 1.70547938e-02 9.99771181e-01 6.28529996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.93, Y:7.51, Z:0.64 [[ 9.22609942e-01 -3.85038057e-01 -2.31643986e-02 3.99326701e+01] [ 3.85447300e-01 9.22575622e-01 1.68700946e-02 7.51027050e+00] [ 1.48752810e-02 -2.44931719e-02 9.99589321e-01 6.44537125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.95, Y:7.55, Z:0.63 [[ 9.23090839e-01 -3.84573141e-01 -2.60790754e-03 3.99485175e+01] [ 3.84355070e-01 9.22757891e-01 -2.80901328e-02 7.55207485e+00] [ 1.32091779e-02 2.49273818e-02 9.99601992e-01 6.26458014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:7.53, Z:0.65 [[ 9.23383707e-01 -3.83142122e-01 -2.37622212e-02 3.99841919e+01] [ 3.83583030e-01 9.23331416e-01 1.79765099e-02 7.53488542e+00] [ 1.50528472e-02 -2.57140012e-02 9.99556002e-01 6.45170229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.00, Y:7.57, Z:0.63 [[ 9.23705917e-01 -3.83079895e-01 -4.14397743e-03 4.00026195e+01] [ 3.82851334e-01 9.23438258e-01 -2.62038010e-02 7.57352791e+00] [ 1.38648566e-02 2.26180788e-02 9.99648032e-01 6.28665034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.04, Y:7.56, Z:0.64 [[ 9.24810898e-01 -3.79805934e-01 -2.17314297e-02 4.00373900e+01] [ 3.80108985e-01 9.24864344e-01 1.19626220e-02 7.55964908e+00] [ 1.55551496e-02 -1.93234749e-02 9.99692273e-01 6.43473299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:7.58, Z:0.64 [[ 9.24549644e-01 -3.80788160e-01 -1.44337730e-02 4.00597142e+01] [ 3.80709703e-01 9.24660446e-01 -7.94868931e-03 7.58340313e+00] [ 1.63731057e-02 1.85388045e-03 9.99864233e-01 6.38959987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:7.59, Z:0.64 [[ 9.24339162e-01 -3.81137506e-01 -1.82020480e-02 4.00835543e+01] [ 3.81197019e-01 9.24493800e-01 -2.15847836e-04 7.58995036e+00] [ 1.69099482e-02 -6.73904981e-03 9.99834306e-01 6.43372638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:7.61, Z:0.64 [[ 9.24282554e-01 -3.81410722e-01 -1.50871115e-02 4.01070337e+01] [ 3.81367842e-01 9.24405570e-01 -5.73685123e-03 7.60600979e+00] [ 1.61347064e-02 -4.51267638e-04 9.99869725e-01 6.42084821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.13, Y:7.62, Z:0.64 [[ 9.24158736e-01 -3.81710709e-01 -1.50852601e-02 4.01336461e+01] [ 3.81667789e-01 9.24281738e-01 -5.74171623e-03 7.61637083e+00] [ 1.61347050e-02 -4.51300649e-04 9.99869725e-01 6.42380148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.16, Y:7.63, Z:0.64 [[ 9.23582789e-01 -3.83171841e-01 -1.31974560e-02 4.01572678e+01] [ 3.82927321e-01 9.23606794e-01 -1.78088879e-02 7.63443661e+00] [ 1.90131244e-02 1.13943158e-02 9.99754305e-01 6.41447581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.19, Y:7.63, Z:0.65 [[ 9.23856921e-01 -3.82271315e-01 -1.88952562e-02 4.01877052e+01] [ 3.82427248e-01 9.23970222e-01 5.33193674e-03 7.63127409e+00] [ 1.54204076e-02 -1.21520075e-02 9.99807251e-01 6.46305348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:7.65, Z:0.64 [[ 9.23498066e-01 -3.83342865e-01 -1.41268917e-02 4.02103849e+01] [ 3.83305210e-01 9.23606007e-01 -5.39064507e-03 7.64860000e+00] [ 1.51141474e-02 -4.36660907e-04 9.99885679e-01 6.44080649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:7.66, Z:0.64 [[ 9.23123431e-01 -3.84247834e-01 -1.40261404e-02 4.02359443e+01] [ 3.84210767e-01 9.23229876e-01 -5.35558442e-03 7.65942879e+00] [ 1.50072236e-02 -4.45128685e-04 9.99887286e-01 6.44283391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.26, Y:7.67, Z:0.64 [[ 9.22688086e-01 -3.85296039e-01 -1.39160731e-02 4.02607023e+01] [ 3.85259595e-01 9.22792911e-01 -5.31871819e-03 7.67005987e+00] [ 1.48909346e-02 -4.53782757e-04 9.99889021e-01 6.44132824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.29, Y:7.68, Z:0.64 [[ 9.21884014e-01 -3.87217226e-01 -1.38810763e-02 4.02866746e+01] [ 3.87181118e-01 9.21988389e-01 -5.30966148e-03 7.68194471e+00] [ 1.48541836e-02 -4.79598615e-04 9.99889556e-01 6.43849223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:7.69, Z:0.64 [[ 9.21467614e-01 -3.88211333e-01 -1.37621771e-02 4.03126411e+01] [ 3.88175871e-01 9.21570249e-01 -5.26959306e-03 7.69249358e+00] [ 1.47285287e-02 -4.86385736e-04 9.99891411e-01 6.44183998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.34, Y:7.70, Z:0.64 [[ 9.21058285e-01 -3.89186355e-01 -1.36241026e-02 4.03384038e+01] [ 3.89151630e-01 9.21158911e-01 -5.22207347e-03 7.70299736e+00] [ 1.45823232e-02 -4.92007696e-04 9.99893551e-01 6.44489469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:7.71, Z:0.64 [[ 9.20703005e-01 -3.90021812e-01 -1.37463444e-02 4.03638762e+01] [ 3.89986486e-01 9.20805479e-01 -5.27351837e-03 7.71342818e+00] [ 1.47144964e-02 -5.05544338e-04 9.99891608e-01 6.44614943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.39, Y:7.72, Z:0.64 [[ 9.20646856e-01 -3.90158096e-01 -1.36391597e-02 4.03895821e+01] [ 3.90123289e-01 9.20747744e-01 -5.23552416e-03 7.72380883e+00] [ 1.46009077e-02 -5.00884991e-04 9.99893276e-01 6.44794948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.42, Y:7.73, Z:0.64 [[ 9.20497022e-01 -3.90517772e-01 -1.34574044e-02 4.04154797e+01] [ 3.90483850e-01 9.20595255e-01 -5.17095570e-03 7.73456188e+00] [ 1.44081727e-02 -4.95049753e-04 9.99896074e-01 6.44675065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:7.75, Z:0.64 [[ 9.20858992e-01 -3.89662642e-01 -1.34811578e-02 4.04406807e+01] [ 3.89628442e-01 9.20957543e-01 -5.18461935e-03 7.74524722e+00] [ 1.44358265e-02 -4.78339183e-04 9.99895684e-01 6.44189385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:7.76, Z:0.64 [[ 9.21085924e-01 -3.89116751e-01 -1.37431442e-02 4.04668500e+01] [ 3.89081101e-01 9.21188324e-01 -5.28859872e-03 7.75522214e+00] [ 1.47179063e-02 -4.75943827e-04 9.99891572e-01 6.44235583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.49, Y:7.76, Z:0.64 [[ 9.21343097e-01 -3.88501217e-01 -1.39176707e-02 4.04930095e+01] [ 3.88464505e-01 9.21448092e-01 -5.36119640e-03 7.76484120e+00] [ 1.49072424e-02 -4.67019748e-04 9.99888772e-01 6.44455148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:7.77, Z:0.64 [[ 9.21608352e-01 -3.87854831e-01 -1.43761904e-02 4.05191157e+01] [ 3.87815494e-01 9.21720355e-01 -5.54347896e-03 7.77446231e+00] [ 1.54008924e-02 -4.66392868e-04 9.99881290e-01 6.44706361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:7.79, Z:0.64 [[ 9.21689466e-01 -3.87687408e-01 -1.36748509e-02 4.05462878e+01] [ 3.87497372e-01 9.21754403e-01 -1.46495082e-02 7.79017564e+00] [ 1.82842839e-02 8.20332856e-03 9.99799175e-01 6.43608548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:7.79, Z:0.65 [[ 9.22659012e-01 -3.85209545e-01 -1.77187355e-02 4.05730971e+01] [ 3.85311334e-01 9.22782957e-01 2.60584658e-03 7.78827872e+00] [ 1.53467502e-02 -9.23153745e-03 9.99839615e-01 6.46523259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.60, Y:7.80, Z:0.64 [[ 9.23040390e-01 -3.84418486e-01 -1.47941108e-02 4.05960364e+01] [ 3.84376200e-01 9.23158848e-01 -5.71638120e-03 7.80277891e+00] [ 1.58547969e-02 -4.10053371e-04 9.99874221e-01 6.44829378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.62, Y:7.81, Z:0.64 [[ 9.23803046e-01 -3.82609569e-01 -1.40659285e-02 4.06228519e+01] [ 3.82571088e-01 9.23910055e-01 -5.43811281e-03 7.81226458e+00] [ 1.50763268e-02 -3.57472392e-04 9.99886282e-01 6.44998019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.562755096000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.65, Y:7.82, Z:0.65 [[ 9.24074500e-01 -3.81956556e-01 -1.39824158e-02 4.06486010e+01] [ 3.81918390e-01 9.24180217e-01 -5.41016949e-03 7.82143682e+00] [ 1.49887218e-02 -3.40742086e-04 9.99887605e-01 6.45933255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.68, Y:7.83, Z:0.65 [[ 9.24395006e-01 -3.81226929e-01 -1.26452483e-02 4.06753468e+01] [ 3.81195611e-01 9.24481445e-01 -4.89531602e-03 7.83008763e+00] [ 1.35565237e-02 -2.95107477e-04 9.99908063e-01 6.46707977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:7.84, Z:0.65 [[ 9.24255913e-01 -3.81585324e-01 -1.19853123e-02 4.07007233e+01] [ 3.81557163e-01 9.24333577e-01 -4.64430278e-03 7.83944348e+00] [ 1.28506243e-02 -2.80557446e-04 9.99917388e-01 6.47015146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:7.85, Z:0.65 [[ 9.24108998e-01 -3.81956511e-01 -1.14797221e-02 4.07268032e+01] [ 3.81930652e-01 9.24180259e-01 -4.45264878e-03 7.84908076e+00] [ 1.23100507e-02 -2.69724955e-04 9.99924192e-01 6.47484917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.75, Y:7.86, Z:0.65 [[ 9.23764068e-01 -3.82812839e-01 -1.06900636e-02 4.07523478e+01] [ 3.82790430e-01 9.23825884e-01 -4.15009730e-03 7.85753185e+00] [ 1.14644680e-02 -2.58343300e-04 9.99934247e-01 6.47778931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.78, Y:7.87, Z:0.65 [[ 9.23249731e-01 -3.84059560e-01 -1.04013440e-02 4.07784965e+01] [ 3.84038405e-01 9.23308282e-01 -4.03970832e-03 7.86678334e+00] [ 1.11551356e-02 -2.64855936e-04 9.99937744e-01 6.47960860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.80, Y:7.88, Z:0.65 [[ 9.22785071e-01 -3.85180075e-01 -1.01990883e-02 4.08040240e+01] [ 3.85159765e-01 9.22841393e-01 -3.96470496e-03 7.87562467e+00] [ 1.09392663e-02 -2.69707922e-04 9.99940128e-01 6.48626727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.83, Y:7.88, Z:0.65 [[ 9.22238694e-01 -3.86497649e-01 -9.76514828e-03 4.08306220e+01] [ 3.86479080e-01 9.22290352e-01 -3.79829157e-03 7.88466631e+00] [ 1.04743328e-02 -2.71094064e-04 9.99945106e-01 6.49089942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.86, Y:7.90, Z:0.65 [[ 9.21092830e-01 -3.89251330e-01 -8.44992570e-03 4.08561694e+01] [ 3.89147116e-01 9.21100908e-01 -1.17320249e-02 7.89766752e+00] [ 1.23499405e-02 7.51801982e-03 9.99895474e-01 6.48431464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.89, Y:7.90, Z:0.65 [[ 9.20573866e-01 -3.90427505e-01 -1.04938193e-02 4.08851871e+01] [ 3.90381096e-01 9.20632197e-01 -6.24155995e-03 7.90445863e+00] [ 1.20978246e-02 1.64922831e-03 9.99925459e-01 6.50424492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.91, Y:7.91, Z:0.65 [[ 9.20869142e-01 -3.89683289e-01 -1.21226247e-02 4.09132230e+01] [ 3.89762906e-01 9.20901648e-01 5.00308185e-03 7.90584686e+00] [ 9.21412766e-03 -9.33213312e-03 9.99914002e-01 6.52667923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:7.93, Z:0.65 [[ 9.21015340e-01 -3.89456516e-01 -7.37324243e-03 4.09350038e+01] [ 3.89298856e-01 9.20959397e-01 -1.67388724e-02 7.92766534e+00] [ 1.33095198e-02 1.25463634e-02 9.99832709e-01 6.48739493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:7.93, Z:0.65 [[ 9.21348308e-01 -3.88534249e-01 -1.25870108e-02 4.09650508e+01] [ 3.88539836e-01 9.21429537e-01 -2.09841041e-03 7.92863409e+00] [ 1.24133478e-02 -2.95718822e-03 9.99918579e-01 6.52607493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.99, Y:7.94, Z:0.65 [[ 9.21830899e-01 -3.87396640e-01 -1.23140813e-02 4.09929382e+01] [ 3.87406466e-01 9.21907494e-01 -1.67407436e-03 7.93717417e+00] [ 1.20009746e-02 -3.22734123e-03 9.99922777e-01 6.52815868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.02, Y:7.94, Z:0.65 [[ 9.21999828e-01 -3.86991123e-01 -1.24172320e-02 4.10199501e+01] [ 3.87052571e-01 9.22053079e-01 2.90302856e-03 7.94375045e+00] [ 1.03259007e-02 -7.48271338e-03 9.99918689e-01 6.53500447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:7.96, Z:0.65 [[ 9.22357929e-01 -3.86254340e-01 -7.96466145e-03 4.10420787e+01] [ 3.86085987e-01 9.22306286e-01 -1.69919014e-02 7.96353838e+00] [ 1.39090530e-02 1.25975708e-02 9.99823904e-01 6.49855559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:7.96, Z:0.66 [[ 9.22512357e-01 -3.85687023e-01 -1.47129764e-02 4.10763664e+01] [ 3.85815715e-01 9.22548352e-01 7.12546635e-03 7.95863833e+00] [ 1.08252322e-02 -1.22498283e-02 9.99866369e-01 6.55254887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:7.97, Z:0.65 [[ 9.22613655e-01 -3.85584173e-01 -1.04350170e-02 4.10997684e+01] [ 3.85562619e-01 9.22672629e-01 -4.08484833e-03 7.97432783e+00] [ 1.12031574e-02 -2.54615630e-04 9.99937210e-01 6.52516905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.12, Y:7.99, Z:0.65 [[ 9.22507947e-01 -3.85888434e-01 -8.31889124e-03 4.11237126e+01] [ 3.85627892e-01 9.22374760e-01 -2.27141381e-02 7.99408225e+00] [ 1.64382585e-02 1.77459764e-02 9.99707389e-01 6.50292941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:7.99, Z:0.66 [[ 9.22989375e-01 -3.84527537e-01 -1.51389309e-02 4.11544587e+01] [ 3.84594617e-01 9.23084037e-01 1.68530040e-03 7.98745876e+00] [ 1.33264610e-02 -7.37786568e-03 9.99883980e-01 6.56381950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:8.00, Z:0.66 [[ 9.22886104e-01 -3.84811817e-01 -1.41811695e-02 4.11820234e+01] [ 3.84919978e-01 9.22931718e-01 5.80119209e-03 7.99567284e+00] [ 1.08558839e-02 -1.08124550e-02 9.99882613e-01 6.57031846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:8.02, Z:0.65 [[ 9.22340563e-01 -3.86287503e-01 -8.35768896e-03 4.12065009e+01] [ 3.86145495e-01 9.22320236e-01 -1.47322338e-02 8.01870928e+00] [ 1.33993434e-02 1.03608528e-02 9.99856545e-01 6.52984407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:8.01, Z:0.66 [[ 9.22917870e-01 -3.84746035e-01 -1.38958131e-02 4.12348419e+01] [ 3.84854114e-01 9.22957358e-01 6.08490478e-03 8.01474573e+00] [ 1.04840999e-02 -1.09637282e-02 9.99884934e-01 6.57964257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.26, Y:8.04, Z:0.65 [[ 9.22761343e-01 -3.85275898e-01 -8.60155630e-03 4.12560980e+01] [ 3.85138121e-01 9.22749155e-01 -1.42346065e-02 8.03592133e+00] [ 1.34213296e-02 9.82235738e-03 9.99861685e-01 6.53801454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:8.03, Z:0.66 [[ 9.22580821e-01 -3.85563383e-01 -1.36201114e-02 4.12871055e+01] [ 3.85661494e-01 9.22624489e-01 5.40955193e-03 8.03413440e+00] [ 1.04805232e-02 -1.02435014e-02 9.99892609e-01 6.58177857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:8.05, Z:0.66 [[ 9.22405335e-01 -3.86091755e-01 -1.00774103e-02 4.13111915e+01] [ 3.86071477e-01 9.22460353e-01 -3.96395955e-03 8.04934174e+00] [ 1.08264635e-02 -2.34223224e-04 9.99941365e-01 6.55897828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:8.06, Z:0.65 [[ 9.22069650e-01 -3.86907086e-01 -9.51145545e-03 4.13361997e+01] [ 3.86806105e-01 9.22096746e-01 -1.08916904e-02 8.06290280e+00] [ 1.29845543e-02 6.36380808e-03 9.99895446e-01 6.54842419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.36, Y:8.07, Z:0.66 [[ 9.21912165e-01 -3.87208243e-01 -1.21546792e-02 4.13642285e+01] [ 3.87204493e-01 9.21989743e-01 -2.75580416e-03 8.06743307e+00] [ 1.22735596e-02 -2.16573702e-03 9.99922332e-01 6.57503772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.39, Y:8.08, Z:0.66 [[ 9.21049328e-01 -3.89277961e-01 -1.14369631e-02 4.13915794e+01] [ 3.89249326e-01 9.21120328e-01 -4.72265503e-03 8.07928877e+00] [ 1.23732447e-02 -1.02031919e-04 9.99923443e-01 6.57449356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:8.09, Z:0.66 [[ 9.20385802e-01 -3.90856496e-01 -1.10079473e-02 4.14171529e+01] [ 3.90798171e-01 9.20448883e-01 -7.11646960e-03 8.08950522e+00] [ 1.29137711e-02 2.24801192e-03 9.99914087e-01 6.57861957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:8.09, Z:0.66 [[ 9.20181886e-01 -3.91280098e-01 -1.28522760e-02 4.14457825e+01] [ 3.91347099e-01 9.20237959e-01 3.08993294e-03 8.09356822e+00] [ 1.06181230e-02 -7.87300124e-03 9.99912632e-01 6.60447169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.47, Y:8.12, Z:0.64 [[ 9.19643298e-01 -3.92746505e-01 2.52726806e-03 4.14651412e+01] [ 3.92652018e-01 9.19236896e-01 -2.87736236e-02 8.12246429e+00] [ 8.97758206e-03 2.74538070e-02 9.99582759e-01 6.43304451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:8.11, Z:0.66 [[ 9.19139563e-01 -3.93641858e-01 -1.51179149e-02 4.14987344e+01] [ 3.93670370e-01 9.19250934e-01 -1.16641195e-03 8.11300480e+00] [ 1.43563060e-02 -4.87937980e-03 9.99885037e-01 6.59331502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:8.11, Z:0.66 [[ 9.19421028e-01 -3.92925476e-01 -1.65693413e-02 4.15292210e+01] [ 3.93166281e-01 9.19340584e-01 1.52697857e-02 8.11284224e+00] [ 9.23298011e-03 -2.05538684e-02 9.99746113e-01 6.62573892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:8.13, Z:0.66 [[ 9.19927900e-01 -3.91953906e-01 -1.02369271e-02 4.15550581e+01] [ 3.91950297e-01 9.19983158e-01 -2.44005589e-03 8.12961179e+00] [ 1.03741900e-02 -1.76769113e-03 9.99944624e-01 6.56881573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:8.14, Z:0.66 [[ 9.19656727e-01 -3.92623079e-01 -8.86690545e-03 4.15777158e+01] [ 3.92592397e-01 9.19698744e-01 -5.04286364e-03 8.14167791e+00] [ 1.01348265e-02 1.15662380e-03 9.99947972e-01 6.56933013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.60, Y:8.15, Z:0.66 [[ 9.20604960e-01 -3.90372757e-01 -9.77843222e-03 4.16040681e+01] [ 3.90353559e-01 9.20656858e-01 -3.87924048e-03 8.14908714e+00] [ 1.05169305e-02 -2.45797794e-04 9.99944665e-01 6.57684297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.63, Y:8.17, Z:0.65 [[ 9.21270294e-01 -3.88900806e-01 -4.14842613e-03 4.16301892e+01] [ 3.88808454e-01 9.21205509e-01 -1.44359372e-02 8.16602238e+00] [ 9.43570063e-03 1.16864570e-02 9.99887191e-01 6.50021361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:8.16, Z:0.66 [[ 9.21841304e-01 -3.87311952e-01 -1.40734521e-02 4.16606235e+01] [ 3.87434191e-01 9.21868868e-01 7.24832335e-03 8.16234804e+00] [ 1.01665151e-02 -1.21343404e-02 9.99874692e-01 6.61508354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:8.18, Z:0.66 [[ 9.22624947e-01 -3.85602183e-01 -8.61178443e-03 4.16864335e+01] [ 3.85561623e-01 9.22662425e-01 -6.02361965e-03 8.18008495e+00] [ 1.02684908e-02 2.23716819e-03 9.99944775e-01 6.57115473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:8.19, Z:0.66 [[ 9.23674809e-01 -3.83034305e-01 -1.04675464e-02 4.17119727e+01] [ 3.83040348e-01 9.23730393e-01 -1.50071963e-03 8.18534349e+00] [ 1.02440178e-02 -2.62331569e-03 9.99944088e-01 6.60169195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:8.20, Z:0.66 [[ 9.23988798e-01 -3.82308090e-01 -9.23178552e-03 4.17381274e+01] [ 3.82290471e-01 9.24034905e-01 -3.67285898e-03 8.19620923e+00] [ 9.93465575e-03 -1.35543080e-04 9.99950641e-01 6.59978694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:8.21, Z:0.66 [[ 9.24189828e-01 -3.81818482e-01 -9.37065498e-03 4.17643005e+01] [ 3.81800269e-01 9.24237323e-01 -3.73159597e-03 8.20528395e+00] [ 1.00855014e-02 -1.29015560e-04 9.99949132e-01 6.60525653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:8.21, Z:0.66 [[ 9.24154291e-01 -3.81922246e-01 -8.61647984e-03 4.17918601e+01] [ 3.81906825e-01 9.24194451e-01 -3.43405992e-03 8.21305580e+00] [ 9.27484674e-03 -1.17091249e-04 9.99956981e-01 6.60887736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:8.22, Z:0.66 [[ 9.24039237e-01 -3.82200555e-01 -8.61535148e-03 4.18183362e+01] [ 3.82185120e-01 9.24079392e-01 -3.43688799e-03 8.22378998e+00] [ 9.27484925e-03 -1.16839783e-04 9.99956981e-01 6.61236989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:8.23, Z:0.66 [[ 9.24074698e-01 -3.82099121e-01 -9.28518142e-03 4.18477751e+01] [ 3.82090680e-01 9.24120784e-01 -2.73659744e-03 8.23233758e+00] [ 9.62628061e-03 -1.01896083e-03 9.99953147e-01 6.61781934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:8.25, Z:0.65 [[ 9.23436377e-01 -3.83740405e-01 -2.92563518e-03 4.18691581e+01] [ 3.83661347e-01 9.23357767e-01 -1.46426101e-02 8.24950761e+00] [ 8.32036910e-03 1.23990657e-02 9.99888511e-01 6.54532192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.90, Y:8.25, Z:0.66 [[ 9.22630521e-01 -3.85546139e-01 -1.03487204e-02 4.19010461e+01] [ 3.85576118e-01 9.22675491e-01 9.97393253e-04 8.24698922e+00] [ 9.16396957e-03 -4.91044490e-03 9.99945953e-01 6.61525311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:8.25, Z:0.67 [[ 9.21974918e-01 -3.87074081e-01 -1.16579002e-02 4.19256840e+01] [ 3.87131003e-01 9.22019803e-01 3.01137826e-03 8.25357245e+00] [ 9.58318842e-03 -7.28954984e-03 9.99927510e-01 6.65282795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.032755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.95, Y:8.27, Z:0.66 [[ 9.21346327e-01 -3.88726023e-01 -3.60905802e-03 4.19505259e+01] [ 3.88627436e-01 9.21259404e-01 -1.58058907e-02 8.27116673e+00] [ 9.46903969e-03 1.31601204e-02 9.99868566e-01 6.56658668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.98, Y:8.27, Z:0.66 [[ 9.20695646e-01 -3.90190534e-01 -8.41869092e-03 4.19801637e+01] [ 3.90185189e-01 9.20733437e-01 -2.33597407e-03 8.27177592e+00] [ 8.66284519e-03 -1.13412736e-03 9.99961834e-01 6.60816598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.01, Y:8.28, Z:0.66 [[ 9.20535355e-01 -3.90544833e-01 -9.45480793e-03 4.20063976e+01] [ 3.90493646e-01 9.20580232e-01 -6.83731277e-03 8.28250619e+00] [ 1.13741864e-02 2.60194572e-03 9.99931927e-01 6.61909450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:8.29, Z:0.67 [[ 9.20015074e-01 -3.91676072e-01 -1.27325457e-02 4.20311881e+01] [ 3.91710066e-01 9.20088684e-01 1.91938259e-04 8.28659851e+00] [ 1.16398936e-02 -5.16405240e-03 9.99918919e-01 6.66161793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.06, Y:8.29, Z:0.67 [[ 9.19629215e-01 -3.92596161e-01 -1.22622081e-02 4.20589473e+01] [ 3.92674603e-01 9.19665327e-01 4.72674052e-03 8.29422892e+00] [ 9.42142739e-03 -9.16190636e-03 9.99913644e-01 6.67351728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:8.31, Z:0.66 [[ 9.19828005e-01 -3.92224212e-01 -8.75262507e-03 4.20823723e+01] [ 3.92208511e-01 9.19869625e-01 -3.51513451e-03 8.30967010e+00] [ 9.42999481e-03 -1.99534881e-04 9.99955517e-01 6.64885540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:8.32, Z:0.67 [[ 9.20703540e-01 -3.90128868e-01 -1.02204928e-02 4.21134513e+01] [ 3.90121345e-01 9.20759190e-01 -2.80190370e-03 8.31776604e+00] [ 1.05037162e-02 -1.40750975e-03 9.99943844e-01 6.65819866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:8.33, Z:0.67 [[ 9.20485986e-01 -3.90638316e-01 -1.03564537e-02 4.21397814e+01] [ 3.90623324e-01 9.20543889e-01 -3.51656487e-03 8.32866738e+00] [ 1.09072752e-02 -8.08523689e-04 9.99940187e-01 6.66047233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:8.34, Z:0.66 [[ 9.20781397e-01 -3.89981081e-01 -8.73929039e-03 4.21632526e+01] [ 3.89934328e-01 9.20818991e-01 -6.60349361e-03 8.34284364e+00] [ 1.06225421e-02 2.67262475e-03 9.99940008e-01 6.64935672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:8.35, Z:0.66 [[ 9.20629733e-01 -3.90323817e-01 -9.39211693e-03 4.21884009e+01] [ 3.90262378e-01 9.20671128e-01 -7.74272701e-03 8.35321467e+00] [ 1.16692217e-02 3.46279482e-03 9.99925916e-01 6.64716920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:8.37, Z:0.67 [[ 9.20752333e-01 -3.90040454e-01 -9.14250566e-03 4.22139954e+01] [ 3.90013292e-01 9.20797437e-01 -4.65970369e-03 8.36519291e+00] [ 1.02358687e-02 7.24734313e-04 9.99947349e-01 6.65184661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:8.38, Z:0.66 [[ 9.20471104e-01 -3.90750233e-01 -6.87037184e-03 4.22371303e+01] [ 3.90681459e-01 9.20476624e-01 -9.52798258e-03 8.38032119e+00] [ 1.00470781e-02 6.08610575e-03 9.99931005e-01 6.61857672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.27, Y:8.38, Z:0.67 [[ 9.21189747e-01 -3.88669919e-01 -1.85780572e-02 4.22692521e+01] [ 3.88833165e-01 9.21288454e-01 6.02945665e-03 8.37904369e+00] [ 1.47722811e-02 -1.27780384e-02 9.99809233e-01 6.72765153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:8.41, Z:0.66 [[ 9.19834901e-01 -3.92264220e-01 -5.70410767e-03 4.22877796e+01] [ 3.92130463e-01 9.19761382e-01 -1.65136134e-02 8.40504408e+00] [ 1.17241176e-02 1.29530436e-02 9.99847370e-01 6.59887745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:8.41, Z:0.66 [[ 9.19003233e-01 -3.94191085e-01 -6.81512718e-03 4.23146304e+01] [ 3.94118247e-01 9.19005712e-01 -9.96539800e-03 8.41338015e+00] [ 1.01914119e-02 6.47226701e-03 9.99927120e-01 6.60092074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.34, Y:8.43, Z:0.66 [[ 9.18207528e-01 -3.96042195e-01 -6.74653820e-03 4.23396367e+01] [ 3.95993182e-01 9.18222442e-01 -7.54627515e-03 8.42505725e+00] [ 9.18346616e-03 4.25746352e-03 9.99948768e-01 6.59199721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:8.44, Z:0.66 [[ 9.17971430e-01 -3.96625278e-01 -4.10387487e-03 4.23651275e+01] [ 3.96565376e-01 9.17943793e-01 -1.07282568e-02 8.43872224e+00] [ 8.02222429e-03 8.22077853e-03 9.99934029e-01 6.56394093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.40, Y:8.43, Z:0.68 [[ 9.17546356e-01 -3.97012648e-01 -2.21278513e-02 4.23997679e+01] [ 3.97478780e-01 9.17307451e-01 2.36148399e-02 8.42850111e+00] [ 1.09226528e-02 -3.04630616e-02 9.99476212e-01 6.76523010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:8.46, Z:0.67 [[ 9.17008284e-01 -3.98712739e-01 -1.11337235e-02 4.24194270e+01] [ 3.98687271e-01 9.17075822e-01 -4.51623926e-03 8.45599178e+00] [ 1.20111508e-02 -2.97445041e-04 9.99927819e-01 6.67852787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:8.47, Z:0.67 [[ 9.16943931e-01 -3.98805558e-01 -1.29597298e-02 4.24464332e+01] [ 3.98770985e-01 9.17035446e-01 -5.26229685e-03 8.46535814e+00] [ 1.39831648e-02 -3.42733047e-04 9.99902172e-01 6.70191116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:8.48, Z:0.67 [[ 9.15942204e-01 -4.01172962e-01 -1.04944974e-02 4.24711569e+01] [ 4.01150411e-01 9.16002272e-01 -4.26442729e-03 8.47653367e+00] [ 1.13237564e-02 -3.03903027e-04 9.99935838e-01 6.68484902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:8.49, Z:0.67 [[ 9.15930354e-01 -4.01188211e-01 -1.09364803e-02 4.24973041e+01] [ 4.01163698e-01 9.15995590e-01 -4.44601398e-03 8.48629588e+00] [ 1.18014561e-02 -3.15079729e-04 9.99930311e-01 6.68531629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:8.50, Z:0.67 [[ 9.15332215e-01 -4.02556900e-01 -1.07181047e-02 4.25221612e+01] [ 4.02533405e-01 9.15394908e-01 -4.36119158e-03 8.49791827e+00] [ 1.15669263e-02 -3.22456036e-04 9.99933049e-01 6.68325516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:8.51, Z:0.67 [[ 9.15083387e-01 -4.03125788e-01 -1.05827165e-02 4.25474710e+01] [ 4.03102901e-01 9.15144521e-01 -4.30784268e-03 8.50868156e+00] [ 1.14213175e-02 -3.23888442e-04 9.99934722e-01 6.68129994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.752755096 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:42.57, Y:8.53, Z:0.67 [[ 9.14351518e-01 -4.04835852e-01 -8.32077669e-03 4.25716568e+01] [ 4.04611776e-01 9.14262925e-01 -2.03129134e-02 8.52977052e+00] [ 1.58307733e-02 1.52064590e-02 9.99759046e-01 6.65669491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:8.52, Z:0.68 [[ 9.14774435e-01 -4.03435872e-01 -2.06695584e-02 4.26083437e+01] [ 4.03795526e-01 9.14674920e-01 1.78595649e-02 8.51852089e+00] [ 1.17007375e-02 -2.46837485e-02 9.99626833e-01 6.76823718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:8.55, Z:0.67 [[ 9.14584306e-01 -4.04320607e-01 -7.77138115e-03 4.26261490e+01] [ 4.04228116e-01 9.14589914e-01 -1.11766851e-02 8.54685001e+00] [ 1.16265909e-02 7.08061003e-03 9.99907339e-01 6.66227549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:8.56, Z:0.67 [[ 9.14677045e-01 -4.04115997e-01 -7.49427609e-03 4.26499945e+01] [ 4.04049176e-01 9.14692891e-01 -9.00995868e-03 8.55616329e+00] [ 1.04960295e-02 5.21314630e-03 9.99931326e-01 6.66636832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:8.56, Z:0.67 [[ 9.14887087e-01 -4.03596317e-01 -9.57239728e-03 4.26775992e+01] [ 4.03577350e-01 9.14937122e-01 -3.92236553e-03 8.56404605e+00] [ 1.03411939e-02 -2.74681154e-04 9.99946491e-01 6.68830943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:8.57, Z:0.67 [[ 9.15438022e-01 -4.02266016e-01 -1.24611144e-02 4.27063952e+01] [ 4.02291560e-01 9.15511472e-01 -4.94551789e-04 8.57161038e+00] [ 1.16072346e-02 -4.56026965e-03 9.99922235e-01 6.71893092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.932755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:42.73, Y:8.59, Z:0.67 [[ 9.15765565e-01 -4.01613721e-01 -8.93577665e-03 4.27280018e+01] [ 4.01548797e-01 9.15800647e-01 -8.23036078e-03 8.58831292e+00] [ 1.14888159e-02 3.94893063e-03 9.99926204e-01 6.68152314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.75, Y:8.60, Z:0.67 [[ 9.15363922e-01 -4.02494114e-01 -1.03623709e-02 4.27545637e+01] [ 4.02376990e-01 9.15399122e-01 -1.17134596e-02 8.60228558e+00] [ 1.42003038e-02 6.55249872e-03 9.99877701e-01 6.67857823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.78, Y:8.60, Z:0.67 [[ 9.15960164e-01 -4.01001479e-01 -1.46557463e-02 4.27818592e+01] [ 4.01063749e-01 9.16048979e-01 1.46168028e-03 8.60449091e+00] [ 1.28392455e-02 -7.21672946e-03 9.99891530e-01 6.71490145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:8.61, Z:0.68 [[ 9.16362667e-01 -3.99885565e-01 -1.92613095e-02 4.28111350e+01] [ 4.00006516e-01 9.16508222e-01 2.73238066e-03 8.61208475e+00] [ 1.65605090e-02 -1.02085009e-02 9.99810750e-01 6.76634873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:8.62, Z:0.68 [[ 9.16297704e-01 -4.00066123e-01 -1.85907411e-02 4.28375732e+01] [ 4.00130622e-01 9.16458079e-01 -2.72173527e-04 8.62411155e+00] [ 1.71465223e-02 -7.18933282e-03 9.99827140e-01 6.76982472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:8.65, Z:0.67 [[ 9.15696064e-01 -4.01797667e-01 -7.70416788e-03 4.28551465e+01] [ 4.01589231e-01 9.15603105e-01 -1.99259759e-02 8.64855446e+00] [ 1.50601706e-02 1.51522268e-02 9.99771775e-01 6.66629285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.89, Y:8.65, Z:0.67 [[ 9.16007492e-01 -4.00963979e-01 -1.25762745e-02 4.28855557e+01] [ 4.00869253e-01 9.16086771e-01 -9.42711222e-03 8.65372187e+00] [ 1.53008911e-02 3.59386366e-03 9.99876476e-01 6.69831380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:8.67, Z:0.66 [[ 9.14564998e-01 -4.04407033e-01 -5.08096838e-03 4.29017003e+01] [ 4.04225858e-01 9.14418755e-01 -2.09712947e-02 8.67432489e+00] [ 1.31270719e-02 1.71257533e-02 9.99767167e-01 6.62398957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:8.66, Z:0.68 [[ 9.16013980e-01 -4.00353188e-01 -2.52133587e-02 4.29430987e+01] [ 4.00751644e-01 9.16090826e-01 1.32558948e-02 8.66182279e+00] [ 1.77906868e-02 -2.22468799e-02 9.99594202e-01 6.81294303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.97, Y:8.68, Z:0.68 [[ 9.16296614e-01 -3.99781027e-01 -2.39926138e-02 4.29699949e+01] [ 3.99931474e-01 9.16543593e-01 1.63035965e-03 8.67810286e+00] [ 2.13384896e-02 -1.10892944e-02 9.99710806e-01 6.81724776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:8.70, Z:0.67 [[ 9.15830469e-01 -4.01344315e-01 -1.33151559e-02 4.29883125e+01] [ 4.01116565e-01 9.15871230e-01 -1.68935088e-02 8.70129415e+00] [ 1.89750819e-02 1.01306605e-02 9.99768631e-01 6.72756239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.02, Y:8.70, Z:0.69 [[ 9.16186866e-01 -3.99846671e-01 -2.69122016e-02 4.30232412e+01] [ 4.00095124e-01 9.16463288e-01 4.35130064e-03 8.69685744e+00] [ 2.29241917e-02 -1.47540451e-02 9.99628331e-01 6.86572009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:8.71, Z:0.69 [[ 9.15792544e-01 -4.00873761e-01 -2.49848837e-02 4.30486398e+01] [ 4.00991056e-01 9.16081904e-01 -3.43376619e-04 8.71082297e+00] [ 2.30258506e-02 -9.70425317e-03 9.99687770e-01 6.86690749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.07, Y:8.73, Z:0.68 [[ 9.15638402e-01 -4.01657504e-01 -1.66603092e-02 4.30698705e+01] [ 4.01419995e-01 9.15756190e-01 -1.58930231e-02 8.73111795e+00] [ 2.16403333e-02 7.86448099e-03 9.99734888e-01 6.79941722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:8.75, Z:0.68 [[ 9.14514116e-01 -4.04395574e-01 -1.13203941e-02 4.30897467e+01] [ 4.04134672e-01 9.14482199e-01 -1.99367512e-02 8.74577368e+00] [ 1.84146328e-02 1.36574766e-02 9.99737153e-01 6.75231702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:8.74, Z:0.69 [[ 9.14655425e-01 -4.03525045e-01 -2.39372480e-02 4.31257025e+01] [ 4.03701572e-01 9.14886276e-01 2.85358979e-03 8.74115154e+00] [ 2.07483647e-02 -1.22735560e-02 9.99709390e-01 6.87649736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.15, Y:8.76, Z:0.69 [[ 9.14400790e-01 -4.04304047e-01 -2.02344421e-02 4.31481749e+01] [ 4.04231730e-01 9.14623965e-01 -7.72731226e-03 8.75707921e+00] [ 2.16310892e-02 -1.11354308e-03 9.99765400e-01 6.85678465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:8.78, Z:0.68 [[ 9.13280545e-01 -4.07108697e-01 -1.34594037e-02 4.31669014e+01] [ 4.06836846e-01 9.13301533e-01 -1.90811501e-02 8.77600149e+00] [ 2.00605962e-02 1.19506618e-02 9.99727340e-01 6.79043468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:8.78, Z:0.68 [[ 9.12879784e-01 -4.07812063e-01 -1.84342247e-02 4.31957052e+01] [ 4.07740118e-01 9.13065750e-01 -7.67679165e-03 8.78027911e+00] [ 1.99623474e-02 -5.08385043e-04 9.99800603e-01 6.83338536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:8.79, Z:0.68 [[ 9.12275119e-01 -4.09140480e-01 -1.89255126e-02 4.32205515e+01] [ 4.09064837e-01 9.12471242e-01 -7.88616232e-03 8.79119642e+00] [ 2.04955342e-02 -5.47412058e-04 9.99789795e-01 6.83785877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:8.80, Z:0.68 [[ 9.12029727e-01 -4.09676264e-01 -1.91607860e-02 4.32453444e+01] [ 4.09598784e-01 9.12230805e-01 -7.98718500e-03 8.80211080e+00] [ 2.07512193e-02 -5.63684484e-04 9.99784511e-01 6.84010253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:8.81, Z:0.68 [[ 9.11735875e-01 -4.10311662e-01 -1.95456943e-02 4.32714153e+01] [ 4.10231071e-01 9.11945173e-01 -8.15293843e-03 8.81354403e+00] [ 2.11698472e-02 -5.84924636e-04 9.99775723e-01 6.84757096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:8.82, Z:0.69 [[ 9.11418556e-01 -4.11019870e-01 -1.94649075e-02 4.32961133e+01] [ 4.10939985e-01 9.11626192e-01 -8.12495004e-03 8.82442777e+00] [ 2.10842354e-02 -5.93678571e-04 9.99777527e-01 6.85420139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:8.84, Z:0.69 [[ 9.10774075e-01 -4.12423440e-01 -1.99371554e-02 4.33215602e+01] [ 4.12339836e-01 9.10992043e-01 -8.32813783e-03 8.83527393e+00] [ 2.15973092e-02 -6.35831340e-04 9.99766549e-01 6.86035816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:8.86, Z:0.67 [[ 9.09952034e-01 -4.14618175e-01 -8.89185482e-03 4.33423791e+01] [ 4.14289281e-01 9.09781792e-01 -2.57193123e-02 8.85836449e+00] [ 1.87533419e-02 1.97195404e-02 9.99629657e-01 6.74094607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:8.85, Z:0.69 [[ 9.10186734e-01 -4.13232726e-01 -2.82634566e-02 4.33775166e+01] [ 4.13639055e-01 9.10383764e-01 1.02045820e-02 8.84655278e+00] [ 2.15137247e-02 -2.09789446e-02 9.99548420e-01 6.93572432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.39, Y:8.89, Z:0.67 [[ 9.09636568e-01 -4.15350005e-01 -6.75917056e-03 4.33907776e+01] [ 4.14953735e-01 9.09286343e-01 -3.18079331e-02 8.88578659e+00] [ 1.93574466e-02 2.61289160e-02 9.99471145e-01 6.73297788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.42, Y:8.89, Z:0.68 [[ 9.09387308e-01 -4.15657918e-01 -1.55954673e-02 4.34222580e+01] [ 4.15512485e-01 9.09511170e-01 -1.17815772e-02 8.88585110e+00] [ 1.90813576e-02 4.23390539e-03 9.99808970e-01 6.79705312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.45, Y:8.89, Z:0.68 [[ 9.09260806e-01 -4.15845338e-01 -1.78168585e-02 4.34498389e+01] [ 4.15769910e-01 9.09435326e-01 -7.92270674e-03 8.89473651e+00] [ 1.94979012e-02 -2.03906912e-04 9.99809877e-01 6.81815443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.48, Y:8.89, Z:0.70 [[ 9.09221060e-01 -4.14998214e-01 -3.30688171e-02 4.34836481e+01] [ 4.15728196e-01 9.09284691e-01 1.92721782e-02 8.88999556e+00] [ 2.20710496e-02 -3.12703100e-02 9.99267250e-01 6.99230444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.832755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.49, Y:8.94, Z:0.67 [[ 9.08783377e-01 -4.17243855e-01 -4.51003584e-03 4.34941826e+01] [ 4.16791044e-01 9.08207837e-01 -3.79967089e-02 8.93756530e+00] [ 1.99499432e-02 3.26510348e-02 9.99267687e-01 6.72166279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:8.91, Z:0.70 [[ 9.08573858e-01 -4.16404530e-01 -3.31784719e-02 4.35359278e+01] [ 4.17194005e-01 9.08554439e-01 2.18630583e-02 8.91202835e+00] [ 2.10405714e-02 -3.37060628e-02 9.99210286e-01 6.99960072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:8.94, Z:0.69 [[ 9.08442775e-01 -4.17483172e-01 -2.09648483e-02 4.35533976e+01] [ 4.17391146e-01 9.08684338e-01 -8.79800735e-03 8.94030447e+00] [ 2.27234493e-02 -7.58055824e-04 9.99741502e-01 6.90123335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.58, Y:8.95, Z:0.69 [[ 9.08587447e-01 -4.17195781e-01 -2.04091103e-02 4.35790464e+01] [ 4.17108382e-01 9.08816347e-01 -8.57002352e-03 8.95179700e+00] [ 2.21235107e-02 -7.26195186e-04 9.99754981e-01 6.89466190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:8.97, Z:0.69 [[ 9.08525006e-01 -4.17382613e-01 -1.93408315e-02 4.36039221e+01] [ 4.17086239e-01 9.08696179e-01 -1.76159839e-02 8.96887252e+00] [ 2.49275451e-02 7.93776716e-03 9.99657746e-01 6.87788345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:8.97, Z:0.69 [[ 9.09808801e-01 -4.14378714e-01 -2.31997099e-02 4.36332113e+01] [ 4.14484049e-01 9.10056529e-01 -2.93903562e-04 8.97038714e+00] [ 2.12348349e-02 -9.34851366e-03 9.99730807e-01 6.92123649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:8.99, Z:0.69 [[ 9.10312042e-01 -4.13452568e-01 -1.97220887e-02 4.36567255e+01] [ 4.13369721e-01 9.10525461e-01 -8.29806228e-03 8.98630659e+00] [ 2.13883190e-02 -5.98688279e-04 9.99771064e-01 6.89783110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:9.00, Z:0.69 [[ 9.10747761e-01 -4.12512472e-01 -1.92866976e-02 4.36821423e+01] [ 4.12432889e-01 9.10951782e-01 -8.12172323e-03 8.99754218e+00] [ 2.09195637e-02 -5.57627177e-04 9.99781006e-01 6.89902192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:9.01, Z:0.69 [[ 9.11258829e-01 -4.11390478e-01 -1.91107782e-02 4.37078635e+01] [ 4.11311951e-01 9.11459052e-01 -8.05454247e-03 9.00894647e+00] [ 2.07322538e-02 -5.20718518e-04 9.99784928e-01 6.90155236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:9.02, Z:0.69 [[ 9.12106981e-01 -4.09566003e-01 -1.77916911e-02 4.37323323e+01] [ 4.09497507e-01 9.12280381e-01 -7.50321678e-03 9.01996903e+00] [ 1.93040732e-02 -4.41916729e-04 9.99813561e-01 6.90062737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:9.03, Z:0.69 [[ 9.12364253e-01 -4.09031455e-01 -1.68742273e-02 4.37577358e+01] [ 4.08969677e-01 9.12520194e-01 -7.12024640e-03 9.03124337e+00] [ 1.83104780e-02 -4.04789021e-04 9.99832267e-01 6.90014049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:9.04, Z:0.69 [[ 9.12695865e-01 -4.08326563e-01 -1.59898665e-02 4.37821045e+01] [ 4.08270907e-01 9.12835847e-01 -6.75148419e-03 9.04194093e+00] [ 1.73529336e-02 -3.66145572e-04 9.99849359e-01 6.89774975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.192755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.81, Y:9.06, Z:0.69 [[ 9.13465446e-01 -4.06646704e-01 -1.48100138e-02 4.38053600e+01] [ 4.06486956e-01 9.13568540e-01 -1.26837482e-02 9.05501035e+00] [ 1.86877671e-02 5.56608830e-03 9.99809875e-01 6.88344546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:9.06, Z:0.69 [[ 9.12490847e-01 -4.08725600e-01 -1.74309732e-02 4.38361079e+01] [ 4.08769128e-01 9.12637100e-01 -1.15073751e-03 9.06148245e+00] [ 1.63784887e-02 -6.07520629e-03 9.99847407e-01 6.91574654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:9.08, Z:0.69 [[ 9.12004753e-01 -4.09914547e-01 -1.47442899e-02 4.38600055e+01] [ 4.09867298e-01 9.12123860e-01 -6.23390667e-03 9.07562934e+00] [ 1.60039877e-02 -3.57849760e-04 9.99871864e-01 6.89967365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.88, Y:9.10, Z:0.69 [[ 9.11227462e-01 -4.11716205e-01 -1.24209255e-02 4.38818883e+01] [ 4.11330046e-01 9.11135657e-01 -2.52865014e-02 9.09707702e+00] [ 2.17280105e-02 1.79326547e-02 9.99603078e-01 6.86468302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.92, Y:9.09, Z:0.70 [[ 9.10957819e-01 -4.11893804e-01 -2.23460532e-02 4.39156312e+01] [ 4.12168159e-01 9.11060390e-01 9.29372623e-03 9.08870759e+00] [ 1.65305757e-02 -1.76765242e-02 9.99707097e-01 6.95925916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.342755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.93, Y:9.11, Z:0.69 [[ 9.10539360e-01 -4.13191339e-01 -1.38199284e-02 4.39349249e+01] [ 4.12962755e-01 9.10594580e-01 -1.67114786e-02 9.11429876e+00] [ 1.94893901e-02 9.50934337e-03 9.99764840e-01 6.89123729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.97, Y:9.11, Z:0.69 [[ 9.09067361e-01 -4.16226332e-01 -1.87662944e-02 4.39664786e+01] [ 4.16382563e-01 9.09174711e-01 5.18711631e-03 9.11384370e+00] [ 1.49028259e-02 -1.25293959e-02 9.99810442e-01 6.94770350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:9.14, Z:0.69 [[ 9.08435083e-01 -4.17858849e-01 -1.18186965e-02 4.39863953e+01] [ 4.17613228e-01 9.08431416e-01 -1.87497867e-02 9.13793074e+00] [ 1.85712395e-02 1.20973201e-02 9.99754352e-01 6.89299210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:9.15, Z:0.69 [[ 9.06976152e-01 -4.20863979e-01 -1.63637444e-02 4.40141398e+01] [ 4.20703174e-01 9.07113114e-01 -1.24353221e-02 9.14511704e+00] [ 2.00773463e-02 4.39426133e-03 9.99788773e-01 6.91792568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:9.15, Z:0.69 [[ 9.06216637e-01 -4.22375226e-01 -1.92503152e-02 4.40422258e+01] [ 4.22398833e-01 9.06405037e-01 -3.02243215e-03 9.15113043e+00] [ 1.87251831e-02 -5.39233237e-03 9.99810127e-01 6.94146480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:9.17, Z:0.69 [[ 9.05163693e-01 -4.24696144e-01 -1.76599319e-02 4.40660569e+01] [ 4.24536664e-01 9.05329171e-01 -1.21537013e-02 9.16766661e+00] [ 2.11496816e-02 3.50380060e-03 9.99770181e-01 6.91906652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.10, Y:9.17, Z:0.69 [[ 9.03923468e-01 -4.27134245e-01 -2.18792049e-02 4.40959021e+01] [ 4.27352412e-01 9.04063289e-01 6.28378308e-03 9.16893625e+00] [ 1.70961670e-02 -1.50301900e-02 9.99740874e-01 6.94757761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:9.19, Z:0.69 [[ 9.03442585e-01 -4.28412002e-01 -1.59577868e-02 4.41183941e+01] [ 4.28358895e-01 9.03583231e-01 -6.78249339e-03 9.18803014e+00] [ 1.73248901e-02 -7.08066560e-04 9.99849662e-01 6.90226385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.14, Y:9.20, Z:0.69 [[ 9.03230552e-01 -4.28848061e-01 -1.62453069e-02 4.41442260e+01] [ 4.28792993e-01 9.03376342e-01 -6.91037947e-03 9.19949418e+00] [ 1.76391288e-02 -7.24207916e-04 9.99844156e-01 6.90810511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:9.21, Z:0.69 [[ 9.03099422e-01 -4.29158298e-01 -1.53162805e-02 4.41680113e+01] [ 4.29109320e-01 9.03229033e-01 -6.51956647e-03 9.21155904e+00] [ 1.66320353e-02 -6.84542017e-04 9.99861444e-01 6.90122510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.19, Y:9.22, Z:0.69 [[ 9.02993593e-01 -4.29401037e-01 -1.47417926e-02 4.41933351e+01] [ 4.29355650e-01 9.03113677e-01 -6.27794762e-03 9.22345292e+00] [ 1.60092717e-02 -6.60525460e-04 9.99871625e-01 6.90264116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:9.24, Z:0.69 [[ 9.02925040e-01 -4.29549759e-01 -1.46074437e-02 4.42185205e+01] [ 4.29505131e-01 9.03042955e-01 -6.22603303e-03 9.23508757e+00] [ 1.58655401e-02 -6.52330888e-04 9.99873922e-01 6.90837881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:9.25, Z:0.69 [[ 9.02560952e-01 -4.30323607e-01 -1.43290531e-02 4.42431977e+01] [ 4.30280685e-01 9.02674455e-01 -6.11226501e-03 9.24637215e+00] [ 1.55647221e-02 -6.48823073e-04 9.99878652e-01 6.91033154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:9.26, Z:0.69 [[ 9.02134695e-01 -4.31209247e-01 -1.45456911e-02 4.42686868e+01] [ 4.31165067e-01 9.02251703e-01 -6.20878624e-03 9.25788425e+00] [ 1.58011606e-02 -6.70432375e-04 9.99874929e-01 6.91563598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:9.27, Z:0.69 [[ 9.01676609e-01 -4.32171617e-01 -1.43870607e-02 4.42926746e+01] [ 4.32128440e-01 9.01791128e-01 -6.14600517e-03 9.26985462e+00] [ 1.56302527e-02 -6.75349004e-04 9.99877612e-01 6.92419331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:9.28, Z:0.69 [[ 9.01504994e-01 -4.32546682e-01 -1.38604855e-02 4.43175568e+01] [ 4.32506599e-01 9.01611302e-01 -5.92465685e-03 9.28187382e+00] [ 1.50594611e-02 -6.53643712e-04 9.99886386e-01 6.93017942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.34, Y:9.29, Z:0.69 [[ 9.01481612e-01 -4.32610180e-01 -1.33916259e-02 4.43425865e+01] [ 4.32572707e-01 9.01580854e-01 -5.72855408e-03 9.29415436e+00] [ 1.45518644e-02 -6.28665730e-04 9.99893918e-01 6.93391222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:9.32, Z:0.68 [[ 9.01730000e-01 -4.32276223e-01 -4.50266554e-03 4.43637137e+01] [ 4.32045170e-01 9.01507597e-01 -2.49203494e-02 9.32053919e+00] [ 1.48316617e-02 2.05260718e-02 9.99679300e-01 6.83762946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:9.31, Z:0.70 [[ 9.01935763e-01 -4.31374981e-01 -2.06761956e-02 4.43975860e+01] [ 4.31688893e-01 9.01910440e-01 1.42217645e-02 9.30997386e+00] [ 1.25131633e-02 -2.17528020e-02 9.99685069e-01 7.00383292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.42, Y:9.33, Z:0.70 [[ 9.02017876e-01 -4.31532710e-01 -1.19696026e-02 4.44179382e+01] [ 4.31502575e-01 9.02097129e-01 -5.12818719e-03 9.33362411e+00] [ 1.30107247e-02 -5.39197820e-04 9.99915212e-01 6.95087446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:9.35, Z:0.70 [[ 9.02421843e-01 -4.30703807e-01 -1.13599065e-02 4.44423371e+01] [ 4.30676551e-01 9.02493204e-01 -4.87079856e-03 9.34652955e+00] [ 1.23501099e-02 -4.96930346e-04 9.99923611e-01 6.95530239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.47, Y:9.36, Z:0.70 [[ 9.02314427e-01 -4.30935282e-01 -1.11111344e-02 4.44673305e+01] [ 4.30909205e-01 9.02382704e-01 -4.76575856e-03 9.35858848e+00] [ 1.20802290e-02 -4.87677396e-04 9.99926912e-01 6.96038325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.49, Y:9.38, Z:0.69 [[ 9.02602523e-01 -4.30386748e-01 -8.71395021e-03 4.44916099e+01] [ 4.30275271e-01 9.02615469e-01 -1.21863297e-02 9.37643401e+00] [ 1.31101811e-02 7.25001466e-03 9.99887774e-01 6.92470126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.52, Y:9.38, Z:0.70 [[ 9.02676676e-01 -4.30080568e-01 -1.43361113e-02 4.45192790e+01] [ 4.30153678e-01 9.02752689e-01 2.32303283e-03 9.38068694e+00] [ 1.19428718e-02 -8.26367857e-03 9.99894534e-01 6.98892022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.54, Y:9.40, Z:0.69 [[ 9.03103158e-01 -4.29324095e-01 -9.24701097e-03 4.45406822e+01] [ 4.29139615e-01 9.03079608e-01 -1.69237280e-02 9.40399499e+00] [ 1.56165513e-02 1.13156135e-02 9.99814023e-01 6.94865753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.57, Y:9.40, Z:0.70 [[ 9.03083852e-01 -4.29191443e-01 -1.53056032e-02 4.45708816e+01] [ 4.29319859e-01 9.03130816e-01 6.26000606e-03 9.40477932e+00] [ 1.11362209e-02 -1.22243098e-02 9.99863266e-01 7.00330474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.60, Y:9.41, Z:0.71 [[ 9.04389004e-01 -4.25800137e-01 -2.78347528e-02 4.46020570e+01] [ 4.26226752e-01 9.04543233e-01 1.15019981e-02 9.41134826e+00] [ 2.02801849e-02 -2.22661969e-02 9.99546362e-01 7.12859188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.62, Y:9.45, Z:0.69 [[ 9.03736124e-01 -4.28088015e-01 -1.29231152e-03 4.46164902e+01] [ 4.27858099e-01 9.03341859e-01 -3.01816656e-02 9.45241227e+00] [ 1.40878084e-02 2.67233355e-02 9.99543594e-01 6.91492491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.65, Y:9.44, Z:0.70 [[ 9.04369250e-01 -4.26455909e-01 -1.58624298e-02 4.46482221e+01] [ 4.26535592e-01 9.04468855e-01 1.86512430e-03 9.44456967e+00] [ 1.35516805e-02 -8.45265196e-03 9.99872444e-01 7.02484556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:9.46, Z:0.70 [[ 9.05199467e-01 -4.24790545e-01 -1.29196473e-02 4.46709982e+01] [ 4.24754364e-01 9.05291549e-01 -5.56251196e-03 9.46199405e+00] [ 1.40589500e-02 -4.52493698e-04 9.99901066e-01 7.00318253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.70, Y:9.47, Z:0.70 [[ 9.05819607e-01 -4.23460159e-01 -1.31276147e-02 4.46955874e+01] [ 4.23422597e-01 9.05914624e-01 -5.65676298e-03 9.47379822e+00] [ 1.42879119e-02 -4.34521909e-04 9.99897828e-01 7.00345516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.72, Y:9.49, Z:0.70 [[ 9.06348184e-01 -4.22306696e-01 -1.37849435e-02 4.47205443e+01] [ 4.22265106e-01 9.06452903e-01 -5.94256842e-03 9.48609214e+00] [ 1.50049885e-02 -4.34864555e-04 9.99887324e-01 7.01227235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.302755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:44.75, Y:9.50, Z:0.71 [[ 9.08184153e-01 -4.18093393e-01 -1.99864527e-02 4.47460816e+01] [ 4.18004735e-01 9.08403899e-01 -8.62544527e-03 9.49770587e+00] [ 2.17620133e-02 -5.20939175e-04 9.99763044e-01 7.08439707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.332755096 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:44.77, Y:9.51, Z:0.70 [[ 9.08159434e-01 -4.18336988e-01 -1.55115116e-02 4.47700330e+01] [ 4.18283550e-01 9.08291804e-01 -6.69859587e-03 9.51182489e+00] [ 1.68912493e-02 -4.04817123e-04 9.99857251e-01 7.01966394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.362755096 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:44.80, Y:9.52, Z:0.70 [[ 9.08586661e-01 -4.17390981e-01 -1.59702522e-02 4.47952131e+01] [ 4.17334126e-01 9.08726919e-01 -6.90034975e-03 9.52410374e+00] [ 1.73927418e-02 -3.95365485e-04 9.99848657e-01 7.02528304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:9.54, Z:0.70 [[ 9.08917036e-01 -4.16642982e-01 -1.66867491e-02 4.48204147e+01] [ 4.16580671e-01 9.09070113e-01 -7.21621371e-03 9.53737544e+00] [ 1.81760097e-02 -3.92437559e-04 9.99834726e-01 7.03674022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:9.52, Z:0.73 [[ 9.09103089e-01 -4.14502648e-01 -4.14623644e-02 4.48600508e+01] [ 4.15936021e-01 9.08703858e-01 3.54192611e-02 9.52302782e+00] [ 2.29956330e-02 -4.94454506e-02 9.98512067e-01 7.26644598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.452755096000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:44.88, Y:9.56, Z:0.72 [[ 9.08699941e-01 -4.16600966e-01 -2.66092745e-02 4.48763924e+01] [ 4.16637801e-01 9.09061882e-01 -4.40871981e-03 9.55686010e+00] [ 2.60261541e-02 -7.08022619e-03 9.99636189e-01 7.18860839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.482755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.90, Y:9.57, Z:0.72 [[ 9.07874735e-01 -4.18725726e-01 -2.07901952e-02 4.48995729e+01] [ 4.18537861e-01 9.08107769e-01 -1.28972208e-02 9.57374025e+00] [ 2.42801359e-02 3.00757710e-03 9.99700670e-01 7.15794812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:9.59, Z:0.71 [[ 9.06480373e-01 -4.21952247e-01 -1.57998337e-02 4.49233825e+01] [ 4.21754055e-01 9.06595285e-01 -1.44397380e-02 9.58738250e+00] [ 2.04169347e-02 6.42569515e-03 9.99770903e-01 7.12477796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.95, Y:9.60, Z:0.71 [[ 9.04856135e-01 -4.25457510e-01 -1.48755822e-02 4.49474142e+01] [ 4.25171170e-01 9.04912746e-01 -1.90367561e-02 9.60265594e+00] [ 2.15604347e-02 1.09008569e-02 9.99708117e-01 7.12743673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.572755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:44.97, Y:9.62, Z:0.71 [[ 9.03610522e-01 -4.28268285e-01 -8.61976605e-03 4.49695743e+01] [ 4.28005069e-01 9.03502724e-01 -2.22371017e-02 9.61764539e+00] [ 1.73114275e-02 1.64043755e-02 9.99715565e-01 7.07504852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.00, Y:9.63, Z:0.70 [[ 9.02229379e-01 -4.31198684e-01 -7.05995565e-03 4.49957435e+01] [ 4.31042014e-01 9.02176077e-01 -1.67662585e-02 9.62828245e+00] [ 1.35989117e-02 1.20838734e-02 9.99834511e-01 7.04431113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:9.63, Z:0.71 [[ 9.00630335e-01 -4.34363567e-01 -1.39029442e-02 4.50243316e+01] [ 4.34321707e-01 9.00737449e-01 -6.05827382e-03 9.63279488e+00] [ 1.51543959e-02 -5.82085258e-04 9.99884996e-01 7.10316156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.05, Y:9.64, Z:0.71 [[ 9.00502059e-01 -4.34629504e-01 -1.39009142e-02 4.50504422e+01] [ 4.34587603e-01 9.00609158e-01 -6.06292882e-03 9.64435601e+00] [ 1.51544184e-02 -5.81485082e-04 9.99884996e-01 7.10606322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.692755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.07, Y:9.66, Z:0.71 [[ 8.98305826e-01 -4.39286127e-01 -8.62215310e-03 4.50747140e+01] [ 4.39270203e-01 8.98347111e-01 -3.76242421e-03 9.65782841e+00] [ 9.39846709e-03 -4.07647360e-04 9.99955750e-01 7.06072573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.722755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.10, Y:9.67, Z:0.70 [[ 8.97314350e-01 -4.41349186e-01 -6.15253654e-03 4.50990966e+01] [ 4.41341120e-01 8.97335391e-01 -2.68560986e-03 9.66935408e+00] [ 6.70618051e-03 -3.05531102e-04 9.99977467e-01 7.03323395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.752755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.12, Y:9.68, Z:0.71 [[ 8.97858199e-01 -4.39984435e-01 -1.62588983e-02 4.51248835e+01] [ 4.39927721e-01 8.98005067e-01 -7.10634769e-03 9.67864672e+00] [ 1.77272555e-02 -7.72247544e-04 9.99842562e-01 7.13589294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.15, Y:9.69, Z:0.70 [[ 8.96247851e-01 -4.43518006e-01 -5.61850044e-03 4.51488877e+01] [ 4.43511307e-01 8.96265415e-01 -2.45506476e-03 9.69334224e+00] [ 6.12453305e-03 -2.91521955e-04 9.99981202e-01 7.01947985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.812755096000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.18, Y:9.69, Z:0.72 [[ 8.97009283e-01 -4.41427633e-01 -2.27154266e-02 4.51807545e+01] [ 4.41747384e-01 8.97065277e-01 1.15385069e-02 9.69374171e+00] [ 1.52838047e-02 -2.03846281e-02 9.99675383e-01 7.21020329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:9.72, Z:0.72 [[ 8.97436736e-01 -4.40931147e-01 -1.36758578e-02 4.52001033e+01] [ 4.40824211e-01 8.97535487e-01 -1.02011932e-02 9.71804805e+00] [ 1.67725915e-02 3.12627635e-03 9.99854443e-01 7.15368192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:9.76, Z:0.69 [[ 8.98331110e-01 -4.39168314e-01 1.15069165e-02 4.52101867e+01] [ 4.38981724e-01 8.96307179e-01 -6.26776439e-02 9.76344468e+00] [ 1.72123033e-02 6.13566034e-02 9.97967486e-01 6.93651630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.27, Y:9.71, Z:0.74 [[ 8.99060518e-01 -4.35757468e-01 -4.24925254e-02 4.52678738e+01] [ 4.37469809e-01 8.97996684e-01 4.71393825e-02 9.70999299e+00] [ 1.76168090e-02 -6.09703546e-02 9.97984100e-01 7.35931463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:9.76, Z:0.70 [[ 8.99291491e-01 -4.37339800e-01 -2.95187363e-03 4.52750575e+01] [ 4.37235549e-01 8.99190404e-01 -1.67836753e-02 9.76299382e+00] [ 9.99446563e-03 1.38027523e-02 9.99854787e-01 7.02668402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:9.77, Z:0.72 [[ 9.01419865e-01 -4.32437887e-01 -2.09690236e-02 4.53028770e+01] [ 4.32341049e-01 9.01663382e-01 -9.18489403e-03 9.76531667e+00] [ 2.28788969e-02 -7.86323707e-04 9.99737935e-01 7.22559672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.33, Y:9.78, Z:0.72 [[ 9.01933678e-01 -4.31358017e-01 -2.11163630e-02 4.53282892e+01] [ 4.31259390e-01 9.02180516e-01 -9.25497501e-03 9.77798675e+00] [ 2.30429790e-02 -7.59256177e-04 9.99734187e-01 7.23010583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:9.79, Z:0.72 [[ 9.02505574e-01 -4.30146122e-01 -2.14009813e-02 4.53520133e+01] [ 4.30044312e-01 9.02758981e-01 -9.38676889e-03 9.78996245e+00] [ 2.33576103e-02 -7.31759049e-04 9.99726906e-01 7.23592217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:9.80, Z:0.72 [[ 9.03402697e-01 -4.28274178e-01 -2.10901622e-02 4.53754182e+01] [ 4.28174689e-01 9.03648594e-01 -9.25498470e-03 9.80274500e+00] [ 2.30217664e-02 -6.69295525e-04 9.99734740e-01 7.23582772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.40, Y:9.82, Z:0.72 [[ 9.03475506e-01 -4.28148258e-01 -2.05202273e-02 4.54007722e+01] [ 4.28053931e-01 9.03708280e-01 -9.00983956e-03 9.81537383e+00] [ 2.24018464e-02 -6.43594612e-04 9.99748840e-01 7.23886296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:9.83, Z:0.72 [[ 9.03448113e-01 -4.28249899e-01 -1.95839441e-02 4.54255709e+01] [ 4.28163857e-01 9.03660142e-01 -8.60580909e-03 9.82843104e+00] [ 2.13826665e-02 -6.10235042e-04 9.99771178e-01 7.23937386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.45, Y:9.84, Z:0.72 [[ 9.03283116e-01 -4.28616442e-01 -1.91718135e-02 4.54500904e+01] [ 4.28533948e-01 9.03486350e-01 -8.43036841e-03 9.84034292e+00] [ 2.09348663e-02 -6.00763469e-04 9.99780661e-01 7.24300980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.48, Y:9.85, Z:0.72 [[ 9.02908667e-01 -4.29417205e-01 -1.88892074e-02 4.54752792e+01] [ 4.29337212e-01 9.03106027e-01 -8.31037611e-03 9.85244366e+00] [ 2.06275756e-02 -6.06329032e-04 9.99787045e-01 7.24409138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:9.86, Z:0.73 [[ 9.02361701e-01 -4.30535012e-01 -1.95694968e-02 4.55016654e+01] [ 4.30626512e-01 9.02530078e-01 5.14769959e-04 9.86057511e+00] [ 1.74404330e-02 -8.89165284e-03 9.99808367e-01 7.25265987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:9.88, Z:0.72 [[ 9.01717226e-01 -4.32046428e-01 -1.55540451e-02 4.55242790e+01] [ 4.31953602e-01 9.01850177e-01 -9.07440386e-03 9.87856462e+00] [ 1.79479821e-02 1.46392048e-03 9.99837850e-01 7.23398044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.55, Y:9.89, Z:0.72 [[ 9.01206459e-01 -4.33207074e-01 -1.25916622e-02 4.55477149e+01] [ 4.33012332e-01 9.01253655e-01 -1.55617843e-02 9.89484724e+00] [ 1.80897566e-02 8.57203557e-03 9.99799620e-01 7.21577256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.58, Y:9.90, Z:0.72 [[ 9.00283177e-01 -4.35024103e-01 -1.56278564e-02 4.55753985e+01] [ 4.34907553e-01 9.00415180e-01 -1.03886729e-02 9.90430318e+00] [ 1.85908822e-02 2.55607471e-03 9.99823907e-01 7.23724549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:9.91, Z:0.73 [[ 8.99059509e-01 -4.37386249e-01 -1.96282609e-02 4.56033906e+01] [ 4.37420352e-01 8.99252957e-01 -2.74865264e-03 9.91157250e+00] [ 1.88529945e-02 -6.11459848e-03 9.99803569e-01 7.27247689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.62, Y:9.93, Z:0.72 [[ 8.99099561e-01 -4.37511607e-01 -1.42678719e-02 4.56248544e+01] [ 4.37387579e-01 8.99205160e-01 -1.10537948e-02 9.92730979e+00] [ 1.76659075e-02 3.69787210e-03 9.99837107e-01 7.23779610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:9.93, Z:0.73 [[ 8.98522054e-01 -4.38553009e-01 -1.81487340e-02 4.56524062e+01] [ 4.38561099e-01 8.98693576e-01 -3.74416025e-03 9.93499887e+00] [ 1.79521634e-02 -4.59511817e-03 9.99828288e-01 7.27234177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.412755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.68, Y:9.95, Z:0.73 [[ 8.97867227e-01 -4.39941870e-01 -1.68995094e-02 4.56786987e+01] [ 4.39884045e-01 8.98025728e-01 -7.19846446e-03 9.95030926e+00] [ 1.83431002e-02 -9.70559248e-04 9.99831280e-01 7.26778293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:9.96, Z:0.73 [[ 8.98475696e-01 -4.38715637e-01 -1.64320715e-02 4.57029851e+01] [ 4.38689738e-01 8.98622715e-01 -5.34133256e-03 9.96052322e+00] [ 1.71095588e-02 -2.40952363e-03 9.99850717e-01 7.27087859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.72, Y:9.99, Z:0.72 [[ 8.99175478e-01 -4.37507249e-01 -8.41822460e-03 4.57238191e+01] [ 4.37179563e-01 8.99000710e-01 -2.59182170e-02 9.98546243e+00] [ 1.89073977e-02 1.96247494e-02 9.99628621e-01 7.20336089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:9.98, Z:0.73 [[ 8.99645717e-01 -4.35848519e-01 -2.59548172e-02 4.57613740e+01] [ 4.36253930e-01 8.99736349e-01 1.25303875e-02 9.97505201e+00] [ 1.78911416e-02 -2.25958004e-02 9.99584582e-01 7.33857549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.532755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.78, Y:10.00, Z:0.73 [[ 9.00682247e-01 -4.34180645e-01 -1.60828501e-02 4.57790989e+01] [ 4.33875849e-01 9.00765542e-01 -1.93180426e-02 1.00031411e+01] [ 2.28743974e-02 1.04214578e-02 9.99684028e-01 7.28508585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.81, Y:10.01, Z:0.73 [[ 9.02277055e-01 -4.30558902e-01 -2.26968732e-02 4.58100467e+01] [ 4.30636341e-01 9.02524103e-01 -1.60799873e-03 1.00061826e+01] [ 2.11768133e-02 -8.32323808e-03 9.99741100e-01 7.32005417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:10.02, Z:0.73 [[ 9.03093762e-01 -4.29012125e-01 -1.92420055e-02 4.58338715e+01] [ 4.28928243e-01 9.03298548e-01 -8.50266333e-03 1.00222838e+01] [ 2.10290213e-02 -5.74737400e-04 9.99778700e-01 7.29937487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:10.04, Z:0.73 [[ 9.03643489e-01 -4.27818872e-01 -1.99864444e-02 4.58596028e+01] [ 4.27700313e-01 9.03864310e-01 -1.00871566e-02 1.00350330e+01] [ 2.23805097e-02 5.66984886e-04 9.99749364e-01 7.30452471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:10.05, Z:0.73 [[ 9.04202167e-01 -4.26606217e-01 -2.06295144e-02 4.58834270e+01] [ 4.26392945e-01 9.04429066e-01 -1.40399665e-02 1.00473828e+01] [ 2.46474694e-02 3.89868876e-03 9.99688603e-01 7.30800327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.682755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.91, Y:10.05, Z:0.73 [[ 9.04766094e-01 -4.25316167e-01 -2.24605034e-02 4.59123402e+01] [ 4.25347271e-01 9.05023012e-01 -3.61207125e-03 1.00529109e+01] [ 2.18635447e-02 -6.28543422e-03 9.99741206e-01 7.32632194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:10.06, Z:0.73 [[ 9.05491679e-01 -4.23787737e-01 -2.21082180e-02 4.59374339e+01] [ 4.23931641e-01 9.05691854e-01 2.05677755e-03 1.00591938e+01] [ 1.91515959e-02 -1.12347681e-02 9.99753468e-01 7.33068742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.96, Y:10.08, Z:0.73 [[ 9.04597016e-01 -4.26029001e-01 -1.42663557e-02 4.59598985e+01] [ 4.25646520e-01 9.04578847e-01 -2.37096746e-02 1.00844629e+01] [ 2.30060526e-02 1.53752762e-02 9.99617088e-01 7.29268969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.772755096000004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.99, Y:10.08, Z:0.74 [[ 9.03875592e-01 -4.27178085e-01 -2.29738587e-02 4.59913611e+01] [ 4.27182664e-01 9.04151767e-01 -4.95507647e-03 1.00847532e+01] [ 2.28885551e-02 -5.33526151e-03 9.99723786e-01 7.35155809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.02, Y:10.10, Z:0.73 [[ 9.03479814e-01 -4.28179811e-01 -1.96538702e-02 4.60171968e+01] [ 4.28091235e-01 9.03693404e-01 -8.72504900e-03 1.00983084e+01] [ 2.14969627e-02 -5.30743940e-04 9.99768773e-01 7.33446106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.04, Y:10.11, Z:0.73 [[ 9.02963842e-01 -4.29341884e-01 -1.79401108e-02 4.60413071e+01] [ 4.29044487e-01 9.03099623e-01 -1.82181048e-02 1.01120213e+01] [ 2.40235027e-02 8.75318432e-03 9.99673073e-01 7.32328884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.07, Y:10.12, Z:0.73 [[ 9.02071402e-01 -4.31085521e-01 -2.07956529e-02 4.60687089e+01] [ 4.30856632e-01 9.02300886e-01 -1.46858398e-02 1.01206716e+01] [ 2.50947890e-02 4.28773112e-03 9.99675881e-01 7.34713082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.10, Y:10.12, Z:0.74 [[ 9.01743093e-01 -4.31507178e-01 -2.57089345e-02 4.60994351e+01] [ 4.31746306e-01 9.01984676e-01 4.33260088e-03 1.01203212e+01] [ 2.13195166e-02 -1.50066304e-02 9.99660082e-01 7.38338078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:10.14, Z:0.74 [[ 9.00873392e-01 -4.33685661e-01 -1.85439992e-02 4.61220221e+01] [ 4.33621434e-01 9.01063395e-01 -7.56376353e-03 1.01361095e+01] [ 1.99896147e-02 -1.22708223e-03 9.99799435e-01 7.35178050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.15, Y:10.15, Z:0.74 [[ 9.00503419e-01 -4.34492515e-01 -1.76024498e-02 4.61467137e+01] [ 4.34332157e-01 9.00668945e-01 -1.22893548e-02 1.01485342e+01] [ 2.11936126e-02 3.42129597e-03 9.99769536e-01 7.35252213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.18, Y:10.16, Z:0.74 [[ 8.99778730e-01 -4.35902656e-01 -1.96751773e-02 4.61754153e+01] [ 4.35890015e-01 8.99985194e-01 -5.15227546e-03 1.01554056e+01] [ 1.99532588e-02 -3.94030547e-03 9.99793149e-01 7.36942122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:10.17, Z:0.74 [[ 8.99593455e-01 -4.36355687e-01 -1.80369049e-02 4.61999422e+01] [ 4.36281644e-01 8.99774046e-01 -8.06185050e-03 1.01665669e+01] [ 1.97469732e-02 -6.16782584e-04 9.99804819e-01 7.36567905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:10.18, Z:0.74 [[ 8.99460704e-01 -4.36627817e-01 -1.80718554e-02 4.62262304e+01] [ 4.36473635e-01 8.99637686e-01 -1.19498776e-02 1.01773429e+01] [ 2.14757711e-02 2.86055685e-03 9.99765277e-01 7.36923309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:10.20, Z:0.74 [[ 8.98576245e-01 -4.38455542e-01 -1.78176522e-02 4.62531306e+01] [ 4.38033979e-01 8.98657472e-01 -2.32590294e-02 1.01963040e+01] [ 2.62100167e-02 1.30952743e-02 9.99570682e-01 7.37041627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:10.19, Z:0.74 [[ 8.99676420e-01 -4.35734999e-01 -2.67833771e-02 4.62851864e+01] [ 4.36048692e-01 8.99896138e-01 6.96265677e-03 1.01882882e+01] [ 2.10683844e-02 -1.79429947e-02 9.99617013e-01 7.42826100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:10.21, Z:0.74 [[ 8.99911917e-01 -4.35607725e-01 -2.01109732e-02 4.63059673e+01] [ 4.35514588e-01 9.00136384e-01 -9.02961790e-03 1.02077176e+01] [ 2.20359900e-02 -6.32761452e-04 9.99756978e-01 7.38837619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.33, Y:10.22, Z:0.74 [[ 9.00070674e-01 -4.35286623e-01 -1.99583984e-02 4.63323635e+01] [ 4.35194734e-01 9.00291717e-01 -8.96482333e-03 1.02184693e+01] [ 2.18706485e-02 -6.16815330e-04 9.99760618e-01 7.38878603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:10.25, Z:0.72 [[ 8.99740802e-01 -4.36422366e-01 -1.41694589e-03 4.63510593e+01] [ 4.36050935e-01 8.99099908e-01 -3.84569595e-02 1.02472425e+01] [ 1.80574532e-02 3.39834350e-02 9.99259253e-01 7.22078946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.39, Y:10.22, Z:0.75 [[ 8.99916922e-01 -4.34691520e-01 -3.45371846e-02 4.63935205e+01] [ 4.35530578e-01 8.99904629e-01 2.20176092e-02 1.02191729e+01] [ 2.15093043e-02 -3.48560191e-02 9.99160852e-01 7.49271781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.41, Y:10.25, Z:0.74 [[ 8.99827765e-01 -4.35758552e-01 -2.06028506e-02 4.64109523e+01] [ 4.35660319e-01 9.00063379e-01 -9.27364999e-03 1.02467321e+01] [ 2.25849436e-02 -6.31156710e-04 9.99744728e-01 7.41090210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:10.27, Z:0.74 [[ 8.98985539e-01 -4.37679977e-01 -1.61628704e-02 4.64331807e+01] [ 4.37120879e-01 8.98922468e-01 -2.93893539e-02 1.02665887e+01] [ 2.73922991e-02 1.93554760e-02 9.99437355e-01 7.38357773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.47, Y:10.26, Z:0.75 [[ 8.99309107e-01 -4.36394912e-01 -2.83303858e-02 4.64699552e+01] [ 4.36775974e-01 8.99528006e-01 8.72442343e-03 1.02564324e+01] [ 2.16766815e-02 -2.02199853e-02 9.99560540e-01 7.47399911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.342755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:10.28, Z:0.74 [[ 8.99174496e-01 -4.37119715e-01 -2.02874591e-02 4.64914065e+01] [ 4.37024606e-01 8.99403100e-01 -9.14097039e-03 1.02771665e+01] [ 2.22423020e-02 -6.46791359e-04 9.99752400e-01 7.43077785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.372755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.52, Y:10.29, Z:0.74 [[ 8.99770580e-01 -4.35940958e-01 -1.91933277e-02 4.65168972e+01] [ 4.35855424e-01 8.99975081e-01 -8.65466550e-03 1.02852859e+01] [ 2.10464398e-02 -5.78302561e-04 9.99778332e-01 7.43377608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.54, Y:10.30, Z:0.74 [[ 9.00216899e-01 -4.35038110e-01 -1.87450434e-02 4.65431574e+01] [ 4.34956265e-01 9.00411878e-01 -8.45567594e-03 1.02957811e+01] [ 2.05568010e-02 -5.41331679e-04 9.99788540e-01 7.44263256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.57, Y:10.31, Z:0.74 [[ 9.01409964e-01 -4.32627521e-01 -1.71319864e-02 4.65700269e+01] [ 4.32558613e-01 9.01572646e-01 -7.73378854e-03 1.03052445e+01] [ 1.87915801e-02 -4.39274218e-04 9.99823326e-01 7.44242378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.60, Y:10.32, Z:0.74 [[ 9.01940089e-01 -4.31511875e-01 -1.73660103e-02 4.65954771e+01] [ 4.31440737e-01 9.02107160e-01 -7.84614567e-03 1.03156844e+01] [ 1.90517072e-02 -4.15650937e-04 9.99818413e-01 7.44695978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:10.33, Z:0.74 [[ 9.02299018e-01 -4.30776383e-01 -1.69761565e-02 4.66207862e+01] [ 4.30708223e-01 9.02458618e-01 -7.67268389e-03 1.03262267e+01] [ 1.86254897e-02 -3.88715048e-04 9.99826455e-01 7.44455485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.522755096000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.65, Y:10.34, Z:0.74 [[ 9.02686118e-01 -4.29969701e-01 -1.68472013e-02 4.66471297e+01] [ 4.29902388e-01 9.02843243e-01 -7.61680795e-03 1.03370356e+01] [ 1.84853785e-02 -3.67065282e-04 9.99829063e-01 7.44380500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.552755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.67, Y:10.35, Z:0.74 [[ 9.02564877e-01 -4.30224234e-01 -1.68448971e-02 4.66730736e+01] [ 4.30156870e-01 9.02721980e-01 -7.62190032e-03 1.03489648e+01] [ 1.84853851e-02 -3.66688691e-04 9.99829063e-01 7.44943780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.70, Y:10.36, Z:0.74 [[ 9.02855168e-01 -4.29634295e-01 -1.63376476e-02 4.66991260e+01] [ 4.29570735e-01 9.03002911e-01 -7.39771091e-03 1.03586207e+01] [ 1.79312537e-02 -3.39113772e-04 9.99839165e-01 7.44973133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.72, Y:10.37, Z:0.75 [[ 9.02832623e-01 -4.29676464e-01 -1.64739547e-02 4.67246692e+01] [ 4.29611732e-01 9.02982847e-01 -7.46577139e-03 1.03683826e+01] [ 1.80835647e-02 -3.37062226e-04 9.99836422e-01 7.45585232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.75, Y:10.38, Z:0.75 [[ 9.02717094e-01 -4.29921152e-01 -1.64210282e-02 4.67509047e+01] [ 4.29856835e-01 9.02866373e-01 -7.44403837e-03 1.03784940e+01] [ 1.80263437e-02 -3.38830509e-04 9.99837455e-01 7.46203531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:10.39, Z:0.75 [[ 9.02704644e-01 -4.29946177e-01 -1.64502198e-02 4.67769946e+01] [ 4.29881523e-01 9.02854458e-01 -7.46348156e-03 1.03867467e+01] [ 1.80610497e-02 -3.34326085e-04 9.99836830e-01 7.47211373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:10.40, Z:0.75 [[ 9.03058562e-01 -4.29160299e-01 -1.75120360e-02 4.68032254e+01] [ 4.29086827e-01 9.03228279e-01 -7.94800059e-03 1.03968048e+01] [ 1.92283325e-02 -3.36673992e-04 9.99815062e-01 7.48763396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:10.41, Z:0.74 [[ 9.03820019e-01 -4.27750753e-01 -1.17757197e-02 4.68248925e+01] [ 4.27442716e-01 9.03774750e-01 -2.19983391e-02 1.04137378e+01] [ 2.00524042e-02 1.48490936e-02 9.99688654e-01 7.43412077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.762755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:46.86, Y:10.41, Z:0.75 [[ 9.03321738e-01 -4.28411302e-01 -2.17622128e-02 4.68595741e+01] [ 4.28488028e-01 9.03546605e-01 -1.24193593e-03 1.04144373e+01] [ 2.01952329e-02 -8.20297993e-03 9.99762404e-01 7.51423017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:10.42, Z:0.75 [[ 9.03449723e-01 -4.28079432e-01 -2.29477364e-02 4.68852772e+01] [ 4.28130000e-01 9.03712472e-01 -2.91061033e-03 1.04249874e+01] [ 2.19841280e-02 -7.19502430e-03 9.99732429e-01 7.54942618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.91, Y:10.44, Z:0.75 [[ 9.03202970e-01 -4.28694719e-01 -2.11005487e-02 4.69104080e+01] [ 4.28588690e-01 9.03449311e-01 -9.54343771e-03 1.04386390e+01] [ 2.31544975e-02 -4.23795233e-04 9.99731809e-01 7.52945051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:10.45, Z:0.75 [[ 9.02909281e-01 -4.29280584e-01 -2.17487805e-02 4.69358262e+01] [ 4.29167927e-01 9.03171070e-01 -9.84424419e-03 1.04493674e+01] [ 2.38688122e-02 -4.45419573e-04 9.99715000e-01 7.53240969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.97, Y:10.45, Z:0.76 [[ 9.02366154e-01 -4.30297590e-01 -2.40688264e-02 4.69654234e+01] [ 4.30471955e-01 9.02600920e-01 2.34002872e-03 1.04543718e+01] [ 2.07176362e-02 -1.24725175e-02 9.99707565e-01 7.55768821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.912755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:10.49, Z:0.75 [[ 9.02003465e-01 -4.31372616e-01 -1.75332566e-02 4.69824813e+01] [ 4.30448728e-01 9.01712141e-01 -4.03621957e-02 1.04859772e+01] [ 3.32210963e-02 2.88596724e-02 9.99031270e-01 7.50159914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:10.48, Z:0.76 [[ 9.01039799e-01 -4.32596782e-01 -3.14214136e-02 4.70168796e+01] [ 4.32276192e-01 9.01586288e-01 -1.67170503e-02 1.04840468e+01] [ 3.55608578e-02 1.47999867e-03 9.99366417e-01 7.60757236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:10.48, Z:0.77 [[ 9.01253999e-01 -4.31660789e-01 -3.75525266e-02 4.70480449e+01] [ 4.32050948e-01 9.01845555e-01 2.56390441e-03 1.04843484e+01] [ 3.27598422e-02 -1.85353338e-02 9.99291366e-01 7.66885365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.07, Y:10.50, Z:0.76 [[ 9.00725114e-01 -4.33281187e-01 -3.10109969e-02 4.70703056e+01] [ 4.33052719e-01 9.01258490e-01 -1.40881826e-02 1.05043447e+01] [ 3.40530687e-02 -7.39816675e-04 9.99419752e-01 7.62895541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.10, Y:10.51, Z:0.76 [[ 9.00432571e-01 -4.33880680e-01 -3.11245835e-02 4.70951068e+01] [ 4.33650514e-01 9.00970024e-01 -1.41508521e-02 1.05143937e+01] [ 3.41820981e-02 -7.55303515e-04 9.99415336e-01 7.63755673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:10.52, Z:0.77 [[ 8.99371371e-01 -4.35861495e-01 -3.39984316e-02 4.71265560e+01] [ 4.36158130e-01 8.99868839e-01 1.46942104e-03 1.05155737e+01] [ 2.99536651e-02 -1.61502476e-02 9.99420806e-01 7.69450033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:10.54, Z:0.76 [[ 8.98566120e-01 -4.38204496e-01 -2.35742830e-02 4.71443367e+01] [ 4.37614117e-01 8.98775422e-01 -2.63936562e-02 1.05420017e+01] [ 3.27538050e-02 1.34000063e-02 9.99373618e-01 7.61032363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:10.55, Z:0.76 [[ 8.97830281e-01 -4.39746505e-01 -2.28866246e-02 4.71695924e+01] [ 4.39407032e-01 8.98098249e-01 -1.84660732e-02 1.05487384e+01] [ 2.86748286e-02 6.52285585e-03 9.99567510e-01 7.59987280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:10.55, Z:0.77 [[ 8.97594456e-01 -4.39618890e-01 -3.25487967e-02 4.72012447e+01] [ 4.39643673e-01 8.98146720e-01 -6.77568484e-03 1.05503594e+01] [ 3.22123141e-02 -8.22805539e-03 9.99447180e-01 7.70427570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.23, Y:10.56, Z:0.77 [[ 8.97008707e-01 -4.41063001e-01 -2.89622037e-02 4.72260413e+01] [ 4.40866066e-01 8.97475674e-01 -1.32108125e-02 1.05639655e+01] [ 3.18196739e-02 -9.18238995e-04 9.99493204e-01 7.69686845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:10.57, Z:0.77 [[ 8.96822899e-01 -4.41489889e-01 -2.82022466e-02 4.72516479e+01] [ 4.41303041e-01 8.97265774e-01 -1.28746488e-02 1.05748893e+01] [ 3.09889379e-02 -8.99457318e-04 9.99519323e-01 7.70598183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:10.59, Z:0.77 [[ 8.97169082e-01 -4.40804364e-01 -2.79132784e-02 4.72781075e+01] [ 4.40620671e-01 8.97602795e-01 -1.27532814e-02 1.05854122e+01] [ 3.06767388e-02 -8.57317749e-04 9.99528990e-01 7.72188898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:10.59, Z:0.78 [[ 8.97664594e-01 -4.39326283e-01 -3.45064203e-02 4.73078890e+01] [ 4.39485110e-01 8.98244013e-01 -3.24521742e-03 1.05905327e+01] [ 3.24208948e-02 -1.22519412e-02 9.99399207e-01 7.79146624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:10.61, Z:0.77 [[ 8.98011640e-01 -4.39280723e-01 -2.46483484e-02 4.73269459e+01] [ 4.38768395e-01 8.98289681e-01 -2.36208641e-02 1.06139324e+01] [ 3.25175473e-02 1.03968946e-02 9.99417087e-01 7.71603862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:10.62, Z:0.78 [[ 9.00085779e-01 -4.34692912e-01 -2.97936735e-02 4.73549875e+01] [ 4.34479340e-01 9.00578496e-01 -1.36409574e-02 1.06175431e+01] [ 3.27611691e-02 -6.66703849e-04 9.99462986e-01 7.76143554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:10.63, Z:0.78 [[ 9.01143305e-01 -4.32624039e-01 -2.78780343e-02 4.73794670e+01] [ 4.32435914e-01 9.01574256e-01 -1.27687449e-02 1.06307059e+01] [ 3.06581840e-02 -5.48994273e-04 9.99529777e-01 7.75051528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:10.64, Z:0.78 [[ 9.02209895e-01 -4.29904304e-01 -3.46351700e-02 4.74098547e+01] [ 4.30094316e-01 9.02781414e-01 -2.14428443e-03 1.06362316e+01] [ 3.21898248e-02 -1.29617951e-02 9.99397722e-01 7.82113109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.43, Y:10.66, Z:0.77 [[ 9.03684243e-01 -4.27594661e-01 -2.27507043e-02 4.74280066e+01] [ 4.27096119e-01 9.03894266e-01 -2.37499902e-02 1.06614715e+01] [ 3.07196002e-02 1.17457544e-02 9.99459025e-01 7.72733691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:10.67, Z:0.78 [[ 9.04642971e-01 -4.25394094e-01 -2.57091219e-02 4.74523259e+01] [ 4.25057642e-01 9.04994182e-01 -1.76502495e-02 1.06697420e+01] [ 3.07749177e-02 5.03931545e-03 9.99513637e-01 7.75580607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:10.68, Z:0.78 [[ 9.04604929e-01 -4.25268643e-01 -2.89223767e-02 4.74819657e+01] [ 4.25235260e-01 9.05050928e-01 -7.60198632e-03 1.06773296e+01] [ 2.94091103e-02 -5.42202011e-03 9.99552753e-01 7.79174155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:10.69, Z:0.78 [[ 9.05094748e-01 -4.24364064e-01 -2.68074233e-02 4.75051983e+01] [ 4.24185080e-01 9.05491632e-01 -1.23257023e-02 1.06908658e+01] [ 2.95044826e-02 -2.15380524e-04 9.99564625e-01 7.78249483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.53, Y:10.70, Z:0.78 [[ 9.05017264e-01 -4.24514551e-01 -2.70397321e-02 4.75306294e+01] [ 4.24332373e-01 9.05421089e-01 -1.24373985e-02 1.07029693e+01] [ 2.97622004e-02 -2.17773324e-04 9.99556984e-01 7.79096934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.55, Y:10.71, Z:0.78 [[ 9.05199034e-01 -4.24085370e-01 -2.76822587e-02 4.75544381e+01] [ 4.23914876e-01 9.05621841e-01 -1.20523668e-02 1.07132822e+01] [ 3.01808905e-02 -8.25130474e-04 9.99544113e-01 7.79729313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.58, Y:10.72, Z:0.78 [[ 9.05074629e-01 -4.24095534e-01 -3.13511334e-02 4.75817936e+01] [ 4.23819898e-01 9.05617284e-01 -1.52979756e-02 1.07247822e+01] [ 3.48799315e-02 5.58575429e-04 9.99391354e-01 7.83672814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:10.73, Z:0.79 [[ 9.03991835e-01 -4.25633666e-01 -4.04319697e-02 4.76154661e+01] [ 4.26186497e-01 9.04616854e-01 5.78073085e-03 1.07264520e+01] [ 3.41149676e-02 -2.24572930e-02 9.99165571e-01 7.93033104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.662755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:10.75, Z:0.79 [[ 9.03207781e-01 -4.28043096e-01 -3.15406316e-02 4.76368794e+01] [ 4.27855518e-01 9.03756284e-01 -1.28153852e-02 1.07495686e+01] [ 3.39905812e-02 -1.91987761e-03 9.99420309e-01 7.87122787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:10.78, Z:0.77 [[ 9.00171021e-01 -4.35210128e-01 -1.68605355e-02 4.76506702e+01] [ 4.34541157e-01 9.00056234e-01 -3.27529865e-02 1.07756223e+01] [ 2.94298616e-02 2.21566927e-02 9.99321252e-01 7.74743073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:10.77, Z:0.78 [[ 8.98894443e-01 -4.37395009e-01 -2.59689447e-02 4.76814571e+01] [ 4.37230713e-01 8.99269306e-01 -1.20008044e-02 1.07749417e+01] [ 2.86021668e-02 -5.66963789e-04 9.99590714e-01 7.82449471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:10.79, Z:0.78 [[ 8.97716192e-01 -4.39816623e-01 -2.58259145e-02 4.77057950e+01] [ 4.39654856e-01 8.98087378e-01 -1.19443863e-02 1.07858472e+01] [ 2.84472675e-02 -6.31819739e-04 9.99595095e-01 7.83698278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:10.80, Z:0.78 [[ 8.95633029e-01 -4.44045969e-01 -2.57809014e-02 4.77300996e+01] [ 4.43886390e-01 8.96003682e-01 -1.19278646e-02 1.07971696e+01] [ 2.83963028e-02 -7.60801728e-04 9.99596454e-01 7.84599159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:10.81, Z:0.78 [[ 8.94969798e-01 -4.45473409e-01 -2.41350857e-02 4.77523336e+01] [ 4.45026213e-01 8.95252253e-01 -2.17961745e-02 1.08138371e+01] [ 3.13166060e-02 8.76617213e-03 9.99471072e-01 7.83419619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.79, Y:10.81, Z:0.79 [[ 8.94997685e-01 -4.44630859e-01 -3.58126198e-02 4.77850849e+01] [ 4.44689119e-01 8.95659469e-01 -6.76038962e-03 1.08129344e+01] [ 3.50817899e-02 -9.87494928e-03 9.99335656e-01 7.94982072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:10.83, Z:0.79 [[ 8.92942848e-01 -4.49369174e-01 -2.68405590e-02 4.78058172e+01] [ 4.49198120e-01 8.93345642e-01 -1.24343277e-02 1.08342458e+01] [ 2.95655000e-02 -9.53584687e-04 9.99562390e-01 7.87370136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.83, Y:10.85, Z:0.79 [[ 8.92437917e-01 -4.50374294e-01 -2.67873098e-02 4.78311332e+01] [ 4.50204157e-01 8.92839312e-01 -1.24168909e-02 1.08471891e+01] [ 2.95090117e-02 -9.78453985e-04 9.99564035e-01 7.88229892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:10.86, Z:0.79 [[ 8.92197119e-01 -4.50936835e-01 -2.53035906e-02 4.78549529e+01] [ 4.50505865e-01 8.92525374e-01 -2.10457480e-02 1.08646570e+01] [ 3.20743996e-02 7.37753975e-03 9.99458256e-01 7.87356276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.89, Y:10.87, Z:0.80 [[ 8.92647553e-01 -4.49494288e-01 -3.36931899e-02 4.78888352e+01] [ 4.49623403e-01 8.93208956e-01 -4.06887133e-03 1.08664381e+01] [ 3.19239934e-02 -1.15171787e-02 9.99423941e-01 7.95342848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:10.89, Z:0.79 [[ 8.92256390e-01 -4.50651432e-01 -2.81393341e-02 4.79108665e+01] [ 4.50421241e-01 8.92699981e-01 -1.44031302e-02 1.08855569e+01] [ 3.16107742e-02 1.76731217e-04 9.99500239e-01 7.91527064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.022755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.93, Y:10.90, Z:0.79 [[ 8.92551338e-01 -4.50137208e-01 -2.69926587e-02 4.79345282e+01] [ 4.49863669e-01 8.92957226e-01 -1.58136585e-02 1.08988811e+01] [ 3.12216057e-02 1.97148551e-03 9.99510543e-01 7.91017626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.052755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:47.96, Y:10.91, Z:0.79 [[ 8.93429449e-01 -4.48357363e-01 -2.75589236e-02 4.79594177e+01] [ 4.48032845e-01 8.93848849e-01 -1.73437219e-02 1.09126079e+01] [ 3.24096975e-02 3.14808899e-03 9.99469710e-01 7.91511605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:10.92, Z:0.80 [[ 8.93732413e-01 -4.47516536e-01 -3.11660882e-02 4.79886517e+01] [ 4.47463459e-01 8.94256455e-01 -9.04682673e-03 1.09211648e+01] [ 3.19190801e-02 -5.86024333e-03 9.99473276e-01 7.95837071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:10.93, Z:0.80 [[ 8.95897224e-01 -4.43179961e-01 -3.09788005e-02 4.80104519e+01] [ 4.43047039e-01 8.96425806e-01 -1.14059338e-02 1.09335898e+01] [ 3.28250775e-02 -3.50652138e-03 9.99454961e-01 7.98257415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:10.96, Z:0.79 [[ 8.96210286e-01 -4.42895826e-01 -2.55031438e-02 4.80277334e+01] [ 4.42146412e-01 8.96433776e-01 -3.02164741e-02 1.09566721e+01] [ 3.62446298e-02 1.58041914e-02 9.99217971e-01 7.94806381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:10.95, Z:0.81 [[ 8.96902079e-01 -4.40476626e-01 -3.93319646e-02 4.80666037e+01] [ 4.40815977e-01 8.97597500e-01 -4.96171191e-05 1.09530087e+01] [ 3.53261283e-02 -1.72936567e-02 9.99226198e-01 8.07103396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.09, Y:10.98, Z:0.80 [[ 8.97665493e-01 -4.39534360e-01 -3.17208070e-02 4.80868889e+01] [ 4.39293336e-01 8.98225377e-01 -1.45786725e-02 1.09750112e+01] [ 3.49002613e-02 -8.47967899e-04 9.99390441e-01 8.02994039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.232755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:48.11, Y:10.98, Z:0.80 [[ 8.98382624e-01 -4.38045682e-01 -3.20100166e-02 4.81092522e+01] [ 4.38011565e-01 8.98929681e-01 -8.44377295e-03 1.09826940e+01] [ 3.24735122e-02 -6.43501855e-03 9.99451881e-01 8.04060468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.262755096 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:48.14, Y:11.00, Z:0.81 [[ 8.98321017e-01 -4.38138787e-01 -3.24615675e-02 4.81363697e+01] [ 4.37907033e-01 8.98906314e-01 -1.43132646e-02 1.09979482e+01] [ 3.54511044e-02 -1.35724225e-03 9.99370490e-01 8.06284901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.292755096 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:48.16, Y:11.01, Z:0.80 [[ 8.98457833e-01 -4.38126903e-01 -2.86066302e-02 4.81586187e+01] [ 4.37602648e-01 8.98877131e-01 -2.28872541e-02 1.10141784e+01] [ 3.57413675e-02 8.04489562e-03 9.99328692e-01 8.03548216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.322755096 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:48.18, Y:11.02, Z:0.80 [[ 8.98161732e-01 -4.38600522e-01 -3.05791733e-02 4.81823035e+01] [ 4.38200160e-01 8.98674252e-01 -1.91104583e-02 1.10234244e+01] [ 3.58625727e-02 3.76448366e-03 9.99349641e-01 8.04392788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.352755096 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:48.21, Y:11.03, Z:0.81 [[ 8.98544224e-01 -4.37557452e-01 -3.40845093e-02 4.82119824e+01] [ 4.37471524e-01 8.99172867e-01 -1.03354189e-02 1.10289193e+01] [ 3.51702055e-02 -5.62417133e-03 9.99365511e-01 8.09061391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.382755096000004 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:48.23, Y:11.05, Z:0.81 [[ 8.97784934e-01 -4.39570553e-01 -2.75670379e-02 4.82349345e+01] [ 4.39049486e-01 8.98166895e-01 -2.30603207e-02 1.10496288e+01] [ 3.48964387e-02 8.59991466e-03 9.99353931e-01 8.05043005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.412755096000005 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:48.26, Y:11.06, Z:0.80 [[ 8.96805347e-01 -4.41679963e-01 -2.56705982e-02 4.82572462e+01] [ 4.41189135e-01 8.97127329e-01 -2.26870560e-02 1.10615347e+01] [ 3.30502133e-02 9.02028412e-03 9.99412987e-01 8.03761000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.442755096 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:48.29, Y:11.05, Z:0.82 [[ 8.97436296e-01 -4.39135500e-01 -4.20488764e-02 4.82942075e+01] [ 4.39675245e-01 8.98147501e-01 4.09218450e-03 1.10549364e+01] [ 3.59690698e-02 -2.21603250e-02 9.99107174e-01 8.20165231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.472755096 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:48.31, Y:11.08, Z:0.81 [[ 8.97336698e-01 -4.40119903e-01 -3.28834596e-02 4.83149378e+01] [ 4.39849297e-01 8.97938808e-01 -1.54431849e-02 1.10784756e+01] [ 3.63241876e-02 -6.06030089e-04 9.99339875e-01 8.14443396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.502755096 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:48.34, Y:11.09, Z:0.81 [[ 8.96005036e-01 -4.43089260e-01 -2.91012774e-02 4.83361459e+01] [ 4.42674268e-01 8.96464468e-01 -1.97724783e-02 1.10949622e+01] [ 3.48492340e-02 4.83385349e-03 9.99380891e-01 8.11410498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.532755096 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:48.37, Y:11.10, Z:0.82 [[ 8.96393364e-01 -4.41975940e-01 -3.37076440e-02 4.83667855e+01] [ 4.41882462e-01 8.97010579e-01 -1.05788189e-02 1.11001489e+01] [ 3.49116967e-02 -5.41203372e-03 9.99375747e-01 8.16551668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.562755096000004 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:48.39, Y:11.11, Z:0.82 [[ 8.95110592e-01 -4.44629820e-01 -3.28839191e-02 4.83906797e+01] [ 4.44360156e-01 8.95714117e-01 -1.55007150e-02 1.11134784e+01] [ 3.63466707e-02 -7.37449309e-04 9.99338969e-01 8.16340559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.592755096000005 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:48.42, Y:11.12, Z:0.82 [[ 8.94398961e-01 -4.45467025e-01 -4.01201741e-02 4.84194408e+01] [ 4.45609045e-01 8.95208718e-01 -5.82493740e-03 1.11188620e+01] [ 3.85107471e-02 -1.26680945e-02 9.99177883e-01 8.23643924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.622755096 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:48.44, Y:11.14, Z:0.81 [[ 8.93059358e-01 -4.49018757e-01 -2.87600392e-02 4.84391398e+01] [ 4.48358860e-01 8.93455498e-01 -2.66759401e-02 1.11418960e+01] [ 3.76738126e-02 1.09283795e-02 9.99230331e-01 8.13824295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.652755096 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:48.47, Y:11.15, Z:0.82 [[ 8.92379667e-01 -4.49980198e-01 -3.42979825e-02 4.84670659e+01] [ 4.49689773e-01 8.93038003e-01 -1.61936008e-02 1.11471551e+01] [ 3.79162015e-02 -9.72611888e-04 9.99280449e-01 8.17888307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.682755096 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:48.49, Y:11.16, Z:0.82 [[ 8.92111822e-01 -4.50447487e-01 -3.51220542e-02 4.84920299e+01] [ 4.50217258e-01 8.92798731e-01 -1.46576341e-02 1.11573929e+01] [ 3.79594199e-02 -2.73630632e-03 9.99275535e-01 8.19128403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.712755096 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:48.52, Y:11.17, Z:0.82 [[ 8.91388702e-01 -4.51889481e-01 -3.49582545e-02 4.85178235e+01] [ 4.51503834e-01 8.92073504e-01 -1.86856139e-02 1.11716287e+01] [ 3.96291649e-02 8.72359188e-04 9.99214075e-01 8.19212428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.742755096 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:48.54, Y:11.18, Z:0.82 [[ 8.91374461e-01 -4.51845261e-01 -3.58807763e-02 4.85429339e+01] [ 4.51527390e-01 8.92095692e-01 -1.69792035e-02 1.11818307e+01] [ 3.96810586e-02 -1.06632494e-03 9.99211828e-01 8.20800360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.772755096000004 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:48.57, Y:11.19, Z:0.82 [[ 8.90978819e-01 -4.52605890e-01 -3.61199835e-02 4.85690801e+01] [ 4.52240970e-01 8.91710652e-01 -1.81718858e-02 1.11947785e+01] [ 4.04332766e-02 -1.44171005e-04 9.99182230e-01 8.21458720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.802755096 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:48.60, Y:11.21, Z:0.82 [[ 8.91323188e-01 -4.51896586e-01 -3.65027349e-02 4.85955140e+01] [ 4.51611307e-01 8.92067957e-01 -1.61860229e-02 1.12050962e+01] [ 3.98773286e-02 -2.05807024e-03 9.99202463e-01 8.23095958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.832755096 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:48.62, Y:11.22, Z:0.82 [[ 8.91908971e-01 -4.50926102e-01 -3.41179916e-02 4.86172853e+01] [ 4.50278431e-01 8.92533082e-01 -2.51800085e-02 1.12202099e+01] [ 4.18057593e-02 7.09567970e-03 9.99100560e-01 8.22465053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.862755096 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:48.65, Y:11.23, Z:0.83 [[ 8.91475350e-01 -4.51336787e-01 -3.95828875e-02 4.86480190e+01] [ 4.51212807e-01 8.92328547e-01 -1.25206661e-02 1.12262680e+01] [ 4.09719777e-02 -6.69844064e-03 9.99137842e-01 8.27618929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.892755096 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:48.67, Y:11.24, Z:0.83 [[ 8.91739622e-01 -4.50969374e-01 -3.77765805e-02 4.86720849e+01] [ 4.50706371e-01 8.92534279e-01 -1.56948197e-02 1.12391518e+01] [ 4.07947760e-02 -3.03045291e-03 9.99162951e-01 8.28593997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.922755096 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:48.70, Y:11.25, Z:0.83 [[ 8.91671187e-01 -4.51209223e-01 -3.65066043e-02 4.86973557e+01] [ 4.50877144e-01 8.92417635e-01 -1.73368473e-02 1.12519491e+01] [ 4.04016829e-02 -1.00122627e-03 9.99183017e-01 8.29149669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.952755096000004 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:48.72, Y:11.26, Z:0.83 [[ 8.91477368e-01 -4.51585743e-01 -3.65844062e-02 4.87229111e+01] [ 4.51252008e-01 8.92227157e-01 -1.73874808e-02 1.12638953e+01] [ 4.04935392e-02 -1.00824116e-03 9.99179292e-01 8.30916321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.982755096 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:48.75, Y:11.28, Z:0.83 [[ 8.91046435e-01 -4.52461226e-01 -3.62641537e-02 4.87508584e+01] [ 4.52126659e-01 8.91783647e-01 -1.74186952e-02 1.12756418e+01] [ 4.02210635e-02 -8.75124385e-04 9.99190422e-01 8.32946596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.012755096 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:48.77, Y:11.29, Z:0.83 [[ 8.90663371e-01 -4.53201416e-01 -3.64312543e-02 4.87741960e+01] [ 4.52889661e-01 8.91406926e-01 -1.68714740e-02 1.12870787e+01] [ 4.01212483e-02 -1.47253455e-03 9.99193734e-01 8.33625831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.042755096 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:48.80, Y:11.30, Z:0.84 [[ 8.89720985e-01 -4.55036662e-01 -3.65814936e-02 4.87994385e+01] [ 4.54704146e-01 8.90471991e-01 -1.74290926e-02 1.12989097e+01] [ 4.05056716e-02 -1.12672737e-03 9.99178673e-01 8.35053370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.072755096 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:48.82, Y:11.31, Z:0.84 [[ 8.89225927e-01 -4.56018825e-01 -3.63879510e-02 4.88241292e+01] [ 4.55690140e-01 8.89969381e-01 -1.73492673e-02 1.13106567e+01] [ 4.02957547e-02 -1.15421215e-03 9.99187130e-01 8.35912322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.102755096 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:48.85, Y:11.32, Z:0.84 [[ 8.88432997e-01 -4.57487190e-01 -3.73132899e-02 4.88506424e+01] [ 4.57210095e-01 8.89212076e-01 -1.61497035e-02 1.13223255e+01] [ 4.05677104e-02 -2.71208336e-03 9.99173111e-01 8.38177463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.132755096000004 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:48.87, Y:11.34, Z:0.84 [[ 8.88138138e-01 -4.58140538e-01 -3.63028215e-02 4.88743472e+01] [ 4.57753737e-01 8.88879766e-01 -1.88222877e-02 1.13355326e+01] [ 4.08920965e-02 9.90393537e-05 9.99163564e-01 8.38199851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.162755096000005 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:48.90, Y:11.35, Z:0.84 [[ 8.87543890e-01 -4.59244737e-01 -3.68797404e-02 4.88990734e+01] [ 4.58908779e-01 8.88308841e-01 -1.76106825e-02 1.13466588e+01] [ 4.08482127e-02 -1.29418296e-03 9.99164525e-01 8.39516595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.192755096 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:48.92, Y:11.36, Z:0.84 [[ 8.87336147e-01 -4.59640577e-01 -3.69472926e-02 4.89245190e+01] [ 4.59303403e-01 8.88104065e-01 -1.76508990e-02 1.13591643e+01] [ 4.09261102e-02 -1.30773647e-03 9.99161320e-01 8.40402090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.222755096 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:48.95, Y:11.37, Z:0.84 [[ 8.87390819e-01 -4.59474887e-01 -3.76876955e-02 4.89496227e+01] [ 4.59123296e-01 8.88189791e-01 -1.80193027e-02 1.13718685e+01] [ 4.17532435e-02 -1.31313513e-03 9.99127090e-01 8.41731410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.252755096 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:48.97, Y:11.38, Z:0.84 [[ 8.87618891e-01 -4.59043581e-01 -3.75725335e-02 4.89736622e+01] [ 4.58693226e-01 8.88412831e-01 -1.79768284e-02 1.13838602e+01] [ 4.16320685e-02 -1.27769412e-03 9.99132193e-01 8.42210879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.282755096 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:49.00, Y:11.40, Z:0.84 [[ 8.87778336e-01 -4.58724966e-01 -3.76965837e-02 4.89987277e+01] [ 4.58371656e-01 8.88577413e-01 -1.80445438e-02 1.13964118e+01] [ 4.17738156e-02 -1.25949049e-03 9.99126299e-01 8.42991207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.312755096000004 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:49.02, Y:11.41, Z:0.84 [[ 8.88437764e-01 -4.57495715e-01 -3.70946142e-02 4.90232282e+01] [ 4.57152020e-01 8.89211054e-01 -1.77688373e-02 1.14088852e+01] [ 4.11141079e-02 -1.17137168e-03 9.99153771e-01 8.44147816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.342755096000005 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:49.05, Y:11.42, Z:0.85 [[ 8.88705863e-01 -4.57007906e-01 -3.66832673e-02 4.90478154e+01] [ 4.56671100e-01 8.89461914e-01 -1.75786589e-02 1.14211414e+01] [ 4.06619552e-02 -1.12993079e-03 9.99172322e-01 8.45069423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.372755096 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:49.07, Y:11.43, Z:0.85 [[ 8.88870557e-01 -4.56704744e-01 -3.64679177e-02 4.90728461e+01] [ 4.56371209e-01 8.89617651e-01 -1.74858211e-02 1.14335364e+01] [ 4.04283607e-02 -1.10027608e-03 9.99181834e-01 8.45895249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.402755096 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:49.10, Y:11.45, Z:0.85 [[ 8.89682756e-01 -4.55170483e-01 -3.58388834e-02 4.90978308e+01] [ 4.54846569e-01 8.90403746e-01 -1.71979201e-02 1.14467766e+01] [ 3.97390616e-02 -1.00050020e-03 9.99209591e-01 8.46593580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.432755096 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:49.12, Y:11.46, Z:0.85 [[ 8.90128909e-01 -4.54327144e-01 -3.54594403e-02 4.91228959e+01] [ 4.54008845e-01 8.90834419e-01 -1.70295733e-02 1.14598273e+01] [ 3.93254873e-02 -9.40384059e-04 9.99226011e-01 8.47232440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.462755096 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:49.15, Y:11.47, Z:0.85 [[ 8.91491443e-01 -4.51725379e-01 -3.44555983e-02 4.91468763e+01] [ 4.51422457e-01 8.92156688e-01 -1.65592954e-02 1.14730611e+01] [ 3.82200465e-02 -7.91560681e-04 9.99269034e-01 8.47791944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.492755096 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:49.17, Y:11.49, Z:0.85 [[ 8.91832505e-01 -4.51091487e-01 -3.39301345e-02 4.91713774e+01] [ 4.50797023e-01 8.92477402e-01 -1.63135286e-02 1.14859179e+01] [ 3.76407722e-02 -7.46668521e-04 9.99291056e-01 8.48638624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.522755096000004 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:49.20, Y:11.50, Z:0.85 [[ 8.92185804e-01 -4.50435605e-01 -3.33505149e-02 4.91961036e+01] [ 4.50150199e-01 8.92808648e-01 -1.60473259e-02 1.14988131e+01] [ 3.70039150e-02 -6.95544541e-04 9.99314879e-01 8.49383815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.552755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:49.22, Y:11.51, Z:0.85 [[ 8.92274387e-01 -4.50283933e-01 -3.30272300e-02 4.92206528e+01] [ 4.50003476e-01 8.92885171e-01 -1.59041722e-02 1.15114214e+01] [ 3.66509172e-02 -6.71482772e-04 9.99327904e-01 8.50415408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.582755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:49.25, Y:11.52, Z:0.85 [[ 8.92156775e-01 -4.50575747e-01 -3.22146700e-02 4.92451726e+01] [ 4.50308683e-01 8.92737960e-01 -1.55249539e-02 1.15243108e+01] [ 3.57544265e-02 -6.55852833e-04 9.99360391e-01 8.51937780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.612755096 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:49.27, Y:11.54, Z:0.85 [[ 8.92437833e-01 -4.50048670e-01 -3.17947969e-02 4.92682973e+01] [ 4.49820473e-01 8.93002854e-01 -1.44029526e-02 1.15354664e+01] [ 3.48748741e-02 -1.44821083e-03 9.99390637e-01 8.52534130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.642755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:49.29, Y:11.55, Z:0.85 [[ 8.91012845e-01 -4.52982494e-01 -3.00494602e-02 4.92946030e+01] [ 4.52712666e-01 8.91519351e-01 -1.56361608e-02 1.15512687e+01] [ 3.38725824e-02 3.28248908e-04 9.99426106e-01 8.52692681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.672755096 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:49.32, Y:11.56, Z:0.85 [[ 8.90123642e-01 -4.54744923e-01 -2.97818190e-02 4.93199265e+01] [ 4.54517950e-01 8.90621423e-01 -1.43845141e-02 1.15635172e+01] [ 3.30656107e-02 -7.32375284e-04 9.99452915e-01 8.53577453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.702755096000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:49.34, Y:11.58, Z:0.85 [[ 8.89524763e-01 -4.56039643e-01 -2.78125795e-02 4.93429810e+01] [ 4.55591624e-01 8.89938493e-01 -2.11128112e-02 1.15793359e+01] [ 3.43797640e-02 6.10919016e-03 9.99390169e-01 8.52929710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.732755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:49.37, Y:11.59, Z:0.86 [[ 8.87302506e-01 -4.60125386e-01 -3.12872413e-02 4.93712766e+01] [ 4.60126601e-01 8.87820882e-01 -7.58901170e-03 1.15850321e+01] [ 3.12693631e-02 -7.66234290e-03 9.99481623e-01 8.57238568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.762755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:49.39, Y:11.60, Z:0.85 [[ 8.86678922e-01 -4.61634162e-01 -2.63512875e-02 4.93922970e+01] [ 4.61162013e-01 8.87038525e-01 -2.21867813e-02 1.16049535e+01] [ 3.36167834e-02 7.52033858e-03 9.99406502e-01 8.53921838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.792755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:49.42, Y:11.61, Z:0.86 [[ 8.85295289e-01 -4.63990425e-01 -3.10666610e-02 4.94219137e+01] [ 4.64048226e-01 8.85791211e-01 -5.75962000e-03 1.16092624e+01] [ 3.01909838e-02 -9.31746449e-03 9.99500720e-01 8.59451317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.822755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:49.45, Y:11.63, Z:0.86 [[ 8.83660819e-01 -4.67346258e-01 -2.70375866e-02 4.94451426e+01] [ 4.67163996e-01 8.84073725e-01 -1.30939119e-02 1.16266920e+01] [ 3.00226106e-02 -1.06041008e-03 9.99548657e-01 8.57593779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.852755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.47, Y:11.64, Z:0.86 [[ 8.82887633e-01 -4.68814763e-01 -2.68727553e-02 4.94702160e+01] [ 4.68635096e-01 8.83295828e-01 -1.30241089e-02 1.16395053e+01] [ 2.98424872e-02 -1.09469162e-03 9.99554014e-01 8.57893649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.882755096000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.49, Y:11.65, Z:0.86 [[ 8.82373096e-01 -4.69738628e-01 -2.76286246e-02 4.94942339e+01] [ 4.69548829e-01 8.82804793e-01 -1.34012799e-02 1.16515587e+01] [ 3.06857810e-02 -1.14805950e-03 9.99528421e-01 8.58713068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.912755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:11.66, Z:0.86 [[ 8.81918353e-01 -4.70565902e-01 -2.80669100e-02 4.95181217e+01] [ 4.70370307e-01 8.82364048e-01 -1.36184401e-02 1.16644840e+01] [ 3.11736059e-02 -1.19148879e-03 9.99513275e-01 8.58926120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.54, Y:11.68, Z:0.86 [[ 8.81820729e-01 -4.70711698e-01 -2.86827242e-02 4.95429266e+01] [ 4.70507266e-01 8.82286245e-01 -1.39246167e-02 1.16775248e+01] [ 3.18608530e-02 -1.21641453e-03 9.99491574e-01 8.59604710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.972755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.57, Y:11.69, Z:0.86 [[ 8.81855888e-01 -4.70635369e-01 -2.88537941e-02 4.95670137e+01] [ 4.70428091e-01 8.82326970e-01 -1.40188774e-02 1.16922902e+01] [ 3.20562603e-02 -1.21100572e-03 9.99485332e-01 8.59133047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.002755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:49.59, Y:11.71, Z:0.86 [[ 8.81859709e-01 -4.70618132e-01 -2.90177037e-02 4.95906727e+01] [ 4.70408120e-01 8.82336169e-01 -1.41097334e-02 1.17055335e+01] [ 3.22436659e-02 -1.20735806e-03 9.99479309e-01 8.59565521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.032755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.62, Y:11.72, Z:0.86 [[ 8.81874805e-01 -4.70577941e-01 -2.92101053e-02 4.96157696e+01] [ 4.70364859e-01 8.82357606e-01 -1.42110707e-02 1.17190512e+01] [ 3.24611750e-02 -1.20702186e-03 9.99472268e-01 8.60202373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.062755096000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.64, Y:11.73, Z:0.86 [[ 8.82201109e-01 -4.69950308e-01 -2.94603154e-02 4.96391999e+01] [ 4.69732846e-01 8.82692078e-01 -1.43439159e-02 1.17327676e+01] [ 3.27453148e-02 -1.18425930e-03 9.99463027e-01 8.61025189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.66, Y:11.75, Z:0.86 [[ 8.82508919e-01 -4.69396679e-01 -2.90648515e-02 4.96626934e+01] [ 4.69184565e-01 8.82986664e-01 -1.41560916e-02 1.17454538e+01] [ 3.23086986e-02 -1.14390263e-03 9.99477283e-01 8.61977109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.122755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.69, Y:11.76, Z:0.86 [[ 8.82781539e-01 -4.68897092e-01 -2.88491246e-02 4.96877503e+01] [ 4.68687701e-01 8.83252104e-01 -1.40556378e-02 1.17588811e+01] [ 3.20716977e-02 -1.11317236e-03 9.99484951e-01 8.63210181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.152755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.71, Y:11.77, Z:0.86 [[ 8.83491752e-01 -4.67633979e-01 -2.75823497e-02 4.97121750e+01] [ 4.67441642e-01 8.83921625e-01 -1.34488836e-02 1.17733838e+01] [ 3.06697903e-02 -1.01116114e-03 9.99529060e-01 8.64329521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:11.79, Z:0.87 [[ 8.83945646e-01 -4.66798969e-01 -2.71812036e-02 4.97369957e+01] [ 4.66611470e-01 8.84362937e-01 -1.32639452e-02 1.17868835e+01] [ 3.02296450e-02 -9.58454786e-04 9.99542520e-01 8.65260072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.76, Y:11.80, Z:0.87 [[ 8.85148258e-01 -4.64545448e-01 -2.66474709e-02 4.97601219e+01] [ 4.64363901e-01 8.85548867e-01 -1.30142635e-02 1.18011717e+01] [ 2.96433545e-02 -8.54570873e-04 9.99560174e-01 8.66748906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:11.82, Z:0.87 [[ 8.85678587e-01 -4.63561229e-01 -2.61615697e-02 4.97851041e+01] [ 4.63385700e-01 8.86064525e-01 -1.27808872e-02 1.18150648e+01] [ 2.91055626e-02 -8.03139128e-04 9.99576021e-01 8.67504591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.81, Y:11.83, Z:0.87 [[ 8.86048206e-01 -4.62875941e-01 -2.57767295e-02 4.98092997e+01] [ 4.62704986e-01 8.86422746e-01 -1.26020563e-02 1.18286109e+01] [ 2.86822679e-02 -7.60991911e-04 9.99588289e-01 8.68334808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.83, Y:11.84, Z:0.87 [[ 8.86425902e-01 -4.62158385e-01 -2.56660800e-02 4.98334972e+01] [ 4.61988309e-01 8.86797102e-01 -1.25579691e-02 1.18419647e+01] [ 2.85643761e-02 -7.25719793e-04 9.99591692e-01 8.69136850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.86, Y:11.86, Z:0.87 [[ 8.87167717e-01 -4.60743397e-01 -2.54747612e-02 4.98572947e+01] [ 4.60574964e-01 8.87533142e-01 -1.24749243e-02 1.18555898e+01] [ 2.83574339e-02 -6.65687151e-04 9.99597625e-01 8.69598064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.88, Y:11.87, Z:0.87 [[ 8.88126763e-01 -4.58958476e-01 -2.42480957e-02 4.98775479e+01] [ 4.58519331e-01 8.88420719e-01 -2.16482981e-02 1.18708866e+01] [ 3.14781805e-02 8.10821233e-03 9.99471551e-01 8.69085502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.90, Y:11.88, Z:0.87 [[ 8.88122198e-01 -4.58749386e-01 -2.80706493e-02 4.99043361e+01] [ 4.58530838e-01 8.88565650e-01 -1.41617725e-02 1.18786852e+01] [ 3.14393192e-02 -2.93873810e-04 9.99505619e-01 8.72445000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:11.89, Z:0.87 [[ 8.87762472e-01 -4.59290542e-01 -3.04957650e-02 4.99338182e+01] [ 4.59317890e-01 8.88248053e-01 -6.51710413e-03 1.18892591e+01] [ 3.00810481e-02 -8.22160995e-03 9.99513650e-01 8.74912502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:11.91, Z:0.87 [[ 8.87439265e-01 -4.60080738e-01 -2.78795005e-02 4.99557048e+01] [ 4.59879032e-01 8.87876795e-01 -1.36408823e-02 1.19068488e+01] [ 3.10294687e-02 -7.15743129e-04 9.99518214e-01 8.72905508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.482755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:11.92, Z:0.87 [[ 8.87217132e-01 -4.60463187e-01 -2.86253977e-02 4.99793764e+01] [ 4.60250489e-01 8.87678491e-01 -1.40137055e-02 1.19198192e+01] [ 3.18629453e-02 -7.41653711e-04 9.99491972e-01 8.73997555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.00, Y:11.93, Z:0.87 [[ 8.86446310e-01 -4.61923321e-01 -2.89790587e-02 5.00031135e+01] [ 4.61705955e-01 8.86919504e-01 -1.41917346e-02 1.19331055e+01] [ 3.22575855e-02 -7.99593153e-04 9.99479269e-01 8.74316201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.03, Y:11.95, Z:0.88 [[ 8.85659732e-01 -4.63398022e-01 -2.94807245e-02 5.00281394e+01] [ 4.63173718e-01 8.86149834e-01 -1.44422902e-02 1.19455272e+01] [ 3.28168678e-02 -8.63741894e-04 9.99461008e-01 8.75164895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.05, Y:11.96, Z:0.87 [[ 8.84949246e-01 -4.64811218e-01 -2.85545911e-02 5.00506915e+01] [ 4.64288736e-01 8.85379915e-01 -2.32029210e-02 1.19616913e+01] [ 3.60666394e-02 7.27583239e-03 9.99322901e-01 8.74792912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.08, Y:11.97, Z:0.88 [[ 8.83686921e-01 -4.66870677e-01 -3.36035096e-02 5.00808583e+01] [ 4.66897760e-01 8.84279341e-01 -7.51856355e-03 1.19662339e+01] [ 3.32250862e-02 -9.04534710e-03 9.99406962e-01 8.79355478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.10, Y:11.98, Z:0.88 [[ 8.81515964e-01 -4.71174578e-01 -3.03993695e-02 5.01029965e+01] [ 4.70939720e-01 8.82039207e-01 -1.49203848e-02 1.19824616e+01] [ 3.38435418e-02 -1.16371309e-03 9.99426466e-01 8.77999389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.662755096000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:50.13, Y:12.00, Z:0.88 [[ 8.80339090e-01 -4.73351491e-01 -3.06831058e-02 5.01284045e+01] [ 4.73113366e-01 8.80872745e-01 -1.50648715e-02 1.19952239e+01] [ 3.41588910e-02 -1.25439221e-03 9.99415628e-01 8.78638159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:12.01, Z:0.88 [[ 8.78371393e-01 -4.76984436e-01 -3.08146630e-02 5.01525857e+01] [ 4.76746101e-01 8.78910639e-01 -1.51407947e-02 1.20078852e+01] [ 3.43052585e-02 -1.39152952e-03 9.99410433e-01 8.79398242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:12.02, Z:0.88 [[ 8.77802762e-01 -4.78031207e-01 -3.07973270e-02 5.01776238e+01] [ 4.77793511e-01 8.78341696e-01 -1.51401887e-02 1.20204623e+01] [ 3.42880591e-02 -1.42466353e-03 9.99410976e-01 8.80293654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:12.03, Z:0.88 [[ 8.76261854e-01 -4.80823320e-01 -3.12105444e-02 5.02024789e+01] [ 4.80580554e-01 8.76816144e-01 -1.53551352e-02 1.20330020e+01] [ 3.47490163e-02 -1.54406152e-03 9.99394878e-01 8.81579240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.782755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.22, Y:12.06, Z:0.87 [[ 8.75690655e-01 -4.82322472e-01 -2.30414780e-02 5.02234885e+01] [ 4.81551755e-01 8.75827537e-01 -3.21563805e-02 1.20565445e+01] [ 3.56901058e-02 1.70633777e-02 9.99217222e-01 8.73497323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.26, Y:12.06, Z:0.88 [[ 8.75825102e-01 -4.81466506e-01 -3.34722858e-02 5.02562920e+01] [ 4.81471514e-01 8.76421086e-01 -8.44161837e-03 1.20559156e+01] [ 3.34001735e-02 -8.72257084e-03 9.99403995e-01 8.81497062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.842755096000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.28, Y:12.07, Z:0.89 [[ 8.75944251e-01 -4.80992323e-01 -3.69872186e-02 5.02814018e+01] [ 4.81108988e-01 8.76638410e-01 -6.26413379e-03 1.20669718e+01] [ 3.54374168e-02 -1.23078513e-02 9.99296105e-01 8.87868791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.30, Y:12.08, Z:0.89 [[ 8.76301593e-01 -4.80678855e-01 -3.23010377e-02 5.03027343e+01] [ 4.80417598e-01 8.76895313e-01 -1.59229719e-02 1.20848821e+01] [ 3.59784645e-02 -1.56466131e-03 9.99351341e-01 8.85664884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:12.10, Z:0.89 [[ 8.76644085e-01 -4.80038524e-01 -3.25294338e-02 5.03274740e+01] [ 4.79772805e-01 8.77246054e-01 -1.60442164e-02 1.20977611e+01] [ 3.62381594e-02 -1.54167025e-03 9.99341993e-01 8.86721801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:12.11, Z:0.89 [[ 8.77679902e-01 -4.78254107e-01 -3.08382676e-02 5.03513138e+01] [ 4.77776277e-01 8.78210368e-01 -2.18261070e-02 1.21140823e+01] [ 3.75209116e-02 4.42254274e-03 9.99286056e-01 8.87040993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:12.12, Z:0.89 [[ 8.78054732e-01 -4.77270187e-01 -3.51149022e-02 5.03787359e+01] [ 4.77297492e-01 8.78704048e-01 -8.14251127e-03 1.21186955e+01] [ 3.47417846e-02 -9.61068423e-03 9.99350110e-01 8.91175001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:12.14, Z:0.89 [[ 8.79689156e-01 -4.74592758e-01 -3.01446977e-02 5.03989411e+01] [ 4.74178758e-01 8.80198951e-01 -2.01075247e-02 1.21364911e+01] [ 3.60762168e-02 3.39439614e-03 9.99343277e-01 8.89395011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:12.15, Z:0.89 [[ 8.79072067e-01 -4.75612442e-01 -3.20172876e-02 5.04270424e+01] [ 4.75425339e-01 8.79649227e-01 -1.37107569e-02 1.21480566e+01] [ 3.46849889e-02 -3.16908642e-03 9.99393270e-01 8.91886959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:12.17, Z:0.89 [[ 8.78614583e-01 -4.76653325e-01 -2.89486001e-02 5.04510711e+01] [ 4.76049741e-01 8.79049257e-01 -2.54764177e-02 1.21689049e+01] [ 3.75906646e-02 8.60297859e-03 9.99256189e-01 8.91143307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:12.17, Z:0.90 [[ 8.79697910e-01 -4.74228196e-01 -3.52023502e-02 5.04787949e+01] [ 4.74324098e-01 8.80329119e-01 -6.10675397e-03 1.21695770e+01] [ 3.38856489e-02 -1.13252243e-02 9.99361547e-01 8.96193385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:12.19, Z:0.89 [[ 8.79548578e-01 -4.74942647e-01 -2.87015792e-02 5.05007454e+01] [ 4.74342414e-01 8.79973295e-01 -2.54219263e-02 1.21943670e+01] [ 3.73305802e-02 8.74544281e-03 9.99264702e-01 8.93140045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.142755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.53, Y:12.21, Z:0.89 [[ 8.79780985e-01 -4.74538431e-01 -2.82612202e-02 5.05278595e+01] [ 4.74149608e-01 8.80226454e-01 -1.95841419e-02 1.22052226e+01] [ 3.41697016e-02 3.82970914e-03 9.99408708e-01 8.91513068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.55, Y:12.21, Z:0.90 [[ 8.79967840e-01 -4.73855297e-01 -3.34328863e-02 5.05518291e+01] [ 4.73543578e-01 8.80602448e-01 -1.71990833e-02 1.22140198e+01] [ 3.75909583e-02 -6.97288386e-04 9.99292967e-01 8.98329511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.202755096000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.58, Y:12.23, Z:0.90 [[ 8.79861476e-01 -4.74184243e-01 -3.15132886e-02 5.05791153e+01] [ 4.73997464e-01 8.80420713e-01 -1.36298359e-02 1.22280782e+01] [ 3.42080054e-02 -2.94485137e-03 9.99410396e-01 8.95689272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.232755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:12.23, Z:0.91 [[ 8.80238825e-01 -4.72860919e-01 -3.97763973e-02 5.06075577e+01] [ 4.73103509e-01 8.80999202e-01 -3.67089060e-03 1.22329088e+01] [ 3.67787950e-02 -1.55870927e-02 9.99201863e-01 9.05602043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:12.27, Z:0.88 [[ 8.79249708e-01 -4.76198595e-01 -1.24438685e-02 5.06190607e+01] [ 4.75344082e-01 8.78779143e-01 -4.23700644e-02 1.22726702e+01] [ 3.11119772e-02 3.13387475e-02 9.99024488e-01 8.82907002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.292755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.67, Y:12.25, Z:0.91 [[ 8.80874527e-01 -4.70891635e-01 -4.81781633e-02 5.06665057e+01] [ 4.71997327e-01 8.81484779e-01 1.42515672e-02 1.22484717e+01] [ 3.57573739e-02 -3.52938069e-02 9.98737081e-01 9.12675459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:12.28, Z:0.90 [[ 8.80076639e-01 -4.73760566e-01 -3.18753111e-02 5.06795163e+01] [ 4.73404436e-01 8.80653002e-01 -1.83991810e-02 1.22800103e+01] [ 3.67878948e-02 1.10277566e-03 9.99322488e-01 9.03608738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.71, Y:12.29, Z:0.91 [[ 8.80096442e-01 -4.73634591e-01 -3.31741924e-02 5.07051252e+01] [ 4.73348711e-01 8.80720654e-01 -1.64962689e-02 1.22909286e+01] [ 3.70304000e-02 -1.18465367e-03 9.99313437e-01 9.05000606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.73, Y:12.30, Z:0.91 [[ 8.79932352e-01 -4.73916897e-01 -3.34937380e-02 5.07299218e+01] [ 4.73625183e-01 8.80568762e-01 -1.66685891e-02 1.23035479e+01] [ 3.73930654e-02 -1.19624697e-03 9.99299919e-01 9.05807700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.412755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:12.32, Z:0.91 [[ 8.80061122e-01 -4.73641370e-01 -3.40040299e-02 5.07538218e+01] [ 4.73339972e-01 8.80717001e-01 -1.69362083e-02 1.23155694e+01] [ 3.79696162e-02 -1.19056807e-03 9.99278185e-01 9.06801605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.78, Y:12.33, Z:0.91 [[ 8.80348736e-01 -4.73074995e-01 -3.44405528e-02 5.07790800e+01] [ 4.72765132e-01 8.81021377e-01 -1.71599229e-02 1.23286673e+01] [ 3.84607937e-02 -1.17557604e-03 9.99259418e-01 9.07303263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:12.34, Z:0.91 [[ 8.80445088e-01 -4.72891266e-01 -3.45006834e-02 5.08040545e+01] [ 4.72579652e-01 8.81120032e-01 -1.72035361e-02 1.23413617e+01] [ 3.85346453e-02 -1.15755213e-03 9.99256594e-01 9.08051597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.502755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.83, Y:12.36, Z:0.90 [[ 8.80761267e-01 -4.72679081e-01 -2.88803781e-02 5.08278947e+01] [ 4.72044246e-01 8.81183385e-01 -2.62692071e-02 1.23593949e+01] [ 3.78658140e-02 9.50408381e-03 9.99237636e-01 9.02791537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:12.36, Z:0.91 [[ 8.80890174e-01 -4.71685506e-01 -3.93101109e-02 5.08563340e+01] [ 4.71776280e-01 8.81686238e-01 -7.51791628e-03 1.23601815e+01] [ 3.82052759e-02 -1.19231193e-02 9.99198777e-01 9.12714942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:12.38, Z:0.91 [[ 8.81019791e-01 -4.71826274e-01 -3.44106831e-02 5.08792429e+01] [ 4.71514269e-01 8.81690875e-01 -1.71899576e-02 1.23782499e+01] [ 3.84502589e-02 -1.08043518e-03 9.99259931e-01 9.10482080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.90, Y:12.39, Z:0.91 [[ 8.81043043e-01 -4.71793351e-01 -3.42664733e-02 5.09043908e+01] [ 4.71483432e-01 8.81708514e-01 -1.71309415e-02 1.23907995e+01] [ 3.82953055e-02 -1.06297763e-03 9.99265900e-01 9.11465218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:12.40, Z:0.92 [[ 8.81651734e-01 -4.70269616e-01 -3.92008766e-02 5.09348942e+01] [ 4.70359709e-01 8.82443182e-01 -7.46828242e-03 1.23971220e+01] [ 3.81046526e-02 -1.18540888e-02 9.99203441e-01 9.17614991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.95, Y:12.42, Z:0.91 [[ 8.81219911e-01 -4.71861140e-01 -2.82583378e-02 5.09518012e+01] [ 4.71237262e-01 8.81619442e-01 -2.61266825e-02 1.24215296e+01] [ 3.72412662e-02 9.70697108e-03 9.99259157e-01 9.10072928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:12.42, Z:0.92 [[ 8.82129600e-01 -4.69504830e-01 -3.75843493e-02 5.09850635e+01] [ 4.69527179e-01 8.82874371e-01 -8.77914889e-03 1.24224797e+01] [ 3.73041116e-02 -9.90252641e-03 9.99254894e-01 9.18395585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.00, Y:12.45, Z:0.91 [[ 8.81393417e-01 -4.71534730e-01 -2.82956170e-02 5.10025185e+01] [ 4.70991917e-01 8.81813474e-01 -2.39084039e-02 1.24451936e+01] [ 3.62250991e-02 7.74570294e-03 9.99313638e-01 9.12180405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.03, Y:12.45, Z:0.92 [[ 8.81408169e-01 -4.71268728e-01 -3.20222616e-02 5.10300053e+01] [ 4.70996040e-01 8.81989184e-01 -1.60564279e-02 1.24529607e+01] [ 3.58101807e-02 -9.30091721e-04 9.99358177e-01 9.15464893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.06, Y:12.46, Z:0.92 [[ 8.81154832e-01 -4.71675305e-01 -3.29934617e-02 5.10568038e+01] [ 4.71486594e-01 8.81765677e-01 -1.37725443e-02 1.24646657e+01] [ 3.55886712e-02 -3.42023092e-03 9.99360670e-01 9.17416365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.08, Y:12.48, Z:0.92 [[ 8.81432841e-01 -4.71286033e-01 -3.10744614e-02 5.10796307e+01] [ 4.70936916e-01 8.81979317e-01 -1.81907990e-02 1.24786206e+01] [ 3.59801017e-02 1.39985660e-03 9.99351526e-01 9.17168183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:12.48, Z:0.94 [[ 8.81795490e-01 -4.68932966e-01 -5.03843849e-02 5.11210646e+01] [ 4.69603219e-01 8.82875991e-01 1.67399705e-03 1.24761769e+01] [ 4.36981713e-02 -2.51367923e-02 9.98728497e-01 9.36246929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.14, Y:12.51, Z:0.92 [[ 8.81663916e-01 -4.70867488e-01 -3.08633798e-02 5.11359846e+01] [ 4.70101118e-01 8.82133925e-01 -2.90633162e-02 1.25074184e+01] [ 4.09106050e-02 1.11151678e-02 9.99100984e-01 9.22714771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:12.52, Z:0.92 [[ 8.80768770e-01 -4.72704511e-01 -2.82279834e-02 5.11546743e+01] [ 4.72164653e-01 8.81187496e-01 -2.38565913e-02 1.25193003e+01] [ 3.61512643e-02 7.68388457e-03 9.99316789e-01 9.18362863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.18, Y:12.54, Z:0.92 [[ 8.79212367e-01 -4.75488261e-01 -2.99420672e-02 5.11822747e+01] [ 4.74812413e-01 8.79669527e-01 -2.71052736e-02 1.25355239e+01] [ 3.92273635e-02 9.61442663e-03 9.99184055e-01 9.20172253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:12.53, Z:0.93 [[ 8.80226702e-01 -4.72567689e-01 -4.33674142e-02 5.12166827e+01] [ 4.73086592e-01 8.81013763e-01 1.95568956e-03 1.25288705e+01] [ 3.72830931e-02 -2.22379924e-02 9.99057277e-01 9.30923079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.982755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.23, Y:12.56, Z:0.92 [[ 8.79425315e-01 -4.75325838e-01 -2.60089008e-02 5.12284508e+01] [ 4.74693541e-01 8.79735457e-01 -2.70475218e-02 1.25601284e+01] [ 3.57373382e-02 1.14400181e-02 9.99295736e-01 9.17690497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.26, Y:12.57, Z:0.92 [[ 8.79386827e-01 -4.75034084e-01 -3.19597746e-02 5.12566623e+01] [ 4.74758943e-01 8.79966901e-01 -1.61925608e-02 1.25663026e+01] [ 3.58155621e-02 -9.33664109e-04 9.99357981e-01 9.21655318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:12.58, Z:0.92 [[ 8.79646907e-01 -4.74524472e-01 -3.23704315e-02 5.12808697e+01] [ 4.74241409e-01 8.80241837e-01 -1.64132634e-02 1.25776807e+01] [ 3.62823032e-02 -9.13522663e-04 9.99341163e-01 9.22420807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:12.59, Z:0.92 [[ 8.79688447e-01 -4.74436267e-01 -3.25340525e-02 5.13063651e+01] [ 4.74150061e-01 8.80289385e-01 -1.65020413e-02 1.25904961e+01] [ 3.64685480e-02 -9.09367891e-04 9.99334388e-01 9.23426321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.33, Y:12.60, Z:0.92 [[ 8.80184571e-01 -4.73469393e-01 -3.31942104e-02 5.13302360e+01] [ 4.73170287e-01 8.80809836e-01 -1.68497077e-02 1.26024210e+01] [ 3.72156079e-02 -8.75661322e-04 9.99306876e-01 9.24436927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:12.62, Z:0.93 [[ 8.80306495e-01 -4.73257506e-01 -3.29819370e-02 5.13555144e+01] [ 4.72961742e-01 8.80923722e-01 -1.67507081e-02 1.26157206e+01] [ 3.69819691e-02 -8.53437297e-04 9.99315569e-01 9.25053250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.162755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:12.63, Z:0.93 [[ 8.80348632e-01 -4.73170747e-01 -3.31018273e-02 5.13802346e+01] [ 4.72872299e-01 8.80970337e-01 -1.68241832e-02 1.26287534e+01] [ 3.71224393e-02 -8.41790479e-04 9.99310370e-01 9.26112837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:12.65, Z:0.92 [[ 8.79930420e-01 -4.74614189e-01 -2.15366569e-02 5.13986279e+01] [ 4.73900744e-01 8.80024534e-01 -3.12234577e-02 1.26525601e+01] [ 3.37718825e-02 1.72682326e-02 9.99280375e-01 9.15722190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:12.65, Z:0.93 [[ 8.80574505e-01 -4.72336819e-01 -3.85547796e-02 5.14341280e+01] [ 4.72501178e-01 8.81314063e-01 -5.30647404e-03 1.26478577e+01] [ 3.64853126e-02 -1.35444330e-02 9.99242398e-01 9.30321120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:12.66, Z:0.93 [[ 8.80462880e-01 -4.72808534e-01 -3.51739446e-02 5.14567102e+01] [ 4.72643008e-01 8.81152002e-01 -1.34065586e-02 1.26640511e+01] [ 3.73323270e-02 -4.82074181e-03 9.99291278e-01 9.30537673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:12.68, Z:0.93 [[ 8.80058436e-01 -4.73712632e-01 -3.30679819e-02 5.14802825e+01] [ 4.73414393e-01 8.80679072e-01 -1.68280686e-02 1.26779518e+01] [ 3.70939482e-02 -8.45174867e-04 9.99311425e-01 9.30651889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:12.69, Z:0.93 [[ 8.79973441e-01 -4.73870733e-01 -3.30646540e-02 5.15056274e+01] [ 4.73572361e-01 8.80594013e-01 -1.68346048e-02 1.26910335e+01] [ 3.70939629e-02 -8.44501208e-04 9.99311425e-01 9.31686897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.342755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:12.71, Z:0.93 [[ 8.79166828e-01 -4.75504500e-01 -3.10025609e-02 5.15312921e+01] [ 4.75021840e-01 8.79701684e-01 -2.18906099e-02 1.27079639e+01] [ 3.76820885e-02 4.51860455e-03 9.99279562e-01 9.31440504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:12.71, Z:0.93 [[ 8.79495941e-01 -4.74634598e-01 -3.47690604e-02 5.15572858e+01] [ 4.74540828e-01 8.80159310e-01 -1.14276409e-02 1.27134069e+01] [ 3.60262660e-02 -6.44877496e-03 9.99330036e-01 9.34761767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:12.73, Z:0.93 [[ 8.78850589e-01 -4.76152053e-01 -3.00144085e-02 5.15807218e+01] [ 4.75708916e-01 8.79353249e-01 -2.09497357e-02 1.27325252e+01] [ 3.63685273e-02 4.13356577e-03 9.99329897e-01 9.32473632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:12.74, Z:0.94 [[ 8.79036175e-01 -4.75624562e-01 -3.28127962e-02 5.16076454e+01] [ 4.75409743e-01 8.79643936e-01 -1.45644381e-02 1.27409571e+01] [ 3.57907817e-02 -2.79685507e-03 9.99355391e-01 9.35188277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:12.75, Z:0.94 [[ 8.79098093e-01 -4.75508126e-01 -3.28415098e-02 5.16327729e+01] [ 4.75372781e-01 8.79698302e-01 -1.23132640e-02 1.27520756e+01] [ 3.47456775e-02 -4.78739296e-03 9.99384720e-01 9.36071783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.66, Y:12.77, Z:0.93 [[ 8.78673716e-01 -4.76481493e-01 -2.99647575e-02 5.16561683e+01] [ 4.75920448e-01 8.79157045e-01 -2.41374643e-02 1.27710989e+01] [ 3.78447827e-02 6.94811468e-03 9.99259474e-01 9.34504244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:12.78, Z:0.94 [[ 8.79135960e-01 -4.75336867e-01 -3.42757478e-02 5.16836848e+01] [ 4.75142425e-01 8.79795403e-01 -1.41324059e-02 1.27774217e+01] [ 3.68732989e-02 -3.86155572e-03 9.99312488e-01 9.37761951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:12.79, Z:0.94 [[ 8.79663474e-01 -4.74344532e-01 -3.44882321e-02 5.17082376e+01] [ 4.74263665e-01 8.80314010e-01 -1.10099545e-02 1.27874176e+01] [ 3.55829857e-02 -6.67146054e-03 9.99344457e-01 9.38731080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.73, Y:12.80, Z:0.94 [[ 8.79447109e-01 -4.74946962e-01 -3.15937590e-02 5.17317183e+01] [ 4.74604784e-01 8.80013985e-01 -1.80467313e-02 1.28044618e+01] [ 3.63741899e-02 8.76596483e-04 9.99337856e-01 9.37694224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.76, Y:12.82, Z:0.94 [[ 8.79443090e-01 -4.75058102e-01 -2.99941859e-02 5.17553941e+01] [ 4.74397987e-01 8.79905925e-01 -2.66854395e-02 1.28216554e+01] [ 3.90691961e-02 9.23914392e-03 9.99193793e-01 9.37590858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:12.82, Z:0.94 [[ 8.80437780e-01 -4.72700438e-01 -3.71969296e-02 5.17865545e+01] [ 4.72756642e-01 8.81158280e-01 -7.82579583e-03 1.28231556e+01] [ 3.64756396e-02 -1.06949693e-02 9.99277312e-01 9.43934358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:12.83, Z:0.95 [[ 8.80412648e-01 -4.72368591e-01 -4.17310767e-02 5.18141014e+01] [ 4.72641632e-01 8.81247023e-01 -3.68415510e-03 1.28329817e+01] [ 3.85156662e-02 -1.64802674e-02 9.99122087e-01 9.49708576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:12.86, Z:0.94 [[ 8.80865725e-01 -4.72237315e-01 -3.26725151e-02 5.18328700e+01] [ 4.71714963e-01 8.81459681e-01 -2.26676756e-02 1.28559088e+01] [ 3.95040270e-02 4.55506424e-03 9.99209029e-01 9.44296064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.732755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:12.86, Z:0.95 [[ 8.81149818e-01 -4.71352737e-01 -3.74378898e-02 5.18617418e+01] [ 4.71194157e-01 8.81926104e-01 -1.35060361e-02 1.28627707e+01] [ 3.93835594e-02 -5.73967370e-03 9.99207682e-01 9.49037286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.762755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.89, Y:12.88, Z:0.95 [[ 8.81216142e-01 -4.71260023e-01 -3.70418963e-02 5.18855704e+01] [ 4.70948741e-01 8.81991516e-01 -1.72699119e-02 1.28767428e+01] [ 4.08092574e-02 -2.22630933e-03 9.99164475e-01 9.50124356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.92, Y:12.88, Z:0.96 [[ 8.81578586e-01 -4.69942619e-01 -4.44199481e-02 5.19174725e+01] [ 4.70343592e-01 8.82481925e-01 -1.59902145e-03 1.28797802e+01] [ 3.99512496e-02 -1.94829749e-02 9.99011667e-01 9.57935995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:12.91, Z:0.95 [[ 8.81296067e-01 -4.71343846e-01 -3.39443813e-02 5.19369255e+01] [ 4.70761601e-01 8.81934467e-01 -2.39814701e-02 1.29054632e+01] [ 4.12402382e-02 5.15506402e-03 9.99135961e-01 9.50947772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:12.92, Z:0.95 [[ 8.80143440e-01 -4.73466796e-01 -3.43033298e-02 5.19636520e+01] [ 4.73190248e-01 8.80809631e-01 -1.62906033e-02 1.29157381e+01] [ 3.79277630e-02 -1.89393354e-03 9.99278689e-01 9.51693594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.98, Y:12.93, Z:0.95 [[ 8.80134497e-01 -4.73655582e-01 -3.18379668e-02 5.19849296e+01] [ 4.72953790e-01 8.80664601e-01 -2.72868693e-02 1.29317566e+01] [ 4.09631483e-02 8.95822789e-03 9.99120499e-01 9.50420391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.912755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:12.95, Z:0.94 [[ 8.78343550e-01 -4.77591460e-01 -2.04696083e-02 5.20033946e+01] [ 4.76806994e-01 8.78353938e-01 -3.39035346e-02 1.29522469e+01] [ 3.41715997e-02 2.00188985e-02 9.99215465e-01 9.38960003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:12.93, Z:0.97 [[ 8.79189374e-01 -4.73222092e-01 -5.55598431e-02 5.20506761e+01] [ 4.74719605e-01 8.79972353e-01 1.70280404e-02 1.29312230e+01] [ 4.08330810e-02 -4.13462190e-02 9.98310147e-01 9.70016345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:12.99, Z:0.94 [[ 8.78247563e-01 -4.77972864e-01 -1.49384854e-02 5.20526433e+01] [ 4.76486456e-01 8.77308955e-01 -5.73555155e-02 1.29877888e+01] [ 4.05200470e-02 4.32543558e-02 9.98242048e-01 9.42075602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.002755096 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:52.09, Y:12.98, Z:0.95 [[ 8.77812951e-01 -4.77989008e-01 -3.11597730e-02 5.20884358e+01] [ 4.77635945e-01 8.78364884e-01 -1.84128723e-02 1.29789741e+01] [ 3.61708010e-02 1.28003016e-03 9.99344803e-01 9.51600259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.032755096 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:52.11, Y:12.99, Z:0.95 [[ 8.77592012e-01 -4.78439227e-01 -3.04658428e-02 5.21095649e+01] [ 4.77621733e-01 8.78035533e-01 -3.05136436e-02 1.29948715e+01] [ 4.13490165e-02 1.22273812e-02 9.99069942e-01 9.54310937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:12.99, Z:0.96 [[ 8.77252055e-01 -4.78156632e-01 -4.23682346e-02 5.21459325e+01] [ 4.78672176e-01 8.77990589e-01 2.33965200e-03 1.29904805e+01] [ 3.60801911e-02 -2.23329596e-02 9.99099324e-01 9.63452148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.16, Y:13.01, Z:0.96 [[ 8.77073603e-01 -4.79264334e-01 -3.23665393e-02 5.21644570e+01] [ 4.78918655e-01 8.77670485e-01 -1.82055411e-02 1.30139760e+01] [ 3.71324228e-02 4.66660092e-04 9.99310245e-01 9.57659406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.19, Y:13.02, Z:0.96 [[ 8.75977647e-01 -4.80762414e-01 -3.91236858e-02 5.21939102e+01] [ 4.80929874e-01 8.76740983e-01 -5.63065473e-03 1.30198716e+01] [ 3.70083459e-02 -1.38834216e-02 9.99218511e-01 9.64077732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:13.04, Z:0.96 [[ 8.75872986e-01 -4.81742148e-01 -2.77671539e-02 5.22131500e+01] [ 4.81113688e-01 8.76257663e-01 -2.64976834e-02 1.30417332e+01] [ 3.70962323e-02 9.84944729e-03 9.99263158e-01 9.55839780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:13.05, Z:0.96 [[ 8.74359859e-01 -4.84100908e-01 -3.37808873e-02 5.22442163e+01] [ 4.83869053e-01 8.75007073e-01 -1.52761545e-02 1.30490197e+01] [ 3.69537156e-02 -2.98866969e-03 9.99312509e-01 9.60570501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:13.05, Z:0.97 [[ 8.73942489e-01 -4.84158520e-01 -4.26034451e-02 5.22733983e+01] [ 4.84380190e-01 8.74839391e-01 -5.64544534e-03 1.30545081e+01] [ 4.00044624e-02 -1.57024703e-02 9.99076111e-01 9.70489648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:13.07, Z:0.97 [[ 8.73492742e-01 -4.85327336e-01 -3.83119716e-02 5.22971623e+01] [ 4.85129999e-01 8.74314857e-01 -1.49135577e-02 1.30714553e+01] [ 4.07346832e-02 -5.55940231e-03 9.99154532e-01 9.67513320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:13.09, Z:0.96 [[ 8.73760819e-01 -4.85589102e-01 -2.72993526e-02 5.23163771e+01] [ 4.84822843e-01 8.74086639e-01 -3.03209072e-02 1.30929421e+01] [ 3.85855014e-02 1.32578710e-02 9.99167347e-01 9.59777560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.35, Y:13.09, Z:0.97 [[ 8.72763132e-01 -4.86530068e-01 -3.96611776e-02 5.23495158e+01] [ 4.86471340e-01 8.73617252e-01 -1.17699645e-02 1.30940320e+01] [ 4.03751306e-02 -9.02163514e-03 9.99143863e-01 9.69770607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:13.12, Z:0.96 [[ 8.72933338e-01 -4.86961292e-01 -2.92589769e-02 5.23679276e+01] [ 4.86089608e-01 8.73311716e-01 -3.23038546e-02 1.31174160e+01] [ 4.12829341e-02 1.39766270e-02 9.99049735e-01 9.62578299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.40, Y:13.12, Z:0.97 [[ 8.72682230e-01 -4.86902945e-01 -3.67593168e-02 5.23988810e+01] [ 4.86728168e-01 8.73438587e-01 -1.41677552e-02 1.31223130e+01] [ 3.90053275e-02 -5.52784672e-03 9.99223712e-01 9.69646717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.392755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.42, Y:13.14, Z:0.97 [[ 8.73100261e-01 -4.86352703e-01 -3.40144426e-02 5.24221618e+01] [ 4.86032723e-01 8.73761887e-01 -1.76735970e-02 1.31381504e+01] [ 3.83161252e-02 -1.10131001e-03 9.99265061e-01 9.68965835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:13.15, Z:0.97 [[ 8.73325191e-01 -4.85769586e-01 -3.64831650e-02 5.24482994e+01] [ 4.85526026e-01 8.74078361e-01 -1.58586434e-02 1.31489586e+01] [ 3.95927917e-02 -3.86377335e-03 9.99208428e-01 9.71935426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:13.17, Z:0.97 [[ 8.73508326e-01 -4.85724786e-01 -3.24751739e-02 5.24701051e+01] [ 4.85129818e-01 8.74092203e-01 -2.47362063e-02 1.31667311e+01] [ 4.04012848e-02 5.85260694e-03 9.99166394e-01 9.69529265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.482755096000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.50, Y:13.17, Z:0.97 [[ 8.74117003e-01 -4.84250867e-01 -3.76903552e-02 5.24982540e+01] [ 4.84062038e-01 8.74911983e-01 -1.45933528e-02 1.31741554e+01] [ 4.00425871e-02 -5.48817238e-03 9.99182902e-01 9.74344094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:13.19, Z:0.97 [[ 8.74306779e-01 -4.84133222e-01 -3.46796653e-02 5.25213608e+01] [ 4.83796985e-01 8.74993748e-01 -1.80670359e-02 1.31894754e+01] [ 3.90913426e-02 -9.81785553e-04 9.99235159e-01 9.73376891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.54, Y:13.21, Z:0.97 [[ 8.74172802e-01 -4.84586255e-01 -3.15923037e-02 5.25441073e+01] [ 4.84116868e-01 8.74736027e-01 -2.16273125e-02 1.32062630e+01] [ 3.81152246e-02 3.61164128e-03 9.99266824e-01 9.71460500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:13.22, Z:0.97 [[ 8.75168239e-01 -4.82609088e-01 -3.41909730e-02 5.25672454e+01] [ 4.82204315e-01 8.75835482e-01 -1.97789674e-02 1.32188154e+01] [ 3.94911768e-02 8.22889364e-04 9.99219580e-01 9.74771952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:13.22, Z:0.98 [[ 8.75302184e-01 -4.81586380e-01 -4.38251591e-02 5.25986004e+01] [ 4.81939598e-01 8.76199934e-01 -2.81052067e-03 1.32235624e+01] [ 3.97531100e-02 -1.86610247e-02 9.99035263e-01 9.82975813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.62, Y:13.25, Z:0.98 [[ 8.75943161e-01 -4.81091680e-01 -3.56983697e-02 5.26192497e+01] [ 4.80719138e-01 8.76670102e-01 -1.89378594e-02 1.32462692e+01] [ 4.04065400e-02 -5.72401106e-04 9.99183158e-01 9.79151689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.662755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.64, Y:13.27, Z:0.97 [[ 8.75751324e-01 -4.82074336e-01 -2.57672810e-02 5.26367587e+01] [ 4.81313955e-01 8.76010668e-01 -3.06950446e-02 1.32678188e+01] [ 3.73697063e-02 1.44790741e-02 9.99196608e-01 9.71338172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:13.27, Z:0.98 [[ 8.75230215e-01 -4.82590158e-01 -3.28452506e-02 5.26665202e+01] [ 4.82307286e-01 8.75845282e-01 -1.65748107e-02 1.32739197e+01] [ 3.67661983e-02 -1.33472852e-03 9.99323003e-01 9.76868451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.69, Y:13.29, Z:0.98 [[ 8.75099938e-01 -4.82825132e-01 -3.28632228e-02 5.26907469e+01] [ 4.82519059e-01 8.75716423e-01 -1.72076579e-02 1.32875288e+01] [ 3.70871536e-02 -7.98711029e-04 9.99311716e-01 9.77598635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:13.29, Z:0.99 [[ 8.75393748e-01 -4.81020856e-01 -4.80075176e-02 5.27247669e+01] [ 4.81617804e-01 8.76380797e-01 9.95127935e-04 1.32892584e+01] [ 4.15941893e-02 -2.39924040e-02 9.98846479e-01 9.92321323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:13.33, Z:0.97 [[ 8.74094534e-01 -4.85243697e-01 -2.23002477e-02 5.27332555e+01] [ 4.84289609e-01 8.74101572e-01 -3.75501782e-02 1.33288178e+01] [ 3.77136689e-02 2.20226273e-02 9.99045886e-01 9.72291112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:13.33, Z:0.98 [[ 8.73885413e-01 -4.85026039e-01 -3.27723539e-02 5.27630960e+01] [ 4.84722270e-01 8.74499279e-01 -1.71852404e-02 1.33300287e+01] [ 3.69946889e-02 -8.67558895e-04 9.99315086e-01 9.79713208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:13.34, Z:0.98 [[ 8.73681868e-01 -4.85389635e-01 -3.28160986e-02 5.27867087e+01] [ 4.85084986e-01 8.74297509e-01 -1.72169303e-02 1.33428587e+01] [ 3.70479528e-02 -8.76476926e-04 9.99313105e-01 9.80821726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.81, Y:13.36, Z:0.98 [[ 8.73431969e-01 -4.85830808e-01 -3.29396518e-02 5.28116143e+01] [ 4.85523950e-01 8.74052417e-01 -1.72877624e-02 1.33565893e+01] [ 3.71899099e-02 -8.93305508e-04 9.99307817e-01 9.81817549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.84, Y:13.37, Z:0.98 [[ 8.72986976e-01 -4.86638184e-01 -3.28179590e-02 5.28357504e+01] [ 4.86333685e-01 8.73603139e-01 -1.72366555e-02 1.33710068e+01] [ 3.70578867e-02 -9.13103244e-04 9.99312703e-01 9.82328350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:13.38, Z:0.98 [[ 8.72996930e-01 -4.86620939e-01 -3.28088758e-02 5.28597875e+01] [ 4.86316124e-01 8.73612758e-01 -1.72446323e-02 1.33840377e+01] [ 3.70538516e-02 -9.00974245e-04 9.99312864e-01 9.83043131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.88, Y:13.40, Z:0.98 [[ 8.72607452e-01 -4.87319923e-01 -3.27952363e-02 5.28844028e+01] [ 4.87015630e-01 8.73223017e-01 -1.72435284e-02 1.33980547e+01] [ 3.70406701e-02 -9.24961249e-04 9.99313331e-01 9.83957797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:13.41, Z:0.98 [[ 8.72456787e-01 -4.87600695e-01 -3.26300105e-02 5.29081281e+01] [ 4.87299185e-01 8.73066271e-01 -1.71694390e-02 1.34111449e+01] [ 3.68599920e-02 -9.20983935e-04 9.99320015e-01 9.84834646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.93, Y:13.42, Z:0.99 [[ 8.71979944e-01 -4.88454243e-01 -3.26102683e-02 5.29329246e+01] [ 4.88153472e-01 8.72588991e-01 -1.71650913e-02 1.34248122e+01] [ 3.68397228e-02 -9.51200360e-04 9.99320734e-01 9.85493216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.052755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:13.44, Z:0.99 [[ 8.71425043e-01 -4.89490191e-01 -3.19021349e-02 5.29563675e+01] [ 4.89202592e-01 8.72008272e-01 -1.68046914e-02 1.34373145e+01] [ 3.60446571e-02 -9.62578185e-04 9.99349717e-01 9.86106862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:13.45, Z:0.99 [[ 8.71134521e-01 -4.90020247e-01 -3.16986430e-02 5.29799003e+01] [ 4.89736354e-01 8.71710511e-01 -1.67059546e-02 1.34498916e+01] [ 3.58182963e-02 -9.70844116e-04 9.99357847e-01 9.87130120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.00, Y:13.46, Z:0.99 [[ 8.70744368e-01 -4.90719321e-01 -3.16036987e-02 5.30031834e+01] [ 4.90437392e-01 8.71317144e-01 -1.66613399e-02 1.34630763e+01] [ 3.57128858e-02 -9.91867710e-04 9.99361599e-01 9.88136251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.03, Y:13.48, Z:0.99 [[ 8.70783301e-01 -4.90665266e-01 -3.13694067e-02 5.30278843e+01] [ 4.90387189e-01 8.71347603e-01 -1.65456989e-02 1.34771377e+01] [ 3.54520571e-02 -9.75436862e-04 9.99370902e-01 9.89696693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:13.48, Z:1.00 [[ 8.71202761e-01 -4.88803886e-01 -4.55687395e-02 5.30605965e+01] [ 4.89124497e-01 8.72201913e-01 -4.58805487e-03 1.34806799e+01] [ 4.19878008e-02 -1.82916607e-02 9.98950669e-01 1.00492560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:13.50, Z:1.00 [[ 8.71118455e-01 -4.89641803e-01 -3.74638783e-02 5.30820283e+01] [ 4.89260743e-01 8.71922463e-01 -1.93686316e-02 1.35031430e+01] [ 4.21492887e-02 -1.45723247e-03 9.99110261e-01 1.00068957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.232755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.10, Y:13.53, Z:0.99 [[ 8.71093257e-01 -4.90568459e-01 -2.32190595e-02 5.30983749e+01] [ 4.89838116e-01 8.71262760e-01 -3.09810024e-02 1.35272221e+01] [ 3.54282045e-02 1.56137619e-02 9.99250245e-01 9.88565918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:13.52, Z:1.01 [[ 8.71546176e-01 -4.88071621e-01 -4.68332724e-02 5.31372119e+01] [ 4.88490968e-01 8.72564433e-01 -2.80786798e-03 1.35216514e+01] [ 4.22354885e-02 -2.04304440e-02 9.98898774e-01 1.00931762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:13.54, Z:1.00 [[ 8.71866436e-01 -4.88286898e-01 -3.77468206e-02 5.31571368e+01] [ 4.88088685e-01 8.72666395e-01 -1.49264298e-02 1.35429233e+01] [ 4.02287620e-02 -5.40994283e-03 9.99175850e-01 1.00433447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:13.56, Z:1.00 [[ 8.72012908e-01 -4.88548886e-01 -3.02237404e-02 5.31782429e+01] [ 4.87920715e-01 8.72500486e-01 -2.60053518e-02 1.35646356e+01] [ 3.90751138e-02 7.93021345e-03 9.99204807e-01 9.99178089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:13.58, Z:1.00 [[ 8.71831283e-01 -4.88788613e-01 -3.15579660e-02 5.32033267e+01] [ 4.88339654e-01 8.72396953e-01 -2.11645567e-02 1.35762472e+01] [ 3.78760677e-02 3.04091643e-03 9.99277817e-01 1.00035067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:13.59, Z:1.00 [[ 8.71795646e-01 -4.89015093e-01 -2.89238654e-02 5.32250056e+01] [ 4.88517545e-01 8.72256461e-01 -2.27875939e-02 1.35906671e+01] [ 3.63725059e-02 5.73630941e-03 9.99321838e-01 9.98325576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.412755096000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.26, Y:13.59, Z:1.01 [[ 8.72548939e-01 -4.86863487e-01 -4.02777097e-02 5.32582498e+01] [ 4.87055807e-01 8.73353182e-01 -5.55514166e-03 1.35924318e+01] [ 3.78812616e-02 -1.47703594e-02 9.99173081e-01 1.00941744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.442755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:53.27, Y:13.62, Z:1.00 [[ 8.71623983e-01 -4.89507143e-01 -2.55810347e-02 5.32740429e+01] [ 4.88604957e-01 8.71821777e-01 -3.45251318e-02 1.36237800e+01] [ 3.92024018e-02 1.75939125e-02 9.99076386e-01 1.00053114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.30, Y:13.63, Z:1.01 [[ 8.71900512e-01 -4.88429153e-01 -3.50208497e-02 5.33036421e+01] [ 4.88190398e-01 8.72596743e-01 -1.56543989e-02 1.36253713e+01] [ 3.82051442e-02 -3.44776409e-03 9.99263969e-01 1.00793643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.33, Y:13.64, Z:1.01 [[ 8.71886020e-01 -4.88470857e-01 -3.47992804e-02 5.33293745e+01] [ 4.88363386e-01 8.72556428e-01 -1.21030212e-02 1.36371338e+01] [ 3.62763089e-02 -6.44223943e-03 9.99321033e-01 1.00894671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:13.66, Z:1.01 [[ 8.71641799e-01 -4.89131521e-01 -3.14790147e-02 5.33531256e+01] [ 4.88737952e-01 8.72208213e-01 -1.96989205e-02 1.36552225e+01] [ 3.70916181e-02 1.78541337e-03 9.99310274e-01 1.00784967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.38, Y:13.66, Z:1.01 [[ 8.71805581e-01 -4.88740632e-01 -3.29791390e-02 5.33782787e+01] [ 4.88537373e-01 8.72422275e-01 -1.45123940e-02 1.36647629e+01] [ 3.58645321e-02 -3.45955586e-03 9.99350673e-01 1.00987955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.40, Y:13.68, Z:1.01 [[ 8.71910649e-01 -4.88675653e-01 -3.11115164e-02 5.34016579e+01] [ 4.88396406e-01 8.72465187e-01 -1.65362413e-02 1.36786361e+01] [ 3.52245735e-02 -7.76627942e-04 9.99379120e-01 1.00996508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:13.69, Z:1.01 [[ 8.71961409e-01 -4.88582455e-01 -3.11526260e-02 5.34266313e+01] [ 4.88302232e-01 8.72517388e-01 -1.65631383e-02 1.36916509e+01] [ 3.52736666e-02 -7.69479416e-04 9.99377394e-01 1.01093151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:13.70, Z:1.01 [[ 8.72227857e-01 -4.88087428e-01 -3.14520043e-02 5.34507206e+01] [ 4.87801036e-01 8.72794424e-01 -1.67344895e-02 1.37044987e+01] [ 3.56190279e-02 -7.46032378e-04 9.99365163e-01 1.01168459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:13.72, Z:1.01 [[ 8.72261777e-01 -4.88023154e-01 -3.15086213e-02 5.34756904e+01] [ 4.87735504e-01 8.72830369e-01 -1.67697768e-02 1.37179729e+01] [ 3.56857210e-02 -7.40237954e-04 9.99362788e-01 1.01254819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.50, Y:13.73, Z:1.01 [[ 8.72114175e-01 -4.88282430e-01 -3.15774329e-02 5.34990478e+01] [ 4.87993268e-01 8.72685349e-01 -1.68182304e-02 1.37306796e+01] [ 3.57692095e-02 -7.42157512e-04 9.99359802e-01 1.01337778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:13.74, Z:1.01 [[ 8.72067420e-01 -4.88336406e-01 -3.20307654e-02 5.35231455e+01] [ 4.88038618e-01 8.72655141e-01 -1.70678687e-02 1.37430625e+01] [ 3.62866738e-02 -7.47918262e-04 9.99341142e-01 1.01437716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.55, Y:13.76, Z:1.02 [[ 8.71943376e-01 -4.88564964e-01 -3.19221639e-02 5.35478539e+01] [ 4.88269160e-01 8.72527199e-01 -1.70151348e-02 1.37558841e+01] [ 3.61659550e-02 -7.50374045e-04 9.99345516e-01 1.01532139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.802755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.57, Y:13.77, Z:1.02 [[ 8.71716178e-01 -4.88959319e-01 -3.20887709e-02 5.35729212e+01] [ 4.88660258e-01 8.72306257e-01 -1.71156915e-02 1.37690810e+01] [ 3.63601125e-02 -7.60481868e-04 9.99338463e-01 1.01643923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:13.78, Z:1.02 [[ 8.71383313e-01 -4.89588611e-01 -3.15295753e-02 5.35974986e+01] [ 4.89299894e-01 8.71953215e-01 -1.68286696e-02 1.37824868e+01] [ 3.57314395e-02 -7.63195968e-04 9.99361137e-01 1.01728643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:13.80, Z:1.02 [[ 8.71171437e-01 -4.89971743e-01 -3.14327546e-02 5.36219697e+01] [ 4.89684643e-01 8.71737979e-01 -1.67883081e-02 1.37959033e+01] [ 3.56269225e-02 -7.66642728e-04 9.99364866e-01 1.01808526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:13.81, Z:1.02 [[ 8.70881225e-01 -4.90493021e-01 -3.13446648e-02 5.36469410e+01] [ 4.90207431e-01 8.71444775e-01 -1.67534791e-02 1.38096865e+01] [ 3.55326090e-02 -7.75097162e-04 9.99368217e-01 1.01866614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.67, Y:13.82, Z:1.02 [[ 8.70421440e-01 -4.91305131e-01 -3.13972205e-02 5.36711135e+01] [ 4.91018669e-01 8.70987158e-01 -1.67939492e-02 1.38219333e+01] [ 3.55975293e-02 -7.98807950e-04 9.99365888e-01 1.01960770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.70, Y:13.83, Z:1.02 [[ 8.70109865e-01 -4.91845600e-01 -3.15710093e-02 5.36961772e+01] [ 4.91556120e-01 8.70682050e-01 -1.68922576e-02 1.38346290e+01] [ 3.57966937e-02 -8.20802886e-04 9.99358756e-01 1.02118278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.982755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.72, Y:13.85, Z:1.02 [[ 8.69713881e-01 -4.92557071e-01 -3.13894471e-02 5.37213660e+01] [ 4.92270949e-01 8.70279745e-01 -1.68070660e-02 1.38470644e+01] [ 3.55960392e-02 -8.34774282e-04 9.99365912e-01 1.02217970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:13.86, Z:1.02 [[ 8.69676041e-01 -4.92598799e-01 -3.17806233e-02 5.37451605e+01] [ 4.92305086e-01 8.70256126e-01 -1.70287525e-02 1.38598290e+01] [ 3.60456251e-02 -8.36264414e-04 9.99349795e-01 1.02334043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.042755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.77, Y:13.87, Z:1.02 [[ 8.69537184e-01 -4.92841916e-01 -3.18108633e-02 5.37693737e+01] [ 4.92547615e-01 8.70118461e-01 -1.70502348e-02 1.38731812e+01] [ 3.60822899e-02 -8.42551687e-04 9.99348467e-01 1.02427704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.79, Y:13.89, Z:1.03 [[ 8.69587185e-01 -4.92730734e-01 -3.21644524e-02 5.37941902e+01] [ 4.92429308e-01 8.70181432e-01 -1.72525841e-02 1.38872487e+01] [ 3.64897877e-02 -8.36093062e-04 9.99333676e-01 1.02525427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.82, Y:13.90, Z:1.03 [[ 8.69700241e-01 -4.92537916e-01 -3.20607551e-02 5.38189230e+01] [ 4.92237841e-01 8.70290605e-01 -1.72095867e-02 1.39005038e+01] [ 3.63785480e-02 -8.14335218e-04 9.99337750e-01 1.02591628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.84, Y:13.91, Z:1.03 [[ 8.69598679e-01 -4.92689964e-01 -3.24767111e-02 5.38433251e+01] [ 4.92381678e-01 8.70204532e-01 -1.74458062e-02 1.39138293e+01] [ 3.68567548e-02 -8.20087471e-04 9.99320222e-01 1.02712970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.162755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:13.93, Z:1.03 [[ 8.69608716e-01 -4.92682745e-01 -3.23170819e-02 5.38667623e+01] [ 4.92376998e-01 8.70208634e-01 -1.73731386e-02 1.39266512e+01] [ 3.66820493e-02 -8.04355014e-04 9.99326663e-01 1.02803605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:13.94, Z:1.03 [[ 8.69563409e-01 -4.92736950e-01 -3.27074388e-02 5.38910528e+01] [ 4.92423580e-01 8.70177936e-01 -1.75891304e-02 1.39399084e+01] [ 3.71281060e-02 -8.11049908e-04 9.99310185e-01 1.02881897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:13.95, Z:1.03 [[ 8.69526725e-01 -4.92794147e-01 -3.28207580e-02 5.39153609e+01] [ 4.92478140e-01 8.70145552e-01 -1.76635353e-02 1.39531560e+01] [ 3.72633234e-02 -8.04589799e-04 9.99305157e-01 1.02973082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:13.97, Z:1.03 [[ 8.69189750e-01 -4.93368171e-01 -3.31213915e-02 5.39393516e+01] [ 4.93046248e-01 8.69820193e-01 -1.78389999e-02 1.39672412e+01] [ 3.76108499e-02 -8.24901997e-04 9.99292121e-01 1.03052810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.96, Y:13.98, Z:1.03 [[ 8.68729955e-01 -4.94229402e-01 -3.23351769e-02 5.39635374e+01] [ 4.93760195e-01 8.69326658e-01 -2.17262693e-02 1.39833494e+01] [ 3.88475923e-02 2.90843770e-03 9.99240915e-01 1.03086193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.99, Y:13.99, Z:1.03 [[ 8.68950542e-01 -4.93619710e-01 -3.55603514e-02 5.39895476e+01] [ 4.93420737e-01 8.69665152e-01 -1.47817162e-02 1.39926403e+01] [ 3.82221449e-02 -4.70163452e-03 9.99258206e-01 1.03362142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.342755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.01, Y:14.01, Z:1.03 [[ 8.69119386e-01 -4.93494187e-01 -3.30904767e-02 5.40124689e+01] [ 4.93141695e-01 8.69749087e-01 -1.86492272e-02 1.40121243e+01] [ 3.79836971e-02 -1.09888886e-04 9.99278353e-01 1.03343452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.04, Y:14.02, Z:1.03 [[ 8.69637492e-01 -4.92553591e-01 -3.34901942e-02 5.40366175e+01] [ 4.92256864e-01 8.70280720e-01 -1.71653055e-02 1.40249389e+01] [ 3.76007031e-02 -1.55818476e-03 9.99291629e-01 1.03451798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.06, Y:14.04, Z:1.04 [[ 8.69603200e-01 -4.92621077e-01 -3.33878470e-02 5.40604001e+01] [ 4.92291329e-01 8.70243592e-01 -1.80371284e-02 1.40383210e+01] [ 3.79410295e-02 -7.51402944e-04 9.99279697e-01 1.03562968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:14.05, Z:1.04 [[ 8.69024288e-01 -4.93614089e-01 -3.37922933e-02 5.40855273e+01] [ 4.93276799e-01 8.69680685e-01 -1.82621461e-02 1.40516842e+01] [ 3.84029573e-02 -7.98705783e-04 9.99262015e-01 1.03652590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.11, Y:14.06, Z:1.04 [[ 8.68629715e-01 -4.94305695e-01 -3.38274772e-02 5.41088114e+01] [ 4.93967717e-01 8.69287760e-01 -1.82943990e-02 1.40644246e+01] [ 3.84488375e-02 -8.18623083e-04 9.99260235e-01 1.03752081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:14.06, Z:1.05 [[ 8.69123971e-01 -4.92280949e-01 -4.77806456e-02 5.41439786e+01] [ 4.92913286e-01 8.70076809e-01 1.68509170e-03 1.40636934e+01] [ 4.07432931e-02 -2.50162686e-02 9.98856431e-01 1.05070968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.15, Y:14.10, Z:1.03 [[ 8.67058554e-01 -4.97745397e-01 -2.14238981e-02 5.41520995e+01] [ 4.96776092e-01 8.67025791e-01 -3.84680668e-02 1.41037930e+01] [ 3.77223753e-02 2.27111860e-02 9.99030142e-01 1.03183541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.552755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.18, Y:14.11, Z:1.04 [[ 8.66588380e-01 -4.97962458e-01 -3.25264540e-02 5.41832433e+01] [ 4.97650993e-01 8.67198114e-01 -1.76329260e-02 1.41057019e+01] [ 3.69874147e-02 -9.06333356e-04 9.99315320e-01 1.03923453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.21, Y:14.12, Z:1.04 [[ 8.66031126e-01 -4.98932040e-01 -3.25101327e-02 5.42065962e+01] [ 4.98621095e-01 8.66640608e-01 -1.76369115e-02 1.41188935e+01] [ 3.69742214e-02 -9.36123592e-04 9.99315781e-01 1.03967510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:14.13, Z:1.04 [[ 8.65996885e-01 -4.99025422e-01 -3.19847468e-02 5.42311194e+01] [ 4.98724301e-01 8.66586858e-01 -1.73576883e-02 1.41316171e+01] [ 3.63794889e-02 -9.19866494e-04 9.99337624e-01 1.04060488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:14.14, Z:1.04 [[ 8.65943530e-01 -4.99134880e-01 -3.17202413e-02 5.42548507e+01] [ 4.98838340e-01 8.66523832e-01 -1.72267285e-02 1.41440825e+01] [ 3.60848061e-02 -9.05898405e-04 9.99348321e-01 1.04199791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.28, Y:14.16, Z:1.04 [[ 8.66083676e-01 -4.98896522e-01 -3.16437545e-02 5.42797547e+01] [ 4.98600936e-01 8.66661107e-01 -1.71939459e-02 1.41575924e+01] [ 3.60024111e-02 -8.86209722e-04 9.99351310e-01 1.04304799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:14.17, Z:1.04 [[ 8.66872735e-01 -4.97509659e-01 -3.18716410e-02 5.43037054e+01] [ 4.97208395e-01 8.67458046e-01 -1.73306100e-02 1.41710532e+01] [ 3.62694573e-02 -8.23414154e-04 9.99341708e-01 1.04360553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.732755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.33, Y:14.18, Z:1.04 [[ 8.67295504e-01 -4.96764093e-01 -3.19991242e-02 5.43285001e+01] [ 4.96459691e-01 8.67885252e-01 -1.74058635e-02 1.41848929e+01] [ 3.64181760e-02 -7.90248176e-04 9.99336326e-01 1.04429087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:14.20, Z:1.04 [[ 8.68229739e-01 -4.95115734e-01 -3.22107251e-02 5.43520791e+01] [ 4.94805689e-01 8.68826737e-01 -1.75337069e-02 1.41984330e+01] [ 3.66667534e-02 -7.14764248e-04 9.99327293e-01 1.04470908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:14.21, Z:1.05 [[ 8.68619878e-01 -4.94432262e-01 -3.21907785e-02 5.43767138e+01] [ 4.94121915e-01 8.69215897e-01 -1.75287662e-02 1.42121544e+01] [ 3.66475239e-02 -6.80334380e-04 9.99328022e-01 1.04533911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:14.22, Z:1.05 [[ 8.69188844e-01 -4.93452544e-01 -3.18644102e-02 5.44002544e+01] [ 4.93147352e-01 8.69772499e-01 -1.73634473e-02 1.42243941e+01] [ 3.62828249e-02 -6.21734850e-04 9.99341368e-01 1.04627657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.852755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.42, Y:14.23, Z:1.05 [[ 8.69593921e-01 -4.92707279e-01 -3.23411387e-02 5.44241476e+01] [ 4.92513834e-01 8.70187930e-01 -1.42509197e-02 1.42346774e+01] [ 3.51644004e-02 -3.53594508e-03 9.99375286e-01 1.04776233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:14.25, Z:1.05 [[ 8.69249461e-01 -4.93480215e-01 -2.97094549e-02 5.44490125e+01] [ 4.93095123e-01 8.69753645e-01 -1.96417145e-02 1.42522640e+01] [ 3.55327042e-02 2.42396244e-03 9.99365574e-01 1.04736335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.912755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.47, Y:14.26, Z:1.05 [[ 8.69043588e-01 -4.93798051e-01 -3.04421886e-02 5.44737501e+01] [ 4.93518789e-01 8.69576416e-01 -1.66151077e-02 1.42639559e+01] [ 3.46763171e-02 -5.84539265e-04 9.99398425e-01 1.04907385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.50, Y:14.28, Z:1.05 [[ 8.68872161e-01 -4.94118617e-01 -3.01323758e-02 5.44971611e+01] [ 4.93844927e-01 8.69394301e-01 -1.64540979e-02 1.42766760e+01] [ 3.43271919e-02 -5.84213269e-04 9.99410478e-01 1.04973968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.52, Y:14.29, Z:1.05 [[ 8.68450754e-01 -4.94873184e-01 -2.98968116e-02 5.45217969e+01] [ 4.94604044e-01 8.68964997e-01 -1.63301532e-02 1.42901873e+01] [ 3.40606377e-02 -6.05150100e-04 9.99419585e-01 1.05073950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.55, Y:14.30, Z:1.05 [[ 8.67725426e-01 -4.96192006e-01 -2.90874238e-02 5.45453540e+01] [ 4.95937605e-01 8.68212588e-01 -1.58995026e-02 1.43032861e+01] [ 3.31432736e-02 -6.29144591e-04 9.99450413e-01 1.05104475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:14.32, Z:1.05 [[ 8.67192100e-01 -4.97103951e-01 -2.94197827e-02 5.45703527e+01] [ 4.96843785e-01 8.67690743e-01 -1.60943413e-02 1.43158416e+01] [ 3.35278338e-02 -6.60150524e-04 9.99437566e-01 1.05222914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:14.33, Z:1.05 [[ 8.66666900e-01 -4.98093393e-01 -2.81328259e-02 5.45945504e+01] [ 4.97789435e-01 8.67122685e-01 -1.74335197e-02 1.43306435e+01] [ 3.30781325e-02 1.10483102e-03 9.99452158e-01 1.05127326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:14.34, Z:1.05 [[ 8.66388926e-01 -4.98487612e-01 -2.96703656e-02 5.46201964e+01] [ 4.98290359e-01 8.66893356e-01 -1.42347330e-02 1.43418965e+01] [ 3.28168809e-02 -2.45164212e-03 9.99458374e-01 1.05432529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.64, Y:14.36, Z:1.05 [[ 8.66240444e-01 -4.98795617e-01 -2.88171190e-02 5.46446743e+01] [ 4.98546045e-01 8.66719366e-01 -1.57917935e-02 1.43566797e+01] [ 3.28532325e-02 -6.87170505e-04 9.99459951e-01 1.05480925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.67, Y:14.37, Z:1.05 [[ 8.66453609e-01 -4.98508402e-01 -2.73407596e-02 5.46671434e+01] [ 4.98100052e-01 8.66874482e-01 -2.06148241e-02 1.43721722e+01] [ 3.39776698e-02 4.24335492e-03 9.99413584e-01 1.05437724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:14.38, Z:1.06 [[ 8.66280618e-01 -4.98677081e-01 -2.96489420e-02 5.46930150e+01] [ 4.98370063e-01 8.66787760e-01 -1.75002572e-02 1.43841546e+01] [ 3.44263172e-02 3.83988585e-04 9.99407165e-01 1.05691617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:14.40, Z:1.06 [[ 8.66223919e-01 -4.98675354e-01 -3.12891832e-02 5.47196721e+01] [ 4.98492496e-01 8.66781726e-01 -1.39524240e-02 1.43966619e+01] [ 3.40786222e-02 -3.51149959e-03 9.99412986e-01 1.05824297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:14.41, Z:1.06 [[ 8.66828225e-01 -4.97578003e-01 -3.20149991e-02 5.47434303e+01] [ 4.97375606e-01 8.67412977e-01 -1.45682543e-02 1.44092410e+01] [ 3.50190685e-02 -3.29530556e-03 9.99381211e-01 1.06000268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:14.43, Z:1.06 [[ 8.66203045e-01 -4.98955558e-01 -2.71226147e-02 5.47640129e+01] [ 4.98362469e-01 8.66581637e-01 -2.59058896e-02 1.44302231e+01] [ 3.64298474e-02 8.92286720e-03 9.99296377e-01 1.05765486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.302755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:14.44, Z:1.06 [[ 8.66229502e-01 -4.98545331e-01 -3.31512141e-02 5.47933404e+01] [ 4.98362929e-01 8.66853118e-01 -1.41443607e-02 1.44378124e+01] [ 3.57888383e-02 -4.26907369e-03 9.99350256e-01 1.06229444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.332755096 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:54.81, Y:14.46, Z:1.06 [[ 8.66242203e-01 -4.98721238e-01 -3.00261908e-02 5.48131571e+01] [ 4.98144787e-01 8.66737502e-01 -2.48570431e-02 1.44571451e+01] [ 3.84215609e-02 6.57482931e-03 9.99239989e-01 1.06020441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.84, Y:14.46, Z:1.06 [[ 8.67095228e-01 -4.96854837e-01 -3.57929812e-02 5.48413192e+01] [ 4.96805863e-01 8.67793507e-01 -1.08794659e-02 1.44620896e+01] [ 3.64664319e-02 -8.34862997e-03 9.99300005e-01 1.06472707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.86, Y:14.48, Z:1.06 [[ 8.67357843e-01 -4.96756523e-01 -3.03863436e-02 5.48635247e+01] [ 4.96284853e-01 8.67880677e-01 -2.20107972e-02 1.44827976e+01] [ 3.73057275e-02 4.01095550e-03 9.99295850e-01 1.06292906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.89, Y:14.49, Z:1.07 [[ 8.67867527e-01 -4.95699610e-01 -3.29826087e-02 5.48897327e+01] [ 4.95480104e-01 8.68488009e-01 -1.51011483e-02 1.44913954e+01] [ 3.61306335e-02 -3.23643021e-03 9.99341835e-01 1.06620531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:14.52, Z:1.06 [[ 8.66344657e-01 -4.98966646e-01 -2.18911196e-02 5.49101216e+01] [ 4.98301330e-01 8.66493943e-01 -2.97326525e-02 1.45175664e+01] [ 3.38041244e-02 1.48503507e-02 9.99318142e-01 1.05785355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.482755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.94, Y:14.52, Z:1.07 [[ 8.67171857e-01 -4.96987966e-01 -3.18736902e-02 5.49398582e+01] [ 4.96867208e-01 8.67741319e-01 -1.21647003e-02 1.45182033e+01] [ 3.37038276e-02 -5.28810569e-03 9.99417875e-01 1.06627616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.512755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.97, Y:14.54, Z:1.07 [[ 8.66569323e-01 -4.98141265e-01 -3.02140663e-02 5.49658797e+01] [ 4.97840108e-01 8.67095888e-01 -1.73189995e-02 1.45363232e+01] [ 3.48258010e-02 -3.36604186e-05 9.99393397e-01 1.06676124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.99, Y:14.55, Z:1.07 [[ 8.66845123e-01 -4.97555784e-01 -3.19025696e-02 5.49923297e+01] [ 4.97375274e-01 8.67423683e-01 -1.39280464e-02 1.45480049e+01] [ 3.46030245e-02 -3.79409017e-03 9.99393934e-01 1.06928840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:14.55, Z:1.08 [[ 8.68304210e-01 -4.94272645e-01 -4.17414805e-02 5.50226394e+01] [ 4.94444788e-01 8.69182307e-01 -6.81687648e-03 1.45526352e+01] [ 3.96503519e-02 -1.47197349e-02 9.99105189e-01 1.08046449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.04, Y:14.58, Z:1.07 [[ 8.66781399e-01 -4.97893354e-01 -2.81463143e-02 5.50388426e+01] [ 4.97306973e-01 8.67200600e-01 -2.54733759e-02 1.45811126e+01] [ 3.70915252e-02 8.08249004e-03 9.99279186e-01 1.07026401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:14.59, Z:1.07 [[ 8.66792349e-01 -4.97561041e-01 -3.32270136e-02 5.50653476e+01] [ 4.97206748e-01 8.67428930e-01 -1.87749860e-02 1.45893865e+01] [ 3.81637744e-02 -2.46681172e-04 9.99271467e-01 1.07487476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.662755096000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.10, Y:14.60, Z:1.08 [[ 8.67069856e-01 -4.96674190e-01 -3.87893416e-02 5.50950907e+01] [ 4.96664613e-01 8.67878242e-01 -1.05649896e-02 1.45972037e+01] [ 3.89117833e-02 -1.01047093e-02 9.99191557e-01 1.08109861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:14.62, Z:1.07 [[ 8.65396513e-01 -5.00301369e-01 -2.80609210e-02 5.51127735e+01] [ 4.99703974e-01 8.65811344e-01 -2.58196869e-02 1.46212526e+01] [ 3.72130884e-02 8.32211332e-03 9.99272700e-01 1.07342840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:14.63, Z:1.08 [[ 8.64658381e-01 -5.01131097e-01 -3.51213355e-02 5.51401343e+01] [ 5.00779954e-01 8.65370358e-01 -1.88037412e-02 1.46298101e+01] [ 3.98161021e-02 -1.32924835e-03 9.99206140e-01 1.08006601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:14.64, Z:1.08 [[ 8.63876565e-01 -5.02354621e-01 -3.68390339e-02 5.51670591e+01] [ 5.02218969e-01 8.64634781e-01 -1.35204342e-02 1.46390369e+01] [ 3.86443626e-02 -6.82127538e-03 9.99229745e-01 1.08350179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.19, Y:14.65, Z:1.08 [[ 8.63388061e-01 -5.03359566e-01 -3.44993102e-02 5.51902311e+01] [ 5.03092920e-01 8.64071910e-01 -1.66507786e-02 1.46549377e+01] [ 3.81912135e-02 -2.98027531e-03 9.99266005e-01 1.08434109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.21, Y:14.67, Z:1.08 [[ 8.63124765e-01 -5.03929346e-01 -3.27239037e-02 5.52118238e+01] [ 5.03520720e-01 8.63744229e-01 -2.03172826e-02 1.46712541e+01] [ 3.85035579e-02 1.05918626e-03 9.99257902e-01 1.08456534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:14.69, Z:1.08 [[ 8.62097153e-01 -5.05872554e-01 -2.96893616e-02 5.52344165e+01] [ 5.05361089e-01 8.62593233e-01 -2.33041594e-02 1.46872165e+01] [ 3.73987771e-02 5.08660139e-03 9.99287475e-01 1.08185818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:14.69, Z:1.10 [[ 8.63648781e-01 -5.01855939e-01 -4.74489177e-02 5.52669878e+01] [ 5.01643216e-01 8.64904525e-01 -1.71536230e-02 1.46878760e+01] [ 4.96474311e-02 -8.98772209e-03 9.98726366e-01 1.10212462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.31, Y:14.69, Z:1.11 [[ 8.63358940e-01 -5.00812455e-01 -6.16297533e-02 5.53062321e+01] [ 5.02589569e-01 8.64363159e-01 1.67348089e-02 1.46864728e+01] [ 4.48894875e-02 -4.54226180e-02 9.97958777e-01 1.11498963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.30, Y:14.75, Z:1.09 [[ 8.62582733e-01 -5.05597174e-01 -1.79590467e-02 5.53036723e+01] [ 5.03828217e-01 8.61703270e-01 -6.02046669e-02 1.47481764e+01] [ 4.59146787e-02 4.28832316e-02 9.98024484e-01 1.08613168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:14.74, Z:1.10 [[ 8.62168443e-01 -5.04957578e-01 -4.10295118e-02 5.53425988e+01] [ 5.04696216e-01 8.63124487e-01 -1.72582951e-02 1.47388192e+01] [ 4.41282833e-02 -5.82788191e-03 9.99008874e-01 1.10059441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:14.75, Z:1.10 [[ 8.61902444e-01 -5.05522915e-01 -3.96328111e-02 5.53640951e+01] [ 5.05053435e-01 8.62812326e-01 -2.18155488e-02 1.47549521e+01] [ 4.52239377e-02 -1.21381257e-03 9.98976137e-01 1.10027192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.39, Y:14.77, Z:1.10 [[ 8.61442060e-01 -5.06260150e-01 -4.02273347e-02 5.53880797e+01] [ 5.05776925e-01 8.62379882e-01 -2.21504361e-02 1.47691402e+01] [ 4.59051273e-02 -1.26474033e-03 9.98945003e-01 1.10154932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.052755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.43, Y:14.76, Z:1.13 [[ 8.62380064e-01 -5.01406032e-01 -6.99472401e-02 5.54322676e+01] [ 5.03479223e-01 8.63880482e-01 1.48048842e-02 1.47585670e+01] [ 5.30027972e-02 -4.79844191e-02 9.97440825e-01 1.12801232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:14.80, Z:1.11 [[ 8.61971050e-01 -5.04808651e-01 -4.66276166e-02 5.54436784e+01] [ 5.04088108e-01 8.63231230e-01 -2.69633695e-02 1.47972565e+01] [ 5.38617570e-02 -2.62783061e-04 9.98548367e-01 1.11394086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.46, Y:14.82, Z:1.11 [[ 8.60929584e-01 -5.07462872e-01 -3.58006174e-02 5.54607391e+01] [ 5.06154417e-01 8.61521474e-01 -3.98554372e-02 1.48214571e+01] [ 5.10681553e-02 1.61920843e-02 9.98563899e-01 1.10610553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.49, Y:14.83, Z:1.11 [[ 8.61038854e-01 -5.06754638e-01 -4.25655818e-02 5.54883165e+01] [ 5.06081454e-01 8.62089799e-01 -2.61293022e-02 1.48299084e+01] [ 4.99364989e-02 9.56692896e-04 9.98751937e-01 1.11095285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:14.85, Z:1.11 [[ 8.60970207e-01 -5.07165733e-01 -3.89001499e-02 5.55101786e+01] [ 5.06306939e-01 8.61825721e-01 -3.01614118e-02 1.48483698e+01] [ 4.88219843e-02 6.27266118e-03 9.98787799e-01 1.10914210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:14.86, Z:1.11 [[ 8.61167485e-01 -5.06940631e-01 -3.74400774e-02 5.55313232e+01] [ 5.06243536e-01 8.61970646e-01 -2.69088824e-02 1.48627893e+01] [ 4.59134536e-02 4.21925744e-03 9.98936511e-01 1.10934824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.232755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:14.87, Z:1.12 [[ 8.62027246e-01 -5.04856545e-01 -4.50432688e-02 5.55620966e+01] [ 5.04639521e-01 8.63164685e-01 -1.69020735e-02 1.48714891e+01] [ 4.74128814e-02 -8.16056576e-03 9.98842041e-01 1.11581367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:14.92, Z:1.09 [[ 8.59479954e-01 -5.10981364e-01 -1.38656014e-02 5.55637988e+01] [ 5.09502178e-01 8.58550428e-01 -5.74342451e-02 1.49171472e+01] [ 4.12521470e-02 4.22990282e-02 9.98253000e-01 1.09060712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.61, Y:14.90, Z:1.12 [[ 8.62304660e-01 -5.04107563e-01 -4.80233060e-02 5.56086975e+01] [ 5.04500843e-01 8.63399813e-01 -4.43425790e-03 1.48964843e+01] [ 4.36986563e-02 -2.04041171e-02 9.98836373e-01 1.11668507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:14.92, Z:1.11 [[ 8.63511906e-01 -5.02784892e-01 -3.94276582e-02 5.56290563e+01] [ 5.02484694e-01 8.64400628e-01 -1.79077359e-02 1.49183813e+01] [ 4.30850315e-02 -4.34825163e-03 9.99061946e-01 1.11376340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:14.94, Z:1.11 [[ 8.63757088e-01 -5.02554606e-01 -3.69128718e-02 5.56519713e+01] [ 5.01996944e-01 8.64543189e-01 -2.37516817e-02 1.49375126e+01] [ 4.38492889e-02 1.98553463e-03 9.99036184e-01 1.11320978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:14.95, Z:1.12 [[ 8.64768539e-01 -5.00542410e-01 -4.04063073e-02 5.56776567e+01] [ 5.00382235e-01 8.65679575e-01 -1.47136922e-02 1.49478732e+01] [ 4.23437419e-02 -7.49466026e-03 9.99074991e-01 1.11792576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.412755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:14.97, Z:1.11 [[ 8.65499881e-01 -4.99815305e-01 -3.30849970e-02 5.56957693e+01] [ 4.98878744e-01 8.66050307e-01 -3.28156172e-02 1.49717774e+01] [ 4.50550195e-02 1.18965110e-02 9.98913669e-01 1.11450447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:14.98, Z:1.12 [[ 8.65628995e-01 -4.98950029e-01 -4.16570621e-02 5.57259301e+01] [ 4.98829084e-01 8.66587415e-01 -1.39927573e-02 1.49759249e+01] [ 4.30811725e-02 -8.66721770e-03 9.99033979e-01 1.12155730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:15.00, Z:1.12 [[ 8.65386901e-01 -4.99682765e-01 -3.77179718e-02 5.57485496e+01] [ 4.99232213e-01 8.66208356e-01 -2.12198452e-02 1.49953146e+01] [ 4.32748133e-02 -4.66650389e-04 9.99063097e-01 1.12102837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.77, Y:15.01, Z:1.12 [[ 8.65269845e-01 -4.99943988e-01 -3.69337848e-02 5.57719437e+01] [ 4.99397125e-01 8.66055772e-01 -2.34501759e-02 1.50118787e+01] [ 4.37104919e-02 1.84610410e-03 9.99042534e-01 1.12183049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:15.02, Z:1.12 [[ 8.65363959e-01 -4.99742035e-01 -3.74582038e-02 5.57952911e+01] [ 4.99510740e-01 8.66160480e-01 -1.59700628e-02 1.50219162e+01] [ 4.04257275e-02 -4.89085833e-03 9.99170576e-01 1.12298896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.83, Y:15.02, Z:1.14 [[ 8.66105461e-01 -4.96680146e-01 -5.63042052e-02 5.58325156e+01] [ 4.97516181e-01 8.67454161e-01 9.63022279e-04 1.50221915e+01] [ 4.83630030e-02 -2.88463320e-02 9.98413196e-01 1.14195096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:15.07, Z:1.12 [[ 8.63620940e-01 -5.03682275e-01 -2.15183242e-02 5.58359903e+01] [ 5.02374616e-01 8.63380137e-01 -4.68453302e-02 1.50705070e+01] [ 4.21736561e-02 2.96463482e-02 9.98670354e-01 1.11732075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.622755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.87, Y:15.07, Z:1.13 [[ 8.63158620e-01 -5.03665843e-01 -3.57479504e-02 5.58675722e+01] [ 5.03182687e-01 8.63897892e-01 -2.20820161e-02 1.50698718e+01] [ 4.20045362e-02 1.07253283e-03 9.99116844e-01 1.12624577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.89, Y:15.08, Z:1.13 [[ 8.62701991e-01 -5.04229015e-01 -3.87088671e-02 5.58923014e+01] [ 5.03911781e-01 8.63561861e-01 -1.82710054e-02 1.50808001e+01] [ 4.26402724e-02 -3.74342144e-03 9.99083477e-01 1.12918098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:15.07, Z:1.16 [[ 8.63490011e-01 -4.99923535e-01 -6.67941590e-02 5.59383952e+01] [ 5.01815680e-01 8.64857600e-01 1.42251625e-02 1.50714859e+01] [ 5.06559425e-02 -4.58016420e-02 9.97665367e-01 1.15568718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:15.14, Z:1.12 [[ 8.60675354e-01 -5.08952388e-01 -1.43318657e-02 5.59279463e+01] [ 5.07168918e-01 8.59463098e-01 -6.40536685e-02 1.51360481e+01] [ 4.49179773e-02 4.78607370e-02 9.97843537e-01 1.11849832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:15.12, Z:1.13 [[ 8.60483813e-01 -5.07868624e-01 -4.04606948e-02 5.59669538e+01] [ 5.07712022e-01 8.61399330e-01 -1.48221782e-02 1.51197446e+01] [ 4.23805347e-02 -7.78813681e-03 9.99071186e-01 1.13312123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.99, Y:15.14, Z:1.14 [[ 8.58467084e-01 -5.11077177e-01 -4.28297166e-02 5.59941562e+01] [ 5.10767620e-01 8.59515170e-01 -1.87112472e-02 1.51361892e+01] [ 4.63756826e-02 -5.81304261e-03 9.98907155e-01 1.13753105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.802755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.02, Y:15.15, Z:1.14 [[ 8.57788798e-01 -5.12222720e-01 -4.27347967e-02 5.60154944e+01] [ 5.11710566e-01 8.58849992e-01 -2.29997258e-02 1.51512005e+01] [ 4.84837620e-02 -2.13893989e-03 9.98821681e-01 1.14011588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.04, Y:15.17, Z:1.13 [[ 8.57917325e-01 -5.12609527e-01 -3.47755190e-02 5.60392139e+01] [ 5.11814819e-01 8.58588958e-01 -2.95058110e-02 1.51706579e+01] [ 4.49828364e-02 7.51492047e-03 9.98959494e-01 1.13371573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:15.19, Z:1.14 [[ 8.56948728e-01 -5.14086130e-01 -3.68012040e-02 5.60665008e+01] [ 5.13194232e-01 8.57701928e-01 -3.12902946e-02 1.51856191e+01] [ 4.76503701e-02 7.92801253e-03 9.98832613e-01 1.13575971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:15.18, Z:1.15 [[ 8.56537065e-01 -5.13343562e-01 -5.31285580e-02 5.60965163e+01] [ 5.13768530e-01 8.57905208e-01 -6.36807785e-03 1.51826928e+01] [ 4.88482784e-02 -2.18412864e-02 9.98567376e-01 1.14923638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.11, Y:15.21, Z:1.14 [[ 8.57388190e-01 -5.13340539e-01 -3.69727217e-02 5.61144083e+01] [ 5.12565287e-01 8.58165926e-01 -2.87762169e-02 1.52096394e+01] [ 4.65007286e-02 5.72145478e-03 9.98901871e-01 1.13903502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:15.21, Z:1.15 [[ 8.55693091e-01 -5.15047866e-01 -5.01500717e-02 5.61460601e+01] [ 5.15329194e-01 8.56953601e-01 -8.14541743e-03 1.52126302e+01] [ 4.71715644e-02 -1.88738186e-02 9.98708477e-01 1.15016035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.982755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:15.23, Z:1.15 [[ 8.56265046e-01 -5.14914822e-01 -4.09010559e-02 5.61643800e+01] [ 5.14307853e-01 8.57241267e-01 -2.49968380e-02 1.52349235e+01] [ 4.79333153e-02 3.68184406e-04 9.98850470e-01 1.14592958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:15.25, Z:1.15 [[ 8.56180253e-01 -5.14992562e-01 -4.16897581e-02 5.61887165e+01] [ 5.14471322e-01 8.57193209e-01 -2.32177089e-02 1.52475302e+01] [ 4.76931249e-02 -1.56964104e-03 9.98860802e-01 1.14746782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.21, Y:15.27, Z:1.15 [[ 8.56803252e-01 -5.14205518e-01 -3.84821207e-02 5.62094618e+01] [ 5.13150069e-01 8.57612665e-01 -3.43150765e-02 1.52661842e+01] [ 5.06477557e-02 9.65416625e-03 9.98669916e-01 1.14686089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:15.27, Z:1.15 [[ 8.56544817e-01 -5.14160344e-01 -4.43860122e-02 5.62370999e+01] [ 5.13600055e-01 8.57691365e-01 -2.40936891e-02 1.52740804e+01] [ 5.04575189e-02 -2.15933378e-03 9.98723874e-01 1.15112140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:15.29, Z:1.15 [[ 8.56372600e-01 -5.14584682e-01 -4.27618309e-02 5.62618005e+01] [ 5.13998822e-01 8.57439046e-01 -2.45660959e-02 1.52883612e+01] [ 4.93070002e-02 -9.41799317e-04 9.98783226e-01 1.15176952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:15.30, Z:1.15 [[ 8.56225430e-01 -5.14849835e-01 -4.25166005e-02 5.62852869e+01] [ 5.14296060e-01 8.57279250e-01 -2.39133817e-02 1.53010411e+01] [ 4.87604000e-02 -1.39087457e-03 9.98809536e-01 1.15339475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:15.31, Z:1.15 [[ 8.56468828e-01 -5.14505604e-01 -4.17747566e-02 5.63078551e+01] [ 5.13896191e-01 8.57487016e-01 -2.50344035e-02 1.53140646e+01] [ 4.87016522e-02 -2.67020994e-05 9.98813370e-01 1.15458753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.33, Y:15.33, Z:1.16 [[ 8.55827078e-01 -5.15558734e-01 -4.19428694e-02 5.63342565e+01] [ 5.15078494e-01 8.56850742e-01 -2.23819303e-02 1.53268221e+01] [ 4.74779784e-02 -2.44880799e-03 9.98869283e-01 1.15607306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:15.34, Z:1.16 [[ 8.55607604e-01 -5.15995097e-01 -4.10449626e-02 5.63589737e+01] [ 5.15478813e-01 8.56590428e-01 -2.31177907e-02 1.53407775e+01] [ 4.70873887e-02 -1.37805108e-03 9.98889823e-01 1.15694842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.38, Y:15.35, Z:1.16 [[ 8.55414076e-01 -5.16345917e-01 -4.06651368e-02 5.63828289e+01] [ 5.15838783e-01 8.56379014e-01 -2.29201560e-02 1.53540926e+01] [ 4.66594987e-02 -1.37043059e-03 9.98909912e-01 1.15801269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.41, Y:15.37, Z:1.16 [[ 8.55162965e-01 -5.16800139e-01 -4.01736134e-02 5.64078186e+01] [ 5.16305344e-01 8.56104978e-01 -2.26507695e-02 1.53675021e+01] [ 4.60987513e-02 -1.37175210e-03 9.98935946e-01 1.15918999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.43, Y:15.38, Z:1.16 [[ 8.55134567e-01 -5.16851504e-01 -4.01172745e-02 5.64325704e+01] [ 5.16357377e-01 8.56073991e-01 -2.26358419e-02 1.53811381e+01] [ 4.60427242e-02 -1.35815981e-03 9.98938548e-01 1.16033929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.46, Y:15.39, Z:1.16 [[ 8.55105175e-01 -5.16902585e-01 -4.00856269e-02 5.64565729e+01] [ 5.16408534e-01 8.56043169e-01 -2.26344744e-02 1.53943892e+01] [ 4.60148454e-02 -1.34570366e-03 9.98939850e-01 1.16136030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.48, Y:15.41, Z:1.16 [[ 8.53329794e-01 -5.19772722e-01 -4.07992669e-02 5.64802356e+01] [ 5.19263799e-01 8.54303229e-01 -2.30456142e-02 1.54097870e+01] [ 4.68334271e-02 -1.52007306e-03 9.98901556e-01 1.16177688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:15.43, Z:1.16 [[ 8.52685097e-01 -5.20912787e-01 -3.97239720e-02 5.65089329e+01] [ 5.20107620e-01 8.53599093e-01 -2.92686239e-02 1.54308949e+01] [ 4.91547469e-02 4.29617890e-03 9.98781935e-01 1.16246724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.53, Y:15.43, Z:1.17 [[ 8.54808598e-01 -5.16997778e-01 -4.48949641e-02 5.65330195e+01] [ 5.16765533e-01 8.55947361e-01 -1.75356737e-02 1.54329826e+01] [ 4.74936304e-02 -8.21052540e-03 9.98837796e-01 1.16564100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:15.45, Z:1.16 [[ 8.55536529e-01 -5.16033249e-01 -4.20349198e-02 5.65546702e+01] [ 5.15483345e-01 8.56567621e-01 -2.38501766e-02 1.54492139e+01] [ 4.83132354e-02 -1.26360379e-03 9.98831435e-01 1.16466994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:15.46, Z:1.17 [[ 8.55654105e-01 -5.15831484e-01 -4.21180862e-02 5.65788555e+01] [ 5.15278746e-01 8.56689164e-01 -2.39058488e-02 1.54632988e+01] [ 4.84134975e-02 -1.24741699e-03 9.98826600e-01 1.16597981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:15.47, Z:1.17 [[ 8.55651659e-01 -5.15665169e-01 -4.41550865e-02 5.66055663e+01] [ 5.15399365e-01 8.56759243e-01 -1.80857502e-02 1.54749235e+01] [ 4.71564699e-02 -7.28240143e-03 9.98860968e-01 1.16808623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:15.49, Z:1.17 [[ 8.56004442e-01 -5.15460991e-01 -3.94507548e-02 5.66254951e+01] [ 5.14654469e-01 8.56900183e-01 -2.92036580e-02 1.54941741e+01] [ 4.88587055e-02 4.69495368e-03 9.98794666e-01 1.16646937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:15.50, Z:1.17 [[ 8.56405320e-01 -5.14518419e-01 -4.29036688e-02 5.66508625e+01] [ 5.13941101e-01 8.57478545e-01 -2.43944640e-02 1.55040026e+01] [ 4.93403765e-02 -1.15841004e-03 9.98781350e-01 1.16902106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:15.52, Z:1.17 [[ 8.56571208e-01 -5.14295243e-01 -4.22630987e-02 5.66753553e+01] [ 5.13734366e-01 8.57612469e-01 -2.40386168e-02 1.55175831e+01] [ 4.86083067e-02 -1.12121916e-03 9.98817288e-01 1.16987590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:15.52, Z:1.18 [[ 8.57637031e-01 -5.11279670e-01 -5.52433027e-02 5.67094828e+01] [ 5.11625455e-01 8.59163898e-01 -8.76301141e-03 1.55198317e+01] [ 5.19434008e-02 -2.07483968e-02 9.98434468e-01 1.18260903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:15.55, Z:1.17 [[ 8.57211245e-01 -5.13751388e-01 -3.53326071e-02 5.67230300e+01] [ 5.12614341e-01 8.57835720e-01 -3.66662563e-02 1.55518059e+01] [ 4.91469125e-02 1.33187261e-02 9.98702755e-01 1.17132145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:15.56, Z:1.17 [[ 8.56754631e-01 -5.14169750e-01 -4.00121246e-02 5.67476581e+01] [ 5.13447823e-01 8.57683455e-01 -2.73938790e-02 1.55604419e+01] [ 4.84028412e-02 2.92569445e-03 9.98823611e-01 1.17306263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.732755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.77, Y:15.57, Z:1.18 [[ 8.56908517e-01 -5.13783723e-01 -4.16422885e-02 5.67721972e+01] [ 5.13235510e-01 8.57919136e-01 -2.37501013e-02 1.55715630e+01] [ 4.79281317e-02 -1.02063707e-03 9.98850265e-01 1.17541533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.79, Y:15.59, Z:1.18 [[ 8.57097501e-01 -5.13643651e-01 -3.94217479e-02 5.67931286e+01] [ 5.12764421e-01 8.57982276e-01 -3.06441370e-02 1.55879449e+01] [ 4.95633274e-02 6.05094354e-03 9.98752653e-01 1.17510849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:15.60, Z:1.18 [[ 8.57402456e-01 -5.12673634e-01 -4.50196941e-02 5.68238516e+01] [ 5.12362767e-01 8.58557315e-01 -1.90717307e-02 1.55950048e+01] [ 4.84295612e-02 -6.71426629e-03 9.98804033e-01 1.18015734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82275509600001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:56.85, Y:15.61, Z:1.18 [[ 8.56351226e-01 -5.14670648e-01 -4.21509505e-02 5.68458844e+01] [ 5.14108925e-01 8.57387306e-01 -2.40628598e-02 1.56122573e+01] [ 4.85241375e-02 -1.06392036e-03 9.98821444e-01 1.17711813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:15.63, Z:1.18 [[ 8.55609215e-01 -5.15956108e-01 -4.14989917e-02 5.68749258e+01] [ 5.15559752e-01 8.56606624e-01 -2.05726748e-02 1.56264140e+01] [ 4.61629083e-02 -3.79303973e-03 9.98926723e-01 1.18063685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:15.63, Z:1.18 [[ 8.57184794e-01 -5.13275938e-01 -4.22142061e-02 5.68984355e+01] [ 5.13113946e-01 8.58182065e-01 -1.54149974e-02 1.56341967e+01] [ 4.41396218e-02 -8.44719647e-03 9.98989659e-01 1.18257810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.92, Y:15.65, Z:1.18 [[ 8.56905197e-01 -5.14142257e-01 -3.70300305e-02 5.69201891e+01] [ 5.13491131e-01 8.57698443e-01 -2.60813932e-02 1.56542729e+01] [ 4.51701458e-02 3.33468919e-03 9.98973742e-01 1.18056678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.94, Y:15.67, Z:1.18 [[ 8.55961816e-01 -5.15691477e-01 -3.73051024e-02 5.69448179e+01] [ 5.14955513e-01 8.56761437e-01 -2.79402858e-02 1.56683101e+01] [ 4.63701404e-02 4.70534963e-03 9.98913244e-01 1.18192114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.97, Y:15.68, Z:1.18 [[ 8.55542896e-01 -5.16202134e-01 -3.97707148e-02 5.69708866e+01] [ 5.15701915e-01 8.56466141e-01 -2.27438689e-02 1.56789305e+01] [ 4.58027043e-02 -1.05147837e-03 9.98949952e-01 1.18463434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.99, Y:15.69, Z:1.19 [[ 8.55139113e-01 -5.16900452e-01 -3.93829914e-02 5.69943405e+01] [ 5.16409969e-01 8.56044852e-01 -2.25378630e-02 1.56914372e+01] [ 4.53634386e-02 -1.06476120e-03 9.98969982e-01 1.18562346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:15.71, Z:1.18 [[ 8.54545811e-01 -5.18413447e-01 -3.16062584e-02 5.70161537e+01] [ 5.17567111e-01 8.55065828e-01 -3.14120138e-02 1.57115487e+01] [ 4.33098419e-02 1.04846450e-02 9.99006672e-01 1.18078564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.05, Y:15.71, Z:1.19 [[ 8.54011652e-01 -5.18346703e-01 -4.45061054e-02 5.70472389e+01] [ 5.18352817e-01 8.55078316e-01 -1.23057196e-02 1.57111756e+01] [ 4.44348348e-02 -1.25606372e-02 9.98933319e-01 1.19116598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.07, Y:15.73, Z:1.19 [[ 8.53628955e-01 -5.19459924e-01 -3.84576932e-02 5.70687534e+01] [ 5.18993711e-01 8.54494039e-01 -2.20332962e-02 1.57306949e+01] [ 4.43072839e-02 -1.15104124e-03 9.99017287e-01 1.18882488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:15.74, Z:1.19 [[ 8.53348687e-01 -5.19955826e-01 -3.79731027e-02 5.70932252e+01] [ 5.19501118e-01 8.54192378e-01 -2.17708373e-02 1.57441061e+01] [ 4.37562086e-02 -1.14895394e-03 9.99041578e-01 1.18940728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:15.76, Z:1.19 [[ 8.53450934e-01 -5.19775819e-01 -3.81392344e-02 5.71168979e+01] [ 5.19316241e-01 8.54301948e-01 -2.18820303e-02 1.57576192e+01] [ 4.39561725e-02 -1.13108466e-03 9.99032820e-01 1.19044496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:15.77, Z:1.19 [[ 8.53564002e-01 -5.19572057e-01 -3.83845315e-02 5.71414791e+01] [ 5.19105857e-01 8.54425905e-01 -2.20336610e-02 1.57715465e+01] [ 4.42448126e-02 -1.11849531e-03 9.99020093e-01 1.19143937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:15.79, Z:1.19 [[ 8.52564651e-01 -5.21246728e-01 -3.78862112e-02 5.71682645e+01] [ 5.20706242e-01 8.53405876e-01 -2.37364789e-02 1.57888556e+01] [ 4.47048772e-02 5.09296130e-04 9.99000107e-01 1.19207189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:15.80, Z:1.20 [[ 8.53288633e-01 -5.19688684e-01 -4.26870013e-02 5.71986164e+01] [ 5.19766763e-01 8.54248242e-01 -1.01219089e-02 1.57958081e+01] [ 4.17255374e-02 -1.35503747e-02 9.99037220e-01 1.19534580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:15.82, Z:1.19 [[ 8.54985224e-01 -5.17505164e-01 -3.44771294e-02 5.72141820e+01] [ 5.16669934e-01 8.55639859e-01 -3.05386916e-02 1.58174224e+01] [ 4.53039367e-02 8.29683389e-03 9.98938795e-01 1.19145241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.24, Y:15.83, Z:1.19 [[ 8.55306936e-01 -5.16642321e-01 -3.91248894e-02 5.72402055e+01] [ 5.16153366e-01 8.56200792e-01 -2.24923536e-02 1.58260764e+01] [ 4.51192631e-02 -9.56577311e-04 9.98981150e-01 1.19493902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.27, Y:15.83, Z:1.21 [[ 8.56197057e-01 -5.13961007e-01 -5.26372833e-02 5.72729208e+01] [ 5.14390904e-01 8.57534379e-01 -6.06518280e-03 1.58287089e+01] [ 4.82555475e-02 -2.18831481e-02 9.98595278e-01 1.20834749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.28, Y:15.87, Z:1.19 [[ 8.55772898e-01 -5.16572848e-01 -2.83767455e-02 5.72827926e+01] [ 5.15383782e-01 8.56013893e-01 -4.02463895e-02 1.58651723e+01] [ 4.50810805e-02 1.98168549e-02 9.98786758e-01 1.19133218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.32, Y:15.87, Z:1.20 [[ 8.55261938e-01 -5.16631924e-01 -4.02302482e-02 5.73154333e+01] [ 5.16413629e-01 8.56181318e-01 -1.64473145e-02 1.58668002e+01] [ 4.29415946e-02 -6.70868644e-03 9.99055060e-01 1.19941164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.422755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.33, Y:15.89, Z:1.19 [[ 8.54550357e-01 -5.18500904e-01 -3.00083232e-02 5.73329339e+01] [ 5.17678429e-01 8.55004006e-01 -3.12601018e-02 1.58896922e+01] [ 4.18656276e-02 1.11786695e-02 9.99060712e-01 1.19328952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.37, Y:15.89, Z:1.20 [[ 8.54516169e-01 -5.17765350e-01 -4.14868585e-02 5.73650029e+01] [ 5.17620941e-01 8.55478769e-01 -1.49879007e-02 1.58918633e+01] [ 4.32513423e-02 -8.66706322e-03 9.99026628e-01 1.20377052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:15.91, Z:1.20 [[ 8.53694085e-01 -5.19463685e-01 -3.69308732e-02 5.73875623e+01] [ 5.19028128e-01 8.54491952e-01 -2.12909896e-02 1.59094258e+01] [ 4.26170298e-02 -9.92170106e-04 9.99090989e-01 1.20278817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.41, Y:15.92, Z:1.21 [[ 8.51632944e-01 -5.22752823e-01 -3.80895494e-02 5.74114804e+01] [ 5.22456750e-01 8.52472702e-01 -1.81449092e-02 1.59216343e+01] [ 4.19556036e-02 -4.44733974e-03 9.99109578e-01 1.20599717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.43, Y:15.94, Z:1.20 [[ 8.51070865e-01 -5.24021483e-01 -3.28613360e-02 5.74338734e+01] [ 5.23346053e-01 8.51683848e-01 -2.72677765e-02 1.59403426e+01] [ 4.22763698e-02 6.00895960e-03 9.99087885e-01 1.20375017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:15.95, Z:1.21 [[ 8.49765941e-01 -5.25809132e-01 -3.77173973e-02 5.74613208e+01] [ 5.25564685e-01 8.50585203e-01 -1.69284918e-02 1.59486662e+01] [ 4.09830156e-02 -5.43767625e-03 9.99145047e-01 1.20741946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.48, Y:15.96, Z:1.21 [[ 8.49080384e-01 -5.27046392e-01 -3.58413503e-02 5.74839152e+01] [ 5.26640079e-01 8.49835560e-01 -2.07303812e-02 1.59648007e+01] [ 4.13851266e-02 -1.27373156e-03 9.99142457e-01 1.20723906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.51, Y:15.98, Z:1.21 [[ 8.48545993e-01 -5.27893923e-01 -3.60236565e-02 5.75086139e+01] [ 5.27483603e-01 8.49309303e-01 -2.08507974e-02 1.59790723e+01] [ 4.16022359e-02 -1.30902756e-03 9.99133395e-01 1.20793509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:15.98, Z:1.23 [[ 8.48994141e-01 -5.25337596e-01 -5.68274450e-02 5.75451095e+01] [ 5.26289926e-01 8.50302515e-01 2.13249149e-03 1.59770208e+01] [ 4.72002414e-02 -3.17181846e-02 9.98381738e-01 1.22689932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:16.02, Z:1.20 [[ 8.47153228e-01 -5.30884154e-01 -2.22131536e-02 5.75493075e+01] [ 5.29517295e-01 8.46963264e-01 -4.75884760e-02 1.60224368e+01] [ 4.40776929e-02 2.85524820e-02 9.98620004e-01 1.20126394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.58, Y:16.02, Z:1.21 [[ 8.45975443e-01 -5.31901774e-01 -3.74973606e-02 5.75809229e+01] [ 5.31459256e-01 8.46804675e-01 -2.17463032e-02 1.60210506e+01] [ 4.33198374e-02 -1.53148090e-03 9.99060081e-01 1.21058449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.61, Y:16.03, Z:1.21 [[ 8.46344466e-01 -5.31262713e-01 -3.82226899e-02 5.76052301e+01] [ 5.30801464e-01 8.47205785e-01 -2.21847887e-02 1.60345274e+01] [ 4.41684351e-02 -1.51268656e-03 9.99022953e-01 1.21175935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:16.05, Z:1.21 [[ 8.46202894e-01 -5.31479217e-01 -3.83471526e-02 5.76283846e+01] [ 5.31014397e-01 8.47069979e-01 -2.22746579e-02 1.60479501e+01] [ 4.43212395e-02 -1.51401019e-03 9.99016184e-01 1.21248911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.67, Y:16.04, Z:1.24 [[ 8.47460129e-01 -5.26851441e-01 -6.51067481e-02 5.76699265e+01] [ 5.28419590e-01 8.48941562e-01 8.42383871e-03 1.60399719e+01] [ 5.08337129e-02 -4.15425486e-02 9.97842748e-01 1.23811680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:16.08, Z:1.22 [[ 8.46723011e-01 -5.30870899e-01 -3.51600725e-02 5.76776995e+01] [ 5.29855394e-01 8.47386860e-01 -3.44785733e-02 1.60811855e+01] [ 4.80978546e-02 1.05640473e-02 9.98786763e-01 1.21845166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.71, Y:16.09, Z:1.22 [[ 8.46549815e-01 -5.30787626e-01 -4.02232197e-02 5.77052654e+01] [ 5.30180307e-01 8.47504849e-01 -2.53844874e-02 1.60899712e+01] [ 4.75631456e-02 1.63674100e-04 9.98868220e-01 1.22222903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.72, Y:16.12, Z:1.21 [[ 8.44965926e-01 -5.34204452e-01 -2.56551683e-02 5.77189096e+01] [ 5.33044542e-01 8.45096761e-01 -4.09265256e-02 1.61157475e+01] [ 4.35442318e-02 2.09061721e-02 9.98832735e-01 1.21048502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:16.12, Z:1.22 [[ 8.44805583e-01 -5.33795184e-01 -3.69625176e-02 5.77498990e+01] [ 5.33361463e-01 8.45612479e-01 -2.15658413e-02 1.61187655e+01] [ 4.27677084e-02 -1.49543929e-03 9.99083924e-01 1.21804298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:16.11, Z:1.24 [[ 8.46718301e-01 -5.28355837e-01 -6.25158166e-02 5.77908690e+01] [ 5.29739086e-01 8.48133612e-01 6.77324072e-03 1.61112802e+01] [ 4.94430841e-02 -3.88520985e-02 9.98020990e-01 1.24347391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.79, Y:16.17, Z:1.21 [[ 8.44328193e-01 -5.35523699e-01 -1.80074937e-02 5.77888915e+01] [ 5.34042890e-01 8.43782232e-01 -5.31952749e-02 1.61666360e+01] [ 4.36817336e-02 3.52974964e-02 9.98421751e-01 1.21010154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:16.16, Z:1.22 [[ 8.44096740e-01 -5.34927330e-01 -3.67891808e-02 5.78226821e+01] [ 5.34497198e-01 8.44896713e-01 -2.15009115e-02 1.61617160e+01] [ 4.25844831e-02 -1.51486471e-03 9.99091721e-01 1.22177790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:16.18, Z:1.22 [[ 8.43840593e-01 -5.35310761e-01 -3.70869705e-02 5.78465082e+01] [ 5.34873694e-01 8.44653785e-01 -2.16821598e-02 1.61758820e+01] [ 4.29323435e-02 -1.54055837e-03 9.99076794e-01 1.22267397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:16.19, Z:1.22 [[ 8.43473749e-01 -5.35836697e-01 -3.78294660e-02 5.78700878e+01] [ 5.35381819e-01 8.44320151e-01 -2.21311913e-02 1.61898506e+01] [ 4.37988849e-02 -1.58612946e-03 9.99039109e-01 1.22407844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:16.20, Z:1.23 [[ 8.43131549e-01 -5.36371618e-01 -3.78771627e-02 5.78943626e+01] [ 5.35915802e-01 8.43980389e-01 -2.21665617e-02 1.62039105e+01] [ 4.38570971e-02 -1.60964253e-03 9.99036518e-01 1.22544697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:16.22, Z:1.23 [[ 8.42703200e-01 -5.37024349e-01 -3.81597395e-02 5.79188970e+01] [ 5.36561666e-01 8.43565143e-01 -2.23478655e-02 1.62181298e+01] [ 4.41915741e-02 -1.64243562e-03 9.99021725e-01 1.22703453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:16.23, Z:1.23 [[ 8.42498498e-01 -5.37342852e-01 -3.81960765e-02 5.79434739e+01] [ 5.36878917e-01 8.43362286e-01 -2.23848812e-02 1.62324137e+01] [ 4.42414863e-02 -1.64743939e-03 9.99019508e-01 1.22851956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:16.25, Z:1.23 [[ 8.42413486e-01 -5.37459568e-01 -3.84282620e-02 5.79663029e+01] [ 5.36989425e-01 8.43287903e-01 -2.25359779e-02 1.62459209e+01] [ 4.45182655e-02 -1.65095861e-03 9.99007206e-01 1.22986235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.99, Y:16.26, Z:1.23 [[ 8.42485229e-01 -5.37526259e-01 -3.58351786e-02 5.79904619e+01] [ 5.36883921e-01 8.43241527e-01 -2.64458386e-02 1.62634610e+01] [ 4.44330434e-02 3.04089721e-03 9.99007737e-01 1.22840924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.02, Y:16.27, Z:1.23 [[ 8.42708081e-01 -5.36780121e-01 -4.13544741e-02 5.80156540e+01] [ 5.36492909e-01 8.43697671e-01 -1.86975628e-02 1.62724765e+01] [ 4.49271535e-02 -6.42979484e-03 9.98969573e-01 1.23405042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:16.28, Z:1.24 [[ 8.43630253e-01 -5.34819544e-01 -4.74979210e-02 5.80444426e+01] [ 5.34809553e-01 8.44856830e-01 -1.39885387e-02 1.62826095e+01] [ 4.76102868e-02 -1.36011874e-02 9.98773382e-01 1.24138210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:16.31, Z:1.23 [[ 8.44169566e-01 -5.35040897e-01 -3.33013963e-02 5.80584002e+01] [ 5.34112577e-01 8.44765112e-01 -3.31007572e-02 1.63095194e+01] [ 4.58421166e-02 1.01559573e-02 9.98897070e-01 1.23181662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:16.32, Z:1.24 [[ 8.44688859e-01 -5.33808795e-01 -3.93560823e-02 5.80853278e+01] [ 5.33309405e-01 8.45603965e-01 -2.31303598e-02 1.63180126e+01] [ 4.56268488e-02 -1.45101159e-03 9.98957499e-01 1.23634308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:16.32, Z:1.24 [[ 8.46978730e-01 -5.29887473e-01 -4.29685632e-02 5.81123007e+01] [ 5.30017726e-01 8.47936217e-01 -9.24021195e-03 1.63243562e+01] [ 4.13308735e-02 -1.49478372e-02 9.99033694e-01 1.24022881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:16.35, Z:1.23 [[ 8.46956896e-01 -5.30678349e-01 -3.23188244e-02 5.81289041e+01] [ 5.29666836e-01 8.47479601e-01 -3.50908660e-02 1.63536384e+01] [ 4.60115072e-02 1.26022415e-02 9.98861414e-01 1.23481365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:16.36, Z:1.24 [[ 8.48497278e-01 -5.27731548e-01 -3.93926710e-02 5.81566915e+01] [ 5.27222960e-01 8.49410513e-01 -2.31890429e-02 1.63613939e+01] [ 4.56981383e-02 -1.09288084e-03 9.98954697e-01 1.24041700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:16.38, Z:1.24 [[ 8.49203886e-01 -5.26601714e-01 -3.92860681e-02 5.81809213e+01] [ 5.26093902e-01 8.50111525e-01 -2.31430691e-02 1.63762915e+01] [ 4.55847191e-02 -1.01497658e-03 9.98959961e-01 1.24158270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:16.39, Z:1.24 [[ 8.49926503e-01 -5.25445018e-01 -3.91468159e-02 5.82052633e+01] [ 5.24938815e-01 8.50827044e-01 -2.30777290e-02 1.63910654e+01] [ 4.54332474e-02 -9.35309639e-04 9.98966939e-01 1.24293721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:16.41, Z:1.24 [[ 8.50712961e-01 -5.24198184e-01 -3.87778434e-02 5.82285245e+01] [ 5.23699494e-01 8.51595882e-01 -2.28756392e-02 1.64050664e+01] [ 4.50144202e-02 -8.47334226e-04 9.98985978e-01 1.24409369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:16.42, Z:1.25 [[ 8.52057666e-01 -5.22038641e-01 -3.83847909e-02 5.82527062e+01] [ 5.21547465e-01 8.52921533e-01 -2.26517310e-02 1.64193762e+01] [ 4.45642936e-02 -7.18909359e-04 9.99006260e-01 1.24552315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.28, Y:16.43, Z:1.25 [[ 8.52429202e-01 -5.21437350e-01 -3.83085584e-02 5.82770706e+01] [ 5.20946794e-01 8.53289305e-01 -2.26229915e-02 1.64340876e+01] [ 4.44847560e-02 -6.72222085e-04 9.99009837e-01 1.24663401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:16.45, Z:1.25 [[ 8.52785270e-01 -5.20831733e-01 -3.86210981e-02 5.83005450e+01] [ 5.20331789e-01 8.53659128e-01 -2.28237334e-02 1.64481251e+01] [ 4.48565775e-02 -6.32041483e-04 9.98993237e-01 1.24754314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:16.46, Z:1.25 [[ 8.53223729e-01 -5.20078153e-01 -3.90894192e-02 5.83252233e+01] [ 5.19564821e-01 8.54118472e-01 -2.31091626e-02 1.64621956e+01] [ 4.54055656e-02 -5.92201217e-04 9.98968460e-01 1.24812391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.35, Y:16.48, Z:1.25 [[ 8.53084149e-01 -5.20261055e-01 -3.96972222e-02 5.83490785e+01] [ 5.19731018e-01 8.54007072e-01 -2.34859472e-02 1.64761968e+01] [ 4.61205321e-02 -5.96388448e-04 9.98935704e-01 1.24917457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:16.49, Z:1.25 [[ 8.52929223e-01 -5.20488777e-01 -4.00396440e-02 5.83736305e+01] [ 5.19948990e-01 8.53868300e-01 -2.37059807e-02 1.64905233e+01] [ 4.65272797e-02 -5.99048732e-04 9.98916840e-01 1.25037141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.742755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.40, Y:16.50, Z:1.25 [[ 8.52220887e-01 -5.21636912e-01 -4.01807381e-02 5.83974370e+01] [ 5.21093812e-01 8.53167340e-01 -2.38060899e-02 1.65033997e+01] [ 4.66990287e-02 -6.49886906e-04 9.98908794e-01 1.25122529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:16.52, Z:1.25 [[ 8.51538970e-01 -5.22770450e-01 -3.99053716e-02 5.84214876e+01] [ 5.22235442e-01 8.52473209e-01 -2.36552589e-02 1.65169491e+01] [ 4.63845305e-02 -6.96624635e-04 9.98923416e-01 1.25231776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.45, Y:16.53, Z:1.25 [[ 8.50239987e-01 -5.24924962e-01 -3.93160073e-02 5.84460976e+01] [ 5.24407189e-01 8.51148144e-01 -2.33224425e-02 1.65296995e+01] [ 4.57062789e-02 -7.87923648e-04 9.98954611e-01 1.25422712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.47, Y:16.55, Z:1.25 [[ 8.49082598e-01 -5.27120336e-01 -3.46827354e-02 5.84686837e+01] [ 5.26429413e-01 8.49775659e-01 -2.74481641e-02 1.65477545e+01] [ 4.39410299e-02 5.04774643e-03 9.99021374e-01 1.25153184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:16.55, Z:1.26 [[ 8.48742932e-01 -5.27146769e-01 -4.18535490e-02 5.84964185e+01] [ 5.26878571e-01 8.49747900e-01 -1.80963678e-02 1.65543286e+01] [ 4.51044072e-02 -6.69257378e-03 9.98959860e-01 1.25830672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:16.57, Z:1.26 [[ 8.48052530e-01 -5.28566873e-01 -3.77355024e-02 5.85180560e+01] [ 5.27934571e-01 8.48889150e-01 -2.59287633e-02 1.65723561e+01] [ 4.57383439e-02 2.06707706e-03 9.98951316e-01 1.25702505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.922755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.54, Y:16.58, Z:1.26 [[ 8.47000450e-01 -5.30122607e-01 -3.95001108e-02 5.85447443e+01] [ 5.29757167e-01 8.47911904e-01 -2.00685535e-02 1.65837572e+01] [ 4.41314081e-02 -3.92739301e-03 9.99018015e-01 1.25977752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.57, Y:16.60, Z:1.26 [[ 8.46439182e-01 -5.31149268e-01 -3.76983616e-02 5.85679690e+01] [ 5.30677019e-01 8.47277635e-01 -2.24167347e-02 1.65994629e+01] [ 4.38476109e-02 -1.03125159e-03 9.99037699e-01 1.25965292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:16.62, Z:1.26 [[ 8.45830147e-01 -5.32509579e-01 -3.17003324e-02 5.85888788e+01] [ 5.31766013e-01 8.46387622e-01 -2.92044865e-02 1.66190796e+01] [ 4.23824378e-02 7.84487575e-03 9.99070662e-01 1.25543411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:16.62, Z:1.26 [[ 8.45990682e-01 -5.31502213e-01 -4.24872118e-02 5.86171062e+01] [ 5.31381832e-01 8.46999348e-01 -1.50150828e-02 1.66245086e+01] [ 4.39671904e-02 -9.87431235e-03 9.98984176e-01 1.26481341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:16.64, Z:1.26 [[ 8.45512224e-01 -5.32556571e-01 -3.86338822e-02 5.86383199e+01] [ 5.32060255e-01 8.46393699e-01 -2.30128661e-02 1.66430234e+01] [ 4.49551275e-02 -1.09789362e-03 9.98988404e-01 1.26307141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:16.66, Z:1.26 [[ 8.45420052e-01 -5.32682264e-01 -3.89171099e-02 5.86618605e+01] [ 5.32178064e-01 8.46314597e-01 -2.31972356e-02 1.66570686e+01] [ 4.52928742e-02 -1.09942413e-03 9.98973146e-01 1.26378163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:16.66, Z:1.28 [[ 8.46172953e-01 -5.30244062e-01 -5.32218798e-02 5.86971856e+01] [ 5.30607022e-01 8.47578015e-01 -8.22779378e-03 1.66601864e+01] [ 4.94724340e-02 -2.12777666e-02 9.98548814e-01 1.27660062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:16.70, Z:1.26 [[ 8.44785466e-01 -5.34265284e-01 -2.99686998e-02 5.87038566e+01] [ 5.33029511e-01 8.45115918e-01 -4.07262384e-02 1.66959853e+01] [ 4.70856406e-02 1.84307329e-02 9.98720807e-01 1.26029013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.73, Y:16.70, Z:1.27 [[ 8.44481786e-01 -5.34063922e-01 -4.03266602e-02 5.87336564e+01] [ 5.33522388e-01 8.45443270e-01 -2.40736295e-02 1.67012715e+01] [ 4.69507605e-02 -1.18543440e-03 9.98896502e-01 1.26666366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:16.71, Z:1.27 [[ 8.45104392e-01 -5.32617821e-01 -4.60089375e-02 5.87634615e+01] [ 5.32410726e-01 8.46301803e-01 -1.76656849e-02 1.67125997e+01] [ 4.83465054e-02 -9.56630389e-03 9.98784812e-01 1.27188835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:16.73, Z:1.28 [[ 8.45430286e-01 -5.31957789e-01 -4.76292080e-02 5.87881685e+01] [ 5.31723176e-01 8.46715683e-01 -1.85206964e-02 1.67268092e+01] [ 5.01806261e-02 -9.66759613e-03 9.98693368e-01 1.27548939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.80, Y:16.76, Z:1.26 [[ 8.43799889e-01 -5.35730372e-01 -3.15391097e-02 5.87992340e+01] [ 5.34597531e-01 8.44252325e-01 -3.79933151e-02 1.67562481e+01] [ 4.69811395e-02 1.51980249e-02 9.98780152e-01 1.26458000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:16.77, Z:1.27 [[ 8.42143240e-01 -5.38075988e-01 -3.56229578e-02 5.88250316e+01] [ 5.37005144e-01 8.42826160e-01 -3.56305870e-02 1.67698934e+01] [ 4.91959241e-02 1.08763464e-02 9.98729927e-01 1.26923806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:16.77, Z:1.28 [[ 8.42283832e-01 -5.37082568e-01 -4.58286105e-02 5.88550817e+01] [ 5.37073169e-01 8.43426582e-01 -1.35650628e-02 1.67717469e+01] [ 4.59386271e-02 -1.31876841e-02 9.98857211e-01 1.27664482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.87, Y:16.79, Z:1.27 [[ 8.41858009e-01 -5.38251156e-01 -3.95067886e-02 5.88746506e+01] [ 5.37733273e-01 8.42783424e-01 -2.36437664e-02 1.67920792e+01] [ 4.60219511e-02 -1.33942064e-03 9.98939531e-01 1.27438069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.90, Y:16.81, Z:1.28 [[ 8.41109757e-01 -5.39428251e-01 -3.93895698e-02 5.88975609e+01] [ 5.38914347e-01 8.42030416e-01 -2.35818569e-02 1.68085124e+01] [ 4.58879357e-02 -1.39267436e-03 9.98945623e-01 1.27534586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:16.82, Z:1.28 [[ 8.40709408e-01 -5.40015568e-01 -3.98858040e-02 5.89211967e+01] [ 5.39488507e-01 8.41653816e-01 -2.38956975e-02 1.68241739e+01] [ 4.64740878e-02 -1.42859518e-03 9.98918474e-01 1.27706072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:16.82, Z:1.29 [[ 8.41495301e-01 -5.37329521e-01 -5.62373857e-02 5.89562054e+01] [ 5.38272843e-01 8.42768378e-01 1.95135551e-03 1.68235099e+01] [ 4.63465694e-02 -3.19131140e-02 9.98415519e-01 1.29255251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.96, Y:16.87, Z:1.27 [[ 8.40131925e-01 -5.41877595e-01 -2.33884861e-02 5.89597616e+01] [ 5.40392932e-01 8.39961904e-01 -4.93910769e-02 1.68711046e+01] [ 4.64093553e-02 2.88560479e-02 9.98505634e-01 1.27045804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.99, Y:16.87, Z:1.28 [[ 8.39401003e-01 -5.42144341e-01 -3.85417788e-02 5.89903744e+01] [ 5.41652810e-01 8.40284102e-01 -2.31270791e-02 1.68709539e+01] [ 4.49242590e-02 -1.46336940e-03 9.98989324e-01 1.28022739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:16.89, Z:1.28 [[ 8.38852795e-01 -5.43023580e-01 -3.80969720e-02 5.90141273e+01] [ 5.42543892e-01 8.39716132e-01 -2.28679516e-02 1.68863760e+01] [ 4.44084789e-02 -1.48643427e-03 9.99012351e-01 1.28125668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:16.90, Z:1.28 [[ 8.38158049e-01 -5.44108481e-01 -3.79083824e-02 5.90375987e+01] [ 5.43633938e-01 8.39013493e-01 -2.27705831e-02 1.69026755e+01] [ 4.41953118e-02 -1.52293574e-03 9.99021749e-01 1.28260125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:16.92, Z:1.28 [[ 8.37677306e-01 -5.44852487e-01 -3.78483624e-02 5.90610646e+01] [ 5.44379498e-01 8.38530486e-01 -2.27505214e-02 1.69185894e+01] [ 4.41326839e-02 -1.54627704e-03 9.99024482e-01 1.28349296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:16.93, Z:1.28 [[ 8.37408413e-01 -5.45246999e-01 -3.81163910e-02 5.90848339e+01] [ 5.44766970e-01 8.38273978e-01 -2.29278473e-02 1.69344424e+01] [ 4.44533186e-02 -1.56457860e-03 9.99010237e-01 1.28459917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.11, Y:16.95, Z:1.28 [[ 8.36041534e-01 -5.47366436e-01 -3.77430412e-02 5.91073760e+01] [ 5.46897220e-01 8.36891433e-01 -2.27191598e-02 1.69519560e+01] [ 4.40225334e-02 -1.64740313e-03 9.99029180e-01 1.28499640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.13, Y:16.97, Z:1.29 [[ 8.36418930e-01 -5.46756192e-01 -3.82235505e-02 5.91309726e+01] [ 5.46273482e-01 8.37290297e-01 -2.30269711e-02 1.69663880e+01] [ 4.45943470e-02 -1.62031756e-03 9.99003863e-01 1.28632470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:16.97, Z:1.30 [[ 8.36908096e-01 -5.44835069e-01 -5.23410639e-02 5.91653898e+01] [ 5.45320671e-01 8.38207700e-01 -5.76345956e-03 1.69701578e+01] [ 4.70128176e-02 -2.37191781e-02 9.98612635e-01 1.29934157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:17.01, Z:1.28 [[ 8.35364175e-01 -5.49079233e-01 -2.60517049e-02 5.91726349e+01] [ 5.47915495e-01 8.35533740e-01 -4.08898406e-02 1.70083650e+01] [ 4.42188407e-02 1.98837751e-02 9.98823973e-01 1.28264274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:17.01, Z:1.29 [[ 8.35027747e-01 -5.48937874e-01 -3.73613836e-02 5.92025944e+01] [ 5.48476677e-01 8.35861514e-01 -2.25580251e-02 1.70128523e+01] [ 4.36118970e-02 -1.65527060e-03 9.99047177e-01 1.28981992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.23, Y:17.03, Z:1.29 [[ 8.34687309e-01 -5.49555249e-01 -3.58625715e-02 5.92255449e+01] [ 5.48878784e-01 8.35451142e-01 -2.74493985e-02 1.70312854e+01] [ 4.50463874e-02 3.22745997e-03 9.98979683e-01 1.29025150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.25, Y:17.04, Z:1.29 [[ 8.34480418e-01 -5.49691764e-01 -3.84889071e-02 5.92513142e+01] [ 5.49201241e-01 8.35365810e-01 -2.32800637e-02 1.70438559e+01] [ 4.49491763e-02 -1.71139821e-03 9.98987809e-01 1.29283301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:17.06, Z:1.30 [[ 8.34779974e-01 -5.49037101e-01 -4.12390156e-02 5.92756860e+01] [ 5.48742057e-01 8.35771750e-01 -1.91764708e-02 1.70551414e+01] [ 4.49949982e-02 -6.62144840e-03 9.98965268e-01 1.29672374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:17.08, Z:1.29 [[ 8.34934093e-01 -5.49229742e-01 -3.50963217e-02 5.92955197e+01] [ 5.48563121e-01 8.35663967e-01 -2.72807090e-02 1.70772150e+01] [ 4.43121081e-02 3.52504629e-03 9.99011517e-01 1.29313064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:17.09, Z:1.29 [[ 8.34871461e-01 -5.49246839e-01 -3.62981100e-02 5.93189737e+01] [ 5.48613997e-01 8.35657355e-01 -2.64474281e-02 1.70918746e+01] [ 4.48589489e-02 2.16655168e-03 9.98990981e-01 1.29472494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:17.10, Z:1.30 [[ 8.35543553e-01 -5.47924735e-01 -4.05642351e-02 5.93450317e+01] [ 5.47838603e-01 8.36463513e-01 -1.42005834e-02 1.70997469e+01] [ 4.17113535e-02 -1.03574480e-02 9.99076016e-01 1.29813145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.972755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.39, Y:17.10, Z:1.32 [[ 8.38785820e-01 -5.40685075e-01 -6.40156099e-02 5.93851481e+01] [ 5.42409477e-01 8.40026941e-01 1.21118673e-02 1.70967747e+01] [ 4.72261310e-02 -4.48819360e-02 9.97875395e-01 1.31842024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:17.16, Z:1.29 [[ 8.38418616e-01 -5.44915764e-01 -1.10015614e-02 5.93732261e+01] [ 5.42721994e-01 8.36557390e-01 -7.49971344e-02 1.71633111e+01] [ 5.00705583e-02 5.69082043e-02 9.97123059e-01 1.28878586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:17.14, Z:1.32 [[ 8.40102057e-01 -5.39293916e-01 -5.82289068e-02 5.94285086e+01] [ 5.40254762e-01 8.41501022e-01 9.06011611e-04 1.71353859e+01] [ 4.85110781e-02 -3.22195864e-02 9.98302847e-01 1.31618447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:17.17, Z:1.30 [[ 8.39482386e-01 -5.42480847e-01 -3.13664496e-02 5.94336305e+01] [ 5.41685722e-01 8.40022897e-01 -3.06286073e-02 1.71720541e+01] [ 4.29639687e-02 8.72141845e-03 9.99038555e-01 1.29859004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:17.18, Z:1.30 [[ 8.40248609e-01 -5.40962034e-01 -3.66381376e-02 5.94600403e+01] [ 5.40504172e-01 8.41046315e-01 -2.22786239e-02 1.71817571e+01] [ 4.28662603e-02 -1.08348343e-03 9.99080232e-01 1.30236106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:17.20, Z:1.30 [[ 8.41438088e-01 -5.39139835e-01 -3.61964372e-02 5.94833890e+01] [ 5.38690644e-01 8.42215711e-01 -2.20246528e-02 1.71970236e+01] [ 4.23595758e-02 -9.66300302e-04 9.99101963e-01 1.30352780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.50, Y:17.21, Z:1.30 [[ 8.42597670e-01 -5.37473966e-01 -3.39249622e-02 5.95038642e+01] [ 5.36722742e-01 8.43256727e-01 -2.90996636e-02 1.72141156e+01] [ 4.42477642e-02 6.31100999e-03 9.99000654e-01 1.30391190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:17.23, Z:1.31 [[ 8.41494491e-01 -5.38881653e-01 -3.86469331e-02 5.95320916e+01] [ 5.38504164e-01 8.42373892e-01 -2.04815025e-02 1.72265255e+01] [ 4.35922734e-02 -3.57646288e-03 9.99043003e-01 1.30789806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:17.24, Z:1.31 [[ 8.42121072e-01 -5.37975044e-01 -3.76158473e-02 5.95557432e+01] [ 5.37710680e-01 8.42943900e-01 -1.76863354e-02 1.72396107e+01] [ 4.12228561e-02 -5.33240709e-03 9.99135747e-01 1.30859646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.58, Y:17.26, Z:1.31 [[ 8.42102219e-01 -5.38303214e-01 -3.30681446e-02 5.95759086e+01] [ 5.37637327e-01 8.42735320e-01 -2.72632526e-02 1.72598722e+01] [ 4.25435899e-02 5.17977667e-03 9.99081184e-01 1.30739439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.60, Y:17.27, Z:1.31 [[ 8.40894333e-01 -5.39921675e-01 -3.71659323e-02 5.96035557e+01] [ 5.39731984e-01 8.41688173e-01 -1.58242067e-02 1.72698742e+01] [ 3.98259579e-02 -6.75315662e-03 9.99183811e-01 1.31076217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:17.29, Z:1.31 [[ 8.40498606e-01 -5.40909330e-01 -3.12920015e-02 5.96223116e+01] [ 5.40094656e-01 8.41030400e-01 -3.10745541e-02 1.72911400e+01] [ 4.31260408e-02 9.21747664e-03 9.99027118e-01 1.30876463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.65, Y:17.30, Z:1.31 [[ 8.39608353e-01 -5.41733118e-01 -3.97874590e-02 5.96533407e+01] [ 5.41687201e-01 8.40481751e-01 -1.28608617e-02 1.72968822e+01] [ 4.04077879e-02 -1.07542703e-02 9.99125396e-01 1.31446092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.67, Y:17.32, Z:1.31 [[ 8.38926492e-01 -5.43286799e-01 -3.22768309e-02 5.96703156e+01] [ 5.42604489e-01 8.39526847e-01 -2.78395720e-02 1.73188723e+01] [ 4.22221381e-02 5.84180117e-03 9.99091169e-01 1.31179468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.70, Y:17.33, Z:1.32 [[ 8.36789023e-01 -5.46211053e-01 -3.79159263e-02 5.96998266e+01] [ 5.46051541e-01 8.37610786e-01 -1.53585568e-02 1.73281277e+01] [ 4.01478023e-02 -7.85217829e-03 9.99162898e-01 1.31628798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:17.35, Z:1.32 [[ 8.35701321e-01 -5.48114532e-01 -3.42602114e-02 5.97214484e+01] [ 5.47715419e-01 8.36402344e-01 -2.09508636e-02 1.73458384e+01] [ 4.01387939e-02 -1.25618171e-03 9.99193324e-01 1.31538156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.75, Y:17.36, Z:1.32 [[ 8.33988905e-01 -5.50785990e-01 -3.31255090e-02 5.97454995e+01] [ 5.50182404e-01 8.34639305e-01 -2.60106385e-02 1.73645604e+01] [ 4.19741471e-02 3.46751170e-03 9.99112680e-01 1.31599909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.77, Y:17.37, Z:1.32 [[ 8.32793155e-01 -5.52331672e-01 -3.72194015e-02 5.97710431e+01] [ 5.51999679e-01 8.33613784e-01 -1.96064753e-02 1.73743020e+01] [ 4.18558834e-02 -4.21695925e-03 9.99114759e-01 1.31879076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:17.38, Z:1.32 [[ 8.32481123e-01 -5.52326408e-01 -4.37117638e-02 5.98015455e+01] [ 5.52462322e-01 8.33477818e-01 -1.00054342e-02 1.73834243e+01] [ 4.19590511e-02 -1.58197674e-02 9.98994081e-01 1.32222296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.81, Y:17.42, Z:1.31 [[ 8.29614911e-01 -5.57627614e-01 -2.81165945e-02 5.98138714e+01] [ 5.56658943e-01 8.29973753e-01 -3.56986176e-02 1.74154639e+01] [ 4.32425704e-02 1.39647518e-02 9.98966999e-01 1.31482170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:17.42, Z:1.32 [[ 8.29089385e-01 -5.58010168e-01 -3.51488806e-02 5.98400633e+01] [ 5.57378055e-01 8.29830278e-01 -2.66723429e-02 1.74238204e+01] [ 4.40510439e-02 2.52254165e-03 9.99026097e-01 1.31927662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:17.43, Z:1.32 [[ 8.28291226e-01 -5.58822784e-01 -4.06293201e-02 5.98664324e+01] [ 5.58707762e-01 8.29225412e-01 -1.51938582e-02 1.74315797e+01] [ 4.21815389e-02 -1.01149771e-02 9.99058760e-01 1.32276088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:17.44, Z:1.33 [[ 8.29852982e-01 -5.55992760e-01 -4.70752471e-02 5.99005243e+01] [ 5.56241140e-01 8.30973722e-01 -8.85825359e-03 1.74406637e+01] [ 4.40434181e-02 -1.88341409e-02 9.98852067e-01 1.32846684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:17.47, Z:1.32 [[ 8.30158415e-01 -5.56279586e-01 -3.72830713e-02 5.99184150e+01] [ 5.55521212e-01 8.30987505e-01 -2.92566133e-02 1.74656074e+01] [ 4.72566232e-02 3.57608679e-03 9.98876380e-01 1.32460742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:17.48, Z:1.32 [[ 8.28049702e-01 -5.59754209e-01 -3.17634369e-02 5.99331781e+01] [ 5.58923361e-01 8.28615697e-01 -3.16338903e-02 1.74845578e+01] [ 4.40268857e-02 8.44110658e-03 9.98994685e-01 1.32192357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.96, Y:17.49, Z:1.33 [[ 8.28718746e-01 -5.58459763e-01 -3.67142167e-02 5.99600514e+01] [ 5.58005891e-01 8.29529714e-01 -2.25805013e-02 1.74942096e+01] [ 4.30658351e-02 -1.77386446e-03 9.99070662e-01 1.32635887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.752755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:59.98, Y:17.51, Z:1.33 [[ 8.29606380e-01 -5.57154074e-01 -3.65046870e-02 5.99842622e+01] [ 5.56738761e-01 8.30405752e-01 -2.16388471e-02 1.75088316e+01] [ 4.23698738e-02 -2.37184857e-03 9.99099178e-01 1.32786563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:17.52, Z:1.33 [[ 8.30910145e-01 -5.55242515e-01 -3.59733188e-02 6.00080235e+01] [ 5.54862160e-01 8.31683993e-01 -2.07296488e-02 1.75240270e+01] [ 4.14284157e-02 -2.73575789e-03 9.99137729e-01 1.32926120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:17.54, Z:1.33 [[ 8.31658600e-01 -5.54210893e-01 -3.45580434e-02 6.00306348e+01] [ 5.53702532e-01 8.32376066e-01 -2.37400692e-02 1.75407226e+01] [ 4.19222932e-02 6.08756566e-04 9.99120689e-01 1.32983415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.05, Y:17.55, Z:1.33 [[ 8.33607758e-01 -5.51216515e-01 -3.54747751e-02 6.00547256e+01] [ 5.50784386e-01 8.34361208e-01 -2.18617376e-02 1.75541620e+01] [ 4.16493270e-02 -1.31483819e-03 9.99131425e-01 1.33178218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.08, Y:17.57, Z:1.33 [[ 8.34365810e-01 -5.50093278e-01 -3.50867663e-02 6.00787597e+01] [ 5.49668940e-01 8.35102309e-01 -2.16376847e-02 1.75691895e+01] [ 4.12037844e-02 -1.23236133e-03 9.99150003e-01 1.33292576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.10, Y:17.58, Z:1.33 [[ 8.35216037e-01 -5.48816747e-01 -3.48475120e-02 6.01023132e+01] [ 5.48396446e-01 8.35941899e-01 -2.15053423e-02 1.75841913e+01] [ 4.09329874e-02 -1.14864494e-03 9.99161234e-01 1.33404204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:17.60, Z:1.33 [[ 8.36741979e-01 -5.46463639e-01 -3.52186256e-02 6.01246525e+01] [ 5.46031611e-01 8.37482195e-01 -2.17497769e-02 1.75989723e+01] [ 4.13804341e-02 -1.03153148e-03 9.99142931e-01 1.33489089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:17.61, Z:1.34 [[ 8.37110567e-01 -5.45912323e-01 -3.50090467e-02 6.01487338e+01] [ 5.45484661e-01 8.37841722e-01 -2.16271694e-02 1.76142704e+01] [ 4.11385782e-02 -9.92565912e-04 9.99152957e-01 1.33606117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:17.63, Z:1.34 [[ 8.37296242e-01 -5.45646938e-01 -3.47047933e-02 6.01726130e+01] [ 5.45225846e-01 8.38014618e-01 -2.14540588e-02 1.76290845e+01] [ 4.07894656e-02 -9.58547516e-04 9.99167304e-01 1.33702496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.20, Y:17.65, Z:1.34 [[ 8.37533996e-01 -5.45414862e-01 -3.25489392e-02 6.01952813e+01] [ 5.44795885e-01 8.38155078e-01 -2.63345545e-02 1.76464336e+01] [ 4.16443161e-02 4.32355655e-03 9.99123144e-01 1.33712040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.22, Y:17.66, Z:1.34 [[ 8.37149161e-01 -5.45724074e-01 -3.69664466e-02 6.02229364e+01] [ 5.45492206e-01 8.37943825e-01 -1.69823158e-02 1.76571022e+01] [ 4.02434642e-02 -5.94817703e-03 9.99172199e-01 1.34067902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:17.68, Z:1.34 [[ 8.36085107e-01 -5.47652879e-01 -3.22182922e-02 6.02432880e+01] [ 5.46949547e-01 8.36683128e-01 -2.84171838e-02 1.76790894e+01] [ 4.25192540e-02 6.13740378e-03 9.99076797e-01 1.33922691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:17.69, Z:1.34 [[ 8.36407980e-01 -5.47183118e-01 -3.18170774e-02 6.02674993e+01] [ 5.46681326e-01 8.37009775e-01 -2.35406937e-02 1.76920160e+01] [ 3.95122750e-02 2.29582198e-03 9.99216448e-01 1.33801319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.29, Y:17.71, Z:1.34 [[ 8.35702533e-01 -5.48326909e-01 -3.06410849e-02 6.02899735e+01] [ 5.47660525e-01 8.36239311e-01 -2.77806314e-02 1.77099163e+01] [ 4.08561475e-02 6.43543135e-03 9.99144314e-01 1.33770601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:17.71, Z:1.35 [[ 8.35704216e-01 -5.47191715e-01 -4.66871482e-02 6.03232541e+01] [ 5.47551800e-01 8.36751487e-01 -5.82888378e-03 1.77113603e+01] [ 4.22550576e-02 -2.06924092e-02 9.98892554e-01 1.35068596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:17.74, Z:1.35 [[ 8.35070001e-01 -5.48901519e-01 -3.69488389e-02 6.03405814e+01] [ 5.48424683e-01 8.35886253e-01 -2.29028293e-02 1.77353922e+01] [ 4.34564243e-02 -1.13818960e-03 9.99054675e-01 1.34652393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.36, Y:17.76, Z:1.34 [[ 8.34424747e-01 -5.50570626e-01 -2.46440036e-02 6.03593512e+01] [ 5.49641526e-01 8.34626272e-01 -3.59608029e-02 1.77598382e+01] [ 4.03674946e-02 1.64612161e-02 9.99049295e-01 1.33697221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.262755096 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:60.39, Y:17.76, Z:1.35 [[ 8.33449173e-01 -5.51089423e-01 -4.07789509e-02 6.03902544e+01] [ 5.50857652e-01 8.34410811e-01 -1.77326281e-02 1.77634596e+01] [ 4.37986613e-02 -7.68415287e-03 9.99010826e-01 1.34832802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:17.77, Z:1.35 [[ 8.34958771e-01 -5.48796850e-01 -4.08150499e-02 6.04119219e+01] [ 5.48701747e-01 8.35892432e-01 -1.44994928e-02 1.77731824e+01] [ 4.20742673e-02 -1.02888105e-02 9.99061508e-01 1.34846344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.43, Y:17.79, Z:1.35 [[ 8.35734052e-01 -5.47979975e-01 -3.55885000e-02 6.04315373e+01] [ 5.47456926e-01 8.36491285e-01 -2.39425201e-02 1.77928519e+01] [ 4.28894917e-02 5.26408552e-04 9.99079684e-01 1.34685418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:17.83, Z:1.33 [[ 8.35157077e-01 -5.49704927e-01 -1.83616366e-02 6.04451067e+01] [ 5.48363275e-01 8.34772791e-01 -4.95187466e-02 1.78251877e+01] [ 4.25484936e-02 3.12870845e-02 9.98604398e-01 1.33403738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.49, Y:17.81, Z:1.36 [[ 8.36099841e-01 -5.45873639e-01 -5.43969268e-02 6.04900510e+01] [ 5.46816419e-01 8.37247241e-01 2.97669274e-03 1.78087557e+01] [ 4.39187788e-02 -3.22339450e-02 9.98514954e-01 1.35876623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:17.84, Z:1.35 [[ 8.36477444e-01 -5.46693961e-01 -3.78311859e-02 6.05035177e+01] [ 5.46192260e-01 8.37331832e-01 -2.34396555e-02 1.78385817e+01] [ 4.44915743e-02 -1.05635784e-03 9.99009201e-01 1.35159780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.52, Y:17.87, Z:1.34 [[ 8.36485059e-01 -5.47713536e-01 -1.73961957e-02 6.05173723e+01] [ 5.46572525e-01 8.36182874e-01 -4.53505933e-02 1.78697869e+01] [ 3.93855347e-02 2.84268111e-02 9.98819651e-01 1.33559969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.55, Y:17.87, Z:1.35 [[ 8.37968674e-01 -5.44234390e-01 -4.02172707e-02 6.05547918e+01] [ 5.44111717e-01 8.38880538e-01 -1.48956863e-02 1.78656075e+01] [ 4.18442305e-02 -9.40056972e-03 9.99079922e-01 1.35079413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.58, Y:17.88, Z:1.35 [[ 8.38367314e-01 -5.43917822e-01 -3.59673470e-02 6.05757395e+01] [ 5.43480735e-01 8.39137571e-01 -2.18363738e-02 1.78842420e+01] [ 4.20587451e-02 -1.24065809e-03 9.99114369e-01 1.35001202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.60, Y:17.89, Z:1.36 [[ 8.39049602e-01 -5.42448775e-01 -4.17742894e-02 6.06026843e+01] [ 5.42299863e-01 8.40036359e-01 -1.58042100e-02 1.78942768e+01] [ 4.36648964e-02 -9.39367530e-03 9.99002070e-01 1.35615205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.562755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.62, Y:17.91, Z:1.36 [[ 8.38290191e-01 -5.43516641e-01 -4.31186254e-02 6.06245279e+01] [ 5.43342080e-01 8.39345384e-01 -1.66945960e-02 1.79099554e+01] [ 4.52652099e-02 -9.43324755e-03 9.98930465e-01 1.36117118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.65, Y:17.93, Z:1.36 [[ 8.39131129e-01 -5.42440190e-01 -4.02192590e-02 6.06477123e+01] [ 5.41970655e-01 8.40090003e-01 -2.27287524e-02 1.79265030e+01] [ 4.61167862e-02 -2.72525447e-03 9.98932338e-01 1.36218197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:17.94, Z:1.36 [[ 8.39203626e-01 -5.42330585e-01 -4.01847123e-02 6.06701124e+01] [ 5.41750522e-01 8.40164878e-01 -2.50868334e-02 1.79414737e+01] [ 4.73671409e-02 -7.17127346e-04 9.98877290e-01 1.36255888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.69, Y:17.96, Z:1.36 [[ 8.37889632e-01 -5.44550874e-01 -3.74874536e-02 6.06922336e+01] [ 5.43798361e-01 8.38719186e-01 -2.88698602e-02 1.79579301e+01] [ 4.71625542e-02 3.80414077e-03 9.98879984e-01 1.36386340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:18.00, Z:1.35 [[ 8.35624290e-01 -5.49242134e-01 -8.06995001e-03 6.06964494e+01] [ 5.47611225e-01 8.34114788e-01 -6.61397461e-02 1.79969181e+01] [ 4.30579999e-02 5.08487832e-02 9.97777736e-01 1.34508649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.76, Y:17.96, Z:1.38 [[ 8.34892949e-01 -5.46637195e-01 -6.43548114e-02 6.07583447e+01] [ 5.48617740e-01 8.35897088e-01 1.71648884e-02 1.79646896e+01] [ 4.44110330e-02 -4.96370355e-02 9.97779447e-01 1.38066901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.77, Y:18.00, Z:1.37 [[ 8.34680246e-01 -5.49367492e-01 -3.87846135e-02 6.07682481e+01] [ 5.48835806e-01 8.35580132e-01 -2.41888732e-02 1.80040247e+01] [ 4.56962330e-02 -1.09641001e-03 9.98954780e-01 1.36850288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.79, Y:18.02, Z:1.37 [[ 8.32764903e-01 -5.52310931e-01 -3.81477559e-02 6.07896267e+01] [ 5.51736479e-01 8.33638189e-01 -2.51838838e-02 1.80187840e+01] [ 4.57107604e-02 -7.52539379e-05 9.98954714e-01 1.36783090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:18.02, Z:1.38 [[ 8.32370925e-01 -5.51945469e-01 -5.01482051e-02 6.08178962e+01] [ 5.52095133e-01 8.33693690e-01 -1.20745707e-02 1.80234461e+01] [ 4.84727468e-02 -1.76360584e-02 9.98668795e-01 1.38074387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.84, Y:18.05, Z:1.37 [[ 8.31257936e-01 -5.54886126e-01 -3.33411341e-02 6.08362895e+01] [ 5.53932899e-01 8.31869247e-01 -3.39396471e-02 1.80499111e+01] [ 4.65681034e-02 9.74384993e-03 9.98867593e-01 1.37066919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:18.06, Z:1.37 [[ 8.30136716e-01 -5.56335424e-01 -3.69314095e-02 6.08602698e+01] [ 5.55400076e-01 8.30929535e-01 -3.29675987e-02 1.80619292e+01] [ 4.90284419e-02 6.85590650e-03 9.98773852e-01 1.37347195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.91, Y:18.04, Z:1.41 [[ 8.29958479e-01 -5.51721984e-01 -8.22907955e-02 6.09104767e+01] [ 5.55453447e-01 8.30976765e-01 3.08071985e-02 1.80379832e+01] [ 5.13847304e-02 -7.12774017e-02 9.96132090e-01 1.40646216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:18.11, Z:1.36 [[ 8.26919272e-01 -5.62113374e-01 -1.52667010e-02 6.08963795e+01] [ 5.60519420e-01 8.26137941e-01 -5.75680598e-02 1.81076848e+01] [ 4.49721773e-02 3.90468557e-02 9.98224848e-01 1.36393787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:18.10, Z:1.38 [[ 8.26175584e-01 -5.62237604e-01 -3.63700511e-02 6.09319645e+01] [ 5.61721306e-01 8.26975576e-01 -2.40950518e-02 1.81030512e+01] [ 4.36242881e-02 -5.23089081e-04 9.99047871e-01 1.37521209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.95, Y:18.13, Z:1.36 [[ 8.25254356e-01 -5.64460836e-01 -1.84176986e-02 6.09478844e+01] [ 5.63475162e-01 8.25136715e-01 -4.05603630e-02 1.81302326e+01] [ 3.80918557e-02 2.30947006e-02 9.99007330e-01 1.36268339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.99, Y:18.12, Z:1.38 [[ 8.25534886e-01 -5.62369377e-01 -4.72528994e-02 6.09870137e+01] [ 5.62818272e-01 8.26568628e-01 -4.46039229e-03 1.81225683e+01] [ 4.15661523e-02 -2.29125857e-02 9.98872999e-01 1.38325519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:18.15, Z:1.37 [[ 8.25102043e-01 -5.64392756e-01 -2.58347798e-02 6.09999299e+01] [ 5.63593187e-01 8.25416555e-01 -3.24072634e-02 1.81549180e+01] [ 3.96148796e-02 1.21789934e-02 9.99140798e-01 1.37154862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.02, Y:18.17, Z:1.37 [[ 8.24974566e-01 -5.64694398e-01 -2.31776300e-02 6.10236245e+01] [ 5.64005834e-01 8.25213565e-01 -3.03313528e-02 1.81702413e+01] [ 3.62544397e-02 1.19502761e-02 9.99271138e-01 1.36882340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:18.18, Z:1.37 [[ 8.25875106e-01 -5.63230861e-01 -2.64821849e-02 6.10483196e+01] [ 5.62765763e-01 8.26288225e-01 -2.32908896e-02 1.81816149e+01] [ 3.50000654e-02 4.33209889e-03 9.99377921e-01 1.37076994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:18.20, Z:1.37 [[ 8.26479725e-01 -5.62471640e-01 -2.35991298e-02 6.10706573e+01] [ 5.61957923e-01 8.26781997e-01 -2.51956902e-02 1.81990151e+01] [ 3.36831968e-02 7.56200914e-03 9.99403952e-01 1.36836489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.09, Y:18.21, Z:1.37 [[ 8.27389487e-01 -5.61015378e-01 -2.62370561e-02 6.10947349e+01] [ 5.60707385e-01 8.27805102e-01 -1.85994922e-02 1.82105511e+01] [ 3.21537700e-02 6.77713218e-04 9.99482704e-01 1.36993035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:18.23, Z:1.37 [[ 8.30372871e-01 -5.56576492e-01 -2.65236402e-02 6.11193703e+01] [ 5.56233324e-01 8.30794975e-01 -1.96010073e-02 1.82268873e+01] [ 3.29451669e-02 1.52281215e-03 9.99456001e-01 1.37127413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.15, Y:18.23, Z:1.39 [[ 8.31747918e-01 -5.53422895e-01 -4.38006939e-02 6.11506885e+01] [ 5.53936792e-01 8.32558584e-01 -4.84183757e-04 1.82291732e+01] [ 3.67346021e-02 -2.38600971e-02 9.99040172e-01 1.38696378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:18.26, Z:1.37 [[ 8.33509707e-01 -5.52123927e-01 -2.05118889e-02 6.11638005e+01] [ 5.51429218e-01 8.33628994e-01 -3.14407017e-02 1.82638687e+01] [ 3.44584690e-02 1.48952752e-02 9.99295124e-01 1.37277227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.282755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.20, Y:18.26, Z:1.39 [[ 8.37245494e-01 -5.45463228e-01 -3.85985716e-02 6.11996118e+01] [ 5.45673502e-01 8.37977876e-01 -5.78871845e-03 1.82628408e+01] [ 3.55022821e-02 -1.62156393e-02 9.99238030e-01 1.38820531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:18.29, Z:1.38 [[ 8.37596648e-01 -5.45480537e-01 -2.97126182e-02 6.12141672e+01] [ 5.45141812e-01 8.38123484e-01 -1.92205768e-02 1.82858272e+01] [ 3.53872937e-02 -9.84998311e-05 9.99373669e-01 1.38453150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.24, Y:18.30, Z:1.39 [[ 8.38619616e-01 -5.43926369e-01 -2.93469687e-02 6.12381648e+01] [ 5.43609822e-01 8.39132858e-01 -1.85582286e-02 1.83011571e+01] [ 3.47203156e-02 -3.90005896e-04 9.99396992e-01 1.38513976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:18.32, Z:1.39 [[ 8.40296688e-01 -5.41343498e-01 -2.91323637e-02 6.12601059e+01] [ 5.41029530e-01 8.40801490e-01 -1.84364579e-02 1.83162100e+01] [ 3.44749914e-02 -2.69374502e-04 9.99405525e-01 1.38591276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.28, Y:18.33, Z:1.39 [[ 8.40911795e-01 -5.40398882e-01 -2.89205965e-02 6.12824313e+01] [ 5.40088716e-01 8.41408936e-01 -1.83079573e-02 1.83308541e+01] [ 3.42276480e-02 -2.24310640e-04 9.99414037e-01 1.38624218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43275509600001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.31, Y:18.35, Z:1.39 [[ 8.40106161e-01 -5.41799264e-01 -2.59845294e-02 6.13052019e+01] [ 5.41131500e-01 8.40447718e-01 -2.87112147e-02 1.83534633e+01] [ 3.73943534e-02 1.00594210e-02 9.99249954e-01 1.38571436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46275509600001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.33, Y:18.36, Z:1.39 [[ 8.40866257e-01 -5.40152920e-01 -3.43330858e-02 6.13334704e+01] [ 5.40172830e-01 8.41500575e-01 -9.49190848e-03 1.83567258e+01] [ 3.40183935e-02 -1.05643746e-02 9.99365370e-01 1.39064107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.492755096 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:61.35, Y:18.38, Z:1.39 [[ 8.40061751e-01 -5.41737662e-01 -2.85755141e-02 6.13541286e+01] [ 5.41434661e-01 8.40547585e-01 -1.81180986e-02 1.83770164e+01] [ 3.38343358e-02 -2.51452130e-04 9.99427423e-01 1.38829310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.522755096 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:61.38, Y:18.39, Z:1.39 [[ 8.39469762e-01 -5.42642311e-01 -2.88069679e-02 6.13772176e+01] [ 5.42334477e-01 8.39963835e-01 -1.82776162e-02 1.83911690e+01] [ 3.41150191e-02 -2.79505799e-04 9.99417874e-01 1.38875372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.552755096 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:61.40, Y:18.40, Z:1.39 [[ 8.37185714e-01 -5.46148381e-01 -2.90176876e-02 6.14017874e+01] [ 5.45837920e-01 8.37688349e-01 -1.84172471e-02 1.84049713e+01] [ 3.43663285e-02 -4.20298118e-04 9.99409215e-01 1.38880181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.582755096 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:61.42, Y:18.42, Z:1.39 [[ 8.35616620e-01 -5.48536101e-01 -2.92063303e-02 6.14248474e+01] [ 5.48222605e-01 8.36126715e-01 -1.85496918e-02 1.84190012e+01] [ 3.45953686e-02 -5.11139761e-04 9.99401270e-01 1.38945280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.612755096 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:61.45, Y:18.43, Z:1.39 [[ 8.33897989e-01 -5.51044141e-01 -3.10563631e-02 6.14496182e+01] [ 5.50798342e-01 8.34470205e-01 -1.67530093e-02 1.84321535e+01] [ 3.51472573e-02 -3.13549256e-03 9.99377226e-01 1.39170952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.642755096 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:61.47, Y:18.45, Z:1.39 [[ 8.30416014e-01 -5.56500067e-01 -2.67753408e-02 6.14699173e+01] [ 5.55964307e-01 8.30825986e-01 -2.51370281e-02 1.84501952e+01] [ 3.62344068e-02 5.98805689e-03 9.99325378e-01 1.38862623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.672755096 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:61.49, Y:18.47, Z:1.38 [[ 8.28410467e-01 -5.59766303e-01 -1.99445249e-02 6.14916925e+01] [ 5.59172687e-01 8.28554417e-01 -2.86964083e-02 1.84694830e+01] [ 3.25884066e-02 1.26199715e-02 9.99389179e-01 1.38324398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.702755096 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:61.53, Y:18.47, Z:1.40 [[ 8.27227681e-01 -5.60530435e-01 -3.87297722e-02 6.15270860e+01] [ 5.60815450e-01 8.27930747e-01 -4.08774621e-03 1.84682362e+01] [ 3.43568754e-02 -1.83387578e-02 9.99241360e-01 1.39536808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.732755096 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:61.55, Y:18.49, Z:1.39 [[ 8.26468356e-01 -5.62209275e-01 -2.95091065e-02 6.15452612e+01] [ 5.61896278e-01 8.26994329e-01 -1.87870303e-02 1.84915034e+01] [ 3.49661064e-02 -1.05417110e-03 9.99387943e-01 1.39122056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.762755096 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:61.56, Y:18.52, Z:1.38 [[ 8.25624476e-01 -5.64008538e-01 -1.54464766e-02 6.15603745e+01] [ 5.63321279e-01 8.25544989e-01 -3.38320558e-02 1.85170363e+01] [ 3.18333297e-02 1.92312444e-02 9.99308160e-01 1.37891023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79275509600001 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:61.60, Y:18.51, Z:1.40 [[ 8.26091364e-01 -5.62236016e-01 -3.82585986e-02 6.15976318e+01] [ 5.62508018e-01 8.26780858e-01 -4.25943267e-03 1.85131725e+01] [ 3.40262834e-02 -1.80020879e-02 9.99258794e-01 1.39523190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82275509600001 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:61.61, Y:18.54, Z:1.39 [[ 8.26473815e-01 -5.62536055e-01 -2.22310561e-02 6.16114577e+01] [ 5.62013925e-01 8.26725739e-01 -2.57856771e-02 1.85412537e+01] [ 3.28843594e-02 8.81702385e-03 9.99420271e-01 1.38540841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85275509600001 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:61.64, Y:18.55, Z:1.39 [[ 8.26266490e-01 -5.62666767e-01 -2.62639786e-02 6.16385222e+01] [ 5.62269727e-01 8.26678878e-01 -2.13257062e-02 1.85542981e+01] [ 3.37111425e-02 2.85327629e-03 9.99427545e-01 1.38803974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.882755096 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:61.66, Y:18.57, Z:1.39 [[ 8.27960081e-01 -5.60053770e-01 -2.86684188e-02 6.16624261e+01] [ 5.59825720e-01 8.28452058e-01 -1.61972588e-02 1.85651829e+01] [ 3.28217464e-02 -2.63863449e-03 9.99457738e-01 1.39019494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.912755096 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:61.69, Y:18.58, Z:1.40 [[ 8.28919224e-01 -5.58263581e-01 -3.51382267e-02 6.16895083e+01] [ 5.58356277e-01 8.29562391e-01 -8.03168063e-03 1.85753553e+01] [ 3.36331461e-02 -1.29620350e-02 9.99350187e-01 1.39685055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.942755096 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:61.71, Y:18.60, Z:1.39 [[ 8.28770854e-01 -5.59012331e-01 -2.53788472e-02 6.17076876e+01] [ 5.58453796e-01 8.29126070e-01 -2.60637210e-02 1.86016762e+01] [ 3.56122053e-02 7.42793874e-03 9.99338079e-01 1.39313905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.972755096 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:61.74, Y:18.61, Z:1.40 [[ 8.30121565e-01 -5.56652690e-01 -3.21865016e-02 6.17366391e+01] [ 5.56630885e-01 8.30694037e-01 -1.04630544e-02 1.86072059e+01] [ 3.25614223e-02 -9.23039372e-03 9.99427113e-01 1.39798099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.002755096 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:61.76, Y:18.63, Z:1.40 [[ 8.30302529e-01 -5.56659290e-01 -2.69841407e-02 6.17569242e+01] [ 5.56390605e-01 8.30740644e-01 -1.73053755e-02 1.86254990e+01] [ 3.20500205e-02 -6.45025338e-04 9.99486058e-01 1.39643288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.032755096 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:61.78, Y:18.64, Z:1.40 [[ 8.30340763e-01 -5.56625737e-01 -2.64954159e-02 6.17810089e+01] [ 5.56366524e-01 8.30763140e-01 -1.69969480e-02 1.86405234e+01] [ 3.14723536e-02 -6.27903647e-04 9.99504426e-01 1.39728791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.062755096 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:61.81, Y:18.66, Z:1.40 [[ 8.30599052e-01 -5.56265754e-01 -2.59542814e-02 6.18053155e+01] [ 5.56016508e-01 8.31004247e-01 -1.66608477e-02 1.86550491e+01] [ 3.08359771e-02 -5.92524580e-04 9.99524283e-01 1.39776098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.092755096 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:61.83, Y:18.67, Z:1.40 [[ 8.30571974e-01 -5.56299199e-01 -2.61035961e-02 6.18290301e+01] [ 5.56046735e-01 8.30981862e-01 -1.67681936e-02 1.86699440e+01] [ 3.10197476e-02 -5.87627712e-04 9.99518599e-01 1.39864871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.122755096 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:61.85, Y:18.68, Z:1.40 [[ 8.30563374e-01 -5.56319282e-01 -2.59487609e-02 6.18521777e+01] [ 5.56069455e-01 8.30968427e-01 -1.66803900e-02 1.86843420e+01] [ 3.08422236e-02 -5.75192295e-04 9.99524100e-01 1.39920909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.152755096 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:61.89, Y:18.69, Z:1.41 [[ 8.31678651e-01 -5.53975607e-01 -3.77047381e-02 6.18852303e+01] [ 5.54252720e-01 8.32340596e-01 -3.61315698e-03 1.86897680e+01] [ 3.33847850e-02 -1.78929681e-02 9.99282391e-01 1.40971679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18275509600001 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:61.90, Y:18.72, Z:1.40 [[ 8.30339452e-01 -5.56978797e-01 -1.76355993e-02 6.18960661e+01] [ 5.56379439e-01 8.30391514e-01 -2.98639141e-02 1.87216612e+01] [ 3.12780190e-02 1.49851012e-02 9.99398385e-01 1.39684157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21275509600001 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:61.92, Y:18.73, Z:1.40 [[ 8.29976927e-01 -5.57240708e-01 -2.49217661e-02 6.19239978e+01] [ 5.56966153e-01 8.30350755e-01 -1.75022151e-02 1.87287754e+01] [ 3.04467540e-02 6.45854452e-04 9.99536181e-01 1.40079601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.242755096 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:61.95, Y:18.74, Z:1.40 [[ 8.29039139e-01 -5.58608992e-01 -2.54970806e-02 6.19491281e+01] [ 5.58367953e-01 8.29430892e-01 -1.64202374e-02 1.87418651e+01] [ 3.03205586e-02 -6.23733258e-04 9.99540032e-01 1.40195408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.272755096 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:61.97, Y:18.76, Z:1.40 [[ 8.28309221e-01 -5.59680622e-01 -2.57183772e-02 6.19728194e+01] [ 5.59435547e-01 8.28708131e-01 -1.65741560e-02 1.87560845e+01] [ 3.05892622e-02 -6.59248143e-04 9.99531822e-01 1.40280664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.302755096 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:62.01, Y:18.76, Z:1.41 [[ 8.28287445e-01 -5.58950566e-01 -3.89123756e-02 6.20051664e+01] [ 5.59311411e-01 8.28955416e-01 -1.91400282e-03 1.87606459e+01] [ 3.33264575e-02 -2.01787912e-02 9.99240794e-01 1.41399898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.332755096 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:62.02, Y:18.79, Z:1.40 [[ 8.26165442e-01 -5.63232081e-01 -1.48420130e-02 6.20154691e+01] [ 5.62593037e-01 8.26088674e-01 -3.26585088e-02 1.87941219e+01] [ 3.06551387e-02 1.86313182e-02 9.99356361e-01 1.39851004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.362755096 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:62.05, Y:18.80, Z:1.40 [[ 8.25600141e-01 -5.63680299e-01 -2.54740442e-02 6.20456299e+01] [ 5.63441002e-01 8.25992684e-01 -1.64415211e-02 1.87994006e+01] [ 3.03091356e-02 -7.78998858e-04 9.99540269e-01 1.40452317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.392755096 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:62.07, Y:18.81, Z:1.41 [[ 8.24940092e-01 -5.64621185e-01 -2.60146392e-02 6.20703307e+01] [ 5.64371723e-01 8.25349770e-01 -1.68022448e-02 1.88136582e+01] [ 3.09580798e-02 -8.21081394e-04 9.99520347e-01 1.40508643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.422755096 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:62.09, Y:18.83, Z:1.41 [[ 8.24802497e-01 -5.64807294e-01 -2.63355401e-02 6.20943154e+01] [ 5.64551363e-01 8.25222415e-01 -1.70213140e-02 1.88280899e+01] [ 3.13464403e-02 -8.28542752e-04 9.99508236e-01 1.40587577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.452755096 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:62.12, Y:18.84, Z:1.41 [[ 8.24617366e-01 -5.65079010e-01 -2.63042375e-02 6.21179619e+01] [ 5.64823455e-01 8.25036379e-01 -1.70128692e-02 1.88425724e+01] [ 3.13155681e-02 -8.28142888e-04 9.99509204e-01 1.40681017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.482755096 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:62.14, Y:18.86, Z:1.41 [[ 8.26036765e-01 -5.62963708e-01 -2.71131974e-02 6.21430397e+01] [ 5.62690636e-01 8.26481267e-01 -1.75488661e-02 1.88553401e+01] [ 3.22879245e-02 -7.60333696e-04 9.99478320e-01 1.40927488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.512755096 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:62.17, Y:18.87, Z:1.41 [[ 8.25156899e-01 -5.64295231e-01 -2.62103889e-02 6.21657104e+01] [ 5.64040336e-01 8.25572705e-01 -1.69767147e-02 1.88707915e+01] [ 3.12184608e-02 -7.75263303e-04 9.99512284e-01 1.40881465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54275509600001 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:62.19, Y:18.88, Z:1.41 [[ 8.25561905e-01 -5.63685072e-01 -2.65834669e-02 6.21885915e+01] [ 5.63422372e-01 8.25989446e-01 -1.72239722e-02 1.88844336e+01] [ 3.16665591e-02 -7.58264722e-04 9.99498201e-01 1.40970204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57275509600001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:62.21, Y:18.90, Z:1.41 [[ 8.25863059e-01 -5.63231419e-01 -2.68435458e-02 6.22126427e+01] [ 5.62963141e-01 8.26298866e-01 -1.73978865e-02 1.88988913e+01] [ 3.19798278e-02 -7.43655144e-04 9.99488238e-01 1.41078920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60275509600001 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:62.25, Y:18.90, Z:1.43 [[ 8.28343895e-01 -5.58528775e-01 -4.34971178e-02 6.22506784e+01] [ 5.59060424e-01 8.29126913e-01 7.01271393e-05 1.89004088e+01] [ 3.60254630e-02 -2.43756065e-02 9.99053550e-01 1.42508603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.632755096 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:62.27, Y:18.93, Z:1.42 [[ 8.28175852e-01 -5.59641125e-01 -3.04395940e-02 6.22680045e+01] [ 5.59307755e-01 8.28734454e-01 -1.93401170e-02 1.89278619e+01] [ 3.60498651e-02 -1.00808311e-03 9.99349484e-01 1.41844890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.662755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:62.28, Y:18.96, Z:1.41 [[ 8.26927702e-01 -5.62134333e-01 -1.39845399e-02 6.22770913e+01] [ 5.61399788e-01 8.26749480e-01 -3.62708595e-02 1.89554581e+01] [ 3.19508065e-02 2.21424607e-02 9.99244143e-01 1.40603840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.692755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.31, Y:18.96, Z:1.41 [[ 8.27973743e-01 -5.60134270e-01 -2.66285688e-02 6.23070348e+01] [ 5.59867023e-01 8.28401634e-01 -1.73103633e-02 1.89578925e+01] [ 3.17552776e-02 -5.75931236e-04 9.99495508e-01 1.41373297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:18.97, Z:1.41 [[ 8.28200563e-01 -5.59797331e-01 -2.66603844e-02 6.23309136e+01] [ 5.59529097e-01 8.28629372e-01 -1.73364987e-02 1.89725649e+01] [ 3.17965033e-02 -5.59162862e-04 9.99494207e-01 1.41483352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.752755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.35, Y:18.99, Z:1.42 [[ 8.28152663e-01 -5.59886679e-01 -2.62692435e-02 6.23549400e+01] [ 5.59625946e-01 8.28569013e-01 -1.70935764e-02 1.89874949e+01] [ 3.13363469e-02 -5.44859419e-04 9.99508748e-01 1.41569302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.782755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.38, Y:19.00, Z:1.42 [[ 8.28297717e-01 -5.59685752e-01 -2.59759570e-02 6.23781458e+01] [ 5.59430356e-01 8.28704765e-01 -1.69141969e-02 1.90014332e+01] [ 3.09930343e-02 -5.21748229e-04 9.99519464e-01 1.41664505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.812755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.40, Y:19.02, Z:1.42 [[ 8.28330232e-01 -5.59676757e-01 -2.51188205e-02 6.24020571e+01] [ 5.59437717e-01 8.28710854e-01 -1.63633849e-02 1.90155484e+01] [ 2.99744454e-02 -4.98129220e-04 9.99550541e-01 1.41750536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.842755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.43, Y:19.03, Z:1.42 [[ 8.28473197e-01 -5.59435306e-01 -2.57740392e-02 6.24290550e+01] [ 5.59207815e-01 8.28873204e-01 -1.59947086e-02 1.90309373e+01] [ 3.03114152e-02 -1.16185680e-03 9.99539828e-01 1.41880246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.872755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.45, Y:19.05, Z:1.42 [[ 8.28227257e-01 -5.59857931e-01 -2.44684936e-02 6.24485680e+01] [ 5.59613711e-01 8.28588617e-01 -1.65347518e-02 1.90459279e+01] [ 2.95314272e-02 1.62763190e-06 9.99563852e-01 1.41892877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.46, Y:19.07, Z:1.42 [[ 8.29114774e-01 -5.58777369e-01 -1.83451065e-02 6.24632630e+01] [ 5.57995145e-01 8.29104327e-01 -3.50347419e-02 1.90669925e+01] [ 3.47866281e-02 1.88113418e-02 9.99217706e-01 1.41562909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93275509600001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.50, Y:19.07, Z:1.43 [[ 8.27608436e-01 -5.60236696e-01 -3.46283420e-02 6.25017433e+01] [ 5.60563045e-01 8.28111681e-01 -3.42121955e-04 1.90669717e+01] [ 2.88678038e-02 -1.91282258e-02 9.99400201e-01 1.42638870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.52, Y:19.09, Z:1.42 [[ 8.26687579e-01 -5.62071418e-01 -2.57559115e-02 6.25211032e+01] [ 5.61886096e-01 8.27085279e-01 -1.46272906e-02 1.90894954e+01] [ 2.95239172e-02 -2.37968914e-03 9.99561241e-01 1.42225776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:19.11, Z:1.42 [[ 8.25886071e-01 -5.63516303e-01 -1.90151018e-02 6.25379094e+01] [ 5.62799810e-01 8.25942515e-01 -3.27923274e-02 1.91132094e+01] [ 3.41843921e-02 1.63810307e-02 9.99281286e-01 1.41963556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.022755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.57, Y:19.11, Z:1.43 [[ 8.25539935e-01 -5.63257473e-01 -3.49976331e-02 6.25728026e+01] [ 5.63548535e-01 8.26080905e-01 -1.84075403e-03 1.91114124e+01] [ 2.99476948e-02 -1.82032489e-02 9.99385700e-01 1.42980242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:19.14, Z:1.42 [[ 8.24681023e-01 -5.65111931e-01 -2.34460045e-02 6.25892909e+01] [ 5.64823396e-01 8.25012463e-01 -1.81374266e-02 1.91366207e+01] [ 2.95929221e-02 1.71473963e-03 9.99560563e-01 1.42263682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.082755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.62, Y:19.15, Z:1.43 [[ 8.25036613e-01 -5.64099267e-01 -3.32656651e-02 6.26199262e+01] [ 5.64177352e-01 8.25615954e-01 -7.88752153e-03 1.91452148e+01] [ 3.19140089e-02 -1.22602408e-02 9.99415420e-01 1.43045844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:19.17, Z:1.43 [[ 8.24121545e-01 -5.65802425e-01 -2.62924711e-02 6.26404829e+01] [ 5.65494337e-01 8.24540685e-01 -1.86765609e-02 1.91686113e+01] [ 3.22464556e-02 5.23512707e-04 9.99479811e-01 1.42684779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.66, Y:19.19, Z:1.42 [[ 8.24688445e-01 -5.65198797e-01 -2.09592142e-02 6.26566901e+01] [ 5.64750143e-01 8.24917676e-01 -2.38349170e-02 1.91862473e+01] [ 3.07610927e-02 7.81966143e-03 9.99496177e-01 1.42259239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.68, Y:19.20, Z:1.42 [[ 8.25234016e-01 -5.64338938e-01 -2.25916383e-02 6.26820483e+01] [ 5.63850313e-01 8.25507873e-01 -2.46895824e-02 1.92022078e+01] [ 3.25828680e-02 7.63638091e-03 9.99439864e-01 1.42375397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.71, Y:19.21, Z:1.43 [[ 8.28370224e-01 -5.59252539e-01 -3.22392523e-02 6.27083712e+01] [ 5.59157831e-01 8.28963552e-01 -1.27259119e-02 1.92114697e+01] [ 3.38421636e-02 -7.48506388e-03 9.99399160e-01 1.43112701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.73, Y:19.23, Z:1.43 [[ 8.29621386e-01 -5.57690281e-01 -2.66440581e-02 6.27271303e+01] [ 5.57415089e-01 8.30049065e-01 -1.75204961e-02 1.92321596e+01] [ 3.18868859e-02 -3.16421771e-04 9.99491434e-01 1.42737781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.75, Y:19.24, Z:1.44 [[ 8.30962627e-01 -5.55196087e-01 -3.54741719e-02 6.27545118e+01] [ 5.55270034e-01 8.31625256e-01 -8.63845048e-03 1.92429312e+01] [ 3.42972512e-02 -1.25195152e-02 9.99333258e-01 1.43520151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.77, Y:19.27, Z:1.43 [[ 8.33459933e-01 -5.52198692e-01 -2.05218201e-02 6.27688514e+01] [ 5.51610965e-01 8.33622862e-01 -2.82536412e-02 1.92718065e+01] [ 3.27090821e-02 1.22282169e-02 9.99390107e-01 1.42540041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:19.28, Z:1.43 [[ 8.33907112e-01 -5.51203652e-01 -2.78111890e-02 6.27973431e+01] [ 5.50992703e-01 8.34367157e-01 -1.54430577e-02 1.92816614e+01] [ 3.17170125e-02 -2.44568653e-03 9.99493897e-01 1.43029172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.82, Y:19.30, Z:1.43 [[ 8.34599772e-01 -5.50285549e-01 -2.50805849e-02 6.28183187e+01] [ 5.49831679e-01 8.34959105e-01 -2.29873366e-02 1.93015077e+01] [ 3.35908618e-02 5.39512582e-03 9.99421106e-01 1.42964926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:19.31, Z:1.43 [[ 8.34776804e-01 -5.49730331e-01 -3.07286489e-02 6.28470851e+01] [ 5.49681901e-01 8.35304747e-01 -1.07604739e-02 1.93122065e+01] [ 3.15831452e-02 -7.90838811e-03 9.99469841e-01 1.43401587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.412755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.86, Y:19.34, Z:1.43 [[ 8.35305198e-01 -5.49280024e-01 -2.35941015e-02 6.28641528e+01] [ 5.48787802e-01 8.35605212e-01 -2.44106189e-02 1.93365213e+01] [ 3.31236195e-02 7.44216173e-03 9.99423554e-01 1.43141092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.89, Y:19.35, Z:1.43 [[ 8.35575634e-01 -5.48661935e-01 -2.79900253e-02 6.28892209e+01] [ 5.48477679e-01 8.36038264e-01 -1.45690317e-02 1.93466959e+01] [ 3.13942053e-02 -3.17837625e-03 9.99502027e-01 1.43489485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.91, Y:19.36, Z:1.43 [[ 8.34841662e-01 -5.49873355e-01 -2.60517301e-02 6.29108229e+01] [ 5.49603968e-01 8.35248042e-01 -1.72100948e-02 1.93642301e+01] [ 3.12230291e-02 4.95699639e-05 9.99512441e-01 1.43499683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:19.38, Z:1.44 [[ 8.32706530e-01 -5.53174824e-01 -2.44427509e-02 6.29339112e+01] [ 5.52828249e-01 8.33059869e-01 -1.98035612e-02 1.93816142e+01] [ 3.13171064e-02 2.97791152e-03 9.99505063e-01 1.43540750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:19.39, Z:1.44 [[ 8.31928015e-01 -5.54210190e-01 -2.73284405e-02 6.29594040e+01] [ 5.54032415e-01 8.32370722e-01 -1.43897313e-02 1.93934924e+01] [ 3.07223294e-02 -3.16962130e-03 9.99522932e-01 1.43793892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:19.41, Z:1.44 [[ 8.30653568e-01 -5.56203522e-01 -2.55400076e-02 6.29817467e+01] [ 5.55946760e-01 8.31046097e-01 -1.68992374e-02 1.94095985e+01] [ 3.06243390e-02 -1.61472679e-04 9.99530952e-01 1.43779138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:19.42, Z:1.44 [[ 8.27884815e-01 -5.60317856e-01 -2.55075134e-02 6.30053733e+01] [ 5.60063541e-01 8.28277613e-01 -1.68826997e-02 1.94238813e+01] [ 3.05869805e-02 -3.08897533e-04 9.99532061e-01 1.43868454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:19.44, Z:1.44 [[ 8.26785997e-01 -5.61936458e-01 -2.55408046e-02 6.30279503e+01] [ 5.61681908e-01 8.27180324e-01 -1.69158647e-02 1.94381553e+01] [ 3.06324921e-02 -3.60007762e-04 9.99530650e-01 1.43913622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:19.45, Z:1.44 [[ 8.26653457e-01 -5.62087005e-01 -2.65001954e-02 6.30507497e+01] [ 5.61923314e-01 8.27071355e-01 -1.39701113e-02 1.94507841e+01] [ 2.97699706e-02 -3.34263683e-03 9.99551187e-01 1.43999836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:19.47, Z:1.44 [[ 8.24004486e-01 -5.66073807e-01 -2.40219153e-02 6.30742035e+01] [ 5.65739104e-01 8.24350497e-01 -1.96347751e-02 1.94707897e+01] [ 3.09172097e-02 2.58900594e-03 9.99518596e-01 1.43861419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.10, Y:19.48, Z:1.44 [[ 8.23375301e-01 -5.66905856e-01 -2.59010603e-02 6.30973908e+01] [ 5.66646002e-01 8.23782411e-01 -1.71711378e-02 1.94841822e+01] [ 3.10712565e-02 -5.38441460e-04 9.99517027e-01 1.44018577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:19.50, Z:1.44 [[ 8.22275641e-01 -5.68472120e-01 -2.64994281e-02 6.31210569e+01] [ 5.68200753e-01 8.22702304e-01 -1.75733623e-02 1.94991139e+01] [ 3.17911070e-02 -6.06847231e-04 9.99494351e-01 1.44068228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:19.51, Z:1.44 [[ 8.21813457e-01 -5.69115682e-01 -2.70181933e-02 6.31434786e+01] [ 5.68833560e-01 8.22257221e-01 -1.79288412e-02 1.95134121e+01] [ 3.24194892e-02 -6.34692087e-04 9.99474149e-01 1.44140000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:19.53, Z:1.44 [[ 8.21155085e-01 -5.70057785e-01 -2.71743946e-02 6.31669288e+01] [ 5.69772640e-01 8.21604329e-01 -1.80406556e-02 1.95287665e+01] [ 3.26108165e-02 -6.69050457e-04 9.99467902e-01 1.44217992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:19.54, Z:1.44 [[ 8.20728900e-01 -5.70648831e-01 -2.76402562e-02 6.31900873e+01] [ 5.70353761e-01 8.21193905e-01 -1.83618498e-02 1.95438687e+01] [ 3.31761780e-02 -6.94623247e-04 9.99449278e-01 1.44322388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:19.56, Z:1.44 [[ 8.21197463e-01 -5.69968685e-01 -2.77565099e-02 6.32121658e+01] [ 5.69670339e-01 8.21666150e-01 -1.84510946e-02 1.95594014e+01] [ 3.33231308e-02 -6.60068320e-04 9.99444412e-01 1.44444115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.23, Y:19.58, Z:1.45 [[ 8.22475929e-01 -5.68145195e-01 -2.72834055e-02 6.32333709e+01] [ 5.67855758e-01 8.22928132e-01 -1.81418829e-02 1.95757667e+01] [ 3.27595056e-02 -5.71776896e-04 9.99463100e-01 1.44539003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:19.59, Z:1.45 [[ 8.22853231e-01 -5.67578569e-01 -2.76970720e-02 6.32554245e+01] [ 5.67279787e-01 8.23319052e-01 -1.84223160e-02 1.95908772e+01] [ 3.32596388e-02 -5.53126870e-04 9.99446592e-01 1.44630636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:19.60, Z:1.45 [[ 8.23362356e-01 -5.66351345e-01 -3.63398663e-02 6.32853824e+01] [ 5.66296000e-01 8.24102672e-01 -1.27916623e-02 1.96024223e+01] [ 3.71923560e-02 -1.00469477e-02 9.99257618e-01 1.45411848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.30, Y:19.63, Z:1.45 [[ 8.23225305e-01 -5.67061371e-01 -2.72304776e-02 6.33029636e+01] [ 5.66622424e-01 8.23669662e-01 -2.25236714e-02 1.96250967e+01] [ 3.52012223e-02 3.11265703e-03 9.99375398e-01 1.44842010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:19.64, Z:1.45 [[ 8.22903839e-01 -5.67438664e-01 -2.90281777e-02 6.33270352e+01] [ 5.67058988e-01 8.23415430e-01 -2.07637586e-02 1.96403851e+01] [ 3.56844089e-02 6.25887605e-04 9.99362913e-01 1.44981981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:19.66, Z:1.45 [[ 8.22454762e-01 -5.68032163e-01 -3.01268382e-02 6.33516234e+01] [ 5.67729357e-01 8.23004428e-01 -1.86303274e-02 1.96559014e+01] [ 3.53771465e-02 -1.78128897e-03 9.99372445e-01 1.45124681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:19.67, Z:1.45 [[ 8.21321111e-01 -5.69883698e-01 -2.57721475e-02 6.33689465e+01] [ 5.69459190e-01 8.21717339e-01 -2.22900221e-02 1.96743356e+01] [ 3.38801407e-02 3.63107945e-03 9.99419307e-01 1.44932853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.39, Y:19.69, Z:1.45 [[ 8.20146548e-01 -5.71470671e-01 -2.79448130e-02 6.33917767e+01] [ 5.71165686e-01 8.20622240e-01 -1.86788440e-02 1.96887638e+01] [ 3.36065466e-02 -6.41728898e-04 9.99434934e-01 1.45197844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:19.70, Z:1.45 [[ 8.19612825e-01 -5.72262804e-01 -2.73879510e-02 6.34141409e+01] [ 5.71970127e-01 8.20070029e-01 -1.83117922e-02 1.97041675e+01] [ 3.29391953e-02 -6.56510071e-04 9.99457142e-01 1.45293406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:19.72, Z:1.45 [[ 8.18542694e-01 -5.73812895e-01 -2.69558874e-02 6.34366467e+01] [ 5.73530036e-01 8.18986122e-01 -1.80285841e-02 1.97203677e+01] [ 3.24215317e-02 -7.02845314e-04 9.99474037e-01 1.45424446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:19.74, Z:1.45 [[ 8.17901391e-01 -5.74734803e-01 -2.67809906e-02 6.34588919e+01] [ 5.74455729e-01 8.18339404e-01 -1.79230174e-02 1.97362820e+01] [ 3.22169218e-02 -7.25232606e-04 9.99480637e-01 1.45499882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:19.75, Z:1.46 [[ 8.17419833e-01 -5.75415962e-01 -2.68568050e-02 6.34810384e+01] [ 5.75135503e-01 8.17860568e-01 -1.79790057e-02 1.97519743e+01] [ 3.23105286e-02 -7.49906199e-04 9.99477597e-01 1.45581660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:19.77, Z:1.46 [[ 8.16527360e-01 -5.76696125e-01 -2.65452446e-02 6.35030228e+01] [ 5.76422653e-01 8.16958359e-01 -1.77754127e-02 1.97680776e+01] [ 3.19373711e-02 -7.87169530e-04 9.99489562e-01 1.45641069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:19.79, Z:1.46 [[ 8.15933746e-01 -5.77668177e-01 -2.34861584e-02 6.35238078e+01] [ 5.77070269e-01 8.16220423e-01 -2.78231029e-02 1.97899743e+01] [ 3.52424033e-02 9.14864480e-03 9.99336918e-01 1.45574778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.55, Y:19.80, Z:1.46 [[ 8.15422367e-01 -5.77988912e-01 -3.18619057e-02 6.35514007e+01] [ 5.77911712e-01 8.16003331e-01 -1.25146790e-02 1.97985448e+01] [ 3.32327669e-02 -8.20861934e-03 9.99413929e-01 1.46081913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:19.82, Z:1.46 [[ 8.15983506e-01 -5.77355123e-01 -2.88440545e-02 6.35729304e+01] [ 5.77094554e-01 8.16489730e-01 -1.75041858e-02 1.98167805e+01] [ 3.36570057e-02 -2.36261990e-03 9.99430650e-01 1.46022216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.60, Y:19.83, Z:1.46 [[ 8.15850643e-01 -5.77561810e-01 -2.84619780e-02 6.35954192e+01] [ 5.77246970e-01 8.16346508e-01 -1.90870425e-02 1.98340082e+01] [ 3.42587832e-02 -8.57414623e-04 9.99412628e-01 1.46114613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.62, Y:19.85, Z:1.46 [[ 8.16159432e-01 -5.77106508e-01 -2.88419729e-02 6.36169193e+01] [ 5.76782506e-01 8.16668460e-01 -1.93537409e-02 1.98502734e+01] [ 3.47234994e-02 -8.39807271e-04 9.99396605e-01 1.46197845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:19.87, Z:1.46 [[ 8.15977423e-01 -5.77527371e-01 -2.53570767e-02 6.36362374e+01] [ 5.76817864e-01 8.16308208e-01 -3.03654667e-02 1.98718681e+01] [ 3.82360780e-02 1.01511204e-02 9.99217172e-01 1.46132225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:19.88, Z:1.47 [[ 8.16941674e-01 -5.75688661e-01 -3.44799581e-02 6.36658757e+01] [ 5.75723516e-01 8.17584434e-01 -9.90590198e-03 1.98770206e+01] [ 3.38929924e-02 -1.17583786e-02 9.99356296e-01 1.46785610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:19.90, Z:1.47 [[ 8.17658137e-01 -5.74738657e-01 -3.33263793e-02 6.36894733e+01] [ 5.74587120e-01 8.18307485e-01 -1.49164686e-02 1.98957628e+01] [ 3.58442967e-02 -6.95233639e-03 9.99333203e-01 1.46982825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.71, Y:19.91, Z:1.47 [[ 8.17479660e-01 -5.75182270e-01 -2.98724433e-02 6.37111216e+01] [ 5.74838918e-01 8.18024772e-01 -1.98919902e-02 1.99147771e+01] [ 3.58779187e-02 -9.10545579e-04 9.99355765e-01 1.46887539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:19.93, Z:1.47 [[ 8.17986952e-01 -5.74702205e-01 -2.47936023e-02 6.37311549e+01] [ 5.74227030e-01 8.18344970e-01 -2.39755645e-02 1.99342145e+01] [ 3.40685295e-02 5.37454230e-03 9.99405048e-01 1.46553222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:19.95, Z:1.47 [[ 8.19547997e-01 -5.72323526e-01 -2.80510487e-02 6.37555485e+01] [ 5.72012159e-01 8.20027718e-01 -1.88846949e-02 1.99483207e+01] [ 3.38107927e-02 -5.68627072e-04 9.99428090e-01 1.46771802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:19.96, Z:1.47 [[ 8.20469142e-01 -5.70972400e-01 -2.86514666e-02 6.37783112e+01] [ 5.70646284e-01 8.20969095e-01 -1.93018867e-02 1.99643346e+01] [ 3.45428132e-02 -5.13250563e-04 9.99403087e-01 1.46901561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.80, Y:19.98, Z:1.47 [[ 8.21255576e-01 -5.69826533e-01 -2.89309579e-02 6.38010437e+01] [ 5.69492851e-01 8.21764876e-01 -1.95033590e-02 1.99806119e+01] [ 3.48879764e-02 -4.58731335e-04 9.99391124e-01 1.46997234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:20.00, Z:1.47 [[ 8.22182997e-01 -5.68478776e-01 -2.91032759e-02 6.38232515e+01] [ 5.68139826e-01 8.22697834e-01 -1.96319011e-02 1.99962291e+01] [ 3.51035212e-02 -3.93714841e-04 9.99383604e-01 1.47063807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:20.01, Z:1.47 [[ 8.24126244e-01 -5.65644870e-01 -2.93566950e-02 6.38448506e+01] [ 5.65297983e-01 8.24648900e-01 -1.98086570e-02 2.00116942e+01] [ 3.54136315e-02 -2.70446379e-04 9.99372704e-01 1.47146198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:20.03, Z:1.47 [[ 8.25381210e-01 -5.63851540e-01 -2.85884550e-02 6.38660746e+01] [ 5.63372603e-01 8.25869733e-01 -2.34626028e-02 2.00286244e+01] [ 3.68397644e-02 3.25963918e-03 9.99315869e-01 1.47169427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.762755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:63.89, Y:20.04, Z:1.47 [[ 8.25792200e-01 -5.63103415e-01 -3.13334794e-02 6.38924881e+01] [ 5.62849984e-01 8.26379419e-01 -1.72322413e-02 2.00427531e+01] [ 3.55968764e-02 -3.40579797e-03 9.99360427e-01 1.47414174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:20.06, Z:1.47 [[ 8.26842239e-01 -5.61812725e-01 -2.64267599e-02 6.39109501e+01] [ 5.61138033e-01 8.27213772e-01 -2.90083377e-02 2.00639401e+01] [ 3.81578330e-02 9.15625884e-03 9.99229775e-01 1.47270222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:20.07, Z:1.48 [[ 8.26861450e-01 -5.61361786e-01 -3.42503756e-02 6.39407463e+01] [ 5.61306232e-01 8.27519372e-01 -1.21244692e-02 2.00710790e+01] [ 3.51490629e-02 -9.19969309e-03 9.99339737e-01 1.47794796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:20.09, Z:1.48 [[ 8.26747586e-01 -5.61839487e-01 -2.87196625e-02 6.39619763e+01] [ 5.61503492e-01 8.27246267e-01 -1.94278571e-02 2.00904919e+01] [ 3.46735708e-02 -6.42568332e-05 9.99398689e-01 1.47613689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:20.11, Z:1.48 [[ 8.26471635e-01 -5.62262127e-01 -2.83890448e-02 6.39855207e+01] [ 5.61933643e-01 8.26959065e-01 -1.92167786e-02 2.01056446e+01] [ 3.42814447e-02 -7.06369588e-05 9.99412216e-01 1.47714004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:20.12, Z:1.48 [[ 8.26720495e-01 -5.61958655e-01 -2.71236784e-02 6.40060334e+01] [ 5.61528792e-01 8.27159440e-01 -2.21963127e-02 2.01210178e+01] [ 3.49090167e-02 3.11942028e-03 9.99385626e-01 1.47727134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:20.13, Z:1.48 [[ 8.25236748e-01 -5.63983965e-01 -3.01064232e-02 6.40337885e+01] [ 5.63741231e-01 8.25779982e-01 -1.68299035e-02 2.01338377e+01] [ 3.43530773e-02 -3.08357723e-03 9.99405002e-01 1.48024174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.06, Y:20.15, Z:1.48 [[ 8.25897974e-01 -5.63006171e-01 -3.02752146e-02 6.40568082e+01] [ 5.62865054e-01 8.26433467e-01 -1.38078013e-02 2.01457122e+01] [ 3.27943279e-02 -5.63702518e-03 9.99446225e-01 1.48111137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.08, Y:20.17, Z:1.48 [[ 8.23973375e-01 -5.66069414e-01 -2.51653670e-02 6.40785237e+01] [ 5.65585121e-01 8.24338552e-01 -2.40711919e-02 2.01679119e+01] [ 3.43707477e-02 5.60086406e-03 9.99393457e-01 1.47966207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.032755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.10, Y:20.18, Z:1.48 [[ 8.22584177e-01 -5.67937578e-01 -2.83227794e-02 6.41039487e+01] [ 5.67612513e-01 8.23071585e-01 -1.92145884e-02 2.01779323e+01] [ 3.42243617e-02 -2.70747601e-04 9.99414138e-01 1.48210798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:20.19, Z:1.48 [[ 8.21764702e-01 -5.69098385e-01 -2.88062951e-02 6.41278984e+01] [ 5.68762622e-01 8.22269376e-01 -1.95487525e-02 2.01927545e+01] [ 3.48116977e-02 -3.19469158e-04 9.99393838e-01 1.48328887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:20.21, Z:1.48 [[ 8.20933172e-01 -5.70284103e-01 -2.90649034e-02 6.41514037e+01] [ 5.69942596e-01 8.21447448e-01 -1.97364536e-02 2.02077163e+01] [ 3.51306765e-02 -3.63017015e-04 9.99382661e-01 1.48416540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:20.22, Z:1.48 [[ 8.19601474e-01 -5.72153446e-01 -2.98974437e-02 6.41754597e+01] [ 5.71792827e-01 8.20146473e-01 -2.03156640e-02 2.02225440e+01] [ 3.61439601e-02 -4.44395646e-04 9.99346495e-01 1.48484580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.20, Y:20.24, Z:1.49 [[ 8.18904119e-01 -5.73130148e-01 -3.02964969e-02 6.41989329e+01] [ 5.72759993e-01 8.19464215e-01 -2.06007416e-02 2.02380240e+01] [ 3.66338011e-02 -4.82589183e-04 9.99328641e-01 1.48552235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:20.25, Z:1.49 [[ 8.18199033e-01 -5.74126963e-01 -3.04724890e-02 6.42212311e+01] [ 5.73752701e-01 8.18766120e-01 -2.07335056e-02 2.02525171e+01] [ 3.68535062e-02 -5.19538663e-04 9.99320544e-01 1.48642211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:20.27, Z:1.49 [[ 8.16835993e-01 -5.76043492e-01 -3.08683635e-02 6.42448905e+01] [ 5.75660515e-01 8.17418819e-01 -2.10105974e-02 2.02671281e+01] [ 3.73353991e-02 -6.07485822e-04 9.99302606e-01 1.48721188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.28, Y:20.27, Z:1.50 [[ 8.16877294e-01 -5.75093180e-01 -4.44895660e-02 6.42772359e+01] [ 5.75368830e-01 8.17858546e-01 -7.62289071e-03 2.02724387e+01] [ 4.07700442e-02 -1.93709432e-02 9.98980766e-01 1.49935262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:20.31, Z:1.49 [[ 8.15696729e-01 -5.78064534e-01 -2.19144214e-02 6.42865682e+01] [ 5.77094657e-01 8.15779472e-01 -3.82832860e-02 2.03057920e+01] [ 4.00075450e-02 1.85808557e-02 9.99026600e-01 1.48560209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:20.31, Z:1.49 [[ 8.14258493e-01 -5.79544890e-01 -3.33290779e-02 6.43186005e+01] [ 5.79212202e-01 8.14934356e-01 -1.98801350e-02 2.03105227e+01] [ 3.86824413e-02 -3.11703985e-03 9.99246693e-01 1.49302660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:20.33, Z:1.49 [[ 8.13752344e-01 -5.80335018e-01 -3.19122153e-02 6.43404341e+01] [ 5.79928081e-01 8.14377435e-01 -2.17442807e-02 2.03264700e+01] [ 3.86075556e-02 -8.12330387e-04 9.99254120e-01 1.49327771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.36, Y:20.35, Z:1.49 [[ 8.13128170e-01 -5.81427579e-01 -2.76504853e-02 6.43601873e+01] [ 5.80591275e-01 8.13526970e-01 -3.29793876e-02 2.03489981e+01] [ 4.16695410e-02 1.07628385e-02 9.99073476e-01 1.49203601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.39, Y:20.36, Z:1.50 [[ 8.14575178e-01 -5.78820814e-01 -3.78648101e-02 6.43894683e+01] [ 5.78819244e-01 8.15365805e-01 -1.21196849e-02 2.03550277e+01] [ 3.78887973e-02 -1.20444863e-02 9.99209372e-01 1.49960597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:20.38, Z:1.50 [[ 8.14781458e-01 -5.78913148e-01 -3.14760676e-02 6.44087222e+01] [ 5.78514939e-01 8.15388905e-01 -2.14802158e-02 2.03764364e+01] [ 3.81004157e-02 -7.07693765e-04 9.99273665e-01 1.49728031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:20.39, Z:1.50 [[ 8.15133268e-01 -5.78396838e-01 -3.18567648e-02 6.44314915e+01] [ 5.77988002e-01 8.15755254e-01 -2.17539529e-02 2.03917007e+01] [ 3.85697408e-02 -6.80457140e-04 9.99255679e-01 1.49828872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.44, Y:20.42, Z:1.48 [[ 8.14329851e-01 -5.80266374e-01 -1.25629756e-02 6.44414201e+01] [ 5.79409713e-01 8.14012061e-01 -4.08503290e-02 2.04228948e+01] [ 3.39304859e-02 2.59865322e-02 9.99086294e-01 1.48300282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:20.41, Z:1.51 [[ 8.16635615e-01 -5.75253015e-01 -4.68000128e-02 6.44857786e+01] [ 5.75881344e-01 8.17533285e-01 -6.99011359e-05 2.04118708e+01] [ 3.83007790e-02 -2.68941705e-02 9.98904277e-01 1.50938017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.50, Y:20.44, Z:1.50 [[ 8.17413967e-01 -5.75383885e-01 -2.77090502e-02 6.44974138e+01] [ 5.74788566e-01 8.17861312e-01 -2.68510578e-02 2.04449752e+01] [ 3.81118261e-02 6.02158445e-03 9.99255337e-01 1.49811716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:20.46, Z:1.50 [[ 8.18004321e-01 -5.74338548e-01 -3.16885304e-02 6.45231959e+01] [ 5.73938359e-01 8.18617626e-01 -2.14462798e-02 2.04587663e+01] [ 3.82582147e-02 -6.44113595e-04 9.99267679e-01 1.50108262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:20.48, Z:1.50 [[ 8.18112503e-01 -5.74529222e-01 -2.46597900e-02 6.45424650e+01] [ 5.73884627e-01 8.18430120e-01 -2.87849611e-02 2.04812777e+01] [ 3.67201161e-02 9.39746220e-03 9.99281402e-01 1.49586534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.57, Y:20.50, Z:1.50 [[ 8.18480814e-01 -5.73769947e-01 -2.96176350e-02 6.45681411e+01] [ 5.73222757e-01 8.19007897e-01 -2.53324968e-02 2.04950072e+01] [ 3.87921023e-02 3.75666017e-03 9.99240242e-01 1.49996563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.60, Y:20.50, Z:1.51 [[ 8.19267483e-01 -5.71715041e-01 -4.40761022e-02 6.45998506e+01] [ 5.72001612e-01 8.20222143e-01 -7.05633054e-03 2.04988326e+01] [ 4.01864053e-02 -1.94305793e-02 9.99003256e-01 1.51290084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:20.52, Z:1.51 [[ 8.18560155e-01 -5.73449817e-01 -3.33853365e-02 6.46155096e+01] [ 5.72994252e-01 8.19240582e-01 -2.28572817e-02 2.05239199e+01] [ 4.04581265e-02 -4.19545826e-04 9.99181147e-01 1.50802367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.722755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.63, Y:20.55, Z:1.50 [[ 8.16821724e-01 -5.76627277e-01 -1.74142019e-02 6.46291402e+01] [ 5.75756020e-01 8.16736282e-01 -3.80375017e-02 2.05519644e+01] [ 3.61562715e-02 2.10435261e-02 9.99124564e-01 1.49511600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:20.55, Z:1.52 [[ 8.16821531e-01 -5.75100679e-01 -4.54069996e-02 6.46686597e+01] [ 5.75494958e-01 8.17789040e-01 -5.16131101e-03 2.05457294e+01] [ 4.01016201e-02 -2.19156293e-02 9.98955237e-01 1.51664354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.68, Y:20.57, Z:1.51 [[ 8.14618600e-01 -5.79055797e-01 -3.30291038e-02 6.46843031e+01] [ 5.78613821e-01 8.15287635e-01 -2.26300397e-02 2.05709677e+01] [ 4.00322756e-02 -6.76244663e-04 9.99198158e-01 1.51130874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:20.59, Z:1.51 [[ 8.13248884e-01 -5.80981907e-01 -3.29587176e-02 6.47070803e+01] [ 5.80543078e-01 8.13916115e-01 -2.25896468e-02 2.05868426e+01] [ 3.99498075e-02 -7.62950329e-04 9.99201397e-01 1.51272335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:20.60, Z:1.51 [[ 8.11863318e-01 -5.82914586e-01 -3.29930080e-02 6.47304764e+01] [ 5.82475837e-01 8.12532995e-01 -2.26281041e-02 2.06029091e+01] [ 3.99981595e-02 -8.46702271e-04 9.99199395e-01 1.51408386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:20.63, Z:1.50 [[ 8.08383236e-01 -5.88541553e-01 -1.16354936e-02 6.47420551e+01] [ 5.87701363e-01 8.08039399e-01 -4.09809399e-02 2.06335122e+01] [ 3.35209233e-02 2.62901094e-02 9.99092177e-01 1.49798497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.78, Y:20.63, Z:1.51 [[ 8.07665077e-01 -5.88855912e-01 -3.04275812e-02 6.47757966e+01] [ 5.88671259e-01 8.08220878e-01 -1.56576465e-02 2.06336391e+01] [ 3.38123041e-02 -5.26570821e-03 9.99414329e-01 1.50945135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:20.64, Z:1.52 [[ 8.06383254e-01 -5.89685732e-01 -4.49086374e-02 6.48067790e+01] [ 5.90155469e-01 8.07282565e-01 -3.37401968e-03 2.06400792e+01] [ 3.82435712e-02 -2.37823249e-02 9.98985400e-01 1.52428044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:20.68, Z:1.50 [[ 8.05135564e-01 -5.92884069e-01 -1.56590100e-02 6.48148274e+01] [ 5.92047254e-01 8.05004264e-01 -3.80549985e-02 2.06792076e+01] [ 3.51677721e-02 2.13685588e-02 9.99152948e-01 1.50367898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.85, Y:20.67, Z:1.53 [[ 8.04705837e-01 -5.91983000e-01 -4.47732552e-02 6.48533161e+01] [ 5.92445597e-01 8.05602668e-01 -3.54350047e-03 2.06727021e+01] [ 3.81671459e-02 -2.36742424e-02 9.98990890e-01 1.52586202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:20.70, Z:1.52 [[ 8.04665793e-01 -5.92737591e-01 -3.42798780e-02 6.48704122e+01] [ 5.92547276e-01 8.05365364e-01 -1.65637205e-02 2.06957411e+01] [ 3.74257662e-02 -6.98418907e-03 9.99275004e-01 1.52098113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:20.72, Z:1.52 [[ 8.02881682e-01 -5.95468225e-01 -2.82594756e-02 6.48912327e+01] [ 5.94901908e-01 8.03367239e-01 -2.63210699e-02 2.07191487e+01] [ 3.83760977e-02 4.32108890e-03 9.99254023e-01 1.51836226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:20.73, Z:1.52 [[ 8.02700390e-01 -5.95579371e-01 -3.09402210e-02 6.49149712e+01] [ 5.95200656e-01 8.03295356e-01 -2.12779417e-02 2.07317534e+01] [ 3.75268390e-02 -1.33582778e-03 9.99294727e-01 1.52054627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.94, Y:20.75, Z:1.52 [[ 8.02081360e-01 -5.96377020e-01 -3.16218706e-02 6.49375992e+01] [ 5.95981415e-01 8.02703256e-01 -2.17631801e-02 2.07486555e+01] [ 3.83620390e-02 -1.39020610e-03 9.99262939e-01 1.52185263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:20.76, Z:1.52 [[ 8.02189398e-01 -5.96248369e-01 -3.13057985e-02 6.49600621e+01] [ 5.95859957e-01 8.02798878e-01 -2.15609066e-02 2.07649337e+01] [ 3.79879153e-02 -1.35794107e-03 9.99277276e-01 1.52257517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.98, Y:20.78, Z:1.52 [[ 8.03368417e-01 -5.94690455e-01 -3.06993397e-02 6.49826641e+01] [ 5.94315293e-01 8.03953795e-01 -2.11571905e-02 2.07817634e+01] [ 3.72628300e-02 -1.24806841e-03 9.99304720e-01 1.52381306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:20.80, Z:1.52 [[ 8.04091389e-01 -5.93721043e-01 -3.05345977e-02 6.50045580e+01] [ 5.93348697e-01 8.04670067e-01 -2.10572325e-02 2.07980838e+01] [ 3.70723989e-02 -1.18572442e-03 9.99311879e-01 1.52448664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:20.81, Z:1.53 [[ 8.04912196e-01 -5.92619961e-01 -3.02975058e-02 6.50269349e+01] [ 5.92252349e-01 8.05481425e-01 -2.09004631e-02 2.08145309e+01] [ 3.67901098e-02 -1.12073137e-03 9.99322386e-01 1.52553138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:20.83, Z:1.53 [[ 8.06936837e-01 -5.89901093e-01 -2.94896810e-02 6.50484725e+01] [ 5.89550534e-01 8.07474941e-01 -2.03564979e-02 2.08316067e+01] [ 3.58204988e-02 -9.59249148e-04 9.99357780e-01 1.52639574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.07, Y:20.85, Z:1.53 [[ 8.08008004e-01 -5.88450129e-01 -2.91463603e-02 6.50708877e+01] [ 5.88106412e-01 8.08533040e-01 -2.01288950e-02 2.08481398e+01] [ 3.54106461e-02 -8.76853113e-04 9.99372462e-01 1.52772528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.09, Y:20.86, Z:1.53 [[ 8.08952002e-01 -5.87180466e-01 -2.85614885e-02 6.50926550e+01] [ 5.86849165e-01 8.09455663e-01 -1.97379902e-02 2.08648284e+01] [ 3.47090209e-02 -7.94198946e-04 9.99397145e-01 1.52837017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:20.88, Z:1.53 [[ 8.09994588e-01 -5.85756358e-01 -2.82534266e-02 6.51149442e+01] [ 5.85431103e-01 8.10486872e-01 -1.95308599e-02 2.08814143e+01] [ 3.43393567e-02 -7.20543855e-04 9.99409971e-01 1.52951331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.14, Y:20.90, Z:1.53 [[ 8.10934138e-01 -5.84496925e-01 -2.73709556e-02 6.51383373e+01] [ 5.84158996e-01 8.11395914e-01 -1.98730609e-02 2.08994565e+01] [ 3.38244245e-02 1.26753552e-04 9.99427782e-01 1.52935976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:20.92, Z:1.53 [[ 8.10732395e-01 -5.84754379e-01 -2.78442073e-02 6.51620007e+01] [ 5.84439092e-01 8.11210103e-01 -1.92124354e-02 2.09154620e+01] [ 3.38220580e-02 -6.97099449e-04 9.99427627e-01 1.53057403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:20.93, Z:1.53 [[ 8.11982879e-01 -5.83023728e-01 -2.76972176e-02 6.51832351e+01] [ 5.82742085e-01 8.12453947e-01 -1.81726997e-02 2.09325629e+01] [ 3.30978289e-02 -1.38441331e-03 9.99451158e-01 1.53280089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.20, Y:20.95, Z:1.53 [[ 8.12604646e-01 -5.82190811e-01 -2.69731016e-02 6.52041362e+01] [ 5.81890969e-01 8.13052029e-01 -1.86895593e-02 2.09491022e+01] [ 3.28114246e-02 -5.08181482e-04 9.99461431e-01 1.53330220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:20.97, Z:1.53 [[ 8.13606255e-01 -5.80836184e-01 -2.59651536e-02 6.52259857e+01] [ 5.80466040e-01 8.14018335e-01 -2.08164898e-02 2.09682010e+01] [ 3.32270817e-02 1.86453639e-03 9.99446089e-01 1.53277227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.25, Y:20.98, Z:1.54 [[ 8.13486951e-01 -5.80883471e-01 -2.85196998e-02 6.52487783e+01] [ 5.80645517e-01 8.13981774e-01 -1.68657836e-02 2.09823806e+01] [ 3.30115707e-02 -2.83974091e-03 9.99450935e-01 1.53544946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:21.00, Z:1.54 [[ 8.12900207e-01 -5.81776002e-01 -2.70173339e-02 6.52700791e+01] [ 5.81474208e-01 8.13348916e-01 -1.87426559e-02 2.10011905e+01] [ 3.28785466e-02 -4.73973971e-04 9.99459242e-01 1.53528588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:21.02, Z:1.54 [[ 8.12250872e-01 -5.82683311e-01 -2.69940810e-02 6.52926049e+01] [ 5.82382128e-01 8.12699151e-01 -1.87389249e-02 2.10175293e+01] [ 3.28569255e-02 -5.00162297e-04 9.99459940e-01 1.53599667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.32, Y:21.03, Z:1.54 [[ 8.11226186e-01 -5.84107449e-01 -2.70289233e-02 6.53150747e+01] [ 5.83805870e-01 8.11676159e-01 -1.87755100e-02 2.10340143e+01] [ 3.29056479e-02 -5.48458724e-04 9.99458312e-01 1.53678220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:21.05, Z:1.54 [[ 8.10079674e-01 -5.85712397e-01 -2.66816273e-02 6.53375883e+01] [ 5.85419000e-01 8.10518743e-01 -1.85462223e-02 2.10504141e+01] [ 3.24887113e-02 -5.96013801e-04 9.99471925e-01 1.53711531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:21.07, Z:1.54 [[ 8.07405426e-01 -5.89383402e-01 -2.69013665e-02 6.53601988e+01] [ 5.89086754e-01 8.07853117e-01 -1.87119746e-02 2.10673088e+01] [ 3.27608801e-02 -7.39088809e-04 9.99462945e-01 1.53798420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:21.08, Z:1.54 [[ 8.05944436e-01 -5.91367498e-01 -2.71670391e-02 6.53817972e+01] [ 5.91065641e-01 8.06401770e-01 -1.89101419e-02 2.10828370e+01] [ 3.30903917e-02 -8.16979746e-04 9.99452029e-01 1.53883870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.742755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.40, Y:21.10, Z:1.54 [[ 8.04259493e-01 -5.93656437e-01 -2.71790858e-02 6.54043948e+01] [ 5.93355324e-01 8.04718098e-01 -1.89273065e-02 2.10990760e+01] [ 3.31078196e-02 -9.04389325e-04 9.99451377e-01 1.53925249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.43, Y:21.12, Z:1.54 [[ 8.01207184e-01 -5.97759405e-01 -2.73996739e-02 6.54261096e+01] [ 5.97455315e-01 8.01674838e-01 -1.90945135e-02 2.11150281e+01] [ 3.33795542e-02 -1.07141945e-03 9.99442173e-01 1.53997853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:21.13, Z:1.54 [[ 7.99764743e-01 -5.99688674e-01 -2.73833887e-02 6.54482845e+01] [ 5.99385880e-01 8.00232578e-01 -1.90889284e-02 2.11309403e+01] [ 3.33604939e-02 -1.14656462e-03 9.99442726e-01 1.54076806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:21.15, Z:1.54 [[ 7.97448783e-01 -6.02883798e-01 -2.46285368e-02 6.54683218e+01] [ 6.02314021e-01 7.97800506e-01 -2.70586900e-02 2.11518674e+01] [ 3.59619049e-02 6.74380642e-03 9.99330407e-01 1.54054006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:21.16, Z:1.55 [[ 7.96203551e-01 -6.04151122e-01 -3.25780366e-02 6.54966135e+01] [ 6.04076949e-01 7.96816884e-01 -1.31868594e-02 2.11616405e+01] [ 3.39255855e-02 -9.18021671e-03 9.99382198e-01 1.54538053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.51, Y:21.18, Z:1.54 [[ 7.95668512e-01 -6.05193025e-01 -2.55542851e-02 6.55137472e+01] [ 6.04689182e-01 7.96065941e-01 -2.51000150e-02 2.11841500e+01] [ 3.55332500e-02 4.51889183e-03 9.99358278e-01 1.54251179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:21.20, Z:1.55 [[ 7.94327347e-01 -6.06680424e-01 -3.13516950e-02 6.55407934e+01] [ 6.06542085e-01 7.94912936e-01 -1.48365434e-02 2.11965165e+01] [ 3.39229083e-02 -7.23105031e-03 9.99398293e-01 1.54606923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:21.22, Z:1.54 [[ 7.93542622e-01 -6.07952713e-01 -2.61458546e-02 6.55579487e+01] [ 6.07413122e-01 7.93958768e-01 -2.60532939e-02 2.12187705e+01] [ 3.65979013e-02 4.79306399e-03 9.99318578e-01 1.54427689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:21.23, Z:1.55 [[ 7.92699010e-01 -6.08783717e-01 -3.17909843e-02 6.55838484e+01] [ 6.08656881e-01 7.93298447e-01 -1.46415722e-02 2.12298309e+01] [ 3.41332892e-02 -7.74344151e-03 9.99387291e-01 1.54757265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.61, Y:21.25, Z:1.55 [[ 7.93391263e-01 -6.07957847e-01 -3.02912395e-02 6.56064986e+01] [ 6.07571945e-01 7.93968406e-01 -2.16910615e-02 2.12497151e+01] [ 3.72375381e-02 -1.19460863e-03 9.99305728e-01 1.54814739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.63, Y:21.27, Z:1.55 [[ 7.92682820e-01 -6.08881678e-01 -3.02828165e-02 6.56313620e+01] [ 6.08628599e-01 7.93250275e-01 -1.80341257e-02 2.12668932e+01] [ 3.50025012e-02 -4.13564660e-03 9.99378668e-01 1.54875691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:21.28, Z:1.56 [[ 7.93779747e-01 -6.06561671e-01 -4.46839155e-02 6.56622255e+01] [ 6.07034958e-01 7.94666820e-01 -3.63396219e-03 2.12750351e+01] [ 3.77130472e-02 -2.42401332e-02 9.98994566e-01 1.56113502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:21.31, Z:1.55 [[ 7.93843298e-01 -6.07479315e-01 -2.79588878e-02 6.56750890e+01] [ 6.06949647e-01 7.94328485e-01 -2.55809264e-02 2.13053072e+01] [ 3.77484246e-02 3.33760990e-03 9.99281700e-01 1.55316118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.132755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.69, Y:21.33, Z:1.54 [[ 7.91898043e-01 -6.10428133e-01 -1.65826231e-02 6.56855129e+01] [ 6.09686086e-01 7.91879963e-01 -3.47706708e-02 2.13298012e+01] [ 3.43564427e-02 1.74246316e-02 9.99257733e-01 1.54460198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.71, Y:21.34, Z:1.55 [[ 7.92757314e-01 -6.08985861e-01 -2.59241712e-02 6.57128524e+01] [ 6.08572314e-01 7.93178326e-01 -2.25362236e-02 2.13396404e+01] [ 3.42867322e-02 2.08902324e-03 9.99409854e-01 1.55086372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:21.36, Z:1.55 [[ 7.93571773e-01 -6.07877450e-01 -2.69971792e-02 6.57342281e+01] [ 6.07607077e-01 7.94028500e-01 -1.82313242e-02 2.13554741e+01] [ 3.25189405e-02 -1.93581285e-03 9.99469245e-01 1.55234823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:21.37, Z:1.56 [[ 7.94048067e-01 -6.06761314e-01 -3.64468855e-02 6.57659137e+01] [ 6.06984894e-01 7.94691861e-01 -5.84676154e-03 2.13669316e+01] [ 3.25116320e-02 -1.74800992e-02 9.99318488e-01 1.55887420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:21.40, Z:1.55 [[ 7.93562954e-01 -6.08077114e-01 -2.23620708e-02 6.57805370e+01] [ 6.07682074e-01 7.93867355e-01 -2.22961737e-02 2.13951798e+01] [ 3.13103109e-02 4.10438792e-03 9.99501285e-01 1.55224406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.80, Y:21.41, Z:1.55 [[ 7.94527353e-01 -6.06715249e-01 -2.49578119e-02 6.58019789e+01] [ 6.06339286e-01 7.94916971e-01 -2.14401507e-02 2.14108791e+01] [ 3.28474546e-02 1.90188429e-03 9.99458567e-01 1.55370879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.82, Y:21.43, Z:1.55 [[ 7.93613795e-01 -6.08020856e-01 -2.20858116e-02 6.58198755e+01] [ 6.07663341e-01 7.93914051e-01 -2.11126364e-02 2.14294979e+01] [ 3.03711594e-02 3.33454144e-03 9.99533128e-01 1.55197984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.84, Y:21.45, Z:1.55 [[ 7.94662215e-01 -6.06537493e-01 -2.49846835e-02 6.58415711e+01] [ 6.06281803e-01 7.95054088e-01 -1.76457480e-02 2.14454683e+01] [ 3.05669826e-02 -1.12534977e-03 9.99532087e-01 1.55369941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:21.46, Z:1.55 [[ 7.95076470e-01 -6.06003999e-01 -2.47499551e-02 6.58622564e+01] [ 6.05752623e-01 7.95460852e-01 -1.74869279e-02 2.14623470e+01] [ 3.02847686e-02 -1.08890531e-03 9.99540718e-01 1.55393494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.88, Y:21.48, Z:1.55 [[ 7.95555678e-01 -6.05364849e-01 -2.49912622e-02 6.58838517e+01] [ 6.05107997e-01 7.95947396e-01 -1.76650759e-02 2.14795492e+01] [ 3.05855461e-02 -1.06886116e-03 9.99531581e-01 1.55453957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:21.50, Z:1.55 [[ 7.96481281e-01 -6.04405939e-01 -1.76360202e-02 6.59011992e+01] [ 6.03912745e-01 7.96607020e-01 -2.65829425e-02 2.15034848e+01] [ 3.01158658e-02 1.05221988e-02 9.99491029e-01 1.54964255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:21.51, Z:1.56 [[ 7.96184882e-01 -6.04234051e-01 -3.14776913e-02 6.59301002e+01] [ 6.04306918e-01 7.96709203e-01 -8.22160101e-03 2.15096458e+01] [ 3.00463376e-02 -1.24762722e-02 9.99470640e-01 1.55826372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.95, Y:21.53, Z:1.56 [[ 7.96044680e-01 -6.04722197e-01 -2.49786379e-02 6.59484931e+01] [ 6.04464414e-01 7.96435824e-01 -1.76847401e-02 2.15322472e+01] [ 3.05882370e-02 -1.02085444e-03 9.99531549e-01 1.55671127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:21.55, Z:1.56 [[ 7.96920216e-01 -6.03687170e-01 -2.19082035e-02 6.59660529e+01] [ 6.03151945e-01 7.97180901e-01 -2.66522524e-02 2.15527326e+01] [ 3.35544242e-02 8.02574322e-03 9.99404667e-01 1.55621549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:21.56, Z:1.56 [[ 7.95823832e-01 -6.04759703e-01 -3.04980146e-02 6.59953378e+01] [ 6.04707016e-01 7.96358072e-01 -1.19685206e-02 2.15636966e+01] [ 3.15254191e-02 -8.91752949e-03 9.99463169e-01 1.56017562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.01, Y:21.58, Z:1.56 [[ 7.95303675e-01 -6.05666284e-01 -2.56985683e-02 6.60148462e+01] [ 6.05393745e-01 7.95718027e-01 -1.81998467e-02 2.15848007e+01] [ 3.14718476e-02 -1.08334758e-03 9.99504052e-01 1.55869692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:21.60, Z:1.56 [[ 7.94328595e-01 -6.06934958e-01 -2.59237431e-02 6.60359569e+01] [ 6.06657852e-01 7.94750700e-01 -1.83732580e-02 2.16021566e+01] [ 3.17542856e-02 -1.13243808e-03 9.99495064e-01 1.55920919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:21.62, Z:1.56 [[ 7.93767033e-01 -6.07667655e-01 -2.59599183e-02 6.60578433e+01] [ 6.07389729e-01 7.94190590e-01 -1.84126123e-02 2.16188479e+01] [ 3.18058718e-02 -1.15246310e-03 9.99493401e-01 1.56001923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:21.64, Z:1.56 [[ 7.92968572e-01 -6.08698130e-01 -2.62188862e-02 6.60800541e+01] [ 6.08414894e-01 7.93401002e-01 -1.86055330e-02 2.16361769e+01] [ 3.21272438e-02 -1.19835793e-03 9.99483068e-01 1.56093615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:21.65, Z:1.56 [[ 7.92721370e-01 -6.09023070e-01 -2.61482213e-02 6.61016233e+01] [ 6.08741084e-01 7.93151604e-01 -1.85694570e-02 2.16524181e+01] [ 3.20487314e-02 -1.19709119e-03 9.99485591e-01 1.56177448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:21.67, Z:1.56 [[ 7.92356436e-01 -6.09494663e-01 -2.62208820e-02 6.61227450e+01] [ 6.09211171e-01 7.92789241e-01 -1.86270793e-02 2.16685638e+01] [ 3.21407385e-02 -1.21476807e-03 9.99482615e-01 1.56256159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.14, Y:21.69, Z:1.56 [[ 7.91625254e-01 -6.10669157e-01 -2.03134659e-02 6.61406487e+01] [ 6.09929769e-01 7.91766078e-01 -3.30477676e-02 2.16936048e+01] [ 3.62647656e-02 1.37716599e-02 9.99247321e-01 1.56161780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:21.70, Z:1.57 [[ 7.92314268e-01 -6.09121187e-01 -3.47775877e-02 6.61718282e+01] [ 6.09291529e-01 7.92918042e-01 -6.69416919e-03 2.16966814e+01] [ 3.16533370e-02 -1.58858038e-02 9.99372657e-01 1.56753869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.19, Y:21.72, Z:1.57 [[ 7.92080160e-01 -6.09838260e-01 -2.65766246e-02 6.61889082e+01] [ 6.09546389e-01 7.92524950e-01 -1.89051410e-02 2.17204765e+01] [ 3.25917163e-02 -1.22529845e-03 9.99467998e-01 1.56522380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.21, Y:21.74, Z:1.57 [[ 7.92037992e-01 -6.09893670e-01 -2.65618160e-02 6.62115057e+01] [ 6.09601703e-01 7.92482324e-01 -1.89084869e-02 2.17373237e+01] [ 3.25819362e-02 -1.21588831e-03 9.99468328e-01 1.56588737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.23, Y:21.75, Z:1.57 [[ 7.92481686e-01 -6.09301998e-01 -2.69045117e-02 6.62339204e+01] [ 6.09001632e-01 7.92937353e-01 -1.91667886e-02 2.17542945e+01] [ 3.30119549e-02 -1.19556260e-03 9.99454242e-01 1.56718034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:21.77, Z:1.57 [[ 7.92903770e-01 -6.08759085e-01 -2.67579584e-02 6.62565967e+01] [ 6.08461215e-01 7.93354298e-01 -1.90763791e-02 2.17714569e+01] [ 3.28414603e-02 -1.15544700e-03 9.99459906e-01 1.56795359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:21.79, Z:1.57 [[ 7.93170808e-01 -6.08412471e-01 -2.67270264e-02 6.62790793e+01] [ 6.08114634e-01 7.93620180e-01 -1.90683339e-02 2.17889227e+01] [ 3.28125196e-02 -1.12865005e-03 9.99460887e-01 1.56873504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:21.81, Z:1.57 [[ 7.94486279e-01 -6.06686798e-01 -2.68827201e-02 6.63007104e+01] [ 6.06384027e-01 7.94940263e-01 -1.91934866e-02 2.18064367e+01] [ 3.30145915e-02 -1.05229037e-03 9.99454316e-01 1.56965753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:21.82, Z:1.57 [[ 7.95057606e-01 -6.05938822e-01 -2.68616192e-02 6.63227625e+01] [ 6.05635641e-01 7.95510606e-01 -1.91923196e-02 2.18233857e+01] [ 3.29980745e-02 -1.00935424e-03 9.99454906e-01 1.57033356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:21.84, Z:1.57 [[ 7.95739990e-01 -6.05035260e-01 -2.70222606e-02 6.63455290e+01] [ 6.04727456e-01 7.96198091e-01 -1.93210815e-02 2.18403028e+01] [ 3.32050079e-02 -9.66545740e-04 9.99448094e-01 1.57123766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.37, Y:21.86, Z:1.57 [[ 7.96988540e-01 -6.03399674e-01 -2.67974024e-02 6.63688764e+01] [ 6.03094047e-01 7.97438476e-01 -1.92210204e-02 2.18579006e+01] [ 3.29672371e-02 -8.42420859e-04 9.99456078e-01 1.57217790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:21.87, Z:1.57 [[ 7.98116002e-01 -6.01895304e-01 -2.70719448e-02 6.63914668e+01] [ 6.01589090e-01 7.98574447e-01 -1.92202982e-02 2.18741704e+01] [ 3.31875705e-02 -9.46159058e-04 9.99448693e-01 1.57317080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:21.89, Z:1.57 [[ 7.98778920e-01 -6.01012929e-01 -2.71237123e-02 6.64129252e+01] [ 6.00699376e-01 7.99238924e-01 -1.94268396e-02 2.18901439e+01] [ 3.33541084e-02 -7.75447055e-04 9.99443296e-01 1.57412585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:21.91, Z:1.57 [[ 7.99954980e-01 -5.99447520e-01 -2.71053699e-02 6.64350220e+01] [ 5.99133168e-01 8.00413754e-01 -1.94234091e-02 2.19067506e+01] [ 3.33388253e-02 -7.01873287e-04 9.99443860e-01 1.57455611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.46, Y:21.92, Z:1.58 [[ 8.00210314e-01 -5.99095206e-01 -2.73566593e-02 6.64574841e+01] [ 5.98774307e-01 8.00677506e-01 -1.96178749e-02 2.19229855e+01] [ 3.36568365e-02 -6.82038930e-04 9.99433215e-01 1.57541815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:21.95, Z:1.58 [[ 7.98443387e-01 -6.01502530e-01 -2.61316705e-02 6.64823569e+01] [ 6.00977106e-01 7.98856980e-01 -2.55742954e-02 2.19454561e+01] [ 3.62584708e-02 4.71509130e-03 9.99331322e-01 1.57576283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:21.95, Z:1.58 [[ 8.00103557e-01 -5.99046870e-01 -3.12593420e-02 6.65065589e+01] [ 5.98894626e-01 8.00686182e-01 -1.50620653e-02 2.19516864e+01] [ 3.40518063e-02 -6.66983994e-03 9.99397813e-01 1.57818259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:21.97, Z:1.58 [[ 7.99797937e-01 -5.99614004e-01 -2.80411462e-02 6.65280740e+01] [ 5.99275241e-01 8.00289065e-01 -2.01642598e-02 2.19702084e+01] [ 3.45317953e-02 -6.77031246e-04 9.99403370e-01 1.57806332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:21.98, Z:1.58 [[ 7.98275566e-01 -6.01624652e-01 -2.83530932e-02 6.65508286e+01] [ 6.01279088e-01 7.98778566e-01 -2.04024636e-02 2.19848002e+01] [ 3.49224682e-02 -7.61333779e-04 9.99389735e-01 1.57921012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:22.00, Z:1.58 [[ 7.98080776e-01 -6.01883359e-01 -2.83460337e-02 6.65738466e+01] [ 6.01537610e-01 7.98583648e-01 -2.04122670e-02 2.20016783e+01] [ 3.49224829e-02 -7.60567468e-04 9.99389735e-01 1.58016998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:22.02, Z:1.58 [[ 7.98241640e-01 -6.01892599e-01 -2.31426812e-02 6.65943526e+01] [ 6.01146600e-01 7.98490079e-01 -3.21925411e-02 2.20234887e+01] [ 3.78556536e-02 1.17852827e-02 9.99213719e-01 1.57930752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.392755096 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:66.62, Y:22.03, Z:1.58 [[ 7.97193954e-01 -6.02810627e-01 -3.31835339e-02 6.66245044e+01] [ 6.02723252e-01 7.97832655e-01 -1.37016948e-02 2.20297738e+01] [ 3.47344341e-02 -9.07757919e-03 9.99355351e-01 1.58379955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:22.04, Z:1.58 [[ 7.97390367e-01 -6.02737844e-01 -2.95921389e-02 6.66443053e+01] [ 6.02532668e-01 7.97925230e-01 -1.64228772e-02 2.20447875e+01] [ 3.35110038e-02 -4.73478639e-03 9.99427133e-01 1.58317126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:22.07, Z:1.58 [[ 7.96346202e-01 -6.04361775e-01 -2.40742792e-02 6.66654238e+01] [ 6.03808894e-01 7.96681568e-01 -2.67076573e-02 2.20651123e+01] [ 3.53206216e-02 6.73227757e-03 9.99353356e-01 1.58246263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:22.08, Z:1.59 [[ 7.95823998e-01 -6.04851360e-01 -2.86181248e-02 6.66902359e+01] [ 6.04450633e-01 7.96338360e-01 -2.20147532e-02 2.20767343e+01] [ 3.61053639e-02 2.21625224e-04 9.99347964e-01 1.58544986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:22.09, Z:1.59 [[ 7.95983927e-01 -6.04541656e-01 -3.06426902e-02 6.67135336e+01] [ 6.04302521e-01 7.96560733e-01 -1.75915082e-02 2.20879000e+01] [ 3.50435632e-02 -4.51489719e-03 9.99375587e-01 1.58707719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:22.10, Z:1.59 [[ 7.95373803e-01 -6.05397997e-01 -2.95597603e-02 6.67380039e+01] [ 6.05155210e-01 7.95913329e-01 -1.75825032e-02 2.21037117e+01] [ 3.41714194e-02 -3.90358054e-03 9.99408363e-01 1.58731073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.76, Y:22.12, Z:1.59 [[ 7.94503961e-01 -6.06718364e-01 -2.56179981e-02 6.67580234e+01] [ 6.06169686e-01 7.94898435e-01 -2.63588626e-02 2.21244670e+01] [ 3.63561126e-02 5.41336691e-03 9.99324236e-01 1.58686050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:22.13, Z:1.59 [[ 7.94811712e-01 -6.05977802e-01 -3.26380883e-02 6.67864090e+01] [ 6.05907241e-01 7.95426802e-01 -1.31384456e-02 2.21314115e+01] [ 3.39228165e-02 -9.33306358e-03 9.99380877e-01 1.59026572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:22.15, Z:1.59 [[ 7.94700944e-01 -6.06421740e-01 -2.65157313e-02 6.68063860e+01] [ 6.05976707e-01 7.95139254e-01 -2.33623111e-02 2.21533155e+01] [ 3.52511122e-02 2.49813515e-03 9.99375364e-01 1.58867640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:22.17, Z:1.59 [[ 7.94900851e-01 -6.06004510e-01 -2.98524905e-02 6.68315805e+01] [ 6.05761259e-01 7.95450849e-01 -1.76421141e-02 2.21656239e+01] [ 3.44373896e-02 -4.05975072e-03 9.99398611e-01 1.59107143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:22.18, Z:1.59 [[ 7.95564683e-01 -6.05197677e-01 -2.85062503e-02 6.68536666e+01] [ 6.04846192e-01 7.96074806e-01 -2.06394596e-02 2.21817599e+01] [ 3.51840606e-02 -8.21871847e-04 9.99380511e-01 1.59138742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:22.20, Z:1.59 [[ 7.96492970e-01 -6.03836391e-01 -3.13139069e-02 6.68821358e+01] [ 6.03397620e-01 7.97108086e-01 -2.30219608e-02 2.21983198e+01] [ 3.88620661e-02 -5.57906958e-04 9.99244429e-01 1.59474158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:22.22, Z:1.59 [[ 7.96148879e-01 -6.04478087e-01 -2.74445679e-02 6.68998940e+01] [ 6.03985377e-01 7.96616131e-01 -2.45846304e-02 2.22164228e+01] [ 3.67236559e-02 2.99690830e-03 9.99320965e-01 1.59248091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.93, Y:22.23, Z:1.60 [[ 7.96503552e-01 -6.03798008e-01 -3.17813986e-02 6.69253841e+01] [ 6.03576882e-01 7.97118654e-01 -1.72278474e-02 2.22281345e+01] [ 3.57356856e-02 -5.46047585e-03 9.99346358e-01 1.59540206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:22.25, Z:1.59 [[ 7.96531313e-01 -6.03971754e-01 -2.74952186e-02 6.69475191e+01] [ 6.03465102e-01 7.96998967e-01 -2.49502969e-02 2.22492452e+01] [ 3.69829355e-02 3.28128786e-03 9.99310510e-01 1.59441202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:22.26, Z:1.60 [[ 7.97504718e-01 -6.02469176e-01 -3.18922586e-02 6.69724886e+01] [ 6.02218421e-01 7.98127586e-01 -1.80368822e-02 2.22604563e+01] [ 3.63207569e-02 -4.82160697e-03 9.99328552e-01 1.59767776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.99, Y:22.28, Z:1.60 [[ 7.97123793e-01 -6.03165505e-01 -2.80184060e-02 6.69943896e+01] [ 6.02661658e-01 7.97610793e-01 -2.48183330e-02 2.22810421e+01] [ 3.73173454e-02 2.89766473e-03 9.99299264e-01 1.59731495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:22.29, Z:1.60 [[ 7.98073029e-01 -6.01733567e-01 -3.15619004e-02 6.70181502e+01] [ 6.01473821e-01 7.98684559e-01 -1.82268701e-02 2.22916252e+01] [ 3.61757221e-02 -4.43728332e-03 9.99335593e-01 1.59993615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:22.31, Z:1.60 [[ 7.97314696e-01 -6.02800817e-01 -3.03389265e-02 6.70421323e+01] [ 6.02546855e-01 7.97881804e-01 -1.79419837e-02 2.23090136e+01] [ 3.50223198e-02 -3.97521746e-03 9.99378624e-01 1.60067713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:22.33, Z:1.60 [[ 7.98452017e-01 -6.01451721e-01 -2.70222725e-02 6.70613565e+01] [ 6.00998273e-01 7.98905201e-01 -2.34852273e-02 2.23255434e+01] [ 3.57134644e-02 2.51148798e-03 9.99358915e-01 1.60041875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:22.34, Z:1.60 [[ 7.98222380e-01 -6.01694777e-01 -2.83624220e-02 6.70854577e+01] [ 6.01306025e-01 7.98726081e-01 -2.16266473e-02 2.23408517e+01] [ 3.56664468e-02 2.08378622e-04 9.99363728e-01 1.60205057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:22.36, Z:1.60 [[ 7.98399465e-01 -6.01433419e-01 -2.89160249e-02 6.71092798e+01] [ 6.01104970e-01 7.98921573e-01 -1.99282636e-02 2.23551092e+01] [ 3.50871597e-02 -1.47085127e-03 9.99383174e-01 1.60347550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.13, Y:22.37, Z:1.60 [[ 7.98088095e-01 -6.01864222e-01 -2.85456105e-02 6.71314459e+01] [ 6.01505861e-01 7.98598216e-01 -2.07747143e-02 2.23711176e+01] [ 3.53000308e-02 -5.90299896e-04 9.99376585e-01 1.60427170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:22.39, Z:1.60 [[ 7.97389997e-01 -6.02820019e-01 -2.78786306e-02 6.71543560e+01] [ 6.02398551e-01 7.97876292e-01 -2.25700834e-02 2.23887438e+01] [ 3.58493965e-02 1.20311203e-03 9.99356480e-01 1.60487600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:22.41, Z:1.61 [[ 7.96806302e-01 -6.03651588e-01 -2.65419829e-02 6.71753619e+01] [ 6.03043102e-01 7.97224668e-01 -2.77821175e-02 2.24067151e+01] [ 3.79306429e-02 6.13100661e-03 9.99261566e-01 1.60551338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.20, Y:22.42, Z:1.61 [[ 7.95581779e-01 -6.04889730e-01 -3.40300913e-02 6.72044329e+01] [ 6.04775109e-01 7.96259978e-01 -1.47347859e-02 2.24156146e+01] [ 3.60097204e-02 -8.85782502e-03 9.99312183e-01 1.60957656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.22, Y:22.43, Z:1.61 [[ 7.95494634e-01 -6.05226707e-01 -2.98147564e-02 6.72240012e+01] [ 6.04857830e-01 7.96052255e-01 -2.11615760e-02 2.24340542e+01] [ 3.65416550e-02 -1.19976869e-03 9.99331410e-01 1.60883102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:22.45, Z:1.61 [[ 7.94271417e-01 -6.06837152e-01 -2.96915363e-02 6.72472567e+01] [ 6.06450854e-01 7.94825787e-01 -2.16640206e-02 2.24495760e+01] [ 3.67461313e-02 -7.99345181e-04 9.99324313e-01 1.61014509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.27, Y:22.46, Z:1.61 [[ 7.93657895e-01 -6.07645879e-01 -2.95572679e-02 6.72695056e+01] [ 6.07263125e-01 7.94207662e-01 -2.15797644e-02 2.24649641e+01] [ 3.65874635e-02 -8.22088435e-04 9.99330116e-01 1.61073839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:22.48, Z:1.61 [[ 7.93030386e-01 -6.08441492e-01 -3.00292891e-02 6.72926636e+01] [ 6.08046720e-01 7.93598261e-01 -2.19314134e-02 2.24808905e+01] [ 3.71751735e-02 -8.66933479e-04 9.99308388e-01 1.61220621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:22.50, Z:1.61 [[ 7.91706071e-01 -6.10153216e-01 -3.02415264e-02 6.73161345e+01] [ 6.09753534e-01 7.92282882e-01 -2.21012018e-02 2.24963868e+01] [ 3.74449631e-02 -9.42221992e-04 9.99298247e-01 1.61306998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:22.51, Z:1.61 [[ 7.90929896e-01 -6.11142166e-01 -3.05802729e-02 6.73392047e+01] [ 6.10733640e-01 7.91520231e-01 -2.23639002e-02 2.25125485e+01] [ 3.78724271e-02 -9.88124149e-04 9.99282094e-01 1.61418750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:22.53, Z:1.62 [[ 7.90470816e-01 -6.11734682e-01 -3.06034137e-02 6.73615843e+01] [ 6.11325441e-01 7.91062366e-01 -2.23950359e-02 2.25281050e+01] [ 3.79090290e-02 -1.00602309e-03 9.99280688e-01 1.61512239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.38, Y:22.54, Z:1.62 [[ 7.89954315e-01 -6.12393448e-01 -3.07643519e-02 6.73834174e+01] [ 6.11980140e-01 7.90552457e-01 -2.25193562e-02 2.25433982e+01] [ 3.81115402e-02 -1.03790976e-03 9.99272952e-01 1.61608930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:22.56, Z:1.62 [[ 7.89028716e-01 -6.13566859e-01 -3.11350926e-02 6.74068888e+01] [ 6.13144148e-01 7.89642004e-01 -2.27982224e-02 2.25586686e+01] [ 3.85738106e-02 -1.10184767e-03 9.99255146e-01 1.61752170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:22.57, Z:1.62 [[ 7.88519967e-01 -6.14218139e-01 -3.11823755e-02 6.74292958e+01] [ 6.13794076e-01 7.89135486e-01 -2.28476753e-02 2.25743026e+01] [ 3.86405757e-02 -1.12370924e-03 9.99252542e-01 1.61841441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.45, Y:22.59, Z:1.62 [[ 7.87967108e-01 -6.14896981e-01 -3.17732450e-02 6.74530040e+01] [ 6.14456788e-01 7.88606578e-01 -2.32920809e-02 2.25898231e+01] [ 3.93788203e-02 -1.16989244e-03 9.99223669e-01 1.61969776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:22.61, Z:1.62 [[ 7.87175993e-01 -6.15936845e-01 -3.12371332e-02 6.74758372e+01] [ 6.15421037e-01 7.87795289e-01 -2.52097055e-02 2.26074603e+01] [ 4.01360529e-02 6.20486051e-04 9.99194031e-01 1.62051157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:22.62, Z:1.62 [[ 7.88050311e-01 -6.14720118e-01 -3.31041435e-02 6.75012358e+01] [ 6.14327128e-01 7.88740095e-01 -2.21639875e-02 2.26210484e+01] [ 3.97352143e-02 -2.87043615e-03 9.99206122e-01 1.62190386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:22.64, Z:1.62 [[ 7.87589326e-01 -6.15310401e-01 -3.31083677e-02 6.75215342e+01] [ 6.14857907e-01 7.88283029e-01 -2.36562950e-02 2.26364383e+01] [ 4.06547287e-02 -1.72549627e-03 9.99171765e-01 1.62306435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:22.65, Z:1.62 [[ 7.87801831e-01 -6.15043194e-01 -3.30173396e-02 6.75442492e+01] [ 6.14564857e-01 7.88492559e-01 -2.42800330e-02 2.26527425e+01] [ 4.09671957e-02 -1.16344215e-03 9.99159815e-01 1.62418401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:22.67, Z:1.63 [[ 7.88184283e-01 -6.14543470e-01 -3.31942525e-02 6.75660814e+01] [ 6.14058933e-01 7.88882147e-01 -2.44250928e-02 2.26678653e+01] [ 4.11966345e-02 -1.13175303e-03 9.99150417e-01 1.62530651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:22.68, Z:1.63 [[ 7.90556511e-01 -6.11033349e-01 -4.07265117e-02 6.75984707e+01] [ 6.10838151e-01 7.91538727e-01 -1.85255696e-02 2.26790621e+01] [ 4.35563521e-02 -1.02317974e-02 9.98998576e-01 1.63192403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.61, Y:22.71, Z:1.63 [[ 7.90222312e-01 -6.12168833e-01 -2.82491932e-02 6.76102434e+01] [ 6.11209203e-01 7.90647394e-01 -3.60556381e-02 2.27051479e+01] [ 4.44072889e-02 1.12258028e-02 9.98950436e-01 1.62580240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.64, Y:22.71, Z:1.63 [[ 7.91963224e-01 -6.09540182e-01 -3.54262255e-02 6.76425143e+01] [ 6.09072499e-01 7.92751034e-01 -2.40101679e-02 2.27147317e+01] [ 4.27193390e-02 -2.56196972e-03 9.99083828e-01 1.63022028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:22.73, Z:1.63 [[ 7.91691728e-01 -6.09863050e-01 -3.59342118e-02 6.76622951e+01] [ 6.09456309e-01 7.92496782e-01 -2.26242807e-02 2.27300727e+01] [ 4.22754600e-02 -3.98887620e-03 9.99098030e-01 1.63243218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:22.75, Z:1.63 [[ 7.93104450e-01 -6.08221309e-01 -3.24371836e-02 6.76880956e+01] [ 6.07659112e-01 7.93766814e-01 -2.61657888e-02 2.27489563e+01] [ 4.16621502e-02 1.04145335e-03 9.99131213e-01 1.63155926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:22.76, Z:1.63 [[ 7.93949627e-01 -6.07183697e-01 -3.11760827e-02 6.77096723e+01] [ 6.06654516e-01 7.94560532e-01 -2.53743892e-02 2.27643223e+01] [ 4.01782003e-02 1.23287545e-03 9.99191770e-01 1.63186308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.73, Y:22.78, Z:1.64 [[ 7.93914394e-01 -6.07024205e-01 -3.49506804e-02 6.77301257e+01] [ 6.06727012e-01 7.94664267e-01 -1.97746179e-02 2.27763261e+01] [ 3.97777285e-02 -5.50616816e-03 9.99193382e-01 1.63580317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:22.79, Z:1.64 [[ 7.94492871e-01 -6.06446035e-01 -3.16904568e-02 6.77511436e+01] [ 6.05995930e-01 7.95124393e-01 -2.33694651e-02 2.27946014e+01] [ 3.93701747e-02 -6.37414376e-04 9.99224491e-01 1.63531833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.77, Y:22.81, Z:1.64 [[ 7.95916069e-01 -6.04594858e-01 -3.13475360e-02 6.77737934e+01] [ 6.04152439e-01 7.96532974e-01 -2.31312029e-02 2.28102319e+01] [ 3.89543524e-02 -5.28194229e-04 9.99240852e-01 1.63567534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.79, Y:22.83, Z:1.64 [[ 7.96709463e-01 -6.03632028e-01 -2.97053257e-02 6.77940540e+01] [ 6.02984594e-01 7.97249409e-01 -2.83365310e-02 2.28281619e+01] [ 4.07873910e-02 4.66412864e-03 9.99156962e-01 1.63567381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.82, Y:22.84, Z:1.64 [[ 7.97159983e-01 -6.02791243e-01 -3.43318986e-02 6.78209411e+01] [ 6.02509340e-01 7.97880812e-01 -1.92016891e-02 2.28403859e+01] [ 3.89673731e-02 -5.37847138e-03 9.99226008e-01 1.63847452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:22.86, Z:1.64 [[ 7.97978001e-01 -6.01839077e-01 -3.19505211e-02 6.78421628e+01] [ 6.01376182e-01 7.98617294e-01 -2.36030917e-02 2.28587871e+01] [ 3.97215016e-02 -3.79534437e-04 9.99210718e-01 1.63761088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.86, Y:22.87, Z:1.64 [[ 7.98261333e-01 -6.01461460e-01 -3.19836745e-02 6.78642108e+01] [ 6.00996724e-01 7.98901740e-01 -2.36420886e-02 2.28747260e+01] [ 3.97716183e-02 -3.49518454e-04 9.99208735e-01 1.63829377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.89, Y:22.89, Z:1.64 [[ 7.98161645e-01 -6.01566977e-01 -3.24832296e-02 6.78872280e+01] [ 6.01087370e-01 7.98822287e-01 -2.40193092e-02 2.28914865e+01] [ 4.03975510e-02 -3.53967655e-04 9.99183623e-01 1.63923762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:22.91, Z:1.64 [[ 7.97654420e-01 -6.02237186e-01 -3.25238192e-02 6.79099711e+01] [ 6.01756347e-01 7.98317124e-01 -2.40638304e-02 2.29066000e+01] [ 4.04564553e-02 -3.76793969e-04 9.99181231e-01 1.63963548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.93, Y:22.92, Z:1.64 [[ 7.96992049e-01 -6.03103910e-01 -3.27008778e-02 6.79326041e+01] [ 6.02618224e-01 7.97662523e-01 -2.42027975e-02 2.29223942e+01] [ 4.06810665e-02 -4.16707684e-04 9.99172096e-01 1.64093280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.95, Y:22.94, Z:1.64 [[ 7.96199049e-01 -6.04161034e-01 -3.25041525e-02 6.79546742e+01] [ 6.03681465e-01 7.96862119e-01 -2.40717982e-02 2.29378963e+01] [ 4.04445704e-02 -4.56211544e-04 9.99181679e-01 1.64172214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.98, Y:22.96, Z:1.64 [[ 7.93510698e-01 -6.07845348e-01 -2.94075527e-02 6.79765271e+01] [ 6.07083824e-01 7.94025490e-01 -3.11889786e-02 2.29584138e+01] [ 4.23084220e-02 6.89593861e-03 9.99080799e-01 1.64103145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:22.97, Z:1.65 [[ 7.92831757e-01 -6.08346606e-01 -3.64994749e-02 6.80039763e+01] [ 6.08147040e-01 7.93628828e-01 -1.76198999e-02 2.29666168e+01] [ 3.96860418e-02 -8.22743144e-03 9.99178326e-01 1.64534605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.02, Y:22.99, Z:1.64 [[ 7.92668059e-01 -6.08814089e-01 -3.19805133e-02 6.80242696e+01] [ 6.08352355e-01 7.93312658e-01 -2.37157932e-02 2.29873234e+01] [ 3.98090551e-02 -6.56668845e-04 9.99207090e-01 1.64409921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.05, Y:23.00, Z:1.65 [[ 7.91288424e-01 -6.10611201e-01 -3.18840349e-02 6.80461129e+01] [ 6.10153160e-01 7.91930188e-01 -2.36579471e-02 2.30029613e+01] [ 3.96957372e-02 -7.33884983e-04 9.99211544e-01 1.64517031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:23.02, Z:1.65 [[ 7.88668695e-01 -6.14020470e-01 -3.13137643e-02 6.80693291e+01] [ 6.13581066e-01 7.89289606e-01 -2.32420700e-02 2.30187744e+01] [ 3.89867355e-02 -8.83239806e-04 9.99239338e-01 1.64593426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:23.03, Z:1.65 [[ 7.87593765e-01 -6.15415964e-01 -3.09718200e-02 6.80916883e+01] [ 6.14986627e-01 7.88201958e-01 -2.30026691e-02 2.30346993e+01] [ 3.85682589e-02 -9.30496328e-04 9.99255535e-01 1.64678263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.11, Y:23.05, Z:1.65 [[ 7.86109283e-01 -6.17351057e-01 -3.01640111e-02 6.81145959e+01] [ 6.16945000e-01 7.86687158e-01 -2.24094054e-02 2.30501027e+01] [ 3.75641103e-02 -9.93294232e-04 9.99293726e-01 1.64776240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.14, Y:23.07, Z:1.65 [[ 7.85616605e-01 -6.18000376e-01 -2.96999299e-02 6.81376062e+01] [ 6.17606660e-01 7.86177169e-01 -2.20788088e-02 2.30666333e+01] [ 3.69941189e-02 -9.97395672e-04 9.99314986e-01 1.64839622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:23.08, Z:1.65 [[ 7.85530459e-01 -6.18117719e-01 -2.95361251e-02 6.81597724e+01] [ 6.17727888e-01 7.86084927e-01 -2.19714203e-02 2.30827134e+01] [ 3.67988270e-02 -9.86068348e-04 9.99322207e-01 1.64933637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.18, Y:23.10, Z:1.65 [[ 7.86163968e-01 -6.17301622e-01 -2.97476432e-02 6.81825086e+01] [ 6.16905351e-01 7.86726004e-01 -2.21355285e-02 2.30994928e+01] [ 3.70675421e-02 -9.49325333e-04 9.99312312e-01 1.65056451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:23.12, Z:1.65 [[ 7.86951445e-01 -6.16291798e-01 -2.98637306e-02 6.82049348e+01] [ 6.15891191e-01 7.87517377e-01 -2.22355746e-02 2.31162156e+01] [ 3.72218090e-02 -8.94491033e-04 9.99306628e-01 1.65130330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:23.13, Z:1.65 [[ 7.87708099e-01 -6.15315267e-01 -3.00511702e-02 6.82271297e+01] [ 6.14908388e-01 7.88280669e-01 -2.23888938e-02 2.31331677e+01] [ 3.74649847e-02 -8.42803635e-04 9.99297586e-01 1.65235096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.25, Y:23.15, Z:1.65 [[ 7.91308430e-01 -6.10763545e-01 -2.82641227e-02 6.82476205e+01] [ 6.10009197e-01 7.91777587e-01 -3.12575197e-02 2.31518922e+01] [ 4.14698524e-02 7.49296407e-03 9.99111659e-01 1.65318099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.28, Y:23.16, Z:1.67 [[ 7.92129985e-01 -6.08714911e-01 -4.46793482e-02 6.82803546e+01] [ 6.08987635e-01 7.93130884e-01 -8.80114972e-03 2.31561383e+01] [ 4.07939620e-02 -2.02375160e-02 9.98962610e-01 1.66511628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:23.19, Z:1.65 [[ 7.92669496e-01 -6.09252184e-01 -2.20645912e-02 6.82894635e+01] [ 6.08559062e-01 7.92896360e-01 -3.11645567e-02 2.31890464e+01] [ 3.64820082e-02 1.12755866e-02 9.99270696e-01 1.65197059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:23.21, Z:1.65 [[ 7.93041740e-01 -6.08664391e-01 -2.47478781e-02 6.83122867e+01] [ 6.07930340e-01 7.93365679e-01 -3.14896992e-02 2.32057500e+01] [ 3.88007757e-02 9.92765993e-03 9.99197649e-01 1.65471040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.642755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.34, Y:23.21, Z:1.66 [[ 7.93370600e-01 -6.07736121e-01 -3.49270443e-02 6.83422960e+01] [ 6.07681797e-01 7.94068058e-01 -1.33698477e-02 2.32135598e+01] [ 3.58597897e-02 -1.06172850e-02 9.99300430e-01 1.66144327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:23.23, Z:1.67 [[ 7.93656000e-01 -6.07231742e-01 -3.71451748e-02 6.83666606e+01] [ 6.07165335e-01 7.94446176e-01 -1.43362968e-02 2.32296504e+01] [ 3.82152965e-02 -1.11751745e-02 9.99207039e-01 1.66620833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:23.26, Z:1.66 [[ 7.93164121e-01 -6.08602788e-01 -2.22108833e-02 6.83797452e+01] [ 6.07953360e-01 7.93409240e-01 -2.99080052e-02 2.32558061e+01] [ 3.58244154e-02 1.02187755e-02 9.99305853e-01 1.65733189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:23.26, Z:1.67 [[ 7.93608155e-01 -6.06695966e-01 -4.58922678e-02 6.84168029e+01] [ 6.07092964e-01 7.94605668e-01 -6.32189869e-03 2.32568151e+01] [ 4.03017265e-02 -2.28437625e-02 9.98926390e-01 1.67497453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:23.29, Z:1.67 [[ 7.92408702e-01 -6.09332009e-01 -2.83364030e-02 6.84304845e+01] [ 6.08772703e-01 7.92906875e-01 -2.63530818e-02 2.32859911e+01] [ 3.85259050e-02 3.63198274e-03 9.99251001e-01 1.66567747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:23.31, Z:1.66 [[ 7.90939329e-01 -6.11763804e-01 -1.26501806e-02 6.84418567e+01] [ 6.10761187e-01 7.90563291e-01 -4.45023084e-02 2.33141524e+01] [ 3.72256698e-02 2.74723866e-02 9.98929185e-01 1.65513052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.47, Y:23.32, Z:1.66 [[ 7.89283468e-01 -6.13444311e-01 -2.67896391e-02 6.84724100e+01] [ 6.12972327e-01 7.89733412e-01 -2.42087830e-02 2.33189691e+01] [ 3.60074133e-02 2.68628484e-03 9.99347912e-01 1.66320588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.50, Y:23.33, Z:1.67 [[ 7.89419494e-01 -6.12919929e-01 -3.38529828e-02 6.84997610e+01] [ 6.12965079e-01 7.90043562e-01 -1.02460897e-02 2.33280242e+01] [ 3.30253636e-02 -1.26622334e-02 9.99374301e-01 1.66746895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:23.36, Z:1.66 [[ 7.88122005e-01 -6.15166861e-01 -2.08191792e-02 6.85135678e+01] [ 6.14412447e-01 7.88282241e-01 -3.32934448e-02 2.33578215e+01] [ 3.68924131e-02 1.34477336e-02 9.99228757e-01 1.66143758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:23.34, Z:1.70 [[ 7.88557032e-01 -6.10313418e-01 -7.54674726e-02 6.85679533e+01] [ 6.13606616e-01 7.89014388e-01 3.07118325e-02 2.33357571e+01] [ 4.08010782e-02 -7.05253720e-02 9.96675195e-01 1.69927634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:23.42, Z:1.64 [[ 7.85830768e-01 -6.18267019e-01 1.46934588e-02 6.85377303e+01] [ 6.17810964e-01 7.83735180e-01 -6.37869941e-02 2.34152535e+01] [ 2.79216141e-02 5.92035625e-02 9.97855361e-01 1.63917707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.58, Y:23.40, Z:1.66 [[ 7.85657331e-01 -6.18325707e-01 -2.03931236e-02 6.85790722e+01] [ 6.18052111e-01 7.85919599e-01 -1.84924842e-02 2.34040080e+01] [ 2.74617339e-02 1.92474269e-03 9.99621002e-01 1.65613871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:23.39, Z:1.68 [[ 7.85920110e-01 -6.15390521e-01 -6.02003913e-02 6.86235832e+01] [ 6.17466377e-01 7.86234513e-01 2.38864936e-02 2.33937572e+01] [ 3.26321036e-02 -5.59445932e-02 9.97900470e-01 1.68431596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.64, Y:23.43, Z:1.68 [[ 7.86854195e-01 -6.16039955e-01 -3.68137284e-02 6.86350453e+01] [ 6.16142120e-01 7.87573388e-01 -9.85128663e-03 2.34308894e+01] [ 3.50622990e-02 -1.49309625e-02 9.99273587e-01 1.67659674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:23.49, Z:1.63 [[ 7.84358688e-01 -6.19759168e-01 2.60772360e-02 6.86190287e+01] [ 6.19914239e-01 7.81671614e-01 -6.85260826e-02 2.34903192e+01] [ 2.20858328e-02 6.99146782e-02 9.97308455e-01 1.63168194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:23.48, Z:1.65 [[ 7.84186648e-01 -6.20276557e-01 -1.75583126e-02 6.86654983e+01] [ 6.20133409e-01 7.84383073e-01 -1.33323149e-02 2.34750445e+01] [ 2.20421655e-02 -4.33472918e-04 9.99756948e-01 1.65198063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:23.48, Z:1.67 [[ 7.85330153e-01 -6.17706691e-01 -4.11703241e-02 6.86999651e+01] [ 6.18273318e-01 7.85962049e-01 1.32773039e-03 2.34794373e+01] [ 3.15381643e-02 -2.64972196e-02 9.99151261e-01 1.67171856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.70, Y:23.52, Z:1.65 [[ 7.84742982e-01 -6.19811876e-01 -3.41923351e-03 6.87007853e+01] [ 6.19222342e-01 7.84215176e-01 -3.96263773e-02 2.35235473e+01] [ 2.72423140e-02 2.89792557e-02 9.99208716e-01 1.64824476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:23.53, Z:1.66 [[ 7.84740376e-01 -6.19455644e-01 -2.13833286e-02 6.87326128e+01] [ 6.19223007e-01 7.85031654e-01 -1.69755586e-02 2.35275675e+01] [ 2.73021954e-02 8.03572330e-05 9.99627222e-01 1.65712167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:23.55, Z:1.66 [[ 7.84428131e-01 -6.19845017e-01 -2.15560060e-02 6.87553764e+01] [ 6.19603525e-01 7.84724224e-01 -1.73021431e-02 2.35461700e+01] [ 2.76401673e-02 2.16110467e-04 9.99617914e-01 1.65866351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:23.56, Z:1.66 [[ 7.85242426e-01 -6.18673427e-01 -2.52492282e-02 6.87794660e+01] [ 6.18663380e-01 7.85602937e-01 -9.14591807e-03 2.35605974e+01] [ 2.54942043e-02 -8.43900999e-03 9.99639349e-01 1.66194928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.80, Y:23.59, Z:1.66 [[ 7.85188732e-01 -6.19020807e-01 -1.70849558e-02 6.87963117e+01] [ 6.18662571e-01 7.85345097e-01 -2.21291870e-02 2.35858917e+01] [ 2.71160135e-02 6.80576555e-03 9.99609125e-01 1.65847538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.302755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:68.82, Y:23.60, Z:1.66 [[ 7.85091418e-01 -6.18978077e-01 -2.23070839e-02 6.88215488e+01] [ 6.18807239e-01 7.85405037e-01 -1.47148910e-02 2.35997317e+01] [ 2.66282910e-02 -2.25125041e-03 9.99642869e-01 1.66191187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.332755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:68.85, Y:23.61, Z:1.67 [[ 7.85544514e-01 -6.18143839e-01 -2.86008852e-02 6.88475899e+01] [ 6.18246993e-01 7.85959866e-01 -6.14367828e-03 2.36123188e+01] [ 2.62768247e-02 -1.28562785e-02 9.99572031e-01 1.66775764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:23.63, Z:1.67 [[ 7.86066597e-01 -6.17732708e-01 -2.24857024e-02 6.88693404e+01] [ 6.17568973e-01 7.86384062e-01 -1.44454273e-02 2.36347894e+01] [ 2.66058109e-02 -2.53140429e-03 9.99642798e-01 1.66589046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:23.66, Z:1.66 [[ 7.85604636e-01 -6.18645840e-01 -1.01330789e-02 6.88818373e+01] [ 6.18096207e-01 7.85436542e-01 -3.23499217e-02 2.36619838e+01] [ 2.79720350e-02 1.91510309e-02 9.99425236e-01 1.65970594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:23.67, Z:1.67 [[ 7.85831407e-01 -6.17826771e-01 -2.75514067e-02 6.89165760e+01] [ 6.17836124e-01 7.86253171e-01 -9.19107768e-03 2.36668480e+01] [ 2.73408747e-02 -9.79961682e-03 9.99578133e-01 1.66950943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.452755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.93, Y:23.69, Z:1.67 [[ 7.85472563e-01 -6.18539009e-01 -2.10320717e-02 6.89328202e+01] [ 6.18362509e-01 7.85752931e-01 -1.48370979e-02 2.36883768e+01] [ 2.57033358e-02 -1.35131126e-03 9.99668701e-01 1.66625547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:23.71, Z:1.66 [[ 7.85343216e-01 -6.18808044e-01 -1.76815841e-02 6.89541917e+01] [ 6.18465621e-01 7.85520266e-01 -2.14053164e-02 2.37103460e+01] [ 2.71350246e-02 5.87506812e-03 9.99614513e-01 1.66454430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.512755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.98, Y:23.72, Z:1.67 [[ 7.85337070e-01 -6.18674089e-01 -2.20920587e-02 6.89763356e+01] [ 6.18506534e-01 7.85644595e-01 -1.45683702e-02 2.37225903e+01] [ 2.63695797e-02 -2.22300151e-03 9.99649790e-01 1.66675985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.00, Y:23.74, Z:1.67 [[ 7.84990459e-01 -6.19056676e-01 -2.36391887e-02 6.90005001e+01] [ 6.19010920e-01 7.85317605e-01 -1.00866535e-02 2.37375557e+01] [ 2.48084812e-02 -6.71498912e-03 9.99669670e-01 1.66795717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57275509600001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:69.02, Y:23.76, Z:1.66 [[ 7.82977403e-01 -6.21868455e-01 -1.50336723e-02 6.90166432e+01] [ 6.21415000e-01 7.83041339e-01 -2.62613540e-02 2.37626664e+01] [ 2.81030945e-02 1.12198973e-02 9.99542060e-01 1.66364059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:23.78, Z:1.66 [[ 7.80817483e-01 -6.24466150e-01 -1.91333655e-02 6.90416240e+01] [ 6.24262474e-01 7.81051703e-01 -1.59562007e-02 2.37760450e+01] [ 2.49082549e-02 5.14638384e-04 9.99689609e-01 1.66376769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:23.79, Z:1.67 [[ 7.80368693e-01 -6.24775716e-01 -2.60769598e-02 6.90690695e+01] [ 6.24789314e-01 7.80745731e-01 -8.62650308e-03 2.37871992e+01] [ 2.57491047e-02 -9.56075289e-03 9.99622717e-01 1.67039585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:23.82, Z:1.65 [[ 7.77531170e-01 -6.28838946e-01 -2.61902422e-03 6.90779031e+01] [ 6.28480374e-01 7.77216025e-01 -3.07842370e-02 2.38201639e+01] [ 2.13938747e-02 2.22896985e-02 9.99522622e-01 1.65450323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:23.81, Z:1.68 [[ 7.78468929e-01 -6.26397324e-01 -4.01561727e-02 6.91232414e+01] [ 6.27102798e-01 7.78906361e-01 6.85283014e-03 2.38111121e+01] [ 2.69853038e-02 -3.05167636e-02 9.99169916e-01 1.68149058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.13, Y:23.85, Z:1.67 [[ 7.76376191e-01 -6.30112044e-01 -1.41004065e-02 6.91293813e+01] [ 6.29750556e-01 7.76450358e-01 -2.32180880e-02 2.38488714e+01] [ 2.55782626e-02 9.14623184e-03 9.99630981e-01 1.66625585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:23.86, Z:1.68 [[ 7.77112125e-01 -6.28759517e-01 -2.75357172e-02 6.91602036e+01] [ 6.28757122e-01 7.77539624e-01 -9.82923417e-03 2.38569019e+01] [ 2.75903357e-02 -9.67486126e-03 9.99572494e-01 1.67532694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.18, Y:23.88, Z:1.67 [[ 7.77270687e-01 -6.28746125e-01 -2.29910688e-02 6.91788799e+01] [ 6.28508974e-01 7.77609991e-01 -1.72965752e-02 2.38775139e+01] [ 2.87532394e-02 -1.00597220e-03 9.99586034e-01 1.67428453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:23.90, Z:1.67 [[ 7.78148897e-01 -6.27617855e-01 -2.40857029e-02 6.92011625e+01] [ 6.27347608e-01 7.78521187e-01 -1.84320370e-02 2.38951155e+01] [ 3.03195056e-02 -7.67238835e-04 9.99539964e-01 1.67462014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:23.91, Z:1.68 [[ 7.78918291e-01 -6.26628944e-01 -2.49491982e-02 6.92228677e+01] [ 6.26338069e-01 7.79317401e-01 -1.91052811e-02 2.39118892e+01] [ 3.14152664e-02 -7.45179675e-04 9.99506141e-01 1.67538788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:23.93, Z:1.68 [[ 7.79679448e-01 -6.25657579e-01 -2.55450880e-02 6.92445549e+01] [ 6.25351842e-01 7.80097481e-01 -1.95702173e-02 2.39288151e+01] [ 3.21719136e-02 -7.16171604e-04 9.99482093e-01 1.67578922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:23.95, Z:1.68 [[ 7.81481462e-01 -6.23356980e-01 -2.66983135e-02 6.92665852e+01] [ 6.23021374e-01 7.81937122e-01 -2.04622852e-02 2.39461093e+01] [ 3.36317108e-02 -6.42723412e-04 9.99434087e-01 1.67613927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.29, Y:23.96, Z:1.68 [[ 7.82348036e-01 -6.22269889e-01 -2.66783557e-02 6.92882332e+01] [ 6.21933739e-01 7.82802556e-01 -2.04592986e-02 2.39627662e+01] [ 3.36150905e-02 -5.85877450e-04 9.99434681e-01 1.67688210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:23.97, Z:1.68 [[ 7.84832183e-01 -6.18654073e-01 -3.61328352e-02 6.93163218e+01] [ 6.19119884e-01 7.85293341e-01 2.22197683e-03 2.39655619e+01] [ 2.70002399e-02 -2.41144357e-02 9.99344526e-01 1.68201565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:24.01, Z:1.67 [[ 7.84434137e-01 -6.20094885e-01 -1.20589378e-02 6.93258442e+01] [ 6.19439071e-01 7.84278759e-01 -3.46708123e-02 2.40054715e+01] [ 3.09567621e-02 1.97271915e-02 9.99326031e-01 1.67182315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:24.02, Z:1.68 [[ 7.84721352e-01 -6.19539356e-01 -1.95802231e-02 6.93517047e+01] [ 6.18952329e-01 7.84893721e-01 -2.89803525e-02 2.40177133e+01] [ 3.33228631e-02 1.06222767e-02 9.99388190e-01 1.67611090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:24.03, Z:1.68 [[ 7.84559389e-01 -6.19670488e-01 -2.17956754e-02 6.93741917e+01] [ 6.19099453e-01 7.84817285e-01 -2.78872178e-02 2.40325800e+01] [ 3.43865086e-02 8.38548786e-03 9.99373430e-01 1.67869716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.41, Y:24.04, Z:1.69 [[ 7.84076280e-01 -6.19737218e-01 -3.39141182e-02 6.94077834e+01] [ 6.19954258e-01 7.84622279e-01 -4.95958577e-03 2.40376512e+01] [ 2.96834126e-02 -1.71365084e-02 9.99412445e-01 1.68631376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:24.06, Z:1.68 [[ 7.84612261e-01 -6.19677777e-01 -1.95717548e-02 6.94192804e+01] [ 6.19192279e-01 7.84813893e-01 -2.58471665e-02 2.40637457e+01] [ 3.13770998e-02 8.16132426e-03 9.99474297e-01 1.68046643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.44, Y:24.08, Z:1.68 [[ 7.84466854e-01 -6.19678250e-01 -2.47107560e-02 6.94447743e+01] [ 6.19374440e-01 7.84855948e-01 -1.94021634e-02 2.40774284e+01] [ 3.14174825e-02 -8.48565655e-05 9.99506345e-01 1.68382303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:24.09, Z:1.69 [[ 7.84018601e-01 -6.20024199e-01 -2.97460333e-02 6.94711313e+01] [ 6.20098419e-01 7.84485494e-01 -7.77564078e-03 2.40882546e+01] [ 2.81564171e-02 -1.23492212e-02 9.99527245e-01 1.68690257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.48, Y:24.12, Z:1.68 [[ 7.83331483e-01 -6.21461402e-01 -1.33234064e-02 6.94822464e+01] [ 6.20663868e-01 7.83145327e-01 -3.82068023e-02 2.41212693e+01] [ 3.41782164e-02 2.16592341e-02 9.99181028e-01 1.68055605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.52, Y:24.12, Z:1.69 [[ 7.81733049e-01 -6.22699543e-01 -3.37449086e-02 6.95201308e+01] [ 6.22970535e-01 7.82239301e-01 -3.06413263e-03 2.41200901e+01] [ 2.83046277e-02 -1.86267500e-02 9.99425781e-01 1.69163578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:24.15, Z:1.69 [[ 7.81330581e-01 -6.23712532e-01 -2.24766616e-02 6.95362373e+01] [ 6.23472495e-01 7.81653656e-01 -1.73092520e-02 2.41452089e+01] [ 2.83649621e-02 -4.89332308e-04 9.99597514e-01 1.68683898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:24.16, Z:1.69 [[ 7.80855993e-01 -6.24313964e-01 -2.22709015e-02 6.95586001e+01] [ 6.24078244e-01 7.81173365e-01 -1.71615720e-02 2.41620870e+01] [ 2.81116441e-02 -4.98068773e-04 9.99604666e-01 1.68772558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:24.18, Z:1.69 [[ 7.80377659e-01 -6.25034191e-01 -1.85194510e-02 6.95767332e+01] [ 6.24507225e-01 7.80534627e-01 -2.75031089e-02 2.41828861e+01] [ 3.16454562e-02 9.89728078e-03 9.99450153e-01 1.68590778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:24.19, Z:1.69 [[ 7.80318106e-01 -6.24713218e-01 -2.89318001e-02 6.96066881e+01] [ 6.24732673e-01 7.80781218e-01 -9.47508497e-03 2.41910936e+01] [ 2.85086169e-02 -1.06810604e-02 9.99536479e-01 1.69248456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.62, Y:24.21, Z:1.69 [[ 7.81152925e-01 -6.23907870e-01 -2.32180495e-02 6.96234079e+01] [ 6.23650726e-01 7.81497752e-01 -1.79174826e-02 2.42134547e+01] [ 2.93237119e-02 -4.83659531e-04 9.99569850e-01 1.69005204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.65, Y:24.23, Z:1.69 [[ 7.81210902e-01 -6.23819369e-01 -2.36415003e-02 6.96451367e+01] [ 6.23552469e-01 7.81568399e-01 -1.82525944e-02 2.42306377e+01] [ 2.98637715e-02 -4.82590157e-04 9.99553862e-01 1.69081236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.67, Y:24.25, Z:1.69 [[ 7.82161697e-01 -6.22621616e-01 -2.37782259e-02 6.96656755e+01] [ 6.22350719e-01 7.82522932e-01 -1.83696639e-02 2.42486321e+01] [ 3.00443568e-02 -4.30348497e-04 9.99548474e-01 1.69156570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:24.27, Z:1.69 [[ 7.82901569e-01 -6.21643293e-01 -2.49949850e-02 6.96866918e+01] [ 6.21343231e-01 7.83300357e-01 -1.93168160e-02 2.42654675e+01] [ 3.15867498e-02 -4.07299188e-04 9.99500931e-01 1.69227767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:24.28, Z:1.69 [[ 7.83029933e-01 -6.21450759e-01 -2.57503053e-02 6.97095613e+01] [ 6.21131924e-01 7.83453119e-01 -1.99083732e-02 2.42824425e+01] [ 3.25462306e-02 -4.05484482e-04 9.99470149e-01 1.69290407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:24.30, Z:1.69 [[ 7.82996422e-01 -6.21471628e-01 -2.62605989e-02 6.97313785e+01] [ 6.21139614e-01 7.83436566e-01 -2.03156965e-02 2.42999418e+01] [ 3.31991424e-02 -4.04380613e-04 9.99448675e-01 1.69406605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.75, Y:24.32, Z:1.70 [[ 7.82836481e-01 -6.21661328e-01 -2.65374726e-02 6.97528451e+01] [ 6.21321932e-01 7.83286045e-01 -2.05433607e-02 2.43183641e+01] [ 3.35574448e-02 -4.06221535e-04 9.99436708e-01 1.69534215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:24.34, Z:1.70 [[ 7.82077909e-01 -6.22624685e-01 -2.63181632e-02 6.97747359e+01] [ 6.22290984e-01 7.82520488e-01 -2.03866989e-02 2.43357977e+01] [ 3.32877639e-02 -4.33568876e-04 9.99445715e-01 1.69629766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.80, Y:24.35, Z:1.70 [[ 7.80104469e-01 -6.25100140e-01 -2.62074838e-02 6.97962079e+01] [ 6.24770195e-01 7.80544385e-01 -2.03141760e-02 2.43537455e+01] [ 3.31544986e-02 -5.26475283e-04 9.99450100e-01 1.69766937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:24.37, Z:1.70 [[ 7.79085503e-01 -6.26368485e-01 -2.62354736e-02 6.98174918e+01] [ 6.26038140e-01 7.79526905e-01 -2.03482741e-02 2.43707969e+01] [ 3.31967751e-02 -5.71361697e-04 9.99448672e-01 1.69909898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:24.38, Z:1.70 [[ 7.78380836e-01 -6.26954833e-01 -3.24177624e-02 6.98447841e+01] [ 6.26864428e-01 7.78999953e-01 -1.41443365e-02 2.43842721e+01] [ 3.41212955e-02 -9.31186160e-03 9.99374317e-01 1.70463557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:24.41, Z:1.70 [[ 7.76261208e-01 -6.30087672e-01 -2.02005494e-02 6.98581905e+01] [ 6.29576482e-01 7.76483644e-01 -2.65820191e-02 2.44092109e+01] [ 3.24343987e-02 7.91679943e-03 9.99442512e-01 1.69916480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:24.42, Z:1.70 [[ 7.75500902e-01 -6.30855460e-01 -2.48945701e-02 6.98817122e+01] [ 6.30559518e-01 7.75900054e-01 -1.93339345e-02 2.44222942e+01] [ 3.15126164e-02 -7.04024427e-04 9.99503106e-01 1.70243894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:24.44, Z:1.70 [[ 7.74790759e-01 -6.31741411e-01 -2.45370954e-02 6.99025328e+01] [ 6.31454142e-01 7.75178860e-01 -1.90630791e-02 2.44396808e+01] [ 3.10635741e-02 -7.24153023e-04 9.99517148e-01 1.70314322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.93, Y:24.46, Z:1.70 [[ 7.75049585e-01 -6.31346943e-01 -2.64419582e-02 6.99284787e+01] [ 6.31125855e-01 7.75492770e-01 -1.70621970e-02 2.44563806e+01] [ 3.12777133e-02 -3.46415479e-03 9.99504729e-01 1.70476196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:24.47, Z:1.71 [[ 7.74592469e-01 -6.31776779e-01 -2.94042427e-02 6.99501678e+01] [ 6.31611213e-01 7.75124445e-01 -1.57914865e-02 2.44723886e+01] [ 3.27686418e-02 -6.34008292e-03 9.99442855e-01 1.70881387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.97, Y:24.49, Z:1.71 [[ 7.74502922e-01 -6.31839090e-01 -3.04070475e-02 6.99723780e+01] [ 6.31735471e-01 7.75055430e-01 -1.41200583e-02 2.44890067e+01] [ 3.24887520e-02 -8.27318400e-03 9.99437860e-01 1.71080254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:24.52, Z:1.70 [[ 7.72436505e-01 -6.34903147e-01 -1.54867506e-02 6.99823240e+01] [ 6.34261792e-01 7.72443809e-01 -3.22884118e-02 2.45191729e+01] [ 3.24626589e-02 1.51180937e-02 9.99358604e-01 1.70088787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.02, Y:24.52, Z:1.71 [[ 7.73613645e-01 -6.32910323e-01 -3.07644603e-02 7.00154858e+01] [ 6.32853430e-01 7.74165928e-01 -1.27926281e-02 2.45245448e+01] [ 3.19133833e-02 -9.57284258e-03 9.99444794e-01 1.71012588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:24.55, Z:1.71 [[ 7.73262475e-01 -6.33580426e-01 -2.53177485e-02 7.00342017e+01] [ 6.33276858e-01 7.73676363e-01 -1.96292483e-02 2.45468686e+01] [ 3.20244511e-02 -8.54583129e-04 9.99486720e-01 1.70845823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:24.57, Z:1.71 [[ 7.72756757e-01 -6.34387472e-01 -1.99882159e-02 7.00496310e+01] [ 6.33886698e-01 7.72976960e-01 -2.63490696e-02 2.45704690e+01] [ 3.21659500e-02 7.69115741e-03 9.99452949e-01 1.70524649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:24.58, Z:1.71 [[ 7.73086428e-01 -6.33807215e-01 -2.50157778e-02 7.00738984e+01] [ 6.33507270e-01 7.73490680e-01 -1.95117400e-02 2.45847785e+01] [ 3.17161526e-02 -7.63415712e-04 9.99496625e-01 1.70838392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.10, Y:24.60, Z:1.72 [[ 7.74827707e-01 -6.31252454e-01 -3.40934541e-02 7.01031615e+01] [ 6.31337005e-01 7.75449326e-01 -9.58793248e-03 2.45966043e+01] [ 3.24901519e-02 -1.40954635e-02 9.99372657e-01 1.71613085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:24.63, Z:1.71 [[ 7.74434378e-01 -6.32444296e-01 -1.62974326e-02 7.01110512e+01] [ 6.31882114e-01 7.74504847e-01 -2.94488559e-02 2.46285288e+01] [ 3.12472014e-02 1.25081502e-02 9.99433419e-01 1.70617073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:24.63, Z:1.72 [[ 7.76347019e-01 -6.29004729e-01 -4.04766277e-02 7.01506165e+01] [ 6.29332506e-01 7.77115566e-01 -5.65637369e-03 2.46307625e+01] [ 3.50129032e-02 -2.10819487e-02 9.99164475e-01 1.72316596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.15, Y:24.67, Z:1.71 [[ 7.74937339e-01 -6.31922266e-01 -1.20983753e-02 7.01522219e+01] [ 6.31257363e-01 7.74789433e-01 -3.48636806e-02 2.46677046e+01] [ 3.14048294e-02 1.93799794e-02 9.99318845e-01 1.70585129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:24.68, Z:1.71 [[ 7.75377645e-01 -6.31010766e-01 -2.47976037e-02 7.01803416e+01] [ 6.30712949e-01 7.75773840e-01 -1.93939470e-02 2.46760883e+01] [ 3.14751216e-02 -6.02536796e-04 9.99504354e-01 1.71172433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:24.69, Z:1.71 [[ 7.75449113e-01 -6.30901793e-01 -2.53298249e-02 7.02017875e+01] [ 6.30590688e-01 7.75862464e-01 -1.98196984e-02 2.46937216e+01] [ 3.21567436e-02 -6.03584172e-04 9.99482656e-01 1.71258316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:24.71, Z:1.71 [[ 7.76331377e-01 -6.29806910e-01 -2.55509326e-02 7.02224321e+01] [ 6.29489362e-01 7.76751537e-01 -2.00048203e-02 2.47114748e+01] [ 3.24459002e-02 -5.53670626e-04 9.99473340e-01 1.71345652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.26, Y:24.72, Z:1.73 [[ 7.78278690e-01 -6.26479264e-01 -4.24972030e-02 7.02587243e+01] [ 6.26853865e-01 7.79117411e-01 -5.50381113e-03 2.47183907e+01] [ 3.65583343e-02 -2.23560370e-02 9.99081426e-01 1.72803694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.26, Y:24.76, Z:1.71 [[ 7.77231066e-01 -6.29099623e-01 -1.20637378e-02 7.02587088e+01] [ 6.28369328e-01 7.77037300e-01 -3.69462210e-02 2.47568839e+01] [ 3.26168280e-02 2.11352679e-02 9.99244436e-01 1.70932599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:24.76, Z:1.72 [[ 7.77669896e-01 -6.28140872e-01 -2.58568832e-02 7.02878903e+01] [ 6.27833425e-01 7.78099075e-01 -1.96728061e-02 2.47643153e+01] [ 3.24765105e-02 -9.34866507e-04 9.99472062e-01 1.71640708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:24.78, Z:1.72 [[ 7.78232478e-01 -6.27437991e-01 -2.59957160e-02 7.03087063e+01] [ 6.27106770e-01 7.78666410e-01 -2.03892493e-02 2.47817955e+01] [ 3.30349805e-02 -4.34513468e-04 9.99454102e-01 1.71761880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:24.80, Z:1.72 [[ 7.78281615e-01 -6.27378702e-01 -2.59555626e-02 7.03306251e+01] [ 6.27048208e-01 7.78714186e-01 -2.03656829e-02 2.47993843e+01] [ 3.29889605e-02 -4.25152434e-04 9.99455626e-01 1.71822401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:24.82, Z:1.72 [[ 7.78187821e-01 -6.27483142e-01 -2.62416004e-02 7.03516955e+01] [ 6.27144975e-01 7.78630032e-01 -2.06022690e-02 2.48159966e+01] [ 3.33600746e-02 -4.24853059e-04 9.99443308e-01 1.71942058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:24.83, Z:1.72 [[ 7.77833336e-01 -6.27919370e-01 -2.63166386e-02 7.03738776e+01] [ 6.27579197e-01 7.78278275e-01 -2.06707000e-02 2.48330865e+01] [ 3.34612011e-02 -4.37415351e-04 9.99439922e-01 1.72062678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:24.85, Z:1.72 [[ 7.77184680e-01 -6.28509907e-01 -3.09720855e-02 7.03990348e+01] [ 6.28467134e-01 7.77738648e-01 -1.23148834e-02 2.48464663e+01] [ 3.18282141e-02 -9.89399906e-03 9.99444382e-01 1.72328431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.41, Y:24.87, Z:1.72 [[ 7.77289503e-01 -6.28779218e-01 -2.13944623e-02 7.04141003e+01] [ 6.28170693e-01 7.77529205e-01 -2.91533075e-02 2.48721736e+01] [ 3.49658132e-02 9.22118569e-03 9.99345967e-01 1.71971323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:24.89, Z:1.72 [[ 7.76253159e-01 -6.29835497e-01 -2.71713001e-02 7.04397447e+01] [ 6.29375307e-01 7.76726848e-01 -2.41272861e-02 2.48864230e+01] [ 3.63008995e-02 1.62793673e-03 9.99339579e-01 1.72333503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:24.92, Z:1.72 [[ 7.74945457e-01 -6.31829568e-01 -1.58409265e-02 7.04523119e+01] [ 6.30472543e-01 7.74552680e-01 -5.07200066e-02 2.49170748e+01] [ 4.43160319e-02 2.93179694e-02 9.98587275e-01 1.72027193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.49, Y:24.91, Z:1.73 [[ 7.73697864e-01 -6.32069396e-01 -4.33577514e-02 7.04933523e+01] [ 6.32360539e-01 7.74628920e-01 -8.37763525e-03 2.49114394e+01] [ 3.88814150e-02 -2.09359725e-02 9.99024484e-01 1.73386945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:24.93, Z:1.73 [[ 7.73030115e-01 -6.33480340e-01 -3.35723130e-02 7.05107141e+01] [ 6.33262655e-01 7.73724796e-01 -1.81204024e-02 2.49347991e+01] [ 3.74546497e-02 -7.25247534e-03 9.99272010e-01 1.73011269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:24.96, Z:1.73 [[ 7.72215210e-01 -6.34737615e-01 -2.81394600e-02 7.05288254e+01] [ 6.34134876e-01 7.72718873e-01 -2.79016765e-02 2.49568497e+01] [ 3.94541354e-02 3.70188603e-03 9.99214525e-01 1.72935081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.55, Y:24.97, Z:1.73 [[ 7.71450382e-01 -6.35356376e-01 -3.44468106e-02 7.05539693e+01] [ 6.35223729e-01 7.72160865e-01 -1.60752319e-02 2.49666450e+01] [ 3.68119802e-02 -9.48018768e-03 9.99277241e-01 1.73237236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.57, Y:24.99, Z:1.73 [[ 7.69441864e-01 -6.38090549e-01 -2.82784210e-02 7.05730930e+01] [ 6.37701172e-01 7.69960839e-01 -2.23051923e-02 2.49872938e+01] [ 3.60060092e-02 -8.70633525e-04 9.99351194e-01 1.73006852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:25.00, Z:1.73 [[ 7.68446988e-01 -6.39292304e-01 -2.81882423e-02 7.05944833e+01] [ 6.38905730e-01 7.68963273e-01 -2.22475323e-02 2.50036201e+01] [ 3.58983993e-02 -9.13580347e-04 9.99355027e-01 1.73081746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:25.02, Z:1.73 [[ 7.67516404e-01 -6.40412570e-01 -2.81124543e-02 7.06170865e+01] [ 6.40028519e-01 7.68030484e-01 -2.21961925e-02 2.50208141e+01] [ 3.58059426e-02 -9.56830627e-04 9.99358304e-01 1.73137519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.64, Y:25.04, Z:1.73 [[ 7.66762380e-01 -6.41316332e-01 -2.80858437e-02 7.06382195e+01] [ 6.40933159e-01 7.67275951e-01 -2.21878440e-02 2.50370790e+01] [ 3.57790192e-02 -9.88344439e-04 9.99359237e-01 1.73233646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:25.05, Z:1.73 [[ 7.66528832e-01 -6.41603779e-01 -2.78951695e-02 7.06602429e+01] [ 6.41225681e-01 7.67035602e-01 -2.20456799e-02 2.50546815e+01] [ 3.55411797e-02 -9.88449850e-04 9.99367724e-01 1.73301643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:25.08, Z:1.73 [[ 7.66121886e-01 -6.42157366e-01 -2.62901806e-02 7.06818898e+01] [ 6.41647546e-01 7.66567532e-01 -2.57419037e-02 2.50757266e+01] [ 3.66835519e-02 2.85240593e-03 9.99322861e-01 1.73308334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:25.09, Z:1.74 [[ 7.67275802e-01 -6.40615655e-01 -2.99904295e-02 7.07048395e+01] [ 6.40363134e-01 7.67846049e-01 -1.86413723e-02 2.50877404e+01] [ 3.49699877e-02 -4.90169156e-03 9.99376342e-01 1.73556938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:25.11, Z:1.74 [[ 7.67454862e-01 -6.40517800e-01 -2.73858045e-02 7.07246332e+01] [ 6.40151618e-01 7.67942799e-01 -2.16740235e-02 2.51068959e+01] [ 3.49133292e-02 -8.97232275e-04 9.99389941e-01 1.73538868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:25.12, Z:1.74 [[ 7.67665420e-01 -6.40178890e-01 -2.93392753e-02 7.07496773e+01] [ 6.39995128e-01 7.68201618e-01 -1.65079142e-02 2.51225437e+01] [ 3.31064969e-02 -6.10443840e-03 9.99433187e-01 1.73732910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:25.14, Z:1.74 [[ 7.68544506e-01 -6.39350855e-01 -2.38710505e-02 7.07666915e+01] [ 6.38859946e-01 7.68903220e-01 -2.54127590e-02 2.51433123e+01] [ 3.46021968e-02 4.28057832e-03 9.99391997e-01 1.73585828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:25.17, Z:1.73 [[ 7.66915626e-01 -6.41484800e-01 -1.83759394e-02 7.07879830e+01] [ 6.40937269e-01 7.67071576e-01 -2.82951438e-02 2.51667840e+01] [ 3.22465654e-02 9.92216347e-03 9.99430693e-01 1.73218288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:25.18, Z:1.74 [[ 7.66589451e-01 -6.41636975e-01 -2.53496596e-02 7.08141148e+01] [ 6.41332263e-01 7.67007712e-01 -1.98014702e-02 2.51798989e+01] [ 3.21487399e-02 -1.07795637e-03 9.99482514e-01 1.73629443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:25.20, Z:1.74 [[ 7.66501112e-01 -6.41470039e-01 -3.14997401e-02 7.08371184e+01] [ 6.41155029e-01 7.67135350e-01 -2.05811244e-02 2.51962148e+01] [ 3.73667388e-02 -4.42076202e-03 9.99291841e-01 1.74182400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.86, Y:25.21, Z:1.74 [[ 7.67034813e-01 -6.40806248e-01 -3.20148128e-02 7.08596815e+01] [ 6.40664054e-01 7.67657344e-01 -1.58673384e-02 2.52107548e+01] [ 3.47442957e-02 -8.33993881e-03 9.99361436e-01 1.74270528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.88, Y:25.23, Z:1.74 [[ 7.66276022e-01 -6.41928925e-01 -2.73553158e-02 7.08779164e+01] [ 6.41560197e-01 7.66763656e-01 -2.17717676e-02 2.52311410e+01] [ 3.49509893e-02 -8.66898292e-04 9.99388652e-01 1.74153927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.90, Y:25.25, Z:1.74 [[ 7.65647899e-01 -6.42702078e-01 -2.67830770e-02 7.08996963e+01] [ 6.42348814e-01 7.66115703e-01 -2.13244308e-02 2.52489641e+01] [ 3.42241918e-02 -8.77072122e-04 9.99413796e-01 1.74232422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.92, Y:25.28, Z:1.74 [[ 7.63861624e-01 -6.45133365e-01 -1.78426540e-02 7.09152003e+01] [ 6.44149256e-01 7.63820067e-01 -4.06280900e-02 2.52778125e+01] [ 3.98391136e-02 1.95409065e-02 9.99015014e-01 1.73993693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:25.28, Z:1.75 [[ 7.64240299e-01 -6.43720027e-01 -3.95131954e-02 7.09503002e+01] [ 6.44045051e-01 7.64967369e-01 -5.55846578e-03 2.52752807e+01] [ 3.38044008e-02 -2.12002744e-02 9.99203588e-01 1.75028631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.96, Y:25.31, Z:1.74 [[ 7.62931655e-01 -6.46170401e-01 -1.99775451e-02 7.09586348e+01] [ 6.45314276e-01 7.63047496e-01 -3.64417847e-02 2.53101619e+01] [ 3.87914184e-02 1.49107960e-02 9.99136074e-01 1.74216445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:25.31, Z:1.75 [[ 7.62745769e-01 -6.45656267e-01 -3.66998237e-02 7.09914868e+01] [ 6.45801035e-01 7.63448450e-01 -9.35343835e-03 2.53137329e+01] [ 3.40575296e-02 -1.65664886e-02 9.99282561e-01 1.75017109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:25.34, Z:1.75 [[ 7.62369920e-01 -6.46568892e-01 -2.72171514e-02 7.10072496e+01] [ 6.46204066e-01 7.62854928e-01 -2.17408189e-02 2.53390729e+01] [ 3.48196752e-02 -1.01328756e-03 9.99393098e-01 1.74567582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.03, Y:25.36, Z:1.75 [[ 7.62210606e-01 -6.46766817e-01 -2.69754711e-02 7.10292494e+01] [ 6.46408090e-01 7.62687144e-01 -2.15616047e-02 2.53572587e+01] [ 3.45191755e-02 -1.00267892e-03 9.99403533e-01 1.74593149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:25.37, Z:1.75 [[ 7.62443712e-01 -6.46480273e-01 -2.72551240e-02 7.10496656e+01] [ 6.46113410e-01 7.62930060e-01 -2.17987179e-02 2.53744223e+01] [ 3.48861945e-02 -9.89605731e-04 9.99390801e-01 1.74621085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:25.39, Z:1.75 [[ 7.62241567e-01 -6.46702303e-01 -2.76391817e-02 7.10714482e+01] [ 6.46324860e-01 7.62741842e-01 -2.21146647e-02 2.53927435e+01] [ 3.53831649e-02 -1.00717352e-03 9.99373312e-01 1.74680829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.09, Y:25.41, Z:1.75 [[ 7.62329876e-01 -6.46597213e-01 -2.76623307e-02 7.10931639e+01] [ 6.46218558e-01 7.62830951e-01 -2.21475990e-02 2.54110636e+01] [ 3.54222579e-02 -9.92135048e-04 9.99371942e-01 1.74722902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:25.43, Z:1.75 [[ 7.62410829e-01 -6.46499192e-01 -2.77222329e-02 7.11136848e+01] [ 6.46118343e-01 7.62914042e-01 -2.22092551e-02 2.54285334e+01] [ 3.55079462e-02 -9.79266597e-04 9.99368914e-01 1.74767664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:25.45, Z:1.75 [[ 7.62965299e-01 -6.45846889e-01 -2.76721606e-02 7.11348293e+01] [ 6.45466679e-01 7.63466378e-01 -2.21778237e-02 2.54469071e+01] [ 3.54502427e-02 -9.40547671e-04 9.99371000e-01 1.74857154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:25.46, Z:1.75 [[ 7.63144664e-01 -6.45633995e-01 -2.76941542e-02 7.11564391e+01] [ 6.45252542e-01 7.63646448e-01 -2.22094553e-02 2.54648158e+01] [ 3.54877218e-02 -9.20696066e-04 9.99369688e-01 1.74973114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:25.48, Z:1.75 [[ 7.64230793e-01 -6.44359339e-01 -2.74287825e-02 7.11773991e+01] [ 6.43983882e-01 7.64722389e-01 -2.20097240e-02 2.54824030e+01] [ 3.51575752e-02 -8.43184992e-04 9.99381426e-01 1.75049217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.20, Y:25.50, Z:1.75 [[ 7.64751606e-01 -6.43748893e-01 -2.72459891e-02 7.11991098e+01] [ 6.43377752e-01 7.65236380e-01 -2.18712466e-02 2.55004846e+01] [ 3.49292129e-02 -8.03392268e-04 9.99389466e-01 1.75130127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:25.52, Z:1.75 [[ 7.65069587e-01 -6.43379995e-01 -2.70316284e-02 7.12203248e+01] [ 6.43013981e-01 7.65546595e-01 -2.17124845e-02 2.55183457e+01] [ 3.46633493e-02 -7.70153459e-04 9.99398749e-01 1.75193231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:25.54, Z:1.75 [[ 7.65625651e-01 -6.42749265e-01 -2.62820248e-02 7.12410960e+01] [ 6.42402487e-01 7.66076286e-01 -2.11227061e-02 2.55362624e+01] [ 3.37106397e-02 -7.11552491e-04 9.99431382e-01 1.75222789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:25.55, Z:1.75 [[ 7.65694502e-01 -6.42671695e-01 -2.61729370e-02 7.12627577e+01] [ 6.42327492e-01 7.66141373e-01 -2.10425619e-02 2.55541858e+01] [ 3.35756288e-02 -6.99423039e-04 9.99435935e-01 1.75289942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.28, Y:25.57, Z:1.75 [[ 7.65605258e-01 -6.42787943e-01 -2.59277819e-02 7.12847953e+01] [ 6.42449814e-01 7.66043854e-01 -2.08578459e-02 2.55721631e+01] [ 3.32689898e-02 -6.88422178e-04 9.99446197e-01 1.75354010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:25.59, Z:1.75 [[ 7.65197549e-01 -6.43273755e-01 -2.59149859e-02 7.13068242e+01] [ 6.42935827e-01 7.65635936e-01 -2.08599182e-02 2.55897958e+01] [ 3.32600824e-02 -6.99714622e-04 9.99446485e-01 1.75416676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:25.61, Z:1.75 [[ 7.64892497e-01 -6.43633132e-01 -2.59972906e-02 7.13286134e+01] [ 6.43292848e-01 7.65333842e-01 -2.09385301e-02 2.56073194e+01] [ 3.33733380e-02 -7.08146491e-04 9.99442704e-01 1.75487717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:25.63, Z:1.76 [[ 7.64260138e-01 -6.44372214e-01 -2.62848161e-02 7.13502090e+01] [ 6.44024372e-01 7.64711648e-01 -2.11826225e-02 2.56251202e+01] [ 3.37497984e-02 -7.39028177e-04 9.99430040e-01 1.75580800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:25.64, Z:1.76 [[ 7.63325384e-01 -6.45476038e-01 -2.63636451e-02 7.13723657e+01] [ 6.45126336e-01 7.63780122e-01 -2.12587961e-02 2.56427749e+01] [ 3.38580716e-02 -7.80503062e-04 9.99426346e-01 1.75633071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:25.66, Z:1.76 [[ 7.62470619e-01 -6.46594771e-01 -2.35320457e-02 7.13929078e+01] [ 6.46022557e-01 7.62809758e-01 -2.78590964e-02 2.56643945e+01] [ 3.59640202e-02 6.03951013e-03 9.99334836e-01 1.75556150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:25.68, Z:1.76 [[ 7.62074190e-01 -6.46729952e-01 -3.13575691e-02 7.14202063e+01] [ 6.46562003e-01 7.62680918e-01 -1.65949922e-02 2.56754774e+01] [ 3.46482981e-02 -7.62799748e-03 9.99370456e-01 1.75975120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:25.70, Z:1.76 [[ 7.61208467e-01 -6.47939470e-01 -2.71313929e-02 7.14396854e+01] [ 6.47569419e-01 7.61691311e-01 -2.19133559e-02 2.56958621e+01] [ 3.48642744e-02 -8.88828240e-04 9.99391661e-01 1.75839020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:25.71, Z:1.76 [[ 7.59619642e-01 -6.49793367e-01 -2.73236272e-02 7.14609033e+01] [ 6.49418760e-01 7.60110281e-01 -2.20824502e-02 2.57118205e+01] [ 3.51179996e-02 -9.70213179e-04 9.99382702e-01 1.75937816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:25.73, Z:1.76 [[ 7.58649776e-01 -6.50921009e-01 -2.74291260e-02 7.14823344e+01] [ 6.50544008e-01 7.59144780e-01 -2.21742507e-02 2.57286558e+01] [ 3.52563635e-02 -1.02136324e-03 9.99377779e-01 1.76005363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:25.75, Z:1.76 [[ 7.57613615e-01 -6.52129521e-01 -2.73623541e-02 7.15043800e+01] [ 6.51754837e-01 7.58106817e-01 -2.21288740e-02 2.57461337e+01] [ 3.51744791e-02 -1.06841041e-03 9.99380615e-01 1.76096856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:25.76, Z:1.76 [[ 7.56459132e-01 -6.53462289e-01 -2.75066993e-02 7.15256148e+01] [ 6.53084032e-01 7.56958234e-01 -2.22593355e-02 2.57630485e+01] [ 3.53670589e-02 -1.12590847e-03 9.99373756e-01 1.76175276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:25.78, Z:1.76 [[ 7.54652202e-01 -6.55541404e-01 -2.76680568e-02 7.15487256e+01] [ 6.55159772e-01 7.55158242e-01 -2.23987350e-02 2.57796423e+01] [ 3.55770593e-02 -1.22374311e-03 9.99366187e-01 1.76285370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:25.80, Z:1.76 [[ 7.53944201e-01 -6.56348687e-01 -2.78306281e-02 7.15713183e+01] [ 6.55962574e-01 7.54456638e-01 -2.25451191e-02 2.57968946e+01] [ 3.57944614e-02 -1.25808870e-03 9.99358381e-01 1.76414398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:25.82, Z:1.76 [[ 7.51975874e-01 -6.58698561e-01 -2.54654624e-02 7.15930306e+01] [ 6.58102192e-01 7.52392908e-01 -2.83974609e-02 2.58198856e+01] [ 3.78653999e-02 4.59532882e-03 9.99272282e-01 1.76412993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:25.83, Z:1.77 [[ 7.53343475e-01 -6.56868771e-01 -3.15757119e-02 7.16169386e+01] [ 6.56687966e-01 7.53965163e-01 -1.72466731e-02 2.58281017e+01] [ 3.51357878e-02 -7.74272138e-03 9.99352554e-01 1.76793838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:25.85, Z:1.77 [[ 7.53541656e-01 -6.56826215e-01 -2.74644341e-02 7.16361422e+01] [ 6.56449473e-01 7.54040968e-01 -2.22779657e-02 2.58487459e+01] [ 3.53420603e-02 -1.24163809e-03 9.99374503e-01 1.76745357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:25.87, Z:1.77 [[ 7.53887402e-01 -6.56432300e-01 -2.73937967e-02 7.16578343e+01] [ 6.56056724e-01 7.54383969e-01 -2.22351610e-02 2.58666394e+01] [ 3.52613189e-02 -1.20907676e-03 9.99377395e-01 1.76848229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:25.89, Z:1.77 [[ 7.55749956e-01 -6.54384904e-01 -2.49479954e-02 7.16766315e+01] [ 6.53840772e-01 7.56150577e-01 -2.69916628e-02 2.58858638e+01] [ 3.65273778e-02 4.08693136e-03 9.99324296e-01 1.76882404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:25.90, Z:1.77 [[ 7.57853771e-01 -6.51678302e-01 -3.11937923e-02 7.17016434e+01] [ 6.51506733e-01 7.58457319e-01 -1.67771300e-02 2.58956688e+01] [ 3.45924516e-02 -7.60835454e-03 9.99372541e-01 1.77261365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:25.92, Z:1.77 [[ 7.57950498e-01 -6.51781542e-01 -2.63033151e-02 7.17218481e+01] [ 6.51370337e-01 7.58406652e-01 -2.31524105e-02 2.59184824e+01] [ 3.50389230e-02 4.15181872e-04 9.99385862e-01 1.77136449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.74, Y:25.93, Z:1.77 [[ 7.60631216e-01 -6.48612927e-01 -2.72291106e-02 7.17440627e+01] [ 6.48235577e-01 7.61118000e-01 -2.21365695e-02 2.59342740e+01] [ 3.50826313e-02 -8.13112457e-04 9.99384084e-01 1.77283779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.76, Y:25.95, Z:1.77 [[ 7.62477804e-01 -6.46507409e-01 -2.56079611e-02 7.17627494e+01] [ 6.46039583e-01 7.62904280e-01 -2.46964870e-02 2.59514810e+01] [ 3.55028849e-02 2.28676672e-03 9.99366958e-01 1.77270269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:25.97, Z:1.78 [[ 7.63611744e-01 -6.45047404e-01 -2.84772046e-02 7.17879123e+01] [ 6.44736394e-01 7.64137030e-01 -2.02381124e-02 2.59670995e+01] [ 3.48150284e-02 -2.90622986e-03 9.99389547e-01 1.77569445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:25.99, Z:1.78 [[ 7.65348839e-01 -6.43126629e-01 -2.50857142e-02 7.18090570e+01] [ 6.42696406e-01 7.65757388e-01 -2.35998546e-02 2.59878501e+01] [ 3.43872659e-02 1.93962294e-03 9.99406701e-01 1.77556928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:26.00, Z:1.78 [[ 7.66371770e-01 -6.41825175e-01 -2.71063507e-02 7.18335377e+01] [ 6.41540905e-01 7.66846533e-01 -1.92785466e-02 2.60036452e+01] [ 3.31598676e-02 -2.61529889e-03 9.99446639e-01 1.77752070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:26.02, Z:1.78 [[ 7.66622964e-01 -6.41583132e-01 -2.56966057e-02 7.18552072e+01] [ 6.41253300e-01 7.67053189e-01 -2.05817959e-02 2.60221806e+01] [ 3.29155964e-02 -6.99555786e-04 9.99457890e-01 1.77800152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:26.04, Z:1.78 [[ 7.67144903e-01 -6.40988739e-01 -2.49426315e-02 7.18772678e+01] [ 6.40616889e-01 7.67549888e-01 -2.18442467e-02 2.60404265e+01] [ 3.31466302e-02 7.79031458e-04 9.99450196e-01 1.77894321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.91, Y:26.05, Z:1.79 [[ 7.68197904e-01 -6.39263849e-01 -3.48383527e-02 7.19069743e+01] [ 6.39346302e-01 7.68851577e-01 -1.01764121e-02 2.60496779e+01] [ 3.32909348e-02 -1.44562735e-02 9.99341148e-01 1.78599157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:26.08, Z:1.78 [[ 7.68068658e-01 -6.40190069e-01 -1.50735642e-02 7.19171357e+01] [ 6.39590649e-01 7.68083439e-01 -3.11710251e-02 2.60796338e+01] [ 3.15331358e-02 1.43005767e-02 9.99400398e-01 1.77626069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.592755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:71.95, Y:26.09, Z:1.78 [[ 7.67319746e-01 -6.40769884e-01 -2.51865784e-02 7.19462006e+01] [ 6.40557213e-01 7.67726216e-01 -1.68200507e-02 2.60901886e+01] [ 3.01141785e-02 -3.22708745e-03 9.99541256e-01 1.78175136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:26.11, Z:1.78 [[ 7.67613117e-01 -6.40472999e-01 -2.37579367e-02 7.19676531e+01] [ 6.40276652e-01 7.67975420e-01 -1.61109800e-02 2.61060613e+01] [ 2.85641591e-02 -2.84465260e-03 9.99587913e-01 1.78148005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:26.12, Z:1.78 [[ 7.68062837e-01 -6.39981138e-01 -2.24414977e-02 7.19868866e+01] [ 6.39755611e-01 7.68389566e-01 -1.70362644e-02 2.61218889e+01] [ 2.81467006e-02 -1.27215247e-03 9.99602994e-01 1.78179235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:26.14, Z:1.78 [[ 7.67046747e-01 -6.41312852e-01 -1.88974825e-02 7.20073938e+01] [ 6.40923732e-01 7.67259489e-01 -2.30140230e-02 2.61440389e+01] [ 2.92584615e-02 5.54098642e-03 9.99556522e-01 1.78030956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:26.16, Z:1.78 [[ 7.65343402e-01 -6.43187032e-01 -2.36625992e-02 7.20329047e+01] [ 6.42967403e-01 7.65705841e-01 -1.69553424e-02 2.61578849e+01] [ 2.90240468e-02 -2.23762050e-03 9.99576209e-01 1.78428307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:26.19, Z:1.77 [[ 7.62281701e-01 -6.47241601e-01 -2.21760382e-03 7.20401110e+01] [ 6.46737891e-01 7.61815174e-01 -3.69829982e-02 2.61900578e+01] [ 2.56263392e-02 2.67572544e-02 9.99313434e-01 1.77099931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.09, Y:26.18, Z:1.79 [[ 7.63477828e-01 -6.44655977e-01 -3.89907341e-02 7.20859843e+01] [ 6.45178621e-01 7.64030996e-01 1.08806887e-03 2.61821288e+01] [ 2.90886993e-02 -2.59867045e-02 9.99238980e-01 1.79350255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:26.21, Z:1.79 [[ 7.62986532e-01 -6.46039834e-01 -2.20019147e-02 7.20969738e+01] [ 6.45700139e-01 7.63301485e-01 -2.10279471e-02 2.62113084e+01] [ 3.03789856e-02 1.83740105e-03 9.99536763e-01 1.78615664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:26.23, Z:1.79 [[ 7.60899202e-01 -6.48396098e-01 -2.47972948e-02 7.21208479e+01] [ 6.48168605e-01 7.61297904e-01 -1.74057807e-02 2.62279639e+01] [ 3.01639688e-02 -2.82878330e-03 9.99540961e-01 1.78763707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:26.24, Z:1.79 [[ 7.61552393e-01 -6.47568604e-01 -2.63221373e-02 7.21414289e+01] [ 6.47491786e-01 7.61969976e-01 -1.24957537e-02 2.62405203e+01] [ 2.81485360e-02 -7.52719654e-03 9.99575410e-01 1.78838723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:26.27, Z:1.79 [[ 7.58291790e-01 -6.51589724e-01 -2.06007973e-02 7.21593683e+01] [ 6.51142749e-01 7.58552889e-01 -2.47110214e-02 2.62660393e+01] [ 3.17282419e-02 5.32410488e-03 9.99482352e-01 1.78589222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.922755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.18, Y:26.28, Z:1.79 [[ 7.57034249e-01 -6.52932134e-01 -2.40577133e-02 7.21831563e+01] [ 6.52581013e-01 7.57416243e-01 -2.14162868e-02 2.62820535e+01] [ 3.22050847e-02 5.13255719e-04 9.99481150e-01 1.78787609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:26.29, Z:1.79 [[ 7.57954025e-01 -6.51633756e-01 -2.96503693e-02 7.22064867e+01] [ 6.51643633e-01 7.58450403e-01 -1.06565381e-02 2.62914534e+01] [ 2.94324945e-02 -1.12443084e-02 9.99503524e-01 1.79163651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.22, Y:26.31, Z:1.79 [[ 7.57933539e-01 -6.51934703e-01 -2.27572741e-02 7.22245944e+01] [ 6.51663645e-01 7.58274892e-01 -1.88064569e-02 2.63143084e+01] [ 2.95168514e-02 -5.76043796e-04 9.99564117e-01 1.78917819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:26.34, Z:1.79 [[ 7.54835129e-01 -6.55606110e-01 -2.01135857e-02 7.22441229e+01] [ 6.55037044e-01 7.55056440e-01 -2.85699733e-02 2.63396860e+01] [ 3.39175415e-02 8.39047581e-03 9.99389414e-01 1.78922674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:26.35, Z:1.79 [[ 7.54018545e-01 -6.56281937e-01 -2.73871057e-02 7.22706972e+01] [ 6.56020728e-01 7.54506550e-01 -1.88857220e-02 2.63533107e+01] [ 3.30581088e-02 -3.72632436e-03 9.99446485e-01 1.79366134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:26.38, Z:1.79 [[ 7.53440456e-01 -6.57090270e-01 -2.36612758e-02 7.22906798e+01] [ 6.56661932e-01 7.53807984e-01 -2.38459843e-02 2.63751277e+01] [ 3.35050229e-02 2.42907026e-03 9.99435597e-01 1.79291876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:26.39, Z:1.79 [[ 7.53445886e-01 -6.57048762e-01 -2.46215497e-02 7.23119699e+01] [ 6.56648526e-01 7.53847231e-01 -2.29578945e-02 2.63935328e+01] [ 3.36453432e-02 1.12982687e-03 9.99433197e-01 1.79495674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.33, Y:26.41, Z:1.79 [[ 7.53597750e-01 -6.56933674e-01 -2.29908350e-02 7.23320029e+01] [ 6.56553091e-01 7.53946201e-01 -2.24313369e-02 2.64134658e+01] [ 3.20697533e-02 1.80950125e-03 9.99483995e-01 1.79424004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.162755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.36, Y:26.43, Z:1.80 [[ 7.52883406e-01 -6.57623863e-01 -2.64089272e-02 7.23560624e+01] [ 6.57348645e-01 7.53340953e-01 -1.92397327e-02 2.64318489e+01] [ 3.25474337e-02 -2.87459700e-03 9.99466058e-01 1.79840749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.37, Y:26.45, Z:1.80 [[ 7.54758696e-01 -6.55642863e-01 -2.17197489e-02 7.23736025e+01] [ 6.55176776e-01 7.55056082e-01 -2.51735044e-02 2.64522438e+01] [ 3.29044570e-02 4.76964635e-03 9.99447121e-01 1.79668437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:26.46, Z:1.81 [[ 7.56780743e-01 -6.52323291e-01 -4.19193483e-02 7.24087948e+01] [ 6.52715382e-01 7.57583835e-01 -5.41869418e-03 2.64580026e+01] [ 3.52921611e-02 -2.32606400e-02 9.99106304e-01 1.81177425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.42, Y:26.49, Z:1.80 [[ 7.58140522e-01 -6.51660513e-01 -2.36965096e-02 7.24194699e+01] [ 6.51172193e-01 7.58500623e-01 -2.55260791e-02 2.64901701e+01] [ 3.46081551e-02 3.92184685e-03 9.99393263e-01 1.80322170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:26.50, Z:1.81 [[ 7.59787960e-01 -6.49219935e-01 -3.51529796e-02 7.24472771e+01] [ 6.49117496e-01 7.60523925e-01 -1.58061991e-02 2.65015341e+01] [ 3.69963816e-02 -1.08090544e-02 9.99256940e-01 1.81183452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:26.53, Z:1.80 [[ 7.60035176e-01 -6.49549314e-01 -2.07899136e-02 7.24611604e+01] [ 6.48968876e-01 7.60274069e-01 -2.86834041e-02 2.65296227e+01] [ 3.44373176e-02 8.30838924e-03 9.99372324e-01 1.80358827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:26.55, Z:1.80 [[ 7.60374753e-01 -6.49284154e-01 -1.61345055e-02 7.24753618e+01] [ 6.48569096e-01 7.60387158e-01 -3.41979229e-02 2.65518407e+01] [ 3.44726402e-02 1.55388955e-02 9.99284834e-01 1.80008270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:26.56, Z:1.81 [[ 7.60928739e-01 -6.48172470e-01 -2.93241062e-02 7.25042336e+01] [ 6.48038338e-01 7.61456914e-01 -1.51552005e-02 2.65588833e+01] [ 3.21522271e-02 -7.47111747e-03 9.99455060e-01 1.80699324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.52, Y:26.58, Z:1.81 [[ 7.61388791e-01 -6.47799590e-01 -2.53534812e-02 7.25222762e+01] [ 6.47460604e-01 7.61810660e-01 -2.09591284e-02 2.65800469e+01] [ 3.28918671e-02 -4.57334789e-04 9.99458812e-01 1.80522824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:26.60, Z:1.81 [[ 7.60928283e-01 -6.48426563e-01 -2.30464856e-02 7.25424741e+01] [ 6.47891632e-01 7.61257012e-01 -2.69108737e-02 2.66020074e+01] [ 3.49940241e-02 5.54561973e-03 9.99372135e-01 1.80526405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:26.62, Z:1.81 [[ 7.61030759e-01 -6.48194177e-01 -2.60094732e-02 7.25673662e+01] [ 6.47862844e-01 7.61474350e-01 -2.07496876e-02 2.66171627e+01] [ 3.32553734e-02 -1.05942073e-03 9.99446326e-01 1.80632478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:26.64, Z:1.80 [[ 7.60077530e-01 -6.49506962e-01 -2.05634308e-02 7.25840213e+01] [ 6.48886887e-01 7.60297927e-01 -2.98809411e-02 2.66392421e+01] [ 3.50422131e-02 9.36849129e-03 9.99341921e-01 1.80469299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:26.65, Z:1.81 [[ 7.58342055e-01 -6.51040783e-01 -3.26071597e-02 7.26138253e+01] [ 6.50998621e-01 7.58961526e-01 -1.33490619e-02 2.66480976e+01] [ 3.34383634e-02 -1.11040610e-02 9.99379095e-01 1.81041887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:26.66, Z:1.82 [[ 7.58586948e-01 -6.50294383e-01 -4.07806112e-02 7.26413928e+01] [ 6.50623305e-01 7.59373462e-01 -6.42338196e-03 2.66601790e+01] [ 3.51448032e-02 -2.16601224e-02 9.99147478e-01 1.81758259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.65, Y:26.70, Z:1.80 [[ 7.55891604e-01 -6.54567286e-01 -1.30212119e-02 7.26455378e+01] [ 6.53893760e-01 7.55799897e-01 -3.44886512e-02 2.66968550e+01] [ 3.24165734e-02 1.75551926e-02 9.99320259e-01 1.80176904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:26.71, Z:1.81 [[ 7.53931469e-01 -6.56614166e-01 -2.10992106e-02 7.26730414e+01] [ 6.56174352e-01 7.54212618e-01 -2.44652100e-02 2.67082731e+01] [ 3.19774944e-02 4.60033090e-03 9.99478002e-01 1.80509928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:26.71, Z:1.82 [[ 7.54308339e-01 -6.55384348e-01 -3.86042318e-02 7.27057101e+01] [ 6.55747328e-01 7.54969149e-01 -4.12611550e-03 2.67122510e+01] [ 3.18491955e-02 -2.22022585e-02 9.99246060e-01 1.81659070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:26.75, Z:1.80 [[ 7.51756269e-01 -6.59330636e-01 -1.20674721e-02 7.27111918e+01] [ 6.58725125e-01 7.51666848e-01 -3.28353323e-02 2.67494302e+01] [ 3.07200592e-02 1.67350198e-02 9.99387921e-01 1.80199304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:26.76, Z:1.81 [[ 7.50899134e-01 -6.59932938e-01 -2.52785822e-02 7.27420375e+01] [ 6.59621906e-01 7.51323158e-01 -2.03089536e-02 2.67592598e+01] [ 3.23949317e-02 -1.42433089e-03 9.99474132e-01 1.80999148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.76, Y:26.78, Z:1.81 [[ 7.50026795e-01 -6.61001448e-01 -2.31709620e-02 7.27608580e+01] [ 6.60706477e-01 7.50384462e-01 -1.97512163e-02 2.67761751e+01] [ 3.04427124e-02 -4.95263176e-04 9.99536391e-01 1.80843822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:26.80, Z:1.80 [[ 7.49135185e-01 -6.62189217e-01 -1.73757199e-02 7.27808297e+01] [ 6.61770746e-01 7.49305173e-01 -2.45201490e-02 2.67985465e+01] [ 2.92566951e-02 6.87016327e-03 9.99548321e-01 1.80429972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.80, Y:26.81, Z:1.81 [[ 7.48669389e-01 -6.62536630e-01 -2.32241223e-02 7.28045345e+01] [ 6.62291715e-01 7.49027289e-01 -1.81054101e-02 2.68115999e+01] [ 2.93909987e-02 -1.82617744e-03 9.99566323e-01 1.80758108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:26.82, Z:1.81 [[ 7.48847413e-01 -6.62093951e-01 -2.93112973e-02 7.28282313e+01] [ 6.61961495e-01 7.49379542e-01 -1.54039226e-02 2.68247594e+01] [ 3.21641306e-02 -7.86776255e-03 9.99451633e-01 1.81300669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:26.85, Z:1.81 [[ 7.48886703e-01 -6.62222029e-01 -2.51135356e-02 7.28472324e+01] [ 6.61890328e-01 7.49307114e-01 -2.09772037e-02 2.68454631e+01] [ 3.27093173e-02 -9.12857402e-04 9.99464490e-01 1.81140028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:26.86, Z:1.81 [[ 7.49096663e-01 -6.61949077e-01 -2.60309243e-02 7.28685092e+01] [ 6.61592048e-01 7.49548242e-01 -2.17576379e-02 2.68626277e+01] [ 3.39138818e-02 -9.23278596e-04 9.99424332e-01 1.81206889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.89, Y:26.88, Z:1.81 [[ 7.51212263e-01 -6.59558219e-01 -2.57505701e-02 7.28877922e+01] [ 6.59207124e-01 7.51653056e-01 -2.15325656e-02 2.68816888e+01] [ 3.35574754e-02 -7.99431932e-04 9.99436470e-01 1.81221708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:26.90, Z:1.81 [[ 7.52387857e-01 -6.58208728e-01 -2.59573141e-02 7.29089143e+01] [ 6.57850879e-01 7.52835124e-01 -2.17139804e-02 2.68996128e+01] [ 3.38339092e-02 -7.38706705e-04 9.99427196e-01 1.81258977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:26.91, Z:1.83 [[ 7.53932019e-01 -6.55619581e-01 -4.18267310e-02 7.29410599e+01] [ 6.55845352e-01 7.54829136e-01 -9.99246204e-03 2.69086455e+01] [ 3.81232890e-02 -1.98982300e-02 9.99074910e-01 1.82532648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:26.93, Z:1.83 [[ 7.55316750e-01 -6.54013200e-01 -4.19921489e-02 7.29643157e+01] [ 6.54094662e-01 7.56289029e-01 -1.36776440e-02 2.69275602e+01] [ 4.07035612e-02 -1.71358868e-02 9.99024315e-01 1.82969233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:26.97, Z:1.81 [[ 7.54808390e-01 -6.55938111e-01 -3.08044184e-03 7.29617315e+01] [ 6.55056510e-01 7.54021672e-01 -4.85003827e-02 2.69692447e+01] [ 3.41359693e-02 3.45906323e-02 9.98818414e-01 1.80504059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.00, Y:26.97, Z:1.82 [[ 7.54577460e-01 -6.55734727e-01 -2.49964911e-02 7.29967175e+01] [ 6.55400029e-01 7.54991155e-01 -2.09561178e-02 2.69709854e+01] [ 3.26137839e-02 -5.69686829e-04 9.99467867e-01 1.81602173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:26.99, Z:1.82 [[ 7.54487004e-01 -6.55863902e-01 -2.43290743e-02 7.30174248e+01] [ 6.55546523e-01 7.54878957e-01 -2.04087455e-02 2.69883255e+01] [ 3.17508657e-02 -5.50706776e-04 9.99495662e-01 1.81700366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:27.01, Z:1.82 [[ 7.54450656e-01 -6.55938857e-01 -2.34184203e-02 7.30375646e+01] [ 6.55644623e-01 7.54813842e-01 -1.96517690e-02 2.70074158e+01] [ 3.05669067e-02 -5.27871316e-04 9.99532584e-01 1.81813629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:27.03, Z:1.82 [[ 7.54090836e-01 -6.56366907e-01 -2.30107511e-02 7.30588195e+01] [ 6.56082671e-01 7.54441652e-01 -1.93215647e-02 2.70259543e+01] [ 3.00423047e-02 -5.26740161e-04 9.99548489e-01 1.81874731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:27.03, Z:1.83 [[ 7.54959189e-01 -6.54653584e-01 -3.82793461e-02 7.30920275e+01] [ 6.54949824e-01 7.55648918e-01 -5.95319249e-03 2.70347270e+01] [ 3.28230253e-02 -2.05766337e-02 9.99249344e-01 1.83091024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:27.07, Z:1.81 [[ 7.52867687e-01 -6.58152008e-01 -5.11667569e-03 7.30910924e+01] [ 6.57585159e-01 7.52501986e-01 -3.63664671e-02 2.70730098e+01] [ 2.77849720e-02 2.40144880e-02 9.99325422e-01 1.81079815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:27.08, Z:1.82 [[ 7.53384431e-01 -6.57091128e-01 -2.53603791e-02 7.31251700e+01] [ 6.56931134e-01 7.53794004e-01 -1.53650747e-02 2.70771234e+01] [ 2.92127560e-02 -5.08421457e-03 9.99560286e-01 1.82243688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.14, Y:27.10, Z:1.82 [[ 7.53110974e-01 -6.57514509e-01 -2.23278117e-02 7.31437297e+01] [ 6.57246273e-01 7.53441699e-01 -1.87867879e-02 2.70965930e+01] [ 2.91752900e-02 -5.26334890e-04 9.99574172e-01 1.82105332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.17, Y:27.11, Z:1.83 [[ 7.53773380e-01 -6.56183343e-01 -3.53427772e-02 7.31742974e+01] [ 6.56345530e-01 7.54413404e-01 -8.42379837e-03 2.71077739e+01] [ 3.21906210e-02 -1.68474389e-02 9.99339746e-01 1.83093064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:27.14, Z:1.82 [[ 7.52265023e-01 -6.58750521e-01 -1.20451701e-02 7.31794293e+01] [ 6.58193501e-01 7.52200213e-01 -3.12434839e-02 2.71409633e+01] [ 2.96420408e-02 1.55753274e-02 9.99439222e-01 1.81718906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:27.15, Z:1.82 [[ 7.51786997e-01 -6.59011797e-01 -2.27982960e-02 7.32059667e+01] [ 6.58731989e-01 7.52132382e-01 -1.92106115e-02 2.71517783e+01] [ 2.98073562e-02 -5.75678938e-04 9.99555496e-01 1.82237308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:27.17, Z:1.82 [[ 7.50544685e-01 -6.60405492e-01 -2.33936144e-02 7.32275682e+01] [ 6.60111321e-01 7.50908898e-01 -1.97197797e-02 2.71698819e+01] [ 3.05895241e-02 -6.41813844e-04 9.99531825e-01 1.82333364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:27.19, Z:1.82 [[ 7.49765451e-01 -6.61291385e-01 -2.33553487e-02 7.32486576e+01] [ 6.60998224e-01 7.50128828e-01 -1.97000014e-02 2.71874831e+01] [ 3.05469616e-02 -6.67463552e-04 9.99533110e-01 1.82437439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.27, Y:27.21, Z:1.83 [[ 7.48327858e-01 -6.62940569e-01 -2.26984198e-02 7.32696020e+01] [ 6.62664222e-01 7.48671690e-01 -1.91527864e-02 2.72056446e+01] [ 2.96908234e-02 -7.08867101e-04 9.99558879e-01 1.82505957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:27.22, Z:1.83 [[ 7.47252055e-01 -6.64149977e-01 -2.27853754e-02 7.32915702e+01] [ 6.63880944e-01 7.47598717e-01 -1.89275074e-02 2.72249619e+01] [ 2.96050210e-02 -9.83157715e-04 9.99561192e-01 1.82611613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:27.24, Z:1.83 [[ 7.47337163e-01 -6.64067424e-01 -2.23968780e-02 7.33122424e+01] [ 6.63791874e-01 7.47672479e-01 -1.91366509e-02 2.72426030e+01] [ 2.94535558e-02 -5.65335239e-04 9.99565990e-01 1.82695932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.33, Y:27.26, Z:1.83 [[ 7.47286664e-01 -6.64120820e-01 -2.24983936e-02 7.33334803e+01] [ 6.63849048e-01 7.47624910e-01 -1.90114757e-02 2.72607371e+01] [ 2.94462764e-02 -7.28514901e-04 9.99566099e-01 1.82719791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:27.28, Z:1.83 [[ 7.47491333e-01 -6.63885370e-01 -2.26477666e-02 7.33544801e+01] [ 6.63609510e-01 7.47834008e-01 -1.91497985e-02 2.72785180e+01] [ 2.96500411e-02 -7.14964834e-04 9.99560085e-01 1.82770561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:27.30, Z:1.83 [[ 7.47685670e-01 -6.63628749e-01 -2.37280952e-02 7.33760063e+01] [ 6.63325573e-01 7.48061727e-01 -2.00708024e-02 2.72968672e+01] [ 3.10696413e-02 -7.32801004e-04 9.99516954e-01 1.82924204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:27.32, Z:1.83 [[ 7.49261070e-01 -6.61874891e-01 -2.30103904e-02 7.33975418e+01] [ 6.61588695e-01 7.49614052e-01 -1.94723158e-02 2.73153299e+01] [ 3.01371489e-02 -6.33565980e-04 9.99545572e-01 1.82916345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:27.32, Z:1.84 [[ 7.51056367e-01 -6.59119222e-01 -3.84211367e-02 7.34318521e+01] [ 6.59611606e-01 7.51606609e-01 1.85670296e-04 2.73221521e+01] [ 2.87552014e-02 -2.54824765e-02 9.99261618e-01 1.83967968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:27.36, Z:1.83 [[ 7.53249898e-01 -6.57549967e-01 -1.55766536e-02 7.34396068e+01] [ 6.56958518e-01 7.53300277e-01 -3.07278124e-02 2.73582952e+01] [ 3.19389695e-02 1.29125063e-02 9.99406409e-01 1.82859375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.47, Y:27.37, Z:1.83 [[ 7.54536975e-01 -6.55801802e-01 -2.44529977e-02 7.34663940e+01] [ 6.55586981e-01 7.54926552e-01 -1.70766348e-02 2.73690809e+01] [ 2.96591052e-02 -3.14611457e-03 9.99555121e-01 1.83276385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:27.40, Z:1.82 [[ 7.54190477e-01 -6.56595758e-01 -8.87331030e-03 7.34780959e+01] [ 6.56082892e-01 7.54028072e-01 -3.15738075e-02 2.73987455e+01] [ 2.74219531e-02 1.79910379e-02 9.99462035e-01 1.82262423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:27.40, Z:1.83 [[ 7.56784119e-01 -6.53100420e-01 -2.71594981e-02 7.35066717e+01] [ 6.52937619e-01 7.57248757e-01 -1.57094232e-02 2.74048475e+01] [ 3.08263270e-02 -5.84481605e-03 9.99507667e-01 1.83483704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.53, Y:27.43, Z:1.83 [[ 7.57447836e-01 -6.52477677e-01 -2.33592878e-02 7.35260306e+01] [ 6.52176216e-01 7.57807915e-01 -1.98329832e-02 2.74254949e+01] [ 3.06424320e-02 -2.11921704e-04 9.99530388e-01 1.83426288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.55, Y:27.44, Z:1.84 [[ 7.58149600e-01 -6.51667046e-01 -2.32216369e-02 7.35466026e+01] [ 6.51368374e-01 7.58505130e-01 -1.97283736e-02 2.74427835e+01] [ 3.04700617e-02 -1.68781294e-04 9.99535666e-01 1.83526762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:27.46, Z:1.84 [[ 7.57965089e-01 -6.51881774e-01 -2.32180085e-02 7.35682488e+01] [ 6.51583072e-01 7.58320594e-01 -1.97326429e-02 2.74614084e+01] [ 3.04700443e-02 -1.71806839e-04 9.99535666e-01 1.83608057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.902755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:73.59, Y:27.48, Z:1.84 [[ 7.58279367e-01 -6.51524824e-01 -2.29740135e-02 7.35889691e+01] [ 6.51231877e-01 7.58627301e-01 -1.95361238e-02 2.74789139e+01] [ 3.01569835e-02 -1.47570334e-04 9.99545164e-01 1.83549350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.61, Y:27.50, Z:1.84 [[ 7.57317115e-01 -6.52648000e-01 -2.28336493e-02 7.36125527e+01] [ 6.52395381e-01 7.57660435e-01 -1.81915667e-02 2.74994019e+01] [ 2.91728423e-02 -1.11978256e-03 9.99573755e-01 1.83763325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:27.52, Z:1.84 [[ 7.57506929e-01 -6.52455852e-01 -2.20139554e-02 7.36329290e+01] [ 6.52159897e-01 7.57826548e-01 -1.96568602e-02 2.75176965e+01] [ 2.95079933e-02 5.33588904e-04 9.99564402e-01 1.83816797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:27.54, Z:1.84 [[ 7.56174744e-01 -6.53934816e-01 -2.38539827e-02 7.36577512e+01] [ 6.53785878e-01 7.56537477e-01 -1.46653244e-02 2.75352382e+01] [ 2.76365981e-02 -4.50584913e-03 9.99607881e-01 1.83981157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.68, Y:27.55, Z:1.84 [[ 7.53948143e-01 -6.56535040e-01 -2.28897061e-02 7.36814536e+01] [ 6.56452366e-01 7.54271886e-01 -1.20088850e-02 2.75534346e+01] [ 2.51493156e-02 -5.97192516e-03 9.99665868e-01 1.84049530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:27.57, Z:1.84 [[ 7.54114649e-01 -6.56551692e-01 -1.58420688e-02 7.36971265e+01] [ 6.56242433e-01 7.54262277e-01 -2.08395537e-02 2.75744102e+01] [ 2.56313192e-02 5.31917494e-03 9.99657312e-01 1.83902149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.72, Y:27.59, Z:1.84 [[ 7.52986043e-01 -6.57779810e-01 -1.83777215e-02 7.37198203e+01] [ 6.57490885e-01 7.53205294e-01 -1.96855477e-02 2.75913839e+01] [ 2.67909530e-02 2.73975832e-03 9.99637304e-01 1.84114025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.74, Y:27.61, Z:1.84 [[ 7.52340523e-01 -6.58451631e-01 -2.06200677e-02 7.37420809e+01] [ 6.58215152e-01 7.52622988e-01 -1.76479602e-02 2.76083166e+01] [ 2.71394651e-02 -2.95165369e-04 9.99631613e-01 1.84233858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:27.63, Z:1.84 [[ 7.51768172e-01 -6.59096514e-01 -2.08902405e-02 7.37621592e+01] [ 6.58853722e-01 7.52058301e-01 -1.78909495e-02 2.76258017e+01] [ 2.75025412e-02 -3.13766366e-04 9.99621684e-01 1.84234390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:27.63, Z:1.86 [[ 7.52017624e-01 -6.57618385e-01 -4.48057306e-02 7.37986627e+01] [ 6.58286192e-01 7.52767727e-01 1.99111687e-04 2.76306453e+01] [ 3.35973685e-02 -2.96447293e-02 9.98995699e-01 1.85935098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.79, Y:27.68, Z:1.83 [[ 7.49766378e-01 -6.61701264e-01 -1.34767554e-03 7.37940854e+01] [ 6.60986709e-01 7.49048333e-01 -4.49796022e-02 2.76786146e+01] [ 3.07725337e-02 3.28333978e-02 9.98986996e-01 1.83419320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:27.68, Z:1.85 [[ 7.49922137e-01 -6.61001549e-01 -2.63389496e-02 7.38299370e+01] [ 6.60860896e-01 7.50359089e-01 -1.49703937e-02 2.76782174e+01] [ 2.96591237e-02 -6.17975221e-03 9.99540968e-01 1.84569919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.262755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:73.85, Y:27.70, Z:1.84 [[ 7.48208265e-01 -6.63043709e-01 -2.36099972e-02 7.38492628e+01] [ 6.62735006e-01 7.48580513e-01 -2.02367854e-02 2.76986439e+01] [ 3.10918571e-02 -5.05841539e-04 9.99516403e-01 1.84168190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:27.72, Z:1.85 [[ 7.48151372e-01 -6.63111737e-01 -2.35021141e-02 7.38702179e+01] [ 6.62805477e-01 7.48520259e-01 -2.01574163e-02 2.77165097e+01] [ 3.09584279e-02 -4.96531314e-04 9.99520550e-01 1.84521066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:27.74, Z:1.84 [[ 7.47029868e-01 -6.64443554e-01 -2.14741446e-02 7.38904384e+01] [ 6.64000783e-01 7.47327107e-01 -2.45998878e-02 2.77375923e+01] [ 3.23934472e-02 4.11800215e-03 9.99466711e-01 1.84464277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.92, Y:27.75, Z:1.85 [[ 7.46698628e-01 -6.64620972e-01 -2.68351060e-02 7.39154432e+01] [ 6.64425391e-01 7.47162692e-01 -1.69355166e-02 2.77518571e+01] [ 3.13058895e-02 -5.18419879e-03 9.99496406e-01 1.84798726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:27.77, Z:1.85 [[ 7.45902130e-01 -6.65634395e-01 -2.36825748e-02 7.39340524e+01] [ 6.65323745e-01 7.46277771e-01 -2.03421410e-02 2.77715233e+01] [ 3.12142078e-02 -5.83333036e-04 9.99512548e-01 1.84698498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:27.79, Z:1.85 [[ 7.46052829e-01 -6.65456529e-01 -2.39329337e-02 7.39560623e+01] [ 6.65198403e-01 7.46433895e-01 -1.86420343e-02 2.77893826e+01] [ 3.02698164e-02 -2.01220686e-03 9.99539739e-01 1.84784221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.98, Y:27.81, Z:1.85 [[ 7.46036913e-01 -6.65475198e-01 -2.39099532e-02 7.39766422e+01] [ 6.65257749e-01 7.46413864e-01 -1.72763178e-02 2.78073973e+01] [ 2.93436815e-02 -3.01751085e-03 9.99564827e-01 1.84847747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.00, Y:27.83, Z:1.85 [[ 7.45472492e-01 -6.66229148e-01 -2.02357565e-02 7.39951933e+01] [ 6.65835836e-01 7.45737273e-01 -2.32068602e-02 2.78300317e+01] [ 3.05516446e-02 3.82638409e-03 9.99525866e-01 1.84728606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.02, Y:27.85, Z:1.85 [[ 7.45573807e-01 -6.65999835e-01 -2.37469674e-02 7.40168581e+01] [ 6.65686864e-01 7.45951662e-01 -2.04234293e-02 2.78460676e+01] [ 3.13160904e-02 -5.80870339e-04 9.99509362e-01 1.84909926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.04, Y:27.87, Z:1.85 [[ 7.45309191e-01 -6.66299201e-01 -2.36555520e-02 7.40369570e+01] [ 6.65988488e-01 7.45684272e-01 -2.03543518e-02 2.78651048e+01] [ 3.12016614e-02 -5.84039891e-04 9.99512939e-01 1.84959157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.562755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:74.06, Y:27.88, Z:1.85 [[ 7.44520423e-01 -6.67146227e-01 -2.46018483e-02 7.40582238e+01] [ 6.66888662e-01 7.44922646e-01 -1.87019856e-02 2.78824528e+01] [ 3.08034330e-02 -2.48268346e-03 9.99522378e-01 1.84975906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.592755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:74.08, Y:27.90, Z:1.85 [[ 7.43720075e-01 -6.68102580e-01 -2.27901942e-02 7.40776365e+01] [ 6.67739787e-01 7.44068246e-01 -2.20459234e-02 2.79023104e+01] [ 3.16863981e-02 1.17807636e-03 9.99497166e-01 1.84915677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:27.92, Z:1.85 [[ 7.43586947e-01 -6.68146810e-01 -2.56572354e-02 7.41009578e+01] [ 6.68039955e-01 7.43997602e-01 -1.37908205e-02 2.79166663e+01] [ 2.83032143e-02 -6.88538426e-03 9.99575670e-01 1.85289106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:27.94, Z:1.85 [[ 7.41837609e-01 -6.70333210e-01 -1.81755107e-02 7.41171264e+01] [ 6.69938476e-01 7.42041014e-01 -2.36129538e-02 2.79416830e+01] [ 2.93155216e-02 5.34050326e-03 9.99555941e-01 1.85019903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.14, Y:27.96, Z:1.85 [[ 7.41187605e-01 -6.70913154e-01 -2.27260594e-02 7.41401592e+01] [ 6.70710310e-01 7.41530510e-01 -1.67386816e-02 2.79561033e+01] [ 2.80822680e-02 -2.83609901e-03 9.99601592e-01 1.85269363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.16, Y:27.98, Z:1.85 [[ 7.40041496e-01 -6.72250922e-01 -2.04274841e-02 7.41598051e+01] [ 6.71940985e-01 7.40322021e-01 -2.04601624e-02 2.79771502e+01] [ 2.88772793e-02 1.41530540e-03 9.99581962e-01 1.85147584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:27.99, Z:1.85 [[ 7.39522396e-01 -6.72728547e-01 -2.33008084e-02 7.41826011e+01] [ 6.72611974e-01 7.39868613e-01 -1.36955772e-02 2.79928600e+01] [ 2.64529425e-02 -5.54421667e-03 9.99634685e-01 1.85375961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.20, Y:28.02, Z:1.85 [[ 7.38846806e-01 -6.73678533e-01 -1.62058975e-02 7.41980166e+01] [ 6.73267599e-01 7.38988596e-01 -2.46291538e-02 2.80170054e+01] [ 2.85681056e-02 7.28626589e-03 9.99565292e-01 1.85108774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:28.03, Z:1.86 [[ 7.37167661e-01 -6.75309287e-01 -2.32638544e-02 7.42235884e+01] [ 6.75133689e-01 7.37523910e-01 -1.59054915e-02 2.80319914e+01] [ 2.78987750e-02 -3.98119784e-03 9.99602825e-01 1.85503348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.832755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:74.24, Y:28.05, Z:1.85 [[ 7.36481446e-01 -6.76145503e-01 -2.05508995e-02 7.42414229e+01] [ 6.75797330e-01 7.36764922e-01 -2.18041168e-02 2.80528845e+01] [ 2.98839374e-02 2.17008439e-03 9.99551020e-01 1.85204241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.26, Y:28.07, Z:1.86 [[ 7.36228480e-01 -6.76381073e-01 -2.18235961e-02 7.42642131e+01] [ 6.76119571e-01 7.36551318e-01 -1.88276555e-02 2.80714369e+01] [ 2.88088683e-02 -8.93904229e-04 9.99584539e-01 1.85542345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:28.09, Z:1.86 [[ 7.35759395e-01 -6.76840045e-01 -2.33594930e-02 7.42859294e+01] [ 6.76650586e-01 7.36120762e-01 -1.64380269e-02 2.80893497e+01] [ 2.83213227e-02 -3.71178187e-03 9.99591979e-01 1.85680763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:28.11, Z:1.86 [[ 7.35807200e-01 -6.76850745e-01 -2.14670078e-02 7.43052468e+01] [ 6.76595880e-01 7.36119797e-01 -1.85919138e-02 2.81090042e+01] [ 2.83862401e-02 -8.44424968e-04 9.99596673e-01 1.85668840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.952755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:74.33, Y:28.13, Z:1.86 [[ 7.35319391e-01 -6.77360230e-01 -2.21023269e-02 7.43250603e+01] [ 6.77090074e-01 7.35650961e-01 -1.91492646e-02 2.81269033e+01] [ 2.92305482e-02 -8.84440580e-04 9.99572305e-01 1.85609263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:28.15, Z:1.86 [[ 7.36380552e-01 -6.76216087e-01 -2.18056405e-02 7.43451375e+01] [ 6.75952440e-01 7.36702875e-01 -1.88989986e-02 2.81463888e+01] [ 2.88440849e-02 -8.22720921e-04 9.99583584e-01 1.85815666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:28.16, Z:1.86 [[ 7.37797831e-01 -6.74614218e-01 -2.34524594e-02 7.43668804e+01] [ 6.74441548e-01 7.38158824e-01 -1.58161169e-02 2.81630809e+01] [ 2.79814172e-02 -4.14821621e-03 9.99599836e-01 1.85943707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.39, Y:28.19, Z:1.86 [[ 7.37471629e-01 -6.75076661e-01 -2.01766697e-02 7.43854237e+01] [ 6.74718125e-01 7.37742517e-01 -2.21682291e-02 2.81862785e+01] [ 2.98504412e-02 2.73487528e-03 9.99550635e-01 1.85800699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:28.20, Z:1.86 [[ 7.40356506e-01 -6.71814294e-01 -2.31905001e-02 7.44068204e+01] [ 6.71576514e-01 7.40716237e-01 -1.80123009e-02 2.82030902e+01] [ 2.92785011e-02 -2.23867108e-03 9.99568786e-01 1.86057661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.43, Y:28.22, Z:1.86 [[ 7.41114556e-01 -6.71057380e-01 -2.07655371e-02 7.44258492e+01] [ 6.70689719e-01 7.41400681e-01 -2.23680872e-02 2.82245467e+01] [ 3.04058533e-02 2.65008273e-03 9.99534122e-01 1.85939307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:28.24, Z:1.86 [[ 7.41809038e-01 -6.70250234e-01 -2.19994399e-02 7.44465722e+01] [ 6.70034386e-01 7.42132394e-01 -1.71298384e-02 2.82426573e+01] [ 2.78077752e-02 -2.03331231e-03 9.99611221e-01 1.86136032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.46, Y:28.27, Z:1.86 [[ 7.43529446e-01 -6.68414372e-01 -1.96517332e-02 7.44648211e+01] [ 6.67933386e-01 7.43762443e-01 -2.61231870e-02 2.82654652e+01] [ 3.20773347e-02 6.29731011e-03 9.99465551e-01 1.86166356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:28.27, Z:1.87 [[ 7.45213155e-01 -6.65827280e-01 -3.64881731e-02 7.44958048e+01] [ 6.65817751e-01 7.45979636e-01 -1.41811800e-02 2.82738948e+01] [ 3.66616506e-02 -1.37264715e-02 9.99233460e-01 1.87286921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.222755096 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:74.50, Y:28.31, Z:1.86 [[ 7.45212588e-01 -6.66687654e-01 -1.36297848e-02 7.45010913e+01] [ 6.65905699e-01 7.45101613e-01 -3.73254172e-02 2.83060883e+01] [ 3.50399695e-02 1.87392194e-02 9.99210209e-01 1.86228090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:28.31, Z:1.87 [[ 7.44898530e-01 -6.66417894e-01 -3.18334835e-02 7.45358458e+01] [ 6.66466116e-01 7.45459689e-01 -1.06191875e-02 2.83116418e+01] [ 3.08073953e-02 -1.33057209e-02 9.99436772e-01 1.87092883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:28.34, Z:1.87 [[ 7.44397110e-01 -6.67491651e-01 -1.81063376e-02 7.45476461e+01] [ 6.66911604e-01 7.44551346e-01 -2.95331123e-02 2.83402264e+01] [ 3.31942039e-02 9.90903679e-03 9.99399798e-01 1.86604364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:28.35, Z:1.87 [[ 7.44287426e-01 -6.67195268e-01 -2.97775456e-02 7.45762063e+01] [ 6.67181634e-01 7.44800883e-01 -1.18452902e-02 2.83489279e+01] [ 3.00814638e-02 -1.10507310e-02 9.99486362e-01 1.87205212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.342755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.59, Y:28.37, Z:1.87 [[ 7.43587490e-01 -6.68238831e-01 -2.31194563e-02 7.45926685e+01] [ 6.67936907e-01 7.43946646e-01 -2.00917131e-02 2.83714992e+01] [ 3.06257049e-02 -5.02391673e-04 9.99530797e-01 1.86894600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.61, Y:28.39, Z:1.87 [[ 7.43442551e-01 -6.68355728e-01 -2.43679073e-02 7.46136887e+01] [ 6.68198342e-01 7.43825653e-01 -1.53093011e-02 2.83862254e+01] [ 2.83575336e-02 -4.90100936e-03 9.99585829e-01 1.87140302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:28.41, Z:1.87 [[ 7.40970829e-01 -6.71346372e-01 -1.60087267e-02 7.46307401e+01] [ 6.70817725e-01 7.41069819e-01 -2.86199806e-02 2.84145762e+01] [ 3.10775044e-02 1.04676331e-02 9.99462164e-01 1.86993245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43275509600001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:74.66, Y:28.42, Z:1.88 [[ 7.39243828e-01 -6.72780099e-01 -2.97573525e-02 7.46618573e+01] [ 6.72947846e-01 7.39669762e-01 -5.46265277e-03 2.84197775e+01] [ 2.56857779e-02 -1.59869139e-02 9.99542225e-01 1.87652784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:28.45, Z:1.87 [[ 7.37961632e-01 -6.74728375e-01 -1.24197754e-02 7.46721078e+01] [ 6.74165625e-01 7.37920585e-01 -3.12076887e-02 2.84518907e+01] [ 3.02215210e-02 1.46570912e-02 9.99435755e-01 1.87085866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:28.46, Z:1.88 [[ 7.36602637e-01 -6.75976518e-01 -2.17325228e-02 7.46984853e+01] [ 6.75660093e-01 7.36922954e-01 -2.06881495e-02 2.84639128e+01] [ 2.99998982e-02 5.55147133e-04 9.99549748e-01 1.87562715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.522755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.72, Y:28.48, Z:1.88 [[ 7.33512859e-01 -6.79142591e-01 -2.69114462e-02 7.47235215e+01] [ 6.79069050e-01 7.33955954e-01 -1.31864970e-02 2.84783665e+01] [ 2.87073279e-02 -8.60226511e-03 9.99550844e-01 1.87705331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:28.50, Z:1.88 [[ 7.32970168e-01 -6.79920006e-01 -2.15294669e-02 7.47418998e+01] [ 6.79661644e-01 7.33285763e-01 -1.87626972e-02 2.85006744e+01] [ 2.85443848e-02 -8.80255565e-04 9.99592138e-01 1.87669851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:28.52, Z:1.88 [[ 7.32020680e-01 -6.80913315e-01 -2.24228101e-02 7.47624041e+01] [ 6.80633149e-01 7.32363407e-01 -1.95539408e-02 2.85196705e+01] [ 2.97361842e-02 -9.47818856e-04 9.99557333e-01 1.87710259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.612755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:74.78, Y:28.54, Z:1.88 [[ 7.31448384e-01 -6.81473372e-01 -2.40271675e-02 7.47836161e+01] [ 6.81151528e-01 7.31842185e-01 -2.09669550e-02 2.85384044e+01] [ 3.18725163e-02 -1.02989651e-03 9.99491412e-01 1.87661697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.80, Y:28.56, Z:1.88 [[ 7.31751421e-01 -6.81160714e-01 -2.36630265e-02 7.48036421e+01] [ 6.80848008e-01 7.32133251e-01 -2.06613650e-02 2.85570422e+01] [ 3.13981987e-02 -9.91941284e-04 9.99506463e-01 1.87847358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:28.58, Z:1.88 [[ 7.31832277e-01 -6.81051607e-01 -2.42946026e-02 7.48238473e+01] [ 6.80721681e-01 7.32234725e-01 -2.12202773e-02 2.85750987e+01] [ 3.22414556e-02 -1.00817892e-03 9.99479601e-01 1.87931497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:28.59, Z:1.88 [[ 7.32471511e-01 -6.80327967e-01 -2.52852307e-02 7.48444899e+01] [ 6.79969862e-01 7.32907114e-01 -2.20940861e-02 2.85934975e+01] [ 3.35629501e-02 -1.00990621e-03 9.99436095e-01 1.88065431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:28.61, Z:1.88 [[ 7.32979706e-01 -6.79765347e-01 -2.56870195e-02 7.48648336e+01] [ 6.79394988e-01 7.33428996e-01 -2.24579182e-02 2.86110362e+01] [ 3.41057195e-02 -9.90434043e-04 9.99417740e-01 1.88184992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:28.63, Z:1.88 [[ 7.33381652e-01 -6.79325123e-01 -2.58598031e-02 7.48855351e+01] [ 6.78949200e-01 7.33836791e-01 -2.26174348e-02 2.86292891e+01] [ 3.43414666e-02 -9.70280922e-04 9.99409687e-01 1.88296320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:28.65, Z:1.88 [[ 7.33194895e-01 -6.79526936e-01 -2.58532236e-02 7.49069015e+01] [ 6.79150874e-01 7.33649918e-01 -2.26249534e-02 2.86482246e+01] [ 3.43414806e-02 -9.69739097e-04 9.99409687e-01 1.88378940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:28.67, Z:1.89 [[ 7.34384990e-01 -6.78210306e-01 -2.66358123e-02 7.49275781e+01] [ 6.77809776e-01 7.34867283e-01 -2.33234512e-02 2.86672562e+01] [ 3.53919920e-02 -9.25621434e-04 9.99373079e-01 1.88520350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:28.69, Z:1.89 [[ 7.34934337e-01 -6.77613590e-01 -2.66710077e-02 7.49474295e+01] [ 6.77211118e-01 7.35417592e-01 -2.33680759e-02 2.86856580e+01] [ 3.54488541e-02 -8.87901566e-04 9.99371097e-01 1.88632367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:28.71, Z:1.89 [[ 7.36088677e-01 -6.76350833e-01 -2.68888562e-02 7.49681859e+01] [ 6.75940567e-01 7.36579166e-01 -2.35686741e-02 2.87051284e+01] [ 3.57464637e-02 -8.26634528e-04 9.99360549e-01 1.88815458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:28.72, Z:1.89 [[ 7.36586834e-01 -6.75818760e-01 -2.66240669e-02 7.49883134e+01] [ 6.75415693e-01 7.37067427e-01 -2.33505904e-02 2.87230385e+01] [ 3.54044995e-02 -7.82575141e-04 9.99372758e-01 1.88966530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.01, Y:28.74, Z:1.89 [[ 7.36901621e-01 -6.75490580e-01 -2.62388443e-02 7.50093957e+01] [ 6.75098514e-01 7.37368237e-01 -2.30234452e-02 2.87418490e+01] [ 3.48998107e-02 -7.47790667e-04 9.99390536e-01 1.89089422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:28.75, Z:1.90 [[ 7.39384703e-01 -6.71915299e-01 -4.28962860e-02 7.50452806e+01] [ 6.72176904e-01 7.40320927e-01 -1.01555714e-02 2.87509349e+01] [ 3.85807020e-02 -2.13250186e-02 9.99027914e-01 1.90351604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.04, Y:28.79, Z:1.89 [[ 7.37792558e-01 -6.74897822e-01 -1.32314447e-02 7.50433761e+01] [ 6.74091012e-01 7.37659580e-01 -3.82053794e-02 2.87879710e+01] [ 3.55450293e-02 1.92684466e-02 9.99182305e-01 1.88886235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.07, Y:28.80, Z:1.90 [[ 7.37855431e-01 -6.74437239e-01 -2.65287305e-02 7.50717937e+01] [ 6.74034398e-01 7.38331871e-01 -2.33168998e-02 2.87977488e+01] [ 3.53127928e-02 -6.76775806e-04 9.99376080e-01 1.89519164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:28.82, Z:1.90 [[ 7.37983792e-01 -6.74272696e-01 -2.71340167e-02 7.50927944e+01] [ 6.73850598e-01 7.38482145e-01 -2.38640498e-02 2.88170908e+01] [ 3.61288641e-02 -6.72991458e-04 9.99346913e-01 1.89641009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:28.84, Z:1.90 [[ 7.38154007e-01 -6.74067998e-01 -2.75861555e-02 7.51133057e+01] [ 6.73631006e-01 7.38669002e-01 -2.42770113e-02 2.88362918e+01] [ 3.67413943e-02 -6.62716480e-04 9.99324587e-01 1.89715431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:28.86, Z:1.90 [[ 7.37828501e-01 -6.74399735e-01 -2.81798017e-02 7.51340834e+01] [ 6.73943362e-01 7.38366124e-01 -2.48155485e-02 2.88552931e+01] [ 3.75426103e-02 -6.81971362e-04 9.99294795e-01 1.89832583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:28.87, Z:1.90 [[ 7.37664214e-01 -6.74547438e-01 -2.89354688e-02 7.51547491e+01] [ 6.74065786e-01 7.38231175e-01 -2.54960409e-02 2.88734225e+01] [ 3.85593542e-02 -6.96892529e-04 9.99256069e-01 1.89987160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:28.89, Z:1.90 [[ 7.37137087e-01 -6.75116620e-01 -2.90940652e-02 7.51756417e+01] [ 6.74629685e-01 7.37710667e-01 -2.56468465e-02 2.88920205e+01] [ 3.87776145e-02 -7.22478323e-04 9.99247604e-01 1.90110870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:28.91, Z:1.90 [[ 7.36528119e-01 -6.75769917e-01 -2.93487345e-02 7.51968246e+01] [ 6.75274278e-01 7.37112240e-01 -2.58881165e-02 2.89110053e+01] [ 3.91277218e-02 -7.51119718e-04 9.99233935e-01 1.90222133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:28.93, Z:1.90 [[ 7.35306926e-01 -6.77096246e-01 -2.94006396e-02 7.52165342e+01] [ 6.76599296e-01 7.35894024e-01 -2.59495359e-02 2.89294407e+01] [ 3.92060884e-02 -8.11578568e-04 9.99230816e-01 1.90353234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.23, Y:28.96, Z:1.89 [[ 7.34073077e-01 -6.79038247e-01 -6.61640214e-03 7.52272705e+01] [ 6.78159535e-01 7.33558055e-01 -4.46343485e-02 2.89636486e+01] [ 3.51619449e-02 2.82778973e-02 9.98981480e-01 1.88688402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:28.96, Z:1.91 [[ 7.33277318e-01 -6.78199952e-01 -4.84685480e-02 7.52708609e+01] [ 6.78832776e-01 7.34279427e-01 -4.44815193e-03 2.89558872e+01] [ 3.86061941e-02 -2.96403101e-02 9.98814805e-01 1.91472943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:28.99, Z:1.91 [[ 7.32677535e-01 -6.79927417e-01 -2.97041729e-02 7.52799946e+01] [ 6.79421128e-01 7.33278807e-01 -2.62511297e-02 2.89867025e+01] [ 3.96303033e-02 -9.48029694e-04 9.99213961e-01 1.90798649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.30, Y:29.01, Z:1.91 [[ 7.32085581e-01 -6.80552375e-01 -2.99861125e-02 7.53011334e+01] [ 6.80036488e-01 7.32698778e-01 -2.65118196e-02 2.90058095e+01] [ 4.00134698e-02 -9.82729770e-04 9.99198657e-01 1.90945583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.392755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.31, Y:29.04, Z:1.89 [[ 7.30116160e-01 -6.83236599e-01 -1.08693986e-02 7.53107872e+01] [ 6.82309666e-01 7.29807121e-01 -4.28379080e-02 2.90378247e+01] [ 3.72009911e-02 2.38603531e-02 9.99022908e-01 1.89473744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:29.03, Z:1.92 [[ 7.31193141e-01 -6.80545939e-01 -4.70512048e-02 7.53527606e+01] [ 6.80981266e-01 7.32251076e-01 -8.53677123e-03 2.90332512e+01] [ 4.02629603e-02 -2.57989604e-02 9.98855999e-01 1.91969158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.36, Y:29.07, Z:1.91 [[ 7.31221891e-01 -6.81881155e-01 -1.87786211e-02 7.53588004e+01] [ 6.81028127e-01 7.31324609e-01 -3.69459802e-02 2.90710675e+01] [ 3.89260354e-02 1.42269403e-02 9.99140810e-01 1.90503562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.482755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:75.37, Y:29.09, Z:1.90 [[ 7.29755882e-01 -6.83509531e-01 -1.64643050e-02 7.53736251e+01] [ 6.82731114e-01 7.29788793e-01 -3.58684178e-02 2.90900911e+01] [ 3.65318707e-02 1.49344955e-02 9.99220888e-01 1.89768160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:29.10, Z:1.91 [[ 7.30910642e-01 -6.81919609e-01 -2.74823523e-02 7.54024508e+01] [ 6.81536816e-01 7.31424477e-01 -2.29303983e-02 2.91021446e+01] [ 3.57379534e-02 -1.97016278e-03 9.99359253e-01 1.90585327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:29.12, Z:1.91 [[ 7.32451799e-01 -6.80189292e-01 -2.92726548e-02 7.54255273e+01] [ 6.79702405e-01 7.33035782e-01 -2.57523620e-02 2.91228989e+01] [ 3.89743843e-02 -1.03432999e-03 9.99239675e-01 1.90991607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:29.14, Z:1.91 [[ 7.32777969e-01 -6.79701131e-01 -3.22927307e-02 7.54483924e+01] [ 6.79524358e-01 7.33435659e-01 -1.78544312e-02 2.91376598e+01] [ 3.58203173e-02 -8.86036327e-03 9.99318968e-01 1.91195136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:29.16, Z:1.91 [[ 7.33515781e-01 -6.79042153e-01 -2.92635222e-02 7.54681694e+01] [ 6.78513225e-01 7.34099254e-01 -2.67971806e-02 2.91610156e+01] [ 3.96787450e-02 -1.99531887e-04 9.99212469e-01 1.91417342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:29.18, Z:1.92 [[ 7.34646201e-01 -6.77860458e-01 -2.82870784e-02 7.54896575e+01] [ 6.77276562e-01 7.35188978e-01 -2.81713344e-02 2.91817513e+01] [ 3.98925819e-02 1.53778856e-03 9.99202791e-01 1.91579053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:29.19, Z:1.92 [[ 7.36002499e-01 -6.75830968e-01 -3.94058869e-02 7.55150775e+01] [ 6.75754910e-01 7.36924788e-01 -1.72383012e-02 2.91915592e+01] [ 4.06893526e-02 -1.39412888e-02 9.99074580e-01 1.92398871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:29.22, Z:1.92 [[ 7.36237890e-01 -6.76245375e-01 -2.54157933e-02 7.55295667e+01] [ 6.75319798e-01 7.36610308e-01 -3.67209024e-02 2.92228362e+01] [ 4.35538757e-02 9.87153131e-03 9.99002309e-01 1.91921829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.722755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:75.56, Y:29.23, Z:1.93 [[ 7.35355261e-01 -6.76662973e-01 -3.71464926e-02 7.55573301e+01] [ 6.76385675e-01 7.36233917e-01 -2.14950691e-02 2.92344026e+01] [ 4.18934251e-02 -9.31884330e-03 9.99078626e-01 1.92510811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.752755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.57, Y:29.26, Z:1.92 [[ 7.35914142e-01 -6.76507478e-01 -2.77129598e-02 7.55731230e+01] [ 6.75833879e-01 7.36426752e-01 -3.04007752e-02 2.92599149e+01] [ 4.09749167e-02 3.64300329e-03 9.99153534e-01 1.92376136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:29.27, Z:1.93 [[ 7.36208003e-01 -6.75453302e-01 -4.19596549e-02 7.55997762e+01] [ 6.75398749e-01 7.37242455e-01 -1.76094470e-02 2.92700817e+01] [ 4.28287981e-02 -1.53752826e-02 9.98964111e-01 1.93469220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:29.30, Z:1.93 [[ 7.35998104e-01 -6.76225253e-01 -3.20343344e-02 7.56145328e+01] [ 6.75623744e-01 7.36694635e-01 -2.85231832e-02 2.92956901e+01] [ 4.28876190e-02 -6.50148181e-04 9.99079691e-01 1.93179875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.842755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:75.63, Y:29.32, Z:1.92 [[ 7.34979310e-01 -6.77845710e-01 -1.81826152e-02 7.56284931e+01] [ 6.76935705e-01 7.35028453e-01 -3.86163794e-02 2.93233108e+01] [ 3.95406866e-02 1.60737785e-02 9.99088669e-01 1.92022212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.872755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.65, Y:29.34, Z:1.93 [[ 7.34916928e-01 -6.77609193e-01 -2.72560172e-02 7.56539790e+01] [ 6.77071082e-01 7.35420817e-01 -2.70364802e-02 2.93358082e+01] [ 3.83648099e-02 1.41530590e-03 9.99262797e-01 1.92613454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:29.35, Z:1.94 [[ 7.34491116e-01 -6.77252281e-01 -4.30365952e-02 7.56829153e+01] [ 6.77401765e-01 7.35494196e-01 -1.32339377e-02 2.93450951e+01] [ 4.06158805e-02 -1.94328559e-02 9.98985843e-01 1.93978487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:29.38, Z:1.92 [[ 7.33421137e-01 -6.79604472e-01 -1.52051535e-02 7.56879756e+01] [ 6.78778938e-01 7.33373890e-01 -3.77079689e-02 2.93813168e+01] [ 3.67775669e-02 1.73348835e-02 9.99173114e-01 1.92405525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.72, Y:29.39, Z:1.93 [[ 7.33713022e-01 -6.78814013e-01 -2.96097478e-02 7.57185315e+01] [ 6.78456292e-01 7.34300944e-01 -2.23424297e-02 2.93902328e+01] [ 3.69088201e-02 -3.69598802e-03 9.99311803e-01 1.93222510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:29.40, Z:1.94 [[ 7.33025398e-01 -6.79036951e-01 -3.97817200e-02 7.57432096e+01] [ 6.79019690e-01 7.33945260e-01 -1.60192565e-02 2.94035675e+01] [ 4.00752719e-02 -1.52700493e-02 9.99079976e-01 1.94138256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:29.43, Z:1.94 [[ 7.32202330e-01 -6.80418614e-01 -3.01704912e-02 7.57577078e+01] [ 6.79884972e-01 7.32823244e-01 -2.69539874e-02 2.94285002e+01] [ 4.04496320e-02 -7.76691201e-04 9.99181277e-01 1.93802721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.78, Y:29.45, Z:1.94 [[ 7.31825641e-01 -6.80818921e-01 -3.02791630e-02 7.57779990e+01] [ 6.80281343e-01 7.32451340e-01 -2.70615721e-02 2.94471119e+01] [ 4.06020439e-02 -7.93997287e-04 9.99175082e-01 1.93882035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:29.48, Z:1.93 [[ 7.31120353e-01 -6.82087715e-01 -1.48114339e-02 7.57905775e+01] [ 6.81193440e-01 7.31024557e-01 -3.97315357e-02 2.94763936e+01] [ 3.79279143e-02 1.89590828e-02 9.99100609e-01 1.92717664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:29.48, Z:1.95 [[ 7.31080162e-01 -6.80893540e-01 -4.36552973e-02 7.58259469e+01] [ 6.81084714e-01 7.32095583e-01 -1.26360544e-02 2.94769884e+01] [ 4.05636582e-02 -2.04949869e-02 9.98966739e-01 1.94553125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:29.51, Z:1.93 [[ 7.30771409e-01 -6.82456691e-01 -1.50337038e-02 7.58314497e+01] [ 6.81576253e-01 7.30693389e-01 -3.92553527e-02 2.95144714e+01] [ 3.77751061e-02 1.84400739e-02 9.99116112e-01 1.92903447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:29.52, Z:1.95 [[ 7.30300166e-01 -6.81750306e-01 -4.33380567e-02 7.58662381e+01] [ 6.81918688e-01 7.31311244e-01 -1.30678143e-02 2.95160135e+01] [ 4.06025945e-02 -2.00096038e-02 9.98974997e-01 1.94725896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:29.54, Z:1.94 [[ 7.30566733e-01 -6.82126612e-01 -3.12335359e-02 7.58837228e+01] [ 6.81661411e-01 7.31228808e-01 -2.53406993e-02 2.95437009e+01] [ 4.01244266e-02 -2.77762421e-03 9.99190830e-01 1.94251543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:29.56, Z:1.94 [[ 7.29222137e-01 -6.83686314e-01 -2.84270750e-02 7.58992882e+01] [ 6.83122915e-01 7.29775542e-01 -2.77622188e-02 2.95637864e+01] [ 3.97260332e-02 8.25638169e-04 9.99210268e-01 1.94338473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.92, Y:29.58, Z:1.94 [[ 7.27746943e-01 -6.85280778e-01 -2.78323939e-02 7.59186737e+01] [ 6.84826823e-01 7.28278413e-01 -2.49554653e-02 2.95823274e+01] [ 3.73712324e-02 -8.99106264e-04 9.99301047e-01 1.94447243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:29.60, Z:1.95 [[ 7.26956511e-01 -6.86164843e-01 -2.66840615e-02 7.59389425e+01] [ 6.85747834e-01 7.27445531e-01 -2.39354721e-02 2.96016982e+01] [ 3.58348808e-02 -8.98490073e-04 9.99357321e-01 1.94515274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.96, Y:29.62, Z:1.95 [[ 7.26168177e-01 -6.87022090e-01 -2.60849976e-02 7.59589277e+01] [ 6.86623642e-01 7.26635962e-01 -2.34126589e-02 2.96207969e+01] [ 3.50393112e-02 -9.09048229e-04 9.99385521e-01 1.94630096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:29.64, Z:1.95 [[ 7.24663070e-01 -6.88646582e-01 -2.50862603e-02 7.59781278e+01] [ 6.88278569e-01 7.25096547e-01 -2.25301763e-02 2.96401968e+01] [ 3.37052896e-02 -9.39548595e-04 9.99431374e-01 1.94672986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:29.66, Z:1.95 [[ 7.23872346e-01 -6.89488968e-01 -2.47747713e-02 7.59989794e+01] [ 6.89130279e-01 7.24295547e-01 -2.22580254e-02 2.96597153e+01] [ 3.32909195e-02 -9.61076040e-04 9.99445242e-01 1.94703188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.412755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.02, Y:29.68, Z:1.95 [[ 7.23136441e-01 -6.90272439e-01 -2.44468137e-02 7.60197299e+01] [ 6.89923187e-01 7.23548900e-01 -2.19769217e-02 2.96789070e+01] [ 3.28585285e-02 -9.74110674e-04 9.99459538e-01 1.94676893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:29.70, Z:1.95 [[ 7.22590061e-01 -6.90840592e-01 -2.45536009e-02 7.60392334e+01] [ 6.90488144e-01 7.23006423e-01 -2.20870061e-02 2.96981945e+01] [ 3.30110115e-02 -9.94119195e-04 9.99454494e-01 1.94805333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.472755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.06, Y:29.72, Z:1.95 [[ 7.22520229e-01 -6.90932741e-01 -2.40097085e-02 7.60586082e+01] [ 6.90595551e-01 7.22918394e-01 -2.16050938e-02 2.97167079e+01] [ 3.22847265e-02 -9.70880552e-04 9.99478241e-01 1.94821393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:29.74, Z:1.95 [[ 7.22831807e-01 -6.90596978e-01 -2.42897875e-02 7.60787643e+01] [ 6.90251446e-01 7.23239165e-01 -2.18643916e-02 2.97366051e+01] [ 3.26668084e-02 -9.61783240e-04 9.99465835e-01 1.94814225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:29.76, Z:1.95 [[ 7.23084551e-01 -6.90330981e-01 -2.43283594e-02 7.60987401e+01] [ 6.89983747e-01 7.23493090e-01 -2.19129556e-02 2.97551939e+01] [ 3.27285921e-02 -9.41252890e-04 9.99463833e-01 1.94856717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.562755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.12, Y:29.77, Z:1.95 [[ 7.23635592e-01 -6.89728151e-01 -2.50321546e-02 7.61198051e+01] [ 6.89359843e-01 7.24067819e-01 -2.25565975e-02 2.97738593e+01] [ 3.36828979e-02 -9.33405376e-04 9.99432134e-01 1.94937040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:29.79, Z:1.95 [[ 7.24126896e-01 -6.89227726e-01 -2.46044788e-02 7.61397664e+01] [ 6.88871161e-01 7.24544243e-01 -2.21847664e-02 2.97914958e+01] [ 3.31173896e-02 -8.84729893e-04 9.99451077e-01 1.94978096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:29.81, Z:1.95 [[ 7.25099012e-01 -6.88218038e-01 -2.42353957e-02 7.61609817e+01] [ 6.87871300e-01 7.25503451e-01 -2.18590106e-02 2.98099721e+01] [ 3.26266286e-02 -8.20886215e-04 9.99467273e-01 1.95016980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:29.83, Z:1.95 [[ 7.25697429e-01 -6.87587910e-01 -2.42096467e-02 7.61819813e+01] [ 6.87241131e-01 7.26100719e-01 -2.18489052e-02 2.98286146e+01] [ 3.26016850e-02 -7.82170636e-04 9.99468118e-01 1.95086859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:29.85, Z:1.95 [[ 7.25569315e-01 -6.87723334e-01 -2.42029951e-02 7.62030448e+01] [ 6.87376385e-01 7.25972458e-01 -2.18562710e-02 2.98478440e+01] [ 3.26017754e-02 -7.78327719e-04 9.99468118e-01 1.95184484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.22, Y:29.87, Z:1.95 [[ 7.26638615e-01 -6.86631555e-01 -2.30961281e-02 7.62241850e+01] [ 6.86314855e-01 7.27005248e-01 -2.08635933e-02 2.98665565e+01] [ 3.11166078e-02 -6.90923321e-04 9.99515522e-01 1.95206058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:29.88, Z:1.95 [[ 7.27208699e-01 -6.86037987e-01 -2.27900871e-02 7.62447038e+01] [ 6.85728923e-01 7.27565435e-01 -2.06005398e-02 2.98848808e+01] [ 3.07140325e-02 -6.46930195e-04 9.99528003e-01 1.95300237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.27, Y:29.90, Z:1.95 [[ 7.27561189e-01 -6.85693984e-01 -2.18740810e-02 7.62654202e+01] [ 6.85408894e-01 7.27889688e-01 -1.97800366e-02 2.99031237e+01] [ 2.94849701e-02 -6.01502748e-04 9.99565043e-01 1.95349460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:29.92, Z:1.95 [[ 7.28094886e-01 -6.85153616e-01 -2.10323293e-02 7.62860323e+01] [ 6.84889471e-01 7.28398395e-01 -1.90313377e-02 2.99209339e+01] [ 2.83593047e-02 -5.48201203e-04 9.99597644e-01 1.95443645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.31, Y:29.94, Z:1.96 [[ 7.28202058e-01 -6.85037901e-01 -2.10911772e-02 7.63073323e+01] [ 6.84772067e-01 7.28507228e-01 -1.90901651e-02 2.99398484e+01] [ 2.84425617e-02 -5.41151554e-04 9.99595282e-01 1.95542933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.33, Y:29.96, Z:1.96 [[ 7.28130074e-01 -6.85113662e-01 -2.11155201e-02 7.63283550e+01] [ 6.84846916e-01 7.28435984e-01 -1.91237889e-02 2.99587355e+01] [ 2.84832737e-02 -5.36293007e-04 9.99594125e-01 1.95611982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:29.98, Z:1.96 [[ 7.27975182e-01 -6.85279888e-01 -2.10620282e-02 7.63482376e+01] [ 6.85014186e-01 7.28279611e-01 -1.90885596e-02 2.99769814e+01] [ 2.84200517e-02 -5.31790456e-04 9.99595927e-01 1.95665471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.37, Y:30.00, Z:1.96 [[ 7.27568229e-01 -6.85716932e-01 -2.08988195e-02 7.63685292e+01] [ 6.85455358e-01 7.27868117e-01 -1.89461405e-02 2.99959173e+01] [ 2.82032738e-02 -5.40597929e-04 9.99602062e-01 1.95731040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:30.01, Z:1.96 [[ 7.27311707e-01 -6.85972955e-01 -2.14192859e-02 7.63887483e+01] [ 6.85697901e-01 7.27626826e-01 -1.94316764e-02 3.00142043e+01] [ 2.89148515e-02 -5.54273639e-04 9.99581725e-01 1.95864891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.41, Y:30.03, Z:1.96 [[ 7.26649018e-01 -6.86691875e-01 -2.08679862e-02 7.64096165e+01] [ 6.86430947e-01 7.26948382e-01 -1.89368645e-02 3.00324960e+01] [ 2.81737398e-02 -5.63977559e-04 9.99602882e-01 1.95953044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:30.05, Z:1.96 [[ 7.25964778e-01 -6.87419401e-01 -2.07294072e-02 7.64301499e+01] [ 6.87161899e-01 7.26260443e-01 -1.88227201e-02 3.00509955e+01] [ 2.79940514e-02 -5.79826972e-04 9.99607922e-01 1.96034476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:30.07, Z:1.96 [[ 7.24841778e-01 -6.88588834e-01 -2.12088304e-02 7.64506151e+01] [ 6.88319399e-01 7.25151723e-01 -1.92713163e-02 3.00684374e+01] [ 2.86496331e-02 -6.29794191e-04 9.99589317e-01 1.96100358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.47, Y:30.09, Z:1.96 [[ 7.23908402e-01 -6.89555500e-01 -2.16757438e-02 7.64704760e+01] [ 6.89274297e-01 7.24232527e-01 -1.97025407e-02 3.00861687e+01] [ 2.92842741e-02 -6.77698307e-04 9.99570894e-01 1.96201970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.49, Y:30.11, Z:1.96 [[ 7.23029343e-01 -6.90467797e-01 -2.19725038e-02 7.64914597e+01] [ 6.90179080e-01 7.23362774e-01 -1.99783261e-02 3.01052896e+01] [ 2.96884821e-02 -7.20046509e-04 9.99558941e-01 1.96248417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:30.12, Z:1.96 [[ 7.21510955e-01 -6.92037622e-01 -2.24915860e-02 7.65116843e+01] [ 6.91735473e-01 7.21860997e-01 -2.04630339e-02 3.01233844e+01] [ 3.03969880e-02 -7.93924774e-04 9.99537589e-01 1.96293214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:30.14, Z:1.96 [[ 7.20782804e-01 -6.92793640e-01 -2.25637530e-02 7.65322994e+01] [ 6.92489584e-01 7.21135424e-01 -2.05396244e-02 3.01419509e+01] [ 3.05012427e-02 -8.20555925e-04 9.99534392e-01 1.96372596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:30.16, Z:1.96 [[ 7.20202675e-01 -6.93401503e-01 -2.24156851e-02 7.65522023e+01] [ 6.93101352e-01 7.20550944e-01 -2.04169628e-02 3.01599221e+01] [ 3.03087958e-02 -8.31990433e-04 9.99540237e-01 1.96467128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:30.18, Z:1.97 [[ 7.19874122e-01 -6.93740829e-01 -2.24702158e-02 7.65728991e+01] [ 6.93439054e-01 7.20224239e-01 -2.04773770e-02 3.01783494e+01] [ 3.03895866e-02 -8.40591403e-04 9.99537776e-01 1.96646400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:30.20, Z:1.97 [[ 7.19924064e-01 -6.93684382e-01 -2.26123937e-02 7.65932152e+01] [ 6.93378373e-01 7.20278614e-01 -2.06191766e-02 3.01968466e+01] [ 3.05904243e-02 -8.34703356e-04 9.99531655e-01 1.96783561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:30.22, Z:1.97 [[ 7.19933486e-01 -6.93674961e-01 -2.26013911e-02 7.66140023e+01] [ 6.93368923e-01 7.20287696e-01 -2.06197027e-02 3.02160100e+01] [ 3.05828754e-02 -8.26287718e-04 9.99531893e-01 1.96908316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:30.23, Z:1.97 [[ 7.20257637e-01 -6.93346375e-01 -2.23548847e-02 7.66346263e+01] [ 6.93046440e-01 7.20604034e-01 -2.04073105e-02 3.02347739e+01] [ 3.02583549e-02 -7.94452046e-04 9.99541795e-01 1.96987736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:30.25, Z:1.98 [[ 7.22160892e-01 -6.90701894e-01 -3.76103813e-02 7.66673503e+01] [ 6.90895094e-01 7.22890173e-01 -9.68335360e-03 3.02458265e+01] [ 3.38764857e-02 -1.89918887e-02 9.99245561e-01 1.98115360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:30.28, Z:1.97 [[ 7.21018286e-01 -6.92866008e-01 -8.32628782e-03 7.66676026e+01] [ 6.92042690e-01 7.20660647e-01 -4.15348842e-02 3.02830225e+01] [ 3.47785374e-02 2.41852644e-02 9.99102360e-01 1.96809550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.70, Y:30.29, Z:1.98 [[ 7.21540545e-01 -6.91957609e-01 -2.39564125e-02 7.66971769e+01] [ 6.91426237e-01 7.21931354e-01 -2.72924696e-02 3.02922940e+01] [ 3.61801173e-02 3.12853121e-03 9.99340388e-01 1.97547709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.72, Y:30.30, Z:1.98 [[ 7.21178624e-01 -6.91963590e-01 -3.29815569e-02 7.67241276e+01] [ 6.91996627e-01 7.21796828e-01 -1.22477188e-02 3.03036463e+01] [ 3.22809587e-02 -1.39903332e-02 9.99380914e-01 1.97954230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:30.33, Z:1.98 [[ 7.21124380e-01 -6.92379414e-01 -2.42976445e-02 7.67395504e+01] [ 6.92023424e-01 7.21533170e-01 -2.22140860e-02 3.03280471e+01] [ 3.29121323e-02 -7.95420177e-04 9.99457933e-01 1.97713083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:30.35, Z:1.98 [[ 7.20959434e-01 -6.92545580e-01 -2.44563598e-02 7.67596975e+01] [ 6.92184518e-01 7.21373678e-01 -2.23742848e-02 3.03464469e+01] [ 3.31373863e-02 -7.97361935e-04 9.99450488e-01 1.97829131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.78, Y:30.36, Z:1.98 [[ 7.20701400e-01 -6.92805565e-01 -2.46969950e-02 7.67806319e+01] [ 6.92437247e-01 7.21123977e-01 -2.26024001e-02 3.03645402e+01] [ 3.34686638e-02 -8.11537809e-04 9.99439438e-01 1.97971271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:30.38, Z:1.98 [[ 7.20522557e-01 -6.92992798e-01 -2.46622418e-02 7.68005678e+01] [ 6.92625134e-01 7.20944053e-01 -2.25852908e-02 3.03826057e+01] [ 3.34315405e-02 -8.08477060e-04 9.99440683e-01 1.98044573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:30.40, Z:1.98 [[ 7.20629980e-01 -6.92862557e-01 -2.51775583e-02 7.68212844e+01] [ 6.92479006e-01 7.21069217e-01 -2.30653342e-02 3.04009515e+01] [ 3.41358687e-02 -8.13359276e-04 9.99416870e-01 1.98151827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:30.42, Z:1.98 [[ 7.20626139e-01 -6.92860441e-01 -2.53451773e-02 7.68419467e+01] [ 6.92471257e-01 7.21071256e-01 -2.32336247e-02 3.04197952e+01] [ 3.43733383e-02 -8.08049574e-04 9.99408736e-01 1.98240919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:30.44, Z:1.98 [[ 7.20671634e-01 -6.92814494e-01 -2.53075692e-02 7.68627270e+01] [ 6.92425936e-01 7.21115418e-01 -2.32137194e-02 3.04388346e+01] [ 3.43324796e-02 -7.94148232e-04 9.99410151e-01 1.98334458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:30.45, Z:1.99 [[ 7.22242054e-01 -6.90583554e-01 -3.82200275e-02 7.68937591e+01] [ 6.90619805e-01 7.23075240e-01 -1.43694996e-02 3.04509897e+01] [ 3.75592957e-02 -1.60172510e-02 9.99166026e-01 1.99265269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:30.48, Z:1.98 [[ 7.21489103e-01 -6.92188755e-01 -1.81163161e-02 7.69017609e+01] [ 6.91427060e-01 7.21606555e-01 -3.48224095e-02 3.04818646e+01] [ 3.71765328e-02 1.25978778e-02 9.99229302e-01 1.98401879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:30.50, Z:1.99 [[ 7.20221728e-01 -6.93239698e-01 -2.64458520e-02 7.69273894e+01] [ 6.92755544e-01 7.20707018e-01 -2.59065603e-02 3.04951023e+01] [ 3.70191672e-02 3.37957010e-04 9.99314499e-01 1.98728496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:30.51, Z:1.99 [[ 7.19621198e-01 -6.93829926e-01 -2.73013727e-02 7.69496660e+01] [ 6.93338959e-01 7.20138884e-01 -2.60974461e-02 3.05142398e+01] [ 3.77679692e-02 -1.48829909e-04 9.99286525e-01 1.98811238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:30.53, Z:1.99 [[ 7.18555591e-01 -6.94859264e-01 -2.91284289e-02 7.69696349e+01] [ 6.94461774e-01 7.19138679e-01 -2.37150591e-02 3.05308036e+01] [ 3.74260085e-02 -3.18799210e-03 9.99294316e-01 1.98998840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:30.55, Z:1.99 [[ 7.18168885e-01 -6.95302765e-01 -2.80627625e-02 7.69890065e+01] [ 6.94824353e-01 7.18716310e-01 -2.58066810e-02 3.05491750e+01] [ 3.81126217e-02 -9.65135514e-04 9.99272984e-01 1.99033832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:30.57, Z:1.99 [[ 7.17543607e-01 -6.95926877e-01 -2.85824117e-02 7.70107322e+01] [ 6.95430678e-01 7.18111943e-01 -2.62946616e-02 3.05669049e+01] [ 3.88245330e-02 -1.00951963e-03 9.99245534e-01 1.99120753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.03, Y:30.59, Z:1.99 [[ 7.17259506e-01 -6.96204409e-01 -2.89520717e-02 7.70319360e+01] [ 6.95694853e-01 7.17842858e-01 -2.66515148e-02 3.05855513e+01] [ 3.93379400e-02 -1.02575497e-03 9.99225437e-01 1.99211075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:30.60, Z:1.99 [[ 7.17305851e-01 -6.96141102e-01 -2.93237454e-02 7.70539910e+01] [ 6.95617637e-01 7.17904255e-01 -2.70108100e-02 3.06037079e+01] [ 3.98549767e-02 -1.02310239e-03 9.99204951e-01 1.99341923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:30.62, Z:1.99 [[ 7.17551482e-01 -6.95873290e-01 -2.96687530e-02 7.70754426e+01] [ 6.95336497e-01 7.18163873e-01 -2.73460636e-02 3.06221903e+01] [ 4.03364219e-02 -1.00755833e-03 9.99185647e-01 1.99472822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:30.64, Z:2.00 [[ 7.17787821e-01 -6.95622933e-01 -2.98224705e-02 7.70964965e+01] [ 6.95079643e-01 7.18406405e-01 -2.75050439e-02 3.06407295e+01] [ 4.05577932e-02 -9.86206640e-04 9.99176708e-01 1.99588495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.12, Y:30.66, Z:2.00 [[ 7.19434859e-01 -6.93900780e-01 -3.02521340e-02 7.71184699e+01] [ 6.93339465e-01 7.20070078e-01 -2.79189672e-02 3.06580537e+01] [ 4.11566496e-02 -8.89120206e-04 9.99152311e-01 1.99728564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:30.68, Z:2.00 [[ 7.20308555e-01 -6.92984089e-01 -3.04735516e-02 7.71391595e+01] [ 6.92413018e-01 7.20952399e-01 -2.81398484e-02 3.06758201e+01] [ 4.14704474e-02 -8.30910281e-04 9.99139385e-01 1.99833442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:30.69, Z:2.00 [[ 7.21241700e-01 -6.91992617e-01 -3.09294014e-02 7.71600300e+01] [ 6.91402957e-01 7.21904158e-01 -2.85716381e-02 3.06935006e+01] [ 4.20994261e-02 -7.77622729e-04 9.99113124e-01 1.99960790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:30.71, Z:2.00 [[ 7.23132168e-01 -6.89994494e-01 -3.14239784e-02 7.71823280e+01] [ 6.89383222e-01 7.23814315e-01 -2.90449819e-02 3.07110002e+01] [ 4.27860030e-02 -6.59802725e-04 9.99084042e-01 2.00115863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:30.73, Z:2.00 [[ 7.24018477e-01 -6.89051349e-01 -3.17093549e-02 7.72030270e+01] [ 6.88427277e-01 7.24712275e-01 -2.93258059e-02 3.07284740e+01] [ 4.31871449e-02 -5.97159514e-04 9.99066822e-01 2.00252102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:30.75, Z:2.00 [[ 7.25298305e-01 -6.87702796e-01 -3.17369343e-02 7.72245410e+01] [ 6.87075905e-01 7.25992152e-01 -2.93614879e-02 3.07450403e+01] [ 4.32327425e-02 -5.09845455e-04 9.99064898e-01 2.00399679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:30.77, Z:2.00 [[ 7.25063833e-01 -6.88038495e-01 -2.97567915e-02 7.72452171e+01] [ 6.87219959e-01 7.25662863e-01 -3.37955177e-02 3.07668258e+01] [ 4.48460156e-02 4.05444653e-03 9.98985684e-01 2.00483989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.27, Y:30.78, Z:2.01 [[ 7.25804852e-01 -6.87020454e-01 -3.47881091e-02 7.72688698e+01] [ 6.86555797e-01 7.26619700e-01 -2.57866204e-02 3.07792011e+01] [ 4.29936611e-02 -5.16792379e-03 9.99061979e-01 2.00802052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:30.80, Z:2.01 [[ 7.25463953e-01 -6.87554593e-01 -3.11566148e-02 7.72899232e+01] [ 6.86948835e-01 7.26132538e-01 -2.88588700e-02 3.07976698e+01] [ 4.24658804e-02 -4.66930380e-04 9.99097809e-01 2.00789662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:30.82, Z:2.01 [[ 7.24838241e-01 -6.88232084e-01 -3.07590996e-02 7.73119108e+01] [ 6.87641597e-01 7.25490427e-01 -2.85074406e-02 3.08153780e+01] [ 4.19351676e-02 -4.87953258e-04 9.99120215e-01 2.00928920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:30.83, Z:2.01 [[ 7.24034290e-01 -6.89067498e-01 -3.09891968e-02 7.73333020e+01] [ 6.88468190e-01 7.24696974e-01 -2.87375660e-02 3.08325559e+01] [ 4.22598998e-02 -5.28093055e-04 9.99106512e-01 2.01064570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:30.85, Z:2.01 [[ 7.23494731e-01 -6.89657610e-01 -3.04590787e-02 7.73548790e+01] [ 6.89078546e-01 7.24135406e-01 -2.82607560e-02 3.08489104e+01] [ 4.15467428e-02 -5.42189638e-04 9.99136414e-01 2.01229422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:30.85, Z:2.03 [[ 7.25161867e-01 -6.86153614e-01 -5.77363429e-02 7.73925403e+01] [ 6.86955678e-01 7.26658401e-01 -7.71136800e-03 3.08535991e+01] [ 4.72457816e-02 -3.40703186e-02 9.98302083e-01 2.03415087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:30.90, Z:2.00 [[ 7.24336484e-01 -6.89409789e-01 -7.12750123e-03 7.73832448e+01] [ 6.88213930e-01 7.23620688e-01 -5.22942323e-02 3.09013620e+01] [ 4.12097630e-02 3.29733748e-02 9.98606285e-01 2.00432054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.422755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.43, Y:30.90, Z:2.03 [[ 7.26490908e-01 -6.85631250e-01 -4.60515983e-02 7.74271047e+01] [ 6.85716854e-01 7.27683494e-01 -1.64051619e-02 3.08977544e+01] [ 4.47588796e-02 -1.96601561e-02 9.98804346e-01 2.02763418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:30.93, Z:2.02 [[ 7.26648903e-01 -6.86349939e-01 -3.00854379e-02 7.74384020e+01] [ 6.85605925e-01 7.27266549e-01 -3.20606067e-02 3.09265902e+01] [ 4.38849280e-02 2.67005023e-03 9.99033024e-01 2.02001441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.45, Y:30.95, Z:2.01 [[ 7.26870890e-01 -6.86481792e-01 -2.00364392e-02 7.74523193e+01] [ 6.85506422e-01 7.26992166e-01 -3.95390355e-02 3.09504937e+01] [ 4.17091623e-02 1.50046662e-02 9.99017120e-01 2.01237018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:30.96, Z:2.02 [[ 7.27270325e-01 -6.85577474e-01 -3.25791601e-02 7.74812915e+01] [ 6.85032668e-01 7.27995819e-01 -2.74286596e-02 3.09629639e+01] [ 4.25219635e-02 -2.36973873e-03 9.99092722e-01 2.01928310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.50, Y:30.98, Z:2.02 [[ 7.27209167e-01 -6.85741704e-01 -3.04161713e-02 7.74990806e+01] [ 6.85044523e-01 7.27843047e-01 -3.09596634e-02 3.09839128e+01] [ 4.33685311e-02 1.67771949e-03 9.99057734e-01 2.01924972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.52, Y:31.00, Z:2.02 [[ 7.27077314e-01 -6.85834829e-01 -3.14510334e-02 7.75192464e+01] [ 6.85208165e-01 7.27757192e-01 -2.93127921e-02 3.10022102e+01] [ 4.29924495e-02 -2.37838754e-04 9.99075369e-01 2.01953436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:31.02, Z:2.02 [[ 7.26944867e-01 -6.85975453e-01 -3.14458057e-02 7.75400149e+01] [ 6.85348678e-01 7.27624643e-01 -2.93183993e-02 3.10217733e+01] [ 4.29924453e-02 -2.38481458e-04 9.99075369e-01 2.02052191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:31.04, Z:2.02 [[ 7.26528031e-01 -6.86366100e-01 -3.25360790e-02 7.75597126e+01] [ 6.85694931e-01 7.27256150e-01 -3.03472226e-02 3.10407649e+01] [ 4.44913683e-02 -2.61716535e-04 9.99009735e-01 2.02141543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:31.06, Z:2.02 [[ 7.26082244e-01 -6.86778325e-01 -3.37654610e-02 7.75811278e+01] [ 6.86188781e-01 7.26862845e-01 -2.85545312e-02 3.10595378e+01] [ 4.41534922e-02 -2.43654246e-03 9.99021788e-01 2.02249962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:31.08, Z:2.02 [[ 7.24959923e-01 -6.88047160e-01 -3.20033755e-02 7.76003105e+01] [ 6.87267056e-01 7.25663775e-01 -3.28036609e-02 3.10812893e+01] [ 4.57941560e-02 1.78647379e-03 9.98949300e-01 2.02275908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:31.10, Z:2.02 [[ 7.24474439e-01 -6.88493840e-01 -3.33619405e-02 7.76220766e+01] [ 6.87788567e-01 7.25242092e-01 -3.11575722e-02 3.10991838e+01] [ 4.56472800e-02 -3.73096620e-04 9.98957550e-01 2.02402676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:31.12, Z:2.03 [[ 7.23744905e-01 -6.89280974e-01 -3.29401215e-02 7.76411472e+01] [ 6.88593457e-01 7.24494013e-01 -3.07810980e-02 3.11181951e+01] [ 4.50817460e-02 -4.04689283e-04 9.98983219e-01 2.02509792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:31.14, Z:2.03 [[ 7.22969388e-01 -6.90132686e-01 -3.21269118e-02 7.76607958e+01] [ 6.89479073e-01 7.23682722e-01 -3.00320797e-02 3.11372097e+01] [ 4.39758109e-02 -4.38559003e-04 9.99032500e-01 2.02657309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:31.16, Z:2.03 [[ 7.22578207e-01 -6.90634770e-01 -3.00724052e-02 7.76814422e+01] [ 6.89971860e-01 7.23202840e-01 -3.02735093e-02 3.11576582e+01] [ 4.26563870e-02 1.12586471e-03 9.99089168e-01 2.02612993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:31.18, Z:2.03 [[ 7.21875820e-01 -6.91267964e-01 -3.23094782e-02 7.77021570e+01] [ 6.90700160e-01 7.22595624e-01 -2.80865541e-02 3.11758007e+01] [ 4.27620226e-02 -2.04115753e-03 9.99083201e-01 2.02917060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:31.20, Z:2.03 [[ 7.21887067e-01 -6.91314161e-01 -3.10450318e-02 7.77211072e+01] [ 6.90702613e-01 7.22554168e-01 -2.90753240e-02 3.11951157e+01] [ 4.25319003e-02 -4.53784216e-04 9.99095006e-01 2.02996279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:31.21, Z:2.03 [[ 7.21781402e-01 -6.91430599e-01 -3.09084795e-02 7.77407872e+01] [ 6.90824069e-01 7.22442748e-01 -2.89582888e-02 3.12141169e+01] [ 4.23522538e-02 -4.50767262e-04 9.99102639e-01 2.03057438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:31.23, Z:2.03 [[ 7.22107611e-01 -6.91093362e-01 -3.08311984e-02 7.77613447e+01] [ 6.90488989e-01 7.22765375e-01 -2.88992855e-02 3.12337546e+01] [ 4.22558271e-02 -4.20208985e-04 9.99106735e-01 2.03143080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:31.25, Z:2.03 [[ 7.21656373e-01 -6.91589548e-01 -3.02651139e-02 7.77807514e+01] [ 6.91006945e-01 7.22290602e-01 -2.83846540e-02 3.12528323e+01] [ 4.14907374e-02 -4.29437419e-04 9.99138796e-01 2.03198519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:31.27, Z:2.03 [[ 7.21278954e-01 -6.91983511e-01 -3.02570897e-02 7.78006905e+01] [ 6.91401079e-01 7.21913169e-01 -2.83888039e-02 3.12725584e+01] [ 4.14875757e-02 -4.43537687e-04 9.99138921e-01 2.03338646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:31.29, Z:2.03 [[ 7.20624806e-01 -6.92694217e-01 -2.95738204e-02 7.78197537e+01] [ 6.92137746e-01 7.21231245e-01 -2.77638603e-02 3.12920523e+01] [ 4.05614287e-02 -4.61830917e-04 9.99176940e-01 2.03396608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:31.31, Z:2.03 [[ 7.20127193e-01 -6.93234766e-01 -2.90238627e-02 7.78401022e+01] [ 6.92698832e-01 7.20711685e-01 -2.72579463e-02 3.13115996e+01] [ 3.98139930e-02 -4.75607401e-04 9.99206995e-01 2.03486906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:31.33, Z:2.04 [[ 7.19562759e-01 -6.93829073e-01 -2.88210607e-02 7.78595358e+01] [ 6.93300446e-01 7.20139551e-01 -2.70835344e-02 3.13302516e+01] [ 3.95465293e-02 -4.93351507e-04 9.99217608e-01 2.03592724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.88, Y:31.35, Z:2.04 [[ 7.18137688e-01 -6.95297573e-01 -2.89749429e-02 7.78798030e+01] [ 6.94764056e-01 7.18721755e-01 -2.72386656e-02 3.13496665e+01] [ 3.97638999e-02 -5.69636494e-04 9.99208941e-01 2.03675327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:31.37, Z:2.04 [[ 7.17074011e-01 -6.96493309e-01 -2.64940403e-02 7.78986654e+01] [ 6.95761995e-01 7.17547936e-01 -3.22522247e-02 3.13719423e+01] [ 4.14742026e-02 4.69368573e-03 9.99128550e-01 2.03647316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:31.39, Z:2.04 [[ 7.16191227e-01 -6.97126036e-01 -3.29456722e-02 7.79222793e+01] [ 6.96752506e-01 7.16923081e-01 -2.36059500e-02 3.13861688e+01] [ 4.00758352e-02 -6.04860539e-03 9.99178333e-01 2.04008654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:31.41, Z:2.04 [[ 7.14125892e-01 -6.99402898e-01 -2.93222833e-02 7.79397722e+01] [ 6.98858342e-01 7.14727207e-01 -2.76050394e-02 3.14076489e+01] [ 4.02644782e-02 -7.78648923e-04 9.99188754e-01 2.03857633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:31.43, Z:2.04 [[ 7.12562487e-01 -7.00989949e-01 -2.94583459e-02 7.79588975e+01] [ 7.00441056e-01 7.13170632e-01 -2.77484689e-02 3.14264099e+01] [ 4.04602249e-02 -8.61316904e-04 9.99180779e-01 2.03920748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:31.45, Z:2.04 [[ 7.11257332e-01 -7.02326349e-01 -2.91668795e-02 7.79788374e+01] [ 7.01788779e-01 7.11854520e-01 -2.74891149e-02 3.14454925e+01] [ 4.00689048e-02 -9.17154232e-04 9.99196498e-01 2.03993342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:31.47, Z:2.04 [[ 7.08642958e-01 -7.05086328e-01 -2.60466538e-02 7.79968424e+01] [ 7.04386947e-01 7.09109681e-01 -3.16621096e-02 3.14669699e+01] [ 4.07944550e-02 4.09020800e-03 9.99159188e-01 2.03948441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:31.48, Z:2.04 [[ 7.07859924e-01 -7.05629539e-01 -3.19575051e-02 7.80205671e+01] [ 7.05285971e-01 7.08552722e-01 -2.29072063e-02 3.14812062e+01] [ 3.88075787e-02 -6.32408672e-03 9.99226690e-01 2.04295670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:31.50, Z:2.04 [[ 7.07027328e-01 -7.06600654e-01 -2.87727974e-02 7.80378149e+01] [ 7.06079523e-01 7.07611666e-01 -2.71557949e-02 3.15018661e+01] [ 3.95482695e-02 -1.11599402e-03 9.99217038e-01 2.04259154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:31.52, Z:2.04 [[ 7.05914338e-01 -7.07695147e-01 -2.91980500e-02 7.80579957e+01] [ 7.07158815e-01 7.06516934e-01 -2.75723292e-02 3.15220752e+01] [ 4.01417203e-02 -1.18395586e-03 9.99193295e-01 2.04306319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.08, Y:31.54, Z:2.04 [[ 7.05752323e-01 -7.07839867e-01 -2.96037563e-02 7.80783495e+01] [ 7.07287927e-01 7.06371922e-01 -2.79731272e-02 3.15415524e+01] [ 4.07117568e-02 -1.19627996e-03 9.99170217e-01 2.04414564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:31.56, Z:2.05 [[ 7.06732030e-01 -7.06861958e-01 -2.95974762e-02 7.80975475e+01] [ 7.06308725e-01 7.07350620e-01 -2.79836613e-02 3.15608696e+01] [ 4.07163788e-02 -1.12800592e-03 9.99170108e-01 2.04533059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.12, Y:31.58, Z:2.05 [[ 7.07407884e-01 -7.06181904e-01 -2.96850826e-02 7.81166518e+01] [ 7.05624352e-01 7.08029620e-01 -2.80772278e-02 3.15801107e+01] [ 4.08455480e-02 -1.08446488e-03 9.99164884e-01 2.04653181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:31.60, Z:2.05 [[ 7.08236879e-01 -7.05356007e-01 -2.95537950e-02 7.81364259e+01] [ 7.04802017e-01 7.08852496e-01 -2.79688330e-02 3.16001627e+01] [ 4.06772657e-02 -1.02101541e-03 9.99171816e-01 2.04743191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:31.62, Z:2.05 [[ 7.09262785e-01 -7.04366508e-01 -2.85328758e-02 7.81544619e+01] [ 7.03697596e-01 7.09834385e-01 -3.07382464e-02 3.16226156e+01] [ 4.19046076e-02 1.72297815e-03 9.99120131e-01 2.04829830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:31.64, Z:2.05 [[ 7.10692435e-01 -7.02769481e-01 -3.21141594e-02 7.81749054e+01] [ 7.02289274e-01 7.11407018e-01 -2.62646330e-02 3.16379574e+01] [ 4.13042209e-02 -3.88735372e-03 9.99139054e-01 2.05072077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:31.66, Z:2.05 [[ 7.10789285e-01 -7.02940107e-01 -2.55694546e-02 7.81902830e+01] [ 7.02041188e-01 7.11204829e-01 -3.64123734e-02 3.16637153e+01] [ 4.37808372e-02 7.93071459e-03 9.99009681e-01 2.04925326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:31.68, Z:2.05 [[ 7.11532886e-01 -7.01736048e-01 -3.58813482e-02 7.82173399e+01] [ 7.01464687e-01 7.12371361e-01 -2.17793064e-02 3.16758304e+01] [ 4.08441693e-02 -9.67280596e-03 9.99118707e-01 2.05450759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:31.70, Z:2.05 [[ 7.12427228e-01 -7.01136283e-01 -2.92464835e-02 7.82331029e+01] [ 7.00587718e-01 7.13026916e-01 -2.77392521e-02 3.16998614e+01] [ 4.03025261e-02 -7.27528669e-04 9.99187258e-01 2.05355646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:31.72, Z:2.05 [[ 7.12697928e-01 -7.00871805e-01 -2.89892429e-02 7.82526513e+01] [ 7.00331959e-01 7.13286920e-01 -2.75121109e-02 3.17195202e+01] [ 3.99601106e-02 -6.94268793e-04 9.99201035e-01 2.05473495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:31.74, Z:2.06 [[ 7.13044395e-01 -7.00531929e-01 -2.86828817e-02 7.82708127e+01] [ 7.00002518e-01 7.13620758e-01 -2.72376292e-02 3.17393190e+01] [ 3.95495287e-02 -6.56450563e-04 9.99217396e-01 2.05568456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:31.76, Z:2.06 [[ 7.13134189e-01 -7.00456447e-01 -2.82912450e-02 7.82901885e+01] [ 6.99946648e-01 7.13694765e-01 -2.67296129e-02 3.17587226e+01] [ 3.89142431e-02 -7.40561229e-04 9.99242280e-01 2.05646791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:31.78, Z:2.06 [[ 7.12541713e-01 -7.01053451e-01 -2.84317659e-02 7.83107021e+01] [ 7.00525416e-01 7.13108532e-01 -2.72096248e-02 3.17793823e+01] [ 3.93503362e-02 -5.29181943e-04 9.99225335e-01 2.05771790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:31.80, Z:2.06 [[ 7.10987662e-01 -7.02644701e-01 -2.80529721e-02 7.83297329e+01] [ 7.02138757e-01 7.11540501e-01 -2.66698705e-02 3.17981071e+01] [ 3.87002689e-02 -7.35130085e-04 9.99250594e-01 2.05891590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:31.82, Z:2.06 [[ 7.09653740e-01 -7.03995920e-01 -2.79519915e-02 7.83499783e+01] [ 7.03494258e-01 7.10203568e-01 -2.65842358e-02 3.18178094e+01] [ 3.85667976e-02 -7.98463185e-04 9.99255705e-01 2.06002426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:31.84, Z:2.06 [[ 7.06494804e-01 -7.07155249e-01 -2.82231476e-02 7.83691235e+01] [ 7.06645638e-01 7.07057648e-01 -2.68593524e-02 3.18371193e+01] [ 3.89491244e-02 -9.67771238e-04 9.99240726e-01 2.06079426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:31.85, Z:2.06 [[ 7.06341278e-01 -7.07278394e-01 -2.89702129e-02 7.83896472e+01] [ 7.06824575e-01 7.06930719e-01 -2.54554362e-02 3.18544840e+01] [ 3.84840134e-02 -2.49663308e-03 9.99256097e-01 2.06216018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:31.87, Z:2.06 [[ 7.06016686e-01 -7.07449223e-01 -3.24967134e-02 7.84119387e+01] [ 7.07289590e-01 7.06690964e-01 -1.81470910e-02 3.18687864e+01] [ 3.58032792e-02 -1.01724381e-02 9.99307083e-01 2.06412681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:31.90, Z:2.06 [[ 7.02430143e-01 -7.11467316e-01 -2.01532128e-02 7.84257638e+01] [ 7.10711865e-01 7.02652444e-01 -3.41787606e-02 3.18995698e+01] [ 3.84777753e-02 9.68506425e-03 9.99212520e-01 2.06052522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:31.91, Z:2.06 [[ 7.01508806e-01 -7.12125360e-01 -2.76200516e-02 7.84494271e+01] [ 7.11640165e-01 7.02051305e-01 -2.63104743e-02 3.19138360e+01] [ 3.81270493e-02 -1.19850865e-03 9.99272181e-01 2.06445778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:31.93, Z:2.07 [[ 7.00356666e-01 -7.13232128e-01 -2.82926178e-02 7.84688532e+01] [ 7.12723421e-01 7.00926738e-01 -2.69635419e-02 3.19331380e+01] [ 3.90623166e-02 -1.28071501e-03 9.99235956e-01 2.06513561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:31.95, Z:2.07 [[ 6.99952060e-01 -7.13621390e-01 -2.84890496e-02 7.84890228e+01] [ 7.13105314e-01 7.00530385e-01 -2.71659968e-02 3.19528433e+01] [ 3.93436813e-02 -1.30079728e-03 9.99224891e-01 2.06563251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:31.97, Z:2.07 [[ 6.99754905e-01 -7.13803018e-01 -2.87806238e-02 7.85084287e+01] [ 7.13275830e-01 7.00345291e-01 -2.74602123e-02 3.19715189e+01] [ 3.97575567e-02 -1.31310511e-03 9.99208493e-01 2.06645476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:31.99, Z:2.07 [[ 6.99880382e-01 -7.13661684e-01 -2.92310076e-02 7.85287177e+01] [ 7.13117290e-01 7.00489304e-01 -2.79009960e-02 3.19909103e+01] [ 4.03878799e-02 -1.31777718e-03 9.99183208e-01 2.06720080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.55, Y:32.01, Z:2.07 [[ 6.99984938e-01 -7.13558036e-01 -2.92577464e-02 7.85484442e+01] [ 7.13011887e-01 7.00594915e-01 -2.79430421e-02 3.20098566e+01] [ 4.04368106e-02 -1.30141242e-03 9.99181250e-01 2.06817793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:32.03, Z:2.07 [[ 7.00754192e-01 -7.12802840e-01 -2.92519001e-02 7.85679326e+01] [ 7.12255814e-01 7.01363350e-01 -2.79482888e-02 3.20289320e+01] [ 4.04378303e-02 -1.24995537e-03 9.99181275e-01 2.06903240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:32.05, Z:2.07 [[ 7.01154584e-01 -7.12409506e-01 -2.92394529e-02 7.85882533e+01] [ 7.11861955e-01 7.01762936e-01 -2.79524184e-02 3.20488755e+01] [ 4.04327329e-02 -1.21548782e-03 9.99181523e-01 2.07040804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:32.07, Z:2.07 [[ 7.02283037e-01 -7.11383479e-01 -2.70569869e-02 7.86066337e+01] [ 7.10720782e-01 7.02799979e-01 -3.07922055e-02 3.20697309e+01] [ 4.09207161e-02 2.39488069e-03 9.99159527e-01 2.07059115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:32.09, Z:2.07 [[ 7.02772845e-01 -7.10739893e-01 -3.09698673e-02 7.86296288e+01] [ 7.10318176e-01 7.03440477e-01 -2.48914388e-02 3.20864392e+01] [ 3.94767968e-02 -4.50543236e-03 9.99210330e-01 2.07375842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.65, Y:32.11, Z:2.07 [[ 7.04558380e-01 -7.09089486e-01 -2.80996362e-02 7.86472164e+01] [ 7.08579910e-01 7.05117845e-01 -2.68948998e-02 3.21071735e+01] [ 3.88844456e-02 -9.61810667e-04 9.99243251e-01 2.07456381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:32.13, Z:2.08 [[ 7.05156178e-01 -7.08517128e-01 -2.75362380e-02 7.86668749e+01] [ 7.08026969e-01 7.05693037e-01 -2.63656792e-02 3.21265198e+01] [ 3.81126667e-02 -9.04477606e-04 9.99273039e-01 2.07558944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:32.15, Z:2.08 [[ 7.05836483e-01 -7.07846789e-01 -2.73456244e-02 7.86863902e+01] [ 7.07362301e-01 7.06365485e-01 -2.61987731e-02 3.21455879e+01] [ 3.78607227e-02 -8.51213999e-04 9.99282663e-01 2.07710591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.71, Y:32.17, Z:2.08 [[ 7.06504701e-01 -7.07200454e-01 -2.68071800e-02 7.87061243e+01] [ 7.06734050e-01 7.07012650e-01 -2.56923110e-02 3.21651352e+01] [ 3.71226294e-02 -7.93808348e-04 9.99310402e-01 2.07868199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:32.19, Z:2.08 [[ 7.06053004e-01 -7.07811472e-01 -2.21827832e-02 7.87233496e+01] [ 7.07072886e-01 7.06358396e-01 -3.32528175e-02 3.21896446e+01] [ 3.92057208e-02 7.79340714e-03 9.99200768e-01 2.07833722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:32.20, Z:2.08 [[ 7.06253187e-01 -7.07332584e-01 -2.97834246e-02 7.87474111e+01] [ 7.06931530e-01 7.06869593e-01 -2.41493298e-02 3.22038339e+01] [ 3.81346050e-02 -3.99930082e-03 9.99264608e-01 2.08306734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.76, Y:32.22, Z:2.08 [[ 7.06438065e-01 -7.07235555e-01 -2.76248128e-02 7.87647871e+01] [ 7.06750383e-01 7.06977267e-01 -2.62114525e-02 3.22239608e+01] [ 3.80677857e-02 -1.00707925e-03 9.99274652e-01 2.08318312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.79, Y:32.24, Z:2.08 [[ 7.06245106e-01 -7.07435874e-01 -2.74287228e-02 7.87851286e+01] [ 7.06937731e-01 7.06777247e-01 -2.65512305e-02 3.22440658e+01] [ 3.81692901e-02 -6.38722402e-04 9.99271083e-01 2.08414939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:32.26, Z:2.09 [[ 7.05679512e-01 -7.07901324e-01 -2.98687572e-02 7.88074502e+01] [ 7.07605325e-01 7.06285270e-01 -2.13499678e-02 3.22625165e+01] [ 3.62095337e-02 -6.06905685e-03 9.99325791e-01 2.08607368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:32.28, Z:2.09 [[ 7.05265537e-01 -7.08464322e-01 -2.60542934e-02 7.88242641e+01] [ 7.08021803e-01 7.05746196e-01 -2.50486127e-02 3.22842727e+01] [ 3.61337669e-02 -7.81084443e-04 9.99346657e-01 2.08553867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:32.30, Z:2.09 [[ 7.03885713e-01 -7.09832086e-01 -2.61402735e-02 7.88439754e+01] [ 7.09387249e-01 7.04370422e-01 -2.51403906e-02 3.23048058e+01] [ 3.62578914e-02 -8.47614988e-04 9.99342107e-01 2.08673787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:32.32, Z:2.09 [[ 7.03056441e-01 -7.10656172e-01 -2.60661694e-02 7.88637365e+01] [ 7.10213854e-01 7.03538937e-01 -2.50847654e-02 3.23243871e+01] [ 3.61652084e-02 -8.76548730e-04 9.99345440e-01 2.08758556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:32.34, Z:2.09 [[ 7.00785942e-01 -7.12880409e-01 -2.64685799e-02 7.88827276e+01] [ 7.12425325e-01 7.01284914e-01 -2.54877482e-02 3.23437019e+01] [ 3.67317322e-02 -9.95430976e-04 9.99324666e-01 2.08819356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:32.36, Z:2.09 [[ 6.99293103e-01 -7.14345873e-01 -2.64410565e-02 7.89025001e+01] [ 7.13892435e-01 6.99791998e-01 -2.54705775e-02 3.23637689e+01] [ 3.66980417e-02 -1.06467101e-03 9.99325833e-01 2.08884745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:32.38, Z:2.09 [[ 6.97873132e-01 -7.15722060e-01 -2.67399511e-02 7.89225936e+01] [ 7.15258707e-01 6.98384305e-01 -2.57749014e-02 3.23837724e+01] [ 3.71224277e-02 -1.13837165e-03 9.99310077e-01 2.08952089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:32.40, Z:2.09 [[ 6.95801109e-01 -7.17710332e-01 -2.74352955e-02 7.89414785e+01] [ 7.17223467e-01 6.96340634e-01 -2.64616749e-02 3.24031167e+01] [ 3.80961286e-02 -1.26517498e-03 9.99273278e-01 2.09056221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:32.42, Z:2.09 [[ 6.95358956e-01 -7.18100522e-01 -2.84176308e-02 7.89615972e+01] [ 7.17701914e-01 6.95930210e-01 -2.41889764e-02 3.24214403e+01] [ 3.71468044e-02 -3.57536659e-03 9.99303423e-01 2.09169841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:32.44, Z:2.09 [[ 6.93993708e-01 -7.19525476e-01 -2.56090255e-02 7.89797840e+01] [ 7.18976162e-01 6.94465157e-01 -2.81322603e-02 3.24447768e+01] [ 3.80264538e-02 1.11133276e-03 9.99276115e-01 2.09179932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:32.46, Z:2.09 [[ 6.93855530e-01 -7.19587353e-01 -2.75416917e-02 7.89995003e+01] [ 7.19096603e-01 6.94400629e-01 -2.66053006e-02 3.24628543e+01] [ 3.82698059e-02 -1.34490201e-03 9.99266538e-01 2.09352252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:32.48, Z:2.09 [[ 6.94047347e-01 -7.19397672e-01 -2.76635176e-02 7.90194420e+01] [ 7.18901840e-01 6.94597165e-01 -2.67380484e-02 3.24832527e+01] [ 3.84502907e-02 -1.32988220e-03 9.99259629e-01 2.09457879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:32.50, Z:2.10 [[ 6.94492356e-01 -7.18969602e-01 -2.76238850e-02 7.90383245e+01] [ 7.18474232e-01 6.95040315e-01 -2.67158915e-02 3.25027036e+01] [ 3.84076276e-02 -1.29306710e-03 9.99261318e-01 2.09528451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:32.52, Z:2.10 [[ 6.97571296e-01 -7.15944501e-01 -2.85964605e-02 7.90615556e+01] [ 7.15455553e-01 6.98154460e-01 -2.65273847e-02 3.25233871e+01] [ 3.89568817e-02 -1.95475434e-03 9.99238981e-01 2.09751625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:32.54, Z:2.10 [[ 6.97432270e-01 -7.16127659e-01 -2.73752526e-02 7.90766197e+01] [ 7.15612541e-01 6.97969026e-01 -2.71648792e-02 3.25435007e+01] [ 3.85605998e-02 -6.44410704e-04 9.99256056e-01 2.09792819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.972755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.10, Y:32.56, Z:2.10 [[ 6.98620433e-01 -7.14948806e-01 -2.78871803e-02 7.90961420e+01] [ 7.14439381e-01 6.99176005e-01 -2.70052646e-02 3.25632456e+01] [ 3.88054290e-02 -1.05727022e-03 9.99246226e-01 2.09952220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:32.59, Z:2.10 [[ 7.00620456e-01 -7.13025099e-01 -2.69478136e-02 7.91159201e+01] [ 7.12444683e-01 7.01137844e-01 -2.87801429e-02 3.25863956e+01] [ 3.94150962e-02 9.65130305e-04 9.99222457e-01 2.10096147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:32.60, Z:2.10 [[ 7.03169363e-01 -7.10414193e-01 -2.94027293e-02 7.91357405e+01] [ 7.09960887e-01 7.03777790e-01 -2.55413726e-02 3.26024387e+01] [ 3.88379415e-02 -2.91487706e-03 9.99241271e-01 2.10301502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:32.62, Z:2.10 [[ 7.06005838e-01 -7.07667646e-01 -2.76090396e-02 7.91534596e+01] [ 7.07161183e-01 7.06545199e-01 -2.67757945e-02 3.26238186e+01] [ 3.84553978e-02 -6.20173939e-04 9.99260125e-01 2.10349999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.17, Y:32.64, Z:2.10 [[ 7.06948785e-01 -7.06722501e-01 -2.76897262e-02 7.91728138e+01] [ 7.06211717e-01 7.07490632e-01 -2.68703760e-02 3.26439085e+01] [ 3.85801212e-02 -5.58829354e-04 9.99255354e-01 2.10468122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.19, Y:32.67, Z:2.10 [[ 7.06869598e-01 -7.06937262e-01 -2.39808112e-02 7.91898445e+01] [ 7.06173422e-01 7.07243782e-01 -3.35459603e-02 3.26679406e+01] [ 4.06751689e-02 6.77800794e-03 9.99149433e-01 2.10463708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:32.68, Z:2.11 [[ 7.07991700e-01 -7.05448585e-01 -3.30158425e-02 7.92150262e+01] [ 7.05160652e-01 7.08716572e-01 -2.16627593e-02 3.26803032e+01] [ 3.86808376e-02 -7.94441924e-03 9.99220035e-01 2.10880136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:32.70, Z:2.11 [[ 7.08341649e-01 -7.05304998e-01 -2.82306144e-02 7.92326490e+01] [ 7.04770668e-01 7.08903842e-01 -2.74526550e-02 3.27030734e+01] [ 3.93752857e-02 -4.50250063e-04 9.99224391e-01 2.10820509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:32.72, Z:2.11 [[ 7.08279891e-01 -7.05502711e-01 -2.46073432e-02 7.92500392e+01] [ 7.04748435e-01 7.08680382e-01 -3.31927676e-02 3.27249910e+01] [ 4.08563289e-02 6.16778320e-03 9.99145995e-01 2.10802965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:32.74, Z:2.11 [[ 7.06914446e-01 -7.06559403e-01 -3.23384498e-02 7.92752970e+01] [ 7.06237957e-01 7.07619259e-01 -2.24261573e-02 3.27389035e+01] [ 3.87287222e-02 -6.98526617e-03 9.99225346e-01 2.11204409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:32.76, Z:2.11 [[ 7.06190834e-01 -7.07477153e-01 -2.77593966e-02 7.92933404e+01] [ 7.06960640e-01 7.06736015e-01 -2.70344192e-02 3.27612807e+01] [ 3.87447993e-02 -5.33341680e-04 9.99248996e-01 2.11133922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:32.78, Z:2.11 [[ 7.05247703e-01 -7.08450711e-01 -2.68936385e-02 7.93134319e+01] [ 7.07866873e-01 7.05759163e-01 -2.87835738e-02 3.27818628e+01] [ 3.93721751e-02 1.26243346e-03 9.99223818e-01 2.11197266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:32.80, Z:2.11 [[ 7.03286102e-01 -7.10362076e-01 -2.78276998e-02 7.93368673e+01] [ 7.09841939e-01 7.03836146e-01 -2.71864094e-02 3.28004567e+01] [ 3.88983352e-02 -6.33444536e-04 9.99242973e-01 2.11325285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.36, Y:32.82, Z:2.11 [[ 7.02185719e-01 -7.11372809e-01 -2.97311895e-02 7.93558161e+01] [ 7.10885617e-01 7.02810182e-01 -2.64478263e-02 3.28175204e+01] [ 3.97096472e-02 -2.56418904e-03 9.99207971e-01 2.11460956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:32.84, Z:2.11 [[ 7.00849122e-01 -7.12727828e-01 -2.88019466e-02 7.93743367e+01] [ 7.12174194e-01 7.01440213e-01 -2.80988309e-02 3.28365851e+01] [ 4.02296623e-02 -8.18962119e-04 9.99190124e-01 2.11479527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:32.86, Z:2.12 [[ 6.98321255e-01 -7.15172416e-01 -2.95946140e-02 7.93950019e+01] [ 7.14589494e-01 6.98947396e-01 -2.88858476e-02 3.28550851e+01] [ 4.13434398e-02 -9.76398907e-04 9.99144517e-01 2.11573564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:32.87, Z:2.12 [[ 6.97348515e-01 -7.16112798e-01 -2.97910865e-02 7.94145420e+01] [ 7.15522236e-01 6.97983815e-01 -2.90950854e-02 3.28735520e+01] [ 4.16290592e-02 -1.02677022e-03 9.99132607e-01 2.11676013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:32.89, Z:2.12 [[ 6.95720314e-01 -7.17668069e-01 -3.04267499e-02 7.94343760e+01] [ 7.17052997e-01 6.96384415e-01 -2.97278566e-02 3.28915139e+01] [ 4.25234479e-02 -1.13531848e-03 9.99094824e-01 2.11787211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:32.91, Z:2.12 [[ 6.95211706e-01 -7.18139290e-01 -3.09296599e-02 7.94548947e+01] [ 7.17503426e-01 6.95898403e-01 -3.02365159e-02 3.29102603e+01] [ 4.32379310e-02 -1.17135715e-03 9.99064117e-01 2.11900736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.48, Y:32.93, Z:2.12 [[ 6.94458157e-01 -7.18853149e-01 -3.12732637e-02 7.94752943e+01] [ 7.18202973e-01 6.95160895e-01 -3.05911599e-02 3.29294335e+01] [ 4.37305016e-02 -1.21627043e-03 9.99042624e-01 2.12013353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57275509600001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.50, Y:32.95, Z:2.12 [[ 6.93405424e-01 -7.19845677e-01 -3.17980975e-02 7.94964723e+01] [ 7.19173655e-01 6.94132945e-01 -3.11240843e-02 3.29477091e+01] [ 4.44766446e-02 -1.28674509e-03 9.99009596e-01 2.12124521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:32.97, Z:2.12 [[ 6.93108223e-01 -7.20131978e-01 -3.17950680e-02 7.95160099e+01] [ 7.19459544e-01 6.93835907e-01 -3.11400012e-02 3.29661394e+01] [ 4.44854705e-02 -1.29187422e-03 9.99009196e-01 2.12235265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:32.99, Z:2.12 [[ 6.93188519e-01 -7.20061860e-01 -3.16321677e-02 7.95362246e+01] [ 7.19395452e-01 6.93908717e-01 -3.09979978e-02 3.29852885e+01] [ 4.42703128e-02 -1.26858139e-03 9.99018784e-01 2.12308103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.662755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.56, Y:33.00, Z:2.12 [[ 6.93843628e-01 -7.19455291e-01 -3.10661364e-02 7.95563485e+01] [ 7.18811128e-01 6.94537729e-01 -3.04615454e-02 3.30041936e+01] [ 4.34923238e-02 -1.19513536e-03 9.99053046e-01 2.12421612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.692755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.58, Y:33.02, Z:2.13 [[ 6.94387461e-01 -7.18935966e-01 -3.09375456e-02 7.95759172e+01] [ 7.18295858e-01 6.95075366e-01 -3.03528571e-02 3.30229456e+01] [ 4.33256865e-02 -1.14566749e-03 9.99060345e-01 2.12538900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.722755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.60, Y:33.04, Z:2.13 [[ 6.95008957e-01 -7.18344156e-01 -3.07282087e-02 7.95961873e+01] [ 7.17711518e-01 6.95687057e-01 -3.01611685e-02 3.30420891e+01] [ 4.30433162e-02 -1.09170710e-03 9.99072611e-01 2.12650115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.752755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.62, Y:33.06, Z:2.13 [[ 6.95776385e-01 -7.17598165e-01 -3.07911593e-02 7.96156436e+01] [ 7.16961427e-01 6.96456604e-01 -3.02408826e-02 3.30604267e+01] [ 4.31455081e-02 -1.03518154e-03 9.99068263e-01 2.12783087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.782755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.64, Y:33.08, Z:2.13 [[ 6.97283393e-01 -7.16155739e-01 -3.02791648e-02 7.96356120e+01] [ 7.15537973e-01 6.97939907e-01 -2.97539363e-02 3.30782540e+01] [ 4.24414897e-02 -9.18966529e-04 9.99098531e-01 2.12888707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.812755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.65, Y:33.10, Z:2.13 [[ 6.98847977e-01 -7.14893729e-01 -2.32047785e-02 7.96503008e+01] [ 7.13743623e-01 6.99107799e-01 -4.26418259e-02 3.31025351e+01] [ 4.67070155e-02 1.32378911e-02 9.98820911e-01 2.12787380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.842755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:79.68, Y:33.11, Z:2.13 [[ 7.00782371e-01 -7.12512020e-01 -3.50811967e-02 7.96775578e+01] [ 7.12012072e-01 7.01635644e-01 -2.73172539e-02 3.31132200e+01] [ 4.40780899e-02 -5.83478559e-03 9.99011050e-01 2.13380064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.70, Y:33.13, Z:2.13 [[ 7.00949140e-01 -7.12333043e-01 -3.53827563e-02 7.96987422e+01] [ 7.12035070e-01 7.01779470e-01 -2.26193459e-02 3.31318081e+01] [ 4.09433995e-02 -9.33875230e-03 9.99117824e-01 2.13479949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:33.15, Z:2.13 [[ 7.01652931e-01 -7.11941556e-01 -2.86772538e-02 7.97154770e+01] [ 7.11381781e-01 7.02238472e-01 -2.82327805e-02 3.31546035e+01] [ 4.02383606e-02 -5.90862636e-04 9.99189935e-01 2.13324884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.74, Y:33.17, Z:2.13 [[ 7.02689528e-01 -7.10955490e-01 -2.77437868e-02 7.97354752e+01] [ 7.10430194e-01 7.03236827e-01 -2.73295638e-02 3.31730051e+01] [ 3.89405560e-02 -5.05825552e-04 9.99241401e-01 2.13460284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:79.76, Y:33.19, Z:2.14 [[ 7.02699159e-01 -7.10963561e-01 -2.72893267e-02 7.97558321e+01] [ 7.10454961e-01 7.03228679e-01 -2.68918933e-02 3.31921276e+01] [ 3.83097934e-02 -4.90926758e-04 9.99265790e-01 2.13599878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99275509600001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:79.78, Y:33.21, Z:2.14 [[ 7.02630188e-01 -7.11034315e-01 -2.72217388e-02 7.97758744e+01] [ 7.10527650e-01 7.03157146e-01 -2.68419037e-02 3.32111083e+01] [ 3.82266747e-02 -4.81866264e-04 9.99268977e-01 2.13734866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.79, Y:33.23, Z:2.14 [[ 7.02893019e-01 -7.10838717e-01 -2.54896343e-02 7.97948095e+01] [ 7.10260663e-01 7.03351923e-01 -2.87378244e-02 3.32309430e+01] [ 3.83561415e-02 2.09533164e-03 9.99261936e-01 2.13765822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:33.25, Z:2.14 [[ 7.01682931e-01 -7.11926055e-01 -2.83258971e-02 7.98171565e+01] [ 7.11506373e-01 7.02248511e-01 -2.46111843e-02 3.32488706e+01] [ 3.74131624e-02 -2.88480833e-03 9.99295719e-01 2.13936365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:33.27, Z:2.14 [[ 7.00958483e-01 -7.12694650e-01 -2.68987139e-02 7.98364233e+01] [ 7.12199699e-01 7.01474195e-01 -2.65620534e-02 3.32693373e+01] [ 3.77993871e-02 -5.38359274e-04 9.99285203e-01 2.13951699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:33.29, Z:2.14 [[ 6.99415431e-01 -7.14215663e-01 -2.67215635e-02 7.98559710e+01] [ 7.13727733e-01 6.99925439e-01 -2.64026904e-02 3.32873650e+01] [ 3.75603170e-02 -6.05471877e-04 9.99294179e-01 2.13977693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.88, Y:33.31, Z:2.14 [[ 6.98579609e-01 -7.15032282e-01 -2.67463061e-02 7.98762541e+01] [ 7.14543505e-01 6.99091143e-01 -2.64414943e-02 3.33066350e+01] [ 3.76046277e-02 -6.39910558e-04 9.99292491e-01 2.14053115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.172755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:79.90, Y:33.33, Z:2.14 [[ 6.97692042e-01 -7.15896439e-01 -2.67974440e-02 7.98966830e+01] [ 7.15405826e-01 6.98206152e-01 -2.65079847e-02 3.33264011e+01] [ 3.76871121e-02 -6.76637589e-04 9.99289359e-01 2.14106579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:33.35, Z:2.14 [[ 6.96229821e-01 -7.17305471e-01 -2.71458708e-02 7.99165557e+01] [ 7.16802458e-01 6.96758421e-01 -2.68689296e-02 3.33453702e+01] [ 3.81873443e-02 -7.51276934e-04 9.99270315e-01 2.14164846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:33.36, Z:2.14 [[ 6.95645405e-01 -7.17863158e-01 -2.73853542e-02 7.99366290e+01] [ 7.17351076e-01 6.96183798e-01 -2.71210741e-02 3.33648636e+01] [ 3.85344598e-02 -7.78262740e-04 9.99256969e-01 2.14231395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:33.38, Z:2.14 [[ 6.94734743e-01 -7.18738963e-01 -2.75306938e-02 7.99561944e+01] [ 7.18221453e-01 6.95279535e-01 -2.72820902e-02 3.33833333e+01] [ 3.87502292e-02 -8.19318938e-04 9.99248592e-01 2.14231500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:33.40, Z:2.14 [[ 6.94397496e-01 -7.19057018e-01 -2.77330465e-02 7.99769754e+01] [ 7.18531503e-01 6.94950583e-01 -2.74984789e-02 3.34028913e+01] [ 3.90460710e-02 -8.32192681e-04 9.99237065e-01 2.14322079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.00, Y:33.42, Z:2.14 [[ 6.94211878e-01 -7.19233670e-01 -2.77992000e-02 7.99967852e+01] [ 7.18705132e-01 6.94767756e-01 -2.75807550e-02 3.34213141e+01] [ 3.91509955e-02 -8.32540009e-04 9.99232959e-01 2.14417150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:33.44, Z:2.14 [[ 6.94139817e-01 -7.19304867e-01 -2.77564903e-02 8.00172723e+01] [ 7.18777532e-01 6.94694051e-01 -2.75505912e-02 3.34404551e+01] [ 3.90995430e-02 -8.26779220e-04 9.99234978e-01 2.14495529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.04, Y:33.46, Z:2.15 [[ 6.93878656e-01 -7.19566624e-01 -2.75006376e-02 8.00376071e+01] [ 7.19048565e-01 6.94422924e-01 -2.73123476e-02 3.34591491e+01] [ 3.87501269e-02 -8.22838958e-04 9.99248593e-01 2.14571597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.412755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.06, Y:33.48, Z:2.15 [[ 6.93669045e-01 -7.19769015e-01 -2.74922025e-02 8.00577434e+01] [ 7.19250779e-01 6.94213144e-01 -2.73208359e-02 3.34793942e+01] [ 3.87501395e-02 -8.22169926e-04 9.99248593e-01 2.14669594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:33.50, Z:2.15 [[ 6.95293014e-01 -7.18047519e-01 -3.12311491e-02 8.00821976e+01] [ 7.17421163e-01 6.95992399e-01 -3.00242664e-02 3.34985269e+01] [ 4.32954924e-02 -1.53022459e-03 9.99061139e-01 2.15135732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:33.52, Z:2.15 [[ 6.93711185e-01 -7.19759510e-01 -2.66653313e-02 8.00977891e+01] [ 7.19247325e-01 6.94223400e-01 -2.71506109e-02 3.35185479e+01] [ 3.80536073e-02 -3.44285770e-04 9.99275640e-01 2.14806905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.12, Y:33.54, Z:2.15 [[ 6.93614991e-01 -7.19839353e-01 -2.70101800e-02 8.01180360e+01] [ 7.19337710e-01 6.94140253e-01 -2.68806292e-02 3.35367159e+01] [ 3.80985879e-02 -7.84633637e-04 9.99273677e-01 2.14974540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:33.56, Z:2.15 [[ 6.93498614e-01 -7.19959356e-01 -2.67992121e-02 8.01383648e+01] [ 7.19465052e-01 6.94015796e-01 -2.66854629e-02 3.35558062e+01] [ 3.78115252e-02 -7.74764983e-04 9.99284588e-01 2.15061884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.16, Y:33.58, Z:2.15 [[ 6.93242105e-01 -7.20223193e-01 -2.63426779e-02 8.01589928e+01] [ 7.19745201e-01 6.93742004e-01 -2.62464983e-02 3.35752853e+01] [ 3.71783589e-02 -7.64838234e-04 9.99308353e-01 2.15172989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.18, Y:33.59, Z:2.15 [[ 6.92876740e-01 -7.20603551e-01 -2.55410621e-02 8.01803453e+01] [ 7.20153937e-01 6.93346925e-01 -2.54626776e-02 3.35935583e+01] [ 3.60573128e-02 -7.50999354e-04 9.99349441e-01 2.15309519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:33.61, Z:2.15 [[ 6.92607833e-01 -7.20860111e-01 -2.55947358e-02 8.02006371e+01] [ 7.20408204e-01 6.93080176e-01 -2.55321191e-02 3.36128071e+01] [ 3.61442902e-02 -7.54912012e-04 9.99346297e-01 2.15470530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.22, Y:33.64, Z:2.15 [[ 6.92202243e-01 -7.21427514e-01 -1.99598753e-02 8.02174169e+01] [ 7.20644336e-01 6.92419774e-01 -3.50228185e-02 3.36375138e+01] [ 3.90870372e-02 9.85890244e-03 9.99187172e-01 2.15319434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.25, Y:33.65, Z:2.16 [[ 6.92498092e-01 -7.20670678e-01 -3.28658894e-02 8.02465432e+01] [ 7.20530468e-01 6.93187665e-01 -1.80750039e-02 3.36479310e+01] [ 3.58083545e-02 -1.11639689e-02 9.99296316e-01 2.16037922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:33.67, Z:2.17 [[ 6.94585011e-01 -7.18292564e-01 -4.00930662e-02 8.02766216e+01] [ 7.18329548e-01 6.95517485e-01 -1.60651241e-02 3.36651676e+01] [ 3.94248877e-02 -1.76414397e-02 9.99066793e-01 2.16885715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:33.70, Z:2.15 [[ 6.92601142e-01 -7.21190045e-01 -1.37323575e-02 8.02765528e+01] [ 7.20419960e-01 6.92561978e-01 -3.67829701e-02 3.36978146e+01] [ 3.60380205e-02 1.55828627e-02 9.99228920e-01 2.15443762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:33.70, Z:2.18 [[ 6.95077667e-01 -7.17306972e-01 -4.83502284e-02 8.03236925e+01] [ 7.17796056e-01 6.96189165e-01 -9.45877554e-03 3.36995062e+01] [ 4.04457508e-02 -2.81310196e-02 9.98785656e-01 2.17693043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.33, Y:33.73, Z:2.17 [[ 6.95201356e-01 -7.18346396e-01 -2.59524514e-02 8.03304261e+01] [ 7.17624477e-01 6.95674528e-01 -3.24354810e-02 3.37312174e+01] [ 4.13543703e-02 3.92507600e-03 9.99136832e-01 2.16680439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.36, Y:33.75, Z:2.17 [[ 6.93580674e-01 -7.19614483e-01 -3.31789762e-02 8.03563090e+01] [ 7.19304315e-01 6.94325885e-01 -2.26466068e-02 3.37481756e+01] [ 3.93338482e-02 -8.15853194e-03 9.99192818e-01 2.17091178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.36, Y:33.78, Z:2.16 [[ 6.93976852e-01 -7.19938572e-01 -9.19681001e-03 8.03579192e+01] [ 7.18706753e-01 6.93440869e-01 -5.09937683e-02 3.37818159e+01] [ 4.30898247e-02 2.87786853e-02 9.98656625e-01 2.15847153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:33.79, Z:2.16 [[ 6.91632664e-01 -7.21682038e-01 -2.86233144e-02 8.03844978e+01] [ 7.21504678e-01 6.92175971e-01 -1.79840336e-02 3.37850595e+01] [ 3.27911244e-02 -8.21351021e-03 9.99428477e-01 2.16389928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.40, Y:33.81, Z:2.16 [[ 6.91199925e-01 -7.22430759e-01 -1.83428984e-02 8.03958944e+01] [ 7.21747804e-01 6.91379033e-01 -3.27893323e-02 3.38139481e+01] [ 3.63699176e-02 9.42503734e-03 9.99293950e-01 2.16144049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:33.82, Z:2.17 [[ 6.92022486e-01 -7.21207519e-01 -3.10579059e-02 8.04247444e+01] [ 7.21146398e-01 6.92616769e-01 -1.51619588e-02 3.38235515e+01] [ 3.24461451e-02 -1.19048806e-02 9.99402582e-01 2.16590708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:33.85, Z:2.16 [[ 6.91400144e-01 -7.22156056e-01 -2.13652227e-02 8.04396421e+01] [ 7.21657338e-01 6.91722434e-01 -2.70325791e-02 3.38516511e+01] [ 3.43005445e-02 3.27195935e-03 9.99406207e-01 2.16267580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:33.87, Z:2.16 [[ 6.92065488e-01 -7.21609977e-01 -1.80111537e-02 8.04537617e+01] [ 7.20863492e-01 6.92213073e-01 -3.45960556e-02 3.38743183e+01] [ 3.74324149e-02 1.09591529e-02 9.99239066e-01 2.16146998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.48, Y:33.89, Z:2.17 [[ 6.91011584e-01 -7.22110875e-01 -3.25403477e-02 8.04831419e+01] [ 7.22019811e-01 6.91672959e-01 -1.66105322e-02 3.38866082e+01] [ 3.45019246e-02 -1.20167055e-02 9.99332385e-01 2.16878102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:33.91, Z:2.17 [[ 6.90500379e-01 -7.22912426e-01 -2.46343377e-02 8.04978983e+01] [ 7.22487001e-01 6.90939344e-01 -2.48063933e-02 3.39116798e+01] [ 3.49536831e-02 -6.69164776e-04 9.99388709e-01 2.16662104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:33.93, Z:2.17 [[ 6.90797348e-01 -7.22714544e-01 -2.19706873e-02 8.05149769e+01] [ 7.22157166e-01 6.91135507e-01 -2.86485371e-02 3.39330719e+01] [ 3.58894365e-02 3.92404417e-03 9.99348063e-01 2.16635490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:33.95, Z:2.17 [[ 6.89983942e-01 -7.23324828e-01 -2.68952389e-02 8.05404864e+01] [ 7.22917408e-01 6.90503035e-01 -2.44127224e-02 3.39531878e+01] [ 3.62295723e-02 -2.59864992e-03 9.99340115e-01 2.16975463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:33.97, Z:2.17 [[ 6.88614014e-01 -7.24645699e-01 -2.64452362e-02 8.05561303e+01] [ 7.24285090e-01 6.89113937e-01 -2.30887520e-02 3.39721537e+01] [ 3.49549457e-02 -3.25465210e-03 9.99383590e-01 2.17108834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.57, Y:33.99, Z:2.17 [[ 6.87883081e-01 -7.25419176e-01 -2.41637287e-02 8.05736757e+01] [ 7.25009607e-01 6.88306955e-01 -2.43845578e-02 3.39933777e+01] [ 3.43210883e-02 -7.45210743e-04 9.99410580e-01 2.17110892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:34.02, Z:2.17 [[ 6.87519931e-01 -7.25862606e-01 -2.09719129e-02 8.05899705e+01] [ 7.25267291e-01 6.87819095e-01 -2.98705410e-02 3.40168109e+01] [ 3.61067909e-02 5.32634988e-03 9.99333743e-01 2.17123993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:34.04, Z:2.17 [[ 6.86307614e-01 -7.26838112e-01 -2.62339281e-02 8.06119879e+01] [ 7.26453902e-01 6.86803388e-01 -2.37872879e-02 3.40350002e+01] [ 3.53070581e-02 -2.73234261e-03 9.99372776e-01 2.17419089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:34.05, Z:2.18 [[ 6.87327928e-01 -7.25342736e-01 -3.81868512e-02 8.06403859e+01] [ 7.25464377e-01 6.88134459e-01 -1.31302804e-02 3.40490054e+01] [ 3.58016417e-02 -1.86783918e-02 9.99184347e-01 2.18267057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:34.08, Z:2.17 [[ 6.84873431e-01 -7.28561710e-01 -1.20920691e-02 8.06423229e+01] [ 7.27854080e-01 6.84801084e-01 -3.57199334e-02 3.40841766e+01] [ 3.43048378e-02 1.56623715e-02 9.99288681e-01 2.17012313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:34.10, Z:2.18 [[ 6.85523086e-01 -7.27658432e-01 -2.39019929e-02 8.06673191e+01] [ 7.27255719e-01 6.85939208e-01 -2.42182230e-02 3.40957227e+01] [ 3.40179083e-02 -7.80710025e-04 9.99420919e-01 2.17621750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.69, Y:34.12, Z:2.18 [[ 6.85118120e-01 -7.27988433e-01 -2.54165968e-02 8.06877983e+01] [ 7.27676750e-01 6.85579508e-01 -2.16167881e-02 3.41150118e+01] [ 3.31618696e-02 -3.68501337e-03 9.99443201e-01 2.17805426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:34.14, Z:2.18 [[ 6.83891529e-01 -7.29268253e-01 -2.14520913e-02 8.07053446e+01] [ 7.28846457e-01 6.84226565e-01 -2.48364692e-02 3.41390037e+01] [ 3.27905392e-02 1.35017019e-03 9.99461334e-01 2.17760699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.72, Y:34.16, Z:2.18 [[ 6.82072087e-01 -7.31078573e-01 -1.73720671e-02 8.07219076e+01] [ 7.30462573e-01 6.82239078e-01 -3.12132884e-02 3.41643577e+01] [ 3.46712694e-02 8.60006790e-03 9.99361767e-01 2.17769795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:34.18, Z:2.19 [[ 6.83231867e-01 -7.29439509e-01 -3.33499489e-02 8.07521562e+01] [ 7.29308952e-01 6.83942140e-01 -1.82099698e-02 3.41762584e+01] [ 3.60925068e-02 -1.18807846e-02 9.99277828e-01 2.18664154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:34.20, Z:2.18 [[ 6.81426643e-01 -7.31597406e-01 -2.05661486e-02 8.07614717e+01] [ 7.31308921e-01 6.81736156e-01 -2.05687953e-02 3.42006151e+01] [ 2.90687644e-02 -1.02408283e-03 9.99576890e-01 2.18037950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:34.23, Z:2.18 [[ 6.81145035e-01 -7.32056167e-01 -1.16279625e-02 8.07736315e+01] [ 7.31325389e-01 6.81046328e-01 -3.65933595e-02 3.42278695e+01] [ 3.47075757e-02 1.64215610e-02 9.99262586e-01 2.17858682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:34.23, Z:2.20 [[ 6.82529233e-01 -7.29522414e-01 -4.41689152e-02 8.08146468e+01] [ 7.30106039e-01 6.83321739e-01 -4.07096579e-03 3.42313848e+01] [ 3.31514407e-02 -2.94694386e-02 9.99015783e-01 2.19516125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:34.27, Z:2.18 [[ 6.81192186e-01 -7.32033842e-01 -1.01813406e-02 8.08112353e+01] [ 7.31442376e-01 6.81101556e-01 -3.30563492e-02 3.42697913e+01] [ 3.11328932e-02 1.50706629e-02 9.99401630e-01 2.17716662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.84, Y:34.28, Z:2.18 [[ 6.81622779e-01 -7.31371945e-01 -2.20332653e-02 8.08358628e+01] [ 7.31026431e-01 6.81978354e-01 -2.24917944e-02 3.42836140e+01] [ 3.14760774e-02 -7.75979902e-04 9.99504204e-01 2.18238613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:34.30, Z:2.18 [[ 6.83039899e-01 -7.30027549e-01 -2.27216461e-02 8.08537925e+01] [ 7.29659024e-01 6.83417329e-01 -2.32048050e-02 3.43046619e+01] [ 3.24685136e-02 -7.29246432e-04 9.99472493e-01 2.18300761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.89, Y:34.32, Z:2.20 [[ 6.84655152e-01 -7.27701615e-01 -4.12029515e-02 8.08867755e+01] [ 7.27818775e-01 6.85608017e-01 -1.48821392e-02 3.43189650e+01] [ 3.90788306e-02 -1.97991484e-02 9.99039959e-01 2.19802414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:34.36, Z:2.18 [[ 6.84962309e-01 -7.28549956e-01 -6.44949608e-03 8.08832287e+01] [ 7.27615087e-01 6.84484848e-01 -4.53517143e-02 3.43563417e+01] [ 3.74555718e-02 2.63714643e-02 9.98950262e-01 2.18026726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:34.37, Z:2.19 [[ 6.85058337e-01 -7.27926154e-01 -2.86110103e-02 8.09172439e+01] [ 7.27592292e-01 6.85635150e-01 -2.26693118e-02 3.43666484e+01] [ 3.61182993e-02 -5.28734952e-03 9.99333534e-01 2.19078833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:34.38, Z:2.19 [[ 6.87437634e-01 -7.25687332e-01 -2.84147186e-02 8.09365612e+01] [ 7.25441724e-01 6.87990877e-01 -2.00713485e-02 3.43837847e+01] [ 3.41145905e-02 -6.81542214e-03 9.99394689e-01 2.19157130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:34.41, Z:2.19 [[ 6.87889732e-01 -7.25425034e-01 -2.37957092e-02 8.09535238e+01] [ 7.25017862e-01 6.88300979e-01 -2.43076520e-02 3.44071124e+01] [ 3.40119892e-02 -5.31330026e-04 9.99421284e-01 2.19063304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:34.42, Z:2.20 [[ 6.90803488e-01 -7.21794485e-01 -4.24648487e-02 8.09889516e+01] [ 7.22022627e-01 6.91756685e-01 -1.24905768e-02 3.44193271e+01] [ 3.83909724e-02 -2.20320476e-02 9.99019881e-01 2.20470324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:34.45, Z:2.20 [[ 6.91501678e-01 -7.21576010e-01 -3.39630762e-02 8.10038617e+01] [ 7.21351715e-01 6.92260096e-01 -2.06800046e-02 3.44459209e+01] [ 3.84334776e-02 -1.01990654e-02 9.99209111e-01 2.20421927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:34.48, Z:2.19 [[ 6.89401538e-01 -7.24376855e-01 -1.92105110e-03 8.09996896e+01] [ 7.23632868e-01 6.88809000e-01 -4.35618346e-02 3.44811825e+01] [ 3.28784221e-02 2.86414601e-02 9.99048886e-01 2.18529513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:34.49, Z:2.19 [[ 6.89668360e-01 -7.23768359e-01 -2.27357658e-02 8.10302167e+01] [ 7.23391935e-01 6.90042927e-01 -2.33423942e-02 3.44884673e+01] [ 3.25831407e-02 -3.48358923e-04 9.99468968e-01 2.19381477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.06, Y:34.51, Z:2.20 [[ 6.91196481e-01 -7.21966037e-01 -3.18192566e-02 8.10589669e+01] [ 7.21762662e-01 6.91864058e-01 -1.95648791e-02 3.45053693e+01] [ 3.61397782e-02 -9.44277579e-03 9.99302132e-01 2.20105506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:34.53, Z:2.19 [[ 6.89641430e-01 -7.23956999e-01 -1.67619249e-02 8.10657182e+01] [ 7.23396775e-01 6.89794728e-01 -2.96704998e-02 3.45312087e+01] [ 3.30424535e-02 8.33648349e-03 9.99419181e-01 2.19354016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:34.55, Z:2.20 [[ 6.89378370e-01 -7.24052836e-01 -2.24711706e-02 8.10884339e+01] [ 7.23683977e-01 6.89744433e-01 -2.31110145e-02 3.45466489e+01] [ 3.22329604e-02 -3.29792587e-04 9.99480329e-01 2.19745047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:34.56, Z:2.21 [[ 6.90449505e-01 -7.22547675e-01 -3.47035859e-02 8.11188217e+01] [ 7.22524080e-01 6.91171799e-01 -1.55080069e-02 3.45617142e+01] [ 3.51914142e-02 -1.43666808e-02 9.99277320e-01 2.20681412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:34.59, Z:2.20 [[ 6.89431706e-01 -7.24092527e-01 -1.93374233e-02 8.11291455e+01] [ 7.23552200e-01 6.89679417e-01 -2.85397144e-02 3.45906560e+01] [ 3.40020168e-02 5.68454875e-03 9.99405598e-01 2.19991409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:34.59, Z:2.22 [[ 6.90109403e-01 -7.21962037e-01 -5.01978941e-02 8.11675838e+01] [ 7.22638405e-01 6.91197129e-01 -6.34545382e-03 3.45944064e+01] [ 3.92778170e-02 -3.18958688e-02 9.98719133e-01 2.22223579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:34.64, Z:2.19 [[ 6.86609473e-01 -7.27000602e-01 6.12836160e-03 8.11498490e+01] [ 7.26324825e-01 6.85552265e-01 -4.97025192e-02 3.46423710e+01] [ 3.19324492e-02 3.85774017e-02 9.98745264e-01 2.18908490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:34.64, Z:2.21 [[ 6.87156727e-01 -7.25533320e-01 -3.76435196e-02 8.11979728e+01] [ 7.25606959e-01 6.87962966e-01 -1.41950466e-02 3.46405636e+01] [ 3.61963267e-02 -1.75601780e-02 9.99190405e-01 2.21212494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:34.67, Z:2.20 [[ 6.85041464e-01 -7.28438739e-01 -9.75686003e-03 8.11996531e+01] [ 7.27825293e-01 6.84919809e-01 -3.39881952e-02 3.46741984e+01] [ 3.14409848e-02 1.61820335e-02 9.99374608e-01 2.19663143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:34.69, Z:2.20 [[ 6.83204770e-01 -7.29895936e-01 -2.19809864e-02 8.12257383e+01] [ 7.29543300e-01 6.83558072e-01 -2.26921843e-02 3.46866871e+01] [ 3.15882138e-02 -5.32672746e-04 9.99500826e-01 2.20242227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:34.71, Z:2.20 [[ 6.81648591e-01 -7.31347424e-01 -2.20486626e-02 8.12448286e+01] [ 7.30992977e-01 6.82004833e-01 -2.27744239e-02 3.47074022e+01] [ 3.16933107e-02 -5.93263592e-04 9.99497465e-01 2.20321240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:34.72, Z:2.22 [[ 6.80879872e-01 -7.31410611e-01 -3.79620608e-02 8.12733971e+01] [ 7.31518213e-01 6.81686157e-01 -1.36046581e-02 3.47209806e+01] [ 3.58288026e-02 -1.85068010e-02 9.99186567e-01 2.21711271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:34.75, Z:2.21 [[ 6.80780926e-01 -7.32057352e-01 -2.50871384e-02 8.12859096e+01] [ 7.31606702e-01 6.81242464e-01 -2.56970789e-02 3.47484109e+01] [ 3.59021595e-02 -8.59837435e-04 9.99354940e-01 2.21254868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:34.78, Z:2.20 [[ 6.77534120e-01 -7.35436177e-01 -9.00803299e-03 8.12956503e+01] [ 7.34816060e-01 6.77385991e-01 -3.45481678e-02 3.47757052e+01] [ 3.15098879e-02 1.67883152e-02 9.99362436e-01 2.20047670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:34.79, Z:2.21 [[ 6.75838873e-01 -7.36732971e-01 -2.15950913e-02 8.13223312e+01] [ 7.36394456e-01 6.76183325e-01 -2.23453808e-02 3.47892193e+01] [ 3.10648194e-02 -8.00628526e-04 9.99517051e-01 2.20656159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:34.81, Z:2.21 [[ 6.73083487e-01 -7.39261971e-01 -2.12216459e-02 8.13414776e+01] [ 7.38935933e-01 6.73417360e-01 -2.19714798e-02 3.48080820e+01] [ 3.05337042e-02 -8.92796469e-04 9.99533339e-01 2.20746081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:34.83, Z:2.21 [[ 6.71808956e-01 -7.40420132e-01 -2.12309735e-02 8.13610001e+01] [ 7.40094037e-01 6.72143696e-01 -2.19924650e-02 3.48281984e+01] [ 3.05539288e-02 -9.38181889e-04 9.99532679e-01 2.20835996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.38, Y:34.85, Z:2.21 [[ 6.70771726e-01 -7.41360569e-01 -2.12084323e-02 8.13802592e+01] [ 7.41035255e-01 6.71106223e-01 -2.19815714e-02 3.48482987e+01] [ 3.05293812e-02 -9.71579489e-04 9.99533398e-01 2.20914908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.40, Y:34.87, Z:2.21 [[ 6.69208687e-01 -7.42898294e-01 -1.61820458e-02 8.13955320e+01] [ 7.42470689e-01 6.69384054e-01 -2.57344866e-02 3.48721090e+01] [ 2.99501096e-02 5.20704727e-03 9.99537832e-01 2.20512173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:34.89, Z:2.21 [[ 6.69620796e-01 -7.42253435e-01 -2.58423584e-02 8.14202341e+01] [ 7.42071055e-01 6.70081008e-01 -1.79441449e-02 3.48868960e+01] [ 3.06355768e-02 -7.16109354e-03 9.99504968e-01 2.21176518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:34.91, Z:2.21 [[ 6.69941481e-01 -7.42110151e-01 -2.12352580e-02 8.14371925e+01] [ 7.41783458e-01 6.70277219e-01 -2.20397559e-02 3.49102289e+01] [ 3.05894363e-02 -9.86616452e-04 9.99531547e-01 2.21007528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:34.93, Z:2.21 [[ 6.71206774e-01 -7.40984820e-01 -2.05660702e-02 8.14573496e+01] [ 7.40625055e-01 6.71521724e-01 -2.30890072e-02 3.49316435e+01] [ 3.09191668e-02 2.65751184e-04 9.99521853e-01 2.20961622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:34.95, Z:2.21 [[ 6.72744686e-01 -7.39540182e-01 -2.22464926e-02 8.14762810e+01] [ 7.39237517e-01 6.73109009e-01 -2.12639522e-02 3.49510742e+01] [ 3.06998617e-02 -2.14023109e-03 9.99526357e-01 2.21118515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.49, Y:34.97, Z:2.21 [[ 6.73813826e-01 -7.38593628e-01 -2.13161944e-02 8.14947948e+01] [ 7.38261654e-01 6.74150429e-01 -2.21569178e-02 3.49714071e+01] [ 3.07352799e-02 -8.07291379e-04 9.99527234e-01 2.21119039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.51, Y:34.99, Z:2.21 [[ 6.75106333e-01 -7.37409192e-01 -2.14271476e-02 8.15137678e+01] [ 7.37072763e-01 6.75445869e-01 -2.22849538e-02 3.49908483e+01] [ 3.09060082e-02 -7.48653461e-04 9.99522015e-01 2.21192225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:35.01, Z:2.21 [[ 6.77215482e-01 -7.35475638e-01 -2.13254825e-02 8.15329886e+01] [ 7.35141154e-01 6.77550856e-01 -2.21883271e-02 3.50101891e+01] [ 3.07680729e-02 -6.50961156e-04 9.99526339e-01 2.21190045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.55, Y:35.03, Z:2.21 [[ 6.77914630e-01 -7.34821804e-01 -2.16488253e-02 8.15526299e+01] [ 7.34476338e-01 6.78259929e-01 -2.25383785e-02 3.50302339e+01] [ 3.12452227e-02 -6.21453395e-04 9.99511556e-01 2.21299571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.57, Y:35.05, Z:2.21 [[ 6.78607898e-01 -7.34203099e-01 -2.09076887e-02 8.15715932e+01] [ 7.33821180e-01 6.78929504e-01 -2.36897532e-02 3.50508631e+01] [ 3.15879369e-02 7.33548787e-04 9.99500707e-01 2.21331197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.782755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.59, Y:35.07, Z:2.21 [[ 6.79031564e-01 -7.33769410e-01 -2.23290840e-02 8.15923834e+01] [ 7.33458644e-01 6.79396145e-01 -2.14311563e-02 3.50697270e+01] [ 3.08958205e-02 -1.82502813e-03 9.99520944e-01 2.21435757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.812755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.61, Y:35.09, Z:2.21 [[ 6.79008926e-01 -7.33822926e-01 -2.12318521e-02 8.16122079e+01] [ 7.33488020e-01 6.79340596e-01 -2.21738374e-02 3.50909242e+01] [ 3.06953293e-02 -5.17075622e-04 9.99528654e-01 2.21454773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.63, Y:35.11, Z:2.22 [[ 6.78278176e-01 -7.34506378e-01 -2.09546328e-02 8.16318518e+01] [ 7.34142376e-01 6.78601717e-01 -2.31231725e-02 3.51120010e+01] [ 3.12039675e-02 3.00259348e-04 9.99512993e-01 2.21550316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.66, Y:35.13, Z:2.22 [[ 6.78990443e-01 -7.33575654e-01 -2.89609648e-02 8.16568782e+01] [ 7.33405935e-01 6.79549130e-01 -1.81304889e-02 3.51274160e+01] [ 3.29804837e-02 -8.92971477e-03 9.99416103e-01 2.22157279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:35.15, Z:2.22 [[ 6.79153526e-01 -7.33595147e-01 -2.42620827e-02 8.16751707e+01] [ 7.33175272e-01 6.79586131e-01 -2.48336516e-02 3.51511769e+01] [ 3.47060212e-02 -9.22497049e-04 9.99397139e-01 2.22123981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:35.18, Z:2.21 [[ 6.77495767e-01 -7.35407456e-01 -1.32423011e-02 8.16848200e+01] [ 7.34734968e-01 6.77491947e-01 -3.41934004e-02 3.51774507e+01] [ 3.41176340e-02 1.34363023e-02 9.99327500e-01 2.21477242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:35.19, Z:2.23 [[ 6.78556451e-01 -7.33719496e-01 -3.48832887e-02 8.17168885e+01] [ 7.33742106e-01 6.79271290e-01 -1.45957838e-02 3.51857161e+01] [ 3.44044277e-02 -1.56912745e-02 9.99284804e-01 2.22710360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:35.22, Z:2.22 [[ 6.77937384e-01 -7.34949153e-01 -1.58318058e-02 8.17237851e+01] [ 7.34399576e-01 6.78069233e-01 -2.96543108e-02 3.52152928e+01] [ 3.25294710e-02 8.47689441e-03 9.99434828e-01 2.21721066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:35.23, Z:2.22 [[ 6.77620443e-01 -7.35062561e-01 -2.26620187e-02 8.17466178e+01] [ 7.34679779e-01 6.77999044e-01 -2.37259034e-02 3.52324772e+01] [ 3.28048503e-02 -5.72169740e-04 9.99461612e-01 2.22080046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.77, Y:35.25, Z:2.22 [[ 6.77060627e-01 -7.35569056e-01 -2.29580172e-02 8.17654662e+01] [ 7.35175999e-01 6.77449489e-01 -2.40507746e-02 3.52532416e+01] [ 3.32439026e-02 -5.94350752e-04 9.99447092e-01 2.22154636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:35.27, Z:2.22 [[ 6.75878117e-01 -7.36619404e-01 -2.40961686e-02 8.17837104e+01] [ 7.36186496e-01 6.76307185e-01 -2.52593254e-02 3.52745396e+01] [ 3.49029212e-02 -6.67048702e-04 9.99390485e-01 2.22206697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.80, Y:35.29, Z:2.22 [[ 6.74964391e-01 -7.37444490e-01 -2.44682521e-02 8.18015706e+01] [ 7.36998057e-01 6.75407374e-01 -2.56659813e-02 3.52944170e+01] [ 3.54532744e-02 -7.09430852e-04 9.99371083e-01 2.22256185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:35.32, Z:2.22 [[ 6.73251912e-01 -7.38973975e-01 -2.54818939e-02 8.18198798e+01] [ 7.38490270e-01 6.73733482e-01 -2.67454023e-02 3.53157268e+01] [ 3.69321614e-02 -8.11737504e-04 9.99317445e-01 2.22363703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:35.34, Z:2.22 [[ 6.72120568e-01 -7.39999937e-01 -2.55741319e-02 8.18391041e+01] [ 7.39512819e-01 6.72606389e-01 -2.68595436e-02 3.53366334e+01] [ 3.70773851e-02 -8.59546666e-04 9.99312028e-01 2.22456407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.86, Y:35.36, Z:2.23 [[ 6.71069373e-01 -7.40951648e-01 -2.56232746e-02 8.18581057e+01] [ 7.40462705e-01 6.71557772e-01 -2.69284430e-02 3.53574538e+01] [ 3.71601834e-02 -9.02225847e-04 9.99308915e-01 2.22521810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:35.38, Z:2.23 [[ 6.69068928e-01 -7.42764124e-01 -2.54602766e-02 8.18755623e+01] [ 7.42282066e-01 6.69552451e-01 -2.67740304e-02 3.53784866e+01] [ 3.69337799e-02 -9.85034964e-04 9.99317230e-01 2.22587025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.89, Y:35.40, Z:2.23 [[ 6.68154167e-01 -7.43590325e-01 -2.53660733e-02 8.18943975e+01] [ 7.43111854e-01 6.68634725e-01 -2.66904035e-02 3.53996260e+01] [ 3.68073633e-02 -1.01652541e-03 9.99321862e-01 2.22684073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:35.42, Z:2.23 [[ 6.67448245e-01 -7.44225404e-01 -2.53256501e-02 8.19128990e+01] [ 7.43748302e-01 6.67927742e-01 -2.66644656e-02 3.54210502e+01] [ 3.67600770e-02 -1.03875851e-03 9.99323580e-01 2.22787774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:35.44, Z:2.23 [[ 6.66971571e-01 -7.44680984e-01 -2.44776601e-02 8.19301314e+01] [ 7.44235067e-01 6.67419805e-01 -2.57870065e-02 3.54425313e+01] [ 3.55399685e-02 -1.01793279e-03 9.99367737e-01 2.22853445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.95, Y:35.46, Z:2.23 [[ 6.67118369e-01 -7.44568739e-01 -2.38845996e-02 8.19491241e+01] [ 7.44143625e-01 6.67545081e-01 -2.51759692e-02 3.54637422e+01] [ 3.46892866e-02 -9.78220983e-04 9.99397667e-01 2.22969068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:35.49, Z:2.23 [[ 6.67193490e-01 -7.44514044e-01 -2.34879907e-02 8.19678752e+01] [ 7.44102388e-01 6.67606125e-01 -2.47729463e-02 3.54852217e+01] [ 3.41245328e-02 -9.49121421e-04 9.99417138e-01 2.23099473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:35.51, Z:2.23 [[ 6.68584682e-01 -7.43290898e-01 -2.26531287e-02 8.19850041e+01] [ 7.42906824e-01 6.68967807e-01 -2.39065767e-02 3.55064262e+01] [ 3.29237547e-02 -8.45592930e-04 9.99457509e-01 2.23227876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.00, Y:35.53, Z:2.23 [[ 6.69073530e-01 -7.42857019e-01 -2.24512787e-02 8.20031120e+01] [ 7.42479096e-01 6.69449621e-01 -2.37064782e-02 3.55275011e+01] [ 3.26405238e-02 -8.08228049e-04 9.99466829e-01 2.23327187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:35.55, Z:2.23 [[ 6.69900616e-01 -7.42113237e-01 -2.23854427e-02 8.20208125e+01] [ 7.41736622e-01 6.70274098e-01 -2.36520067e-02 3.55483659e+01] [ 3.25568497e-02 -7.59608820e-04 9.99469597e-01 2.23416732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:35.57, Z:2.24 [[ 6.70917241e-01 -7.41199408e-01 -2.22146923e-02 8.20382612e+01] [ 7.40827586e-01 6.71284549e-01 -2.34849353e-02 3.55689525e+01] [ 3.23193999e-02 -7.00808847e-04 9.99477346e-01 2.23525525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:35.59, Z:2.24 [[ 6.72861213e-01 -7.39439181e-01 -2.20790948e-02 8.20549673e+01] [ 7.39070533e-01 6.73223093e-01 -2.33540814e-02 3.55913919e+01] [ 3.21330793e-02 -6.03952805e-04 9.99483417e-01 2.23623401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:35.61, Z:2.24 [[ 6.73555179e-01 -7.38804649e-01 -2.21610286e-02 8.20731504e+01] [ 7.38432431e-01 6.73919409e-01 -2.34558046e-02 3.56129553e+01] [ 3.22640048e-02 -5.65643568e-04 9.99479221e-01 2.23765403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:35.61, Z:2.27 [[ 6.75887379e-01 -7.33847258e-01 -6.81502199e-02 8.21185193e+01] [ 7.35839441e-01 6.77125572e-01 6.42472312e-03 3.56135337e+01] [ 4.14314912e-02 -5.44900089e-02 9.97654384e-01 2.27012798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:35.68, Z:2.23 [[ 6.74254167e-01 -7.38285593e-01 1.77679844e-02 8.20862206e+01] [ 7.37813744e-01 6.72396686e-01 -5.92754284e-02 3.56787106e+01] [ 3.18150610e-02 5.30761677e-02 9.98083525e-01 2.22551173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:35.68, Z:2.24 [[ 6.73888098e-01 -7.38540912e-01 -2.07882982e-02 8.21269258e+01] [ 7.38212240e-01 6.74208481e-01 -2.20366125e-02 3.56779472e+01] [ 3.02905868e-02 -4.95965271e-04 9.99541012e-01 2.23960859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.18, Y:35.68, Z:2.28 [[ 6.75886033e-01 -7.33153071e-01 -7.52638357e-02 8.21823444e+01] [ 7.35923987e-01 6.76897255e-01 1.50330263e-02 3.56758170e+01] [ 3.99243743e-02 -6.55490746e-02 9.97050331e-01 2.27526729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:35.75, Z:2.23 [[ 6.70857728e-01 -7.41124210e-01 2.61689496e-02 8.21380504e+01] [ 7.40934727e-01 6.68372385e-01 -6.55292649e-02 3.57466229e+01] [ 3.10747214e-02 6.33502973e-02 9.97507444e-01 2.22551502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:35.74, Z:2.24 [[ 6.69513212e-01 -7.42515975e-01 -2.05447169e-02 8.21837412e+01] [ 7.42195772e-01 6.69828047e-01 -2.18133807e-02 3.57412108e+01] [ 2.99582113e-02 -6.43855453e-04 9.99550945e-01 2.24174072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:35.76, Z:2.24 [[ 6.66710570e-01 -7.45026893e-01 -2.07832755e-02 8.22022318e+01] [ 7.44699990e-01 6.67034000e-01 -2.20809332e-02 3.57616167e+01] [ 3.03140405e-02 -7.55713531e-04 9.99540138e-01 2.24225156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:35.78, Z:2.24 [[ 6.65329312e-01 -7.46264843e-01 -2.06322626e-02 8.22211320e+01] [ 7.45942898e-01 6.65648666e-01 -2.19327603e-02 3.57820597e+01] [ 3.01014860e-02 -7.97981480e-04 9.99546529e-01 2.24269399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.24, Y:35.80, Z:2.24 [[ 6.63829974e-01 -7.47597747e-01 -2.06730267e-02 8.22402803e+01] [ 7.47274757e-01 6.64151251e-01 -2.19898578e-02 3.58031651e+01] [ 3.01695847e-02 -8.50904292e-04 9.99544432e-01 2.24329122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:35.83, Z:2.24 [[ 6.62317636e-01 -7.49055374e-01 -1.58554692e-02 8.22560171e+01] [ 7.48511425e-01 6.62462488e-01 -2.95651480e-02 3.58278543e+01] [ 3.26495866e-02 7.71351908e-03 9.99437095e-01 2.24254820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:35.84, Z:2.25 [[ 6.60320341e-01 -7.50498873e-01 -2.69905483e-02 8.22816165e+01] [ 7.50381583e-01 6.60803674e-01 -1.63090446e-02 3.58415057e+01] [ 3.00753730e-02 -9.48401651e-03 9.99502639e-01 2.24634796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:35.87, Z:2.24 [[ 6.59386627e-01 -7.51518291e-01 -2.07252258e-02 8.22971522e+01] [ 7.51194581e-01 6.59711481e-01 -2.20785788e-02 3.58655587e+01] [ 3.02651252e-02 -1.01035775e-03 9.99541396e-01 2.24479943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:35.86, Z:2.28 [[ 6.62149722e-01 -7.45521729e-01 -7.58623539e-02 8.23522403e+01] [ 7.48321265e-01 6.63182666e-01 1.42841596e-02 3.58617911e+01] [ 3.96614467e-02 -6.62276649e-02 9.97015981e-01 2.28161606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.35, Y:35.91, Z:2.26 [[ 6.60979162e-01 -7.49858299e-01 -2.86195559e-02 8.23476351e+01] [ 7.49441169e-01 6.61582217e-01 -2.54343378e-02 3.59075184e+01] [ 3.80063385e-02 -4.63710611e-03 9.99266739e-01 2.26189309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:35.93, Z:2.26 [[ 6.59566723e-01 -7.51256484e-01 -2.41957083e-02 8.23626025e+01] [ 7.50722827e-01 6.60010176e-01 -2.83161500e-02 3.59299666e+01] [ 3.72421050e-02 5.12119764e-04 9.99306141e-01 2.26059558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:35.95, Z:2.26 [[ 6.58941855e-01 -7.51911401e-01 -2.06125298e-02 8.23785842e+01] [ 7.51282518e-01 6.59244864e-01 -3.11574666e-02 3.59525160e+01] [ 3.70163588e-02 5.04512555e-03 9.99301924e-01 2.25885724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.37, Y:35.99, Z:2.23 [[ 6.55144242e-01 -7.55238332e-01 2.00270592e-02 8.23683109e+01] [ 7.54950091e-01 6.53419298e-01 -5.56199641e-02 3.59915615e+01] [ 2.89202620e-02 5.15585294e-02 9.98251139e-01 2.23264271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:35.97, Z:2.27 [[ 6.58187673e-01 -7.50814698e-01 -5.53739650e-02 8.24363611e+01] [ 7.52120665e-01 6.59011001e-01 4.35952295e-03 3.59749519e+01] [ 3.32188582e-02 -4.45172877e-02 9.98456168e-01 2.27036081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:36.02, Z:2.25 [[ 6.56605359e-01 -7.54123966e-01 -1.29013725e-02 8.24302332e+01] [ 7.53567598e-01 6.56648025e-01 -3.08098628e-02 3.60177743e+01] [ 3.17061167e-02 1.05078648e-02 9.99441998e-01 2.25187728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:36.04, Z:2.25 [[ 6.55954161e-01 -7.54701206e-01 -1.22567523e-02 8.24486859e+01] [ 7.54233378e-01 6.56004171e-01 -2.81165254e-02 3.60379883e+01] [ 2.92600563e-02 9.19870009e-03 9.99529506e-01 2.25050476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:36.05, Z:2.25 [[ 6.55655949e-01 -7.54798367e-01 -1.98671069e-02 8.24722703e+01] [ 7.54518864e-01 6.55955190e-01 -2.05930276e-02 3.60547265e+01] [ 2.85755155e-02 -1.48816582e-03 9.99590529e-01 2.25378400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.222755096 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:82.48, Y:36.08, Z:2.25 [[ 6.55131441e-01 -7.55511306e-01 -2.33710565e-03 8.24784895e+01] [ 7.54991242e-01 6.54789365e-01 -3.52010250e-02 3.60833250e+01] [ 2.81250843e-02 2.12968039e-02 9.99377519e-01 2.24675268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.51, Y:36.09, Z:2.26 [[ 6.53841937e-01 -7.56116177e-01 -2.79114324e-02 8.25128746e+01] [ 7.56054715e-01 6.54338800e-01 -1.48997319e-02 3.60944747e+01] [ 2.95294615e-02 -1.13605005e-02 9.99499350e-01 2.25933980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.53, Y:36.12, Z:2.25 [[ 6.54271170e-01 -7.56080103e-01 -1.64958945e-02 8.25262290e+01] [ 7.55829581e-01 6.54479035e-01 -1.94637455e-02 3.61204989e+01] [ 2.55123678e-02 2.66482507e-04 9.99674471e-01 2.25390905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:36.14, Z:2.25 [[ 6.53830450e-01 -7.56502043e-01 -1.45052245e-02 8.25405205e+01] [ 7.56229004e-01 6.53986882e-01 -2.04658589e-02 3.61411098e+01] [ 2.49686906e-02 2.41193022e-03 9.99685324e-01 2.25271179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:36.16, Z:2.25 [[ 6.54947223e-01 -7.55492468e-01 -1.65911325e-02 8.25621635e+01] [ 7.55253778e-01 6.55157326e-01 -1.89897045e-02 3.61618806e+01] [ 2.52163807e-02 -9.32613030e-05 9.99682012e-01 2.25416300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:36.19, Z:2.25 [[ 6.56072228e-01 -7.54624954e-01 -1.05076441e-02 8.25736472e+01] [ 7.54121440e-01 6.56051555e-01 -2.99534779e-02 3.61867248e+01] [ 2.94971981e-02 1.17276053e-02 9.99496062e-01 2.25398741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:36.21, Z:2.26 [[ 6.56560670e-01 -7.54105695e-01 -1.58961590e-02 8.25966222e+01] [ 7.53725620e-01 6.56741204e-01 -2.42627358e-02 3.62063993e+01] [ 2.87363298e-02 3.94861579e-03 9.99579227e-01 2.25547087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:36.22, Z:2.26 [[ 6.57677171e-01 -7.52814483e-01 -2.70387298e-02 8.26225937e+01] [ 7.52754237e-01 6.58143226e-01 -1.44413144e-02 3.62213610e+01] [ 2.86669875e-02 -1.08557956e-02 9.99530067e-01 2.26219498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:36.24, Z:2.27 [[ 6.60231372e-01 -7.50318430e-01 -3.34184040e-02 8.26451715e+01] [ 7.50400061e-01 6.60863992e-01 -1.25909851e-02 3.62400610e+01] [ 3.15322680e-02 -1.67642091e-02 9.99362135e-01 2.26947836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:36.27, Z:2.26 [[ 6.59184756e-01 -7.51947260e-01 -7.12575397e-03 8.26486182e+01] [ 7.51488878e-01 6.59066543e-01 -2.99292220e-02 3.62746076e+01] [ 2.72015425e-02 1.43739620e-02 9.99526621e-01 2.25649332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:36.29, Z:2.26 [[ 6.60118101e-01 -7.51042545e-01 -1.33861271e-02 8.26694923e+01] [ 7.50690556e-01 6.60230346e-01 -2.36554407e-02 3.62921279e+01] [ 2.66041697e-02 5.56654543e-03 9.99630548e-01 2.25785797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.69, Y:36.31, Z:2.26 [[ 6.60262283e-01 -7.50711105e-01 -2.20579851e-02 8.26923426e+01] [ 7.50579348e-01 6.60599984e-01 -1.54370666e-02 3.63075831e+01] [ 2.61602820e-02 -6.36375520e-03 9.99637505e-01 2.26184796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.73, Y:36.31, Z:2.29 [[ 6.62380220e-01 -7.46982280e-01 -5.71831928e-02 8.27337305e+01] [ 7.48346737e-01 6.63296663e-01 3.83368864e-03 3.63140180e+01] [ 3.50657235e-02 -4.53322153e-02 9.98356342e-01 2.28789099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:36.36, Z:2.26 [[ 6.59865305e-01 -7.51372590e-01 4.12444393e-03 8.27139936e+01] [ 7.50772305e-01 6.59096831e-01 -4.39580918e-02 3.63648134e+01] [ 3.03104973e-02 3.21029379e-02 9.99024862e-01 2.25990017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:36.37, Z:2.27 [[ 6.58396573e-01 -7.52417518e-01 -1.95404943e-02 8.27456647e+01] [ 7.52117488e-01 6.58686107e-01 -2.12578812e-02 3.63719533e+01] [ 2.88658543e-02 -7.00631366e-04 9.99583049e-01 2.26847052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:36.39, Z:2.27 [[ 6.58590018e-01 -7.52066473e-01 -2.55970326e-02 8.27714580e+01] [ 7.51888978e-01 6.59045423e-01 -1.79470480e-02 3.63907654e+01] [ 3.03669803e-02 -7.42638001e-03 9.99511228e-01 2.27239812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.78, Y:36.41, Z:2.27 [[ 6.56917694e-01 -7.53822671e-01 -1.45094254e-02 8.27789855e+01] [ 7.53395806e-01 6.57048414e-01 -2.61178157e-02 3.64142504e+01] [ 2.92215966e-02 6.22591498e-03 9.99553568e-01 2.26860939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.80, Y:36.43, Z:2.27 [[ 6.54466811e-01 -7.55861094e-01 -1.86332925e-02 8.27996535e+01] [ 7.55536290e-01 6.54731873e-01 -2.21605289e-02 3.64341422e+01] [ 2.89500921e-02 4.25201947e-04 9.99580768e-01 2.27074606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:36.46, Z:2.27 [[ 6.51718354e-01 -7.58303868e-01 -1.54411852e-02 8.28161945e+01] [ 7.57818939e-01 6.51869195e-01 -2.78748577e-02 3.64588265e+01] [ 3.12032454e-02 6.46493377e-03 9.99492152e-01 2.27057610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:36.47, Z:2.29 [[ 6.52191794e-01 -7.56896201e-01 -4.18808427e-02 8.28532584e+01] [ 7.57252177e-01 6.53047301e-01 -9.91779396e-03 3.64678505e+01] [ 3.48569119e-02 -2.52460555e-02 9.99073387e-01 2.28543980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:36.50, Z:2.27 [[ 6.48965192e-01 -7.60800678e-01 -5.14860039e-03 8.28462027e+01] [ 7.60184576e-01 6.48686065e-01 -3.64115193e-02 3.65048520e+01] [ 3.10417339e-02 1.97159220e-02 9.99323618e-01 2.26761224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.87, Y:36.52, Z:2.27 [[ 6.48076711e-01 -7.61426696e-01 -1.50320758e-02 8.28698025e+01] [ 7.60825483e-01 6.48188232e-01 -3.15689790e-02 3.65222665e+01] [ 3.37810780e-02 9.02233381e-03 9.99388531e-01 2.27187837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:36.54, Z:2.28 [[ 6.47134747e-01 -7.61774033e-01 -3.02810483e-02 8.28985073e+01] [ 7.61779984e-01 6.47688664e-01 -1.38076207e-02 3.65350115e+01] [ 3.01309786e-02 -1.41321054e-02 9.99446050e-01 2.27673572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:36.56, Z:2.27 [[ 6.47552551e-01 -7.61810974e-01 -1.78811206e-02 8.29085198e+01] [ 7.61336665e-01 6.47787147e-01 -2.71715718e-02 3.65616408e+01] [ 3.22827617e-02 3.98146785e-03 9.99470846e-01 2.27317028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.93, Y:36.58, Z:2.28 [[ 6.46617568e-01 -7.62368746e-01 -2.60694546e-02 8.29321028e+01] [ 7.62176564e-01 6.47096749e-01 -1.87798510e-02 3.65786344e+01] [ 3.11866307e-02 -7.72614571e-03 9.99483717e-01 2.27566835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.95, Y:36.60, Z:2.27 [[ 6.46279862e-01 -7.62711372e-01 -2.43660353e-02 8.29500804e+01] [ 7.62526321e-01 6.46702709e-01 -1.81443267e-02 3.65995439e+01] [ 2.95964653e-02 -6.85343031e-03 9.99538433e-01 2.27498076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:36.63, Z:2.27 [[ 6.47202425e-01 -7.62263152e-01 -9.16012134e-03 8.29577248e+01] [ 7.61470663e-01 6.47002666e-01 -3.93697900e-02 3.66292229e+01] [ 3.59367631e-02 1.85050599e-02 9.99182722e-01 2.27201232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:36.64, Z:2.28 [[ 6.48520083e-01 -7.60757619e-01 -2.58755993e-02 8.29890743e+01] [ 7.60517034e-01 6.49002912e-01 -2.02252543e-02 3.66409442e+01] [ 3.21798555e-02 -6.56235043e-03 9.99460551e-01 2.27730521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:36.67, Z:2.28 [[ 6.48630823e-01 -7.60851748e-01 -1.95620182e-02 8.30020417e+01] [ 7.60164587e-01 6.48892967e-01 -3.29805771e-02 3.66670488e+01] [ 3.77869858e-02 6.52186539e-03 9.99264534e-01 2.27922838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:36.68, Z:2.29 [[ 6.49790815e-01 -7.59290210e-01 -3.53592074e-02 8.30323786e+01] [ 7.59507071e-01 6.50427059e-01 -9.67724466e-03 3.66766308e+01] [ 3.03464224e-02 -2.05673834e-02 9.99327813e-01 2.28604949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.04, Y:36.70, Z:2.28 [[ 6.50241562e-01 -7.59447013e-01 -2.06432617e-02 8.30431747e+01] [ 7.59108558e-01 6.50568515e-01 -2.26893010e-02 3.67048697e+01] [ 3.06611780e-02 -9.16950125e-04 9.99529415e-01 2.28223913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:36.73, Z:2.28 [[ 6.50534405e-01 -7.59199932e-01 -2.05048864e-02 8.30623174e+01] [ 7.58865475e-01 6.50856874e-01 -2.25504025e-02 3.67252192e+01] [ 3.04660103e-02 -8.90637688e-04 9.99535407e-01 2.28347620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:36.75, Z:2.28 [[ 6.51110529e-01 -7.58712595e-01 -2.02553109e-02 8.30820376e+01] [ 7.58385637e-01 6.51424959e-01 -2.22878565e-02 3.67456546e+01] [ 3.01048925e-02 -8.49478855e-04 9.99546384e-01 2.28493026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.10, Y:36.77, Z:2.29 [[ 6.51300821e-01 -7.58551195e-01 -2.01822809e-02 8.31015031e+01] [ 7.58226088e-01 6.51612918e-01 -2.22216991e-02 3.67664547e+01] [ 3.00073313e-02 -8.29721028e-04 9.99549334e-01 2.28602129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.12, Y:36.79, Z:2.29 [[ 6.51268561e-01 -7.58580859e-01 -2.01082843e-02 8.31202198e+01] [ 7.58257722e-01 6.51578399e-01 -2.21543905e-02 3.67870493e+01] [ 2.99080203e-02 -8.18803846e-04 9.99552320e-01 2.28655188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:36.81, Z:2.29 [[ 6.51253848e-01 -7.58583046e-01 -2.04984647e-02 8.31384022e+01] [ 7.58246801e-01 6.51575844e-01 -2.25988582e-02 3.68070285e+01] [ 3.04994151e-02 -8.25301948e-04 9.99534444e-01 2.28771651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:36.83, Z:2.29 [[ 6.51677270e-01 -7.58215536e-01 -2.06382554e-02 8.31568384e+01] [ 7.57874105e-01 6.52003491e-01 -2.27659469e-02 3.68270855e+01] [ 3.07177092e-02 -8.05149186e-04 9.99527776e-01 2.28795305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:36.85, Z:2.29 [[ 6.51667763e-01 -7.58216989e-01 -2.08835746e-02 8.31755625e+01] [ 7.57866987e-01 6.52001800e-01 -2.30495753e-02 3.68474767e+01] [ 3.10927079e-02 -8.06306562e-04 9.99516180e-01 2.28864433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:36.87, Z:2.29 [[ 6.51732089e-01 -7.58155274e-01 -2.11155057e-02 8.31943048e+01] [ 7.57796949e-01 6.52073567e-01 -2.33205424e-02 3.68675620e+01] [ 3.14494553e-02 -8.02519947e-04 9.99505021e-01 2.28942215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.392755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.21, Y:36.89, Z:2.29 [[ 6.51793395e-01 -7.58082105e-01 -2.18378906e-02 8.32132244e+01] [ 7.57698333e-01 6.52158612e-01 -2.41325769e-02 3.68874064e+01] [ 3.25362431e-02 -8.17079124e-04 9.99470222e-01 2.29035804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.23, Y:36.91, Z:2.29 [[ 6.51710576e-01 -7.58150632e-01 -2.19304435e-02 8.32325253e+01] [ 7.57763205e-01 6.52078948e-01 -2.42481051e-02 3.69081358e+01] [ 3.26840967e-02 -8.15336659e-04 9.99465400e-01 2.29140568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:36.92, Z:2.31 [[ 6.53273284e-01 -7.55808457e-01 -4.45824275e-02 8.32681792e+01] [ 7.56201862e-01 6.54249509e-01 -1.07853761e-02 3.69192584e+01] [ 3.73197098e-02 -2.66675166e-02 9.98947488e-01 2.30716816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:36.95, Z:2.30 [[ 6.52683038e-01 -7.57030795e-01 -3.01534029e-02 8.32796631e+01] [ 7.56629058e-01 6.53349623e-01 -2.54310459e-02 3.69467564e+01] [ 3.89527993e-02 -6.21652852e-03 9.99221714e-01 2.30299083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:36.98, Z:2.29 [[ 6.49739034e-01 -7.60157319e-01 1.96196635e-04 8.32769558e+01] [ 7.59372402e-01 6.49056363e-01 -4.56003603e-02 3.69806086e+01] [ 3.45361049e-02 2.97773203e-02 9.98959743e-01 2.28530559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:36.99, Z:2.29 [[ 6.48592406e-01 -7.60799545e-01 -2.26261775e-02 8.33095757e+01] [ 7.60387089e-01 6.48986253e-01 -2.50662718e-02 3.69886829e+01] [ 3.37544863e-02 -9.46859759e-04 9.99429706e-01 2.29399387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:37.01, Z:2.30 [[ 6.46940792e-01 -7.62204839e-01 -2.26140422e-02 8.33288207e+01] [ 7.61793179e-01 6.47335124e-01 -2.50676793e-02 3.70075450e+01] [ 3.37455704e-02 -1.00991881e-03 9.99429946e-01 2.29536214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:37.03, Z:2.30 [[ 6.46010540e-01 -7.62999204e-01 -2.24186819e-02 8.33479015e+01] [ 7.62594660e-01 6.46398597e-01 -2.48644101e-02 3.70279206e+01] [ 3.34629296e-02 -1.03369612e-03 9.99439425e-01 2.29635774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.37, Y:37.05, Z:2.30 [[ 6.44553498e-01 -7.64218772e-01 -2.28135059e-02 8.33671728e+01] [ 7.63800093e-01 6.44956156e-01 -2.53174664e-02 3.70482150e+01] [ 3.40617942e-02 -1.10649641e-03 9.99419116e-01 2.29726733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:37.07, Z:2.30 [[ 6.44018709e-01 -7.64663507e-01 -2.30135616e-02 8.33856254e+01] [ 7.64237166e-01 6.44428775e-01 -2.55559754e-02 3.70678841e+01] [ 3.43723231e-02 -1.12929287e-03 9.99408459e-01 2.29822049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.40, Y:37.09, Z:2.30 [[ 6.43595432e-01 -7.65010492e-01 -2.33209473e-02 8.34039958e+01] [ 7.64572346e-01 6.44016784e-01 -2.59135088e-02 3.70875062e+01] [ 3.48431876e-02 -1.15273555e-03 9.99392127e-01 2.29929538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:37.11, Z:2.30 [[ 6.43152782e-01 -7.65479043e-01 -1.99081283e-02 8.34209991e+01] [ 7.64851256e-01 6.43441694e-01 -3.13901567e-02 3.71108639e+01] [ 3.68382269e-02 4.96190965e-03 9.99308923e-01 2.29951372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:37.11, Z:2.32 [[ 6.44794210e-01 -7.62661078e-01 -5.08773626e-02 8.34602635e+01] [ 7.63465897e-01 6.45826595e-01 -5.27576560e-03 3.71146877e+01] [ 3.68815749e-02 -3.54413482e-02 9.98690973e-01 2.31544979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:37.16, Z:2.29 [[ 6.43277646e-01 -7.65626926e-01 3.04636361e-03 8.34449516e+01] [ 7.64913056e-01 6.42495171e-01 -4.59126651e-02 3.71614044e+01] [ 3.31946988e-02 3.18647944e-02 9.98940812e-01 2.28844535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.49, Y:37.16, Z:2.31 [[ 6.45959154e-01 -7.62230169e-01 -4.17365667e-02 8.34926799e+01] [ 7.62531187e-01 6.46847939e-01 -1.15729082e-02 3.71599565e+01] [ 3.58184320e-02 -2.43498078e-02 9.99061623e-01 2.31110888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:37.19, Z:2.30 [[ 6.47524788e-01 -7.61818958e-01 -1.85344318e-02 8.34985475e+01] [ 7.61240621e-01 6.47767257e-01 -3.01711400e-02 3.71925832e+01] [ 3.49909445e-02 5.42739867e-03 9.99372892e-01 2.30100977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.51, Y:37.22, Z:2.30 [[ 6.48030127e-01 -7.61539342e-01 -1.07137710e-02 8.35113085e+01] [ 7.60885119e-01 6.47960876e-01 -3.46488035e-02 3.72157442e+01] [ 3.33285315e-02 1.43015196e-02 9.99342121e-01 2.29632575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.54, Y:37.23, Z:2.30 [[ 6.49309821e-01 -7.60045172e-01 -2.69832093e-02 8.35410363e+01] [ 7.59806778e-01 6.49829565e-01 -2.03763878e-02 3.72288583e+01] [ 3.30214623e-02 -7.27143665e-03 9.99428191e-01 2.30335949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:37.24, Z:2.31 [[ 6.52080119e-01 -7.57266037e-01 -3.66014706e-02 8.35676358e+01] [ 7.57316718e-01 6.52866798e-01 -1.53731050e-02 3.72448532e+01] [ 3.55374152e-02 -1.76944095e-02 9.99211689e-01 2.31209057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:37.28, Z:2.30 [[ 6.52385392e-01 -7.57838859e-01 -8.57697117e-03 8.35705798e+01] [ 7.57186641e-01 6.52226995e-01 -3.56137171e-02 3.72792516e+01] [ 3.25835909e-02 1.67395008e-02 9.99328824e-01 2.29778196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:37.29, Z:2.30 [[ 6.51870705e-01 -7.58138923e-01 -1.70281106e-02 8.35922451e+01] [ 7.57679146e-01 6.52077110e-01 -2.67909375e-02 3.72945599e+01] [ 3.14148936e-02 4.56238303e-03 9.99496018e-01 2.30072635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:37.31, Z:2.30 [[ 6.53269700e-01 -7.56860506e-01 -2.00218130e-02 8.36134851e+01] [ 7.56526021e-01 6.53576296e-01 -2.25034196e-02 3.73118260e+01] [ 3.01177320e-02 -4.46220374e-04 9.99546259e-01 2.30309087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:37.33, Z:2.30 [[ 6.53450448e-01 -7.56700660e-01 -2.01648797e-02 8.36323997e+01] [ 7.56360999e-01 6.53761364e-01 -2.26741556e-02 3.73321991e+01] [ 3.03405678e-02 -4.35491385e-04 9.99539524e-01 2.30419552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.65, Y:37.35, Z:2.30 [[ 6.53238968e-01 -7.56883411e-01 -2.01581711e-02 8.36512356e+01] [ 7.56543654e-01 6.53549778e-01 -2.26801185e-02 3.73536576e+01] [ 3.03405737e-02 -4.34999270e-04 9.99539524e-01 2.30494725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:37.37, Z:2.31 [[ 6.54231092e-01 -7.55770701e-01 -2.81482839e-02 8.36778411e+01] [ 7.55635086e-01 6.54761710e-01 -1.73988785e-02 3.73714477e+01] [ 3.15799810e-02 -9.88694364e-03 9.99452327e-01 2.31176460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.69, Y:37.40, Z:2.30 [[ 6.52853027e-01 -7.57373707e-01 -1.29611929e-02 8.36863852e+01] [ 7.56885066e-01 6.52921447e-01 -2.86108461e-02 3.73979555e+01] [ 3.01317434e-02 8.86854413e-03 9.99506592e-01 2.30408951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:37.41, Z:2.31 [[ 6.52977906e-01 -7.57013347e-01 -2.34658757e-02 8.37136279e+01] [ 7.56739243e-01 6.53386046e-01 -2.07940681e-02 3.74135790e+01] [ 3.10736629e-02 -4.17948195e-03 9.99508359e-01 2.31014911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:37.44, Z:2.31 [[ 6.51747249e-01 -7.58231900e-01 -1.76042320e-02 8.37277285e+01] [ 7.57817010e-01 6.51977436e-01 -2.52745322e-02 3.74361156e+01] [ 3.06415186e-02 3.13182037e-03 9.99525532e-01 2.30762050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.75, Y:37.46, Z:2.31 [[ 6.51585520e-01 -7.58336205e-01 -1.90397248e-02 8.37495183e+01] [ 7.57954837e-01 6.51862421e-01 -2.40800665e-02 3.74559967e+01] [ 3.06720673e-02 1.25897113e-03 9.99528709e-01 2.30839163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:37.47, Z:2.31 [[ 6.50168596e-01 -7.59378710e-01 -2.49954369e-02 8.37729330e+01] [ 7.59106183e-01 6.50627256e-01 -2.10232523e-02 3.74736661e+01] [ 3.22273227e-02 -5.30553223e-03 9.99466483e-01 2.31253571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:37.50, Z:2.31 [[ 6.48640376e-01 -7.60898958e-01 -1.72753883e-02 8.37874426e+01] [ 7.60433137e-01 6.48855732e-01 -2.69756002e-02 3.74985347e+01] [ 3.17349407e-02 4.36068575e-03 9.99486807e-01 2.30868490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:37.52, Z:2.31 [[ 6.47186285e-01 -7.61969139e-01 -2.35147618e-02 8.38085661e+01] [ 7.61626261e-01 6.47606427e-01 -2.30511112e-02 3.75152623e+01] [ 3.27925463e-02 -2.99109711e-03 9.99457704e-01 2.31227174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:37.54, Z:2.31 [[ 6.45258230e-01 -7.63746474e-01 -1.82521158e-02 8.38280018e+01] [ 7.63266565e-01 6.45505727e-01 -2.73222903e-02 3.75377728e+01] [ 3.26491481e-02 3.69870296e-03 9.99460031e-01 2.30926830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.85, Y:37.55, Z:2.32 [[ 6.43983111e-01 -7.64542988e-01 -2.75639911e-02 8.38531751e+01] [ 7.64280108e-01 6.44531151e-01 -2.13427331e-02 3.75542797e+01] [ 3.40832878e-02 -7.32225048e-03 9.99392172e-01 2.31526320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:37.58, Z:2.31 [[ 6.41161164e-01 -7.67086022e-01 -2.21674522e-02 8.38703946e+01] [ 7.66649888e-01 6.41544127e-01 -2.58666377e-02 3.75764046e+01] [ 3.40633350e-02 -4.09991204e-04 9.99419592e-01 2.31365052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:37.60, Z:2.31 [[ 6.39791417e-01 -7.68253942e-01 -2.12796428e-02 8.38870831e+01] [ 7.67812056e-01 6.40145117e-01 -2.60552387e-02 3.75970038e+01] [ 3.36390993e-02 3.31151791e-04 9.99433990e-01 2.31429425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.91, Y:37.62, Z:2.32 [[ 6.40020798e-01 -7.68015257e-01 -2.29334714e-02 8.39085614e+01] [ 7.67640682e-01 6.40427800e-01 -2.40835278e-02 3.76177852e+01] [ 3.31837494e-02 -2.19070696e-03 9.99446867e-01 2.31573921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.502755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.92, Y:37.64, Z:2.32 [[ 6.38823203e-01 -7.69053809e-01 -2.14744924e-02 8.39244305e+01] [ 7.68611919e-01 6.39184025e-01 -2.60672205e-02 3.76383062e+01] [ 3.37732477e-02 1.46794478e-04 9.99429510e-01 2.31595211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.94, Y:37.66, Z:2.32 [[ 6.38779686e-01 -7.69064258e-01 -2.23758965e-02 8.39434570e+01] [ 7.68645875e-01 6.39170711e-01 -2.53834741e-02 3.76579188e+01] [ 3.38235404e-02 -9.84692912e-04 9.99427335e-01 2.31694356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.96, Y:37.68, Z:2.32 [[ 6.39407379e-01 -7.68546684e-01 -2.22305572e-02 8.39614742e+01] [ 7.68132904e-01 6.39793019e-01 -2.52335995e-02 3.76790154e+01] [ 3.36161545e-02 -9.41472768e-04 9.99434374e-01 2.31802528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:37.70, Z:2.32 [[ 6.40460663e-01 -7.67664799e-01 -2.23806905e-02 8.39796126e+01] [ 7.67244324e-01 6.40850968e-01 -2.54201676e-02 3.77005443e+01] [ 3.38568550e-02 -8.90840294e-04 9.99426295e-01 2.31899038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:37.72, Z:2.32 [[ 6.42337620e-01 -7.66088215e-01 -2.26103774e-02 8.39975536e+01] [ 7.65657528e-01 6.42734937e-01 -2.56973099e-02 3.77211469e+01] [ 3.42188857e-02 -8.05456763e-04 9.99414038e-01 2.31968102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:37.74, Z:2.32 [[ 6.43341330e-01 -7.65248774e-01 -2.24999215e-02 8.40154996e+01] [ 7.64821263e-01 6.43734227e-01 -2.55867272e-02 3.77424584e+01] [ 3.40641812e-02 -7.47419289e-04 9.99419368e-01 2.32041570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.03, Y:37.76, Z:2.32 [[ 6.44451277e-01 -7.64323001e-01 -2.22014028e-02 8.40331871e+01] [ 7.63905693e-01 6.44833226e-01 -2.52626807e-02 3.77640944e+01] [ 3.36250501e-02 -6.79211148e-04 9.99434287e-01 2.32095370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.05, Y:37.79, Z:2.32 [[ 6.46243908e-01 -7.62813701e-01 -2.20015650e-02 8.40507968e+01] [ 7.62402481e-01 6.46618060e-01 -2.50507976e-02 3.77859427e+01] [ 3.33357009e-02 -5.85122387e-04 9.99444040e-01 2.32191803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.07, Y:37.81, Z:2.32 [[ 6.47081178e-01 -7.62113111e-01 -2.16692264e-02 8.40685956e+01] [ 7.61713338e-01 6.47443685e-01 -2.46873610e-02 3.78065597e+01] [ 3.28441652e-02 -5.31012104e-04 9.99460344e-01 2.32294135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:37.83, Z:2.32 [[ 6.48393743e-01 -7.61002675e-01 -2.14588372e-02 8.40865223e+01] [ 7.60609567e-01 6.48748576e-01 -2.44616281e-02 3.78285696e+01] [ 3.25367545e-02 -4.61030235e-04 9.99470433e-01 2.32407127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:37.85, Z:2.33 [[ 6.48847030e-01 -7.60614853e-01 -2.15076050e-02 8.41043248e+01] [ 7.60219271e-01 6.49203249e-01 -2.45316458e-02 3.78490344e+01] [ 3.26219412e-02 -4.33210252e-04 9.99467669e-01 2.32512682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.12, Y:37.87, Z:2.33 [[ 6.48983280e-01 -7.60501740e-01 -2.13963879e-02 8.41228779e+01] [ 7.60109813e-01 6.49335759e-01 -2.44160434e-02 3.78701961e+01] [ 3.24618833e-02 -4.18000475e-04 9.99472887e-01 2.32605321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:37.89, Z:2.33 [[ 6.49144795e-01 -7.60367181e-01 -2.12787489e-02 8.41413132e+01] [ 7.59978998e-01 6.49493333e-01 -2.42967509e-02 3.78915581e+01] [ 3.22948576e-02 -3.99292906e-04 9.99478305e-01 2.32659347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.16, Y:37.91, Z:2.33 [[ 6.48951950e-01 -7.60527904e-01 -2.14166834e-02 8.41591468e+01] [ 7.60134259e-01 6.49305127e-01 -2.44695782e-02 3.79128155e+01] [ 3.25157594e-02 -3.99974308e-04 9.99471143e-01 2.32711100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:37.93, Z:2.33 [[ 6.48659229e-01 -7.60780530e-01 -2.13117356e-02 8.41769754e+01] [ 7.60390408e-01 6.49009110e-01 -2.43639686e-02 3.79337760e+01] [ 3.23671435e-02 -4.01326200e-04 9.99475966e-01 2.32747723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.20, Y:37.96, Z:2.33 [[ 6.48114926e-01 -7.61250783e-01 -2.10781389e-02 8.41956234e+01] [ 7.60869061e-01 6.48457458e-01 -2.41080318e-02 3.79550955e+01] [ 3.20205344e-02 -4.12928489e-04 9.99487126e-01 2.32821959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:37.98, Z:2.33 [[ 6.46666628e-01 -7.62486677e-01 -2.08887721e-02 8.42146230e+01] [ 7.62111945e-01 6.47003753e-01 -2.39066298e-02 3.79759037e+01] [ 3.17436006e-02 -4.59963066e-04 9.99495939e-01 2.32878336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.23, Y:38.00, Z:2.33 [[ 6.45803385e-01 -7.63216116e-01 -2.09558953e-02 8.42327776e+01] [ 7.62838866e-01 6.46143114e-01 -2.39987893e-02 3.79963860e+01] [ 3.18567702e-02 -4.87472073e-04 9.99492325e-01 2.32898891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:38.02, Z:2.33 [[ 6.44687600e-01 -7.64155329e-01 -2.10839181e-02 8.42512299e+01] [ 7.63773497e-01 6.45032057e-01 -2.41597136e-02 3.80169957e+01] [ 3.20615769e-02 -5.27870066e-04 9.99485756e-01 2.32923249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:38.04, Z:2.33 [[ 6.42675812e-01 -7.65836377e-01 -2.15045083e-02 8.42701707e+01] [ 7.65439581e-01 6.43035199e-01 -2.46572794e-02 3.80378958e+01] [ 3.27115973e-02 -6.13764769e-04 9.99464644e-01 2.33021770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:38.06, Z:2.33 [[ 6.41847083e-01 -7.66534106e-01 -2.13959533e-02 8.42880344e+01] [ 7.66141196e-01 6.42203286e-01 -2.45480567e-02 3.80584395e+01] [ 3.25574742e-02 -6.36222623e-04 9.99469662e-01 2.33062134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:38.08, Z:2.33 [[ 6.40944670e-01 -7.67284450e-01 -2.15523400e-02 8.43059675e+01] [ 7.66885731e-01 6.41306576e-01 -2.47416816e-02 3.80791950e+01] [ 3.28055649e-02 -6.70133053e-04 9.99461528e-01 2.33121190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:38.10, Z:2.33 [[ 6.39357651e-01 -7.68602957e-01 -2.17091842e-02 8.43249228e+01] [ 7.68198687e-01 6.39725688e-01 -2.49363357e-02 3.81003102e+01] [ 3.30540641e-02 -7.33729784e-04 9.99453296e-01 2.33172836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:38.12, Z:2.33 [[ 6.38327251e-01 -7.69464757e-01 -2.15013420e-02 8.43427538e+01] [ 7.69068176e-01 6.38688820e-01 -2.47129998e-02 3.81207861e+01] [ 3.27484491e-02 -7.61016628e-04 9.99463336e-01 2.33174262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:38.14, Z:2.33 [[ 6.36899793e-01 -7.70641470e-01 -2.16882000e-02 8.43611118e+01] [ 7.70238155e-01 6.37268431e-01 -2.49425553e-02 3.81423655e+01] [ 3.30429727e-02 -8.19170859e-04 9.99453596e-01 2.33196364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:38.16, Z:2.33 [[ 6.36213705e-01 -7.71208521e-01 -2.16688382e-02 8.43788635e+01] [ 7.70805738e-01 6.36582057e-01 -2.49358892e-02 3.81629268e+01] [ 3.30247639e-02 -8.37910381e-04 9.99454182e-01 2.33237521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:38.18, Z:2.33 [[ 6.35566359e-01 -7.71738468e-01 -2.17977048e-02 8.43972910e+01] [ 7.71330697e-01 6.35939459e-01 -2.50990105e-02 3.81840649e+01] [ 3.32318925e-02 -8.61152145e-04 9.99447297e-01 2.33320883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:38.20, Z:2.33 [[ 6.34756505e-01 -7.72408338e-01 -2.16688445e-02 8.44152516e+01] [ 7.72005250e-01 6.35125644e-01 -2.49661957e-02 3.82045539e+01] [ 3.30465365e-02 -8.81006577e-04 9.99453426e-01 2.33379512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:38.23, Z:2.33 [[ 6.34224337e-01 -7.72840291e-01 -2.18489026e-02 8.44334588e+01] [ 7.72430235e-01 6.34599930e-01 -2.51885087e-02 3.82257137e+01] [ 3.33320065e-02 -9.01587775e-04 9.99443928e-01 2.33471037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:38.25, Z:2.33 [[ 6.33834098e-01 -7.73357495e-01 -1.31347426e-02 8.44462924e+01] [ 7.72570427e-01 6.33824763e-01 -3.74313409e-02 3.82537056e+01] [ 3.72729331e-02 1.35777465e-02 9.99212877e-01 2.33249490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.402755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.48, Y:38.26, Z:2.34 [[ 6.34278194e-01 -7.72408120e-01 -3.28156735e-02 8.44763719e+01] [ 7.72402149e-01 6.34939926e-01 -1.56911174e-02 3.82628207e+01] [ 3.29559278e-02 -1.53943632e-02 9.99338241e-01 2.34047743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:38.29, Z:2.34 [[ 6.34819272e-01 -7.72352348e-01 -2.18252919e-02 8.44880365e+01] [ 7.71941610e-01 6.35193772e-01 -2.51996743e-02 3.82895829e+01] [ 3.33263171e-02 -8.50612087e-04 9.99444162e-01 2.33643184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:38.31, Z:2.34 [[ 6.35213306e-01 -7.72026891e-01 -2.18754404e-02 8.45057850e+01] [ 7.71613564e-01 6.35589331e-01 -2.52727332e-02 3.83103269e+01] [ 3.34150262e-02 -8.25810180e-04 9.99441221e-01 2.33708403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:38.33, Z:2.34 [[ 6.35592961e-01 -7.71714517e-01 -2.18698949e-02 8.45239597e+01] [ 7.71300733e-01 6.35968603e-01 -2.52807252e-02 3.83315790e+01] [ 3.34180691e-02 -8.00015003e-04 9.99441140e-01 2.33770057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.54, Y:38.35, Z:2.34 [[ 6.36419148e-01 -7.71030843e-01 -2.19569461e-02 8.45415882e+01] [ 7.70612842e-01 6.36797351e-01 -2.53965091e-02 3.83523131e+01] [ 3.35636169e-02 -7.57479953e-04 9.99436296e-01 2.33878412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.56, Y:38.37, Z:2.34 [[ 6.38156879e-01 -7.69602399e-01 -2.16320341e-02 8.45591688e+01] [ 7.69195469e-01 6.38523066e-01 -2.50324635e-02 3.83745892e+01] [ 3.30775967e-02 -6.64623836e-04 9.99452566e-01 2.33979077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:38.40, Z:2.34 [[ 6.38956465e-01 -7.68944696e-01 -2.14170477e-02 8.45772518e+01] [ 7.68544943e-01 6.39315006e-01 -2.47990738e-02 3.83962790e+01] [ 3.27613563e-02 -6.14435160e-04 9.99463014e-01 2.34058379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:38.42, Z:2.34 [[ 6.40445241e-01 -7.67713456e-01 -2.11173855e-02 8.45944211e+01] [ 7.67323685e-01 6.40793075e-01 -2.44662719e-02 3.84173709e+01] [ 3.23149606e-02 -5.34562664e-04 9.99477592e-01 2.34140861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.61, Y:38.44, Z:2.34 [[ 6.40019324e-01 -7.68126556e-01 -1.88907238e-02 8.46119998e+01] [ 7.67674050e-01 6.40293392e-01 -2.64749865e-02 3.84418981e+01] [ 3.24317458e-02 2.44258453e-03 9.99470968e-01 2.34172569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:38.47, Z:2.34 [[ 6.39510661e-01 -7.68561724e-01 -1.84116928e-02 8.46293632e+01] [ 7.68009970e-01 6.39758206e-01 -2.94978692e-02 3.84652891e+01] [ 3.44499648e-02 4.72383819e-03 9.99395260e-01 2.34334669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.65, Y:38.48, Z:2.35 [[ 6.41024906e-01 -7.67018844e-01 -2.77337824e-02 8.46524949e+01] [ 7.66867924e-01 6.41551230e-01 -1.80445609e-02 3.84790645e+01] [ 3.16331604e-02 -9.70113521e-03 9.99452466e-01 2.34788176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.67, Y:38.50, Z:2.35 [[ 6.39812289e-01 -7.68268873e-01 -2.00791974e-02 8.46652159e+01] [ 7.67914396e-01 6.40127099e-01 -2.33404487e-02 3.85033592e+01] [ 3.07849786e-02 -4.85598886e-04 9.99525912e-01 2.34558073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:38.53, Z:2.34 [[ 6.38523733e-01 -7.69432155e-01 -1.61740606e-02 8.46814572e+01] [ 7.68910610e-01 6.38699809e-01 -2.89659806e-02 3.85292472e+01] [ 3.26177263e-02 6.05905929e-03 9.99449534e-01 2.34489391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.70, Y:38.54, Z:2.35 [[ 6.37667549e-01 -7.69921201e-01 -2.45243070e-02 8.47040503e+01] [ 7.69740067e-01 6.38097619e-01 -1.82114773e-02 3.85438174e+01] [ 2.96703044e-02 -7.26447358e-03 9.99533341e-01 2.34807320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:38.57, Z:2.35 [[ 6.35184816e-01 -7.72135308e-01 -1.86364014e-02 8.47202032e+01] [ 7.71781142e-01 6.35457978e-01 -2.33885905e-02 3.85706219e+01] [ 2.99018065e-02 4.72854353e-04 9.99552729e-01 2.34659334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.74, Y:38.59, Z:2.35 [[ 6.34774229e-01 -7.72492903e-01 -1.77874294e-02 8.47368436e+01] [ 7.72084573e-01 6.35019328e-01 -2.52163587e-02 3.85917309e+01] [ 3.07748196e-02 2.27329484e-03 9.99523758e-01 2.34641201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:38.61, Z:2.35 [[ 6.33173533e-01 -7.73676963e-01 -2.26987719e-02 8.47569123e+01] [ 7.73441308e-01 6.33560139e-01 -1.97507936e-02 3.86092072e+01] [ 2.96617711e-02 -5.05048808e-03 9.99547233e-01 2.34863483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.77, Y:38.63, Z:2.35 [[ 6.31789039e-01 -7.74899318e-01 -1.93302166e-02 8.47729605e+01] [ 7.74571328e-01 6.32084271e-01 -2.25550937e-02 3.86325530e+01] [ 2.96962526e-02 -7.22570542e-04 9.99558708e-01 2.34757189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:38.66, Z:2.35 [[ 6.28274930e-01 -7.77798933e-01 -1.73041291e-02 8.47906611e+01] [ 7.77350498e-01 6.28504694e-01 -2.66092561e-02 3.86575970e+01] [ 3.15723773e-02 3.26655515e-03 9.99496130e-01 2.34703015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:38.67, Z:2.35 [[ 6.27339137e-01 -7.78405782e-01 -2.30227399e-02 8.48113914e+01] [ 7.78158044e-01 6.27740116e-01 -2.03077568e-02 3.86743334e+01] [ 3.02599727e-02 -5.17547966e-03 9.99528663e-01 2.34985909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.83, Y:38.70, Z:2.35 [[ 6.27118429e-01 -7.78673110e-01 -1.97652145e-02 8.48279709e+01] [ 7.78331033e-01 6.27429181e-01 -2.30959987e-02 3.86977806e+01] [ 3.03855055e-02 -8.99953423e-04 9.99537849e-01 2.34938059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.85, Y:38.72, Z:2.35 [[ 6.25504304e-01 -7.80030499e-01 -1.72274883e-02 8.48450310e+01] [ 7.79613323e-01 6.25736064e-01 -2.56406782e-02 3.87208434e+01] [ 3.07803718e-02 2.60757516e-03 9.99522771e-01 2.34892515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:38.74, Z:2.35 [[ 6.22937675e-01 -7.81977733e-01 -2.14354560e-02 8.48658745e+01] [ 7.81747163e-01 6.23289478e-01 -1.95345736e-02 3.87388781e+01] [ 2.86360958e-02 -4.58828507e-03 9.99579372e-01 2.35141755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.88, Y:38.76, Z:2.35 [[ 6.21510791e-01 -7.83189731e-01 -1.83897508e-02 8.48818687e+01] [ 7.82894847e-01 6.21781950e-01 -2.15143145e-02 3.87613558e+01] [ 2.82842053e-02 -1.02586254e-03 9.99599395e-01 2.35125480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:38.78, Z:2.35 [[ 6.20364448e-01 -7.84098109e-01 -1.83876650e-02 8.48995875e+01] [ 7.83803340e-01 6.20635991e-01 -2.15241994e-02 3.87825248e+01] [ 2.82891307e-02 -1.05946516e-03 9.99599221e-01 2.35227629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:38.81, Z:2.35 [[ 6.19049406e-01 -7.85234353e-01 -1.35957302e-02 8.49143129e+01] [ 7.84792978e-01 6.19169115e-01 -2.70108907e-02 3.88070451e+01] [ 2.96279355e-02 6.05124223e-03 9.99542679e-01 2.35084998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:38.83, Z:2.35 [[ 6.18030025e-01 -7.85917160e-01 -1.93159446e-02 8.49352369e+01] [ 7.85630992e-01 6.18328535e-01 -2.13018304e-02 3.88258803e+01] [ 2.86850738e-02 -2.01003401e-03 9.99586478e-01 2.35387039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:38.84, Z:2.36 [[ 6.18391382e-01 -7.85131169e-01 -3.40756015e-02 8.49612428e+01] [ 7.85355304e-01 6.18974413e-01 -9.36602982e-03 3.88395897e+01] [ 2.84454874e-02 -2.09695823e-02 9.99375370e-01 2.36307756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:38.87, Z:2.36 [[ 6.19172058e-01 -7.85027643e-01 -1.89093208e-02 8.49707744e+01] [ 7.84624232e-01 6.19460278e-01 -2.51749819e-02 3.88696959e+01] [ 3.14766298e-02 7.50934043e-04 9.99504206e-01 2.35923568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:38.89, Z:2.36 [[ 6.20589888e-01 -7.83900269e-01 -1.91978810e-02 8.49881490e+01] [ 7.83570389e-01 6.20886078e-01 -2.27579159e-02 3.88894622e+01] [ 2.97596334e-02 -9.19558590e-04 9.99556661e-01 2.35948001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:38.91, Z:2.36 [[ 6.20170011e-01 -7.84095334e-01 -2.41591551e-02 8.50085372e+01] [ 7.83936596e-01 6.20589151e-01 -1.76781773e-02 3.89090006e+01] [ 2.88542859e-02 -7.97577043e-03 9.99551808e-01 2.36295221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.01, Y:38.94, Z:2.35 [[ 6.21900896e-01 -7.83092679e-01 -2.26512434e-03 8.50129583e+01] [ 7.82680960e-01 6.21662881e-01 -3.07534852e-02 3.89403493e+01] [ 2.54909729e-02 1.73527503e-02 9.99524433e-01 2.35169445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:38.96, Z:2.36 [[ 6.23061766e-01 -7.82074094e-01 -1.24156217e-02 8.50363643e+01] [ 7.81742509e-01 6.23167023e-01 -2.32703924e-02 3.89580088e+01] [ 2.59361771e-02 4.79307256e-03 9.99652110e-01 2.35627336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.06, Y:38.98, Z:2.36 [[ 6.24421147e-01 -7.80830787e-01 -2.00378085e-02 8.50586979e+01] [ 7.80713111e-01 6.24710728e-01 -1.49514221e-02 3.89758045e+01] [ 2.41923646e-02 -6.30779568e-03 9.99687422e-01 2.36027104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:39.00, Z:2.36 [[ 6.26239186e-01 -7.79492942e-01 -1.46708777e-02 8.50733220e+01] [ 7.79256407e-01 6.26410724e-01 -1.92108571e-02 3.90007633e+01] [ 2.41647227e-02 5.98216069e-04 9.99707811e-01 2.35913246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:39.02, Z:2.36 [[ 6.28968383e-01 -7.77266433e-01 -1.59895656e-02 8.50907290e+01] [ 7.77083263e-01 6.29169144e-01 -1.69643833e-02 3.90223025e+01] [ 2.32459870e-02 -1.75516311e-03 9.99728235e-01 2.36066473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:39.04, Z:2.36 [[ 6.30381766e-01 -7.76138323e-01 -1.51040598e-02 8.51076087e+01] [ 7.75934482e-01 6.30562488e-01 -1.77940779e-02 3.90448397e+01] [ 2.33347192e-02 -5.02698558e-04 9.99727582e-01 2.36109508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.12, Y:39.07, Z:2.36 [[ 6.32405305e-01 -7.74491518e-01 -1.50472333e-02 8.51235669e+01] [ 7.74288469e-01 6.32584146e-01 -1.77387962e-02 3.90665827e+01] [ 2.32571885e-02 -4.32790404e-04 9.99729421e-01 2.36158524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.14, Y:39.09, Z:2.36 [[ 6.32759818e-01 -7.74202348e-01 -1.50245803e-02 8.51400094e+01] [ 7.73999580e-01 6.32938032e-01 -1.77227934e-02 3.90877793e+01] [ 2.32306566e-02 -4.14747326e-04 9.99730046e-01 2.36241749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:39.11, Z:2.36 [[ 6.33102240e-01 -7.73920716e-01 -1.51089310e-02 8.51574680e+01] [ 7.73715413e-01 6.33282373e-01 -1.78296404e-02 3.91096331e+01] [ 2.33669477e-02 -4.02027522e-04 9.99726875e-01 2.36331020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.17, Y:39.13, Z:2.36 [[ 6.33071814e-01 -7.73944194e-01 -1.51809914e-02 8.51743760e+01] [ 7.73736663e-01 6.33253682e-01 -1.79262571e-02 3.91309865e+01] [ 2.34873413e-02 -3.97481506e-04 9.99724055e-01 2.36416245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:39.15, Z:2.36 [[ 6.32116566e-01 -7.74727036e-01 -1.50554814e-02 8.51913696e+01] [ 7.74522914e-01 6.32295695e-01 -1.77879165e-02 3.91535208e+01] [ 2.33002959e-02 -4.16778661e-04 9.99728424e-01 2.36494565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:39.17, Z:2.37 [[ 6.31350086e-01 -7.75351214e-01 -1.50852138e-02 8.52081374e+01] [ 7.75146179e-01 6.31530132e-01 -1.78351815e-02 3.91742586e+01] [ 2.33552967e-02 -4.33002429e-04 9.99727134e-01 2.36607533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.23, Y:39.20, Z:2.37 [[ 6.29293317e-01 -7.77016066e-01 -1.53608391e-02 8.52256679e+01] [ 7.76803775e-01 6.29480568e-01 -1.81689270e-02 3.91965326e+01] [ 2.37868980e-02 -4.98773477e-04 9.99716927e-01 2.36691662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.24, Y:39.22, Z:2.37 [[ 6.27491509e-01 -7.78563332e-01 -9.67178792e-03 8.52387893e+01] [ 7.78170318e-01 6.27501683e-01 -2.63171804e-02 3.92223067e+01] [ 2.65586549e-02 8.98750897e-03 9.99606854e-01 2.36574632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:39.24, Z:2.37 [[ 6.26636397e-01 -7.78992927e-01 -2.22900295e-02 8.52640630e+01] [ 7.78928495e-01 6.26968894e-01 -1.34315169e-02 3.92372428e+01] [ 2.44382118e-02 -8.94566174e-03 9.99661317e-01 2.37035499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:39.26, Z:2.37 [[ 6.23946607e-01 -7.81284954e-01 -1.68657328e-02 8.52769899e+01] [ 7.81057443e-01 6.24172990e-01 -1.89037001e-02 3.92618102e+01] [ 2.52963113e-02 -1.37820658e-03 9.99679047e-01 2.36868833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:39.29, Z:2.37 [[ 6.23026217e-01 -7.82074767e-01 -1.40496463e-02 8.52923663e+01] [ 7.81751007e-01 6.23176526e-01 -2.27240010e-02 3.92850464e+01] [ 2.65272775e-02 3.17432325e-03 9.99643050e-01 2.36832104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:39.30, Z:2.37 [[ 6.21030866e-01 -7.83540342e-01 -1.96263974e-02 8.53133562e+01] [ 7.83361821e-01 6.21323873e-01 -1.73465323e-02 3.93043293e+01] [ 2.57860571e-02 -4.60183845e-03 9.99656892e-01 2.37099348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.33, Y:39.33, Z:2.37 [[ 6.19702304e-01 -7.84659879e-01 -1.66712086e-02 8.53292730e+01] [ 7.84410643e-01 6.19925976e-01 -1.97921047e-02 3.93274194e+01] [ 2.58649857e-02 -8.11860632e-04 9.99665116e-01 2.37055085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:39.35, Z:2.37 [[ 6.17285720e-01 -7.86549665e-01 -1.72616626e-02 8.53462403e+01] [ 7.86282845e-01 6.17526346e-01 -2.05060659e-02 3.93494256e+01] [ 2.67885708e-02 -9.14447557e-04 9.99640704e-01 2.37143594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.36, Y:39.37, Z:2.37 [[ 6.16069487e-01 -7.87496164e-01 -1.75550043e-02 8.53636666e+01] [ 7.87220216e-01 6.16318800e-01 -2.08678951e-02 3.93716441e+01] [ 2.72528665e-02 -9.63580876e-04 9.99628107e-01 2.37236205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:39.39, Z:2.37 [[ 6.14847234e-01 -7.88451984e-01 -1.75028047e-02 8.53809054e+01] [ 7.88177693e-01 6.15095504e-01 -2.08193303e-02 3.93939258e+01] [ 2.71809388e-02 -9.94612544e-04 9.99630035e-01 2.37318638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:39.42, Z:2.37 [[ 6.13349896e-01 -7.89615582e-01 -1.75822888e-02 8.53964942e+01] [ 7.89338850e-01 6.13600968e-01 -2.09292204e-02 3.94159611e+01] [ 2.73145480e-02 -1.04144843e-03 9.99626346e-01 2.37404550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:39.44, Z:2.37 [[ 6.12748581e-01 -7.90081808e-01 -1.76043494e-02 8.54134069e+01] [ 7.89804227e-01 6.13000508e-01 -2.09680801e-02 3.94378573e+01] [ 2.73579737e-02 -1.05582819e-03 9.99625143e-01 2.37495810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:39.46, Z:2.38 [[ 6.12238099e-01 -7.90476049e-01 -1.76670830e-02 8.54297757e+01] [ 7.90196281e-01 6.12492019e-01 -2.10562190e-02 3.94605962e+01] [ 2.74653842e-02 -1.06904377e-03 9.99622184e-01 2.37599510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:39.49, Z:2.38 [[ 6.11641658e-01 -7.91049226e-01 -1.16449249e-02 8.54418116e+01] [ 7.90553615e-01 6.11690178e-01 -2.93276114e-02 3.94857393e+01] [ 3.03226704e-02 8.73205141e-03 9.99502019e-01 2.37521902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.47, Y:39.50, Z:2.38 [[ 6.11903285e-01 -7.90524880e-01 -2.53926108e-02 8.54670464e+01] [ 7.90460003e-01 6.12332089e-01 -1.49129379e-02 3.94999492e+01] [ 2.73377589e-02 -1.09465675e-02 9.99566316e-01 2.38050983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:39.53, Z:2.38 [[ 6.12582743e-01 -7.90208532e-01 -1.76878270e-02 8.54791909e+01] [ 7.89926818e-01 6.12837181e-01 -2.11237000e-02 3.95270724e+01] [ 2.75318860e-02 -1.03207484e-03 9.99620393e-01 2.37870616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.49, Y:39.55, Z:2.37 [[ 6.13407106e-01 -7.89708582e-01 -9.59572072e-03 8.54929368e+01] [ 7.89260560e-01 6.13403600e-01 -2.83512224e-02 3.95536392e+01] [ 2.82752532e-02 9.81731736e-03 9.99551965e-01 2.37401256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:39.57, Z:2.38 [[ 6.14725273e-01 -7.88549611e-01 -1.73882059e-02 8.55112004e+01] [ 7.88165208e-01 6.14969424e-01 -2.46619691e-02 3.95703953e+01] [ 3.01404011e-02 1.45555672e-03 9.99544615e-01 2.37977208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.54, Y:39.59, Z:2.38 [[ 6.14939682e-01 -7.88117463e-01 -2.68337910e-02 8.55351524e+01] [ 7.88128947e-01 6.15379854e-01 -1.26648285e-02 3.95885221e+01] [ 2.64943469e-02 -1.33603819e-02 9.99559678e-01 2.38343476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:39.62, Z:2.38 [[ 6.16754116e-01 -7.86966199e-01 -1.72789558e-02 8.55459708e+01] [ 7.86695374e-01 6.16995527e-01 -2.06617670e-02 3.96162168e+01] [ 2.69211506e-02 -8.50044776e-04 9.99637199e-01 2.38130169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:39.64, Z:2.38 [[ 6.17704750e-01 -7.86224078e-01 -1.71038329e-02 8.55631336e+01] [ 7.85958084e-01 6.17940981e-01 -2.04654182e-02 3.96384499e+01] [ 2.66595638e-02 -8.01309757e-04 9.99644250e-01 2.38211122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:39.66, Z:2.38 [[ 6.19404721e-01 -7.84885270e-01 -1.71144520e-02 8.55783591e+01] [ 7.84618085e-01 6.19640679e-01 -2.04912002e-02 3.96607171e+01] [ 2.66880519e-02 -7.35962392e-04 9.99643540e-01 2.38295079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:39.69, Z:2.37 [[ 6.19382018e-01 -7.85068535e-01 5.77159413e-03 8.55839161e+01] [ 7.84768132e-01 6.18901148e-01 -3.31715030e-02 3.96946089e+01] [ 2.24698570e-02 2.50751956e-02 9.99433009e-01 2.36801655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:39.71, Z:2.38 [[ 6.21248934e-01 -7.83477421e-01 -1.45908701e-02 8.56133898e+01] [ 7.83270858e-01 6.21420202e-01 -1.79915341e-02 3.97084310e+01] [ 2.31630222e-02 -2.51381950e-04 9.99731670e-01 2.37611298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:39.73, Z:2.38 [[ 6.21467187e-01 -7.83290786e-01 -1.52996860e-02 8.56299819e+01] [ 7.83099160e-01 6.21654350e-01 -1.73659033e-02 3.97292812e+01] [ 2.31136684e-02 -1.18883212e-03 9.99732137e-01 2.37670403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:39.74, Z:2.39 [[ 6.21377227e-01 -7.82676545e-01 -3.61630777e-02 8.56564993e+01] [ 7.83059973e-01 6.21924069e-01 -5.24699817e-03 3.97411000e+01] [ 2.65973909e-02 -2.50574935e-02 9.99332127e-01 2.39203905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.66, Y:39.78, Z:2.38 [[ 6.21777361e-01 -7.83172375e-01 -5.82618796e-03 8.56593370e+01] [ 7.82788147e-01 6.21677390e-01 -2.75670064e-02 3.97783151e+01] [ 2.52117272e-02 1.25798696e-02 9.99602979e-01 2.37794584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.69, Y:39.79, Z:2.39 [[ 6.20523265e-01 -7.83680802e-01 -2.82006897e-02 8.56861606e+01] [ 7.83699781e-01 6.21004610e-01 -1.29586906e-02 3.97894600e+01] [ 2.76682353e-02 -1.40597054e-02 9.99518281e-01 2.39059564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.69, Y:39.82, Z:2.38 [[ 6.20247139e-01 -7.84401084e-01 -2.90273460e-03 8.56929132e+01] [ 7.84007147e-01 6.20045215e-01 -2.96095479e-02 3.98244500e+01] [ 2.50255882e-02 1.60894727e-02 9.99557326e-01 2.37795640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:39.83, Z:2.39 [[ 6.18512468e-01 -7.85212971e-01 -2.97139281e-02 8.57218574e+01] [ 7.85315522e-01 6.19001658e-01 -1.07925500e-02 3.98323371e+01] [ 2.68674210e-02 -1.66594822e-02 9.99500177e-01 2.39138168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:39.86, Z:2.38 [[ 6.18418171e-01 -7.85746871e-01 -1.26815240e-02 8.57327679e+01] [ 7.85423096e-01 6.18533713e-01 -2.29478978e-02 3.98631322e+01] [ 2.58751890e-02 4.23103519e-03 9.99656227e-01 2.38433719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:39.88, Z:2.39 [[ 6.16512538e-01 -7.87052117e-01 -2.14768523e-02 8.57509968e+01] [ 7.86890215e-01 6.16854174e-01 -1.71673417e-02 3.98796533e+01] [ 2.67596786e-02 -6.31604352e-03 9.99621942e-01 2.39038840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:39.91, Z:2.38 [[ 6.14808333e-01 -7.88654841e-01 5.85280706e-03 8.57520001e+01] [ 7.88281546e-01 6.14248637e-01 -3.62051999e-02 3.99131746e+01] [ 2.49583274e-02 2.68729184e-02 9.99327238e-01 2.37597760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:39.92, Z:2.40 [[ 6.13669085e-01 -7.88637985e-01 -3.82149602e-02 8.57950738e+01] [ 7.89134254e-01 6.14212209e-01 -3.23912446e-03 3.99154809e+01] [ 2.60265917e-02 -2.81689836e-02 9.99264292e-01 2.39740461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:39.95, Z:2.39 [[ 6.12545534e-01 -7.90244206e-01 -1.73799684e-02 8.58003520e+01] [ 7.89967331e-01 6.12791380e-01 -2.09365855e-02 3.99467594e+01] [ 2.71953102e-02 -9.04995334e-04 9.99629729e-01 2.39149429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:39.97, Z:2.39 [[ 6.09797784e-01 -7.92367887e-01 -1.73145948e-02 8.58174945e+01] [ 7.92093546e-01 6.10042751e-01 -2.08723855e-02 3.99692296e+01] [ 2.71012510e-02 -9.86844423e-04 9.99632207e-01 2.39149180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:39.99, Z:2.39 [[ 6.08937853e-01 -7.93068123e-01 -1.54156476e-02 8.58330246e+01] [ 7.92725423e-01 6.09129572e-01 -2.34001813e-02 3.99917458e+01] [ 2.79480647e-02 2.02888037e-03 9.99607318e-01 2.39167765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:40.01, Z:2.39 [[ 6.07952269e-01 -7.93791137e-01 -1.70196585e-02 8.58511992e+01] [ 7.93466515e-01 6.08190384e-01 -2.27012424e-02 4.00130117e+01] [ 2.83712376e-02 2.96742739e-04 9.99597411e-01 2.39303593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:40.03, Z:2.39 [[ 6.06825167e-01 -7.94570886e-01 -2.05018149e-02 8.58708649e+01] [ 7.94379827e-01 6.07148748e-01 -1.81958154e-02 4.00337647e+01] [ 2.69055164e-02 -5.24454947e-03 9.99624223e-01 2.39474613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:40.06, Z:2.39 [[ 6.06452681e-01 -7.94934495e-01 -1.71550472e-02 8.58862812e+01] [ 7.94664882e-01 6.06694341e-01 -2.07292478e-02 4.00572511e+01] [ 2.68862642e-02 -1.06120562e-03 9.99637936e-01 2.39419413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:40.08, Z:2.39 [[ 6.06190557e-01 -7.95134545e-01 -1.71482787e-02 8.59043084e+01] [ 7.94864855e-01 6.06432130e-01 -2.07348455e-02 4.00793935e+01] [ 2.68862591e-02 -1.06129649e-03 9.99637936e-01 2.39498238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:40.10, Z:2.40 [[ 6.06638510e-01 -7.94798129e-01 -1.69012520e-02 8.59217478e+01] [ 7.94535666e-01 6.06873041e-01 -2.04496433e-02 4.01018153e+01] [ 2.65102524e-02 -1.02310641e-03 9.99648018e-01 2.39588228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:40.12, Z:2.40 [[ 6.07055318e-01 -7.94476416e-01 -1.70606557e-02 8.59386319e+01] [ 7.94208451e-01 6.07294168e-01 -2.06574490e-02 4.01227784e+01] [ 2.67726927e-02 -1.00950266e-03 9.99641037e-01 2.39703516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:40.14, Z:2.40 [[ 6.07814259e-01 -7.93901375e-01 -1.68057478e-02 8.59562180e+01] [ 7.93640769e-01 6.08045790e-01 -2.03628634e-02 4.01446393e+01] [ 2.63847694e-02 -9.60887925e-04 9.99651400e-01 2.39776203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:40.17, Z:2.40 [[ 6.08467232e-01 -7.93408960e-01 -1.64271218e-02 8.59734143e+01] [ 7.93159434e-01 6.08688257e-01 -1.99177936e-02 4.01666309e+01] [ 2.58019520e-02 -9.10001890e-04 9.99666660e-01 2.39820246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:40.19, Z:2.40 [[ 6.10802193e-01 -7.91624723e-01 -1.58423232e-02 8.59903194e+01] [ 7.91391719e-01 6.11007090e-01 -1.92219421e-02 4.01894914e+01] [ 2.48963364e-02 -7.96678960e-04 9.99689721e-01 2.39860042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.01, Y:40.21, Z:2.40 [[ 6.11805902e-01 -7.90851537e-01 -1.57284854e-02 8.60078049e+01] [ 7.90621283e-01 6.12007583e-01 -1.90972419e-02 4.02119311e+01] [ 2.47290355e-02 -7.51470036e-04 9.99693908e-01 2.39934707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:40.23, Z:2.40 [[ 6.13540955e-01 -7.89513237e-01 -1.53735296e-02 8.60245877e+01] [ 7.89292531e-01 6.13733162e-01 -1.86790471e-02 4.02338597e+01] [ 2.41825998e-02 -6.73851667e-04 9.99707331e-01 2.39982710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:40.27, Z:2.39 [[ 6.13632369e-01 -7.89565629e-01 6.43692528e-03 8.60307537e+01] [ 7.89309258e-01 6.13174262e-01 -3.17524798e-02 4.02667181e+01] [ 2.11237097e-02 2.45650741e-02 9.99475035e-01 2.38752105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:40.27, Z:2.41 [[ 6.15403070e-01 -7.87438088e-01 -3.49330634e-02 8.60712070e+01] [ 7.87859264e-01 6.15849638e-01 -2.64652374e-03 4.02677900e+01] [ 2.35974881e-02 -2.58936588e-02 9.99386150e-01 2.40797113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:40.30, Z:2.40 [[ 6.17041229e-01 -7.86787035e-01 -1.50427371e-02 8.60771344e+01] [ 7.86574188e-01 6.17224331e-01 -1.83076842e-02 4.02986164e+01] [ 2.36889919e-02 -5.35632743e-04 9.99719233e-01 2.40276834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.09, Y:40.32, Z:2.40 [[ 6.17530988e-01 -7.86408386e-01 -1.47420644e-02 8.60943732e+01] [ 7.86203628e-01 6.17706723e-01 -1.79515894e-02 4.03205197e+01] [ 2.32235528e-02 -5.04601803e-04 9.99730170e-01 2.40347792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:40.34, Z:2.40 [[ 6.17836317e-01 -7.86168175e-01 -1.47609604e-02 8.61109694e+01] [ 7.85962566e-01 6.18012428e-01 -1.79856576e-02 4.03419179e+01] [ 2.32622086e-02 -4.89369826e-04 9.99729278e-01 2.40427456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:40.36, Z:2.40 [[ 6.18419155e-01 -7.85713489e-01 -1.45623483e-02 8.61284778e+01] [ 7.85512954e-01 6.18590416e-01 -1.77565635e-02 4.03638763e+01] [ 2.29597006e-02 -4.57914254e-04 9.99736286e-01 2.40498148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.312755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.13, Y:40.40, Z:2.40 [[ 6.18325368e-01 -7.85905954e-01 5.05674300e-03 8.61343957e+01] [ 7.85510030e-01 6.17779925e-01 -3.63587309e-02 4.03961092e+01] [ 2.54505888e-02 2.64536480e-02 9.99326009e-01 2.39538073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:40.40, Z:2.41 [[ 6.18125252e-01 -7.85279539e-01 -3.54572795e-02 8.61755466e+01] [ 7.85751849e-01 6.18541089e-01 -9.75862725e-04 4.03969334e+01] [ 2.26981093e-02 -2.72574175e-02 9.99370717e-01 2.41269520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:40.43, Z:2.41 [[ 6.16665227e-01 -7.87082783e-01 -1.49896655e-02 8.61815625e+01] [ 7.86870110e-01 6.16847173e-01 -1.83028822e-02 4.04273221e+01] [ 2.36522163e-02 -5.08168747e-04 9.99720118e-01 2.40624116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:40.45, Z:2.41 [[ 6.14776617e-01 -7.88667449e-01 -7.30525544e-03 8.61935243e+01] [ 7.88202284e-01 6.14690732e-01 -2.98741108e-02 4.04538508e+01] [ 2.80512116e-02 1.26078857e-02 9.99526973e-01 2.40557008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:40.46, Z:2.41 [[ 6.13932560e-01 -7.88940117e-01 -2.56963725e-02 8.62229938e+01] [ 7.88987408e-01 6.14316773e-01 -1.06664019e-02 4.04647620e+01] [ 2.42008650e-02 -1.37256629e-02 9.99612887e-01 2.41070410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:40.49, Z:2.41 [[ 6.10699184e-01 -7.91702876e-01 -1.59079483e-02 8.62347529e+01] [ 7.91464148e-01 6.10905927e-01 -1.94538084e-02 4.04896035e+01] [ 2.51198959e-02 -7.10145829e-04 9.99684193e-01 2.40782241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:40.51, Z:2.41 [[ 6.08792590e-01 -7.93170627e-01 -1.58725736e-02 8.62529858e+01] [ 7.92933185e-01 6.08998994e-01 -1.94213709e-02 4.05108829e+01] [ 2.50708423e-02 -7.62303649e-04 9.99685386e-01 2.40818164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.27, Y:40.53, Z:2.41 [[ 6.07056030e-01 -7.94495402e-01 -1.61255363e-02 8.62716192e+01] [ 7.94250468e-01 6.07269611e-01 -1.97437064e-02 4.05324623e+01] [ 2.54788321e-02 -8.22178681e-04 9.99675024e-01 2.40918277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:40.55, Z:2.41 [[ 6.04567309e-01 -7.96390988e-01 -1.61171569e-02 8.62901674e+01] [ 7.96146631e-01 6.04781445e-01 -1.97470365e-02 4.05521595e+01] [ 2.54737193e-02 -8.93207500e-04 9.99675093e-01 2.41010104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:40.57, Z:2.41 [[ 6.03324142e-01 -7.97332024e-01 -1.61748106e-02 8.63079654e+01] [ 7.97086033e-01 6.03540204e-01 -1.98261935e-02 4.05733011e+01] [ 2.55702074e-02 -9.31094484e-04 9.99672595e-01 2.41112429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.612755096 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:86.32, Y:40.60, Z:2.41 [[ 6.01492854e-01 -7.98854210e-01 -6.18857742e-03 8.63186275e+01] [ 7.98300873e-01 6.01334600e-01 -3.33528811e-02 4.06019056e+01] [ 3.03654952e-02 1.51211729e-02 9.99424478e-01 2.41036937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:40.62, Z:2.41 [[ 6.00498838e-01 -7.99495281e-01 -1.44375179e-02 8.63435090e+01] [ 7.99149059e-01 6.00666386e-01 -2.36785748e-02 4.06202591e+01] [ 2.76030405e-02 2.68122783e-03 9.99615368e-01 2.41018662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:40.64, Z:2.41 [[ 5.99438011e-01 -8.00364260e-01 -9.54582570e-03 8.63578983e+01] [ 7.99979425e-01 5.99460741e-01 -2.60718169e-02 4.06435535e+01] [ 2.65892981e-02 7.99197389e-03 9.99614494e-01 2.40680185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:40.66, Z:2.42 [[ 6.01409282e-01 -7.98257342e-01 -3.30468091e-02 8.63919021e+01] [ 7.98414245e-01 6.02000242e-01 -1.14194014e-02 4.06553135e+01] [ 2.90098081e-02 -1.95173091e-02 9.99388566e-01 2.42027524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:40.68, Z:2.42 [[ 6.01999273e-01 -7.98366745e-01 -1.44019164e-02 8.63978528e+01] [ 7.97856438e-01 6.02140868e-01 -2.91801128e-02 4.06848676e+01] [ 3.19684142e-02 6.07574500e-03 9.99470413e-01 2.41572428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:40.70, Z:2.43 [[ 6.03296577e-01 -7.96698481e-01 -3.61216213e-02 8.64297055e+01] [ 7.96841299e-01 6.04030831e-01 -1.38094044e-02 4.06965345e+01] [ 3.28205044e-02 -2.04520332e-02 9.99251985e-01 2.42853108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:40.73, Z:2.42 [[ 6.04207655e-01 -7.96629472e-01 -1.77367918e-02 8.64373931e+01] [ 7.96096304e-01 6.04457081e-01 -2.93651607e-02 4.07268313e+01] [ 3.41142818e-02 3.62246055e-03 9.99411374e-01 2.42372175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:40.74, Z:2.43 [[ 6.04821200e-01 -7.95746914e-01 -3.12756281e-02 8.64644144e+01] [ 7.95691542e-01 6.05456672e-01 -1.72391314e-02 4.07424001e+01] [ 3.26540233e-02 -1.44591606e-02 9.99362120e-01 2.43135109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85275509600001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.47, Y:40.77, Z:2.42 [[ 6.04910933e-01 -7.96147962e-01 -1.52047870e-02 8.64727211e+01] [ 7.95575516e-01 6.05066068e-01 -3.08974443e-02 4.07716631e+01] [ 3.37988379e-02 6.59364563e-03 9.99406905e-01 2.42402997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:40.79, Z:2.42 [[ 6.05854664e-01 -7.95502811e-01 -1.07425976e-02 8.64865548e+01] [ 7.94929109e-01 6.05851486e-01 -3.21199300e-02 4.07939258e+01] [ 3.20599133e-02 1.09204059e-02 9.99426289e-01 2.42331947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:40.81, Z:2.43 [[ 6.06131249e-01 -7.94871957e-01 -2.79907149e-02 8.65134802e+01] [ 7.94795556e-01 6.06653404e-01 -1.64824439e-02 4.08053288e+01] [ 3.00820950e-02 -1.22563715e-02 9.99472285e-01 2.43127061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:40.84, Z:2.42 [[ 6.06169693e-01 -7.95288566e-01 -8.62551818e-03 8.65222396e+01] [ 7.94779363e-01 6.06115769e-01 -3.08129607e-02 4.08380534e+01] [ 2.97332579e-02 1.18224991e-02 9.99487950e-01 2.42357901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.972755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.54, Y:40.86, Z:2.43 [[ 6.07156650e-01 -7.94449753e-01 -1.45048762e-02 8.65431063e+01] [ 7.94057528e-01 6.07317913e-01 -2.52506269e-02 4.08555488e+01] [ 2.88694255e-02 3.81337987e-03 9.99575917e-01 2.42510597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.57, Y:40.87, Z:2.43 [[ 6.07672094e-01 -7.93858421e-01 -2.28786708e-02 8.65650764e+01] [ 7.93632213e-01 6.08072371e-01 -1.98972895e-02 4.08728487e+01] [ 2.97075184e-02 -6.06622260e-03 9.99540226e-01 2.43001653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:40.89, Z:2.44 [[ 6.07867217e-01 -7.93384839e-01 -3.22171207e-02 8.65874502e+01] [ 7.93391306e-01 6.08509546e-01 -1.56960988e-02 4.08899106e+01] [ 3.20574723e-02 -1.60196396e-02 9.99357638e-01 2.43779818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:40.92, Z:2.43 [[ 6.07893311e-01 -7.93976459e-01 -8.19176112e-03 8.65924956e+01] [ 7.93390098e-01 6.07790164e-01 -3.35152091e-02 4.09231808e+01] [ 3.15891589e-02 1.38744093e-02 9.99404636e-01 2.42737150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:40.93, Z:2.45 [[ 6.09377420e-01 -7.91725501e-01 -4.27772295e-02 8.66305219e+01] [ 7.92079801e-01 6.10299294e-01 -1.20150046e-02 4.09281800e+01] [ 3.56194984e-02 -2.65613069e-02 9.99012386e-01 2.44726479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:40.97, Z:2.43 [[ 6.07737549e-01 -7.94118327e-01 -5.58154871e-03 8.66261189e+01] [ 7.93446628e-01 6.07486706e-01 -3.74479757e-02 4.09668907e+01] [ 3.31288404e-02 1.83298800e-02 9.99282991e-01 2.43103401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:40.99, Z:2.43 [[ 6.07090520e-01 -7.94549308e-01 -1.15107364e-02 8.66488121e+01] [ 7.93911521e-01 6.07092923e-01 -3.38035276e-02 4.09856038e+01] [ 3.38466561e-02 1.13832950e-02 9.99362209e-01 2.43215562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:40.99, Z:2.44 [[ 6.07449076e-01 -7.93519162e-01 -3.65097201e-02 8.66807685e+01] [ 7.93673903e-01 6.08192008e-01 -1.35726335e-02 4.09931869e+01] [ 3.29750648e-02 -2.07321284e-02 9.99241124e-01 2.44463345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:41.02, Z:2.44 [[ 6.06350031e-01 -7.94910924e-01 -2.13603190e-02 8.66900031e+01] [ 7.94469354e-01 6.06725488e-01 -2.65071223e-02 4.10201195e+01] [ 3.40306510e-02 -8.97524432e-04 9.99420387e-01 2.44006369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:41.04, Z:2.44 [[ 6.05485905e-01 -7.95563688e-01 -2.15693637e-02 8.67083179e+01] [ 7.95113304e-01 6.05869249e-01 -2.67822049e-02 4.10416487e+01] [ 3.43751639e-02 -9.33840467e-04 9.99408563e-01 2.44112151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:41.06, Z:2.44 [[ 6.04603867e-01 -7.96233476e-01 -2.15966551e-02 8.67264682e+01] [ 7.95781793e-01 6.04988698e-01 -2.68330466e-02 4.10627872e+01] [ 3.44311023e-02 -9.62861167e-04 9.99406610e-01 2.44177963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:41.07, Z:2.46 [[ 6.05291487e-01 -7.94683684e-01 -4.58263796e-02 8.67622942e+01] [ 7.95057731e-01 6.06375456e-01 -1.38567603e-02 4.10741319e+01] [ 3.87997331e-02 -2.80472383e-02 9.98853309e-01 2.45631899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:41.12, Z:2.44 [[ 6.03780645e-01 -7.97148919e-01 -1.59168194e-03 8.67524258e+01] [ 7.96168298e-01 6.03134584e-01 -4.84222507e-02 4.11153201e+01] [ 3.95597433e-02 2.79691711e-02 9.98825687e-01 2.43989951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:41.12, Z:2.45 [[ 6.03702037e-01 -7.96725037e-01 -2.78040811e-02 8.67857191e+01] [ 7.96338892e-01 6.04305482e-01 -2.56759527e-02 4.11230793e+01] [ 3.72588330e-02 -6.64084613e-03 9.99283583e-01 2.44944044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:41.15, Z:2.45 [[ 6.04433024e-01 -7.96295191e-01 -2.39726621e-02 8.68022867e+01] [ 7.95738825e-01 6.04907276e-01 -2.97810281e-02 4.11459962e+01] [ 3.82157272e-02 -1.07534112e-03 9.99268934e-01 2.44955183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:41.17, Z:2.45 [[ 6.04950087e-01 -7.95905992e-01 -2.38546629e-02 8.68207974e+01] [ 7.95354072e-01 6.05419345e-01 -2.96532880e-02 4.11677248e+01] [ 3.80433040e-02 -1.03414411e-03 9.99275556e-01 2.45040363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:41.19, Z:2.45 [[ 6.06574161e-01 -7.94648219e-01 -2.45355874e-02 8.68387854e+01] [ 7.94062519e-01 6.07069408e-01 -3.05196744e-02 4.11873895e+01] [ 3.91472094e-02 -9.70344442e-04 9.99232983e-01 2.45221899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.86, Y:41.21, Z:2.45 [[ 6.07272469e-01 -7.94116209e-01 -2.44866372e-02 8.68568150e+01] [ 7.93531723e-01 6.07765246e-01 -3.04764011e-02 4.12089636e+01] [ 3.90839312e-02 -9.23444105e-04 9.99235505e-01 2.45311820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:41.23, Z:2.45 [[ 6.08100067e-01 -7.93479344e-01 -2.45934683e-02 8.68747532e+01] [ 7.92888504e-01 6.08596553e-01 -3.06276926e-02 4.12301912e+01] [ 3.92699415e-02 -8.75176316e-04 9.99228255e-01 2.45443360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:41.25, Z:2.46 [[ 6.09841049e-01 -7.92134390e-01 -2.48395745e-02 8.68935560e+01] [ 7.91529784e-01 6.10346208e-01 -3.09533235e-02 4.12508508e+01] [ 3.96799321e-02 -7.84655754e-04 9.99212133e-01 2.45613191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:41.27, Z:2.46 [[ 6.10652308e-01 -7.91505831e-01 -2.49455062e-02 8.69118334e+01] [ 7.90894763e-01 6.11161173e-01 -3.11045786e-02 4.12722218e+01] [ 3.98651801e-02 -7.35187485e-04 9.99204797e-01 2.45750256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:41.29, Z:2.46 [[ 6.11562191e-01 -7.90796145e-01 -2.51623250e-02 8.69294226e+01] [ 7.90172986e-01 6.12079236e-01 -3.13952483e-02 4.12927869e+01] [ 4.02285780e-02 -6.82442629e-04 9.99190270e-01 2.45895276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:41.31, Z:2.46 [[ 6.12954682e-01 -7.89710487e-01 -2.53752554e-02 8.69482399e+01] [ 7.89075037e-01 6.13479405e-01 -3.16797428e-02 4.13131068e+01] [ 4.05850218e-02 -6.04733915e-04 9.99175906e-01 2.46088941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:41.33, Z:2.46 [[ 6.13428683e-01 -7.89336885e-01 -2.55447358e-02 8.69658264e+01] [ 7.88691766e-01 6.13960060e-01 -3.19114872e-02 4.13335842e+01] [ 4.08723615e-02 -5.71501197e-04 9.99164212e-01 2.46222881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:41.35, Z:2.47 [[ 6.14918542e-01 -7.87897276e-01 -3.30615799e-02 8.69928283e+01] [ 7.87420170e-01 6.15749379e-01 -2.86736293e-02 4.13533431e+01] [ 4.29495217e-02 -8.40140853e-03 9.99041919e-01 2.46879315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:41.38, Z:2.46 [[ 6.13592159e-01 -7.89375937e-01 -1.97558316e-02 8.70002621e+01] [ 7.88573705e-01 6.13874338e-01 -3.61912852e-02 4.13787703e+01] [ 4.06961277e-02 6.62775953e-03 9.99149587e-01 2.46289656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:41.40, Z:2.47 [[ 6.13280379e-01 -7.89471011e-01 -2.49539382e-02 8.70214900e+01] [ 7.88852480e-01 6.13787627e-01 -3.12492192e-02 4.13969709e+01] [ 3.99867712e-02 -5.20443055e-04 9.99200074e-01 2.46578583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:41.42, Z:2.46 [[ 6.12215126e-01 -7.90572174e-01 -1.37214203e-02 8.70345123e+01] [ 7.89781096e-01 6.12250738e-01 -3.73477553e-02 4.14226221e+01] [ 3.79270458e-02 1.20279424e-02 9.99208120e-01 2.45993130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:41.44, Z:2.46 [[ 6.11608803e-01 -7.90882678e-01 -2.09585685e-02 8.70574389e+01] [ 7.90293658e-01 6.11964032e-01 -3.05934364e-02 4.14408565e+01] [ 3.70217090e-02 2.14779126e-03 9.99312153e-01 2.46280915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:41.46, Z:2.46 [[ 6.11403881e-01 -7.90983939e-01 -2.30152532e-02 8.70763193e+01] [ 7.90442246e-01 6.11836841e-01 -2.92700385e-02 4.14624475e+01] [ 3.72337101e-02 -2.96413324e-04 9.99306541e-01 2.46473105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:41.48, Z:2.47 [[ 6.11774413e-01 -7.90165452e-01 -3.70219716e-02 8.71025076e+01] [ 7.90000132e-01 6.12696724e-01 -2.24168711e-02 4.14769882e+01] [ 4.03962778e-02 -1.55332942e-02 9.99062990e-01 2.47492305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:41.51, Z:2.47 [[ 6.09492837e-01 -7.92593374e-01 -1.77264015e-02 8.71090490e+01] [ 7.91520134e-01 6.09629047e-01 -4.29918871e-02 4.15118245e+01] [ 4.48816141e-02 1.21724436e-02 9.98918151e-01 2.46972459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.14, Y:41.52, Z:2.48 [[ 6.10217911e-01 -7.91405251e-01 -3.62192027e-02 8.71392219e+01] [ 7.91136865e-01 6.11140766e-01 -2.46865239e-02 4.15198488e+01] [ 4.16720759e-02 -1.35901874e-02 9.99038911e-01 2.47594644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.15, Y:41.55, Z:2.47 [[ 6.09778168e-01 -7.92133631e-01 -2.63608998e-02 8.71519679e+01] [ 7.91439563e-01 6.10347358e-01 -3.31590382e-02 4.15459775e+01] [ 4.23556949e-02 -6.43401446e-04 9.99102388e-01 2.47271207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:41.57, Z:2.47 [[ 6.08712186e-01 -7.93116086e-01 -2.08889546e-02 8.71668549e+01] [ 7.92085956e-01 6.09009732e-01 -4.13156763e-02 4.15702313e+01] [ 4.54897041e-02 8.60350812e-03 9.98927758e-01 2.47155100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:41.58, Z:2.48 [[ 6.08887039e-01 -7.92519117e-01 -3.42056031e-02 8.71931887e+01] [ 7.92092495e-01 6.09763292e-01 -2.78963688e-02 4.15837792e+01] [ 4.29657267e-02 -1.01082641e-02 9.99025410e-01 2.47723335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:41.61, Z:2.47 [[ 6.07825135e-01 -7.93883636e-01 -1.72446598e-02 8.72023090e+01] [ 7.93000532e-01 6.07989860e-01 -3.87102830e-02 4.16133319e+01] [ 4.12160386e-02 9.85405858e-03 9.99101664e-01 2.46859381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:41.63, Z:2.48 [[ 6.07597908e-01 -7.93494569e-01 -3.45130543e-02 8.72318108e+01] [ 7.93138299e-01 6.08471246e-01 -2.63511259e-02 4.16251206e+01] [ 4.19096764e-02 -1.13627362e-02 9.99056789e-01 2.47793190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:41.65, Z:2.48 [[ 6.09744425e-01 -7.92186293e-01 -2.55462983e-02 8.72459478e+01] [ 7.91523426e-01 6.10279169e-01 -3.24037335e-02 4.16478854e+01] [ 4.12601672e-02 -4.62497678e-04 9.99148330e-01 2.47634351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:41.67, Z:2.48 [[ 6.04949433e-01 -7.95808251e-01 -2.69334691e-02 8.72635364e+01] [ 7.95082658e-01 6.05548097e-01 -3.39862970e-02 4.16701752e+01] [ 4.33560865e-02 -8.54343143e-04 9.99059317e-01 2.47875926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:41.69, Z:2.48 [[ 6.04048705e-01 -7.96495581e-01 -2.68319046e-02 8.72815254e+01] [ 7.95775177e-01 6.04643699e-01 -3.38801713e-02 4.16914968e+01] [ 4.32091488e-02 -8.86890021e-04 9.99065655e-01 2.48002700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:41.71, Z:2.48 [[ 6.03360777e-01 -7.97021913e-01 -2.66803936e-02 8.72997336e+01] [ 7.96309201e-01 6.03949708e-01 -3.37106372e-02 4.17129759e+01] [ 4.29817324e-02 -9.06166678e-04 9.99075447e-01 2.48131521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.232755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.32, Y:41.73, Z:2.48 [[ 6.04817403e-01 -7.95819241e-01 -2.94558087e-02 8.73190694e+01] [ 7.95257452e-01 6.05512922e-01 -3.03263245e-02 4.17295944e+01] [ 4.19701453e-02 -5.08306251e-03 9.99105935e-01 2.48389690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:41.76, Z:2.48 [[ 6.03408983e-01 -7.97100766e-01 -2.29775314e-02 8.73336270e+01] [ 7.96276887e-01 6.03835107e-01 -3.64181578e-02 4.17579793e+01] [ 4.29035816e-02 3.67856645e-03 9.99072445e-01 2.48246338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:41.78, Z:2.48 [[ 6.03366363e-01 -7.97326174e-01 -1.48325508e-02 8.73474003e+01] [ 7.96435523e-01 6.03428257e-01 -3.95575073e-02 4.17844345e+01] [ 4.04906162e-02 1.20544990e-02 9.99107201e-01 2.47722046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.38, Y:41.80, Z:2.49 [[ 6.04574988e-01 -7.95718142e-01 -3.63554969e-02 8.73758506e+01] [ 7.95434704e-01 6.05513167e-01 -2.52475161e-02 4.17956692e+01] [ 4.21036386e-02 -1.36544072e-02 9.99019940e-01 2.49060573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:41.82, Z:2.49 [[ 6.05273671e-01 -7.95557924e-01 -2.70439084e-02 8.73899553e+01] [ 7.94890569e-01 6.05875011e-01 -3.26259756e-02 4.18229098e+01] [ 4.23410818e-02 -1.74930371e-03 9.99101683e-01 2.48761915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:41.84, Z:2.49 [[ 6.04917365e-01 -7.95883714e-01 -2.53790261e-02 8.74050610e+01] [ 7.95178897e-01 6.05449508e-01 -3.34875336e-02 4.18446623e+01] [ 4.20179015e-02 7.63246128e-05 9.99116855e-01 2.48853406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:41.87, Z:2.49 [[ 6.04421450e-01 -7.96354658e-01 -2.22254312e-02 8.74198210e+01] [ 7.95462530e-01 6.04806511e-01 -3.80584804e-02 4.18687673e+01] [ 4.37501336e-02 5.32386418e-03 9.99028319e-01 2.48802583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:41.89, Z:2.49 [[ 6.04157848e-01 -7.96262594e-01 -3.09705571e-02 8.74418556e+01] [ 7.95749580e-01 6.04911959e-01 -2.93960413e-02 4.18857764e+01] [ 4.21414285e-02 -6.88495872e-03 9.99087933e-01 2.49278122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:41.91, Z:2.49 [[ 6.03220724e-01 -7.97144430e-01 -2.61823602e-02 8.74559119e+01] [ 7.96451849e-01 6.03788130e-01 -3.32317130e-02 4.19102591e+01] [ 4.22990733e-02 -8.06931201e-04 9.99104668e-01 2.49175697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:41.93, Z:2.49 [[ 6.02455990e-01 -7.97726170e-01 -2.60717989e-02 8.74728013e+01] [ 7.97039108e-01 6.03019292e-01 -3.31118451e-02 4.19325981e+01] [ 4.21359831e-02 -8.31813898e-04 9.99111539e-01 2.49270358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:41.95, Z:2.50 [[ 6.04082005e-01 -7.96021143e-01 -3.78849660e-02 8.75013024e+01] [ 7.95704527e-01 6.05104012e-01 -2.65224301e-02 4.19521079e+01] [ 4.40367601e-02 -1.41235162e-02 9.98930073e-01 2.50102340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:41.98, Z:2.49 [[ 6.01106289e-01 -7.99019134e-01 -1.54807160e-02 8.75000629e+01] [ 7.98107863e-01 6.01193381e-01 -3.98792936e-02 4.19835035e+01] [ 4.11712227e-02 1.16164131e-02 9.99084576e-01 2.49011996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:42.00, Z:2.49 [[ 6.00126954e-01 -7.99501973e-01 -2.53817762e-02 8.75216663e+01] [ 7.98849349e-01 6.00662809e-01 -3.23095582e-02 4.20001996e+01] [ 4.10774444e-02 -8.86378637e-04 9.99155572e-01 2.49491280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:42.02, Z:2.50 [[ 5.98837634e-01 -8.00476069e-01 -2.51306838e-02 8.75383448e+01] [ 7.99793432e-01 5.99364638e-01 -3.30529450e-02 4.20231677e+01] [ 4.15205347e-02 -3.06008414e-04 9.99137604e-01 2.49580043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:42.05, Z:2.50 [[ 5.97970408e-01 -8.01093589e-01 -2.60854712e-02 8.75560514e+01] [ 8.00444809e-01 5.98537016e-01 -3.22730348e-02 4.20451544e+01] [ 4.14668414e-02 -1.58166017e-03 9.99138629e-01 2.49701055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.57, Y:42.07, Z:2.50 [[ 5.97090643e-01 -8.01897490e-01 -2.10518174e-02 8.75690064e+01] [ 8.00979516e-01 5.97427858e-01 -3.88814667e-02 4.20703399e+01] [ 4.37558927e-02 6.35368540e-03 9.99022048e-01 2.49661269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:42.09, Z:2.50 [[ 5.96412750e-01 -8.02048312e-01 -3.17857911e-02 8.75910064e+01] [ 8.01563277e-01 5.97203562e-01 -2.90554513e-02 4.20885020e+01] [ 4.22864633e-02 -8.14928131e-03 9.99072292e-01 2.50162917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:42.12, Z:2.50 [[ 5.96129455e-01 -8.02551748e-01 -2.32457432e-02 8.76025584e+01] [ 8.01672732e-01 5.96569966e-01 -3.77505690e-02 4.21163935e+01] [ 4.41644974e-02 3.86874763e-03 9.99016782e-01 2.49931311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77275509600001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.62, Y:42.14, Z:2.50 [[ 5.96383275e-01 -8.02191059e-01 -2.85743581e-02 8.76219243e+01] [ 8.01548080e-01 5.97056382e-01 -3.23164516e-02 4.21353942e+01] [ 4.29844714e-02 -3.63073064e-03 9.99069143e-01 2.50221249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:42.16, Z:2.50 [[ 5.95889358e-01 -8.02574719e-01 -2.81014811e-02 8.76384752e+01] [ 8.01918062e-01 5.96543528e-01 -3.26073663e-02 4.21591345e+01] [ 4.29336046e-02 -3.10470272e-03 9.99073104e-01 2.50366295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:42.18, Z:2.50 [[ 5.95211674e-01 -8.03125613e-01 -2.66891991e-02 8.76539862e+01] [ 8.02402561e-01 5.95808682e-01 -3.40902349e-02 4.21824540e+01] [ 4.32803974e-02 -1.12457592e-03 9.99062332e-01 2.50446364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:42.21, Z:2.50 [[ 5.93465908e-01 -8.04569335e-01 -2.15963062e-02 8.76678502e+01] [ 8.03530930e-01 5.93814102e-01 -4.15073143e-02 4.22104284e+01] [ 4.62197035e-02 7.27987598e-03 9.98904771e-01 2.50467193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:42.22, Z:2.52 [[ 5.93378620e-01 -8.03152498e-01 -5.33655170e-02 8.77030519e+01] [ 8.03621030e-01 5.94885103e-01 -1.74629540e-02 4.22178036e+01] [ 4.57717662e-02 -3.25235082e-02 9.98422339e-01 2.52304273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:42.25, Z:2.52 [[ 5.92523342e-01 -8.04903199e-01 -3.23562867e-02 8.77081805e+01] [ 8.04258000e-01 5.93370080e-01 -3.28788289e-02 4.22497421e+01] [ 4.56635270e-02 -6.54132889e-03 9.98935460e-01 2.51624929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:42.28, Z:2.50 [[ 5.91400112e-01 -8.06375657e-01 -2.05098856e-03 8.77045815e+01] [ 8.05179417e-01 5.90657604e-01 -5.30066141e-02 4.22833847e+01] [ 4.39546753e-02 2.96967038e-02 9.98592055e-01 2.50097642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.982755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:87.75, Y:42.29, Z:2.52 [[ 5.89633340e-01 -8.06488927e-01 -4.36822093e-02 8.77461695e+01] [ 8.06507288e-01 5.90824298e-01 -2.17403868e-02 4.22886197e+01] [ 4.33418919e-02 -2.24111633e-02 9.98808901e-01 2.52193357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.012755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.75, Y:42.32, Z:2.51 [[ 5.89162023e-01 -8.07770375e-01 -1.98779435e-02 8.77495606e+01] [ 8.06866713e-01 5.89457786e-01 -3.88024070e-02 4.23213119e+01] [ 4.30606434e-02 6.82205367e-03 9.99049168e-01 2.51234463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:42.35, Z:2.51 [[ 5.87338483e-01 -8.09253223e-01 -1.19468517e-02 8.77592305e+01] [ 8.08242615e-01 5.87246107e-01 -4.34267821e-02 4.23481240e+01] [ 4.21590055e-02 1.58502656e-02 9.98985179e-01 2.50655095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:42.36, Z:2.51 [[ 5.86823346e-01 -8.09210467e-01 -2.85793808e-02 8.77847871e+01] [ 8.08691884e-01 5.87490444e-01 -2.95366740e-02 4.23625202e+01] [ 4.06914989e-02 -5.77910346e-03 9.99155045e-01 2.51325870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:42.38, Z:2.51 [[ 5.87920018e-01 -8.08477777e-01 -2.67158356e-02 8.77996412e+01] [ 8.07905758e-01 5.88515798e-01 -3.06176685e-02 4.23843958e+01] [ 4.04763959e-02 -3.58313719e-03 9.99174070e-01 2.51340849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:42.41, Z:2.51 [[ 5.87678121e-01 -8.08712860e-01 -2.48583283e-02 8.78149414e+01] [ 8.08080392e-01 5.88202237e-01 -3.20032587e-02 4.24086023e+01] [ 4.05031712e-02 -1.27991273e-03 9.99178590e-01 2.51417123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:42.44, Z:2.50 [[ 5.87036356e-01 -8.09518736e-01 -8.23002278e-03 8.78224942e+01] [ 8.08727444e-01 5.86863017e-01 -3.93918909e-02 4.24378551e+01] [ 3.67183697e-02 1.64686268e-02 9.99189945e-01 2.50438154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:42.45, Z:2.52 [[ 5.87376997e-01 -8.08397197e-01 -3.84997962e-02 8.78553433e+01] [ 8.08342577e-01 5.88337599e-01 -2.10035042e-02 4.24476513e+01] [ 3.96300516e-02 -1.87840493e-02 9.99037846e-01 2.52182692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:42.48, Z:2.52 [[ 5.87358035e-01 -8.08955820e-01 -2.45157234e-02 8.78640779e+01] [ 8.08339015e-01 5.87868111e-01 -3.16088709e-02 4.24770975e+01] [ 3.99821921e-02 -1.25129140e-03 9.99199609e-01 2.51785597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:42.51, Z:2.51 [[ 5.86986071e-01 -8.09591688e-01 -2.94130975e-03 8.78699261e+01] [ 8.08550063e-01 5.86407819e-01 -4.87100082e-02 4.25124440e+01] [ 4.11600248e-02 2.62139002e-02 9.98808632e-01 2.50634547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:42.52, Z:2.52 [[ 5.88242215e-01 -8.08131370e-01 -2.99129561e-02 8.79026536e+01] [ 8.07794257e-01 5.88927761e-01 -2.51501652e-02 4.25211404e+01] [ 3.79412077e-02 -9.36912524e-03 9.99236050e-01 2.51730786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.312755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:87.92, Y:42.55, Z:2.52 [[ 5.88952325e-01 -8.07764305e-01 -2.55340296e-02 8.79164325e+01] [ 8.07224692e-01 5.89497279e-01 -2.96859418e-02 4.25474032e+01] [ 3.90314851e-02 -3.12809475e-03 9.99233085e-01 2.51743032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.342755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:87.94, Y:42.56, Z:2.53 [[ 5.89063884e-01 -8.07298360e-01 -3.56805086e-02 8.79361456e+01] [ 8.07083800e-01 5.89958078e-01 -2.37740651e-02 4.25641154e+01] [ 4.02427681e-02 -1.47927173e-02 9.99080425e-01 2.52529338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.95, Y:42.59, Z:2.52 [[ 5.91191081e-01 -8.06150068e-01 -2.48027007e-02 8.79460590e+01] [ 8.05512492e-01 5.91710259e-01 -3.20716934e-02 4.25923128e+01] [ 4.05306102e-02 -1.01838615e-03 9.99177778e-01 2.52234298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:42.61, Z:2.52 [[ 5.92215063e-01 -8.05392939e-01 -2.49706530e-02 8.79620888e+01] [ 8.04745173e-01 5.92740492e-01 -3.23096730e-02 4.26141827e+01] [ 4.08230996e-02 -9.60737506e-04 9.99165928e-01 2.52298466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43275509600001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:87.98, Y:42.64, Z:2.52 [[ 5.93338485e-01 -8.04561993e-01 -2.50886602e-02 8.79789403e+01] [ 8.03906545e-01 5.93867995e-01 -3.24818590e-02 4.26366600e+01] [ 4.10330215e-02 -8.96201096e-04 9.99157389e-01 2.52401363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:42.66, Z:2.52 [[ 5.94001030e-01 -8.04064715e-01 -2.53517605e-02 8.79946345e+01] [ 8.03394112e-01 5.94541166e-01 -3.28436134e-02 4.26585905e+01] [ 4.14810559e-02 -8.58314939e-04 9.99138922e-01 2.52495131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:42.68, Z:2.53 [[ 5.95432885e-01 -8.03015007e-01 -2.50315453e-02 8.80100472e+01] [ 8.02359581e-01 5.95958316e-01 -3.24466969e-02 4.26804184e+01] [ 4.09729422e-02 -7.64469840e-04 9.99159964e-01 2.52548765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:42.70, Z:2.53 [[ 5.95647886e-01 -8.02853359e-01 -2.51013906e-02 8.80262303e+01] [ 8.02193480e-01 5.96176087e-01 -3.25529297e-02 4.27021626e+01] [ 4.11000777e-02 -7.46088151e-04 9.99154756e-01 2.52672991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:42.72, Z:2.53 [[ 5.95322299e-01 -8.03091125e-01 -2.52191523e-02 8.80428177e+01] [ 8.02424348e-01 5.95855753e-01 -3.27274607e-02 4.27248171e+01] [ 4.13101102e-02 -7.53074744e-04 9.99146089e-01 2.52766144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:42.75, Z:2.53 [[ 5.94565327e-01 -8.03654192e-01 -2.51398531e-02 8.80590821e+01] [ 8.02991245e-01 5.95096073e-01 -3.26454302e-02 4.27463021e+01] [ 4.11962647e-02 -7.77241089e-04 9.99150771e-01 2.52852958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:42.77, Z:2.53 [[ 5.92754870e-01 -8.05001732e-01 -2.47764862e-02 8.80761162e+01] [ 8.04358126e-01 5.93271857e-01 -3.21948537e-02 4.27691384e+01] [ 4.06161049e-02 -8.45511706e-04 9.99174468e-01 2.52942578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:42.79, Z:2.53 [[ 5.91473097e-01 -8.05954724e-01 -2.44245467e-02 8.80920400e+01] [ 8.05329263e-01 5.91976518e-01 -3.17581348e-02 4.27905090e+01] [ 4.00543769e-02 -8.85719909e-04 9.99197109e-01 2.53033523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:42.81, Z:2.53 [[ 5.90223632e-01 -8.06868965e-01 -2.44650279e-02 8.81081040e+01] [ 8.06241435e-01 5.90729713e-01 -3.18300861e-02 4.28121136e+01] [ 4.01349275e-02 -9.37850185e-04 9.99193829e-01 2.53157036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:42.83, Z:2.53 [[ 5.89033733e-01 -8.07748033e-01 -2.41324691e-02 8.81249178e+01] [ 8.07137407e-01 5.89527073e-01 -3.14171511e-02 4.28347379e+01] [ 3.96038858e-02 -9.72456761e-04 9.99214985e-01 2.53239808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:42.86, Z:2.53 [[ 5.88812879e-01 -8.07909312e-01 -2.41233729e-02 8.81421562e+01] [ 8.07298535e-01 5.89306032e-01 -3.14241343e-02 4.28574908e+01] [ 3.96038999e-02 -9.71828586e-04 9.99214985e-01 2.53335129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:42.88, Z:2.53 [[ 5.86150921e-01 -8.09929203e-01 -2.10186819e-02 8.81559423e+01] [ 8.09149070e-01 5.86514331e-01 -3.57592388e-02 4.28820501e+01] [ 4.12902099e-02 3.95306380e-03 9.99139376e-01 2.53355479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:42.90, Z:2.54 [[ 5.84693642e-01 -8.10766194e-01 -2.81340310e-02 8.81767273e+01] [ 8.10292082e-01 5.85337409e-01 -2.84052754e-02 4.29004517e+01] [ 3.94979378e-02 -6.18839859e-03 9.99200489e-01 2.53659833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:42.93, Z:2.54 [[ 5.83553705e-01 -8.11708931e-01 -2.43656512e-02 8.81912953e+01] [ 8.11086471e-01 5.84060926e-01 -3.18052183e-02 4.29251389e+01] [ 4.00476045e-02 -1.20259709e-03 9.99197049e-01 2.53641433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:42.95, Z:2.54 [[ 5.81499178e-01 -8.13180318e-01 -2.44228758e-02 8.82061577e+01] [ 8.12555451e-01 5.82010388e-01 -3.18990104e-02 4.29472848e+01] [ 4.01540148e-02 -1.29569256e-03 9.99192662e-01 2.53725225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:42.97, Z:2.54 [[ 5.80320881e-01 -8.14019289e-01 -2.45004664e-02 8.82223018e+01] [ 8.13390378e-01 5.80836281e-01 -3.20204336e-02 4.29703445e+01] [ 4.02960104e-02 -1.34631739e-03 9.99186879e-01 2.53825460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:42.99, Z:2.54 [[ 5.80160747e-01 -8.14127950e-01 -2.46817698e-02 8.82386756e+01] [ 8.13488946e-01 5.80683954e-01 -3.22781678e-02 4.29927932e+01] [ 4.06108663e-02 -1.35182102e-03 9.99174124e-01 2.53868844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:43.02, Z:2.54 [[ 5.78533115e-01 -8.15285493e-01 -2.46779275e-02 8.82537182e+01] [ 8.14646897e-01 5.79057464e-01 -3.22937516e-02 4.30153203e+01] [ 4.06185653e-02 -1.42079238e-03 9.99173715e-01 2.54007391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:43.04, Z:2.54 [[ 5.77905174e-01 -8.15726755e-01 -2.48086892e-02 8.82700558e+01] [ 8.15081124e-01 5.78435613e-01 -3.24808105e-02 4.30378270e+01] [ 4.08456955e-02 -1.45026579e-03 9.99164414e-01 2.54101023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:43.06, Z:2.54 [[ 5.77720111e-01 -8.15844101e-01 -2.52561935e-02 8.82859078e+01] [ 8.15174195e-01 5.78270035e-01 -3.30877443e-02 4.30607644e+01] [ 4.15993409e-02 -1.47274190e-03 9.99133287e-01 2.54218733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:43.08, Z:2.54 [[ 5.77551284e-01 -8.15957161e-01 -2.54642019e-02 8.83020276e+01] [ 8.15275352e-01 5.78110474e-01 -3.33823453e-02 4.30834864e+01] [ 4.19596855e-02 -1.48031978e-03 9.99118208e-01 2.54331702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:43.11, Z:2.54 [[ 5.78449416e-01 -8.15317493e-01 -2.55667420e-02 8.83171089e+01] [ 8.14628644e-01 5.79012391e-01 -3.35383864e-02 4.31060738e+01] [ 4.21478935e-02 -1.42714029e-03 9.99110363e-01 2.54355770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:43.13, Z:2.54 [[ 5.79162726e-01 -8.14808999e-01 -2.56287344e-02 8.83332395e+01] [ 8.14115447e-01 5.79727855e-01 -3.36400531e-02 4.31286365e+01] [ 4.22679092e-02 -1.38168372e-03 9.99105357e-01 2.54434072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:43.15, Z:2.54 [[ 5.78955324e-01 -8.14969370e-01 -2.52122596e-02 8.83483276e+01] [ 8.14297426e-01 5.79502443e-01 -3.31152581e-02 4.31513642e+01] [ 4.15984871e-02 -1.35802314e-03 9.99133485e-01 2.54477231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:43.17, Z:2.55 [[ 5.82691235e-01 -8.12297484e-01 -2.53716744e-02 8.83646543e+01] [ 8.11613457e-01 5.83242190e-01 -3.33488211e-02 4.31744760e+01] [ 4.18869944e-02 -1.15992663e-03 9.99121681e-01 2.54587633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:43.20, Z:2.55 [[ 5.84061875e-01 -8.11317690e-01 -2.52057927e-02 8.83805756e+01] [ 8.10640711e-01 5.84604536e-01 -3.31537976e-02 4.31968094e+01] [ 4.16336832e-02 -1.06897258e-03 9.99132370e-01 2.54686014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21275509600001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:88.40, Y:43.22, Z:2.55 [[ 5.85510056e-01 -8.10271607e-01 -2.52566361e-02 8.83963398e+01] [ 8.09590082e-01 5.86053712e-01 -3.32407169e-02 4.32185380e+01] [ 4.17357545e-02 -9.84748085e-04 9.99128199e-01 2.54812088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24275509600001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:88.41, Y:43.24, Z:2.55 [[ 5.88848829e-01 -8.07996170e-01 -1.99811360e-02 8.84089579e+01] [ 8.07109011e-01 5.89152016e-01 -3.84050197e-02 4.32435134e+01] [ 4.28030353e-02 6.48779598e-03 9.99062465e-01 2.54815376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:43.26, Z:2.56 [[ 5.92080982e-01 -8.04624920e-01 -4.49316120e-02 8.84431127e+01] [ 8.04700039e-01 5.93309633e-01 -2.10125217e-02 4.32565986e+01] [ 4.35655568e-02 -2.37153554e-02 9.98769054e-01 2.56070890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30275509600001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.44, Y:43.29, Z:2.55 [[ 5.90878957e-01 -8.06697959e-01 -1.00230355e-02 8.84363304e+01] [ 8.05828225e-01 5.90747810e-01 -4.07172794e-02 4.32933430e+01] [ 3.87676324e-02 1.59821387e-02 9.99120434e-01 2.54513446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.46, Y:43.31, Z:2.55 [[ 5.93516300e-01 -8.04500242e-01 -2.27543937e-02 8.84596412e+01] [ 8.03937940e-01 5.93952157e-01 -3.00769675e-02 4.33105257e+01] [ 3.77119489e-02 -4.41949943e-04 9.99288554e-01 2.55019704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.362755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.48, Y:43.33, Z:2.55 [[ 5.95649756e-01 -8.02780826e-01 -2.72821002e-02 8.84778445e+01] [ 8.02467688e-01 5.96223710e-01 -2.37254495e-02 4.33277597e+01] [ 3.53125709e-02 -7.76094566e-03 9.99346181e-01 2.55196244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.49, Y:43.36, Z:2.55 [[ 5.95953746e-01 -8.02850559e-01 -1.64350935e-02 8.84886264e+01] [ 8.02168310e-01 5.96139583e-01 -3.38171487e-02 4.33569796e+01] [ 3.69477265e-02 6.96974523e-03 9.99292894e-01 2.54889120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:43.38, Z:2.55 [[ 5.95911820e-01 -8.02746455e-01 -2.20733301e-02 8.85079605e+01] [ 8.02215321e-01 5.96320412e-01 -2.91983657e-02 4.33756768e+01] [ 3.66016619e-02 -3.07912347e-04 9.99329887e-01 2.55146693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:43.40, Z:2.55 [[ 5.95430480e-01 -8.03105443e-01 -2.20043313e-02 8.85251742e+01] [ 8.02577241e-01 5.95836845e-01 -2.91243281e-02 4.33981575e+01] [ 3.65008977e-02 -3.18662840e-04 9.99333569e-01 2.55220861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:43.42, Z:2.55 [[ 5.94627848e-01 -8.03704853e-01 -2.18227287e-02 8.85425508e+01] [ 8.03185065e-01 5.95028060e-01 -2.89025758e-02 4.34207403e+01] [ 3.62142764e-02 -3.41413259e-04 9.99343990e-01 2.55285303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:43.44, Z:2.55 [[ 5.92515740e-01 -8.05264944e-01 -2.17592979e-02 8.85595183e+01] [ 8.04748543e-01 5.92914994e-01 -2.88373616e-02 4.34414318e+01] [ 3.61231304e-02 -4.24172580e-04 9.99347257e-01 2.55324754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:43.46, Z:2.55 [[ 5.90867817e-01 -8.06476118e-01 -2.17139087e-02 8.85764883e+01] [ 8.05962063e-01 5.91266466e-01 -2.87944353e-02 4.34632912e+01] [ 3.60607305e-02 -4.86881582e-04 9.99349482e-01 2.55412270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:43.49, Z:2.55 [[ 5.87553447e-01 -8.08900933e-01 -2.14528906e-02 8.85946942e+01] [ 8.08400124e-01 5.87944640e-01 -2.84664772e-02 4.34852808e+01] [ 3.56396720e-02 -6.16942602e-04 9.99364515e-01 2.55499847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:43.51, Z:2.56 [[ 5.85645637e-01 -8.10286307e-01 -2.13374865e-02 8.86115262e+01] [ 8.09791145e-01 5.86033812e-01 -2.83314938e-02 4.35070820e+01] [ 3.54611101e-02 -6.86691899e-04 9.99370821e-01 2.55581749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:43.53, Z:2.56 [[ 5.83740966e-01 -8.11665822e-01 -2.10968723e-02 8.86284206e+01] [ 8.11182106e-01 5.84121587e-01 -2.80278950e-02 4.35286800e+01] [ 3.50724230e-02 -7.52374829e-04 9.99384490e-01 2.55654664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:43.55, Z:2.56 [[ 5.80032507e-01 -8.14314896e-01 -2.12964948e-02 8.86459750e+01] [ 8.13823261e-01 5.80422620e-01 -2.83069353e-02 4.35501544e+01] [ 3.54117264e-02 -9.12640144e-04 9.99372391e-01 2.55721142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:43.57, Z:2.56 [[ 5.77792788e-01 -8.15908179e-01 -2.11975711e-02 8.86627599e+01] [ 8.15421544e-01 5.78180640e-01 -2.81931375e-02 4.35722478e+01] [ 3.52590367e-02 -9.95164692e-04 9.99377711e-01 2.55745249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:43.59, Z:2.56 [[ 5.75947602e-01 -8.17200623e-01 -2.16217923e-02 8.86792655e+01] [ 8.16694544e-01 5.76352292e-01 -2.87759739e-02 4.35932241e+01] [ 3.59775133e-02 -1.08494667e-03 9.99352011e-01 2.55795104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:43.61, Z:2.56 [[ 5.72136944e-01 -8.19872411e-01 -2.16459539e-02 8.86962184e+01] [ 8.19366402e-01 5.72544920e-01 -2.88273188e-02 4.36142093e+01] [ 3.60280043e-02 -1.24279326e-03 9.99350008e-01 2.55832501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:43.64, Z:2.56 [[ 5.70367742e-01 -8.21114810e-01 -2.12392985e-02 8.87134080e+01] [ 8.20627849e-01 5.70761610e-01 -2.83040197e-02 4.36362951e+01] [ 3.53634260e-02 -1.28586007e-03 9.99373691e-01 2.55863816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:43.66, Z:2.56 [[ 5.67308947e-01 -8.23231516e-01 -2.12233238e-02 8.87308771e+01] [ 8.22746135e-01 5.67704054e-01 -2.83002723e-02 4.36582496e+01] [ 3.53462430e-02 -1.40640992e-03 9.99374137e-01 2.55989295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.75, Y:43.68, Z:2.56 [[ 5.66070425e-01 -8.24097564e-01 -2.06755805e-02 8.87473245e+01] [ 8.23636894e-01 5.66446122e-01 -2.75872810e-02 4.36798470e+01] [ 3.44462135e-02 -1.41282706e-03 9.99405554e-01 2.56038048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:43.70, Z:2.56 [[ 5.65345837e-01 -8.24595510e-01 -2.06477384e-02 8.87643755e+01] [ 8.24135969e-01 5.65720946e-01 -2.75629334e-02 4.37024037e+01] [ 3.44091292e-02 -1.43395420e-03 9.99406802e-01 2.56148869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:43.72, Z:2.56 [[ 5.64955868e-01 -8.24874691e-01 -2.01645888e-02 8.87801706e+01] [ 8.24436012e-01 5.65313863e-01 -2.69350874e-02 4.37238947e+01] [ 3.36173935e-02 -1.40727753e-03 9.99433785e-01 2.56238248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.80, Y:43.75, Z:2.56 [[ 5.65053487e-01 -8.24812885e-01 -1.99564792e-02 8.87964251e+01] [ 8.24382660e-01 5.65404102e-01 -2.66726738e-02 4.37462107e+01] [ 3.32834402e-02 -1.38028804e-03 9.99445000e-01 2.56322078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:43.77, Z:2.56 [[ 5.65628900e-01 -8.24420237e-01 -1.98801413e-02 8.88132166e+01] [ 8.23992483e-01 5.65976564e-01 -2.65879001e-02 4.37693033e+01] [ 3.31712970e-02 -1.34220230e-03 9.99448780e-01 2.56411225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:43.79, Z:2.56 [[ 5.67734312e-01 -8.22975060e-01 -1.97434097e-02 8.88290106e+01] [ 8.22551738e-01 5.68076152e-01 -2.64220146e-02 4.37924500e+01] [ 3.29604192e-02 -1.23929169e-03 9.99455889e-01 2.56479131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:43.82, Z:2.57 [[ 5.68962030e-01 -8.22125424e-01 -1.97989047e-02 8.88449778e+01] [ 8.21698615e-01 5.69305180e-01 -2.65141231e-02 4.38151653e+01] [ 3.30695537e-02 -1.18320323e-03 9.99452352e-01 2.56569481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:43.84, Z:2.57 [[ 5.70532062e-01 -8.21033573e-01 -1.99257883e-02 8.88604750e+01] [ 8.20600011e-01 5.70878817e-01 -2.67020244e-02 4.38372310e+01] [ 3.32984690e-02 -1.11674103e-03 9.99444828e-01 2.56648780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:43.86, Z:2.57 [[ 5.74377428e-01 -8.18344098e-01 -2.00875031e-02 8.88764620e+01] [ 8.17901261e-01 5.74727778e-01 -2.69352687e-02 4.38607108e+01] [ 3.35871642e-02 -9.58583762e-04 9.99435332e-01 2.56758114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:43.88, Z:2.57 [[ 5.76478963e-01 -8.16861783e-01 -2.02196110e-02 8.88930042e+01] [ 8.16411579e-01 5.76832796e-01 -2.71304063e-02 4.38836929e+01] [ 3.38251268e-02 -8.67416070e-04 9.99427390e-01 2.56862144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:43.91, Z:2.57 [[ 5.80910040e-01 -8.13717203e-01 -2.01950172e-02 8.89081875e+01] [ 8.13265586e-01 5.81260580e-01 -2.71150416e-02 4.39056923e+01] [ 3.38025432e-02 -6.72512540e-04 9.99428304e-01 2.56970273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:43.93, Z:2.57 [[ 5.82696185e-01 -8.12436975e-01 -2.02809704e-02 8.89246940e+01] [ 8.11980177e-01 5.83048722e-01 -2.72466389e-02 4.39285237e+01] [ 3.39609708e-02 -5.91233386e-04 9.99422985e-01 2.57060971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:43.95, Z:2.57 [[ 5.84179985e-01 -8.11373303e-01 -2.01769337e-02 8.89410821e+01] [ 8.10919951e-01 5.84528097e-01 -2.71244608e-02 4.39515410e+01] [ 3.38020480e-02 -5.16310951e-04 9.99428414e-01 2.57164669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:43.98, Z:2.57 [[ 5.84227437e-01 -8.11561528e-01 -6.79614052e-03 8.89492519e+01] [ 8.10670703e-01 5.83943676e-01 -4.26942031e-02 4.39832412e+01] [ 3.86175360e-02 1.94336929e-02 9.99065072e-01 2.56869113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:43.99, Z:2.58 [[ 5.87597443e-01 -8.08371090e-01 -3.55728221e-02 8.89822688e+01] [ 8.08524244e-01 5.88306226e-01 -1.35768593e-02 4.39888440e+01] [ 3.19028532e-02 -2.07837613e-02 9.99274859e-01 2.57879396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:44.02, Z:2.57 [[ 5.88102190e-01 -8.08558265e-01 -1.92183672e-02 8.89897462e+01] [ 8.08144392e-01 5.88416036e-01 -2.58691153e-02 4.40184771e+01] [ 3.22250825e-02 -3.17532252e-04 9.99480587e-01 2.57436221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:44.04, Z:2.57 [[ 5.88323949e-01 -8.08403825e-01 -1.89258082e-02 8.90067864e+01] [ 8.08001879e-01 5.88628209e-01 -2.54910795e-02 4.40407081e+01] [ 3.17473508e-02 -2.95076002e-04 9.99495882e-01 2.57482051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:44.06, Z:2.58 [[ 5.87990193e-01 -8.08637723e-01 -1.93019611e-02 8.90231737e+01] [ 8.08219205e-01 5.88306842e-01 -2.60149287e-02 4.40620856e+01] [ 3.23921285e-02 -3.03692712e-04 9.99475191e-01 2.57608867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38275509600001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.04, Y:44.08, Z:2.58 [[ 5.87211222e-01 -8.09071347e-01 -2.42185090e-02 8.90436458e+01] [ 8.08709622e-01 5.87688550e-01 -2.47166820e-02 4.40827623e+01] [ 3.42304997e-02 -5.07182825e-03 9.99401095e-01 2.57908857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:44.11, Z:2.57 [[ 5.84783395e-01 -8.11137602e-01 -9.17452717e-03 8.90502241e+01] [ 8.10468028e-01 5.84702826e-01 -3.55553339e-02 4.41120889e+01] [ 3.42046402e-02 1.33565079e-02 9.99325596e-01 2.57183984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:44.12, Z:2.58 [[ 5.84949169e-01 -8.10580444e-01 -2.81747003e-02 8.90780028e+01] [ 8.10329195e-01 5.85546528e-01 -2.24022239e-02 4.41242991e+01] [ 3.46564026e-02 -9.72661996e-03 9.99351953e-01 2.58070362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:44.15, Z:2.58 [[ 5.82765951e-01 -8.12490741e-01 -1.55770077e-02 8.90866699e+01] [ 8.11951432e-01 5.82954092e-01 -2.99899631e-02 4.41517338e+01] [ 3.34472477e-02 4.82935566e-03 9.99428816e-01 2.57513376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:44.17, Z:2.58 [[ 5.80530992e-01 -8.14032032e-01 -1.83198906e-02 8.91071336e+01] [ 8.13536251e-01 5.80817741e-01 -2.84520719e-02 4.41731600e+01] [ 3.38014154e-02 1.61341437e-03 9.99427267e-01 2.57652721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.13, Y:44.19, Z:2.58 [[ 5.79096475e-01 -8.14848825e-01 -2.58585683e-02 8.91288921e+01] [ 8.14538080e-01 5.79626874e-01 -2.36728341e-02 4.41918639e+01] [ 3.42781021e-02 -7.35393382e-03 9.99385277e-01 2.58165315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:44.22, Z:2.58 [[ 5.77339633e-01 -8.16244833e-01 -2.05747798e-02 8.91424031e+01] [ 8.15770111e-01 5.77705695e-01 -2.78434008e-02 4.42152273e+01] [ 3.46131995e-02 -7.09191631e-04 9.99400532e-01 2.58044015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:44.24, Z:2.58 [[ 5.74191916e-01 -8.18500827e-01 -1.89747151e-02 8.91581121e+01] [ 8.17908880e-01 5.74500318e-01 -3.12161629e-02 4.42364331e+01] [ 3.64514350e-02 2.40448038e-03 9.99332533e-01 2.58074788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:44.26, Z:2.58 [[ 5.71265093e-01 -8.20521587e-01 -2.00129367e-02 8.91759351e+01] [ 8.19912409e-01 5.71613084e-01 -3.16563325e-02 4.42598355e+01] [ 3.74143607e-02 1.67530265e-03 9.99298433e-01 2.58199337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:44.28, Z:2.58 [[ 5.70954499e-01 -8.20681062e-01 -2.22160969e-02 8.91933230e+01] [ 8.20127829e-01 5.71385665e-01 -3.01457445e-02 4.42813010e+01] [ 3.74340009e-02 -1.00819082e-03 9.99298594e-01 2.58369866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:44.30, Z:2.59 [[ 5.65861148e-01 -8.24088879e-01 -2.60515089e-02 8.92138844e+01] [ 8.23678494e-01 5.66425312e-01 -2.67601352e-02 4.43027446e+01] [ 3.68089638e-02 -6.31554676e-03 9.99302364e-01 2.58581695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:44.32, Z:2.59 [[ 5.66450021e-01 -8.23762389e-01 -2.34499599e-02 8.92274435e+01] [ 8.23323985e-01 5.66921625e-01 -2.71567100e-02 4.43197861e+01] [ 3.56649656e-02 -3.92399549e-03 9.99356099e-01 2.58543631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:44.34, Z:2.58 [[ 5.65528931e-01 -8.24552863e-01 -1.70177743e-02 8.92395316e+01] [ 8.23856267e-01 5.65759305e-01 -3.43112283e-02 4.43435369e+01] [ 3.79193857e-02 5.38379226e-03 9.99266298e-01 2.58483304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:44.37, Z:2.59 [[ 5.61586722e-01 -8.27057029e-01 -2.44341066e-02 8.92619023e+01] [ 8.26642428e-01 5.62093918e-01 -2.66968920e-02 4.43655142e+01] [ 3.58141149e-02 -5.20564913e-03 9.99344911e-01 2.58818098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:44.39, Z:2.59 [[ 5.59509433e-01 -8.28557270e-01 -2.10248505e-02 8.92776523e+01] [ 8.28064723e-01 5.59902551e-01 -2.85997933e-02 4.43894130e+01] [ 3.54684341e-02 -1.40808282e-03 9.99369805e-01 2.58815393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:44.42, Z:2.59 [[ 5.59120598e-01 -8.28998918e-01 -1.20395910e-02 8.92878153e+01] [ 8.28154339e-01 5.59121541e-01 -3.92873164e-02 4.44155649e+01] [ 3.93007375e-02 1.19957083e-02 9.99155421e-01 2.58684048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:44.43, Z:2.59 [[ 5.58900025e-01 -8.28966730e-01 -2.10932056e-02 8.93091622e+01] [ 8.28275656e-01 5.59296010e-01 -3.38734597e-02 4.44332875e+01] [ 3.98773169e-02 1.46088875e-03 9.99203516e-01 2.59135396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:44.45, Z:2.60 [[ 5.59393403e-01 -8.28217104e-01 -3.36964285e-02 8.93355861e+01] [ 8.28195471e-01 5.60132825e-01 -1.85332052e-02 4.44495954e+01] [ 3.42239932e-02 -1.75398767e-02 9.99260262e-01 2.59599426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:44.48, Z:2.59 [[ 5.60157199e-01 -8.28132872e-01 -2.04904680e-02 8.93443296e+01] [ 8.27662858e-01 5.60530300e-01 -2.79280510e-02 4.44765344e+01] [ 3.46136652e-02 -1.31510050e-03 9.99399902e-01 2.59213430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:44.50, Z:2.59 [[ 5.61099008e-01 -8.27498787e-01 -2.03386272e-02 8.93610787e+01] [ 8.27034660e-01 5.61466098e-01 -2.77397284e-02 4.44988361e+01] [ 3.43740413e-02 -1.25601548e-03 9.99408249e-01 2.59288644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.38, Y:44.52, Z:2.59 [[ 5.64135544e-01 -8.25432428e-01 -2.03074893e-02 8.93779309e+01] [ 8.24967744e-01 5.64499830e-01 -2.77157559e-02 4.45218026e+01] [ 3.43410580e-02 -1.11758060e-03 9.99409547e-01 2.59380509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:44.54, Z:2.59 [[ 5.65671683e-01 -8.24381634e-01 -2.02600314e-02 8.93941058e+01] [ 8.23917817e-01 5.66033425e-01 -2.76693308e-02 4.45446564e+01] [ 3.42779431e-02 -1.04084392e-03 9.99411797e-01 2.59454175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:44.57, Z:2.60 [[ 5.69681726e-01 -8.21628289e-01 -1.97404529e-02 8.94099456e+01] [ 8.21185714e-01 5.70023022e-01 -2.69773564e-02 4.45669912e+01] [ 3.34178718e-02 -8.42070913e-04 9.99441112e-01 2.59506728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:44.59, Z:2.60 [[ 5.71614518e-01 -8.20288122e-01 -1.96020361e-02 8.94264581e+01] [ 8.19850532e-01 5.71950027e-01 -2.68005832e-02 4.45899738e+01] [ 3.31955851e-02 -7.51137333e-04 9.99448592e-01 2.59603276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:44.62, Z:2.60 [[ 5.72432391e-01 -8.19798963e-01 -1.58372595e-02 8.94405369e+01] [ 8.19237326e-01 5.72633026e-01 -3.06858580e-02 4.46156896e+01] [ 3.42251724e-02 4.59110497e-03 9.99403602e-01 2.59596254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:44.63, Z:2.60 [[ 5.74706047e-01 -8.18024152e-01 -2.34402644e-02 8.94611726e+01] [ 8.17723521e-01 5.75152894e-01 -2.29650041e-02 4.46333990e+01] [ 3.22676639e-02 -5.96952875e-03 9.99461436e-01 2.59915584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:44.66, Z:2.60 [[ 5.77017001e-01 -8.16514837e-01 -1.88388621e-02 8.94748655e+01] [ 8.16107232e-01 5.77324246e-01 -2.58011933e-02 4.46579012e+01] [ 3.19431890e-02 -4.86804430e-04 9.99489568e-01 2.59845793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:44.68, Z:2.60 [[ 5.77593612e-01 -8.16194839e-01 -1.45465817e-02 8.94887792e+01] [ 8.15636490e-01 5.77746637e-01 -3.07561378e-02 4.46833082e+01] [ 3.35072396e-02 5.89982594e-03 9.99421061e-01 2.59774439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.51, Y:44.70, Z:2.60 [[ 5.78123909e-01 -8.15601444e-01 -2.38123918e-02 8.95100518e+01] [ 8.15339035e-01 5.78573891e-01 -2.17832521e-02 4.47005253e+01] [ 3.15436800e-02 -6.82175372e-03 9.99479094e-01 2.60173438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:44.73, Z:2.60 [[ 5.78494283e-01 -8.15478541e-01 -1.84150322e-02 8.95229806e+01] [ 8.15087491e-01 5.78787171e-01 -2.52545631e-02 4.47250679e+01] [ 3.12529387e-02 -4.00242034e-04 9.99511427e-01 2.60040239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:44.75, Z:2.60 [[ 5.78154899e-01 -8.15790452e-01 -1.49281791e-02 8.95375366e+01] [ 8.15291125e-01 5.78329805e-01 -2.88966867e-02 4.47503170e+01] [ 3.22070520e-02 4.53594906e-03 9.99470926e-01 2.60013747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:44.77, Z:2.60 [[ 5.77286564e-01 -8.16260227e-01 -2.14351527e-02 8.95572597e+01] [ 8.15934399e-01 5.77670669e-01 -2.34020194e-02 4.47697010e+01] [ 3.14845967e-02 -3.98000704e-03 9.99496313e-01 2.60317893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.342755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:89.57, Y:44.79, Z:2.60 [[ 5.76910949e-01 -8.16574090e-01 -1.95067502e-02 8.95729602e+01] [ 8.16222204e-01 5.77237024e-01 -2.40568599e-02 4.47931259e+01] [ 3.09042269e-02 -2.04317671e-03 9.99520262e-01 2.60317465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:44.82, Z:2.60 [[ 5.75335684e-01 -8.17870990e-01 -8.71169526e-03 8.95821736e+01] [ 8.17148649e-01 5.75224017e-01 -3.72211699e-02 4.48224288e+01] [ 3.54532914e-02 1.42959172e-02 9.99269078e-01 2.60131857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:44.83, Z:2.61 [[ 5.73877494e-01 -8.18378372e-01 -3.03555877e-02 8.96117877e+01] [ 8.18332530e-01 5.74485707e-01 -1.72639127e-02 4.48335573e+01] [ 3.15672641e-02 -1.49335939e-02 9.99390062e-01 2.60851253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:44.86, Z:2.61 [[ 5.72594678e-01 -8.19617454e-01 -1.90411289e-02 8.96214702e+01] [ 8.19197833e-01 5.72910895e-01 -2.62300593e-02 4.48609074e+01] [ 3.24074846e-02 -5.79259219e-04 9.99474572e-01 2.60528532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:44.89, Z:2.60 [[ 5.70503224e-01 -8.21183230e-01 -1.35710735e-02 8.96328213e+01] [ 8.20526578e-01 5.70606172e-01 -3.38338747e-02 4.48859627e+01] [ 3.55275488e-02 8.16690813e-03 9.99335327e-01 2.60406455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:44.90, Z:2.61 [[ 5.68209420e-01 -8.22449931e-01 -2.67238757e-02 8.96570128e+01] [ 8.22213271e-01 5.68757763e-01 -2.19076211e-02 4.49013017e+01] [ 3.32173332e-02 -9.52460855e-03 9.99402767e-01 2.60857114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:44.93, Z:2.61 [[ 5.66476642e-01 -8.23835968e-01 -1.99627787e-02 8.96690739e+01] [ 8.23375273e-01 5.66827679e-01 -2.75598043e-02 4.49269347e+01] [ 3.40202136e-02 -8.24872916e-04 9.99420805e-01 2.60712972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.68, Y:44.96, Z:2.61 [[ 5.64273047e-01 -8.25471928e-01 -1.38573263e-02 8.96821823e+01] [ 8.24763924e-01 5.64380106e-01 -3.52074630e-02 4.49551935e+01] [ 3.68835716e-02 8.43759964e-03 9.99283948e-01 2.60619108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:44.97, Z:2.61 [[ 5.63178577e-01 -8.25866227e-01 -2.78363992e-02 8.97056779e+01] [ 8.25633663e-01 5.63768895e-01 -2.22190908e-02 4.49684814e+01] [ 3.40432927e-02 -1.04693523e-02 9.99365522e-01 2.61190612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:44.99, Z:2.61 [[ 5.61927571e-01 -8.26943351e-01 -2.00524354e-02 8.97167620e+01] [ 8.26478949e-01 5.62284369e-01 -2.77278749e-02 4.49938279e+01] [ 3.42045527e-02 -9.91858391e-04 9.99414361e-01 2.61006005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:45.02, Z:2.61 [[ 5.60565526e-01 -8.27868433e-01 -2.00037146e-02 8.97333079e+01] [ 8.27406258e-01 5.60921371e-01 -2.76785178e-02 4.50170622e+01] [ 3.41346822e-02 -1.03557572e-03 9.99416705e-01 2.61073472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:45.04, Z:2.61 [[ 5.59899575e-01 -8.28320405e-01 -1.99442294e-02 8.97492601e+01] [ 8.27860678e-01 5.60253695e-01 -2.76133072e-02 4.50392395e+01] [ 3.40464940e-02 -1.05036433e-03 9.99419698e-01 2.61160138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:45.06, Z:2.61 [[ 5.59639656e-01 -8.28498902e-01 -1.98248520e-02 8.97657342e+01] [ 8.28044172e-01 5.59989712e-01 -2.74658325e-02 4.50622213e+01] [ 3.38571252e-02 -1.04488405e-03 9.99426137e-01 2.61250946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:45.09, Z:2.61 [[ 5.59426869e-01 -8.28643221e-01 -1.97987631e-02 8.97821926e+01] [ 8.28189201e-01 5.59776139e-01 -2.74467048e-02 4.50852478e+01] [ 3.38264010e-02 -1.04269772e-03 9.99427180e-01 2.61390418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:45.11, Z:2.62 [[ 5.58940863e-01 -8.28968654e-01 -1.99018246e-02 8.97984001e+01] [ 8.28509475e-01 5.59294066e-01 -2.76079374e-02 4.51085738e+01] [ 3.40170872e-02 -1.05764590e-03 9.99420692e-01 2.61528736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79275509600001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:89.81, Y:45.13, Z:2.62 [[ 5.58098051e-01 -8.29535762e-01 -1.99244700e-02 8.98143691e+01] [ 8.29075275e-01 5.58452545e-01 -2.76575989e-02 4.51317774e+01] [ 3.40698383e-02 -1.08323342e-03 9.99418868e-01 2.61574329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82275509600001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:89.83, Y:45.16, Z:2.62 [[ 5.57344467e-01 -8.30180999e-01 -1.29094615e-02 8.98250379e+01] [ 8.29448980e-01 5.57414451e-01 -3.61042724e-02 4.51580968e+01] [ 3.71690013e-02 9.41477679e-03 9.99264643e-01 2.61521307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:45.17, Z:2.62 [[ 5.56680704e-01 -8.30270552e-01 -2.75209679e-02 8.98500993e+01] [ 8.30017808e-01 5.57268638e-01 -2.28495689e-02 4.51746476e+01] [ 3.43078965e-02 -1.01229793e-02 9.99360042e-01 2.62073227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:45.20, Z:2.62 [[ 5.56949053e-01 -8.30270646e-01 -2.14104338e-02 8.98625187e+01] [ 8.29858476e-01 5.57351830e-01 -2.63409934e-02 4.51989955e+01] [ 3.38032981e-02 -3.09703869e-03 9.99423707e-01 2.61945767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:45.22, Z:2.62 [[ 5.56613658e-01 -8.30536975e-01 -1.97374858e-02 8.98766280e+01] [ 8.30082677e-01 5.56962439e-01 -2.74879990e-02 4.52224377e+01] [ 3.38228378e-02 -1.08354940e-03 9.99427257e-01 2.62009986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:45.25, Z:2.62 [[ 5.56414686e-01 -8.30670987e-01 -1.97081076e-02 8.98923986e+01] [ 8.30217501e-01 5.56762558e-01 -2.74655227e-02 4.52458559e+01] [ 3.37875492e-02 -1.07979569e-03 9.99428454e-01 2.62116837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:45.27, Z:2.62 [[ 5.56263652e-01 -8.30774498e-01 -1.96082388e-02 8.99080801e+01] [ 8.30325088e-01 5.56608108e-01 -2.73433969e-02 4.52691347e+01] [ 3.36303015e-02 -1.07107478e-03 9.99433768e-01 2.62239908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:45.29, Z:2.62 [[ 5.55936478e-01 -8.30999210e-01 -1.93634993e-02 8.99239883e+01] [ 8.30560534e-01 5.56272582e-01 -2.70187660e-02 4.52925325e+01] [ 3.32239570e-02 -1.06184072e-03 9.99447368e-01 2.62306907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:45.32, Z:2.62 [[ 5.55706039e-01 -8.31215473e-01 -1.64813849e-02 8.99372146e+01] [ 8.30640665e-01 5.55938727e-01 -3.11161937e-02 4.53178948e+01] [ 3.50269018e-02 3.60134828e-03 9.99379881e-01 2.62343432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:45.34, Z:2.63 [[ 5.56213482e-01 -8.30627058e-01 -2.61773534e-02 8.99592602e+01] [ 8.30416557e-01 5.56740139e-01 -2.11839327e-02 4.53365237e+01] [ 3.21699310e-02 -9.95531872e-03 9.99432833e-01 2.62745436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:45.37, Z:2.62 [[ 5.55381820e-01 -8.31569353e-01 -6.59123954e-03 8.99627363e+01] [ 8.30744125e-01 5.55154374e-01 -4.08389510e-02 4.53704982e+01] [ 3.76195755e-02 1.72055774e-02 9.99144001e-01 2.62219222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:45.38, Z:2.63 [[ 5.57789484e-01 -8.29353309e-01 -3.23106940e-02 8.99921690e+01] [ 8.29223150e-01 5.58521578e-01 -2.10384186e-02 4.53818978e+01] [ 3.54945018e-02 -1.50577668e-02 9.99256426e-01 2.63153435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.152755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.03, Y:45.40, Z:2.66 [[ 5.62651657e-01 -8.23926976e-01 -6.75829209e-02 9.00338773e+01] [ 8.25491812e-01 5.64360175e-01 -7.80132220e-03 4.53951245e+01] [ 4.45688289e-02 -5.13997210e-02 9.97683160e-01 2.65694071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:45.45, Z:2.62 [[ 5.60563251e-01 -8.27894440e-01 1.89641484e-02 8.99928803e+01] [ 8.27244967e-01 5.58782327e-01 -5.85497628e-02 4.54509135e+01] [ 3.78761921e-02 4.85088417e-02 9.98104346e-01 2.61585020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.06, Y:45.44, Z:2.65 [[ 5.64006994e-01 -8.23705317e-01 -5.83580439e-02 9.00571785e+01] [ 8.24635947e-01 5.65526669e-01 -1.24555717e-02 4.54449944e+01] [ 4.32627508e-02 -4.10991112e-02 9.98218011e-01 2.65308472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.05, Y:45.48, Z:2.64 [[ 5.64616996e-01 -8.25014942e-01 -2.36218932e-02 9.00543959e+01] [ 8.24274477e-01 5.65110854e-01 -3.49472254e-02 4.54827483e+01] [ 4.21809714e-02 2.60873717e-04 9.99109953e-01 2.64035833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:45.52, Z:2.62 [[ 5.63262512e-01 -8.26220910e-01 9.71344635e-03 9.00451449e+01] [ 8.25528537e-01 5.62212139e-01 -4.91949690e-02 4.55168495e+01] [ 3.51848946e-02 3.57284090e-02 9.98741961e-01 2.62023771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:45.53, Z:2.63 [[ 5.63927997e-01 -8.25584045e-01 -1.99047318e-02 9.00774912e+01] [ 8.25108636e-01 5.64278829e-01 -2.80203833e-02 4.55269512e+01] [ 3.43650002e-02 -6.22087474e-04 9.99409155e-01 2.63073756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:45.55, Z:2.63 [[ 5.64547342e-01 -8.25156587e-01 -2.00724955e-02 9.00918662e+01] [ 8.24672177e-01 5.64903760e-01 -2.82761681e-02 4.55483787e+01] [ 3.46712945e-02 -5.89993028e-04 9.99398596e-01 2.63168519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:45.57, Z:2.63 [[ 5.65476804e-01 -8.24522202e-01 -1.99780235e-02 9.01076839e+01] [ 8.24041454e-01 5.65829343e-01 -2.81573487e-02 4.55719600e+01] [ 3.45205111e-02 -5.40391956e-04 9.99403843e-01 2.63232490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:45.59, Z:2.63 [[ 5.65673982e-01 -8.24386770e-01 -1.99849774e-02 9.01232384e+01] [ 8.23904952e-01 5.66026661e-01 -2.81859754e-02 4.55943653e+01] [ 3.45481753e-02 -5.21648884e-04 9.99402897e-01 2.63320807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:45.62, Z:2.63 [[ 5.65528692e-01 -8.24492166e-01 -1.97475790e-02 9.01387772e+01] [ 8.24021149e-01 5.65873137e-01 -2.78700204e-02 4.56168985e+01] [ 3.41532379e-02 -5.11126584e-04 9.99416477e-01 2.63390643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:45.64, Z:2.63 [[ 5.65351915e-01 -8.24610659e-01 -1.98613521e-02 9.01548812e+01] [ 8.24133795e-01 5.65700449e-01 -2.80444291e-02 4.56394585e+01] [ 3.43613110e-02 -5.13439738e-04 9.99409344e-01 2.63488973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:45.66, Z:2.64 [[ 5.64303270e-01 -8.25333039e-01 -1.96772521e-02 9.01716091e+01] [ 8.24864803e-01 5.64645979e-01 -2.78024323e-02 4.56621570e+01] [ 3.40569471e-02 -5.42069194e-04 9.99419747e-01 2.63573102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:45.68, Z:2.64 [[ 5.63314311e-01 -8.26007444e-01 -1.97151974e-02 9.01878452e+01] [ 8.25537189e-01 5.63658916e-01 -2.78743033e-02 4.56846333e+01] [ 3.41370288e-02 -5.73634646e-04 9.99416997e-01 2.63675753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:45.71, Z:2.64 [[ 5.63077327e-01 -8.26169214e-01 -1.97066878e-02 9.02041841e+01] [ 8.25698847e-01 5.63421779e-01 -2.78803183e-02 4.57080449e+01] [ 3.41370378e-02 -5.73014337e-04 9.99416997e-01 2.63766289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:45.73, Z:2.64 [[ 5.61920815e-01 -8.26958566e-01 -1.96094021e-02 9.02201030e+01] [ 8.26492735e-01 5.62262537e-01 -2.77596485e-02 4.57300269e+01] [ 3.39817113e-02 -6.08304115e-04 9.99422270e-01 2.63862512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:45.75, Z:2.64 [[ 5.59514462e-01 -8.28590064e-01 -1.95466508e-02 9.02363974e+01] [ 8.28127560e-01 5.59855359e-01 -2.76897235e-02 4.57519178e+01] [ 3.38867270e-02 -6.94319492e-04 9.99425439e-01 2.63930027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:45.78, Z:2.64 [[ 5.56026732e-01 -8.30995872e-01 -1.67372052e-02 9.02511836e+01] [ 8.30406155e-01 5.56266792e-01 -3.15098976e-02 4.57784019e+01] [ 3.54949463e-02 3.62166716e-03 9.99363293e-01 2.63960203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:45.80, Z:2.64 [[ 5.54532711e-01 -8.31833140e-01 -2.33901515e-02 9.02726129e+01] [ 8.31467746e-01 5.54999054e-01 -2.52475156e-02 4.57952658e+01] [ 3.39832322e-02 -5.44758332e-03 9.99407556e-01 2.64270782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:45.82, Z:2.64 [[ 5.52201338e-01 -8.33540356e-01 -1.68569603e-02 9.02856528e+01] [ 8.32965314e-01 5.52449645e-01 -3.11155093e-02 4.58216334e+01] [ 3.52486544e-02 3.14076264e-03 9.99373638e-01 2.64168967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:45.84, Z:2.64 [[ 5.51381965e-01 -8.33939769e-01 -2.28558670e-02 9.03052261e+01] [ 8.33576504e-01 5.51831125e-01 -2.51519635e-02 4.58393632e+01] [ 3.35878014e-02 -5.18377465e-03 9.99422327e-01 2.64405553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:45.87, Z:2.64 [[ 5.49001078e-01 -8.35702484e-01 -1.41129160e-02 9.03180626e+01] [ 8.35153188e-01 5.49158972e-01 -3.07176905e-02 4.58678986e+01] [ 3.34210847e-02 5.07759839e-03 9.99428461e-01 2.64040293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:45.88, Z:2.65 [[ 5.48275442e-01 -8.35780105e-01 -2.94220329e-02 9.03444634e+01] [ 8.35587172e-01 5.48920462e-01 -2.19181116e-02 4.58842516e+01] [ 3.44690775e-02 -1.25675109e-02 9.99326744e-01 2.64875392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:45.91, Z:2.64 [[ 5.46141785e-01 -8.37568540e-01 -1.44253886e-02 9.03501054e+01] [ 8.37023078e-01 5.46312697e-01 -3.05745569e-02 4.59122017e+01] [ 3.34890599e-02 4.62365996e-03 9.99428389e-01 2.64344180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:45.93, Z:2.65 [[ 5.45410417e-01 -8.37958475e-01 -1.87902057e-02 9.03694225e+01] [ 8.37531609e-01 5.45732810e-01 -2.67676112e-02 4.59325871e+01] [ 3.26845784e-02 -1.13805725e-03 9.99465069e-01 2.64608534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:45.95, Z:2.65 [[ 5.45310155e-01 -8.38028561e-01 -1.85732558e-02 9.03852139e+01] [ 8.37610963e-01 5.45625217e-01 -2.64763588e-02 4.59547213e+01] [ 3.23219816e-02 -1.11933533e-03 9.99476881e-01 2.64705360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:45.97, Z:2.65 [[ 5.47405321e-01 -8.36570841e-01 -2.22854854e-02 9.04028644e+01] [ 8.36318364e-01 5.47816692e-01 -2.16440764e-02 4.59725344e+01] [ 3.03151641e-02 -6.78967813e-03 9.99517329e-01 2.64906028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:46.00, Z:2.65 [[ 5.46931173e-01 -8.37071611e-01 -1.33195393e-02 9.04140864e+01] [ 8.36573643e-01 5.47071664e-01 -2.92768618e-02 4.60028690e+01] [ 3.17935724e-02 4.86965282e-03 9.99482594e-01 2.64703878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:46.02, Z:2.65 [[ 5.47718573e-01 -8.36464459e-01 -1.82091565e-02 9.04320924e+01] [ 8.36061085e-01 5.48020286e-01 -2.59928617e-02 4.60237707e+01] [ 3.17210922e-02 -9.87194049e-04 9.99496272e-01 2.64958845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:46.05, Z:2.65 [[ 5.49062541e-01 -8.35562375e-01 -1.91270200e-02 9.04484959e+01] [ 8.35116234e-01 5.49394729e-01 -2.73186342e-02 4.60462783e+01] [ 3.33347068e-02 -9.73646153e-04 9.99443770e-01 2.65118137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:46.07, Z:2.66 [[ 5.51063790e-01 -8.34044922e-01 -2.64152783e-02 9.04687912e+01] [ 8.33835141e-01 5.51600987e-01 -2.13379870e-02 4.60672333e+01] [ 3.23675332e-02 -1.02673953e-02 9.99423295e-01 2.65521593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:46.10, Z:2.65 [[ 5.50955726e-01 -8.34485098e-01 -9.07794553e-03 9.04733047e+01] [ 8.33917252e-01 5.50933954e-01 -3.24622104e-02 4.60973545e+01] [ 3.20905793e-02 1.03149853e-02 9.99431736e-01 2.64738537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:46.12, Z:2.65 [[ 5.51754288e-01 -8.33858558e-01 -1.57197572e-02 9.04935243e+01] [ 8.33453534e-01 5.51976752e-01 -2.60167645e-02 4.61172832e+01] [ 3.03712423e-02 1.25317415e-03 9.99537902e-01 2.64862272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:46.14, Z:2.66 [[ 5.52112943e-01 -8.33333109e-01 -2.69671541e-02 9.05157054e+01] [ 8.33257306e-01 5.52618541e-01 -1.71758543e-02 4.61350938e+01] [ 2.92157574e-02 -1.29875667e-02 9.99488751e-01 2.65578042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:46.16, Z:2.65 [[ 5.52261506e-01 -8.33625027e-01 -8.74894594e-03 9.05210256e+01] [ 8.33218730e-01 5.52277160e-01 -2.71382952e-02 4.61642209e+01] [ 2.74550051e-02 7.69765017e-03 9.99593402e-01 2.64735661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:46.18, Z:2.66 [[ 5.51354743e-01 -8.33923383e-01 -2.40777380e-02 9.05441722e+01] [ 8.33801864e-01 5.51782861e-01 -1.76103582e-02 4.61803963e+01] [ 2.79713726e-02 -1.03665083e-02 9.99554970e-01 2.65677588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:46.21, Z:2.65 [[ 5.50165838e-01 -8.35032467e-01 -6.19107757e-03 9.05483871e+01] [ 8.34420479e-01 5.50021470e-01 -3.49119883e-02 4.62129247e+01] [ 3.25578693e-02 1.40414214e-02 9.99371214e-01 2.65354419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:46.23, Z:2.66 [[ 5.49705117e-01 -8.35119336e-01 -1.99994631e-02 9.05721844e+01] [ 8.34825869e-01 5.50052005e-01 -2.25512866e-02 4.62283290e+01] [ 2.98337602e-02 -4.29951150e-03 9.99545627e-01 2.65928855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:46.25, Z:2.66 [[ 5.47342684e-01 -8.36729856e-01 -1.72955169e-02 9.05868972e+01] [ 8.36418548e-01 5.47612476e-01 -2.29039170e-02 4.62539624e+01] [ 2.86356320e-02 -1.92999970e-03 9.99588053e-01 2.65954807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.60, Y:46.28, Z:2.65 [[ 5.46032307e-01 -8.37757093e-01 -3.43126876e-03 9.05950332e+01] [ 8.37348054e-01 5.45885616e-01 -2.92768061e-02 4.62827404e+01] [ 2.63999322e-02 1.31129157e-02 9.99565453e-01 2.65105064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.62, Y:46.30, Z:2.66 [[ 5.45397980e-01 -8.37720514e-01 -2.76655705e-02 9.06235644e+01] [ 8.37710756e-01 5.45898475e-01 -1.53474844e-02 4.62961388e+01] [ 2.79594952e-02 -1.48052590e-02 9.99499410e-01 2.66439588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:46.32, Z:2.66 [[ 5.44313252e-01 -8.38721552e-01 -1.64086260e-02 9.06326846e+01] [ 8.38390669e-01 5.44559734e-01 -2.35750209e-02 4.63247089e+01] [ 2.87083551e-02 -9.24642601e-04 9.99587403e-01 2.66112061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:46.35, Z:2.66 [[ 5.43132732e-01 -8.39481008e-01 -1.66875028e-02 9.06474876e+01] [ 8.39138654e-01 5.43388160e-01 -2.39922388e-02 4.63483461e+01] [ 2.92088203e-02 -9.72158396e-04 9.99572859e-01 2.66124832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:46.37, Z:2.66 [[ 5.42800842e-01 -8.39692145e-01 -1.68626194e-02 9.06628162e+01] [ 8.39342170e-01 5.43061812e-01 -2.42608531e-02 4.63716043e+01] [ 2.95290925e-02 -9.84696114e-04 9.99563436e-01 2.66178796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:46.39, Z:2.66 [[ 5.42532250e-01 -8.39864798e-01 -1.69079672e-02 9.06779095e+01] [ 8.39512512e-01 5.42794756e-01 -2.43432693e-02 4.63943471e+01] [ 2.96226108e-02 -9.87441311e-04 9.99560666e-01 2.66237605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:46.42, Z:2.66 [[ 5.42463991e-01 -8.39906032e-01 -1.70492103e-02 9.06929997e+01] [ 8.39547501e-01 5.42730940e-01 -2.45584953e-02 4.64178756e+01] [ 2.98799622e-02 -9.91522514e-04 9.99553002e-01 2.66315952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:46.44, Z:2.66 [[ 5.42489912e-01 -8.39887614e-01 -1.71316022e-02 9.07087703e+01] [ 8.39525089e-01 5.42759453e-01 -2.46941434e-02 4.64416797e+01] [ 3.00386443e-02 -9.86086231e-04 9.99548252e-01 2.66385605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:46.46, Z:2.66 [[ 5.42480801e-01 -8.39896825e-01 -1.69677594e-02 9.07242208e+01] [ 8.39540715e-01 5.42745232e-01 -2.44745081e-02 4.64647895e+01] [ 2.97652322e-02 -9.68174143e-04 9.99556448e-01 2.66464623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:46.49, Z:2.67 [[ 5.43370109e-01 -8.39322049e-01 -1.69535517e-02 9.07390246e+01] [ 8.38965766e-01 5.43633736e-01 -2.44704876e-02 4.64874421e+01] [ 2.97551424e-02 -9.26918002e-04 9.99556788e-01 2.66503883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:46.51, Z:2.67 [[ 5.43935902e-01 -8.38951175e-01 -1.71656814e-02 9.07546563e+01] [ 8.38585188e-01 5.44205937e-01 -2.47947593e-02 4.65107233e+01] [ 3.01432581e-02 -9.08126378e-04 9.99545176e-01 2.66624040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:46.53, Z:2.67 [[ 5.44114376e-01 -8.38838105e-01 -1.70346293e-02 9.07693812e+01] [ 8.38477149e-01 5.44380242e-01 -2.46216059e-02 4.65334565e+01] [ 2.99268568e-02 -8.86177705e-04 9.99551698e-01 2.66674074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:46.56, Z:2.67 [[ 5.45495073e-01 -8.37941478e-01 -1.70060150e-02 9.07842230e+01] [ 8.37580779e-01 5.45759468e-01 -2.45975843e-02 4.65560358e+01] [ 2.98925299e-02 -8.26050278e-04 9.99552777e-01 2.66757707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:46.58, Z:2.67 [[ 5.46089515e-01 -8.37555930e-01 -1.69205797e-02 9.07999372e+01] [ 8.37198194e-01 5.46351020e-01 -2.44897348e-02 4.65792488e+01] [ 2.97560986e-02 -7.92291323e-04 9.99556875e-01 2.66852654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:46.60, Z:2.67 [[ 5.47385191e-01 -8.36713461e-01 -1.67342691e-02 9.08149791e+01] [ 8.36362682e-01 5.47640440e-01 -2.42365805e-02 4.66012194e+01] [ 2.94434356e-02 -7.29172903e-04 9.99566182e-01 2.66922681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:46.62, Z:2.67 [[ 5.48139075e-01 -8.36219507e-01 -1.67478347e-02 9.08310905e+01] [ 8.35867495e-01 5.48394432e-01 -2.42709371e-02 4.66244634e+01] [ 2.94802503e-02 -6.95121663e-04 9.99565121e-01 2.67016221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:46.65, Z:2.67 [[ 5.48912933e-01 -8.35713428e-01 -1.66630676e-02 9.08471457e+01] [ 8.35364267e-01 5.49165400e-01 -2.41641303e-02 4.66476606e+01] [ 2.93450684e-02 -6.55727577e-04 9.99569126e-01 2.67087877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:46.68, Z:2.66 [[ 5.48966144e-01 -8.35829675e-01 -4.99264364e-03 9.08581647e+01] [ 8.35372352e-01 5.48846961e-01 -3.03322926e-02 4.66772292e+01] [ 2.80928275e-02 1.24806852e-02 9.99527401e-01 2.66371660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:46.69, Z:2.68 [[ 5.50658894e-01 -8.34274016e-01 -2.75979858e-02 9.08860165e+01] [ 8.34217273e-01 5.51178608e-01 -1.68428726e-02 4.66905451e+01] [ 2.92629904e-02 -1.37480389e-02 9.99477198e-01 2.67622000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:46.72, Z:2.67 [[ 5.50846446e-01 -8.34433908e-01 -1.69778170e-02 9.08957681e+01] [ 8.34069364e-01 5.51107727e-01 -2.46691804e-02 4.67177701e+01] [ 2.99414067e-02 -5.71746670e-04 9.99551492e-01 2.67371298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:46.74, Z:2.68 [[ 5.51031736e-01 -8.34303838e-01 -1.73531438e-02 9.09118379e+01] [ 8.33922395e-01 5.51304620e-01 -2.52320279e-02 4.67408707e+01] [ 3.06180460e-02 -5.67527109e-04 9.99530997e-01 2.67504241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:46.76, Z:2.68 [[ 5.50766779e-01 -8.34478790e-01 -1.73523230e-02 9.09275834e+01] [ 8.34096948e-01 5.51039768e-01 -2.52478908e-02 4.67625519e+01] [ 3.06306494e-02 -5.67820182e-04 9.99530610e-01 2.67540964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.94, Y:46.79, Z:2.68 [[ 5.50297386e-01 -8.34791577e-01 -1.71991352e-02 9.09437127e+01] [ 8.34416058e-01 5.50565798e-01 -2.50428414e-02 4.67851874e+01] [ 3.03748087e-02 -5.70224444e-04 9.99538416e-01 2.67589124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:46.81, Z:2.68 [[ 5.48754188e-01 -8.35803066e-01 -1.73803515e-02 9.09600201e+01] [ 8.35419575e-01 5.49029003e-01 -2.53236558e-02 4.68065084e+01] [ 3.07079062e-02 -6.23423716e-04 9.99528207e-01 2.67707528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:46.83, Z:2.68 [[ 5.47547452e-01 -8.36597018e-01 -1.72399926e-02 9.09762118e+01] [ 8.36219557e-01 5.47818403e-01 -2.51366105e-02 4.68288017e+01] [ 3.04735987e-02 -6.52931968e-04 9.99535359e-01 2.67755419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:46.86, Z:2.67 [[ 5.45900442e-01 -8.37819975e-01 -7.09915074e-03 9.09880064e+01] [ 8.37336588e-01 5.45842904e-01 -3.03803012e-02 4.68561480e+01] [ 2.93282443e-02 1.06402412e-02 9.99513201e-01 2.67161930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.01, Y:46.87, Z:2.68 [[ 5.44894817e-01 -8.38068170e-01 -2.70440516e-02 9.10149187e+01] [ 8.37934844e-01 5.45429973e-01 -1.92702469e-02 4.68701321e+01] [ 3.09004169e-02 -1.21608955e-02 9.99448486e-01 2.68286669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:46.90, Z:2.68 [[ 5.43474083e-01 -8.39146239e-01 -2.16681920e-02 9.10318257e+01] [ 8.38794287e-01 5.43885375e-01 -2.47556605e-02 4.68953823e+01] [ 3.25586321e-02 -4.72109574e-03 9.99458677e-01 2.68240199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:46.92, Z:2.68 [[ 5.41116434e-01 -8.40821555e-01 -1.45642852e-02 9.10407855e+01] [ 8.40369809e-01 5.41305429e-01 -2.76950671e-02 4.69189874e+01] [ 3.11703361e-02 2.74687035e-03 9.99510313e-01 2.68037770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:46.94, Z:2.68 [[ 5.40024041e-01 -8.41471022e-01 -1.73364871e-02 9.10591316e+01] [ 8.41089278e-01 5.40301520e-01 -2.53593081e-02 4.69409901e+01] [ 3.07060533e-02 -8.86897401e-04 9.99528064e-01 2.68220117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:46.96, Z:2.68 [[ 5.38075075e-01 -8.42720661e-01 -1.72366158e-02 9.10763668e+01] [ 8.42343429e-01 5.38350255e-01 -2.52299458e-02 4.69635037e+01] [ 3.05411331e-02 -9.43545110e-04 9.99533065e-01 2.68289746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:46.99, Z:2.68 [[ 5.37024506e-01 -8.43391301e-01 -1.71986692e-02 9.10927487e+01] [ 8.43015559e-01 5.37298960e-01 -2.51911827e-02 4.69860907e+01] [ 3.04868514e-02 -9.70463258e-04 9.99534697e-01 2.68318873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:47.01, Z:2.68 [[ 5.35535261e-01 -8.44326986e-01 -1.77179054e-02 9.11103175e+01] [ 8.43928151e-01 5.35827256e-01 -2.59697524e-02 4.70085801e+01] [ 3.14206994e-02 -1.04492099e-03 9.99505702e-01 2.68421207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:47.03, Z:2.68 [[ 5.34900401e-01 -8.44729824e-01 -1.76942025e-02 9.11267364e+01] [ 8.44331724e-01 5.35191933e-01 -2.59525618e-02 4.70315598e+01] [ 3.13926974e-02 -1.05774083e-03 9.99506568e-01 2.68476167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.14, Y:47.05, Z:2.69 [[ 5.34657762e-01 -8.44874751e-01 -1.81034076e-02 9.11429305e+01] [ 8.44457509e-01 5.34963070e-01 -2.65712136e-02 4.70537482e+01] [ 3.21340020e-02 -1.08105283e-03 9.99482985e-01 2.68574218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:47.08, Z:2.69 [[ 5.34723102e-01 -8.44834163e-01 -1.80676978e-02 9.11588748e+01] [ 8.44417933e-01 5.35027196e-01 -2.65377704e-02 4.70767093e+01] [ 3.20867247e-02 -1.06632914e-03 9.99484520e-01 2.68624972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.17, Y:47.10, Z:2.69 [[ 5.35053701e-01 -8.44627973e-01 -1.79199512e-02 9.11744961e+01] [ 8.44217854e-01 5.35352701e-01 -2.63381967e-02 4.70995187e+01] [ 3.18394719e-02 -1.03599312e-03 9.99492459e-01 2.68691206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:47.12, Z:2.69 [[ 5.35447529e-01 -8.44377996e-01 -1.79372077e-02 9.11900823e+01] [ 8.43966387e-01 5.35746931e-01 -2.63811347e-02 4.71218526e+01] [ 3.18854536e-02 -1.01268703e-03 9.99491017e-01 2.68763852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:47.14, Z:2.69 [[ 5.36787335e-01 -8.43525491e-01 -1.80028316e-02 9.12063240e+01] [ 8.43109780e-01 5.37088291e-01 -2.64965254e-02 4.71435648e+01] [ 3.20196047e-02 -9.55364171e-04 9.99486784e-01 2.68881724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:47.17, Z:2.69 [[ 5.36549352e-01 -8.43677013e-01 -1.79969748e-02 9.12222218e+01] [ 8.43261254e-01 5.36850241e-01 -2.65005028e-02 4.71672811e+01] [ 3.20195453e-02 -9.57323946e-04 9.99486784e-01 2.68975921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:47.19, Z:2.69 [[ 5.37205863e-01 -8.43260753e-01 -1.79210095e-02 9.12384583e+01] [ 8.42847758e-01 5.37503912e-01 -2.64045779e-02 4.71898035e+01] [ 3.18985570e-02 -9.19988639e-04 9.99490688e-01 2.69095418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:47.21, Z:2.69 [[ 5.37783484e-01 -8.42901584e-01 -1.74884279e-02 9.12545384e+01] [ 8.42507596e-01 5.38067065e-01 -2.57834236e-02 4.72129633e+01] [ 3.11428356e-02 -8.68233949e-04 9.99514567e-01 2.69189644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.27, Y:47.24, Z:2.69 [[ 5.39554107e-01 -8.41781330e-01 -1.68984640e-02 9.12701542e+01] [ 8.41412455e-01 5.39818120e-01 -2.49294630e-02 4.72353602e+01] [ 3.01072536e-02 -7.67783948e-04 9.99546379e-01 2.69252716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:47.26, Z:2.69 [[ 5.40309035e-01 -8.41300162e-01 -1.67387089e-02 9.12858261e+01] [ 8.40937670e-01 5.40567765e-01 -2.47048144e-02 4.72581600e+01] [ 2.98325708e-02 -7.27976376e-04 9.99554645e-01 2.69356075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:47.28, Z:2.69 [[ 5.41593999e-01 -8.40487705e-01 -1.60111731e-02 9.13010204e+01] [ 8.40155268e-01 5.41830232e-01 -2.36458173e-02 4.72801032e+01] [ 2.85493564e-02 -6.45438731e-04 9.99592176e-01 2.69451487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:47.31, Z:2.69 [[ 5.41134541e-01 -8.40874982e-01 -1.01327605e-02 9.13131091e+01] [ 8.40395784e-01 5.41179480e-01 -2.93205848e-02 4.73067342e+01] [ 3.01385882e-02 7.35085198e-03 9.99518699e-01 2.69366630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:47.33, Z:2.70 [[ 5.41191856e-01 -8.40719595e-01 -1.73763463e-02 9.13329146e+01] [ 8.40315749e-01 5.41470511e-01 -2.60600710e-02 4.73279417e+01] [ 3.13179915e-02 -4.98119269e-04 9.99509347e-01 2.69836814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.702755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:91.35, Y:47.35, Z:2.70 [[ 5.41489298e-01 -8.40544057e-01 -1.65839729e-02 9.13469942e+01] [ 8.40157092e-01 5.41743179e-01 -2.55027129e-02 4.73486667e+01] [ 3.04204080e-02 -1.23696320e-04 9.99537185e-01 2.69864314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.732755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:91.36, Y:47.37, Z:2.70 [[ 5.40886901e-01 -8.40858604e-01 -1.99541721e-02 9.13642621e+01] [ 8.40541586e-01 5.41239392e-01 -2.34470212e-02 4.73709248e+01] [ 3.05156134e-02 -4.09012486e-03 9.99525922e-01 2.70085683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:47.40, Z:2.70 [[ 5.41329929e-01 -8.40659760e-01 -1.59083618e-02 9.13768564e+01] [ 8.40182170e-01 5.41559902e-01 -2.84041261e-02 4.73955595e+01] [ 3.24935367e-02 2.01008167e-03 9.99469924e-01 2.70096582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:47.42, Z:2.70 [[ 5.41868310e-01 -8.40143788e-01 -2.31764846e-02 9.13968429e+01] [ 8.39910953e-01 5.42305879e-01 -2.13055057e-02 4.74151491e+01] [ 3.04684322e-02 -7.92140490e-03 9.99504340e-01 2.70337637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:47.44, Z:2.70 [[ 5.41680785e-01 -8.40451846e-01 -1.49204782e-02 9.14070801e+01] [ 8.39921182e-01 5.41873109e-01 -3.00988543e-02 4.74427949e+01] [ 3.33816436e-02 3.77194532e-03 9.99435560e-01 2.70129783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:47.46, Z:2.70 [[ 5.41577829e-01 -8.40359259e-01 -2.21307986e-02 9.14273968e+01] [ 8.40042633e-01 5.41999628e-01 -2.37650781e-02 4.74631122e+01] [ 3.19660880e-02 -5.72017487e-03 9.99472585e-01 2.70451498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88275509600001 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:91.44, Y:47.49, Z:2.70 [[ 5.41234287e-01 -8.40646456e-01 -1.94674843e-02 9.14424719e+01] [ 8.40289169e-01 5.41575999e-01 -2.46890858e-02 4.74870338e+01] [ 3.12979148e-02 -2.99573646e-03 9.99505611e-01 2.70399482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:47.51, Z:2.71 [[ 5.41334617e-01 -8.40342712e-01 -2.79456649e-02 9.14623077e+01] [ 8.40127811e-01 5.41934229e-01 -2.21935249e-02 4.75054550e+01] [ 3.37948792e-02 -1.14638070e-02 9.99363041e-01 2.70984176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:47.54, Z:2.70 [[ 5.39570563e-01 -8.41927831e-01 -4.59732513e-03 9.14632085e+01] [ 8.41314150e-01 5.39371758e-01 -3.56175170e-02 4.75357344e+01] [ 3.24670462e-02 1.53503690e-02 9.99354920e-01 2.69937779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.972755096 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:91.49, Y:47.56, Z:2.70 [[ 5.37085357e-01 -8.43381685e-01 -1.57052172e-02 9.14852730e+01] [ 8.42918737e-01 5.37311918e-01 -2.79983127e-02 4.75575048e+01] [ 3.20518645e-02 1.79926194e-03 9.99484587e-01 2.70406619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:47.58, Z:2.71 [[ 5.37439286e-01 -8.43033982e-01 -2.12772079e-02 9.15034948e+01] [ 8.42695637e-01 5.37838574e-01 -2.43665962e-02 4.75768724e+01] [ 3.19855718e-02 -4.83464420e-03 9.99476638e-01 2.70661351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:47.60, Z:2.71 [[ 5.36921546e-01 -8.43444317e-01 -1.78027503e-02 9.15165984e+01] [ 8.43024456e-01 5.37216131e-01 -2.66194302e-02 4.76008579e+01] [ 3.20159317e-02 -7.15608313e-04 9.99487102e-01 2.70599777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:47.62, Z:2.71 [[ 5.36574288e-01 -8.43660775e-01 -1.80146969e-02 9.15317426e+01] [ 8.43230360e-01 5.36876120e-01 -2.69553819e-02 4.76235681e+01] [ 3.24128589e-02 -7.26974501e-04 9.99474301e-01 2.70704827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:47.64, Z:2.73 [[ 5.38343790e-01 -8.41368128e-01 -4.78083408e-02 9.15710798e+01] [ 8.41998109e-01 5.39369270e-01 -1.09533046e-02 4.76388927e+01] [ 3.50021113e-02 -3.43578891e-02 9.98796470e-01 2.72703117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.122755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:91.55, Y:47.68, Z:2.71 [[ 5.37017931e-01 -8.43549938e-01 5.93667034e-03 9.15528324e+01] [ 8.42803480e-01 5.36216045e-01 -4.64181814e-02 4.76829002e+01] [ 3.59727161e-02 2.99308422e-02 9.98904454e-01 2.70646388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:47.69, Z:2.72 [[ 5.38733126e-01 -8.42161156e-01 -2.30479300e-02 9.15845032e+01] [ 8.41738737e-01 5.39204541e-01 -2.70990986e-02 4.76929840e+01] [ 3.52493567e-02 -4.80115337e-03 9.99367016e-01 2.71740077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18275509600001 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:91.59, Y:47.72, Z:2.72 [[ 5.38264355e-01 -8.42652180e-01 -1.44494846e-02 9.15934180e+01] [ 8.41977747e-01 5.38421520e-01 -3.42890652e-02 4.77201344e+01] [ 3.66736690e-02 6.29043704e-03 9.99307496e-01 2.71581133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:47.73, Z:2.74 [[ 5.40292167e-01 -8.39592419e-01 -5.62933755e-02 9.16336833e+01] [ 8.40699532e-01 5.41459405e-01 -6.78302319e-03 4.77267839e+01] [ 3.61755524e-02 -4.36610002e-02 9.98391229e-01 2.73500093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:47.77, Z:2.72 [[ 5.40350756e-01 -8.41270191e-01 -1.68975170e-02 9.16263934e+01] [ 8.40596562e-01 5.40599199e-01 -3.39105666e-02 4.77654058e+01] [ 3.76627330e-02 4.11960565e-03 9.99282016e-01 2.72037090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:47.79, Z:2.71 [[ 5.37471377e-01 -8.43274440e-01 -3.56886625e-03 9.16301641e+01] [ 8.42623108e-01 5.37213889e-01 -3.72496347e-02 4.77927316e+01] [ 3.33289094e-02 1.70134033e-02 9.99299619e-01 2.70942634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:47.80, Z:2.73 [[ 5.40217412e-01 -8.40711111e-01 -3.70131728e-02 9.16673032e+01] [ 8.40686128e-01 5.41120294e-01 -2.08725341e-02 4.78028970e+01] [ 3.75763503e-02 -1.98407546e-02 9.99096773e-01 2.73007339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:47.84, Z:2.72 [[ 5.40026620e-01 -8.41567627e-01 -1.16266586e-02 9.16671379e+01] [ 8.40792327e-01 5.40048890e-01 -3.76225983e-02 4.78355896e+01] [ 3.79409248e-02 1.05415993e-02 9.99224380e-01 2.71985829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:47.86, Z:2.71 [[ 5.36426938e-01 -8.43940097e-01 3.35462703e-03 9.16708382e+01] [ 8.43389963e-01 5.35924425e-01 -3.84497191e-02 4.78625122e+01] [ 3.06514331e-02 2.34547238e-02 9.99254905e-01 2.70612470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:47.88, Z:2.71 [[ 5.35798193e-01 -8.44233223e-01 -1.38044021e-02 9.16946992e+01] [ 8.43707742e-01 5.35957180e-01 -3.01188799e-02 4.78781354e+01] [ 3.28259274e-02 4.49076054e-03 9.99450995e-01 2.71422152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.422755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:91.72, Y:47.89, Z:2.72 [[ 5.35787066e-01 -8.43751965e-01 -3.18565756e-02 9.17221529e+01] [ 8.43955255e-01 5.36311413e-01 -1.04687668e-02 4.78900421e+01] [ 2.59180877e-02 -2.12764946e-02 9.99437624e-01 2.72075887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:47.92, Z:2.71 [[ 5.33922621e-01 -8.45417327e-01 -1.40063331e-02 9.17275548e+01] [ 8.45108978e-01 5.34106185e-01 -2.28341447e-02 4.79217408e+01] [ 2.67852507e-02 3.54788541e-04 9.99641148e-01 2.71485526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.482755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:91.75, Y:47.94, Z:2.72 [[ 5.33913630e-01 -8.45104512e-01 -2.71035040e-02 9.17501380e+01] [ 8.45071462e-01 5.34410028e-01 -1.61290316e-02 4.79385039e+01] [ 2.81151017e-02 -1.42928880e-02 9.99502503e-01 2.72375328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:47.97, Z:2.71 [[ 5.31822337e-01 -8.46840585e-01 5.10149207e-03 9.17451249e+01] [ 8.46433272e-01 5.31356947e-01 -3.47923839e-02 4.79725310e+01] [ 2.67528895e-02 2.28214396e-02 9.99381541e-01 2.70728627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:47.98, Z:2.73 [[ 5.31569334e-01 -8.46201459e-01 -3.71097509e-02 9.17866699e+01] [ 8.46499703e-01 5.32263665e-01 -1.15604853e-02 4.79816290e+01] [ 2.95346715e-02 -2.52681936e-02 9.99244325e-01 2.72921643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:48.01, Z:2.72 [[ 5.30245158e-01 -8.47660817e-01 -1.76412023e-02 9.17906730e+01] [ 8.47410106e-01 5.30524704e-01 -2.09678725e-02 4.80112457e+01] [ 2.71327376e-02 -3.83122022e-03 9.99624498e-01 2.72192837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.79, Y:48.04, Z:2.71 [[ 5.29215170e-01 -8.48446016e-01 8.40610020e-03 9.17890340e+01] [ 8.48072785e-01 5.28620673e-01 -3.65066548e-02 4.80437026e+01] [ 2.65302875e-02 2.64488603e-02 9.99298054e-01 2.70850644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:48.05, Z:2.73 [[ 5.30851702e-01 -8.46712137e-01 -3.57075284e-02 9.18322087e+01] [ 8.46979061e-01 5.31502591e-01 -1.14658865e-02 4.80497595e+01] [ 2.86869491e-02 -2.41568435e-02 9.99296505e-01 2.72989173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:48.08, Z:2.72 [[ 5.29900231e-01 -8.48022133e-01 -8.01290814e-03 9.18298741e+01] [ 8.47636515e-01 5.29910541e-01 -2.65924223e-02 4.80831063e+01] [ 2.67970872e-02 7.29929720e-03 9.99614244e-01 2.71656299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.85, Y:48.11, Z:2.72 [[ 5.27548578e-01 -8.49253362e-01 -2.14761520e-02 9.18537850e+01] [ 8.49039659e-01 5.27933060e-01 -2.04534110e-02 4.81065006e+01] [ 2.87080987e-02 -7.44393692e-03 9.99560120e-01 2.72426729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:48.13, Z:2.72 [[ 5.28215851e-01 -8.49029850e-01 -1.16759320e-02 9.18615893e+01] [ 8.48621398e-01 5.28328388e-01 -2.66615365e-02 4.81316288e+01] [ 2.88051667e-02 4.17460045e-03 9.99576328e-01 2.72066685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:48.15, Z:2.72 [[ 5.28123260e-01 -8.48988836e-01 -1.74292496e-02 9.18806023e+01] [ 8.48710876e-01 5.28401116e-01 -2.19570011e-02 4.81543452e+01] [ 2.78508838e-02 -3.19639072e-03 9.99606978e-01 2.72262933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:48.18, Z:2.73 [[ 5.29047091e-01 -8.48306452e-01 -2.20303908e-02 9.18967772e+01] [ 8.48063071e-01 5.29455719e-01 -2.15793776e-02 4.81761133e+01] [ 2.99700417e-02 -7.26665392e-03 9.99524383e-01 2.72554183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:48.21, Z:2.71 [[ 5.27820971e-01 -8.49353892e-01 1.72888549e-03 9.18946650e+01] [ 8.48933304e-01 5.27493232e-01 -3.26057749e-02 4.82070306e+01] [ 2.67818664e-02 1.86777203e-02 9.99466795e-01 2.71263177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:48.22, Z:2.72 [[ 5.28669159e-01 -8.48673639e-01 -1.61856585e-02 9.19185190e+01] [ 8.48429382e-01 5.28909122e-01 -2.05602728e-02 4.82229432e+01] [ 2.60097039e-02 -2.86280608e-03 9.99657591e-01 2.71822222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:48.25, Z:2.72 [[ 5.28761048e-01 -8.48690663e-01 -1.16581762e-02 9.19300141e+01] [ 8.48308284e-01 5.28876451e-01 -2.57440255e-02 4.82485884e+01] [ 2.80144489e-02 3.72271042e-03 9.99600586e-01 2.71763604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:48.27, Z:2.72 [[ 5.29544774e-01 -8.48203536e-01 -1.15365942e-02 9.19434438e+01] [ 8.47778428e-01 5.29650015e-01 -2.72506735e-02 4.82703698e+01] [ 2.92244749e-02 4.64997604e-03 9.99562058e-01 2.71841779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:48.29, Z:2.72 [[ 5.27672880e-01 -8.49283531e-01 -1.66977938e-02 9.19614700e+01] [ 8.48991233e-01 5.27931759e-01 -2.24041334e-02 4.82942315e+01] [ 2.78427572e-02 -2.35422690e-03 9.99609543e-01 2.72122296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:48.32, Z:2.72 [[ 5.27493081e-01 -8.49427719e-01 -1.49532251e-02 9.19755214e+01] [ 8.49113578e-01 5.27704738e-01 -2.31049898e-02 4.83188261e+01] [ 2.75169065e-02 -5.09264171e-04 9.99621209e-01 2.72149225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:48.34, Z:2.72 [[ 5.27208360e-01 -8.49606948e-01 -1.48114242e-02 9.19898928e+01] [ 8.49298382e-01 5.27416134e-01 -2.29015375e-02 4.83424504e+01] [ 2.72690895e-02 -5.05436525e-04 9.99628001e-01 2.72241521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:48.37, Z:2.72 [[ 5.27352446e-01 -8.49514946e-01 -1.49584330e-02 9.20039348e+01] [ 8.49199727e-01 5.27564318e-01 -2.31454836e-02 4.83654034e+01] [ 2.75539697e-02 -4.96869875e-04 9.99620194e-01 2.72365741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:48.39, Z:2.72 [[ 5.27060378e-01 -8.49702064e-01 -1.46205352e-02 9.20176617e+01] [ 8.49400541e-01 5.27262900e-01 -2.26396818e-02 4.83899071e+01] [ 2.69458502e-02 -4.86211269e-04 9.99636776e-01 2.72434252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:48.42, Z:2.72 [[ 5.26017860e-01 -8.50384475e-01 -1.23067361e-02 9.20311819e+01] [ 8.50046586e-01 5.26157204e-01 -2.40706825e-02 4.84160270e+01] [ 2.69446126e-02 2.20030992e-03 9.99634506e-01 2.72412762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:48.44, Z:2.73 [[ 5.26925335e-01 -8.49753571e-01 -1.63877948e-02 9.20473955e+01] [ 8.49515902e-01 5.27170404e-01 -2.03493924e-02 4.84369028e+01] [ 2.59311292e-02 -3.19908186e-03 9.99658613e-01 2.72623737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:48.46, Z:2.74 [[ 5.28140804e-01 -8.48696030e-01 -2.79703459e-02 9.20727781e+01] [ 8.48651390e-01 5.28676336e-01 -1.70924125e-02 4.84596137e+01] [ 2.92935227e-02 -1.47098725e-02 9.99462610e-01 2.73507277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:48.49, Z:2.72 [[ 5.26629523e-01 -8.50091841e-01 -2.28191958e-03 9.20688951e+01] [ 8.49695854e-01 5.26462656e-01 -2.92237476e-02 4.84914009e+01] [ 2.60442148e-02 1.34511507e-02 9.99570290e-01 2.72296798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:48.51, Z:2.73 [[ 5.26456628e-01 -8.50088881e-01 -1.38677128e-02 9.20898460e+01] [ 8.49815671e-01 5.26639064e-01 -2.15550999e-02 4.85100000e+01] [ 2.56270301e-02 -4.37174446e-04 9.99671478e-01 2.72736791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:48.53, Z:2.73 [[ 5.26297784e-01 -8.50187053e-01 -1.38787125e-02 9.21046188e+01] [ 8.49913155e-01 5.26480565e-01 -2.15834315e-02 4.85341029e+01] [ 2.56568264e-02 -4.36388135e-04 9.99670714e-01 2.72806036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:48.56, Z:2.73 [[ 5.27244655e-01 -8.49482350e-01 -1.98194556e-02 9.21248160e+01] [ 8.49297225e-01 5.27573011e-01 -1.89984838e-02 4.85571460e+01] [ 2.65950865e-02 -6.81575963e-03 9.99623052e-01 2.73222916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:48.59, Z:2.73 [[ 5.25532333e-01 -8.50757120e-01 -5.30003663e-03 9.21282207e+01] [ 8.50409205e-01 5.25479349e-01 -2.59930224e-02 4.85861654e+01] [ 2.48988087e-02 9.15297378e-03 9.99648074e-01 2.72570776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:48.60, Z:2.73 [[ 5.26624980e-01 -8.49910102e-01 -1.78591352e-02 9.21498973e+01] [ 8.49639126e-01 5.26914690e-01 -2.17776209e-02 4.86045653e+01] [ 2.79192607e-02 -3.70518088e-03 9.99603315e-01 2.73279121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:48.63, Z:2.73 [[ 5.26324338e-01 -8.50148400e-01 -1.51785641e-02 9.21630729e+01] [ 8.49823562e-01 5.26542894e-01 -2.35052121e-02 4.86289133e+01] [ 2.79750835e-02 -5.27736211e-04 9.99608481e-01 2.73245459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:48.65, Z:2.74 [[ 5.25796683e-01 -8.50143700e-01 -2.81697926e-02 9.21865508e+01] [ 8.50134819e-01 5.26321663e-01 -1.60092731e-02 4.86493626e+01] [ 2.84365548e-02 -1.55304988e-02 9.99474945e-01 2.73956552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:48.68, Z:2.73 [[ 5.23292586e-01 -8.52150812e-01 -1.96549656e-03 9.21835967e+01] [ 8.51733058e-01 5.23105676e-01 -3.01869182e-02 4.86819494e+01] [ 2.67519693e-02 1.41225121e-02 9.99542339e-01 2.72724606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:48.70, Z:2.74 [[ 5.22686325e-01 -8.52010145e-01 -2.96263253e-02 9.22175220e+01] [ 8.51986211e-01 5.23275826e-01 -1.73754447e-02 4.86990261e+01] [ 3.03067950e-02 -1.61593133e-02 9.99410013e-01 2.74156646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:48.73, Z:2.73 [[ 5.20220863e-01 -8.54029255e-01 -2.07030201e-03 9.22128654e+01] [ 8.53573481e-01 5.20019584e-01 -3.14951601e-02 4.87296767e+01] [ 2.79743857e-02 1.46172845e-02 9.99501760e-01 2.72831741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:48.75, Z:2.73 [[ 5.18794200e-01 -8.54767157e-01 -1.50228330e-02 9.22342227e+01] [ 8.54444036e-01 5.19011270e-01 -2.35093764e-02 4.87467709e+01] [ 2.78920625e-02 -6.39641935e-04 9.99610736e-01 2.73325140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:48.77, Z:2.73 [[ 5.17252227e-01 -8.55701998e-01 -1.49741164e-02 9.22494407e+01] [ 8.55380884e-01 5.17468482e-01 -2.34502398e-02 4.87705196e+01] [ 2.78150503e-02 -6.78884197e-04 9.99612856e-01 2.73382953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:48.79, Z:2.74 [[ 5.16878071e-01 -8.55725373e-01 -2.38986467e-02 9.22721451e+01] [ 8.55534661e-01 5.17337107e-01 -2.05611604e-02 4.87922115e+01] [ 2.99583634e-02 -9.81850771e-03 9.99502923e-01 2.74046057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:48.82, Z:2.74 [[ 5.15568206e-01 -8.56762331e-01 -1.21545329e-02 9.22790095e+01] [ 8.56238521e-01 5.15684489e-01 -3.04155194e-02 4.88185763e+01] [ 3.23267753e-02 5.27409551e-03 9.99463438e-01 2.73694198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:48.84, Z:2.74 [[ 5.13499057e-01 -8.57643558e-01 -2.76811362e-02 9.23047214e+01] [ 8.57538099e-01 5.14058582e-01 -1.92920722e-02 4.88387118e+01] [ 3.07754471e-02 -1.38311680e-02 9.99430623e-01 2.74377886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:48.87, Z:2.74 [[ 5.12076201e-01 -8.58907765e-01 -7.44415869e-03 9.23097628e+01] [ 8.58413145e-01 5.12046382e-01 -3.05838980e-02 4.88701089e+01] [ 3.00805020e-02 9.27112264e-03 9.99504482e-01 2.73609270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68275509600001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:92.32, Y:48.89, Z:2.74 [[ 5.08620647e-01 -8.60915094e-01 -1.14121704e-02 9.23244817e+01] [ 8.60516778e-01 5.08735746e-01 -2.64351159e-02 4.88933268e+01] [ 2.85641693e-02 3.62508168e-03 9.99585388e-01 2.73700585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:48.91, Z:2.75 [[ 5.09750766e-01 -8.59562629e-01 -3.61420071e-02 9.23558864e+01] [ 8.59775755e-01 5.10474270e-01 -1.42011039e-02 4.89075486e+01] [ 3.06563029e-02 -2.38349979e-02 9.99245758e-01 2.74905811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:48.94, Z:2.74 [[ 5.09991563e-01 -8.60102362e-01 -1.15122563e-02 9.23560764e+01] [ 8.59580693e-01 5.10090207e-01 -3.04797103e-02 4.89389069e+01] [ 3.20879600e-02 5.64868190e-03 9.99469087e-01 2.74070650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:48.96, Z:2.74 [[ 5.09604787e-01 -8.60200713e-01 -1.89128109e-02 9.23762451e+01] [ 8.59818636e-01 5.09946183e-01 -2.58225533e-02 4.89600117e+01] [ 3.18570944e-02 -3.10229048e-03 9.99487619e-01 2.74450026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:48.99, Z:2.73 [[ 5.05458360e-01 -8.62848095e-01 2.23854399e-03 9.23722510e+01] [ 8.62422008e-01 5.05123558e-01 -3.28401014e-02 4.89884483e+01] [ 2.72052776e-02 1.85298734e-02 9.99458112e-01 2.73261703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.40, Y:49.00, Z:2.74 [[ 5.07084660e-01 -8.61602257e-01 -2.25099485e-02 9.24008437e+01] [ 8.61561404e-01 5.07442685e-01 -1.46242626e-02 4.89989962e+01] [ 2.40228064e-02 -1.19779636e-02 9.99639652e-01 2.74126558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:49.03, Z:2.74 [[ 5.05120928e-01 -8.63035727e-01 -4.70977829e-03 9.24047292e+01] [ 8.62623743e-01 5.05035971e-01 -2.86172156e-02 4.90318738e+01] [ 2.70762869e-02 1.03923879e-02 9.99579348e-01 2.73669215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.892755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.42, Y:49.05, Z:2.74 [[ 5.04918511e-01 -8.63043198e-01 -1.46197143e-02 9.24247834e+01] [ 8.62732770e-01 5.05129288e-01 -2.31639742e-02 4.90526424e+01] [ 2.73763563e-02 -9.16987257e-04 9.99624777e-01 2.74116767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:49.08, Z:2.74 [[ 5.05019706e-01 -8.63048392e-01 -1.01276869e-02 9.24399034e+01] [ 8.62682015e-01 5.05104345e-01 -2.54821893e-02 4.90804748e+01] [ 2.71079012e-02 4.13203439e-03 9.99623973e-01 2.73963031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.952755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:92.45, Y:49.10, Z:2.74 [[ 5.04729260e-01 -8.63192570e-01 -1.21227807e-02 9.24545412e+01] [ 8.62854315e-01 5.04871728e-01 -2.42274555e-02 4.91035746e+01] [ 2.70334089e-02 1.76811206e-03 9.99632967e-01 2.74030683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.982755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.47, Y:49.12, Z:2.75 [[ 5.04695698e-01 -8.63011286e-01 -2.22209879e-02 9.24721960e+01] [ 8.62837342e-01 5.05099794e-01 -1.96448457e-02 4.91213428e+01] [ 2.81775400e-02 -9.25842899e-03 9.99560057e-01 2.74518222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:49.15, Z:2.75 [[ 5.07257758e-01 -8.61478780e-01 -2.33211844e-02 9.24911800e+01] [ 8.61289802e-01 5.07700996e-01 -2.04835359e-02 4.91467715e+01] [ 2.94863201e-02 -9.69586581e-03 9.99518157e-01 2.74927083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.49, Y:49.18, Z:2.74 [[ 5.06654143e-01 -8.62116519e-01 -7.52914993e-03 9.24937924e+01] [ 8.61699082e-01 5.06652420e-01 -2.78929606e-02 4.91754793e+01] [ 2.78616441e-02 7.64422245e-03 9.99582560e-01 2.74204036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:49.20, Z:2.75 [[ 5.11597096e-01 -8.58839987e-01 -2.57349441e-02 9.25228383e+01] [ 8.58716409e-01 5.12095462e-01 -1.90883782e-02 4.91960642e+01] [ 2.95726106e-02 -1.23334600e-02 9.99486541e-01 2.75204241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:49.23, Z:2.74 [[ 5.11027003e-01 -8.59549179e-01 -5.15859354e-03 9.25203312e+01] [ 8.59117780e-01 5.10945621e-01 -2.91755551e-02 4.92250683e+01] [ 2.77135852e-02 1.04776570e-02 9.99560992e-01 2.74264298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:49.25, Z:2.75 [[ 5.12525625e-01 -8.58544411e-01 -1.47979258e-02 9.25399730e+01] [ 8.58220985e-01 5.12738834e-01 -2.35717837e-02 4.92458669e+01] [ 2.78248944e-02 -6.18747268e-04 9.99612621e-01 2.74645226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:49.27, Z:2.75 [[ 5.16367473e-01 -8.56231203e-01 -1.52564733e-02 9.25534075e+01] [ 8.55885894e-01 5.16592564e-01 -2.43199187e-02 4.92688816e+01] [ 2.87048539e-02 -4.99785380e-04 9.99587806e-01 2.74776497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:49.29, Z:2.75 [[ 5.17853496e-01 -8.55333242e-01 -1.52578145e-02 9.25679249e+01] [ 8.54986976e-01 5.18078035e-01 -2.43396966e-02 4.92934377e+01] [ 2.87232901e-02 -4.40835692e-04 9.99587304e-01 2.74814176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:49.32, Z:2.76 [[ 5.22465848e-01 -8.52311845e-01 -2.43712088e-02 9.25916278e+01] [ 8.52093468e-01 5.22947213e-01 -2.15158959e-02 4.93168295e+01] [ 3.10831087e-02 -9.52522706e-03 9.99471416e-01 2.75500884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:49.34, Z:2.75 [[ 5.22977834e-01 -8.52252938e-01 -1.26140519e-02 9.25989910e+01] [ 8.51825760e-01 5.23118346e-01 -2.72042533e-02 4.93441265e+01] [ 2.97835468e-02 3.48224715e-03 9.99550306e-01 2.75005295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:49.37, Z:2.75 [[ 5.22834988e-01 -8.52281734e-01 -1.61065770e-02 9.26151592e+01] [ 8.51916696e-01 5.23082584e-01 -2.49510144e-02 4.93674478e+01] [ 2.96903637e-02 -6.76198538e-04 9.99558915e-01 2.75187859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:49.39, Z:2.75 [[ 5.21182024e-01 -8.53379713e-01 -1.06001548e-02 9.26225464e+01] [ 8.52999645e-01 5.21270985e-01 -2.58489153e-02 4.93910799e+01] [ 2.75844931e-02 4.43006168e-03 9.99609659e-01 2.74870409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:49.42, Z:2.75 [[ 5.20283962e-01 -8.53960624e-01 -7.47342069e-03 9.26363210e+01] [ 8.53575931e-01 5.20283330e-01 -2.67092975e-02 4.94170103e+01] [ 2.66969845e-02 7.51728706e-03 9.99615307e-01 2.74581150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:49.43, Z:2.75 [[ 5.19598444e-01 -8.54163393e-01 -2.05512557e-02 9.26576629e+01] [ 8.54008641e-01 5.19941459e-01 -1.81692156e-02 4.94338885e+01] [ 2.62049288e-02 -8.11025376e-03 9.99623692e-01 2.75239323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:49.46, Z:2.75 [[ 5.18770250e-01 -8.54801294e-01 -1.38627103e-02 9.26685315e+01] [ 8.54512823e-01 5.18955337e-01 -2.22079586e-02 4.94598158e+01] [ 2.61775193e-02 -3.25035491e-04 9.99657257e-01 2.75080249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:49.48, Z:2.75 [[ 5.16524138e-01 -8.56167867e-01 -1.33939692e-02 9.26836724e+01] [ 8.55898672e-01 5.16697633e-01 -2.14713780e-02 4.94837451e+01] [ 2.53037361e-02 -3.73395485e-04 9.99679739e-01 2.75138080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46275509600001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.70, Y:49.51, Z:2.75 [[ 5.15040973e-01 -8.57065186e-01 -1.31172979e-02 9.26987622e+01] [ 8.56806935e-01 5.15207828e-01 -2.10420802e-02 4.95076880e+01] [ 2.47925690e-02 -4.01458355e-04 9.99692536e-01 2.75166818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.71, Y:49.53, Z:2.75 [[ 5.12364994e-01 -8.58675136e-01 -1.26144679e-02 9.27139997e+01] [ 8.58436469e-01 5.12520054e-01 -2.02490125e-02 4.95312232e+01] [ 2.38524913e-02 -4.53834078e-04 9.99715386e-01 2.75213828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:49.56, Z:2.75 [[ 5.10760264e-01 -8.59633890e-01 -1.23906227e-02 9.27289329e+01] [ 8.59403584e-01 5.10910307e-01 -1.99031927e-02 4.95552300e+01] [ 2.34399558e-02 -4.82785619e-04 9.99725130e-01 2.75295665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.74, Y:49.58, Z:2.75 [[ 5.09275386e-01 -8.60512430e-01 -1.25275740e-02 9.27435134e+01] [ 8.60276932e-01 5.09429177e-01 -2.01373952e-02 4.95782807e+01] [ 2.37103906e-02 -5.21703198e-04 9.99718733e-01 2.75372839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.582755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:92.76, Y:49.60, Z:2.75 [[ 5.06901018e-01 -8.61915596e-01 -1.23638428e-02 9.27586174e+01] [ 8.61686294e-01 5.07051456e-01 -1.98884734e-02 4.96018337e+01] [ 2.34112899e-02 -5.72266425e-04 9.99725754e-01 2.75420837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.612755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.77, Y:49.63, Z:2.75 [[ 5.05908756e-01 -8.62495292e-01 -1.25778202e-02 9.27731132e+01] [ 8.62257813e-01 5.06064728e-01 -2.02473374e-02 4.96252639e+01] [ 2.38284243e-02 -6.02018467e-04 9.99715882e-01 2.75484209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.642755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.78, Y:49.65, Z:2.75 [[ 5.03816840e-01 -8.63793618e-01 -5.40166193e-03 9.27826471e+01] [ 8.63380814e-01 5.03753591e-01 -2.83881986e-02 4.96536599e+01] [ 2.72426513e-02 9.63876121e-03 9.99582379e-01 2.75342896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:49.67, Z:2.76 [[ 5.04667299e-01 -8.63041413e-01 -2.16895688e-02 9.28057161e+01] [ 8.62979534e-01 5.05011779e-01 -1.51468613e-02 4.96688231e+01] [ 2.40258563e-02 -1.10735284e-02 9.99650006e-01 2.75869582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.702755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:92.81, Y:49.70, Z:2.76 [[ 5.04979077e-01 -8.63036790e-01 -1.27918006e-02 9.28148440e+01] [ 8.62790384e-01 5.05140690e-01 -2.06309643e-02 4.96956755e+01] [ 2.42669402e-02 -6.18437217e-04 9.99705323e-01 2.75614374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.732755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.83, Y:49.72, Z:2.76 [[ 5.05364564e-01 -8.62812229e-01 -1.27167337e-02 9.28286437e+01] [ 8.62568308e-01 5.05524185e-01 -2.05234625e-02 4.97191236e+01] [ 2.41365108e-02 -5.97220853e-04 9.99708494e-01 2.75641529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:49.74, Z:2.76 [[ 5.06795559e-01 -8.61971302e-01 -1.27959304e-02 9.28420829e+01] [ 8.61723806e-01 5.06956769e-01 -2.06619518e-02 4.97430350e+01] [ 2.42969930e-02 -5.55172410e-04 9.99704630e-01 2.75729793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:49.77, Z:2.76 [[ 5.07738144e-01 -8.61417862e-01 -1.26982358e-02 9.28560247e+01] [ 8.61173687e-01 5.07896641e-01 -2.05154029e-02 4.97670254e+01] [ 2.41217258e-02 -5.18934016e-04 9.99708894e-01 2.75815707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:49.79, Z:2.76 [[ 5.09794569e-01 -8.60206615e-01 -1.24127789e-02 9.28691942e+01] [ 8.59972615e-01 5.09945470e-01 -2.00678780e-02 4.97909158e+01] [ 2.35923618e-02 -4.44154653e-04 9.99721563e-01 2.75884193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:49.81, Z:2.76 [[ 5.10386400e-01 -8.59857128e-01 -1.23061814e-02 9.28828585e+01] [ 8.59626698e-01 5.10534568e-01 -1.99096552e-02 4.98149060e+01] [ 2.34021900e-02 -4.17104864e-04 9.99726044e-01 2.75947537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.90, Y:49.84, Z:2.76 [[ 5.10876602e-01 -8.59569019e-01 -1.20912806e-02 9.28966500e+01] [ 8.59346187e-01 5.11019519e-01 -1.95750500e-02 4.98391863e+01] [ 2.30049870e-02 -3.90160839e-04 9.99735274e-01 2.75987054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:49.86, Z:2.76 [[ 5.11186820e-01 -8.59387756e-01 -1.18625170e-02 9.29097530e+01] [ 8.59172938e-01 5.11324309e-01 -1.92175442e-02 4.98623680e+01] [ 2.25809155e-02 -3.68198283e-04 9.99744951e-01 2.76034669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:49.89, Z:2.76 [[ 5.11046831e-01 -8.59480595e-01 -1.11464135e-02 9.29227270e+01] [ 8.59290699e-01 5.11168258e-01 -1.80695063e-02 4.98876452e+01] [ 2.12280828e-02 -3.43645505e-04 9.99774600e-01 2.76065707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:49.91, Z:2.76 [[ 5.10662261e-01 -8.59712888e-01 -1.08537703e-02 9.29369337e+01] [ 8.59532646e-01 5.10777481e-01 -1.76066871e-02 4.99121182e+01] [ 2.06805573e-02 -3.38099271e-04 9.99786077e-01 2.76117335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:49.94, Z:2.76 [[ 5.09017967e-01 -8.60694065e-01 -1.03167730e-02 9.29499596e+01] [ 8.60531202e-01 5.09122384e-01 -1.67465768e-02 4.99361778e+01] [ 1.96661793e-02 -3.53596595e-04 9.99806539e-01 2.76170128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:49.96, Z:2.76 [[ 5.07693277e-01 -8.61479854e-01 -9.99988779e-03 9.29632771e+01] [ 8.61326778e-01 5.07791618e-01 -1.62435965e-02 4.99593049e+01] [ 1.90713904e-02 -3.66406378e-04 9.99818057e-01 2.76213797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.062755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.98, Y:49.98, Z:2.76 [[ 5.05239046e-01 -8.62922305e-01 -9.92989741e-03 9.29767342e+01] [ 8.62771424e-01 5.05336449e-01 -1.61413548e-02 4.99839913e+01] [ 1.89466742e-02 -4.11989043e-04 9.99820411e-01 2.76242993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.092755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.99, Y:50.01, Z:2.76 [[ 5.03635285e-01 -8.63858947e-01 -9.96091703e-03 9.29904437e+01] [ 8.63707087e-01 5.03733584e-01 -1.62032019e-02 5.00082216e+01] [ 1.90149294e-02 -4.42810426e-04 9.99819102e-01 2.76288634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.122755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.00, Y:50.03, Z:2.76 [[ 5.01750805e-01 -8.64955936e-01 -9.86702645e-03 9.30037728e+01] [ 8.64806921e-01 5.01847591e-01 -1.60619070e-02 5.00319461e+01] [ 1.88445853e-02 -4.73997970e-04 9.99822313e-01 2.76290779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:50.06, Z:2.76 [[ 5.00052497e-01 -8.65935312e-01 -1.01752057e-02 9.30176142e+01] [ 8.65776794e-01 5.00155740e-01 -1.65764475e-02 5.00559896e+01] [ 1.94433188e-02 -5.20363045e-04 9.99810825e-01 2.76378298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:50.08, Z:2.76 [[ 4.98308537e-01 -8.66940734e-01 -1.01175765e-02 9.30310260e+01] [ 8.66784004e-01 4.98410934e-01 -1.64933785e-02 5.00789815e+01] [ 1.93414924e-02 -5.50962108e-04 9.99812784e-01 2.76401800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.04, Y:50.10, Z:2.76 [[ 4.94766082e-01 -8.68971175e-01 -9.77860023e-03 9.30433848e+01] [ 8.68825025e-01 4.94862335e-01 -1.59482186e-02 5.01020800e+01] [ 1.86976032e-02 -6.05254960e-04 9.99825001e-01 2.76416618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:50.13, Z:2.77 [[ 4.93236152e-01 -8.69838426e-01 -9.96042387e-03 9.30577918e+01] [ 8.69686726e-01 4.93336292e-01 -1.62573671e-02 5.01262728e+01] [ 1.90551212e-02 -6.43727220e-04 9.99818227e-01 2.76512732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:50.15, Z:2.77 [[ 4.93066629e-01 -8.69934590e-01 -9.95535737e-03 9.30725716e+01] [ 8.69782846e-01 4.93166704e-01 -1.62604691e-02 5.01506852e+01] [ 1.90551953e-02 -6.41504397e-04 9.99818227e-01 2.76566360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:50.18, Z:2.77 [[ 4.90471731e-01 -8.71403163e-01 -9.69579661e-03 9.30862272e+01] [ 8.71259390e-01 4.90567089e-01 -1.58432056e-02 5.01751706e+01] [ 1.85622582e-02 -6.76909338e-04 9.99827477e-01 2.76576847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:50.20, Z:2.77 [[ 4.89227844e-01 -8.72101821e-01 -9.72268095e-03 9.30998319e+01] [ 8.71957172e-01 4.89323946e-01 -1.58986345e-02 5.01986111e+01] [ 1.86227687e-02 -6.99706703e-04 9.99826336e-01 2.76607744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:50.22, Z:2.77 [[ 4.87405746e-01 -8.73114969e-01 -1.02902501e-02 9.31124941e+01] [ 8.72952895e-01 4.87513744e-01 -1.68402221e-02 5.02226657e+01] [ 1.97200884e-02 -7.74882566e-04 9.99805240e-01 2.76651583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:50.25, Z:2.77 [[ 4.87029496e-01 -8.73326047e-01 -1.01924817e-02 9.31263402e+01] [ 8.73166842e-01 4.87135529e-01 -1.66925590e-02 5.02470416e+01] [ 1.95431665e-02 -7.69968425e-04 9.99808718e-01 2.76687201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.14, Y:50.27, Z:2.77 [[ 4.86950249e-01 -8.73369163e-01 -1.02839353e-02 9.31399413e+01] [ 8.73206865e-01 4.87058218e-01 -1.68541710e-02 5.02712311e+01] [ 1.97287885e-02 -7.72860113e-04 9.99805070e-01 2.76757572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:50.30, Z:2.77 [[ 4.88592653e-01 -8.72451617e-01 -1.02662700e-02 9.31525745e+01] [ 8.72289441e-01 4.88699955e-01 -1.68370222e-02 5.02958965e+01] [ 1.97066130e-02 -7.28713591e-04 9.99805540e-01 2.76841145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.17, Y:50.32, Z:2.77 [[ 4.89693434e-01 -8.71834550e-01 -1.02400213e-02 9.31655090e+01] [ 8.71672836e-01 4.89799993e-01 -1.68057650e-02 5.03199975e+01] [ 1.96674089e-02 -6.96275670e-04 9.99806335e-01 2.76902455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:50.34, Z:2.77 [[ 4.91201599e-01 -8.70983847e-01 -1.03984440e-02 9.31786555e+01] [ 8.70816645e-01 4.91311199e-01 -1.70785118e-02 5.03446118e+01] [ 1.99839799e-02 -6.66145785e-04 9.99800078e-01 2.76992445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.19, Y:50.37, Z:2.77 [[ 4.96133029e-01 -8.68164341e-01 -1.19454946e-02 9.31919222e+01] [ 8.67942504e-01 4.96276419e-01 -1.96348148e-02 5.03695712e+01] [ 2.29745134e-02 -6.26522347e-04 9.99735855e-01 2.77264623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.20, Y:50.39, Z:2.77 [[ 4.96976914e-01 -8.67700310e-01 -1.04937761e-02 9.32037847e+01] [ 8.67528786e-01 4.97087412e-01 -1.72600570e-02 5.03938360e+01] [ 2.01928808e-02 -5.25802948e-04 9.99795965e-01 2.77063998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:50.42, Z:2.77 [[ 5.00799781e-01 -8.65496344e-01 -1.07544321e-02 9.32167377e+01] [ 8.65315372e-01 5.00915047e-01 -1.77037259e-02 5.04182192e+01] [ 2.07095669e-02 -4.39953349e-04 9.99785437e-01 2.77170361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:50.44, Z:2.77 [[ 5.02336661e-01 -8.64606963e-01 -1.06150013e-02 9.32307845e+01] [ 8.64430215e-01 5.02448649e-01 -1.74859431e-02 5.04426429e+01] [ 2.04519612e-02 -3.92097604e-04 9.99790760e-01 2.77219908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.24, Y:50.47, Z:2.77 [[ 5.03589121e-01 -8.63880973e-01 -1.03760171e-02 9.32442081e+01] [ 8.63711709e-01 5.03695883e-01 -1.71038261e-02 5.04666515e+01] [ 2.00020270e-02 -3.48586696e-04 9.99799879e-01 2.77240238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:50.48, Z:2.77 [[ 5.08061805e-01 -8.61169812e-01 -1.61169769e-02 9.32596682e+01] [ 8.61136907e-01 5.08250957e-01 -1.11441356e-02 5.04814145e+01] [ 1.77884621e-02 -8.21701398e-03 9.99808007e-01 2.77386120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:50.52, Z:2.77 [[ 5.06209254e-01 -8.62340348e-01 1.10143390e-02 9.32566472e+01] [ 8.62017039e-01 5.05551088e-01 -3.66704409e-02 5.05216173e+01] [ 2.60540897e-02 2.80574644e-02 9.99266713e-01 2.76930588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:50.53, Z:2.78 [[ 5.06644350e-01 -8.61784299e-01 -2.52848866e-02 9.32926958e+01] [ 8.61897175e-01 5.06992274e-01 -9.59655251e-03 5.05312780e+01] [ 2.10894004e-02 -1.69309332e-02 9.99634223e-01 2.77862652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:50.56, Z:2.78 [[ 5.06844778e-01 -8.61958629e-01 -1.16487244e-02 9.33001126e+01] [ 8.61804737e-01 5.06975645e-01 -1.63795855e-02 5.05586890e+01] [ 2.00241447e-02 -1.73701845e-03 9.99797988e-01 2.77509690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.31, Y:50.58, Z:2.78 [[ 5.06540523e-01 -8.62154141e-01 -1.03409440e-02 9.33141731e+01] [ 8.61984257e-01 5.06646008e-01 -1.71161832e-02 5.05828347e+01] [ 1.99959862e-02 -2.43690543e-04 9.99800031e-01 2.77536553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:50.61, Z:2.78 [[ 5.05410229e-01 -8.62822135e-01 -9.92292594e-03 9.33295769e+01] [ 8.62665628e-01 5.05507566e-01 -1.64351892e-02 5.06068035e+01] [ 1.91967592e-02 -2.53654407e-04 9.99815693e-01 2.77542138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:50.63, Z:2.78 [[ 5.04609557e-01 -8.63290115e-01 -9.96856324e-03 9.33440315e+01] [ 8.63132024e-01 5.04707941e-01 -1.65227928e-02 5.06301197e+01] [ 1.92951767e-02 -2.66627032e-04 9.99813795e-01 2.77620710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:50.65, Z:2.78 [[ 5.05157055e-01 -8.62794193e-01 -2.00631756e-02 9.33675332e+01] [ 8.62770705e-01 5.05437300e-01 -1.26429995e-02 5.06517551e+01] [ 2.10489838e-02 -1.09232198e-02 9.99718772e-01 2.78109653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:50.68, Z:2.77 [[ 5.02542332e-01 -8.64552303e-01 -7.20957158e-04 9.33680741e+01] [ 8.64343243e-01 5.02438812e-01 -2.15869985e-02 5.06803168e+01] [ 1.90253261e-02 1.02252261e-02 9.99766714e-01 2.77377378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.39, Y:50.70, Z:2.78 [[ 5.00869249e-01 -8.65465222e-01 -9.99729262e-03 9.33881572e+01] [ 8.65306007e-01 5.00968900e-01 -1.66035129e-02 5.06994896e+01] [ 1.93780957e-02 -3.34528313e-04 9.99812171e-01 2.77675646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:50.72, Z:2.78 [[ 4.99781350e-01 -8.66091713e-01 -1.01855969e-02 9.34025679e+01] [ 8.65926334e-01 4.99885002e-01 -1.69283521e-02 5.07227717e+01] [ 1.97531326e-02 -3.59501961e-04 9.99804823e-01 2.77729984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:50.75, Z:2.78 [[ 4.97791021e-01 -8.67230338e-01 -1.07536033e-02 9.34174079e+01] [ 8.67045972e-01 4.97906983e-01 -1.78862467e-02 5.07464331e+01] [ 2.08657900e-02 -4.20255442e-04 9.99782197e-01 2.77812596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:50.77, Z:2.78 [[ 4.96854327e-01 -8.67760412e-01 -1.12980290e-02 9.34329276e+01] [ 8.67562545e-01 4.96982413e-01 -1.85394697e-02 5.07713258e+01] [ 2.17027396e-02 -5.90331036e-04 9.99764294e-01 2.77890313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:50.80, Z:2.78 [[ 4.95543589e-01 -8.68512376e-01 -1.10816916e-02 9.34472269e+01] [ 8.68312172e-01 4.95667336e-01 -1.86511116e-02 5.07950825e+01] [ 2.16915539e-02 -3.79928932e-04 9.99764638e-01 2.77899738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.46, Y:50.82, Z:2.78 [[ 4.93049316e-01 -8.69925547e-01 -1.14854419e-02 9.34617236e+01] [ 8.69715037e-01 4.93182766e-01 -1.91445253e-02 5.08182136e+01] [ 2.23187336e-02 -5.49866438e-04 9.99750755e-01 2.77965692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:50.84, Z:2.78 [[ 4.91615554e-01 -8.70737556e-01 -1.14129179e-02 9.34763287e+01] [ 8.70529602e-01 4.91747675e-01 -1.90377319e-02 5.08419224e+01] [ 2.21891440e-02 -5.76037780e-04 9.99753625e-01 2.78001382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:50.87, Z:2.78 [[ 4.90369966e-01 -8.71439882e-01 -1.13942582e-02 9.34905017e+01] [ 8.71232510e-01 4.90501960e-01 -1.90194728e-02 5.08654744e+01] [ 2.21632331e-02 -6.00469915e-04 9.99754185e-01 2.78075346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:50.89, Z:2.78 [[ 4.87834841e-01 -8.72862693e-01 -1.13087132e-02 9.35051466e+01] [ 8.72658583e-01 4.87965460e-01 -1.88866892e-02 5.08891938e+01] [ 2.20037478e-02 -6.55060605e-04 9.99757674e-01 2.78162316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:50.91, Z:2.78 [[ 4.86711886e-01 -8.73491324e-01 -1.11555252e-02 9.35192796e+01] [ 8.73292588e-01 4.86839255e-01 -1.86439368e-02 5.09124621e+01] [ 2.17162646e-02 -6.67811779e-04 9.99763951e-01 2.78217549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.53, Y:50.94, Z:2.78 [[ 4.84766370e-01 -8.74573189e-01 -1.11042726e-02 9.35333273e+01] [ 8.74376258e-01 4.84893018e-01 -1.85720352e-02 5.09355145e+01] [ 2.16269883e-02 -7.06214226e-04 9.99765860e-01 2.78272247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.55, Y:50.96, Z:2.78 [[ 4.83984010e-01 -8.75008749e-01 -1.09164145e-02 9.35475366e+01] [ 8.74818256e-01 4.84106590e-01 -1.82709939e-02 5.09592832e+01] [ 2.12719877e-02 -7.07009758e-04 9.99773476e-01 2.78308888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:50.98, Z:2.78 [[ 4.83439663e-01 -8.75308672e-01 -1.09918594e-02 9.35611775e+01] [ 8.75115331e-01 4.83564073e-01 -1.84104548e-02 5.09820988e+01] [ 2.14300990e-02 -7.18800622e-04 9.99770091e-01 2.78378854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:51.01, Z:2.78 [[ 4.82266963e-01 -8.75984947e-01 -8.30361356e-03 9.35737877e+01] [ 8.75712612e-01 4.82326546e-01 -2.21025834e-02 5.10072680e+01] [ 2.33665835e-02 3.38776662e-03 9.99721224e-01 2.78378340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:51.03, Z:2.79 [[ 4.83070393e-01 -8.75456937e-01 -1.47698055e-02 9.35922446e+01] [ 8.75299921e-01 4.83274104e-01 -1.72101375e-02 5.10285147e+01] [ 2.22045988e-02 -4.61430166e-03 9.99742799e-01 2.78665743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:51.05, Z:2.79 [[ 4.83425659e-01 -8.75309780e-01 -1.15074969e-02 9.36042084e+01] [ 8.75096668e-01 4.83562056e-01 -1.93276748e-02 5.10527129e+01] [ 2.24822916e-02 -7.26678246e-04 9.99746977e-01 2.78665182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:51.08, Z:2.79 [[ 4.84402004e-01 -8.74776633e-01 -1.09791196e-02 9.36176215e+01] [ 8.74582218e-01 4.84525957e-01 -1.84537414e-02 5.10760504e+01] [ 2.14625702e-02 -6.63113460e-04 9.99769433e-01 2.78755152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:51.10, Z:2.79 [[ 4.85200671e-01 -8.74384884e-01 -5.60204431e-03 9.36277660e+01] [ 8.74098440e-01 4.85190846e-01 -2.32757465e-02 5.11016050e+01] [ 2.30700215e-02 6.39666961e-03 9.99713387e-01 2.78713695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:51.12, Z:2.79 [[ 4.84529626e-01 -8.74703299e-01 -1.11883850e-02 9.36445157e+01] [ 8.74476414e-01 4.84658768e-01 -1.99218537e-02 5.11241526e+01] [ 2.28482600e-02 -1.31250470e-04 9.99738936e-01 2.79004111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:51.15, Z:2.78 [[ 4.85052830e-01 -8.74482569e-01 1.99711768e-03 9.36494969e+01] [ 8.74251467e-01 4.84869356e-01 -2.42090958e-02 5.11509542e+01] [ 2.02020912e-02 1.34886735e-02 9.99704922e-01 2.78275337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:51.17, Z:2.80 [[ 4.86898072e-01 -8.73002278e-01 -2.82363202e-02 9.36832393e+01] [ 8.73146063e-01 4.87334337e-01 -1.10089440e-02 5.11654784e+01] [ 2.33713616e-02 -1.92941982e-02 9.99540651e-01 2.79978775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:51.19, Z:2.80 [[ 4.87413388e-01 -8.73002857e-01 -1.71523050e-02 9.36909765e+01] [ 8.72813155e-01 4.87682032e-01 -1.90639009e-02 5.11937898e+01] [ 2.50077109e-02 -5.67875692e-03 9.99671129e-01 2.79792576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.69, Y:51.22, Z:2.79 [[ 4.86108290e-01 -8.73897720e-01 -1.22741067e-03 9.36945436e+01] [ 8.73626278e-01 4.85991400e-01 -2.42793073e-02 5.12220449e+01] [ 2.18141423e-02 1.07300743e-02 9.99704461e-01 2.78796003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:51.24, Z:2.79 [[ 4.85505202e-01 -8.74119130e-01 -1.41578800e-02 9.37157726e+01] [ 8.73933465e-01 4.85699220e-01 -1.83457254e-02 5.12425143e+01] [ 2.29128208e-02 -3.46610000e-03 9.99731458e-01 2.79367702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:51.27, Z:2.80 [[ 4.84941412e-01 -8.74437799e-01 -1.37971540e-02 9.37289997e+01] [ 8.74169631e-01 4.85135222e-01 -2.17088191e-02 5.12668081e+01] [ 2.56764974e-02 -1.53354758e-03 9.99669128e-01 2.79693504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:51.29, Z:2.80 [[ 4.83880743e-01 -8.74954273e-01 -1.77326255e-02 9.37450049e+01] [ 8.74802966e-01 4.84155661e-01 -1.76936778e-02 5.12890801e+01] [ 2.40665101e-02 -6.95092342e-03 9.99686195e-01 2.79877205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:51.32, Z:2.79 [[ 4.82778553e-01 -8.75742466e-01 4.38145798e-05 9.37473449e+01] [ 8.75274942e-01 4.82519181e-01 -3.26958263e-02 5.13202951e+01] [ 2.86119821e-02 1.58231935e-02 9.99465348e-01 2.79496191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:51.34, Z:2.80 [[ 4.82516446e-01 -8.75635011e-01 -2.10049560e-02 9.37730199e+01] [ 8.75496044e-01 4.82878773e-01 -1.82966552e-02 5.13361012e+01] [ 2.61640392e-02 -9.56131882e-03 9.99611937e-01 2.80174346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:51.36, Z:2.80 [[ 4.81669760e-01 -8.76137243e-01 -1.94364117e-02 9.37853802e+01] [ 8.75988652e-01 4.81990487e-01 -1.81397789e-02 5.13604246e+01] [ 2.52611014e-02 -8.28869315e-03 9.99646525e-01 2.80177402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:51.39, Z:2.80 [[ 4.80803444e-01 -8.76804139e-01 -6.52299988e-03 9.37908697e+01] [ 8.76366849e-01 4.80778404e-01 -2.88664378e-02 5.13900285e+01] [ 2.84463297e-02 8.16254187e-03 9.99561994e-01 2.79839350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:51.41, Z:2.80 [[ 4.79508548e-01 -8.77269403e-01 -2.16782496e-02 9.38117606e+01] [ 8.77116872e-01 4.79897118e-01 -1.90983911e-02 5.14071853e+01] [ 2.71577636e-02 -9.85651671e-03 9.99582565e-01 2.80276255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:51.43, Z:2.80 [[ 4.78424193e-01 -8.78016527e-01 -1.40452806e-02 9.38217848e+01] [ 8.77693073e-01 4.78629435e-01 -2.38481399e-02 5.14344264e+01] [ 2.76615457e-02 -9.17918379e-04 9.99616925e-01 2.80085339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:51.46, Z:2.80 [[ 4.77132847e-01 -8.78764850e-01 -1.07974005e-02 9.38334241e+01] [ 8.78379602e-01 4.77245493e-01 -2.61918544e-02 5.14596924e+01] [ 2.81694918e-02 3.01277767e-03 9.99598621e-01 2.79972886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:51.48, Z:2.80 [[ 4.75792129e-01 -8.79377460e-01 -1.78082352e-02 9.38514592e+01] [ 8.79099594e-01 4.76100228e-01 -2.26379355e-02 5.14807322e+01] [ 2.83857951e-02 -4.88426086e-03 9.99585109e-01 2.80350989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:51.51, Z:2.80 [[ 4.73780205e-01 -8.80528578e-01 -1.42035374e-02 9.38632860e+01] [ 8.80197262e-01 4.73991904e-01 -2.41755066e-02 5.15055775e+01] [ 2.80195862e-02 -1.04803827e-03 9.99606825e-01 2.80326287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:51.53, Z:2.80 [[ 4.73031133e-01 -8.80935621e-01 -1.39275959e-02 9.38771661e+01] [ 8.80616876e-01 4.73234972e-01 -2.37187619e-02 5.15297343e+01] [ 2.74857277e-02 -1.04516312e-03 9.99621650e-01 2.80422154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:51.55, Z:2.81 [[ 4.72194981e-01 -8.81385583e-01 -1.38331112e-02 9.38907611e+01] [ 8.81070890e-01 4.72396379e-01 -2.35743239e-02 5.15540404e+01] [ 2.73127808e-02 -1.05627418e-03 9.99626378e-01 2.80508210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.90, Y:51.58, Z:2.81 [[ 4.72151141e-01 -8.81410575e-01 -1.37367362e-02 9.39038572e+01] [ 8.81099819e-01 4.72349775e-01 -2.34264569e-02 5.15783101e+01] [ 2.71368711e-02 -1.04260745e-03 9.99631184e-01 2.80595637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:51.60, Z:2.81 [[ 4.72545382e-01 -8.81200657e-01 -1.36478636e-02 9.39178151e+01] [ 8.80893386e-01 4.72741335e-01 -2.32910576e-02 5.16029977e+01] [ 2.69760045e-02 -1.01623107e-03 9.99635565e-01 2.80635571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:51.63, Z:2.81 [[ 4.74543208e-01 -8.80121956e-01 -1.39315061e-02 9.39310645e+01] [ 8.79800848e-01 4.74746679e-01 -2.37919951e-02 5.16274188e+01] [ 2.75537935e-02 -9.66621244e-04 9.99619855e-01 2.80721157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:51.65, Z:2.81 [[ 4.74377151e-01 -8.80211576e-01 -1.39247894e-02 9.39453482e+01] [ 8.79890392e-01 4.74580501e-01 -2.37959257e-02 5.16521182e+01] [ 2.75538828e-02 -9.64044993e-04 9.99619855e-01 2.80785510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:51.68, Z:2.81 [[ 4.75644159e-01 -8.79525750e-01 -1.40388351e-02 9.39586053e+01] [ 8.79198661e-01 4.75850393e-01 -2.40024506e-02 5.16763989e+01] [ 2.77911585e-02 -9.26299592e-04 9.99613322e-01 2.80818200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:51.70, Z:2.81 [[ 4.78458986e-01 -8.77992997e-01 -1.43281604e-02 9.39708873e+01] [ 8.77651099e-01 4.78672730e-01 -2.45146008e-02 5.17007651e+01] [ 2.83821475e-02 -8.45894711e-04 9.99596788e-01 2.80840923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:51.72, Z:2.81 [[ 4.79742150e-01 -8.77298652e-01 -1.39478904e-02 9.39835770e+01] [ 8.76973894e-01 4.79944240e-01 -2.38812815e-02 5.17241482e+01] [ 2.76452258e-02 -7.75078369e-04 9.99617497e-01 2.80857830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.00, Y:51.75, Z:2.81 [[ 4.80965560e-01 -8.76626921e-01 -1.40489103e-02 9.39972474e+01] [ 8.76296642e-01 4.81170142e-01 -2.40725970e-02 5.17482763e+01] [ 2.78626028e-02 -7.32922849e-04 9.99611494e-01 2.80931016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:51.78, Z:2.81 [[ 4.81423655e-01 -8.76453228e-01 -7.81046553e-03 9.40073038e+01] [ 8.75974239e-01 4.81427417e-01 -2.99462030e-02 5.17759331e+01] [ 3.00066186e-02 7.57504392e-03 9.99520996e-01 2.80824351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:51.80, Z:2.81 [[ 4.83163251e-01 -8.75335264e-01 -1.84783227e-02 9.40285135e+01] [ 8.75135575e-01 4.83471523e-01 -1.98245166e-02 5.17956758e+01] [ 2.62868413e-02 -6.59255966e-03 9.99632703e-01 2.81114451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:51.82, Z:2.81 [[ 4.84242470e-01 -8.74899218e-01 -7.78382770e-03 9.40355874e+01] [ 8.74460839e-01 4.84254022e-01 -2.85706786e-02 5.18226923e+01] [ 2.87658142e-02 7.02848346e-03 9.99561468e-01 2.80937392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:51.84, Z:2.81 [[ 4.83908812e-01 -8.74889729e-01 -2.00056164e-02 9.40571500e+01] [ 8.74750166e-01 4.84241898e-01 -1.79424348e-02 5.18424758e+01] [ 2.53852096e-02 -8.81741392e-03 9.99638857e-01 2.81285061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.07, Y:51.87, Z:2.81 [[ 4.84124343e-01 -8.74897607e-01 -1.33340821e-02 9.40678268e+01] [ 8.74654546e-01 4.84305134e-01 -2.06872594e-02 5.18683062e+01] [ 2.45569982e-02 -1.64750963e-03 9.99697074e-01 2.81128243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:51.89, Z:2.81 [[ 4.83551961e-01 -8.75232007e-01 -1.21010165e-02 9.40810103e+01] [ 8.74984582e-01 4.83703071e-01 -2.08163706e-02 5.18924963e+01] [ 2.40724526e-02 -5.22406033e-04 9.99710080e-01 2.81112739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:51.92, Z:2.81 [[ 4.82491480e-01 -8.75817820e-01 -1.20465332e-02 9.40959052e+01] [ 8.75572421e-01 4.82641537e-01 -2.07384058e-02 5.19162393e+01] [ 2.39772226e-02 -5.41508166e-04 9.99712358e-01 2.81141788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:51.94, Z:2.81 [[ 4.82259365e-01 -8.75959891e-01 -1.09624232e-02 9.41087347e+01] [ 8.75676394e-01 4.82382545e-01 -2.23143998e-02 5.19387720e+01] [ 2.48346008e-02 1.16179304e-03 9.99690899e-01 2.81159464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:51.95, Z:2.81 [[ 4.81920875e-01 -8.75877428e-01 -2.43105192e-02 9.41304814e+01] [ 8.75968603e-01 4.82257613e-01 -1.03248242e-02 5.19546071e+01] [ 2.07672134e-02 -1.63195032e-02 9.99651137e-01 2.81467563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:51.99, Z:2.81 [[ 4.80416468e-01 -8.77020491e-01 -5.92247620e-03 9.41336274e+01] [ 8.76751132e-01 4.80420466e-01 -2.24416698e-02 5.19859459e+01] [ 2.25270830e-02 5.58881003e-03 9.99730612e-01 2.80940400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:52.01, Z:2.81 [[ 4.79755215e-01 -8.77356070e-01 -9.01448698e-03 9.41490405e+01] [ 8.77077887e-01 4.79831870e-01 -2.22655919e-02 5.20082168e+01] [ 2.38602903e-02 2.77562663e-03 9.99711450e-01 2.81115492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:52.03, Z:2.81 [[ 4.77393910e-01 -8.78627174e-01 -1.04567654e-02 9.41633503e+01] [ 8.78312016e-01 4.77503828e-01 -2.36240687e-02 5.20344623e+01] [ 2.57498942e-02 2.09368381e-03 9.99666224e-01 2.81250325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:52.05, Z:2.81 [[ 4.78604146e-01 -8.77893462e-01 -1.55287088e-02 9.41804164e+01] [ 8.77722527e-01 4.78829892e-01 -1.80305475e-02 5.20523304e+01] [ 2.32645098e-02 -5.00040273e-03 9.99716839e-01 2.81431299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:52.08, Z:2.81 [[ 4.77973232e-01 -8.78300061e-01 -1.14277041e-02 9.41922235e+01] [ 8.78104461e-01 4.78108420e-01 -1.85713389e-02 5.20769520e+01] [ 2.17748897e-02 -1.15811507e-03 9.99762228e-01 2.81305560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:52.10, Z:2.81 [[ 4.76718111e-01 -8.79038562e-01 -5.57226081e-03 9.42022403e+01] [ 8.78734481e-01 4.76705542e-01 -2.40320243e-02 5.21033732e+01] [ 2.37814037e-02 6.55996353e-03 9.99695660e-01 2.81231368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:52.12, Z:2.81 [[ 4.75539518e-01 -8.79620645e-01 -1.13880223e-02 9.42191747e+01] [ 8.79399764e-01 4.75675431e-01 -1.97215570e-02 5.21241436e+01] [ 2.27644912e-02 -6.36244426e-04 9.99740653e-01 2.81447749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:52.15, Z:2.81 [[ 4.74926848e-01 -8.79955970e-01 -1.10444088e-02 9.42330512e+01] [ 8.79747981e-01 4.75054838e-01 -1.91413633e-02 5.21486013e+01] [ 2.20902567e-02 -6.25549013e-04 9.99755785e-01 2.81458540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:52.17, Z:2.82 [[ 4.74521835e-01 -8.80173728e-01 -1.11012087e-02 9.42467908e+01] [ 8.79963353e-01 4.74651250e-01 -1.92532615e-02 5.21726056e+01] [ 2.22154175e-02 -6.32563892e-04 9.99753007e-01 2.81527983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.26, Y:52.20, Z:2.82 [[ 4.75163036e-01 -8.79867920e-01 -7.24788374e-03 9.42571784e+01] [ 8.79584753e-01 4.75197582e-01 -2.27578787e-02 5.21960213e+01] [ 2.34681043e-02 4.43857473e-03 9.99714733e-01 2.81513086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:52.22, Z:2.81 [[ 4.74733587e-01 -8.80118103e-01 -4.48838095e-03 9.42702775e+01] [ 8.79863930e-01 4.74709423e-01 -2.21456177e-02 5.22227007e+01] [ 2.16214358e-02 6.56410402e-03 9.99744680e-01 2.81295175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:52.24, Z:2.82 [[ 4.75016676e-01 -8.79732267e-01 -2.07435741e-02 9.42928477e+01] [ 8.79704475e-01 4.75324124e-01 -1.36752639e-02 5.22412766e+01] [ 2.18904921e-02 -1.17522366e-02 9.99691298e-01 2.81990041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:52.28, Z:2.79 [[ 4.75979844e-01 -8.79053509e-01 2.66104482e-02 9.42776073e+01] [ 8.79322854e-01 4.75162906e-01 -3.18045760e-02 5.22806456e+01] [ 1.53136262e-02 3.85375124e-02 9.99139807e-01 2.79424786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:52.28, Z:2.83 [[ 4.78640595e-01 -8.76872674e-01 -4.46933307e-02 9.43328767e+01] [ 8.77714004e-01 4.79182137e-01 -1.61476200e-03 5.22831986e+01] [ 2.28321864e-02 -3.84550716e-02 9.98999449e-01 2.82948848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:52.31, Z:2.82 [[ 4.84841458e-01 -8.74112810e-01 -2.92498941e-02 9.43363548e+01] [ 8.74411848e-01 4.85162310e-01 -4.63164551e-03 5.23052406e+01] [ 1.82395269e-02 -2.33308402e-02 9.99561400e-01 2.82323708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:52.36, Z:2.80 [[ 4.82741980e-01 -8.75178861e-01 3.19709467e-02 9.43158217e+01] [ 8.75541599e-01 4.81478297e-01 -4.00694121e-02 5.23566642e+01] [ 1.96745855e-02 4.73350811e-02 9.98685286e-01 2.80128501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:52.35, Z:2.83 [[ 4.84676137e-01 -8.73916943e-01 -3.68540124e-02 9.43674685e+01] [ 8.74449676e-01 4.85105799e-01 -3.18245249e-03 5.23545305e+01] [ 2.06592943e-02 -3.06845204e-02 9.99315593e-01 2.82839717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:52.39, Z:2.82 [[ 4.84732113e-01 -8.74638315e-01 -6.52656172e-03 9.43639363e+01] [ 8.74385237e-01 4.84752797e-01 -2.15681150e-02 5.23909009e+01] [ 2.20280688e-02 4.74802876e-03 9.99746078e-01 2.81998468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:52.41, Z:2.82 [[ 4.84645247e-01 -8.74641535e-01 -1.10076707e-02 9.43796756e+01] [ 8.74432126e-01 4.84770114e-01 -1.91414226e-02 5.24133788e+01] [ 2.20780731e-02 -3.48661423e-04 9.99756189e-01 2.82221656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:52.44, Z:2.82 [[ 4.84486033e-01 -8.74754377e-01 -8.83540988e-03 9.43909057e+01] [ 8.74510210e-01 4.84560889e-01 -2.07999638e-02 5.24369833e+01] [ 2.24761534e-02 2.35063578e-03 9.99744616e-01 2.82176847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:52.46, Z:2.82 [[ 4.83648556e-01 -8.75169105e-01 -1.27715742e-02 9.44071677e+01] [ 8.75007905e-01 4.83808288e-01 -1.70501212e-02 5.24604067e+01] [ 2.11007328e-02 -2.92896191e-03 9.99773064e-01 2.82358553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:52.49, Z:2.82 [[ 4.82030402e-01 -8.76093147e-01 -1.03677403e-02 9.44198151e+01] [ 8.75906857e-01 4.82141743e-01 -1.80697796e-02 5.24858284e+01] [ 2.08295304e-02 -3.70991713e-04 9.99782973e-01 2.82372508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:52.51, Z:2.82 [[ 4.80693811e-01 -8.76885592e-01 -2.26245104e-03 9.44297019e+01] [ 8.76636393e-01 4.80615871e-01 -2.27380635e-02 5.25139984e+01] [ 2.10260501e-02 8.94669948e-03 9.99738897e-01 2.81873592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:52.53, Z:2.83 [[ 4.78651981e-01 -8.77901420e-01 -1.34676276e-02 9.44494824e+01] [ 8.77706082e-01 4.78832916e-01 -1.87369450e-02 5.25349893e+01] [ 2.28979340e-02 -2.85214279e-03 9.99733740e-01 2.82585630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30275509600001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:94.46, Y:52.56, Z:2.82 [[ 4.77536758e-01 -8.78601980e-01 -4.14803701e-03 9.44572668e+01] [ 8.78254883e-01 4.77472015e-01 -2.62456906e-02 5.25627216e+01] [ 2.50400873e-02 8.89024826e-03 9.99646916e-01 2.82402177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.48, Y:52.59, Z:2.82 [[ 4.77587374e-01 -8.78548868e-01 -7.88587483e-03 9.44750157e+01] [ 8.78366482e-01 4.77649593e-01 -1.79774736e-02 5.25850115e+01] [ 1.95607740e-02 1.65912628e-03 9.99807293e-01 2.82076028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:52.61, Z:2.82 [[ 4.76221327e-01 -8.79240489e-01 -1.22233537e-02 9.44901286e+01] [ 8.79080719e-01 4.76370727e-01 -1.69711396e-02 5.26069883e+01] [ 2.07445609e-02 -2.66329593e-03 9.99781261e-01 2.82295214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:52.64, Z:2.82 [[ 4.74415174e-01 -8.80294205e-01 -3.51490252e-03 9.44993931e+01] [ 8.79987087e-01 4.74348759e-01 -2.48189720e-02 5.26378825e+01] [ 2.35152869e-02 8.68142809e-03 9.99685783e-01 2.82098003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:52.66, Z:2.82 [[ 4.73136129e-01 -8.80904139e-01 -1.22515911e-02 9.45177761e+01] [ 8.80698033e-01 4.73291539e-01 -1.91336012e-02 5.26589598e+01] [ 2.26534429e-02 -1.73715415e-03 9.99741869e-01 2.82331591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:52.68, Z:2.83 [[ 4.73041968e-01 -8.80868493e-01 -1.73779656e-02 9.45336357e+01] [ 8.80753083e-01 4.73299227e-01 -1.61817273e-02 5.26798083e+01] [ 2.24789514e-02 -7.65106070e-03 9.99718039e-01 2.82632970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:52.71, Z:2.83 [[ 4.71093960e-01 -8.82005094e-01 -1.17257972e-02 9.45447384e+01] [ 8.81760200e-01 4.71239553e-01 -2.07902120e-02 5.27081509e+01] [ 2.38627323e-02 -5.45198028e-04 9.99715096e-01 2.82581983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:52.73, Z:2.82 [[ 4.70212885e-01 -8.82533062e-01 -5.93608896e-03 9.45552186e+01] [ 8.82253030e-01 4.70217776e-01 -2.29092570e-02 5.27339757e+01] [ 2.30094313e-02 5.53509536e-03 9.99719925e-01 2.82280291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:52.75, Z:2.84 [[ 4.70016568e-01 -8.82128351e-01 -3.05613725e-02 9.45806345e+01] [ 8.82278542e-01 4.70547638e-01 -1.30190393e-02 5.27481445e+01] [ 2.58650454e-02 -2.08444790e-02 9.99448101e-01 2.83631633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:52.79, Z:2.82 [[ 4.70270377e-01 -8.82518272e-01 2.69673383e-03 9.45764157e+01] [ 8.82144402e-01 4.69977338e-01 -3.07010589e-02 5.27852386e+01] [ 2.58268417e-02 1.68167072e-02 9.99524973e-01 2.82377473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:52.80, Z:2.84 [[ 4.70963485e-01 -8.81759188e-01 -2.63463524e-02 9.46048874e+01] [ 8.81754981e-01 4.71437882e-01 -1.59523440e-02 5.27978210e+01] [ 2.64867944e-02 -1.57180559e-02 9.99525584e-01 2.83599385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.61, Y:52.83, Z:2.83 [[ 4.72548406e-01 -8.81151022e-01 -1.64584467e-02 9.46130866e+01] [ 8.80936710e-01 4.72808340e-01 -2.00695314e-02 5.28250322e+01] [ 2.54659790e-02 -5.01502481e-03 9.99663110e-01 2.83381544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:52.85, Z:2.83 [[ 4.73409980e-01 -8.80752770e-01 -1.25518202e-02 9.46239225e+01] [ 8.80476977e-01 4.73575950e-01 -2.20479558e-02 5.28496947e+01] [ 2.53630383e-02 -6.13866404e-04 9.99678118e-01 2.83343311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:52.87, Z:2.83 [[ 4.74238912e-01 -8.80307136e-01 -1.25220376e-02 9.46377681e+01] [ 8.80032063e-01 4.74403847e-01 -2.20126870e-02 5.28741061e+01] [ 2.53184283e-02 -5.80521805e-04 9.99679269e-01 2.83416510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:52.90, Z:2.83 [[ 4.76003109e-01 -8.79442234e-01 1.54811248e-03 9.46441500e+01] [ 8.79149340e-01 4.75797570e-01 -2.67041493e-02 5.29036669e+01] [ 2.27481686e-02 1.40722802e-02 9.99642182e-01 2.82609253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:52.92, Z:2.84 [[ 4.77556180e-01 -8.78232329e-01 -2.54572410e-02 9.46724564e+01] [ 8.78226853e-01 4.77998023e-01 -1.53455503e-02 5.29188853e+01] [ 2.56454692e-02 -1.50288702e-02 9.99558124e-01 2.83963008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:52.95, Z:2.84 [[ 4.78577978e-01 -8.77952341e-01 -1.27595339e-02 9.46792099e+01] [ 8.77664827e-01 4.78747835e-01 -2.24713605e-02 5.29477959e+01] [ 2.58373828e-02 -4.44295891e-04 9.99666060e-01 2.83667623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:52.97, Z:2.84 [[ 4.80847485e-01 -8.76711115e-01 -1.27795531e-02 9.46928145e+01] [ 8.76421852e-01 4.81017134e-01 -2.25222970e-02 5.29725465e+01] [ 2.58927321e-02 -3.70489703e-04 9.99664658e-01 2.83766036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:53.00, Z:2.84 [[ 4.81659284e-01 -8.76265474e-01 -1.27731685e-02 9.47059010e+01] [ 8.75975930e-01 4.81828502e-01 -2.25269728e-02 5.29960110e+01] [ 2.58940851e-02 -3.38662579e-04 9.99664635e-01 2.83854533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:53.02, Z:2.84 [[ 4.82184577e-01 -8.75977225e-01 -1.27253935e-02 9.47194669e+01] [ 8.75689315e-01 4.82352365e-01 -2.24592916e-02 5.30200287e+01] [ 2.58119515e-02 -3.13967074e-04 9.99666767e-01 2.83928320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:53.04, Z:2.84 [[ 4.83791262e-01 -8.75007201e-01 -1.75616874e-02 9.47392760e+01] [ 8.74786080e-01 4.84078845e-01 -2.04202247e-02 5.30437492e+01] [ 2.63690850e-02 -5.48359344e-03 9.99637235e-01 2.84210739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:53.07, Z:2.84 [[ 4.82395610e-01 -8.75915103e-01 -8.19802245e-03 9.47450298e+01] [ 8.75577646e-01 4.82441648e-01 -2.47758529e-02 5.30696417e+01] [ 2.56566112e-02 4.77375750e-03 9.99659417e-01 2.83998048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:53.09, Z:2.84 [[ 4.80874315e-01 -8.76731033e-01 -1.01286629e-02 9.47600098e+01] [ 8.76402713e-01 4.80973198e-01 -2.41467975e-02 5.30936160e+01] [ 2.60418621e-02 2.73478712e-03 9.99657112e-01 2.84158944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:53.12, Z:2.84 [[ 4.79574891e-01 -8.77461892e-01 -8.27955068e-03 9.47710419e+01] [ 8.77055913e-01 4.79610795e-01 -2.73205131e-02 5.31174482e+01] [ 2.79436710e-02 5.84060324e-03 9.99592436e-01 2.84207887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:53.14, Z:2.85 [[ 4.79413246e-01 -8.77353361e-01 -2.03474591e-02 9.47928119e+01] [ 8.77219483e-01 4.79755422e-01 -1.79084873e-02 5.31367276e+01] [ 2.54738753e-02 -9.26362155e-03 9.99632566e-01 2.84550025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:53.17, Z:2.84 [[ 4.78139787e-01 -8.78206973e-01 -1.16128332e-02 9.48022362e+01] [ 8.77888634e-01 4.78279471e-01 -2.36705461e-02 5.31652981e+01] [ 2.63418183e-02 1.12305557e-03 9.99652363e-01 2.84345600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:53.19, Z:2.84 [[ 4.77811758e-01 -8.78366646e-01 -1.29598997e-02 9.48163824e+01] [ 8.78067180e-01 4.77987300e-01 -2.29383552e-02 5.31889767e+01] [ 2.63429536e-02 -4.19446758e-04 9.99652876e-01 2.84453458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:53.22, Z:2.83 [[ 4.76352361e-01 -8.79250780e-01 2.54840494e-03 9.48245759e+01] [ 8.78946683e-01 4.76106926e-01 -2.78374400e-02 5.32192042e+01] [ 2.32627776e-02 1.55003423e-02 9.99609215e-01 2.83455544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:53.24, Z:2.84 [[ 4.75149551e-01 -8.79831841e-01 -1.13506331e-02 9.48472211e+01] [ 8.79583660e-01 4.75285103e-01 -2.08962985e-02 5.32401321e+01] [ 2.37800156e-02 -5.49645651e-05 9.99717214e-01 2.83944951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:53.26, Z:2.85 [[ 4.71695704e-01 -8.81280499e-01 -2.91177818e-02 9.48682170e+01] [ 8.81346438e-01 4.72229562e-01 -1.50896072e-02 5.32574790e+01] [ 2.70484539e-02 -1.85451504e-02 9.99462085e-01 2.85073708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:53.29, Z:2.85 [[ 4.70371160e-01 -8.82397254e-01 -1.12275605e-02 9.48713292e+01] [ 8.82015539e-01 4.70499249e-01 -2.60584860e-02 5.32875753e+01] [ 2.82764952e-02 2.35427745e-03 9.99597368e-01 2.84615958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:53.31, Z:2.85 [[ 4.69751927e-01 -8.82653047e-01 -1.60226671e-02 9.48878920e+01] [ 8.82369664e-01 4.70012044e-01 -2.26374463e-02 5.33095218e+01] [ 2.75118575e-02 -3.50393136e-03 9.99615336e-01 2.84786509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:53.33, Z:2.85 [[ 4.68312590e-01 -8.83459710e-01 -1.35003435e-02 9.48999348e+01] [ 8.83132624e-01 4.68506675e-01 -2.40471303e-02 5.33335808e+01] [ 2.75696718e-02 -6.61019853e-04 9.99619666e-01 2.84741176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:53.36, Z:2.85 [[ 4.67706850e-01 -8.83780001e-01 -1.35356001e-02 9.49139572e+01] [ 8.83450815e-01 4.67902187e-01 -2.41288496e-02 5.33583477e+01] [ 2.76579316e-02 -6.72808733e-04 9.99617220e-01 2.84801772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:53.38, Z:2.85 [[ 4.67216449e-01 -8.84038277e-01 -1.36057182e-02 9.49279581e+01] [ 8.83705284e-01 4.67414012e-01 -2.42716222e-02 5.33830961e+01] [ 2.78165464e-02 -6.83343923e-04 9.99612811e-01 2.84891199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:53.41, Z:2.85 [[ 4.67077693e-01 -8.84112362e-01 -1.35558463e-02 9.49412331e+01] [ 8.83781346e-01 4.67273875e-01 -2.42003749e-02 5.34080286e+01] [ 2.77301434e-02 -6.76948793e-04 9.99615216e-01 2.84975433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:53.43, Z:2.85 [[ 4.67030548e-01 -8.84139355e-01 -1.34189673e-02 9.49544603e+01] [ 8.83814520e-01 4.67222818e-01 -2.39736047e-02 5.34326584e+01] [ 2.74656551e-02 -6.63472429e-04 9.99622528e-01 2.85039042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:53.46, Z:2.84 [[ 4.67965625e-01 -8.83728104e-01 5.72819548e-03 9.49600485e+01] [ 8.83449100e-01 4.67630039e-01 -2.89799012e-02 5.34648047e+01] [ 2.29316769e-02 1.86221667e-02 9.99563581e-01 2.83967060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:53.48, Z:2.85 [[ 4.68609684e-01 -8.83161732e-01 -2.07441396e-02 9.49884446e+01] [ 8.83091785e-01 4.68939768e-01 -1.56331158e-02 5.34798970e+01] [ 2.35343216e-02 -1.09931498e-02 9.99662586e-01 2.85105825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:53.50, Z:2.86 [[ 4.68717017e-01 -8.83118607e-01 -2.01465742e-02 9.49997598e+01] [ 8.83001277e-01 4.69050267e-01 -1.73375931e-02 5.35040005e+01] [ 2.47609071e-02 -9.66302586e-03 9.99646699e-01 2.85515593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:53.53, Z:2.85 [[ 4.69981754e-01 -8.82612787e-01 -1.05744992e-02 9.50071970e+01] [ 8.82317079e-01 4.70098533e-01 -2.28897811e-02 5.35312614e+01] [ 2.51738701e-02 1.42771823e-03 9.99682068e-01 2.85338090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:53.56, Z:2.85 [[ 4.70301281e-01 -8.82401441e-01 -1.35794961e-02 9.50222816e+01] [ 8.82168782e-01 4.70491245e-01 -2.04016845e-02 5.35551486e+01] [ 2.43915098e-02 -2.38446921e-03 9.99699639e-01 2.85477431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:53.58, Z:2.85 [[ 4.70883156e-01 -8.82114769e-01 -1.19410148e-02 9.50346076e+01] [ 8.81855047e-01 4.71034322e-01 -2.14089739e-02 5.35803144e+01] [ 2.45097999e-02 -4.49118976e-04 9.99699489e-01 2.85497672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:53.61, Z:2.85 [[ 4.70839835e-01 -8.82183543e-01 -7.87696133e-03 9.50449603e+01] [ 8.81847985e-01 4.70882035e-01 -2.47838873e-02 5.36064358e+01] [ 2.55730571e-02 4.72295896e-03 9.99661799e-01 2.85410884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:53.63, Z:2.86 [[ 4.72201320e-01 -8.81396584e-01 -1.28831257e-02 9.50609045e+01] [ 8.81130170e-01 4.72375738e-01 -2.16975840e-02 5.36280054e+01] [ 2.52098524e-02 -1.10608292e-03 9.99681569e-01 2.85582056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:53.65, Z:2.86 [[ 4.71468848e-01 -8.81820267e-01 -1.04948440e-02 9.50725187e+01] [ 8.81503888e-01 4.71581726e-01 -2.36975054e-02 5.36540939e+01] [ 2.58461172e-02 1.92138978e-03 9.99664087e-01 2.85640830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:53.68, Z:2.86 [[ 4.71913840e-01 -8.81467596e-01 -1.76692961e-02 9.50898871e+01] [ 8.81316668e-01 4.72190153e-01 -1.78154609e-02 5.36762233e+01] [ 2.40470192e-02 -7.16488260e-03 9.99685153e-01 2.85892103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.10, Y:53.70, Z:2.86 [[ 4.71587330e-01 -8.81743265e-01 -1.15846937e-02 9.50996231e+01] [ 8.81497066e-01 4.71729442e-01 -2.08388153e-02 5.37028900e+01] [ 2.38393261e-02 -3.84552269e-04 9.99715729e-01 2.85737299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.11, Y:53.73, Z:2.86 [[ 4.71665426e-01 -8.81734974e-01 -8.66954496e-03 9.51108645e+01] [ 8.81438641e-01 4.71733914e-01 -2.30875634e-02 5.37279196e+01] [ 2.44468305e-02 3.24793351e-03 9.99695855e-01 2.85724720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:53.75, Z:2.86 [[ 4.70831378e-01 -8.82174779e-01 -9.24518836e-03 9.51238365e+01] [ 8.81875257e-01 4.70914128e-01 -2.31498308e-02 5.37516157e+01] [ 2.47758867e-02 2.74656389e-03 9.99689258e-01 2.85798496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:53.77, Z:2.86 [[ 4.69438006e-01 -8.82811258e-01 -1.64997663e-02 9.51414861e+01] [ 8.82666173e-01 4.69683439e-01 -1.72596302e-02 5.37737943e+01] [ 2.29866629e-02 -6.46145921e-03 9.99714891e-01 2.86052660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:53.80, Z:2.86 [[ 4.68657031e-01 -8.83306633e-01 -1.14008114e-02 9.51516968e+01] [ 8.83067013e-01 4.68795490e-01 -2.05776414e-02 5.37995803e+01] [ 2.35210161e-02 -4.23824127e-04 9.99723253e-01 2.85986585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:53.83, Z:2.86 [[ 4.68391730e-01 -8.83513235e-01 -3.68114014e-03 9.51589816e+01] [ 8.83109869e-01 4.68296835e-01 -2.85487864e-02 5.38260807e+01] [ 2.69470969e-02 1.01211643e-02 9.99585622e-01 2.85881481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:53.85, Z:2.86 [[ 4.68321644e-01 -8.83468988e-01 -1.25453429e-02 9.51769765e+01] [ 8.83147964e-01 4.68489640e-01 -2.38145292e-02 5.38474560e+01] [ 2.69167612e-02 7.34654862e-05 9.99637676e-01 2.86201858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:53.87, Z:2.86 [[ 4.68159045e-01 -8.83595720e-01 -9.25809851e-03 9.51871258e+01] [ 8.83172501e-01 4.68225742e-01 -2.77666785e-02 5.38723262e+01] [ 2.88693983e-02 4.82272367e-03 9.99571558e-01 2.86254328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:53.89, Z:2.87 [[ 4.67720827e-01 -8.83494372e-01 -2.59792742e-02 9.52109290e+01] [ 8.83535939e-01 4.68154295e-01 -1.39928761e-02 5.38912649e+01] [ 2.45249360e-02 -1.64088628e-02 9.99564544e-01 2.86702373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:53.92, Z:2.86 [[ 4.68059752e-01 -8.83663099e-01 -7.71983374e-03 9.52122467e+01] [ 8.83266022e-01 4.68086466e-01 -2.71329176e-02 5.39201863e+01] [ 2.75899077e-02 5.88115983e-03 9.99602025e-01 2.86252889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:53.94, Z:2.87 [[ 4.67581547e-01 -8.83768322e-01 -1.79178912e-02 9.52317370e+01] [ 8.83562152e-01 4.67880748e-01 -2.01377374e-02 5.39412295e+01] [ 2.61805307e-02 -6.41553605e-03 9.99636644e-01 2.86586831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:53.96, Z:2.87 [[ 4.68389727e-01 -8.83223896e-01 -2.29480599e-02 9.52472906e+01] [ 8.83175219e-01 4.68775556e-01 -1.58433063e-02 5.39600235e+01] [ 2.47506763e-02 -1.28463159e-02 9.99611112e-01 2.86768237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:54.00, Z:2.86 [[ 4.65795245e-01 -8.84889175e-01 2.43654201e-03 9.52454826e+01] [ 8.84371206e-01 4.65424560e-01 -3.56026663e-02 5.39966744e+01] [ 3.03703876e-02 1.87383603e-02 9.99363054e-01 2.86282885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.27, Y:54.01, Z:2.87 [[ 4.65485910e-01 -8.84855413e-01 -1.88086889e-02 9.52712407e+01] [ 8.84621346e-01 4.65818007e-01 -2.14163306e-02 5.40126945e+01] [ 2.77117820e-02 -6.66956755e-03 9.99593704e-01 2.86926277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:54.04, Z:2.87 [[ 4.66032076e-01 -8.84759587e-01 -3.81798084e-03 9.52752239e+01] [ 8.84225318e-01 4.65893078e-01 -3.30034264e-02 5.40401894e+01] [ 3.09788687e-02 1.20047000e-02 9.99447946e-01 2.86715079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.30, Y:54.06, Z:2.87 [[ 4.64074762e-01 -8.85471176e-01 -2.39877374e-02 9.53003980e+01] [ 8.85373023e-01 4.64519841e-01 -1.83283164e-02 5.40581124e+01] [ 2.73719758e-02 -1.27323865e-02 9.99544227e-01 2.87364160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:54.08, Z:2.87 [[ 4.63512580e-01 -8.85990763e-01 -1.32837151e-02 9.53069006e+01] [ 8.85659691e-01 4.63702578e-01 -2.42245793e-02 5.40846384e+01] [ 2.76224465e-02 -5.36453753e-04 9.99618283e-01 2.87131609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:54.11, Z:2.87 [[ 4.62795336e-01 -8.86360301e-01 -1.36342534e-02 9.53206816e+01] [ 8.86011106e-01 4.62995786e-01 -2.48841841e-02 5.41087025e+01] [ 2.83689548e-02 -5.63815568e-04 9.99597361e-01 2.87251573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:54.13, Z:2.87 [[ 4.62214693e-01 -8.86658409e-01 -1.39442683e-02 9.53345248e+01] [ 8.86292720e-01 4.62424611e-01 -2.54694449e-02 5.41335248e+01] [ 2.90308703e-02 -5.86351807e-04 9.99578343e-01 2.87384548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:54.16, Z:2.87 [[ 4.61609387e-01 -8.86972397e-01 -1.40264585e-02 9.53481700e+01] [ 8.86601946e-01 4.61822052e-01 -2.56394698e-02 5.41581373e+01] [ 2.92192298e-02 -6.00465475e-04 9.99572847e-01 2.87460258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:54.18, Z:2.87 [[ 4.60559532e-01 -8.87561894e-01 -1.08996407e-02 9.53591906e+01] [ 8.87101821e-01 4.60674465e-01 -2.87992469e-02 5.41820882e+01] [ 3.05823003e-02 3.59467659e-03 9.99525788e-01 2.87491405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.38, Y:54.20, Z:2.88 [[ 4.59191316e-01 -8.88156696e-01 -1.79169742e-02 9.53770215e+01] [ 8.87836276e-01 4.59516292e-01 -2.43212879e-02 5.42045466e+01] [ 2.98342563e-02 -4.73921549e-03 9.99543624e-01 2.87760512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.372755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.39, Y:54.23, Z:2.88 [[ 4.58106291e-01 -8.88777087e-01 -1.46258647e-02 9.53891652e+01] [ 8.88373185e-01 4.58339152e-01 -2.68012187e-02 5.42302140e+01] [ 3.05239155e-02 -7.15419091e-04 9.99533781e-01 2.87644571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:54.26, Z:2.87 [[ 4.56695206e-01 -8.89590353e-01 -7.64803157e-03 9.54006344e+01] [ 8.89129409e-01 4.56711236e-01 -2.93894668e-02 5.42578902e+01] [ 2.96375281e-02 6.62193880e-03 9.99538777e-01 2.87398053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:54.28, Z:2.88 [[ 4.55382494e-01 -8.90044687e-01 -2.11480519e-02 9.54205790e+01] [ 8.89779484e-01 4.55798878e-01 -2.32347258e-02 5.42770983e+01] [ 3.03192025e-02 -8.23641533e-03 9.99506332e-01 2.88205032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:54.30, Z:2.88 [[ 4.55384857e-01 -8.90267497e-01 -6.95807475e-03 9.54244758e+01] [ 8.89629507e-01 4.55332779e-01 -3.50913155e-02 5.43036095e+01] [ 3.44088972e-02 9.78994510e-03 9.99359888e-01 2.87998865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:54.32, Z:2.89 [[ 4.53438666e-01 -8.90968105e-01 -2.38581436e-02 9.54476397e+01] [ 8.90759245e-01 4.53929000e-01 -2.22807184e-02 5.43225709e+01] [ 3.06813127e-02 -1.11489227e-02 9.99467037e-01 2.88537555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:54.35, Z:2.88 [[ 4.52782905e-01 -8.91495953e-01 -1.49200383e-02 9.54561993e+01] [ 8.91074052e-01 4.53027821e-01 -2.74377011e-02 5.43502263e+01] [ 3.12197919e-02 -8.71536951e-04 9.99512164e-01 2.88346591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:54.37, Z:2.88 [[ 4.53864397e-01 -8.91045132e-01 -6.75878987e-03 9.54630196e+01] [ 8.90382986e-01 4.53798992e-01 -3.58415182e-02 5.43743672e+01] [ 3.50035423e-02 1.02492775e-02 9.99334631e-01 2.88269033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:54.40, Z:2.89 [[ 4.51890523e-01 -8.91724050e-01 -2.49634564e-02 9.54878524e+01] [ 8.91500872e-01 4.52426062e-01 -2.31700847e-02 5.43951189e+01] [ 3.19554400e-02 -1.17846015e-02 9.99419818e-01 2.88872857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:54.43, Z:2.87 [[ 4.49612118e-01 -8.93045807e-01 1.78362038e-02 9.54743822e+01] [ 8.92821696e-01 4.48720881e-01 -3.89742258e-02 5.44324227e+01] [ 2.68022919e-02 3.34478339e-02 9.99081018e-01 2.86596015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:54.44, Z:2.90 [[ 4.51659588e-01 -8.91024527e-01 -4.55950546e-02 9.55258858e+01] [ 8.91617063e-01 4.52611300e-01 -1.27288717e-02 5.44374867e+01] [ 3.19785739e-02 -3.49042117e-02 9.98878905e-01 2.89718941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:54.47, Z:2.89 [[ 4.51196341e-01 -8.92281743e-01 -1.59735065e-02 9.55230405e+01] [ 8.91795101e-01 4.51478018e-01 -2.94804652e-02 5.44711876e+01] [ 3.35165679e-02 -9.43616787e-04 9.99437717e-01 2.88879744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:54.50, Z:2.89 [[ 4.50651602e-01 -8.92556336e-01 -1.60100037e-02 9.55364869e+01] [ 8.92066902e-01 4.50934887e-01 -2.95697564e-02 5.44953679e+01] [ 3.36121426e-02 -9.56336294e-04 9.99434495e-01 2.88969182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.55, Y:54.52, Z:2.89 [[ 4.50113363e-01 -8.92929337e-01 -8.66941874e-03 9.55453105e+01] [ 8.92207827e-01 4.50108677e-01 -3.69780000e-02 5.45217137e+01] [ 3.69209216e-02 8.90936868e-03 9.99278474e-01 2.88965076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:54.54, Z:2.90 [[ 4.49336832e-01 -8.93020655e-01 -2.47087241e-02 9.55685210e+01] [ 8.92732716e-01 4.49886613e-01 -2.51064370e-02 5.45411316e+01] [ 3.35366910e-02 -1.07770395e-02 9.99379380e-01 2.89504599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:54.57, Z:2.89 [[ 4.48902793e-01 -8.93439167e-01 -1.58977154e-02 9.55769633e+01] [ 8.92954722e-01 4.49183136e-01 -2.94342377e-02 5.45680884e+01] [ 3.34386864e-02 -9.82828499e-04 9.99440288e-01 2.89289862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.59, Y:54.60, Z:2.89 [[ 4.49731405e-01 -8.93099416e-01 -1.07283177e-02 9.55902153e+01] [ 8.92506190e-01 4.49828697e-01 -3.29673131e-02 5.45952231e+01] [ 3.42689932e-02 5.25134603e-03 9.99398849e-01 2.89064145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:54.61, Z:2.90 [[ 4.48554519e-01 -8.93488764e-01 -2.18328350e-02 9.56067776e+01] [ 8.93127448e-01 4.49021175e-01 -2.65206804e-02 5.46139957e+01] [ 3.34993352e-02 -7.60353318e-03 9.99409816e-01 2.89715230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:54.64, Z:2.90 [[ 4.48274690e-01 -8.93783458e-01 -1.41750707e-02 9.56155492e+01] [ 8.93224388e-01 4.48496162e-01 -3.16446792e-02 5.46404461e+01] [ 3.46409556e-02 1.52398989e-03 9.99398660e-01 2.89603545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:54.67, Z:2.90 [[ 4.48347551e-01 -8.93778260e-01 -1.20372479e-02 9.56274461e+01] [ 8.93124987e-01 4.48484351e-01 -3.44897675e-02 5.46651519e+01] [ 3.62247217e-02 4.71263589e-03 9.99332558e-01 2.89694206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:54.69, Z:2.90 [[ 4.47090622e-01 -8.94193892e-01 -2.29621397e-02 9.56478499e+01] [ 8.93863212e-01 4.47590582e-01 -2.59080918e-02 5.46856480e+01] [ 3.34444949e-02 -8.94174702e-03 9.99400576e-01 2.90088134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:54.71, Z:2.90 [[ 4.46884558e-01 -8.94448996e-01 -1.59745243e-02 9.56573258e+01] [ 8.93957295e-01 4.47168818e-01 -2.96715784e-02 5.47130397e+01] [ 3.36830226e-02 -1.02077233e-03 9.99432045e-01 2.89944159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:54.74, Z:2.89 [[ 4.46000941e-01 -8.95027801e-01 2.89760594e-03 9.56599872e+01] [ 8.94448740e-01 4.45590812e-01 -3.75537029e-02 5.47439742e+01] [ 3.23204615e-02 1.93407468e-02 9.99290410e-01 2.88996979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:54.76, Z:2.91 [[ 4.45715931e-01 -8.94542346e-01 -3.36348014e-02 9.56934827e+01] [ 8.94566729e-01 4.46483095e-01 -2.00801624e-02 5.47561028e+01] [ 3.29799258e-02 -2.11385260e-02 9.99232449e-01 2.90679288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:54.79, Z:2.90 [[ 4.45576414e-01 -8.95105607e-01 -1.57356887e-02 9.56962941e+01] [ 8.94626959e-01 4.45852998e-01 -2.92866516e-02 5.47859474e+01] [ 3.32304501e-02 -1.02813017e-03 9.99447187e-01 2.90206326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:54.81, Z:2.90 [[ 4.45623392e-01 -8.95080153e-01 -1.58528326e-02 9.57084610e+01] [ 8.94593528e-01 4.45904108e-01 -2.95287255e-02 5.48091432e+01] [ 3.34994194e-02 -1.02315061e-03 9.99438213e-01 2.90321391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:54.83, Z:2.90 [[ 4.46009494e-01 -8.94889682e-01 -1.57476559e-02 9.57211429e+01] [ 8.94408579e-01 4.46286314e-01 -2.93567702e-02 5.48337101e+01] [ 3.32990341e-02 -9.91440278e-04 9.99444942e-01 2.90445535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:54.86, Z:2.91 [[ 4.45774975e-01 -8.95006288e-01 -1.57612383e-02 9.57342019e+01] [ 8.94523687e-01 4.46052421e-01 -2.94042509e-02 5.48586808e+01] [ 3.33473279e-02 -9.91121797e-04 9.99443332e-01 2.90517860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:54.88, Z:2.91 [[ 4.45255693e-01 -8.95261800e-01 -1.59272713e-02 9.57465808e+01] [ 8.94768358e-01 4.45539323e-01 -2.97371335e-02 5.48826737e+01] [ 3.37187453e-02 -1.01059041e-03 9.99430850e-01 2.90588236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.75, Y:54.91, Z:2.90 [[ 4.44444215e-01 -8.95772848e-01 -7.76814292e-03 9.57539843e+01] [ 8.95054398e-01 4.44409633e-01 -3.71174215e-02 5.49100396e+01] [ 3.67010160e-02 9.54371280e-03 9.99280718e-01 2.90482524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:54.94, Z:2.90 [[ 4.43406444e-01 -8.96317242e-01 2.47538791e-03 9.57620758e+01] [ 8.95758934e-01 4.43029110e-01 -3.66215830e-02 5.49383324e+01] [ 3.17278873e-02 1.84555967e-02 9.99326139e-01 2.89574547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:54.95, Z:2.92 [[ 4.43389188e-01 -8.95327371e-01 -4.23665841e-02 9.57997831e+01] [ 8.95681556e-01 4.44370094e-01 -1.70226163e-02 5.49482523e+01] [ 3.40672573e-02 -3.03993240e-02 9.98957108e-01 2.91732747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:54.98, Z:2.91 [[ 4.43128913e-01 -8.96303597e-01 -1.66321687e-02 9.57978871e+01] [ 8.95763092e-01 4.43439574e-01 -3.11420545e-02 5.49813868e+01] [ 3.52880972e-02 -1.09853815e-03 9.99376577e-01 2.90989971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:55.00, Z:2.91 [[ 4.44108670e-01 -8.95812600e-01 -1.69491896e-02 9.58100999e+01] [ 8.95260515e-01 4.44430365e-01 -3.14684053e-02 5.50036585e+01] [ 3.57225285e-02 -1.19854865e-03 9.99361028e-01 2.91065762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.80, Y:55.04, Z:2.89 [[ 4.42079756e-01 -8.96703481e-01 2.20987972e-02 9.57980673e+01] [ 8.96361593e-01 4.40731430e-01 -4.78717187e-02 5.50408068e+01] [ 3.31871023e-02 4.09716308e-02 9.98609003e-01 2.89141170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:55.06, Z:2.91 [[ 4.43610717e-01 -8.95954893e-01 -2.17798403e-02 9.58390289e+01] [ 8.95499521e-01 4.44097362e-01 -2.92940517e-02 5.50554727e+01] [ 3.59185186e-02 -6.50868131e-03 9.99333526e-01 2.90933001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:55.08, Z:2.92 [[ 4.45788149e-01 -8.94433769e-01 -3.55128083e-02 9.58608479e+01] [ 8.94113469e-01 4.46825167e-01 -3.01392602e-02 5.50760775e+01] [ 4.28255886e-02 -1.83167552e-02 9.98914644e-01 2.92276544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:55.11, Z:2.91 [[ 4.43927646e-01 -8.96055944e-01 -3.46281155e-03 9.58538441e+01] [ 8.95298740e-01 4.43705422e-01 -3.95684838e-02 5.51104476e+01] [ 3.69920434e-02 1.44652931e-02 9.99210861e-01 2.90635722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:55.13, Z:2.91 [[ 4.45166876e-01 -8.95316915e-01 -1.52994834e-02 9.58722298e+01] [ 8.94610211e-01 4.45424392e-01 -3.56325838e-02 5.51309848e+01] [ 3.87172181e-02 2.17537198e-03 9.99247840e-01 2.91190471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:55.16, Z:2.91 [[ 4.45943810e-01 -8.94814215e-01 -2.10152006e-02 9.58897318e+01] [ 8.94296162e-01 4.46410336e-01 -3.08575164e-02 5.51551123e+01] [ 3.69931471e-02 -5.03309476e-03 9.99302845e-01 2.91447812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:55.17, Z:2.94 [[ 4.48081621e-01 -8.92641529e-01 -4.91320846e-02 9.59193833e+01] [ 8.92950492e-01 4.49535757e-01 -2.36013140e-02 5.51717971e+01] [ 4.31541419e-02 -3.32972041e-02 9.98513403e-01 2.93563338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.91, Y:55.21, Z:2.92 [[ 4.50478257e-01 -8.92682879e-01 -1.36607671e-02 9.59131031e+01] [ 8.91722386e-01 4.50635367e-01 -4.19398656e-02 5.52092875e+01] [ 4.35950247e-02 6.71138575e-03 9.99026742e-01 2.92312128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:55.23, Z:2.93 [[ 4.52110488e-01 -8.91572748e-01 -2.63465580e-02 9.59331295e+01] [ 8.90780575e-01 4.52834411e-01 -3.80915182e-02 5.52298229e+01] [ 4.58919877e-02 -6.24742718e-03 9.98926872e-01 2.93069705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:55.26, Z:2.93 [[ 4.53340205e-01 -8.91161605e-01 -1.77102335e-02 9.59386766e+01] [ 8.90100499e-01 4.53668111e-01 -4.36617188e-02 5.52561939e+01] [ 4.69442156e-02 4.02972485e-03 9.98889384e-01 2.92924574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:55.28, Z:2.93 [[ 4.52448757e-01 -8.91640683e-01 -1.63405678e-02 9.59498654e+01] [ 8.90548313e-01 4.52709478e-01 -4.44728017e-02 5.52824815e+01] [ 4.70512892e-02 5.56959871e-03 9.98876947e-01 2.93005540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:55.30, Z:2.93 [[ 4.53943126e-01 -8.90660535e-01 -2.56797753e-02 9.59672190e+01] [ 8.89886576e-01 4.54631954e-01 -3.75721764e-02 5.53003109e+01] [ 4.51389012e-02 -5.79645614e-03 9.98963904e-01 2.93335322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:55.33, Z:2.93 [[ 4.52871751e-01 -8.91153177e-01 -2.74443429e-02 9.59811366e+01] [ 8.90556459e-01 4.53611115e-01 -3.38548397e-02 5.53256713e+01] [ 4.26189070e-02 -9.10883629e-03 9.99049878e-01 2.93488128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:55.35, Z:2.93 [[ 4.52572080e-01 -8.91488228e-01 -2.06700741e-02 9.59894897e+01] [ 8.90627379e-01 4.53043350e-01 -3.91739072e-02 5.53529230e+01] [ 4.42875167e-02 -6.80317278e-04 9.99018595e-01 2.93458050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.00, Y:55.38, Z:2.94 [[ 4.52005463e-01 -8.91751804e-01 -2.16744535e-02 9.60038517e+01] [ 8.90955588e-01 4.52519229e-01 -3.77423878e-02 5.53781037e+01] [ 4.34649494e-02 -2.25121001e-03 9.99052416e-01 2.93597212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:55.40, Z:2.94 [[ 4.50781086e-01 -8.92501040e-01 -1.54371814e-02 9.60124260e+01] [ 8.91546339e-01 4.51017890e-01 -4.15690831e-02 5.54033206e+01] [ 4.40628949e-02 4.97559390e-03 9.99016369e-01 2.93507661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:55.43, Z:2.94 [[ 4.48629257e-01 -8.93340930e-01 -2.59571106e-02 9.60313177e+01] [ 8.92667658e-01 4.49320654e-01 -3.54316385e-02 5.54261988e+01] [ 4.33155988e-02 -7.27540342e-03 9.99034948e-01 2.93986691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:55.46, Z:2.93 [[ 4.46545914e-01 -8.94739613e-01 -6.14595140e-03 9.60324514e+01] [ 8.93848457e-01 4.46390203e-01 -4.20799659e-02 5.54565757e+01] [ 4.03941048e-02 1.32970876e-02 9.99095343e-01 2.93067905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:55.47, Z:2.94 [[ 4.46192335e-01 -8.94598818e-01 -2.46039719e-02 9.60554285e+01] [ 8.93903336e-01 4.46829508e-01 -3.57801176e-02 5.54741903e+01] [ 4.30026315e-02 -6.02875836e-03 9.99056769e-01 2.93944245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:55.50, Z:2.94 [[ 4.46126903e-01 -8.94828790e-01 -1.58815166e-02 9.60628406e+01] [ 8.93802046e-01 4.46380861e-01 -4.31512446e-02 5.55005213e+01] [ 4.57021811e-02 5.05599908e-03 9.98942314e-01 2.93872413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96275509600001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.08, Y:55.52, Z:2.94 [[ 4.44873879e-01 -8.95064477e-01 -3.07703433e-02 9.60849432e+01] [ 8.94621217e-01 4.45728971e-01 -3.12819881e-02 5.55200817e+01] [ 4.17146298e-02 -1.36112626e-02 9.99036848e-01 2.94245683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:55.54, Z:2.96 [[ 4.48918804e-01 -8.92067026e-01 -5.18491004e-02 9.61158780e+01] [ 8.92338280e-01 4.50592127e-01 -2.64410586e-02 5.55422270e+01] [ 4.69499929e-02 -3.43970486e-02 9.98304834e-01 2.95803871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:55.58, Z:2.93 [[ 4.45273981e-01 -8.95350754e-01 8.83793957e-03 9.60890229e+01] [ 8.94355886e-01 4.44260636e-01 -5.25360570e-02 5.55818943e+01] [ 4.31118496e-02 3.12972025e-02 9.98579918e-01 2.93275099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:55.60, Z:2.94 [[ 4.46062538e-01 -8.94929966e-01 -1.13387879e-02 9.61123538e+01] [ 8.93861476e-01 4.46097782e-01 -4.48155239e-02 5.55988424e+01] [ 4.51649634e-02 9.85522060e-03 9.98930929e-01 2.94004332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.13, Y:55.62, Z:2.94 [[ 4.45696312e-01 -8.94879312e-01 -2.33626662e-02 9.61316680e+01] [ 8.94097808e-01 4.46289169e-01 -3.76176516e-02 5.56189003e+01] [ 4.40897630e-02 -4.12246010e-03 9.99019068e-01 2.94408915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:55.64, Z:2.95 [[ 4.45870557e-01 -8.94708956e-01 -2.63691260e-02 9.61473779e+01] [ 8.94121249e-01 4.46566465e-01 -3.35497320e-02 5.56417867e+01] [ 4.17928130e-02 -8.61835815e-03 9.99089127e-01 2.94544589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.16, Y:55.67, Z:2.94 [[ 4.45742032e-01 -8.94949723e-01 -1.94688101e-02 9.61566887e+01] [ 8.94190932e-01 4.46165927e-01 -3.68584057e-02 5.56680516e+01] [ 4.16727396e-02 -9.79492770e-04 9.99130834e-01 2.94424652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:55.69, Z:2.94 [[ 4.46530937e-01 -8.94636920e-01 -1.53265293e-02 9.61709001e+01] [ 8.93819241e-01 4.46780602e-01 -3.83960638e-02 5.56949487e+01] [ 4.11981323e-02 3.44588354e-03 9.99145054e-01 2.94366365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:55.71, Z:2.95 [[ 4.44552752e-01 -8.95457838e-01 -2.29806604e-02 9.61863224e+01] [ 8.94842030e-01 4.45111170e-01 -3.36717666e-02 5.57143740e+01] [ 4.03805960e-02 -5.59518425e-03 9.99168705e-01 2.94781753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:55.74, Z:2.95 [[ 4.43842119e-01 -8.95911727e-01 -1.86104951e-02 9.61977978e+01] [ 8.95216639e-01 4.44231010e-01 -3.52984214e-02 5.57398947e+01] [ 3.98916287e-02 -9.93498697e-04 9.99203518e-01 2.94733288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:55.76, Z:2.95 [[ 4.43348507e-01 -8.96156382e-01 -1.85967993e-02 9.62118874e+01] [ 8.95461431e-01 4.43737236e-01 -3.53000173e-02 5.57646719e+01] [ 3.98864281e-02 -1.00250658e-03 9.99203717e-01 2.94850492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:55.79, Z:2.95 [[ 4.41766593e-01 -8.96939761e-01 -1.84754783e-02 9.62253052e+01] [ 8.96253444e-01 4.42151507e-01 -3.50971376e-02 5.57876838e+01] [ 3.96489788e-02 -1.05396813e-03 9.99213114e-01 2.95000250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.24, Y:55.81, Z:2.95 [[ 4.41172260e-01 -8.97234554e-01 -1.83628027e-02 9.62379855e+01] [ 8.96555704e-01 4.41552975e-01 -3.49118961e-02 5.58106079e+01] [ 3.94323097e-02 -1.06111541e-03 9.99221681e-01 2.95118813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:55.84, Z:2.95 [[ 4.40929842e-01 -8.97353228e-01 -1.83863818e-02 9.62515587e+01] [ 8.96671545e-01 4.41311751e-01 -3.49868474e-02 5.58353658e+01] [ 3.95096868e-02 -1.05980031e-03 9.99218625e-01 2.95239212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:55.86, Z:2.96 [[ 4.43988123e-01 -8.95388904e-01 -3.39596324e-02 9.62811418e+01] [ 8.94999812e-01 4.44976945e-01 -3.11585412e-02 5.58584245e+01] [ 4.30102656e-02 -1.65598424e-02 9.98937380e-01 2.96363880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:55.89, Z:2.96 [[ 4.44609483e-01 -8.95430980e-01 -2.29296397e-02 9.62887060e+01] [ 8.94606939e-01 4.45187595e-01 -3.85542508e-02 5.58864812e+01] [ 4.47306617e-02 -3.37142925e-03 9.98993394e-01 2.96168991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:55.91, Z:2.96 [[ 4.44271332e-01 -8.95676610e-01 -1.96568942e-02 9.62993385e+01] [ 8.94778207e-01 4.44705922e-01 -4.01073903e-02 5.59124624e+01] [ 4.46647886e-02 2.30003146e-04 9.99002004e-01 2.96117001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:55.94, Z:2.96 [[ 4.43676286e-01 -8.95931760e-01 -2.13923728e-02 9.63124286e+01] [ 8.95076740e-01 4.44188198e-01 -3.91723697e-02 5.59370208e+01] [ 4.45980097e-02 -1.76796376e-03 9.99003449e-01 2.96158925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:55.96, Z:2.96 [[ 4.42477315e-01 -8.96715567e-01 -1.07246506e-02 9.63176460e+01] [ 8.95770901e-01 4.42515047e-01 -4.21298820e-02 5.59639765e+01] [ 4.25243403e-02 9.03468717e-03 9.99054581e-01 2.95590699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:55.99, Z:2.95 [[ 4.41653333e-01 -8.97123869e-01 -1.05402928e-02 9.63290908e+01] [ 8.96288435e-01 4.41706461e-01 -3.95277556e-02 5.59875063e+01] [ 4.01170085e-02 8.01042243e-03 9.99162879e-01 2.95343802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.562755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.33, Y:56.02, Z:2.95 [[ 4.39665414e-01 -8.98161626e-01 1.33043034e-04 9.63345148e+01] [ 8.97520909e-01 4.39346169e-01 -3.78306943e-02 5.60150012e+01] [ 3.39196259e-02 1.67522568e-02 9.99284154e-01 2.94511390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:56.03, Z:2.96 [[ 4.39810906e-01 -8.97313932e-01 -3.73372985e-02 9.63674274e+01] [ 8.97239920e-01 4.40823389e-01 -2.52044836e-02 5.60288695e+01] [ 3.90754888e-02 -2.24153079e-02 9.98984815e-01 2.96439195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:56.05, Z:2.96 [[ 4.43046635e-01 -8.96302664e-01 -1.87407155e-02 9.63691174e+01] [ 8.95649159e-01 4.43439909e-01 -3.42583094e-02 5.60540149e+01] [ 3.90161951e-02 -1.60707739e-03 9.99237286e-01 2.95940698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:56.08, Z:2.96 [[ 4.43958157e-01 -8.95866309e-01 -1.80197400e-02 9.63810055e+01] [ 8.95199030e-01 4.44323023e-01 -3.45795980e-02 5.60777816e+01] [ 3.89852822e-02 -7.79359234e-04 9.99239481e-01 2.96006708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:56.10, Z:2.96 [[ 4.44535364e-01 -8.95579943e-01 -1.80243030e-02 9.63942098e+01] [ 8.94911285e-01 4.44900000e-01 -3.46089965e-02 5.61026804e+01] [ 3.90141356e-02 -7.45229313e-04 9.99238381e-01 2.96111092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:56.13, Z:2.95 [[ 4.42969966e-01 -8.96536446e-01 -1.02923892e-04 9.63978689e+01] [ 8.95901032e-01 4.42660330e-01 -3.75922054e-02 5.61339774e+01] [ 3.37483426e-02 1.65600083e-02 9.99293158e-01 2.94990306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:56.16, Z:2.95 [[ 4.43875921e-01 -8.96083794e-01 -2.82856939e-03 9.64115288e+01] [ 8.95445317e-01 4.43674785e-01 -3.64742251e-02 5.61576657e+01] [ 3.39389269e-02 1.36572010e-02 9.99330591e-01 2.94931018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.45, Y:56.17, Z:2.97 [[ 4.46001280e-01 -8.93856855e-01 -4.58560843e-02 9.64499586e+01] [ 8.94128456e-01 4.47267677e-01 -2.20438054e-02 5.61687952e+01] [ 4.02139509e-02 -3.11696644e-02 9.98704806e-01 2.97337335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:56.20, Z:2.96 [[ 4.45730912e-01 -8.95032976e-01 -1.54895487e-02 9.64461495e+01] [ 8.94193641e-01 4.45986293e-01 -3.89096302e-02 5.62029073e+01] [ 4.17335286e-02 3.49256899e-03 9.99122672e-01 2.96468494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:56.23, Z:2.97 [[ 4.44126639e-01 -8.95728895e-01 -2.05249708e-02 9.64616618e+01] [ 8.95001072e-01 4.44594692e-01 -3.61751377e-02 5.62272413e+01] [ 4.15284092e-02 -2.30352856e-03 9.99134668e-01 2.96727045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:56.25, Z:2.97 [[ 4.43607151e-01 -8.96007139e-01 -1.95934352e-02 9.64734965e+01] [ 8.95255507e-01 4.44037874e-01 -3.67143626e-02 5.62524621e+01] [ 4.15965583e-02 -1.25437699e-03 9.99133701e-01 2.96793861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.49, Y:56.27, Z:2.97 [[ 4.44710499e-01 -8.95417653e-01 -2.14429278e-02 9.64864464e+01] [ 8.94770909e-01 4.45209615e-01 -3.42551956e-02 5.62728537e+01] [ 4.02193045e-02 -3.95286288e-03 9.99183058e-01 2.96914833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:56.30, Z:2.97 [[ 4.45226455e-01 -8.95227933e-01 -1.84486467e-02 9.64978687e+01] [ 8.94517085e-01 4.45608084e-01 -3.56738031e-02 5.62976798e+01] [ 4.01570511e-02 -6.19708831e-04 9.99193188e-01 2.96892998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.952755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:96.51, Y:56.32, Z:2.97 [[ 4.44372429e-01 -8.95650325e-01 -1.85375348e-02 9.65107128e+01] [ 8.94931615e-01 4.44758450e-01 -3.58793103e-02 5.63211658e+01] [ 4.03800411e-02 -6.46049663e-04 9.99184185e-01 2.96869082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.52, Y:56.35, Z:2.96 [[ 4.44654160e-01 -8.95695296e-01 -3.55186042e-03 9.65160064e+01] [ 8.94824240e-01 4.44390298e-01 -4.25069720e-02 5.63511631e+01] [ 3.96517072e-02 1.57226111e-02 9.99089857e-01 2.96305328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:56.37, Z:2.97 [[ 4.45121970e-01 -8.94944944e-01 -3.06590647e-02 9.65437227e+01] [ 8.94630299e-01 4.45926199e-01 -2.80437651e-02 5.63664935e+01] [ 3.87693060e-02 -1.49456323e-02 9.99136412e-01 2.97468339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:56.39, Z:2.97 [[ 4.44822894e-01 -8.95431486e-01 -1.83043143e-02 9.65497962e+01] [ 8.94792268e-01 4.45197387e-01 -3.38538517e-02 5.63931171e+01] [ 3.84628377e-02 -1.31959066e-03 9.99259160e-01 2.97144861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07275509600001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:96.56, Y:56.42, Z:2.97 [[ 4.43259087e-01 -8.96317228e-01 -1.16965263e-02 9.65588049e+01] [ 8.95459666e-01 4.43355059e-01 -3.98531984e-02 5.64207352e+01] [ 4.09068224e-02 7.19152477e-03 9.99137085e-01 2.96899685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.58, Y:56.44, Z:2.97 [[ 4.43566692e-01 -8.96032689e-01 -1.93393415e-02 9.65783676e+01] [ 8.95422080e-01 4.43980467e-01 -3.31759496e-02 5.64443431e+01] [ 3.83130251e-02 -2.60112714e-03 9.99262401e-01 2.97212167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:56.47, Z:2.97 [[ 4.43319027e-01 -8.96209545e-01 -1.66340454e-02 9.65892173e+01] [ 8.95544618e-01 4.43630800e-01 -3.45188404e-02 5.64696250e+01] [ 3.83154892e-02 4.06328909e-04 9.99265609e-01 2.97232128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:56.49, Z:2.98 [[ 4.43471027e-01 -8.95981614e-01 -2.34605248e-02 9.66062942e+01] [ 8.95397164e-01 4.44045306e-01 -3.29800715e-02 5.64919666e+01] [ 3.99670736e-02 -6.38078122e-03 9.99180624e-01 2.97735106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:56.52, Z:2.98 [[ 4.43335087e-01 -8.96169170e-01 -1.82980694e-02 9.66168064e+01] [ 8.95462253e-01 4.43712128e-01 -3.55935435e-02 5.65186295e+01] [ 4.00169117e-02 -6.05363773e-04 9.99198819e-01 2.97615673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:56.54, Z:2.98 [[ 4.43546952e-01 -8.96059514e-01 -1.85323840e-02 9.66301063e+01] [ 8.95333162e-01 4.43933552e-01 -3.60767161e-02 5.65425338e+01] [ 4.05540317e-02 -5.90940551e-04 9.99177172e-01 2.97684882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:56.57, Z:2.98 [[ 4.43598559e-01 -8.96033082e-01 -1.85750882e-02 9.66422909e+01] [ 8.95302438e-01 4.43986913e-01 -3.61823993e-02 5.65652361e+01] [ 4.06677229e-02 -5.79861529e-04 9.99172558e-01 2.97746708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:56.59, Z:2.97 [[ 4.42550102e-01 -8.96742394e-01 -1.57672318e-03 9.66445539e+01] [ 8.95969290e-01 4.42240262e-01 -4.07747730e-02 5.65946880e+01] [ 3.72617580e-02 1.66321844e-02 9.99167119e-01 2.96748396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:56.61, Z:2.98 [[ 4.44281716e-01 -8.95240430e-01 -3.40342423e-02 9.66778538e+01] [ 8.94935861e-01 4.45239802e-01 -2.91774289e-02 5.66099447e+01] [ 4.12742133e-02 -1.74954657e-02 9.98994669e-01 2.98470234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.68, Y:56.64, Z:2.98 [[ 4.44623635e-01 -8.95517712e-01 -1.89169399e-02 9.66828304e+01] [ 8.94756427e-01 4.45025581e-01 -3.69211258e-02 5.66395302e+01] [ 4.14820443e-02 -5.10048333e-04 9.99139119e-01 2.98049756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.69, Y:56.67, Z:2.97 [[ 4.44861965e-01 -8.95580400e-01 -5.79484092e-03 9.66879636e+01] [ 8.94735611e-01 4.44707793e-01 -4.10264027e-02 5.66679734e+01] [ 3.93194531e-02 1.30662356e-02 9.99141258e-01 2.97262497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.402755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:96.72, Y:56.69, Z:2.98 [[ 4.44514463e-01 -8.95224968e-01 -3.12913639e-02 9.67152477e+01] [ 8.94771484e-01 4.45397442e-01 -3.17034782e-02 5.66852216e+01] [ 4.23188387e-02 -1.39059655e-02 9.99007377e-01 2.98393942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:56.71, Z:2.98 [[ 4.45952462e-01 -8.94850326e-01 -1.92170847e-02 9.67218663e+01] [ 8.94061168e-01 4.46366122e-01 -3.75754326e-02 5.67133908e+01] [ 4.22022436e-02 -4.24392490e-04 9.99108998e-01 2.98336482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:56.74, Z:2.98 [[ 4.47246269e-01 -8.94245031e-01 -1.72220754e-02 9.67357827e+01] [ 8.93449857e-01 4.47575255e-01 -3.77325336e-02 5.67394700e+01] [ 4.14503055e-02 1.48867412e-03 9.99139458e-01 2.98264431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.75, Y:56.76, Z:2.99 [[ 4.46442011e-01 -8.94576375e-01 -2.05582361e-02 9.67493980e+01] [ 8.93856282e-01 4.46909075e-01 -3.59614595e-02 5.67626517e+01] [ 4.13579344e-02 -2.32140219e-03 9.99141698e-01 2.98619161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:56.79, Z:2.99 [[ 4.46162721e-01 -8.94669398e-01 -2.24832069e-02 9.67654156e+01] [ 8.93967275e-01 4.46709309e-01 -3.56833859e-02 5.67895875e+01] [ 4.19682912e-02 -4.17865461e-03 9.99110205e-01 2.98903042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.77, Y:56.81, Z:2.99 [[ 4.46804806e-01 -8.94501874e-01 -1.52270527e-02 9.67721070e+01] [ 8.93729067e-01 4.47053747e-01 -3.73001656e-02 5.68122197e+01] [ 4.01723790e-02 3.05703366e-03 9.99188088e-01 2.98618047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:56.84, Z:2.99 [[ 4.46707918e-01 -8.94492587e-01 -1.83043027e-02 9.67862686e+01] [ 8.93772170e-01 4.47082661e-01 -3.58943112e-02 5.68351840e+01] [ 4.02907316e-02 -3.25603285e-04 9.99187946e-01 2.98831819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:96.80, Y:56.86, Z:2.99 [[ 4.46235765e-01 -8.94730813e-01 -1.81772990e-02 9.67990625e+01] [ 8.94019393e-01 4.46605712e-01 -3.56743940e-02 5.68604473e+01] [ 4.00370651e-02 -3.31667402e-04 9.99198140e-01 2.98813894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:56.88, Z:2.99 [[ 4.46555120e-01 -8.94582884e-01 -1.76065163e-02 9.68123841e+01] [ 8.93779881e-01 4.46900479e-01 -3.79141939e-02 5.68848840e+01] [ 4.17857495e-02 1.19442738e-03 9.99125880e-01 2.98941666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:56.91, Z:2.99 [[ 4.45914068e-01 -8.95007939e-01 -1.10196855e-02 9.68205412e+01] [ 8.94018513e-01 4.45951815e-01 -4.31030943e-02 5.69110060e+01] [ 4.34918603e-02 9.36847330e-03 9.99009855e-01 2.98811181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:56.93, Z:2.99 [[ 4.46047401e-01 -8.94683909e-01 -2.41333528e-02 9.68414179e+01] [ 8.94130305e-01 4.46642068e-01 -3.22778732e-02 5.69344917e+01] [ 3.96574644e-02 -7.18090065e-03 9.99187530e-01 2.99218900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.85, Y:56.96, Z:2.99 [[ 4.44975175e-01 -8.95290458e-01 -2.12624074e-02 9.68501430e+01] [ 8.94651113e-01 4.45466060e-01 -3.40496184e-02 5.69592142e+01] [ 3.99559793e-02 -3.87120154e-03 9.99193942e-01 2.99265251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:56.99, Z:3.00 [[ 4.46463308e-01 -8.94480217e-01 -2.39928209e-02 9.68666310e+01] [ 8.93851574e-01 4.47064248e-01 -3.41016379e-02 5.69857769e+01] [ 4.12295729e-02 -6.22089067e-03 9.99130333e-01 2.99593402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:57.01, Z:2.99 [[ 4.45114531e-01 -8.95378687e-01 -1.30407281e-02 9.68699106e+01] [ 8.94583570e-01 4.45274091e-01 -3.80948807e-02 5.70125794e+01] [ 3.99160426e-02 5.29056390e-03 9.99189031e-01 2.99169351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.88, Y:57.04, Z:2.99 [[ 4.44722305e-01 -8.95486320e-01 -1.80643881e-02 9.68840460e+01] [ 8.94776918e-01 4.45088926e-01 -3.56386699e-02 5.70365416e+01] [ 3.99542004e-02 -3.14286112e-04 9.99201463e-01 2.99400938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:57.06, Z:2.99 [[ 4.45167665e-01 -8.95265242e-01 -1.80525830e-02 9.68948003e+01] [ 8.94555443e-01 4.45533463e-01 -3.56439765e-02 5.70615478e+01] [ 3.99538431e-02 -2.81490584e-04 9.99201487e-01 2.99491842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:57.09, Z:3.00 [[ 4.45022223e-01 -8.95338447e-01 -1.80079647e-02 9.69059424e+01] [ 8.94631031e-01 4.45386339e-01 -3.55854967e-02 5.70869215e+01] [ 3.98815648e-02 -2.74147185e-04 9.99204376e-01 2.99558853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:57.11, Z:3.00 [[ 4.44074902e-01 -8.95800779e-01 -1.83969012e-02 9.69167040e+01] [ 8.95061678e-01 4.44455699e-01 -3.63830210e-02 5.71133668e+01] [ 4.07685462e-02 -3.09574786e-04 9.99168569e-01 2.99616145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:57.14, Z:3.00 [[ 4.42939362e-01 -8.96358036e-01 -1.86277379e-02 9.69290955e+01] [ 8.95599554e-01 4.43330742e-01 -3.68685842e-02 5.71387999e+01] [ 4.13057006e-02 -3.52446579e-04 9.99146493e-01 2.99663857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:57.16, Z:3.00 [[ 4.39935013e-01 -8.97916196e-01 -1.42719704e-02 9.69375586e+01] [ 8.96990408e-01 4.40134763e-01 -4.11047192e-02 5.71647026e+01] [ 4.31901834e-02 5.28158461e-03 9.99052908e-01 2.99612605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:57.19, Z:3.00 [[ 4.38304101e-01 -8.98506076e-01 -2.40072134e-02 9.69551614e+01] [ 8.97850172e-01 4.38916420e-01 -3.48919101e-02 5.71862363e+01] [ 4.18877534e-02 -6.26161338e-03 9.99102702e-01 2.99983573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:57.21, Z:3.00 [[ 4.38580646e-01 -8.98444825e-01 -2.10692361e-02 9.69696879e+01] [ 8.97650082e-01 4.39080348e-01 -3.78520598e-02 5.72134042e+01] [ 4.32590748e-02 -2.31162067e-03 9.99061214e-01 3.00024896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.97, Y:57.24, Z:3.00 [[ 4.35261837e-01 -9.00133007e-01 -1.75414791e-02 9.69748864e+01] [ 8.99353722e-01 4.35614847e-01 -3.74511450e-02 5.72379387e+01] [ 4.13523405e-02 5.25059667e-04 9.99144488e-01 2.99986956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:57.26, Z:3.00 [[ 4.32689383e-01 -9.01357415e-01 -1.82950546e-02 9.69854625e+01] [ 9.00625257e-01 4.33075326e-01 -3.63305473e-02 5.72627497e+01] [ 4.06699450e-02 -7.57146180e-04 9.99172349e-01 3.00159710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:57.29, Z:3.00 [[ 4.31511156e-01 -9.01926939e-01 -1.80532087e-02 9.69972179e+01] [ 9.01213676e-01 4.31887914e-01 -3.58711462e-02 5.72881290e+01] [ 4.01501158e-02 -7.90998857e-04 9.99193346e-01 3.00261615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.01, Y:57.31, Z:3.00 [[ 4.29758377e-01 -9.02767232e-01 -1.78622944e-02 9.70084087e+01] [ 9.02068608e-01 4.30128591e-01 -3.55193237e-02 5.73135748e+01] [ 3.97487650e-02 -8.48288100e-04 9.99209345e-01 3.00444618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:57.34, Z:3.01 [[ 4.29097213e-01 -9.03084659e-01 -1.77110083e-02 9.70205753e+01] [ 9.02396985e-01 4.29461711e-01 -3.52465669e-02 5.73392739e+01] [ 3.94368338e-02 -8.58156854e-04 9.99221697e-01 3.00566104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:57.36, Z:3.01 [[ 4.28658049e-01 -9.03291300e-01 -1.78074167e-02 9.70318973e+01] [ 9.02595178e-01 4.29026887e-01 -3.54665339e-02 5.73640125e+01] [ 3.96764721e-02 -8.69873180e-04 9.99212200e-01 3.00676979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:57.39, Z:3.01 [[ 4.28569604e-01 -9.03339206e-01 -1.75035489e-02 9.70422018e+01] [ 9.02665870e-01 4.28926050e-01 -3.48822390e-02 5.73904606e+01] [ 3.90182221e-02 -8.50388808e-04 9.99238137e-01 3.00791810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:57.42, Z:3.01 [[ 4.28514090e-01 -9.03363995e-01 -1.75831516e-02 9.70528669e+01] [ 9.02683455e-01 4.28873849e-01 -3.50685318e-02 5.74161439e+01] [ 3.92206029e-02 -8.44660099e-04 9.99230219e-01 3.00917291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:57.45, Z:3.01 [[ 4.30570938e-01 -9.02406667e-01 -1.64582789e-02 9.70675299e+01] [ 9.01694480e-01 4.30884965e-01 -3.58498365e-02 5.74462979e+01] [ 3.94427564e-02 5.95558467e-04 9.99221654e-01 3.00896692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:57.47, Z:3.01 [[ 4.29003152e-01 -9.03107846e-01 -1.87753472e-02 9.70742570e+01] [ 9.02503874e-01 4.29405133e-01 -3.31359042e-02 5.74668674e+01] [ 3.79875255e-02 -2.72941621e-03 9.99274486e-01 3.01191047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:57.49, Z:3.01 [[ 4.28905709e-01 -9.03193063e-01 -1.67983239e-02 9.70845026e+01] [ 9.02568857e-01 4.29233871e-01 -3.35818706e-02 5.74927803e+01] [ 3.75413222e-02 -7.58187931e-04 9.99294788e-01 3.01262513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:57.52, Z:3.01 [[ 4.29244560e-01 -9.03032307e-01 -1.67857037e-02 9.70950985e+01] [ 9.02407918e-01 4.29572015e-01 -3.35832220e-02 5.75172677e+01] [ 3.75374030e-02 -7.32136558e-04 9.99294955e-01 3.01401593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:57.55, Z:3.01 [[ 4.28826773e-01 -9.03338381e-01 -9.34713738e-03 9.70997051e+01] [ 9.02513100e-01 4.28844064e-01 -3.95331881e-02 5.75452567e+01] [ 3.97203105e-02 8.51697555e-03 9.99174538e-01 3.01351589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:57.57, Z:3.02 [[ 4.28605668e-01 -9.03239139e-01 -2.13597679e-02 9.71170620e+01] [ 9.02690733e-01 4.29101265e-01 -3.19616076e-02 5.75666397e+01] [ 3.80344784e-02 -5.58233841e-03 9.99260835e-01 3.01807359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:57.59, Z:3.01 [[ 4.27792844e-01 -9.03725193e-01 -1.65546875e-02 9.71244510e+01] [ 9.03189439e-01 4.28109961e-01 -3.11560336e-02 5.75921119e+01] [ 3.52437191e-02 -1.62369067e-03 9.99377428e-01 3.01438605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:57.62, Z:3.02 [[ 4.26359913e-01 -9.04407633e-01 -1.62498381e-02 9.71334502e+01] [ 9.03825070e-01 4.26668630e-01 -3.24672605e-02 5.76196734e+01] [ 3.62969344e-02 -8.44272701e-04 9.99340693e-01 3.01685493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.14, Y:57.64, Z:3.02 [[ 4.26358935e-01 -9.04464972e-01 -1.26954129e-02 9.71418749e+01] [ 9.03754772e-01 4.26530118e-01 -3.60467990e-02 5.76448268e+01] [ 3.80180430e-02 3.89533485e-03 9.99269461e-01 3.01727936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:57.67, Z:3.01 [[ 4.24282693e-01 -9.05485636e-01 -8.94206038e-03 9.71495007e+01] [ 9.04846514e-01 4.24325418e-01 -3.46514992e-02 5.76731104e+01] [ 3.51707783e-02 6.61083924e-03 9.99359451e-01 3.01304851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:57.69, Z:3.02 [[ 4.24445002e-01 -9.04992789e-01 -2.88875980e-02 9.71719101e+01] [ 9.04765200e-01 4.25150293e-01 -2.54393637e-02 5.76917624e+01] [ 3.53040114e-02 -1.53388826e-02 9.99258898e-01 3.02303030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:57.72, Z:3.02 [[ 4.24118716e-01 -9.05468331e-01 -1.58245645e-02 9.71757750e+01] [ 9.04908694e-01 4.24413050e-01 -3.18405066e-02 5.77214862e+01] [ 3.55467220e-02 -8.15631236e-04 9.99367683e-01 3.01992834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:57.75, Z:3.02 [[ 4.23471644e-01 -9.05775174e-01 -1.55916710e-02 9.71863125e+01] [ 9.05231245e-01 4.23757789e-01 -3.13963228e-02 5.77467760e+01] [ 3.50451018e-02 -8.18615319e-04 9.99385396e-01 3.02038878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:57.77, Z:3.02 [[ 4.22675532e-01 -9.06157504e-01 -1.49657082e-02 9.71960536e+01] [ 9.05655811e-01 4.22939627e-01 -3.01599678e-02 5.77732532e+01] [ 3.36592722e-02 -8.05900127e-04 9.99433041e-01 3.02075364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:57.80, Z:3.02 [[ 4.21955232e-01 -9.06495058e-01 -1.48489678e-02 9.72065615e+01] [ 9.06000586e-01 4.22215635e-01 -2.99482025e-02 5.77985909e+01] [ 3.34173640e-02 -8.16372827e-04 9.99441151e-01 3.02159309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:57.82, Z:3.02 [[ 4.21204147e-01 -9.06849469e-01 -1.45295301e-02 9.72176220e+01] [ 9.06375473e-01 4.21453882e-01 -2.93279145e-02 5.78249393e+01] [ 3.27195306e-02 -8.16170517e-04 9.99464240e-01 3.02225943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.23, Y:57.85, Z:3.02 [[ 4.21020826e-01 -9.06934751e-01 -1.45197175e-02 9.72301452e+01] [ 9.06460639e-01 4.21270340e-01 -2.93327716e-02 5.78505658e+01] [ 3.27196362e-02 -8.11844625e-04 9.99464240e-01 3.02328542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:57.88, Z:3.02 [[ 4.19443983e-01 -9.07674747e-01 -1.39031980e-02 9.72385026e+01] [ 9.07240040e-01 4.19673528e-01 -2.81005137e-02 5.78761370e+01] [ 3.13409308e-02 -8.26946548e-04 9.99508410e-01 3.02379352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:57.90, Z:3.02 [[ 4.18507963e-01 -9.08110492e-01 -1.36535644e-02 9.72491581e+01] [ 9.07691024e-01 4.18729785e-01 -2.76110906e-02 5.79018416e+01] [ 3.07910752e-02 -8.37756588e-04 9.99525491e-01 3.02440718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:57.93, Z:3.02 [[ 4.16926107e-01 -9.08848724e-01 -1.29080604e-02 9.72576442e+01] [ 9.08473631e-01 4.17125040e-01 -2.61220721e-02 5.79270858e+01] [ 2.91252871e-02 -8.35658633e-04 9.99575420e-01 3.02397121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:57.95, Z:3.02 [[ 4.15868667e-01 -9.09336347e-01 -1.26751834e-02 9.72676832e+01] [ 9.08974202e-01 4.16060929e-01 -2.56749509e-02 5.79522608e+01] [ 2.86208146e-02 -8.44007119e-04 9.99589984e-01 3.02436123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.932755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.28, Y:57.98, Z:3.02 [[ 4.15451317e-01 -9.09523371e-01 -1.29399156e-02 9.72782679e+01] [ 9.09145276e-01 4.15651887e-01 -2.62369248e-02 5.79772001e+01] [ 2.92415966e-02 -8.64098162e-04 9.99572000e-01 3.02422010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:58.00, Z:3.02 [[ 4.14818848e-01 -9.09818683e-01 -1.24614126e-02 9.72865913e+01] [ 9.09467478e-01 4.15005126e-01 -2.52913438e-02 5.80022326e+01] [ 2.81820873e-02 -8.41923380e-04 9.99602452e-01 3.02476106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:58.03, Z:3.02 [[ 4.14442556e-01 -9.10043645e-01 -7.61135490e-03 9.72922486e+01] [ 9.09643030e-01 4.14488931e-01 -2.73584506e-02 5.80276893e+01] [ 2.80522064e-02 4.41489026e-03 9.99596710e-01 3.02234054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:58.05, Z:3.03 [[ 4.14662862e-01 -9.09823441e-01 -1.66137397e-02 9.73092329e+01] [ 9.09565934e-01 4.14954773e-01 -2.24131131e-02 5.80501895e+01] [ 2.72859263e-02 -5.81740605e-03 9.99610742e-01 3.02679028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.32, Y:58.08, Z:3.03 [[ 4.14518280e-01 -9.09958944e-01 -1.22195040e-02 9.73152552e+01] [ 9.09619814e-01 4.14697553e-01 -2.48542550e-02 5.80763313e+01] [ 2.76837500e-02 -8.12559898e-04 9.99616401e-01 3.02557902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:58.10, Z:3.03 [[ 4.14121238e-01 -9.10139437e-01 -1.22395457e-02 9.73257687e+01] [ 9.09798821e-01 4.14301261e-01 -2.49112449e-02 5.81009522e+01] [ 2.77435656e-02 -8.19248661e-04 9.99614737e-01 3.02613754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:58.13, Z:3.03 [[ 4.13493041e-01 -9.10426025e-01 -1.21637672e-02 9.73361582e+01] [ 9.10089092e-01 4.13671094e-01 -2.47804626e-02 5.81254541e+01] [ 2.75925770e-02 -8.23562978e-04 9.99618913e-01 3.02679530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:58.15, Z:3.03 [[ 4.12898804e-01 -9.10447949e-01 -2.44767293e-02 9.73518713e+01] [ 9.10302661e-01 4.13401903e-01 -2.11643883e-02 5.81461213e+01] [ 2.93878004e-02 -1.35424812e-02 9.99476342e-01 3.03359984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:58.18, Z:3.02 [[ 4.11160162e-01 -9.11562670e-01 -9.05652983e-04 9.73505017e+01] [ 9.11191069e-01 4.11020529e-01 -2.81595477e-02 5.81779788e+01] [ 2.60414345e-02 1.07528613e-02 9.99603031e-01 3.02462440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:58.20, Z:3.03 [[ 4.09117343e-01 -9.12416023e-01 -1.09544960e-02 9.73660726e+01] [ 9.12142339e-01 4.09263107e-01 -2.23620811e-02 5.81999678e+01] [ 2.48867922e-02 -8.43344410e-04 9.99689920e-01 3.02735839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:58.23, Z:3.03 [[ 4.08219938e-01 -9.12817720e-01 -1.09678164e-02 9.73771848e+01] [ 9.12542972e-01 4.08366344e-01 -2.24110268e-02 5.82253728e+01] [ 2.49360695e-02 -8.59975844e-04 9.99688678e-01 3.02827541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.39, Y:58.25, Z:3.03 [[ 4.07063666e-01 -9.13338631e-01 -1.05696040e-02 9.73879561e+01] [ 9.13083194e-01 4.07199975e-01 -2.16162500e-02 5.82501479e+01] [ 2.40468987e-02 -8.51737764e-04 9.99710469e-01 3.02882736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:58.27, Z:3.03 [[ 4.05970515e-01 -9.13823657e-01 -1.06894842e-02 9.73982730e+01] [ 9.13562044e-01 4.06110264e-01 -2.18825185e-02 5.82740848e+01] [ 2.43378723e-02 -8.81849684e-04 9.99703401e-01 3.02971330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:58.30, Z:3.03 [[ 4.04906732e-01 -9.14297919e-01 -1.04811144e-02 9.74089254e+01] [ 9.14046046e-01 4.05041399e-01 -2.14776962e-02 5.82992372e+01] [ 2.38822982e-02 -8.83757323e-04 9.99714387e-01 3.03024201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:58.32, Z:3.03 [[ 4.04399670e-01 -9.14518536e-01 -1.08052720e-02 9.74201691e+01] [ 9.14250379e-01 4.04542963e-01 -2.21638562e-02 5.83241020e+01] [ 2.46404541e-02 -9.15667927e-04 9.99695959e-01 3.03135914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:58.35, Z:3.03 [[ 4.03812434e-01 -9.14778820e-01 -1.07344115e-02 9.74306958e+01] [ 9.14513763e-01 4.03954042e-01 -2.20387906e-02 5.83479236e+01] [ 2.44968278e-02 -9.17229381e-04 9.99699487e-01 3.03181308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:58.37, Z:3.03 [[ 4.03525123e-01 -9.14905271e-01 -1.07619513e-02 9.74411277e+01] [ 9.14638342e-01 4.03667563e-01 -2.21178885e-02 5.83734009e+01] [ 2.45800234e-02 -9.18169581e-04 9.99697444e-01 3.03223074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:58.40, Z:3.03 [[ 4.03475907e-01 -9.14926320e-01 -1.08176558e-02 9.74521243e+01] [ 9.14656107e-01 4.03619860e-01 -2.22534237e-02 5.83988541e+01] [ 2.47264637e-02 -9.15714645e-04 9.99693835e-01 3.03301583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.46, Y:58.42, Z:3.03 [[ 4.03756578e-01 -9.14801894e-01 -1.08683400e-02 9.74621362e+01] [ 9.14528573e-01 4.03901818e-01 -2.23788075e-02 5.84242138e+01] [ 2.48619177e-02 -9.03816726e-04 9.99690486e-01 3.03378525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:58.45, Z:3.03 [[ 4.03855450e-01 -9.14754953e-01 -1.11423127e-02 9.74730231e+01] [ 9.14467098e-01 4.04008093e-01 -2.29649208e-02 5.84486549e+01] [ 2.55088595e-02 -9.14769973e-04 9.99674178e-01 3.03474530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:58.47, Z:3.04 [[ 4.03783344e-01 -9.14787966e-01 -1.10448527e-02 9.74843228e+01] [ 9.14504611e-01 4.03933369e-01 -2.27848365e-02 5.84737330e+01] [ 2.53046788e-02 -9.00431293e-04 9.99679380e-01 3.03569255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:58.50, Z:3.04 [[ 4.03848786e-01 -9.14756460e-01 -1.12595191e-02 9.74955710e+01] [ 9.14461405e-01 4.04004698e-01 -2.32495596e-02 5.84987385e+01] [ 2.58165835e-02 -9.07089219e-04 9.99666285e-01 3.03668928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:58.52, Z:3.04 [[ 4.04739812e-01 -9.14361099e-01 -1.13782830e-02 9.75060104e+01] [ 9.14059062e-01 4.04898756e-01 -2.35165769e-02 5.85236598e+01] [ 2.61096957e-02 -8.82327758e-04 9.99658694e-01 3.03775159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:58.55, Z:3.04 [[ 4.05350617e-01 -9.14089157e-01 -1.14843356e-02 9.75165616e+01] [ 9.13780787e-01 4.05512350e-01 -2.37572635e-02 5.85480196e+01] [ 2.63732969e-02 -8.64143824e-04 9.99651791e-01 3.03894878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:58.57, Z:3.04 [[ 4.07168012e-01 -9.13278258e-01 -1.17061434e-02 9.75262082e+01] [ 9.12956889e-01 4.07335434e-01 -2.42397156e-02 5.85726176e+01] [ 2.69059322e-02 -8.17567449e-04 9.99637636e-01 3.03998058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:58.60, Z:3.04 [[ 4.08489221e-01 -9.12687837e-01 -1.17247073e-02 9.75371095e+01] [ 9.12364583e-01 4.08656725e-01 -2.43011997e-02 5.85970660e+01] [ 2.69707899e-02 -7.70429556e-04 9.99635925e-01 3.04071988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:58.62, Z:3.04 [[ 4.09658055e-01 -9.12164519e-01 -1.16691503e-02 9.75481121e+01] [ 9.11843546e-01 4.09823580e-01 -2.42070346e-02 5.86220966e+01] [ 2.68630910e-02 -7.23832654e-04 9.99638860e-01 3.04167901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:58.65, Z:3.04 [[ 4.11056646e-01 -9.11534054e-01 -1.17517084e-02 9.75585541e+01] [ 9.11207661e-01 4.11224037e-01 -2.44006325e-02 5.86457385e+01] [ 2.70745924e-02 -6.78204583e-04 9.99633186e-01 3.04300205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:58.68, Z:3.04 [[ 4.13677204e-01 -9.10422926e-01 1.12551306e-03 9.75628879e+01] [ 9.10035061e-01 4.13464220e-01 -2.97241659e-02 5.86764425e+01] [ 2.65962027e-02 1.33204662e-02 9.99557506e-01 3.03814321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:58.69, Z:3.05 [[ 4.17548646e-01 -9.08328589e-01 -2.43372560e-02 9.75879299e+01] [ 9.08247159e-01 4.18013669e-01 -1.87529079e-02 5.86930552e+01] [ 2.72071081e-02 -1.42739923e-02 9.99527902e-01 3.04799821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:58.72, Z:3.05 [[ 4.18490740e-01 -9.08144735e-01 -1.17745660e-02 9.75925742e+01] [ 9.07814331e-01 4.18656123e-01 -2.44988126e-02 5.87222182e+01] [ 2.71779618e-02 -4.36593601e-04 9.99630516e-01 3.04590289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:58.75, Z:3.05 [[ 4.19641061e-01 -9.07614872e-01 -1.16886275e-02 9.76034806e+01] [ 9.07288570e-01 4.19803634e-01 -2.43384443e-02 5.87460256e+01] [ 2.69968623e-02 -3.91547533e-04 9.99635442e-01 3.04662057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:58.77, Z:3.05 [[ 4.20660492e-01 -9.07143236e-01 -1.16576326e-02 9.76146825e+01] [ 9.06817852e-01 4.20821847e-01 -2.42972318e-02 5.87705204e+01] [ 2.69468560e-02 -3.50463869e-04 9.99636806e-01 3.04758902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:58.80, Z:3.05 [[ 4.22531310e-01 -9.06275253e-01 -1.15090009e-02 9.76263032e+01] [ 9.05957162e-01 4.22687930e-01 -2.40111212e-02 5.87954143e+01] [ 2.66254007e-02 -2.81211313e-04 9.99645442e-01 3.04811047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:58.82, Z:3.05 [[ 4.23045929e-01 -9.06033187e-01 -1.16621988e-02 9.76380244e+01] [ 9.05705907e-01 4.23206565e-01 -2.43518653e-02 5.88205996e+01] [ 2.69991172e-02 -2.60564879e-04 9.99635423e-01 3.04941669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:58.84, Z:3.05 [[ 4.23088059e-01 -9.06013368e-01 -1.16735575e-02 9.76490579e+01] [ 9.05684955e-01 4.23248997e-01 -2.43936031e-02 5.88445034e+01] [ 2.70417521e-02 -2.51923222e-04 9.99634273e-01 3.05003681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:58.87, Z:3.05 [[ 4.23131652e-01 -9.05991522e-01 -1.17884192e-02 9.76605462e+01] [ 9.05655899e-01 4.23295764e-01 -2.46594454e-02 5.88689774e+01] [ 2.73312364e-02 -2.42059537e-04 9.99626403e-01 3.05072049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:58.89, Z:3.05 [[ 4.23257061e-01 -9.05981855e-01 -7.09493003e-03 9.76695118e+01] [ 9.05537014e-01 4.23276206e-01 -2.89822329e-02 5.88940854e+01] [ 2.92604922e-02 5.84221299e-03 9.99554747e-01 3.05076067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:58.92, Z:3.05 [[ 4.21389683e-01 -9.06713776e-01 -1.73454427e-02 9.76878890e+01] [ 9.06449646e-01 4.21701760e-01 -2.27302428e-02 5.89169043e+01] [ 2.79244280e-02 -6.14448061e-03 9.99591152e-01 3.05369426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:58.94, Z:3.05 [[ 4.18967346e-01 -9.07923010e-01 -1.19235042e-02 9.76976957e+01] [ 9.07578549e-01 4.19136839e-01 -2.50097680e-02 5.89429341e+01] [ 2.77045237e-02 -3.43240498e-04 9.99616097e-01 3.05342882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:58.97, Z:3.05 [[ 4.17052063e-01 -9.08804964e-01 -1.18791686e-02 9.77089519e+01] [ 9.08462758e-01 4.17221027e-01 -2.49405513e-02 5.89671034e+01] [ 2.76223358e-02 -3.90273866e-04 9.99618354e-01 3.05439207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:58.99, Z:3.06 [[ 4.15098796e-01 -9.09698458e-01 -1.19040056e-02 9.77206807e+01] [ 9.09354468e-01 4.15269217e-01 -2.50185763e-02 5.89917995e+01] [ 2.77027274e-02 -4.39779728e-04 9.99616109e-01 3.05503886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:59.02, Z:3.05 [[ 4.11877665e-01 -9.11238840e-01 7.51851135e-04 9.77240862e+01] [ 9.10632262e-01 4.11573105e-01 -3.68301770e-02 5.90196502e+01] [ 3.32516461e-02 1.58541872e-02 9.99321256e-01 3.05413024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:59.04, Z:3.06 [[ 4.10244587e-01 -9.11571525e-01 -2.71428572e-02 9.77535254e+01] [ 9.11524143e-01 4.10796189e-01 -1.92412780e-02 5.90367063e+01] [ 2.86899834e-02 -1.68477395e-02 9.99446366e-01 3.05985802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:59.07, Z:3.06 [[ 4.07496949e-01 -9.13117057e-01 -1.27858238e-02 9.77580670e+01] [ 9.12719893e-01 4.07696898e-01 -2.69376363e-02 5.90653416e+01] [ 2.98099559e-02 -6.92871100e-04 9.99555344e-01 3.05684258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:59.09, Z:3.06 [[ 4.06402289e-01 -9.13603098e-01 -1.29057809e-02 9.77700598e+01] [ 9.13197889e-01 4.06606511e-01 -2.72169151e-02 5.90899934e+01] [ 3.01130325e-02 -7.24515253e-04 9.99546237e-01 3.05801700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:59.12, Z:3.06 [[ 4.06333015e-01 -9.13705029e-01 -6.04983689e-03 9.77774650e+01] [ 9.13112172e-01 4.06294031e-01 -3.39311351e-02 5.91160769e+01] [ 3.34610614e-02 8.26316074e-03 9.99405862e-01 3.05827470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:59.13, Z:3.06 [[ 4.05789258e-01 -9.13610970e-01 -2.54965405e-02 9.78014163e+01] [ 9.13502470e-01 4.06314306e-01 -2.05407376e-02 5.91341786e+01] [ 2.91258523e-02 -1.49559421e-02 9.99463859e-01 3.06261607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:59.17, Z:3.06 [[ 4.04245860e-01 -9.14611855e-01 -8.39285466e-03 9.78035138e+01] [ 9.14123299e-01 4.04307372e-01 -3.02348082e-02 5.91658314e+01] [ 3.10464070e-02 4.55019208e-03 9.99507587e-01 3.06038666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:59.19, Z:3.06 [[ 4.04292540e-01 -9.14532749e-01 -1.33189059e-02 9.78183532e+01] [ 9.14098779e-01 4.04511113e-01 -2.81812379e-02 5.91878370e+01] [ 3.11603104e-02 -7.81331368e-04 9.99514094e-01 3.06267708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:59.21, Z:3.06 [[ 4.03908987e-01 -9.14702061e-01 -1.33293065e-02 9.78300884e+01] [ 9.14266606e-01 4.04128106e-01 -2.82320090e-02 5.92121729e+01] [ 3.12106242e-02 -7.83377645e-04 9.99512523e-01 3.06381963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:59.24, Z:3.07 [[ 4.03881305e-01 -9.14712968e-01 -1.34193028e-02 9.78417082e+01] [ 9.14270721e-01 4.04103428e-01 -2.84511506e-02 5.92356545e+01] [ 3.14474227e-02 -7.77987838e-04 9.99505105e-01 3.06523548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:59.26, Z:3.07 [[ 4.03750716e-01 -9.14816257e-01 -9.82726368e-03 9.78511617e+01] [ 9.14271398e-01 4.03851888e-01 -3.18035162e-02 5.92615889e+01] [ 3.30631327e-02 3.85590635e-03 9.99445827e-01 3.06566958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:59.28, Z:3.07 [[ 4.04273300e-01 -9.14467037e-01 -1.76956814e-02 9.78679769e+01] [ 9.14087701e-01 4.04625512e-01 -2.68676438e-02 5.92838630e+01] [ 3.17296988e-02 -5.31353374e-03 9.99482362e-01 3.06822598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:59.32, Z:3.06 [[ 4.03577578e-01 -9.14924861e-01 6.13487076e-03 9.78661184e+01] [ 9.14431586e-01 4.03117168e-01 -3.62135954e-02 5.93162709e+01] [ 3.06596470e-02 2.02249147e-02 9.99325242e-01 3.05856707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:59.33, Z:3.07 [[ 4.04328877e-01 -9.14039969e-01 -3.23897311e-02 9.78999571e+01] [ 9.14079481e-01 4.05049432e-01 -1.98408818e-02 5.93290479e+01] [ 3.12548011e-02 -2.15845471e-02 9.99278362e-01 3.07381639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:59.36, Z:3.07 [[ 4.04298047e-01 -9.14522980e-01 -1.38133060e-02 9.79015464e+01] [ 9.14049998e-01 4.04533289e-01 -2.94179995e-02 5.93576442e+01] [ 3.24913787e-02 -7.32412618e-04 9.99471747e-01 3.07061032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:59.39, Z:3.06 [[ 4.02889350e-01 -9.15142953e-01 1.39121468e-02 9.78972515e+01] [ 9.14758490e-01 4.02129614e-01 -3.88417053e-02 5.93906120e+01] [ 2.99512266e-02 2.83751638e-02 9.99148525e-01 3.05751160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:59.41, Z:3.06 [[ 4.02892535e-01 -9.15166400e-01 -1.21681931e-02 9.79244325e+01] [ 9.14761505e-01 4.03076212e-01 -2.72205212e-02 5.94094910e+01] [ 2.98160156e-02 -1.64049855e-04 9.99555390e-01 3.06487269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:59.44, Z:3.06 [[ 4.02217198e-01 -9.15495714e-01 -9.42995144e-03 9.79352799e+01] [ 9.15045331e-01 4.02316673e-01 -2.88675705e-02 5.94360881e+01] [ 3.02219638e-02 2.98220030e-03 9.99538763e-01 3.06489697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:59.45, Z:3.08 [[ 4.02958997e-01 -9.14162703e-01 -4.39385921e-02 9.79674827e+01] [ 9.14543478e-01 4.04040597e-01 -1.90111106e-02 5.94503773e+01] [ 3.51322232e-02 -3.25230548e-02 9.98853331e-01 3.08365695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:59.49, Z:3.06 [[ 4.00261152e-01 -9.16335184e-01 1.09927324e-02 9.79465340e+01] [ 9.15773034e-01 3.99513997e-01 -4.18128693e-02 5.94914085e+01] [ 3.39228529e-02 2.68029151e-02 9.99064985e-01 3.06392910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:59.50, Z:3.08 [[ 4.01570688e-01 -9.14948063e-01 -4.01375644e-02 9.79887036e+01] [ 9.15135911e-01 4.02585199e-01 -2.12467084e-02 5.95005023e+01] [ 3.55984241e-02 -2.81992713e-02 9.98968244e-01 3.08476248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:59.53, Z:3.08 [[ 4.00507396e-01 -9.16165193e-01 -1.53350735e-02 9.79868512e+01] [ 9.15576922e-01 4.00799887e-01 -3.28382479e-02 5.95303231e+01] [ 3.62315555e-02 -8.88478225e-04 9.99343027e-01 3.07952058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:59.56, Z:3.07 [[ 3.98149853e-01 -9.17191055e-01 1.54033252e-02 9.79795804e+01] [ 9.16692764e-01 3.97200300e-01 -4.36611846e-02 5.95638394e+01] [ 3.39274426e-02 3.15038110e-02 9.98927644e-01 3.06530847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:59.58, Z:3.07 [[ 3.98564177e-01 -9.17027728e-01 -1.43786011e-02 9.80092689e+01] [ 9.16556459e-01 3.98820823e-01 -2.94314224e-02 5.95799584e+01] [ 3.27239159e-02 -1.44848907e-03 9.99463380e-01 3.07308802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.912755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.04, Y:59.60, Z:3.09 [[ 3.98168665e-01 -9.16243231e-01 -4.42725119e-02 9.80397920e+01] [ 9.16600789e-01 3.99296664e-01 -2.01288106e-02 5.95958763e+01] [ 3.61207528e-02 -3.25655577e-02 9.98816688e-01 3.09102633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:59.64, Z:3.07 [[ 3.95826389e-01 -9.18209994e-01 1.45559648e-02 9.80166823e+01] [ 9.17637582e-01 3.94866900e-01 -4.49599784e-02 5.96376276e+01] [ 3.55350328e-02 3.11534463e-02 9.98882738e-01 3.06939823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:59.65, Z:3.09 [[ 3.95403288e-01 -9.17900866e-01 -3.33802492e-02 9.80565720e+01] [ 9.17697689e-01 3.96319495e-01 -2.76008880e-02 5.96495000e+01] [ 3.85641226e-02 -1.97194957e-02 9.99061535e-01 3.09040765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:59.67, Z:3.09 [[ 3.95726853e-01 -9.17995586e-01 -2.61603026e-02 9.80651682e+01] [ 9.17676758e-01 3.96373635e-01 -2.75192458e-02 5.96736095e+01] [ 3.56318004e-02 -1.31165971e-02 9.99278905e-01 3.08870391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:59.70, Z:3.08 [[ 3.95554907e-01 -9.18415253e-01 -7.05249508e-03 9.80654034e+01] [ 9.17660432e-01 3.95523291e-01 -3.82185516e-02 5.97036271e+01] [ 3.78899268e-02 8.64573994e-03 9.99244517e-01 3.08469401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:59.73, Z:3.08 [[ 3.94458687e-01 -9.18912166e-01 1.66608335e-03 9.80715172e+01] [ 9.18209298e-01 3.94084697e-01 -3.98614681e-02 5.97308566e+01] [ 3.59726100e-02 1.72535156e-02 9.99203827e-01 3.07805956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:59.75, Z:3.09 [[ 3.94465720e-01 -9.18170834e-01 -3.68661795e-02 9.81051292e+01] [ 9.18194819e-01 3.95424362e-01 -2.36188262e-02 5.97458923e+01] [ 3.62639028e-02 -2.45335177e-02 9.99041058e-01 3.09492622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:59.78, Z:3.09 [[ 3.96165698e-01 -9.18173079e-01 -3.30697519e-03 9.80980560e+01] [ 9.17420791e-01 3.95982314e-01 -3.92058594e-02 5.97800314e+01] [ 3.73072683e-02 1.24981289e-02 9.99225682e-01 3.08542644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:59.80, Z:3.10 [[ 3.97194581e-01 -9.17191795e-01 -3.15543380e-02 9.81248242e+01] [ 9.16997099e-01 3.98018779e-01 -2.64077854e-02 5.97969845e+01] [ 3.67802232e-02 -1.84462072e-02 9.99153118e-01 3.09595374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:59.83, Z:3.09 [[ 3.99998734e-01 -9.16332775e-01 -1.83100380e-02 9.81307425e+01] [ 9.15590667e-01 4.00412620e-01 -3.69251210e-02 5.98276908e+01] [ 4.11672689e-02 -1.99449826e-03 9.99150278e-01 3.09480576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:59.85, Z:3.09 [[ 3.99127032e-01 -9.16772764e-01 -1.50104160e-02 9.81369032e+01] [ 9.16127737e-01 3.99409188e-01 -3.43841600e-02 5.98500825e+01] [ 3.75177594e-02 -2.78107705e-05 9.99295961e-01 3.09344326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:59.88, Z:3.09 [[ 4.03001937e-01 -9.15183595e-01 -5.33169200e-03 9.81416490e+01] [ 9.14261666e-01 4.02845917e-01 -4.29042339e-02 5.98765616e+01] [ 4.14131014e-02 1.24159278e-02 9.99064963e-01 3.09321532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:59.90, Z:3.10 [[ 4.03848310e-01 -9.14659155e-01 -1.74692045e-02 9.81602623e+01] [ 9.13890841e-01 4.04225124e-01 -3.74910575e-02 5.98995364e+01] [ 4.13530303e-02 -8.24245823e-04 9.99144258e-01 3.09756560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:59.92, Z:3.10 [[ 4.05046941e-01 -9.14021863e-01 -2.23832269e-02 9.81746118e+01] [ 9.13409012e-01 4.05610799e-01 -3.41153546e-02 5.99223366e+01] [ 4.02610585e-02 -6.62672115e-03 9.99167220e-01 3.10012577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:59.95, Z:3.10 [[ 4.06848806e-01 -9.13347570e-01 -1.64397549e-02 9.81852673e+01] [ 9.12518727e-01 4.07179971e-01 -3.89107172e-02 5.99519332e+01] [ 4.22329479e-02 8.29194643e-04 9.99107447e-01 3.10005801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.362755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:98.19, Y:59.98, Z:3.10 [[ 4.06138432e-01 -9.13759774e-01 -9.72884018e-03 9.81907123e+01] [ 9.12842066e-01 4.06174836e-01 -4.17296692e-02 5.99760949e+01] [ 4.20825032e-02 8.06712783e-03 9.99081570e-01 3.09803540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:59.99, Z:3.11 [[ 4.06845411e-01 -9.13162218e-01 -2.47300457e-02 9.82104156e+01] [ 9.12628016e-01 4.07489968e-01 -3.25888162e-02 5.99949139e+01] [ 3.98361212e-02 -9.31072228e-03 9.99162847e-01 3.10502815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:60.02, Z:3.11 [[ 4.07702013e-01 -9.12614169e-01 -3.02398363e-02 9.82278134e+01] [ 9.12093235e-01 4.08588673e-01 -3.37820663e-02 6.00201866e+01] [ 4.31856469e-02 -1.38085337e-02 9.98971633e-01 3.11076412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:60.05, Z:3.10 [[ 4.06581559e-01 -9.13606306e-01 -3.86688319e-03 9.82223230e+01] [ 9.12742043e-01 4.06374586e-01 -4.19721229e-02 6.00494774e+01] [ 3.99173992e-02 1.35356243e-02 9.99111299e-01 3.10279161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:60.07, Z:3.11 [[ 4.06180757e-01 -9.13672651e-01 -1.48148524e-02 9.82406204e+01] [ 9.12885432e-01 4.06446414e-01 -3.79670933e-02 6.00719614e+01] [ 4.07109384e-02 1.89723974e-03 9.99169165e-01 3.10751664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.25, Y:60.10, Z:3.11 [[ 4.05745558e-01 -9.13853770e-01 -1.55508712e-02 9.82523307e+01] [ 9.13079039e-01 4.06042041e-01 -3.76368218e-02 6.00954610e+01] [ 4.07088589e-02 1.07179876e-03 9.99170476e-01 3.10896235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:60.12, Z:3.11 [[ 4.04142854e-01 -9.14595380e-01 -1.35589329e-02 9.82635068e+01] [ 9.13720563e-01 4.04351926e-01 -4.01777519e-02 6.01218668e+01] [ 4.22289669e-02 3.84847550e-03 9.99100547e-01 3.11037136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:60.14, Z:3.12 [[ 4.04049991e-01 -9.14188089e-01 -3.16818927e-02 9.82879017e+01] [ 9.13698105e-01 4.04999152e-01 -3.36371906e-02 6.01443357e+01] [ 4.35818587e-02 -1.53565788e-02 9.98931828e-01 3.11794000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:60.17, Z:3.11 [[ 4.01704171e-01 -9.15560377e-01 -1.95692249e-02 9.82909742e+01] [ 9.14970040e-01 4.02154552e-01 -3.31894782e-02 6.01686049e+01] [ 3.82568241e-02 -4.57290264e-03 9.99257476e-01 3.11215036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:60.19, Z:3.12 [[ 4.02390506e-01 -9.15335912e-01 -1.55579284e-02 9.83023836e+01] [ 9.14298550e-01 4.02677157e-01 -4.36951686e-02 6.01946641e+01] [ 4.62605794e-02 3.35792963e-03 9.98923762e-01 3.11706956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:60.22, Z:3.11 [[ 3.99310467e-01 -9.16808849e-01 -3.56157870e-03 9.83036710e+01] [ 9.15714750e-01 3.99018248e-01 -4.74440178e-02 6.02232929e+01] [ 4.49182303e-02 1.56835028e-02 9.98867549e-01 3.11210133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:60.24, Z:3.12 [[ 3.99803426e-01 -9.16069012e-01 -3.12215529e-02 9.83355199e+01] [ 9.15209335e-01 4.00841034e-01 -4.14528447e-02 6.02434998e+01] [ 5.04885461e-02 -1.20012673e-02 9.98652530e-01 3.12370529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:60.26, Z:3.12 [[ 3.97074403e-01 -9.17541014e-01 -2.12227991e-02 9.83379974e+01] [ 9.16813772e-01 3.97611840e-01 -3.68419859e-02 6.02647438e+01] [ 4.22424693e-02 -4.82834494e-03 9.99095722e-01 3.11716757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:60.29, Z:3.12 [[ 3.95233079e-01 -9.18562157e-01 -5.86309567e-03 9.83401784e+01] [ 9.17380737e-01 3.95034830e-01 -4.85805117e-02 6.02947103e+01] [ 4.69403466e-02 1.38219342e-02 9.98802061e-01 3.11561951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:60.31, Z:3.12 [[ 3.92398407e-01 -9.19273901e-01 -3.09674929e-02 9.83674651e+01] [ 9.18799717e-01 3.93317527e-01 -3.32927020e-02 6.03120970e+01] [ 4.27851698e-02 -1.53889205e-02 9.98965770e-01 3.12228528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:60.34, Z:3.12 [[ 3.91208443e-01 -9.20130962e-01 -1.77473102e-02 9.83720681e+01] [ 9.19297922e-01 3.91609525e-01 -3.91575067e-02 6.03402877e+01] [ 4.29800501e-02 -9.96318218e-04 9.99075434e-01 3.12028643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.38, Y:60.36, Z:3.12 [[ 3.90020298e-01 -9.20732765e-01 -1.16337368e-02 9.83805291e+01] [ 9.19692704e-01 3.90138708e-01 -4.42393394e-02 6.03649110e+01] [ 4.52713803e-02 6.55477749e-03 9.98953221e-01 3.12102642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:60.39, Z:3.13 [[ 3.88703649e-01 -9.21039542e-01 -2.44056369e-02 9.84002419e+01] [ 9.20341889e-01 3.89383332e-01 -3.67617864e-02 6.03871719e+01] [ 4.33622071e-02 -8.17208940e-03 9.99025994e-01 3.12562837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.41, Y:60.41, Z:3.13 [[ 3.88387122e-01 -9.21320996e-01 -1.79740593e-02 9.84092808e+01] [ 9.20463393e-01 3.88801243e-01 -3.97584537e-02 6.04138257e+01] [ 4.36186347e-02 -1.10279229e-03 9.99047646e-01 3.12591804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.932755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.42, Y:60.44, Z:3.13 [[ 3.87489522e-01 -9.21704186e-01 -1.76992935e-02 9.84204692e+01] [ 9.20871555e-01 3.87891932e-01 -3.91845521e-02 6.04375548e+01] [ 4.29819788e-02 -1.11517255e-03 9.99075225e-01 3.12500994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:60.47, Z:3.13 [[ 3.88623850e-01 -9.21300780e-01 -1.32806651e-02 9.84314167e+01] [ 9.20408110e-01 3.88834083e-01 -4.07058510e-02 6.04656356e+01] [ 4.26663075e-02 3.59563266e-03 9.99082908e-01 3.12502013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:60.49, Z:3.13 [[ 3.87893013e-01 -9.21414963e-01 -2.30971148e-02 9.84455223e+01] [ 9.20654639e-01 3.88525216e-01 -3.79893844e-02 6.04857529e+01] [ 4.39777987e-02 -6.52864913e-03 9.99011176e-01 3.13224503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.022755096 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.47, Y:60.51, Z:3.14 [[ 3.91089250e-01 -9.19603721e-01 -3.71240449e-02 9.84692691e+01] [ 9.19101590e-01 3.92342291e-01 -3.63289801e-02 6.05092367e+01] [ 4.79735980e-02 -1.99128951e-02 9.98650094e-01 3.13950017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:60.55, Z:3.12 [[ 3.89882490e-01 -9.20755364e-01 1.41846304e-02 9.84496933e+01] [ 9.19952966e-01 3.88765051e-01 -5.04804557e-02 6.05472903e+01] [ 4.09656618e-02 3.27306385e-02 9.98624314e-01 3.11966290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.082755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.49, Y:60.56, Z:3.14 [[ 3.90582990e-01 -9.19954405e-01 -3.35979270e-02 9.84872834e+01] [ 9.19538677e-01 3.91611652e-01 -3.29990180e-02 6.05581228e+01] [ 4.35149317e-02 -1.80057383e-02 9.98890507e-01 3.13886105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.112755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.49, Y:60.59, Z:3.13 [[ 3.92657730e-01 -9.19507859e-01 -1.80334106e-02 9.84913621e+01] [ 9.18626226e-01 3.93070891e-01 -4.02632929e-02 6.05876747e+01] [ 4.41108230e-02 -7.56270706e-04 9.99026358e-01 3.13475406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:60.61, Z:3.14 [[ 3.93704601e-01 -9.19066307e-01 -1.77147242e-02 9.85024677e+01] [ 9.18213687e-01 3.94102347e-01 -3.95849120e-02 6.06121847e+01] [ 4.33625732e-02 -6.81140221e-04 9.99059169e-01 3.13761227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:60.63, Z:3.16 [[ 3.98766189e-01 -9.15638287e-01 -5.09122303e-02 9.85387887e+01] [ 9.15751998e-01 4.00542254e-01 -3.10512683e-02 6.06315332e+01] [ 4.88242296e-02 -3.42407807e-02 9.98220298e-01 3.15547772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.202755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.51, Y:60.67, Z:3.13 [[ 3.95842447e-01 -9.18240535e-01 1.19614997e-02 9.85101222e+01] [ 9.17209629e-01 3.94691058e-01 -5.42721399e-02 6.06691922e+01] [ 4.51137818e-02 3.24544194e-02 9.98454534e-01 3.13050434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:60.69, Z:3.14 [[ 3.96129410e-01 -9.18015209e-01 -1.81539629e-02 9.85387030e+01] [ 9.17113600e-01 3.96544814e-01 -4.06799086e-02 6.06851625e+01] [ 4.45436347e-02 -5.34738118e-04 9.99007297e-01 3.14109895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:60.71, Z:3.15 [[ 3.98238579e-01 -9.16703531e-01 -3.25679430e-02 9.85632680e+01] [ 9.16043861e-01 3.99294372e-01 -3.77842354e-02 6.07080858e+01] [ 4.76411384e-02 -1.47865240e-02 9.98755065e-01 3.15035998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:60.74, Z:3.14 [[ 3.96239389e-01 -9.18128619e-01 -5.84684938e-03 9.85560700e+01] [ 9.17013419e-01 3.96058428e-01 -4.71604717e-02 6.07368788e+01] [ 4.56150727e-02 1.33251972e-02 9.98870214e-01 3.14000460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:60.76, Z:3.14 [[ 3.95392278e-01 -9.18323605e-01 -1.86199676e-02 9.85749068e+01] [ 9.17370211e-01 3.95830098e-01 -4.18381318e-02 6.07584584e+01] [ 4.57912876e-02 -5.38929431e-04 9.98950883e-01 3.14449845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:60.78, Z:3.15 [[ 3.94127196e-01 -9.18862382e-01 -1.88593656e-02 9.85872497e+01] [ 9.17883042e-01 3.94577712e-01 -4.24163861e-02 6.07819347e+01] [ 4.64163069e-02 -5.93240505e-04 9.98922006e-01 3.14573222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.60, Y:60.81, Z:3.14 [[ 3.93860277e-01 -9.19097355e-01 -1.15816605e-02 9.85971861e+01] [ 9.18094968e-01 3.93977576e-01 -4.33970050e-02 6.08097597e+01] [ 4.44489870e-02 6.45929219e-03 9.98990773e-01 3.14149461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.412755096 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:98.61, Y:60.83, Z:3.15 [[ 3.91226887e-01 -9.19928758e-01 -2.59345928e-02 9.86149178e+01] [ 9.19052850e-01 3.92007222e-01 -4.08925112e-02 6.08297158e+01] [ 4.77847447e-02 -7.83701149e-03 9.98826912e-01 3.14757784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:60.86, Z:3.15 [[ 3.90502741e-01 -9.20268571e-01 -2.47662219e-02 9.86309848e+01] [ 9.19227541e-01 3.91248075e-01 -4.41097766e-02 6.08575409e+01] [ 5.02825777e-02 -5.54080460e-03 9.98719661e-01 3.15348245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:60.88, Z:3.15 [[ 3.87733664e-01 -9.21644693e-01 -1.52860954e-02 9.86334920e+01] [ 9.20577616e-01 3.88021979e-01 -4.44499336e-02 6.08809527e+01] [ 4.68983864e-02 3.16269841e-03 9.98894658e-01 3.14873412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:60.91, Z:3.15 [[ 3.83326556e-01 -9.23256330e-01 -2.56612471e-02 9.86559040e+01] [ 9.22423625e-01 3.84094661e-01 -4.00742793e-02 6.09113190e+01] [ 4.68551800e-02 -8.30900506e-03 9.98867135e-01 3.15321156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:60.93, Z:3.15 [[ 3.81278120e-01 -9.24353651e-01 -1.40471626e-02 9.86575168e+01] [ 9.23238315e-01 3.81511182e-01 -4.56095540e-02 6.09325796e+01] [ 4.75185073e-02 4.42104624e-03 9.98860574e-01 3.15022313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:60.96, Z:3.15 [[ 3.79655970e-01 -9.24927903e-01 -1.92280849e-02 9.86719416e+01] [ 9.23892199e-01 3.80140846e-01 -4.37737576e-02 6.09559827e+01] [ 4.77969503e-02 -1.14570918e-03 9.98856416e-01 3.15282480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:60.98, Z:3.15 [[ 3.79474199e-01 -9.25002778e-01 -1.92143832e-02 9.86832723e+01] [ 9.23966867e-01 3.79958630e-01 -4.37797715e-02 6.09821584e+01] [ 4.77970810e-02 -1.14015970e-03 9.98856416e-01 3.15393130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:61.01, Z:3.16 [[ 3.77496491e-01 -9.25803783e-01 -1.95896338e-02 9.86958019e+01] [ 9.24726728e-01 3.78002353e-01 -4.46620514e-02 6.10068643e+01] [ 4.87532238e-02 -1.25529025e-03 9.98810066e-01 3.15558564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:61.03, Z:3.16 [[ 3.76526745e-01 -9.26199591e-01 -1.95429930e-02 9.87075279e+01] [ 9.25126308e-01 3.77031375e-01 -4.45943569e-02 6.10320584e+01] [ 4.86715966e-02 -1.28876889e-03 9.98814004e-01 3.15685840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:61.06, Z:3.16 [[ 3.75706516e-01 -9.26529708e-01 -1.96802769e-02 9.87193945e+01] [ 9.25439806e-01 3.76219273e-01 -4.49469127e-02 6.10579727e+01] [ 4.90487493e-02 -1.32606364e-03 9.98795505e-01 3.15821552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.712755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.73, Y:61.08, Z:3.16 [[ 3.75165306e-01 -9.26733755e-01 -2.03848366e-02 9.87321240e+01] [ 9.25562502e-01 3.75716155e-01 -4.65985538e-02 6.10818315e+01] [ 5.08433651e-02 -1.38527971e-03 9.98705679e-01 3.15834259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:61.11, Z:3.16 [[ 3.74850160e-01 -9.26901111e-01 -1.84848098e-02 9.87417829e+01] [ 9.25731946e-01 3.75305501e-01 -4.65418692e-02 6.11074841e+01] [ 5.00771611e-02 3.34248133e-04 9.98745296e-01 3.16058257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.772755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.76, Y:61.13, Z:3.17 [[ 3.75190828e-01 -9.26365304e-01 -3.28506500e-02 9.87623752e+01] [ 9.25574995e-01 3.76327830e-01 -4.10888515e-02 6.11294498e+01] [ 5.04259002e-02 -1.49895800e-02 9.98615312e-01 3.16643751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.802755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.76, Y:61.16, Z:3.16 [[ 3.74729124e-01 -9.27110202e-01 -6.69005143e-03 9.87576361e+01] [ 9.25868369e-01 3.74584660e-01 -4.95388293e-02 6.11595662e+01] [ 4.84339447e-02 1.23695351e-02 9.98749792e-01 3.15726717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.832755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.77, Y:61.18, Z:3.16 [[ 3.74874645e-01 -9.26932046e-01 -1.63089931e-02 9.87738637e+01] [ 9.25778100e-01 3.75222462e-01 -4.62926895e-02 6.11823189e+01] [ 4.90296779e-02 2.25544685e-03 9.98794776e-01 3.16172142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:61.21, Z:3.16 [[ 3.75564710e-01 -9.26643802e-01 -1.68051327e-02 9.87857395e+01] [ 9.25559049e-01 3.75938303e-01 -4.48423771e-02 6.12090509e+01] [ 4.78706039e-02 1.28707172e-03 9.98852716e-01 3.16315985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:61.23, Z:3.17 [[ 3.77804281e-01 -9.25546606e-01 -2.50480588e-02 9.88019385e+01] [ 9.24639454e-01 3.78560796e-01 -4.16365704e-02 6.12308565e+01] [ 4.80187995e-02 -7.42994889e-03 9.98818798e-01 3.16862216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:61.26, Z:3.17 [[ 3.80532556e-01 -9.24479898e-01 -2.30627611e-02 9.88141649e+01] [ 9.23425865e-01 3.81205185e-01 -4.43540125e-02 6.12587751e+01] [ 4.97960371e-02 -4.41860436e-03 9.98749634e-01 3.17135103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:61.28, Z:3.17 [[ 3.81308243e-01 -9.24307959e-01 -1.60879300e-02 9.88182133e+01] [ 9.23204721e-01 3.81640017e-01 -4.52099563e-02 6.12821361e+01] [ 4.79277203e-02 2.38647609e-03 9.98847956e-01 3.16893344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.982755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.84, Y:61.31, Z:3.18 [[ 3.84750406e-01 -9.22476868e-01 -3.16789138e-02 9.88412190e+01] [ 9.21634081e-01 3.85826612e-01 -4.15745810e-02 6.13058445e+01] [ 5.05741572e-02 -1.32005297e-02 9.98633066e-01 3.17697069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:61.34, Z:3.17 [[ 3.85529949e-01 -9.22655842e-01 -8.53556292e-03 9.88380494e+01] [ 9.21436440e-01 3.85470539e-01 -4.86554172e-02 6.13358764e+01] [ 4.81824129e-02 1.08931418e-02 9.98779152e-01 3.16938779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.85, Y:61.36, Z:3.17 [[ 3.85718966e-01 -9.22427566e-01 -1.86618534e-02 9.88532814e+01] [ 9.21373338e-01 3.86170105e-01 -4.40888061e-02 6.13571536e+01] [ 4.78753800e-02 -1.88645436e-04 9.98853299e-01 3.17327814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.072755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.86, Y:61.38, Z:3.17 [[ 3.87104150e-01 -9.21837983e-01 -1.91078556e-02 9.88643356e+01] [ 9.20774739e-01 3.87575183e-01 -4.42646258e-02 6.13820268e+01] [ 4.82105440e-02 -4.59010431e-04 9.98837090e-01 3.17405470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:61.41, Z:3.18 [[ 3.87753416e-01 -9.21568741e-01 -1.89299870e-02 9.88746517e+01] [ 9.20522993e-01 3.88215006e-01 -4.38922326e-02 6.14060116e+01] [ 4.77986145e-02 -4.06125227e-04 9.98856910e-01 3.17555343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:61.43, Z:3.17 [[ 3.85823193e-01 -9.22518145e-01 -1.00367810e-02 9.88793697e+01] [ 9.21153341e-01 3.85810042e-01 -5.12555762e-02 6.14346189e+01] [ 5.11564900e-02 1.05301757e-02 9.98635133e-01 3.17494898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:61.45, Z:3.18 [[ 3.86974508e-01 -9.21634618e-01 -2.89889817e-02 9.89017736e+01] [ 9.20868421e-01 3.87888641e-01 -3.92906243e-02 6.14523290e+01] [ 4.74560962e-02 -1.14905678e-02 9.98807232e-01 3.18107820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:61.48, Z:3.18 [[ 3.85197454e-01 -9.22698070e-01 -1.58490789e-02 9.89053274e+01] [ 9.21552893e-01 3.85510604e-01 -4.60634276e-02 6.14813458e+01] [ 4.86126237e-02 3.13775054e-03 9.98812779e-01 3.17848409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:61.51, Z:3.18 [[ 3.80146397e-01 -9.24652339e-01 -2.25115208e-02 9.89207560e+01] [ 9.23746947e-01 3.80777907e-01 -4.12281756e-02 6.15063926e+01] [ 4.66936188e-02 -5.12220620e-03 9.98896125e-01 3.18147512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:61.53, Z:3.18 [[ 3.80849099e-01 -9.24460520e-01 -1.80751249e-02 9.89282278e+01] [ 9.23506845e-01 3.81277135e-01 -4.19863585e-02 6.15255889e+01] [ 4.57063626e-02 -7.02034749e-04 9.98954671e-01 3.18032507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:61.55, Z:3.18 [[ 3.77164286e-01 -9.26060454e-01 -1.26149176e-02 9.89370650e+01] [ 9.24861829e-01 3.77323367e-01 -4.75149895e-02 6.15530313e+01] [ 4.87616559e-02 6.25390133e-03 9.98790864e-01 3.18043263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:61.57, Z:3.18 [[ 3.75640704e-01 -9.26426253e-01 -2.50691079e-02 9.89552134e+01] [ 9.25598699e-01 3.76387407e-01 -3.99945979e-02 6.15725639e+01] [ 4.64877420e-02 -8.18033477e-03 9.98885365e-01 3.18492479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.96, Y:61.60, Z:3.18 [[ 3.73465122e-01 -9.27464265e-01 -1.82713015e-02 9.89625835e+01] [ 9.26482577e-01 3.73910491e-01 -4.26729269e-02 6.15992644e+01] [ 4.64094461e-02 -9.91192678e-04 9.98922009e-01 3.18350883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:61.63, Z:3.18 [[ 3.68753395e-01 -9.29485749e-01 -8.78494481e-03 9.89692199e+01] [ 9.28231930e-01 3.68721846e-01 -4.92918340e-02 6.16288794e+01] [ 4.90552584e-02 1.00220649e-02 9.98745783e-01 3.18226449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:61.65, Z:3.19 [[ 3.68301752e-01 -9.29235455e-01 -2.95852792e-02 9.89932499e+01] [ 9.28311470e-01 3.69305434e-01 -4.30268638e-02 6.16479159e+01] [ 5.09080917e-02 -1.16174847e-02 9.98635770e-01 3.19205872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:61.67, Z:3.20 [[ 3.66646037e-01 -9.29751573e-01 -3.36555512e-02 9.90088658e+01] [ 9.29093113e-01 3.67794490e-01 -3.88998835e-02 6.16737604e+01] [ 4.85455542e-02 -1.70066527e-02 9.98676175e-01 3.19515728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:61.70, Z:3.18 [[ 3.61923803e-01 -9.32194727e-01 -4.91445678e-03 9.90000339e+01] [ 9.31041454e-01 3.61729619e-01 -4.80987866e-02 6.17030981e+01] [ 4.66151398e-02 1.28325328e-02 9.98830494e-01 3.18300511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:61.73, Z:3.19 [[ 3.58607434e-01 -9.33467272e-01 -6.28976895e-03 9.90105734e+01] [ 9.32095598e-01 3.58432167e-01 -5.21936643e-02 6.17315918e+01] [ 5.09755329e-02 1.28543701e-02 9.98617174e-01 3.18662913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:61.74, Z:3.19 [[ 3.60027534e-01 -9.32411154e-01 -3.14581426e-02 9.90356545e+01] [ 9.31851129e-01 3.61032096e-01 -3.61842474e-02 6.17440693e+01] [ 4.50959950e-02 -1.62869804e-02 9.98849881e-01 3.19378163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.552755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:99.04, Y:61.77, Z:3.19 [[ 3.59434275e-01 -9.32999443e-01 -1.78617505e-02 9.90381716e+01] [ 9.32042582e-01 3.59874872e-01 -4.22693987e-02 6.17722809e+01] [ 4.58653206e-02 -1.45484136e-03 9.98946573e-01 3.18955694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:61.80, Z:3.19 [[ 3.57829354e-01 -9.33336073e-01 -2.90160006e-02 9.90559533e+01] [ 9.32886669e-01 3.58675913e-01 -3.27727446e-02 6.17986583e+01] [ 4.09953252e-02 -1.53415901e-02 9.99041550e-01 3.19415224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.612755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.05, Y:61.82, Z:3.19 [[ 3.61537772e-01 -9.32342931e-01 -5.20561109e-03 9.90516507e+01] [ 9.31254787e-01 3.61376023e-01 -4.66035614e-02 6.18243490e+01] [ 4.53316841e-02 1.20011975e-02 9.98899900e-01 3.18888170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:61.85, Z:3.19 [[ 3.62355954e-01 -9.31877930e-01 -1.73691162e-02 9.90690928e+01] [ 9.30966573e-01 3.62769903e-01 -4.12218090e-02 6.18467569e+01] [ 4.47146866e-02 -1.23309866e-03 9.98999037e-01 3.19348382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:61.87, Z:3.19 [[ 3.64503326e-01 -9.31040069e-01 -1.73699605e-02 9.90795431e+01] [ 9.30125961e-01 3.64915257e-01 -4.12619941e-02 6.18730667e+01] [ 4.47551334e-02 -1.11611713e-03 9.98997364e-01 3.19490724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.09, Y:61.90, Z:3.20 [[ 3.65935249e-01 -9.30483564e-01 -1.70801101e-02 9.90892833e+01] [ 9.29597517e-01 3.66332229e-01 -4.06097915e-02 6.18974174e+01] [ 4.40437383e-02 -1.01707382e-03 9.99029086e-01 3.19581773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:61.92, Z:3.20 [[ 3.69450979e-01 -9.29101386e-01 -1.66309513e-02 9.90988706e+01] [ 9.28258224e-01 3.69824217e-01 -3.95817841e-02 6.19237721e+01] [ 4.29260190e-02 -8.14288498e-04 9.99077922e-01 3.19712652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:61.95, Z:3.20 [[ 3.71214166e-01 -9.28403632e-01 -1.63321649e-02 9.91084025e+01] [ 9.27588409e-01 3.71572599e-01 -3.89043298e-02 6.19487394e+01] [ 4.21875060e-02 -7.07688550e-04 9.99109460e-01 3.19804026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:61.97, Z:3.20 [[ 3.73226956e-01 -9.27596570e-01 -1.63169352e-02 9.91179548e+01] [ 9.26780794e-01 3.73582974e-01 -3.88988587e-02 6.19731532e+01] [ 4.21781771e-02 -6.04119478e-04 9.99109922e-01 3.19891744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:62.00, Z:3.20 [[ 3.77318112e-01 -9.25944624e-01 -1.60497769e-02 9.91270380e+01] [ 9.25152237e-01 3.77659100e-01 -3.83006820e-02 6.19976721e+01] [ 4.15256549e-02 -3.96945993e-04 9.99137359e-01 3.19925321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:62.02, Z:3.20 [[ 3.80301083e-01 -9.24724472e-01 -1.59917677e-02 9.91360232e+01] [ 9.23935175e-01 3.80637083e-01 -3.81995205e-02 6.20234958e+01] [ 4.14110913e-02 -2.48037730e-04 9.99142162e-01 3.19930217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:62.05, Z:3.20 [[ 3.81494338e-01 -9.24231996e-01 -1.60401641e-02 9.91462900e+01] [ 9.23435899e-01 3.81831356e-01 -3.83530489e-02 6.20494741e+01] [ 4.15717525e-02 -1.80592366e-04 9.99135505e-01 3.20035783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:62.07, Z:3.20 [[ 3.82169265e-01 -9.23956424e-01 -1.58486367e-02 9.91562353e+01] [ 9.23177629e-01 3.82497723e-01 -3.79283105e-02 6.20746456e+01] [ 4.11061736e-02 -1.36072266e-04 9.99154775e-01 3.20087030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:62.10, Z:3.20 [[ 3.82638513e-01 -9.23762381e-01 -1.58376974e-02 9.91664648e+01] [ 9.22983444e-01 3.82966125e-01 -3.79276794e-02 6.21002653e+01] [ 4.11014650e-02 -1.05341638e-04 9.99154972e-01 3.20154763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:62.13, Z:3.20 [[ 3.82591427e-01 -9.23782714e-01 -1.57891301e-02 9.91768167e+01] [ 9.23007028e-01 3.82917078e-01 -3.78488718e-02 6.21265824e+01] [ 4.10100611e-02 -9.28241356e-05 9.99158729e-01 3.20236969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:62.15, Z:3.20 [[ 3.82191297e-01 -9.23950266e-01 -1.56754150e-02 9.91864809e+01] [ 9.23184507e-01 3.82512610e-01 -3.76094223e-02 6.21505056e+01] [ 4.07452797e-02 -9.73063613e-05 9.99169562e-01 3.20314242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:62.18, Z:3.20 [[ 3.81216114e-01 -9.24352683e-01 -1.56968486e-02 9.91965862e+01] [ 9.23583954e-01 3.81539120e-01 -3.76905655e-02 6.21752229e+01] [ 4.08283372e-02 -1.29106569e-04 9.99166167e-01 3.20397803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:62.20, Z:3.20 [[ 3.78464643e-01 -9.25481919e-01 -1.57395091e-02 9.92069628e+01] [ 9.24708372e-01 3.78791713e-01 -3.78320730e-02 6.21998658e+01] [ 4.09748951e-02 -2.36353899e-04 9.99160148e-01 3.20481018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:62.23, Z:3.21 [[ 3.76513832e-01 -9.26280135e-01 -1.55706982e-02 9.92174578e+01] [ 9.25522242e-01 3.76835533e-01 -3.74641211e-02 6.22252124e+01] [ 4.05698635e-02 -3.05267755e-04 9.99176658e-01 3.20590185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:62.25, Z:3.21 [[ 3.74782227e-01 -9.26983267e-01 -1.55018084e-02 9.92281110e+01] [ 9.26231176e-01 3.75102506e-01 -3.73352265e-02 6.22500021e+01] [ 4.04238974e-02 -3.65678893e-04 9.99182553e-01 3.20709294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:62.27, Z:3.21 [[ 3.71288028e-01 -9.28388132e-01 -1.55137827e-02 9.92382697e+01] [ 9.27634596e-01 3.71611656e-01 -3.74009775e-02 6.22743543e+01] [ 4.04877261e-02 -5.04586373e-04 9.99179908e-01 3.20819466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:62.30, Z:3.21 [[ 3.69546777e-01 -9.29082321e-01 -1.55312820e-02 9.92482335e+01] [ 9.28326134e-01 3.69872573e-01 -3.74815793e-02 6.22994787e+01] [ 4.05680679e-02 -5.66898107e-04 9.99176616e-01 3.20894377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:62.32, Z:3.21 [[ 3.67545986e-01 -9.29875623e-01 -1.55330197e-02 9.92580224e+01] [ 9.29118521e-01 3.67873504e-01 -3.75214423e-02 6.23247548e+01] [ 4.06044609e-02 -6.41160796e-04 9.99175093e-01 3.20951329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:62.35, Z:3.21 [[ 3.64056244e-01 -9.31241171e-01 -1.59038530e-02 9.92673336e+01] [ 9.30447179e-01 3.64402586e-01 -3.84552091e-02 6.23502807e+01] [ 4.16064791e-02 -7.97836118e-04 9.99133757e-01 3.21039256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.28, Y:62.37, Z:3.21 [[ 3.62569553e-01 -9.31820961e-01 -1.59064507e-02 9.92767210e+01] [ 9.31025657e-01 3.62917309e-01 -3.85000421e-02 6.23744317e+01] [ 4.16478725e-02 -8.50370698e-04 9.99131989e-01 3.21101680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:62.40, Z:3.21 [[ 3.59794760e-01 -9.32895622e-01 -1.59213491e-02 9.92870042e+01] [ 9.32098199e-01 3.60145575e-01 -3.85760514e-02 6.24003905e+01] [ 4.17214329e-02 -9.60799638e-04 9.99128820e-01 3.21140391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:62.43, Z:3.21 [[ 3.57928670e-01 -9.33614078e-01 -1.58688373e-02 9.92968583e+01] [ 9.32821157e-01 3.58278795e-01 -3.84836754e-02 6.24254838e+01] [ 4.16143690e-02 -1.02837644e-03 9.99133218e-01 3.21229952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.31, Y:62.45, Z:3.21 [[ 3.56446476e-01 -9.34182899e-01 -1.57550641e-02 9.93073047e+01] [ 9.33400367e-01 3.56792880e-01 -3.82439097e-02 6.24513560e+01] [ 4.13481011e-02 -1.07387574e-03 9.99144224e-01 3.21319253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:62.48, Z:3.21 [[ 3.53971928e-01 -9.35127846e-01 -1.54850467e-02 9.93167534e+01] [ 9.34371457e-01 3.54308603e-01 -3.76217324e-02 6.24758457e+01] [ 4.06676148e-02 -1.15174845e-03 9.99172067e-01 3.21386299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:62.50, Z:3.21 [[ 3.52604205e-01 -9.35646292e-01 -1.53717563e-02 9.93266794e+01] [ 9.34900234e-01 3.52937098e-01 -3.73758912e-02 6.25012657e+01] [ 4.03958771e-02 -1.19216209e-03 9.99183042e-01 3.21462729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:62.53, Z:3.22 [[ 3.51214184e-01 -9.36169940e-01 -1.53114608e-02 9.93360526e+01] [ 9.35428741e-01 3.51545616e-01 -3.72659465e-02 6.25254880e+01] [ 4.02699358e-02 -1.23445144e-03 9.99188075e-01 3.21575106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:62.55, Z:3.22 [[ 3.51182876e-01 -9.36184128e-01 -1.51613615e-02 9.93460020e+01] [ 9.35455902e-01 3.51507914e-01 -3.69383546e-02 6.25509222e+01] [ 3.99104398e-02 -1.21066752e-03 9.99202528e-01 3.21667680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:62.58, Z:3.22 [[ 3.50873102e-01 -9.36300481e-01 -1.51484270e-02 9.93563282e+01] [ 9.35572136e-01 3.51197871e-01 -3.69436584e-02 6.25766527e+01] [ 3.99104604e-02 -1.20991015e-03 9.99202528e-01 3.21775206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:62.60, Z:3.22 [[ 3.50680839e-01 -9.36374654e-01 -1.50152280e-02 9.93656616e+01] [ 9.35657772e-01 3.51000112e-01 -3.66531826e-02 6.26014020e+01] [ 3.95914578e-02 -1.19554598e-03 9.99215236e-01 3.21850741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:62.63, Z:3.22 [[ 3.51736662e-01 -9.35985583e-01 -1.45708017e-02 9.93744242e+01] [ 9.35308801e-01 3.52036599e-01 -3.56044902e-02 6.26268017e+01] [ 3.84547451e-02 -1.10479450e-03 9.99259732e-01 3.21906844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:62.65, Z:3.22 [[ 3.53182586e-01 -9.35446065e-01 -1.42379722e-02 9.93827486e+01] [ 9.34798165e-01 3.53468016e-01 -3.48245778e-02 6.26517255e+01] [ 3.76091820e-02 -1.01019590e-03 9.99292014e-01 3.21948673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:62.68, Z:3.22 [[ 3.54231793e-01 -9.35050453e-01 -1.41593379e-02 9.93926931e+01] [ 9.34408041e-01 3.54513396e-01 -3.46679301e-02 6.26785136e+01] [ 3.74359387e-02 -9.50116162e-04 9.99298578e-01 3.22025591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:62.70, Z:3.22 [[ 3.55135440e-01 -9.34713858e-01 -1.37412944e-02 9.94016554e+01] [ 9.34107489e-01 3.55400105e-01 -3.36743793e-02 6.27036167e+01] [ 3.63595664e-02 -8.76880497e-04 9.99338388e-01 3.22046778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:62.73, Z:3.22 [[ 3.58192358e-01 -9.33588066e-01 -1.05620670e-02 9.94080272e+01] [ 9.32930966e-01 3.58337657e-01 -3.51274132e-02 6.27296015e+01] [ 3.65793201e-02 2.72869154e-03 9.99327027e-01 3.22041831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.41, Y:62.76, Z:3.22 [[ 3.58226657e-01 -9.33617314e-01 -5.68981043e-03 9.94140231e+01] [ 9.32790414e-01 3.58155194e-01 -4.03348571e-02 6.27578604e+01] [ 3.96951561e-02 9.14162040e-03 9.99170018e-01 3.22055650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:62.78, Z:3.23 [[ 3.60798305e-01 -9.32290864e-01 -2.56579035e-02 9.94337230e+01] [ 9.31991628e-01 3.61438220e-01 -2.74594028e-02 6.27764694e+01] [ 3.48738974e-02 -1.40056453e-02 9.99293577e-01 3.22674333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:62.81, Z:3.22 [[ 3.61214467e-01 -9.32391920e-01 -1.30159603e-02 9.94356421e+01] [ 9.31842146e-01 3.61448461e-01 -3.20191358e-02 6.28054500e+01] [ 3.45589823e-02 -5.63045348e-04 9.99402501e-01 3.22331197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:62.83, Z:3.22 [[ 3.61300199e-01 -9.32360694e-01 -1.28725512e-02 9.94447398e+01] [ 9.31821943e-01 3.61529032e-01 -3.16958148e-02 6.28313153e+01] [ 3.42057329e-02 -5.43221521e-04 9.99414665e-01 3.22392093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:62.86, Z:3.22 [[ 3.61154523e-01 -9.32418197e-01 -1.27951878e-02 9.94542085e+01] [ 9.31884850e-01 3.61380715e-01 -3.15373581e-02 6.28580424e+01] [ 3.40299407e-02 -5.33782140e-04 9.99420671e-01 3.22447856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:62.88, Z:3.22 [[ 3.60794960e-01 -9.32558981e-01 -1.26784708e-02 9.94622776e+01] [ 9.32034487e-01 3.61017262e-01 -3.12770189e-02 6.28834109e+01] [ 3.37448117e-02 -5.32181248e-04 9.99430340e-01 3.22490027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.47, Y:62.91, Z:3.23 [[ 3.60015072e-01 -9.32860715e-01 -1.26505048e-02 9.94711725e+01] [ 9.32337587e-01 3.60236850e-01 -3.12415626e-02 6.29087445e+01] [ 3.37012044e-02 -5.47107769e-04 9.99431803e-01 3.22585994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:62.94, Z:3.23 [[ 3.58662054e-01 -9.33383119e-01 -1.25492719e-02 9.94796699e+01] [ 9.32867582e-01 3.58881062e-01 -3.10234897e-02 6.29350802e+01] [ 3.34604976e-02 -5.79860383e-04 9.99439873e-01 3.22666984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:62.96, Z:3.23 [[ 3.57890266e-01 -9.33681040e-01 -1.24206944e-02 9.94891802e+01] [ 9.33175280e-01 3.58105245e-01 -3.07332242e-02 6.29606959e+01] [ 3.31429446e-02 -5.91563214e-04 9.99450447e-01 3.22749213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.50, Y:62.99, Z:3.23 [[ 3.56147780e-01 -9.34347828e-01 -1.23651117e-02 9.94979230e+01] [ 9.33846005e-01 3.56361793e-01 -3.06253333e-02 6.29874950e+01] [ 3.30211670e-02 -6.39965684e-04 9.99454448e-01 3.22826263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:63.01, Z:3.23 [[ 3.55265293e-01 -9.34686736e-01 -1.21357841e-02 9.95069786e+01] [ 9.34202623e-01 3.55471918e-01 -3.00861158e-02 6.30125702e+01] [ 3.24350238e-02 -6.48728636e-04 9.99473636e-01 3.22869572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:63.04, Z:3.23 [[ 3.54065767e-01 -9.35140587e-01 -1.22276492e-02 9.95161272e+01] [ 9.34648750e-01 3.54276176e-01 -3.03332456e-02 6.30389202e+01] [ 3.26978139e-02 -6.88593120e-04 9.99465046e-01 3.22962755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:63.07, Z:3.23 [[ 3.52996634e-01 -9.35604525e-01 -6.12779861e-03 9.95218188e+01] [ 9.34993019e-01 3.52991391e-01 -3.44257439e-02 6.30668159e+01] [ 3.43719420e-02 6.42272281e-03 9.99388472e-01 3.22858049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:63.09, Z:3.23 [[ 3.51196361e-01 -9.36227566e-01 -1.17923920e-02 9.95320638e+01] [ 9.35640128e-01 3.51393750e-01 -3.31660100e-02 6.30905903e+01] [ 3.51947056e-02 6.14346877e-04 9.99380286e-01 3.23074978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:63.11, Z:3.25 [[ 3.53287579e-01 -9.34343544e-01 -4.67977443e-02 9.95663920e+01] [ 9.34727827e-01 3.54599840e-01 -2.32989863e-02 6.31130133e+01] [ 3.83637301e-02 -3.55119114e-02 9.98632629e-01 3.24812853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:63.15, Z:3.23 [[ 3.49373770e-01 -9.36908733e-01 1.18319063e-02 9.95364939e+01] [ 9.36359726e-01 3.48652694e-01 -4.08871977e-02 6.31493390e+01] [ 3.41823466e-02 2.53638349e-02 9.99093711e-01 3.22501094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:63.17, Z:3.23 [[ 3.48939141e-01 -9.37060739e-01 -1.25955514e-02 9.95599468e+01] [ 9.36535683e-01 3.49165366e-01 -3.13761224e-02 6.31696559e+01] [ 3.37992628e-02 -8.47826177e-04 9.99428282e-01 3.23225586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:63.20, Z:3.23 [[ 3.48826668e-01 -9.37100799e-01 -1.27298367e-02 9.95688913e+01] [ 9.36563499e-01 3.49057831e-01 -3.17402460e-02 6.31956970e+01] [ 3.41872591e-02 -8.50456158e-04 9.99415083e-01 3.23309619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:63.22, Z:3.23 [[ 3.48807323e-01 -9.37109122e-01 -1.26469455e-02 9.95778168e+01] [ 9.36577769e-01 3.49035523e-01 -3.15640026e-02 6.32209039e+01] [ 3.39931480e-02 -8.35092766e-04 9.99421717e-01 3.23440263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:63.25, Z:3.24 [[ 3.49794714e-01 -9.36745087e-01 -1.23410006e-02 9.95853476e+01] [ 9.36237902e-01 3.50011500e-01 -3.08308552e-02 6.32460914e+01] [ 3.32001443e-02 -7.69642311e-04 9.99448427e-01 3.23590345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:63.27, Z:3.24 [[ 3.50352098e-01 -9.36538951e-01 -1.21737820e-02 9.95942702e+01] [ 9.36044218e-01 3.50562781e-01 -3.04460118e-02 6.32716281e+01] [ 3.27815508e-02 -7.28374093e-04 9.99462275e-01 3.23687612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:63.30, Z:3.24 [[ 3.51289899e-01 -9.36189770e-01 -1.20050138e-02 9.96035367e+01] [ 9.35707549e-01 3.51494319e-01 -3.00520651e-02 6.32970321e+01] [ 3.23541300e-02 -6.76195101e-04 9.99476239e-01 3.23815053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.382755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:99.61, Y:63.32, Z:3.24 [[ 3.53639364e-01 -9.35308561e-01 -1.17088033e-02 9.96118087e+01] [ 9.34848522e-01 3.53832686e-01 -2.93372170e-02 6.33221136e+01] [ 3.15823075e-02 -5.71162667e-04 9.99500991e-01 3.23813116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:63.35, Z:3.24 [[ 3.54984497e-01 -9.34800270e-01 -1.15957991e-02 9.96211558e+01] [ 9.34347890e-01 3.55173471e-01 -2.90830733e-02 6.33472596e+01] [ 3.13053850e-02 -5.10470321e-04 9.99509736e-01 3.23969551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:63.37, Z:3.24 [[ 3.57245081e-01 -9.33937688e-01 -1.16767947e-02 9.96304732e+01] [ 9.33477637e-01 3.57435606e-01 -2.93136290e-02 6.33713848e+01] [ 3.15508050e-02 -4.27876955e-04 9.99502058e-01 3.24009353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:63.40, Z:3.24 [[ 3.57898000e-01 -9.33689091e-01 -1.15630302e-02 9.96408365e+01] [ 9.33236939e-01 3.58084527e-01 -2.90566128e-02 6.33972882e+01] [ 3.12703846e-02 -3.91743283e-04 9.99510885e-01 3.24055895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:63.42, Z:3.24 [[ 3.58415924e-01 -9.33490081e-01 -1.15885614e-02 9.96510155e+01] [ 9.33034977e-01 3.58603033e-01 -2.91478248e-02 6.34221842e+01] [ 3.13648986e-02 -3.65488579e-04 9.99507934e-01 3.24131515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:63.45, Z:3.24 [[ 3.58452052e-01 -9.33474980e-01 -1.16871230e-02 9.96615471e+01] [ 9.33011169e-01 3.58642350e-01 -2.94248729e-02 6.34475799e+01] [ 3.16588799e-02 -3.56810234e-04 9.99498668e-01 3.24222050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:63.47, Z:3.24 [[ 3.58098964e-01 -9.33611382e-01 -1.16154961e-02 9.96739667e+01] [ 9.33152385e-01 3.58287121e-01 -2.92739833e-02 6.34723924e+01] [ 3.14922067e-02 -3.56044787e-04 9.99503934e-01 3.24267016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:63.50, Z:3.24 [[ 3.56683858e-01 -9.34224478e-01 -1.11788431e-03 9.96799582e+01] [ 9.33572560e-01 3.56479165e-01 -3.69442798e-02 6.34994754e+01] [ 3.49127530e-02 1.21338021e-02 9.99316702e-01 3.24089449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.70, Y:63.52, Z:3.25 [[ 3.55633595e-01 -9.34334714e-01 -2.33106826e-02 9.97046950e+01] [ 9.34082029e-01 3.56166646e-01 -2.52207020e-02 6.35185751e+01] [ 3.18670650e-02 -1.28047608e-02 9.99410090e-01 3.24685713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:63.55, Z:3.24 [[ 3.54211674e-01 -9.35092336e-01 -1.16796220e-02 9.97090010e+01] [ 9.34626199e-01 3.54403885e-01 -2.95254976e-02 6.35458299e+01] [ 3.17483700e-02 -4.57804758e-04 9.99495789e-01 3.24469625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:63.57, Z:3.25 [[ 3.53091285e-01 -9.35516570e-01 -1.16315083e-02 9.97203134e+01] [ 9.35053545e-01 3.53282485e-01 -2.94338912e-02 6.35704389e+01] [ 3.16451011e-02 -4.83232598e-04 9.99499052e-01 3.24535140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:63.59, Z:3.25 [[ 3.51040025e-01 -9.36288645e-01 -1.15963294e-02 9.97331801e+01] [ 9.35827893e-01 3.51231094e-01 -2.93746978e-02 6.35946212e+01] [ 3.15761875e-02 -5.40473848e-04 9.99501202e-01 3.24605534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:63.62, Z:3.25 [[ 3.49893661e-01 -9.36717251e-01 -1.16283154e-02 9.97439770e+01] [ 9.36253188e-01 3.50086372e-01 -2.94873091e-02 6.36183918e+01] [ 3.16921859e-02 -5.69624794e-04 9.99497514e-01 3.24707813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:63.64, Z:3.25 [[ 3.48699116e-01 -9.37226862e-01 -3.83869215e-03 9.97520914e+01] [ 9.36584861e-01 3.48606908e-01 -3.58053196e-02 6.36438918e+01] [ 3.48959020e-02 8.89002235e-03 9.99351411e-01 3.24615397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:63.67, Z:3.25 [[ 3.47588180e-01 -9.37640614e-01 -3.54067793e-03 9.97627199e+01] [ 9.36863969e-01 3.47449642e-01 -3.95556532e-02 6.36694943e+01] [ 3.83191943e-02 1.04319439e-02 9.99211096e-01 3.24773424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:63.68, Z:3.26 [[ 3.46522081e-01 -9.37427282e-01 -3.39490740e-02 9.97935164e+01] [ 9.37510748e-01 3.47316664e-01 -2.10886897e-02 6.36837851e+01] [ 3.15601922e-02 -2.45199252e-02 9.99201045e-01 3.25608347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:63.72, Z:3.25 [[ 3.45294187e-01 -9.38491191e-01 2.49163090e-03 9.97829215e+01] [ 9.37803690e-01 3.44936958e-01 -3.92776603e-02 6.37185640e+01] [ 3.60022826e-02 1.58990084e-02 9.99225228e-01 3.24732603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:63.74, Z:3.25 [[ 3.44058612e-01 -9.38811266e-01 -1.60336847e-02 9.98040649e+01] [ 9.38273681e-01 3.44408464e-01 -3.20204400e-02 6.37392956e+01] [ 3.55832865e-02 -4.02707624e-03 9.99358600e-01 3.25313135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:63.77, Z:3.25 [[ 3.43828903e-01 -9.38961082e-01 -1.15659636e-02 9.98132011e+01] [ 9.38328527e-01 3.44021925e-01 -3.44744925e-02 6.37667241e+01] [ 3.63491519e-02 1.00065334e-03 9.99338650e-01 3.25247317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:63.79, Z:3.26 [[ 3.43817427e-01 -9.38906716e-01 -1.56126994e-02 9.98251467e+01] [ 9.38353979e-01 3.44153835e-01 -3.24029087e-02 6.37890267e+01] [ 3.57964790e-02 -3.50955386e-03 9.99352938e-01 3.25500508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.982755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:99.84, Y:63.82, Z:3.26 [[ 3.44400907e-01 -9.38559746e-01 -2.22175433e-02 9.98419615e+01] [ 9.38116119e-01 3.44963297e-01 -3.06344666e-02 6.38168731e+01] [ 3.64165142e-02 -1.02920975e-02 9.99283699e-01 3.25616448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:63.84, Z:3.25 [[ 3.45075727e-01 -9.38557303e-01 -5.73861050e-03 9.98405587e+01] [ 9.37927658e-01 3.45058354e-01 -3.50205738e-02 6.38421428e+01] [ 3.48489707e-02 6.70234843e-03 9.99370116e-01 3.25357386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:63.87, Z:3.25 [[ 3.46243279e-01 -9.38095946e-01 -9.57018568e-03 9.98539889e+01] [ 9.37430555e-01 3.46359662e-01 -3.54815234e-02 6.38681460e+01] [ 3.65997996e-02 3.31385456e-03 9.99324508e-01 3.25486853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.072755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.88, Y:63.89, Z:3.27 [[ 3.48221219e-01 -9.36915952e-01 -3.05038013e-02 9.98793872e+01] [ 9.36724888e-01 3.49027590e-01 -2.69485861e-02 6.38907843e+01] [ 3.58952284e-02 -1.91896004e-02 9.99171303e-01 3.26545023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:63.92, Z:3.26 [[ 3.48574717e-01 -9.37252004e-01 7.37207216e-03 9.98638302e+01] [ 9.36499606e-01 3.47952243e-01 -4.35628760e-02 6.39214391e+01] [ 3.82642638e-02 2.20888599e-02 9.99023487e-01 3.25556513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:63.94, Z:3.26 [[ 3.49930889e-01 -9.36698844e-01 -1.19853719e-02 9.98846422e+01] [ 9.36057866e-01 3.50134902e-01 -3.46586395e-02 6.39433910e+01] [ 3.66612045e-02 9.09126835e-04 9.99327339e-01 3.26363488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.162755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.90, Y:63.97, Z:3.26 [[ 3.52020716e-01 -9.35784732e-01 -1.97066013e-02 9.99000912e+01] [ 9.35353457e-01 3.52480206e-01 -2.95231447e-02 6.39669431e+01] [ 3.45734950e-02 -8.03987905e-03 9.99369818e-01 3.26498549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:64.00, Z:3.27 [[ 3.54133671e-01 -9.35138755e-01 -1.02397481e-02 9.99061871e+01] [ 9.34506083e-01 3.54271795e-01 -3.44945706e-02 6.39977765e+01] [ 3.58848638e-02 2.64658206e-03 9.99352426e-01 3.26576288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:64.02, Z:3.27 [[ 3.55021299e-01 -9.34707035e-01 -1.68117914e-02 9.99203468e+01] [ 9.34296318e-01 3.55373946e-01 -2.82798218e-02 6.40239108e+01] [ 3.24078210e-02 -5.66725574e-03 9.99458661e-01 3.26829030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:64.05, Z:3.27 [[ 3.56277650e-01 -9.34367461e-01 -4.86667858e-03 9.99218649e+01] [ 9.33752256e-01 3.56224321e-01 -3.47988099e-02 6.40499974e+01] [ 3.42485049e-02 7.85376612e-03 9.99382488e-01 3.26581423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:64.07, Z:3.27 [[ 3.56264934e-01 -9.34257315e-01 -1.54455833e-02 9.99350155e+01] [ 9.33760346e-01 3.56582452e-01 -3.06687196e-02 6.40705049e+01] [ 3.41600996e-02 -3.49628379e-03 9.99410258e-01 3.27101837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:64.10, Z:3.27 [[ 3.55742137e-01 -9.34520576e-01 -1.09006862e-02 9.99429716e+01] [ 9.34095549e-01 3.55909073e-01 -2.81822029e-02 6.40988524e+01] [ 3.02165016e-02 -1.56685439e-04 9.99543365e-01 3.26783423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:64.12, Z:3.27 [[ 3.56650485e-01 -9.34145421e-01 -1.31439692e-02 9.99536870e+01] [ 9.33585314e-01 3.56891854e-01 -3.23522187e-02 6.41239580e+01] [ 3.49126525e-02 -7.32582161e-04 9.99390099e-01 3.27133488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:64.15, Z:3.27 [[ 3.56055804e-01 -9.34448936e-01 -5.42680183e-03 9.99583252e+01] [ 9.33642881e-01 3.55980176e-01 -3.98633340e-02 6.41517325e+01] [ 3.91820839e-02 9.12687656e-03 9.99190404e-01 3.26979349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:64.17, Z:3.27 [[ 3.55737604e-01 -9.34481490e-01 -1.39678993e-02 9.99727065e+01] [ 9.33753089e-01 3.56011711e-01 -3.68894343e-02 6.41749004e+01] [ 3.94452292e-02 8.03898592e-05 9.99221731e-01 3.27375928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:64.20, Z:3.28 [[ 3.54362143e-01 -9.34932042e-01 -1.81534818e-02 9.99850310e+01] [ 9.34378422e-01 3.54785691e-01 -3.26202146e-02 6.41985002e+01] [ 3.69382794e-02 -5.40285252e-03 9.99302943e-01 3.27649308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:64.22, Z:3.28 [[ 3.54379362e-01 -9.34951663e-01 -1.67527961e-02 9.99954601e+01] [ 9.34357903e-01 3.54755077e-01 -3.35282669e-02 6.42242687e+01] [ 3.72904484e-02 -3.77138156e-03 9.99297353e-01 3.27668362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:64.25, Z:3.28 [[ 3.51332461e-01 -9.35977365e-01 -2.26246100e-02 1.00011989e+02] [ 9.35388691e-01 3.51943228e-01 -3.44087481e-02 6.42513326e+01] [ 4.01683877e-02 -9.07389420e-03 9.99151723e-01 3.28176892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:64.28, Z:3.27 [[ 3.48743627e-01 -9.37215804e-01 2.10208643e-03 1.00005531e+02] [ 9.36430306e-01 3.48357638e-01 -4.17760518e-02 6.42799547e+01] [ 3.84208981e-02 1.65375892e-02 9.99124788e-01 3.27177132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:64.30, Z:3.28 [[ 3.45165204e-01 -9.38208515e-01 -2.50152743e-02 1.00032617e+02] [ 9.37679480e-01 3.45867886e-01 -3.36541026e-02 6.43020098e+01] [ 4.02265456e-02 -1.18400842e-02 9.99120432e-01 3.28397091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:64.33, Z:3.28 [[ 3.43297399e-01 -9.39102779e-01 -1.52599488e-02 1.00035640e+02] [ 9.38356664e-01 3.43633287e-01 -3.74557844e-02 6.43275585e+01] [ 4.04186576e-02 -1.46080130e-03 9.99181764e-01 3.28140167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:64.35, Z:3.29 [[ 3.41138133e-01 -9.39564137e-01 -2.90517897e-02 1.00053964e+02] [ 9.39027705e-01 3.42032509e-01 -3.52240208e-02 6.43512033e+01] [ 4.30318832e-02 -1.52641787e-02 9.98957087e-01 3.29189445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:64.38, Z:3.28 [[ 3.35645139e-01 -9.41984697e-01 2.67790230e-03 1.00042659e+02] [ 9.40982032e-01 3.35153784e-01 -4.71673148e-02 6.43809608e+01] [ 4.35333796e-02 1.83513379e-02 9.98883413e-01 3.28119884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:64.40, Z:3.29 [[ 3.33250692e-01 -9.42645836e-01 -1.90474493e-02 1.00065419e+02] [ 9.41898999e-01 3.33752292e-01 -3.78903978e-02 6.44017128e+01] [ 4.20743555e-02 -5.31377220e-03 9.99100352e-01 3.28899655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:64.42, Z:3.29 [[ 3.29952835e-01 -9.43734349e-01 -2.22846363e-02 1.00076699e+02] [ 9.43185980e-01 3.30555930e-01 -3.36598327e-02 6.44247418e+01] [ 3.91322589e-02 -9.91239929e-03 9.99184873e-01 3.29090810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:64.45, Z:3.29 [[ 3.28419498e-01 -9.44514574e-01 -5.73169538e-03 1.00075425e+02] [ 9.43535381e-01 3.28345625e-01 -4.39333025e-02 6.44543093e+01] [ 4.33776216e-02 9.02049577e-03 9.99018024e-01 3.28815237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:64.48, Z:3.29 [[ 3.27007899e-01 -9.44890979e-01 -1.57121419e-02 1.00089879e+02] [ 9.44013138e-01 3.27381681e-01 -4.07483838e-02 6.44776290e+01] [ 4.36466477e-02 -1.50742499e-03 9.99045894e-01 3.29259786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:64.51, Z:3.29 [[ 3.26402370e-01 -9.45098923e-01 -1.57961255e-02 1.00100099e+02] [ 9.44207767e-01 3.26780870e-01 -4.10603975e-02 6.45058412e+01] [ 4.39680091e-02 -1.51261328e-03 9.99031794e-01 3.29295719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:64.53, Z:3.30 [[ 3.26895527e-01 -9.44883319e-01 -1.82983108e-02 1.00107861e+02] [ 9.44031826e-01 3.27381639e-01 -4.03134456e-02 6.45262117e+01] [ 4.40820332e-02 -4.09590266e-03 9.99019518e-01 3.29627003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:64.55, Z:3.30 [[ 3.27818800e-01 -9.43943658e-01 -3.87969719e-02 1.00131468e+02] [ 9.43726580e-01 3.29092885e-01 -3.28331553e-02 6.45526540e+01] [ 4.37604561e-02 -2.58504081e-02 9.98707554e-01 3.30442373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:64.58, Z:3.31 [[ 3.30193088e-01 -9.43618681e-01 -2.35862174e-02 1.00132446e+02] [ 9.42583874e-01 3.30950826e-01 -4.48016820e-02 6.45826318e+01] [ 5.00815823e-02 -7.43878245e-03 9.98717427e-01 3.30600873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:64.60, Z:3.31 [[ 3.31612195e-01 -9.43231519e-01 -1.86454598e-02 1.00135166e+02] [ 9.42088215e-01 3.32128988e-01 -4.64771956e-02 6.46049201e+01] [ 5.00314535e-02 -2.15326304e-03 9.98745321e-01 3.30586479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:64.63, Z:3.30 [[ 3.30762913e-01 -9.43662938e-01 9.80581803e-03 1.00123931e+02] [ 9.42217098e-01 3.29635489e-01 -5.97275959e-02 6.46329698e+01] [ 5.31303730e-02 2.89948830e-02 9.98166549e-01 3.29521578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:64.66, Z:3.30 [[ 3.28717961e-01 -9.44237635e-01 -1.89681449e-02 1.00148466e+02] [ 9.43117229e-01 3.29253317e-01 -4.60667512e-02 6.46555687e+01] [ 4.97432848e-02 -2.74621573e-03 9.98758261e-01 3.30259989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:64.68, Z:3.30 [[ 3.27316295e-01 -9.44749360e-01 -1.76830550e-02 1.00156326e+02] [ 9.43881213e-01 3.27776069e-01 -4.06337791e-02 6.46847952e+01] [ 4.41848190e-02 -3.39060534e-03 9.99017620e-01 3.30111246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:64.71, Z:3.32 [[ 3.29637576e-01 -9.42887727e-01 -4.79771088e-02 1.00185476e+02] [ 9.42840076e-01 3.31402034e-01 -3.50040523e-02 6.47073875e+01] [ 4.89046027e-02 -3.36960899e-02 9.98234899e-01 3.31980611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:64.74, Z:3.31 [[ 3.29627238e-01 -9.43955474e-01 -1.71448772e-02 1.00174672e+02] [ 9.42783906e-01 3.30072145e-01 -4.70200504e-02 6.47409208e+01] [ 5.00438804e-02 -6.64824957e-04 9.98746799e-01 3.31212155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09275509600002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.16, Y:64.77, Z:3.30 [[ 3.26151983e-01 -9.45252943e-01 1.10344024e-02 1.00162077e+02] [ 9.44235907e-01 3.25198492e-01 -5.16187329e-02 6.47707598e+01] [ 4.52043882e-02 2.72546311e-02 9.98605902e-01 3.29941311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:64.79, Z:3.31 [[ 3.27699643e-01 -9.44495263e-01 -2.32732186e-02 1.00191731e+02] [ 9.43709028e-01 3.28401812e-01 -3.95666584e-02 6.47899664e+01] [ 4.50134886e-02 -8.99716671e-03 9.98945863e-01 3.31030426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.20, Y:64.82, Z:3.32 [[ 3.28918682e-01 -9.43869561e-01 -3.03768501e-02 1.00203354e+02] [ 9.43147443e-01 3.29955329e-01 -4.00297596e-02 6.48162516e+01] [ 4.78058752e-02 -1.54833128e-02 9.98736635e-01 3.31895812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:64.85, Z:3.30 [[ 3.27612613e-01 -9.44812029e-01 4.52216695e-04 1.00192999e+02] [ 9.43698831e-01 3.27203309e-01 -4.86878857e-02 6.48494374e+01] [ 4.58529333e-02 1.63775218e-02 9.98813939e-01 3.30496487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:64.87, Z:3.32 [[ 3.28955742e-01 -9.43584325e-01 -3.79043840e-02 1.00223249e+02] [ 9.43055120e-01 3.30339021e-01 -3.90278309e-02 6.48672851e+01] [ 4.93473466e-02 -2.29074943e-02 9.98518946e-01 3.32368236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:64.90, Z:3.31 [[ 3.27592895e-01 -9.44817682e-01 -1.56312769e-03 1.00209664e+02] [ 9.43598060e-01 3.27253204e-01 -5.02796271e-02 6.49011701e+01] [ 4.80166193e-02 1.49962843e-02 9.98733956e-01 3.30969991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:64.92, Z:3.31 [[ 3.24782235e-01 -9.45768293e-01 -6.23185058e-03 1.00216242e+02] [ 9.44660383e-01 3.24709462e-01 -4.66961001e-02 6.49233656e+01] [ 4.61872317e-02 9.27908141e-03 9.98889703e-01 3.30995198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:64.95, Z:3.31 [[ 3.24253699e-01 -9.45956405e-01 -5.10089222e-03 1.00225315e+02] [ 9.44888466e-01 3.24136008e-01 -4.60612142e-02 6.49517508e+01] [ 4.52252834e-02 1.01157448e-02 9.98925596e-01 3.30662287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.332755096 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.26, Y:64.97, Z:3.32 [[ 3.25388232e-01 -9.44573894e-01 -4.36194598e-02 1.00258825e+02] [ 9.44234968e-01 3.27039349e-01 -3.82830269e-02 6.49699791e+01] [ 5.04264276e-02 -2.87301727e-02 9.98314456e-01 3.32362245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.24, Y:65.01, Z:3.31 [[ 3.23460050e-01 -9.46238342e-01 2.56850159e-03 1.00237976e+02] [ 9.45054132e-01 3.22916903e-01 -5.09643133e-02 6.50073280e+01] [ 4.73949748e-02 1.89122924e-02 9.98697172e-01 3.30965265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:65.03, Z:3.32 [[ 3.22254600e-01 -9.46433341e-01 -2.03937030e-02 1.00258594e+02] [ 9.45455595e-01 3.22855495e-01 -4.33364488e-02 6.50278233e+01] [ 4.75992791e-02 -5.31597067e-03 9.98852366e-01 3.31752931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:65.06, Z:3.31 [[ 3.19801587e-01 -9.47480815e-01 2.65530291e-03 1.00251531e+02] [ 9.46401231e-01 3.19300713e-01 -4.87007658e-02 6.50585492e+01] [ 4.52952011e-02 1.80875641e-02 9.98809884e-01 3.30669227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:65.07, Z:3.33 [[ 3.19251368e-01 -9.46953245e-01 -3.68526318e-02 1.00282430e+02] [ 9.46483834e-01 3.20555691e-01 -3.75819146e-02 6.50743402e+01] [ 4.74016368e-02 -2.28823426e-02 9.98613781e-01 3.32613814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.482755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:100.28, Y:65.11, Z:3.32 [[ 3.18212361e-01 -9.47889046e-01 -1.57241644e-02 1.00280189e+02] [ 9.46717661e-01 3.18600605e-01 -4.71097050e-02 6.51058760e+01] [ 4.96645016e-02 1.04546331e-04 9.98765952e-01 3.31912354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:65.13, Z:3.32 [[ 3.15750770e-01 -9.48652764e-01 -1.89574254e-02 1.00287068e+02] [ 9.47566727e-01 3.16298982e-01 -4.55219960e-02 6.51284533e+01] [ 4.91807817e-02 -3.58982020e-03 9.98783442e-01 3.32398406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.542755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.29, Y:65.16, Z:3.32 [[ 3.14598220e-01 -9.49202947e-01 -6.45947593e-03 1.00289076e+02] [ 9.47924828e-01 3.14516098e-01 -5.01811222e-02 6.51576331e+01] [ 4.96636782e-02 9.66379414e-03 9.98719245e-01 3.31589698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:65.18, Z:3.32 [[ 3.13784872e-01 -9.49466347e-01 -7.26016715e-03 1.00296896e+02] [ 9.48345312e-01 3.13772083e-01 -4.67787294e-02 6.51834448e+01] [ 4.66928671e-02 7.79331214e-03 9.98878892e-01 3.31611777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:65.21, Z:3.32 [[ 3.13253493e-01 -9.49608902e-01 -1.07322849e-02 1.00307222e+02] [ 9.48542560e-01 3.13412170e-01 -4.51643985e-02 6.52091689e+01] [ 4.62521436e-02 3.96787657e-03 9.98921916e-01 3.31720224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:65.23, Z:3.32 [[ 3.13864968e-01 -9.49333693e-01 -1.59474383e-02 1.00316622e+02] [ 9.48331098e-01 3.14266617e-01 -4.36419715e-02 6.52325799e+01] [ 4.64425415e-02 -1.42576562e-03 9.98919946e-01 3.32053234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:65.27, Z:3.32 [[ 3.16521866e-01 -9.48378623e-01 1.97963796e-02 1.00302080e+02] [ 9.46542631e-01 3.14402707e-01 -7.21663705e-02 6.52661249e+01] [ 6.22170077e-02 4.15803515e-02 9.97196128e-01 3.31755095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.692755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.36, Y:65.28, Z:3.34 [[ 3.21368928e-01 -9.45029080e-01 -6.03493945e-02 1.00360933e+02] [ 9.45271884e-01 3.23942900e-01 -3.90136285e-02 6.52811477e+01] [ 5.64187713e-02 -4.45088179e-02 9.97414602e-01 3.34313452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:65.31, Z:3.34 [[ 3.23516777e-01 -9.45676754e-01 -3.21305353e-02 1.00353641e+02] [ 9.44259474e-01 3.24845569e-01 -5.33797930e-02 6.53142648e+01] [ 6.09174914e-02 -1.30703037e-02 9.98057226e-01 3.34271765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:65.35, Z:3.33 [[ 3.24904258e-01 -9.45734362e-01 -4.87225098e-03 1.00346320e+02] [ 9.43990771e-01 3.24610451e-01 -5.92408652e-02 6.53467003e+01] [ 5.76077054e-02 1.46482494e-02 9.98231827e-01 3.33106442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:65.37, Z:3.33 [[ 3.28535171e-01 -9.44364953e-01 -1.54750551e-02 1.00359634e+02] [ 9.42781584e-01 3.28881817e-01 -5.47689289e-02 6.53712209e+01] [ 5.68113212e-02 3.40392243e-03 9.98379130e-01 3.33419673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:65.40, Z:3.34 [[ 3.31269766e-01 -9.43105040e-01 -2.85171217e-02 1.00377130e+02] [ 9.41657579e-01 3.32365418e-01 -5.30493501e-02 6.53958506e+01] [ 5.95092145e-02 -9.27971803e-03 9.98184622e-01 3.34388017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:65.43, Z:3.34 [[ 3.30653596e-01 -9.43401460e-01 -2.57271096e-02 1.00385128e+02] [ 9.42079846e-01 3.31567152e-01 -5.04855137e-02 6.54260971e+01] [ 5.61583718e-02 -7.54377480e-03 9.98393374e-01 3.34164106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:65.46, Z:3.34 [[ 3.31426533e-01 -9.43480991e-01 -2.70276443e-04 1.00376241e+02] [ 9.41451139e-01 3.30732240e-01 -6.54670747e-02 6.54555523e+01] [ 6.18563296e-02 2.14430735e-02 9.97854693e-01 3.33862050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.40, Y:65.47, Z:3.35 [[ 3.37229382e-01 -9.40997332e-01 -2.82907394e-02 1.00403121e+02] [ 9.39270242e-01 3.38337327e-01 -5.74392286e-02 6.54742065e+01] [ 6.36219740e-02 -7.20245412e-03 9.97948079e-01 3.35090151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:65.50, Z:3.35 [[ 3.38642911e-01 -9.40422053e-01 -3.04522799e-02 1.00413205e+02] [ 9.38792663e-01 3.39874613e-01 -5.61567694e-02 6.54991747e+01] [ 6.31610212e-02 -9.57128507e-03 9.97957452e-01 3.35450652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:65.53, Z:3.35 [[ 3.39227777e-01 -9.40617353e-01 -1.27871072e-02 1.00412268e+02] [ 9.38694785e-01 3.39359872e-01 -6.07204886e-02 6.55288329e+01] [ 6.14541764e-02 8.59488552e-03 9.98072899e-01 3.34882738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:65.55, Z:3.36 [[ 3.40711461e-01 -9.39543223e-01 -3.42670786e-02 1.00435446e+02] [ 9.37979213e-01 3.42177991e-01 -5.57603660e-02 6.55512891e+01] [ 6.41147141e-02 -1.31436117e-02 9.97855976e-01 3.36065444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.022755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.44, Y:65.58, Z:3.36 [[ 3.40542325e-01 -9.39863415e-01 -2.62237516e-02 1.00440735e+02] [ 9.37994709e-01 3.41522569e-01 -5.93991643e-02 6.55787215e+01] [ 6.47831044e-02 -4.36981071e-03 9.97889801e-01 3.36161462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:65.60, Z:3.36 [[ 3.39859523e-01 -9.40196859e-01 -2.29209849e-02 1.00449775e+02] [ 9.38255776e-01 3.40630158e-01 -6.03919980e-02 6.56049892e+01] [ 6.45879456e-02 -9.80950865e-04 9.97911537e-01 3.36295990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:65.63, Z:3.36 [[ 3.38738999e-01 -9.40771259e-01 -1.43293121e-02 1.00454701e+02] [ 9.38770301e-01 3.38959522e-01 -6.17799705e-02 6.56321690e+01] [ 6.29778774e-02 7.47535273e-03 9.97986927e-01 3.36079496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:65.65, Z:3.37 [[ 3.37935268e-01 -9.40494845e-01 -3.56258586e-02 1.00477494e+02] [ 9.38818392e-01 3.39523358e-01 -5.78266088e-02 6.56513286e+01] [ 6.64814386e-02 -1.39045607e-02 9.97690774e-01 3.37253049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:65.68, Z:3.37 [[ 3.37712163e-01 -9.40942882e-01 -2.40205872e-02 1.00482274e+02] [ 9.38678702e-01 3.38564954e-01 -6.52385371e-02 6.56781257e+01] [ 6.95182661e-02 -5.15766086e-04 9.97580545e-01 3.37291542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:65.71, Z:3.37 [[ 3.35906266e-01 -9.41666932e-01 -2.07453585e-02 1.00490665e+02] [ 9.39461800e-01 3.36539354e-01 -6.44421460e-02 6.57069523e+01] [ 6.76646674e-02 2.15704879e-03 9.97705788e-01 3.37062834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:65.73, Z:3.37 [[ 3.34496941e-01 -9.42099586e-01 -2.36678426e-02 1.00503334e+02] [ 9.40007751e-01 3.35330873e-01 -6.27585343e-02 6.57339038e+01] [ 6.70613475e-02 -1.25541780e-03 9.97748064e-01 3.37248076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:65.76, Z:3.38 [[ 3.33566191e-01 -9.42362625e-01 -2.61969486e-02 1.00514731e+02] [ 9.40207023e-01 3.34576520e-01 -6.37911143e-02 6.57557314e+01] [ 6.88792458e-02 -3.35199603e-03 9.97619373e-01 3.37641130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.262755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.51, Y:65.79, Z:3.37 [[ 3.28387494e-01 -9.44512947e-01 -7.54626384e-03 1.00513984e+02] [ 9.42004592e-01 3.28079830e-01 -7.06468207e-02 6.57908159e+01] [ 6.92026138e-02 1.60909172e-02 9.97472847e-01 3.36985837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:65.80, Z:3.38 [[ 3.26957234e-01 -9.44072783e-01 -4.27264266e-02 1.00545455e+02] [ 9.42823944e-01 3.28951061e-01 -5.36116587e-02 6.58027847e+01] [ 6.46682111e-02 -2.27547784e-02 9.97647354e-01 3.38085432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:65.83, Z:3.38 [[ 3.26582828e-01 -9.44901610e-01 -2.24633938e-02 1.00543179e+02] [ 9.42935475e-01 3.27351964e-01 -6.09375159e-02 6.58334389e+01] [ 6.49333930e-02 -1.28038462e-03 9.97888779e-01 3.37700250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:65.87, Z:3.37 [[ 3.24190817e-01 -9.45978651e-01 4.97058422e-03 1.00539083e+02] [ 9.43826028e-01 3.23088838e-01 -6.93255454e-02 6.58681126e+01] [ 6.39745456e-02 2.71660720e-02 9.97581707e-01 3.36841419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:65.88, Z:3.39 [[ 3.19959271e-01 -9.46299195e-01 -4.63022445e-02 1.00578464e+02] [ 9.45122433e-01 3.22207954e-01 -5.40890114e-02 6.58779377e+01] [ 6.61033394e-02 -2.64550093e-02 9.97462020e-01 3.39000320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:65.91, Z:3.38 [[ 3.20247461e-01 -9.47179058e-01 -1.71288150e-02 1.00575440e+02] [ 9.45009653e-01 3.20675313e-01 -6.42191565e-02 6.59110037e+01] [ 6.63198283e-02 4.37912634e-03 9.97788807e-01 3.38182592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:65.93, Z:3.39 [[ 3.15226587e-01 -9.48574720e-01 -2.89516850e-02 1.00587909e+02] [ 9.46636468e-01 3.16448893e-01 -6.11514206e-02 6.59324965e+01] [ 6.71684203e-02 -8.13016723e-03 9.97708526e-01 3.38953752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:65.96, Z:3.39 [[ 3.12304381e-01 -9.49705717e-01 -2.29134341e-02 1.00595387e+02] [ 9.47620639e-01 3.13137047e-01 -6.29310349e-02 6.59585468e+01] [ 6.69410087e-02 -2.05960517e-03 9.97754809e-01 3.38938130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:65.99, Z:3.38 [[ 3.12750277e-01 -9.49741537e-01 -1.33520563e-02 1.00604004e+02] [ 9.47649809e-01 3.12952873e-01 -6.34061431e-02 6.59886682e+01] [ 6.43980122e-02 7.17721522e-03 9.97898484e-01 3.38467482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:66.01, Z:3.40 [[ 3.09125308e-01 -9.50494705e-01 -3.16442766e-02 1.00620391e+02] [ 9.48765645e-01 3.10511712e-01 -5.85339881e-02 6.60068451e+01] [ 6.54621642e-02 -1.19286654e-02 9.97783750e-01 3.39563812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:66.04, Z:3.40 [[ 3.03836715e-01 -9.52486343e-01 -2.12841942e-02 1.00623735e+02] [ 9.50402651e-01 3.04579334e-01 -6.29780163e-02 6.60418204e+01] [ 6.64684261e-02 -1.09352105e-03 9.97787930e-01 3.39516825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:66.06, Z:3.40 [[ 3.08111473e-01 -9.51011489e-01 -2.53863692e-02 1.00635429e+02] [ 9.49108731e-01 3.09106772e-01 -6.03789698e-02 6.60578852e+01] [ 6.52681927e-02 -5.49097133e-03 9.97852651e-01 3.39733164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:66.09, Z:3.39 [[ 3.10614047e-01 -9.50304440e-01 -2.09853392e-02 1.00647926e+02] [ 9.48423725e-01 3.11319263e-01 -5.97725257e-02 6.60879564e+01] [ 6.33352369e-02 -1.33680747e-03 9.97991413e-01 3.39395682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:66.11, Z:3.40 [[ 3.09592799e-01 -9.50574868e-01 -2.36583696e-02 1.00654270e+02] [ 9.48616102e-01 3.10475395e-01 -6.10943630e-02 6.61095707e+01] [ 6.54201077e-02 -3.52833549e-03 9.97851572e-01 3.40012651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:66.14, Z:3.40 [[ 3.11532633e-01 -9.50174002e-01 -1.08066982e-02 1.00655261e+02] [ 9.47730464e-01 3.11516519e-01 -6.90248185e-02 6.61381443e+01] [ 6.89520531e-02 1.12616463e-02 9.97556409e-01 3.39801161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:66.16, Z:3.40 [[ 3.13088749e-01 -9.49106463e-01 -3.42396998e-02 1.00677743e+02] [ 9.47569384e-01 3.14602446e-01 -5.60139615e-02 6.61566645e+01] [ 6.39351062e-02 -1.49071501e-02 9.97842713e-01 3.40476576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:66.18, Z:3.40 [[ 3.15616509e-01 -9.48643445e-01 -2.14902988e-02 1.00679270e+02] [ 9.46692519e-01 3.16345212e-01 -6.08192497e-02 6.61847671e+01] [ 6.44941357e-02 -1.14914577e-03 9.97917424e-01 3.40281065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.772755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.68, Y:66.21, Z:3.39 [[ 3.19251629e-01 -9.47665286e-01 -2.98367196e-03 1.00676969e+02] [ 9.45589067e-01 3.18757560e-01 -6.52298536e-02 6.62142953e+01] [ 6.27671359e-02 1.80034094e-02 9.97865805e-01 3.39459054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:66.24, Z:3.41 [[ 3.21377140e-01 -9.46507709e-01 -2.89808665e-02 1.00701933e+02] [ 9.44634881e-01 3.22580147e-01 -6.00582270e-02 6.62361049e+01] [ 6.61942271e-02 -8.07499617e-03 9.97774082e-01 3.40674933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:66.27, Z:3.41 [[ 3.23890050e-01 -9.45734816e-01 -2.60939518e-02 1.00711249e+02] [ 9.43904378e-01 3.24892945e-01 -5.90685990e-02 6.62650228e+01] [ 6.43409714e-02 -5.49846386e-03 9.97912825e-01 3.40879751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:66.30, Z:3.41 [[ 3.23108991e-01 -9.46255329e-01 -1.41926848e-02 1.00711662e+02] [ 9.43515865e-01 3.23263299e-01 -7.26543402e-02 6.62956206e+01] [ 7.33375307e-02 1.00842472e-02 9.97256193e-01 3.41063144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:66.31, Z:3.42 [[ 3.27432340e-01 -9.44222023e-01 -3.51117423e-02 1.00732956e+02] [ 9.42291065e-01 3.29057626e-01 -6.17140792e-02 6.63094729e+01] [ 6.98255793e-02 -1.28782957e-02 9.97476084e-01 3.41716528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:66.34, Z:3.42 [[ 3.29128604e-01 -9.43974522e-01 -2.42170199e-02 1.00736259e+02] [ 9.41678212e-01 3.30016354e-01 -6.58129957e-02 6.63386027e+01] [ 7.01178038e-02 -1.14370060e-03 9.97538062e-01 3.41569868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:66.37, Z:3.42 [[ 3.27549846e-01 -9.44669246e-01 -1.76384268e-02 1.00741165e+02] [ 9.42058164e-01 3.27960575e-01 -7.04860034e-02 6.63700948e+01] [ 7.23706683e-02 6.47125563e-03 9.97356811e-01 3.41687091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.76, Y:66.38, Z:3.42 [[ 3.31240095e-01 -9.42661145e-01 -4.08652090e-02 1.00764083e+02] [ 9.41173064e-01 3.33166856e-01 -5.65076085e-02 6.63829778e+01] [ 6.68824601e-02 -1.97436484e-02 9.97565499e-01 3.42204294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.012755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.75, Y:66.43, Z:3.42 [[ 3.25351512e-01 -9.45546084e-01 -9.43375268e-03 1.00754799e+02] [ 9.42838319e-01 3.25148492e-01 -7.30367195e-02 6.64270845e+01] [ 7.21269546e-02 1.48681036e-02 9.97284634e-01 3.41859624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.042755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.78, Y:66.43, Z:3.43 [[ 3.29935070e-01 -9.43176869e-01 -3.94999107e-02 1.00782892e+02] [ 9.41586931e-01 3.31794354e-01 -5.76763188e-02 6.64346882e+01] [ 6.75048172e-02 -1.81631594e-02 9.97553607e-01 3.42635334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:66.46, Z:3.42 [[ 3.29147749e-01 -9.44002905e-01 -2.28095501e-02 1.00782972e+02] [ 9.41851103e-01 3.29936738e-01 -6.37043925e-02 6.64636223e+01] [ 6.76628401e-02 -5.15042489e-04 9.97708111e-01 3.42345169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:66.49, Z:3.42 [[ 3.28966172e-01 -9.44167480e-01 -1.81391231e-02 1.00789283e+02] [ 9.41833981e-01 3.29430969e-01 -6.65130777e-02 6.64882970e+01] [ 6.87750739e-02 4.79651002e-03 9.97620661e-01 3.42401532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:66.51, Z:3.43 [[ 3.26460665e-01 -9.44904705e-01 -2.40527224e-02 1.00802399e+02] [ 9.42701114e-01 3.27341561e-01 -6.45144419e-02 6.65119168e+01] [ 6.88334554e-02 -1.61310060e-03 9.97626861e-01 3.42737725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:66.54, Z:3.43 [[ 3.24937189e-01 -9.45382719e-01 -2.58329007e-02 1.00813691e+02] [ 9.43366421e-01 3.25934480e-01 -6.18587893e-02 6.65380897e+01] [ 6.69000635e-02 -4.26967003e-03 9.97750546e-01 3.42866080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:66.56, Z:3.43 [[ 3.22422229e-01 -9.46320617e-01 -2.28297337e-02 1.00820394e+02] [ 9.44152942e-01 3.23228181e-01 -6.40216003e-02 6.65636356e+01] [ 6.79641736e-02 -9.12773209e-04 9.97687345e-01 3.42992584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:66.59, Z:3.43 [[ 3.20541907e-01 -9.46961515e-01 -2.27326964e-02 1.00829852e+02] [ 9.44808037e-01 3.21345386e-01 -6.38350784e-02 6.65887058e+01] [ 6.77544097e-02 -1.01621647e-03 9.97701512e-01 3.43125150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:66.61, Z:3.43 [[ 3.18095698e-01 -9.47806336e-01 -2.18695408e-02 1.00839203e+02] [ 9.45573915e-01 3.18846593e-01 -6.50140127e-02 6.66119958e+01] [ 6.85937217e-02 1.41041694e-06 9.97644677e-01 3.43305257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:66.64, Z:3.43 [[ 3.15599963e-01 -9.48597645e-01 -2.36467977e-02 1.00849675e+02] [ 9.46447713e-01 3.16476797e-01 -6.38683299e-02 6.66377218e+01] [ 6.80690102e-02 -2.22361509e-03 9.97678137e-01 3.43490873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:66.66, Z:3.44 [[ 3.13910594e-01 -9.49177800e-01 -2.28395241e-02 1.00858838e+02] [ 9.46999171e-01 3.14737047e-01 -6.42896687e-02 6.66635135e+01] [ 6.82107706e-02 -1.44780234e-03 9.97669883e-01 3.43646873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:66.69, Z:3.44 [[ 3.10813853e-01 -9.50222256e-01 -2.17350537e-02 1.00867731e+02] [ 9.47956443e-01 3.11572809e-01 -6.55817559e-02 6.66893468e+01] [ 6.90892958e-02 -2.20165952e-04 9.97610455e-01 3.43694399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:66.72, Z:3.44 [[ 3.08753743e-01 -9.51023102e-01 -1.50394650e-02 1.00872464e+02] [ 9.48329748e-01 3.09017386e-01 -7.19648808e-02 6.67177778e+01] [ 7.30877203e-02 7.95705427e-03 9.97293773e-01 3.43728653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:66.74, Z:3.44 [[ 3.08545200e-01 -9.50584543e-01 -3.44802292e-02 1.00893813e+02] [ 9.48645424e-01 3.10171057e-01 -6.21753554e-02 6.67373705e+01] [ 6.97977009e-02 -1.35256042e-02 9.97469468e-01 3.44431200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:66.77, Z:3.44 [[ 3.07074045e-01 -9.51554040e-01 -1.58252847e-02 1.00891931e+02] [ 9.48858331e-01 3.07400271e-01 -7.19231623e-02 6.67690430e+01] [ 7.33034724e-02 7.06978310e-03 9.97284623e-01 3.44147177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:66.79, Z:3.45 [[ 3.07966666e-01 -9.50849462e-01 -3.22774587e-02 1.00910333e+02] [ 9.48771450e-01 3.09458735e-01 -6.37810935e-02 6.67887246e+01] [ 7.06347600e-02 -1.09814806e-02 9.97441797e-01 3.44723900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:66.82, Z:3.45 [[ 3.08845037e-01 -9.50823283e-01 -2.34483986e-02 1.00914422e+02] [ 9.48497377e-01 3.09729192e-01 -6.64872471e-02 6.68166866e+01] [ 7.04802762e-02 -1.70648828e-03 9.97511714e-01 3.44692913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.522755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.92, Y:66.84, Z:3.45 [[ 3.09539324e-01 -9.50596311e-01 -2.34959625e-02 1.00923277e+02] [ 9.48254958e-01 3.10425485e-01 -6.66974810e-02 6.68421665e+01] [ 7.06961250e-02 -1.63466969e-03 9.97496559e-01 3.44944172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:66.87, Z:3.45 [[ 3.11396846e-01 -9.50166446e-01 -1.46877251e-02 1.00926807e+02] [ 9.47470337e-01 3.11626741e-01 -7.20328696e-02 6.68694298e+01] [ 7.30203036e-02 8.51462450e-03 9.97294107e-01 3.45014105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:66.89, Z:3.46 [[ 3.12827592e-01 -9.49219174e-01 -3.34941513e-02 1.00947062e+02] [ 9.47264061e-01 3.14375255e-01 -6.21208272e-02 6.68895862e+01] [ 6.94960126e-02 -1.22946970e-02 9.97506463e-01 3.45644638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:66.92, Z:3.46 [[ 3.15632469e-01 -9.48601404e-01 -2.30547263e-02 1.00950134e+02] [ 9.46327771e-01 3.16471441e-01 -6.56473747e-02 6.69170897e+01] [ 6.95693542e-02 -1.09688481e-03 9.97576514e-01 3.45594491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:66.94, Z:3.46 [[ 3.16960305e-01 -9.48159213e-01 -2.30276260e-02 1.00958928e+02] [ 9.45884688e-01 3.17794202e-01 -6.56429844e-02 6.69427321e+01] [ 6.95580465e-02 -9.75258487e-04 9.97577429e-01 3.45772339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:66.97, Z:3.46 [[ 3.19632551e-01 -9.47263388e-01 -2.29587906e-02 1.00968206e+02] [ 9.44995107e-01 3.20455154e-01 -6.55190172e-02 6.69682066e+01] [ 6.94210290e-02 -7.53934216e-04 9.97587165e-01 3.45990815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:66.99, Z:3.46 [[ 3.21632032e-01 -9.46572327e-01 -2.35301093e-02 1.00978521e+02] [ 9.44182217e-01 3.22491049e-01 -6.72269624e-02 6.69944419e+01] [ 7.12234319e-02 -5.94366228e-04 9.97460209e-01 3.46437772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:67.02, Z:3.46 [[ 3.21620055e-01 -9.46594852e-01 -2.27755574e-02 1.00986557e+02] [ 9.44351246e-01 3.22424989e-01 -6.51371702e-02 6.70200894e+01] [ 6.90019188e-02 -5.58705805e-04 9.97616371e-01 3.46353249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:67.05, Z:3.47 [[ 3.23024361e-01 -9.46115373e-01 -2.28246365e-02 1.00996514e+02] [ 9.43855893e-01 3.23829451e-01 -6.53493638e-02 6.70458279e+01] [ 6.92193272e-02 -4.33731165e-04 9.97601372e-01 3.46532931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:67.07, Z:3.47 [[ 3.23469684e-01 -9.45959513e-01 -2.29774606e-02 1.01005933e+02] [ 9.43664128e-01 3.24284530e-01 -6.58601296e-02 6.70705473e+01] [ 6.97522511e-02 -3.79249961e-04 9.97564273e-01 3.46717420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:67.10, Z:3.47 [[ 3.23540709e-01 -9.45934429e-01 -2.30101216e-02 1.01015566e+02] [ 9.43627113e-01 3.24357725e-01 -6.60298208e-02 6.70962743e+01] [ 6.99233915e-02 -3.49639585e-04 9.97552303e-01 3.46880225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:67.12, Z:3.47 [[ 3.22799174e-01 -9.46188776e-01 -2.29672424e-02 1.01025474e+02] [ 9.43885562e-01 3.23614982e-01 -6.59802218e-02 6.71214981e+01] [ 6.98622890e-02 -3.80087425e-04 9.97556573e-01 3.47047488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:67.15, Z:3.47 [[ 3.22203519e-01 -9.46393292e-01 -2.29047935e-02 1.01034914e+02] [ 9.44097950e-01 3.23016374e-01 -6.58747512e-02 6.71469627e+01] [ 6.97420460e-02 -3.99291952e-04 9.97564979e-01 3.47214579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:67.17, Z:3.47 [[ 3.21086657e-01 -9.46872716e-01 -1.83144145e-02 1.01042749e+02] [ 9.44416068e-01 3.21575068e-01 -6.83210496e-02 6.71744452e+01] [ 7.05807969e-02 4.64055012e-03 9.97495271e-01 3.47275067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:67.20, Z:3.48 [[ 3.20066048e-01 -9.46993559e-01 -2.75848327e-02 1.01057032e+02] [ 9.44852509e-01 3.21203484e-01 -6.38909887e-02 6.71966984e+01] [ 6.93646992e-02 -5.61426211e-03 9.97575570e-01 3.47732493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:67.22, Z:3.48 [[ 3.19403511e-01 -9.47345099e-01 -2.27741220e-02 1.01063818e+02] [ 9.45064328e-01 3.20213950e-01 -6.56996317e-02 6.72228888e+01] [ 6.95328156e-02 -5.38317339e-04 9.97579520e-01 3.47766965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:67.25, Z:3.48 [[ 3.18477394e-01 -9.47658378e-01 -2.27100814e-02 1.01073578e+02] [ 9.45385958e-01 3.19285548e-01 -6.55906110e-02 6.72487367e+01] [ 6.94084929e-02 -5.80665199e-04 9.97588153e-01 3.47925471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:67.27, Z:3.48 [[ 3.16742785e-01 -9.48236680e-01 -2.28299583e-02 1.01083495e+02] [ 9.45936271e-01 3.17563738e-01 -6.60139683e-02 6.72725193e+01] [ 6.98468331e-02 -6.86237412e-04 9.97557492e-01 3.48079325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:67.30, Z:3.48 [[ 3.16054452e-01 -9.48466522e-01 -2.28219095e-02 1.01093234e+02] [ 9.46162743e-01 3.16876554e-01 -6.60705234e-02 6.72980253e+01] [ 6.98974075e-02 -7.11357392e-04 9.97553932e-01 3.48254640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:67.32, Z:3.48 [[ 3.15151586e-01 -9.48761532e-01 -2.30441635e-02 1.01103128e+02] [ 9.46408023e-01 3.15992054e-01 -6.67897918e-02 6.73226899e+01] [ 7.06493577e-02 -7.60272418e-04 9.97500922e-01 3.48428872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:67.35, Z:3.49 [[ 3.15139355e-01 -9.48761229e-01 -2.32232108e-02 1.01112321e+02] [ 9.46366576e-01 3.15992995e-01 -6.73701073e-02 6.73480306e+01] [ 7.12565178e-02 -7.46698368e-04 9.97457744e-01 3.48595503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:67.37, Z:3.49 [[ 3.15385875e-01 -9.48675978e-01 -2.33589189e-02 1.01120917e+02] [ 9.46247540e-01 3.16248934e-01 -6.78395547e-02 6.73727203e+01] [ 7.17449891e-02 -7.07682185e-04 9.97422757e-01 3.48762985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:67.40, Z:3.49 [[ 3.16684265e-01 -9.48231717e-01 -2.38261664e-02 1.01130297e+02] [ 9.45697795e-01 3.17578743e-01 -6.92778638e-02 6.73982458e+01] [ 7.32581518e-02 -5.93143638e-04 9.97312835e-01 3.48936049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:67.42, Z:3.49 [[ 3.16380788e-01 -9.48333605e-01 -2.38027623e-02 1.01139078e+02] [ 9.45799365e-01 3.17274367e-01 -6.92859047e-02 6.74245033e+01] [ 7.32581581e-02 -5.91908367e-04 9.97312836e-01 3.49115430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:67.45, Z:3.49 [[ 3.17646962e-01 -9.47906580e-01 -2.39483282e-02 1.01148577e+02] [ 9.45334506e-01 3.18548099e-01 -6.97838087e-02 6.74502015e+01] [ 7.37772259e-02 -4.72566204e-04 9.97274635e-01 3.49258640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:67.48, Z:3.49 [[ 3.18120582e-01 -9.47747615e-01 -2.39531486e-02 1.01157729e+02] [ 9.45168111e-01 3.19020830e-01 -6.98781290e-02 6.74759445e+01] [ 7.38683834e-02 -4.10081118e-04 9.97267915e-01 3.49448911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:67.50, Z:3.50 [[ 3.18333315e-01 -9.47677506e-01 -2.39007381e-02 1.01166523e+02] [ 9.45103152e-01 3.19229087e-01 -6.98056026e-02 6.75010945e+01] [ 7.37830102e-02 -3.67213985e-04 9.97274251e-01 3.49650265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:67.53, Z:3.50 [[ 3.18143243e-01 -9.47745674e-01 -2.37279193e-02 1.01175741e+02] [ 9.45202609e-01 3.19026663e-01 -6.93831075e-02 6.75262633e+01] [ 7.33273790e-02 -3.53924438e-04 9.97307861e-01 3.49836776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:67.55, Z:3.50 [[ 3.17696665e-01 -9.47897805e-01 -2.36343202e-02 1.01185205e+02] [ 9.45369474e-01 3.18574356e-01 -6.91876925e-02 6.75519391e+01] [ 7.31121502e-02 -3.62465704e-04 9.97323660e-01 3.50053025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:67.58, Z:3.50 [[ 3.16790263e-01 -9.48204790e-01 -2.34862845e-02 1.01195853e+02] [ 9.45703142e-01 3.17659428e-01 -6.88335330e-02 6.75770258e+01] [ 7.27289254e-02 -4.05260045e-04 9.97351663e-01 3.50256257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:67.60, Z:3.50 [[ 3.16034746e-01 -9.48458475e-01 -2.34213728e-02 1.01205189e+02] [ 9.45965419e-01 3.16901137e-01 -6.87247769e-02 6.76014491e+01] [ 7.26048567e-02 -4.36391326e-04 9.97360689e-01 3.50464986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:67.63, Z:3.51 [[ 3.15623058e-01 -9.48598511e-01 -2.33012834e-02 1.01214885e+02] [ 9.46125280e-01 3.16481708e-01 -6.84564390e-02 6.76269406e+01] [ 7.23121060e-02 -4.39502640e-04 9.97381956e-01 3.50666861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.22, Y:67.65, Z:3.51 [[ 3.15323282e-01 -9.48700975e-01 -2.31880893e-02 1.01224788e+02] [ 9.46246179e-01 3.16174430e-01 -6.82048304e-02 6.76512238e+01] [ 7.20374701e-02 -4.35069929e-04 9.97401832e-01 3.50908545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:67.68, Z:3.51 [[ 3.14991973e-01 -9.48818673e-01 -2.28731710e-02 1.01233819e+02] [ 9.46424628e-01 3.15821058e-01 -6.73608427e-02 6.76767947e+01] [ 7.11370544e-02 -4.29607569e-04 9.97466458e-01 3.51053595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:67.70, Z:3.51 [[ 3.15268352e-01 -9.48733363e-01 -2.26024629e-02 1.01243588e+02] [ 9.46389969e-01 3.16077301e-01 -6.66420687e-02 6.77009446e+01] [ 7.03696794e-02 -3.80608983e-04 9.97520909e-01 3.51244094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:67.73, Z:3.51 [[ 3.15169723e-01 -9.48766221e-01 -2.25987526e-02 1.01253043e+02] [ 9.46417868e-01 3.15978682e-01 -6.67135001e-02 6.77264423e+01] [ 7.04362394e-02 -3.61787897e-04 9.97516218e-01 3.51465450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:67.75, Z:3.52 [[ 3.15047569e-01 -9.48807792e-01 -2.25566527e-02 1.01262176e+02] [ 9.46462873e-01 3.15853848e-01 -6.66661607e-02 6.77505558e+01] [ 7.03779783e-02 -3.46022495e-04 9.97520336e-01 3.51666697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:67.77, Z:3.52 [[ 3.15351199e-01 -9.48710008e-01 -2.24263769e-02 1.01271768e+02] [ 9.46386268e-01 3.16147486e-01 -6.63611218e-02 6.77746057e+01] [ 7.00475031e-02 -2.96955780e-04 9.97543613e-01 3.51858628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:67.80, Z:3.52 [[ 3.15535741e-01 -9.48650652e-01 -2.23413454e-02 1.01280817e+02] [ 9.46338531e-01 3.16325582e-01 -6.61929812e-02 6.77997986e+01] [ 6.98611539e-02 -2.56224610e-04 9.97556692e-01 3.52046798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:67.82, Z:3.52 [[ 3.15594529e-01 -9.48634004e-01 -2.22175329e-02 1.01289547e+02] [ 9.46342069e-01 3.16375527e-01 -6.59030621e-02 6.78249563e+01] [ 6.95469694e-02 -2.26740170e-04 9.97578652e-01 3.52211676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:67.85, Z:3.52 [[ 3.16026687e-01 -9.48495157e-01 -2.20015994e-02 1.01298200e+02] [ 9.46241799e-01 3.16791585e-01 -6.53417930e-02 6.78499504e+01] [ 6.89462958e-02 -1.69082697e-04 9.97620359e-01 3.52345307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.31, Y:67.88, Z:3.53 [[ 3.15876516e-01 -9.48546413e-01 -2.19483137e-02 1.01306364e+02] [ 9.46298677e-01 3.16638087e-01 -6.52620527e-02 6.78756115e+01] [ 6.88537580e-02 -1.54910352e-04 9.97626752e-01 3.52512415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:67.90, Z:3.53 [[ 3.15459671e-01 -9.48690505e-01 -2.17145271e-02 1.01313472e+02] [ 9.46485735e-01 3.16206102e-01 -6.46409614e-02 6.79005294e+01] [ 6.81905323e-02 -1.60873713e-04 9.97672304e-01 3.52633013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:67.93, Z:3.53 [[ 3.15080328e-01 -9.48821886e-01 -2.14805858e-02 1.01321633e+02] [ 9.46659544e-01 3.15811656e-01 -6.40211320e-02 6.79266133e+01] [ 6.75284706e-02 -1.63002309e-04 9.97717334e-01 3.52781161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.33, Y:67.95, Z:3.53 [[ 3.14409461e-01 -9.49043191e-01 -2.15339877e-02 1.01329383e+02] [ 9.46865448e-01 3.15145977e-01 -6.42560277e-02 6.79513552e+01] [ 6.77680951e-02 -1.87085869e-04 9.97701083e-01 3.52991632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:101.34, Y:67.98, Z:3.53 [[ 3.13042348e-01 -9.49495860e-01 -2.14964989e-02 1.01336649e+02] [ 9.47321436e-01 3.13779451e-01 -6.42226803e-02 6.79769363e+01] [ 6.77243287e-02 -2.59675533e-04 9.97704038e-01 3.53159188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.34, Y:68.00, Z:3.53 [[ 3.12077265e-01 -9.49812842e-01 -2.15254699e-02 1.01344824e+02] [ 9.47628176e-01 3.12818592e-01 -6.43845353e-02 6.80030698e+01] [ 6.78868257e-02 -3.05192104e-04 9.97692982e-01 3.53342516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:68.03, Z:3.54 [[ 3.10079217e-01 -9.50463001e-01 -2.17016596e-02 1.01352230e+02] [ 9.48238506e-01 3.10837420e-01 -6.49910265e-02 6.80277881e+01] [ 6.85172540e-02 -4.25982724e-04 9.97649841e-01 3.53511294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:68.05, Z:3.54 [[ 3.08740474e-01 -9.50894261e-01 -2.18957694e-02 1.01360610e+02] [ 9.48625028e-01 3.09515516e-01 -6.56559302e-02 6.80532739e+01] [ 6.92089276e-02 -5.00231897e-04 9.97602062e-01 3.53676185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:68.08, Z:3.54 [[ 3.06109402e-01 -9.51740381e-01 -2.20744588e-02 1.01367954e+02] [ 9.49430577e-01 3.06903561e-01 -6.62705343e-02 6.80783048e+01] [ 6.98470736e-02 -6.72132544e-04 9.97557484e-01 3.53817820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:68.10, Z:3.54 [[ 3.04695622e-01 -9.52193925e-01 -2.20750246e-02 1.01376312e+02] [ 9.49879473e-01 3.05493314e-01 -6.63537635e-02 6.81044473e+01] [ 6.99254229e-02 -7.50911482e-04 9.97551939e-01 3.53980131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:68.13, Z:3.54 [[ 3.01860854e-01 -9.53097943e-01 -2.20076418e-02 1.01384470e+02] [ 9.50794508e-01 3.02660604e-01 -6.62296182e-02 6.81303713e+01] [ 6.97841590e-02 -9.32615895e-04 9.97561678e-01 3.54150525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:68.16, Z:3.54 [[ 3.00578014e-01 -9.53506222e-01 -2.18802005e-02 1.01392484e+02] [ 9.51225023e-01 3.01371682e-01 -6.59246939e-02 6.81562480e+01] [ 6.94536786e-02 -9.97480627e-04 9.97584679e-01 3.54323583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:68.18, Z:3.55 [[ 2.99568823e-01 -9.53825959e-01 -2.17844198e-02 1.01400000e+02] [ 9.51560219e-01 3.00358039e-01 -6.57130011e-02 6.81812350e+01] [ 6.92218919e-02 -1.04362092e-03 9.97600742e-01 3.54514319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:68.21, Z:3.55 [[ 2.98926909e-01 -9.54031713e-01 -2.15915240e-02 1.01408139e+02] [ 9.51802338e-01 2.99703788e-01 -6.51916404e-02 6.82073334e+01] [ 6.86659539e-02 -1.06332747e-03 9.97639141e-01 3.54693885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:68.23, Z:3.55 [[ 2.98541831e-01 -9.54160153e-01 -2.12409155e-02 1.01415833e+02] [ 9.51997857e-01 2.99294661e-01 -6.42089252e-02 6.82338536e+01] [ 6.76228905e-02 -1.05225588e-03 9.97710398e-01 3.54881559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:68.26, Z:3.55 [[ 2.99156334e-01 -9.53976161e-01 -2.08559993e-02 1.01422580e+02] [ 9.51886204e-01 2.99880884e-01 -6.31198074e-02 6.82590771e+01] [ 6.64691070e-02 -9.69847774e-04 9.97788012e-01 3.55051429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:68.28, Z:3.55 [[ 2.99781326e-01 -9.53782213e-01 -2.07520054e-02 1.01430048e+02] [ 9.51707394e-01 3.00497391e-01 -6.28836592e-02 6.82841290e+01] [ 6.62132392e-02 -8.98490220e-04 9.97805091e-01 3.55227269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:68.31, Z:3.55 [[ 3.00599120e-01 -9.53530253e-01 -2.04994106e-02 1.01437879e+02] [ 9.51500105e-01 3.01296202e-01 -6.21944437e-02 6.83101364e+01] [ 6.54806782e-02 -8.09596306e-04 9.97853509e-01 3.55413533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:68.34, Z:3.56 [[ 3.01233945e-01 -9.53333629e-01 -2.03249186e-02 1.01445361e+02] [ 9.51332700e-01 3.01917948e-01 -6.17385311e-02 6.83357629e+01] [ 6.49938756e-02 -7.38018339e-04 9.97885390e-01 3.55580491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:68.36, Z:3.56 [[ 3.02962585e-01 -9.52793449e-01 -1.99578523e-02 1.01452400e+02] [ 9.50859515e-01 3.03618661e-01 -6.06785902e-02 6.83618173e+01] [ 6.38737396e-02 -5.93771166e-04 9.97957811e-01 3.55756298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:68.39, Z:3.56 [[ 3.04485213e-01 -9.52317103e-01 -1.95164149e-02 1.01459665e+02] [ 9.50462525e-01 3.05109689e-01 -5.94059434e-02 6.83879829e+01] [ 6.25279432e-02 -4.61389694e-04 9.98043107e-01 3.55871045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:68.42, Z:3.56 [[ 3.03385532e-01 -9.52789982e-01 -1.21848285e-02 1.01462926e+02] [ 9.50702566e-01 3.03532949e-01 -6.35010304e-02 6.84168826e+01] [ 6.42016425e-02 7.68114617e-03 9.97907385e-01 3.55858021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:68.44, Z:3.56 [[ 3.05059853e-01 -9.51938203e-01 -2.74252318e-02 1.01479977e+02] [ 9.50296357e-01 3.06163610e-01 -5.65745331e-02 6.84377394e+01] [ 6.22520673e-02 -8.80347914e-03 9.98021632e-01 3.56457915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:68.47, Z:3.56 [[ 3.05450743e-01 -9.52012320e-01 -1.92973013e-02 1.01484016e+02] [ 9.50183815e-01 3.06059535e-01 -5.89769291e-02 6.84654614e+01] [ 6.20528862e-02 -3.21436506e-04 9.98072811e-01 3.56370025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:68.49, Z:3.56 [[ 3.05731877e-01 -9.52013236e-01 -1.41003043e-02 1.01489748e+02] [ 9.50047815e-01 3.06009759e-01 -6.13773335e-02 6.84925929e+01] [ 6.27468645e-02 5.36904409e-03 9.98015032e-01 3.56391648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:68.52, Z:3.57 [[ 3.05646371e-01 -9.51834879e-01 -2.43034975e-02 1.01504277e+02] [ 9.50185180e-01 3.06554750e-01 -5.63232516e-02 6.85158820e+01] [ 6.10607880e-02 -5.87782573e-03 9.98116742e-01 3.56883333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:68.54, Z:3.57 [[ 3.05111232e-01 -9.52130594e-01 -1.88273194e-02 1.01509731e+02] [ 9.50380347e-01 3.05691429e-01 -5.77056898e-02 6.85419223e+01] [ 6.06987029e-02 -2.86460206e-04 9.98156093e-01 3.56857662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:68.57, Z:3.57 [[ 3.03657100e-01 -9.52595915e-01 -1.87986351e-02 1.01518483e+02] [ 9.50847483e-01 3.04238222e-01 -5.76902756e-02 6.85673488e+01] [ 6.06747841e-02 -3.56573079e-04 9.98157524e-01 3.56934898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:68.59, Z:3.57 [[ 3.02580716e-01 -9.52936083e-01 -1.89137852e-02 1.01527147e+02] [ 9.51162633e-01 3.03171001e-01 -5.81118750e-02 6.85926547e+01] [ 6.11110137e-02 -4.06552995e-04 9.98130893e-01 3.57079981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:68.62, Z:3.57 [[ 3.00544742e-01 -9.53580267e-01 -1.89085132e-02 1.01536565e+02] [ 9.51804903e-01 3.01138518e-01 -5.81637222e-02 6.86168699e+01] [ 6.11578594e-02 -5.16414676e-04 9.98127973e-01 3.57158146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:68.64, Z:3.57 [[ 2.99165092e-01 -9.54013992e-01 -1.89090204e-02 1.01545904e+02] [ 9.52234989e-01 2.99761510e-01 -5.82371294e-02 6.86428432e+01] [ 6.12272328e-02 -5.83314696e-04 9.98123683e-01 3.57293294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:68.67, Z:3.57 [[ 2.97938274e-01 -9.54397960e-01 -1.89028861e-02 1.01554860e+02] [ 9.52616700e-01 2.98536636e-01 -5.82863585e-02 6.86677068e+01] [ 6.12715857e-02 -6.41467914e-04 9.98120925e-01 3.57399713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:68.69, Z:3.58 [[ 2.95859534e-01 -9.55044530e-01 -1.88966218e-02 1.01564334e+02] [ 9.53262659e-01 2.96461412e-01 -5.83175245e-02 6.86914890e+01] [ 6.12979519e-02 -7.59648343e-04 9.98119223e-01 3.57524464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:68.72, Z:3.58 [[ 2.94415782e-01 -9.55491218e-01 -1.88647876e-02 1.01573529e+02] [ 9.53711519e-01 2.95018385e-01 -5.82965716e-02 6.87160958e+01] [ 6.12673214e-02 -8.28134542e-04 9.98121050e-01 3.57671767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:68.74, Z:3.58 [[ 2.94474477e-01 -9.55478439e-01 -1.85939373e-02 1.01580700e+02] [ 9.53745261e-01 2.95059864e-01 -5.75295980e-02 6.87411725e+01] [ 6.04546151e-02 -7.92881265e-04 9.98170632e-01 3.57789007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:68.77, Z:3.58 [[ 2.95030636e-01 -9.55309539e-01 -1.84555641e-02 1.01588007e+02] [ 9.53597501e-01 2.95606408e-01 -5.71721692e-02 6.87668551e+01] [ 6.00727017e-02 -7.31638390e-04 9.98193736e-01 3.57970775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:68.79, Z:3.58 [[ 2.96906798e-01 -9.54729456e-01 -1.83853020e-02 1.01595934e+02] [ 9.53025046e-01 2.97474903e-01 -5.70258166e-02 6.87926218e+01] [ 5.99133928e-02 -5.90300658e-04 9.98203405e-01 3.58143313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.862755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.60, Y:68.82, Z:3.58 [[ 2.98086915e-01 -9.54494721e-01 -9.16619032e-03 1.01597507e+02] [ 9.52504300e-01 2.98064499e-01 -6.23948151e-02 6.88212084e+01] [ 6.22876375e-02 9.86824224e-03 9.98009453e-01 3.58093323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:68.84, Z:3.59 [[ 3.01606849e-01 -9.53020356e-01 -2.80269498e-02 1.01616346e+02] [ 9.51583982e-01 3.02721589e-01 -5.33625793e-02 6.88418094e+01] [ 5.93399871e-02 -1.05754771e-02 9.98181810e-01 3.58760773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:68.87, Z:3.58 [[ 3.02913858e-01 -9.52943041e-01 -1.19480474e-02 1.01614925e+02] [ 9.51119577e-01 3.03077632e-01 -5.92916383e-02 6.88712103e+01] [ 6.01227400e-02 6.59623713e-03 9.98169197e-01 3.58410748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:68.89, Z:3.59 [[ 3.04632507e-01 -9.52156094e-01 -2.44501349e-02 1.01629864e+02] [ 9.50627922e-01 3.05538894e-01 -5.43372604e-02 6.88937951e+01] [ 5.92080208e-02 -6.69008514e-03 9.98223248e-01 3.58988115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:68.92, Z:3.59 [[ 3.05800753e-01 -9.51926523e-01 -1.79386419e-02 1.01634032e+02] [ 9.50277345e-01 3.06326441e-01 -5.60096251e-02 6.89206732e+01] [ 5.88121280e-02 8.11004670e-05 9.98269065e-01 3.58915439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:68.95, Z:3.59 [[ 3.08070180e-01 -9.51201491e-01 -1.75638064e-02 1.01641865e+02] [ 9.49615756e-01 3.08570362e-01 -5.49021611e-02 6.89460302e+01] [ 5.76426876e-02 2.34851338e-04 9.98337250e-01 3.59088219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:68.97, Z:3.59 [[ 3.08731724e-01 -9.50993982e-01 -1.71804964e-02 1.01650387e+02] [ 9.49472742e-01 3.09209256e-01 -5.37693982e-02 6.89721541e+01] [ 5.64467426e-02 2.87905981e-04 9.98405570e-01 3.59274239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:69.00, Z:3.59 [[ 3.09166373e-01 -9.50860450e-01 -1.67498742e-02 1.01658477e+02] [ 9.49411132e-01 3.09619605e-01 -5.24804868e-02 6.89968720e+01] [ 5.50877087e-02 3.22684671e-04 9.98481467e-01 3.59470200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.102755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.66, Y:69.02, Z:3.60 [[ 3.08214167e-01 -9.51185766e-01 -1.58008155e-02 1.01664996e+02] [ 9.49893710e-01 3.08618806e-01 -4.95617925e-02 6.90217686e+01] [ 5.20189004e-02 2.66551362e-04 9.98646065e-01 3.59612964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.132755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.67, Y:69.05, Z:3.60 [[ 3.07883164e-01 -9.51293284e-01 -1.57811592e-02 1.01672873e+02] [ 9.50001049e-01 3.08287229e-01 -4.95680495e-02 6.90474550e+01] [ 5.20188824e-02 2.69050134e-04 9.98646065e-01 3.59787140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:69.07, Z:3.60 [[ 3.06491775e-01 -9.51748601e-01 -1.54075770e-02 1.01680839e+02] [ 9.50514588e-01 3.06878738e-01 -4.84505779e-02 6.90723962e+01] [ 5.08410274e-02 2.04576922e-04 9.98706738e-01 3.59964584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:69.10, Z:3.60 [[ 3.02480128e-01 -9.53150781e-01 -3.05958048e-03 1.01682286e+02] [ 9.51709255e-01 3.02196324e-01 -5.41006045e-02 6.91000959e+01] [ 5.24906274e-02 1.34525267e-02 9.98530803e-01 3.59946959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:69.12, Z:3.61 [[ 3.01136034e-01 -9.53201168e-01 -2.69188213e-02 1.01705557e+02] [ 9.52433731e-01 3.02038242e-01 -4.05325666e-02 6.91198578e+01] [ 4.67662033e-02 -1.34325770e-02 9.98815543e-01 3.60818945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:69.15, Z:3.61 [[ 2.98481831e-01 -9.54317267e-01 -1.36802896e-02 1.01706396e+02] [ 9.53339987e-01 2.98795131e-01 -4.31779983e-02 6.91462148e+01] [ 4.52931132e-02 -1.54119156e-04 9.98973728e-01 3.60587987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:69.17, Z:3.62 [[ 2.94318826e-01 -9.55157261e-01 -3.24196652e-02 1.01728560e+02] [ 9.54677633e-01 2.95406750e-01 -3.64069937e-02 6.91709075e+01] [ 4.43513924e-02 -2.02350656e-02 9.98811041e-01 3.61907127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:69.20, Z:3.60 [[ 2.92163425e-01 -9.56292625e-01 1.20394682e-02 1.01709375e+02] [ 9.55280622e-01 2.91207738e-01 -5.13515947e-02 6.92014247e+01] [ 4.56011650e-02 2.65041285e-02 9.98608064e-01 3.60491137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:69.22, Z:3.62 [[ 2.89024818e-01 -9.57106496e-01 -2.02931240e-02 1.01736836e+02] [ 9.56452981e-01 2.89600493e-01 -3.64588780e-02 6.92211732e+01] [ 4.07719277e-02 -8.87189841e-03 9.99129090e-01 3.61669206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:69.25, Z:3.62 [[ 2.88089850e-01 -9.57439869e-01 -1.76956425e-02 1.01744755e+02] [ 9.56552114e-01 2.88590089e-01 -4.15188364e-02 6.92488974e+01] [ 4.48585763e-02 -4.96564894e-03 9.98981006e-01 3.62108173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:69.27, Z:3.63 [[ 2.87383819e-01 -9.57257612e-01 -3.26864680e-02 1.01763290e+02] [ 9.56849917e-01 2.88458838e-01 -3.50675703e-02 6.92736151e+01] [ 4.29973992e-02 -2.11981919e-02 9.98850269e-01 3.63050163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:69.31, Z:3.61 [[ 2.81309420e-01 -9.59296302e-01 2.48115943e-02 1.01733994e+02] [ 9.58719946e-01 2.79834673e-01 -5.04838587e-02 6.93081521e+01] [ 4.14858346e-02 3.79889554e-02 9.98416629e-01 3.60769998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.462755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:101.77, Y:69.32, Z:3.62 [[ 2.82710595e-01 -9.58943196e-01 -2.24202335e-02 1.01768459e+02] [ 9.58501053e-01 2.83321343e-01 -3.16977683e-02 6.93221387e+01] [ 3.67484899e-02 -1.25285225e-02 9.99246008e-01 3.62296590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:69.35, Z:3.62 [[ 2.80612540e-01 -9.59687795e-01 -1.59981019e-02 1.01771381e+02] [ 9.59173284e-01 2.80996476e-01 -3.20560712e-02 6.93513002e+01] [ 3.52592306e-02 -6.34961634e-03 9.99358028e-01 3.62144322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:69.38, Z:3.62 [[ 2.79056422e-01 -9.60254664e-01 -6.20438532e-03 1.01772425e+02] [ 9.59537463e-01 2.79089488e-01 -3.73753204e-02 6.93795650e+01] [ 3.76214044e-02 4.47648302e-03 9.99282038e-01 3.61978786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:69.40, Z:3.62 [[ 2.78962655e-01 -9.60163270e-01 -1.63196721e-02 1.01785815e+02] [ 9.59627376e-01 2.79363311e-01 -3.27328616e-02 6.94026556e+01] [ 3.59880091e-02 -6.52955814e-03 9.99330890e-01 3.62324636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:69.43, Z:3.62 [[ 2.75298932e-01 -9.61358623e-01 -3.10943428e-04 1.01780816e+02] [ 9.60438486e-01 2.75049557e-01 -4.36538210e-02 6.94314031e+01] [ 4.20525021e-02 1.17192083e-02 9.99046669e-01 3.61918873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:69.45, Z:3.63 [[ 2.77507135e-01 -9.60226852e-01 -3.08898352e-02 1.01806730e+02] [ 9.60025085e-01 2.78387841e-01 -2.91898482e-02 6.94485661e+01] [ 3.66282306e-02 -2.15546255e-02 9.99096477e-01 3.63028434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:69.48, Z:3.62 [[ 2.75528043e-01 -9.61264166e-01 -7.44983676e-03 1.01799570e+02] [ 9.60582767e-01 2.75614054e-01 -3.62993172e-02 6.94799637e+01] [ 3.69465126e-02 2.84529502e-03 9.99313194e-01 3.62251726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:69.50, Z:3.63 [[ 2.76232570e-01 -9.60846428e-01 -2.16727920e-02 1.01813229e+02] [ 9.60252205e-01 2.76863182e-01 -3.55314015e-02 6.95039691e+01] [ 4.01406184e-02 -1.09964160e-02 9.99133529e-01 3.62887225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:69.53, Z:3.62 [[ 2.75540615e-01 -9.61284894e-01 -2.95341950e-03 1.01809665e+02] [ 9.60345440e-01 2.75404858e-01 -4.34603340e-02 6.95341628e+01] [ 4.25911487e-02 9.13878422e-03 9.99050788e-01 3.62415304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:69.56, Z:3.64 [[ 2.74125202e-01 -9.61133162e-01 -3.28392932e-02 1.01833775e+02] [ 9.60679423e-01 2.75244438e-01 -3.65451132e-02 6.95556267e+01] [ 4.41635530e-02 -2.15300967e-02 9.98792288e-01 3.63560810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:69.59, Z:3.62 [[ 2.69092440e-01 -9.63087302e-01 7.21849886e-03 1.01815338e+02] [ 9.62221926e-01 2.68512971e-01 -4.50527364e-02 6.95893807e+01] [ 4.14514578e-02 1.90691486e-02 9.98958530e-01 3.61822029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:69.61, Z:3.63 [[ 2.70927669e-01 -9.62238894e-01 -2.63535209e-02 1.01843505e+02] [ 9.61537074e-01 2.71813194e-01 -3.95479817e-02 6.96096688e+01] [ 4.52178409e-02 -1.46252449e-02 9.98870086e-01 3.63365574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:69.64, Z:3.62 [[ 2.66982927e-01 -9.63699314e-01 1.93632881e-03 1.01830248e+02] [ 9.62568020e-01 2.66571025e-01 -4.90172971e-02 6.96409685e+01] [ 4.67217664e-02 1.49506296e-02 9.98796053e-01 3.62002051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:69.66, Z:3.62 [[ 2.66723436e-01 -9.63625536e-01 -1.68651813e-02 1.01847579e+02] [ 9.62701987e-01 2.67210997e-01 -4.24637102e-02 6.96643269e+01] [ 4.54256774e-02 -4.91007683e-03 9.98955654e-01 3.62480945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:69.69, Z:3.62 [[ 2.66392559e-01 -9.63762812e-01 -1.40088092e-02 1.01853136e+02] [ 9.62666578e-01 2.66757766e-01 -4.59712350e-02 6.96924424e+01] [ 4.80423254e-02 -1.23941750e-03 9.98844532e-01 3.62475638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:69.72, Z:3.62 [[ 2.64094081e-01 -9.64423305e-01 -1.19165677e-02 1.01854062e+02] [ 9.63141435e-01 2.64357600e-01 -4.97356455e-02 6.97183112e+01] [ 5.11164509e-02 1.65754947e-03 9.98691324e-01 3.62310075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:69.74, Z:3.64 [[ 2.66527125e-01 -9.63018974e-01 -3.94682986e-02 1.01879939e+02] [ 9.62285094e-01 2.68193105e-01 -4.56054402e-02 6.97409596e+01] [ 5.45040298e-02 -2.58246686e-02 9.98179542e-01 3.63565662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:69.77, Z:3.62 [[ 2.64214815e-01 -9.64455412e-01 4.03599851e-03 1.01857178e+02] [ 9.62607934e-01 2.63444593e-01 -6.31103163e-02 6.97740028e+01] [ 5.98038242e-02 2.05597647e-02 9.97998396e-01 3.62005362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:69.80, Z:3.62 [[ 2.61793151e-01 -9.65061653e-01 -1.09705276e-02 1.01869429e+02] [ 9.63377212e-01 2.61986028e-01 -5.71635225e-02 6.98001090e+01] [ 5.80404485e-02 4.39626236e-03 9.98304552e-01 3.61839912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:69.82, Z:3.62 [[ 2.61036487e-01 -9.65113941e-01 -2.03723448e-02 1.01875998e+02] [ 9.63547798e-01 2.61778236e-01 -5.52068485e-02 6.98240299e+01] [ 5.86139356e-02 -5.21872619e-03 9.98267084e-01 3.61974062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:69.85, Z:3.62 [[ 2.59835414e-01 -9.65453388e-01 -1.96294113e-02 1.01880221e+02] [ 9.63799347e-01 2.60541961e-01 -5.66454362e-02 6.98518754e+01] [ 5.98028136e-02 -4.20032348e-03 9.98201373e-01 3.61970940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:69.88, Z:3.62 [[ 2.62574796e-01 -9.64873466e-01 -8.58321708e-03 1.01877669e+02] [ 9.62754008e-01 2.62571827e-01 -6.45039256e-02 6.98769335e+01] [ 6.44918373e-02 8.67357849e-03 9.97880540e-01 3.61804998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:69.91, Z:3.62 [[ 2.62507806e-01 -9.64746300e-01 -1.88209518e-02 1.01884891e+02] [ 9.62616752e-01 2.63178450e-01 -6.40788043e-02 6.99058993e+01] [ 6.67730583e-02 -1.29617713e-03 9.97767347e-01 3.62076638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:69.93, Z:3.62 [[ 2.64688942e-01 -9.64048157e-01 -2.34715879e-02 1.01891679e+02] [ 9.62058705e-01 2.65657187e-01 -6.22037594e-02 6.99282139e+01] [ 6.62028156e-02 -6.11639816e-03 9.97787441e-01 3.62222085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:69.96, Z:3.62 [[ 2.65647900e-01 -9.63872559e-01 -1.95162436e-02 1.01893829e+02] [ 9.61740251e-01 2.66358141e-01 -6.41017181e-02 6.99566896e+01] [ 6.69841974e-02 -1.74107026e-03 9.97752517e-01 3.62231562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:69.98, Z:3.62 [[ 2.67099480e-01 -9.63336549e-01 -2.53092998e-02 1.01899122e+02] [ 9.61228290e-01 2.68199126e-01 -6.41046329e-02 6.99828918e+01] [ 6.85422679e-02 -7.20570082e-03 9.97622191e-01 3.62485897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:70.01, Z:3.62 [[ 2.65507473e-01 -9.63937483e-01 -1.81744413e-02 1.01898785e+02] [ 9.61728121e-01 2.66128733e-01 -6.52266727e-02 7.00147511e+01] [ 6.77111758e-02 -1.60702265e-04 9.97704952e-01 3.62259943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:70.04, Z:3.62 [[ 2.65400628e-01 -9.64101553e-01 -8.40845180e-03 1.01892366e+02] [ 9.61868448e-01 2.65363830e-01 -6.62655750e-02 7.00430187e+01] [ 6.61180428e-02 9.49910072e-03 9.97766592e-01 3.61721284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:70.07, Z:3.63 [[ 2.62709199e-01 -9.64416609e-01 -2.97402354e-02 1.01907835e+02] [ 9.62494670e-01 2.64100326e-01 -6.20888718e-02 7.00658153e+01] [ 6.77339451e-02 -1.23135003e-02 9.97627431e-01 3.62754289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:70.09, Z:3.63 [[ 2.63272344e-01 -9.64509443e-01 -2.02288797e-02 1.01904875e+02] [ 9.62285693e-01 2.64039000e-01 -6.54954352e-02 7.00919905e+01] [ 6.85121789e-02 -2.22282472e-03 9.97647804e-01 3.62650361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:70.12, Z:3.63 [[ 2.63014817e-01 -9.64592000e-01 -1.96336574e-02 1.01903162e+02] [ 9.62296527e-01 2.63742908e-01 -6.65212209e-02 7.01197180e+01] [ 6.93440754e-02 -1.39733358e-03 9.97591824e-01 3.62731786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:70.15, Z:3.62 [[ 2.63051564e-01 -9.64774039e-01 -3.86377215e-03 1.01897028e+02] [ 9.62202611e-01 2.62638879e-01 -7.20205184e-02 7.01508598e+01] [ 7.04983032e-02 1.52273783e-02 9.97395667e-01 3.62276374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:70.17, Z:3.64 [[ 2.63559419e-01 -9.63961259e-01 -3.62646270e-02 1.01917442e+02] [ 9.62116693e-01 2.65402389e-01 -6.23942372e-02 7.01688302e+01] [ 6.97703461e-02 -1.84462140e-02 9.97392519e-01 3.63544763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:70.20, Z:3.63 [[ 2.61249186e-01 -9.65054283e-01 -2.04717608e-02 1.01912573e+02] [ 9.62760038e-01 2.62039743e-01 -6.65453335e-02 7.02014035e+01] [ 6.95842741e-02 -2.32447894e-03 9.97573369e-01 3.63431594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:70.23, Z:3.64 [[ 2.61276071e-01 -9.65042594e-01 -2.06786309e-02 1.01916981e+02] [ 9.62795488e-01 2.62079209e-01 -6.58736467e-02 7.02264587e+01] [ 6.89903141e-02 -2.69808492e-03 9.97613681e-01 3.63650322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:70.25, Z:3.64 [[ 2.63378216e-01 -9.64538620e-01 -1.72384788e-02 1.01917216e+02] [ 9.62261958e-01 2.63940361e-01 -6.62375192e-02 7.02528332e+01] [ 6.84385758e-02 8.57587251e-04 9.97654963e-01 3.63933897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:70.28, Z:3.64 [[ 2.64062371e-01 -9.64219997e-01 -2.34704315e-02 1.01926919e+02] [ 9.62220408e-01 2.65032829e-01 -6.23657491e-02 7.02777032e+01] [ 6.63547373e-02 -6.11528059e-03 9.97777356e-01 3.64270014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:70.31, Z:3.64 [[ 2.63903721e-01 -9.64399034e-01 -1.70096712e-02 1.01929622e+02] [ 9.62275838e-01 2.64450830e-01 -6.39606885e-02 7.03072596e+01] [ 6.61818479e-02 5.11468074e-04 9.97807447e-01 3.64439181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:70.33, Z:3.65 [[ 2.66470085e-01 -9.63667070e-01 -1.84247948e-02 1.01937693e+02] [ 9.61705432e-01 2.67102950e-01 -6.14709408e-02 7.03333118e+01] [ 6.41588384e-02 -1.33905845e-03 9.97938801e-01 3.64852021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:70.36, Z:3.65 [[ 2.68019594e-01 -9.63243142e-01 -1.81148414e-02 1.01944625e+02] [ 9.61340678e-01 2.68628416e-01 -6.05216941e-02 7.03587075e+01] [ 6.31632679e-02 -1.19353401e-03 9.98002494e-01 3.65103948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:70.38, Z:3.65 [[ 2.71878597e-01 -9.62169092e-01 -1.76823635e-02 1.01951483e+02] [ 9.60348898e-01 2.72451526e-01 -5.91621534e-02 7.03845237e+01] [ 6.17415824e-02 -8.96315018e-04 9.98091766e-01 3.65372501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:70.41, Z:3.66 [[ 2.73855879e-01 -9.61702711e-01 -1.14391116e-02 1.01955228e+02] [ 9.59673440e-01 2.74024405e-01 -6.27496179e-02 7.04123460e+01] [ 6.34810734e-02 6.20654014e-03 9.97963743e-01 3.65515837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:70.44, Z:3.66 [[ 2.75758688e-01 -9.60926402e-01 -2.40332394e-02 1.01971232e+02] [ 9.59288636e-01 2.76703598e-01 -5.65723647e-02 7.04354101e+01] [ 6.10119627e-02 -7.45449242e-03 9.98109198e-01 3.65906795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:70.46, Z:3.66 [[ 2.77162111e-01 -9.60743338e-01 -1.23856197e-02 1.01972565e+02] [ 9.58760169e-01 2.77388307e-01 -6.19246772e-02 7.04645302e+01] [ 6.29293471e-02 5.28833540e-03 9.98003973e-01 3.65948870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:70.49, Z:3.66 [[ 2.81792747e-01 -9.59373661e-01 -1.39651493e-02 1.01983250e+02] [ 9.57534662e-01 2.82118260e-01 -5.94698097e-02 7.04861075e+01] [ 6.09935927e-02 3.38604650e-03 9.98132414e-01 3.66260662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:70.51, Z:3.67 [[ 2.82697510e-01 -9.58868822e-01 -2.55479937e-02 1.01999401e+02] [ 9.57421870e-01 2.83695813e-01 -5.34794248e-02 7.05109140e+01] [ 5.85276119e-02 -9.34170767e-03 9.98242080e-01 3.66632094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:70.54, Z:3.67 [[ 2.85545419e-01 -9.58220653e-01 -1.66431073e-02 1.02003550e+02] [ 9.56575119e-01 2.86030012e-01 -5.61326525e-02 7.05381633e+01] [ 5.85478951e-02 1.08039400e-04 9.98284595e-01 3.66666489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:70.57, Z:3.67 [[ 2.86588225e-01 -9.58004657e-01 -9.70913001e-03 1.02007894e+02] [ 9.56127413e-01 2.86639617e-01 -6.04822349e-02 7.05659380e+01] [ 6.07252840e-02 8.05033099e-03 9.98122053e-01 3.66784745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:70.59, Z:3.67 [[ 2.88310656e-01 -9.57228511e-01 -2.43011170e-02 1.02028082e+02] [ 9.55707166e-01 2.89235222e-01 -5.44683224e-02 7.05882613e+01] [ 5.91673701e-02 -7.52095392e-03 9.98219744e-01 3.67242235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:70.62, Z:3.67 [[ 2.89110029e-01 -9.57289084e-01 -3.60551182e-03 1.02024517e+02] [ 9.55204809e-01 2.88725272e-01 -6.49729990e-02 7.06160899e+01] [ 6.32389451e-02 1.53403434e-02 9.97880509e-01 3.67086414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:70.64, Z:3.68 [[ 2.86160240e-01 -9.57793931e-01 -2.72599014e-02 1.02048418e+02] [ 9.56274327e-01 2.87269211e-01 -5.49164032e-02 7.06404600e+01] [ 6.04295281e-02 -1.03530528e-02 9.98118774e-01 3.67674500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:70.67, Z:3.68 [[ 2.85654158e-01 -9.58170994e-01 -1.76081891e-02 1.02050078e+02] [ 9.56424176e-01 2.86196162e-01 -5.78321043e-02 7.06690325e+01] [ 6.04524410e-02 -3.20916649e-04 9.98171027e-01 3.67628269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.06, Y:70.69, Z:3.68 [[ 2.86182635e-01 -9.58079920e-01 -1.35042695e-02 1.02057240e+02] [ 9.56199423e-01 2.86468778e-01 -6.01523212e-02 7.06922581e+01] [ 6.14992827e-02 4.30177510e-03 9.98097857e-01 3.67776012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:70.71, Z:3.68 [[ 2.83515120e-01 -9.58654915e-01 -2.44934928e-02 1.02076266e+02] [ 9.57155611e-01 2.84456512e-01 -5.41998961e-02 7.07135050e+01] [ 5.89263303e-02 -8.07759404e-03 9.98229653e-01 3.68119689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:70.74, Z:3.68 [[ 2.81360813e-01 -9.59458151e-01 -1.66177509e-02 1.02081650e+02] [ 9.57783311e-01 2.81851123e-01 -5.66663380e-02 7.07403052e+01] [ 5.90527116e-02 2.74824310e-05 9.98254866e-01 3.68113094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:70.77, Z:3.68 [[ 2.79207920e-01 -9.60086261e-01 -1.66526075e-02 1.02091880e+02] [ 9.58400974e-01 2.79704067e-01 -5.68612980e-02 7.07655179e+01] [ 5.92495531e-02 -8.37504741e-05 9.98243199e-01 3.68272398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:70.79, Z:3.68 [[ 2.75483707e-01 -9.61161801e-01 -1.66348965e-02 1.02104864e+02] [ 9.59477524e-01 2.75985339e-01 -5.68768260e-02 7.07895938e+01] [ 5.92588200e-02 -2.92170405e-04 9.98242609e-01 3.68462074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:70.81, Z:3.69 [[ 2.74012686e-01 -9.61583717e-01 -1.65469786e-02 1.02115298e+02] [ 9.59913447e-01 2.74511612e-01 -5.66528762e-02 7.08139004e+01] [ 5.90188211e-02 -3.60060429e-04 9.98256805e-01 3.68638412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:70.84, Z:3.69 [[ 2.71104252e-01 -9.62408024e-01 -1.65311938e-02 1.02128686e+02] [ 9.60737700e-01 2.71607307e-01 -5.66793036e-02 7.08381406e+01] [ 5.90386096e-02 -5.16140948e-04 9.98255567e-01 3.68826210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:70.87, Z:3.69 [[ 2.69592945e-01 -9.62935429e-01 -8.66048331e-03 1.02133921e+02] [ 9.61009370e-01 2.69606186e-01 -6.14287761e-02 7.08650941e+01] [ 6.14868647e-02 8.23795901e-03 9.98073896e-01 3.68885688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:70.89, Z:3.69 [[ 2.67772832e-01 -9.63160388e-01 -2.48953372e-02 1.02153699e+02] [ 9.61675819e-01 2.68763041e-01 -5.42774929e-02 7.08862310e+01] [ 5.89688777e-02 -9.40720581e-03 9.98215496e-01 3.69419740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:70.91, Z:3.69 [[ 2.64901750e-01 -9.64138940e-01 -1.62224030e-02 1.02162286e+02] [ 9.62519754e-01 2.65396752e-01 -5.58595232e-02 7.09119654e+01] [ 5.81617146e-02 -8.17097925e-04 9.98306840e-01 3.69403132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:70.94, Z:3.69 [[ 2.64370602e-01 -9.64384506e-01 -8.40888727e-03 1.02167910e+02] [ 9.62576369e-01 2.64393908e-01 -5.95197113e-02 7.09367015e+01] [ 5.96231460e-02 7.64106574e-03 9.98191712e-01 3.69446935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:70.96, Z:3.70 [[ 2.61443089e-01 -9.65068420e-01 -1.70427711e-02 1.02186762e+02] [ 9.63446689e-01 2.61991863e-01 -5.59530330e-02 7.09601264e+01] [ 5.84635725e-02 -1.79126755e-03 9.98287935e-01 3.69900556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:70.98, Z:3.70 [[ 2.60969498e-01 -9.65154540e-01 -1.92778201e-02 1.02197882e+02] [ 9.63623063e-01 2.61644436e-01 -5.45232138e-02 7.09827787e+01] [ 5.76672617e-02 -4.34765638e-03 9.98326392e-01 3.70121956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.21, Y:71.01, Z:3.70 [[ 2.59678385e-01 -9.65497516e-01 -1.95367114e-02 1.02210294e+02] [ 9.64010844e-01 2.60366756e-01 -5.37795896e-02 7.10083858e+01] [ 5.70107703e-02 -4.86820470e-03 9.98361694e-01 3.70311494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:71.03, Z:3.70 [[ 2.59982657e-01 -9.65484530e-01 -1.57683711e-02 1.02217612e+02] [ 9.63940609e-01 2.60458457e-01 -5.45884138e-02 7.10343167e+01] [ 5.68112746e-02 -1.00773244e-03 9.98384427e-01 3.70350383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:71.06, Z:3.71 [[ 2.60426281e-01 -9.65364873e-01 -1.57738581e-02 1.02226571e+02] [ 9.63815550e-01 2.60901772e-01 -5.46795204e-02 7.10596294e+01] [ 5.69011157e-02 -9.63105626e-04 9.98379354e-01 3.70504690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:71.09, Z:3.71 [[ 2.61655375e-01 -9.65003494e-01 -1.74562442e-02 1.02237298e+02] [ 9.63536657e-01 2.62221178e-01 -5.32650383e-02 7.10852255e+01] [ 5.59783450e-02 -2.88264759e-03 9.98427822e-01 3.70696327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:71.11, Z:3.71 [[ 2.63972929e-01 -9.64435604e-01 -1.35002926e-02 1.02246409e+02] [ 9.62912914e-01 2.64314703e-01 -5.41890976e-02 7.11113414e+01] [ 5.58302209e-02 1.30484873e-03 9.98439424e-01 3.70803014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:71.14, Z:3.71 [[ 2.64086069e-01 -9.64461046e-01 -8.56962422e-03 1.02251787e+02] [ 9.62761782e-01 2.64133023e-01 -5.76497729e-02 7.11382937e+01] [ 5.78644810e-02 6.97399524e-03 9.98300088e-01 3.70867524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:71.16, Z:3.71 [[ 2.65955885e-01 -9.63710978e-01 -2.29916857e-02 1.02270765e+02] [ 9.62329725e-01 2.66820815e-01 -5.22317181e-02 7.11599357e+01] [ 5.64709404e-02 -8.23424980e-03 9.98370287e-01 3.71379325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:71.19, Z:3.71 [[ 2.66039124e-01 -9.63833326e-01 -1.57640423e-02 1.02275338e+02] [ 9.62266705e-01 2.66505184e-01 -5.49342790e-02 7.11868854e+01] [ 5.71486878e-02 -5.54545556e-04 9.98365524e-01 3.71280548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:71.21, Z:3.71 [[ 2.65721596e-01 -9.63918008e-01 -1.59407496e-02 1.02284364e+02] [ 9.62311827e-01 2.66198726e-01 -5.56254173e-02 7.12129278e+01] [ 5.78617487e-02 -5.59097167e-04 9.98324449e-01 3.71423296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:71.24, Z:3.72 [[ 2.64834033e-01 -9.64158279e-01 -1.61786207e-02 1.02294724e+02] [ 9.62499721e-01 2.65327067e-01 -5.65317152e-02 7.12370712e+01] [ 5.87981473e-02 -6.00395787e-04 9.98269712e-01 3.71538775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:71.26, Z:3.72 [[ 2.63829337e-01 -9.64434113e-01 -1.61530787e-02 1.02303670e+02] [ 9.62777875e-01 2.64322577e-01 -5.65007825e-02 7.12625588e+01] [ 5.87609055e-02 -6.45262808e-04 9.98271877e-01 3.71710504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:71.29, Z:3.72 [[ 2.62606034e-01 -9.64768777e-01 -1.61021097e-02 1.02312472e+02] [ 9.63119193e-01 2.63098309e-01 -5.63977026e-02 7.12883514e+01] [ 5.86471803e-02 -6.97873871e-04 9.98278529e-01 3.71910231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:71.31, Z:3.72 [[ 2.59899160e-01 -9.65507129e-01 -1.57610444e-02 1.02321689e+02] [ 9.63923839e-01 2.60375309e-01 -5.52768641e-02 7.13138808e+01] [ 5.74739932e-02 -8.26035835e-04 9.98346662e-01 3.72088073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:71.34, Z:3.72 [[ 2.58544127e-01 -9.65872876e-01 -1.56371569e-02 1.02329909e+02] [ 9.64310759e-01 2.59015079e-01 -5.49176514e-02 7.13390432e+01] [ 5.70937294e-02 -8.80442407e-04 9.98368434e-01 3.72252830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:71.36, Z:3.72 [[ 2.56109547e-01 -9.66523353e-01 -1.55083549e-02 1.02338643e+02] [ 9.64984821e-01 2.56576706e-01 -5.45223710e-02 7.13648474e+01] [ 5.66762275e-02 -1.00162738e-03 9.98392108e-01 3.72486907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:71.39, Z:3.73 [[ 2.56995251e-01 -9.66292118e-01 -1.52638170e-02 1.02345055e+02] [ 9.64797326e-01 2.57446504e-01 -5.37346898e-02 7.13918074e+01] [ 5.58530236e-02 -9.16929731e-04 9.98438580e-01 3.72660406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.38, Y:71.41, Z:3.75 [[ 2.60795951e-01 -9.63912307e-01 -5.34652774e-02 1.02379526e+02] [ 9.63369746e-01 2.63434210e-01 -5.02110529e-02 7.14147919e+01] [ 6.24836349e-02 -3.84119914e-02 9.97306530e-01 3.75023498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:71.45, Z:3.72 [[ 2.57251049e-01 -9.66143085e-01 1.97341709e-02 1.02339056e+02] [ 9.64630841e-01 2.55525596e-01 -6.47611735e-02 7.14503434e+01] [ 5.75259742e-02 3.56960697e-02 9.97705644e-01 3.71877433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:71.47, Z:3.75 [[ 2.63285408e-01 -9.63361034e-01 -5.11499039e-02 1.02390557e+02] [ 9.62587037e-01 2.65856461e-01 -5.24074192e-02 7.14671077e+01] [ 6.40857979e-02 -3.54381257e-02 9.97314970e-01 3.75060610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:71.50, Z:3.74 [[ 2.65258616e-01 -9.64116995e-01 -1.07836447e-02 1.02372899e+02] [ 9.62083361e-01 2.65402691e-01 -6.29048423e-02 7.14990342e+01] [ 6.35096359e-02 6.31128628e-03 9.97961269e-01 3.73651301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:71.53, Z:3.73 [[ 2.64685085e-01 -9.64300601e-01 8.13367693e-03 1.02364911e+02] [ 9.62355552e-01 2.63592278e-01 -6.62638847e-02 7.15252427e+01] [ 6.17543294e-02 2.53665511e-02 9.97768982e-01 3.72609981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:71.55, Z:3.74 [[ 2.63535955e-01 -9.64500917e-01 -1.69346165e-02 1.02385824e+02] [ 9.62642191e-01 2.64078968e-01 -5.98524116e-02 7.15488436e+01] [ 6.21997819e-02 -5.28713847e-04 9.98063579e-01 3.73533648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:71.57, Z:3.74 [[ 2.63375336e-01 -9.64577050e-01 -1.49848696e-02 1.02390280e+02] [ 9.62634931e-01 2.63795837e-01 -6.12024957e-02 7.15741298e+01] [ 6.29874690e-02 1.69426894e-03 9.98012880e-01 3.73611954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.102755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.40, Y:71.60, Z:3.74 [[ 2.60520406e-01 -9.65300505e-01 -1.80014785e-02 1.02398747e+02] [ 9.63370419e-01 2.61137614e-01 -6.10293509e-02 7.16043227e+01] [ 6.36125264e-02 -1.44270063e-03 9.97973629e-01 3.73870036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.132755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.41, Y:71.63, Z:3.74 [[ 2.61643759e-01 -9.65012295e-01 -1.71410142e-02 1.02405160e+02] [ 9.63070357e-01 2.62204164e-01 -6.11920217e-02 7.16277941e+01] [ 6.35454985e-02 -4.97492105e-04 9.97978818e-01 3.74069384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.162755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:102.41, Y:71.65, Z:3.74 [[ 2.60890992e-01 -9.65216345e-01 -1.71259673e-02 1.02411866e+02] [ 9.63282072e-01 2.61451892e-01 -6.10782925e-02 7.16539676e+01] [ 6.34313827e-02 -5.62360994e-04 9.97986044e-01 3.74260861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.192755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:102.42, Y:71.68, Z:3.74 [[ 2.59271484e-01 -9.65652833e-01 -1.71144222e-02 1.02418339e+02] [ 9.63716819e-01 2.59834924e-01 -6.11204201e-02 7.16803264e+01] [ 6.34680314e-02 -6.46674533e-04 9.97983663e-01 3.74497522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.42, Y:71.71, Z:3.75 [[ 2.57828018e-01 -9.66060363e-01 -1.58772791e-02 1.02424480e+02] [ 9.64082343e-01 2.58315668e-01 -6.17920012e-02 7.17072340e+01] [ 6.37961531e-02 6.24704728e-04 9.97962755e-01 3.74672171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25275509600002 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:102.43, Y:71.73, Z:3.75 [[ 2.57458906e-01 -9.66112921e-01 -1.84590221e-02 1.02432550e+02] [ 9.64211425e-01 2.58110494e-01 -6.06242661e-02 7.17308782e+01] [ 6.33343541e-02 -2.19014279e-03 9.97989961e-01 3.74925039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.43, Y:71.76, Z:3.75 [[ 2.54908197e-01 -9.66902853e-01 -1.09856527e-02 1.02433231e+02] [ 9.64755270e-01 2.55076858e-01 -6.46766240e-02 7.17588906e+01] [ 6.53381980e-02 5.88813531e-03 9.97845805e-01 3.74927337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:102.46, Y:71.78, Z:3.76 [[ 2.55227675e-01 -9.65941340e-01 -4.26164562e-02 1.02460253e+02] [ 9.64600947e-01 2.57403515e-01 -5.73449595e-02 7.17803743e+01] [ 6.63614926e-02 -2.64718533e-02 9.97444431e-01 3.76346439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:102.44, Y:71.81, Z:3.75 [[ 2.50984206e-01 -9.67986036e-01 3.15624289e-03 1.02436632e+02] [ 9.65931744e-01 2.50236317e-01 -6.60125126e-02 7.18119612e+01] [ 6.31093838e-02 1.96168133e-02 9.97813803e-01 3.74539015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37275509600002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:102.45, Y:71.84, Z:3.75 [[ 2.48891697e-01 -9.68419154e-01 -1.47399318e-02 1.02453771e+02] [ 9.66460052e-01 2.49325440e-01 -6.15775292e-02 7.18352313e+01] [ 6.33078987e-02 1.08058046e-03 9.97993458e-01 3.75224276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:71.86, Z:3.76 [[ 2.47823795e-01 -9.68619673e-01 -1.89550699e-02 1.02463041e+02] [ 9.66766833e-01 2.48523554e-01 -5.99827870e-02 7.18598974e+01] [ 6.28112889e-02 -3.45997095e-03 9.98019424e-01 3.75513039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.47, Y:71.89, Z:3.76 [[ 2.45235611e-01 -9.69317452e-01 -1.68277418e-02 1.02468433e+02] [ 9.67391210e-01 2.45808860e-01 -6.10921573e-02 7.18856728e+01] [ 6.33541022e-02 -1.29703694e-03 9.97990268e-01 3.75666233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:71.91, Z:3.76 [[ 2.43597804e-01 -9.69730335e-01 -1.68281768e-02 1.02475219e+02] [ 9.67799303e-01 2.44174460e-01 -6.11828622e-02 7.19124305e+01] [ 6.34398885e-02 -1.38228693e-03 9.97984704e-01 3.75874416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.492755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.51, Y:71.94, Z:3.78 [[ 2.45436129e-01 -9.67722930e-01 -5.72139629e-02 1.02510239e+02] [ 9.66862181e-01 2.48642128e-01 -5.79190372e-02 7.19359425e+01] [ 7.02753819e-02 -4.11025927e-02 9.96680464e-01 3.78410746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.522755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.47, Y:71.97, Z:3.75 [[ 2.40693266e-01 -9.70385541e-01 2.04610299e-02 1.02466887e+02] [ 9.68473465e-01 2.38717145e-01 -7.12269025e-02 7.19721225e+01] [ 6.42331577e-02 3.69598004e-02 9.97250257e-01 3.75177302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.552755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:102.50, Y:71.99, Z:3.76 [[ 2.37834672e-01 -9.71164055e-01 -1.65845302e-02 1.02496220e+02] [ 9.69277568e-01 2.38406284e-01 -6.05263521e-02 7.19905782e+01] [ 6.27348738e-02 -1.67974800e-03 9.98028814e-01 3.76448321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:72.02, Z:3.77 [[ 2.36330717e-01 -9.71531857e-01 -1.65421504e-02 1.02503436e+02] [ 9.69650439e-01 2.36902473e-01 -6.04586253e-02 7.20170295e+01] [ 6.26563569e-02 -1.75187313e-03 9.98033623e-01 3.76663216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.612755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.51, Y:72.04, Z:3.77 [[ 2.34205421e-01 -9.72045880e-01 -1.65718910e-02 1.02510770e+02] [ 9.70153631e-01 2.34783520e-01 -6.06517176e-02 7.20434669e+01] [ 6.28470591e-02 -1.87231913e-03 9.98021413e-01 3.76812996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.52, Y:72.07, Z:3.77 [[ 2.33021126e-01 -9.72332570e-01 -1.64477351e-02 1.02517542e+02] [ 9.70464081e-01 2.33593033e-01 -6.02806976e-02 7.20687778e+01] [ 6.24549620e-02 -1.91526011e-03 9.98045946e-01 3.76950301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:72.09, Z:3.80 [[ 2.36056338e-01 -9.69176659e-01 -7.05266505e-02 1.02561798e+02] [ 9.69183738e-01 2.40074878e-01 -5.51990523e-02 7.20912901e+01] [ 7.04293101e-02 -5.53231966e-02 9.95981454e-01 3.80148522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:72.13, Z:3.76 [[ 2.30482369e-01 -9.72496457e-01 3.35934377e-02 1.02501483e+02] [ 9.70933428e-01 2.27547714e-01 -7.42314995e-02 7.21308993e+01] [ 6.45457604e-02 4.97260435e-02 9.96675055e-01 3.75794806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:72.15, Z:3.77 [[ 2.29909113e-01 -9.73071376e-01 -1.65498382e-02 1.02538044e+02] [ 9.71166606e-01 2.30494682e-01 -6.08902704e-02 7.21481245e+01] [ 6.30652289e-02 -2.07342216e-03 9.98007253e-01 3.77403572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:72.17, Z:3.78 [[ 2.29429563e-01 -9.73181727e-01 -1.67153167e-02 1.02544737e+02] [ 9.71233273e-01 2.30028036e-01 -6.15876015e-02 7.21733942e+01] [ 6.37809198e-02 -2.10445530e-03 9.97961705e-01 3.77572214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:72.20, Z:3.78 [[ 2.30006513e-01 -9.73042937e-01 -1.68655254e-02 1.02551536e+02] [ 9.71052903e-01 2.30614800e-01 -6.22340249e-02 7.22002614e+01] [ 6.44458181e-02 -2.06308637e-03 9.97919075e-01 3.77707458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:72.22, Z:3.78 [[ 2.31830501e-01 -9.72474891e-01 -2.33924221e-02 1.02561727e+02] [ 9.70740367e-01 2.32830520e-01 -5.87629970e-02 7.22227841e+01] [ 6.25920089e-02 -9.08491338e-03 9.97997848e-01 3.78003752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:72.25, Z:3.78 [[ 2.34190911e-01 -9.72137272e-01 -1.01853637e-02 1.02561332e+02] [ 9.69952294e-01 2.34349416e-01 -6.53674132e-02 7.22531898e+01] [ 6.59330328e-02 5.42913718e-03 9.97809280e-01 3.77910381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:72.28, Z:3.78 [[ 2.33773023e-01 -9.72148019e-01 -1.66854306e-02 1.02570380e+02] [ 9.70185867e-01 2.34361187e-01 -6.17593425e-02 7.22781762e+01] [ 6.39496398e-02 -1.75030076e-03 9.97951592e-01 3.78141548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:72.30, Z:3.78 [[ 2.34986981e-01 -9.71856756e-01 -1.66001495e-02 1.02576817e+02] [ 9.69907951e-01 2.35566882e-01 -6.15370664e-02 7.23042462e+01] [ 6.37156592e-02 -1.64020756e-03 9.97966745e-01 3.78315432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:72.33, Z:3.78 [[ 2.34751588e-01 -9.71913995e-01 -1.65794554e-02 1.02583825e+02] [ 9.69964941e-01 2.35330652e-01 -6.15426417e-02 7.23310237e+01] [ 6.37158088e-02 -1.63425757e-03 9.97966745e-01 3.78475212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:72.36, Z:3.79 [[ 2.40142210e-01 -9.70586524e-01 -1.71323905e-02 1.02592602e+02] [ 9.68497354e-01 2.40749034e-01 -6.36614332e-02 7.23572105e+01] [ 6.59135356e-02 -1.30487761e-03 9.97824485e-01 3.78886341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.60, Y:72.38, Z:3.79 [[ 2.39736255e-01 -9.70699687e-01 -1.63904406e-02 1.02597395e+02] [ 9.68782985e-01 2.40292601e-01 -6.09835587e-02 7.23845285e+01] [ 6.31352229e-02 -1.25880997e-03 9.98004188e-01 3.78825606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.60, Y:72.41, Z:3.79 [[ 2.43149957e-01 -9.69961703e-01 -7.23830433e-03 1.02597418e+02] [ 9.67782693e-01 2.43093203e-01 -6.55923369e-02 7.24123280e+01] [ 6.53816374e-02 8.94366824e-03 9.97820250e-01 3.78758357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:72.44, Z:3.79 [[ 2.43463134e-01 -9.69811444e-01 -1.38371198e-02 1.02606557e+02] [ 9.67734784e-01 2.43847322e-01 -6.34655139e-02 7.24381033e+01] [ 6.49237262e-02 2.06085074e-03 9.97888101e-01 3.79208551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:72.46, Z:3.80 [[ 2.46253890e-01 -9.68801257e-01 -2.79847369e-02 1.02621737e+02] [ 9.67107643e-01 2.47517131e-01 -5.86351144e-02 7.24607913e+01] [ 6.37324744e-02 -1.26251279e-02 9.97887157e-01 3.79780510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:72.49, Z:3.79 [[ 2.47067533e-01 -9.68962976e-01 -8.26951807e-03 1.02615658e+02] [ 9.66942951e-01 2.47090052e-01 -6.29907641e-02 7.24908418e+01] [ 6.30790339e-02 7.56682048e-03 9.97979849e-01 3.79199736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:72.51, Z:3.80 [[ 2.46670007e-01 -9.68805806e-01 -2.38583023e-02 1.02631315e+02] [ 9.67199003e-01 2.47652721e-01 -5.65174092e-02 7.25139001e+01] [ 6.06629677e-02 -9.13457651e-03 9.98116508e-01 3.79842726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:72.54, Z:3.80 [[ 2.45494745e-01 -9.69279476e-01 -1.51534452e-02 1.02632881e+02] [ 9.67545267e-01 2.45961601e-01 -5.79572881e-02 7.25424517e+01] [ 5.99039755e-02 -4.33434477e-04 9.98204050e-01 3.79673316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:72.57, Z:3.79 [[ 2.42747698e-01 -9.70041958e-01 -9.59971832e-03 1.02636224e+02] [ 9.68303068e-01 2.42889088e-01 -5.82585641e-02 7.25696938e+01] [ 5.88449184e-02 4.84669560e-03 9.98255371e-01 3.79425361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.64, Y:72.60, Z:3.80 [[ 2.39079885e-01 -9.70915202e-01 -1.28249423e-02 1.02644857e+02] [ 9.69065451e-01 2.39416075e-01 -5.99340914e-02 7.25973644e+01] [ 6.12614179e-02 1.90082715e-03 9.98119945e-01 3.79901855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:72.62, Z:3.80 [[ 2.37307075e-01 -9.71296264e-01 -1.63987742e-02 1.02654840e+02] [ 9.69613122e-01 2.37861638e-01 -5.72034499e-02 7.26210111e+01] [ 5.94621364e-02 -2.32568324e-03 9.98227853e-01 3.79806149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:72.65, Z:3.80 [[ 2.35577724e-01 -9.71734620e-01 -1.53285275e-02 1.02661339e+02] [ 9.70002506e-01 2.36072826e-01 -5.80065409e-02 7.26468362e+01] [ 5.99856128e-02 -1.20366115e-03 9.98198516e-01 3.79915782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:72.67, Z:3.80 [[ 2.34585500e-01 -9.71995179e-01 -1.39647557e-02 1.02667056e+02] [ 9.70078499e-01 2.34999540e-01 -6.10157523e-02 7.26705835e+01] [ 6.25887282e-02 7.66501566e-04 9.98039109e-01 3.80297848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:72.70, Z:3.81 [[ 2.31331538e-01 -9.72658582e-01 -2.05183542e-02 1.02677591e+02] [ 9.70990617e-01 2.32144147e-01 -5.73264132e-02 7.26953601e+01] [ 6.05222436e-02 -6.66172207e-03 9.98144619e-01 3.80572230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:72.72, Z:3.81 [[ 2.29832883e-01 -9.73035009e-01 -1.94863311e-02 1.02683291e+02] [ 9.71436752e-01 2.30578325e-01 -5.60738197e-02 7.27209875e+01] [ 5.90549152e-02 -6.04213058e-03 9.98236450e-01 3.80617942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:72.75, Z:3.81 [[ 2.28875736e-01 -9.73339493e-01 -1.50376082e-02 1.02687337e+02] [ 9.71653066e-01 2.29364309e-01 -5.72916539e-02 7.27475366e+01] [ 5.92133199e-02 -1.49866866e-03 9.98244227e-01 3.80636426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:72.77, Z:3.81 [[ 2.27832356e-01 -9.73583922e-01 -1.50586820e-02 1.02694519e+02] [ 9.71888144e-01 2.28324245e-01 -5.74584681e-02 7.27739107e+01] [ 5.93789030e-02 -1.54445639e-03 9.98234321e-01 3.80758434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:72.80, Z:3.81 [[ 2.27498335e-01 -9.73661773e-01 -1.50751309e-02 1.02701502e+02] [ 9.71957652e-01 2.27992007e-01 -5.76018016e-02 7.28001163e+01] [ 5.95216816e-02 -1.54807488e-03 9.98225813e-01 3.80900113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:72.83, Z:3.81 [[ 2.27511629e-01 -9.73656782e-01 -1.51963494e-02 1.02708911e+02] [ 9.71920200e-01 2.28013370e-01 -5.81466083e-02 7.28265233e+01] [ 6.00798104e-02 -1.54060942e-03 9.98192388e-01 3.81019099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:72.85, Z:3.81 [[ 2.27968556e-01 -9.73546813e-01 -1.53928836e-02 1.02715575e+02] [ 9.71759428e-01 2.28482646e-01 -5.89855512e-02 7.28527414e+01] [ 6.09422022e-02 -1.51132884e-03 9.98140152e-01 3.81152469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:72.88, Z:3.81 [[ 2.28319762e-01 -9.73463961e-01 -1.54273726e-02 1.02722267e+02] [ 9.71663018e-01 2.28835638e-01 -5.92049804e-02 7.28781782e+01] [ 6.11642474e-02 -1.47254036e-03 9.98126628e-01 3.81285279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:72.90, Z:3.81 [[ 2.29014696e-01 -9.73299131e-01 -1.55264683e-02 1.02728524e+02] [ 9.71468968e-01 2.29536043e-01 -5.96761999e-02 7.29031588e+01] [ 6.16466776e-02 -1.41675542e-03 9.98097029e-01 3.81436517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:72.93, Z:3.82 [[ 2.30350014e-01 -9.72984328e-01 -1.55038417e-02 1.02734651e+02] [ 9.71154622e-01 2.30867429e-01 -5.96567777e-02 7.29282561e+01] [ 6.16244418e-02 -1.31468789e-03 9.98098542e-01 3.81556126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:72.96, Z:3.82 [[ 2.33300434e-01 -9.72064162e-01 -2.57327054e-02 1.02751460e+02] [ 9.70152312e-01 2.34478639e-01 -6.18405964e-02 7.29558954e+01] [ 6.61467973e-02 -1.05372057e-02 9.97754263e-01 3.82446445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:72.98, Z:3.82 [[ 2.31034470e-01 -9.72918579e-01 -7.24648284e-03 1.02744145e+02] [ 9.70983787e-01 2.31034966e-01 -6.17521623e-02 7.29829315e+01] [ 6.17540169e-02 7.23066074e-03 9.98065208e-01 3.81670194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:73.01, Z:3.82 [[ 2.31074856e-01 -9.72814507e-01 -1.53735322e-02 1.02757932e+02] [ 9.70996339e-01 2.31582651e-01 -5.94607971e-02 7.30077781e+01] [ 6.14045694e-02 -1.18774830e-03 9.98112252e-01 3.82112979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.77, Y:73.03, Z:3.82 [[ 2.30696800e-01 -9.72904780e-01 -1.53386985e-02 1.02765949e+02] [ 9.71089597e-01 2.31203108e-01 -5.94147966e-02 7.30329054e+01] [ 6.13512944e-02 -1.18844704e-03 9.98115528e-01 3.82266605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.77, Y:73.06, Z:3.82 [[ 2.30062324e-01 -9.73055060e-01 -1.53355058e-02 1.02772917e+02] [ 9.71235253e-01 2.30569717e-01 -5.94952900e-02 7.30593986e+01] [ 6.14280962e-02 -1.20675915e-03 9.98110782e-01 3.82440924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:73.09, Z:3.83 [[ 2.29656848e-01 -9.73152579e-01 -1.52246292e-02 1.02779275e+02] [ 9.71354029e-01 2.30157787e-01 -5.91501714e-02 7.30850924e+01] [ 6.10662089e-02 -1.20426302e-03 9.98132991e-01 3.82544935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:73.11, Z:3.83 [[ 2.29493430e-01 -9.73190977e-01 -1.52344284e-02 1.02785055e+02] [ 9.71386013e-01 2.29995399e-01 -5.92564815e-02 7.31110039e+01] [ 6.11717215e-02 -1.19953746e-03 9.98126536e-01 3.82724956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:73.14, Z:3.83 [[ 2.29131583e-01 -9.73278911e-01 -1.50624782e-02 1.02792164e+02] [ 9.71509362e-01 2.29623054e-01 -5.86754772e-02 7.31371788e+01] [ 6.05662968e-02 -1.18893365e-03 9.98163469e-01 3.82909124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:73.16, Z:3.83 [[ 2.28328642e-01 -9.73468041e-01 -1.50334649e-02 1.02799404e+02] [ 9.71700661e-01 2.28819780e-01 -5.86458336e-02 7.31632832e+01] [ 6.05297988e-02 -1.21750424e-03 9.98165648e-01 3.83126184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:73.19, Z:3.83 [[ 2.27602742e-01 -9.73640180e-01 -1.48926488e-02 1.02806376e+02] [ 9.71900965e-01 2.28086129e-01 -5.81827447e-02 7.31888613e+01] [ 6.00458647e-02 -1.23162750e-03 9.98194859e-01 3.83340677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:73.22, Z:3.84 [[ 2.26282113e-01 -9.73951808e-01 -1.46383450e-02 1.02812882e+02] [ 9.72266974e-01 2.26751535e-01 -5.72771580e-02 7.32150172e+01] [ 5.91044588e-02 -1.27158311e-03 9.98250994e-01 3.83506841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:73.24, Z:3.84 [[ 2.25506664e-01 -9.74132595e-01 -1.45750459e-02 1.02818588e+02] [ 9.72457747e-01 2.25973477e-01 -5.71131978e-02 7.32404975e+01] [ 5.89294013e-02 -1.29420958e-03 9.98261314e-01 3.83654962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:73.27, Z:3.84 [[ 2.24728013e-01 -9.74311886e-01 -1.46173900e-02 1.02823975e+02] [ 9.72622399e-01 2.25199006e-01 -5.73679037e-02 7.32672027e+01] [ 5.91860522e-02 -1.32502588e-03 9.98246090e-01 3.83749144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:73.29, Z:3.84 [[ 2.24039941e-01 -9.74468486e-01 -1.47402464e-02 1.02829696e+02] [ 9.72745436e-01 2.24520214e-01 -5.79395349e-02 7.32926069e+01] [ 5.97697342e-02 -1.35773749e-03 9.98211268e-01 3.83911838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:73.32, Z:3.84 [[ 2.23399358e-01 -9.74613578e-01 -1.48694311e-02 1.02835777e+02] [ 9.72856184e-01 2.23889333e-01 -5.85184678e-02 7.33176646e+01] [ 6.03620003e-02 -1.39282985e-03 9.98175580e-01 3.84056377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:73.34, Z:3.84 [[ 2.22761897e-01 -9.74758066e-01 -1.49615875e-02 1.02842134e+02] [ 9.72973559e-01 2.23259254e-01 -5.89725335e-02 7.33441025e+01] [ 6.08242656e-02 -1.42039561e-03 9.98147480e-01 3.84176962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:73.37, Z:3.84 [[ 2.22570480e-01 -9.74798435e-01 -1.51787132e-02 1.02847999e+02] [ 9.72956073e-01 2.23082860e-01 -5.99209271e-02 7.33701081e+01] [ 6.17969367e-02 -1.43159165e-03 9.98087716e-01 3.84260068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:73.40, Z:3.84 [[ 2.22548182e-01 -9.74802986e-01 -1.52133203e-02 1.02854088e+02] [ 9.72946261e-01 2.23063079e-01 -6.01534467e-02 7.33957629e+01] [ 6.20312895e-02 -1.41470288e-03 9.98073203e-01 3.84381670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.202755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.86, Y:73.42, Z:3.85 [[ 2.22779588e-01 -9.74751631e-01 -1.51166356e-02 1.02859634e+02] [ 9.72912558e-01 2.23287660e-01 -5.98646497e-02 7.34229192e+01] [ 6.17285231e-02 -1.37054262e-03 9.98092035e-01 3.84521081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:73.45, Z:3.85 [[ 2.22877283e-01 -9.74732472e-01 -1.49105351e-02 1.02865272e+02] [ 9.72937976e-01 2.23371541e-01 -5.91341712e-02 7.34491290e+01] [ 6.09705861e-02 -1.32736238e-03 9.98138681e-01 3.84637548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:73.48, Z:3.85 [[ 2.22262713e-01 -9.74953563e-01 -8.05207814e-03 1.02866448e+02] [ 9.72892640e-01 2.22318752e-01 -6.36732511e-02 7.34767862e+01] [ 6.38685910e-02 6.31838198e-03 9.97938315e-01 3.84748364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:73.50, Z:3.85 [[ 2.20764181e-01 -9.75145462e-01 -1.88282602e-02 1.02878374e+02] [ 9.73359289e-01 2.21503389e-01 -5.92278965e-02 7.35009459e+01] [ 6.19263379e-02 -5.25126388e-03 9.98066908e-01 3.85281668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:73.53, Z:3.85 [[ 2.19308627e-01 -9.75476503e-01 -1.86900393e-02 1.02884158e+02] [ 9.73768384e-01 2.20035162e-01 -5.79625898e-02 7.35268946e+01] [ 6.06536102e-02 -5.48807339e-03 9.98143788e-01 3.85414780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:73.56, Z:3.85 [[ 2.17917068e-01 -9.75958879e-01 -4.05178432e-03 1.02881670e+02] [ 9.73855927e-01 2.17716695e-01 -6.48388264e-02 7.35566932e+01] [ 6.41621695e-02 1.01836328e-02 9.97887524e-01 3.85217010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:73.58, Z:3.86 [[ 2.15985058e-01 -9.76052738e-01 -2.59134549e-02 1.02901502e+02] [ 9.74523472e-01 2.17137938e-01 -5.61704491e-02 7.35794415e+01] [ 6.04521148e-02 -1.31212923e-02 9.98084853e-01 3.86020898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:73.61, Z:3.86 [[ 2.15336649e-01 -9.76485153e-01 -1.03379261e-02 1.02898541e+02] [ 9.74575013e-01 2.15562549e-01 -6.11255412e-02 7.36077684e+01] [ 6.19166532e-02 3.08748480e-03 9.98076548e-01 3.85728969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:73.63, Z:3.86 [[ 2.13404890e-01 -9.76777912e-01 -1.90594984e-02 1.02908995e+02] [ 9.75112252e-01 2.14160434e-01 -5.73707713e-02 7.36326816e+01] [ 6.01202926e-02 -6.34194728e-03 9.98170992e-01 3.86088964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:73.66, Z:3.86 [[ 2.12649227e-01 -9.77021635e-01 -1.44579061e-02 1.02912050e+02] [ 9.75295211e-01 2.13132973e-01 -5.80825862e-02 7.36590095e+01] [ 5.98293998e-02 -1.74950953e-03 9.98207084e-01 3.86074453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:73.69, Z:3.86 [[ 2.10611930e-01 -9.77555750e-01 5.23168625e-03 1.02904635e+02] [ 9.75369226e-01 2.09775947e-01 -6.81830276e-02 7.36886472e+01] [ 6.55552288e-02 1.94629848e-02 9.97659112e-01 3.85933585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:73.71, Z:3.87 [[ 2.10206699e-01 -9.77252294e-01 -2.81264617e-02 1.02930151e+02] [ 9.75681017e-01 2.11523195e-01 -5.74847093e-02 7.37090790e+01] [ 6.21264631e-02 -1.53587838e-02 9.97950104e-01 3.86978327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:73.73, Z:3.87 [[ 2.10917121e-01 -9.77410083e-01 -1.35461122e-02 1.02927470e+02] [ 9.75540485e-01 2.11351150e-01 -6.04272626e-02 7.37347940e+01] [ 6.19252022e-02 -4.69636582e-04 9.98080683e-01 3.86632765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:73.76, Z:3.87 [[ 2.09989552e-01 -9.77499907e-01 -1.99579753e-02 1.02936366e+02] [ 9.75850412e-01 2.10804104e-01 -5.72503478e-02 7.37605079e+01] [ 6.01694327e-02 -7.45402357e-03 9.98160346e-01 3.86943267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:73.79, Z:3.87 [[ 2.09389378e-01 -9.77670131e-01 -1.78102276e-02 1.02940820e+02] [ 9.76046064e-01 2.10072633e-01 -5.66000907e-02 7.37880084e+01] [ 5.90776595e-02 -5.53214475e-03 9.98238061e-01 3.86964203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:73.82, Z:3.87 [[ 2.08466934e-01 -9.78025110e-01 -2.90186492e-03 1.02936677e+02] [ 9.76021510e-01 2.08228059e-01 -6.34278081e-02 7.38176049e+01] [ 6.26382387e-02 1.03903181e-02 9.97982210e-01 3.86783648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:73.84, Z:3.88 [[ 2.08362488e-01 -9.77707979e-01 -2.59264610e-02 1.02956240e+02] [ 9.76276485e-01 2.09507614e-01 -5.46880612e-02 7.38394109e+01] [ 5.89007447e-02 -1.39164537e-02 9.98166837e-01 3.87505452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.95, Y:73.87, Z:3.87 [[ 2.08495810e-01 -9.77952550e-01 -1.17603904e-02 1.02952928e+02] [ 9.76184205e-01 2.08825779e-01 -5.87893881e-02 7.38656208e+01] [ 5.99491047e-02 7.77033786e-04 9.98201133e-01 3.87224895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:73.89, Z:3.87 [[ 2.07671154e-01 -9.78061158e-01 -1.64031443e-02 1.02960893e+02] [ 9.76416484e-01 2.08275419e-01 -5.68524387e-02 7.38912179e+01] [ 5.90215338e-02 -4.20968889e-03 9.98247833e-01 3.87436003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:73.92, Z:3.88 [[ 2.08183178e-01 -9.77988214e-01 -1.41002426e-02 1.02965002e+02] [ 9.76288866e-01 2.08652688e-01 -5.76550586e-02 7.39161002e+01] [ 5.93280213e-02 -1.76309649e-03 9.98236985e-01 3.87521141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:73.94, Z:3.88 [[ 2.07900816e-01 -9.78048591e-01 -1.40785219e-02 1.02971110e+02] [ 9.76349025e-01 2.08369537e-01 -5.76603620e-02 7.39422506e+01] [ 5.93281709e-02 -1.75791483e-03 9.98236985e-01 3.87679355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:73.97, Z:3.88 [[ 2.08642023e-01 -9.77892186e-01 -1.39778068e-02 1.02976897e+02] [ 9.76212303e-01 2.09102917e-01 -5.73193664e-02 7.39684518e+01] [ 5.89749607e-02 -1.68607842e-03 9.98258038e-01 3.87858018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:73.99, Z:3.88 [[ 2.09161959e-01 -9.77781808e-01 -1.39287916e-02 1.02982532e+02] [ 9.76108479e-01 2.09618881e-01 -5.72028169e-02 7.39932594e+01] [ 5.88516114e-02 -1.63135836e-03 9.98265409e-01 3.88014723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:74.02, Z:3.88 [[ 2.09809082e-01 -9.77642950e-01 -1.39431200e-02 1.02988514e+02] [ 9.75961435e-01 2.10265953e-01 -5.73367854e-02 7.40201443e+01] [ 5.89866675e-02 -1.57816903e-03 9.98257523e-01 3.88197015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:74.05, Z:3.88 [[ 2.10484730e-01 -9.77498679e-01 -1.38748391e-02 1.02994345e+02] [ 9.75828267e-01 2.10936119e-01 -5.71414598e-02 7.40469991e+01] [ 5.87824062e-02 -1.51205544e-03 9.98269674e-01 3.88333669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:74.07, Z:3.88 [[ 2.11894911e-01 -9.77196627e-01 -1.36857387e-02 1.02998791e+02] [ 9.75565991e-01 2.12331860e-01 -5.64462353e-02 7.40739693e+01] [ 5.80649890e-02 -1.39067125e-03 9.98311837e-01 3.88451815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.00, Y:74.10, Z:3.89 [[ 2.12210652e-01 -9.77129059e-01 -1.36176687e-02 1.03004065e+02] [ 9.75509464e-01 2.12642865e-01 -5.62520971e-02 7.40993358e+01] [ 5.78612588e-02 -1.34687045e-03 9.98323725e-01 3.88583676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:74.13, Z:3.89 [[ 2.12058662e-01 -9.77163980e-01 -1.34788679e-02 1.03009716e+02] [ 9.75572185e-01 2.12482480e-01 -5.57683416e-02 7.41254711e+01] [ 5.73588379e-02 -1.32344873e-03 9.98352749e-01 3.88716583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:74.15, Z:3.89 [[ 2.11588492e-01 -9.77266608e-01 -1.34270880e-02 1.03015674e+02] [ 9.75682045e-01 2.12009944e-01 -5.56446803e-02 7.41518948e+01] [ 5.72263642e-02 -1.32679465e-03 9.98360347e-01 3.88885583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:74.18, Z:3.89 [[ 2.11262834e-01 -9.77337563e-01 -1.33904095e-02 1.03021727e+02] [ 9.75756977e-01 2.11682625e-01 -5.55768702e-02 7.41780642e+01] [ 5.71518799e-02 -1.32445844e-03 9.98364617e-01 3.89025418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:74.20, Z:3.89 [[ 2.10987656e-01 -9.77396853e-01 -1.34015385e-02 1.03027600e+02] [ 9.75808806e-01 2.11408706e-01 -5.57093560e-02 7.42037916e+01] [ 5.72833511e-02 -1.32335286e-03 9.98357084e-01 3.89192147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:74.23, Z:3.89 [[ 2.10709560e-01 -9.77458585e-01 -1.32738478e-02 1.03032607e+02] [ 9.75895734e-01 2.11123191e-01 -5.52676664e-02 7.42303811e+01] [ 5.68242722e-02 -1.30846571e-03 9.98383338e-01 3.89344158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:74.26, Z:3.89 [[ 2.10298131e-01 -9.77551597e-01 -1.29449695e-02 1.03036911e+02] [ 9.75952879e-01 2.10694333e-01 -5.58916518e-02 7.42561609e+01] [ 5.73644052e-02 -8.79770311e-04 9.98352919e-01 3.89485257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:74.28, Z:3.90 [[ 2.10463030e-01 -9.77506115e-01 -1.36787828e-02 1.03042420e+02] [ 9.75951025e-01 2.10899868e-01 -5.51438352e-02 7.42819778e+01] [ 5.67882896e-02 -1.74408341e-03 9.98384720e-01 3.89654086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:74.31, Z:3.90 [[ 2.10083832e-01 -9.77593846e-01 -1.32308871e-02 1.03046148e+02] [ 9.76025080e-01 2.10496161e-01 -5.53751629e-02 7.43087304e+01] [ 5.69194694e-02 -1.28025118e-03 9.98377952e-01 3.89800104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:74.33, Z:3.90 [[ 2.09504828e-01 -9.77721328e-01 -1.29896529e-02 1.03050764e+02] [ 9.76204993e-01 2.09903267e-01 -5.44465841e-02 7.43341196e+01] [ 5.59601571e-02 -1.27374176e-03 9.98432190e-01 3.89916852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:74.36, Z:3.90 [[ 2.08567468e-01 -9.77922177e-01 -1.29548261e-02 1.03055861e+02] [ 9.76409494e-01 2.08965335e-01 -5.43873996e-02 7.43613270e+01] [ 5.58937538e-02 -1.30577299e-03 9.98435868e-01 3.90101559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:74.39, Z:3.90 [[ 2.07561069e-01 -9.78206692e-01 -5.48358560e-03 1.03055454e+02] [ 9.76500385e-01 2.07524940e-01 -5.81411848e-02 7.43877099e+01] [ 5.80120768e-02 6.71312299e-03 9.98293310e-01 3.90099844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:74.41, Z:3.91 [[ 2.07105000e-01 -9.78118104e-01 -1.98114426e-02 1.03069579e+02] [ 9.76716030e-01 2.07881982e-01 -5.30177248e-02 7.44095508e+01] [ 5.59760385e-02 -8.36991767e-03 9.98397029e-01 3.90552496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:74.44, Z:3.91 [[ 2.03913221e-01 -9.78776495e-01 -2.03953760e-02 1.03076837e+02] [ 9.77135125e-01 2.04764389e-01 -5.72581245e-02 7.44423481e+01] [ 6.02191532e-02 -8.25334972e-03 9.98151059e-01 3.91020960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.07, Y:74.47, Z:3.90 [[ 2.03204725e-01 -9.79135626e-01 -1.12521099e-03 1.03068871e+02] [ 9.77212190e-01 2.02877286e-01 -6.24271009e-02 7.44655544e+01] [ 6.13528782e-02 1.15859120e-02 9.98048892e-01 3.90465799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:74.49, Z:3.91 [[ 2.00790349e-01 -9.79370016e-01 -2.27510076e-02 1.03086920e+02] [ 9.77917222e-01 2.01758771e-01 -5.45096898e-02 7.44898121e+01] [ 5.79753710e-02 -1.13035825e-02 9.98254018e-01 3.91087086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:74.52, Z:3.91 [[ 1.98819100e-01 -9.79941360e-01 -1.36343796e-02 1.03085154e+02] [ 9.78256274e-01 1.99276892e-01 -5.74750589e-02 7.45186636e+01] [ 5.90392042e-02 -1.91077795e-03 9.98253836e-01 3.90988153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:74.55, Z:3.91 [[ 1.96553290e-01 -9.80478300e-01 -5.39508154e-03 1.03084273e+02] [ 9.78485356e-01 1.96499783e-01 -6.28827694e-02 7.45483382e+01] [ 6.27153232e-02 7.08080692e-03 9.98006338e-01 3.91042915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:74.57, Z:3.92 [[ 1.96222989e-01 -9.80295568e-01 -2.27406611e-02 1.03100464e+02] [ 9.78750715e-01 1.97216303e-01 -5.61495061e-02 7.45697297e+01] [ 5.95279411e-02 -1.12396144e-02 9.98163361e-01 3.91597483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:74.60, Z:3.92 [[ 1.95027273e-01 -9.80704418e-01 -1.35353824e-02 1.03099906e+02] [ 9.79018489e-01 1.95485820e-01 -5.75160245e-02 7.45973443e+01] [ 5.90521947e-02 -2.03419621e-03 9.98252824e-01 3.91613022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:74.62, Z:3.93 [[ 1.96659467e-01 -9.79740521e-01 -3.78624420e-02 1.03121925e+02] [ 9.78508088e-01 1.98562046e-01 -5.56330491e-02 7.46230799e+01] [ 6.20239965e-02 -2.61079400e-02 9.97733130e-01 3.92981211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:74.65, Z:3.92 [[ 1.95656321e-01 -9.80637644e-01 -8.27138047e-03 1.03108733e+02] [ 9.78723812e-01 1.95792036e-01 -6.13610587e-02 7.46548854e+01] [ 6.17924344e-02 3.91028194e-03 9.98081362e-01 3.92243696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:74.68, Z:3.92 [[ 1.94505548e-01 -9.80898022e-01 2.58118520e-03 1.03103237e+02] [ 9.79092725e-01 1.93986498e-01 -6.12100891e-02 7.46816980e+01] [ 5.95401403e-02 1.44329216e-02 9.98121567e-01 3.91648392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:74.71, Z:3.92 [[ 1.94615828e-01 -9.80785858e-01 -1.35565569e-02 1.03117921e+02] [ 9.79069436e-01 1.95077384e-01 -5.80332180e-02 7.47063813e+01] [ 5.95627372e-02 -1.97862778e-03 9.98222603e-01 3.92233974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:74.73, Z:3.92 [[ 1.95297036e-01 -9.80650657e-01 -1.35409073e-02 1.03123019e+02] [ 9.78932392e-01 1.95756516e-01 -5.80582271e-02 7.47318362e+01] [ 5.95855594e-02 -1.91703308e-03 9.98221361e-01 3.92427222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:74.76, Z:3.91 [[ 1.93276493e-01 -9.81069901e-01 1.20850005e-02 1.03110921e+02] [ 9.79597147e-01 1.92265621e-01 -5.85094950e-02 7.47626930e+01] [ 5.50783743e-02 2.31469420e-02 9.98213700e-01 3.91221016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:74.78, Z:3.93 [[ 1.95983773e-01 -9.79894510e-01 -3.73779234e-02 1.03147775e+02] [ 9.78835887e-01 1.97777582e-01 -5.25769386e-02 7.47833296e+01] [ 5.89123688e-02 -2.62826260e-02 9.97917109e-01 3.93410568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:74.81, Z:3.93 [[ 1.98314768e-01 -9.80106770e-01 -7.87227910e-03 1.03134415e+02] [ 9.78232022e-01 1.98423361e-01 -6.07476867e-02 7.48118757e+01] [ 6.11012631e-02 4.34624790e-03 9.98122110e-01 3.92841085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:74.84, Z:3.93 [[ 1.95711616e-01 -9.80485642e-01 -1.85706541e-02 1.03146248e+02] [ 9.78840522e-01 1.96466662e-01 -5.72021344e-02 7.48390386e+01] [ 5.97343859e-02 -6.98258658e-03 9.98189885e-01 3.93216525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:74.87, Z:3.91 [[ 1.91586513e-01 -9.81143477e-01 2.55359712e-02 1.03121597e+02] [ 9.79999019e-01 1.89806798e-01 -5.97938393e-02 7.48704060e+01] [ 5.38194344e-02 3.64809199e-02 9.97884067e-01 3.90972950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:74.89, Z:3.94 [[ 1.92534385e-01 -9.80036237e-01 -4.95931973e-02 1.03176457e+02] [ 9.79520350e-01 1.94975537e-01 -5.02436400e-02 7.48879105e+01] [ 5.89100481e-02 -3.89039176e-02 9.97504933e-01 3.94407027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:74.92, Z:3.94 [[ 1.91099872e-01 -9.81476651e-01 -1.35802535e-02 1.03161087e+02] [ 9.79727745e-01 1.91570222e-01 -5.86037219e-02 7.49188630e+01] [ 6.01197568e-02 -2.10578745e-03 9.98188950e-01 3.93625705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:74.95, Z:3.94 [[ 1.88690788e-01 -9.81942443e-01 -1.35950144e-02 1.03166712e+02] [ 9.80184841e-01 1.89166686e-01 -5.87676955e-02 7.49452394e+01] [ 6.02782183e-02 -2.23670427e-03 9.98179109e-01 3.93787228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:74.98, Z:3.91 [[ 1.84618038e-01 -9.82252821e-01 3.30994934e-02 1.03140857e+02] [ 9.81356434e-01 1.82409131e-01 -6.05512839e-02 7.49777343e+01] [ 5.34390196e-02 4.36612601e-02 9.97616141e-01 3.91256719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:75.00, Z:3.93 [[ 1.85748092e-01 -9.82171989e-01 -2.89107420e-02 1.03186223e+02] [ 9.81000010e-01 1.87042862e-01 -5.15164869e-02 7.49956339e+01] [ 5.60055983e-02 -1.87923490e-02 9.98253585e-01 3.93480545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:75.03, Z:3.92 [[ 1.85172379e-01 -9.82691659e-01 5.31922635e-03 1.03171541e+02] [ 9.81202972e-01 1.84587180e-01 -5.62876572e-02 7.50271461e+01] [ 5.43315502e-02 1.56421601e-02 9.98400423e-01 3.92375003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:75.05, Z:3.94 [[ 1.87459018e-01 -9.81741226e-01 -3.22998799e-02 1.03201850e+02] [ 9.80484048e-01 1.88999881e-01 -5.41301859e-02 7.50516761e+01] [ 5.92465085e-02 -2.15223255e-02 9.98011343e-01 3.94406603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:75.08, Z:3.95 [[ 1.89409522e-01 -9.81261639e-01 -3.53500881e-02 1.03209909e+02] [ 9.79801543e-01 1.91233999e-01 -5.84678889e-02 7.50776371e+01] [ 6.41324352e-02 -2.35616959e-02 9.97663208e-01 3.95417265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:75.11, Z:3.95 [[ 1.91517498e-01 -9.81447493e-01 -9.04803297e-03 1.03199440e+02] [ 9.79177678e-01 1.91690649e-01 -6.68264228e-02 7.51052904e+01] [ 6.73210485e-02 3.93879741e-03 9.97723590e-01 3.94965432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:75.13, Z:3.95 [[ 1.92925329e-01 -9.81194113e-01 -6.15877426e-03 1.03202174e+02] [ 9.79037291e-01 1.92911463e-01 -6.53540390e-02 7.51343657e+01] [ 6.53130965e-02 6.57877979e-03 9.97843134e-01 3.94726212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:75.16, Z:3.95 [[ 1.96551722e-01 -9.80343694e-01 -1.71365522e-02 1.03216920e+02] [ 9.78256104e-01 1.97253288e-01 -6.40791267e-02 7.51616375e+01] [ 6.61998091e-02 -4.16907415e-03 9.97797677e-01 3.95193393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:75.18, Z:3.96 [[ 1.99995889e-01 -9.79593670e-01 -1.99471076e-02 1.03223922e+02] [ 9.77344999e-01 2.00893410e-01 -6.66227430e-02 7.51839469e+01] [ 6.92704598e-02 -6.17093120e-03 9.97578830e-01 3.95895498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:75.21, Z:3.96 [[ 2.00091273e-01 -9.79525900e-01 -2.21922053e-02 1.03231031e+02] [ 9.77436166e-01 2.01126817e-01 -6.45487758e-02 7.52099406e+01] [ 6.76906454e-02 -8.77581741e-03 9.97667761e-01 3.96087681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:75.24, Z:3.96 [[ 2.00846586e-01 -9.79504791e-01 -1.51990913e-02 1.03233023e+02] [ 9.77263703e-01 2.01414902e-01 -6.62396549e-02 7.52375777e+01] [ 6.79433828e-02 -1.54951170e-03 9.97687975e-01 3.96039223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:75.27, Z:3.95 [[ 2.00350927e-01 -9.79722581e-01 1.78036282e-03 1.03227650e+02] [ 9.77496373e-01 1.99772533e-01 -6.77626401e-02 7.52665085e+01] [ 6.60329211e-02 1.53166060e-02 9.97699882e-01 3.95169027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:75.29, Z:3.96 [[ 2.00105191e-01 -9.79667106e-01 -1.45008029e-02 1.03243825e+02] [ 9.77542785e-01 2.00625892e-01 -6.44930678e-02 7.52903804e+01] [ 6.60909736e-02 -1.26975755e-03 9.97812794e-01 3.95745555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:75.31, Z:3.97 [[ 1.99848818e-01 -9.79365951e-01 -3.00463776e-02 1.03259765e+02] [ 9.77414200e-01 2.01413562e-01 -6.39848320e-02 7.53133072e+01] [ 6.87163138e-02 -1.65804631e-02 9.97498449e-01 3.96822182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:75.34, Z:3.97 [[ 1.99490123e-01 -9.79781271e-01 -1.52431053e-02 1.03257455e+02] [ 9.77492258e-01 2.00065685e-01 -6.69522752e-02 7.53407195e+01] [ 6.86482076e-02 -1.54369977e-03 9.97639735e-01 3.96601410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:75.37, Z:3.98 [[ 1.99746077e-01 -9.79202579e-01 -3.55501595e-02 1.03280086e+02] [ 9.77328376e-01 2.01701377e-01 -6.43878850e-02 7.53668394e+01] [ 7.02192992e-02 -2.18829522e-02 9.97291525e-01 3.97743342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.452755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.26, Y:75.40, Z:3.97 [[ 1.96501560e-01 -9.80497896e-01 3.31868328e-03 1.03264402e+02] [ 9.78239058e-01 1.95816721e-01 -6.85868580e-02 7.53960471e+01] [ 6.65994162e-02 1.67238902e-02 9.97639629e-01 3.96601241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:75.42, Z:3.96 [[ 1.92232856e-01 -9.81349144e-01 6.21378335e-04 1.03269501e+02] [ 9.79424019e-01 1.91816030e-01 -6.27311908e-02 7.54223347e+01] [ 6.14420101e-02 1.26675889e-02 9.98030266e-01 3.96272299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:75.45, Z:3.96 [[ 1.90511142e-01 -9.81675301e-01 -4.37121878e-03 1.03279313e+02] [ 9.79896453e-01 1.90430823e-01 -5.94898626e-02 7.54486805e+01] [ 5.92321435e-02 7.05013988e-03 9.98219339e-01 3.96301828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:75.47, Z:3.97 [[ 1.88775970e-01 -9.81955514e-01 -1.12694730e-02 1.03290112e+02] [ 9.80238695e-01 1.89112029e-01 -5.80408607e-02 7.54736788e+01] [ 5.91247362e-02 -9.00537239e-05 9.98250599e-01 3.96667556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:75.50, Z:3.97 [[ 1.87230062e-01 -9.82215431e-01 -1.40623675e-02 1.03300733e+02] [ 9.80503311e-01 1.87734692e-01 -5.80425939e-02 7.54989174e+01] [ 5.96503256e-02 -2.92087944e-03 9.98215061e-01 3.97058569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.602755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.31, Y:75.52, Z:3.98 [[ 1.86113311e-01 -9.82144664e-01 -2.74534928e-02 1.03314831e+02] [ 9.80553604e-01 1.87437360e-01 -5.81538044e-02 7.55220179e+01] [ 6.22612589e-02 -1.60964242e-02 9.97930078e-01 3.98056804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.632755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.32, Y:75.55, Z:3.98 [[ 1.84870135e-01 -9.82531593e-01 -2.13237332e-02 1.03316292e+02] [ 9.80765442e-01 1.85833647e-01 -5.97076554e-02 7.55478091e+01] [ 6.26273249e-02 -9.87541832e-03 9.97988123e-01 3.98122940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:75.58, Z:3.98 [[ 1.85387093e-01 -9.82662289e-01 -2.54008543e-03 1.03310496e+02] [ 9.80396713e-01 1.85133991e-01 -6.74365645e-02 7.55763355e+01] [ 6.67376250e-02 1.00115773e-02 9.97720330e-01 3.98039032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:75.60, Z:3.99 [[ 1.87053953e-01 -9.81993754e-01 -2.64402408e-02 1.03330823e+02] [ 9.80366817e-01 1.88318008e-01 -5.84570935e-02 7.55970144e+01] [ 6.23836741e-02 -1.49865043e-02 9.97939719e-01 3.98662423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:75.62, Z:3.98 [[ 1.90057291e-01 -9.81676063e-01 -1.37961338e-02 1.03330423e+02] [ 9.79706049e-01 1.90549797e-01 -6.21838535e-02 7.56229890e+01] [ 6.36732510e-02 -1.69766094e-03 9.97969356e-01 3.98482763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:75.65, Z:3.99 [[ 1.89716041e-01 -9.81742406e-01 -1.37721627e-02 1.03335960e+02] [ 9.79772185e-01 1.90207714e-01 -6.21891623e-02 7.56492704e+01] [ 6.36733094e-02 -1.69530028e-03 9.97969356e-01 3.98645077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.33, Y:75.68, Z:3.97 [[ 1.91555800e-01 -9.81413932e-01 1.15355376e-02 1.03329735e+02] [ 9.79423053e-01 1.90379963e-01 -6.69772634e-02 7.56835678e+01] [ 6.35362842e-02 2.41280547e-02 9.97687816e-01 3.97456753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:75.70, Z:3.99 [[ 1.96400658e-01 -9.79771538e-01 -3.83994139e-02 1.03368388e+02] [ 9.78218545e-01 1.98472413e-01 -6.08044439e-02 7.57009912e+01] [ 6.71956879e-02 -2.56209859e-02 9.97410800e-01 3.99449417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:75.73, Z:3.99 [[ 1.96232289e-01 -9.80467944e-01 -1.32476085e-02 1.03359448e+02] [ 9.78132016e-01 1.96678700e-01 -6.76405757e-02 7.57340475e+01] [ 6.89249386e-02 3.15354927e-04 9.97621799e-01 3.98992726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:75.76, Z:3.99 [[ 1.95668802e-01 -9.80525870e-01 -1.68148441e-02 1.03365654e+02] [ 9.78319752e-01 1.96357543e-01 -6.58344698e-02 7.57578471e+01] [ 6.78541222e-02 -3.56854223e-03 9.97688871e-01 3.99461557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.37, Y:75.79, Z:3.99 [[ 1.96978068e-01 -9.80318976e-01 -1.32040215e-02 1.03372357e+02] [ 9.78060194e-01 1.97420036e-01 -6.65100521e-02 7.57882319e+01] [ 6.78078045e-02 1.86693741e-04 9.97698385e-01 3.99088923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:75.81, Z:4.00 [[ 1.99398262e-01 -9.79815502e-01 -1.42096663e-02 1.03381136e+02] [ 9.77498890e-01 1.99903395e-01 -6.73390899e-02 7.58125852e+01] [ 6.88204447e-02 -4.62635531e-04 9.97628955e-01 3.99648158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:75.84, Z:4.00 [[ 1.98925170e-01 -9.79858882e-01 -1.74742246e-02 1.03390243e+02] [ 9.77637244e-01 1.99652283e-01 -6.60634877e-02 7.58368500e+01] [ 6.82216640e-02 -3.94176224e-03 9.97662401e-01 4.00147212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:75.87, Z:4.01 [[ 1.98874458e-01 -9.79812449e-01 -2.04086968e-02 1.03400600e+02] [ 9.77598463e-01 1.99803555e-01 -6.61799377e-02 7.58666048e+01] [ 6.89216570e-02 -6.79001138e-03 9.97598968e-01 4.00511843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:75.89, Z:4.00 [[ 1.98276476e-01 -9.80146110e-01 -2.07622053e-04 1.03395226e+02] [ 9.77613590e-01 1.97779374e-01 -7.17982454e-02 7.58919928e+01] [ 7.04138343e-02 1.40329289e-02 9.97419154e-01 4.00215355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:75.91, Z:4.01 [[ 2.01018808e-01 -9.79249674e-01 -2.57199134e-02 1.03420301e+02] [ 9.77039148e-01 2.02319362e-01 -6.67935488e-02 7.59125111e+01] [ 7.06111974e-02 -1.17026027e-02 9.97435265e-01 4.01259351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:75.94, Z:4.01 [[ 1.99472667e-01 -9.79791791e-01 -1.47885672e-02 1.03423052e+02] [ 9.77479402e-01 2.00017441e-01 -6.72832905e-02 7.59399160e+01] [ 6.88815870e-02 -1.03434248e-03 9.97624307e-01 4.01053858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:75.97, Z:4.01 [[ 1.96352822e-01 -9.80441461e-01 -1.34205085e-02 1.03425643e+02] [ 9.78268644e-01 1.96810668e-01 -6.52381871e-02 7.59652592e+01] [ 6.66035228e-02 -3.19160475e-04 9.97779469e-01 4.01080915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:75.99, Z:4.01 [[ 1.94820640e-01 -9.80800976e-01 -8.62342850e-03 1.03429020e+02] [ 9.78474642e-01 1.94953601e-01 -6.76791534e-02 7.59911642e+01] [ 6.80609482e-02 4.74748987e-03 9.97669870e-01 4.01184918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:76.02, Z:4.02 [[ 1.96595501e-01 -9.80258442e-01 -2.10617311e-02 1.03446970e+02] [ 9.78063132e-01 1.97573490e-01 -6.60092818e-02 7.60152327e+01] [ 6.88673955e-02 -7.62257487e-03 9.97596701e-01 4.01799917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:76.04, Z:4.02 [[ 1.94227699e-01 -9.80822821e-01 -1.61924294e-02 1.03446078e+02] [ 9.78911525e-01 1.94861684e-01 -6.13282175e-02 7.60406213e+01] [ 6.33073993e-02 -3.93931719e-03 9.97986300e-01 4.01694591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.232755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:103.45, Y:76.07, Z:4.02 [[ 1.94675157e-01 -9.80784981e-01 -1.27437521e-02 1.03449564e+02] [ 9.78723454e-01 1.95091800e-01 -6.35577716e-02 7.60666640e+01] [ 6.48227094e-02 -9.94899033e-05 9.97896791e-01 4.01526680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:76.09, Z:4.02 [[ 1.96611896e-01 -9.80401957e-01 -1.24805849e-02 1.03456928e+02] [ 9.78111634e-01 1.97005272e-01 -6.69817500e-02 7.60934512e+01] [ 6.81277799e-02 9.62003538e-04 9.97676140e-01 4.02138377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:76.12, Z:4.03 [[ 1.97277159e-01 -9.80078614e-01 -2.29702718e-02 1.03469123e+02] [ 9.77802514e-01 1.98398260e-01 -6.73822986e-02 7.61219540e+01] [ 7.05972118e-02 -9.16740103e-03 9.97462777e-01 4.02809281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:76.15, Z:4.02 [[ 1.97938802e-01 -9.80154463e-01 -1.08378971e-02 1.03466260e+02] [ 9.77850679e-01 1.98216804e-01 -6.72171804e-02 7.61509918e+01] [ 6.80314726e-02 2.70704314e-03 9.97679503e-01 4.02346919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:76.18, Z:4.02 [[ 1.97404829e-01 -9.80315115e-01 -3.68894011e-03 1.03463903e+02] [ 9.77913015e-01 1.97181977e-01 -6.93210123e-02 7.61756129e+01] [ 6.86838286e-02 1.00768400e-02 9.97587585e-01 4.02230436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:76.20, Z:4.03 [[ 1.99164878e-01 -9.79795848e-01 -1.82605749e-02 1.03476761e+02] [ 9.77624809e-01 1.99941841e-01 -6.53681383e-02 7.61989152e+01] [ 6.76984834e-02 -4.83295380e-03 9.97694120e-01 4.02735029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:76.23, Z:4.03 [[ 1.98927786e-01 -9.79964073e-01 -9.90710863e-03 1.03475818e+02] [ 9.77503962e-01 1.99131201e-01 -6.95181222e-02 7.62271035e+01] [ 7.00980766e-02 4.14484820e-03 9.97531493e-01 4.02695212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:76.25, Z:4.03 [[ 1.98143333e-01 -9.79641108e-01 -3.22880749e-02 1.03496292e+02] [ 9.77657125e-01 1.99886181e-01 -6.50542860e-02 7.62547935e+01] [ 7.01837928e-02 -1.86765934e-02 9.97359223e-01 4.03404097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.49, Y:76.28, Z:4.02 [[ 1.95696550e-01 -9.80642575e-01 -6.55742943e-03 1.03485867e+02] [ 9.78140368e-01 1.95667934e-01 -7.03951700e-02 7.62847837e+01] [ 7.03155794e-02 7.36200546e-03 9.97497629e-01 4.02478954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:76.31, Z:4.03 [[ 1.90388416e-01 -9.81610781e-01 -1.38753309e-02 1.03492334e+02] [ 9.79274018e-01 1.90892076e-01 -6.76949934e-02 7.63071747e+01] [ 6.90988261e-02 -6.99408401e-04 9.97609574e-01 4.03077070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:76.33, Z:4.03 [[ 1.89142006e-01 -9.81883225e-01 -1.14295430e-02 1.03495593e+02] [ 9.79468324e-01 1.89478219e-01 -6.88462572e-02 7.63323930e+01] [ 6.97646344e-02 1.82684387e-03 9.97561807e-01 4.03249784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:76.36, Z:4.04 [[ 1.86884005e-01 -9.82235675e-01 -1.69542482e-02 1.03503641e+02] [ 9.80062180e-01 1.87600266e-01 -6.54542855e-02 7.63589693e+01] [ 6.74721558e-02 -4.38385838e-03 9.97711526e-01 4.03588012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:76.39, Z:4.04 [[ 1.84762046e-01 -9.82684422e-01 -1.39396572e-02 1.03506243e+02] [ 9.80502857e-01 1.85280472e-01 -6.54621597e-02 7.63851371e+01] [ 6.69113909e-02 -1.57295118e-03 9.97757682e-01 4.03688279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:76.41, Z:4.04 [[ 1.83723875e-01 -9.82878760e-01 -1.39599646e-02 1.03511567e+02] [ 9.80683161e-01 1.84246323e-01 -6.56797612e-02 7.64123253e+01] [ 6.71273144e-02 -1.62336198e-03 9.97743097e-01 4.03831525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:76.44, Z:4.04 [[ 1.82632466e-01 -9.83082367e-01 -1.39442182e-02 1.03517260e+02] [ 9.80884503e-01 1.83156365e-01 -6.57216633e-02 7.64390885e+01] [ 6.71637806e-02 -1.67475815e-03 9.97740558e-01 4.04000797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:76.47, Z:4.04 [[ 1.83748224e-01 -9.82767255e-01 -2.01274176e-02 1.03531688e+02] [ 9.80677169e-01 1.84679310e-01 -6.45433431e-02 7.64685362e+01] [ 6.71482017e-02 -7.87877428e-03 9.97711904e-01 4.04394511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:76.49, Z:4.04 [[ 1.80639707e-01 -9.83512717e-01 -8.48712869e-03 1.03525997e+02] [ 9.81242828e-01 1.80799996e-01 -6.68870198e-02 7.64933707e+01] [ 6.73187074e-02 3.75451748e-03 9.97724459e-01 4.04210462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:76.52, Z:4.05 [[ 1.80479112e-01 -9.83479857e-01 -1.39521009e-02 1.03534467e+02] [ 9.81255069e-01 1.81009099e-01 -6.61377049e-02 7.65196102e+01] [ 6.75705578e-02 -1.75409550e-03 9.97712956e-01 4.04517158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:76.55, Z:4.05 [[ 1.80513113e-01 -9.83474006e-01 -1.39246059e-02 1.03539652e+02] [ 9.81250106e-01 1.81041142e-01 -6.61236252e-02 7.65455632e+01] [ 6.75517931e-02 -1.72733959e-03 9.97714274e-01 4.04640412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:76.57, Z:4.05 [[ 1.80102519e-01 -9.83549842e-01 -1.38848939e-02 1.03545353e+02] [ 9.81332620e-01 1.80628627e-01 -6.60271737e-02 7.65725523e+01] [ 6.74490256e-02 -1.73403899e-03 9.97721215e-01 4.04846077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:76.60, Z:4.04 [[ 1.81060647e-01 -9.83466125e-01 -3.37976979e-03 1.03548884e+02] [ 9.81328883e-01 1.80891783e-01 -6.53588993e-02 7.66034624e+01] [ 6.48896360e-02 8.51725890e-03 9.97856098e-01 4.04388865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:76.62, Z:4.06 [[ 1.79944854e-01 -9.83381843e-01 -2.40832099e-02 1.03564783e+02] [ 9.81420369e-01 1.81135594e-01 -6.32768247e-02 7.66236011e+01] [ 6.65876070e-02 -1.22494137e-02 9.97705389e-01 4.05609155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:76.65, Z:4.06 [[ 1.79731995e-01 -9.83621178e-01 -1.36304146e-02 1.03565070e+02] [ 9.81462861e-01 1.80240376e-01 -6.51464468e-02 7.66510641e+01] [ 6.65361758e-02 -1.66884482e-03 9.97782618e-01 4.05503746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:76.68, Z:4.05 [[ 1.80079183e-01 -9.83651295e-01 1.27180471e-03 1.03563829e+02] [ 9.81570079e-01 1.79613791e-01 -6.52615149e-02 7.66806717e+01] [ 6.39661400e-02 1.30006058e-02 9.97867385e-01 4.04745896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:76.70, Z:4.06 [[ 1.79287276e-01 -9.83393209e-01 -2.81756894e-02 1.03585855e+02] [ 9.81545787e-01 1.80739963e-01 -6.24574622e-02 7.67015774e+01] [ 6.65127172e-02 -1.64579009e-02 9.97649836e-01 4.06281316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:76.74, Z:4.04 [[ 1.78233120e-01 -9.83927788e-01 1.09116397e-02 1.03569624e+02] [ 9.81980659e-01 1.77150522e-01 -6.58154854e-02 7.67352381e+01] [ 6.28246822e-02 2.24455184e-02 9.97772147e-01 4.04479815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:76.76, Z:4.06 [[ 1.78790723e-01 -9.83670506e-01 -2.06449494e-02 1.03596018e+02] [ 9.81781690e-01 1.79740831e-01 -6.16274833e-02 7.67589503e+01] [ 6.43318780e-02 -9.25041102e-03 9.97885685e-01 4.05878369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:76.78, Z:4.07 [[ 1.77267843e-01 -9.83562764e-01 -3.43569659e-02 1.03607988e+02] [ 9.82023839e-01 1.79075056e-01 -5.96766678e-02 7.67814504e+01] [ 6.48482240e-02 -2.31606054e-02 9.97626330e-01 4.07011025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:76.81, Z:4.06 [[ 1.77543672e-01 -9.84080297e-01 -8.01340291e-03 1.03599127e+02] [ 9.81801451e-01 1.77678555e-01 -6.70540174e-02 7.68116550e+01] [ 6.74103471e-02 4.03744585e-03 9.97717166e-01 4.06473706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:76.84, Z:4.07 [[ 1.78722449e-01 -9.83861916e-01 -8.60329000e-03 1.03603215e+02] [ 9.81543540e-01 1.78892430e-01 -6.76001271e-02 7.68383722e+01] [ 6.80482540e-02 3.63715652e-03 9.97675401e-01 4.06679644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.132755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:103.62, Y:76.87, Z:4.07 [[ 1.83316333e-01 -9.82848824e-01 -2.00825916e-02 1.03619662e+02] [ 9.80696518e-01 1.84252496e-01 -6.54626462e-02 7.68665177e+01] [ 6.80401525e-02 -7.69455541e-03 9.97652911e-01 4.06868115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:76.89, Z:4.07 [[ 1.84909083e-01 -9.82733572e-01 -6.58457662e-03 1.03616252e+02] [ 9.80268605e-01 1.84913365e-01 -6.98606464e-02 7.68935401e+01] [ 6.98719788e-02 6.46321433e-03 9.97535029e-01 4.06697126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:76.91, Z:4.08 [[ 1.84041493e-01 -9.82707254e-01 -2.03760291e-02 1.03625493e+02] [ 9.80414872e-01 1.85011917e-01 -6.75075505e-02 7.69149534e+01] [ 7.01099678e-02 -7.55277156e-03 9.97510676e-01 4.07537235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:76.94, Z:4.07 [[ 1.86468600e-01 -9.82439957e-01 -6.41812861e-03 1.03620691e+02] [ 9.79791103e-01 1.86439186e-01 -7.24556693e-02 7.69428821e+01] [ 7.23799353e-02 7.22228194e-03 9.97350983e-01 4.07398353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:76.96, Z:4.08 [[ 1.88420502e-01 -9.81792122e-01 -2.41235299e-02 1.03636636e+02] [ 9.79678987e-01 1.89621101e-01 -6.53675796e-02 7.69647942e+01] [ 6.87517049e-02 -1.13167232e-02 9.97569614e-01 4.08016388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:77.00, Z:4.09 [[ 1.92878527e-01 -9.80793825e-01 -2.90059630e-02 1.03647554e+02] [ 9.78691756e-01 1.94418770e-01 -6.60589836e-02 7.69953079e+01] [ 7.04295469e-02 -1.56465374e-02 9.97394037e-01 4.08603558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:77.02, Z:4.08 [[ 1.89699049e-01 -9.81842284e-01 5.35067133e-06 1.03629952e+02] [ 9.79453084e-01 1.89237058e-01 -6.97208109e-02 7.70212973e+01] [ 6.84538277e-02 1.32312123e-02 9.97566543e-01 4.07636861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:77.04, Z:4.08 [[ 1.88883686e-01 -9.81904422e-01 -1.36623564e-02 1.03642685e+02] [ 9.79620978e-01 1.89375701e-01 -6.69296891e-02 7.70447770e+01] [ 6.83058760e-02 -7.42004605e-04 9.97664150e-01 4.08208998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:77.07, Z:4.08 [[ 1.87459239e-01 -9.82178381e-01 -1.35890135e-02 1.03648142e+02] [ 9.79911323e-01 1.87949374e-01 -6.66995620e-02 7.70708232e+01] [ 6.80649144e-02 -8.12579058e-04 9.97680564e-01 4.08417278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:77.10, Z:4.09 [[ 1.84255374e-01 -9.82784820e-01 -1.35630151e-02 1.03653122e+02] [ 9.80519622e-01 1.84751125e-01 -6.66955145e-02 7.70961705e+01] [ 6.80531215e-02 -1.00979554e-03 9.97681188e-01 4.08685938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:77.12, Z:4.09 [[ 1.82356665e-01 -9.83139457e-01 -1.35223608e-02 1.03658256e+02] [ 9.80880182e-01 1.82853944e-01 -6.66220934e-02 7.71229509e+01] [ 6.79714257e-02 -1.11483299e-03 9.97686645e-01 4.08861962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:77.15, Z:4.09 [[ 1.79222309e-01 -9.83717597e-01 -1.33810781e-02 1.03663650e+02] [ 9.81498944e-01 1.79716463e-01 -6.60440516e-02 7.71483151e+01] [ 6.73734958e-02 -1.29694666e-03 9.97726982e-01 4.09068061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:77.18, Z:4.09 [[ 1.76293921e-01 -9.84324472e-01 -5.07810923e-03 1.03663412e+02] [ 9.81851915e-01 1.76212796e-01 -7.01132429e-02 7.71787662e+01] [ 6.99090086e-02 7.37458726e-03 9.97526113e-01 4.09091177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:77.20, Z:4.10 [[ 1.75602329e-01 -9.84266378e-01 -1.95836339e-02 1.03676690e+02] [ 9.82155289e-01 1.76517092e-01 -6.49053487e-02 7.72010831e+01] [ 6.73409986e-02 -7.83663919e-03 9.97699242e-01 4.09576058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:77.23, Z:4.10 [[ 1.71484282e-01 -9.85064063e-01 -1.55542043e-02 1.03678934e+02] [ 9.82981044e-01 1.72134914e-01 -6.41703823e-02 7.72277795e+01] [ 6.58893591e-02 -4.28527607e-03 9.97817733e-01 4.09567114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:77.26, Z:4.10 [[ 1.68197842e-01 -9.85668066e-01 -1.29595269e-02 1.03682633e+02] [ 9.83558528e-01 1.68685654e-01 -6.44807883e-02 7.72552829e+01] [ 6.57427402e-02 -1.90092379e-03 9.97834795e-01 4.09620508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:77.28, Z:4.10 [[ 1.67955754e-01 -9.85709641e-01 -1.29370978e-02 1.03687880e+02] [ 9.83599884e-01 1.68442618e-01 -6.44852882e-02 7.72824471e+01] [ 6.57429289e-02 -1.89425272e-03 9.97834796e-01 4.09800256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:77.31, Z:4.10 [[ 1.66330562e-01 -9.85984711e-01 -1.29728440e-02 1.03692706e+02] [ 9.83858556e-01 1.66823782e-01 -6.47469574e-02 7.73091355e+01] [ 6.60036889e-02 -1.99404573e-03 9.97817387e-01 4.09959363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:77.34, Z:4.10 [[ 1.63312303e-01 -9.86570836e-01 2.66030562e-03 1.03687171e+02] [ 9.83965850e-01 1.62683942e-01 -7.31104663e-02 7.73379231e+01] [ 7.16958648e-02 1.45574885e-02 9.97320301e-01 4.09833966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:77.36, Z:4.10 [[ 1.61006743e-01 -9.86919618e-01 -8.15449316e-03 1.03697411e+02] [ 9.84207495e-01 1.61169210e-01 -7.32126525e-02 7.73624513e+01] [ 7.35692563e-02 3.76201746e-03 9.97283015e-01 4.10403960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:77.38, Z:4.11 [[ 1.61300410e-01 -9.86220921e-01 -3.67487704e-02 1.03719086e+02] [ 9.84656316e-01 1.63333654e-01 -6.14333500e-02 7.73834748e+01] [ 6.65891660e-02 -2.62756844e-02 9.97434445e-01 4.11187308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:77.41, Z:4.11 [[ 1.60912330e-01 -9.86881523e-01 -1.31180257e-02 1.03710086e+02] [ 9.84670871e-01 1.61429948e-01 -6.60579055e-02 7.74124544e+01] [ 6.73089686e-02 -2.28740631e-03 9.97729558e-01 4.10666335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:77.44, Z:4.12 [[ 1.64314116e-01 -9.85539441e-01 -4.13869826e-02 1.03737130e+02] [ 9.83843790e-01 1.66766032e-01 -6.51190291e-02 7.74399875e+01] [ 7.10793144e-02 -3.00183502e-02 9.97018871e-01 4.12404261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:77.47, Z:4.12 [[ 1.63949925e-01 -9.86356052e-01 -1.49050700e-02 1.03727163e+02] [ 9.83877563e-01 1.64595032e-01 -6.99529637e-02 7.74714319e+01] [ 7.14518296e-02 -3.19598080e-03 9.97438931e-01 4.11767251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:77.50, Z:4.10 [[ 1.60962039e-01 -9.86878876e-01 1.27006590e-02 1.03708880e+02] [ 9.84628766e-01 1.59684384e-01 -7.07607959e-02 7.74968329e+01] [ 6.78042378e-02 2.38952362e-02 9.97412454e-01 4.10423676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:77.52, Z:4.11 [[ 1.62318501e-01 -9.86652671e-01 -1.30081447e-02 1.03728614e+02] [ 9.84439507e-01 1.62825621e-01 -6.60808088e-02 7.75190557e+01] [ 6.73168657e-02 -2.07959380e-03 9.97729480e-01 4.11272836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:77.55, Z:4.11 [[ 1.63587897e-01 -9.86442885e-01 -1.30167277e-02 1.03732810e+02] [ 9.84216848e-01 1.64093108e-01 -6.62619667e-02 7.75451160e+01] [ 6.74996009e-02 -1.97162694e-03 9.97717353e-01 4.11415630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:77.57, Z:4.11 [[ 1.62961823e-01 -9.86628135e-01 -2.89274039e-03 1.03730662e+02] [ 9.84090621e-01 1.62751623e-01 -7.12569983e-02 7.75730785e+01] [ 7.07749575e-02 8.76545168e-03 9.97453795e-01 4.11423148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:77.60, Z:4.12 [[ 1.64729311e-01 -9.86162058e-01 -1.86721385e-02 1.03744966e+02] [ 9.83845688e-01 1.65628626e-01 -6.79324760e-02 7.75966710e+01] [ 7.00850710e-02 -7.18003295e-03 9.97515178e-01 4.12026715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:77.62, Z:4.12 [[ 1.66521237e-01 -9.85856742e-01 -1.88987025e-02 1.03749856e+02] [ 9.83588260e-01 1.67427197e-01 -6.72478151e-02 7.76209813e+01] [ 6.94608687e-02 -7.39035257e-03 9.97557302e-01 4.12121931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:77.65, Z:4.12 [[ 1.67059785e-01 -9.85855672e-01 -1.34022912e-02 1.03751644e+02] [ 9.83449285e-01 1.67588131e-01 -6.88601680e-02 7.76485179e+01] [ 7.01322521e-02 -1.67670887e-03 9.97536293e-01 4.12137730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:77.68, Z:4.12 [[ 1.67121308e-01 -9.85844427e-01 -1.34623596e-02 1.03756432e+02] [ 9.83407037e-01 1.67654466e-01 -6.93006459e-02 7.76754246e+01] [ 7.05766802e-02 -1.65736461e-03 9.97504980e-01 4.12279588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:77.70, Z:4.12 [[ 1.67869161e-01 -9.85717406e-01 -1.34588100e-02 1.03761510e+02] [ 9.83271490e-01 1.68400402e-01 -6.94152794e-02 7.77006647e+01] [ 7.06903182e-02 -1.58097938e-03 9.97497057e-01 4.12474409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:77.73, Z:4.13 [[ 1.67748900e-01 -9.85738062e-01 -1.34454628e-02 1.03767067e+02] [ 9.83287282e-01 1.68279604e-01 -6.94845015e-02 7.77276902e+01] [ 7.07561149e-02 -1.56480390e-03 9.97492418e-01 4.12676305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:77.75, Z:4.13 [[ 1.66982770e-01 -9.85869176e-01 -1.33687000e-02 1.03772073e+02] [ 9.83437770e-01 1.67509525e-01 -6.92149630e-02 7.77535004e+01] [ 7.04762831e-02 -1.58957827e-03 9.97512189e-01 4.12823157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:77.78, Z:4.13 [[ 1.65223455e-01 -9.86165353e-01 -1.33830694e-02 1.03777224e+02] [ 9.83722350e-01 1.65755866e-01 -6.93925891e-02 7.77802637e+01] [ 7.06508894e-02 -1.69994114e-03 9.97499655e-01 4.13080844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:77.81, Z:4.13 [[ 1.64219478e-01 -9.86334556e-01 -1.32705113e-02 1.03782492e+02] [ 9.83924063e-01 1.64745648e-01 -6.89369996e-02 7.78070788e+01] [ 7.01812038e-02 -1.73637732e-03 9.97532748e-01 4.13225777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:77.83, Z:4.13 [[ 1.62706837e-01 -9.86585327e-01 -1.32618690e-02 1.03787473e+02] [ 9.84169272e-01 1.63236262e-01 -6.90272929e-02 7.78324981e+01] [ 7.02661322e-02 -1.82071144e-03 9.97526619e-01 4.13396332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.272755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.79, Y:77.86, Z:4.14 [[ 1.60523655e-01 -9.86943790e-01 -1.31951690e-02 1.03793867e+02] [ 9.84543369e-01 1.61053337e-01 -6.88198882e-02 7.78591952e+01] [ 7.00464872e-02 -1.94399611e-03 9.97541834e-01 4.13542643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:77.89, Z:4.14 [[ 1.59621634e-01 -9.87091881e-01 -1.30595836e-02 1.03799535e+02] [ 9.84731989e-01 1.60142903e-01 -6.82433950e-02 7.78851266e+01] [ 6.94539008e-02 -1.96706748e-03 9.97583223e-01 4.13812113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:77.91, Z:4.14 [[ 1.58469495e-01 -9.87276594e-01 -1.31280943e-02 1.03804953e+02] [ 9.84882725e-01 1.58999311e-01 -6.87403537e-02 7.79113738e+01] [ 6.99531002e-02 -2.03638415e-03 9.97548203e-01 4.14020146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:77.94, Z:4.14 [[ 1.57336758e-01 -9.87455048e-01 -1.33293652e-02 1.03810279e+02] [ 9.84978090e-01 1.57886050e-01 -6.99296608e-02 7.79366835e+01] [ 7.11569174e-02 -2.12662652e-03 9.97462867e-01 4.14172438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:77.96, Z:4.16 [[ 1.58656389e-01 -9.86114358e-01 -4.90573534e-02 1.03839487e+02] [ 9.84335667e-01 1.61848451e-01 -6.99169072e-02 7.79616636e+01] [ 7.68859226e-02 -3.71961386e-02 9.96345825e-01 4.16405866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:77.99, Z:4.15 [[ 1.58033962e-01 -9.87349630e-01 -1.28831237e-02 1.03823269e+02] [ 9.84397547e-01 1.58556986e-01 -7.62964752e-02 7.79934852e+01] [ 7.73740059e-02 -6.24681173e-04 9.97001942e-01 4.15374990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:78.02, Z:4.14 [[ 1.55982267e-01 -9.87549680e-01 2.03755399e-02 1.03806066e+02] [ 9.84772089e-01 1.53874149e-01 -8.09115540e-02 7.80239990e+01] [ 7.67689104e-02 3.26860306e-02 9.96512999e-01 4.14050294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:78.05, Z:4.15 [[ 1.54166141e-01 -9.87905907e-01 -1.65747074e-02 1.03832214e+02] [ 9.85154365e-01 1.54975732e-01 -7.38471414e-02 7.80467548e+01] [ 7.55227046e-02 -4.94391655e-03 9.97131826e-01 4.15240379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:78.06, Z:4.17 [[ 1.58319549e-01 -9.86265601e-01 -4.70646875e-02 1.03857153e+02] [ 9.84449709e-01 1.61343500e-01 -6.94769375e-02 7.80649498e+01] [ 7.61162949e-02 -3.53332605e-02 9.96472714e-01 4.16790624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:78.09, Z:4.16 [[ 1.59093509e-01 -9.86951543e-01 -2.48174874e-02 1.03849429e+02] [ 9.84498526e-01 1.60477844e-01 -7.07779207e-02 7.80939700e+01] [ 7.38370349e-02 -1.31724720e-02 9.97183322e-01 4.16292106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:78.12, Z:4.16 [[ 1.60143815e-01 -9.87091153e-01 -2.23933256e-03 1.03841144e+02] [ 9.84148860e-01 1.59840747e-01 -7.68241928e-02 7.81229853e+01] [ 7.61904176e-02 1.00990827e-02 9.97042140e-01 4.15808537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:78.15, Z:4.16 [[ 1.59373217e-01 -9.86980545e-01 -2.16698232e-02 1.03856481e+02] [ 9.84581341e-01 1.60512523e-01 -6.95364185e-02 7.81462508e+01] [ 7.21093703e-02 -1.02534608e-02 9.97344026e-01 4.16458729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:78.18, Z:4.15 [[ 1.59475619e-01 -9.86991871e-01 2.03610902e-02 1.03832855e+02] [ 9.85009004e-01 1.57713578e-01 -6.98833930e-02 7.81757806e+01] [ 6.57631205e-02 3.12005545e-02 9.97347350e-01 4.14538973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:78.20, Z:4.16 [[ 1.60094089e-01 -9.87032429e-01 -1.16989807e-02 1.03856070e+02] [ 9.84997296e-01 1.60515052e-01 -6.33659684e-02 7.81981788e+01] [ 6.44221282e-02 -1.37894740e-03 9.97921784e-01 4.15596674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.692755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.86, Y:78.22, Z:4.16 [[ 1.60420725e-01 -9.86979419e-01 -1.16969396e-02 1.03860945e+02] [ 9.84935998e-01 1.60841053e-01 -6.34920060e-02 7.82232861e+01] [ 6.45466512e-02 -1.33530331e-03 9.97913797e-01 4.15677598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:78.25, Z:4.16 [[ 1.61525852e-01 -9.86828642e-01 -8.86736866e-03 1.03864577e+02] [ 9.84864964e-01 1.61763683e-01 -6.22375602e-02 7.82509696e+01] [ 6.28522253e-02 1.31981425e-03 9.98021972e-01 4.15863314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:78.28, Z:4.16 [[ 1.62169463e-01 -9.86690725e-01 -1.19364641e-02 1.03871957e+02] [ 9.84748367e-01 1.62599113e-01 -6.19046181e-02 7.82791508e+01] [ 6.30215709e-02 -1.71537484e-03 9.98010691e-01 4.16166286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:78.31, Z:4.16 [[ 1.61281533e-01 -9.86906578e-01 -1.91671066e-03 1.03870358e+02] [ 9.85020704e-01 1.61092800e-01 -6.15087238e-02 7.83078723e+01] [ 6.10121324e-02 8.03222158e-03 9.98104705e-01 4.15710424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:78.33, Z:4.16 [[ 1.60649593e-01 -9.86944504e-01 -1.15001535e-02 1.03880876e+02] [ 9.85136518e-01 1.61051369e-01 -5.97369014e-02 7.83323533e+01] [ 6.08091221e-02 -1.73251231e-03 9.98147909e-01 4.16144138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:78.36, Z:4.17 [[ 1.60561981e-01 -9.86904889e-01 -1.54463983e-02 1.03888283e+02] [ 9.85091486e-01 1.61206959e-01 -6.00589737e-02 7.83591074e+01] [ 6.17625616e-02 -5.57292761e-03 9.98075312e-01 4.16582513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:78.38, Z:4.17 [[ 1.59339885e-01 -9.87061920e-01 -1.78764432e-02 1.03893130e+02] [ 9.85157588e-01 1.60151257e-01 -6.17745990e-02 7.83843467e+01] [ 6.38382891e-02 -7.76795617e-03 9.97930023e-01 4.16992441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:78.41, Z:4.17 [[ 1.58118543e-01 -9.87353567e-01 -1.14656392e-02 1.03894175e+02] [ 9.85342309e-01 1.58528075e-01 -6.30030398e-02 7.84107812e+01] [ 6.40239018e-02 -1.33563051e-03 9.97947472e-01 4.16970469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:78.44, Z:4.17 [[ 1.56213403e-01 -9.87622430e-01 -1.41176738e-02 1.03901295e+02] [ 9.85774934e-01 1.56786653e-01 -6.05452255e-02 7.84355292e+01] [ 6.20092856e-02 -4.45887323e-03 9.98065613e-01 4.17208156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:78.46, Z:4.17 [[ 1.53896827e-01 -9.88051753e-01 -8.33663031e-03 1.03901731e+02] [ 9.86086002e-01 1.54116383e-01 -6.23100148e-02 7.84638035e+01] [ 6.28503307e-02 1.36867910e-03 9.98022025e-01 4.17228819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:78.49, Z:4.17 [[ 1.53203143e-01 -9.88130036e-01 -1.13061519e-02 1.03907760e+02] [ 9.86208284e-01 1.53610250e-01 -6.16207042e-02 7.84893707e+01] [ 6.26260095e-02 -1.70973505e-03 9.98035600e-01 4.17440994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:78.52, Z:4.18 [[ 1.52630353e-01 -9.88240025e-01 -9.25359191e-03 1.03911126e+02] [ 9.86280400e-01 1.52910165e-01 -6.22049384e-02 7.85154923e+01] [ 6.28883782e-02 3.67725411e-04 9.98020499e-01 4.17513857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:78.54, Z:4.18 [[ 1.51412212e-01 -9.88384454e-01 -1.30580414e-02 1.03918484e+02] [ 9.86463969e-01 1.51932979e-01 -6.16863613e-02 7.85420428e+01] [ 6.29537877e-02 -3.54121896e-03 9.98010160e-01 4.17784592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:78.57, Z:4.18 [[ 1.50808245e-01 -9.88500189e-01 -1.11467429e-02 1.03921920e+02] [ 9.86549687e-01 1.51210810e-01 -6.20887019e-02 7.85679207e+01] [ 6.30602016e-02 -1.63332752e-03 9.98008388e-01 4.17881831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:78.59, Z:4.18 [[ 1.50404519e-01 -9.88562812e-01 -1.10475090e-02 1.03925808e+02] [ 9.86639025e-01 1.50800946e-01 -6.16644802e-02 7.85939023e+01] [ 6.26251867e-02 -1.62528701e-03 9.98035793e-01 4.17993494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:78.62, Z:4.18 [[ 1.51349732e-01 -9.88418829e-01 -1.10216882e-02 1.03929743e+02] [ 9.86495249e-01 1.51742687e-01 -6.16545306e-02 7.86211365e+01] [ 6.26129595e-02 -1.54144635e-03 9.98036693e-01 4.18177077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:78.65, Z:4.18 [[ 1.52015519e-01 -9.88316153e-01 -1.10662902e-02 1.03933891e+02] [ 9.86368629e-01 1.52410543e-01 -6.20318821e-02 7.86479843e+01] [ 6.29937304e-02 -1.48563275e-03 9.98012817e-01 4.18331018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:78.67, Z:4.18 [[ 1.54115596e-01 -9.87990216e-01 -1.11227561e-02 1.03938513e+02] [ 9.86013755e-01 1.54510649e-01 -6.24766613e-02 7.86748588e+01] [ 6.34449144e-02 -1.33856262e-03 9.97984444e-01 4.18450641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:78.70, Z:4.19 [[ 1.54953346e-01 -9.87858504e-01 -1.11819885e-02 1.03943137e+02] [ 9.85852232e-01 1.55351089e-01 -6.29397821e-02 7.87016561e+01] [ 6.39127331e-02 -1.27105848e-03 9.97954682e-01 4.18649926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:78.73, Z:4.19 [[ 1.55834658e-01 -9.87719961e-01 -1.11730984e-02 1.03947396e+02] [ 9.85708210e-01 1.56230138e-01 -6.30195891e-02 7.87279610e+01] [ 6.39912808e-02 -1.19277869e-03 9.97949745e-01 4.18819835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:78.76, Z:4.19 [[ 1.56861588e-01 -9.87557442e-01 -1.11687530e-02 1.03951107e+02] [ 9.85538170e-01 1.57254822e-01 -6.31303119e-02 7.87552060e+01] [ 6.41011496e-02 -1.10451139e-03 9.97942795e-01 4.19004489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:78.78, Z:4.19 [[ 1.59717982e-01 -9.87100635e-01 -1.10681039e-02 1.03953772e+02] [ 9.85108517e-01 1.60098541e-01 -6.26870524e-02 7.87813809e+01] [ 6.36504165e-02 -8.91033908e-04 9.97971859e-01 4.19104818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:78.81, Z:4.19 [[ 1.60559201e-01 -9.86964510e-01 -1.10362280e-02 1.03957338e+02] [ 9.84976969e-01 1.60935970e-01 -6.26097714e-02 7.88068106e+01] [ 6.35697484e-02 -8.17855544e-04 9.97977063e-01 4.19283435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.96, Y:78.83, Z:4.20 [[ 1.61818127e-01 -9.86761066e-01 -1.08394292e-02 1.03960889e+02] [ 9.84834653e-01 1.62179244e-01 -6.16327811e-02 7.88325923e+01] [ 6.25747592e-02 -7.01744214e-04 9.98040033e-01 4.19530931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:78.86, Z:4.20 [[ 1.61845023e-01 -9.86757697e-01 -1.07441156e-02 1.03965120e+02] [ 9.84856687e-01 1.62199863e-01 -6.12250825e-02 7.88587929e+01] [ 6.21570155e-02 -6.72439131e-04 9.98066157e-01 4.19711035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:78.88, Z:4.20 [[ 1.61818588e-01 -9.86762197e-01 -1.07289819e-02 1.03969332e+02] [ 9.84857996e-01 1.62172571e-01 -6.12763050e-02 7.88835107e+01] [ 6.22050880e-02 -6.50878514e-04 9.98063176e-01 4.19878350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:78.91, Z:4.20 [[ 1.61033368e-01 -9.86891172e-01 -1.06803001e-02 1.03972756e+02] [ 9.84995725e-01 1.61385747e-01 -6.11397024e-02 7.89102285e+01] [ 6.20618808e-02 -6.74517781e-04 9.98072076e-01 4.20038410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:78.94, Z:4.20 [[ 1.60086277e-01 -9.87045523e-01 -1.06545394e-02 1.03976548e+02] [ 9.85151624e-01 1.60438862e-01 -6.11199597e-02 7.89373359e+01] [ 6.20375848e-02 -7.11870000e-04 9.98073560e-01 4.20220277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:78.96, Z:4.20 [[ 1.59089060e-01 -9.87207535e-01 -1.05808145e-02 1.03980233e+02] [ 9.85332304e-01 1.59438770e-01 -6.08237528e-02 7.89637255e+01] [ 6.17326591e-02 -7.49224713e-04 9.98092439e-01 4.20373710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:78.99, Z:4.21 [[ 1.58729697e-01 -9.87265563e-01 -1.05636826e-02 1.03984573e+02] [ 9.85390263e-01 1.59079034e-01 -6.08267282e-02 7.89902451e+01] [ 6.17325944e-02 -7.54341799e-04 9.98092439e-01 4.20530127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:79.02, Z:4.21 [[ 1.56515629e-01 -9.87620318e-01 -1.04386680e-02 1.03988220e+02] [ 9.85782064e-01 1.56860971e-01 -6.02358602e-02 7.90174500e+01] [ 6.11275790e-02 -8.62398153e-04 9.98129588e-01 4.20690055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:79.04, Z:4.21 [[ 1.54847414e-01 -9.87883216e-01 -1.04417358e-02 1.03992313e+02] [ 9.86036555e-01 1.55196188e-01 -6.03825757e-02 7.90440853e+01] [ 6.12714506e-02 -9.45847475e-04 9.98120691e-01 4.20844565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:79.07, Z:4.21 [[ 1.52787312e-01 -9.88203625e-01 -1.04705814e-02 1.03996206e+02] [ 9.86339358e-01 1.53142026e-01 -6.06810612e-02 7.90698777e+01] [ 6.15687307e-02 -1.05625026e-03 9.98102287e-01 4.20966608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:79.10, Z:4.21 [[ 1.50943082e-01 -9.88538863e-01 -2.66488917e-03 1.03995822e+02] [ 9.86679044e-01 1.50823449e-01 -6.09651652e-02 7.90954128e+01] [ 6.06683629e-02 6.57287963e-03 9.98136337e-01 4.20781984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.00, Y:79.12, Z:4.21 [[ 1.48953213e-01 -9.88805220e-01 -8.78508768e-03 1.04002875e+02] [ 9.86940441e-01 1.49211593e-01 -6.06998119e-02 7.91202679e+01] [ 6.13311278e-02 3.71073681e-04 9.98117405e-01 4.21132884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:79.15, Z:4.22 [[ 1.45192195e-01 -9.89229109e-01 -1.85740980e-02 1.04011632e+02] [ 9.87440384e-01 1.46060580e-01 -6.02311731e-02 7.91481548e+01] [ 6.22953732e-02 -9.59571821e-03 9.98011628e-01 4.21680837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:79.18, Z:4.22 [[ 1.41040763e-01 -9.89945936e-01 -1.07026668e-02 1.04009540e+02] [ 9.87970895e-01 1.41435368e-01 -6.25263732e-02 7.91752528e+01] [ 6.34114646e-02 -1.75515589e-03 9.97985925e-01 4.21506566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:79.20, Z:4.22 [[ 1.38961600e-01 -9.90239211e-01 -1.07693708e-02 1.04013586e+02] [ 9.88230906e-01 1.39365611e-01 -6.30626964e-02 7.92007339e+01] [ 6.39480347e-02 -1.87933191e-03 9.97951460e-01 4.21653558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:79.23, Z:4.23 [[ 1.36167063e-01 -9.90122203e-01 -3.34148932e-02 1.04032426e+02] [ 9.88342028e-01 1.38086394e-01 -6.41263137e-02 7.92267222e+01] [ 6.81070291e-02 -2.42934515e-02 9.97382204e-01 4.23052846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:79.26, Z:4.21 [[ 1.33070434e-01 -9.91048786e-01 1.07033987e-02 1.04008756e+02] [ 9.88932158e-01 1.32055769e-01 -6.76347661e-02 7.92565529e+01] [ 6.56159073e-02 1.95851229e-02 9.97652733e-01 4.21363711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:79.28, Z:4.22 [[ 1.30590837e-01 -9.91377663e-01 -1.07871929e-02 1.04024981e+02] [ 9.89344189e-01 1.31014017e-01 -6.35090850e-02 7.92809498e+01] [ 6.43747617e-02 -2.37854202e-03 9.97922959e-01 4.22041335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:79.31, Z:4.22 [[ 1.28605521e-01 -9.91636914e-01 -1.08097575e-02 1.04028717e+02] [ 9.89586947e-01 1.29034902e-01 -6.37782794e-02 7.93066448e+01] [ 6.46397322e-02 -2.49495610e-03 9.97905547e-01 4.22214363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:79.33, Z:4.22 [[ 1.26043865e-01 -9.91966127e-01 -1.07771246e-02 1.04033417e+02] [ 9.89920453e-01 1.26476297e-01 -6.37278816e-02 7.93325529e+01] [ 6.45789507e-02 -2.63598762e-03 9.97909119e-01 4.22419731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:79.36, Z:4.22 [[ 1.23639181e-01 -9.92288778e-01 -8.73697914e-03 1.04034678e+02] [ 9.90271611e-01 1.23944701e-01 -6.32443518e-02 7.93591645e+01] [ 6.38395628e-02 -8.32502528e-04 9.97959827e-01 4.22451331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:79.39, Z:4.23 [[ 1.24055998e-01 -9.92200868e-01 -1.21469007e-02 1.04042502e+02] [ 9.90225884e-01 1.24576858e-01 -6.27160624e-02 7.93862156e+01] [ 6.37401543e-02 -4.24787179e-03 9.97957488e-01 4.22788305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:79.41, Z:4.23 [[ 1.23677425e-01 -9.92265957e-01 -1.05908150e-02 1.04045372e+02] [ 9.90265711e-01 1.24100856e-01 -6.30301472e-02 7.94132313e+01] [ 6.38569985e-02 -2.69231463e-03 9.97955427e-01 4.22906670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:79.44, Z:4.23 [[ 1.25035766e-01 -9.92097073e-01 -1.04620473e-02 1.04049201e+02] [ 9.90136229e-01 1.25446638e-01 -6.23970207e-02 7.94388857e+01] [ 6.32163302e-02 -2.55699277e-03 9.97996572e-01 4.23054267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:79.47, Z:4.23 [[ 1.26038850e-01 -9.91971071e-01 -1.03731824e-02 1.04053221e+02] [ 9.90036277e-01 1.26441092e-01 -6.19743466e-02 7.94658239e+01] [ 6.27883554e-02 -2.45865148e-03 9.98023836e-01 4.23214101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.132755096 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:104.05, Y:79.49, Z:4.23 [[ 1.30710760e-01 -9.91415388e-01 -3.19769353e-03 1.04052780e+02] [ 9.89499567e-01 1.30657501e-01 -6.17998693e-02 7.94917419e+01] [ 6.16871441e-02 4.91379151e-03 9.98083439e-01 4.23127260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:79.52, Z:4.23 [[ 1.32975804e-01 -9.91060309e-01 -1.08120191e-02 1.04061366e+02] [ 9.89263035e-01 1.33386199e-01 -5.97224296e-02 7.95164825e+01] [ 6.06307036e-02 -2.75429272e-03 9.98156467e-01 4.23466035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:79.54, Z:4.24 [[ 1.34637726e-01 -9.90842209e-01 -1.02176260e-02 1.04065267e+02] [ 9.89066039e-01 1.35008285e-01 -5.93391414e-02 7.95448726e+01] [ 6.01751901e-02 -2.11661981e-03 9.98185587e-01 4.23657174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:79.57, Z:4.24 [[ 1.36257708e-01 -9.90565535e-01 -1.46204893e-02 1.04071530e+02] [ 9.88804703e-01 1.36891914e-01 -5.93789714e-02 7.95717325e+01] [ 6.08201893e-02 -6.36596603e-03 9.98128438e-01 4.24035254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:79.60, Z:4.25 [[ 1.39912280e-01 -9.89368198e-01 -3.96878126e-02 1.04093070e+02] [ 9.88100311e-01 1.42094897e-01 -5.88796740e-02 7.95985996e+01] [ 6.38931126e-02 -3.09775505e-02 9.97475845e-01 4.25497243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:79.63, Z:4.24 [[ 1.41962294e-01 -9.89612531e-01 2.26659355e-02 1.04059206e+02] [ 9.87661172e-01 1.40078539e-01 -7.00243717e-02 7.96275734e+01] [ 6.61219846e-02 3.23270849e-02 9.97287743e-01 4.23946521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:79.65, Z:4.25 [[ 1.40402193e-01 -9.89940881e-01 -1.74434926e-02 1.04086003e+02] [ 9.88116339e-01 1.41213069e-01 -6.07039582e-02 7.96533367e+01] [ 6.25565790e-02 -8.71323116e-03 9.98003384e-01 4.25059137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:79.68, Z:4.25 [[ 1.41654837e-01 -9.89861632e-01 -1.03853927e-02 1.04086634e+02] [ 9.87878081e-01 1.42028275e-01 -6.26487483e-02 7.96813983e+01] [ 6.34886116e-02 -1.38500362e-03 9.97981602e-01 4.25042827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:79.71, Z:4.25 [[ 1.41188192e-01 -9.89967260e-01 -5.54246944e-03 1.04086482e+02] [ 9.88018144e-01 1.41258329e-01 -6.21790276e-02 7.97101992e+01] [ 6.23381215e-02 3.30288409e-03 9.98049623e-01 4.24785165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:79.73, Z:4.25 [[ 1.39604157e-01 -9.90093158e-01 -1.50405264e-02 1.04095640e+02] [ 9.88191167e-01 1.40272634e-01 -6.16587833e-02 7.97348827e+01] [ 6.31577137e-02 -6.25509287e-03 9.97983956e-01 4.25389600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:79.76, Z:4.25 [[ 1.39213188e-01 -9.90207278e-01 -1.04515827e-02 1.04098256e+02] [ 9.88171796e-01 1.39597003e-01 -6.34758073e-02 7.97621335e+01] [ 6.43132160e-02 -1.49128978e-03 9.97928648e-01 4.25408380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:79.79, Z:4.25 [[ 1.36651531e-01 -9.90606546e-01 -5.00308083e-03 1.04098837e+02] [ 9.88594467e-01 1.36693231e-01 -6.32134454e-02 7.97898678e+01] [ 6.33035400e-02 3.69219604e-03 9.97987490e-01 4.25181929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:79.81, Z:4.25 [[ 1.35810100e-01 -9.90716020e-01 -6.11430266e-03 1.04102984e+02] [ 9.88593877e-01 1.35919538e-01 -6.48692989e-02 7.98118026e+01] [ 6.50981068e-02 2.76534380e-03 9.97875037e-01 4.25495797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:79.84, Z:4.26 [[ 1.32524765e-01 -9.90997430e-01 -1.90073638e-02 1.04114298e+02] [ 9.89172035e-01 1.33451938e-01 -6.10677056e-02 7.98383471e+01] [ 6.30545089e-02 -1.07085694e-02 9.97952632e-01 4.25955353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:79.86, Z:4.26 [[ 1.29343702e-01 -9.91545936e-01 -1.03375171e-02 1.04114238e+02] [ 9.89519061e-01 1.29740283e-01 -6.33994223e-02 7.98646425e+01] [ 6.42046319e-02 -2.02885427e-03 9.97934692e-01 4.25889917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.582755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.12, Y:79.89, Z:4.26 [[ 1.28146692e-01 -9.91747085e-01 -4.01805394e-03 1.04115144e+02] [ 9.89564228e-01 1.28131696e-01 -6.59159167e-02 7.98913239e+01] [ 6.58867583e-02 4.47078421e-03 9.97817091e-01 4.25920984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:79.92, Z:4.26 [[ 1.25912637e-01 -9.92012315e-01 -7.58784002e-03 1.04121342e+02] [ 9.89757977e-01 1.26137803e-01 -6.68461093e-02 7.99183187e+01] [ 6.72692771e-02 9.06644698e-04 9.97734445e-01 4.26260794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:79.94, Z:4.27 [[ 1.24538204e-01 -9.92176851e-01 -8.67937817e-03 1.04126045e+02] [ 9.89824776e-01 1.24840251e-01 -6.82775522e-02 7.99429258e+01] [ 6.88269425e-02 -8.78998196e-05 9.97628610e-01 4.26531325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:79.97, Z:4.27 [[ 1.21619303e-01 -9.92323958e-01 -2.24033052e-02 1.04138433e+02] [ 9.90438041e-01 1.22807239e-01 -6.28559387e-02 7.99675611e+01] [ 6.51247419e-02 -1.45445902e-02 9.97771128e-01 4.26933037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:80.00, Z:4.27 [[ 1.22921218e-01 -9.92096947e-01 -2.51797887e-02 1.04147681e+02] [ 9.90161976e-01 1.24311728e-01 -6.42328310e-02 7.99968519e+01] [ 6.68553386e-02 -1.70364915e-02 9.97617222e-01 4.27412097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:80.03, Z:4.27 [[ 1.22430152e-01 -9.92377149e-01 -1.40873216e-02 1.04146596e+02] [ 9.90149030e-01 1.23102304e-01 -6.67137223e-02 8.00252399e+01] [ 6.79393553e-02 -5.78077669e-03 9.97672705e-01 4.27425736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:80.05, Z:4.27 [[ 1.19349489e-01 -9.92836351e-01 5.62842878e-03 1.04135053e+02] [ 9.90657024e-01 1.18706910e-01 -6.71366536e-02 8.00504313e+01] [ 6.59875768e-02 1.35885678e-02 9.97727914e-01 4.26687445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:80.08, Z:4.28 [[ 1.21233926e-01 -9.92424386e-01 -1.99041214e-02 1.04157214e+02] [ 9.90404933e-01 1.22278630e-01 -6.43894824e-02 8.00779194e+01] [ 6.63355412e-02 -1.19069503e-02 9.97726325e-01 4.27774265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:80.10, Z:4.27 [[ 1.20247943e-01 -9.92742711e-01 -1.53043844e-03 1.04147430e+02] [ 9.90598558e-01 1.20089238e-01 -6.55215441e-02 8.01032863e+01] [ 6.52298245e-02 6.36278077e-03 9.97849981e-01 4.27274242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:80.13, Z:4.27 [[ 1.21727537e-01 -9.92549758e-01 -5.23313761e-03 1.04154648e+02] [ 9.90492049e-01 1.21812252e-01 -6.39318109e-02 8.01318963e+01] [ 6.40929637e-02 2.59888065e-03 9.97940548e-01 4.27361253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:80.16, Z:4.28 [[ 1.23067211e-01 -9.92381460e-01 -5.78787384e-03 1.04158575e+02] [ 9.90353742e-01 1.23185756e-01 -6.34408069e-02 8.01568153e+01] [ 6.36704642e-02 2.07544065e-03 9.97968819e-01 4.27590382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:80.18, Z:4.28 [[ 1.25678511e-01 -9.91877382e-01 -1.96003041e-02 1.04169940e+02] [ 9.90076849e-01 1.26653466e-01 -6.08829461e-02 8.01825293e+01] [ 6.28708636e-02 -1.17541293e-02 9.97952451e-01 4.28461216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:80.21, Z:4.28 [[ 1.27301115e-01 -9.91796463e-01 -1.15845381e-02 1.04168987e+02] [ 9.89860378e-01 1.27777300e-01 -6.20434839e-02 8.02085468e+01] [ 6.30147490e-02 -3.56887058e-03 9.98006215e-01 4.28422215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:80.24, Z:4.29 [[ 1.31186316e-01 -9.91320282e-01 -8.61673649e-03 1.04173066e+02] [ 9.89136891e-01 1.31468959e-01 -6.57580720e-02 8.02353738e+01] [ 6.63201439e-02 1.03427302e-04 9.97798390e-01 4.28827658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:80.26, Z:4.29 [[ 1.31474108e-01 -9.91149392e-01 -1.83695716e-02 1.04182705e+02] [ 9.89147300e-01 1.32389552e-01 -6.37230353e-02 8.02642031e+01] [ 6.55909870e-02 -9.79228291e-03 9.97798544e-01 4.29200152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:80.29, Z:4.29 [[ 1.30177457e-01 -9.91487716e-01 -2.43683981e-03 1.04174377e+02] [ 9.89396734e-01 1.30061786e-01 -6.46377132e-02 8.02891218e+01] [ 6.44044384e-02 6.00337181e-03 9.97905821e-01 4.28656265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:80.31, Z:4.29 [[ 1.30000428e-01 -9.91463394e-01 -1.00113964e-02 1.04182386e+02] [ 9.89407514e-01 1.30375450e-01 -6.38358342e-02 8.03148605e+01] [ 6.45961331e-02 -1.60666510e-03 9.97910195e-01 4.29001597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:80.34, Z:4.30 [[ 1.31466912e-01 -9.90911116e-01 -2.84888016e-02 1.04200569e+02] [ 9.88976987e-01 1.33076865e-01 -6.49235540e-02 8.03404605e+01] [ 6.81246717e-02 -1.96394700e-02 9.97483494e-01 4.30260065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:80.37, Z:4.29 [[ 1.28552077e-01 -9.91676991e-01 7.14903373e-03 1.04180554e+02] [ 9.89547676e-01 1.27794394e-01 -6.68130925e-02 8.03667777e+01] [ 6.53434001e-02 1.56632715e-02 9.97739897e-01 4.28912476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:80.39, Z:4.30 [[ 1.26606299e-01 -9.91901365e-01 -1.01255565e-02 1.04194859e+02] [ 9.89770102e-01 1.26997931e-01 -6.50128513e-02 8.03902502e+01] [ 6.57722607e-02 -1.79093663e-03 9.97833053e-01 4.29544410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:80.42, Z:4.30 [[ 1.26161542e-01 -9.91999490e-01 -4.50298771e-03 1.04195759e+02] [ 9.89665436e-01 1.26173987e-01 -6.81355260e-02 8.04157554e+01] [ 6.81585669e-02 4.13963173e-03 9.97665913e-01 4.29613749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:80.44, Z:4.30 [[ 1.25300984e-01 -9.91976352e-01 -1.68101400e-02 1.04206904e+02] [ 9.89921800e-01 1.26132537e-01 -6.43848819e-02 8.04389087e+01] [ 6.59885859e-02 -8.57323498e-03 9.97783547e-01 4.30011639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:80.47, Z:4.30 [[ 1.24141931e-01 -9.92256328e-01 -4.02003440e-03 1.04203272e+02] [ 9.89920843e-01 1.24125990e-01 -6.81869801e-02 8.04670597e+01] [ 6.81579532e-02 4.48534754e-03 9.97664460e-01 4.29895375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:80.49, Z:4.30 [[ 1.22259636e-01 -9.92382043e-01 -1.51810070e-02 1.04213673e+02] [ 9.90281381e-01 1.22994031e-01 -6.49249882e-02 8.04913889e+01] [ 6.62975656e-02 -7.09576317e-03 9.97774665e-01 4.30284244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.302755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.21, Y:80.52, Z:4.30 [[ 1.22467245e-01 -9.92472405e-01 -5.46588862e-04 1.04208955e+02] [ 9.89986434e-01 1.22199406e-01 -7.06694070e-02 8.05177230e+01] [ 7.02042292e-02 8.11357201e-03 9.97499642e-01 4.30186452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:80.54, Z:4.31 [[ 1.23223298e-01 -9.92072514e-01 -2.46605999e-02 1.04228253e+02] [ 9.90216482e-01 1.24556430e-01 -6.29048002e-02 8.05379763e+01] [ 6.54777596e-02 -1.66679956e-02 9.97714809e-01 4.30699785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:80.57, Z:4.30 [[ 1.19807666e-01 -9.92783185e-01 -5.26036693e-03 1.04222008e+02] [ 9.90512076e-01 1.19889520e-01 -6.71738838e-02 8.05690025e+01] [ 6.73197652e-02 2.83748929e-03 9.97727417e-01 4.30401762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:80.59, Z:4.31 [[ 1.19807114e-01 -9.92791002e-01 -3.50445777e-03 1.04225635e+02] [ 9.90358042e-01 1.19759307e-01 -6.96322946e-02 8.05938268e+01] [ 6.95500069e-02 4.87177630e-03 9.97566570e-01 4.30595448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:80.62, Z:4.31 [[ 1.19426128e-01 -9.92792092e-01 -1.00628548e-02 1.04233229e+02] [ 9.90410947e-01 1.19836450e-01 -6.87414100e-02 8.06197846e+01] [ 6.94518250e-02 -1.75684112e-03 9.97583760e-01 4.30945992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:80.64, Z:4.31 [[ 1.18289493e-01 -9.92885904e-01 -1.36080123e-02 1.04239598e+02] [ 9.90600112e-01 1.18943076e-01 -6.75571022e-02 8.06449670e+01] [ 6.86950733e-02 -5.48880316e-03 9.97622604e-01 4.31187025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:80.67, Z:4.31 [[ 1.16077431e-01 -9.93214062e-01 -7.20118366e-03 1.04239556e+02] [ 9.90783680e-01 1.16296901e-01 -6.94458819e-02 8.06718360e+01] [ 6.98121018e-02 9.26284351e-04 9.97559729e-01 4.31244804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:80.70, Z:4.31 [[ 1.15267319e-01 -9.93328407e-01 -3.48140363e-03 1.04241138e+02] [ 9.90693094e-01 1.15215522e-01 -7.24746673e-02 8.06996733e+01] [ 7.23922576e-02 4.90495809e-03 9.97364177e-01 4.31472630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:80.72, Z:4.32 [[ 1.15252117e-01 -9.93058068e-01 -2.35079365e-02 1.04256398e+02] [ 9.91079273e-01 1.16552467e-01 -6.46327873e-02 8.07228458e+01] [ 6.69240189e-02 -1.58491630e-02 9.97632187e-01 4.32098120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:80.75, Z:4.32 [[ 1.15678904e-01 -9.93235821e-01 -1.00496167e-02 1.04252303e+02] [ 9.91023996e-01 1.16092005e-01 -6.62879043e-02 8.07494585e+01] [ 6.70062012e-02 -2.29129914e-03 9.97749928e-01 4.31880711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:80.78, Z:4.32 [[ 1.16147248e-01 -9.93181578e-01 -1.00085030e-02 1.04256334e+02] [ 9.90976299e-01 1.16556324e-01 -6.61860915e-02 8.07750411e+01] [ 6.69013611e-02 -2.23085691e-03 9.97757100e-01 4.32073333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:80.80, Z:4.32 [[ 1.16903692e-01 -9.93093287e-01 -9.96244020e-03 1.04260535e+02] [ 9.90897169e-01 1.17307699e-01 -6.60431997e-02 8.08013921e+01] [ 6.67557292e-02 -2.15105993e-03 9.97767030e-01 4.32285536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:80.83, Z:4.32 [[ 1.18887749e-01 -9.92857430e-01 -9.99134711e-03 1.04264006e+02] [ 9.90636234e-01 1.19290034e-01 -6.64058771e-02 8.08267815e+01] [ 6.71234366e-02 -2.00294521e-03 9.97742668e-01 4.32462526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:80.85, Z:4.32 [[ 1.20698655e-01 -9.92684832e-01 2.94273287e-03 1.04259799e+02] [ 9.90181911e-01 1.20182713e-01 -7.13855701e-02 8.08536541e+01] [ 7.05097070e-02 1.15299831e-02 9.97444455e-01 4.32369384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:80.88, Z:4.33 [[ 1.21136766e-01 -9.92627202e-01 -4.13778431e-03 1.04266826e+02] [ 9.89971097e-01 1.21115759e-01 -7.27200060e-02 8.08804447e+01] [ 7.26850070e-02 4.71277951e-03 9.97343812e-01 4.32826445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:80.91, Z:4.33 [[ 1.22654195e-01 -9.92351539e-01 -1.39417410e-02 1.04276322e+02] [ 9.89870942e-01 1.23335432e-01 -7.03127948e-02 8.09060250e+01] [ 7.14945208e-02 -5.17636511e-03 9.97427561e-01 4.33273730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:80.93, Z:4.33 [[ 1.24285835e-01 -9.92092992e-01 -1.74507087e-02 1.04284403e+02] [ 9.89858400e-01 1.25186975e-01 -6.71458791e-02 8.09349054e+01] [ 6.87995575e-02 -8.92844900e-03 9.97590549e-01 4.33289186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:80.96, Z:4.34 [[ 1.25256577e-01 -9.91955769e-01 -1.82905030e-02 1.04287049e+02] [ 9.89723178e-01 1.26214054e-01 -6.72163977e-02 8.09572630e+01] [ 6.89842120e-02 -9.68323889e-03 9.97570756e-01 4.33865936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:80.99, Z:4.35 [[ 1.28862437e-01 -9.91058769e-01 -3.45975239e-02 1.04305085e+02] [ 9.89020334e-01 1.30985950e-01 -6.84211959e-02 8.09870418e+01] [ 7.23412157e-02 -2.54007326e-02 9.97056443e-01 4.35108335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:81.02, Z:4.34 [[ 1.28098615e-01 -9.91734412e-01 7.32119329e-03 1.04283946e+02] [ 9.89312851e-01 1.27260455e-01 -7.11678228e-02 8.10185685e+01] [ 6.96478806e-02 1.63594502e-02 9.97437487e-01 4.33580725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90275509600002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.29, Y:81.04, Z:4.34 [[ 1.27378496e-01 -9.91851887e-01 -2.13364643e-03 1.04292518e+02] [ 9.89566629e-01 1.27230440e-01 -6.76040050e-02 8.10429289e+01] [ 6.73246248e-02 6.49991120e-03 9.97709951e-01 4.33738013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:81.07, Z:4.34 [[ 1.26949116e-01 -9.91820718e-01 -1.32508341e-02 1.04302823e+02] [ 9.89625507e-01 1.27551520e-01 -6.61208378e-02 8.10686962e+01] [ 6.72701808e-02 -4.71938152e-03 9.97723634e-01 4.34287555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:81.10, Z:4.34 [[ 1.26084515e-01 -9.91959546e-01 -1.09066073e-02 1.04305667e+02] [ 9.89697980e-01 1.26533570e-01 -6.69862899e-02 8.10955070e+01] [ 6.78277417e-02 -2.34831336e-03 9.97694283e-01 4.34427941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:81.12, Z:4.35 [[ 1.25375634e-01 -9.92019255e-01 -1.33696505e-02 1.04311457e+02] [ 9.89755955e-01 1.25994523e-01 -6.71455799e-02 8.11220859e+01] [ 6.82942109e-02 -4.81427155e-03 9.97653609e-01 4.34735765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:81.15, Z:4.35 [[ 1.22870002e-01 -9.92385555e-01 -8.59492215e-03 1.04310648e+02] [ 9.90097625e-01 1.23170024e-01 -6.73486348e-02 8.11456677e+01] [ 6.78944491e-02 -2.34685142e-04 9.97692482e-01 4.34730428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:81.18, Z:4.35 [[ 1.22742801e-01 -9.92226828e-01 -2.04969773e-02 1.04324180e+02] [ 9.89888846e-01 1.23880839e-01 -6.90913188e-02 8.11750942e+01] [ 7.10934429e-02 -1.18092672e-02 9.97399751e-01 4.35404326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:81.20, Z:4.35 [[ 1.20489685e-01 -9.92714449e-01 -5.08046432e-04 1.04313764e+02] [ 9.90361611e-01 1.20239296e-01 -6.87487529e-02 8.11984059e+01] [ 6.83089675e-02 7.78036590e-03 9.97633876e-01 4.34776308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:81.22, Z:4.35 [[ 1.19251721e-01 -9.92817034e-01 -9.66250069e-03 1.04322683e+02] [ 9.90497934e-01 1.19633369e-01 -6.78358334e-02 8.12223808e+01] [ 6.85045284e-02 -1.48114710e-03 9.97649706e-01 4.35239623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:81.25, Z:4.35 [[ 1.18786082e-01 -9.92873442e-01 -9.60185915e-03 1.04326793e+02] [ 9.90570473e-01 1.19164320e-01 -6.76018036e-02 8.12486270e+01] [ 6.82642344e-02 -1.48116477e-03 9.97666177e-01 4.35414542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:81.28, Z:4.36 [[ 1.19116171e-01 -9.92731566e-01 -1.71865204e-02 1.04337597e+02] [ 9.90396441e-01 1.20024011e-01 -6.86230714e-02 8.12771143e+01] [ 7.01870843e-02 -8.84735116e-03 9.97494610e-01 4.36009119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:81.30, Z:4.36 [[ 1.17388290e-01 -9.93082168e-01 -2.79228483e-03 1.04331356e+02] [ 9.90713083e-01 1.17301585e-01 -6.87599160e-02 8.13031277e+01] [ 6.86117859e-02 5.30525585e-03 9.97629329e-01 4.35586285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:81.33, Z:4.38 [[ 1.19909858e-01 -9.92010347e-01 -3.92058318e-02 1.04361303e+02] [ 9.90064802e-01 1.22409301e-01 -6.91928550e-02 8.13307846e+01] [ 7.34391866e-02 -3.05194087e-02 9.96832610e-01 4.37629250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:81.36, Z:4.35 [[ 1.16805363e-01 -9.92989802e-01 1.81041266e-02 1.04328455e+02] [ 9.90695086e-01 1.15214550e-01 -7.24489771e-02 8.13591574e+01] [ 6.98552366e-02 2.63980983e-02 9.97207795e-01 4.35402894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:81.38, Z:4.36 [[ 1.16821606e-01 -9.93107198e-01 -9.52923892e-03 1.04347885e+02] [ 9.90782821e-01 1.17199934e-01 -6.79233179e-02 8.13830595e+01] [ 6.85719621e-02 -1.50649513e-03 9.97645035e-01 4.36288295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:81.41, Z:4.36 [[ 1.16565511e-01 -9.93155756e-01 -7.35708733e-03 1.04349605e+02] [ 9.90726773e-01 1.16794691e-01 -6.94223398e-02 8.14102173e+01] [ 6.98064650e-02 8.03387147e-04 9.97560230e-01 4.36490704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:81.43, Z:4.37 [[ 1.18768760e-01 -9.92848029e-01 -1.21149997e-02 1.04356546e+02] [ 9.90610413e-01 1.19315520e-01 -6.67444053e-02 8.14331330e+01] [ 6.77125587e-02 -4.07409463e-03 9.97696553e-01 4.36724231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:81.46, Z:4.37 [[ 1.19451332e-01 -9.92796264e-01 -9.32504463e-03 1.04358785e+02] [ 9.90535472e-01 1.19808379e-01 -6.69733562e-02 8.14599374e+01] [ 6.76081164e-02 -1.23673085e-03 9.97711187e-01 4.36858137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:81.49, Z:4.38 [[ 1.24144040e-01 -9.91915360e-01 -2.63092271e-02 1.04376126e+02] [ 9.89728476e-01 1.25677589e-01 -6.81372728e-02 8.14878540e+01] [ 7.08928877e-02 -1.75801548e-02 9.97329001e-01 4.38080233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:81.52, Z:4.38 [[ 1.25233307e-01 -9.92057300e-01 -1.17869300e-02 1.04371277e+02] [ 9.89652721e-01 1.25750712e-01 -6.90959569e-02 8.15171930e+01] [ 7.00293633e-02 -3.01185218e-03 9.97540384e-01 4.37756920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:81.54, Z:4.37 [[ 1.24410224e-01 -9.92206847e-01 6.90431248e-03 1.04360584e+02] [ 9.89931765e-01 1.23645530e-01 -6.88976359e-02 8.15421194e+01] [ 6.75070187e-02 1.54063685e-02 9.97599843e-01 4.36987915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:81.57, Z:4.38 [[ 1.26059523e-01 -9.91980829e-01 -9.11217549e-03 1.04372948e+02] [ 9.89747915e-01 1.26386845e-01 -6.65239083e-02 8.15664283e+01] [ 6.71421008e-02 -6.32784554e-04 9.97743222e-01 4.37573968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:81.60, Z:4.38 [[ 1.30695034e-01 -9.91318926e-01 -1.43385964e-02 1.04380615e+02] [ 9.89081721e-01 1.31366078e-01 -6.67854931e-02 8.15956298e+01] [ 6.80893285e-02 -5.45351133e-03 9.97664324e-01 4.38040182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:81.62, Z:4.38 [[ 1.32052570e-01 -9.91202804e-01 -8.89496748e-03 1.04380272e+02] [ 9.88928860e-01 1.32351795e-01 -6.71022458e-02 8.16233267e+01] [ 6.76891991e-02 6.45339896e-05 9.97706454e-01 4.37998035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:81.65, Z:4.38 [[ 1.34528457e-01 -9.90896882e-01 -5.04622272e-03 1.04379752e+02] [ 9.88658743e-01 1.34564177e-01 -6.66811220e-02 8.16484018e+01] [ 6.67531567e-02 3.98151625e-03 9.97761577e-01 4.37937072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:81.67, Z:4.38 [[ 1.35359802e-01 -9.90756135e-01 -8.94456835e-03 1.04385583e+02] [ 9.88555522e-01 1.35654977e-01 -6.59977834e-02 8.16738133e+01] [ 6.66010840e-02 9.12444273e-05 9.97779679e-01 4.38248386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:81.70, Z:4.38 [[ 1.35924969e-01 -9.90679255e-01 -8.88918542e-03 1.04389598e+02] [ 9.88493567e-01 1.36215239e-01 -6.57713947e-02 8.17011972e+01] [ 6.63691987e-02 1.53072148e-04 9.97795122e-01 4.38443169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:81.73, Z:4.39 [[ 1.37032644e-01 -9.90527577e-01 -8.78486150e-03 1.04393412e+02] [ 9.88381164e-01 1.37313721e-01 -6.51737471e-02 8.17273471e+01] [ 6.57626758e-02 2.48139273e-04 9.97835261e-01 4.38643777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:81.75, Z:4.39 [[ 1.36945943e-01 -9.90498031e-01 -1.26276894e-02 1.04399008e+02] [ 9.88310341e-01 1.37483444e-01 -6.58860626e-02 8.17536377e+01] [ 6.69961135e-02 -3.45724703e-03 9.97747247e-01 4.39035826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:81.78, Z:4.39 [[ 1.36493872e-01 -9.90627842e-01 -5.08936203e-03 1.04397995e+02] [ 9.88433774e-01 1.36530717e-01 -6.60154346e-02 8.17809586e+01] [ 6.60915817e-02 3.98020497e-03 9.97805623e-01 4.38821707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:81.81, Z:4.39 [[ 1.34439563e-01 -9.90882083e-01 -8.87141267e-03 1.04404383e+02] [ 9.88658036e-01 1.34731866e-01 -6.63521828e-02 8.18065201e+01] [ 6.69424511e-02 1.49565064e-04 9.97756827e-01 4.39116669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:81.83, Z:4.39 [[ 1.33086110e-01 -9.91065322e-01 -8.80994887e-03 1.04408168e+02] [ 9.88859674e-01 1.33377363e-01 -6.60834667e-02 8.18316561e+01] [ 6.66680800e-02 8.29883718e-05 9.97775205e-01 4.39281733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:81.86, Z:4.40 [[ 1.31424484e-01 -9.91215111e-01 -1.48394238e-02 1.04415576e+02] [ 9.88994127e-01 1.32126796e-01 -6.65817217e-02 8.18572200e+01] [ 6.79574942e-02 -5.92563462e-03 9.97670620e-01 4.39835507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:81.88, Z:4.39 [[ 1.27979755e-01 -9.91772326e-01 -2.97246264e-03 1.04413665e+02] [ 9.89477093e-01 1.27886410e-01 -6.76767988e-02 8.18847517e+01] [ 6.75001137e-02 5.72007643e-03 9.97702869e-01 4.39462660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:81.91, Z:4.40 [[ 1.26249216e-01 -9.91958120e-01 -8.95678530e-03 1.04421613e+02] [ 9.89639574e-01 1.26566167e-01 -6.77828803e-02 8.19112734e+01] [ 6.83714044e-02 -3.06453692e-04 9.97659891e-01 4.39805666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:81.94, Z:4.40 [[ 1.24363879e-01 -9.92195932e-01 -8.99217328e-03 1.04425624e+02] [ 9.89846702e-01 1.24687857e-01 -6.82381444e-02 8.19385149e+01] [ 6.88268241e-02 -4.14512739e-04 9.97628536e-01 4.39967008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:81.96, Z:4.40 [[ 1.20990387e-01 -9.92611892e-01 -9.10810018e-03 1.04428445e+02] [ 9.90189122e-01 1.21331081e-01 -6.93128457e-02 8.19639774e+01] [ 6.99058506e-02 -6.32553682e-04 9.97553393e-01 4.40100722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:81.99, Z:4.40 [[ 1.18978445e-01 -9.92854883e-01 -9.12746771e-03 1.04431508e+02] [ 9.90407090e-01 1.19325685e-01 -6.96790974e-02 8.19901216e+01] [ 7.02703735e-02 -7.49598111e-04 9.97527700e-01 4.40223705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:82.02, Z:4.40 [[ 1.19042186e-01 -9.92848372e-01 -9.00376059e-03 1.04432398e+02] [ 9.90452364e-01 1.19380082e-01 -6.89384603e-02 8.20161951e+01] [ 6.95203078e-02 -7.11210957e-04 9.97580283e-01 4.40411510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:82.04, Z:4.41 [[ 1.19137980e-01 -9.92702140e-01 -1.86709170e-02 1.04441362e+02] [ 9.90296722e-01 1.20162294e-01 -6.98099194e-02 8.20422858e+01] [ 7.15439966e-02 -1.01727351e-02 9.97385568e-01 4.41206340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.072755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:104.43, Y:82.07, Z:4.41 [[ 1.16992674e-01 -9.93132772e-01 1.09976487e-04 1.04433380e+02] [ 9.90653740e-01 1.16692819e-01 -7.06254397e-02 8.20685797e+01] [ 7.01276053e-02 8.37160768e-03 9.97502900e-01 4.40507815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:82.09, Z:4.41 [[ 1.15234558e-01 -9.93297341e-01 -9.02160071e-03 1.04442035e+02] [ 9.90852153e-01 1.15583568e-01 -6.96595243e-02 8.20943813e+01] [ 7.02353691e-02 -9.11887978e-04 9.97530030e-01 4.40940603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:82.12, Z:4.41 [[ 1.11223124e-01 -9.93794459e-01 -1.41082603e-03 1.04440270e+02] [ 9.91138831e-01 1.11029422e-01 -7.29128543e-02 8.21243807e+01] [ 7.26170338e-02 6.71127097e-03 9.97337318e-01 4.40986622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:82.15, Z:4.41 [[ 1.11102873e-01 -9.93660230e-01 -1.71901083e-02 1.04452564e+02] [ 9.91365029e-01 1.12025384e-01 -6.81593153e-02 8.21458012e+01] [ 6.96529294e-02 -9.46897640e-03 9.97526344e-01 4.41495541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:82.17, Z:4.41 [[ 1.10002315e-01 -9.93892253e-01 -8.81364038e-03 1.04450429e+02] [ 9.91526477e-01 1.10348324e-01 -6.85455562e-02 8.21734952e+01] [ 6.90994677e-02 -1.19878790e-03 9.97609055e-01 4.41426925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:82.20, Z:4.42 [[ 1.09212992e-01 -9.93981289e-01 -8.58606818e-03 1.04450936e+02] [ 9.91724361e-01 1.09543379e-01 -6.69555039e-02 8.21993974e+01] [ 6.74930650e-02 -1.20260210e-03 9.97719019e-01 4.41668267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:82.23, Z:4.42 [[ 1.09096074e-01 -9.94004964e-01 7.22340613e-03 1.04443926e+02] [ 9.91466663e-01 1.08290085e-01 -7.25748843e-02 8.22277823e+01] [ 7.13575720e-02 1.50794013e-02 9.97336808e-01 4.41607783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:82.25, Z:4.43 [[ 1.11044078e-01 -9.93545372e-01 -2.31690948e-02 1.04465310e+02] [ 9.91468326e-01 1.12353035e-01 -6.60859580e-02 8.22521323e+01] [ 6.82625158e-02 -1.56329693e-02 9.97544906e-01 4.42692533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:82.28, Z:4.43 [[ 1.12001217e-01 -9.93625884e-01 -1.27800445e-02 1.04463491e+02] [ 9.91393466e-01 1.12608388e-01 -6.67708526e-02 8.22818105e+01] [ 6.77843877e-02 -5.19163589e-03 9.97686486e-01 4.42596102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:82.31, Z:4.42 [[ 1.10966136e-01 -9.93813472e-01 -4.61509463e-03 1.04459324e+02] [ 9.91585679e-01 1.11026506e-01 -6.65654346e-02 8.23069622e+01] [ 6.66660236e-02 2.81024736e-03 9.97771389e-01 4.42466327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:82.33, Z:4.43 [[ 1.10640549e-01 -9.93825302e-01 -8.36289058e-03 1.04464579e+02] [ 9.91625735e-01 1.10951826e-01 -6.60915619e-02 8.23333008e+01] [ 6.66113444e-02 -9.80450837e-04 9.97778516e-01 4.42739057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:82.36, Z:4.43 [[ 1.14284433e-01 -9.93380658e-01 -1.15730897e-02 1.04469590e+02] [ 9.91195462e-01 1.14801608e-01 -6.59708036e-02 8.23624800e+01] [ 6.68627296e-02 -3.93175809e-03 9.97754437e-01 4.43028987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:82.39, Z:4.43 [[ 1.13647464e-01 -9.93505068e-01 -5.65105251e-03 1.04465553e+02] [ 9.91301287e-01 1.13771716e-01 -6.61646018e-02 8.23871569e+01] [ 6.63777971e-02 1.91754355e-03 9.97792720e-01 4.42984151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:82.42, Z:4.44 [[ 1.16286597e-01 -9.93058522e-01 -1.76691488e-02 1.04477355e+02] [ 9.90864262e-01 1.17216348e-01 -6.66958909e-02 8.24165557e+01] [ 6.83040359e-02 -9.75188985e-03 9.97616890e-01 4.43683798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:82.44, Z:4.43 [[ 1.14518093e-01 -9.93421161e-01 5.73178698e-05 1.04466444e+02] [ 9.91172969e-01 1.14255050e-01 -6.72452977e-02 8.24413960e+01] [ 6.67963529e-02 7.75761520e-03 9.97736472e-01 4.43099033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:82.47, Z:4.43 [[ 1.13961480e-01 -9.93450885e-01 -8.25348544e-03 1.04473911e+02] [ 9.91253157e-01 1.14258088e-01 -6.60474743e-02 8.24658361e+01] [ 6.65579492e-02 -6.54425553e-04 9.97782347e-01 4.43481449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:82.50, Z:4.44 [[ 1.11114464e-01 -9.93806689e-01 -1.35675493e-03 1.04472598e+02] [ 9.91387251e-01 1.10938970e-01 -6.95978681e-02 8.24952189e+01] [ 6.93173438e-02 6.38826028e-03 9.97574206e-01 4.43613916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:82.52, Z:4.44 [[ 1.10031784e-01 -9.93803988e-01 -1.57048020e-02 1.04483686e+02] [ 9.91769722e-01 1.10819874e-01 -6.41231210e-02 8.25167984e+01] [ 6.54662176e-02 -8.51996566e-03 9.97818413e-01 4.44132852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:82.54, Z:4.44 [[ 1.08525486e-01 -9.94061336e-01 -8.01739226e-03 1.04481951e+02] [ 9.91949900e-01 1.08817301e-01 -6.47625712e-02 8.25436042e+01] [ 6.52503991e-02 -9.24461962e-04 9.97868494e-01 4.44072338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:82.57, Z:4.44 [[ 1.07850384e-01 -9.94135990e-01 -7.86949255e-03 1.04486870e+02] [ 9.92089215e-01 1.08133110e-01 -6.37669259e-02 8.25700953e+01] [ 6.42439487e-02 -9.29951222e-04 9.97933791e-01 4.44121647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:82.60, Z:4.45 [[ 1.07631452e-01 -9.93928314e-01 -2.28468415e-02 1.04500188e+02] [ 9.91934558e-01 1.08906175e-01 -6.48481055e-02 8.25967533e+01] [ 6.69425302e-02 -1.56828759e-02 9.97633573e-01 4.45028507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:82.63, Z:4.44 [[ 1.04139836e-01 -9.94506868e-01 1.05349016e-02 1.04482264e+02] [ 9.92339714e-01 1.03193429e-01 -6.79191254e-02 8.26264122e+01] [ 6.64589041e-02 1.75272878e-02 9.97635208e-01 4.43885579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:82.65, Z:4.45 [[ 1.00855516e-01 -9.94811494e-01 -1.33513006e-02 1.04496466e+02] [ 9.92752084e-01 1.01510165e-01 -6.43349489e-02 8.26475666e+01] [ 6.53564393e-02 -6.76599700e-03 9.97839044e-01 4.44806525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:82.67, Z:4.45 [[ 9.77790026e-02 -9.95176469e-01 -7.94121759e-03 1.04496899e+02] [ 9.93045975e-01 9.80891664e-02 -6.51015144e-02 8.26748557e+01] [ 6.55664426e-02 -1.52043302e-03 9.97847047e-01 4.44856430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:82.70, Z:4.45 [[ 9.62034566e-02 -9.95330277e-01 -7.90783205e-03 1.04499450e+02] [ 9.93205772e-01 9.65146688e-02 -6.50170158e-02 8.27018081e+01] [ 6.54766262e-02 -1.59924278e-03 9.97852822e-01 4.45034648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:82.73, Z:4.45 [[ 9.49723687e-02 -9.95448534e-01 -7.90356292e-03 1.04501593e+02] [ 9.93313952e-01 9.52861948e-02 -6.51761685e-02 8.27276131e+01] [ 6.56326218e-02 -1.66078421e-03 9.97842473e-01 4.45211532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:82.76, Z:4.45 [[ 9.47354165e-02 -9.95484119e-01 -6.04728387e-03 1.04505237e+02] [ 9.93386530e-01 9.49281640e-02 -6.45898198e-02 8.27583490e+01] [ 6.48721974e-02 1.11653145e-04 9.97893574e-01 4.45222144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:82.78, Z:4.45 [[ 9.34591759e-02 -9.95588241e-01 8.33289484e-03 1.04498800e+02] [ 9.93633890e-01 9.27403785e-02 -6.39602649e-02 8.27842775e+01] [ 6.29052918e-02 1.42575204e-02 9.97917656e-01 4.44696568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:82.81, Z:4.45 [[ 9.19290825e-02 -9.95589219e-01 -1.87390314e-02 1.04515229e+02] [ 9.93963300e-01 9.28781660e-02 -5.84003772e-02 8.28069628e+01] [ 5.98832328e-02 -1.32572164e-02 9.98117350e-01 4.45474547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:82.84, Z:4.45 [[ 9.11113171e-02 -9.95808791e-01 7.97370852e-03 1.04502479e+02] [ 9.93861109e-01 9.04226652e-02 -6.37482313e-02 8.28375098e+01] [ 6.27600452e-02 1.37329441e-02 9.97934158e-01 4.44985783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:82.86, Z:4.47 [[ 9.19093750e-02 -9.95433474e-01 -2.57849925e-02 1.04524371e+02] [ 9.93656192e-01 9.33690614e-02 -6.26864495e-02 8.28583898e+01] [ 6.48077108e-02 -1.98599450e-02 9.97700127e-01 4.46592160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:82.89, Z:4.46 [[ 9.07358022e-02 -9.95798078e-01 -1.23774673e-02 1.04518732e+02] [ 9.93826688e-01 9.13389185e-02 -6.29739261e-02 8.28867127e+01] [ 6.38398591e-02 -6.58706760e-03 9.97938416e-01 4.46355066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:82.91, Z:4.46 [[ 9.06837837e-02 -9.95851281e-01 -7.52839204e-03 1.04517382e+02] [ 9.93867744e-01 9.09782746e-02 -6.28479195e-02 8.29130115e+01] [ 6.32721013e-02 -1.78293888e-03 9.97994721e-01 4.46346044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:82.94, Z:4.47 [[ 9.02815722e-02 -9.95887741e-01 -7.53951817e-03 1.04520151e+02] [ 9.93885548e-01 9.05781034e-02 -6.31436783e-02 8.29401718e+01] [ 6.35669304e-02 -1.79270759e-03 9.97975967e-01 4.46531759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:82.96, Z:4.47 [[ 9.09912652e-02 -9.95840537e-01 -4.71321678e-03 1.04521339e+02] [ 9.93812912e-01 9.11066578e-02 -6.35253788e-02 8.29645223e+01] [ 6.36905528e-02 1.09619890e-03 9.97969094e-01 4.46668011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:82.99, Z:4.47 [[ 8.99929384e-02 -9.95892986e-01 -9.92130028e-03 1.04526546e+02] [ 9.93966157e-01 9.04371542e-02 -6.20677111e-02 8.29910020e+01] [ 6.27100523e-02 -4.27578101e-03 9.98022629e-01 4.46970649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:83.02, Z:4.46 [[ 8.96960609e-02 -9.95917686e-01 1.01281666e-02 1.04516600e+02] [ 9.94145083e-01 8.89119741e-02 -6.14020724e-02 8.30204392e+01] [ 6.02508946e-02 1.55763911e-02 9.98061724e-01 4.45982294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:83.04, Z:4.48 [[ 9.20632447e-02 -9.95456640e-01 -2.42989224e-02 1.04538794e+02] [ 9.93818158e-01 9.33775429e-02 -6.00508476e-02 8.30438030e+01] [ 6.20469886e-02 -1.86202345e-02 9.97899523e-01 4.47688124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:83.07, Z:4.47 [[ 9.12541050e-02 -9.95811021e-01 -5.75312877e-03 1.04530045e+02] [ 9.93849639e-01 9.14352770e-02 -6.24698713e-02 8.30741993e+01] [ 6.27342252e-02 -1.71127622e-05 9.98030268e-01 4.47328519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:83.10, Z:4.47 [[ 9.41616148e-02 -9.95552974e-01 -2.80465049e-03 1.04530895e+02] [ 9.93634915e-01 9.41544243e-02 -6.18433437e-02 8.31017506e+01] [ 6.18323950e-02 3.03647045e-03 9.98081928e-01 4.47219083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:83.13, Z:4.48 [[ 9.42414561e-02 -9.95494887e-01 -1.04152525e-02 1.04537051e+02] [ 9.93585167e-01 9.47072268e-02 -6.17985246e-02 8.31254997e+01] [ 6.25065149e-02 -4.52445746e-03 9.98034300e-01 4.47741287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:83.15, Z:4.48 [[ 9.33793884e-02 -9.95629927e-01 -1.15662760e-03 1.04533622e+02] [ 9.93494568e-01 9.32550446e-02 -6.53608421e-02 8.31533463e+01] [ 6.51830718e-02 4.95425222e-03 9.97861024e-01 4.47701028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:83.18, Z:4.48 [[ 9.43958752e-02 -9.95513717e-01 -6.46982940e-03 1.04539504e+02] [ 9.93349365e-01 9.46170462e-02 -6.56098524e-02 8.31779382e+01] [ 6.59276642e-02 -2.33501485e-04 9.97824378e-01 4.47991590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:83.20, Z:4.48 [[ 9.39043105e-02 -9.95418669e-01 -1.79903991e-02 1.04548950e+02] [ 9.93558846e-01 9.48494579e-02 -6.20032205e-02 8.32031079e+01] [ 6.34255428e-02 -1.20521505e-02 9.97913797e-01 4.48342933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:83.23, Z:4.48 [[ 9.32394224e-02 -9.95639620e-01 -2.85619296e-03 1.04543275e+02] [ 9.93544773e-01 9.32286525e-02 -6.46312748e-02 8.32296160e+01] [ 6.46157369e-02 3.18842714e-03 9.97905126e-01 4.48068395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:83.26, Z:4.48 [[ 9.15270629e-02 -9.95793477e-01 4.25994057e-03 1.04541371e+02] [ 9.93593271e-01 9.10383580e-02 -6.69658829e-02 8.32579404e+01] [ 6.62963714e-02 1.03618389e-02 9.97746172e-01 4.48076196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:83.28, Z:4.49 [[ 9.05707330e-02 -9.95683694e-01 -2.02712489e-02 1.04559105e+02] [ 9.93648555e-01 9.17130597e-02 -6.52017116e-02 8.32819068e+01] [ 6.67794194e-02 -1.42371304e-02 9.97666183e-01 4.49180609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:83.31, Z:4.49 [[ 8.74673885e-02 -9.96058718e-01 -1.47134509e-02 1.04559257e+02] [ 9.94002673e-01 8.82409818e-02 -6.45926815e-02 8.33108706e+01] [ 6.56364329e-02 -8.97545633e-03 9.97803237e-01 4.49198871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:83.34, Z:4.49 [[ 8.28563107e-02 -9.96561480e-01 -2.20375464e-04 1.04551583e+02] [ 9.94505151e-01 8.26995376e-02 -6.41894947e-02 8.33371605e+01] [ 6.39870027e-02 5.09934018e-03 9.97937704e-01 4.48730681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:83.36, Z:4.49 [[ 8.23244737e-02 -9.96538380e-01 -1.15731615e-02 1.04562631e+02] [ 9.94429392e-01 8.29061669e-02 -6.50903295e-02 8.33627119e+01] [ 6.58244980e-02 -6.15016484e-03 9.97812262e-01 4.49469259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:83.39, Z:4.49 [[ 7.97003760e-02 -9.96795698e-01 6.79605422e-03 1.04554355e+02] [ 9.94770802e-01 7.90979617e-02 -6.46108683e-02 8.33917653e+01] [ 6.38662815e-02 1.19100268e-02 9.97887393e-01 4.48741949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:83.42, Z:4.49 [[ 7.77233790e-02 -9.96964341e-01 -4.60212632e-03 1.04563854e+02] [ 9.94945792e-01 7.78587245e-02 -6.34104854e-02 8.34167734e+01] [ 6.35763085e-02 3.49610979e-04 9.97976919e-01 4.49177745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:83.44, Z:4.49 [[ 7.47940819e-02 -9.97181424e-01 -5.92058407e-03 1.04567289e+02] [ 9.95158580e-01 7.50193421e-02 -6.34940901e-02 8.34432496e+01] [ 6.37592855e-02 -1.14293786e-03 9.97964652e-01 4.49350770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:83.47, Z:4.49 [[ 7.31051850e-02 -9.97312945e-01 -4.74564149e-03 1.04568904e+02] [ 9.95342721e-01 7.32589159e-02 -6.26577852e-02 8.34692954e+01] [ 6.28370808e-02 -1.42930740e-04 9.98023788e-01 4.49350588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:83.50, Z:4.50 [[ 7.21356609e-02 -9.97350127e-01 -9.44301914e-03 1.04575435e+02] [ 9.95354746e-01 7.25901264e-02 -6.32424236e-02 8.34959464e+01] [ 6.37603091e-02 -4.83711989e-03 9.97953519e-01 4.49826147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:83.52, Z:4.50 [[ 7.01523671e-02 -9.97534040e-01 2.11758185e-03 1.04571867e+02] [ 9.95368933e-01 6.98599295e-02 -6.60324043e-02 8.35243415e+01] [ 6.57216369e-02 6.74010466e-03 9.97815232e-01 4.49682857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:83.55, Z:4.50 [[ 7.07668748e-02 -9.97409582e-01 -1.28908857e-02 1.04583841e+02] [ 9.95396976e-01 7.14496025e-02 -6.38734214e-02 8.35499292e+01] [ 6.46290112e-02 -8.31142625e-03 9.97874747e-01 4.50311804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:83.58, Z:4.50 [[ 7.19802807e-02 -9.97365961e-01 -8.94311342e-03 1.04584899e+02] [ 9.95270801e-01 7.24096894e-02 -6.47523780e-02 8.35772228e+01] [ 6.52293858e-02 -4.23992531e-03 9.97861288e-01 4.50483963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:83.60, Z:4.51 [[ 7.33374351e-02 -9.97298511e-01 -4.15939063e-03 1.04584614e+02] [ 9.95114893e-01 7.34519707e-02 -6.59633134e-02 8.36029930e+01] [ 6.60906297e-02 6.98508660e-04 9.97813380e-01 4.50551695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:83.63, Z:4.52 [[ 7.50665777e-02 -9.96798749e-01 -2.75184063e-02 1.04600298e+02] [ 9.94959683e-01 7.67109460e-02 -6.45806536e-02 8.36276441e+01] [ 6.64848777e-02 -2.25318561e-02 9.97532995e-01 4.51922211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:83.66, Z:4.51 [[ 7.57437175e-02 -9.97120845e-01 3.59309575e-03 1.04585019e+02] [ 9.94985764e-01 7.53445083e-02 -6.57763908e-02 8.36574000e+01] [ 6.53162904e-02 8.55722748e-03 9.97827919e-01 4.50893275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:83.68, Z:4.51 [[ 7.72780888e-02 -9.96986393e-01 -6.79926237e-03 1.04594207e+02] [ 9.94904158e-01 7.75560680e-02 -6.44264874e-02 8.36835435e+01] [ 6.47596553e-02 -1.78585859e-03 9.97899292e-01 4.51379898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:83.71, Z:4.52 [[ 7.81218679e-02 -9.96781884e-01 -1.79679876e-02 1.04603792e+02] [ 9.94767341e-01 7.91289322e-02 -6.46262308e-02 8.37092200e+01] [ 6.58400438e-02 -1.28252454e-02 9.97747765e-01 4.52229403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:83.74, Z:4.52 [[ 8.04147967e-02 -9.96736159e-01 -7.10560047e-03 1.04600824e+02] [ 9.94596397e-01 8.07076900e-02 -6.53014276e-02 8.37367679e+01] [ 6.56617707e-02 -1.81600360e-03 9.97840285e-01 4.52128307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:83.76, Z:4.52 [[ 8.22489775e-02 -9.96611599e-01 -6.53031317e-04 1.04599895e+02] [ 9.94334321e-01 8.21052748e-02 -6.75128250e-02 8.37617110e+01] [ 6.73376817e-02 4.90352937e-03 9.97718193e-01 4.52199792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:83.79, Z:4.53 [[ 8.29748966e-02 -9.96465127e-01 -1.31307782e-02 1.04609228e+02] [ 9.94492923e-01 8.36428004e-02 -6.31482995e-02 8.37892340e+01] [ 6.40233733e-02 -7.81874238e-03 9.97917770e-01 4.52651881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:83.82, Z:4.53 [[ 8.44764089e-02 -9.96413744e-01 -4.83600510e-03 1.04608329e+02] [ 9.94354396e-01 8.46125881e-02 -6.40316006e-02 8.38181397e+01] [ 6.42111538e-02 6.00456751e-04 9.97936154e-01 4.52521436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:83.84, Z:4.53 [[ 8.41432015e-02 -9.96450188e-01 -2.63526768e-03 1.04609378e+02] [ 9.94302075e-01 8.41349213e-02 -6.54576158e-02 8.38434160e+01] [ 6.54469716e-02 2.88756124e-03 9.97851871e-01 4.52741322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:83.87, Z:4.53 [[ 8.55823856e-02 -9.96238957e-01 -1.35497698e-02 1.04619215e+02] [ 9.94293646e-01 8.62687615e-02 -6.27522658e-02 8.38688152e+01] [ 6.36851737e-02 -8.10196141e-03 9.97937151e-01 4.53103555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:83.90, Z:4.53 [[ 8.59089774e-02 -9.96296682e-01 -3.54524422e-03 1.04616163e+02] [ 9.94193627e-01 8.59579790e-02 -6.47322062e-02 8.38959072e+01] [ 6.47972243e-02 2.03641843e-03 9.97896374e-01 4.53022708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:83.92, Z:4.53 [[ 8.63201230e-02 -9.96219720e-01 -9.75226346e-03 1.04623632e+02] [ 9.94193987e-01 8.67675608e-02 -6.36373077e-02 8.39225301e+01] [ 6.42429209e-02 -4.20246146e-03 9.97925441e-01 4.53323747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:83.94, Z:4.53 [[ 8.56866700e-02 -9.96190878e-01 -1.61718820e-02 1.04628679e+02] [ 9.94454883e-01 8.65080981e-02 -5.97982828e-02 8.39446147e+01] [ 6.09695025e-02 -1.09582913e-02 9.98079474e-01 4.53461485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:83.97, Z:4.53 [[ 8.41675174e-02 -9.96448081e-01 2.65553881e-03 1.04621635e+02] [ 9.94372821e-01 8.38195755e-02 -6.47840402e-02 8.39735235e+01] [ 6.43313464e-02 8.09330744e-03 9.97895774e-01 4.53199077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:84.00, Z:4.54 [[ 8.38045439e-02 -9.96459567e-01 -6.71792113e-03 1.04629496e+02] [ 9.94415925e-01 8.40627939e-02 -6.37998071e-02 8.39995422e+01] [ 6.41386553e-02 -1.33369402e-03 9.97940105e-01 4.53620776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:84.03, Z:4.54 [[ 8.30064732e-02 -9.96526386e-01 -6.71478264e-03 1.04632875e+02] [ 9.94470756e-01 8.32664193e-02 -6.39892141e-02 8.40261301e+01] [ 6.43260562e-02 -1.36613598e-03 9.97927999e-01 4.53728128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:84.05, Z:4.54 [[ 8.08429421e-02 -9.96703962e-01 -6.75501291e-03 1.04637674e+02] [ 9.94608989e-01 8.11108783e-02 -6.46063800e-02 8.40525612e+01] [ 6.49413400e-02 -1.49562673e-03 9.97887962e-01 4.53907067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:84.08, Z:4.54 [[ 7.94284555e-02 -9.96818051e-01 -6.70025451e-03 1.04641251e+02] [ 9.94743232e-01 7.96953348e-02 -6.43005170e-02 8.40790197e+01] [ 6.46298951e-02 -1.55774207e-03 9.97908087e-01 4.54080975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:84.11, Z:4.54 [[ 7.81300220e-02 -9.96920736e-01 -6.68919893e-03 1.04644411e+02] [ 9.94837358e-01 7.83991124e-02 -6.44376400e-02 8.41058926e+01] [ 6.47636468e-02 -1.62015077e-03 9.97899316e-01 4.54250984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:84.13, Z:4.54 [[ 7.59050476e-02 -9.97093048e-01 -6.62401005e-03 1.04647761e+02] [ 9.95036448e-01 7.61738668e-02 -6.40313109e-02 8.41331765e+01] [ 6.43497514e-02 -1.73083174e-03 9.97925906e-01 4.54365091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:84.16, Z:4.55 [[ 7.45826801e-02 -9.97096564e-01 -1.53579162e-02 1.04655772e+02] [ 9.95228747e-01 7.53968201e-02 -6.19278733e-02 8.41583822e+01] [ 6.29060078e-02 -1.06658929e-02 9.97962461e-01 4.54733233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:84.19, Z:4.54 [[ 7.29384901e-02 -9.97332199e-01 2.90870090e-03 1.04648665e+02] [ 9.95199864e-01 7.25911258e-02 -6.56335213e-02 8.41864000e+01] [ 6.52472783e-02 7.68194868e-03 9.97839556e-01 4.54483918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:84.22, Z:4.52 [[ 6.76657746e-02 -9.96913772e-01 3.98029322e-02 1.04628716e+02] [ 9.96097937e-01 6.52372260e-02 -5.94390744e-02 8.42164982e+01] [ 5.66589990e-02 4.36696097e-02 9.97438080e-01 4.52273676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:84.24, Z:4.56 [[ 7.00668664e-02 -9.96243525e-01 -5.08868612e-02 1.04686796e+02] [ 9.95539180e-01 7.30662885e-02 -5.96913636e-02 8.42365159e+01] [ 6.31852486e-02 -4.64774773e-02 9.96918988e-01 4.56380277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:84.27, Z:4.55 [[ 6.92895325e-02 -9.97575631e-01 -6.46692336e-03 1.04665395e+02] [ 9.95542221e-01 6.95612013e-02 -6.36939990e-02 8.42669028e+01] [ 6.39894283e-02 -2.02476783e-03 9.97948522e-01 4.55188251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:84.30, Z:4.54 [[ 6.79776958e-02 -9.97455801e-01 2.14699397e-02 1.04650780e+02] [ 9.95866526e-01 6.65385945e-02 -6.18261955e-02 8.42950403e+01] [ 6.02403177e-02 2.55839965e-02 9.97855983e-01 4.53784837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:84.32, Z:4.56 [[ 6.92101725e-02 -9.97052319e-01 -3.31153382e-02 1.04685924e+02] [ 9.95618873e-01 7.11265978e-02 -6.06965065e-02 8.43169508e+01] [ 6.28729739e-02 -2.87694401e-02 9.97606791e-01 4.56351358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:84.35, Z:4.56 [[ 7.07140428e-02 -9.97476561e-01 -6.32725459e-03 1.04674312e+02] [ 9.95480438e-01 7.09727891e-02 -6.30996139e-02 8.43453972e+01] [ 6.33894488e-02 -1.83662937e-03 9.97987177e-01 4.55763294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:84.37, Z:4.56 [[ 7.15646427e-02 -9.97415925e-01 -6.32257842e-03 1.04676838e+02] [ 9.95407508e-01 7.18217268e-02 -6.32892731e-02 8.43703891e+01] [ 6.35798273e-02 -1.76426782e-03 9.97975197e-01 4.55903000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:84.40, Z:4.56 [[ 7.23472514e-02 -9.97372087e-01 -3.84658435e-03 1.04677974e+02] [ 9.95279115e-01 7.24445195e-02 -6.45854055e-02 8.43979625e+01] [ 6.46943446e-02 8.44151499e-04 9.97904770e-01 4.56018509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:84.42, Z:4.56 [[ 7.49569056e-02 -9.97181569e-01 -3.22196523e-03 1.04680511e+02] [ 9.95020472e-01 7.50065381e-02 -6.56374885e-02 8.44243082e+01] [ 6.56941623e-02 1.71406167e-03 9.97838333e-01 4.56169841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:84.45, Z:4.57 [[ 7.67593696e-02 -9.96971908e-01 -1.24504262e-02 1.04688642e+02] [ 9.95010036e-01 7.73946918e-02 -6.29689681e-02 8.44487584e+01] [ 6.37418892e-02 -7.55484067e-03 9.97937822e-01 4.56541145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:84.48, Z:4.56 [[ 7.77331941e-02 -9.96954524e-01 -6.26321997e-03 1.04687716e+02] [ 9.94915013e-01 7.79746723e-02 -6.37500326e-02 8.44757455e+01] [ 6.40442560e-02 -1.27587792e-03 9.97946244e-01 4.56499197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:84.50, Z:4.57 [[ 7.92320031e-02 -9.96842343e-01 -5.25661140e-03 1.04691279e+02] [ 9.94810216e-01 7.94059612e-02 -6.36186081e-02 8.45020717e+01] [ 6.38351287e-02 -1.88700968e-04 9.97960440e-01 4.56597842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:84.53, Z:4.57 [[ 7.87907458e-02 -9.96866163e-01 -7.06198290e-03 1.04695621e+02] [ 9.94854043e-01 7.90804101e-02 -6.33381540e-02 8.45290464e+01] [ 6.36981271e-02 -2.03518185e-03 9.97967137e-01 4.56824828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:84.55, Z:4.57 [[ 7.84279619e-02 -9.96900361e-01 -6.22302113e-03 1.04700252e+02] [ 9.94835863e-01 7.86658977e-02 -6.41348741e-02 8.45548643e+01] [ 6.44256187e-02 -1.16091714e-03 9.97921837e-01 4.56967009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:84.58, Z:4.57 [[ 7.76170426e-02 -9.96963941e-01 -6.20448144e-03 1.04704042e+02] [ 9.94899817e-01 7.78554596e-02 -6.41317511e-02 8.45820086e+01] [ 6.44200961e-02 -1.19512059e-03 9.97922153e-01 4.57112106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:84.61, Z:4.57 [[ 7.65962428e-02 -9.97043154e-01 -6.16154468e-03 1.04707563e+02] [ 9.94992264e-01 7.68337585e-02 -6.39294060e-02 8.46075924e+01] [ 6.42137913e-02 -1.23393698e-03 9.97935402e-01 4.57264719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:84.63, Z:4.57 [[ 7.51046810e-02 -9.97156883e-01 -6.11864632e-03 1.04710886e+02] [ 9.95122887e-01 7.53421740e-02 -6.36709977e-02 8.46344295e+01] [ 6.39509657e-02 -1.30681502e-03 9.97952186e-01 4.57415435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:84.66, Z:4.59 [[ 7.45137442e-02 -9.96848187e-01 -2.72285492e-02 1.04731841e+02] [ 9.94966220e-01 7.61523080e-02 -6.51386828e-02 8.46631080e+01] [ 6.70068948e-02 -2.22377595e-02 9.97504666e-01 4.58800573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:84.69, Z:4.59 [[ 7.27457225e-02 -9.97270280e-01 -1.26510583e-02 1.04727825e+02] [ 9.95124640e-01 7.34245200e-02 -6.58467216e-02 8.46912501e+01] [ 6.65958763e-02 -7.79931253e-03 9.97749548e-01 4.58578789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:84.72, Z:4.57 [[ 6.84976930e-02 -9.97479123e-01 1.85328013e-02 1.04709534e+02] [ 9.95722521e-01 6.71989105e-02 -6.34110963e-02 8.47170833e+01] [ 6.20058607e-02 2.27970415e-02 9.97815398e-01 4.57096323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:84.74, Z:4.59 [[ 6.84223872e-02 -9.97420179e-01 -2.17109249e-02 1.04739530e+02] [ 9.95544053e-01 6.96767422e-02 -6.35388856e-02 8.47445287e+01] [ 6.48877131e-02 -1.72666999e-02 9.97743176e-01 4.58903772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:84.77, Z:4.58 [[ 6.79562735e-02 -9.97644812e-01 9.31521393e-03 1.04720239e+02] [ 9.95806833e-01 6.72520255e-02 -6.20154481e-02 8.47704529e+01] [ 6.12429231e-02 1.34904924e-02 9.98031718e-01 4.57630188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:84.80, Z:4.58 [[ 6.84727318e-02 -9.97639670e-01 5.15506872e-03 1.04725492e+02] [ 9.95557406e-01 6.79932543e-02 -6.51334614e-02 8.47956822e+01] [ 6.46292150e-02 9.59203288e-03 9.97863246e-01 4.57965327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:84.82, Z:4.59 [[ 6.86054373e-02 -9.97501594e-01 -1.68482525e-02 1.04741415e+02] [ 9.95698000e-01 6.95161294e-02 -6.12617366e-02 8.48199667e+01] [ 6.22799052e-02 -1.25728831e-02 9.97979527e-01 4.58754945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:84.85, Z:4.59 [[ 6.85636748e-02 -9.97629946e-01 -5.78905904e-03 1.04737993e+02] [ 9.95650061e-01 6.87922398e-02 -6.28377540e-02 8.48480336e+01] [ 6.30870675e-02 -1.45548966e-03 9.98006966e-01 4.58583324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:84.87, Z:4.59 [[ 6.84327276e-02 -9.97638798e-01 -5.81299751e-03 1.04740622e+02] [ 9.95626844e-01 6.86638085e-02 -6.33440459e-02 8.48748620e+01] [ 6.35936203e-02 -1.45277053e-03 9.97974820e-01 4.58751776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:84.90, Z:4.59 [[ 6.77176947e-02 -9.97687743e-01 -5.78628037e-03 1.04743031e+02] [ 9.95678690e-01 6.79484543e-02 -6.33005085e-02 8.49004623e+01] [ 6.35473103e-02 -1.47471154e-03 9.97977738e-01 4.58905787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:84.93, Z:4.59 [[ 6.74570059e-02 -9.97705580e-01 -5.75569870e-03 1.04744654e+02] [ 9.95699616e-01 6.76862764e-02 -6.32522192e-02 8.49269746e+01] [ 6.34966738e-02 -1.46414166e-03 9.97980976e-01 4.59060528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:84.95, Z:4.59 [[ 6.74870274e-02 -9.97718398e-01 1.87044169e-03 1.04740651e+02] [ 9.95546677e-01 6.72162161e-02 -6.60968578e-02 8.49526200e+01] [ 6.58203271e-02 6.32279246e-03 9.97811459e-01 4.58980449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:84.98, Z:4.60 [[ 6.72614456e-02 -9.97641204e-01 -1.37086012e-02 1.04752799e+02] [ 9.95407691e-01 6.80361741e-02 -6.73395030e-02 8.49801078e+01] [ 6.81133436e-02 -9.11629473e-03 9.97635938e-01 4.60003753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:85.01, Z:4.60 [[ 6.62770825e-02 -9.97791249e-01 -4.46895832e-03 1.04749012e+02] [ 9.95764003e-01 6.64271576e-02 -6.35726548e-02 8.50085514e+01] [ 6.37290988e-02 -2.36617737e-04 9.97967207e-01 4.59502275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:85.03, Z:4.60 [[ 6.66144250e-02 -9.97760915e-01 -5.97285250e-03 1.04751549e+02] [ 9.95769479e-01 6.68587953e-02 -6.30321022e-02 8.50339983e+01] [ 6.32903057e-02 -1.74873698e-03 9.97993627e-01 4.59827968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:85.06, Z:4.60 [[ 6.71604942e-02 -9.97691627e-01 -1.00442022e-02 1.04756013e+02] [ 9.95705046e-01 6.76629442e-02 -6.31916655e-02 8.50619937e+01] [ 6.37254158e-02 -5.75707935e-03 9.97950864e-01 4.60234491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:85.09, Z:4.60 [[ 6.76298379e-02 -9.97707224e-01 -2.54960548e-03 1.04752708e+02] [ 9.95722348e-01 6.76560973e-02 -6.29258177e-02 8.50881161e+01] [ 6.29540393e-02 1.71696370e-03 9.98014950e-01 4.60031126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:85.11, Z:4.60 [[ 6.75647621e-02 -9.97699640e-01 -5.51641895e-03 1.04756073e+02] [ 9.95727712e-01 6.77779511e-02 -6.27094395e-02 8.51147104e+01] [ 6.29390768e-02 -1.25590287e-03 9.98016581e-01 4.60294336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:85.14, Z:4.60 [[ 6.76863912e-02 -9.97691529e-01 -5.49227730e-03 1.04757818e+02] [ 9.95720477e-01 6.78978022e-02 -6.26946505e-02 8.51413650e+01] [ 6.29228352e-02 -1.22519834e-03 9.98017643e-01 4.60445831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:85.17, Z:4.60 [[ 6.67916287e-02 -9.97764030e-01 -2.41211735e-03 1.04756750e+02] [ 9.95847464e-01 6.68128248e-02 -6.18374913e-02 8.51689137e+01] [ 6.18603849e-02 1.72812581e-03 9.98083316e-01 4.60367011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:85.20, Z:4.61 [[ 6.59774699e-02 -9.97794659e-01 -7.26576275e-03 1.04761692e+02] [ 9.95888460e-01 6.63009190e-02 -6.17281492e-02 8.51950294e+01] [ 6.20737443e-02 -3.16322217e-03 9.98066553e-01 4.60772349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:85.22, Z:4.61 [[ 6.41677873e-02 -9.97930965e-01 -4.03539438e-03 1.04762075e+02] [ 9.96063507e-01 6.42944675e-02 -6.10222216e-02 8.52237279e+01] [ 6.11554180e-02 -1.03848145e-04 9.98128250e-01 4.60810080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:85.25, Z:4.61 [[ 6.28085140e-02 -9.98012776e-01 -5.05855242e-03 1.04764350e+02] [ 9.96135318e-01 6.30005553e-02 -6.11993319e-02 8.52511878e+01] [ 6.13964068e-02 -1.19516362e-03 9.98112746e-01 4.61021624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:85.28, Z:4.61 [[ 6.13345822e-02 -9.98116267e-01 -1.40976632e-03 1.04764101e+02] [ 9.96289300e-01 6.13076350e-02 -6.04069838e-02 8.52790192e+01] [ 6.03796226e-02 2.30050202e-03 9.98172835e-01 4.60955183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:85.31, Z:4.62 [[ 5.95918190e-02 -9.98158216e-01 -1.13574455e-02 1.04772134e+02] [ 9.96372425e-01 6.01699503e-02 -6.01794654e-02 8.53050786e+01] [ 6.07520048e-02 -7.73004174e-03 9.98122959e-01 4.61644689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:85.33, Z:4.62 [[ 5.69968247e-02 -9.98360863e-01 -5.19125927e-03 1.04770952e+02] [ 9.96511176e-01 5.72072083e-02 -6.07685031e-02 8.53325094e+01] [ 6.09658726e-02 -1.70953617e-03 9.98138387e-01 4.61624070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:85.36, Z:4.62 [[ 5.58699845e-02 -9.98424474e-01 -5.20725544e-03 1.04773032e+02] [ 9.96547684e-01 5.60842279e-02 -6.12149780e-02 8.53581857e+01] [ 6.14105771e-02 -1.76919847e-03 9.98111021e-01 4.61805069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:85.39, Z:4.62 [[ 5.48052493e-02 -9.98483498e-01 -5.20469213e-03 1.04774953e+02] [ 9.96591986e-01 5.50217799e-02 -6.14574488e-02 8.53850352e+01] [ 6.16506199e-02 -1.81876366e-03 9.98096134e-01 4.61953937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:85.41, Z:4.62 [[ 5.33053348e-02 -9.98564703e-01 -5.20346214e-03 1.04775970e+02] [ 9.96658254e-01 5.35251009e-02 -6.17040394e-02 8.54102027e+01] [ 6.18939916e-02 -1.89691901e-03 9.98080926e-01 4.62044187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:85.44, Z:4.62 [[ 5.25695311e-02 -9.98603923e-01 -5.16221239e-03 1.04777450e+02] [ 9.96709167e-01 5.27877909e-02 -6.15165467e-02 8.54375923e+01] [ 6.17031667e-02 -1.91132840e-03 9.98092714e-01 4.62168253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:85.46, Z:4.62 [[ 5.16216388e-02 -9.98653395e-01 -5.15780331e-03 1.04778748e+02] [ 9.96745894e-01 5.18418354e-02 -6.17255836e-02 8.54642447e+01] [ 6.19098536e-02 -1.95464349e-03 9.98079831e-01 4.62309540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:85.49, Z:4.62 [[ 5.02951255e-02 -9.98720913e-01 -5.19014489e-03 1.04780127e+02] [ 9.96771100e-01 5.05212643e-02 -6.24097476e-02 8.54894336e+01] [ 6.25921328e-02 -2.03448034e-03 9.98037116e-01 4.62461471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:85.52, Z:4.63 [[ 4.97147568e-02 -9.98749956e-01 -5.19306462e-03 1.04782449e+02] [ 9.96778553e-01 4.99429262e-02 -6.27552444e-02 8.55162304e+01] [ 6.29361544e-02 -2.05647373e-03 9.98015436e-01 4.62662953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:85.54, Z:4.63 [[ 4.92794424e-02 -9.98771367e-01 -5.22418723e-03 1.04785048e+02] [ 9.96758619e-01 4.95118068e-02 -6.34100626e-02 8.55436198e+01] [ 6.35908139e-02 -2.08244112e-03 9.97973883e-01 4.62879301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:85.57, Z:4.63 [[ 4.93761955e-02 -9.98766591e-01 -5.22381855e-03 1.04786614e+02] [ 9.96735990e-01 4.96089203e-02 -6.36892625e-02 8.55692780e+01] [ 6.38698555e-02 -2.06203448e-03 9.97956106e-01 4.63077401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:85.60, Z:4.63 [[ 4.95316195e-02 -9.98759053e-01 -5.19361240e-03 1.04787640e+02] [ 9.96733021e-01 4.97619511e-02 -6.36162914e-02 8.55960881e+01] [ 6.37957912e-02 -2.02562704e-03 9.97960918e-01 4.63266200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:85.62, Z:4.63 [[ 4.96984088e-02 -9.98750948e-01 -5.15859300e-03 1.04788643e+02] [ 9.96734496e-01 4.99258663e-02 -6.34645772e-02 8.56231822e+01] [ 6.36428539e-02 -1.98765909e-03 9.97970759e-01 4.63420512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:85.65, Z:4.64 [[ 5.11216305e-02 -9.98679253e-01 -5.13120033e-03 1.04789786e+02] [ 9.96666213e-01 5.13443595e-02 -6.34051769e-02 8.56488847e+01] [ 6.35848929e-02 -1.87271798e-03 9.97974676e-01 4.63594441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:85.68, Z:4.64 [[ 5.16224143e-02 -9.98653691e-01 -5.09227643e-03 1.04791898e+02] [ 9.96650692e-01 5.18413681e-02 -6.32445343e-02 8.56754693e+01] [ 6.34233782e-02 -1.81038528e-03 9.97985069e-01 4.63767652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:85.70, Z:4.64 [[ 5.12548778e-02 -9.98672747e-01 -5.06775699e-03 1.04793787e+02] [ 9.96669659e-01 5.14730171e-02 -6.32464990e-02 8.57022751e+01] [ 6.34234077e-02 -1.80918805e-03 9.97985069e-01 4.63935280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:85.73, Z:4.64 [[ 5.18231610e-02 -9.98643520e-01 -5.04779141e-03 1.04795852e+02] [ 9.96637438e-01 5.20389725e-02 -6.32910944e-02 8.57271068e+01] [ 6.34679232e-02 -1.75087332e-03 9.97982343e-01 4.64124228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:85.75, Z:4.64 [[ 5.35072423e-02 -9.98554814e-01 -5.02587731e-03 1.04797843e+02] [ 9.96545265e-01 5.37183578e-02 -6.33393463e-02 8.57536937e+01] [ 6.35177910e-02 -1.61940049e-03 9.97979392e-01 4.64356601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:85.78, Z:4.65 [[ 5.43074474e-02 -9.98511713e-01 -5.00593705e-03 1.04799290e+02] [ 9.96497996e-01 5.45157825e-02 -6.34016874e-02 8.57788786e+01] [ 6.35802301e-02 -1.54522243e-03 9.97975534e-01 4.64516474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:85.81, Z:4.65 [[ 5.49967200e-02 -9.98474312e-01 -4.94063791e-03 1.04800480e+02] [ 9.96492386e-01 5.51987797e-02 -6.28969021e-02 8.58054212e+01] [ 6.30736582e-02 -1.46418474e-03 9.98007800e-01 4.64656156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:85.83, Z:4.65 [[ 5.61371130e-02 -9.98420497e-01 -2.26615081e-03 1.04800353e+02] [ 9.96367783e-01 5.61669695e-02 -6.40040089e-02 8.58317006e+01] [ 6.40301972e-02 1.33508062e-03 9.97947068e-01 4.64795587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:85.86, Z:4.65 [[ 5.73820645e-02 -9.98352202e-01 -4.24697992e-04 1.04801130e+02] [ 9.96180878e-01 5.72852952e-02 -6.58942594e-02 8.58582084e+01] [ 6.58100079e-02 3.35807263e-03 9.97826521e-01 4.65033808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:85.88, Z:4.65 [[ 5.79268813e-02 -9.98310442e-01 4.55394072e-03 1.04800219e+02] [ 9.95954856e-01 5.74751300e-02 -6.90690519e-02 8.58837409e+01] [ 6.86906173e-02 8.53647415e-03 9.97601487e-01 4.65184074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:85.91, Z:4.66 [[ 5.83569729e-02 -9.98047995e-01 -2.22410367e-02 1.04818700e+02] [ 9.96227215e-01 5.96550737e-02 -6.30286305e-02 8.59094938e+01] [ 6.42323889e-02 -1.84789659e-02 9.97763864e-01 4.66041040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:85.94, Z:4.66 [[ 5.86738754e-02 -9.98273381e-01 2.76281792e-03 1.04806671e+02] [ 9.96006095e-01 5.83535877e-02 -6.75774894e-02 8.59372969e+01] [ 6.72995885e-02 6.71681668e-03 9.97710203e-01 4.65534108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:85.96, Z:4.66 [[ 5.81345185e-02 -9.98226985e-01 -1.27775196e-02 1.04817070e+02] [ 9.96143169e-01 5.88462489e-02 -6.50838441e-02 8.59623798e+01] [ 6.57203585e-02 -8.94462095e-03 9.97797990e-01 4.66089430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:85.99, Z:4.66 [[ 5.80224167e-02 -9.98302411e-01 -5.06912821e-03 1.04814341e+02] [ 9.96066292e-01 5.82315983e-02 -6.67908856e-02 8.59899626e+01] [ 6.69726855e-02 -1.17381915e-03 9.97754119e-01 4.65968507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:86.02, Z:4.66 [[ 5.72745017e-02 -9.98345815e-01 -5.02650366e-03 1.04815942e+02] [ 9.96126730e-01 5.74822029e-02 -6.65382140e-02 8.60150221e+01] [ 6.67170819e-02 -1.19609160e-03 9.97771216e-01 4.66100674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:86.04, Z:4.66 [[ 5.63757240e-02 -9.98397046e-01 -5.01170141e-03 1.04818121e+02] [ 9.96172383e-01 5.65845419e-02 -6.66241149e-02 8.60409428e+01] [ 6.68009043e-02 -1.23653583e-03 9.97765559e-01 4.66299202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:86.07, Z:4.66 [[ 5.44117348e-02 -9.98506313e-01 -4.95026170e-03 1.04821379e+02] [ 9.96313909e-01 5.46201912e-02 -6.61455101e-02 8.60671765e+01] [ 6.63170937e-02 -1.33292263e-03 9.97797708e-01 4.66491075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:86.10, Z:4.67 [[ 5.19224398e-02 -9.98651094e-01 -2.27970607e-04 1.04820857e+02] [ 9.96333385e-01 5.18174771e-02 -6.80788940e-02 8.60952254e+01] [ 6.79988748e-02 3.30768755e-03 9.97679915e-01 4.66599834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:86.12, Z:4.68 [[ 5.24015149e-02 -9.98309054e-01 -2.51617739e-02 1.04840358e+02] [ 9.96107668e-01 5.40410791e-02 -6.96353038e-02 8.61210352e+01] [ 7.08773236e-02 -2.14148405e-02 9.97255138e-01 4.68018853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:86.15, Z:4.67 [[ 4.87216318e-02 -9.98762667e-01 9.96684628e-03 1.04819908e+02] [ 9.96541674e-01 4.79359628e-02 -6.78736771e-02 8.61485428e+01] [ 6.73119244e-02 1.32392940e-02 9.97644138e-01 4.66616903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:86.17, Z:4.67 [[ 4.78041728e-02 -9.98855582e-01 1.51234009e-03 1.04826441e+02] [ 9.96473991e-01 4.75855656e-02 -6.91028206e-02 8.61722097e+01] [ 6.89517725e-02 4.81041074e-03 9.97608397e-01 4.67071188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:86.20, Z:4.68 [[ 4.57487062e-02 -9.98892846e-01 -1.09607980e-02 1.04834866e+02] [ 9.96672026e-01 4.63825523e-02 -6.70338039e-02 8.61998491e+01] [ 6.74679770e-02 -7.85761098e-03 9.97690498e-01 4.67547256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.23, Z:4.69 [[ 4.62666314e-02 -9.98649264e-01 -2.36441573e-02 1.04846907e+02] [ 9.96325303e-01 4.78409917e-02 -7.10431595e-02 8.62294364e+01] [ 7.20783589e-02 -2.02703446e-02 9.97192972e-01 4.68579957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:86.26, Z:4.67 [[ 4.42287730e-02 -9.98940642e-01 1.27047300e-02 1.04825845e+02] [ 9.96623020e-01 4.32383405e-02 -6.98068930e-02 8.62551303e+01] [ 6.91836111e-02 1.57492996e-02 9.97479618e-01 4.67153926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:86.28, Z:4.68 [[ 4.34064360e-02 -9.99055017e-01 -2.22582195e-03 1.04835129e+02] [ 9.96583242e-01 4.34555300e-02 -7.02385877e-02 8.62792959e+01] [ 7.02689377e-02 8.30589901e-04 9.97527737e-01 4.67836804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:86.31, Z:4.68 [[ 4.50256411e-02 -9.98984294e-01 -1.75299392e-03 1.04836635e+02] [ 9.96564974e-01 4.50385500e-02 -6.94966280e-02 8.63050752e+01] [ 6.95049922e-02 1.38215789e-03 9.97580646e-01 4.67826878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:86.33, Z:4.69 [[ 4.40933379e-02 -9.98965861e-01 -1.10899385e-02 1.04843040e+02] [ 9.96562644e-01 4.47611306e-02 -6.97089484e-02 8.63324038e+01] [ 7.01332578e-02 -7.97811820e-03 9.97505727e-01 4.68553377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:86.36, Z:4.69 [[ 4.47869619e-02 -9.98984013e-01 -5.00697345e-03 1.04840975e+02] [ 9.96489553e-01 4.50288606e-02 -7.05760057e-02 8.63601127e+01] [ 7.07297597e-02 -1.82851185e-03 9.97493838e-01 4.68558024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:86.39, Z:4.69 [[ 4.52593355e-02 -9.98962779e-01 -4.99579815e-03 1.04842608e+02] [ 9.96454529e-01 4.54996073e-02 -7.07683414e-02 8.63863993e+01] [ 7.09222459e-02 -1.77515759e-03 9.97480267e-01 4.68734795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:86.41, Z:4.69 [[ 4.63387124e-02 -9.98913309e-01 -4.99249295e-03 1.04844951e+02] [ 9.96387649e-01 4.65764471e-02 -7.10090601e-02 8.64137139e+01] [ 7.11644278e-02 -1.68398990e-03 9.97463176e-01 4.68979229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.44, Z:4.69 [[ 4.61961297e-02 -9.98920224e-01 -4.92997061e-03 1.04846254e+02] [ 9.96432246e-01 4.64289002e-02 -7.04779141e-02 8.64398266e+01] [ 7.06307068e-02 -1.65657483e-03 9.97501157e-01 4.69133709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:86.47, Z:4.69 [[ 4.70713599e-02 -9.98891341e-01 6.13876098e-04 1.04844017e+02] [ 9.96298324e-01 4.69048957e-02 -7.20387435e-02 8.64657861e+01] [ 7.19300832e-02 4.00256535e-03 9.97401646e-01 4.69173357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.49, Z:4.70 [[ 4.66288530e-02 -9.98861054e-01 -1.01166098e-02 1.04849327e+02] [ 9.96476176e-01 4.72196252e-02 -6.93219806e-02 8.64924450e+01] [ 6.97207291e-02 -6.84855621e-03 9.97543040e-01 4.69616576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.52, Z:4.70 [[ 4.64289839e-02 -9.98910256e-01 -4.75927249e-03 1.04847357e+02] [ 9.96514554e-01 4.66471320e-02 -6.91577146e-02 8.65200905e+01] [ 6.93043568e-02 -1.53176188e-03 9.97594386e-01 4.69622259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.55, Z:4.70 [[ 4.60274337e-02 -9.98929226e-01 -4.67734584e-03 1.04848557e+02] [ 9.96591592e-01 4.62396039e-02 -6.83161616e-02 8.65461183e+01] [ 6.84592890e-02 -1.51698594e-03 9.97652757e-01 4.69788364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.57, Z:4.70 [[ 4.47435886e-02 -9.98987865e-01 -4.61041506e-03 1.04850299e+02] [ 9.96698178e-01 4.49530910e-02 -6.76162772e-02 8.65730098e+01] [ 6.77550929e-02 -1.56979740e-03 9.97700748e-01 4.70015285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.60, Z:4.70 [[ 4.38018573e-02 -9.99029787e-01 -4.56972064e-03 1.04851771e+02] [ 9.96756669e-01 4.40103723e-02 -6.73738118e-02 8.65998734e+01] [ 6.75095600e-02 -1.60380143e-03 9.97717338e-01 4.70170534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.63, Z:4.70 [[ 4.28875931e-02 -9.99069622e-01 -4.53260800e-03 1.04853074e+02] [ 9.96809249e-01 4.30953774e-02 -6.71871260e-02 8.66268518e+01] [ 6.73199510e-02 -1.63665145e-03 9.97730097e-01 4.70306033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.65, Z:4.70 [[ 4.13261897e-02 -9.99135465e-01 -4.52428849e-03 1.04854759e+02] [ 9.96859083e-01 4.15373646e-02 -6.74285967e-02 8.66544010e+01] [ 6.75582293e-02 -1.72351109e-03 9.97713844e-01 4.70474359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:86.68, Z:4.71 [[ 3.99285639e-02 -9.99192478e-01 -4.48339021e-03 1.04855936e+02] [ 9.96933041e-01 4.01397179e-02 -6.71812047e-02 8.66817248e+01] [ 6.73069165e-02 -1.78719081e-03 9.97730718e-01 4.70607031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:86.71, Z:4.70 [[ 3.75807950e-02 -9.99236529e-01 1.06790957e-02 1.04847470e+02] [ 9.97233139e-01 3.68152550e-02 -6.45809841e-02 8.67106180e+01] [ 6.41385248e-02 1.30765529e-02 9.97855327e-01 4.69809954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:86.74, Z:4.71 [[ 3.55554113e-02 -9.99184816e-01 -1.91184828e-02 1.04866973e+02] [ 9.97194722e-01 3.67324849e-02 -6.52181804e-02 8.67351843e+01] [ 6.58672849e-02 -1.67459909e-02 9.97687863e-01 4.71377222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:86.76, Z:4.71 [[ 3.40338184e-02 -9.99416564e-01 2.86892335e-03 1.04856421e+02] [ 9.97106953e-01 3.37596715e-02 -6.81029268e-02 8.67624701e+01] [ 6.79663392e-02 5.17842606e-03 9.97674176e-01 4.70923689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:86.79, Z:4.71 [[ 3.25007001e-02 -9.99450299e-01 -6.54253621e-03 1.04863830e+02] [ 9.97151299e-01 3.28703461e-02 -6.78883419e-02 8.67880303e+01] [ 6.80660790e-02 -4.31747984e-03 9.97671473e-01 4.71387032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:86.82, Z:4.71 [[ 2.82085643e-02 -9.99590341e-01 4.84015791e-03 1.04858883e+02] [ 9.97377755e-01 2.78226235e-02 -6.68095534e-02 8.68177992e+01] [ 6.66475184e-02 6.71206741e-03 9.97754006e-01 4.70843196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:86.84, Z:4.72 [[ 2.72881326e-02 -9.99426445e-01 -2.00534056e-02 1.04875447e+02] [ 9.97218952e-01 2.86086851e-02 -6.88179118e-02 8.68429721e+01] [ 6.93521425e-02 -1.81197238e-02 9.97427670e-01 4.72366743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:86.87, Z:4.72 [[ 2.56308533e-02 -9.99661265e-01 -4.51831901e-03 1.04867711e+02] [ 9.97197775e-01 2.58849366e-02 -7.01895158e-02 8.68687784e+01] [ 7.02826965e-02 -2.70664049e-03 9.97523442e-01 4.72065441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:86.89, Z:4.72 [[ 2.49947489e-02 -9.99677576e-01 -4.47276170e-03 1.04868781e+02] [ 9.97232716e-01 2.52464799e-02 -6.99251453e-02 8.68948749e+01] [ 7.00155213e-02 -2.71262284e-03 9.97542214e-01 4.72178462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:86.92, Z:4.72 [[ 2.54432793e-02 -9.99672397e-01 -2.78175181e-03 1.04869357e+02] [ 9.97136057e-01 2.55767742e-02 -7.11724081e-02 8.69198751e+01] [ 7.12202401e-02 -9.62925568e-04 9.97460150e-01 4.72351632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:86.95, Z:4.72 [[ 2.49179468e-02 -9.99621147e-01 1.16901009e-02 1.04862432e+02] [ 9.97288411e-01 2.40464101e-02 -6.95528216e-02 8.69511217e+01] [ 6.92453663e-02 1.33915156e-02 9.97509773e-01 4.71722207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:86.97, Z:4.73 [[ 2.50633889e-02 -9.99437454e-01 -2.22845846e-02 1.04882048e+02] [ 9.97257592e-01 2.65490728e-02 -6.90828600e-02 8.69729965e+01] [ 6.96356328e-02 -2.04920206e-02 9.97361998e-01 4.73405424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:87.00, Z:4.73 [[ 2.56323995e-02 -9.99661911e-01 -4.36398253e-03 1.04873214e+02] [ 9.97224002e-01 2.58746839e-02 -6.98196972e-02 8.70004937e+01] [ 6.99090085e-02 -2.56222176e-03 9.97550082e-01 4.73068008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:87.03, Z:4.73 [[ 2.74930032e-02 -9.99602272e-01 6.27956809e-03 1.04868402e+02] [ 9.96959530e-01 2.69610473e-02 -7.31081244e-02 8.70264889e+01] [ 7.29097435e-02 8.27043715e-03 9.97304251e-01 4.73018205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:87.06, Z:4.73 [[ 2.85651558e-02 -9.99591509e-01 9.20455360e-04 1.04873215e+02] [ 9.97066632e-01 2.84275655e-02 -7.10633824e-02 8.70557480e+01] [ 7.10081873e-02 2.94769192e-03 9.97471377e-01 4.73183867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.08, Z:4.74 [[ 2.85023092e-02 -9.99367093e-01 -2.12845337e-02 1.04885219e+02] [ 9.97147164e-01 2.99149697e-02 -6.93010016e-02 8.70785171e+01] [ 6.98938667e-02 -1.92485738e-02 9.97368708e-01 4.74334256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.11, Z:4.74 [[ 3.19261791e-02 -9.99481269e-01 -4.23215305e-03 1.04875606e+02] [ 9.97022352e-01 3.21444369e-02 -7.00939661e-02 8.71065917e+01] [ 7.01936464e-02 -1.98171867e-03 9.97531415e-01 4.73978573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:87.13, Z:4.74 [[ 3.44523659e-02 -9.99401376e-01 3.15019533e-03 1.04872178e+02] [ 9.96813175e-01 3.41358815e-02 -7.20987948e-02 8.71309186e+01] [ 7.19481001e-02 5.62413027e-03 9.97392521e-01 4.73972924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:87.16, Z:4.74 [[ 3.47689209e-02 -9.99395230e-01 -5.44365297e-04 1.04874882e+02] [ 9.96760467e-01 3.47167745e-02 -7.25487225e-02 8.71597608e+01] [ 7.25237458e-02 1.97983899e-03 9.97364721e-01 4.74304459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.19, Z:4.75 [[ 3.69861630e-02 -9.99214310e-01 -1.42402948e-02 1.04883388e+02] [ 9.96987346e-01 3.78684440e-02 -6.76920483e-02 8.71858967e+01] [ 6.81781212e-02 -1.16937246e-02 9.97604631e-01 4.74760741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.21, Z:4.75 [[ 3.75362113e-02 -9.99287130e-01 -4.03298353e-03 1.04878906e+02] [ 9.96933895e-01 3.77244918e-02 -6.85541585e-02 8.72130245e+01] [ 6.86574305e-02 -1.44735460e-03 9.97639245e-01 4.74660820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.24, Z:4.75 [[ 3.78513219e-02 -9.99275477e-01 -3.97471432e-03 1.04880000e+02] [ 9.96960429e-01 3.80340871e-02 -6.79949367e-02 8.72403848e+01] [ 6.80968474e-02 -1.38893466e-03 9.97677749e-01 4.74804129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.27, Z:4.75 [[ 3.82028230e-02 -9.99262318e-01 -3.91981961e-03 1.04880756e+02] [ 9.96983123e-01 3.83803352e-02 -6.74655598e-02 8.72679940e+01] [ 6.75662356e-02 -1.33061916e-03 9.97713904e-01 4.74950028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.30, Z:4.75 [[ 3.75639101e-02 -9.99293389e-01 -1.29416265e-03 1.04880464e+02] [ 9.97119563e-01 3.75675253e-02 -6.58882242e-02 8.72963116e+01] [ 6.58902854e-02 1.18458444e-03 9.97826171e-01 4.74862122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.32, Z:4.75 [[ 3.46688483e-02 -9.99398702e-01 5.52842068e-04 1.04879769e+02] [ 9.97088280e-01 3.45510960e-02 -6.79792880e-02 8.73240488e+01] [ 6.79193109e-02 2.90799597e-03 9.97686579e-01 4.75088745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.35, Z:4.76 [[ 3.43901929e-02 -9.99344011e-01 -1.13517665e-02 1.04888469e+02] [ 9.97222174e-01 3.50636469e-02 -6.57151085e-02 8.73500466e+01] [ 6.60700345e-02 -9.06027805e-03 9.97773853e-01 4.75712221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.38, Z:4.76 [[ 3.40328525e-02 -9.99413660e-01 -3.75522374e-03 1.04885549e+02] [ 9.97223295e-01 3.42068117e-02 -6.61482659e-02 8.73780914e+01] [ 6.62379347e-02 -1.49358241e-03 9.97802739e-01 4.75681201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.41, Z:4.75 [[ 3.26663994e-02 -9.99464206e-01 2.05120041e-03 1.04883867e+02] [ 9.97329733e-01 3.24623778e-02 -6.54186386e-02 8.74064418e+01] [ 6.53170008e-02 4.18271453e-03 9.97855798e-01 4.75487646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:87.43, Z:4.77 [[ 3.13337606e-02 -9.98953983e-01 -3.33036741e-02 1.04906575e+02] [ 9.97036370e-01 3.35811551e-02 -6.92154794e-02 8.74330932e+01] [ 7.02614547e-02 -3.10361931e-02 9.97045677e-01 4.77485636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.46, Z:4.75 [[ 2.80351683e-02 -9.99409698e-01 1.98566141e-02 1.04875456e+02] [ 9.97312070e-01 2.66200287e-02 -6.82642525e-02 8.74612227e+01] [ 6.76953723e-02 2.17170408e-02 9.97469652e-01 4.75491686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:87.49, Z:4.77 [[ 2.75107472e-02 -9.99440976e-01 -1.89972325e-02 1.04900243e+02] [ 9.97183817e-01 2.87651083e-02 -6.92604001e-02 8.74878727e+01] [ 6.97681393e-02 -1.70383274e-02 9.97417717e-01 4.77165261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.51, Z:4.76 [[ 2.31441028e-02 -9.99671947e-01 1.09703853e-02 1.04882230e+02] [ 9.97374121e-01 2.23348917e-02 -6.88913367e-02 8.75137274e+01] [ 6.86237143e-02 1.25360065e-02 9.97563850e-01 4.75989492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.54, Z:4.77 [[ 2.15659598e-02 -9.99760432e-01 -3.74000004e-03 1.04891404e+02] [ 9.97403727e-01 2.17719074e-02 -6.86424823e-02 8.75397934e+01] [ 6.87074647e-02 -2.24994897e-03 9.97634313e-01 4.76600786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.57, Z:4.77 [[ 1.91250933e-02 -9.99810028e-01 -3.76024203e-03 1.04891663e+02] [ 9.97393314e-01 1.93403128e-02 -6.95163913e-02 8.75652514e+01] [ 6.95759094e-02 -2.42093279e-03 9.97573723e-01 4.76761566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.89, Y:87.59, Z:4.77 [[ 1.80498823e-02 -9.99830123e-01 -3.73174605e-03 1.04892257e+02] [ 9.97414159e-01 1.82656973e-02 -6.95079837e-02 8.75921397e+01] [ 6.95643389e-02 -2.46748542e-03 9.97574415e-01 4.76945965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.62, Z:4.77 [[ 1.72628107e-02 -9.99844134e-01 -3.70182590e-03 1.04892609e+02] [ 9.97435005e-01 1.74782044e-02 -6.94112677e-02 8.76182317e+01] [ 6.94651501e-02 -2.49409716e-03 9.97581261e-01 4.77109552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.64, Z:4.77 [[ 1.69681748e-02 -9.99856015e-01 -1.76794410e-04 1.04890667e+02] [ 9.97339977e-01 1.69380117e-02 -7.08948146e-02 8.76444280e+01] [ 7.08876013e-02 1.02663148e-03 9.97483781e-01 4.77213074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.67, Z:4.78 [[ 1.60581401e-02 -9.99846488e-01 -7.00969801e-03 1.04893247e+02] [ 9.97379802e-01 1.65123168e-02 -7.04334748e-02 8.76715660e+01] [ 7.05384088e-02 -5.86030061e-03 9.97491849e-01 4.77625559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.70, Z:4.78 [[ 1.57013089e-02 -9.99869876e-01 -3.70136591e-03 1.04891571e+02] [ 9.97373033e-01 1.59236892e-02 -7.06644854e-02 8.76973977e+01] [ 7.07142297e-02 -2.58211763e-03 9.97493273e-01 4.77740930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.73, Z:4.78 [[ 1.63745956e-02 -9.99859123e-01 -3.68883312e-03 1.04890827e+02] [ 9.97339618e-01 1.65952075e-02 -7.09808845e-02 8.77250091e+01] [ 7.10321019e-02 -2.51673614e-03 9.97470855e-01 4.77962982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.75, Z:4.78 [[ 1.64752759e-02 -9.99857495e-01 -3.68169151e-03 1.04890501e+02] [ 9.97312530e-01 1.66960190e-02 -7.13369545e-02 8.77505412e+01] [ 7.13882582e-02 -2.49650106e-03 9.97445479e-01 4.78169804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:87.78, Z:4.79 [[ 1.75278234e-02 -9.99776094e-01 -1.18548480e-02 1.04895983e+02] [ 9.97182689e-01 1.83447934e-02 -7.27334394e-02 8.77766568e+01] [ 7.29346287e-02 -1.05465903e-02 9.97280958e-01 4.78920095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.80, Z:4.78 [[ 1.83738488e-02 -9.99822714e-01 4.11614710e-03 1.04884165e+02] [ 9.97262454e-01 1.80315734e-02 -7.17109474e-02 8.78027343e+01] [ 7.16240134e-02 5.42248506e-03 9.97416963e-01 4.78430032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.83, Z:4.79 [[ 1.90507015e-02 -9.99812123e-01 -3.57617540e-03 1.04888102e+02] [ 9.97294953e-01 1.92564671e-02 -7.09363451e-02 8.78289072e+01] [ 7.09918823e-02 -2.21511454e-03 9.97474434e-01 4.78853144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.85, Z:4.79 [[ 1.99809418e-02 -9.99794184e-01 -3.51449236e-03 1.04887752e+02] [ 9.97326066e-01 2.01785223e-02 -7.02391950e-02 8.78549369e+01] [ 7.02956559e-02 -2.10164957e-03 9.97523987e-01 4.79050991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.88, Z:4.79 [[ 2.18806238e-02 -9.99754541e-01 -3.47788428e-03 1.04886504e+02] [ 9.97299820e-01 2.20705595e-02 -7.00425488e-02 8.78800573e+01] [ 7.01021151e-02 -1.93591870e-03 9.97537942e-01 4.79264994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.91, Z:4.79 [[ 2.19820076e-02 -9.99752458e-01 -3.43720838e-03 1.04886282e+02] [ 9.97315957e-01 2.21683478e-02 -6.97814182e-02 8.79051576e+01] [ 6.98403416e-02 -1.89404710e-03 9.97556384e-01 4.79438155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.93, Z:4.80 [[ 2.28082026e-02 -9.99733958e-01 -3.43506803e-03 1.04885005e+02] [ 9.97261081e-01 2.29933243e-02 -7.02968219e-02 8.79306690e+01] [ 7.03571036e-02 -1.82231550e-03 9.97520204e-01 4.79648650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:87.96, Z:4.80 [[ 2.54307242e-02 -9.99605258e-01 -1.19417836e-02 1.04893750e+02] [ 9.97022802e-01 2.62312450e-02 -7.25083092e-02 8.79615664e+01] [ 7.27929350e-02 -1.00622917e-02 9.97296314e-01 4.80322224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:87.99, Z:4.80 [[ 2.31553748e-02 -9.99724271e-01 3.90005944e-03 1.04880625e+02] [ 9.97235716e-01 2.28218811e-02 -7.07113051e-02 8.79853872e+01] [ 7.06028013e-02 5.52662534e-03 9.97489198e-01 4.79770533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.01, Z:4.80 [[ 2.26315422e-02 -9.99738215e-01 -3.36368039e-03 1.04883205e+02] [ 9.97275856e-01 2.28118117e-02 -7.01461881e-02 8.80120832e+01] [ 7.02045565e-02 -1.76700083e-03 9.97531051e-01 4.80143721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.04, Z:4.80 [[ 2.19704031e-02 -9.99753042e-01 -3.34007609e-03 1.04883632e+02] [ 9.97288681e-01 2.21506970e-02 -7.01757370e-02 8.80391765e+01] [ 7.02323916e-02 -1.78923084e-03 9.97529052e-01 4.80293685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.07, Z:4.80 [[ 2.07520182e-02 -9.99779120e-01 -3.32644061e-03 1.04884274e+02] [ 9.97297878e-01 2.09348087e-02 -7.04178730e-02 8.80668208e+01] [ 7.04719574e-02 -1.85613918e-03 9.97512034e-01 4.80440410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:88.09, Z:4.81 [[ 1.98044243e-02 -9.99798427e-01 -3.30010031e-03 1.04885131e+02] [ 9.97318775e-01 1.99876707e-02 -7.03971184e-02 8.80932547e+01] [ 7.04488895e-02 -1.89707759e-03 9.97513586e-01 4.80596267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.12, Z:4.81 [[ 1.76442205e-02 -9.99838917e-01 -3.28970945e-03 1.04884014e+02] [ 9.97334810e-01 1.78328080e-02 -7.07479168e-02 8.81191362e+01] [ 7.07951853e-02 -2.03264990e-03 9.97488802e-01 4.80741202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.15, Z:4.81 [[ 1.61594286e-02 -9.99867206e-01 2.10768779e-03 1.04880887e+02] [ 9.97235679e-01 1.59639274e-02 -7.25682732e-02 8.81464886e+01] [ 7.25249896e-02 3.27452329e-03 9.97361220e-01 4.80775848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:88.17, Z:4.81 [[ 1.48412468e-02 -9.99853793e-01 -8.49288394e-03 1.04887568e+02] [ 9.97363381e-01 1.54066405e-02 -7.09148854e-02 8.81731618e+01] [ 7.10353640e-02 -7.41802613e-03 9.97446214e-01 4.81169933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.20, Z:4.81 [[ 1.10087313e-02 -9.99906505e-01 8.11102522e-03 1.04876267e+02] [ 9.97403997e-01 1.04031875e-02 -7.12533506e-02 8.82006148e+01] [ 7.11623083e-02 8.87437797e-03 9.97425271e-01 4.80594808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:88.23, Z:4.82 [[ 1.04604136e-02 -9.99844325e-01 -1.42093739e-02 1.04890338e+02] [ 9.97414715e-01 1.14432105e-02 -7.09432127e-02 8.82253408e+01] [ 7.10947695e-02 -1.34305432e-02 9.97379143e-01 4.81634957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.25, Z:4.82 [[ 8.40245821e-03 -9.99959613e-01 -3.18909645e-03 1.04884240e+02] [ 9.97390053e-01 8.60949121e-03 -7.16865327e-02 8.82512361e+01] [ 7.17110940e-02 -2.57842998e-03 9.97422113e-01 4.81521316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.28, Z:4.82 [[ 7.06656003e-03 -9.99970057e-01 -3.15403874e-03 1.04884433e+02] [ 9.97409141e-01 7.27420012e-03 -7.15687906e-02 8.82780005e+01] [ 7.15895907e-02 -2.64012192e-03 9.97430679e-01 4.81696083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.31, Z:4.82 [[ 4.26482587e-03 -9.99987325e-01 -2.67618205e-03 1.04883047e+02] [ 9.97445768e-01 4.44477237e-03 -7.12894383e-02 8.83051023e+01] [ 7.13004297e-02 -2.36530942e-03 9.97452081e-01 4.81899285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.33, Z:4.82 [[ 3.73628318e-03 -9.99992851e-01 -5.81680552e-04 1.04881982e+02] [ 9.97429186e-01 3.76832983e-03 -7.15598946e-02 8.83319685e+01] [ 7.15615749e-02 -3.12817129e-04 9.97436135e-01 4.82085396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:88.36, Z:4.82 [[ 3.71733780e-03 -9.99973375e-01 -6.27936690e-03 1.04885252e+02] [ 9.97507756e-01 4.15046925e-03 -7.04347220e-02 8.83579181e+01] [ 7.04589090e-02 -6.00188753e-03 9.97496626e-01 4.82377353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.38, Z:4.82 [[ 3.73805592e-03 -9.99992795e-01 -6.61625134e-04 1.04881737e+02] [ 9.97455135e-01 3.77567593e-03 -7.11968932e-02 8.83841724e+01] [ 7.11988783e-02 -3.93803420e-04 9.97462062e-01 4.82460793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.41, Z:4.83 [[ 3.27829494e-03 -9.99981017e-01 -5.21717528e-03 1.04882148e+02] [ 9.97541707e-01 3.63540760e-03 -6.99809073e-02 8.84091973e+01] [ 6.99985454e-02 -4.97493188e-03 9.97534688e-01 4.82703619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.44, Z:4.83 [[ 4.35831153e-03 -9.99984429e-01 3.48523017e-03 1.04877325e+02] [ 9.97533696e-01 4.10341934e-03 -7.00691634e-02 8.84366140e+01] [ 7.00537710e-02 3.78201777e-03 9.97536047e-01 4.82521671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.46, Z:4.83 [[ 5.20464240e-03 -9.99958401e-01 -7.49054794e-03 1.04882834e+02] [ 9.97433792e-01 5.72609155e-03 -7.13655588e-02 8.84633639e+01] [ 7.14054816e-02 -7.09989342e-03 9.97422102e-01 4.83207394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.49, Z:4.83 [[ 5.29726678e-03 -9.99985888e-01 -4.03249552e-04 1.04877780e+02] [ 9.97498900e-01 5.31251461e-03 -7.04820621e-02 8.84895723e+01] [ 7.04832097e-02 -2.88786994e-05 9.97512965e-01 4.83084878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.362755096 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:104.88, Y:88.51, Z:4.83 [[ 4.48155253e-03 -9.99962040e-01 -7.47225528e-03 1.04880680e+02] [ 9.97464610e-01 5.00082288e-03 -7.09883401e-02 8.85145412e+01] [ 7.10230128e-02 -7.13517222e-03 9.97449157e-01 4.83375423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.54, Z:4.83 [[ 6.09527614e-03 -9.99981198e-01 -6.71730556e-04 1.04877702e+02] [ 9.97463095e-01 6.12756821e-03 -7.09212784e-02 8.85423606e+01] [ 7.09240610e-02 -2.37741662e-04 9.97481690e-01 4.83471562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:88.57, Z:4.83 [[ 5.20434837e-03 -9.99939738e-01 9.66613536e-03 1.04870197e+02] [ 9.97460879e-01 4.50439499e-03 -7.10739426e-02 8.85685411e+01] [ 7.10261195e-02 1.00114854e-02 9.97424213e-01 4.83312370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:88.59, Z:4.84 [[ 5.04357784e-03 -9.99835196e-01 -1.74396893e-02 1.04886381e+02] [ 9.97571063e-01 6.24224924e-03 -6.93758451e-02 8.85937400e+01] [ 6.94732746e-02 -1.70474269e-02 9.97438143e-01 4.84340950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.62, Z:4.84 [[ 4.50287424e-03 -9.99986297e-01 -2.67017553e-03 1.04877521e+02] [ 9.97530913e-01 4.67892682e-03 -7.00727163e-02 8.86199873e+01] [ 7.00842497e-02 -2.34805400e-03 9.97538312e-01 4.84197692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.65, Z:4.84 [[ 3.58313826e-03 -9.99990109e-01 -2.63508343e-03 1.04877806e+02] [ 9.97558409e-01 3.75818680e-03 -6.97359044e-02 8.86461223e+01] [ 6.97451177e-02 -2.37877625e-03 9.97562008e-01 4.84344415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.67, Z:4.85 [[ 2.78284499e-03 -9.99992712e-01 -2.61373831e-03 1.04878352e+02] [ 9.97549256e-01 2.95876022e-03 -6.99051263e-02 8.86717498e+01] [ 6.99123502e-02 -2.41279757e-03 9.97550220e-01 4.84528832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.70, Z:4.85 [[ 1.48558703e-03 -9.99995540e-01 -2.59098106e-03 1.04878401e+02] [ 9.97537992e-01 1.66358646e-03 -7.01083996e-02 8.86966220e+01] [ 7.01123973e-02 -2.48044992e-03 9.97536014e-01 4.84699010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.72, Z:4.85 [[ 7.55677209e-04 -9.99996449e-01 -2.55571257e-03 1.04878691e+02] [ 9.97546336e-01 9.32734201e-04 -7.00031212e-02 8.87229697e+01] [ 7.00052564e-02 -2.49654195e-03 9.97543498e-01 4.84873530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.75, Z:4.85 [[-5.32273097e-04 -9.99999343e-01 -1.01539481e-03 1.04878208e+02] [ 9.97515084e-01 -4.59414422e-04 -7.04517317e-02 8.87501047e+01] [ 7.04512189e-02 -1.05037120e-03 9.97514673e-01 4.84990587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.77, Z:4.85 [[-1.17044652e-03 -9.99990464e-01 -4.20748578e-03 1.04880435e+02] [ 9.97518307e-01 -8.71333919e-04 -7.04021922e-02 8.87746558e+01] [ 7.03978547e-02 -4.27944609e-03 9.97509814e-01 4.85235937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.80, Z:4.85 [[-1.92940439e-03 -9.99995057e-01 -2.48277113e-03 1.04879770e+02] [ 9.97511074e-01 -1.74960465e-03 -7.04882700e-02 8.87997281e+01] [ 7.04835777e-02 -2.61259208e-03 9.97509519e-01 4.85366909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72275509600001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:104.88, Y:88.83, Z:4.85 [[-3.26960847e-03 -9.99994647e-01 1.22982114e-04 1.04878405e+02] [ 9.97384290e-01 -3.26995382e-03 -7.22072349e-02 8.88270413e+01] [ 7.22072505e-02 -1.13428958e-04 9.97389643e-01 4.85450919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.85, Z:4.86 [[-3.68952589e-03 -9.99979631e-01 -5.20808083e-03 1.04882219e+02] [ 9.97395467e-01 -3.30473574e-03 -7.20511032e-02 8.88517534e+01] [ 7.20324243e-02 -5.46035062e-03 9.97387344e-01 4.85759807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.88, Z:4.86 [[-4.68268684e-03 -9.99985990e-01 -2.46826810e-03 1.04881316e+02] [ 9.97360420e-01 -4.49151203e-03 -7.24708178e-02 8.88778740e+01] [ 7.24587163e-02 -2.80111106e-03 9.97367479e-01 4.85879557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.91, Z:4.86 [[-5.96207922e-03 -9.99978151e-01 -2.85513613e-03 1.04882032e+02] [ 9.97323494e-01 -5.73813677e-03 -7.28897928e-02 8.89060699e+01] [ 7.28718171e-02 -3.28206906e-03 9.97335914e-01 4.86112459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.93, Z:4.86 [[-7.11538986e-03 -9.99957408e-01 5.87819537e-03 1.04877148e+02] [ 9.97186330e-01 -7.53410531e-03 -7.45832494e-02 8.89334886e+01] [ 7.46243597e-02 5.33096717e-03 9.97197466e-01 4.86140204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:88.96, Z:4.87 [[-6.96417348e-03 -9.99927261e-01 -9.84744912e-03 1.04886970e+02] [ 9.97323535e-01 -6.22861079e-03 -7.28489553e-02 8.89581297e+01] [ 7.27823205e-02 -1.03284255e-02 9.97294369e-01 4.86557809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:88.98, Z:4.87 [[-6.85323656e-03 -9.99968115e-01 4.09907403e-03 1.04879980e+02] [ 9.97180636e-01 -7.14033520e-03 -7.46980288e-02 8.89837365e+01] [ 7.47249158e-02 3.57559399e-03 9.97197775e-01 4.86536222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:89.01, Z:4.87 [[-7.24420045e-03 -9.99965111e-01 -4.15914574e-03 1.04884863e+02] [ 9.97361316e-01 -6.92475983e-03 -7.22665378e-02 8.90101834e+01] [ 7.22352154e-02 -4.67168435e-03 9.97376684e-01 4.86690214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:89.04, Z:4.87 [[-7.03626223e-03 -9.99974374e-01 -1.31968176e-03 1.04883653e+02] [ 9.97357495e-01 -6.92240756e-03 -7.23194799e-02 8.90352835e+01] [ 7.23084913e-02 -1.82505332e-03 9.97380645e-01 4.86797350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:89.06, Z:4.87 [[-7.44000979e-03 -9.99970080e-01 -2.11806926e-03 1.04884648e+02] [ 9.97348613e-01 -7.26713552e-03 -7.24080985e-02 8.90621559e+01] [ 7.23905398e-02 -2.65117040e-03 9.97372840e-01 4.87011536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:89.09, Z:4.87 [[-6.78812265e-03 -9.99975322e-01 1.81035685e-03 1.04881829e+02] [ 9.97397986e-01 -6.90054317e-03 -7.17609967e-02 8.90886885e+01] [ 7.17717182e-02 1.31852383e-03 9.97420213e-01 4.87026980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.11, Z:4.88 [[-4.76813855e-03 -9.99965338e-01 -6.82558747e-03 1.04888248e+02] [ 9.97270506e-01 -4.25214368e-03 -7.37119916e-02 8.91134148e+01] [ 7.36804132e-02 -7.15842606e-03 9.97256213e-01 4.87701256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.14, Z:4.88 [[-5.47164537e-03 -9.99951389e-01 -8.20251695e-03 1.04888752e+02] [ 9.97416358e-01 -4.86985356e-03 -7.16721188e-02 8.91401899e+01] [ 7.16286897e-02 -8.57348901e-03 9.97394519e-01 4.87823065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.17, Z:4.88 [[-3.38518862e-03 -9.99991996e-01 -2.13262465e-03 1.04886201e+02] [ 9.97415037e-01 -3.22337681e-03 -7.17833865e-02 8.91670472e+01] [ 7.17759377e-02 -2.37011220e-03 9.97417965e-01 4.87865108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.19, Z:4.88 [[-2.29711876e-03 -9.99995186e-01 -2.08574287e-03 1.04886727e+02] [ 9.97461958e-01 -2.14285831e-03 -7.11691654e-02 8.91921088e+01] [ 7.11643534e-02 -2.24393319e-03 9.97462079e-01 4.88035525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.22, Z:4.88 [[ 3.39043175e-04 -9.99997810e-01 -2.06501933e-03 1.04886190e+02] [ 9.97457511e-01 4.85339720e-04 -7.12620423e-02 8.92189027e+01] [ 7.12628885e-02 -2.03560813e-03 9.97455491e-01 4.88256752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.24, Z:4.88 [[ 1.40280726e-03 -9.99996930e-01 -2.04241260e-03 1.04885917e+02] [ 9.97434536e-01 1.54538424e-03 -7.15678583e-02 8.92443875e+01] [ 7.15707950e-02 -1.93677695e-03 9.97433642e-01 4.88365653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.232755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.88, Y:89.27, Z:4.88 [[ 2.41674207e-03 -9.99920409e-01 1.23828415e-02 1.04877973e+02] [ 9.97589349e-01 1.55196293e-03 -6.93763821e-02 8.92727463e+01] [ 6.93516426e-02 1.25206556e-02 9.97513701e-01 4.87685862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.30, Z:4.88 [[ 3.57228164e-03 -9.99990596e-01 -2.45916665e-03 1.04887638e+02] [ 9.97579567e-01 3.73441975e-03 -6.94338708e-02 8.92988742e+01] [ 6.94424014e-02 -2.20517706e-03 9.97583525e-01 4.88233654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:89.32, Z:4.89 [[ 4.26981241e-03 -9.99879897e-01 -1.48983188e-02 1.04896140e+02] [ 9.97492813e-01 5.31109356e-03 -7.05682641e-02 8.93224206e+01] [ 7.06389150e-02 -1.45596526e-02 9.97395689e-01 4.89061890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.35, Z:4.89 [[ 3.98544996e-03 -9.99990204e-01 -1.92566477e-03 1.04889592e+02] [ 9.97477200e-01 4.11190449e-03 -7.08683834e-02 8.93493410e+01] [ 7.08756073e-02 -1.63836431e-03 9.97483816e-01 4.88979076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:89.37, Z:4.89 [[ 3.42227818e-03 -9.99915565e-01 1.25359599e-02 1.04882816e+02] [ 9.97258175e-01 2.48595619e-03 -7.39591237e-02 8.93744705e+01] [ 7.39217151e-02 1.27546972e-02 9.97182480e-01 4.88916774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.382755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:104.89, Y:89.40, Z:4.89 [[ 2.14763212e-03 -9.99996710e-01 -1.40308319e-03 1.04891858e+02] [ 9.97677007e-01 2.23817960e-03 -6.80850899e-02 8.94023545e+01] [ 6.80880062e-02 -1.25360211e-03 9.97678531e-01 4.88940330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:89.43, Z:4.90 [[ 7.94641986e-04 -9.99864002e-01 -1.64725605e-02 1.04901200e+02] [ 9.97596901e-01 1.93385346e-03 -6.92580903e-02 8.94263384e+01] [ 6.92805268e-02 -1.63779399e-02 9.97462767e-01 4.89904770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.45, Z:4.90 [[-2.32283165e-03 -9.99987160e-01 4.50371144e-03 1.04891524e+02] [ 9.97411671e-01 -2.64046264e-03 -7.18539242e-02 8.94544063e+01] [ 7.18648935e-02 4.32514978e-03 9.97404998e-01 4.89655120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.48, Z:4.90 [[-3.39951906e-03 -9.99984523e-01 4.40425037e-03 1.04893474e+02] [ 9.97294727e-01 -3.71370818e-03 -7.34127819e-02 8.94797098e+01] [ 7.34280018e-02 4.14276752e-03 9.97291916e-01 4.89867223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:89.51, Z:4.90 [[-5.18164226e-03 -9.99884732e-01 -1.42713843e-02 1.04905602e+02] [ 9.97596934e-01 -4.18268879e-03 -6.91582368e-02 8.95056346e+01] [ 6.90905723e-02 -1.45954425e-02 9.97503617e-01 4.90346821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.54, Z:4.89 [[-7.26843795e-03 -9.99871240e-01 1.43064129e-02 1.04890343e+02] [ 9.97692061e-01 -8.21700203e-03 -6.74020234e-02 8.95362230e+01] [ 6.75109005e-02 1.37834871e-02 9.97623323e-01 4.89421623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:89.56, Z:4.91 [[-9.62214418e-03 -9.99793309e-01 -1.79096109e-02 1.04910099e+02] [ 9.97551666e-01 -8.35680871e-03 -6.94322471e-02 8.95596278e+01] [ 6.92682289e-02 -1.85338493e-02 9.97425891e-01 4.90717261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:89.59, Z:4.90 [[-1.07558233e-02 -9.99940765e-01 -1.66688325e-03 1.04901992e+02] [ 9.97470244e-01 -1.06120793e-02 -7.02886575e-02 8.95865093e+01] [ 7.02668048e-02 -2.41867883e-03 9.97525301e-01 4.90490098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:89.61, Z:4.90 [[-1.15931967e-02 -9.99895815e-01 8.59987237e-03 1.04898381e+02] [ 9.97168032e-01 -1.21998302e-02 -7.42097082e-02 8.96116127e+01] [ 7.43068936e-02 7.71519006e-03 9.97205576e-01 4.90477259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:89.64, Z:4.91 [[-1.32837223e-02 -9.99844942e-01 -1.15600480e-02 1.04910799e+02] [ 9.97354633e-01 -1.24225782e-02 -7.16199402e-02 8.96384933e+01] [ 7.14652294e-02 -1.24808468e-02 9.97365003e-01 4.91030967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:89.67, Z:4.90 [[-1.49614389e-02 -9.99600457e-01 2.39808427e-02 1.04890477e+02] [ 9.97216436e-01 -1.66692375e-02 -7.26740362e-02 8.96658132e+01] [ 7.30447422e-02 2.28267824e-02 9.97067402e-01 4.89926882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:89.69, Z:4.92 [[-1.41489576e-02 -9.99532616e-01 -2.70990123e-02 1.04922842e+02] [ 9.97353246e-01 -1.21746933e-02 -7.16817898e-02 8.96893395e+01] [ 7.13183647e-02 -2.80415105e-02 9.97059359e-01 4.91724413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:89.72, Z:4.91 [[-1.41172329e-02 -9.99899127e-01 -1.56189389e-03 1.04908808e+02] [ 9.97303473e-01 -1.39680456e-02 -7.20463548e-02 8.97168396e+01] [ 7.20172707e-02 -2.57477736e-03 9.97400062e-01 4.91251829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:89.74, Z:4.91 [[-1.34213218e-02 -9.99908749e-01 -1.53652366e-03 1.04909371e+02] [ 9.97314297e-01 -1.32758157e-02 -7.20273994e-02 8.97424121e+01] [ 7.20004283e-02 -2.49909992e-03 9.97401470e-01 4.91404756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:89.77, Z:4.91 [[-1.38709888e-02 -9.99778066e-01 1.58560367e-02 1.04899634e+02] [ 9.97486666e-01 -1.49376615e-02 -6.92619433e-02 8.97701142e+01] [ 6.94834238e-02 1.48554536e-02 9.97472491e-01 4.90701422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:89.79, Z:4.92 [[-1.28014385e-02 -9.99748605e-01 -1.84079028e-02 1.04921522e+02] [ 9.97383464e-01 -1.14568851e-02 -7.13790266e-02 8.97944814e+01] [ 7.11501850e-02 -1.92734920e-02 9.97279391e-01 4.92217594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:89.82, Z:4.92 [[-1.25178889e-02 -9.99899952e-01 6.58705994e-03 1.04908357e+02] [ 9.97225225e-01 -1.29673198e-02 -7.33055139e-02 8.98229868e+01] [ 7.33835963e-02 5.65115205e-03 9.97287778e-01 4.91909431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:89.85, Z:4.92 [[-1.00077704e-02 -9.99931473e-01 6.07394955e-03 1.04909198e+02] [ 9.97541198e-01 -1.04048365e-02 -6.93058344e-02 8.98493709e+01] [ 6.93642835e-02 5.36541803e-03 9.97576969e-01 4.91675661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:89.87, Z:4.93 [[-7.82792601e-03 -9.99827344e-01 -1.68524876e-02 1.04923338e+02] [ 9.97415427e-01 -6.60310202e-03 -7.15462451e-02 8.98743262e+01] [ 7.14226135e-02 -1.73689899e-02 9.97294905e-01 4.92849704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:89.90, Z:4.93 [[-6.12183571e-03 -9.99980328e-01 -1.36651987e-03 1.04915126e+02] [ 9.97412286e-01 -6.00821159e-03 -7.16423966e-02 8.99011259e+01] [ 7.16327769e-02 -1.80156669e-03 9.97429446e-01 4.92620235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:89.93, Z:4.93 [[-1.93453929e-03 -9.99997241e-01 -1.33228381e-03 1.04915745e+02] [ 9.97442221e-01 -1.83439943e-03 -7.14538398e-02 8.99262448e+01] [ 7.14511987e-02 -1.46710638e-03 9.97443018e-01 4.92760815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.012755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:104.93, Y:89.95, Z:4.94 [[ 1.38592000e-03 -9.99852034e-01 -1.71461400e-02 1.04927668e+02] [ 9.97210875e-01 2.66134660e-03 -7.45881179e-02 8.99545567e+01] [ 7.46227132e-02 -1.69949441e-02 9.97067010e-01 4.93736837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.042755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.91, Y:89.98, Z:4.93 [[ 1.91379171e-03 -9.99901533e-01 1.39018440e-02 1.04908774e+02] [ 9.97410280e-01 9.09160404e-04 -7.19159736e-02 8.99794938e+01] [ 7.18962532e-02 1.40034743e-02 9.97313808e-01 4.92691802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:90.00, Z:4.93 [[ 5.12237878e-03 -9.99986116e-01 -1.23675843e-03 1.04919328e+02] [ 9.97462844e-01 5.19726333e-03 -7.09990416e-02 9.00046111e+01] [ 7.10044835e-02 -8.69936601e-04 9.97475617e-01 4.93266751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:90.03, Z:4.93 [[ 5.98935630e-03 -9.99981341e-01 -1.20253126e-03 1.04919755e+02] [ 9.97482305e-01 6.05935659e-03 -7.06564595e-02 9.00305097e+01] [ 7.06624276e-02 -7.76316947e-04 9.97499984e-01 4.93426880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:90.06, Z:4.93 [[ 4.87663069e-03 -9.99979183e-01 4.22513577e-03 1.04916553e+02] [ 9.97402236e-01 4.56031784e-03 -7.18886838e-02 9.00589221e+01] [ 7.18679194e-02 4.56473443e-03 9.97403712e-01 4.93468971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.08, Z:4.94 [[ 5.69654650e-03 -9.99959801e-01 -6.92434712e-03 1.04925816e+02] [ 9.97533878e-01 6.16686298e-03 -6.99151759e-02 9.00816041e+01] [ 6.99550668e-02 -6.50899579e-03 9.97528908e-01 4.93765324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:90.11, Z:4.94 [[ 4.86583860e-03 -9.99987551e-01 -1.10497226e-03 1.04924104e+02] [ 9.97544702e-01 4.93114493e-03 -6.98588000e-02 9.01078878e+01] [ 6.98633792e-02 -7.62337576e-04 9.97556278e-01 4.93784742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.13, Z:4.94 [[ 3.47180786e-03 -9.99993390e-01 -1.07973557e-03 1.04925666e+02] [ 9.97545788e-01 3.53881408e-03 -6.99276554e-02 9.01328156e+01] [ 6.99310142e-02 -8.34310288e-04 9.97551481e-01 4.93953491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:90.16, Z:4.94 [[-2.57052700e-04 -9.99943911e-01 1.05881904e-02 1.04920595e+02] [ 9.97280214e-01 -1.03671903e-03 -7.36960022e-02 9.01590443e+01] [ 7.37028456e-02 1.05404491e-02 9.97224543e-01 4.93964021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.18, Z:4.95 [[-1.33394990e-03 -9.99918071e-01 -1.27307430e-02 1.04935205e+02] [ 9.97572504e-01 -4.44254847e-04 -6.96340574e-02 9.01840231e+01] [ 6.96226966e-02 -1.27927275e-02 9.97491367e-01 4.94502382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.21, Z:4.94 [[-6.15620183e-03 -9.99975204e-01 3.41953920e-03 1.04926996e+02] [ 9.97380655e-01 -6.38660894e-03 -7.20488783e-02 9.02109781e+01] [ 7.20689310e-02 2.96703481e-03 9.97395241e-01 4.94284587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.24, Z:4.95 [[-7.54440075e-03 -9.99961860e-01 -4.40012607e-03 1.04932649e+02] [ 9.97442165e-01 -7.21247083e-03 -7.11133429e-02 9.02360648e+01] [ 7.10788948e-02 -4.92537883e-03 9.97458536e-01 4.94602462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.26, Z:4.95 [[-1.07448644e-02 -9.99936783e-01 3.31331363e-03 1.04928492e+02] [ 9.97310831e-01 -1.09567588e-02 -7.24641747e-02 9.02636015e+01] [ 7.24958969e-02 2.52578584e-03 9.97365512e-01 4.94646691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.29, Z:4.95 [[-1.12962618e-02 -9.99910040e-01 -7.23232975e-03 1.04937076e+02] [ 9.97464175e-01 -1.07597733e-02 -7.03523031e-02 9.02855238e+01] [ 7.02681560e-02 -8.00870786e-03 9.97495988e-01 4.94975248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.31, Z:4.95 [[-1.27833393e-02 -9.99917890e-01 -8.93685149e-04 1.04934065e+02] [ 9.97403552e-01 -1.26878379e-02 -7.08884543e-02 9.03121670e+01] [ 7.08712947e-02 -1.79755591e-03 9.97483849e-01 4.94995756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.34, Z:4.95 [[-1.38569804e-02 -9.99903615e-01 -8.63011810e-04 1.04934852e+02] [ 9.97409739e-01 -1.37614845e-02 -7.06005213e-02 9.03394171e+01] [ 7.05818402e-02 -1.83908642e-03 9.97504297e-01 4.95170728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.37, Z:4.96 [[-1.38955419e-02 -9.99871769e-01 -7.95992896e-03 1.04941160e+02] [ 9.97239644e-01 -1.32773878e-02 -7.30534279e-02 9.03680384e+01] [ 7.29383731e-02 -8.95307369e-03 9.97296263e-01 4.95885846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.39, Z:4.95 [[-1.50869610e-02 -9.99729283e-01 1.77128157e-02 1.04925894e+02] [ 9.97051702e-01 -1.63747567e-02 -7.49651358e-02 9.03945312e+01] [ 7.52348845e-02 1.65295970e-02 9.97028828e-01 4.95291083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.42, Z:4.96 [[-1.44442014e-02 -9.99871280e-01 -6.98492828e-03 1.04940932e+02] [ 9.97251157e-01 -1.38979201e-02 -7.27803354e-02 9.04205938e+01] [ 7.26738911e-02 -8.01698163e-03 9.97323535e-01 4.96085020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.45, Z:4.96 [[-1.31659411e-02 -9.99879055e-01 -8.27853842e-03 1.04941881e+02] [ 9.97433530e-01 -1.25501144e-02 -7.04900492e-02 9.04470272e+01] [ 7.03776271e-02 -9.18535964e-03 9.97478129e-01 4.96260413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.47, Z:4.96 [[-1.24806421e-02 -9.99921825e-01 -7.59592374e-04 1.04937946e+02] [ 9.97470483e-01 -1.23968754e-02 -6.99925279e-02 9.04731528e+01] [ 6.99776397e-02 -1.63122266e-03 9.97547226e-01 4.96239434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.50, Z:4.96 [[-1.03466337e-02 -9.99946210e-01 -7.23654664e-04 1.04939105e+02] [ 9.97557421e-01 -1.02719152e-02 -6.90918158e-02 9.04981000e+01] [ 6.90806661e-02 -1.43675479e-03 9.97610043e-01 4.96435420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.52, Z:4.97 [[-9.66121036e-03 -9.99953193e-01 -5.21787663e-04 1.04939123e+02] [ 9.97543069e-01 -9.60171353e-03 -6.93947562e-02 9.05249557e+01] [ 6.93864980e-02 -1.19094300e-03 9.97589142e-01 4.96660742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.55, Z:4.97 [[-8.24153009e-03 -9.99965675e-01 -8.52060859e-04 1.04940054e+02] [ 9.97602514e-01 -8.16349683e-03 -6.87210447e-02 9.05507189e+01] [ 6.87117301e-02 -1.41638461e-03 9.97635551e-01 4.96826976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.58, Z:4.97 [[-7.28728311e-03 -9.99973245e-01 -6.36445864e-04 1.04940353e+02] [ 9.97639800e-01 -7.22681843e-03 -6.82832548e-02 9.05767613e+01] [ 6.82768284e-02 -1.13254313e-03 9.97665772e-01 4.97007044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.60, Z:4.97 [[-4.67368495e-03 -9.99988892e-01 -6.10618593e-04 1.04940520e+02] [ 9.97645964e-01 -4.62095627e-03 -6.84191242e-02 9.06015957e+01] [ 6.84155426e-02 -9.28950607e-04 9.97656479e-01 4.97227384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.63, Z:4.97 [[-3.57754452e-03 -9.99993434e-01 -5.77242625e-04 1.04940384e+02] [ 9.97694325e-01 -3.53019591e-03 -6.77758910e-02 9.06280145e+01] [ 6.77734082e-02 -8.18382958e-04 9.97700404e-01 4.97365967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.65, Z:4.98 [[-1.95677323e-03 -9.99997933e-01 -5.51965302e-04 1.04940698e+02] [ 9.97689185e-01 -1.91476801e-03 -6.79163025e-02 9.06530173e+01] [ 6.79151053e-02 -6.83586615e-04 9.97690870e-01 4.97552507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.68, Z:4.98 [[-1.58480335e-03 -9.99998607e-01 -5.24625066e-04 1.04941530e+02] [ 9.97688006e-01 -1.54549683e-03 -6.79430252e-02 9.06790088e+01] [ 6.79421197e-02 -6.31088470e-04 9.97689065e-01 4.97731606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.71, Z:4.98 [[-1.89438362e-03 -9.99998081e-01 -4.98556693e-04 1.04941471e+02] [ 9.97687463e-01 -1.85613280e-03 -6.79432165e-02 9.07058509e+01] [ 6.79421607e-02 -6.26114279e-04 9.97689065e-01 4.97915928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.73, Z:4.98 [[-2.04141691e-03 -9.99997801e-01 -4.80450081e-04 1.04942223e+02] [ 9.97656856e-01 -2.00378145e-03 -6.83869999e-02 9.07307624e+01] [ 6.83858868e-02 -6.18930696e-04 9.97658753e-01 4.98117899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.76, Z:4.98 [[-2.27561451e-03 -9.99997305e-01 -4.59252448e-04 1.04943242e+02] [ 9.97661203e-01 -2.23892394e-03 -6.83162559e-02 9.07572755e+01] [ 6.83150436e-02 -6.13639813e-04 9.97663610e-01 4.98284422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.78, Z:4.98 [[-2.95783307e-03 -9.99995531e-01 -4.34391360e-04 1.04943913e+02] [ 9.97651714e-01 -2.92117533e-03 -6.84289788e-02 9.07840618e+01] [ 6.84274040e-02 -6.35772781e-04 9.97655896e-01 4.98460601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.81, Z:4.99 [[-4.16117542e-03 -9.99991259e-01 -4.07685898e-04 1.04944549e+02] [ 9.97643609e-01 -4.12348564e-03 -6.84852298e-02 9.08092856e+01] [ 6.84829501e-02 -6.91704285e-04 9.97652047e-01 4.98650969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:90.84, Z:5.00 [[-3.31231888e-03 -9.99885615e-01 -1.47575322e-02 1.04957199e+02] [ 9.97386894e-01 -2.23826896e-03 -7.22106167e-02 9.08404298e+01] [ 7.21693256e-02 -1.49581538e-02 9.97280222e-01 4.99732113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.86, Z:4.99 [[-7.68288571e-03 -9.99885875e-01 1.30080820e-02 1.04939745e+02] [ 9.97585968e-01 -8.56173558e-03 -6.89125032e-02 9.08633697e+01] [ 6.90160103e-02 1.24472332e-02 9.97537897e-01 4.98673750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:90.89, Z:4.99 [[-9.39052632e-03 -9.99955852e-01 -3.34152224e-04 1.04948420e+02] [ 9.97580824e-01 -9.34520341e-03 -6.88851767e-02 9.08892045e+01] [ 6.88790128e-02 -9.80211915e-04 9.97624539e-01 4.99243939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:90.91, Z:4.99 [[-1.31309399e-02 -9.99913738e-01 -3.08902797e-04 1.04950495e+02] [ 9.97519387e-01 -1.30781294e-02 -6.91667259e-02 9.09148681e+01] [ 6.91567196e-02 -1.21636065e-03 9.97605066e-01 4.99445161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.94, Z:4.99 [[-1.54415129e-02 -9.99758871e-01 1.56127883e-02 1.04941832e+02] [ 9.97164509e-01 -1.65478622e-02 -7.34105537e-02 9.09420180e+01] [ 7.36512106e-02 1.44349484e-02 9.97179588e-01 4.99302316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:90.97, Z:5.02 [[-1.60384359e-02 -9.98925582e-01 -4.34792999e-02 1.04978891e+02] [ 9.97166572e-01 -1.27835619e-02 -7.41310244e-02 9.09709504e+01] [ 7.34955564e-02 -4.45450501e-02 9.96300227e-01 5.01675686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.99, Z:4.99 [[-2.26934260e-02 -9.99246174e-01 3.14974939e-02 1.04932927e+02] [ 9.97429665e-01 -2.47714782e-02 -6.72341934e-02 9.09943931e+01] [ 6.79637500e-02 2.98907606e-02 9.97239927e-01 4.98712941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.02, Z:5.00 [[-2.42224211e-02 -9.99706591e-01 -7.86206012e-05 1.04951954e+02] [ 9.97391394e-01 -2.41609757e-02 -6.80195132e-02 9.10206136e+01] [ 6.79976561e-02 -1.72601280e-03 9.97683988e-01 4.99845903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.05, Z:5.00 [[-2.72476081e-02 -9.99628714e-01 -5.44151240e-05 1.04952596e+02] [ 9.97279539e-01 -2.71798452e-02 -6.85184427e-02 9.10464934e+01] [ 6.84915237e-02 -1.92123077e-03 9.97649848e-01 4.99970047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.07, Z:5.00 [[-2.86573768e-02 -9.99589292e-01 -3.52292944e-05 1.04953207e+02] [ 9.97202823e-01 -2.85865248e-02 -6.90604095e-02 9.10732521e+01] [ 6.90310388e-02 -2.01422093e-03 9.97612479e-01 5.00170643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.10, Z:5.00 [[-2.97353344e-02 -9.99557807e-01 -7.97144734e-06 1.04953632e+02] [ 9.97149265e-01 -2.96631306e-02 -6.93789763e-02 9.10990117e+01] [ 6.93480610e-02 -2.07095578e-03 9.97590376e-01 5.00366102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.11, Z:5.00 [[-2.97025787e-02 -9.99556706e-01 2.03669668e-03 1.04953277e+02] [ 9.97268223e-01 -2.97723156e-02 -6.75995669e-02 9.11075205e+01] [ 6.76302376e-02 2.32514229e-05 9.97710454e-01 5.00284884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.13, Z:5.00 [[-3.07406961e-02 -9.99527222e-01 5.84305320e-04 1.04954262e+02] [ 9.97277807e-01 -3.07107028e-02 -6.70360295e-02 9.11331720e+01] [ 6.70222808e-02 -1.47801948e-03 9.97750384e-01 5.00482209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.16, Z:5.01 [[-3.07426015e-02 -9.99527022e-01 7.89962070e-04 1.04954144e+02] [ 9.97290256e-01 -3.07266336e-02 -6.68432475e-02 9.11601006e+01] [ 6.68359050e-02 -1.26711385e-03 9.97763176e-01 5.00679944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:91.16, Z:5.02 [[-2.55307519e-02 -9.99640124e-01 -8.23431859e-03 1.04962236e+02] [ 9.96612889e-01 -2.48075929e-02 -7.84049247e-02 9.11580774e+01] [ 7.81724350e-02 -1.02081647e-02 9.96887588e-01 5.01582198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:91.18, Z:5.02 [[-2.57629994e-02 -9.99667411e-01 1.15571167e-03 1.04956413e+02] [ 9.96597368e-01 -2.57743907e-02 -7.82902714e-02 9.11846521e+01] [ 7.82940206e-02 -8.65213008e-04 9.96929936e-01 5.01507119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:91.21, Z:5.02 [[-2.54923636e-02 -9.99666145e-01 -4.21165878e-03 1.04958921e+02] [ 9.96799950e-01 -2.50995275e-02 -7.58938251e-02 9.12114856e+01] [ 7.57627769e-02 -6.13289424e-03 9.97107010e-01 5.01736538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:91.24, Z:5.02 [[-2.30619465e-02 -9.99713361e-01 -6.42975935e-03 1.04961078e+02] [ 9.96868325e-01 -2.25087467e-02 -7.58083032e-02 9.12387417e+01] [ 7.56418477e-02 -8.15791047e-03 9.97101680e-01 5.02185542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.26, Z:5.01 [[-2.41141265e-02 -9.99595062e-01 1.51069642e-02 1.04946395e+02] [ 9.97091778e-01 -2.51410306e-02 -7.19438259e-02 9.12632298e+01] [ 7.22944978e-02 1.33281673e-02 9.97294272e-01 5.01298551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:91.26, Z:5.02 [[-2.29257619e-02 -9.99737170e-01 1.32592615e-05 1.04955571e+02] [ 9.97157246e-01 -2.28675518e-02 -7.17948577e-02 9.12592785e+01] [ 7.17762911e-02 -1.63273024e-03 9.97419419e-01 5.01759984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.54, Z:5.04 [[-2.06605539e-02 -9.99786547e-01 5.38343100e-05 1.04954832e+02] [ 9.97183509e-01 -2.06106452e-02 -7.21127623e-02 9.15424508e+01] [ 7.20984791e-02 -1.43620693e-03 9.97396484e-01 5.03799057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:91.16, Z:6.15 [[-6.27473501e-02 9.98029442e-01 -4.92893451e-05 1.04398918e+02] [ 9.95565961e-01 6.25959357e-02 7.02151481e-02 9.11561370e+01] [ 7.00798704e-02 4.35674368e-03 -9.97531869e-01 6.15211406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:91.14, Z:6.15 [[-1.43837947e-01 9.89585956e-01 -5.50272250e-03 1.04428852e+02] [ 9.87155915e-01 1.43870964e-01 6.94575126e-02 9.11375423e+01] [ 6.95258610e-02 4.55858098e-03 -9.97569734e-01 6.15234315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:91.12, Z:6.15 [[-2.22064508e-01 9.74971896e-01 -1.08239062e-02 1.04460370e+02] [ 9.72592595e-01 2.22280050e-01 6.82291937e-02 9.11172303e+01] [ 6.89274848e-02 4.62403134e-03 -9.97610956e-01 6.15262442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:91.10, Z:6.15 [[-2.98511121e-01 9.54272083e-01 -1.59969252e-02 1.04492757e+02] [ 9.51954115e-01 2.98903071e-01 6.66356979e-02 9.11014107e+01] [ 6.83701164e-02 4.66315814e-03 -9.97649128e-01 6.15271721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:91.09, Z:6.15 [[-3.72792613e-01 9.27676836e-01 -2.10084612e-02 1.04525791e+02] [ 9.25429187e-01 3.73354764e-01 6.47073355e-02 9.10882789e+01] [ 6.78711053e-02 4.68057352e-03 -9.97683119e-01 6.15274405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:91.08, Z:6.15 [[-4.44221948e-01 8.95540961e-01 -2.59470267e-02 1.04560305e+02] [ 8.93358793e-01 4.44954773e-01 6.26523452e-02 9.10755845e+01] [ 6.76529949e-02 4.65154236e-03 -9.97698068e-01 6.15276013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:91.07, Z:6.15 [[-5.11183109e-01 8.58920037e-01 -3.07928415e-02 1.04596374e+02] [ 8.56806535e-01 5.12090092e-01 6.03845898e-02 9.10661191e+01] [ 6.76342432e-02 4.48407452e-03 -9.97700106e-01 6.15312585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:91.12, Z:6.16 [[-5.75726916e-01 8.17211996e-01 -2.65154891e-02 1.04582214e+02] [ 8.14776868e-01 5.76120174e-01 6.49938540e-02 9.11218738e+01] [ 6.83898654e-02 1.58145040e-02 -9.97533322e-01 6.15530147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:91.04, Z:6.13 [[-6.36240599e-01 7.71289088e-01 1.76364144e-02 1.04637846e+02] [ 7.68938890e-01 6.32112650e-01 9.57422688e-02 9.10389748e+01] [ 6.26967665e-02 7.44764433e-02 -9.95249906e-01 6.13310747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:91.06, Z:6.16 [[-6.93639224e-01 7.19225283e-01 -3.97444275e-02 1.04707043e+02] [ 7.17725850e-01 6.94766665e-01 4.65713011e-02 9.10605511e+01] [ 6.11083606e-02 3.77807813e-03 -9.98123987e-01 6.15514129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:91.06, Z:6.15 [[-7.45594401e-01 6.65033006e-01 -4.26625198e-02 1.04746779e+02] [ 6.63666569e-01 7.46805449e-01 4.27587065e-02 9.10590286e+01] [ 6.02965534e-02 3.56696406e-03 -9.98174134e-01 6.15489935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:91.06, Z:6.15 [[-7.94478567e-01 6.05603725e-01 -4.52540998e-02 1.04783732e+02] [ 6.04369533e-01 7.95758789e-01 3.87997072e-02 9.10635758e+01] [ 5.95085949e-02 3.47533656e-03 -9.98221743e-01 6.15478407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:91.07, Z:6.15 [[-8.37331713e-01 5.44610289e-01 -4.76994252e-02 1.04827474e+02] [ 5.43462467e-01 8.38680431e-01 3.55482954e-02 9.10672692e+01] [ 5.93645420e-02 3.84286775e-03 -9.98228974e-01 6.15440463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:91.08, Z:6.15 [[-8.76394077e-01 4.79281511e-01 -4.71450470e-02 1.04860782e+02] [ 4.77963949e-01 8.77607185e-01 3.68251525e-02 9.10751870e+01] [ 5.90244467e-02 9.73971269e-03 -9.98209023e-01 6.15347331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:91.09, Z:6.15 [[-9.11974098e-01 4.08019126e-01 -4.27040564e-02 1.04884923e+02] [ 4.06415193e-01 9.12741618e-01 4.15864014e-02 9.10857302e+01] [ 5.59458167e-02 2.05701436e-02 -9.98221887e-01 6.15020480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:91.10, Z:6.15 [[-9.39993754e-01 3.37506565e-01 -5.00106082e-02 1.04927771e+02] [ 3.36285693e-01 9.41238211e-01 3.13458448e-02 9.11048590e+01] [ 5.76513238e-02 1.26470462e-02 -9.98256669e-01 6.15388483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:91.10, Z:6.14 [[-9.63680839e-01 2.64867465e-01 -3.41242806e-02 1.04944249e+02] [ 2.61899103e-01 9.62313903e-01 7.32175688e-02 9.10972531e+01] [ 5.22312215e-02 6.16212496e-02 -9.96732021e-01 6.13814733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:91.15, Z:6.16 [[-9.81320917e-01 1.86103763e-01 -4.87303608e-02 1.04984005e+02] [ 1.85736356e-01 9.82526311e-01 1.20022364e-02 9.11499907e+01] [ 5.01125230e-02 2.72704595e-03 -9.98739855e-01 6.15668890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:91.16, Z:6.16 [[-9.91295167e-01 1.15779754e-01 -6.26812535e-02 1.04998849e+02] [ 1.13058504e-01 9.92552456e-01 4.53585417e-02 9.11573740e+01] [ 6.74660329e-02 3.78770544e-02 -9.97002339e-01 6.15721017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:91.08, Z:6.09 [[-9.97881042e-01 4.52069318e-02 -4.67948723e-02 1.05009001e+02] [ 3.27850886e-02 9.70584047e-01 2.38519905e-01 9.10759669e+01] [ 5.62011096e-02 2.36480317e-01 -9.70009533e-01 6.08604026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:91.12, Z:6.10 [[-9.98638157e-01 -3.98343063e-02 -3.36906458e-02 1.05048576e+02] [-4.57234631e-02 9.79235150e-01 1.97504141e-01 9.11220801e+01] [ 2.51236242e-02 1.98775625e-01 -9.79722948e-01 6.09695116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:91.24, Z:6.17 [[-9.91874926e-01 -1.22081186e-01 -3.57815003e-02 1.05057864e+02] [-1.23068026e-01 9.92036153e-01 2.68054397e-02 9.12412937e+01] [ 3.22241020e-02 3.09912021e-02 -9.99000076e-01 6.16775181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:90.93, Z:5.48 [[-9.86828291e-01 -5.95755397e-02 -1.50401727e-01 1.05085255e+02] [-1.60657593e-01 2.52015976e-01 9.54294025e-01 9.09336284e+01] [-1.89489434e-02 9.65887521e-01 -2.58267758e-01 5.47804704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:91.85, Z:5.05 [[-9.79650022e-01 1.96993825e-01 -3.84612448e-02 1.04944499e+02] [-1.96881468e-01 -9.80404235e-01 -6.72483920e-03 9.18494242e+01] [-3.90323191e-02 9.84317476e-04 9.99237464e-01 5.04887945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:91.85, Z:5.05 [[-9.80225103e-01 1.94062989e-01 -3.87079320e-02 1.04942794e+02] [-1.93947173e-01 -9.80988676e-01 -6.76106017e-03 9.18483711e+01] [-3.92841145e-02 8.79933077e-04 9.99227694e-01 5.04884156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:91.85, Z:5.05 [[-9.80568352e-01 1.92359429e-01 -3.85169667e-02 1.04939420e+02] [-1.92244298e-01 -9.81324188e-01 -6.70577840e-03 9.18472803e+01] [-3.90875507e-02 8.29193123e-04 9.99235446e-01 5.04900298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:91.85, Z:5.05 [[-9.81113315e-01 1.89382431e-01 -3.93822055e-02 1.04936892e+02] [-1.89260594e-01 -9.81903118e-01 -6.83330610e-03 9.18454656e+01] [-3.99636185e-02 7.49252010e-04 9.99200855e-01 5.04869270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:91.83, Z:5.04 [[-9.81128667e-01 1.88995599e-01 -4.08313837e-02 1.04852201e+02] [-1.88975406e-01 -9.81972013e-01 -4.38880985e-03 9.18288743e+01] [-4.09247418e-02 3.41014014e-03 9.99156412e-01 5.04452253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:91.85, Z:5.05 [[-9.81532853e-01 1.87274830e-01 -3.90050815e-02 1.04933287e+02] [-1.87044386e-01 -9.82305445e-01 -9.50839747e-03 9.18459290e+01] [-4.00955874e-02 -2.03712298e-03 9.99193772e-01 5.04988698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:91.28, Z:6.19 [[-9.71796993e-01 -2.31236224e-01 4.62645940e-02 1.05001247e+02] [-2.31104344e-01 9.72893967e-01 8.25298347e-03 9.12813508e+01] [-4.69189332e-02 -2.67172412e-03 -9.98895127e-01 6.18723590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:91.31, Z:6.19 [[-9.50619159e-01 -3.06993057e-01 4.55903221e-02 1.05009319e+02] [-3.06774164e-01 9.51707988e-01 1.18961013e-02 9.13064991e+01] [-4.70406942e-02 -2.67727109e-03 -9.98889386e-01 6.18638612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:91.85, Z:5.05 [[-9.41182639e-01 3.35779810e-01 -3.77777518e-02 1.04777291e+02] [-3.35548697e-01 -9.41940057e-01 -1.24900243e-02 9.18499106e+01] [-3.97782756e-02 9.20881348e-04 9.99208107e-01 5.04503302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:91.88, Z:5.05 [[-9.42297697e-01 3.32217468e-01 -4.13110607e-02 1.04863889e+02] [-3.32052274e-01 -9.43196857e-01 -1.09989401e-02 9.18774657e+01] [-4.26185027e-02 3.35315574e-03 9.99085792e-01 5.04624584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:92.05, Z:5.99 [[-9.42454294e-01 -7.09372331e-02 3.26722838e-01 1.04715747e+02] [-3.34205086e-01 1.72644822e-01 -9.26553143e-01 9.20536371e+01] [ 9.32011008e-03 -9.82426422e-01 -1.86417438e-01 5.98958739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:91.22, Z:6.17 [[-9.19656094e-01 -3.92269618e-01 -1.89001614e-02 1.04733500e+02] [-3.92282155e-01 9.19839392e-01 -3.19429227e-03 9.12226385e+01] [ 1.86381368e-02 4.47654568e-03 -9.99816273e-01 6.16987533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:91.11, Z:5.96 [[-8.94815482e-01 -3.92688149e-01 -2.12370596e-01 1.05013793e+02] [-4.46357591e-01 7.78022126e-01 4.42093284e-01 9.11114622e+01] [-8.37577063e-03 4.90385143e-01 -8.71465580e-01 5.96316095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:91.85, Z:5.04 [[-8.82331724e-01 4.70599515e-01 -5.17934889e-03 1.04641241e+02] [-4.70591902e-01 -8.82346922e-01 -2.67780054e-03 9.18507610e+01] [-5.83015419e-03 7.46512794e-05 9.99983002e-01 5.04073815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:91.85, Z:5.04 [[-8.82594408e-01 4.70106658e-01 -5.18084346e-03 1.04639182e+02] [-4.70099054e-01 -8.82609610e-01 -2.67490411e-03 9.18496140e+01] [-5.83015246e-03 7.46542023e-05 9.99983002e-01 5.04071086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:91.85, Z:5.04 [[-8.82400888e-01 4.70469277e-01 -5.22798700e-03 1.04637656e+02] [-4.70461562e-01 -8.82416371e-01 -2.69548765e-03 9.18489416e+01] [-5.88140545e-03 8.10662362e-05 9.99982701e-01 5.04050420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:91.85, Z:5.04 [[-8.82200713e-01 4.70844763e-01 -5.20686766e-03 1.04635641e+02] [-4.70837139e-01 -8.82216074e-01 -2.68094598e-03 9.18480698e+01] [-5.85589172e-03 8.64542191e-05 9.99982850e-01 5.04038541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:91.85, Z:5.04 [[-8.81315147e-01 4.72498514e-01 -5.36336834e-03 1.04633006e+02] [-4.72490478e-01 -8.81331461e-01 -2.75754035e-03 9.18461751e+01] [-6.02983897e-03 1.03878392e-04 9.99981815e-01 5.03982517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:91.85, Z:5.04 [[-8.80968112e-01 4.73144423e-01 -5.43508348e-03 1.04633764e+02] [-4.73136208e-01 -8.80984870e-01 -2.79048155e-03 9.18460272e+01] [-6.10852709e-03 1.13209527e-04 9.99981336e-01 5.03948834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.922755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.63, Y:91.85, Z:5.04 [[-8.79871803e-01 4.75179813e-01 -5.45483906e-03 1.04634161e+02] [-4.75171601e-01 -8.79888702e-01 -2.79675200e-03 9.18463288e+01] [-6.12861136e-03 1.31201381e-04 9.99981211e-01 5.03900034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:91.85, Z:5.04 [[-8.79292675e-01 4.76247284e-01 -5.73734013e-03 1.04633101e+02] [-4.76238250e-01 -8.79311380e-01 -2.93720984e-03 9.18463881e+01] [-6.44374667e-03 1.49673728e-04 9.99979228e-01 5.03917505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:91.85, Z:5.04 [[-8.78904190e-01 4.76958416e-01 -6.17205711e-03 1.04631029e+02] [-4.76948012e-01 -8.78925845e-01 -3.15493140e-03 9.18461689e+01] [-6.92955159e-03 1.70867935e-04 9.99975976e-01 5.03947841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:91.85, Z:5.04 [[-8.77879773e-01 4.78838663e-01 -6.37486191e-03 1.04631164e+02] [-4.78827647e-01 -8.77902897e-01 -3.25392210e-03 9.18461940e+01] [-7.15461345e-03 1.95907735e-04 9.99974386e-01 5.03969462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:91.84, Z:5.04 [[-8.77910856e-01 4.78777097e-01 -6.70968911e-03 1.04630214e+02] [-4.78764929e-01 -8.77936471e-01 -3.41979313e-03 9.18449907e+01] [-7.52799940e-03 2.10090315e-04 9.99971642e-01 5.03875741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:91.84, Z:5.04 [[-8.78149911e-01 4.78343289e-01 -6.35863242e-03 1.04628640e+02] [-4.78332379e-01 -8.78172909e-01 -3.23679618e-03 9.18427308e+01] [-7.13227846e-03 1.99147491e-04 9.99974545e-01 5.03873553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:91.84, Z:5.04 [[-8.78564123e-01 4.77577542e-01 -6.69124575e-03 1.04626130e+02] [-4.77565476e-01 -8.78589579e-01 -3.40111303e-03 9.18406155e+01] [-7.50315399e-03 2.07412079e-04 9.99971829e-01 5.03871947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:91.84, Z:5.04 [[-8.79217632e-01 4.76364313e-01 -7.30736480e-03 1.04622068e+02] [-4.76349928e-01 -8.79247970e-01 -3.70859309e-03 9.18378854e+01] [-8.19162707e-03 2.20202260e-04 9.99966424e-01 5.03823579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:91.71, Z:5.03 [[-8.79375558e-01 4.76058979e-01 -8.15330947e-03 1.04368623e+02] [-4.76058293e-01 -8.79411100e-01 -2.14925133e-03 9.17075877e+01] [-8.19328124e-03 1.99145150e-03 9.99964452e-01 5.03496622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:92.09, Z:5.71 [[-8.95528233e-01 9.14346197e-02 4.35509925e-01 1.04398845e+02] [-4.43830492e-01 -2.54565749e-01 -8.59191931e-01 9.20945482e+01] [ 3.23060228e-02 -9.62723216e-01 2.68552288e-01 5.70865106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:91.77, Z:5.01 [[-8.88500192e-01 4.56031308e-01 5.10181785e-02 1.04510666e+02] [-4.55362538e-01 -8.89962831e-01 2.47208172e-02 9.17718411e+01] [ 5.66777492e-02 -1.26731644e-03 9.98391720e-01 5.01277869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:91.64, Z:5.02 [[-8.89216336e-01 4.55924629e-01 3.77761952e-02 1.04265186e+02] [-4.54847821e-01 -8.89924132e-01 3.38895054e-02 9.16424926e+01] [ 4.90690079e-02 1.29526817e-02 9.98711400e-01 5.02409795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:92.02, Z:5.83 [[-8.95698970e-01 -7.77288940e-02 4.37814544e-01 1.04360269e+02] [-4.32608612e-01 -7.53562233e-02 -8.98427086e-01 9.20225214e+01] [ 1.02825794e-01 -9.94122557e-01 3.38703026e-02 5.82773344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:91.71, Z:5.00 [[-8.85874984e-01 4.50533343e-01 1.10658119e-01 1.04391701e+02] [-4.47375329e-01 -8.92756668e-01 5.32995968e-02 9.17097023e+01] [ 1.22804019e-01 -2.28893318e-03 9.92428301e-01 4.99512937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:104.77, Y:91.29, Z:6.13 [[-8.66832975e-01 -4.86173232e-01 -1.10617276e-01 1.04772552e+02] [-4.83310770e-01 8.73831498e-01 -5.31903464e-02 9.12868494e+01] [ 1.22520583e-01 7.35537470e-03 -9.92438716e-01 6.13083665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:91.71, Z:5.00 [[-8.48967888e-01 5.17909605e-01 1.04991266e-01 1.04358052e+02] [-5.14295581e-01 -8.55432742e-01 6.11136537e-02 9.17101822e+01] [ 1.21464315e-01 -2.11301484e-03 9.92593550e-01 4.99532943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:91.11, Z:6.17 [[-8.25242223e-01 -5.50295590e-01 -1.27082797e-01 1.04470473e+02] [-5.49850828e-01 8.34218443e-01 -4.17571161e-02 9.11067391e+01] [ 1.28993570e-01 3.54168458e-02 -9.91012768e-01 6.16815129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:91.01, Z:5.31 [[-8.19869186e-01 6.87520506e-02 -5.68408016e-01 1.04787720e+02] [-5.68323431e-01 2.26945471e-02 8.22492210e-01 9.10059218e+01] [ 6.94477886e-02 9.97375613e-01 2.04668414e-02 5.31054078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:91.67, Z:5.03 [[-8.10959945e-01 5.83809133e-01 3.88698415e-02 1.04262613e+02] [-5.83064851e-01 -8.11889966e-01 2.94968396e-02 9.16736499e+01] [ 4.87785586e-02 1.25711709e-03 9.98808826e-01 5.03172792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:91.52, Z:5.05 [[-8.09388484e-01 5.85967444e-01 3.91463461e-02 1.04040371e+02] [-5.85229026e-01 -8.10334090e-01 2.94219435e-02 9.15187231e+01] [ 4.89619197e-02 9.04204266e-04 9.98800237e-01 5.04527311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:91.69, Z:5.03 [[-8.11367392e-01 5.82868550e-01 4.41271943e-02 1.04280918e+02] [-5.82328930e-01 -8.12551338e-01 2.55605386e-02 9.16871185e+01] [ 5.07540448e-02 -4.95755435e-03 9.98698878e-01 5.03139676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:91.10, Z:6.19 [[-7.91580782e-01 -6.09660268e-01 -4.14031710e-02 1.04402257e+02] [-6.08879955e-01 7.92662431e-01 -3.08459374e-02 9.11032407e+01] [ 5.16242806e-02 7.92509568e-04 -9.98666263e-01 6.19470180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:91.38, Z:6.22 [[-7.48623051e-01 -6.55344870e-01 1.00432206e-01 1.04486463e+02] [-6.60223659e-01 7.23051548e-01 -2.03226915e-01 9.13810463e+01] [ 6.05660546e-02 -2.18448072e-01 -9.73967244e-01 6.22419107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:91.63, Z:5.02 [[-7.14667151e-01 6.98847462e-01 2.93783472e-02 1.04144967e+02] [-6.97417382e-01 -7.15157739e-01 4.64586270e-02 9.16289127e+01] [ 5.34776459e-02 1.27134846e-02 9.98488111e-01 5.01721264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:91.43, Z:5.05 [[-7.12955594e-01 6.99121724e-01 5.40660221e-02 1.03912071e+02] [-6.97934050e-01 -7.14956541e-01 4.15355915e-02 9.14303740e+01] [ 6.76932905e-02 -8.12148552e-03 9.97673123e-01 5.05083807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:91.61, Z:5.03 [[-7.20053479e-01 6.91609633e-01 5.65606177e-02 1.04111836e+02] [-6.90335994e-01 -7.22224293e-01 4.27584604e-02 9.16108813e+01] [ 7.04216153e-02 -8.25745206e-03 9.97483138e-01 5.03234686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:91.60, Z:5.02 [[-7.18443946e-01 6.94740657e-01 3.42595425e-02 1.04115114e+02] [-6.93304981e-01 -7.19204531e-01 4.55307272e-02 9.15994137e+01] [ 5.62716655e-02 8.95896385e-03 9.98375298e-01 5.01900947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:91.60, Z:5.02 [[-7.19084821e-01 6.93928360e-01 3.71544267e-02 1.04109484e+02] [-6.92772696e-01 -7.20037223e-01 4.01545668e-02 9.15988567e+01] [ 5.46169630e-02 3.13496713e-03 9.98502458e-01 5.02213837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:91.08, Z:6.24 [[-7.11527047e-01 -7.00892262e-01 4.97925480e-02 1.04208973e+02] [-6.98436048e-01 6.97715948e-01 -1.59309580e-01 9.10794948e+01] [ 7.69177972e-02 -1.48129986e-01 -9.85972190e-01 6.23961005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:91.02, Z:5.89 [[-6.61367121e-01 -5.38564368e-01 -5.22055507e-01 1.04671520e+02] [-7.46972324e-01 5.36035557e-01 3.93316958e-01 9.10186858e+01] [ 6.80138152e-02 6.50087920e-01 -7.56808970e-01 5.88781679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:90.90, Z:6.20 [[-6.16823109e-01 -7.82535840e-01 -8.46576136e-02 1.04214541e+02] [-7.86117585e-01 6.17855167e-01 1.65570599e-02 9.09034346e+01] [ 3.93496512e-02 7.67636158e-02 -9.96272529e-01 6.19905194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:90.81, Z:5.28 [[-5.92707233e-01 1.57351543e-01 -7.89897859e-01 1.04388223e+02] [-8.05417969e-01 -1.15582351e-01 5.81328319e-01 9.08142929e+01] [ 1.74656397e-04 9.80755429e-01 1.95240255e-01 5.27503740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:91.27, Z:5.08 [[-5.68647586e-01 8.22286058e-01 -2.20354712e-02 1.03751662e+02] [-8.21770997e-01 -5.69072293e-01 -2.91402505e-02 9.12732110e+01] [-3.65013978e-02 1.53757799e-03 9.99332419e-01 5.08138506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:91.54, Z:5.09 [[-5.71436971e-01 8.20382235e-01 -2.08032704e-02 1.03950088e+02] [-8.19861562e-01 -5.71815409e-01 -2.92259659e-02 9.15366072e+01] [-3.58720938e-02 3.55004285e-04 9.99356326e-01 5.09394073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.942755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.71, Y:91.22, Z:5.08 [[-5.72232892e-01 8.19764930e-01 -2.31295689e-02 1.03712268e+02] [-8.19314867e-01 -5.72690672e-01 -2.73595087e-02 9.12162220e+01] [-3.56744541e-02 3.29438890e-03 9.99358034e-01 5.07784570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:91.35, Z:5.92 [[-5.96184716e-01 -1.25049222e-03 8.02846325e-01 1.03432771e+02] [-8.02790460e-01 1.28276136e-02 -5.96123251e-01 9.13454937e+01] [-9.55315498e-03 -9.99916941e-01 -8.65151041e-03 5.91606140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:91.12, Z:5.07 [[-5.73532375e-01 8.18900716e-01 2.14996043e-02 1.03642172e+02] [-8.18611390e-01 -5.73915011e-01 2.22924348e-02 9.11241727e+01] [ 3.05942364e-02 -4.81438793e-03 9.99520292e-01 5.06756351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:91.44, Z:5.06 [[-5.78402292e-01 8.15443069e-01 2.24363636e-02 1.03881345e+02] [-8.15112796e-01 -5.78818974e-01 2.36585100e-02 9.14390922e+01] [ 3.22787609e-02 -4.60403069e-03 9.99468301e-01 5.05520190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:91.44, Z:5.05 [[-5.79659080e-01 8.14631003e-01 1.92790013e-02 1.03883247e+02] [-8.14234843e-01 -5.79978795e-01 2.54208035e-02 9.14371141e+01] [ 3.18899866e-02 -9.62235029e-04 9.99490922e-01 5.05404574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:91.43, Z:5.05 [[-5.81084693e-01 8.13613559e-01 1.93275941e-02 1.03882546e+02] [-8.13215772e-01 -5.81405297e-01 2.54556185e-02 9.14337755e+01] [ 3.19482019e-02 -9.25634069e-04 9.99489097e-01 5.05397800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:91.43, Z:5.05 [[-5.81902133e-01 8.13033062e-01 1.91611167e-02 1.03877846e+02] [-8.12642692e-01 -5.82216820e-01 2.52077283e-02 9.14265347e+01] [ 3.16506409e-02 -9.02710579e-04 9.99498585e-01 5.05395380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:91.42, Z:5.05 [[-5.82420783e-01 8.12663022e-01 1.91008836e-02 1.03873224e+02] [-8.12275812e-01 -5.82733222e-01 2.50997301e-02 9.14197199e+01] [ 3.15283420e-02 -8.96581244e-04 9.99502456e-01 5.05441262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:91.42, Z:5.05 [[-5.83099212e-01 8.12180595e-01 1.89206317e-02 1.03877028e+02] [-8.11801295e-01 -5.83405441e-01 2.48344207e-02 9.14245274e+01] [ 3.12084340e-02 -8.78862164e-04 9.99512512e-01 5.05442126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:91.09, Z:5.07 [[-5.83731787e-01 8.11769658e-01 1.69476630e-02 1.03620461e+02] [-8.11375616e-01 -5.83976861e-01 2.53107745e-02 9.10860542e+01] [ 3.04435618e-02 1.02378304e-03 9.99535963e-01 5.06734223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:91.35, Z:6.22 [[-5.80991612e-01 -6.44529792e-01 4.97021221e-01 1.03916783e+02] [-8.11850559e-01 4.15510894e-01 -4.10182114e-01 9.13512743e+01] [ 5.78568600e-02 -6.41819324e-01 -7.64670216e-01 6.22206821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:91.33, Z:5.04 [[-5.39830441e-01 8.40731021e-01 4.18860940e-02 1.03779915e+02] [-8.38491726e-01 -5.41449303e-01 6.13537137e-02 9.13280547e+01] [ 7.42611668e-02 -2.00054089e-03 9.97236821e-01 5.03990343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:91.33, Z:5.04 [[-5.40547810e-01 8.40267664e-01 4.19322994e-02 1.03780289e+02] [-8.38027515e-01 -5.42168181e-01 6.13477702e-02 9.13281630e+01] [ 7.42829060e-02 -1.97901783e-03 9.97235245e-01 5.03990213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:91.33, Z:5.05 [[-5.49372737e-01 8.33019851e-01 6.53262845e-02 1.03766946e+02] [-8.30660462e-01 -5.52937297e-01 6.52958085e-02 9.13315663e+01] [ 9.05140439e-02 -1.83922246e-02 9.95725331e-01 5.04966610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:90.82, Z:5.69 [[-5.50238982e-01 -3.96537401e-01 -7.34843624e-01 1.04502020e+02] [-8.34391693e-01 2.94895543e-01 4.65646992e-01 9.08160445e+01] [ 3.20556616e-02 8.69364543e-01 -4.93130537e-01 5.68668585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:91.28, Z:5.06 [[-5.15089199e-01 8.57116285e-01 5.89841118e-03 1.03741560e+02] [-8.57075748e-01 -5.15122432e-01 8.36909368e-03 9.12849876e+01] [ 1.02116904e-02 -7.44555411e-04 9.99947582e-01 5.05681744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:91.39, Z:5.96 [[-5.37330691e-01 -1.55148070e-01 8.28978169e-01 1.03480288e+02] [-8.41346622e-01 3.05365631e-02 -5.39632634e-01 9.13858807e+01] [ 5.84088175e-02 -9.87419159e-01 -1.46941537e-01 5.96263768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:90.69, Z:6.22 [[-4.79215358e-01 -8.76180340e-01 -5.15815223e-02 1.03987575e+02] [-8.73699942e-01 4.81810859e-01 -6.71320128e-02 9.06928100e+01] [ 8.36722874e-02 1.28960816e-02 -9.96409875e-01 6.21786584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:91.17, Z:5.04 [[-4.36590944e-01 8.99398667e-01 2.16883572e-02 1.03641063e+02] [-8.96892139e-01 -4.37010798e-01 6.78679054e-02 9.11674320e+01] [ 7.05183499e-02 1.01783958e-02 9.97458552e-01 5.03741626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:91.33, Z:5.88 [[-4.68339556e-01 -8.47897435e-02 8.79470727e-01 1.03361496e+02] [-8.75043761e-01 -9.32649258e-02 -4.74973757e-01 9.13269545e+01] [ 1.22296675e-01 -9.92024371e-01 -3.05150820e-02 5.88110091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:90.91, Z:6.16 [[-4.06716255e-01 -9.03278625e-01 -1.36636794e-01 1.04119394e+02] [-9.02776976e-01 4.20303561e-01 -9.13161933e-02 9.09127795e+01] [ 1.39912896e-01 8.62127712e-02 -9.86403436e-01 6.15981008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:91.00, Z:5.03 [[-3.66919415e-01 9.29562405e-01 3.58312401e-02 1.03540320e+02] [-9.21318581e-01 -3.68451306e-01 1.24160007e-01 9.09968437e+01] [ 1.28616542e-01 1.25447298e-02 9.91615054e-01 5.03480784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:90.98, Z:5.04 [[-3.67379648e-01 9.29008219e-01 4.44513610e-02 1.03525991e+02] [-9.21871822e-01 -3.70056990e-01 1.14935499e-01 9.09777617e+01] [ 1.23225560e-01 1.24650602e-03 9.92377906e-01 5.03826089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.632755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.52, Y:90.98, Z:5.04 [[-3.71172327e-01 9.26892135e-01 5.56962613e-02 1.03519377e+02] [-9.19701413e-01 -3.75235119e-01 1.15533187e-01 9.09770696e+01] [ 1.27985995e-01 -8.34120843e-03 9.91740898e-01 5.04434769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:91.15, Z:5.84 [[-4.06059903e-01 -3.14985491e-02 9.13303453e-01 1.03233498e+02] [-8.95469375e-01 -1.85703249e-01 -4.04535414e-01 9.11548677e+01] [ 1.82345697e-01 -9.82100883e-01 4.72006572e-02 5.83990596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:90.86, Z:6.18 [[-3.47198268e-01 -9.28776825e-01 -1.29718819e-01 1.04041620e+02] [-9.11734125e-01 3.66686927e-01 -1.85152864e-01 9.08633467e+01] [ 2.19531884e-01 5.39843198e-02 -9.74110592e-01 6.17714717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:90.82, Z:5.05 [[-2.98042509e-01 9.52863329e-01 5.67638979e-02 1.03448076e+02] [-9.32447590e-01 -3.03348790e-01 1.96267681e-01 9.08213197e+01] [ 2.04235536e-01 5.56675227e-03 9.78905949e-01 5.05452123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.91, Y:90.56, Z:6.26 [[-2.75364971e-01 -9.56054011e-01 -1.00672045e-01 1.03910452e+02] [-9.36217594e-01 2.90478322e-01 -1.97785140e-01 9.05601467e+01] [ 2.18336323e-01 3.97878408e-02 -9.75062140e-01 6.25600642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.14, Y:90.25, Z:5.48 [[-2.25471457e-01 1.86593209e-02 -9.74071071e-01 1.04144383e+02] [-9.61513805e-01 1.56873961e-01 2.25569865e-01 9.02504164e+01] [ 1.57015368e-01 9.87442348e-01 -1.74294059e-02 5.47977263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:90.50, Z:5.14 [[-2.23703778e-01 9.74261332e-01 2.77754695e-02 1.03332907e+02] [-9.66629353e-01 -2.25421193e-01 1.21708582e-01 9.04993167e+01] [ 1.24837145e-01 3.78085640e-04 9.92177174e-01 5.14186398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:90.67, Z:5.87 [[ -0.26135729 0.10393389 0.9596302 103.01646164] [ -0.95035723 -0.20163091 -0.23699391 90.67156624] [ 0.16885941 -0.97393158 0.15147203 5.86797532] [ 0. 0. 0. 1. ]] SLAMing on 170.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:90.67, Z:6.11 [[-2.25641146e-01 -8.97491271e-01 -3.78939957e-01 1.04078904e+02] [-9.56507245e-01 2.77910465e-01 -8.86547464e-02 9.06721906e+01] [ 1.84878241e-01 3.42454655e-01 -9.21164939e-01 6.11285332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:90.76, Z:6.24 [[-1.51217058e-01 -9.87869588e-01 -3.53140063e-02 1.03879761e+02] [-9.73022612e-01 1.55051472e-01 -1.70839216e-01 9.07557910e+01] [ 1.74242355e-01 8.52752309e-03 -9.84665874e-01 6.23589789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:90.62, Z:5.10 [[-9.51006868e-02 9.95236775e-01 2.14387644e-02 1.03334428e+02] [-9.80497378e-01 -9.73697129e-02 1.70716227e-01 9.06200866e+01] [ 1.71990553e-01 -4.78542192e-03 9.85086976e-01 5.10377470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:90.62, Z:5.10 [[-9.66906419e-02 9.95081390e-01 2.15394102e-02 1.03333947e+02] [-9.80334043e-01 -9.89535570e-02 1.70743544e-01 9.06160814e+01] [ 1.72035125e-01 -4.60651420e-03 9.85080045e-01 5.10476304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.34, Y:90.63, Z:5.09 [[-9.44074337e-02 9.95478948e-01 1.04355546e-02 1.03343347e+02] [-9.82234511e-01 -9.48488125e-02 1.61923029e-01 9.06278778e+01] [ 1.62180767e-01 5.03657579e-03 9.86748211e-01 5.09372451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.022755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:103.34, Y:90.63, Z:5.10 [[-9.54615056e-02 9.95159307e-01 2.33464205e-02 1.03335827e+02] [-9.81631247e-01 -9.80040430e-02 1.63692705e-01 9.06268735e+01] [ 1.65188363e-01 -7.29122379e-03 9.86235085e-01 5.09759834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:90.62, Z:5.09 [[-9.55786178e-02 9.95351957e-01 1.17986816e-02 1.03341860e+02] [-9.82876814e-01 -9.62432982e-02 1.57131779e-01 9.06150960e+01] [ 1.57536967e-01 3.42178758e-03 9.87507162e-01 5.09369501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.082755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.34, Y:90.61, Z:5.10 [[-9.77250822e-02 9.95015526e-01 1.98471799e-02 1.03335380e+02] [-9.82693497e-01 -9.96298322e-02 1.56164617e-01 9.06067843e+01] [ 1.57363590e-01 -4.24249455e-03 9.87531621e-01 5.09753358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:90.61, Z:5.09 [[-9.61293172e-02 9.95251661e-01 1.52736924e-02 1.03339487e+02] [-9.83684826e-01 -9.73339630e-02 1.51295285e-01 9.06111818e+01] [ 1.52063532e-01 -4.80587034e-04 9.88370604e-01 5.09313008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.142755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.34, Y:90.60, Z:5.09 [[-9.29921707e-02 9.95612685e-01 1.03844549e-02 1.03340483e+02] [-9.84966349e-01 -9.35127385e-02 1.45246891e-01 9.05975090e+01] [ 1.45580726e-01 3.27848509e-03 9.89340944e-01 5.09062920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:90.61, Z:5.11 [[-1.01538587e-01 9.93707520e-01 4.72787404e-02 1.03319217e+02] [-9.79913163e-01 -1.08102345e-01 1.67583043e-01 9.06129268e+01] [ 1.71639472e-01 -2.93129147e-02 9.84723639e-01 5.11312982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:90.58, Z:5.09 [[-9.63194175e-02 9.95348397e-01 2.03424329e-03 1.03343027e+02] [-9.83490354e-01 -9.54860805e-02 1.53717703e-01 9.05844271e+01] [ 1.53196911e-01 1.28053410e-02 9.88112711e-01 5.09446327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:90.61, Z:5.10 [[-1.00181598e-01 9.94605377e-01 2.69033737e-02 1.03330653e+02] [-9.81218490e-01 -1.03240796e-01 1.62946659e-01 9.06110527e+01] [ 1.64845149e-01 -1.00738309e-02 9.86268014e-01 5.10438807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:90.59, Z:5.11 [[-1.04149807e-01 9.94036307e-01 3.23208749e-02 1.03322704e+02] [-9.79523000e-01 -1.08150771e-01 1.69817855e-01 9.05916471e+01] [ 1.72300641e-01 -1.39725435e-02 9.84945307e-01 5.11214594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:90.22, Z:5.17 [[-1.01813927e-01 9.94650012e-01 1.74721926e-02 1.03281753e+02] [-9.80006007e-01 -1.03302066e-01 1.70049728e-01 9.02228470e+01] [ 1.70944878e-01 1.90576884e-04 9.85280576e-01 5.17346842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:90.68, Z:5.80 [[-1.10714026e-01 1.80716910e-01 9.77283891e-01 1.02993886e+02] [-9.67044551e-01 -2.46436469e-01 -6.39836169e-02 9.06803929e+01] [ 2.29275470e-01 -9.52160945e-01 2.02045276e-01 5.80054157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:90.46, Z:5.11 [[-1.13484390e-01 9.93346298e-01 1.96067815e-02 1.03320147e+02] [-9.62144663e-01 -1.14798678e-01 2.47181939e-01 9.04622048e+01] [ 2.47788097e-01 9.18673133e-03 9.68770697e-01 5.10746117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:90.47, Z:5.11 [[-1.15916350e-01 9.91930552e-01 5.13534830e-02 1.03302985e+02] [-9.59630512e-01 -1.25181453e-01 2.51870768e-01 9.04719538e+01] [ 2.56266813e-01 -2.00844291e-02 9.66397401e-01 5.11341565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:90.43, Z:5.66 [[-1.28313274e-01 -3.30217805e-01 -9.35142719e-01 1.04206873e+02] [-9.70387524e-01 2.36390445e-01 4.96750557e-02 9.04325182e+01] [ 2.04655216e-01 9.13824796e-01 -3.50771270e-01 5.65649559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:90.45, Z:5.13 [[-8.79814554e-02 9.95937538e-01 1.91751059e-02 1.03305534e+02] [-9.79642615e-01 -8.99968902e-02 1.79446111e-01 9.04479557e+01] [ 1.80442818e-01 -2.99682095e-03 9.83580911e-01 5.12691431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:90.45, Z:5.12 [[-8.57529186e-02 9.96244646e-01 1.19600581e-02 1.03308565e+02] [-9.81234901e-01 -8.65295423e-02 1.72309915e-01 9.04460156e+01] [ 1.72697729e-01 3.04045164e-03 9.84970177e-01 5.12095414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.03, Y:90.57, Z:6.00 [[-9.13714732e-02 -9.93068682e-02 9.90852865e-01 1.03034986e+02] [-9.70643239e-01 -2.13431881e-01 -1.10898760e-01 9.05723925e+01] [ 2.22492599e-01 -9.71897617e-01 -7.68899549e-02 5.99592849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:90.32, Z:5.14 [[-8.77817258e-02 9.95848619e-01 2.40810575e-02 1.03283858e+02] [-9.62418068e-01 -9.10220648e-02 2.55864115e-01 9.03156697e+01] [ 2.56993833e-01 -7.15851237e-04 9.66412778e-01 5.13891497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:90.48, Z:6.24 [[-7.23333227e-02 -9.91930811e-01 -1.04120876e-01 1.03867169e+02] [-9.67468091e-01 9.51556185e-02 -2.34416085e-01 9.04838450e+01] [ 2.42432224e-01 8.37775308e-02 -9.66544330e-01 6.24386443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:90.33, Z:5.66 [[-3.06482358e-02 -3.11706044e-01 -9.49684173e-01 1.04163332e+02] [-9.79430020e-01 1.98951498e-01 -3.36918135e-02 9.03320392e+01] [ 1.99443030e-01 9.29116593e-01 -3.11391769e-01 5.65622436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:89.89, Z:5.23 [[ 1.57284009e-02 9.99875125e-01 1.53337762e-03 1.03254590e+02] [-9.84443082e-01 1.52172078e-02 1.75043578e-01 8.98929851e+01] [ 1.74998386e-01 -4.26267857e-03 9.84559493e-01 5.22924267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.28, Y:89.97, Z:6.40 [[ 6.74754712e-03 -6.78132765e-01 7.34908446e-01 1.03277885e+02] [-9.78921612e-01 -1.54499382e-01 -1.33575514e-01 8.99652223e+01] [ 2.04124834e-01 -7.18516453e-01 -6.64881312e-01 6.39832885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68275509600002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:103.87, Y:89.97, Z:6.36 [[ 7.14859427e-02 -9.94662917e-01 -7.44005451e-02 1.03871416e+02] [-9.71243128e-01 -5.24308964e-02 -2.32245103e-01 8.99670947e+01] [ 2.27104704e-01 8.88632782e-02 -9.69807595e-01 6.36010420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:89.62, Z:5.27 [[ 1.36501516e-01 9.90088887e-01 -3.30353186e-02 1.03309833e+02] [-9.64151427e-01 1.40437690e-01 2.25142801e-01 8.96225291e+01] [ 2.27550789e-01 1.11871580e-03 9.73765571e-01 5.26838709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:89.94, Z:6.43 [[ 0.15545252 -0.97534292 0.15665475 103.77672643] [ -0.96154029 -0.18574981 -0.20232961 89.93684532] [ 0.22643934 -0.11917721 -0.96670679 6.42575207] [ 0. 0. 0. 1. ]] SLAMing on 171.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:89.54, Z:5.31 [[ 2.05766467e-01 9.78513433e-01 -1.31004870e-02 1.03339910e+02] [-9.49199557e-01 2.02823244e-01 2.40588721e-01 8.95382184e+01] [ 2.38076378e-01 -3.70701146e-02 9.70538739e-01 5.30521755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:89.90, Z:6.42 [[ 2.33057999e-01 -9.68387078e-01 8.89406302e-02 1.03839099e+02] [-9.43938344e-01 -2.47262800e-01 -2.18727022e-01 8.99043591e+01] [ 2.33804131e-01 -3.29783891e-02 -9.71724269e-01 6.42401600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.832755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:103.40, Y:89.47, Z:5.31 [[ 2.75758272e-01 9.58929516e-01 -6.64195703e-02 1.03402792e+02] [-9.28998202e-01 2.83618247e-01 2.37745727e-01 8.94676629e+01] [ 2.46819197e-01 -3.85668964e-03 9.69053874e-01 5.30866157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:89.44, Z:5.32 [[ 2.75070880e-01 9.60169814e-01 -4.90911296e-02 1.03402035e+02] [-9.30436642e-01 2.78716989e-01 2.37916994e-01 8.94353213e+01] [ 2.42123248e-01 -1.97678510e-02 9.70044105e-01 5.32157350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:89.85, Z:6.44 [[ 3.10030363e-01 -9.48626274e-01 6.31614252e-02 1.03885711e+02] [-9.19799607e-01 -3.16089513e-01 -2.32499681e-01 8.98503384e+01] [ 2.40519970e-01 1.39861064e-02 -9.70543421e-01 6.43986917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:89.37, Z:5.33 [[ 3.48159562e-01 9.33824605e-01 -8.21980926e-02 1.03457616e+02] [-9.05628224e-01 3.57698079e-01 2.27792899e-01 8.93718959e+01] [ 2.42120714e-01 -4.86736347e-03 9.70233925e-01 5.33088366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:89.34, Z:5.36 [[ 3.43718179e-01 9.37880144e-01 -4.73143590e-02 1.03439997e+02] [-9.05342766e-01 3.44333821e-01 2.48573321e-01 8.93355358e+01] [ 2.49423916e-01 -4.26034564e-02 9.67456798e-01 5.36326295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:89.81, Z:6.31 [[ 0.37896005 -0.883548 -0.27519485 104.11234217] [ -0.89967077 -0.28209946 -0.33318525 89.81302473] [ 0.21675284 0.37384866 -0.90180673 6.30538221] [ 0. 0. 0. 1. ]] SLAMing on 172.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:89.26, Z:5.38 [[ 4.12538815e-01 9.09728027e-01 -4.69749085e-02 1.03486762e+02] [-8.81803111e-01 4.11750215e-01 2.29967464e-01 8.92604977e+01] [ 2.28549776e-01 -5.34478846e-02 9.72063950e-01 5.37798263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:89.76, Z:6.38 [[ 0.44762244 -0.88235786 -0.14518528 104.08378072] [ -0.87070627 -0.39307818 -0.29556747 89.76071475] [ 0.20372711 0.25871636 -0.94422514 6.37606665] [ 0. 0. 0. 1. ]] SLAMing on 172.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:89.19, Z:5.39 [[ 4.82206018e-01 8.74729388e-01 -4.82271048e-02 1.03539669e+02] [-8.49730568e-01 4.80399895e-01 2.17195539e-01 8.91884624e+01] [ 2.13155617e-01 -6.37529509e-02 9.74936021e-01 5.38949856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:89.72, Z:6.41 [[ 5.11569821e-01 -8.54425224e-01 -9.08507231e-02 1.04089573e+02] [-8.37589793e-01 -4.72296899e-01 -2.74552323e-01 8.97193216e+01] [ 1.91675916e-01 2.16548321e-01 -9.57270687e-01 6.41069610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:89.14, Z:5.38 [[ 5.51412934e-01 8.29357840e-01 -9.00519283e-02 1.03620513e+02] [-8.10351943e-01 5.58141536e-01 1.78347287e-01 8.91350332e+01] [ 1.98175442e-01 -2.53692456e-02 9.79838199e-01 5.38190884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:89.65, Z:6.49 [[ 5.72421727e-01 -8.16191624e-01 7.85149659e-02 1.04031058e+02] [-7.97240343e-01 -5.76388278e-01 -1.79400081e-01 8.96535560e+01] [ 1.91679950e-01 4.00972059e-02 -9.80638063e-01 6.49399664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:89.09, Z:5.39 [[ 6.16018850e-01 7.79221799e-01 -1.15473648e-01 1.03698270e+02] [-7.63459195e-01 6.26696840e-01 1.56144574e-01 8.90893733e+01] [ 1.94038226e-01 -8.02858254e-03 9.80961115e-01 5.38545309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:89.07, Z:5.38 [[ 6.17626794e-01 7.74842855e-01 -1.34743062e-01 1.03728502e+02] [-7.62060108e-01 6.31961869e-01 1.41026908e-01 8.90741545e+01] [ 1.94426169e-01 1.55803157e-02 9.80793413e-01 5.38179143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:89.04, Z:5.39 [[ 6.17354224e-01 7.78685955e-01 -1.11901500e-01 1.03730266e+02] [-7.62899900e-01 6.27314198e-01 1.56398975e-01 8.90445785e+01] [ 1.91983086e-01 -1.11839246e-02 9.81334507e-01 5.39370377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:89.03, Z:5.40 [[ 6.17781024e-01 7.76112253e-01 -1.26476784e-01 1.03755808e+02] [-7.61697421e-01 6.30579985e-01 1.48949392e-01 8.90266353e+01] [ 1.95355177e-01 4.31893169e-03 9.80723050e-01 5.39569171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:89.00, Z:5.40 [[ 6.17837207e-01 7.76530337e-01 -1.23603486e-01 1.03770967e+02] [-7.61672531e-01 6.30079428e-01 1.51178274e-01 8.90029569e+01] [ 1.95274529e-01 7.41817174e-04 9.80748341e-01 5.40104324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:88.97, Z:5.43 [[ 6.15435154e-01 7.81825312e-01 -9.99437465e-02 1.03768042e+02] [-7.62403345e-01 6.22664848e-01 1.76152282e-01 8.89692966e+01] [ 1.99951770e-01 -3.22128602e-02 9.79276070e-01 5.42603820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:89.52, Z:6.54 [[ 6.35415640e-01 -7.63600743e-01 1.14720832e-01 1.04128501e+02] [-7.48529530e-01 -6.45606966e-01 -1.51311560e-01 8.95185820e+01] [ 1.89606188e-01 1.02738017e-02 -9.81806469e-01 6.54053561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:89.52, Z:6.55 [[ 6.93628199e-01 -7.09170354e-01 1.26322328e-01 1.04134004e+02] [-6.94985974e-01 -7.04961026e-01 -1.41507769e-01 8.95183154e+01] [ 1.89405432e-01 1.03615329e-02 -9.81844296e-01 6.54592122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:89.52, Z:6.55 [[ 7.47105034e-01 -6.50398877e-01 1.37169122e-01 1.04138748e+02] [-6.37177764e-01 -7.59521870e-01 -1.30885549e-01 8.95199276e+01] [ 1.89310763e-01 1.03841383e-02 -9.81862315e-01 6.55115958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:89.52, Z:6.56 [[ 7.96198753e-01 -5.86580887e-01 1.48291634e-01 1.04145481e+02] [-5.74224020e-01 -8.09821592e-01 -1.20232128e-01 8.95225278e+01] [ 1.90615635e-01 1.05760517e-02 -9.81607776e-01 6.55663177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:89.53, Z:6.56 [[ 8.39973300e-01 -5.19155735e-01 1.57867595e-01 1.04152520e+02] [-5.07864505e-01 -8.54612357e-01 -1.08219053e-01 8.95258281e+01] [ 1.91098139e-01 1.07257672e-02 -9.81512333e-01 6.56186646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:89.53, Z:6.57 [[ 8.77734567e-01 -4.49725496e-01 1.65314875e-01 1.04158787e+02] [-4.39725314e-01 -8.93103811e-01 -9.49064383e-02 8.95302415e+01] [ 1.90325190e-01 1.06095263e-02 -9.81663771e-01 6.56698081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:89.54, Z:6.57 [[ 9.10161553e-01 -3.76216744e-01 1.73398121e-01 1.04165367e+02] [-3.67380789e-01 -9.26469731e-01 -8.17630342e-02 8.95358420e+01] [ 1.91408733e-01 1.07144318e-02 -9.81451934e-01 6.57294689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:89.54, Z:6.58 [[ 9.36682466e-01 -3.01082667e-01 1.78816067e-01 1.04171224e+02] [-2.93620835e-01 -9.53538104e-01 -6.74676933e-02 8.95395202e+01] [ 1.90821287e-01 1.06916824e-02 -9.81566566e-01 6.57837948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:89.54, Z:6.58 [[ 9.57399061e-01 -2.22747583e-01 1.83767656e-01 1.04175437e+02] [-2.16633146e-01 -9.74815226e-01 -5.29656027e-02 8.95443038e+01] [ 1.90937469e-01 1.08990527e-02 -9.81541692e-01 6.58440960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:89.55, Z:6.59 [[ 9.71650067e-01 -1.43712348e-01 1.87730945e-01 1.04180572e+02] [-1.38993917e-01 -9.89558849e-01 -3.81310407e-02 8.95502855e+01] [ 1.91250719e-01 1.09565689e-02 -9.81480064e-01 6.59024333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:89.55, Z:6.60 [[ 9.79763076e-01 -6.26858016e-02 1.90091572e-01 1.04184840e+02] [-5.93905971e-02 -9.97970092e-01 -2.29880848e-02 8.95549112e+01] [ 1.91146730e-01 1.12332247e-02 -9.81497194e-01 6.59635603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:89.57, Z:6.60 [[ 9.81452227e-01 1.35020018e-02 1.91230806e-01 1.04189999e+02] [ 1.95128555e-02 -9.99371814e-01 -2.95842266e-02 8.95744171e+01] [ 1.90711231e-01 3.27669642e-02 -9.81099155e-01 6.59869049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:89.65, Z:6.56 [[ 9.78436184e-01 7.12244533e-02 1.93880664e-01 1.04198606e+02] [ 9.78866346e-02 -9.86457272e-01 -1.31606447e-01 8.96473558e+01] [ 1.81881393e-01 1.47746836e-01 -9.72157411e-01 6.55989371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:89.60, Z:6.61 [[ 9.68169474e-01 1.75806737e-01 1.78156842e-01 1.04199144e+02] [ 1.76256707e-01 -9.84252672e-01 1.34257363e-02 8.95984929e+01] [ 1.77711683e-01 1.84029504e-02 -9.83910509e-01 6.60858376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:89.64, Z:6.60 [[ 9.51436155e-01 2.46378454e-01 1.84572208e-01 1.04194628e+02] [ 2.52221407e-01 -9.67632221e-01 -8.49984795e-03 8.96448396e+01] [ 1.76503836e-01 5.46401247e-02 -9.82782200e-01 6.60148382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:89.64, Z:6.62 [[ 9.28299912e-01 3.31066436e-01 1.69275776e-01 1.04196256e+02] [ 3.28067404e-01 -9.43522941e-01 4.62194623e-02 8.96398713e+01] [ 1.75017290e-01 1.26283414e-02 -9.84484369e-01 6.61928365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:89.67, Z:6.62 [[ 9.00678497e-01 4.00307574e-01 1.68914448e-01 1.04191340e+02] [ 3.97811555e-01 -9.16110202e-01 4.98805122e-02 8.96655252e+01] [ 1.74711796e-01 2.22698143e-02 -9.84367738e-01 6.62191035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:89.66, Z:6.63 [[ 8.66711318e-01 4.73929894e-01 1.55569747e-01 1.04197041e+02] [ 4.67718366e-01 -8.80540356e-01 7.67346873e-02 8.96646977e+01] [ 1.73352303e-01 6.25600597e-03 -9.84840008e-01 6.63094011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:89.66, Z:6.64 [[ 8.27590402e-01 5.44054460e-01 1.38198662e-01 1.04202797e+02] [ 5.33311470e-01 -8.38890497e-01 1.08819159e-01 8.96586009e+01] [ 1.75137093e-01 -1.63547599e-02 -9.84408208e-01 6.64358019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:89.68, Z:6.64 [[ 7.84137115e-01 6.03320653e-01 1.45372536e-01 1.04194773e+02] [ 5.95267176e-01 -7.97446090e-01 9.86748318e-02 8.96784773e+01] [ 1.75459324e-01 9.16090101e-03 -9.84444058e-01 6.64104459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:89.69, Z:6.65 [[ 7.35197164e-01 6.63950380e-01 1.36583394e-01 1.04191974e+02] [ 6.54917748e-01 -7.47723209e-01 1.09511395e-01 8.96861712e+01] [ 1.74836706e-01 8.93842197e-03 -9.84556870e-01 6.64578698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:89.69, Z:6.65 [[ 6.82077506e-01 7.20244932e-01 1.26560316e-01 1.04188339e+02] [ 7.10380468e-01 -6.93665761e-01 1.19110883e-01 8.96944888e+01] [ 1.73579567e-01 8.66312244e-03 -9.84781744e-01 6.65008304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:89.70, Z:6.66 [[ 6.24036626e-01 7.72709628e-01 1.16181407e-01 1.04185093e+02] [ 7.62050724e-01 -6.34702174e-01 1.28186761e-01 8.97021999e+01] [ 1.72791736e-01 8.54289185e-03 -9.84921334e-01 6.65519843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:89.71, Z:6.66 [[ 5.61780497e-01 8.20607428e-01 1.04910063e-01 1.04179461e+02] [ 8.09305688e-01 -5.71428967e-01 1.35989845e-01 8.97083708e+01] [ 1.71542926e-01 8.50786856e-03 -9.85139909e-01 6.65983286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09275509600002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:104.17, Y:89.72, Z:6.66 [[ 4.95941351e-01 8.63364193e-01 9.29755165e-02 1.04172488e+02] [ 8.51559186e-01 -5.04509946e-01 1.42536547e-01 8.97151359e+01] [ 1.69968024e-01 8.48438738e-03 -9.85413054e-01 6.66466039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:89.72, Z:6.67 [[ 4.26105903e-01 9.01012188e-01 8.13068095e-02 1.04165473e+02] [ 8.88571282e-01 -4.33709260e-01 1.49456862e-01 8.97220489e+01] [ 1.69925970e-01 8.56244480e-03 -9.85419631e-01 6.66843559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:89.73, Z:6.67 [[ 3.53690206e-01 9.32823271e-01 6.88765790e-02 1.04156783e+02] [ 9.19939734e-01 -3.60230804e-01 1.54740603e-01 8.97285842e+01] [ 1.69157101e-01 8.63206596e-03 -9.85551299e-01 6.67264579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:89.73, Z:5.56 [[ 3.07127272e-01 -9.47097277e-01 -9.31642964e-02 1.04813777e+02] [ 9.36080752e-01 3.18291460e-01 -1.49811119e-01 8.97321014e+01] [ 1.71539103e-01 -4.11982244e-02 9.84315520e-01 5.56371164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:89.77, Z:5.54 [[ 3.03957261e-01 -9.52396515e-01 -2.34704349e-02 1.04777574e+02] [ 9.38220408e-01 3.03528031e-01 -1.66172204e-01 8.97718561e+01] [ 1.65385763e-01 2.84888068e-02 9.85817396e-01 5.53630360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:89.78, Z:5.58 [[ 3.08780822e-01 -9.44823173e-01 -1.09378130e-01 1.04840806e+02] [ 9.35112226e-01 3.22583674e-01 -1.46645485e-01 8.97800993e+01] [ 1.73837652e-01 -5.69995137e-02 9.83123353e-01 5.58421079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:89.83, Z:5.54 [[ 3.05382584e-01 -9.52198770e-01 -7.67981444e-03 1.04786678e+02] [ 9.37712254e-01 3.02119941e-01 -1.71520466e-01 8.98270664e+01] [ 1.65641802e-01 4.51779070e-02 9.85150623e-01 5.54175058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:89.84, Z:5.56 [[ 3.04473564e-01 -9.51328142e-01 -4.76509664e-02 1.04818007e+02] [ 9.37676788e-01 3.08150736e-01 -1.60640483e-01 8.98438438e+01] [ 1.67505492e-01 4.22957509e-03 9.85862070e-01 5.55882743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:89.86, Z:5.57 [[ 3.05648611e-01 -9.50083293e-01 -6.26152030e-02 1.04835868e+02] [ 9.37931115e-01 3.11754616e-01 -1.51968034e-01 8.98630785e+01] [ 1.63902869e-01 -1.22799286e-02 9.86400047e-01 5.56721016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:89.89, Z:5.57 [[ 3.07487427e-01 -9.49892523e-01 -5.61754050e-02 1.04842116e+02] [ 9.37455304e-01 3.12527936e-01 -1.53309628e-01 8.98877233e+01] [ 1.63184053e-01 -5.52114828e-03 9.86580195e-01 5.56947676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:89.91, Z:5.59 [[ 3.07196641e-01 -9.48090390e-01 -8.21878118e-02 1.04868158e+02] [ 9.36924670e-01 3.16446502e-01 -1.48437777e-01 8.99111813e+01] [ 1.66740476e-01 -3.14042019e-02 9.85500578e-01 5.58776168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:89.95, Z:5.57 [[ 3.03853477e-01 -9.52110705e-01 -3.40333682e-02 1.04846650e+02] [ 9.38913265e-01 3.05318587e-01 -1.58815745e-01 8.99464410e+01] [ 1.61601191e-01 1.63023354e-02 9.86721485e-01 5.56995772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:89.97, Z:5.57 [[ 3.02403566e-01 -9.52164222e-01 -4.39929232e-02 1.04859190e+02] [ 9.39871371e-01 3.05549199e-01 -1.52582744e-01 8.99678817e+01] [ 1.58725832e-01 4.79387693e-03 9.87311060e-01 5.57334043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:89.99, Z:5.58 [[ 3.01982285e-01 -9.51900198e-01 -5.18913511e-02 1.04872620e+02] [ 9.39991183e-01 3.06388964e-01 -1.50141196e-01 8.99906276e+01] [ 1.58818372e-01 -3.43743099e-03 9.87301833e-01 5.57992742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:90.02, Z:5.59 [[ 3.03174443e-01 -9.50884147e-01 -6.24867679e-02 1.04891571e+02] [ 9.39012972e-01 3.09270009e-01 -1.50355245e-01 9.00160079e+01] [ 1.62295703e-01 -1.30920178e-02 9.86655312e-01 5.59161456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:90.04, Z:5.59 [[ 3.00335552e-01 -9.52794228e-01 -4.45164494e-02 1.04887400e+02] [ 9.40278951e-01 3.03585063e-01 -1.53985725e-01 9.00443915e+01] [ 1.60231239e-01 4.38950745e-03 9.87069745e-01 5.58583691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:90.07, Z:5.59 [[ 2.99458251e-01 -9.52672599e-01 -5.23419024e-02 1.04900684e+02] [ 9.40498873e-01 3.03975065e-01 -1.51858586e-01 9.00672350e+01] [ 1.60582147e-01 -3.75219368e-03 9.87015347e-01 5.59239295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:90.10, Z:5.60 [[ 2.96534415e-01 -9.53863842e-01 -4.70224620e-02 1.04906357e+02] [ 9.41086409e-01 3.00233555e-01 -1.55615497e-01 9.00955851e+01] [ 1.62553717e-01 1.89315064e-03 9.86697879e-01 5.59559117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:90.11, Z:5.60 [[ 2.97422500e-01 -9.52922147e-01 -5.89850626e-02 1.04921270e+02] [ 9.41100484e-01 3.03019506e-01 -1.50030192e-01 9.01147383e+01] [ 1.60840717e-01 -1.08885162e-02 9.86920313e-01 5.60269177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.14, Z:5.61 [[ 2.96693100e-01 -9.53035203e-01 -6.08038316e-02 1.04933108e+02] [ 9.40561425e-01 3.02642470e-01 -1.54115997e-01 9.01425645e+01] [ 1.65279793e-01 -1.14645854e-02 9.86180082e-01 5.61359478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:90.17, Z:5.61 [[ 2.95093869e-01 -9.54310855e-01 -4.70148910e-02 1.04932060e+02] [ 9.41879524e-01 2.98813890e-01 -1.53535736e-01 9.01694173e+01] [ 1.60569522e-01 1.02509118e-03 9.87024001e-01 5.60758517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:90.19, Z:5.61 [[ 2.93262919e-01 -9.54738968e-01 -4.97027437e-02 1.04941346e+02] [ 9.42276987e-01 2.97439866e-01 -1.53764775e-01 9.01939200e+01] [ 1.61588800e-01 -1.74024476e-03 9.86856642e-01 5.61326626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:90.21, Z:5.63 [[ 2.94538694e-01 -9.52355617e-01 -7.91564061e-02 1.04967540e+02] [ 9.41588110e-01 3.03362627e-01 -1.46229095e-01 9.02114854e+01] [ 1.63275195e-01 -3.14626043e-02 9.86078757e-01 5.63143668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:90.24, Z:5.63 [[ 2.94887042e-01 -9.53106966e-01 -6.80348684e-02 1.04971588e+02] [ 9.41199509e-01 3.02012538e-01 -1.51432859e-01 9.02412160e+01] [ 1.64879096e-01 -1.93787971e-02 9.86123393e-01 5.63458061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:90.28, Z:5.62 [[ 2.92262853e-01 -9.55570431e-01 -3.83089501e-02 1.04960876e+02] [ 9.42225478e-01 2.94575195e-01 -1.59488567e-01 9.02750230e+01] [ 1.63687425e-01 1.05169148e-02 9.86456193e-01 5.62470394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:90.29, Z:5.64 [[ 2.92981421e-01 -9.53210914e-01 -7.45039569e-02 1.04989520e+02] [ 9.42050499e-01 3.01110809e-01 -1.47895699e-01 9.02931075e+01] [ 1.63409742e-01 -2.68557975e-02 9.86192690e-01 5.64279575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.98, Y:90.33, Z:5.63 [[ 2.93463917e-01 -9.55069365e-01 -4.14901974e-02 1.04978203e+02] [ 9.41925102e-01 2.96292232e-01 -1.58075981e-01 9.03264241e+01] [ 1.63266750e-01 7.30893824e-03 9.86554888e-01 5.63405666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:90.35, Z:5.64 [[ 2.92939292e-01 -9.54668799e-01 -5.28588237e-02 1.04991661e+02] [ 9.42162536e-01 2.97633578e-01 -1.54090909e-01 9.03493379e+01] [ 1.62838344e-01 -4.66232158e-03 9.86641747e-01 5.64144417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:90.38, Z:5.64 [[ 2.94857072e-01 -9.54824758e-01 -3.69998470e-02 1.04987921e+02] [ 9.41410710e-01 2.96913365e-01 -1.59963521e-01 9.03769955e+01] [ 1.63722880e-01 1.23343233e-02 9.86429259e-01 5.63819171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:90.39, Z:5.65 [[ 2.95272957e-01 -9.52919857e-01 -6.89755539e-02 1.05014335e+02] [ 9.41827522e-01 3.02446202e-01 -1.46585174e-01 9.03947989e+01] [ 1.60545318e-01 -2.16804371e-02 9.86790332e-01 5.65364434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:90.43, Z:5.64 [[ 2.97728959e-01 -9.54350859e-01 -2.39145249e-02 1.04993759e+02] [ 9.40182445e-01 2.97469505e-01 -1.66038739e-01 9.04300040e+01] [ 1.65573055e-01 2.69505245e-02 9.85829211e-01 5.64340522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:90.45, Z:5.66 [[ 2.97370419e-01 -9.51556379e-01 -7.81747450e-02 1.05031862e+02] [ 9.41316003e-01 3.05891209e-01 -1.42670075e-01 9.04452787e+01] [ 1.59671588e-01 -3.11612784e-02 9.86678245e-01 5.66437890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:90.48, Z:5.65 [[ 2.96385684e-01 -9.54541364e-01 -3.17223891e-02 1.05011940e+02] [ 9.42245041e-01 2.97669484e-01 -1.53515998e-01 9.04821753e+01] [ 1.55980158e-01 1.56096804e-02 9.87636840e-01 5.64880043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:90.50, Z:5.66 [[ 2.98248108e-01 -9.53166949e-01 -5.02078929e-02 1.05031607e+02] [ 9.41244270e-01 3.02434897e-01 -1.50307543e-01 9.05035779e+01] [ 1.58452801e-01 -2.42895121e-03 9.87363565e-01 5.66150603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:90.53, Z:5.68 [[ 3.00708039e-01 -9.50386390e-01 -7.96265304e-02 1.05059163e+02] [ 9.40225101e-01 3.09412730e-01 -1.42269185e-01 9.05258168e+01] [ 1.59848159e-01 -3.20853751e-02 9.86620036e-01 5.67954579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:90.56, Z:5.66 [[ 2.97896739e-01 -9.54334765e-01 -2.24207121e-02 1.05030729e+02] [ 9.41848976e-01 2.97662872e-01 -1.55940119e-01 9.05631370e+01] [ 1.55492890e-01 2.53371283e-02 9.87512021e-01 5.65873077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:90.58, Z:5.67 [[ 2.97959421e-01 -9.53318878e-01 -4.90234609e-02 1.05052483e+02] [ 9.41882018e-01 3.01956648e-01 -1.47242818e-01 9.05805741e+01] [ 1.55172318e-01 -2.30193152e-03 9.87884737e-01 5.66999456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:90.60, Z:5.68 [[ 2.99529015e-01 -9.51929203e-01 -6.41339343e-02 1.05070833e+02] [ 9.40975641e-01 3.05850379e-01 -1.44984098e-01 9.06045892e+01] [ 1.57629985e-01 -1.69215258e-02 9.87353255e-01 5.68279074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:90.63, Z:5.68 [[ 2.99280618e-01 -9.52648604e-01 -5.37749902e-02 1.05073277e+02] [ 9.40921867e-01 3.04014893e-01 -1.49134119e-01 9.06329761e+01] [ 1.58420808e-01 -5.96511294e-03 9.87353668e-01 5.68474441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:90.66, Z:5.68 [[ 2.96600317e-01 -9.54402353e-01 -3.38289842e-02 1.05066635e+02] [ 9.42160694e-01 2.98217957e-01 -1.52968219e-01 9.06620218e+01] [ 1.56081639e-01 1.34980831e-02 9.87651924e-01 5.67797180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:90.68, Z:5.69 [[ 2.95926057e-01 -9.53943913e-01 -4.91810888e-02 1.05083582e+02] [ 9.42330940e-01 2.99975217e-01 -1.48415862e-01 9.06840547e+01] [ 1.56333516e-01 -2.42474097e-03 9.87701348e-01 5.68630680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:90.71, Z:5.70 [[ 2.96097797e-01 -9.52900556e-01 -6.56248755e-02 1.05103584e+02] [ 9.41496845e-01 3.02751733e-01 -1.48071198e-01 9.07074612e+01] [ 1.60965171e-01 -1.79420579e-02 9.86796988e-01 5.70098952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:90.74, Z:5.69 [[ 2.93693500e-01 -9.55207103e-01 -3.63802064e-02 1.05092849e+02] [ 9.42953177e-01 2.95748439e-01 -1.52879586e-01 9.07389302e+01] [ 1.56791055e-01 1.05949093e-02 9.87574966e-01 5.69097637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:90.76, Z:5.70 [[ 2.91258176e-01 -9.55334698e-01 -5.00428798e-02 1.05107240e+02] [ 9.43534992e-01 2.95503983e-01 -1.49730138e-01 9.07620127e+01] [ 1.57830267e-01 -3.60708119e-03 9.87459668e-01 5.70012484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:90.78, Z:5.72 [[ 2.92181410e-01 -9.53425446e-01 -7.48995534e-02 1.05131882e+02] [ 9.42485334e-01 3.00350606e-01 -1.46665977e-01 9.07823969e+01] [ 1.62331201e-01 -2.77386587e-02 9.86346363e-01 5.71794252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:90.82, Z:5.70 [[ 2.85343060e-01 -9.58232742e-01 -1.92184709e-02 1.05103208e+02] [ 9.44947167e-01 2.84624786e-01 -1.61442196e-01 9.08189283e+01] [ 1.60169251e-01 2.79059706e-02 9.86695023e-01 5.69869829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:90.84, Z:5.71 [[ 2.85794586e-01 -9.56680608e-01 -5.55308003e-02 1.05135009e+02] [ 9.45217648e-01 2.90961133e-01 -1.48004111e-01 9.08364700e+01] [ 1.57749967e-01 -1.01899189e-02 9.87426510e-01 5.71288326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:90.86, Z:5.72 [[ 2.85469758e-01 -9.57120167e-01 -4.92747675e-02 1.05139822e+02] [ 9.45290651e-01 2.89667036e-01 -1.50061964e-01 9.08640356e+01] [ 1.57900608e-01 -3.74082434e-03 9.87447925e-01 5.71541560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:90.89, Z:5.72 [[ 2.83717421e-01 -9.57645525e-01 -4.91881348e-02 1.05148027e+02] [ 9.45838518e-01 2.87922284e-01 -1.49967517e-01 9.08896440e+01] [ 1.57778082e-01 -3.97563537e-03 9.87466592e-01 5.71967963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:90.92, Z:5.72 [[ 2.80977920e-01 -9.58451826e-01 -4.92088037e-02 1.05156289e+02] [ 9.46618024e-01 2.85220878e-01 -1.50211078e-01 9.09151268e+01] [ 1.58005460e-01 -4.37594413e-03 9.87428542e-01 5.72432937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:90.94, Z:5.73 [[ 2.79475654e-01 -9.58890872e-01 -4.92103069e-02 1.05164147e+02] [ 9.47034127e-01 2.83738249e-01 -1.50396037e-01 9.09395048e+01] [ 1.58176234e-01 -4.57180921e-03 9.87400313e-01 5.72852224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:90.97, Z:5.73 [[ 2.77177675e-01 -9.59550984e-01 -4.93400985e-02 1.05172103e+02] [ 9.47618861e-01 2.81491917e-01 -1.50933080e-01 9.09651236e+01] [ 1.58716824e-01 -4.92032780e-03 9.87311886e-01 5.73295982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:90.99, Z:5.74 [[ 2.76027200e-01 -9.59872682e-01 -4.95320117e-02 1.05180144e+02] [ 9.47823111e-01 2.80390237e-01 -1.51699260e-01 9.09908916e+01] [ 1.59500268e-01 -5.07446344e-03 9.87184843e-01 5.73742293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:91.02, Z:5.74 [[ 2.75225792e-01 -9.60105401e-01 -4.94811288e-02 1.05187705e+02] [ 9.48055844e-01 2.79590879e-01 -1.51720323e-01 9.10153189e+01] [ 1.59501974e-01 -5.15352728e-03 9.87184158e-01 5.74150020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:91.04, Z:5.75 [[ 2.74630945e-01 -9.60281462e-01 -4.93696106e-02 1.05195438e+02] [ 9.48264039e-01 2.78984734e-01 -1.51534917e-01 9.10397942e+01] [ 1.59289539e-01 -5.19924900e-03 9.87218218e-01 5.74546406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74275509600002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:105.20, Y:91.06, Z:5.75 [[ 2.74001265e-01 -9.60452959e-01 -4.95320173e-02 1.05203155e+02] [ 9.48326890e-01 2.78392582e-01 -1.52229036e-01 9.10634038e+01] [ 1.59998174e-01 -5.26159547e-03 9.87103287e-01 5.74808627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:91.09, Z:5.76 [[ 2.76557270e-01 -9.59319907e-01 -5.67573093e-02 1.05215835e+02] [ 9.47494822e-01 2.82061270e-01 -1.50648604e-01 9.10871397e+01] [ 1.60529244e-01 -1.21142900e-02 9.86956740e-01 5.75831869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.802755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.22, Y:91.12, Z:5.76 [[ 2.77099981e-01 -9.59897909e-01 -4.25629599e-02 1.05215976e+02] [ 9.47396010e-01 2.80338904e-01 -1.54437362e-01 9.11160401e+01] [ 1.60176155e-01 2.47061183e-03 9.87085354e-01 5.75545822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.832755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.24, Y:91.14, Z:5.77 [[ 2.78720012e-01 -9.58124111e-01 -6.56760515e-02 1.05238006e+02] [ 9.46464610e-01 2.85636773e-01 -1.50387418e-01 9.11372043e+01] [ 1.62849306e-01 -2.02440757e-02 9.86443248e-01 5.77118322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:91.17, Z:5.76 [[ 2.79425125e-01 -9.59547100e-01 -3.45103258e-02 1.05227417e+02] [ 9.46727283e-01 2.81328465e-01 -1.56721880e-01 9.11691133e+01] [ 1.60090762e-01 1.11201638e-02 9.87039660e-01 5.76237015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.25, Y:91.19, Z:5.78 [[ 2.82688346e-01 -9.57285858e-01 -6.07543025e-02 1.05252732e+02] [ 9.45534466e-01 2.88755805e-01 -1.50281930e-01 9.11898487e+01] [ 1.61405924e-01 -1.49623366e-02 9.86774673e-01 5.77820913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:91.22, Z:5.78 [[ 2.83142883e-01 -9.58004211e-01 -4.53656129e-02 1.05252365e+02] [ 9.45662671e-01 2.86753696e-01 -1.53278933e-01 9.12190882e+01] [ 1.59850620e-01 4.99272383e-04 9.87141089e-01 5.77648363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:91.24, Z:5.78 [[ 2.82272497e-01 -9.58331143e-01 -4.38595193e-02 1.05257742e+02] [ 9.46138194e-01 2.85655584e-01 -1.52392277e-01 9.12430814e+01] [ 1.58570981e-01 1.51898212e-03 9.87346412e-01 5.77885120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.982755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:105.28, Y:91.27, Z:5.79 [[ 2.83772703e-01 -9.57167575e-01 -5.74742216e-02 1.05277265e+02] [ 9.45369324e-01 2.89298431e-01 -1.50277272e-01 9.12675044e+01] [ 1.60467734e-01 -1.16897785e-02 9.86971862e-01 5.78831006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.012755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.28, Y:91.30, Z:5.79 [[ 2.84014116e-01 -9.57593957e-01 -4.84746931e-02 1.05280570e+02] [ 9.45323964e-01 2.88111011e-01 -1.52822276e-01 9.12952612e+01] [ 1.60307781e-01 -2.42060538e-03 9.87064109e-01 5.78957101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:91.32, Z:5.80 [[ 2.84869647e-01 -9.57020008e-01 -5.44241575e-02 1.05292839e+02] [ 9.45033708e-01 2.89901566e-01 -1.51222924e-01 9.13207273e+01] [ 1.60501012e-01 -8.35384231e-03 9.87000323e-01 5.79782011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:91.35, Z:5.79 [[ 2.83640520e-01 -9.58132676e-01 -3.91130436e-02 1.05291861e+02] [ 9.45692815e-01 2.86246126e-01 -1.54039784e-01 9.13504776e+01] [ 1.58786508e-01 6.70300027e-03 9.87290188e-01 5.79427673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.102755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.31, Y:91.37, Z:5.80 [[ 2.83613056e-01 -9.57305948e-01 -5.59370685e-02 1.05310943e+02] [ 9.45407315e-01 2.88899713e-01 -1.50804395e-01 9.13725301e+01] [ 1.60526148e-01 -1.01132183e-02 9.86979776e-01 5.80362345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:91.40, Z:5.81 [[ 2.83629199e-01 -9.57809166e-01 -4.64336053e-02 1.05313771e+02] [ 9.45579306e-01 2.87404249e-01 -1.52573174e-01 9.14007312e+01] [ 1.59481200e-01 -6.32448962e-04 9.87200763e-01 5.80510194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:91.43, Z:5.81 [[ 2.82625048e-01 -9.58219058e-01 -4.40377028e-02 1.05321358e+02] [ 9.45992086e-01 2.86031613e-01 -1.52593869e-01 9.14255518e+01] [ 1.58814529e-01 1.46753124e-03 9.87307344e-01 5.80591097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.192755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.34, Y:91.44, Z:5.81 [[ 2.83440473e-01 -9.57084607e-01 -6.04198049e-02 1.05336823e+02] [ 9.45901290e-01 2.89390239e-01 -1.46710735e-01 9.14399443e+01] [ 1.57899488e-01 -1.55674111e-02 9.87332471e-01 5.81469036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.33, Y:91.47, Z:5.81 [[ 2.79043574e-01 -9.59448061e-01 -3.99262127e-02 1.05333570e+02] [ 9.46887211e-01 2.81833733e-01 -1.54836549e-01 9.14739067e+01] [ 1.59810180e-01 5.40052386e-03 9.87132990e-01 5.81244661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:91.50, Z:5.83 [[ 2.81110636e-01 -9.57566905e-01 -6.35801269e-02 1.05360203e+02] [ 9.45936392e-01 2.87647763e-01 -1.49876970e-01 9.14973527e+01] [ 1.61805908e-01 -1.80107454e-02 9.86658229e-01 5.82825060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.35, Y:91.53, Z:5.82 [[ 2.77332236e-01 -9.60068542e-01 -3.68133994e-02 1.05348670e+02] [ 9.47353633e-01 2.79639453e-01 -1.55957912e-01 9.15260256e+01] [ 1.60024764e-01 8.37684870e-03 9.87077456e-01 5.81891018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:91.55, Z:5.83 [[ 2.77785592e-01 -9.59426827e-01 -4.83252295e-02 1.05363677e+02] [ 9.47358511e-01 2.81934361e-01 -1.51739474e-01 9.15477183e+01] [ 1.59207465e-01 -3.63027770e-03 9.87238474e-01 5.82808867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:91.57, Z:5.83 [[ 2.77632340e-01 -9.59472268e-01 -4.83037394e-02 1.05372166e+02] [ 9.47384293e-01 2.81780075e-01 -1.51865041e-01 9.15736575e+01] [ 1.59321326e-01 -3.59955737e-03 9.87220218e-01 5.83255693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:91.60, Z:5.84 [[ 2.77490330e-01 -9.59521673e-01 -4.81380925e-02 1.05380290e+02] [ 9.47488663e-01 2.81612250e-01 -1.51524828e-01 9.15975812e+01] [ 1.58947633e-01 -3.56362250e-03 9.87280584e-01 5.83635635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:91.62, Z:5.84 [[ 2.78015336e-01 -9.59373916e-01 -4.80537366e-02 1.05388797e+02] [ 9.47347491e-01 2.82117067e-01 -1.51468454e-01 9.16215613e+01] [ 1.58871663e-01 -3.41303373e-03 9.87293343e-01 5.84064827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.40, Y:91.65, Z:5.84 [[ 2.77788541e-01 -9.59439956e-01 -4.80468220e-02 1.05397095e+02] [ 9.47384643e-01 2.81892658e-01 -1.51653777e-01 9.16477586e+01] [ 1.59046739e-01 -3.39113998e-03 9.87265230e-01 5.84326076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:91.67, Z:5.85 [[ 2.78302753e-01 -9.59300577e-01 -4.78537341e-02 1.05405163e+02] [ 9.47311181e-01 2.82368323e-01 -1.51227170e-01 9.16735081e+01] [ 1.58584690e-01 -3.24543957e-03 9.87340044e-01 5.84872691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:91.70, Z:5.85 [[ 2.78947216e-01 -9.59128269e-01 -4.75543417e-02 1.05413610e+02] [ 9.47257572e-01 2.82954964e-01 -1.50464550e-01 9.16975903e+01] [ 1.57770541e-01 -3.07454292e-03 9.87471014e-01 5.85282020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:91.72, Z:5.86 [[ 2.78964394e-01 -9.59129578e-01 -4.74270015e-02 1.05422048e+02] [ 9.47300062e-01 2.82951050e-01 -1.50204178e-01 9.17229551e+01] [ 1.57484790e-01 -3.02598397e-03 9.87516777e-01 5.85729923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:91.75, Z:5.86 [[ 2.79047204e-01 -9.59123341e-01 -4.70645825e-02 1.05430270e+02] [ 9.47446723e-01 2.82973017e-01 -1.49234646e-01 9.17467954e+01] [ 1.56452439e-01 -2.94767369e-03 9.87681095e-01 5.86130098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:91.77, Z:5.87 [[ 2.78921164e-01 -9.59164534e-01 -4.69721364e-02 1.05437982e+02] [ 9.47501751e-01 2.82833796e-01 -1.49149171e-01 9.17713623e+01] [ 1.56343903e-01 -2.90532123e-03 9.87698407e-01 5.86568148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:91.80, Z:5.87 [[ 2.78662628e-01 -9.59245362e-01 -4.68558887e-02 1.05445329e+02] [ 9.47610474e-01 2.82559732e-01 -1.48977806e-01 9.17957532e+01] [ 1.56145857e-01 -2.88658392e-03 9.87729790e-01 5.86949324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:91.82, Z:5.87 [[ 2.78420878e-01 -9.59331440e-01 -4.65295974e-02 1.05452721e+02] [ 9.47828134e-01 2.82267665e-01 -1.48144502e-01 9.18205984e+01] [ 1.55253479e-01 -2.85553914e-03 9.87870540e-01 5.87286213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:91.85, Z:5.88 [[ 2.78076737e-01 -9.59438175e-01 -4.63866064e-02 1.05460582e+02] [ 9.47977361e-01 2.81904698e-01 -1.47880574e-01 9.18462936e+01] [ 1.54958870e-01 -2.85130526e-03 9.87916808e-01 5.87711641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:91.87, Z:5.88 [[ 2.76312692e-01 -9.59964029e-01 -4.60473691e-02 1.05468191e+02] [ 9.48649791e-01 2.80106482e-01 -1.46982762e-01 9.18712844e+01] [ 1.53996331e-01 -3.06962445e-03 9.88066651e-01 5.88059991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:91.90, Z:5.88 [[ 2.74987643e-01 -9.60346032e-01 -4.60140825e-02 1.05476175e+02] [ 9.49023256e-01 2.78792205e-01 -1.47070614e-01 9.18965280e+01] [ 1.54067048e-01 -3.22583300e-03 9.88055129e-01 5.88456547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:91.92, Z:5.89 [[ 2.73668912e-01 -9.60728162e-01 -4.58990746e-02 1.05484081e+02] [ 9.49439253e-01 2.77470665e-01 -1.46884765e-01 9.19208591e+01] [ 1.53851977e-01 -3.38058929e-03 9.88088124e-01 5.88836845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:91.95, Z:5.89 [[ 2.71088389e-01 -9.61462589e-01 -4.58342157e-02 1.05492703e+02] [ 9.50194368e-01 2.74910201e-01 -1.46816362e-01 9.19469000e+01] [ 1.53758733e-01 -3.75120248e-03 9.88101301e-01 5.89199336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:91.97, Z:5.90 [[ 2.69738820e-01 -9.61842604e-01 -4.58232887e-02 1.05500438e+02] [ 9.50556261e-01 2.73575361e-01 -1.46967058e-01 9.19727347e+01] [ 1.53895301e-01 -3.91489309e-03 9.88079405e-01 5.89607475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:92.00, Z:5.90 [[ 2.68609359e-01 -9.62161074e-01 -4.57720482e-02 1.05508027e+02] [ 9.50875927e-01 2.72451345e-01 -1.46987200e-01 9.19976530e+01] [ 1.53896018e-01 -4.04140127e-03 9.88078784e-01 5.89979448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:92.02, Z:5.90 [[ 2.67501874e-01 -9.62463129e-01 -4.59072284e-02 1.05515890e+02] [ 9.51084707e-01 2.71380367e-01 -1.47616313e-01 9.20238800e+01] [ 1.54533579e-01 -4.17402259e-03 9.87978720e-01 5.90385746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:92.05, Z:5.91 [[ 2.67072759e-01 -9.62578242e-01 -4.59920667e-02 1.05523552e+02] [ 9.51130331e-01 2.70971407e-01 -1.48072918e-01 9.20502292e+01] [ 1.54994304e-01 -4.19820694e-03 9.87906443e-01 5.90791843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:92.08, Z:5.91 [[ 2.67218035e-01 -9.62537367e-01 -4.60036764e-02 1.05530319e+02] [ 9.51054185e-01 2.71117686e-01 -1.48294094e-01 9.20751456e+01] [ 1.55211017e-01 -4.12513266e-03 9.87872726e-01 5.91168412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:92.10, Z:5.92 [[ 2.67216039e-01 -9.62530745e-01 -4.61535794e-02 1.05537355e+02] [ 9.50949570e-01 2.71141638e-01 -1.48919871e-01 9.20996188e+01] [ 1.55854112e-01 -4.09594827e-03 9.87771593e-01 5.91560942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:92.12, Z:5.92 [[ 2.67290470e-01 -9.62506601e-01 -4.62260410e-02 1.05544550e+02] [ 9.50862851e-01 2.71228112e-01 -1.49315608e-01 9.21247633e+01] [ 1.56255060e-01 -4.04398610e-03 9.87708460e-01 5.91913240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:92.15, Z:5.92 [[ 2.67820339e-01 -9.62351426e-01 -4.63896485e-02 1.05551244e+02] [ 9.50590074e-01 2.71780114e-01 -1.50046930e-01 9.21491172e+01] [ 1.57005661e-01 -3.91191961e-03 9.87589955e-01 5.92270030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:92.17, Z:5.93 [[ 2.68152815e-01 -9.62253797e-01 -4.64940660e-02 1.05558384e+02] [ 9.50403913e-01 2.72127084e-01 -1.50596319e-01 9.21742295e+01] [ 1.57564175e-01 -3.80531538e-03 9.87501418e-01 5.92699297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:92.20, Z:5.93 [[ 2.69356053e-01 -9.61680323e-01 -5.11690682e-02 1.05568485e+02] [ 9.50317447e-01 2.74030252e-01 -1.47662354e-01 9.21980548e+01] [ 1.56025853e-01 -8.85310939e-03 9.87713296e-01 5.93173281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:92.23, Z:5.93 [[ 2.69294892e-01 -9.62083474e-01 -4.33087818e-02 1.05569358e+02] [ 9.50191431e-01 2.72754644e-01 -1.50801684e-01 9.22267239e+01] [ 1.56896480e-01 -5.41510116e-04 9.87614905e-01 5.93310832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.58, Y:92.25, Z:5.94 [[ 2.70529682e-01 -9.61739460e-01 -4.32539268e-02 1.05575886e+02] [ 9.49674400e-01 2.73965711e-01 -1.51859548e-01 9.22512258e+01] [ 1.57899413e-01 5.36834894e-06 9.87455202e-01 5.93722328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:92.28, Z:5.94 [[ 2.69427730e-01 -9.61691553e-01 -5.05772141e-02 1.05586288e+02] [ 9.50217455e-01 2.74014310e-01 -1.48333900e-01 9.22753224e+01] [ 1.56510339e-01 -8.09408588e-03 9.87643154e-01 5.94333235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:92.30, Z:5.95 [[ 2.70487964e-01 -9.61775384e-01 -4.27126621e-02 1.05588209e+02] [ 9.49865834e-01 2.73839463e-01 -1.50886865e-01 9.23017596e+01] [ 1.56815685e-01 2.41782429e-04 9.87627856e-01 5.94519023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:92.33, Z:5.95 [[ 2.70149830e-01 -9.61735860e-01 -4.56421405e-02 1.05597224e+02] [ 9.50088648e-01 2.73961447e-01 -1.49253768e-01 9.23267005e+01] [ 1.56046888e-01 -3.04319953e-03 9.87744961e-01 5.95018290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:92.35, Z:5.95 [[ 2.69588303e-01 -9.61899105e-01 -4.55220652e-02 1.05604242e+02] [ 9.50285060e-01 2.73387371e-01 -1.49055859e-01 9.23518716e+01] [ 1.55821855e-01 -3.07522235e-03 9.87780387e-01 5.95438012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:92.38, Z:5.96 [[ 2.68861494e-01 -9.62110402e-01 -4.53549459e-02 1.05611199e+02] [ 9.50561403e-01 2.72642052e-01 -1.48658439e-01 9.23765921e+01] [ 1.55391496e-01 -3.14413107e-03 9.87847963e-01 5.95818596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:92.40, Z:5.96 [[ 2.67237287e-01 -9.62577615e-01 -4.50396274e-02 1.05617532e+02] [ 9.51173803e-01 2.70985430e-01 -1.47767703e-01 9.24026655e+01] [ 1.54442966e-01 -3.35147370e-03 9.87996021e-01 5.96181027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:92.43, Z:5.97 [[ 2.66246511e-01 -9.62990139e-01 -4.19855695e-02 1.05622494e+02] [ 9.51342062e-01 2.69536562e-01 -1.49326227e-01 9.24297184e+01] [ 1.55116330e-01 -1.85051250e-04 9.87896194e-01 5.96540154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:92.46, Z:5.97 [[ 2.65878480e-01 -9.62945371e-01 -4.52199854e-02 1.05632047e+02] [ 9.51448136e-01 2.69672921e-01 -1.48401346e-01 9.24553425e+01] [ 1.55096995e-01 -3.56774634e-03 9.87892805e-01 5.97074732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:92.48, Z:5.98 [[ 2.64626768e-01 -9.63157332e-01 -4.79648664e-02 1.05639809e+02] [ 9.51970804e-01 2.68850415e-01 -1.46530008e-01 9.24796433e+01] [ 1.54026826e-01 -6.88539005e-03 9.88042675e-01 5.97513781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:92.51, Z:5.98 [[ 2.64335451e-01 -9.63790014e-01 -3.51507774e-02 1.05638844e+02] [ 9.51580857e-01 2.66570026e-01 -1.53082639e-01 9.25066082e+01] [ 1.56909663e-01 7.01636166e-03 9.87588036e-01 5.97594376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:92.53, Z:5.99 [[ 2.62661912e-01 -9.63337198e-01 -5.46823782e-02 1.05656872e+02] [ 9.52376876e-01 2.67936138e-01 -1.45562745e-01 9.25287085e+01] [ 1.54877392e-01 -1.38444436e-02 9.87836689e-01 5.98515477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:92.56, Z:5.99 [[ 2.62093389e-01 -9.63995964e-01 -4.49314620e-02 1.05658211e+02] [ 9.52475534e-01 2.65889154e-01 -1.48638204e-01 9.25569893e+01] [ 1.55233417e-01 -3.83902775e-03 9.87870360e-01 5.98622974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:92.58, Z:5.99 [[ 2.61803602e-01 -9.64069843e-01 -4.50356644e-02 1.05664848e+02] [ 9.52465570e-01 2.65621157e-01 -1.49180225e-01 9.25819950e+01] [ 1.55782581e-01 -3.83899953e-03 9.87783908e-01 5.99021646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:92.61, Z:5.99 [[ 2.61637584e-01 -9.64113292e-01 -4.50703313e-02 1.05670762e+02] [ 9.52459011e-01 2.65463795e-01 -1.49501863e-01 9.26079089e+01] [ 1.56101275e-01 -3.81233689e-03 9.87733698e-01 5.99387356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:92.63, Z:6.00 [[ 2.61347727e-01 -9.64186639e-01 -4.51828650e-02 1.05677268e+02] [ 9.52443543e-01 2.65197259e-01 -1.50072354e-01 9.26328125e+01] [ 1.56680131e-01 -3.81305926e-03 9.87642039e-01 5.99788495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:92.66, Z:6.00 [[ 2.61282719e-01 -9.64209340e-01 -4.50742736e-02 1.05684379e+02] [ 9.52490752e-01 2.65115440e-01 -1.49917211e-01 9.26591070e+01] [ 1.56501461e-01 -3.76205225e-03 9.87670562e-01 6.00222879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:92.69, Z:6.01 [[ 2.61739395e-01 -9.64077043e-01 -4.52542212e-02 1.05691769e+02] [ 9.52230153e-01 2.65597774e-01 -1.50716815e-01 9.26851321e+01] [ 1.57322042e-01 -3.64390594e-03 9.87540631e-01 6.00651228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:92.71, Z:6.01 [[ 2.62031213e-01 -9.63997733e-01 -4.52549854e-02 1.05699401e+02] [ 9.52117253e-01 2.65886861e-01 -1.50920225e-01 9.27106816e+01] [ 1.57519461e-01 -3.54224264e-03 9.87509530e-01 6.01102644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:92.74, Z:6.02 [[ 2.63333387e-01 -9.63651901e-01 -4.50615315e-02 1.05706245e+02] [ 9.51836565e-01 2.67141062e-01 -1.50475269e-01 9.27350875e+01] [ 1.57043564e-01 -3.26605119e-03 9.87586276e-01 6.01571606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:92.76, Z:6.02 [[ 2.64046926e-01 -9.63466488e-01 -4.48502687e-02 1.05713438e+02] [ 9.51735310e-01 2.67810986e-01 -1.49923897e-01 9.27608714e+01] [ 1.56458045e-01 -3.09864032e-03 9.87679745e-01 6.01985003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:92.79, Z:6.02 [[ 2.64699738e-01 -9.63292365e-01 -4.47422460e-02 1.05720563e+02] [ 9.51584069e-01 2.68438467e-01 -1.49761642e-01 9.27866674e+01] [ 1.56274786e-01 -2.93414116e-03 9.87709260e-01 6.02432201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:92.81, Z:6.03 [[ 2.65163507e-01 -9.63165486e-01 -4.47276286e-02 1.05727312e+02] [ 9.51431554e-01 2.68894744e-01 -1.49912026e-01 9.28116630e+01] [ 1.56417113e-01 -2.80407875e-03 9.87687108e-01 6.02847002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:92.84, Z:6.03 [[ 2.65899227e-01 -9.62962204e-01 -4.47369586e-02 1.05734944e+02] [ 9.51187330e-01 2.69623606e-01 -1.50152507e-01 9.28371713e+01] [ 1.56653329e-01 -2.62779285e-03 9.87650155e-01 6.03285036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:92.86, Z:6.04 [[ 2.65757555e-01 -9.63002029e-01 -4.47215134e-02 1.05742424e+02] [ 9.51205233e-01 2.69481622e-01 -1.50293915e-01 9.28627049e+01] [ 1.56784971e-01 -2.59759402e-03 9.87629346e-01 6.03746776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:92.89, Z:6.04 [[ 2.64866779e-01 -9.63252302e-01 -4.46160459e-02 1.05750046e+02] [ 9.51483655e-01 2.68584794e-01 -1.50136815e-01 9.28889450e+01] [ 1.56602824e-01 -2.68518398e-03 9.87658010e-01 6.04200444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:92.91, Z:6.05 [[ 2.63973650e-01 -9.63505184e-01 -4.44485324e-02 1.05757578e+02] [ 9.51798024e-01 2.67675326e-01 -1.49767958e-01 9.29141449e+01] [ 1.56199980e-01 -2.77123067e-03 9.87721563e-01 6.04643238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:92.94, Z:6.05 [[ 2.62707734e-01 -9.63852104e-01 -4.44271152e-02 1.05765753e+02] [ 9.52128739e-01 2.66421835e-01 -1.49900866e-01 9.29400206e+01] [ 1.56318618e-01 -2.92021647e-03 9.87702365e-01 6.05111866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:92.96, Z:6.06 [[ 2.60108572e-01 -9.64568584e-01 -4.41698689e-02 1.05774388e+02] [ 9.52960197e-01 2.63811897e-01 -1.49231856e-01 9.29644261e+01] [ 1.55596897e-01 -3.27564205e-03 9.87815203e-01 6.05572697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:92.99, Z:6.06 [[ 2.58675225e-01 -9.64961405e-01 -4.40069860e-02 1.05782585e+02] [ 9.53411845e-01 2.62369272e-01 -1.48889958e-01 9.29891545e+01] [ 1.55219144e-01 -3.44263836e-03 9.87874064e-01 6.06005495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:93.02, Z:6.05 [[ 2.53941453e-01 -9.67100513e-01 -1.51768623e-02 1.05769548e+02] [ 9.55624875e-01 2.53288729e-01 -1.50419138e-01 9.30198874e+01] [ 1.49314554e-01 2.36942674e-02 9.88505815e-01 6.04603433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:93.04, Z:6.06 [[ 2.52391072e-01 -9.66609008e-01 -4.43370306e-02 1.05795849e+02] [ 9.56092057e-01 2.56174265e-01 -1.42347201e-01 9.30385250e+01] [ 1.48952093e-01 -6.46312004e-03 9.88823292e-01 6.06023762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:93.06, Z:6.08 [[ 2.53545558e-01 -9.65190814e-01 -6.41976840e-02 1.05818764e+02] [ 9.55126495e-01 2.60302472e-01 -1.41336482e-01 9.30604308e+01] [ 1.53127490e-01 -2.54816717e-02 9.87877855e-01 6.07900198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:93.09, Z:6.08 [[ 2.52236508e-01 -9.66691241e-01 -4.34141523e-02 1.05814840e+02] [ 9.55398223e-01 2.55909272e-01 -1.47392945e-01 9.30907251e+01] [ 1.53593553e-01 -4.29992226e-03 9.88124755e-01 6.07689220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:93.12, Z:6.08 [[ 2.50572222e-01 -9.67134884e-01 -4.31703269e-02 1.05822234e+02] [ 9.55946330e-01 2.54224115e-01 -1.46753922e-01 9.31154195e+01] [ 1.52905775e-01 -4.49605937e-03 9.88230545e-01 6.08041359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:93.14, Z:6.08 [[ 2.49733405e-01 -9.67356020e-01 -4.30761815e-02 1.05829549e+02] [ 9.56189020e-01 2.53380044e-01 -1.46632572e-01 9.31415868e+01] [ 1.52760546e-01 -4.56992045e-03 9.88252666e-01 6.08429928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:93.17, Z:6.09 [[ 2.49635069e-01 -9.67382127e-01 -4.30598607e-02 1.05837054e+02] [ 9.56194593e-01 2.53280971e-01 -1.46767331e-01 9.31674012e+01] [ 1.52886336e-01 -4.53533320e-03 9.88233373e-01 6.08781230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:93.19, Z:6.10 [[ 2.49661400e-01 -9.67041005e-01 -5.00088004e-02 1.05847580e+02] [ 9.55890968e-01 2.54376867e-01 -1.46849809e-01 9.31911845e+01] [ 1.54730868e-01 -1.11402318e-02 9.87893847e-01 6.09581141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:93.22, Z:6.09 [[ 2.50099278e-01 -9.67523785e-01 -3.67161640e-02 1.05847749e+02] [ 9.55904071e-01 2.52769561e-01 -1.49515736e-01 9.32197721e+01] [ 1.53940760e-01 2.29664708e-03 9.88077410e-01 6.09389828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:93.25, Z:6.10 [[ 2.50044900e-01 -9.67395093e-01 -4.03023815e-02 1.05856022e+02] [ 9.55975413e-01 2.53267797e-01 -1.48210773e-01 9.32455573e+01] [ 1.53585670e-01 -1.46873775e-03 9.88134244e-01 6.09802907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:93.27, Z:6.10 [[ 2.53177231e-01 -9.66341743e-01 -4.56609789e-02 1.05866963e+02] [ 9.54988077e-01 2.57187571e-01 -1.47825324e-01 9.32700322e+01] [ 1.54593217e-01 -6.17968429e-03 9.87958880e-01 6.10462654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:93.30, Z:6.11 [[ 2.54724082e-01 -9.66324426e-01 -3.65067771e-02 1.05867960e+02] [ 9.54109284e-01 2.57292611e-01 -1.53218755e-01 9.32960583e+01] [ 1.57451949e-01 4.19705172e-03 9.87517731e-01 6.10648332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:93.32, Z:6.11 [[ 2.57612991e-01 -9.64904532e-01 -5.09390914e-02 1.05882827e+02] [ 9.53663603e-01 2.62384970e-01 -1.47240825e-01 9.33175403e+01] [ 1.55438991e-01 -1.06476081e-02 9.87788109e-01 6.11448037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:93.34, Z:6.12 [[ 2.58716653e-01 -9.64975902e-01 -4.34419398e-02 1.05885286e+02] [ 9.53372894e-01 2.62323481e-01 -1.49219695e-01 9.33446372e+01] [ 1.55389251e-01 -2.81074772e-03 9.87849321e-01 6.11631522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:93.37, Z:6.12 [[ 2.59315129e-01 -9.64817971e-01 -4.33814192e-02 1.05891991e+02] [ 9.53212332e-01 2.62905358e-01 -1.49221391e-01 9.33695790e+01] [ 1.55376687e-01 -2.65633952e-03 9.87851724e-01 6.12047896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:93.39, Z:6.13 [[ 2.60307743e-01 -9.64550876e-01 -4.33761158e-02 1.05899196e+02] [ 9.52911538e-01 2.63885681e-01 -1.49412010e-01 9.33931999e+01] [ 1.55561821e-01 -2.44049818e-03 9.87823144e-01 6.12514715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:93.42, Z:6.14 [[ 2.62401229e-01 -9.62915457e-01 -6.27647743e-02 1.05921083e+02] [ 9.51757781e-01 2.68985554e-01 -1.47661430e-01 9.34168690e+01] [ 1.59068291e-01 -2.09903215e-02 9.87044419e-01 6.14182621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:93.45, Z:6.13 [[ 2.60553190e-01 -9.65092511e-01 -2.66173087e-02 1.05904748e+02] [ 9.52866049e-01 2.61495219e-01 -1.53839340e-01 9.34485912e+01] [ 1.55429494e-01 1.47206010e-02 9.87737301e-01 6.12966900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:93.47, Z:6.14 [[ 2.61180822e-01 -9.64333645e-01 -4.29557800e-02 1.05921313e+02] [ 9.52817156e-01 2.64681208e-01 -1.48604596e-01 9.34697973e+01] [ 1.54673999e-01 -2.11633373e-03 9.87963296e-01 6.13885879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62275509600002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:105.92, Y:93.50, Z:6.14 [[ 2.60432847e-01 -9.65064521e-01 -2.87263456e-02 1.05918803e+02] [ 9.52261175e-01 2.61659006e-01 -1.57267985e-01 9.34997732e+01] [ 1.59290259e-01 1.36027652e-02 9.87138074e-01 6.14141290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:93.52, Z:6.15 [[ 2.62521258e-01 -9.63401060e-01 -5.42308637e-02 1.05941969e+02] [ 9.52049704e-01 2.67759569e-01 -1.48007344e-01 9.35191750e+01] [ 1.57111264e-01 -1.27754037e-02 9.87498273e-01 6.15268951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:93.55, Z:6.15 [[ 2.61774238e-01 -9.64017446e-01 -4.63099592e-02 1.05944566e+02] [ 9.52446541e-01 2.65789996e-01 -1.49000887e-01 9.35481861e+01] [ 1.55948178e-01 -5.10316685e-03 9.87752056e-01 6.15496298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:93.57, Z:6.16 [[ 2.64582486e-01 -9.62952658e-01 -5.21371924e-02 1.05954946e+02] [ 9.51920179e-01 2.69443484e-01 -1.45767560e-01 9.35674060e+01] [ 1.54415286e-01 -1.10629021e-02 9.87944093e-01 6.15968417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:93.60, Z:6.16 [[ 2.60598150e-01 -9.64932751e-01 -3.15180870e-02 1.05950179e+02] [ 9.52692395e-01 2.62307306e-01 -1.53532011e-01 9.36021187e+01] [ 1.56415490e-01 9.98311618e-03 9.87640892e-01 6.15867018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:93.62, Z:6.17 [[ 2.59703716e-01 -9.64718666e-01 -4.32651675e-02 1.05963252e+02] [ 9.52911963e-01 2.63274167e-01 -1.50484229e-01 9.36246059e+01] [ 1.56565546e-01 -2.14658225e-03 9.87665238e-01 6.16584104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.97, Y:93.65, Z:6.17 [[ 2.58805337e-01 -9.64957355e-01 -4.33255136e-02 1.05969627e+02] [ 9.53086602e-01 2.62397217e-01 -1.50909342e-01 9.36503643e+01] [ 1.56989573e-01 -2.23682351e-03 9.87597727e-01 6.16963384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:93.68, Z:6.17 [[ 2.57581311e-01 -9.65278968e-01 -4.34555243e-02 1.05975230e+02] [ 9.53307937e-01 2.61210309e-01 -1.51568969e-01 9.36773280e+01] [ 1.57657368e-01 -2.38516260e-03 9.87490995e-01 6.17320359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:93.70, Z:6.18 [[ 2.56965332e-01 -9.65438284e-01 -4.35630285e-02 1.05981279e+02] [ 9.53376698e-01 2.60620399e-01 -1.52150842e-01 9.37023898e+01] [ 1.58245662e-01 -2.43448471e-03 9.87396771e-01 6.17710650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:93.73, Z:6.18 [[ 2.57114023e-01 -9.65408517e-01 -4.33448285e-02 1.05987456e+02] [ 9.53433634e-01 2.60731443e-01 -1.51602836e-01 9.37279850e+01] [ 1.57660029e-01 -2.34720233e-03 9.87490661e-01 6.18084610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:93.75, Z:6.18 [[ 2.56118139e-01 -9.65674907e-01 -4.33067294e-02 1.05990411e+02] [ 9.53686529e-01 2.59742169e-01 -1.51710285e-01 9.37537857e+01] [ 1.57751399e-01 -2.44528866e-03 9.87475831e-01 6.18471958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:93.78, Z:6.19 [[ 2.55618654e-01 -9.65799519e-01 -4.34786547e-02 1.05996752e+02] [ 9.53673650e-01 2.59278287e-01 -1.52582235e-01 9.37803669e+01] [ 1.58636920e-01 -2.46158197e-03 9.87333919e-01 6.18895444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.00, Y:93.81, Z:6.19 [[ 2.54794215e-01 -9.66274090e-01 -3.73401961e-02 1.05998266e+02] [ 9.53274175e-01 2.57473414e-01 -1.58037302e-01 9.38050851e+01] [ 1.62321458e-01 4.67154569e-03 9.86726872e-01 6.19071085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:93.83, Z:6.20 [[ 2.52994823e-01 -9.66155620e-01 -5.03680138e-02 1.06013205e+02] [ 9.53979362e-01 2.57792420e-01 -1.53187616e-01 9.38292979e+01] [ 1.60987568e-01 -9.29437190e-03 9.86912670e-01 6.19824550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:93.86, Z:6.20 [[ 2.52027679e-01 -9.66711790e-01 -4.41629161e-02 1.06016824e+02] [ 9.54095281e-01 2.55851388e-01 -1.55699270e-01 9.38567351e+01] [ 1.61815464e-01 -2.89510412e-03 9.86816788e-01 6.20078085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:93.88, Z:6.21 [[ 2.51118594e-01 -9.66945706e-01 -4.42205038e-02 1.06023568e+02] [ 9.54264587e-01 2.54964770e-01 -1.56115549e-01 9.38823591e+01] [ 1.62229930e-01 -2.99454364e-03 9.86748439e-01 6.20532251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:93.91, Z:6.21 [[ 2.50671610e-01 -9.67380879e-01 -3.65783980e-02 1.06023193e+02] [ 9.53910395e-01 2.53267549e-01 -1.60967411e-01 9.39075456e+01] [ 1.64980917e-01 5.45744593e-03 9.86281660e-01 6.20704768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:93.93, Z:6.21 [[ 2.50382701e-01 -9.67177093e-01 -4.33240485e-02 1.06033140e+02] [ 9.53878820e-01 2.54099915e-01 -1.59838765e-01 9.39314623e+01] [ 1.65601029e-01 -1.30503062e-03 9.86191967e-01 6.21334668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:93.96, Z:6.22 [[ 2.47815088e-01 -9.67374958e-01 -5.26628204e-02 1.06044895e+02] [ 9.55153053e-01 2.53055315e-01 -1.53771431e-01 9.39571200e+01] [ 1.62081238e-01 -1.21941731e-02 9.86702070e-01 6.21983522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:93.98, Z:6.22 [[ 2.45786948e-01 -9.68338171e-01 -4.37031229e-02 1.06046914e+02] [ 9.55824944e-01 2.49615818e-01 -1.55211532e-01 9.39840419e+01] [ 1.61206242e-01 -3.62356618e-03 9.86914088e-01 6.22196632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:94.01, Z:6.23 [[ 2.44814396e-01 -9.68590182e-01 -4.35771965e-02 1.06054317e+02] [ 9.56118074e-01 2.48634665e-01 -1.54980745e-01 9.40095240e+01] [ 1.60947630e-01 -3.72342781e-03 9.86955924e-01 6.22694196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:94.04, Z:6.23 [[ 2.43847657e-01 -9.68841470e-01 -4.34111229e-02 1.06061742e+02] [ 9.56434983e-01 2.47652177e-01 -1.54597937e-01 9.40357799e+01] [ 1.60531751e-01 -3.82157198e-03 9.87023279e-01 6.23199633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.07, Y:94.06, Z:6.24 [[ 2.43239966e-01 -9.69012201e-01 -4.30078355e-02 1.06068434e+02] [ 9.56805928e-01 2.46982939e-01 -1.53368329e-01 9.40617178e+01] [ 1.59237984e-01 -3.84484478e-03 9.87232739e-01 6.23681877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:94.09, Z:6.24 [[ 2.43001194e-01 -9.69074507e-01 -4.29536835e-02 1.06075605e+02] [ 9.56866533e-01 2.46738609e-01 -1.53383494e-01 9.40881363e+01] [ 1.59238366e-01 -3.82857005e-03 9.87232741e-01 6.24120093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:94.11, Z:6.25 [[ 2.42891061e-01 -9.69111810e-01 -4.27344329e-02 1.06081725e+02] [ 9.57006035e-01 2.46592553e-01 -1.52746722e-01 9.41142722e+01] [ 1.58566646e-01 -3.79629676e-03 9.87340978e-01 6.24545974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:94.14, Z:6.25 [[ 2.43081100e-01 -9.69075456e-01 -4.24775254e-02 1.06087531e+02] [ 9.57081450e-01 2.46736898e-01 -1.52039469e-01 9.41398164e+01] [ 1.57818491e-01 -3.69653013e-03 9.87461219e-01 6.24938138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:94.17, Z:6.25 [[ 2.43583810e-01 -9.68959700e-01 -4.22377456e-02 1.06092565e+02] [ 9.57064819e-01 2.47193306e-01 -1.51401460e-01 9.41652278e+01] [ 1.57142802e-01 -3.54531572e-03 9.87569527e-01 6.25362038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:94.19, Z:6.26 [[ 2.43761071e-01 -9.68925393e-01 -4.20014700e-02 1.06099352e+02] [ 9.57129016e-01 2.47329117e-01 -1.50772529e-01 9.41915846e+01] [ 1.56475518e-01 -3.44835249e-03 9.87675818e-01 6.25757659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:94.22, Z:6.26 [[ 2.44270173e-01 -9.69102732e-01 -3.42341548e-02 1.06101812e+02] [ 9.57058110e-01 2.46617157e-01 -1.52380288e-01 9.42187390e+01] [ 1.56114883e-01 4.45788377e-03 9.87728845e-01 6.25834100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:94.24, Z:6.27 [[ 2.43893054e-01 -9.68572331e-01 -4.88243645e-02 1.06117020e+02] [ 9.57145472e-01 2.48511906e-01 -1.48709036e-01 9.42410174e+01] [ 1.56168893e-01 -1.04629186e-02 9.87674949e-01 6.26801890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:94.27, Z:6.27 [[ 2.43429703e-01 -9.69014708e-01 -4.18625704e-02 1.06119642e+02] [ 9.57193911e-01 2.46980588e-01 -1.50931796e-01 9.42675364e+01] [ 1.56594372e-01 -3.32931522e-03 9.87657389e-01 6.27023005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:94.29, Z:6.27 [[ 2.42893398e-01 -9.69153550e-01 -4.17635462e-02 1.06125676e+02] [ 9.57355671e-01 2.46434863e-01 -1.50797806e-01 9.42918300e+01] [ 1.56438223e-01 -3.35477641e-03 9.87682048e-01 6.27365354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.13, Y:94.32, Z:6.28 [[ 2.42518535e-01 -9.69242332e-01 -4.18815308e-02 1.06131306e+02] [ 9.57341202e-01 2.46085333e-01 -1.51459011e-01 9.43169806e+01] [ 1.57106915e-01 -3.36329765e-03 9.87575873e-01 6.27776809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:94.35, Z:6.27 [[ 2.41256537e-01 -9.70336185e-01 -1.55875484e-02 1.06122269e+02] [ 9.57917902e-01 2.40681617e-01 -1.56415003e-01 9.43503740e+01] [ 1.55526773e-01 2.28045502e-02 9.87568416e-01 6.26661977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:94.36, Z:6.29 [[ 2.42068639e-01 -9.67905610e-01 -6.75389154e-02 1.06158760e+02] [ 9.57532075e-01 2.49551483e-01 -1.44417395e-01 9.43613461e+01] [ 1.56636843e-01 -2.97117557e-02 9.87209254e-01 6.29289605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:94.39, Z:6.29 [[ 2.41552783e-01 -9.69481782e-01 -4.19204829e-02 1.06150158e+02] [ 9.57460127e-01 2.45140285e-01 -1.52237792e-01 9.43907617e+01] [ 1.57868165e-01 -3.36372845e-03 9.87454469e-01 6.28928278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:94.42, Z:6.29 [[ 2.41110357e-01 -9.69587214e-01 -4.20289189e-02 1.06157029e+02] [ 9.57467297e-01 2.44722659e-01 -1.52863323e-01 9.44161527e+01] [ 1.58499752e-01 -3.38438508e-03 9.87353217e-01 6.29358760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:94.45, Z:6.28 [[ 2.39700470e-01 -9.70771106e-01 -1.21303418e-02 1.06146627e+02] [ 9.57883463e-01 2.38516373e-01 -1.59903753e-01 9.44517058e+01] [ 1.58123229e-01 2.67095510e-02 9.87058076e-01 6.28173629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:94.46, Z:6.31 [[ 2.40611585e-01 -9.67936923e-01 -7.21399981e-02 1.06187404e+02] [ 9.57523836e-01 2.48876907e-01 -1.45631004e-01 9.44601952e+01] [ 1.58915605e-01 -3.40352610e-02 9.86705342e-01 6.31001087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.16, Y:94.50, Z:6.29 [[ 2.39172760e-01 -9.70922155e-01 -1.03227694e-02 1.06157178e+02] [ 9.58289852e-01 2.37747290e-01 -1.58608904e-01 9.45011631e+01] [ 1.56451110e-01 2.80427242e-02 9.87287524e-01 6.28636326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:94.51, Z:6.31 [[ 2.41264608e-01 -9.68004151e-01 -6.89880680e-02 1.06198640e+02] [ 9.57242174e-01 2.49069162e-01 -1.47146091e-01 9.45112337e+01] [ 1.59620827e-01 -3.05371442e-02 9.86705972e-01 6.31477260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.19, Y:94.55, Z:6.31 [[ 2.38517807e-01 -9.70390016e-01 -3.81113152e-02 1.06188470e+02] [ 9.57797169e-01 2.41542492e-01 -1.55826212e-01 9.45468275e+01] [ 1.60417702e-01 6.64416576e-04 9.87048995e-01 6.31130046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:94.57, Z:6.32 [[ 2.39328790e-01 -9.70126943e-01 -3.96918802e-02 1.06196335e+02] [ 9.57437762e-01 2.42597171e-01 -1.56395474e-01 9.45701051e+01] [ 1.61352601e-01 -5.72565376e-04 9.86896656e-01 6.31661288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.20, Y:94.59, Z:6.32 [[ 2.39022397e-01 -9.70206268e-01 -3.95991190e-02 1.06202674e+02] [ 9.57564468e-01 2.42279655e-01 -1.56111684e-01 9.45937020e+01] [ 1.61054595e-01 -6.04520430e-04 9.86945314e-01 6.32110995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:94.62, Z:6.33 [[ 2.39095746e-01 -9.69710700e-01 -4.99437997e-02 1.06215690e+02] [ 9.58001845e-01 2.43970456e-01 -1.50701300e-01 9.46164807e+01] [ 1.58321475e-01 -1.18142125e-02 9.87316937e-01 6.32742219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:94.64, Z:6.33 [[ 2.39018336e-01 -9.70266663e-01 -3.81161096e-02 1.06215112e+02] [ 9.57913471e-01 2.42038139e-01 -1.54335092e-01 9.46436501e+01] [ 1.58971747e-01 3.76982122e-04 9.87283060e-01 6.32841772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:94.67, Z:6.33 [[ 2.39890884e-01 -9.69851275e-01 -4.29053390e-02 1.06225230e+02] [ 9.57802523e-01 2.43655658e-01 -1.52467203e-01 9.46675979e+01] [ 1.58324640e-01 -4.51934981e-03 9.87376769e-01 6.33427713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:94.69, Z:6.34 [[ 2.39558039e-01 -9.69911494e-01 -4.34009241e-02 1.06232311e+02] [ 9.58088646e-01 2.43398097e-01 -1.51074528e-01 9.46927820e+01] [ 1.57092624e-01 -5.39081481e-03 9.87569160e-01 6.33825758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:94.72, Z:6.34 [[ 2.39246029e-01 -9.70251727e-01 -3.70529893e-02 1.06235743e+02] [ 9.57933725e-01 2.42094374e-01 -1.54121033e-01 9.47203835e+01] [ 1.58506519e-01 1.37853704e-03 9.87356968e-01 6.34112847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:94.75, Z:6.33 [[ 2.39251681e-01 -9.70865493e-01 -1.33726808e-02 1.06229221e+02] [ 9.58362360e-01 2.38336893e-01 -1.57280364e-01 9.47519968e+01] [ 1.55885281e-01 2.48137175e-02 9.87463447e-01 6.33136906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:94.76, Z:6.36 [[ 2.41328962e-01 -9.67851687e-01 -7.08762526e-02 1.06269575e+02] [ 9.57617842e-01 2.49338273e-01 -1.44216833e-01 9.47611040e+01] [ 1.57252668e-01 -3.30686654e-02 9.87004591e-01 6.35805456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.26, Y:94.79, Z:6.35 [[ 2.40405331e-01 -9.69948941e-01 -3.74743636e-02 1.06256868e+02] [ 9.57700615e-01 2.43306278e-01 -1.53660623e-01 9.47931813e+01] [ 1.58160706e-01 1.05161174e-03 9.87412824e-01 6.35137029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:94.82, Z:6.36 [[ 2.39069813e-01 -9.70100522e-01 -4.18402010e-02 1.06266214e+02] [ 9.58188662e-01 2.42672995e-01 -1.51605758e-01 9.48194965e+01] [ 1.57226312e-01 -3.84644611e-03 9.87555108e-01 6.35756014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:94.85, Z:6.36 [[ 2.37861534e-01 -9.70443682e-01 -4.07547659e-02 1.06273837e+02] [ 9.58456988e-01 2.41310436e-01 -1.52083780e-01 9.48455097e+01] [ 1.57423294e-01 -2.88680894e-03 9.87526999e-01 6.36152646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:94.87, Z:6.36 [[ 2.37536059e-01 -9.70723941e-01 -3.56602170e-02 1.06280412e+02] [ 9.58745003e-01 2.40190173e-01 -1.52041769e-01 9.48742391e+01] [ 1.56155819e-01 1.92634764e-03 9.87730555e-01 6.36169856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:94.90, Z:6.36 [[ 2.34686496e-01 -9.71665192e-01 -2.80892034e-02 1.06281614e+02] [ 9.59719742e-01 2.36199536e-01 -1.52144000e-01 9.49010496e+01] [ 1.54467686e-01 8.74837933e-03 9.87959108e-01 6.36049628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:94.92, Z:6.38 [[ 2.34307397e-01 -9.70427609e-01 -5.80542750e-02 1.06306953e+02] [ 9.59197674e-01 2.40490206e-01 -1.48675094e-01 9.49189573e+01] [ 1.58239900e-01 -2.08498512e-02 9.87180540e-01 6.37926701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.30, Y:94.95, Z:6.37 [[ 2.31098823e-01 -9.72572082e-01 -2.63984544e-02 1.06295817e+02] [ 9.60357270e-01 2.32376324e-01 -1.53997269e-01 9.49512816e+01] [ 1.55907821e-01 1.02366402e-02 9.87718565e-01 6.36908260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.362755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.32, Y:94.97, Z:6.39 [[ 2.30982490e-01 -9.71459546e-01 -5.39762943e-02 1.06319822e+02] [ 9.59993380e-01 2.36579882e-01 -1.49808777e-01 9.49707635e+01] [ 1.58302872e-01 -1.72136809e-02 9.87240543e-01 6.38591300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:95.00, Z:6.38 [[ 2.29211534e-01 -9.73052071e-01 -2.51344538e-02 1.06309591e+02] [ 9.60806312e-01 2.30312490e-01 -1.54296426e-01 9.50040144e+01] [ 1.55927236e-01 1.12171787e-02 9.87704851e-01 6.37702818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:95.02, Z:6.40 [[ 2.28997260e-01 -9.71864828e-01 -5.51272335e-02 1.06334883e+02] [ 9.60470112e-01 2.34795852e-01 -1.49559594e-01 9.50226812e+01] [ 1.58295355e-01 -1.86993229e-02 9.87214726e-01 6.39523816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:95.06, Z:6.39 [[ 2.28037013e-01 -9.73296827e-01 -2.63136482e-02 1.06324884e+02] [ 9.61059974e-01 2.29338024e-01 -1.54168080e-01 9.50554967e+01] [ 1.56086023e-01 9.86703443e-03 9.87694181e-01 6.38610566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:95.07, Z:6.40 [[ 2.30323712e-01 -9.71621164e-01 -5.38822985e-02 1.06346442e+02] [ 9.60175321e-01 2.35912014e-01 -1.49695937e-01 9.50748696e+01] [ 1.58159222e-01 -1.72579293e-02 9.87262794e-01 6.40349640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.33, Y:95.11, Z:6.39 [[ 2.30233780e-01 -9.72839867e-01 -2.39791688e-02 1.06334343e+02] [ 9.60416633e-01 2.31126553e-01 -1.55500505e-01 9.51073022e+01] [ 1.56819313e-01 1.27714765e-02 9.87544729e-01 6.39272644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.35, Y:95.13, Z:6.40 [[ 2.30782828e-01 -9.72204015e-01 -3.94796219e-02 1.06350234e+02] [ 9.60194539e-01 2.34119238e-01 -1.52363481e-01 9.51298893e+01] [ 1.57371327e-01 -2.74524229e-03 9.87535685e-01 6.40174349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:95.15, Z:6.42 [[ 2.34330752e-01 -9.70515878e-01 -5.64626375e-02 1.06368986e+02] [ 9.58768210e-01 2.40319349e-01 -1.51690905e-01 9.51511863e+01] [ 1.60787496e-01 -1.85887380e-02 9.86813984e-01 6.41729792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.36, Y:95.18, Z:6.41 [[ 2.35088459e-01 -9.71241302e-01 -3.77326168e-02 1.06363166e+02] [ 9.58410662e-01 2.38095880e-01 -1.57351058e-01 9.51812628e+01] [ 1.61809827e-01 8.28075597e-04 9.86821612e-01 6.41424781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:95.20, Z:6.42 [[ 2.34710475e-01 -9.71025728e-01 -4.49447307e-02 1.06373542e+02] [ 9.58533756e-01 2.38883587e-01 -1.55395210e-01 9.52046871e+01] [ 1.61629305e-01 -6.60815808e-03 9.86829418e-01 6.42202529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:95.23, Z:6.42 [[ 2.34517911e-01 -9.71247140e-01 -4.09919722e-02 1.06377536e+02] [ 9.58624784e-01 2.38058327e-01 -1.56098546e-01 9.52295779e+01] [ 1.61368747e-01 -2.68801555e-03 9.86890522e-01 6.42497290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:95.25, Z:6.43 [[ 2.33864049e-01 -9.71419893e-01 -4.06324843e-02 1.06382216e+02] [ 9.58982279e-01 2.37352012e-01 -1.54974224e-01 9.52538676e+01] [ 1.60189246e-01 -2.72293287e-03 9.87082565e-01 6.42845220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.38, Y:95.28, Z:6.43 [[ 2.32858438e-01 -9.72135986e-01 -2.69920792e-02 1.06379547e+02] [ 9.58630762e-01 2.34119086e-01 -1.61911444e-01 9.52817349e+01] [ 1.63719302e-01 1.18270086e-02 9.86436066e-01 6.43004469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:95.30, Z:6.44 [[ 2.31127040e-01 -9.71977241e-01 -4.29014393e-02 1.06394932e+02] [ 9.59349248e-01 2.35020856e-01 -1.56250497e-01 9.53046708e+01] [ 1.61954661e-01 -5.04374847e-03 9.86785310e-01 6.43848118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:95.33, Z:6.45 [[ 2.30268192e-01 -9.71660507e-01 -5.34080422e-02 1.06410218e+02] [ 9.60152017e-01 2.35787949e-01 -1.50040486e-01 9.53313750e+01] [ 1.58381387e-01 -1.67302881e-02 9.87236260e-01 6.44671893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:95.36, Z:6.45 [[ 2.26807095e-01 -9.73228262e-01 -3.72195074e-02 1.06403767e+02] [ 9.61043890e-01 2.29838743e-01 -1.53521311e-01 9.53582410e+01] [ 1.57965764e-01 -9.49857611e-04 9.87444133e-01 6.44528811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:95.38, Z:6.45 [[ 2.26870371e-01 -9.72875838e-01 -4.51933485e-02 1.06417639e+02] [ 9.60922910e-01 2.31157551e-01 -1.52293624e-01 9.53849857e+01] [ 1.58609570e-01 -8.87641298e-03 9.87301481e-01 6.45366919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:95.41, Z:6.45 [[ 2.24075512e-01 -9.73923304e-01 -3.55466462e-02 1.06414954e+02] [ 9.61660382e-01 2.26877245e-01 -1.54065004e-01 9.54111748e+01] [ 1.58112223e-01 3.38393223e-04 9.87421091e-01 6.45357354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:95.44, Z:6.46 [[ 2.23046189e-01 -9.74001566e-01 -3.96402323e-02 1.06423023e+02] [ 9.61841095e-01 2.26507798e-01 -1.53479397e-01 9.54363078e+01] [ 1.58467994e-01 -3.89460991e-03 9.87356434e-01 6.45877951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:95.46, Z:6.47 [[ 2.23890465e-01 -9.73375974e-01 -4.91148929e-02 1.06437834e+02] [ 9.61310516e-01 2.28851817e-01 -1.53326248e-01 9.54629479e+01] [ 1.60484118e-01 -1.28863781e-02 9.86954299e-01 6.46818388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:95.49, Z:6.47 [[ 2.22389239e-01 -9.73984671e-01 -4.35532617e-02 1.06440129e+02] [ 9.61604107e-01 2.26492549e-01 -1.54979568e-01 9.54897046e+01] [ 1.60812213e-01 -7.41520716e-03 9.86957166e-01 6.47028280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:95.52, Z:6.47 [[ 2.20581589e-01 -9.74677945e-01 -3.66969567e-02 1.06441869e+02] [ 9.61967918e-01 2.23612216e-01 -1.56892644e-01 9.55181008e+01] [ 1.61125687e-01 -6.93666355e-04 9.86933651e-01 6.47211392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:95.54, Z:6.47 [[ 2.18013140e-01 -9.75286786e-01 -3.58602327e-02 1.06442998e+02] [ 9.62724646e-01 2.20942139e-01 -1.56031495e-01 9.55416466e+01] [ 1.60098492e-01 -5.06613591e-04 9.87100915e-01 6.47421232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:95.57, Z:6.48 [[ 2.19759857e-01 -9.74554936e-01 -4.41393495e-02 1.06457795e+02] [ 9.61854139e-01 2.24007838e-01 -1.57025805e-01 9.55690212e+01] [ 1.62917833e-01 -7.94764769e-03 9.86607629e-01 6.48378823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:95.59, Z:6.48 [[ 2.17757081e-01 -9.75268224e-01 -3.78648269e-02 1.06455791e+02] [ 9.62749198e-01 2.21010144e-01 -1.55783498e-01 9.55936104e+01] [ 1.60299206e-01 -2.53137192e-03 9.87065224e-01 6.48362680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:95.62, Z:6.49 [[ 2.18910580e-01 -9.75134815e-01 -3.44999988e-02 1.06462064e+02] [ 9.61830925e-01 2.21603808e-01 -1.60539791e-01 9.56230111e+01] [ 1.64193271e-01 1.96069314e-03 9.86426239e-01 6.48871894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:95.64, Z:6.49 [[ 2.18312994e-01 -9.74729451e-01 -4.73490574e-02 1.06472757e+02] [ 9.62651490e-01 2.23061729e-01 -1.53445672e-01 9.56437332e+01] [ 1.60129778e-01 -1.20814567e-02 9.87022033e-01 6.49467185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:95.67, Z:6.50 [[ 2.19025902e-01 -9.74918871e-01 -3.95075863e-02 1.06473845e+02] [ 9.62517983e-01 2.22523409e-01 -1.55056330e-01 9.56698128e+01] [ 1.59958704e-01 -4.06540985e-03 9.87115335e-01 6.49679573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:95.70, Z:6.50 [[ 2.19097341e-01 -9.74908335e-01 -3.93712290e-02 1.06480019e+02] [ 9.62551364e-01 2.22571021e-01 -1.54780530e-01 9.56961152e+01] [ 1.59659723e-01 -3.98482773e-03 9.87164066e-01 6.50144661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:95.72, Z:6.51 [[ 2.18856152e-01 -9.74964741e-01 -3.93158877e-02 1.06486544e+02] [ 9.62606164e-01 2.22324109e-01 -1.54794586e-01 9.57226889e+01] [ 1.59660133e-01 -3.96796846e-03 9.87164068e-01 6.50589366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.49, Y:95.75, Z:6.51 [[ 2.19002213e-01 -9.75251032e-01 -3.03884172e-02 1.06486696e+02] [ 9.62193501e-01 2.21029167e-01 -1.59153305e-01 9.57486541e+01] [ 1.61931151e-01 5.61538847e-03 9.86786081e-01 6.50837018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:95.77, Z:6.52 [[ 2.18745443e-01 -9.74732763e-01 -4.52379594e-02 1.06501482e+02] [ 9.62583261e-01 2.23154035e-01 -1.53739202e-01 9.57713011e+01] [ 1.59949670e-01 -9.91555271e-03 9.87075369e-01 6.51648833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:95.80, Z:6.52 [[ 2.19164542e-01 -9.74774617e-01 -4.22060354e-02 1.06505485e+02] [ 9.62616349e-01 2.23083051e-01 -1.53635012e-01 9.57970718e+01] [ 1.59174961e-01 -6.95687274e-03 9.87225878e-01 6.51969376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:95.82, Z:6.52 [[ 2.19523591e-01 -9.74825151e-01 -3.90553147e-02 1.06509290e+02] [ 9.62469645e-01 2.22941342e-01 -1.54755743e-01 9.58222926e+01] [ 1.59566834e-01 -3.61701852e-03 9.87180502e-01 6.52304635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:95.85, Z:6.53 [[ 2.19717773e-01 -9.74781940e-01 -3.90419063e-02 1.06514842e+02] [ 9.62391376e-01 2.23131685e-01 -1.54968033e-01 9.58474728e+01] [ 1.59771526e-01 -3.52436286e-03 9.87147729e-01 6.52719100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:95.87, Z:6.53 [[ 2.19225923e-01 -9.74893678e-01 -3.90168157e-02 1.06520913e+02] [ 9.62480431e-01 2.22642620e-01 -1.55118289e-01 9.58723650e+01] [ 1.59910645e-01 -3.54697143e-03 9.87125121e-01 6.53136186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:95.90, Z:6.54 [[ 2.18627642e-01 -9.75028321e-01 -3.90093342e-02 1.06527179e+02] [ 9.62581557e-01 2.22051563e-01 -1.55337855e-01 9.58976271e+01] [ 1.60120891e-01 -3.58851682e-03 9.87090889e-01 6.53568135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.52, Y:95.93, Z:6.54 [[ 2.17040444e-01 -9.76014695e-01 -1.69929710e-02 1.06519483e+02] [ 9.61708818e-01 2.16778926e-01 -1.67699272e-01 9.59264623e+01] [ 1.67360672e-01 2.00552343e-02 9.85691733e-01 6.53596680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:95.95, Z:6.55 [[ 2.15394924e-01 -9.75132012e-01 -5.21783957e-02 1.06546656e+02] [ 9.62872282e-01 2.20983921e-01 -1.55058299e-01 9.59457994e+01] [ 1.62732898e-01 -1.68423603e-02 9.86526400e-01 6.54848706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.55, Y:95.97, Z:6.55 [[ 2.14465439e-01 -9.75462699e-01 -4.97704569e-02 1.06551631e+02] [ 9.63661704e-01 2.19628842e-01 -1.52050293e-01 9.59717080e+01] [ 1.59250417e-01 -1.53523505e-02 9.87118843e-01 6.55061559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:96.00, Z:6.55 [[ 2.12469658e-01 -9.76486688e-01 -3.64745315e-02 1.06549689e+02] [ 9.63905430e-01 2.15568814e-01 -1.56257510e-01 9.60006895e+01] [ 1.60446150e-01 -1.95801924e-03 9.87042653e-01 6.55166841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:96.03, Z:6.56 [[ 2.09620708e-01 -9.77291130e-01 -3.10033352e-02 1.06552336e+02] [ 9.64021294e-01 2.11867566e-01 -1.60546187e-01 9.60262876e+01] [ 1.63468966e-01 3.76593009e-03 9.86541289e-01 6.55528639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:96.05, Z:6.56 [[ 2.09654162e-01 -9.76641668e-01 -4.70763720e-02 1.06568681e+02] [ 9.64434893e-01 2.14479982e-01 -1.54478721e-01 9.60485628e+01] [ 1.60967295e-01 -1.30149889e-02 9.86873923e-01 6.56305017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:96.07, Z:6.57 [[ 2.09402846e-01 -9.77051457e-01 -3.89986909e-02 1.06570561e+02] [ 9.64337955e-01 2.12951652e-01 -1.57174751e-01 9.60749219e+01] [ 1.61872655e-01 -4.69507768e-03 9.86800486e-01 6.56503954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:96.10, Z:6.58 [[ 2.09742907e-01 -9.76254859e-01 -5.41697550e-02 1.06585604e+02] [ 9.63723325e-01 2.15767842e-01 -1.57103761e-01 9.60985202e+01] [ 1.65061401e-01 -1.92532568e-02 9.86095353e-01 6.57794639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.58, Y:96.13, Z:6.57 [[ 2.10321968e-01 -9.77284030e-01 -2.60881972e-02 1.06575497e+02] [ 9.63692883e-01 2.11739490e-01 -1.62672723e-01 9.61291909e+01] [ 1.64501356e-01 9.07263743e-03 9.86335131e-01 6.57186645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:96.15, Z:6.58 [[ 2.10472171e-01 -9.76810199e-01 -3.92848603e-02 1.06589330e+02] [ 9.63640461e-01 2.14065890e-01 -1.59915154e-01 9.61528630e+01] [ 1.64616302e-01 -4.19879117e-03 9.86348743e-01 6.57981416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:96.18, Z:6.58 [[ 2.10814089e-01 -9.76728071e-01 -3.94929752e-02 1.06595425e+02] [ 9.63497748e-01 2.14439036e-01 -1.60274731e-01 9.61779545e+01] [ 1.65013664e-01 -4.26322132e-03 9.86282067e-01 6.58433744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:96.20, Z:6.59 [[ 2.11393239e-01 -9.76605888e-01 -3.94187476e-02 1.06601705e+02] [ 9.63380580e-01 2.14997905e-01 -1.60230330e-01 9.62041524e+01] [ 1.64956832e-01 -4.10364746e-03 9.86292251e-01 6.58877576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:96.23, Z:6.59 [[ 2.12678967e-01 -9.76324404e-01 -3.94755104e-02 1.06608282e+02] [ 9.63013432e-01 2.16277490e-01 -1.60714581e-01 9.62288939e+01] [ 1.65447232e-01 -3.83483577e-03 9.86211188e-01 6.59334553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:96.25, Z:6.60 [[ 2.13010755e-01 -9.76248737e-01 -3.95578201e-02 1.06614661e+02] [ 9.62835670e-01 2.16620689e-01 -1.61316306e-01 9.62535149e+01] [ 1.66053882e-01 -3.72557212e-03 9.86109643e-01 6.59765618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:96.28, Z:6.60 [[ 2.13204931e-01 -9.76204811e-01 -3.95957545e-02 1.06620882e+02] [ 9.62720679e-01 2.16820058e-01 -1.61734214e-01 9.62773961e+01] [ 1.66470872e-01 -3.63711983e-03 9.86039665e-01 6.60205335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:96.30, Z:6.61 [[ 2.13279977e-01 -9.76190966e-01 -3.95328952e-02 1.06627479e+02] [ 9.62702121e-01 2.16883693e-01 -1.61759360e-01 9.63029050e+01] [ 1.66482066e-01 -3.55836935e-03 9.86038062e-01 6.60668403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:96.33, Z:6.61 [[ 2.12719182e-01 -9.76316790e-01 -3.94471276e-02 1.06633916e+02] [ 9.62846482e-01 2.16316006e-01 -1.61660252e-01 9.63288185e+01] [ 1.66364663e-01 -3.59329143e-03 9.86057750e-01 6.61119745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:96.35, Z:6.62 [[ 2.11814597e-01 -9.76517932e-01 -3.93358038e-02 1.06640659e+02] [ 9.63084790e-01 2.15404625e-01 -1.61457534e-01 9.63533187e+01] [ 1.66139291e-01 -3.68465188e-03 9.86095411e-01 6.61560555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:96.38, Z:6.62 [[ 2.10611033e-01 -9.76781913e-01 -3.92439462e-02 1.06647009e+02] [ 9.63371763e-01 2.14201917e-01 -1.61345546e-01 9.63789952e+01] [ 1.66005539e-01 -3.82535754e-03 9.86117400e-01 6.62022928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.65, Y:96.41, Z:6.63 [[ 2.09559213e-01 -9.77008713e-01 -3.92289531e-02 1.06653774e+02] [ 9.63570679e-01 2.13162802e-01 -1.61533793e-01 9.64050094e+01] [ 1.66182077e-01 -3.94897447e-03 9.86087178e-01 6.62501180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:96.43, Z:6.63 [[ 2.07160396e-01 -9.77522712e-01 -3.91652573e-02 1.06660591e+02] [ 9.64094012e-01 2.10786356e-01 -1.61529712e-01 9.64299328e+01] [ 1.66154464e-01 -4.29643100e-03 9.86090379e-01 6.62934012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:96.46, Z:6.63 [[ 2.06102103e-01 -9.77748057e-01 -3.91236521e-02 1.06667538e+02] [ 9.64306551e-01 2.09736125e-01 -1.61628074e-01 9.64563644e+01] [ 1.66237179e-01 -4.41530802e-03 9.86075913e-01 6.63397609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:96.48, Z:6.64 [[ 2.04856959e-01 -9.78010234e-01 -3.91102210e-02 1.06674205e+02] [ 9.64539908e-01 2.08506783e-01 -1.61826103e-01 9.64827845e+01] [ 1.66422331e-01 -4.57216563e-03 9.86043966e-01 6.63822096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:96.51, Z:6.64 [[ 2.02867373e-01 -9.78809017e-01 -2.78879320e-02 1.06674138e+02] [ 9.65094415e-01 2.04680363e-01 -1.63397424e-01 9.65121629e+01] [ 1.65642984e-01 6.23351870e-03 9.86166084e-01 6.63588361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:96.53, Z:6.65 [[ 2.02462598e-01 -9.78024385e-01 -4.97714603e-02 1.06693633e+02] [ 9.64861088e-01 2.07914097e-01 -1.60669879e-01 9.65326242e+01] [ 1.67487248e-01 -1.54929042e-02 9.85752500e-01 6.65018355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:96.57, Z:6.64 [[ 2.00881233e-01 -9.79315282e-01 -2.42550775e-02 1.06685257e+02] [ 9.65510905e-01 2.02114669e-01 -1.64129075e-01 9.65650176e+01] [ 1.65636418e-01 9.55190914e-03 9.86140628e-01 6.64239795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.70, Y:96.59, Z:6.65 [[ 1.99861733e-01 -9.79214868e-01 -3.45475050e-02 1.06697445e+02] [ 9.66001165e-01 2.02821289e-01 -1.60328642e-01 9.65881557e+01] [ 1.64003159e-01 -1.32936984e-03 9.86458918e-01 6.64787326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:96.61, Z:6.65 [[ 1.99221325e-01 -9.79090726e-01 -4.11365210e-02 1.06707786e+02] [ 9.66304345e-01 2.03255217e-01 -1.57934258e-01 9.66125186e+01] [ 1.62993180e-01 -8.28652685e-03 9.86592396e-01 6.65459374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.72, Y:96.64, Z:6.66 [[ 1.99185687e-01 -9.79051291e-01 -4.22330589e-02 1.06715687e+02] [ 9.65892451e-01 2.03420129e-01 -1.60224919e-01 9.66399429e+01] [ 1.65459468e-01 -8.87808230e-03 9.86176629e-01 6.66219105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.72, Y:96.67, Z:6.66 [[ 1.98446228e-01 -9.79395732e-01 -3.74579159e-02 1.06718909e+02] [ 9.66175658e-01 2.01903569e-01 -1.60435488e-01 9.66655273e+01] [ 1.64692720e-01 -4.35310902e-03 9.86335318e-01 6.66416532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:96.69, Z:6.67 [[ 1.97592539e-01 -9.79047169e-01 -4.92323958e-02 1.06730683e+02] [ 9.66237386e-01 2.02986996e-01 -1.58687095e-01 9.66872754e+01] [ 1.65355687e-01 -1.62147955e-02 9.86100693e-01 6.67467895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.73, Y:96.71, Z:6.68 [[ 1.99201211e-01 -9.79332195e-01 -3.50332773e-02 1.06727745e+02] [ 9.65533539e-01 2.02254868e-01 -1.63822930e-01 9.67144736e+01] [ 1.67522721e-01 -1.19207820e-03 9.85867495e-01 6.67505477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:96.74, Z:6.68 [[ 2.00001348e-01 -9.78976173e-01 -4.00638645e-02 1.06736203e+02] [ 9.65331784e-01 2.03884102e-01 -1.62990243e-01 9.67384093e+01] [ 1.67731949e-01 -6.07665351e-03 9.85813911e-01 6.68014766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:96.77, Z:6.68 [[ 2.00723601e-01 -9.78845545e-01 -3.96413297e-02 1.06741102e+02] [ 9.65259228e-01 2.04523309e-01 -1.62618693e-01 9.67659966e+01] [ 1.67286159e-01 -5.62274966e-03 9.85892350e-01 6.68456083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:96.79, Z:6.69 [[ 2.01526723e-01 -9.78715545e-01 -3.87667710e-02 1.06746234e+02] [ 9.65035990e-01 2.05171388e-01 -1.63126450e-01 9.67918085e+01] [ 1.67608225e-01 -4.53699031e-03 9.85843242e-01 6.68909521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:96.82, Z:6.69 [[ 2.02574222e-01 -9.78502506e-01 -3.86850139e-02 1.06752044e+02] [ 9.64829699e-01 2.06190257e-01 -1.63062045e-01 9.68175482e+01] [ 1.67533093e-01 -4.29228322e-03 9.85857109e-01 6.69347309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:96.84, Z:6.70 [[ 2.03597434e-01 -9.78297020e-01 -3.85100600e-02 1.06758028e+02] [ 9.64701516e-01 2.07167902e-01 -1.62580582e-01 9.68437191e+01] [ 1.67030148e-01 -4.04972397e-03 9.85943472e-01 6.69801996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.76, Y:96.87, Z:6.70 [[ 2.04429595e-01 -9.78130426e-01 -3.83328950e-02 1.06763816e+02] [ 9.64614492e-01 2.07957012e-01 -1.62088751e-01 9.68698890e+01] [ 1.66515533e-01 -3.84072840e-03 9.86031351e-01 6.70251661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:96.89, Z:6.71 [[ 2.06171320e-01 -9.77782150e-01 -3.78873835e-02 1.06768699e+02] [ 9.64531981e-01 2.09595059e-01 -1.60461734e-01 9.68948424e+01] [ 1.64837628e-01 -3.46098540e-03 9.86314645e-01 6.70658529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:96.92, Z:6.71 [[ 2.06960660e-01 -9.77617727e-01 -3.78267843e-02 1.06774549e+02] [ 9.64373660e-01 2.10363531e-01 -1.60407695e-01 9.69211114e+01] [ 1.64774782e-01 -3.28107206e-03 9.86325761e-01 6.71126376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:96.95, Z:6.72 [[ 2.08595907e-01 -9.77274172e-01 -3.77218922e-02 1.06779949e+02] [ 9.64054410e-01 2.11958793e-01 -1.60226604e-01 9.69459412e+01] [ 1.64580809e-01 -2.94334276e-03 9.86359211e-01 6.71549826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:96.97, Z:6.72 [[ 2.09125432e-01 -9.77165642e-01 -3.76013629e-02 1.06785771e+02] [ 9.63983245e-01 2.12460654e-01 -1.59989920e-01 9.69720575e+01] [ 1.64325463e-01 -2.78912270e-03 9.86402232e-01 6.71959353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.732755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.79, Y:97.00, Z:6.72 [[ 2.09012362e-01 -9.77284643e-01 -3.50507959e-02 1.06788841e+02] [ 9.64009307e-01 2.11930815e-01 -1.60534687e-01 9.69983319e+01] [ 1.64316428e-01 -2.35559336e-04 9.86407652e-01 6.72341171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:97.02, Z:6.73 [[ 2.09072778e-01 -9.77327711e-01 -3.34532449e-02 1.06792934e+02] [ 9.63583669e-01 2.11723593e-01 -1.63339012e-01 9.70234228e+01] [ 1.66718584e-01 1.91474045e-03 9.86002661e-01 6.72850364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:97.05, Z:6.74 [[ 2.09109912e-01 -9.76822727e-01 -4.57209444e-02 1.06806200e+02] [ 9.64047399e-01 2.13763538e-01 -1.57853611e-01 9.70469160e+01] [ 1.63968466e-01 -1.10684028e-02 9.86403484e-01 6.73550931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:97.07, Z:6.74 [[ 2.08056416e-01 -9.77412729e-01 -3.71063970e-02 1.06806940e+02] [ 9.64381703e-01 2.11322387e-01 -1.59093617e-01 9.70732742e+01] [ 1.63341539e-01 -2.68428266e-03 9.86565931e-01 6.73710820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:97.10, Z:6.74 [[ 2.08433394e-01 -9.77323740e-01 -3.73339864e-02 1.06814823e+02] [ 9.64096352e-01 2.11734762e-01 -1.60270441e-01 9.70998377e+01] [ 1.64541010e-01 -2.58784809e-03 9.86366848e-01 6.74239107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:97.13, Z:6.75 [[ 2.05929773e-01 -9.77876183e-01 -3.67573127e-02 1.06818979e+02] [ 9.65025735e-01 2.09164057e-01 -1.58037110e-01 9.71252112e+01] [ 1.62229035e-01 -2.92720657e-03 9.86748789e-01 6.74546490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:97.15, Z:6.75 [[ 2.04219772e-01 -9.78240639e-01 -3.65996985e-02 1.06825188e+02] [ 9.65471722e-01 2.07449486e-01 -1.57572411e-01 9.71516907e+01] [ 1.61736325e-01 -3.15657217e-03 9.86828961e-01 6.74916364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:97.18, Z:6.74 [[ 2.02190012e-01 -9.79237881e-01 -1.45729403e-02 1.06816343e+02] [ 9.66352530e-01 2.01901211e-01 -1.59369660e-01 9.71817628e+01] [ 1.59003103e-01 1.81403558e-02 9.87111413e-01 6.73997165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:97.20, Z:6.75 [[ 2.00798334e-01 -9.78736730e-01 -4.18860683e-02 1.06838189e+02] [ 9.66577562e-01 2.04898302e-01 -1.54092510e-01 9.72022953e+01] [ 1.59398384e-01 -9.54461445e-03 9.87168200e-01 6.75370935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.85, Y:97.22, Z:6.76 [[ 2.02424050e-01 -9.77883037e-01 -5.26238505e-02 1.06850905e+02] [ 9.66276887e-01 2.08177711e-01 -1.51561928e-01 9.72219708e+01] [ 1.59164952e-01 -2.01694311e-02 9.87045952e-01 6.76332825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:97.25, Z:6.76 [[ 1.99766028e-01 -9.79380929e-01 -3.01086524e-02 1.06843093e+02] [ 9.66831904e-01 2.02011228e-01 -1.56293102e-01 9.72547875e+01] [ 1.59152769e-01 2.11204645e-03 9.87251708e-01 6.76122503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:97.28, Z:6.76 [[ 1.97714716e-01 -9.80003788e-01 -2.23934463e-02 1.06842798e+02] [ 9.67401943e-01 1.98758330e-01 -1.56935039e-01 9.72827011e+01] [ 1.58247816e-01 9.36490313e-03 9.87355016e-01 6.75956993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:97.31, Z:6.77 [[ 1.97897518e-01 -9.79518604e-01 -3.71466990e-02 1.06858579e+02] [ 9.67286842e-01 2.01281937e-01 -1.54407727e-01 9.73055425e+01] [ 1.58722201e-01 -5.37460734e-03 9.87308653e-01 6.76869322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:97.33, Z:6.77 [[ 1.97516671e-01 -9.79673698e-01 -3.50229861e-02 1.06862978e+02] [ 9.67327960e-01 2.00571404e-01 -1.55073305e-01 9.73319683e+01] [ 1.58945847e-01 -3.24915080e-03 9.87281956e-01 6.77261571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:97.36, Z:6.78 [[ 1.97152875e-01 -9.79308112e-01 -4.56767585e-02 1.06875077e+02] [ 9.67307375e-01 2.01895289e-01 -1.53475517e-01 9.73550170e+01] [ 1.59521741e-01 -1.39253258e-02 9.87096196e-01 6.78273470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.87, Y:97.38, Z:6.78 [[ 1.96948540e-01 -9.79767922e-01 -3.55821783e-02 1.06874751e+02] [ 9.67281869e-01 2.00102774e-01 -1.55963671e-01 9.73831550e+01] [ 1.59928295e-01 -3.70117856e-03 9.87121696e-01 6.78396409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:97.41, Z:6.79 [[ 1.97803755e-01 -9.79593577e-01 -3.56384323e-02 1.06880082e+02] [ 9.67021805e-01 2.00957936e-01 -1.56475994e-01 9.74085329e+01] [ 1.60444704e-01 -3.51160199e-03 9.87038584e-01 6.78779332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:97.44, Z:6.79 [[ 1.98271064e-01 -9.79501140e-01 -3.55823180e-02 1.06885877e+02] [ 9.66922585e-01 2.01410350e-01 -1.56507463e-01 9.74351910e+01] [ 1.60465885e-01 -3.37444572e-03 9.87035619e-01 6.79227638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:97.46, Z:6.80 [[ 2.00005044e-01 -9.79153204e-01 -3.54539813e-02 1.06891820e+02] [ 9.66618216e-01 2.03100535e-01 -1.56203064e-01 9.74616434e+01] [ 1.60147453e-01 -3.02906353e-03 9.87088455e-01 6.79656705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:97.49, Z:6.80 [[ 2.00710050e-01 -9.79009713e-01 -3.54324286e-02 1.06897450e+02] [ 9.66445497e-01 2.03793545e-01 -1.56369088e-01 9.74879880e+01] [ 1.60307756e-01 -2.85866360e-03 9.87062942e-01 6.80100542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:97.51, Z:6.81 [[ 2.01117302e-01 -9.78924280e-01 -3.54835846e-02 1.06902812e+02] [ 9.66279382e-01 2.04205154e-01 -1.56857932e-01 9.75132354e+01] [ 1.60797969e-01 -2.74021221e-03 9.86983538e-01 6.80510028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:97.54, Z:6.81 [[ 2.00776889e-01 -9.79119138e-01 -3.18489351e-02 1.06906485e+02] [ 9.66263677e-01 2.03284920e-01 -1.58144706e-01 9.75416302e+01] [ 1.61316917e-01 9.77332962e-04 9.86902172e-01 6.80882851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:97.56, Z:6.81 [[ 2.02319901e-01 -9.78527733e-01 -3.93717417e-02 1.06917344e+02] [ 9.66223415e-01 2.06005768e-01 -1.54835189e-01 9.75646295e+01] [ 1.59621332e-01 -6.71565868e-03 9.87155474e-01 6.81484056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.92, Y:97.59, Z:6.82 [[ 2.02270709e-01 -9.78706341e-01 -3.49350590e-02 1.06920383e+02] [ 9.66299752e-01 2.05252172e-01 -1.55358730e-01 9.75903117e+01] [ 1.59221071e-01 -2.33321844e-03 9.87240197e-01 6.81797636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:97.62, Z:6.82 [[ 2.02347316e-01 -9.78697806e-01 -3.47299398e-02 1.06926741e+02] [ 9.66405125e-01 2.05293567e-01 -1.54646973e-01 9.76164197e+01] [ 1.58482487e-01 -2.27079182e-03 9.87359177e-01 6.82235125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:97.64, Z:6.83 [[ 2.01627624e-01 -9.78849808e-01 -3.46316915e-02 1.06932880e+02] [ 9.66587465e-01 2.04566928e-01 -1.54470207e-01 9.76427674e+01] [ 1.58287631e-01 -2.32909807e-03 9.87390298e-01 6.82675913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:97.67, Z:6.83 [[ 2.00942885e-01 -9.78994456e-01 -3.45226223e-02 1.06938871e+02] [ 9.66769891e-01 2.03872966e-01 -1.54245883e-01 9.76693289e+01] [ 1.58044094e-01 -2.38081901e-03 9.87429185e-01 6.83112700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:97.69, Z:6.84 [[ 1.99221738e-01 -9.79344016e-01 -3.45832060e-02 1.06944452e+02] [ 9.67039302e-01 2.02184316e-01 -1.54778844e-01 9.76949745e+01] [ 1.58573916e-01 -2.60800912e-03 9.87343664e-01 6.83533229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:97.72, Z:6.84 [[ 1.97972929e-01 -9.79598508e-01 -3.45468302e-02 1.06950254e+02] [ 9.67279522e-01 2.00945737e-01 -1.54890730e-01 9.77212793e+01] [ 1.58672766e-01 -2.75227003e-03 9.87327392e-01 6.83944449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:97.75, Z:6.84 [[ 1.96933206e-01 -9.79810936e-01 -3.44650798e-02 1.06956367e+02] [ 9.67511665e-01 1.99905813e-01 -1.54786447e-01 9.77460765e+01] [ 1.58551224e-01 -2.86277532e-03 9.87346603e-01 6.84348067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.96, Y:97.77, Z:6.85 [[ 1.93946796e-01 -9.80664603e-01 -2.61070393e-02 1.06957985e+02] [ 9.67714046e-01 1.95616955e-01 -1.58945057e-01 9.77741955e+01] [ 1.60978771e-01 5.56273598e-03 9.86942192e-01 6.84643761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:97.80, Z:6.85 [[ 1.93347743e-01 -9.80169620e-01 -4.34069871e-02 1.06974285e+02] [ 9.68216340e-01 1.97770532e-01 -1.53114124e-01 9.77953503e+01] [ 1.58662436e-01 -1.24230839e-02 9.87254728e-01 6.85454737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:97.82, Z:6.86 [[ 1.91695931e-01 -9.80850636e-01 -3.44194538e-02 1.06974625e+02] [ 9.68457173e-01 1.94729462e-01 -1.55470704e-01 9.78221244e+01] [ 1.59196021e-01 -3.53066547e-03 9.87240681e-01 6.85656219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.99, Y:97.85, Z:6.87 [[ 1.91723892e-01 -9.80054122e-01 -5.23055243e-02 1.06994066e+02] [ 9.67859980e-01 1.97638448e-01 -1.55518821e-01 9.78473500e+01] [ 1.62754444e-01 -2.08077500e-02 9.86447175e-01 6.87123349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:97.88, Z:6.86 [[ 1.89028502e-01 -9.81790822e-01 -1.88416291e-02 1.06977554e+02] [ 9.68850268e-01 1.89594536e-01 -1.59320654e-01 9.78770909e+01] [ 1.59991826e-01 1.18614272e-02 9.87047072e-01 6.86057802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:97.90, Z:6.88 [[ 1.89842912e-01 -9.81031267e-01 -3.92086888e-02 1.06997346e+02] [ 9.67411605e-01 1.93723972e-01 -1.63051555e-01 9.78993030e+01] [ 1.67554337e-01 -6.97675845e-03 9.85838156e-01 6.87582733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:97.93, Z:6.88 [[ 1.89192211e-01 -9.81381399e-01 -3.31188219e-02 1.06999962e+02] [ 9.68193139e-01 1.92061361e-01 -1.60357351e-01 9.79264893e+01] [ 1.63732568e-01 -1.72705435e-03 9.86503251e-01 6.87565343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:97.96, Z:6.88 [[ 1.88108280e-01 -9.81870800e-01 -2.33453714e-02 1.06998202e+02] [ 9.68271507e-01 1.89379676e-01 -1.63050993e-01 9.79551731e+01] [ 1.64516148e-01 8.06658384e-03 9.86341405e-01 6.87530421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:97.98, Z:6.88 [[ 1.89322090e-01 -9.80778574e-01 -4.72285368e-02 1.07017996e+02] [ 9.68506593e-01 1.94442241e-01 -1.55522325e-01 9.79763683e+01] [ 1.61716186e-01 -1.62973378e-02 9.86702727e-01 6.88494832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:98.00, Z:6.89 [[ 1.89486389e-01 -9.81269475e-01 -3.47149337e-02 1.07015849e+02] [ 9.68353165e-01 1.92607605e-01 -1.58727625e-01 9.80037045e+01] [ 1.62440933e-01 -3.53959145e-03 9.86711921e-01 6.88508590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:98.03, Z:6.89 [[ 1.90144957e-01 -9.81139142e-01 -3.47977033e-02 1.07022210e+02] [ 9.68111063e-01 1.93273277e-01 -1.59393881e-01 9.80296445e+01] [ 1.63113042e-01 -3.38009883e-03 9.86601597e-01 6.88950352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:98.06, Z:6.89 [[ 1.89506541e-01 -9.81552007e-01 -2.53560176e-02 1.07021757e+02] [ 9.67748523e-01 1.91082346e-01 -1.64165566e-01 9.80584690e+01] [ 1.65982129e-01 6.57220013e-03 9.86106860e-01 6.89294832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:98.08, Z:6.90 [[ 1.92897600e-01 -9.80149244e-01 -4.58036539e-02 1.07038380e+02] [ 9.67787102e-01 1.97747005e-01 -1.55834035e-01 9.80786953e+01] [ 1.61798147e-01 -1.42681742e-02 9.86720720e-01 6.90193231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:98.11, Z:6.90 [[ 1.92828733e-01 -9.80615895e-01 -3.47785333e-02 1.07037152e+02] [ 9.67468900e-01 1.95920192e-01 -1.60060009e-01 9.81063552e+01] [ 1.63771206e-01 -2.78298066e-03 9.86494423e-01 6.90392914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:98.13, Z:6.91 [[ 1.93346202e-01 -9.80525522e-01 -3.44521110e-02 1.07043057e+02] [ 9.67581561e-01 1.96374116e-01 -1.58817912e-01 9.81321198e+01] [ 1.62490519e-01 -2.62838731e-03 9.86706604e-01 6.90800199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:98.16, Z:6.92 [[ 1.95390545e-01 -9.79402984e-01 -5.09149314e-02 1.07061498e+02] [ 9.66637102e-01 2.01092081e-01 -1.58665334e-01 9.81574185e+01] [ 1.65635891e-01 -1.82145558e-02 9.86018753e-01 6.92208339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.05, Y:98.19, Z:6.91 [[ 1.93630414e-01 -9.80865695e-01 -2.02422916e-02 1.07045322e+02] [ 9.67529952e-01 1.94333176e-01 -1.61618098e-01 9.81865761e+01] [ 1.62459397e-01 1.17091558e-02 9.86645752e-01 6.91267685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:98.21, Z:6.92 [[ 1.93170868e-01 -9.80569515e-01 -3.41824908e-02 1.07058528e+02] [ 9.67681298e-01 1.96156454e-01 -1.58478867e-01 9.82091996e+01] [ 1.62104662e-01 -2.46425678e-03 9.86770493e-01 6.92073326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:98.23, Z:6.94 [[ 1.92836421e-01 -9.79743227e-01 -5.40122639e-02 1.07076466e+02] [ 9.67179941e-01 1.99068911e-01 -1.57906715e-01 9.82335497e+01] [ 1.65460197e-01 -2.17894124e-02 9.85975732e-01 6.93570249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:98.26, Z:6.92 [[ 1.90029055e-01 -9.81646589e-01 -1.60913868e-02 1.07057132e+02] [ 9.68288731e-01 1.90100514e-01 -1.62107150e-01 9.82649633e+01] [ 1.62190912e-01 1.52239601e-02 9.86641951e-01 6.92383171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:98.29, Z:6.93 [[ 1.88122582e-01 -9.81559079e-01 -3.39362316e-02 1.07072535e+02] [ 9.68715302e-01 1.91133970e-01 -1.58298670e-01 9.82878724e+01] [ 1.61865864e-01 -3.09499239e-03 9.86807916e-01 6.93309200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:98.31, Z:6.94 [[ 1.84274905e-01 -9.82294246e-01 -3.37753563e-02 1.07078267e+02] [ 9.69539968e-01 1.87308810e-01 -1.57821609e-01 9.83133501e+01] [ 1.61353681e-01 -3.66399587e-03 9.86889844e-01 6.93818367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.08, Y:98.34, Z:6.94 [[ 1.82325974e-01 -9.82664899e-01 -3.35698526e-02 1.07083713e+02] [ 9.70026146e-01 1.85349382e-01 -1.57146054e-01 9.83398391e+01] [ 1.60644063e-01 -3.91182742e-03 9.87004652e-01 6.94258116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:98.36, Z:6.95 [[ 1.80613385e-01 -9.82983676e-01 -3.34947362e-02 1.07088536e+02] [ 9.70362873e-01 1.83646411e-01 -1.57066519e-01 9.83644903e+01] [ 1.60545012e-01 -4.13373290e-03 9.87019864e-01 6.94685039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:98.39, Z:6.95 [[ 1.78121159e-01 -9.83437465e-01 -3.35202079e-02 1.07092449e+02] [ 9.70753419e-01 1.81192258e-01 -1.57502909e-01 9.83894058e+01] [ 1.60967864e-01 -4.48525574e-03 9.86949456e-01 6.95073418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:98.42, Z:6.95 [[ 1.77270258e-01 -9.83591612e-01 -3.35081410e-02 1.07096849e+02] [ 9.70868821e-01 1.80351565e-01 -1.57756285e-01 9.84151114e+01] [ 1.61211004e-01 -4.56651212e-03 9.86909398e-01 6.95455351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:98.44, Z:6.96 [[ 1.77006940e-01 -9.83629520e-01 -3.37862618e-02 1.07100324e+02] [ 9.70645112e-01 1.80144202e-01 -1.59361643e-01 9.84410190e+01] [ 1.62839216e-01 -4.58635305e-03 9.86641959e-01 6.95839119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:98.47, Z:6.96 [[ 1.77263643e-01 -9.83579994e-01 -3.38820784e-02 1.07104571e+02] [ 9.70469169e-01 1.80416648e-01 -1.60123158e-01 9.84666011e+01] [ 1.63606826e-01 -4.49749815e-03 9.86515372e-01 6.96237769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:98.49, Z:6.97 [[ 1.77699635e-01 -9.83500906e-01 -3.38940558e-02 1.07109059e+02] [ 9.70328021e-01 1.80850419e-01 -1.60488807e-01 9.84915185e+01] [ 1.63970641e-01 -4.36954974e-03 9.86455542e-01 6.96619216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:98.52, Z:6.97 [[ 1.78438010e-01 -9.83365180e-01 -3.39528906e-02 1.07113708e+02] [ 9.70089952e-01 1.81591144e-01 -1.61090475e-01 9.85171147e+01] [ 1.64576309e-01 -4.19269413e-03 9.86355443e-01 6.97022014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:98.55, Z:6.97 [[ 1.78943454e-01 -9.83610476e-01 -2.21285147e-02 1.07109782e+02] [ 9.69016227e-01 1.80091335e-01 -1.69040417e-01 9.85463099e+01] [ 1.70255079e-01 8.80578622e-03 9.85360678e-01 6.97349981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:98.57, Z:6.98 [[ 1.80889093e-01 -9.82377260e-01 -4.70537405e-02 1.07130213e+02] [ 9.69098714e-01 1.86193967e-01 -1.61800771e-01 9.85670897e+01] [ 1.67710521e-01 -1.63317248e-02 9.85700997e-01 6.98341006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:98.59, Z:6.98 [[ 1.82579793e-01 -9.82587504e-01 -3.44443977e-02 1.07127671e+02] [ 9.68698078e-01 1.85771071e-01 -1.64660693e-01 9.85935602e+01] [ 1.68192312e-01 -3.30250660e-03 9.85748670e-01 6.98468076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:98.62, Z:6.99 [[ 1.82945520e-01 -9.82527846e-01 -3.42047982e-02 1.07132491e+02] [ 9.68789039e-01 1.86088518e-01 -1.63764654e-01 9.86186631e+01] [ 1.67268453e-01 -3.17722372e-03 9.85906268e-01 6.98870730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:98.64, Z:6.99 [[ 1.83126157e-01 -9.82498390e-01 -3.40840797e-02 1.07137863e+02] [ 9.68816447e-01 1.86245378e-01 -1.63423837e-01 9.86448663e+01] [ 1.66911659e-01 -3.09403777e-03 9.85967000e-01 6.99353639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.14, Y:98.67, Z:7.00 [[ 1.83150711e-01 -9.82495906e-01 -3.40236936e-02 1.07142967e+02] [ 9.68813296e-01 1.86259518e-01 -1.63426402e-01 9.86694957e+01] [ 1.66903007e-01 -3.03094508e-03 9.85968661e-01 6.99856464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:98.70, Z:7.00 [[ 1.82485206e-01 -9.82623128e-01 -3.39254825e-02 1.07147705e+02] [ 9.68965584e-01 1.85586461e-01 -1.63289196e-01 9.86953564e+01] [ 1.66747851e-01 -3.07476241e-03 9.85994777e-01 7.00286481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.15, Y:98.72, Z:7.01 [[ 1.81349699e-01 -9.82837014e-01 -3.38185056e-02 1.07152827e+02] [ 9.69221566e-01 1.84448152e-01 -1.63059607e-01 9.87197761e+01] [ 1.66498778e-01 -3.20681433e-03 9.86036446e-01 7.00715682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:98.75, Z:7.02 [[ 1.81746687e-01 -9.82341290e-01 -4.44267025e-02 1.07167534e+02] [ 9.68993013e-01 1.86601935e-01 -1.61963755e-01 9.87461631e+01] [ 1.67393793e-01 -1.36127884e-02 9.85796130e-01 7.01749743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:98.77, Z:7.01 [[ 1.79230195e-01 -9.83499520e-01 -2.46014408e-02 1.07159185e+02] [ 9.69706211e-01 1.80824682e-01 -1.64232453e-01 9.87724866e+01] [ 1.65971087e-01 5.57924464e-03 9.86114836e-01 7.01324422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:98.80, Z:7.02 [[ 1.78233958e-01 -9.83419279e-01 -3.34541299e-02 1.07170174e+02] [ 9.69953940e-01 1.81311942e-01 -1.62220014e-01 9.87964873e+01] [ 1.65595923e-01 -3.53584989e-03 9.86187349e-01 7.02023694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:98.82, Z:7.02 [[ 1.78425038e-01 -9.83685340e-01 -2.29707858e-02 1.07169548e+02] [ 9.69374937e-01 1.79737323e-01 -1.67352104e-01 9.88205601e+01] [ 1.68750519e-01 7.59250157e-03 9.85629553e-01 7.02324185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:98.85, Z:7.03 [[ 1.76649806e-01 -9.83358929e-01 -4.24271534e-02 1.07186389e+02] [ 9.70168908e-01 1.81227771e-01 -1.61024175e-01 9.88450494e+01] [ 1.66033538e-01 -1.27166159e-02 9.86038109e-01 7.03276746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:98.87, Z:7.03 [[ 1.76899033e-01 -9.83659212e-01 -3.34856215e-02 1.07187185e+02] [ 9.70062350e-01 1.80003548e-01 -1.63026871e-01 9.88732821e+01] [ 1.66390414e-01 -3.64384486e-03 9.86053220e-01 7.03333049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:98.90, Z:7.04 [[ 1.75657048e-01 -9.84083364e-01 -2.69171648e-02 1.07187459e+02] [ 9.69965860e-01 1.77680891e-01 -1.66119628e-01 9.89000041e+01] [ 1.68258228e-01 3.07135254e-03 9.85738168e-01 7.03729117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:98.92, Z:7.04 [[ 1.75087189e-01 -9.83921238e-01 -3.52629304e-02 1.07197664e+02] [ 9.70344999e-01 1.78512540e-01 -1.62984220e-01 9.89249334e+01] [ 1.66658511e-01 -5.68075925e-03 9.85998311e-01 7.04267170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:98.95, Z:7.05 [[ 1.75045207e-01 -9.83832237e-01 -3.78590273e-02 1.07205739e+02] [ 9.70093122e-01 1.78913204e-01 -1.64040848e-01 9.89504128e+01] [ 1.68162154e-01 -8.01221789e-03 9.85726785e-01 7.04949240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.21, Y:98.98, Z:7.05 [[ 1.74730849e-01 -9.84041221e-01 -3.36452889e-02 1.07208564e+02] [ 9.70130013e-01 1.77899573e-01 -1.64922711e-01 9.89779884e+01] [ 1.68276229e-01 -3.82321923e-03 9.85732466e-01 7.05281755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:99.00, Z:7.06 [[ 1.74486594e-01 -9.84040594e-01 -3.49075733e-02 1.07215095e+02] [ 9.70154225e-01 1.77870781e-01 -1.64811303e-01 9.90029945e+01] [ 1.68390050e-01 -5.10836682e-03 9.85707206e-01 7.05751148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:99.03, Z:7.06 [[ 1.75434275e-01 -9.83918937e-01 -3.35610056e-02 1.07218589e+02] [ 9.69974613e-01 1.78579524e-01 -1.65101795e-01 9.90292837e+01] [ 1.68440091e-01 -3.58880964e-03 9.85705360e-01 7.06183783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:99.05, Z:7.07 [[ 1.75768599e-01 -9.83859521e-01 -3.35535699e-02 1.07223339e+02] [ 9.69868403e-01 1.78908806e-01 -1.65369043e-01 9.90544358e+01] [ 1.68702936e-01 -3.47586231e-03 9.85660813e-01 7.06604731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:99.08, Z:7.06 [[ 1.74355335e-01 -9.84530826e-01 -1.72994247e-02 1.07216210e+02] [ 9.70393403e-01 1.74780766e-01 -1.66698315e-01 9.90821993e+01] [ 1.67143236e-01 1.22774930e-02 9.85856177e-01 7.06106083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:99.10, Z:7.07 [[ 1.74044664e-01 -9.83939375e-01 -3.96454513e-02 1.07234136e+02] [ 9.69976225e-01 1.78241483e-01 -1.65457236e-01 9.91045232e+01] [ 1.69866353e-01 -9.65819620e-03 9.85419779e-01 7.07489028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.23, Y:99.13, Z:7.07 [[ 1.73267648e-01 -9.84473499e-01 -2.81114230e-02 1.07231769e+02] [ 9.70449797e-01 1.75527617e-01 -1.65581543e-01 9.91326078e+01] [ 1.67944972e-01 1.40919987e-03 9.85795364e-01 7.07420100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:99.16, Z:7.07 [[ 1.72394803e-01 -9.84851275e-01 -1.86547001e-02 1.07231354e+02] [ 9.70953068e-01 1.73091049e-01 -1.65195726e-01 9.91610707e+01] [ 1.65922183e-01 1.03660464e-02 9.86084365e-01 7.07322723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:99.18, Z:7.08 [[ 1.71660632e-01 -9.84290850e-01 -4.12813614e-02 1.07249511e+02] [ 9.71180871e-01 1.76109929e-01 -1.60602019e-01 9.91828647e+01] [ 1.65349156e-01 -1.25226245e-02 9.86155586e-01 7.08378290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:99.21, Z:7.10 [[ 1.72422881e-01 -9.83813325e-01 -4.88025768e-02 1.07260686e+02] [ 9.70347406e-01 1.78165852e-01 -1.63348831e-01 9.92090791e+01] [ 1.69399709e-01 -1.91903778e-02 9.85360578e-01 7.09758441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:99.24, Z:7.10 [[ 1.72662473e-01 -9.84441676e-01 -3.25922730e-02 1.07255440e+02] [ 9.70356934e-01 1.75686525e-01 -1.65956816e-01 9.92353382e+01] [ 1.69100830e-01 -2.97162378e-03 9.85594277e-01 7.09666397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:99.26, Z:7.10 [[ 1.70317050e-01 -9.84853967e-01 -3.24771802e-02 1.07259902e+02] [ 9.70868986e-01 1.73353360e-01 -1.65414707e-01 9.92637611e+01] [ 1.68539359e-01 -3.35814205e-03 9.85689204e-01 7.10127717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.25, Y:99.29, Z:7.10 [[ 1.70214604e-01 -9.85280981e-01 -1.57599540e-02 1.07253350e+02] [ 9.70775486e-01 1.70411602e-01 -1.68981781e-01 9.92916878e+01] [ 1.69180214e-01 1.34637900e-02 9.85493167e-01 7.09844301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.28, Y:99.31, Z:7.11 [[ 1.69052281e-01 -9.84409988e-01 -4.85623400e-02 1.07277390e+02] [ 9.71100236e-01 1.74784256e-01 -1.62526290e-01 9.93129601e+01] [ 1.68480436e-01 -1.96834598e-02 9.85508450e-01 7.11477493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:99.34, Z:7.11 [[ 1.69818222e-01 -9.85182106e-01 -2.40414098e-02 1.07267215e+02] [ 9.70593174e-01 1.71427634e-01 -1.69001352e-01 9.93398591e+01] [ 1.70618470e-01 5.36508079e-03 9.85322563e-01 7.11271846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.28, Y:99.36, Z:7.12 [[ 1.69079298e-01 -9.84724552e-01 -4.15902322e-02 1.07282340e+02] [ 9.71378433e-01 1.73633940e-01 -1.62096249e-01 9.93621250e+01] [ 1.66841632e-01 -1.29927346e-02 9.85898098e-01 7.12106252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.27, Y:99.39, Z:7.12 [[ 1.67795497e-01 -9.85649767e-01 -1.84175845e-02 1.07272727e+02] [ 9.70916475e-01 1.68466115e-01 -1.70118683e-01 9.93930695e+01] [ 1.70780179e-01 1.06632126e-02 9.85251453e-01 7.12158051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:99.42, Z:7.13 [[ 1.67290860e-01 -9.85251042e-01 -3.59743168e-02 1.07286222e+02] [ 9.71606918e-01 1.70946788e-01 -1.63576262e-01 9.94165360e+01] [ 1.67313377e-01 -7.58808150e-03 9.85874564e-01 7.12925409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:99.44, Z:7.13 [[ 1.65792140e-01 -9.85387642e-01 -3.90405075e-02 1.07291225e+02] [ 9.72213548e-01 1.69953770e-01 -1.60986128e-01 9.94437246e+01] [ 1.65268822e-01 -1.12654758e-02 9.86184215e-01 7.13400887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:99.47, Z:7.13 [[ 1.66051550e-01 -9.85834276e-01 -2.36148778e-02 1.07285874e+02] [ 9.71713420e-01 1.67657255e-01 -1.66325209e-01 9.94705973e+01] [ 1.67928298e-01 4.67166506e-03 9.85788143e-01 7.13437864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:99.49, Z:7.14 [[ 1.66517003e-01 -9.85326810e-01 -3.74588339e-02 1.07298389e+02] [ 9.71949235e-01 1.70418256e-01 -1.62087330e-01 9.94937173e+01] [ 1.66092661e-01 -9.41778844e-03 9.86065177e-01 7.14174729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:99.53, Z:7.14 [[ 1.64814501e-01 -9.86147043e-01 -1.87133774e-02 1.07291842e+02] [ 9.72632319e-01 1.65647651e-01 -1.62933204e-01 9.95263965e+01] [ 1.63775924e-01 8.65251903e-03 9.86459619e-01 7.13769481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:99.55, Z:7.15 [[ 1.66421015e-01 -9.85233955e-01 -4.02256004e-02 1.07309142e+02] [ 9.71869916e-01 1.70785059e-01 -1.62176850e-01 9.95452769e+01] [ 1.66652070e-01 -1.21044149e-02 9.85941464e-01 7.15162036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.732755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.30, Y:99.58, Z:7.15 [[ 1.64947588e-01 -9.86043565e-01 -2.25916358e-02 1.07303022e+02] [ 9.71647510e-01 1.66387963e-01 -1.67976668e-01 9.95756307e+01] [ 1.69391289e-01 5.75623953e-03 9.85532068e-01 7.15264882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:99.60, Z:7.16 [[ 1.67372874e-01 -9.84870624e-01 -4.49018387e-02 1.07320583e+02] [ 9.71817088e-01 1.72480715e-01 -1.60692098e-01 9.95961781e+01] [ 1.66005628e-01 -1.67408760e-02 9.85982695e-01 7.16111582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:99.62, Z:7.16 [[ 1.67976157e-01 -9.85419649e-01 -2.70578387e-02 1.07314187e+02] [ 9.71427047e-01 1.70134740e-01 -1.65480094e-01 9.96245399e+01] [ 1.67670815e-01 1.51199404e-03 9.85841880e-01 7.16063378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:99.65, Z:7.17 [[ 1.66832485e-01 -9.85469158e-01 -3.18976449e-02 1.07321170e+02] [ 9.71648889e-01 1.69817375e-01 -1.64500749e-01 9.96524284e+01] [ 1.67527189e-01 -3.54924243e-03 9.85861067e-01 7.16654742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:99.68, Z:7.17 [[ 1.68243406e-01 -9.85267727e-01 -3.06865192e-02 1.07323632e+02] [ 9.71159941e-01 1.71009030e-01 -1.66145358e-01 9.96768618e+01] [ 1.68945331e-01 -1.84865728e-03 9.85623690e-01 7.17010289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:99.70, Z:7.18 [[ 1.67535411e-01 -9.85177989e-01 -3.68268342e-02 1.07331700e+02] [ 9.71488178e-01 1.71333242e-01 -1.63876907e-01 9.97033513e+01] [ 1.67757583e-01 -8.32164905e-03 9.85793155e-01 7.17562331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:99.73, Z:7.18 [[ 1.67851260e-01 -9.85295125e-01 -3.19291479e-02 1.07333430e+02] [ 9.71354387e-01 1.70829480e-01 -1.65190631e-01 9.97294524e+01] [ 1.68215963e-01 -3.28706245e-03 9.85744686e-01 7.17875715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.34, Y:99.76, Z:7.18 [[ 1.68348623e-01 -9.85212901e-01 -3.18477685e-02 1.07338275e+02] [ 9.71299527e-01 1.71305572e-01 -1.65020090e-01 9.97554592e+01] [ 1.68035622e-01 -3.15281752e-03 9.85775882e-01 7.18314168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.31, Y:99.79, Z:7.16 [[ 1.65524701e-01 -9.85939837e-01 2.28956755e-02 1.07306379e+02] [ 9.73263788e-01 1.59559767e-01 -1.65221912e-01 9.97897233e+01] [ 1.59245636e-01 4.96318395e-02 9.85990623e-01 7.15562071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:99.80, Z:7.20 [[ 1.67358188e-01 -9.83670162e-01 -6.62136692e-02 1.07366450e+02] [ 9.71881148e-01 1.75890626e-01 -1.56555174e-01 9.98011985e+01] [ 1.65645017e-01 -3.81510265e-02 9.85447222e-01 7.19756385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.34, Y:99.84, Z:7.18 [[ 1.66537833e-01 -9.85957618e-01 -1.23582550e-02 1.07339818e+02] [ 9.72559676e-01 1.66313963e-01 -1.62687869e-01 9.98392343e+01] [ 1.62458694e-01 1.50745446e-02 9.86600188e-01 7.18149265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.34, Y:99.86, Z:7.18 [[ 1.63929675e-01 -9.86468456e-01 -2.65454172e-03 1.07336775e+02] [ 9.73927571e-01 1.62272257e-01 -1.58533283e-01 9.98641578e+01] [ 1.56818841e-01 2.34029781e-02 9.87350065e-01 7.17584260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:99.88, Z:7.19 [[ 1.64326994e-01 -9.85425170e-01 -4.39758279e-02 1.07366981e+02] [ 9.73906521e-01 1.69158115e-01 -1.51299772e-01 9.98841382e+01] [ 1.56533472e-01 -1.79657087e-02 9.87509243e-01 7.19376379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:99.91, Z:7.21 [[ 1.65925787e-01 -9.85012775e-01 -4.71005957e-02 1.07375811e+02] [ 9.72786174e-01 1.71325492e-01 -1.55995629e-01 9.99110182e+01] [ 1.61727220e-01 -1.99351108e-02 9.86634125e-01 7.20579558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:99.93, Z:7.21 [[ 1.66466455e-01 -9.85108212e-01 -4.30201118e-02 1.07376785e+02] [ 9.72584983e-01 1.71222122e-01 -1.57357665e-01 9.99330612e+01] [ 1.62380323e-01 -1.56459421e-02 9.86604194e-01 7.21159748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.38, Y:99.96, Z:7.22 [[ 1.67384898e-01 -9.85140127e-01 -3.84866954e-02 1.07380938e+02] [ 9.72100559e-01 1.71424281e-01 -1.60106901e-01 9.99633761e+01] [ 1.64325287e-01 -1.06134607e-02 9.86349104e-01 7.21505799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.37, Y:99.99, Z:7.21 [[ 1.64086265e-01 -9.86342687e-01 -1.42759064e-02 1.07369143e+02] [ 9.72922388e-01 1.64207937e-01 -1.62658477e-01 9.99939904e+01] [ 1.62781217e-01 1.28006730e-02 9.86579150e-01 7.20949156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:100.01, Z:7.22 [[ 1.66915034e-01 -9.85027794e-01 -4.31232694e-02 1.07393289e+02] [ 9.72346156e-01 1.71696865e-01 -1.58313419e-01 1.00014408e+02] [ 1.63347248e-01 -1.55058555e-02 9.86446778e-01 7.22191356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:100.04, Z:7.23 [[ 1.64343780e-01 -9.85675458e-01 -3.78815694e-02 1.07392682e+02] [ 9.73093388e-01 1.68294129e-01 -1.57373265e-01 1.00040517e+02] [ 1.61494211e-01 -1.09989874e-02 9.86812364e-01 7.22606126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:100.07, Z:7.23 [[ 1.64924244e-01 -9.86023815e-01 -2.36014708e-02 1.07390547e+02] [ 9.73132477e-01 1.66572762e-01 -1.58955013e-01 1.00071578e+02] [ 1.60664791e-01 3.24817767e-03 9.87003685e-01 7.22530293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:100.10, Z:7.23 [[ 1.65622370e-01 -9.86018674e-01 -1.83413510e-02 1.07392538e+02] [ 9.73243082e-01 1.66423528e-01 -1.58433306e-01 1.00098802e+02] [ 1.59270631e-01 8.38950663e-03 9.87199312e-01 7.22545312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:100.12, Z:7.23 [[ 1.65406205e-01 -9.85674892e-01 -3.29513949e-02 1.07406369e+02] [ 9.73370384e-01 1.68536077e-01 -1.55388822e-01 1.00124211e+02] [ 1.58716359e-01 -6.37163665e-03 9.87303661e-01 7.23387627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.40, Y:100.15, Z:7.24 [[ 1.66113207e-01 -9.85834483e-01 -2.31683803e-02 1.07404754e+02] [ 9.72858989e-01 1.67674582e-01 -1.59469817e-01 1.00149733e+02] [ 1.61095593e-01 3.95047582e-03 9.86930901e-01 7.23651495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:100.17, Z:7.25 [[ 1.66661134e-01 -9.85290760e-01 -3.77648549e-02 1.07418007e+02] [ 9.72775054e-01 1.70558005e-01 -1.56903352e-01 1.00173909e+02] [ 1.61036521e-01 -1.05870181e-02 9.86891663e-01 7.24726798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:100.20, Z:7.25 [[ 1.66391384e-01 -9.85788980e-01 -2.31082986e-02 1.07413780e+02] [ 9.72459876e-01 1.67930182e-01 -1.61620675e-01 1.00203875e+02] [ 1.63204461e-01 4.42039456e-03 9.86582366e-01 7.24721596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:100.23, Z:7.25 [[ 1.66139148e-01 -9.85486025e-01 -3.48579813e-02 1.07425094e+02] [ 9.72574162e-01 1.69592750e-01 -1.59178514e-01 1.00226595e+02] [ 1.62779862e-01 -7.45618914e-03 9.86634239e-01 7.25466446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:100.25, Z:7.27 [[ 1.67278574e-01 -9.83889197e-01 -6.30866614e-02 1.07448389e+02] [ 9.72396646e-01 1.75205672e-01 -1.54103004e-01 1.00248466e+02] [ 1.62673422e-01 -3.55671272e-02 9.86038710e-01 7.27008207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:100.29, Z:7.25 [[ 1.65589409e-01 -9.86194626e-01 5.53578634e-04 1.07413908e+02] [ 9.72611284e-01 1.63215769e-01 -1.65492908e-01 1.00285306e+02] [ 1.63117864e-01 2.79422897e-02 9.86210825e-01 7.25082170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.572755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.46, Y:100.30, Z:7.28 [[ 1.66653888e-01 -9.84296848e-01 -5.81910369e-02 1.07455684e+02] [ 9.71442545e-01 1.74013625e-01 -1.61302947e-01 1.00302447e+02] [ 1.68896016e-01 -2.96474858e-02 9.85187882e-01 7.28071009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:100.33, Z:7.27 [[ 1.66647549e-01 -9.85946344e-01 -1.17644354e-02 1.07433519e+02] [ 9.71660194e-01 1.66238076e-01 -1.68051685e-01 1.00330880e+02] [ 1.67645642e-01 1.65743679e-02 9.85707984e-01 7.26927653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.632755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:107.43, Y:100.36, Z:7.27 [[ 1.60859341e-01 -9.86932670e-01 -9.39029231e-03 1.07432693e+02] [ 9.73154287e-01 1.60186009e-01 -1.65260933e-01 1.00361111e+02] [ 1.64605607e-01 1.74455616e-02 9.86205175e-01 7.26735155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.662755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:107.45, Y:100.38, Z:7.27 [[ 1.61313876e-01 -9.86625067e-01 -2.34267245e-02 1.07445509e+02] [ 9.73173896e-01 1.62970630e-01 -1.62398096e-01 1.00382818e+02] [ 1.64043900e-01 3.39878950e-03 9.86447184e-01 7.27393744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:100.40, Z:7.30 [[ 1.61806607e-01 -9.82867555e-01 -8.82609233e-02 1.07489800e+02] [ 9.73365092e-01 1.73680802e-01 -1.49650851e-01 1.00399710e+02] [ 1.62416194e-01 -6.16956053e-02 9.84791670e-01 7.30098022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.45, Y:100.44, Z:7.28 [[ 1.59625134e-01 -9.87014780e-01 -1.79343383e-02 1.07453056e+02] [ 9.73924880e-01 1.60423055e-01 -1.60420605e-01 1.00439615e+02] [ 1.61214590e-01 8.14046227e-03 9.86885803e-01 7.28185634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:100.46, Z:7.29 [[ 1.57422495e-01 -9.86440116e-01 -4.64118019e-02 1.07473893e+02] [ 9.74960693e-01 1.62721838e-01 -1.51569291e-01 1.00460194e+02] [ 1.57066242e-01 -2.13892666e-02 9.87356417e-01 7.29307107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.46, Y:100.49, Z:7.29 [[ 1.57295576e-01 -9.87442900e-01 -1.46499779e-02 1.07458958e+02] [ 9.74640343e-01 1.57612972e-01 -1.58853243e-01 1.00489871e+02] [ 1.59167533e-01 1.07084527e-02 9.87193510e-01 7.28677314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:100.51, Z:7.30 [[ 1.58418856e-01 -9.86371295e-01 -4.44424946e-02 1.07483077e+02] [ 9.74034120e-01 1.63493806e-01 -1.56611965e-01 1.00512860e+02] [ 1.61743620e-01 -1.84782178e-02 9.86659798e-01 7.30249578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:100.54, Z:7.30 [[ 1.56693647e-01 -9.87313972e-01 -2.56558416e-02 1.07472519e+02] [ 9.75346140e-01 1.58776905e-01 -1.53263827e-01 1.00541402e+02] [ 1.55393073e-01 -1.00785802e-03 9.87852204e-01 7.29797379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:100.57, Z:7.30 [[ 1.56669071e-01 -9.87588672e-01 -1.11093223e-02 1.07466229e+02] [ 9.75002559e-01 1.56447283e-01 -1.57779143e-01 1.00568952e+02] [ 1.57558917e-01 1.38874941e-02 9.87411933e-01 7.29720474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:100.60, Z:7.29 [[ 1.55681787e-01 -9.87803635e-01 -2.67562219e-03 1.07462984e+02] [ 9.76044017e-01 1.54244068e-01 -1.53449812e-01 1.00595426e+02] [ 1.51990981e-01 2.12778160e-02 9.88152820e-01 7.29167099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:100.62, Z:7.30 [[ 1.55199524e-01 -9.87569188e-01 -2.49039375e-02 1.07480178e+02] [ 9.76136930e-01 1.57181376e-01 -1.49835606e-01 1.00617678e+02] [ 1.51887463e-01 -1.05523836e-03 9.88397230e-01 7.30154111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:100.64, Z:7.31 [[ 1.55902931e-01 -9.87440600e-01 -2.55995643e-02 1.07483279e+02] [ 9.75963003e-01 1.57982808e-01 -1.50125446e-01 1.00644158e+02] [ 1.52284252e-01 -1.57923055e-03 9.88335476e-01 7.30614938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:100.67, Z:7.31 [[ 1.55781112e-01 -9.87480535e-01 -2.47878584e-02 1.07485935e+02] [ 9.75808990e-01 1.57739738e-01 -1.51376980e-01 1.00670992e+02] [ 1.53391852e-01 -6.06540707e-04 9.88165255e-01 7.31071929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:100.69, Z:7.32 [[ 1.55729375e-01 -9.86877143e-01 -4.26833277e-02 1.07498051e+02] [ 9.75761544e-01 1.60413323e-01 -1.48852194e-01 1.00693014e+02] [ 1.53745802e-01 -1.84680906e-02 9.87937831e-01 7.32169926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:100.72, Z:7.32 [[ 1.56376053e-01 -9.87469631e-01 -2.12192769e-02 1.07488616e+02] [ 9.75413324e-01 1.57773285e-01 -1.53871501e-01 1.00722543e+02] [ 1.55291270e-01 3.36425259e-03 9.87862998e-01 7.32015558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:100.75, Z:7.32 [[ 1.55439358e-01 -9.87634180e-01 -2.04286998e-02 1.07490943e+02] [ 9.75507369e-01 1.56723371e-01 -1.54347523e-01 1.00750136e+02] [ 1.55640544e-01 4.06333269e-03 9.87805401e-01 7.32364704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:100.78, Z:7.33 [[ 1.55705996e-01 -9.87490907e-01 -2.48465715e-02 1.07496842e+02] [ 9.75886924e-01 1.57674204e-01 -1.50942234e-01 1.00776929e+02] [ 1.52971746e-01 -7.44833463e-04 9.88230282e-01 7.32518474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:100.80, Z:7.33 [[ 1.55375588e-01 -9.87542803e-01 -2.48523564e-02 1.07500207e+02] [ 9.75953268e-01 1.57348490e-01 -1.50853143e-01 1.00802180e+02] [ 1.52884417e-01 -8.15842632e-04 9.88243740e-01 7.32907464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.172755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.50, Y:100.83, Z:7.33 [[ 1.54979383e-01 -9.87575656e-01 -2.59945029e-02 1.07503755e+02] [ 9.75995895e-01 1.57131559e-01 -1.50803468e-01 1.00826448e+02] [ 1.53014391e-01 -1.99909974e-03 9.88221939e-01 7.33322037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:100.86, Z:7.33 [[ 1.52577499e-01 -9.88222328e-01 -1.16934621e-02 1.07497447e+02] [ 9.76147290e-01 1.52541234e-01 -1.54491556e-01 1.00855749e+02] [ 1.54455740e-01 1.21573938e-02 9.87924907e-01 7.33175812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:100.87, Z:7.36 [[ 1.51828459e-01 -9.85982253e-01 -6.91889846e-02 1.07536722e+02] [ 9.75834747e-01 1.60658841e-01 -1.48105649e-01 1.00874395e+02] [ 1.57145364e-01 -4.50303627e-02 9.86548327e-01 7.35865391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:100.91, Z:7.34 [[ 1.51020572e-01 -9.88530298e-01 7.97566045e-04 1.07498013e+02] [ 9.76618867e-01 1.49075858e-01 -1.54893436e-01 1.00907494e+02] [ 1.52997957e-01 2.41710134e-02 9.87930862e-01 7.33759684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:100.93, Z:7.36 [[ 1.44215741e-01 -9.88772570e-01 -3.91231984e-02 1.07522833e+02] [ 9.77333637e-01 1.48516867e-01 -1.50869820e-01 1.00932051e+02] [ 1.54986394e-01 -1.64786150e-02 9.87779162e-01 7.35660038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:100.96, Z:7.35 [[ 1.42989594e-01 -9.89635700e-01 -1.32346822e-02 1.07511295e+02] [ 9.78136070e-01 1.43343050e-01 -1.50673815e-01 1.00959389e+02] [ 1.51009286e-01 8.59946760e-03 9.88494939e-01 7.34939291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:100.98, Z:7.36 [[ 1.40915795e-01 -9.89671835e-01 -2.63134381e-02 1.07521659e+02] [ 9.78345083e-01 1.43274643e-01 -1.49376286e-01 1.00982615e+02] [ 1.51603551e-01 -4.69414466e-03 9.88430234e-01 7.35792517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:101.01, Z:7.36 [[ 1.36069248e-01 -9.90352536e-01 -2.62109714e-02 1.07525602e+02] [ 9.79495042e-01 1.38451051e-01 -1.46358357e-01 1.01008309e+02] [ 1.48575307e-01 -5.75864485e-03 9.88884329e-01 7.36096324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:101.03, Z:7.36 [[ 1.32710152e-01 -9.90859316e-01 -2.42039667e-02 1.07526562e+02] [ 9.79880995e-01 1.34834233e-01 -1.47149462e-01 1.01033990e+02] [ 1.49067939e-01 -4.18877949e-03 9.88818084e-01 7.36497775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:101.06, Z:7.37 [[ 1.31345768e-01 -9.91024720e-01 -2.48654926e-02 1.07531577e+02] [ 9.80060293e-01 1.33583341e-01 -1.47096270e-01 1.01060915e+02] [ 1.49097655e-01 -5.04920948e-03 9.88809585e-01 7.36970614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:101.09, Z:7.37 [[ 1.29686359e-01 -9.91323624e-01 -2.14224159e-02 1.07532422e+02] [ 9.80269084e-01 1.31430743e-01 -1.47643092e-01 1.01087737e+02] [ 1.49177649e-01 -1.85243695e-03 9.88808676e-01 7.37282407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:101.11, Z:7.38 [[ 1.29217795e-01 -9.91324206e-01 -2.40640661e-02 1.07537250e+02] [ 9.80407154e-01 1.31358016e-01 -1.46788568e-01 1.01112901e+02] [ 1.48676068e-01 -4.62488746e-03 9.88875137e-01 7.37723914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:101.14, Z:7.40 [[ 1.31721964e-01 -9.89844547e-01 -5.34518221e-02 1.07559444e+02] [ 9.79526040e-01 1.38251226e-01 -1.46339791e-01 1.01139067e+02] [ 1.52243425e-01 -3.30812869e-02 9.87789233e-01 7.39709890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:101.17, Z:7.39 [[ 1.31408560e-01 -9.91292137e-01 -8.46692928e-03 1.07534040e+02] [ 9.79953547e-01 1.31186146e-01 -1.49937454e-01 1.01169827e+02] [ 1.49742563e-01 1.14058676e-02 9.88659229e-01 7.38554078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:101.19, Z:7.39 [[ 1.32492711e-01 -9.90927096e-01 -2.25648437e-02 1.07544760e+02] [ 9.79925370e-01 1.34375350e-01 -1.47273673e-01 1.01192599e+02] [ 1.48969632e-01 -2.59917465e-03 9.88838355e-01 7.39226956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:101.22, Z:7.38 [[ 1.32536404e-01 -9.91169582e-01 -4.11846808e-03 1.07535266e+02] [ 9.80395182e-01 1.31704653e-01 -1.46557741e-01 1.01221056e+02] [ 1.45805997e-01 1.53865098e-02 9.89193544e-01 7.38472366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:101.25, Z:7.40 [[ 1.33165963e-01 -9.90717585e-01 -2.73037137e-02 1.07552062e+02] [ 9.79845453e-01 1.35743422e-01 -1.46549009e-01 1.01245294e+02] [ 1.48894980e-01 -7.23807991e-03 9.88826524e-01 7.39810973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:101.27, Z:7.40 [[ 1.34227588e-01 -9.90564927e-01 -2.76420003e-02 1.07555764e+02] [ 9.79876892e-01 1.36834462e-01 -1.45318979e-01 1.01270295e+02] [ 1.47730262e-01 -7.57994135e-03 9.88998642e-01 7.40174554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:101.30, Z:7.41 [[ 1.35885180e-01 -9.90417046e-01 -2.46838601e-02 1.07557539e+02] [ 9.79393844e-01 1.38046744e-01 -1.47413688e-01 1.01296297e+02] [ 1.49408556e-01 -4.14388506e-03 9.88766864e-01 7.40747154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:101.32, Z:7.41 [[ 1.34482374e-01 -9.90732432e-01 -1.90719549e-02 1.07557784e+02] [ 9.79091307e-01 1.35817462e-01 -1.51439196e-01 1.01324856e+02] [ 1.52626027e-01 1.69271724e-03 9.88282566e-01 7.41195490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:101.35, Z:7.42 [[ 1.34041514e-01 -9.90658186e-01 -2.50844754e-02 1.07563750e+02] [ 9.79168834e-01 1.36297842e-01 -1.50503467e-01 1.01349448e+02] [ 1.52516452e-01 -4.38822400e-03 9.88291190e-01 7.41846766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:101.37, Z:7.42 [[ 1.32982869e-01 -9.90637918e-01 -3.08556640e-02 1.07569717e+02] [ 9.79549707e-01 1.36109710e-01 -1.48177320e-01 1.01373607e+02] [ 1.50989827e-01 -1.05196114e-02 9.88479342e-01 7.42453542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:101.40, Z:7.43 [[ 1.33463481e-01 -9.90764985e-01 -2.39216101e-02 1.07569139e+02] [ 9.79428650e-01 1.35545734e-01 -1.49488705e-01 1.01400414e+02] [ 1.51350646e-01 -3.47822744e-03 9.88474018e-01 7.42732667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:101.43, Z:7.43 [[ 1.33513039e-01 -9.90850935e-01 -1.97153076e-02 1.07568705e+02] [ 9.79384061e-01 1.34958690e-01 -1.50309720e-01 1.01425711e+02] [ 1.51595279e-01 7.59449489e-04 9.88442358e-01 7.43088626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:101.45, Z:7.44 [[ 1.32854239e-01 -9.90996242e-01 -1.66192688e-02 1.07569867e+02] [ 9.79163398e-01 1.33829361e-01 -1.52737497e-01 1.01451966e+02] [ 1.53586432e-01 4.01884425e-03 9.88127045e-01 7.43538223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:101.48, Z:7.44 [[ 1.32717374e-01 -9.90546020e-01 -3.47085043e-02 1.07584164e+02] [ 9.79725194e-01 1.36409110e-01 -1.46734791e-01 1.01475718e+02] [ 1.50082119e-01 -1.45305400e-02 9.88566751e-01 7.44404123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.952755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.58, Y:101.50, Z:7.45 [[ 1.33810291e-01 -9.90776975e-01 -2.13492699e-02 1.07579368e+02] [ 9.79590052e-01 1.35498671e-01 -1.48470333e-01 1.01502019e+02] [ 1.49993785e-01 -1.04667398e-03 9.88686386e-01 7.44506003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:101.53, Z:7.45 [[ 1.33453358e-01 -9.90656682e-01 -2.80987393e-02 1.07584688e+02] [ 9.79828854e-01 1.36144000e-01 -1.46288166e-01 1.01527059e+02] [ 1.48746824e-01 -8.00930852e-03 9.88842876e-01 7.45010868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:101.55, Z:7.45 [[ 1.31494581e-01 -9.91131426e-01 -1.91747478e-02 1.07580455e+02] [ 9.79976453e-01 1.32883388e-01 -1.48284039e-01 1.01554261e+02] [ 1.49516976e-01 7.07746260e-04 9.88758905e-01 7.45244268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.042755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.56, Y:101.59, Z:7.44 [[ 1.29100014e-01 -9.91570398e-01 1.10151266e-02 1.07563520e+02] [ 9.81184516e-01 1.26123876e-01 -1.46183837e-01 1.01585629e+02] [ 1.43562295e-01 2.96802071e-02 9.89196114e-01 7.43869869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:101.60, Z:7.47 [[ 1.30706948e-01 -9.89896600e-01 -5.49583067e-02 1.07607990e+02] [ 9.80205178e-01 1.37344249e-01 -1.42598620e-01 1.01602673e+02] [ 1.48706096e-01 -3.52317865e-02 9.88253620e-01 7.46912619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:101.63, Z:7.47 [[ 1.29877724e-01 -9.91259910e-01 -2.31423136e-02 1.07592671e+02] [ 9.80265120e-01 1.31875431e-01 -1.47272420e-01 1.01632968e+02] [ 1.49037148e-01 -3.55819611e-03 9.88825196e-01 7.46562160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:101.66, Z:7.47 [[ 1.29878113e-01 -9.91261915e-01 -2.30541124e-02 1.07594640e+02] [ 9.80295830e-01 1.31861991e-01 -1.47079913e-01 1.01657650e+02] [ 1.48834677e-01 -3.49738881e-03 9.88855908e-01 7.46983065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:101.69, Z:7.46 [[ 1.28872894e-01 -9.91638947e-01 6.63145404e-03 1.07578876e+02] [ 9.81093574e-01 1.26523064e-01 -1.46449012e-01 1.01689746e+02] [ 1.44385512e-01 2.53793848e-02 9.89195992e-01 7.45746353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:101.72, Z:7.47 [[ 1.29204243e-01 -9.91534632e-01 -1.28583596e-02 1.07593970e+02] [ 9.81003097e-01 1.29702654e-01 -1.44257219e-01 1.01715415e+02] [ 1.44703792e-01 6.02455419e-03 9.89456678e-01 7.46500591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:101.74, Z:7.47 [[ 1.30394697e-01 -9.91262449e-01 -1.98992612e-02 1.07600758e+02] [ 9.80812873e-01 1.31901933e-01 -1.43554829e-01 1.01739159e+02] [ 1.44925263e-01 -7.98663029e-04 9.89442282e-01 7.46923671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:101.77, Z:7.47 [[ 1.31028655e-01 -9.91232012e-01 -1.70467131e-02 1.07602579e+02] [ 9.80608526e-01 1.32113718e-01 -1.44751111e-01 1.01767225e+02] [ 1.45734040e-01 2.25039115e-03 9.89321245e-01 7.47280864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.62, Y:101.79, Z:7.50 [[ 1.32803871e-01 -9.89899946e-01 -4.96107806e-02 1.07624407e+02] [ 9.78988328e-01 1.38825601e-01 -1.49362999e-01 1.01788046e+02] [ 1.54741671e-01 -2.87323907e-02 9.87537070e-01 7.49566173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31275509600002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.62, Y:101.81, Z:7.50 [[ 1.33846167e-01 -9.90325997e-01 -3.66008613e-02 1.07619968e+02] [ 9.79326788e-01 1.37831610e-01 -1.48059077e-01 1.01814011e+02] [ 1.51671509e-01 -1.60270639e-02 9.88301010e-01 7.49569142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.62, Y:101.84, Z:7.50 [[ 1.34606888e-01 -9.90628178e-01 -2.31689068e-02 1.07615316e+02] [ 9.79202123e-01 1.36563586e-01 -1.50045290e-01 1.01841484e+02] [ 1.51803122e-01 -2.48991305e-03 9.88407615e-01 7.49655575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:101.87, Z:7.50 [[ 1.33515033e-01 -9.90944413e-01 -1.42444993e-02 1.07611703e+02] [ 9.78983977e-01 1.34112024e-01 -1.53637031e-01 1.01871529e+02] [ 1.54156116e-01 6.56771672e-03 9.88024674e-01 7.49981813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40275509600002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.63, Y:101.89, Z:7.51 [[ 1.35435984e-01 -9.90233589e-01 -3.30837274e-02 1.07626737e+02] [ 9.79096197e-01 1.38877622e-01 -1.48605666e-01 1.01893560e+02] [ 1.51748911e-01 -1.22655972e-02 9.88342968e-01 7.50709331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.62, Y:101.92, Z:7.51 [[ 1.35242067e-01 -9.90548600e-01 -2.28703732e-02 1.07624697e+02] [ 9.79145377e-01 1.37145779e-01 -1.49884511e-01 1.01921015e+02] [ 1.51604468e-01 -2.12272911e-03 9.88438961e-01 7.50938325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:101.95, Z:7.51 [[ 1.34832816e-01 -9.90606175e-01 -2.27929174e-02 1.07628548e+02] [ 9.79225413e-01 1.36729191e-01 -1.49742173e-01 1.01946175e+02] [ 1.51451979e-01 -2.12924506e-03 9.88462323e-01 7.51340272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:101.97, Z:7.52 [[ 1.33619815e-01 -9.90772764e-01 -2.26952751e-02 1.07632139e+02] [ 9.79449112e-01 1.35514520e-01 -1.49382906e-01 1.01971509e+02] [ 1.51080054e-01 -2.26835073e-03 9.88518928e-01 7.51726367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:102.00, Z:7.52 [[ 1.32453304e-01 -9.90932028e-01 -2.25796059e-02 1.07635824e+02] [ 9.79678901e-01 1.34342790e-01 -1.48933763e-01 1.01996943e+02] [ 1.50616643e-01 -2.39399442e-03 9.88589346e-01 7.52092580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:102.02, Z:7.52 [[ 1.31130392e-01 -9.91110872e-01 -2.24512907e-02 1.07639795e+02] [ 9.79929031e-01 1.33014424e-01 -1.48479824e-01 1.02021845e+02] [ 1.50146314e-01 -2.53045397e-03 9.88660549e-01 7.52447008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:102.05, Z:7.53 [[ 1.29571101e-01 -9.91318675e-01 -2.23296702e-02 1.07643684e+02] [ 9.80199569e-01 1.31453390e-01 -1.48083797e-01 1.02047946e+02] [ 1.49733544e-01 -2.70015241e-03 9.88722699e-01 7.52841598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:102.07, Z:7.53 [[ 1.27049166e-01 -9.91647359e-01 -2.22266852e-02 1.07647615e+02] [ 9.80578425e-01 1.28943396e-01 -1.47782115e-01 1.02073979e+02] [ 1.49413728e-01 -3.01941349e-03 9.88770156e-01 7.53214286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:102.10, Z:7.53 [[ 1.25901465e-01 -9.92015694e-01 -7.32690188e-03 1.07642542e+02] [ 9.80025027e-01 1.25519011e-01 -1.54259274e-01 1.02101728e+02] [ 1.53947286e-01 1.22409213e-02 9.88003235e-01 7.53427718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:102.12, Z:7.54 [[ 1.23346360e-01 -9.91668795e-01 -3.71305208e-02 1.07664478e+02] [ 9.81016256e-01 1.27492676e-01 -1.46125710e-01 1.02123246e+02] [ 1.49642177e-01 -1.84015699e-02 9.88568966e-01 7.54267849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:102.15, Z:7.54 [[ 1.22241828e-01 -9.92252767e-01 -2.21671518e-02 1.07659684e+02] [ 9.81076292e-01 1.24183617e-01 -1.48552138e-01 1.02151323e+02] [ 1.50154067e-01 -3.58838212e-03 9.88656098e-01 7.54302935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:102.18, Z:7.55 [[ 1.21286474e-01 -9.92370415e-01 -2.21483821e-02 1.07663407e+02] [ 9.81146730e-01 1.23237408e-01 -1.48874560e-01 1.02176720e+02] [ 1.50468218e-01 -3.67434220e-03 9.88608019e-01 7.54685280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:102.20, Z:7.55 [[ 1.20335379e-01 -9.92488136e-01 -2.20611843e-02 1.07666913e+02] [ 9.81287636e-01 1.22283410e-01 -1.48732452e-01 1.02202941e+02] [ 1.50312911e-01 -3.75059134e-03 9.88631358e-01 7.55043567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:102.23, Z:7.55 [[ 1.20057779e-01 -9.92522642e-01 -2.20212491e-02 1.07670767e+02] [ 9.81295700e-01 1.22003608e-01 -1.48908930e-01 1.02228815e+02] [ 1.50482156e-01 -3.73168156e-03 9.88605682e-01 7.55434031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:102.25, Z:7.56 [[ 1.19995987e-01 -9.92479108e-01 -2.42112240e-02 1.07675610e+02] [ 9.81431556e-01 1.22265680e-01 -1.47794466e-01 1.02254535e+02] [ 1.49643122e-01 -6.02691647e-03 9.88721706e-01 7.55801100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:102.28, Z:7.56 [[ 1.19548238e-01 -9.92590887e-01 -2.17151819e-02 1.07677512e+02] [ 9.81482929e-01 1.21450953e-01 -1.48124695e-01 1.02280219e+02] [ 1.49664552e-01 -3.60503404e-03 9.88730259e-01 7.56130666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:102.31, Z:7.56 [[ 1.20743585e-01 -9.92595437e-01 -1.32395350e-02 1.07677819e+02] [ 9.81202414e-01 1.21359047e-01 -1.50046007e-01 1.02311569e+02] [ 1.50541719e-01 5.12642906e-03 9.88590365e-01 7.56210626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:102.33, Z:7.57 [[ 1.20401755e-01 -9.92265983e-01 -3.01933081e-02 1.07689934e+02] [ 9.81159424e-01 1.23573107e-01 -1.48512192e-01 1.02332307e+02] [ 1.51094677e-01 -1.17433202e-02 9.88449540e-01 7.57181202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.68, Y:102.37, Z:7.57 [[ 1.20744531e-01 -9.92679509e-01 -2.85496029e-03 1.07678353e+02] [ 9.81293377e-01 1.19793018e-01 -1.50708131e-01 1.02365697e+02] [ 1.49946877e-01 1.53956290e-02 9.88574180e-01 7.56562821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:102.39, Z:7.57 [[ 1.22261245e-01 -9.92283494e-01 -2.06314136e-02 1.07692711e+02] [ 9.80993274e-01 1.23973835e-01 -1.49273859e-01 1.02390977e+02] [ 1.50679742e-01 -1.98887012e-03 9.88580629e-01 7.57399738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:102.42, Z:7.58 [[ 1.22658749e-01 -9.92131192e-01 -2.51103349e-02 1.07698793e+02] [ 9.80824485e-01 1.25044396e-01 -1.49489893e-01 1.02416600e+02] [ 1.51453493e-01 -6.29258795e-03 9.88444355e-01 7.58010264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:102.44, Z:7.58 [[ 1.24863222e-01 -9.91910842e-01 -2.28485900e-02 1.07701819e+02] [ 9.80804805e-01 1.26875936e-01 -1.48069007e-01 1.02441628e+02] [ 1.49770190e-01 -3.92163349e-03 9.88713058e-01 7.58268540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:102.47, Z:7.59 [[ 1.25205287e-01 -9.91921014e-01 -2.04043725e-02 1.07703754e+02] [ 9.80864292e-01 1.26847893e-01 -1.47698522e-01 1.02468061e+02] [ 1.49093519e-01 -1.52128463e-03 9.88821930e-01 7.58604973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:102.50, Z:7.59 [[ 1.25251654e-01 -9.92066546e-01 -1.07699562e-02 1.07701484e+02] [ 9.80849544e-01 1.25452837e-01 -1.48982406e-01 1.02497624e+02] [ 1.49151582e-01 8.09658626e-03 9.88781195e-01 7.58772416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:102.52, Z:7.61 [[ 1.28450720e-01 -9.90421019e-01 -5.06617956e-02 1.07730138e+02] [ 9.79816605e-01 1.34633620e-01 -1.47760645e-01 1.02516804e+02] [ 1.53166030e-01 -3.06593074e-02 9.87724746e-01 7.61055613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:102.55, Z:7.61 [[ 1.29731894e-01 -9.91366964e-01 -1.90046846e-02 1.07715499e+02] [ 9.79515326e-01 1.31110914e-01 -1.52838658e-01 1.02545640e+02] [ 1.54010917e-01 1.21266873e-03 9.88068402e-01 7.60766166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:102.58, Z:7.60 [[ 1.28071543e-01 -9.91755708e-01 4.27729496e-03 1.07704259e+02] [ 9.80183029e-01 1.25917550e-01 -1.52924822e-01 1.02576901e+02] [ 1.51125478e-01 2.37778498e-02 9.88228569e-01 7.59991591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:102.59, Z:7.62 [[ 1.30035195e-01 -9.90307931e-01 -4.87960038e-02 1.07740556e+02] [ 9.79619530e-01 1.35918825e-01 -1.47890667e-01 1.02594648e+02] [ 1.53089596e-01 -2.85705265e-02 9.87799221e-01 7.62377622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:102.62, Z:7.62 [[ 1.29730319e-01 -9.91448297e-01 -1.41533776e-02 1.07723709e+02] [ 9.79439365e-01 1.30356897e-01 -1.53966262e-01 1.02623379e+02] [ 1.54494578e-01 6.11171701e-03 9.87974733e-01 7.61978921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:102.65, Z:7.63 [[ 1.28800347e-01 -9.91258270e-01 -2.85921947e-02 1.07736807e+02] [ 9.79937224e-01 1.31645633e-01 -1.49641117e-01 1.02647285e+02] [ 1.52097032e-01 -8.74472807e-03 9.88326880e-01 7.62608437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:102.67, Z:7.63 [[ 1.28436870e-01 -9.91499375e-01 -2.08077016e-02 1.07736437e+02] [ 9.80047884e-01 1.30106857e-01 -1.50260942e-01 1.02673737e+02] [ 1.51690855e-01 -1.09349888e-03 9.88427382e-01 7.62810417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:102.70, Z:7.63 [[ 1.25216082e-01 -9.91906806e-01 -2.10195378e-02 1.07741709e+02] [ 9.80580062e-01 1.26953939e-01 -1.49483910e-01 1.02699255e+02] [ 1.50942620e-01 -1.89355014e-03 9.88540712e-01 7.63166359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:102.73, Z:7.63 [[ 1.23859512e-01 -9.92222975e-01 -1.23445905e-02 1.07740863e+02] [ 9.80360865e-01 1.24283795e-01 -1.53121234e-01 1.02725336e+02] [ 1.53464639e-01 6.86336782e-03 9.88130305e-01 7.63387234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:102.75, Z:7.64 [[ 1.22007848e-01 -9.92095406e-01 -2.93392135e-02 1.07755607e+02] [ 9.80981482e-01 1.25031666e-01 -1.48466881e-01 1.02749946e+02] [ 1.50961641e-01 -1.06671005e-02 9.88482067e-01 7.64173612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.75, Y:102.78, Z:7.64 [[ 1.20372363e-01 -9.92509555e-01 -2.08632842e-02 1.07754767e+02] [ 9.81155144e-01 1.22142495e-01 -1.49719051e-01 1.02775358e+02] [ 1.51145883e-01 -2.44808265e-03 9.88508437e-01 7.64334887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:102.80, Z:7.65 [[ 1.17359921e-01 -9.92926430e-01 -1.79931678e-02 1.07758308e+02] [ 9.81408102e-01 1.18731224e-01 -1.50801307e-01 1.02801586e+02] [ 1.51870954e-01 3.93886847e-05 9.88400330e-01 7.64602022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:102.83, Z:7.65 [[ 1.15966599e-01 -9.93221868e-01 -7.87833243e-03 1.07756446e+02] [ 9.80982917e-01 1.15773308e-01 -1.55785293e-01 1.02827157e+02] [ 1.55641461e-01 1.03373812e-02 9.87759522e-01 7.64874605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:102.85, Z:7.66 [[ 1.13911322e-01 -9.92807880e-01 -3.68337430e-02 1.07779300e+02] [ 9.81810782e-01 1.18163088e-01 -1.48610476e-01 1.02850316e+02] [ 1.51894040e-01 -1.92353503e-02 9.88209594e-01 7.65774460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:102.88, Z:7.65 [[ 1.12800740e-01 -9.93608526e-01 -4.25325161e-03 1.07764215e+02] [ 9.81131135e-01 1.12058673e-01 -1.57558082e-01 1.02878099e+02] [ 1.57027667e-01 1.35996707e-02 9.87500562e-01 7.65498812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:102.90, Z:7.66 [[ 1.08385159e-01 -9.93740422e-01 -2.70671504e-02 1.07780680e+02] [ 9.81910473e-01 1.11267793e-01 -1.53203466e-01 1.02903992e+02] [ 1.55256179e-01 -9.97253649e-03 9.87823905e-01 7.66383285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:102.93, Z:7.67 [[ 1.09252903e-01 -9.93477319e-01 -3.26591305e-02 1.07790685e+02] [ 9.82027427e-01 1.12964214e-01 -1.51199268e-01 1.02927326e+02] [ 1.53902357e-01 -1.55532028e-02 9.87963644e-01 7.66784727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:102.96, Z:7.67 [[ 1.08935089e-01 -9.93834096e-01 -2.06624362e-02 1.07787905e+02] [ 9.81945681e-01 1.10819252e-01 -1.53302883e-01 1.02955186e+02] [ 1.54647428e-01 -3.58932679e-03 9.87963203e-01 7.66909495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.662755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.79, Y:102.98, Z:7.67 [[ 1.09070020e-01 -9.93820968e-01 -2.05818979e-02 1.07792584e+02] [ 9.81959273e-01 1.10939496e-01 -1.53128750e-01 1.02981807e+02] [ 1.54465908e-01 -3.50882978e-03 9.87991888e-01 7.67306855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:103.01, Z:7.68 [[ 1.09610476e-01 -9.93763435e-01 -2.04884975e-02 1.07798202e+02] [ 9.81943266e-01 1.11458145e-01 -1.52854522e-01 1.03008569e+02] [ 1.54184844e-01 -3.36408519e-03 9.88036293e-01 7.67722626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:103.04, Z:7.68 [[ 1.09569515e-01 -9.93769069e-01 -2.04342474e-02 1.07802762e+02] [ 9.81946114e-01 1.11409363e-01 -1.52871787e-01 1.03035585e+02] [ 1.54195820e-01 -3.31524233e-03 9.88034746e-01 7.68158700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75275509600002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:107.80, Y:103.06, Z:7.68 [[ 1.08738997e-01 -9.94001825e-01 -1.16705928e-02 1.07803135e+02] [ 9.81526754e-01 1.09218653e-01 -1.57087611e-01 1.03063713e+02] [ 1.57420019e-01 5.62655029e-03 9.87515711e-01 7.68296393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:103.09, Z:7.69 [[ 1.09843597e-01 -9.93491178e-01 -3.01606130e-02 1.07818878e+02] [ 9.81930578e-01 1.13169960e-01 -1.51673661e-01 1.03085488e+02] [ 1.54099719e-01 -1.29552477e-02 9.87970363e-01 7.69219301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:103.11, Z:7.69 [[ 1.10256886e-01 -9.93697391e-01 -2.02216261e-02 1.07819409e+02] [ 9.81927076e-01 1.12054702e-01 -1.52522005e-01 1.03111470e+02] [ 1.53826647e-01 -3.03956079e-03 9.88093176e-01 7.69387931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:103.14, Z:7.70 [[ 1.10351751e-01 -9.93688464e-01 -2.01426900e-02 1.07824233e+02] [ 9.81953532e-01 1.12135611e-01 -1.52292043e-01 1.03136304e+02] [ 1.53589559e-01 -2.97349208e-03 9.88130257e-01 7.69787310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.82, Y:103.16, Z:7.70 [[ 1.11093386e-01 -9.93782247e-01 -7.42327003e-03 1.07821488e+02] [ 9.81212326e-01 1.10867642e-01 -1.57894705e-01 1.03162538e+02] [ 1.57735955e-01 1.02572534e-02 9.87428052e-01 7.70037057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:103.19, Z:7.71 [[ 1.11285781e-01 -9.93260514e-01 -3.23886612e-02 1.07842875e+02] [ 9.81940152e-01 1.14918187e-01 -1.50290879e-01 1.03185820e+02] [ 1.53000042e-01 -1.50784890e-02 9.88111141e-01 7.70992339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:103.21, Z:7.71 [[ 1.12564155e-01 -9.93562753e-01 -1.27423284e-02 1.07836444e+02] [ 9.81441632e-01 1.13176222e-01 -1.54801373e-01 1.03212748e+02] [ 1.55247007e-01 4.91923422e-03 9.87863436e-01 7.70949124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:103.24, Z:7.72 [[ 1.11747905e-01 -9.93386952e-01 -2.63584616e-02 1.07851166e+02] [ 9.81904220e-01 1.14459486e-01 -1.50874547e-01 1.03237826e+02] [ 1.52893782e-01 -9.02157026e-03 9.88201448e-01 7.71698547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:103.26, Z:7.72 [[ 1.11523984e-01 -9.93565591e-01 -1.97438111e-02 1.07852294e+02] [ 9.81931096e-01 1.13231092e-01 -1.51624675e-01 1.03263651e+02] [ 1.52884673e-01 -2.47727423e-03 9.88240932e-01 7.71949322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:103.29, Z:7.72 [[ 1.12835769e-01 -9.93487977e-01 -1.58028166e-02 1.07855104e+02] [ 9.81622004e-01 1.13923362e-01 -1.53100321e-01 1.03287429e+02] [ 1.53903638e-01 1.76279995e-03 9.88084289e-01 7.72294329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:103.31, Z:7.73 [[ 1.10975703e-01 -9.93565933e-01 -2.26081927e-02 1.07863461e+02] [ 9.82057720e-01 1.13123583e-01 -1.50883032e-01 1.03312880e+02] [ 1.52469761e-01 -5.45819960e-03 9.88293064e-01 7.72865656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:103.34, Z:7.73 [[ 1.11176079e-01 -9.93609598e-01 -1.94896424e-02 1.07867175e+02] [ 9.82050763e-01 1.12847260e-01 -1.51135020e-01 1.03337890e+02] [ 1.52368559e-01 -2.33721927e-03 9.88320980e-01 7.73188978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:103.36, Z:7.73 [[ 1.15880681e-01 -9.93231024e-01 -7.98752868e-03 1.07862984e+02] [ 9.81166669e-01 1.15716946e-01 -1.54665951e-01 1.03363709e+02] [ 1.54543314e-01 1.00856989e-02 9.87934534e-01 7.73367817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:103.39, Z:7.74 [[ 1.15810151e-01 -9.93032497e-01 -2.17822878e-02 1.07873288e+02] [ 9.81174455e-01 1.17784349e-01 -1.53047499e-01 1.03391151e+02] [ 1.54546752e-01 -3.64777039e-03 9.87978742e-01 7.74201107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:103.42, Z:7.75 [[ 1.18498405e-01 -9.92691433e-01 -2.28439748e-02 1.07876923e+02] [ 9.80890614e-01 1.20603027e-01 -1.52671256e-01 1.03415189e+02] [ 1.54310500e-01 -4.31614010e-03 9.88012976e-01 7.74580003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:103.44, Z:7.75 [[ 1.19360111e-01 -9.92754806e-01 -1.38223993e-02 1.07874776e+02] [ 9.80362977e-01 1.20048531e-01 -1.56450581e-01 1.03442886e+02] [ 1.56976425e-01 5.12299019e-03 9.87589063e-01 7.74763954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:103.47, Z:7.76 [[ 1.21566582e-01 -9.91872105e-01 -3.75671918e-02 1.07893733e+02] [ 9.79975753e-01 1.25949669e-01 -1.54221283e-01 1.03468170e+02] [ 1.57699364e-01 -1.80667828e-02 9.87321884e-01 7.75911621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:103.50, Z:7.75 [[ 1.20228778e-01 -9.92680615e-01 -1.14121336e-02 1.07879976e+02] [ 9.80300806e-01 1.20528232e-01 -1.56471324e-01 1.03496066e+02] [ 1.56701535e-01 7.62503239e-03 9.87616569e-01 7.75386296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:103.52, Z:7.76 [[ 1.21000532e-01 -9.92369123e-01 -2.37148898e-02 1.07891425e+02] [ 9.79947747e-01 1.23227814e-01 -1.56580073e-01 1.03523714e+02] [ 1.58307564e-01 -4.29308061e-03 9.87380517e-01 7.76255231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:103.55, Z:7.76 [[ 1.19037394e-01 -9.92745060e-01 -1.69512588e-02 1.07887575e+02] [ 9.80236224e-01 1.20220195e-01 -1.57111585e-01 1.03548640e+02] [ 1.58009634e-01 2.08591575e-03 9.87435367e-01 7.76377846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:103.58, Z:7.77 [[ 1.18702106e-01 -9.92772217e-01 -1.76956248e-02 1.07891555e+02] [ 9.80341748e-01 1.20007419e-01 -1.56615058e-01 1.03577224e+02] [ 1.57606684e-01 1.24277734e-03 9.87501184e-01 7.76720263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:103.60, Z:7.77 [[ 1.15112776e-01 -9.93285693e-01 -1.15143438e-02 1.07888624e+02] [ 9.80237396e-01 1.15462685e-01 -1.60633169e-01 1.03602547e+02] [ 1.60884106e-01 7.20413962e-03 9.86947012e-01 7.77100161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:103.63, Z:7.78 [[ 1.13556004e-01 -9.93014721e-01 -3.20436860e-02 1.07903668e+02] [ 9.81028346e-01 1.17169260e-01 -1.54449824e-01 1.03625147e+02] [ 1.57125484e-01 -1.38970595e-02 9.87480863e-01 7.78058473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:103.66, Z:7.78 [[ 1.12340849e-01 -9.93612870e-01 -1.06300682e-02 1.07895471e+02] [ 9.81292456e-01 1.12618400e-01 -1.56148042e-01 1.03656604e+02] [ 1.56347845e-01 7.11059774e-03 9.87676461e-01 7.77674793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:103.68, Z:7.79 [[ 1.10614371e-01 -9.93571373e-01 -2.40912455e-02 1.07906721e+02] [ 9.81503208e-01 1.13017646e-01 -1.54526584e-01 1.03681277e+02] [ 1.56255926e-01 -6.55277377e-03 9.87694865e-01 7.78591531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.91, Y:103.71, Z:7.79 [[ 1.07379456e-01 -9.93922439e-01 -2.42453712e-02 1.07909026e+02] [ 9.81746000e-01 1.09851456e-01 -1.55265735e-01 1.03705377e+02] [ 1.56985487e-01 -7.13044611e-03 9.87575169e-01 7.79273648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:103.74, Z:7.78 [[ 1.05104388e-01 -9.94460165e-01 1.43136524e-03 1.07897274e+02] [ 9.82421861e-01 1.03608557e-01 -1.55282176e-01 1.03736498e+02] [ 1.54273637e-01 1.77270426e-02 9.87869119e-01 7.78356615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:103.75, Z:7.81 [[ 1.03581256e-01 -9.93831895e-01 -3.96117038e-02 1.07923056e+02] [ 9.82235194e-01 1.08475757e-01 -1.53124244e-01 1.03754571e+02] [ 1.56476667e-01 -2.30472080e-02 9.87412720e-01 7.80538707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.91, Y:103.79, Z:7.80 [[ 1.03438240e-01 -9.94558628e-01 -1.23962104e-02 1.07912319e+02] [ 9.82367210e-01 1.04105887e-01 -1.55295297e-01 1.03787311e+02] [ 1.55740796e-01 3.88584160e-03 9.87790314e-01 7.79889066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:103.81, Z:7.81 [[ 1.01058507e-01 -9.94528184e-01 -2.64739502e-02 1.07921321e+02] [ 9.82401232e-01 1.03957056e-01 -1.55179733e-01 1.03809468e+02] [ 1.57082772e-01 -1.03258092e-02 9.87531458e-01 7.81035091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:103.84, Z:7.81 [[ 1.00527420e-01 -9.94806956e-01 -1.59172497e-02 1.07920565e+02] [ 9.82577002e-01 1.01779767e-01 -1.55509856e-01 1.03840630e+02] [ 1.56322340e-01 -6.91893231e-06 9.87706093e-01 7.81027852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:103.86, Z:7.82 [[ 9.83580540e-02 -9.94882256e-01 -2.31298337e-02 1.07925547e+02] [ 9.82631390e-01 1.00769602e-01 -1.55823745e-01 1.03863138e+02] [ 1.57357063e-01 -7.40158033e-03 9.87514036e-01 7.81836739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:103.89, Z:7.82 [[ 9.70219344e-02 -9.95104503e-01 -1.88088205e-02 1.07925959e+02] [ 9.82832799e-01 9.87709114e-02 -1.55833231e-01 1.03889994e+02] [ 1.56928115e-01 -3.36668412e-03 9.87604289e-01 7.82153364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:103.92, Z:7.83 [[ 9.66726443e-02 -9.95139597e-01 -1.87505286e-02 1.07928844e+02] [ 9.82867209e-01 9.84168044e-02 -1.55840245e-01 1.03916429e+02] [ 1.56928166e-01 -3.36379108e-03 9.87604291e-01 7.82568193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:103.94, Z:7.83 [[ 9.54924767e-02 -9.95254697e-01 -1.86889042e-02 1.07931774e+02] [ 9.82991405e-01 9.72413574e-02 -1.55794791e-01 1.03943390e+02] [ 1.56872832e-01 -3.49380169e-03 9.87612631e-01 7.82989300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.802755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.93, Y:103.97, Z:7.83 [[ 9.52003228e-02 -9.95438995e-01 -6.17306226e-03 1.07929243e+02] [ 9.83209004e-01 9.49968988e-02 -1.55806432e-01 1.03974078e+02] [ 1.55682220e-01 8.76341225e-03 9.87768317e-01 7.82617710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:104.00, Z:7.84 [[ 9.27355382e-02 -9.95194019e-01 -3.14481204e-02 1.07945694e+02] [ 9.83285021e-01 9.65046571e-02 -1.54393710e-01 1.03995183e+02] [ 1.56686587e-01 -1.66046819e-02 9.87508784e-01 7.84270959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.862755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:107.94, Y:104.02, Z:7.84 [[ 9.15125212e-02 -9.95629937e-01 -1.86141607e-02 1.07941465e+02] [ 9.83240060e-01 9.33020933e-02 -1.56632385e-01 1.04023272e+02] [ 1.57684632e-01 -3.96836395e-03 9.87481549e-01 7.84049675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:104.05, Z:7.85 [[ 9.10125575e-02 -9.95683119e-01 -1.82165266e-02 1.07944886e+02] [ 9.83164787e-01 9.27485828e-02 -1.57431577e-01 1.04052205e+02] [ 1.58441521e-01 -3.58159707e-03 9.87361867e-01 7.84847066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:104.08, Z:7.84 [[ 8.78836394e-02 -9.96105068e-01 -7.15264956e-03 1.07938374e+02] [ 9.84000727e-01 8.79283817e-02 -1.54955376e-01 1.04078888e+02] [ 1.54980756e-01 6.57982998e-03 9.87895577e-01 7.84321553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:104.10, Z:7.86 [[ 8.80034593e-02 -9.95687135e-01 -2.93686944e-02 1.07955128e+02] [ 9.83697213e-01 9.15099559e-02 -1.54808658e-01 1.04102938e+02] [ 1.56828517e-01 -1.52662054e-02 9.87507853e-01 7.85726282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:104.13, Z:7.86 [[ 8.46990049e-02 -9.96182558e-01 -2.11279347e-02 1.07949800e+02] [ 9.83864914e-01 8.69678013e-02 -1.56353552e-01 1.04127298e+02] [ 1.57594131e-01 -7.54404338e-03 9.87475153e-01 7.86120360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:104.15, Z:7.86 [[ 8.40905988e-02 -9.96292801e-01 -1.81501122e-02 1.07950532e+02] [ 9.83900529e-01 8.58997078e-02 -1.56719462e-01 1.04152795e+02] [ 1.57697561e-01 -4.67927160e-03 9.87476371e-01 7.86435288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.042755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.95, Y:104.18, Z:7.87 [[ 8.40817243e-02 -9.96295021e-01 -1.80691759e-02 1.07952944e+02] [ 9.83926603e-01 8.58774721e-02 -1.56567877e-01 1.04178844e+02] [ 1.57539531e-01 -4.61424581e-03 9.87501901e-01 7.86821578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:104.21, Z:7.87 [[ 8.52198344e-02 -9.96198503e-01 -1.80588747e-02 1.07954527e+02] [ 9.83758306e-01 8.70017743e-02 -1.57004099e-01 1.04205667e+02] [ 1.57978402e-01 -4.38570472e-03 9.87432828e-01 7.87290937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:104.23, Z:7.88 [[ 8.61545584e-02 -9.96119678e-01 -1.79715990e-02 1.07956487e+02] [ 9.83719676e-01 8.79099224e-02 -1.56740053e-01 1.04232107e+02] [ 1.57711733e-01 -4.17514558e-03 9.87476368e-01 7.87705061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.132755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.96, Y:104.26, Z:7.88 [[ 8.82045007e-02 -9.96025041e-01 -1.24130628e-02 1.07955334e+02] [ 9.83174719e-01 8.90541722e-02 -1.59489266e-01 1.04257993e+02] [ 1.59960737e-01 1.86346149e-03 9.87121619e-01 7.87915686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:104.28, Z:7.89 [[ 8.97597013e-02 -9.95701631e-01 -2.28354675e-02 1.07963124e+02] [ 9.83381715e-01 9.22353992e-02 -1.56374659e-01 1.04283877e+02] [ 1.57808741e-01 -8.41983851e-03 9.87433799e-01 7.88651007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.192755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:107.96, Y:104.31, Z:7.89 [[ 9.04926965e-02 -9.95737111e-01 -1.78515266e-02 1.07962761e+02] [ 9.83254122e-01 9.21766833e-02 -1.57209385e-01 1.04310750e+02] [ 1.58184714e-01 -3.32628590e-03 9.87403936e-01 7.88940001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:104.34, Z:7.89 [[ 9.08729587e-02 -9.95703890e-01 -1.77726971e-02 1.07965023e+02] [ 9.83242668e-01 9.25392504e-02 -1.57067957e-01 1.04336171e+02] [ 1.58037848e-01 -3.20164411e-03 9.87427865e-01 7.89344447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:107.97, Y:104.36, Z:7.90 [[ 9.16396839e-02 -9.95633022e-01 -1.78060170e-02 1.07968182e+02] [ 9.83029647e-01 9.33043772e-02 -1.57946212e-01 1.04362689e+02] [ 1.58917844e-01 -3.02970161e-03 9.87287162e-01 7.89579115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:104.39, Z:7.91 [[ 9.39454589e-02 -9.95210101e-01 -2.70389741e-02 1.07979066e+02] [ 9.82589949e-01 9.70582593e-02 -1.58419336e-01 1.04391570e+02] [ 1.60284880e-01 -1.16854469e-02 9.87001625e-01 7.90756043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.97, Y:104.42, Z:7.90 [[ 9.17787314e-02 -9.95726550e-01 -1.02617252e-02 1.07969425e+02] [ 9.82978870e-01 9.22411652e-02 -1.58883949e-01 1.04417512e+02] [ 1.59151520e-01 4.49510831e-03 9.87243935e-01 7.90371867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:104.44, Z:7.91 [[ 9.15442413e-02 -9.95645688e-01 -1.75873876e-02 1.07976269e+02] [ 9.83139293e-01 9.31736433e-02 -1.57339771e-01 1.04442932e+02] [ 1.58293346e-01 -2.88730180e-03 9.87387908e-01 7.91106072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:104.47, Z:7.92 [[ 9.09682354e-02 -9.95700107e-01 -1.74950847e-02 1.07978754e+02] [ 9.83244990e-01 9.25893325e-02 -1.57023903e-01 1.04467627e+02] [ 1.57968575e-01 -2.91776708e-03 9.87439829e-01 7.91503516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:104.49, Z:7.92 [[ 9.03753778e-02 -9.95755541e-01 -1.74124694e-02 1.07981434e+02] [ 9.83347180e-01 9.19899810e-02 -1.56735978e-01 1.04493348e+02] [ 1.57672491e-01 -2.95742941e-03 9.87487032e-01 7.91901466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:104.52, Z:7.92 [[ 8.97348018e-02 -9.95862601e-01 -1.43298562e-02 1.07982528e+02] [ 9.83300444e-01 9.08717557e-02 -1.57678666e-01 1.04519495e+02] [ 1.58328466e-01 5.87099379e-05 9.87386496e-01 7.92225169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:104.55, Z:7.93 [[ 8.87973238e-02 -9.95947417e-01 -1.42751092e-02 1.07985335e+02] [ 9.83250193e-01 8.99374328e-02 -1.58525440e-01 1.04546985e+02] [ 1.59166870e-01 4.06309648e-05 9.87251693e-01 7.92634001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:107.99, Y:104.57, Z:7.93 [[ 8.81439744e-02 -9.95883309e-01 -2.11441370e-02 1.07992727e+02] [ 9.83415345e-01 9.03790028e-02 -1.57244696e-01 1.04572506e+02] [ 1.58508354e-01 -6.93329632e-03 9.87333293e-01 7.93070096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:104.60, Z:7.93 [[ 8.75322711e-02 -9.96082312e-01 -1.25749544e-02 1.07990247e+02] [ 9.83176480e-01 8.84159506e-02 -1.59833129e-01 1.04600086e+02] [ 1.60318779e-01 1.62715731e-03 9.87063950e-01 7.93456431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:104.63, Z:7.95 [[ 8.86595223e-02 -9.95701819e-01 -2.67839059e-02 1.08004576e+02] [ 9.82772044e-01 9.18228689e-02 -1.60398472e-01 1.04627192e+02] [ 1.62168425e-01 -1.21016221e-02 9.86688883e-01 7.94551136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:104.65, Z:7.94 [[ 8.86954331e-02 -9.95942681e-01 -1.52084433e-02 1.07999530e+02] [ 9.83100936e-01 8.99862102e-02 -1.59420924e-01 1.04648291e+02] [ 1.60142653e-01 -8.11526892e-04 9.87093548e-01 7.94384095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.612755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.01, Y:104.67, Z:7.95 [[ 8.81737010e-02 -9.95897061e-01 -2.03578520e-02 1.08005694e+02] [ 9.83294696e-01 9.02887199e-02 -1.58049008e-01 1.04674533e+02] [ 1.59238627e-01 -6.08200193e-03 9.87221388e-01 7.94745855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.642755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:108.00, Y:104.70, Z:7.95 [[ 8.74605640e-02 -9.96104657e-01 -1.12321627e-02 1.08002373e+02] [ 9.83039289e-01 8.81269627e-02 -1.60833438e-01 1.04701807e+02] [ 1.61196793e-01 3.02492593e-03 9.86917648e-01 7.95040685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:104.73, Z:7.96 [[ 8.61647087e-02 -9.96071847e-01 -2.04087949e-02 1.08009979e+02] [ 9.83331184e-01 8.83189962e-02 -1.58932494e-01 1.04726682e+02] [ 1.60110668e-01 -6.37423237e-03 9.87078489e-01 7.95739884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:104.75, Z:7.96 [[ 8.61408200e-02 -9.96064195e-01 -2.08777165e-02 1.08013663e+02] [ 9.83528133e-01 8.83618004e-02 -1.57685144e-01 1.04752792e+02] [ 1.58909319e-01 -6.95069387e-03 9.87268715e-01 7.96116922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:104.78, Z:7.96 [[ 8.54606086e-02 -9.96304403e-01 -8.60358145e-03 1.08009980e+02] [ 9.83227989e-01 8.57290519e-02 -1.60975935e-01 1.04780153e+02] [ 1.61118610e-01 5.29781931e-03 9.86920831e-01 7.96311206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:104.80, Z:7.97 [[ 8.56865671e-02 -9.95986754e-01 -2.58495461e-02 1.08023306e+02] [ 9.83629624e-01 8.86946385e-02 -1.56863076e-01 1.04804564e+02] [ 1.58526262e-01 -1.19853208e-02 9.87282015e-01 7.97078570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:104.83, Z:7.97 [[ 8.59769747e-02 -9.96286535e-01 -4.59347953e-03 1.08013537e+02] [ 9.82860442e-01 8.55711924e-02 -1.63287852e-01 1.04831685e+02] [ 1.63074558e-01 9.52424623e-03 9.86567776e-01 7.97020016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:104.85, Z:7.98 [[ 8.65942354e-02 -9.95790102e-01 -3.00584481e-02 1.08032108e+02] [ 9.83424384e-01 9.02656808e-02 -1.57253258e-01 1.04853442e+02] [ 1.59304485e-01 -1.59429851e-02 9.87100756e-01 7.97901868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.852755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:108.03, Y:104.88, Z:7.98 [[ 8.64774004e-02 -9.96106585e-01 -1.71269140e-02 1.08027570e+02] [ 9.83265369e-01 8.81042828e-02 -1.59457985e-01 1.04879638e+02] [ 1.60346103e-01 -3.05078935e-03 9.87056138e-01 7.97780406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.882755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:108.03, Y:104.91, Z:7.98 [[ 8.67176257e-02 -9.96085760e-01 -1.71234359e-02 1.08030869e+02] [ 9.83155348e-01 8.83425032e-02 -1.60003638e-01 1.04905809e+02] [ 1.60890073e-01 -2.95986200e-03 9.86967894e-01 7.98142062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.912755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:108.03, Y:104.93, Z:7.99 [[ 8.84989093e-02 -9.95931743e-01 -1.69678123e-02 1.08032961e+02] [ 9.83145993e-01 9.00732591e-02 -1.59093571e-01 1.04931102e+02] [ 1.59974684e-01 -2.60222915e-03 9.87117687e-01 7.98504156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.03, Y:104.96, Z:7.99 [[ 8.99346202e-02 -9.95805393e-01 -1.68340109e-02 1.08034667e+02] [ 9.83128417e-01 9.14675458e-02 -1.58405187e-01 1.04957020e+02] [ 1.59280505e-01 -2.30388420e-03 9.87230679e-01 7.99078041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:104.98, Z:7.99 [[ 9.30133406e-02 -9.95640919e-01 -6.90496141e-03 1.08030437e+02] [ 9.82323135e-01 9.28962673e-02 -1.62516280e-01 1.04984297e+02] [ 1.62449303e-01 8.33327873e-03 9.86681702e-01 7.99371829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:105.01, Z:8.02 [[ 9.59638699e-02 -9.92996602e-01 -6.89106979e-02 1.08071864e+02] [ 9.81753295e-01 1.05840718e-01 -1.57981678e-01 1.05007175e+02] [ 1.64168827e-01 -5.24927716e-02 9.85034571e-01 8.02208354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:105.04, Z:8.02 [[ 9.83297175e-02 -9.94450059e-01 -3.74211980e-02 1.08058108e+02] [ 9.81300942e-01 1.03144823e-01 -1.62510326e-01 1.05040002e+02] [ 1.65468207e-01 -2.07418624e-02 9.85996982e-01 8.01929440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06275509600002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:108.01, Y:105.07, Z:7.98 [[ 9.44823959e-02 -9.94632879e-01 4.21724150e-02 1.08005975e+02] [ 9.82999698e-01 8.65106978e-02 -1.61949042e-01 1.05067927e+02] [ 1.57431477e-01 5.67568048e-02 9.85897558e-01 7.98479407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:105.09, Z:8.01 [[ 9.42348440e-02 -9.95423623e-01 -1.58620901e-02 1.08041769e+02] [ 9.83239814e-01 9.55556464e-02 -1.55269400e-01 1.05087379e+02] [ 1.56074540e-01 -9.64450845e-04 9.87744809e-01 8.00572325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:105.11, Z:8.01 [[ 9.37614946e-02 -9.95468754e-01 -1.58348644e-02 1.08043305e+02] [ 9.83252854e-01 9.50840509e-02 -1.55476196e-01 1.05112152e+02] [ 1.56277338e-01 -9.91995081e-04 9.87712716e-01 8.00955379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.04, Y:105.14, Z:8.01 [[ 9.09196468e-02 -9.95733561e-01 -1.57573564e-02 1.08043361e+02] [ 9.83549612e-01 9.22647068e-02 -1.55297727e-01 1.05136262e+02] [ 1.56089006e-01 -1.37852737e-03 9.87742032e-01 8.01312708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18275509600002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:108.05, Y:105.16, Z:8.02 [[ 8.89760078e-02 -9.95907912e-01 -1.58335264e-02 1.08046034e+02] [ 9.83505674e-01 9.03591244e-02 -1.56690200e-01 1.05162094e+02] [ 1.57479714e-01 -1.63069454e-03 9.87520876e-01 8.01528884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:105.19, Z:8.02 [[ 8.53117951e-02 -9.96189092e-01 -1.81436223e-02 1.08050044e+02] [ 9.84103764e-01 8.70956825e-02 -1.54771200e-01 1.05187621e+02] [ 1.55761613e-01 -4.65139808e-03 9.87783724e-01 8.02214499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:105.21, Z:8.02 [[ 8.32184572e-02 -9.96450601e-01 -1.26841897e-02 1.08049594e+02] [ 9.84220646e-01 8.41782704e-02 -1.55639773e-01 1.05213922e+02] [ 1.56155079e-01 4.68060433e-04 9.87732440e-01 8.02490641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.05, Y:105.24, Z:8.03 [[ 7.96384330e-02 -9.96702193e-01 -1.55710500e-02 1.08053983e+02] [ 9.84456185e-01 8.10937583e-02 -1.55787745e-01 1.05240170e+02] [ 1.56536702e-01 -2.92232457e-03 9.87667819e-01 8.02878804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:105.27, Z:8.03 [[ 7.47483700e-02 -9.97082909e-01 -1.54387218e-02 1.08056659e+02] [ 9.84948049e-01 7.62406406e-02 -1.55128032e-01 1.05266347e+02] [ 1.55852568e-01 -3.61077131e-03 9.87773729e-01 8.03374866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:105.29, Z:8.06 [[ 7.31292934e-02 -9.95566125e-01 -5.91624719e-02 1.08086076e+02] [ 9.83933848e-01 8.17080448e-02 -1.58738709e-01 1.05288188e+02] [ 1.62868931e-01 -4.66035091e-02 9.85546460e-01 8.06267754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:105.32, Z:8.05 [[ 7.17897802e-02 -9.97413231e-01 -3.61594972e-03 1.08058223e+02] [ 9.83515635e-01 7.13917743e-02 -1.66133108e-01 1.05323518e+02] [ 1.65961509e-01 8.37031624e-03 9.86096707e-01 8.05183470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:105.34, Z:8.06 [[ 6.78840893e-02 -9.97144834e-01 -3.30746157e-02 1.08078458e+02] [ 9.84565088e-01 7.23142322e-02 -1.59380801e-01 1.05344857e+02] [ 1.61317508e-01 -2.17446914e-02 9.86662977e-01 8.06352097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:105.38, Z:8.06 [[ 6.88403042e-02 -9.97625940e-01 -1.86999106e-03 1.08065643e+02] [ 9.84486503e-01 6.82366286e-02 -1.61648035e-01 1.05377510e+02] [ 1.61391875e-01 9.28691897e-03 9.86846703e-01 8.05714842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:105.40, Z:8.07 [[ 6.63702257e-02 -9.97523628e-01 -2.32723920e-02 1.08079464e+02] [ 9.84467823e-01 6.92652731e-02 -1.61323981e-01 1.05400767e+02] [ 1.62536452e-01 -1.22038121e-02 9.86627067e-01 8.07004640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:105.43, Z:8.07 [[ 6.63404196e-02 -9.97539569e-01 -2.26662256e-02 1.08081996e+02] [ 9.84978691e-01 6.91007759e-02 -1.58246837e-01 1.05426841e+02] [ 1.59423736e-01 -1.18275876e-02 9.87139393e-01 8.07188291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:105.46, Z:8.07 [[ 6.71057271e-02 -9.97714901e-01 -7.86118545e-03 1.08076138e+02] [ 9.84583912e-01 6.74939801e-02 -1.61366302e-01 1.05455133e+02] [ 1.61528146e-01 3.08860628e-03 9.86863272e-01 8.07179155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:105.48, Z:8.08 [[ 6.71719835e-02 -9.97534512e-01 -2.03179989e-02 1.08085757e+02] [ 9.85061209e-01 6.95408413e-02 -1.57538839e-01 1.05480452e+02] [ 1.58563360e-01 -9.43227632e-03 9.87303749e-01 8.07770656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.572755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.08, Y:105.51, Z:8.08 [[ 6.99069875e-02 -9.97552862e-01 1.14038015e-03 1.08076058e+02] [ 9.84232043e-01 6.87871937e-02 -1.62958916e-01 1.05510861e+02] [ 1.62481690e-01 1.25143656e-02 9.86632197e-01 8.07577441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:105.53, Z:8.09 [[ 7.18389600e-02 -9.96934099e-01 -3.10091166e-02 1.08096322e+02] [ 9.84797830e-01 7.58254592e-02 -1.56280944e-01 1.05532224e+02] [ 1.58153082e-01 -1.93106503e-02 9.87225760e-01 8.08801722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:105.56, Z:8.09 [[ 7.33155431e-02 -9.97217956e-01 -1.34603103e-02 1.08088314e+02] [ 9.84746394e-01 7.45208975e-02 -1.57229688e-01 1.05561135e+02] [ 1.57795343e-01 -1.72761204e-03 9.87470326e-01 8.08630481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:105.59, Z:8.09 [[ 7.28129395e-02 -9.97210543e-01 -1.64136813e-02 1.08092309e+02] [ 9.84851081e-01 7.44878738e-02 -1.56588328e-01 1.05588070e+02] [ 1.57374152e-01 -4.76337528e-03 9.87527562e-01 8.09089298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:105.62, Z:8.08 [[ 7.47180963e-02 -9.97177017e-01 7.42984380e-03 1.08078288e+02] [ 9.85493271e-01 7.27000092e-02 -1.53354887e-01 1.05616199e+02] [ 1.52381819e-01 1.87804463e-02 9.88143247e-01 8.08017985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:105.64, Z:8.10 [[ 7.74968282e-02 -9.96667416e-01 -2.54618008e-02 1.08101529e+02] [ 9.85085456e-01 8.04815277e-02 -1.52083426e-01 1.05641742e+02] [ 1.53625800e-01 -1.32960665e-02 9.88039639e-01 8.09792688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:105.67, Z:8.09 [[ 7.86521353e-02 -9.96898272e-01 -2.77073838e-03 1.08089596e+02] [ 9.85486798e-01 7.81706059e-02 -1.50682206e-01 1.05669695e+02] [ 1.50431421e-01 9.12095116e-03 9.88578371e-01 8.09142952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:105.70, Z:8.10 [[ 7.92209861e-02 -9.96672930e-01 -1.91600164e-02 1.08102111e+02] [ 9.85349521e-01 8.12040382e-02 -1.49974083e-01 1.05695859e+02] [ 1.51030980e-01 -6.99821817e-03 9.88504258e-01 8.10138464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:105.72, Z:8.10 [[ 7.78103483e-02 -9.96902245e-01 -1.14657503e-02 1.08098421e+02] [ 9.85543790e-01 7.86496805e-02 -1.50058871e-01 1.05722146e+02] [ 1.50495803e-01 3.76134075e-04 9.88610576e-01 8.10164513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:105.75, Z:8.10 [[ 7.76859875e-02 -9.96940912e-01 -8.58522774e-03 1.08099864e+02] [ 9.85737490e-01 7.80967134e-02 -1.49072146e-01 1.05750339e+02] [ 1.49286599e-01 3.11803600e-03 9.88789052e-01 8.10313068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:105.78, Z:8.11 [[ 7.55176901e-02 -9.97048293e-01 -1.38484791e-02 1.08104983e+02] [ 9.85978155e-01 7.67374197e-02 -1.48183825e-01 1.05775127e+02] [ 1.48809127e-01 -2.46379766e-03 9.88862869e-01 8.10820362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:105.80, Z:8.11 [[ 7.40791101e-02 -9.97193502e-01 -1.08353929e-02 1.08105429e+02] [ 9.86186194e-01 7.48669002e-02 -1.47755669e-01 1.05802966e+02] [ 1.48152205e-01 2.59893526e-04 9.88964538e-01 8.11041277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:105.83, Z:8.12 [[ 7.15846877e-02 -9.97208999e-01 -2.12095331e-02 1.08114061e+02] [ 9.86296197e-01 7.39382357e-02 -1.47488813e-01 1.05827915e+02] [ 1.48645367e-01 -1.03609412e-02 9.88836289e-01 8.12022235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:105.86, Z:8.12 [[ 6.89016119e-02 -9.97492651e-01 -1.61548619e-02 1.08112796e+02] [ 9.86639759e-01 7.05303945e-02 -1.46858604e-01 1.05855893e+02] [ 1.47629787e-01 -5.82023454e-03 9.89025566e-01 8.12237827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:105.88, Z:8.12 [[ 6.88693603e-02 -9.97557963e-01 -1.16241942e-02 1.08112874e+02] [ 9.86594719e-01 6.98311759e-02 -1.47493957e-01 1.05881084e+02] [ 1.47945503e-01 -1.31055418e-03 9.88994646e-01 8.12488830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:105.91, Z:8.13 [[ 6.72269501e-02 -9.97648189e-01 -1.33651749e-02 1.08116843e+02] [ 9.86778042e-01 6.84625409e-02 -1.46908051e-01 1.05908000e+02] [ 1.47477565e-01 -3.31228086e-03 9.89059855e-01 8.12873794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.12, Y:105.93, Z:8.13 [[ 6.64814327e-02 -9.97698596e-01 -1.33315366e-02 1.08119350e+02] [ 9.86795118e-01 6.77209674e-02 -1.47136896e-01 1.05933614e+02] [ 1.47701099e-01 -3.37362362e-03 9.89026291e-01 8.13226762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:105.96, Z:8.13 [[ 6.65311955e-02 -9.97695381e-01 -1.33239493e-02 1.08121978e+02] [ 9.86709640e-01 6.77709205e-02 -1.47686114e-01 1.05959037e+02] [ 1.48248730e-01 -3.32113546e-03 9.88944530e-01 8.13458068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:105.99, Z:8.14 [[ 6.48293279e-02 -9.97896342e-01 2.22536196e-04 1.08115341e+02] [ 9.86099031e-01 6.40287112e-02 -1.53326534e-01 1.05990440e+02] [ 1.52989738e-01 1.01594989e-02 9.88175554e-01 8.13604753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:106.01, Z:8.15 [[ 6.73869573e-02 -9.97315198e-01 -2.86599609e-02 1.08134885e+02] [ 9.86556024e-01 7.08914253e-02 -1.47246791e-01 1.06010039e+02] [ 1.48883208e-01 -1.83521439e-02 9.88684474e-01 8.14536832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:106.04, Z:8.14 [[ 6.82361698e-02 -9.97580966e-01 -1.32680548e-02 1.08127931e+02] [ 9.86408152e-01 6.94525179e-02 -1.48913749e-01 1.06037196e+02] [ 1.49475021e-01 -2.92641356e-03 9.88761171e-01 8.14405692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:106.07, Z:8.15 [[ 6.97035019e-02 -9.97554683e-01 -5.10657436e-03 1.08125054e+02] [ 9.85816254e-01 6.96649020e-02 -1.52686331e-01 1.06065102e+02] [ 1.52668714e-01 5.60862798e-03 9.88261507e-01 8.14609205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:106.09, Z:8.15 [[ 7.08921137e-02 -9.97250582e-01 -2.15774070e-02 1.08137041e+02] [ 9.86063926e-01 7.33280269e-02 -1.49334971e-01 1.06089861e+02] [ 1.50506615e-01 -1.06900309e-02 9.88551204e-01 8.15373377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:106.12, Z:8.16 [[ 7.26930093e-02 -9.97266992e-01 -1.32012182e-02 1.08134624e+02] [ 9.85868016e-01 7.38525720e-02 -1.50366393e-01 1.06115433e+02] [ 1.50930384e-01 -2.08407324e-03 9.88542197e-01 8.15512025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:106.14, Z:8.17 [[ 7.64274552e-02 -9.96336601e-01 -3.83695394e-02 1.08156658e+02] [ 9.84768254e-01 8.14557336e-02 -1.53611361e-01 1.06143914e+02] [ 1.56174040e-01 -2.60449788e-02 9.87386109e-01 8.17430598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:106.17, Z:8.16 [[ 7.36556389e-02 -9.97244376e-01 8.86011168e-03 1.08127211e+02] [ 9.85684460e-01 7.14450258e-02 -1.52714613e-01 1.06170951e+02] [ 1.51660778e-01 1.99815668e-02 9.88230614e-01 8.15721063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:106.19, Z:8.17 [[ 7.36640693e-02 -9.97196809e-01 -1.31198281e-02 1.08142785e+02] [ 9.85625326e-01 7.48022986e-02 -1.51483769e-01 1.06194841e+02] [ 1.52040525e-01 -1.77232401e-03 9.88372672e-01 8.16746933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:106.22, Z:8.17 [[ 7.33365889e-02 -9.97222074e-01 -1.30337657e-02 1.08144903e+02] [ 9.85700894e-01 7.44649563e-02 -1.51157926e-01 1.06220174e+02] [ 1.51708579e-01 -1.76198781e-03 9.88423696e-01 8.17091387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:106.25, Z:8.18 [[ 7.25040465e-02 -9.97283571e-01 -1.29862012e-02 1.08146662e+02] [ 9.85761148e-01 7.36348415e-02 -1.51171653e-01 1.06246549e+02] [ 1.51717243e-01 -1.84073606e-03 9.88422222e-01 8.17505276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:106.27, Z:8.18 [[ 7.11028981e-02 -9.97385475e-01 -1.29070844e-02 1.08148436e+02] [ 9.85905746e-01 7.22373361e-02 -1.50902709e-01 1.06273108e+02] [ 1.51440543e-01 -1.99554871e-03 9.88464354e-01 8.17910844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:106.30, Z:8.18 [[ 6.96180770e-02 -9.97562897e-01 -4.64654307e-03 1.08145926e+02] [ 9.86177104e-01 6.95240458e-02 -1.50403210e-01 1.06303476e+02] [ 1.50359709e-01 5.88846789e-03 9.88613819e-01 8.17848757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:106.33, Z:8.19 [[ 6.86593054e-02 -9.97408338e-01 -2.15059913e-02 1.08157480e+02] [ 9.86189766e-01 7.11121706e-02 -1.49575418e-01 1.06325832e+02] [ 1.50717107e-01 -1.09392442e-02 9.88516407e-01 8.18961683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:106.35, Z:8.19 [[ 6.53640468e-02 -9.97780644e-01 -1.27014981e-02 1.08155018e+02] [ 9.86374002e-01 6.65321893e-02 -1.50465267e-01 1.06352114e+02] [ 1.50976390e-01 -2.69340870e-03 9.88533700e-01 8.19125523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:106.38, Z:8.20 [[ 6.36409108e-02 -9.97891937e-01 -1.27089022e-02 1.08157622e+02] [ 9.86363175e-01 6.48322747e-02 -1.51276115e-01 1.06379321e+02] [ 1.51781162e-01 -2.90824337e-03 9.88409845e-01 8.19568207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:106.41, Z:8.20 [[ 6.16671154e-02 -9.98016615e-01 -1.26492504e-02 1.08159759e+02] [ 9.86498252e-01 6.28720548e-02 -1.51222698e-01 1.06405745e+02] [ 1.51718050e-01 -3.15299582e-03 9.88418784e-01 8.19953580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:106.43, Z:8.20 [[ 5.81959597e-02 -9.98304967e-01 -6.50788514e-04 1.08153908e+02] [ 9.86960973e-01 5.76326360e-02 -1.50288114e-01 1.06434516e+02] [ 1.50070878e-01 8.10385819e-03 9.88642028e-01 8.19546815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:106.46, Z:8.20 [[ 5.59845778e-02 -9.98407646e-01 -6.92097742e-03 1.08158274e+02] [ 9.87299863e-01 5.63912834e-02 -1.48522739e-01 1.06458867e+02] [ 1.48676521e-01 1.48190275e-03 9.88884774e-01 8.19880737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:106.48, Z:8.22 [[ 5.42259778e-02 -9.98099738e-01 -2.92652817e-02 1.08173407e+02] [ 9.87073691e-01 5.80075276e-02 -1.49400990e-01 1.06483749e+02] [ 1.50814696e-01 -2.07855749e-02 9.88343507e-01 8.21575607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.16, Y:106.51, Z:8.22 [[ 5.28872594e-02 -9.98523266e-01 -1.24187340e-02 1.08164604e+02] [ 9.87066230e-01 5.41570447e-02 -1.50888280e-01 1.06512127e+02] [ 1.51338020e-01 -4.27804538e-03 9.88472813e-01 8.21512144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:106.54, Z:8.22 [[ 5.16666289e-02 -9.98587377e-01 -1.24020152e-02 1.08165459e+02] [ 9.87060448e-01 5.29499763e-02 -1.51353795e-01 1.06538655e+02] [ 1.51796676e-01 -4.42159834e-03 9.88401851e-01 8.21906246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:106.56, Z:8.22 [[ 5.00563775e-02 -9.98669941e-01 -1.23575216e-02 1.08165859e+02] [ 9.87124303e-01 5.13521824e-02 -1.51487832e-01 1.06563898e+02] [ 1.51920930e-01 -4.61547781e-03 9.88381874e-01 8.22272413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:106.59, Z:8.23 [[ 4.92913031e-02 -9.98708576e-01 -1.23104650e-02 1.08166989e+02] [ 9.87132160e-01 5.05897750e-02 -1.51693023e-01 1.06590012e+02] [ 1.52119906e-01 -4.67490911e-03 9.88350990e-01 8.22658343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:106.62, Z:8.23 [[ 4.88421986e-02 -9.98731181e-01 -1.22665109e-02 1.08168201e+02] [ 9.87123896e-01 5.01401534e-02 -1.51895945e-01 1.06615694e+02] [ 1.52318262e-01 -4.68963408e-03 9.88320370e-01 8.23026265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:106.65, Z:8.22 [[ 4.80872267e-02 -9.98801554e-01 9.11446563e-03 1.08154470e+02] [ 9.87627552e-01 4.61816904e-02 -1.49863507e-01 1.06645221e+02] [ 1.49262983e-01 1.62082178e-02 9.88664683e-01 8.22058282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.892755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:108.17, Y:106.67, Z:8.23 [[ 4.83454537e-02 -9.98638726e-01 -1.95809154e-02 1.08173356e+02] [ 9.87430523e-01 5.07378816e-02 -1.49688445e-01 1.06671252e+02] [ 1.50478172e-01 -1.20980378e-02 9.88539305e-01 8.23347845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:106.70, Z:8.23 [[ 4.85915421e-02 -9.98790480e-01 -7.51265348e-03 1.08166505e+02] [ 9.87421408e-01 4.91687341e-02 -1.50271082e-01 1.06699674e+02] [ 1.50458714e-01 -1.16251282e-04 9.88616287e-01 8.23460742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.952755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.16, Y:106.73, Z:8.23 [[ 4.80109995e-02 -9.98842832e-01 -2.81803967e-03 1.08162760e+02] [ 9.87804898e-01 4.78984082e-02 -1.48145961e-01 1.06725913e+02] [ 1.48109511e-01 4.32896227e-03 9.88961492e-01 8.23343219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:106.75, Z:8.25 [[ 4.88094576e-02 -9.98407756e-01 -2.82770309e-02 1.08180389e+02] [ 9.87486993e-01 5.24873405e-02 -1.48709505e-01 1.06748946e+02] [ 1.49956910e-01 -2.06647699e-02 9.88476551e-01 8.25130242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.012755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.17, Y:106.78, Z:8.25 [[ 4.89044015e-02 -9.98672892e-01 -1.61497205e-02 1.08173782e+02] [ 9.87794825e-01 5.07530774e-02 -1.47260005e-01 1.06777498e+02] [ 1.47884223e-01 -8.75094790e-03 9.88965964e-01 8.25071445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:106.80, Z:8.25 [[ 5.06830611e-02 -9.98713456e-01 -1.63075342e-03 1.08166280e+02] [ 9.87305415e-01 5.03500975e-02 -1.50641578e-01 1.06802010e+02] [ 1.50529879e-01 6.02492459e-03 9.88587101e-01 8.25204341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:106.83, Z:8.26 [[ 4.96683276e-02 -9.98562740e-01 -2.01373327e-02 1.08177595e+02] [ 9.87874377e-01 5.20861649e-02 -1.46257470e-01 1.06829497e+02] [ 1.47096137e-01 -1.26287910e-02 9.89041577e-01 8.26017361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.102755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:108.17, Y:106.86, Z:8.26 [[ 4.95455107e-02 -9.98709165e-01 -1.11913168e-02 1.08172272e+02] [ 9.87975695e-01 5.06499396e-02 -1.46077411e-01 1.06855890e+02] [ 1.46455689e-01 -3.81926904e-03 9.89209859e-01 8.25940212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.132755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.17, Y:106.88, Z:8.26 [[ 4.92312331e-02 -9.98725606e-01 -1.11108317e-02 1.08173029e+02] [ 9.88058728e-01 5.03255238e-02 -1.45627237e-01 1.06882315e+02] [ 1.46000809e-01 -3.80874573e-03 9.89277139e-01 8.26290647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:106.91, Z:8.27 [[ 4.88595189e-02 -9.98745049e-01 -1.10033498e-02 1.08174010e+02] [ 9.88176094e-01 4.99395503e-02 -1.44962230e-01 1.06908319e+02] [ 1.45329812e-01 -3.79046244e-03 9.89376004e-01 8.26747430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:106.93, Z:8.27 [[ 4.66408033e-02 -9.98852902e-01 -1.08404347e-02 1.08174742e+02] [ 9.88492238e-01 4.77149418e-02 -1.43549227e-01 1.06934457e+02] [ 1.43901812e-01 -4.02043428e-03 9.89583804e-01 8.27086499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:106.96, Z:8.27 [[ 4.51134014e-02 -9.98924458e-01 -1.07102106e-02 1.08176409e+02] [ 9.88708303e-01 4.61805075e-02 -1.42559642e-01 1.06961576e+02] [ 1.42900917e-01 -4.15792373e-03 9.89728266e-01 8.27447996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:106.99, Z:8.28 [[ 4.17797573e-02 -9.99070998e-01 -1.05637990e-02 1.08177943e+02] [ 9.89040985e-01 4.28542102e-02 -1.41284986e-01 1.06987175e+02] [ 1.41606435e-01 -4.54517775e-03 9.89912602e-01 8.27764152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:107.01, Z:8.28 [[ 3.95448705e-02 -9.99162825e-01 -1.04810496e-02 1.08179528e+02] [ 9.89179801e-01 4.06285177e-02 -1.40970366e-01 1.07013746e+02] [ 1.41278179e-01 -4.79298772e-03 9.89958334e-01 8.28127933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:107.04, Z:8.28 [[ 3.74998138e-02 -9.99242683e-01 -1.03838384e-02 1.08181121e+02] [ 9.89340806e-01 3.85873439e-02 -1.40412918e-01 1.07038914e+02] [ 1.40707265e-01 -5.00769677e-03 9.90038579e-01 8.28453085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:107.06, Z:8.29 [[ 3.46922958e-02 -9.99344655e-01 -1.03297902e-02 1.08182558e+02] [ 9.89437148e-01 3.58003570e-02 -1.40472291e-01 1.07064932e+02] [ 1.40750043e-01 -5.34737190e-03 9.90030722e-01 8.28802593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:107.09, Z:8.29 [[ 3.36873603e-02 -9.99379703e-01 -1.02650593e-02 1.08184415e+02] [ 9.89491879e-01 3.47955432e-02 -1.40339204e-01 1.07091963e+02] [ 1.40609331e-01 -5.42953543e-03 9.90050270e-01 8.29158725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:107.12, Z:8.30 [[ 3.28455439e-02 -9.99408078e-01 -1.02305208e-02 1.08186025e+02] [ 9.89486853e-01 3.39585357e-02 -1.40579461e-01 1.07118103e+02] [ 1.40843662e-01 -5.50555697e-03 9.90016541e-01 8.29506390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:107.14, Z:8.30 [[ 3.31144079e-02 -9.99399548e-01 -1.01970279e-02 1.08187787e+02] [ 9.89436639e-01 3.42216000e-02 -1.40868800e-01 1.07143264e+02] [ 1.41133174e-01 -5.42452606e-03 9.89975758e-01 8.29805967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.19, Y:107.17, Z:8.30 [[ 3.32558067e-02 -9.99395429e-01 -1.01404325e-02 1.08189254e+02] [ 9.89429822e-01 3.43536863e-02 -1.40884531e-01 1.07169265e+02] [ 1.41147717e-01 -5.34801761e-03 9.89974101e-01 8.30138513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:107.20, Z:8.31 [[ 3.51479320e-02 -9.99330327e-01 -1.01745201e-02 1.08191656e+02] [ 9.89184453e-01 3.62381594e-02 -1.42129917e-01 1.07195017e+02] [ 1.42403442e-01 -5.06890447e-03 9.89795719e-01 8.30528438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:107.22, Z:8.31 [[ 3.60787042e-02 -9.99297237e-01 -1.01665962e-02 1.08193445e+02] [ 9.89050269e-01 3.71617974e-02 -1.42823551e-01 1.07219829e+02] [ 1.43100988e-01 -4.90238608e-03 9.89695950e-01 8.30845814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:107.25, Z:8.31 [[ 3.57098970e-02 -9.99311088e-01 -1.01070292e-02 1.08195047e+02] [ 9.89063624e-01 3.67882684e-02 -1.42827766e-01 1.07246412e+02] [ 1.43101190e-01 -4.89613016e-03 9.89695952e-01 8.31234828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:107.27, Z:8.32 [[ 3.66879808e-02 -9.99276121e-01 -1.00611509e-02 1.08196608e+02] [ 9.89011740e-01 3.77502708e-02 -1.42935983e-01 1.07271475e+02] [ 1.43212325e-01 -4.70656377e-03 9.89680796e-01 8.31553826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:107.30, Z:8.32 [[ 3.76670758e-02 -9.99240001e-01 -1.00305000e-02 1.08198498e+02] [ 9.88915997e-01 3.87167637e-02 -1.43339332e-01 1.07297687e+02] [ 1.43618742e-01 -4.52014844e-03 9.89622769e-01 8.31962905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:107.32, Z:8.32 [[ 3.96193883e-02 -9.99165056e-01 -9.97472752e-03 1.08200560e+02] [ 9.88835529e-01 4.06409866e-02 -1.43361803e-01 1.07322769e+02] [ 1.43647487e-01 -4.18345803e-03 9.89620078e-01 8.32331433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.20, Y:107.35, Z:8.33 [[ 4.00090762e-02 -9.99150383e-01 -9.88865328e-03 1.08202189e+02] [ 9.88875828e-01 4.10127079e-02 -1.42977461e-01 1.07348650e+02] [ 1.43261546e-01 -4.05825407e-03 9.89676543e-01 8.32716950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:107.38, Z:8.34 [[ 4.42025075e-02 -9.98684900e-01 -2.59732378e-02 1.08219287e+02] [ 9.88328664e-01 4.75084261e-02 -1.44739078e-01 1.07379101e+02] [ 1.45782679e-01 -1.92722652e-02 9.89128905e-01 8.34136221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:107.41, Z:8.34 [[ 4.32333204e-02 -9.99000554e-01 -1.13478235e-02 1.08212286e+02] [ 9.88368540e-01 4.44253297e-02 -1.45444214e-01 1.07406705e+02] [ 1.45802981e-01 -4.92779544e-03 9.89301373e-01 8.34164517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:107.43, Z:8.34 [[ 4.21393099e-02 -9.99078055e-01 -8.20476617e-03 1.08212562e+02] [ 9.88631410e-01 4.28822080e-02 -1.44114716e-01 1.07434328e+02] [ 1.44333689e-01 -2.03859485e-03 9.89526973e-01 8.34369468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.792755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.22, Y:107.46, Z:8.35 [[ 4.10192647e-02 -9.99121621e-01 -8.56770740e-03 1.08215318e+02] [ 9.88806810e-01 4.18239291e-02 -1.43219590e-01 1.07459175e+02] [ 1.43452124e-01 -2.59704515e-03 9.89653850e-01 8.34558852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:107.48, Z:8.35 [[ 4.06446642e-02 -9.99149257e-01 -6.98380932e-03 1.08216652e+02] [ 9.88632591e-01 4.12274936e-02 -1.44588706e-01 1.07484859e+02] [ 1.44753623e-01 -1.02766211e-03 9.89467196e-01 8.35044022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:107.51, Z:8.35 [[ 3.86143269e-02 -9.99213070e-01 -9.06500017e-03 1.08219386e+02] [ 9.89104342e-01 3.95102447e-02 -1.41815168e-01 1.07512540e+02] [ 1.42061730e-01 -3.49013377e-03 9.89851647e-01 8.35285949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:107.54, Z:8.36 [[ 3.75432199e-02 -9.99254969e-01 -8.94507779e-03 1.08222876e+02] [ 9.89110827e-01 3.84338268e-02 -1.42065523e-01 1.07539790e+02] [ 1.42303473e-01 -3.51407614e-03 9.89816838e-01 8.35605063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:107.56, Z:8.36 [[ 3.71243603e-02 -9.99286924e-01 -6.88667278e-03 1.08222957e+02] [ 9.89280919e-01 3.77248092e-02 -1.41067719e-01 1.07563811e+02] [ 1.41226925e-01 -1.57580516e-03 9.89975996e-01 8.35744618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:107.59, Z:8.36 [[ 3.57687262e-02 -9.99300612e-01 -1.09034429e-02 1.08227335e+02] [ 9.89244427e-01 3.69529910e-02 -1.41527174e-01 1.07590921e+02] [ 1.41831106e-01 -5.72392336e-03 9.89874322e-01 8.36326267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:107.61, Z:8.37 [[ 3.62340490e-02 -9.99294538e-01 -9.87526345e-03 1.08228774e+02] [ 9.89155017e-01 3.72703417e-02 -1.42067852e-01 1.07614996e+02] [ 1.42335683e-01 -4.62047286e-03 9.89807660e-01 8.36687954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:107.64, Z:8.37 [[ 3.64016214e-02 -9.99236474e-01 -1.41912430e-02 1.08234524e+02] [ 9.89070636e-01 3.80543301e-02 -1.42446993e-01 1.07643223e+02] [ 1.42878269e-01 -8.85084021e-03 9.89700694e-01 8.37357840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:107.67, Z:8.37 [[ 3.74352262e-02 -9.99259249e-01 -8.91943837e-03 1.08232205e+02] [ 9.89026419e-01 3.83254528e-02 -1.42681122e-01 1.07665073e+02] [ 1.42917273e-01 -3.48026010e-03 9.89728519e-01 8.37487303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:107.69, Z:8.38 [[ 3.82732694e-02 -9.99208374e-01 -1.08527654e-02 1.08235411e+02] [ 9.89024150e-01 3.94297880e-02 -1.42395652e-01 1.07691758e+02] [ 1.42710851e-01 -5.28369989e-03 9.89750320e-01 8.37853840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.23, Y:107.72, Z:8.38 [[ 3.96402420e-02 -9.99207459e-01 -3.62000099e-03 1.08233358e+02] [ 9.88623089e-01 3.97459041e-02 -1.45067743e-01 1.07717700e+02] [ 1.45096651e-01 2.17170388e-03 9.89415103e-01 8.37962071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:107.74, Z:8.39 [[ 4.07608181e-02 -9.99125081e-01 -9.36097909e-03 1.08239019e+02] [ 9.88697469e-01 4.16846898e-02 -1.44012854e-01 1.07743519e+02] [ 1.44277064e-01 -3.38509455e-03 9.89531541e-01 8.38598152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:107.77, Z:8.39 [[ 4.46213402e-02 -9.98978501e-01 -7.13371672e-03 1.08239157e+02] [ 9.88523833e-01 4.51837346e-02 -1.44149441e-01 1.07768747e+02] [ 1.44324520e-01 -6.19707758e-04 9.89530216e-01 8.38979532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:107.80, Z:8.39 [[ 4.38653389e-02 -9.99026671e-01 -4.64137132e-03 1.08238766e+02] [ 9.88387305e-01 4.40738075e-02 -1.45423643e-01 1.07796539e+02] [ 1.45486661e-01 1.79158487e-03 9.89358591e-01 8.39331700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:107.82, Z:8.40 [[ 4.52576942e-02 -9.98860535e-01 -1.51450444e-02 1.08246961e+02] [ 9.88555769e-01 4.69644491e-02 -1.43359104e-01 1.07820852e+02] [ 1.43907030e-01 -8.48361845e-03 9.89554847e-01 8.39910866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:107.85, Z:8.40 [[ 4.59776218e-02 -9.98896594e-01 -9.57358189e-03 1.08244468e+02] [ 9.88435922e-01 4.68782760e-02 -1.44211151e-01 1.07847869e+02] [ 1.44500820e-01 -2.83238649e-03 9.89500627e-01 8.40097869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:107.87, Z:8.40 [[ 4.73297881e-02 -9.98856337e-01 -6.77560907e-03 1.08244389e+02] [ 9.88318286e-01 4.78120740e-02 -1.44709955e-01 1.07872282e+02] [ 1.44868412e-01 1.52633169e-04 9.89450918e-01 8.40386260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:107.90, Z:8.41 [[ 4.61385486e-02 -9.98878629e-01 -1.06169374e-02 1.08247613e+02] [ 9.88441731e-01 4.71877675e-02 -1.44070330e-01 1.07900431e+02] [ 1.44409763e-01 -3.84702802e-03 9.89510495e-01 8.40869403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:107.93, Z:8.41 [[ 4.56936888e-02 -9.98918020e-01 -8.65315671e-03 1.08247423e+02] [ 9.88440240e-01 4.64645383e-02 -1.44315412e-01 1.07925563e+02] [ 1.44561330e-01 -1.95882478e-03 9.89493903e-01 8.41163437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:107.95, Z:8.42 [[ 4.49448150e-02 -9.98952094e-01 -8.64156881e-03 1.08248608e+02] [ 9.88357831e-01 4.57234890e-02 -1.45114298e-01 1.07951014e+02] [ 1.45357355e-01 -2.01882693e-03 9.89377160e-01 8.41549672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:107.98, Z:8.42 [[ 4.39083486e-02 -9.98998541e-01 -8.60067411e-03 1.08249373e+02] [ 9.88361769e-01 4.46927005e-02 -1.45408311e-01 1.07975991e+02] [ 1.45647078e-01 -2.11593865e-03 9.89334348e-01 8.41907815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.00, Z:8.42 [[ 4.30115482e-02 -9.99038103e-01 -8.53667602e-03 1.08250104e+02] [ 9.88418308e-01 4.37958808e-02 -1.45296832e-01 1.08001004e+02] [ 1.45530943e-01 -2.18836517e-03 9.89351280e-01 8.42268199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.03, Z:8.43 [[ 4.09367773e-02 -9.99125703e-01 -8.48591843e-03 1.08249970e+02] [ 9.88491543e-01 4.17360416e-02 -1.45404859e-01 1.08026770e+02] [ 1.45631900e-01 -2.43585228e-03 9.89335846e-01 8.42629679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.05, Z:8.43 [[ 3.90503755e-02 -9.99201659e-01 -8.43290240e-03 1.08250854e+02] [ 9.88556259e-01 3.98622251e-02 -1.45490635e-01 1.08052970e+02] [ 1.45710638e-01 -2.65493451e-03 9.89323689e-01 8.43000473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.08, Z:8.43 [[ 3.60686190e-02 -9.99314392e-01 -8.35469556e-03 1.08251573e+02] [ 9.88723038e-01 3.68997607e-02 -1.45138425e-01 1.08078217e+02] [ 1.45347203e-01 -3.02553741e-03 9.89376085e-01 8.43369537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.11, Z:8.44 [[ 3.50437766e-02 -9.99326087e-01 -1.09227244e-02 1.08255514e+02] [ 9.88614104e-01 3.62643419e-02 -1.46037839e-01 1.08106634e+02] [ 1.46335528e-01 -5.68064199e-03 9.89218704e-01 8.43997934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.13, Z:8.44 [[ 3.25922317e-02 -9.99449077e-01 -6.26809564e-03 1.08253165e+02] [ 9.88819329e-01 3.31573856e-02 -1.45385428e-01 1.08131841e+02] [ 1.45513166e-01 -1.45957856e-03 9.89355239e-01 8.44158981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.16, Z:8.45 [[ 2.96464717e-02 -9.99526908e-01 -8.18816505e-03 1.08254854e+02] [ 9.88941949e-01 3.05214146e-02 -1.45128440e-01 1.08157995e+02] [ 1.45309696e-01 -3.79507370e-03 9.89378941e-01 8.44669046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.18, Z:8.45 [[ 2.79439944e-02 -9.99576345e-01 -8.14021400e-03 1.08254939e+02] [ 9.88965861e-01 2.88307341e-02 -1.45311094e-01 1.08184057e+02] [ 1.45484221e-01 -3.98982136e-03 9.89352527e-01 8.45012578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.21, Z:8.45 [[ 2.67943735e-02 -9.99608231e-01 -8.08988356e-03 1.08255422e+02] [ 9.88978069e-01 2.76865717e-02 -1.45450450e-01 1.08211478e+02] [ 1.45617448e-01 -4.10346375e-03 9.89332462e-01 8.45396484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.24, Z:8.45 [[ 2.45193571e-02 -9.99697262e-01 2.04566185e-03 1.08248046e+02] [ 9.89081480e-01 2.39614391e-02 -1.45408652e-01 1.08238990e+02] [ 1.45315614e-01 5.58865291e-03 9.89369567e-01 8.45186295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.27, Z:8.46 [[ 2.48474423e-02 -9.99603204e-01 -1.32680037e-02 1.08258777e+02] [ 9.88932467e-01 2.65197884e-02 -1.45976975e-01 1.08265017e+02] [ 1.46270917e-01 -9.49400515e-03 9.89199011e-01 8.46177104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.29, Z:8.46 [[ 2.42544082e-02 -9.99676441e-01 -7.66404323e-03 1.08255767e+02] [ 9.88844287e-01 2.51171945e-02 -1.46819969e-01 1.08291604e+02] [ 1.46964963e-01 -4.01751390e-03 9.89133540e-01 8.46401840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.32, Z:8.47 [[ 2.39930039e-02 -9.99635910e-01 -1.23443204e-02 1.08259435e+02] [ 9.88733003e-01 2.55526759e-02 -1.47492745e-01 1.08317196e+02] [ 1.47754475e-01 -8.66644300e-03 9.88986101e-01 8.47114701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.34, Z:8.47 [[ 2.47768703e-02 -9.99684754e-01 4.06204395e-03 1.08248998e+02] [ 9.88883311e-01 2.39128337e-02 -1.46758212e-01 1.08344718e+02] [ 1.46614812e-01 7.65309667e-03 9.89164055e-01 8.46572796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.37, Z:8.47 [[ 2.40606781e-02 -9.99634021e-01 -1.23655688e-02 1.08258893e+02] [ 9.89058810e-01 2.56033025e-02 -1.45282968e-01 1.08370424e+02] [ 1.45546397e-01 -8.73466808e-03 9.89312869e-01 8.47426638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.40, Z:8.47 [[ 2.75629674e-02 -9.99619180e-01 -1.33318289e-03 1.08252086e+02] [ 9.88634945e-01 2.74572234e-02 -1.47807465e-01 1.08395173e+02] [ 1.47787782e-01 2.75598113e-03 9.89015256e-01 8.47448993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.42, Z:8.49 [[ 2.82284022e-02 -9.99402957e-01 -1.99219984e-02 1.08263884e+02] [ 9.88479728e-01 3.08734992e-02 -1.48171032e-01 1.08420437e+02] [ 1.48697629e-01 -1.55098601e-02 9.88761073e-01 8.48660121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.45, Z:8.48 [[ 2.96768883e-02 -9.99559537e-01 -1.17580694e-04 1.08252432e+02] [ 9.88378593e-01 2.93624713e-02 -1.49149595e-01 1.08448523e+02] [ 1.49087353e-01 4.31008164e-03 9.88814636e-01 8.48330418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.47, Z:8.49 [[ 3.14643509e-02 -9.99495758e-01 -4.26897899e-03 1.08253899e+02] [ 9.88479816e-01 3.17496310e-02 -1.47985186e-01 1.08474844e+02] [ 1.48046104e-01 4.36458251e-04 9.88980364e-01 8.48744861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.50, Z:8.50 [[ 3.12993145e-02 -9.99345402e-01 -1.81416658e-02 1.08262216e+02] [ 9.88558421e-01 3.36307943e-02 -1.47041550e-01 1.08499226e+02] [ 1.47555416e-01 -1.33317968e-02 9.88963934e-01 8.49721362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.53, Z:8.50 [[ 3.13167736e-02 -9.99481306e-01 -7.50853472e-03 1.08256289e+02] [ 9.88637319e-01 3.20802551e-02 -1.46857446e-01 1.08526644e+02] [ 1.47022148e-01 -2.82411624e-03 9.89129169e-01 8.49799397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.55, Z:8.50 [[ 3.03640997e-02 -9.99511362e-01 -7.42018920e-03 1.08256202e+02] [ 9.88763844e-01 3.11230391e-02 -1.46210184e-01 1.08552598e+02] [ 1.46369679e-01 -2.89727418e-03 9.89225719e-01 8.50124154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.58, Z:8.50 [[ 2.93106345e-02 -9.99543334e-01 -7.34918985e-03 1.08256795e+02] [ 9.88842997e-01 3.00695575e-02 -1.45894993e-01 1.08579164e+02] [ 1.46049355e-01 -2.99092008e-03 9.89272784e-01 8.50459856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.60, Z:8.51 [[ 2.79311837e-02 -9.99583173e-01 -7.30265587e-03 1.08257450e+02] [ 9.88858529e-01 2.86986194e-02 -1.46065737e-01 1.08604249e+02] [ 1.46214429e-01 -3.14150459e-03 9.89247932e-01 8.50801127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.63, Z:8.51 [[ 2.52604038e-02 -9.99654776e-01 -7.22780464e-03 1.08258699e+02] [ 9.88984698e-01 2.60442964e-02 -1.45708484e-01 1.08629662e+02] [ 1.45846425e-01 -3.46753304e-03 9.89301166e-01 8.51095936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.66, Z:8.51 [[ 2.37199636e-02 -9.99692794e-01 -7.18898178e-03 1.08259855e+02] [ 9.88971206e-01 2.45159496e-02 -1.46064787e-01 1.08655808e+02] [ 1.46196160e-01 -3.64504454e-03 9.89248905e-01 8.51476914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.68, Z:8.52 [[ 2.06010446e-02 -9.99762477e-01 -7.11237313e-03 1.08261158e+02] [ 9.89114751e-01 2.14172979e-02 -1.45579220e-01 1.08682181e+02] [ 1.45696970e-01 -4.03586917e-03 9.89321032e-01 8.51834350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.71, Z:8.52 [[ 1.90323032e-02 -9.99793913e-01 -7.06424124e-03 1.08262283e+02] [ 9.89132752e-01 1.98586704e-02 -1.45677839e-01 1.08706581e+02] [ 1.45788103e-01 -4.21488758e-03 9.89306860e-01 8.52206827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.73, Z:8.53 [[ 1.73282201e-02 -9.99825401e-01 -6.99289945e-03 1.08263400e+02] [ 9.89199523e-01 1.81613257e-02 -1.45445763e-01 1.08732198e+02] [ 1.45547368e-01 -4.39705660e-03 9.89341513e-01 8.52555810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:108.76, Z:8.53 [[ 1.60971054e-02 -9.99846291e-01 -6.94825277e-03 1.08264566e+02] [ 9.89182991e-01 1.69379856e-02 -1.45705574e-01 1.08757359e+02] [ 1.45800867e-01 -4.52765548e-03 9.89303597e-01 8.52963799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:108.78, Z:8.52 [[ 1.28072510e-02 -9.99816135e-01 1.42713214e-02 1.08248450e+02] [ 9.89632929e-01 1.06324115e-02 -1.43225754e-01 1.08780282e+02] [ 1.43047682e-01 1.59576978e-02 9.89587143e-01 8.51822629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:108.80, Z:8.54 [[ 1.56578398e-02 -9.99695410e-01 -1.90766751e-02 1.08273827e+02] [ 9.88961535e-01 1.82955818e-02 -1.47038614e-01 1.08804514e+02] [ 1.47342846e-01 -1.65637908e-02 9.88946776e-01 8.53824242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:108.83, Z:8.54 [[ 1.40190488e-02 -9.99853759e-01 -9.79426197e-03 1.08269386e+02] [ 9.89026602e-01 1.53066436e-02 -1.46942460e-01 1.08833236e+02] [ 1.47070889e-01 -7.62679211e-03 9.89096550e-01 8.53938844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:108.86, Z:8.54 [[ 1.51474533e-02 -9.99861136e-01 -6.94715037e-03 1.08269538e+02] [ 9.88802714e-01 1.60107960e-02 -1.48367274e-01 1.08858929e+02] [ 1.48457900e-01 -4.62197478e-03 9.88907928e-01 8.54215920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:108.88, Z:8.55 [[ 1.59929384e-02 -9.99848261e-01 -6.90508133e-03 1.08270680e+02] [ 9.88724982e-01 1.68425984e-02 -1.48792594e-01 1.08884156e+02] [ 1.48886316e-01 -4.44759563e-03 9.88844317e-01 8.54542371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:108.91, Z:8.55 [[ 1.56581581e-02 -9.99853944e-01 -6.84933867e-03 1.08271509e+02] [ 9.88730319e-01 1.65032545e-02 -1.48795160e-01 1.08909938e+02] [ 1.48886464e-01 -4.44229067e-03 9.88844319e-01 8.54921881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:108.94, Z:8.55 [[ 1.80990188e-02 -9.99812307e-01 -6.91204553e-03 1.08273445e+02] [ 9.88308678e-01 1.89366652e-02 -1.51285692e-01 1.08936290e+02] [ 1.51388187e-01 -4.09311200e-03 9.88465914e-01 8.55419240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:108.96, Z:8.56 [[ 2.01320906e-02 -9.99774201e-01 -6.80037471e-03 1.08273495e+02] [ 9.88493073e-01 2.09239344e-02 -1.49811993e-01 1.08961168e+02] [ 1.49920457e-01 -3.70609467e-03 9.88691115e-01 8.55652217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:108.99, Z:8.56 [[ 2.15961847e-02 -9.99743949e-01 -6.75582601e-03 1.08274419e+02] [ 9.88422265e-01 2.23657278e-02 -1.50070649e-01 1.08987166e+02] [ 1.50183322e-01 -3.43665539e-03 9.88652193e-01 8.56047039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.01, Z:8.57 [[ 2.65505197e-02 -9.99624503e-01 -6.77664486e-03 1.08277725e+02] [ 9.88027484e-01 2.72719063e-02 -1.51848390e-01 1.09012793e+02] [ 1.51976184e-01 -2.66385769e-03 9.88380566e-01 8.56501968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.04, Z:8.57 [[ 2.60784106e-02 -9.99637778e-01 -6.65045393e-03 1.08276612e+02] [ 9.88295977e-01 2.67816493e-02 -1.50179241e-01 1.09038168e+02] [ 1.50302953e-01 -2.65618095e-03 9.88636418e-01 8.56815558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.06, Z:8.57 [[ 2.67754148e-02 -9.99619858e-01 -6.57399500e-03 1.08277598e+02] [ 9.88363440e-01 2.74578281e-02 -1.49612092e-01 1.09064282e+02] [ 1.49735726e-01 -2.49157048e-03 9.88722916e-01 8.57185530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.09, Z:8.58 [[ 2.72683539e-02 -9.99606960e-01 -6.50867216e-03 1.08278556e+02] [ 9.88372290e-01 2.79350850e-02 -1.49465207e-01 1.09090551e+02] [ 1.49588281e-01 -2.35732106e-03 9.88745563e-01 8.57580900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.12, Z:8.58 [[ 2.72531323e-02 -9.99607921e-01 -6.42430739e-03 1.08279525e+02] [ 9.88462597e-01 2.79060444e-02 -1.48872253e-01 1.09115603e+02] [ 1.48993160e-01 -2.29295236e-03 9.88835568e-01 8.57945210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.14, Z:8.58 [[ 2.67197590e-02 -9.99622813e-01 -6.34719127e-03 1.08280822e+02] [ 9.88534469e-01 2.73662496e-02 -1.48494752e-01 1.09142126e+02] [ 1.48612440e-01 -2.30667337e-03 9.88892826e-01 8.58359756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.17, Z:8.59 [[ 2.59568039e-02 -9.99643421e-01 -6.26703564e-03 1.08282224e+02] [ 9.88630849e-01 2.65986511e-02 -1.47991744e-01 1.09167795e+02] [ 1.48105668e-01 -2.35439209e-03 9.88968740e-01 8.58765961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.20, Z:8.60 [[ 2.85997912e-02 -9.99445862e-01 -1.70300021e-02 1.08295023e+02] [ 9.88167477e-01 3.08371752e-02 -1.50246819e-01 1.09198654e+02] [ 1.50688719e-01 -1.25314666e-02 9.88501832e-01 8.59936960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.22, Z:8.59 [[ 2.45311125e-02 -9.99698744e-01 8.03525663e-04 1.08281618e+02] [ 9.88798924e-01 2.41452620e-02 -1.47287796e-01 1.09219596e+02] [ 1.47224024e-01 4.40765882e-03 9.89093352e-01 8.59451082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.25, Z:8.60 [[ 2.29539065e-02 -9.99730851e-01 3.36794867e-03 1.08281375e+02] [ 9.88496590e-01 2.21919653e-02 -1.49606178e-01 1.09245570e+02] [ 1.49491171e-01 6.76325201e-03 9.88739930e-01 8.59882798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:109.27, Z:8.61 [[ 2.05123332e-02 -9.99705627e-01 -1.29577868e-02 1.08293049e+02] [ 9.88891605e-01 2.21954391e-02 -1.46971956e-01 1.09271585e+02] [ 1.47216295e-01 -9.79910884e-03 9.89055782e-01 8.60675863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.30, Z:8.62 [[ 2.15723510e-02 -9.99624333e-01 -1.69064343e-02 1.08300680e+02] [ 9.88374491e-01 2.38690918e-02 -1.50153693e-01 1.09302298e+02] [ 1.50500827e-01 -1.34707202e-02 9.88518103e-01 8.61641350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:109.33, Z:8.62 [[ 2.03922256e-02 -9.99787418e-01 -3.04573209e-03 1.08293214e+02] [ 9.88161279e-01 2.06182239e-02 -1.52026888e-01 1.09328606e+02] [ 1.52057367e-01 9.04920677e-05 9.88371665e-01 8.61623074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.35, Z:8.62 [[ 1.99332962e-02 -9.99664878e-01 -1.65165295e-02 1.08302763e+02] [ 9.88234083e-01 2.22056254e-02 -1.51328472e-01 1.09353384e+02] [ 1.51644519e-01 -1.33057222e-02 9.88345536e-01 8.62495788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.38, Z:8.62 [[ 1.91479471e-02 -9.99801242e-01 -5.55277671e-03 1.08296943e+02] [ 9.88298862e-01 1.97676448e-02 -1.51243510e-01 1.09380898e+02] [ 1.51323215e-01 -2.59180017e-03 9.88480939e-01 8.62450834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.40, Z:8.63 [[ 2.08832155e-02 -9.99780881e-01 -1.44238168e-03 1.08295721e+02] [ 9.87786658e-01 2.08554502e-02 -1.54410391e-01 1.09404441e+02] [ 1.54406638e-01 1.79982009e-03 9.88005744e-01 8.62807601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.43, Z:8.63 [[ 2.04131587e-02 -9.99755893e-01 -8.45325847e-03 1.08299966e+02] [ 9.88022117e-01 2.14656520e-02 -1.52812051e-01 1.09430368e+02] [ 1.52956203e-01 -5.23262966e-03 9.88219115e-01 8.63257384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.46, Z:8.64 [[ 2.01838188e-02 -9.99736160e-01 -1.09646594e-02 1.08302852e+02] [ 9.88230474e-01 2.16124319e-02 -1.51437883e-01 1.09459399e+02] [ 1.51634901e-01 -7.77901575e-03 9.88405961e-01 8.63688937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:109.48, Z:8.63 [[ 1.93617636e-02 -9.99807910e-01 3.04396059e-03 1.08292697e+02] [ 9.88618448e-01 1.86905875e-02 -1.49279021e-01 1.09483052e+02] [ 1.49193452e-01 5.89962071e-03 9.88790427e-01 8.63337427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.51, Z:8.64 [[ 2.13595565e-02 -9.99761857e-01 -4.47204365e-03 1.08299827e+02] [ 9.88137815e-01 2.17911962e-02 -1.52015797e-01 1.09511045e+02] [ 1.52077047e-01 -1.17200542e-03 9.88367947e-01 8.64147693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.54, Z:8.64 [[ 2.19429042e-02 -9.99759222e-01 8.68232059e-05 1.08297441e+02] [ 9.88282329e-01 2.16778859e-02 -1.51089734e-01 1.09536861e+02] [ 1.51051473e-01 3.40115340e-03 9.88520048e-01 8.64248730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.56, Z:8.65 [[ 2.12197001e-02 -9.99719518e-01 -1.05170864e-02 1.08303700e+02] [ 9.88525544e-01 2.25533799e-02 -1.49360616e-01 1.09562022e+02] [ 1.49555919e-01 -7.22702112e-03 9.88726857e-01 8.64905543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.31, Y:109.59, Z:8.66 [[ 2.20137666e-02 -9.99662285e-01 -1.38098033e-02 1.08307422e+02] [ 9.88213764e-01 2.38505534e-02 -1.51210807e-01 1.09588551e+02] [ 1.51489112e-01 -1.03183183e-02 9.88405069e-01 8.65757452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.61, Z:8.65 [[ 2.05017747e-02 -9.99782808e-01 3.74345247e-03 1.08296263e+02] [ 9.88546929e-01 1.97111484e-02 -1.49620990e-01 1.09614862e+02] [ 1.49514705e-01 6.76807425e-03 9.88736338e-01 8.65350603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.64, Z:8.66 [[ 1.80345458e-02 -9.99833382e-01 2.82184640e-03 1.08296315e+02] [ 9.88933390e-01 1.74221142e-02 -1.47333704e-01 1.09641702e+02] [ 1.47259993e-01 5.44771455e-03 9.89082816e-01 8.65600084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.67, Z:8.66 [[ 1.67819070e-02 -9.99858069e-01 -1.48657155e-03 1.08298992e+02] [ 9.89286891e-01 1.68200788e-02 -1.45012181e-01 1.09666926e+02] [ 1.45016604e-01 9.62935184e-04 9.89428753e-01 8.65923278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.69, Z:8.66 [[ 1.53100532e-02 -9.99880806e-01 -1.99409994e-03 1.08299080e+02] [ 9.89415965e-01 1.54375668e-02 -1.44283506e-01 1.09691637e+02] [ 1.44297092e-01 2.35993824e-04 9.89534382e-01 8.66286126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:109.72, Z:8.68 [[ 1.56226905e-02 -9.99623648e-01 -2.25498217e-02 1.08313700e+02] [ 9.89365704e-01 1.87161868e-02 -1.44240106e-01 1.09717160e+02] [ 1.44607867e-01 -2.00566017e-02 9.89285751e-01 8.67673640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:109.74, Z:8.67 [[ 1.29121301e-02 -9.99857454e-01 1.08787748e-02 1.08291519e+02] [ 9.89403486e-01 1.12020995e-02 -1.44759299e-01 1.09744479e+02] [ 1.44616799e-01 1.26326487e-02 9.89407094e-01 8.66829315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.77, Z:8.68 [[ 1.27554243e-02 -9.99911596e-01 -3.75478858e-03 1.08300818e+02] [ 9.89185519e-01 1.31671351e-02 -1.46077498e-01 1.09769978e+02] [ 1.46114024e-01 -1.85090202e-03 9.89266024e-01 8.67765402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.80, Z:8.68 [[ 1.10235475e-02 -9.99937538e-01 -1.84446648e-03 1.08298821e+02] [ 9.89233251e-01 1.11747026e-02 -1.45920187e-01 1.09795325e+02] [ 1.45931684e-01 -2.16049449e-04 9.89294646e-01 8.68055773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.82, Z:8.69 [[ 9.28144103e-03 -9.99901050e-01 -1.05709944e-02 1.08303817e+02] [ 9.89389970e-01 1.07156400e-02 -1.44888449e-01 1.09821081e+02] [ 1.44987388e-01 -9.11406224e-03 9.89391526e-01 8.68676459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.85, Z:8.69 [[ 8.02178478e-03 -9.99921000e-01 -9.67701161e-03 1.08304084e+02] [ 9.89280328e-01 9.34675781e-03 -1.45729446e-01 1.09847304e+02] [ 1.45808382e-01 -8.40426697e-03 9.89277152e-01 8.69326639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.88, Z:8.69 [[ 6.29322814e-03 -9.99979138e-01 1.45561184e-03 1.08296499e+02] [ 9.89049498e-01 6.00979241e-03 -1.47461769e-01 1.09875136e+02] [ 1.47449944e-01 2.36768271e-03 9.89066685e-01 8.69451741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.90, Z:8.70 [[ 6.66729072e-03 -9.99957025e-01 -6.44175077e-03 1.08301291e+02] [ 9.89247506e-01 7.53678569e-03 -1.46056734e-01 1.09898732e+02] [ 1.46099007e-01 -5.39868317e-03 9.89255242e-01 8.69909694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.92, Z:8.70 [[ 6.31147104e-03 -9.99979946e-01 -5.22611614e-04 1.08297349e+02] [ 9.89109373e-01 6.31971017e-03 -1.47046624e-01 1.09923434e+02] [ 1.47046978e-01 4.11160462e-04 9.89129424e-01 8.70141199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:109.95, Z:8.71 [[ 6.02360916e-03 -9.99926043e-01 -1.05652202e-02 1.08301201e+02] [ 9.89585293e-01 7.48021287e-03 -1.43753239e-01 1.09949373e+02] [ 1.43821637e-01 -9.58927322e-03 9.89557165e-01 8.70619747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:109.98, Z:8.71 [[ 3.85798802e-03 -9.99633683e-01 2.67883595e-02 1.08276861e+02] [ 9.88088632e-01 -3.10420686e-04 -1.53885536e-01 1.09980498e+02] [ 1.53837481e-01 2.70629621e-02 9.87725481e-01 8.70504438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:110.01, Z:8.72 [[ 5.45138061e-03 -9.99726309e-01 -2.27505787e-02 1.08306431e+02] [ 9.88715667e-01 8.79452899e-03 -1.49545936e-01 1.10005230e+02] [ 1.49705088e-01 -2.16786218e-02 9.88493007e-01 8.72003368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:110.03, Z:8.72 [[ 8.55427173e-03 -9.99856750e-01 -1.46049090e-02 1.08300742e+02] [ 9.89092373e-01 1.06081512e-02 -1.46914073e-01 1.10029880e+02] [ 1.47047959e-01 -1.31888612e-02 9.89041431e-01 8.71999169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.06, Z:8.72 [[ 9.68333833e-03 -9.99945807e-01 -3.82309202e-03 1.08293905e+02] [ 9.89099521e-01 1.01399433e-02 -1.46899010e-01 1.10057759e+02] [ 1.46929815e-01 -2.35894567e-03 9.89144107e-01 8.72100626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.08, Z:8.72 [[ 1.22421161e-02 -9.99917934e-01 -3.77579775e-03 1.08293004e+02] [ 9.89026811e-01 1.26645888e-02 -1.47192306e-01 1.10083379e+02] [ 1.47228046e-01 -1.93241990e-03 9.89100687e-01 8.72454187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.11, Z:8.73 [[ 1.29704596e-02 -9.99908998e-01 -3.70974391e-03 1.08292790e+02] [ 9.89069478e-01 1.33746505e-02 -1.46842384e-01 1.10110582e+02] [ 1.46878638e-01 -1.76458125e-03 9.89152947e-01 8.72860097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.14, Z:8.73 [[ 1.34157209e-02 -9.99903312e-01 -3.65869275e-03 1.08292039e+02] [ 9.89046681e-01 1.38077754e-02 -1.46955801e-01 1.10135892e+02] [ 1.46992110e-01 -1.64709991e-03 9.89136293e-01 8.73238117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.16, Z:8.74 [[ 1.38225458e-02 -9.99897987e-01 -3.59908112e-03 1.08290618e+02] [ 9.89024325e-01 1.42015949e-02 -1.47068686e-01 1.10161908e+02] [ 1.47104796e-01 -1.52671513e-03 9.89119734e-01 8.73630715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.19, Z:8.74 [[ 1.33601528e-02 -9.99904486e-01 -3.53906829e-03 1.08290398e+02] [ 9.89036845e-01 1.37353402e-02 -1.47028769e-01 1.10187741e+02] [ 1.47063336e-01 -1.53594212e-03 9.89125885e-01 8.74036746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.21, Z:8.74 [[ 1.22670628e-02 -9.99918725e-01 -3.47303805e-03 1.08290315e+02] [ 9.89098434e-01 1.26438967e-02 -1.46712032e-01 1.10214950e+02] [ 1.46744020e-01 -1.63545079e-03 9.89173149e-01 8.74416886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.24, Z:8.75 [[ 1.09253398e-02 -9.99934466e-01 -3.42074270e-03 1.08290308e+02] [ 9.89105946e-01 1.13091232e-02 -1.46770336e-01 1.10240480e+02] [ 1.46799403e-01 -1.77996117e-03 9.89164682e-01 8.74812929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:110.27, Z:8.75 [[ 6.00663927e-03 -9.99972131e-01 4.43371476e-03 1.08283360e+02] [ 9.89302824e-01 5.29618488e-03 -1.45780219e-01 1.10266234e+02] [ 1.45752674e-01 5.26193572e-03 9.89307066e-01 8.74650658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:110.29, Z:8.75 [[ 2.10077652e-03 -9.99937918e-01 1.09428761e-02 1.08278141e+02] [ 9.89394629e-01 4.89057054e-04 -1.45251605e-01 1.10293526e+02] [ 1.45237236e-01 1.11319640e-02 9.89334233e-01 8.74525723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.32, Z:8.76 [[-1.44127382e-03 -9.99979368e-01 -6.25991960e-03 1.08290986e+02] [ 9.88826351e-01 -4.92006294e-04 -1.49071145e-01 1.10319312e+02] [ 1.49064990e-01 -6.40482579e-03 9.88806658e-01 8.75936457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:110.34, Z:8.76 [[-3.52899711e-03 -9.99896524e-01 -1.39459112e-02 1.08296074e+02] [ 9.89210374e-01 -1.44806628e-03 -1.46494845e-01 1.10344450e+02] [ 1.46459492e-01 -1.43124200e-02 9.89113124e-01 8.76361776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:110.37, Z:8.75 [[-8.75620745e-03 -9.99521803e-01 2.96562714e-02 1.08266953e+02] [ 9.89293608e-01 -1.29795188e-02 -1.45360553e-01 1.10371719e+02] [ 1.45675966e-01 2.80659525e-02 9.88934181e-01 8.75107284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.40, Z:8.77 [[-1.15042879e-02 -9.99898201e-01 -8.44033068e-03 1.08292257e+02] [ 9.89461440e-01 -1.01649680e-02 -1.44439373e-01 1.10396275e+02] [ 1.44338873e-01 -1.00130539e-02 9.89477654e-01 8.76535908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.42, Z:8.77 [[-1.03702552e-02 -9.99943628e-01 -2.28011220e-03 1.08291781e+02] [ 9.88994880e-01 -9.92010560e-03 -1.47616800e-01 1.10421130e+02] [ 1.47585859e-01 -3.78584317e-03 9.89042002e-01 8.77084041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.45, Z:8.77 [[-1.46596872e-02 -9.99884382e-01 4.03925546e-03 1.08286989e+02] [ 9.89319824e-01 -1.50904663e-02 -1.44977803e-01 1.10449198e+02] [ 1.45021996e-01 1.87078625e-03 9.89426663e-01 8.77087988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.47, Z:8.78 [[-1.68257256e-02 -9.99857617e-01 -1.28119285e-03 1.08291415e+02] [ 9.89317636e-01 -1.64627588e-02 -1.44843339e-01 1.10473553e+02] [ 1.44801624e-01 -3.70460096e-03 9.89453771e-01 8.77649811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.50, Z:8.77 [[-1.87269701e-02 -9.99797951e-01 7.30468506e-03 1.08286377e+02] [ 9.89666160e-01 -1.95750216e-02 -1.42048266e-01 1.10498566e+02] [ 1.42162555e-01 4.56906599e-03 9.89832780e-01 8.77467980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.53, Z:8.78 [[-1.86496823e-02 -9.99825256e-01 1.28358060e-03 1.08290685e+02] [ 9.89610008e-01 -1.86421623e-02 -1.42564029e-01 1.10525078e+02] [ 1.42563046e-01 -1.38852965e-03 9.89784749e-01 8.78081327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.55, Z:8.78 [[-2.05755437e-02 -9.99774089e-01 5.33094546e-03 1.08286561e+02] [ 9.89301456e-01 -2.11296968e-02 -1.44347375e-01 1.10552074e+02] [ 1.44427407e-01 2.30388637e-03 9.89512717e-01 8.78100057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:110.58, Z:8.79 [[-1.77475131e-02 -9.99804475e-01 -8.71998810e-03 1.08299133e+02] [ 9.89167082e-01 -1.62863006e-02 -1.45887769e-01 1.10576450e+02] [ 1.45717228e-01 -1.12146703e-02 9.89262716e-01 8.79310938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:110.61, Z:8.82 [[-1.61239607e-02 -9.99123114e-01 -3.86396239e-02 1.08322393e+02] [ 9.88206801e-01 -1.00386397e-02 -1.52795760e-01 1.10605034e+02] [ 1.52273886e-01 -4.06476120e-02 9.87502119e-01 8.81983944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:110.63, Z:8.81 [[-1.46640029e-02 -9.99867495e-01 7.06823490e-03 1.08296003e+02] [ 9.87714387e-01 -1.55849575e-02 -1.55490835e-01 1.10632176e+02] [ 1.55580390e-01 4.70127924e-03 9.87812047e-01 8.81193554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:110.66, Z:8.82 [[-1.42112884e-02 -9.99790799e-01 -1.47104232e-02 1.08310307e+02] [ 9.88033070e-01 -1.17813482e-02 -1.53791589e-01 1.10656112e+02] [ 1.53586107e-01 -1.67199612e-02 9.87993801e-01 8.82063109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:110.68, Z:8.82 [[-1.66210504e-02 -9.99861585e-01 7.43073325e-04 1.08300577e+02] [ 9.87816658e-01 -1.65358232e-02 -1.54741131e-01 1.10684109e+02] [ 1.54732000e-01 -1.83793993e-03 9.87954771e-01 8.82108139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:110.71, Z:8.80 [[-1.92706215e-02 -9.99086446e-01 3.81433588e-02 1.08274267e+02] [ 9.88858259e-01 -2.46779164e-02 -1.46800353e-01 1.10712596e+02] [ 1.47607542e-01 3.48894413e-02 9.88430443e-01 8.80203965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:110.74, Z:8.82 [[-1.80649028e-02 -9.99819639e-01 -5.86083158e-03 1.08302536e+02] [ 9.88882780e-01 -1.70013637e-02 -1.47722040e-01 1.10738682e+02] [ 1.47595754e-01 -8.46425972e-03 9.89011552e-01 8.81899514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:110.77, Z:8.82 [[-1.74987498e-02 -9.99846633e-01 -7.10675022e-04 1.08300088e+02] [ 9.88709508e-01 -1.71980306e-02 -1.48854747e-01 1.10765158e+02] [ 1.48819695e-01 -3.30742312e-03 9.88858817e-01 8.82276603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:110.79, Z:8.83 [[-1.61345897e-02 -9.99854085e-01 -5.61099840e-03 1.08304832e+02] [ 9.88606503e-01 -1.51126486e-02 -1.49762444e-01 1.10791145e+02] [ 1.49655794e-01 -7.96342509e-03 9.88706087e-01 8.82956932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:110.81, Z:8.83 [[-1.52926360e-02 -9.99879419e-01 2.69883274e-03 1.08299632e+02] [ 9.88810405e-01 -1.55238092e-02 -1.48367770e-01 1.10814948e+02] [ 1.48391776e-01 3.99699591e-04 9.88928572e-01 8.82948049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:110.84, Z:8.85 [[-1.40758522e-02 -9.99677164e-01 -2.11527369e-02 1.08317397e+02] [ 9.88219907e-01 -1.06841581e-02 -1.52667170e-01 1.10841958e+02] [ 1.52391884e-01 -2.30524762e-02 9.88051262e-01 8.84860478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.87, Z:8.84 [[-1.58234003e-02 -9.99768130e-01 1.46049916e-02 1.08294318e+02] [ 9.88597660e-01 -1.78308735e-02 -1.49521660e-01 1.10868711e+02] [ 1.49747411e-01 1.20725195e-02 9.88650579e-01 8.83759088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:110.89, Z:8.87 [[-1.40485688e-02 -9.99377994e-01 -3.23459971e-02 1.08325806e+02] [ 9.88005055e-01 -8.89897445e-03 -1.54164912e-01 1.10891686e+02] [ 1.53781174e-01 -3.41238050e-02 9.87515527e-01 8.86568960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:110.92, Z:8.85 [[-1.58740514e-02 -9.99632327e-01 2.19824070e-02 1.08292008e+02] [ 9.88429873e-01 -1.90053565e-02 -1.50483165e-01 1.10920619e+02] [ 1.50845620e-01 1.93392902e-02 9.88368145e-01 8.84691375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:110.95, Z:8.86 [[-1.57717704e-02 -9.99875573e-01 2.98769186e-04 1.08306423e+02] [ 9.88520395e-01 -1.56375603e-02 -1.50276062e-01 1.10945688e+02] [ 1.50262036e-01 -2.07478011e-03 9.88644029e-01 8.85641239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:110.97, Z:8.87 [[-1.31660284e-02 -9.99611208e-01 -2.45782100e-02 1.08325247e+02] [ 9.88127261e-01 -9.24400944e-03 -1.53359263e-01 1.10969857e+02] [ 1.53072437e-01 -2.63055318e-02 9.87864792e-01 8.87467668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.31, Y:111.00, Z:8.87 [[-1.60456626e-02 -9.99847098e-01 6.95111119e-03 1.08306052e+02] [ 9.87965525e-01 -1.69238518e-02 -1.53745584e-01 1.10999174e+02] [ 1.53839716e-01 4.40050845e-03 9.88086017e-01 8.86888934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:111.03, Z:8.87 [[-1.71683753e-02 -9.99822968e-01 7.69937882e-03 1.08304606e+02] [ 9.88561716e-01 -1.81279853e-02 -1.49723447e-01 1.11025150e+02] [ 1.49836515e-01 5.04080282e-03 9.88697936e-01 8.86802089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.05, Z:8.87 [[-1.45329284e-02 -9.99894028e-01 8.52790977e-04 1.08308983e+02] [ 9.88860765e-01 -1.44989079e-02 -1.48135645e-01 1.11045603e+02] [ 1.48132311e-01 -1.30955318e-03 9.88966685e-01 8.87099816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:111.08, Z:8.87 [[-1.57846937e-02 -9.99816730e-01 1.08328091e-02 1.08303506e+02] [ 9.88688134e-01 -1.72233165e-02 -1.48993732e-01 1.11079339e+02] [ 1.49153002e-01 8.35844942e-03 9.88778801e-01 8.87376306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.10, Z:8.88 [[-1.44083654e-02 -9.99873986e-01 -6.66413074e-03 1.08314924e+02] [ 9.88956835e-01 -1.32672389e-02 -1.47608804e-01 1.11100439e+02] [ 1.47501789e-01 -8.71733922e-03 9.89023372e-01 8.88086993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.13, Z:8.89 [[-1.45918094e-02 -9.99887000e-01 -3.61466944e-03 1.08315157e+02] [ 9.88003105e-01 -1.38623449e-02 -1.53810598e-01 1.11130197e+02] [ 1.53743110e-01 -5.81567956e-03 9.88093737e-01 8.89044828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.16, Z:8.89 [[-1.45365835e-02 -9.99886765e-01 3.89154566e-03 1.08308849e+02] [ 9.88597214e-01 -1.49556267e-02 -1.49839504e-01 1.11157362e+02] [ 1.49880738e-01 1.66901673e-03 9.88702675e-01 8.88839027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.19, Z:8.90 [[-1.16882524e-02 -9.99892799e-01 -8.81900339e-03 1.08319583e+02] [ 9.87888338e-01 -1.01823158e-02 -1.54832010e-01 1.11185440e+02] [ 1.54725614e-01 -1.05219062e-02 9.87901449e-01 8.90205582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.21, Z:8.90 [[-1.00647869e-02 -9.99929705e-01 6.26786484e-03 1.08309461e+02] [ 9.88368737e-01 -1.08992301e-02 -1.51685354e-01 1.11210437e+02] [ 1.51743006e-01 4.66828089e-03 9.88408958e-01 8.89871493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.24, Z:8.91 [[-8.75982519e-03 -9.99953879e-01 3.93775352e-03 1.08311792e+02] [ 9.88046201e-01 -9.26147907e-03 -1.53879597e-01 1.11237666e+02] [ 1.53908969e-01 2.54272403e-03 9.88081760e-01 8.90514067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:111.26, Z:8.92 [[-6.09207027e-03 -9.99779857e-01 -2.00779499e-02 1.08328374e+02] [ 9.87820975e-01 -2.89502964e-03 -1.55567799e-01 1.11262950e+02] [ 1.55475425e-01 -2.07811500e-02 9.87621150e-01 8.92214571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:111.29, Z:8.91 [[-4.29355585e-03 -9.99818459e-01 1.85638079e-02 1.08304131e+02] [ 9.88433149e-01 -7.05745948e-03 -1.51492913e-01 1.11291959e+02] [ 1.51596424e-01 1.76986398e-02 9.88284009e-01 8.91024542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.32, Z:8.92 [[-2.63381147e-03 -9.99979666e-01 5.80784700e-03 1.08313162e+02] [ 9.88041769e-01 -3.49764778e-03 -1.54146780e-01 1.11316126e+02] [ 1.54163959e-01 5.33240187e-03 9.88030890e-01 8.91974189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.34, Z:8.93 [[-8.78086455e-04 -9.99970181e-01 -7.67247865e-03 1.08322079e+02] [ 9.88361969e-01 2.99279993e-04 -1.52120114e-01 1.11342622e+02] [ 1.52117874e-01 -7.71676071e-03 9.88332234e-01 8.92799776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:111.37, Z:8.94 [[ 1.52947649e-03 -9.99925994e-01 -1.20692679e-02 1.08326893e+02] [ 9.88525825e-01 3.33481596e-03 -1.51015138e-01 1.11368087e+02] [ 1.51044211e-01 -1.16998089e-02 9.88457769e-01 8.93613245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.40, Z:8.94 [[ 6.25199786e-04 -9.99999800e-01 -9.38764912e-05 1.08320182e+02] [ 9.88735272e-01 6.32208032e-04 -1.49673516e-01 1.11395133e+02] [ 1.49673545e-01 7.56852185e-07 9.88735470e-01 8.93648048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:111.42, Z:8.97 [[ 5.19622485e-03 -9.99298512e-01 -3.70875188e-02 1.08350175e+02] [ 9.87421619e-01 1.09882756e-02 -1.57726990e-01 1.11421733e+02] [ 1.58023874e-01 -3.58014330e-02 9.86786052e-01 8.96612895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.45, Z:8.94 [[-1.75410512e-04 -9.99557273e-01 2.97527581e-02 1.08306188e+02] [ 9.88607470e-01 -4.65161885e-03 -1.50444786e-01 1.11447467e+02] [ 1.50516578e-01 2.93874093e-02 9.88170603e-01 8.93955084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.47, Z:8.95 [[-2.42180618e-03 -9.99982201e-01 5.45274227e-03 1.08321570e+02] [ 9.88420834e-01 -3.22101979e-03 -1.51703260e-01 1.11472052e+02] [ 1.51718123e-01 5.02220817e-03 9.88411042e-01 8.95181421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:111.49, Z:8.97 [[-3.41319712e-03 -9.99669174e-01 -2.54930066e-02 1.08343555e+02] [ 9.88340383e-01 5.08326278e-04 -1.52259744e-01 1.11494925e+02] [ 1.52222332e-01 -2.57154604e-02 9.88011679e-01 8.96842560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:111.52, Z:8.96 [[-7.13637110e-03 -9.99973096e-01 -1.69679553e-03 1.08327776e+02] [ 9.89211487e-01 -6.81126116e-03 -1.46336052e-01 1.11523020e+02] [ 1.46320558e-01 -2.72279800e-03 9.89233481e-01 8.96271589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:111.55, Z:8.97 [[-8.77148317e-03 -9.99961505e-01 2.21931729e-04 1.08325693e+02] [ 9.89013816e-01 -8.70820293e-03 -1.47566392e-01 1.11548066e+02] [ 1.47562644e-01 -1.07488257e-03 9.89052127e-01 8.96987464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.58, Z:8.97 [[-1.12809137e-02 -9.99893026e-01 9.31005748e-03 1.08319326e+02] [ 9.89367246e-01 -1.25113293e-02 -1.44899690e-01 1.11575948e+02] [ 1.45000671e-01 7.57646503e-03 9.89402548e-01 8.96685369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:111.60, Z:8.98 [[-1.43168880e-02 -9.99886506e-01 -4.69067344e-03 1.08327184e+02] [ 9.89542716e-01 -1.34950883e-02 -1.43607435e-01 1.11601026e+02] [ 1.43527835e-01 -6.69763329e-03 9.89623616e-01 8.97519603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.63, Z:8.98 [[-1.50445064e-02 -9.99886819e-01 -1.10498667e-04 1.08324457e+02] [ 9.89499519e-01 -1.48723288e-02 -1.43768969e-01 1.11627431e+02] [ 1.43751054e-01 -2.27227155e-03 9.89611273e-01 8.97900185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.66, Z:8.98 [[-1.67703382e-02 -9.99852370e-01 3.74081892e-03 1.08321391e+02] [ 9.89289893e-01 -1.71355053e-02 -1.44954762e-01 1.11655071e+02] [ 1.44997463e-01 1.26981397e-03 9.89431212e-01 8.98153619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:111.68, Z:8.99 [[-1.69676163e-02 -9.99784930e-01 -1.19244778e-02 1.08330681e+02] [ 9.89548490e-01 -1.50834401e-02 -1.43409467e-01 1.11680168e+02] [ 1.43198762e-01 -1.42331658e-02 9.89591598e-01 8.99142194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.71, Z:8.99 [[-1.73888898e-02 -9.99840224e-01 4.14168056e-03 1.08318966e+02] [ 9.89249022e-01 -1.78059635e-02 -1.45152750e-01 1.11706269e+02] [ 1.45203304e-01 1.57310827e-03 9.89400589e-01 8.98883970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:111.73, Z:9.01 [[-1.45204184e-02 -9.99785704e-01 -1.47547990e-02 1.08335354e+02] [ 9.88470347e-01 -1.21286895e-02 -1.50928021e-01 1.11729307e+02] [ 1.50716721e-01 -1.67762193e-02 9.88434635e-01 9.00570376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.76, Z:9.00 [[-1.87965907e-02 -9.99816732e-01 -3.63182960e-03 1.08323653e+02] [ 9.88575036e-01 -1.80416584e-02 -1.49645906e-01 1.11756257e+02] [ 1.49552957e-01 -6.40316893e-03 9.88732983e-01 9.00303162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.78, Z:9.00 [[-1.96021266e-02 -9.99807525e-01 -8.18232914e-04 1.08320087e+02] [ 9.88395392e-01 -1.92550682e-02 -1.50677776e-01 1.11783963e+02] [ 1.50633019e-01 -3.76234247e-03 9.88582591e-01 9.00468547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.81, Z:9.01 [[-2.12038633e-02 -9.99774657e-01 1.01540086e-03 1.08315643e+02] [ 9.88036580e-01 -2.11100704e-02 -1.52768063e-01 1.11806911e+02] [ 1.52755073e-01 -2.23601992e-03 9.88261548e-01 9.00675146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.83, Z:9.02 [[-1.71037448e-02 -9.99853478e-01 -6.95670074e-04 1.08322551e+02] [ 9.86754229e-01 -1.67674005e-02 -1.61353482e-01 1.11830986e+02] [ 1.61318176e-01 -3.44620417e-03 9.86896433e-01 9.01994093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.86, Z:9.01 [[-2.43208464e-02 -9.99704010e-01 -6.23537843e-04 1.08314424e+02] [ 9.87621817e-01 -2.39302222e-02 -1.55017713e-01 1.11859672e+02] [ 1.54956908e-01 -4.38598156e-03 9.87911494e-01 9.01370409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.88, Z:9.02 [[-2.53707102e-02 -9.99677950e-01 -5.68706638e-04 1.08313168e+02] [ 9.87510912e-01 -2.49734285e-02 -1.55558757e-01 1.11884392e+02] [ 1.55494456e-01 -4.50824014e-03 9.87826478e-01 9.01729771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.91, Z:9.02 [[-2.36511036e-02 -9.99712928e-01 -3.83245986e-03 1.08317063e+02] [ 9.86908281e-01 -2.27360607e-02 -1.59671905e-01 1.11912362e+02] [ 1.59538932e-01 -7.55870313e-03 9.87162699e-01 9.02438516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:111.94, Z:9.02 [[-2.86552834e-02 -9.99588514e-01 1.29527025e-03 1.08308745e+02] [ 9.87115227e-01 -2.85017377e-02 -1.57452152e-01 1.11936574e+02] [ 1.57424280e-01 -3.23325504e-03 9.87525768e-01 9.02368432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:111.97, Z:9.02 [[-2.86042639e-02 -9.99457882e-01 1.63014628e-02 1.08297954e+02] [ 9.87307815e-01 -3.07977367e-02 -1.55803651e-01 1.11966618e+02] [ 1.56221235e-01 1.16379128e-02 9.87653525e-01 9.01840830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:111.99, Z:9.04 [[-3.06541242e-02 -9.99381020e-01 -1.72598148e-02 1.08316656e+02] [ 9.86809758e-01 -2.75133774e-02 -1.59529042e-01 1.11989299e+02] [ 1.58955421e-01 -2.19223767e-02 9.87042341e-01 9.03579450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:112.02, Z:9.04 [[-3.11768939e-02 -9.99513855e-01 -2.35154534e-04 1.08304705e+02] [ 9.86715897e-01 -3.07401691e-02 -1.59520470e-01 1.12015735e+02] [ 1.59435691e-01 -5.20538349e-03 9.87194593e-01 9.03539915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:112.04, Z:9.04 [[-3.14560571e-02 -9.99332107e-01 1.85971987e-02 1.08291507e+02] [ 9.85700125e-01 -3.40979787e-02 -1.65023002e-01 1.12042222e+02] [ 1.65546911e-01 1.31402882e-02 9.86114371e-01 9.03610107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:112.07, Z:9.04 [[-3.38118806e-02 -9.99366506e-01 -1.11060030e-02 1.08306585e+02] [ 9.86131995e-01 -3.15534008e-02 -1.62935789e-01 1.12070592e+02] [ 1.62482138e-01 -1.64611503e-02 9.86574166e-01 9.04411568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:112.10, Z:9.04 [[-3.57737913e-02 -9.99300335e-01 1.09122204e-02 1.08290572e+02] [ 9.86111709e-01 -3.70695097e-02 -1.61893637e-01 1.12096294e+02] [ 1.62184876e-01 4.96911916e-03 9.86747878e-01 9.03835630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:112.10, Z:9.06 [[-2.67314464e-02 -9.99432837e-01 -2.04800757e-02 1.08312644e+02] [ 9.82459757e-01 -2.24841686e-02 -1.85114255e-01 1.12095213e+02] [ 1.84548788e-01 -2.50692220e-02 9.82503577e-01 9.05699124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.13, Z:9.03 [[-3.40368986e-02 -9.98628684e-01 3.97773980e-02 1.08266336e+02] [ 9.83540392e-01 -4.05363625e-02 -1.76082650e-01 1.12125073e+02] [ 1.77453616e-01 3.31293703e-02 9.83571380e-01 9.03146015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:112.15, Z:9.04 [[-3.42068370e-02 -9.99407936e-01 3.69740218e-03 1.08287064e+02] [ 9.83721127e-01 -3.43225076e-02 -1.76393622e-01 1.12151745e+02] [ 1.76416089e-01 -2.39665523e-03 9.84312765e-01 9.04326376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:112.18, Z:9.06 [[-3.21239005e-02 -9.99079853e-01 -2.84165967e-02 1.08304959e+02] [ 9.82647766e-01 -2.63735488e-02 -1.83596854e-01 1.12175189e+02] [ 1.82678472e-01 -3.38213523e-02 9.82590806e-01 9.06496086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:112.20, Z:9.06 [[-3.21896606e-02 -9.99481640e-01 -5.27082670e-04 1.08288000e+02] [ 9.82467614e-01 -3.15448017e-02 -1.83745238e-01 1.12202939e+02] [ 1.83633365e-01 -6.43253851e-03 9.82973758e-01 9.06278239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:112.23, Z:9.04 [[-3.42336428e-02 -9.98470298e-01 4.34179780e-02 1.08254751e+02] [ 9.83595579e-01 -4.13587604e-02 -1.75582432e-01 1.12232918e+02] [ 1.77109557e-01 3.66949049e-02 9.83506832e-01 9.04299972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:112.25, Z:9.08 [[-3.13441663e-02 -9.98621872e-01 -4.20939442e-02 1.08308418e+02] [ 9.82430769e-01 -2.30293677e-02 -1.85201060e-01 1.12254710e+02] [ 1.83976432e-01 -4.71593588e-02 9.81798690e-01 9.08168858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.28, Z:9.07 [[-2.90835083e-02 -9.99576924e-01 -3.49191106e-04 1.08279555e+02] [ 9.81972619e-01 -2.85060187e-02 -1.86861398e-01 1.12282023e+02] [ 1.86772387e-01 -5.77748113e-03 9.82386225e-01 9.07487526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.31, Z:9.08 [[-2.83962502e-02 -9.99596707e-01 -2.76237422e-04 1.08277705e+02] [ 9.81831144e-01 -2.78396997e-02 -1.87703374e-01 1.12307615e+02] [ 1.87619984e-01 -5.60129047e-03 9.82225721e-01 9.07914690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.33, Z:9.08 [[-2.65372362e-02 -9.99647805e-01 -2.02784810e-04 1.08275008e+02] [ 9.81735112e-01 -2.60234841e-02 -1.88464716e-01 1.12331928e+02] [ 1.88393062e-01 -5.20041365e-03 9.82079941e-01 9.08315357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.36, Z:9.09 [[-2.46276825e-02 -9.99592097e-01 1.44608837e-02 1.08265382e+02] [ 9.80792364e-01 -2.69592316e-02 -1.93182654e-01 1.12356516e+02] [ 1.93493709e-01 9.42548322e-03 9.81056239e-01 9.08646580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.38, Z:9.10 [[-2.53708045e-02 -9.99587155e-01 -1.34849120e-02 1.08280552e+02] [ 9.81833973e-01 -2.23783594e-02 -1.88417776e-01 1.12381568e+02] [ 1.88038219e-01 -1.80202553e-02 9.81996384e-01 9.09570558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.39, Z:9.09 [[-2.42563920e-02 -9.99705770e-01 3.69679237e-05 1.08271774e+02] [ 9.81819200e-01 -2.38293644e-02 -1.88316809e-01 1.12387140e+02] [ 1.88262282e-01 -4.53159053e-03 9.82108333e-01 9.09426825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.74, Z:9.16 [[-2.51913370e-02 -9.99675986e-01 -3.64952393e-03 1.08271748e+02] [ 9.81660868e-01 -2.40469693e-02 -1.89112884e-01 1.12742654e+02] [ 1.88963849e-01 -8.34660124e-03 9.81948572e-01 9.15975064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.73, Z:9.16 [[-2.34866071e-02 -9.99709159e-01 5.47513809e-03 1.08265700e+02] [ 9.82870636e-01 -2.40916952e-02 -1.82715361e-01 1.12734543e+02] [ 1.82794126e-01 1.08998854e-03 9.83150609e-01 9.15695413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.612755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:108.27, Y:112.85, Z:9.18 [[-2.04753895e-02 -9.99788573e-01 -1.88902654e-03 1.08269761e+02] [ 9.82643131e-01 -1.97757531e-02 -1.84448900e-01 1.12847796e+02] [ 1.84372545e-01 -5.63290201e-03 9.82840290e-01 9.18029862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.38, Z:9.09 [[-2.60066262e-02 -9.99661620e-01 5.48781748e-04 1.08269930e+02] [ 9.83468960e-01 -2.56837674e-02 -1.79246057e-01 1.12376881e+02] [ 1.79199499e-01 -4.12187539e-03 9.83804122e-01 9.09116544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.37, Z:9.09 [[-2.58086895e-02 -9.99666899e-01 -4.97205024e-05 1.08270520e+02] [ 9.83432327e-01 -2.53806295e-02 -1.79490058e-01 1.12373156e+02] [ 1.79429008e-01 -4.68129992e-03 9.83759786e-01 9.09072255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.37, Z:9.09 [[-3.01492090e-02 -9.99532010e-01 5.17556136e-03 1.08268783e+02] [ 9.84390264e-01 -3.05899355e-02 -1.73320697e-01 1.12372145e+02] [ 1.73397904e-01 -1.30709693e-04 9.84851842e-01 9.08745607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.732755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.26, Y:112.37, Z:9.08 [[-3.00379976e-02 -9.99447698e-01 1.42133032e-02 1.08262977e+02] [ 9.85413242e-01 -3.19931815e-02 -1.67144188e-01 1.12367377e+02] [ 1.67506603e-01 8.98530048e-03 9.85830007e-01 9.08490180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.36, Z:9.09 [[-2.99673490e-02 -9.99548402e-01 -2.22468124e-03 1.08273678e+02] [ 9.85061749e-01 -2.91552930e-02 -1.69715407e-01 1.12361113e+02] [ 1.69573903e-01 -7.27736923e-03 9.85490604e-01 9.08807516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.72, Z:9.16 [[-2.74750427e-02 -9.99601739e-01 -6.44092701e-03 1.08278199e+02] [ 9.82547333e-01 -2.58193160e-02 -1.84212111e-01 1.12721138e+02] [ 1.83972446e-01 -1.13897512e-02 9.82865409e-01 9.16321717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.35, Z:9.08 [[-3.52133654e-02 -9.99238577e-01 1.68013219e-02 1.08265357e+02] [ 9.86302893e-01 -3.74584392e-02 -1.60634584e-01 1.12351317e+02] [ 1.61141624e-01 1.09147081e-02 9.86870937e-01 9.08330584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.38, Z:9.09 [[-3.53172302e-02 -9.99359503e-01 -5.76862418e-03 1.08280741e+02] [ 9.86018086e-01 -3.39039756e-02 -1.63152857e-01 1.12376398e+02] [ 1.62852779e-01 -1.14500748e-02 9.86583939e-01 9.09351331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.36, Z:9.09 [[-3.92886704e-02 -9.99221524e-01 3.57014947e-03 1.08277392e+02] [ 9.86209858e-01 -3.93514211e-02 -1.60753169e-01 1.12362214e+02] [ 1.60768517e-01 -2.79486167e-03 9.86988183e-01 9.08816656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.37, Z:9.09 [[-3.83794433e-02 -9.99191219e-01 1.19969543e-02 1.08274208e+02] [ 9.86549476e-01 -3.97974558e-02 -1.58544294e-01 1.12365745e+02] [ 1.58893514e-01 5.75074729e-03 9.87278978e-01 9.08897668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:112.35, Z:9.09 [[-3.85688623e-02 -9.99255489e-01 -9.54168849e-04 1.08285509e+02] [ 9.86441632e-01 -3.79218116e-02 -1.59671044e-01 1.12350774e+02] [ 1.59515983e-01 -7.09956237e-03 9.87169817e-01 9.09055320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.35, Z:9.09 [[-4.15183500e-02 -9.99114920e-01 6.75294638e-03 1.08280999e+02] [ 9.86828125e-01 -4.20635687e-02 -1.56207898e-01 1.12345977e+02] [ 1.56353694e-01 1.78503244e-04 9.87701114e-01 9.08511142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:112.34, Z:9.09 [[-3.67044393e-02 -9.99315766e-01 -4.55899093e-03 1.08290772e+02] [ 9.85822354e-01 -3.54606341e-02 -1.64002528e-01 1.12341363e+02] [ 1.63728647e-01 -1.05139760e-02 9.86449384e-01 9.09096209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:112.37, Z:9.11 [[-3.05036443e-02 -9.99478450e-01 -1.05998168e-02 1.08299267e+02] [ 9.83500417e-01 -2.81207529e-02 -1.78706894e-01 1.12365612e+02] [ 1.78315614e-01 -1.58761357e-02 9.83845257e-01 9.10561209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.35, Z:9.09 [[-3.56563409e-02 -9.99220448e-01 1.69446853e-02 1.08280439e+02] [ 9.86119888e-01 -3.79300072e-02 -1.61644302e-01 1.12354204e+02] [ 1.62161004e-01 1.09458468e-02 9.86703602e-01 9.08762622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.29, Y:112.34, Z:9.09 [[-3.49698917e-02 -9.99382179e-01 3.51673075e-03 1.08290448e+02] [ 9.86095177e-01 -3.50765615e-02 -1.62437486e-01 1.12338103e+02] [ 1.62460484e-01 -2.21259007e-03 9.86712570e-01 9.08904992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:112.34, Z:9.09 [[-3.55108324e-02 -9.99369227e-01 -3.59363082e-04 1.08293588e+02] [ 9.86044605e-01 -3.49788366e-02 -1.62765223e-01 1.12336082e+02] [ 1.62649985e-01 -6.13427660e-03 9.86664762e-01 9.08922229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:112.33, Z:9.09 [[-3.37125945e-02 -9.99402206e-01 7.66109680e-03 1.08291147e+02] [ 9.86160659e-01 -3.45089971e-02 -1.62161292e-01 1.12334416e+02] [ 1.62328729e-01 2.08819440e-03 9.86734525e-01 9.08756604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.30, Y:112.36, Z:9.10 [[-3.12062872e-02 -9.99511674e-01 -1.60687972e-03 1.08299153e+02] [ 9.85513300e-01 -3.05010251e-02 -1.66832919e-01 1.12359467e+02] [ 1.66702439e-01 -6.78983733e-03 9.85983872e-01 9.09720827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:112.33, Z:9.09 [[-3.00474385e-02 -9.99548209e-01 7.27632731e-04 1.08301643e+02] [ 9.85138143e-01 -2.97374066e-02 -1.69170108e-01 1.12331180e+02] [ 1.69115317e-01 -4.36630967e-03 9.85586599e-01 9.09360520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:112.35, Z:9.12 [[-1.79430424e-02 -9.99562083e-01 -2.35306156e-02 1.08321624e+02] [ 9.80684319e-01 -1.30098271e-02 -1.95164060e-01 1.12346823e+02] [ 1.94772465e-01 -2.65779427e-02 9.80488297e-01 9.11545827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.30, Y:112.33, Z:9.10 [[-2.57641117e-02 -9.99542064e-01 1.58704927e-02 1.08297685e+02] [ 9.83277630e-01 -2.82015451e-02 -1.79916025e-01 1.12333100e+02] [ 1.80281208e-01 1.09697239e-02 9.83553939e-01 9.09755089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:112.33, Z:9.10 [[-2.69422697e-02 -9.99634386e-01 2.28222972e-03 1.08307037e+02] [ 9.83404328e-01 -2.69144626e-02 -1.79420008e-01 1.12331044e+02] [ 1.79415835e-01 -2.58962767e-03 9.83769918e-01 9.10062316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:112.33, Z:9.10 [[-2.85758526e-02 -9.99588802e-01 2.37650470e-03 1.08308238e+02] [ 9.83459164e-01 -2.85399989e-02 -1.78867385e-01 1.12325689e+02] [ 1.78861661e-01 -2.77409270e-03 9.83870322e-01 9.10003622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:112.32, Z:9.10 [[-3.21236406e-02 -9.99480865e-01 2.46421077e-03 1.08311371e+02] [ 9.83524613e-01 -3.20494383e-02 -1.77910564e-01 1.12322689e+02] [ 1.77897181e-01 -3.29152306e-03 9.84043576e-01 9.10069913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:112.32, Z:9.10 [[-3.41023811e-02 -9.99415057e-01 2.56353145e-03 1.08313533e+02] [ 9.83476451e-01 -3.40146118e-02 -1.77811914e-01 1.12319423e+02] [ 1.77795102e-01 -3.54263686e-03 9.84061152e-01 9.10079227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:112.32, Z:9.11 [[-2.92513501e-02 -9.99523974e-01 -9.80736524e-03 1.08325331e+02] [ 9.81706495e-01 -2.68804116e-02 -1.88493503e-01 1.12322262e+02] [ 1.88140149e-01 -1.51416436e-02 9.82025466e-01 9.10996767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:112.32, Z:9.10 [[-3.47028898e-02 -9.99339105e-01 1.08195891e-02 1.08315149e+02] [ 9.82898091e-01 -3.60870533e-02 -1.80579808e-01 1.12315240e+02] [ 1.80850911e-01 4.36791231e-03 9.83500823e-01 9.10005433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.482755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:108.31, Y:112.80, Z:9.18 [[-4.29916569e-02 -9.99041304e-01 8.25776239e-03 1.08306859e+02] [ 9.84065857e-01 -4.37716648e-02 -1.72332326e-01 1.12803517e+02] [ 1.72528568e-01 7.17329784e-04 9.85004253e-01 9.18229464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.84, Y:112.08, Z:10.27 [[-6.87071742e-02 9.96472790e-01 -4.81798939e-02 1.07840608e+02] [ 9.83340468e-01 7.57901157e-02 1.65219194e-01 1.12082988e+02] [ 1.68287991e-01 -3.60254955e-02 -9.85079345e-01 1.02661614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:112.06, Z:10.25 [[-1.44142151e-01 9.89423759e-01 -1.62377798e-02 1.07847728e+02] [ 9.74823543e-01 1.44797955e-01 1.69565954e-01 1.12061008e+02] [ 1.70123781e-01 8.61263127e-03 -9.85385063e-01 1.02533218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:112.04, Z:10.25 [[-2.20222659e-01 9.75000382e-01 -2.96012727e-02 1.07885311e+02] [ 9.60586234e-01 2.22044497e-01 1.67243323e-01 1.12037892e+02] [ 1.69635103e-01 8.39619412e-03 -9.85471174e-01 1.02517257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:112.03, Z:10.25 [[-2.94425615e-01 9.55025067e-01 -3.52232635e-02 1.07917100e+02] [ 9.39836586e-01 2.96031760e-01 1.70506269e-01 1.12026616e+02] [ 1.73264966e-01 1.70973015e-02 -9.84726832e-01 1.02528058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.93, Y:112.00, Z:10.24 [[-3.67878038e-01 9.29870284e-01 -2.64657855e-03 1.07930969e+02] [ 9.15024330e-01 3.62508325e-01 1.76969462e-01 1.12003972e+02] [ 1.65518050e-01 6.26814946e-02 -9.84212785e-01 1.02368642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.00, Y:112.01, Z:10.25 [[-4.40116956e-01 8.95558476e-01 -6.53611592e-02 1.07998982e+02] [ 8.83094809e-01 4.44873669e-01 1.49100560e-01 1.12009718e+02] [ 1.62605729e-01 7.90158426e-03 -9.86659486e-01 1.02538525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:112.25, Z:10.30 [[-5.08297369e-01 8.58106787e-01 -7.27085083e-02 1.07882850e+02] [ 8.45241944e-01 5.13276820e-01 1.48704279e-01 1.12254645e+02] [ 1.64923743e-01 1.41297131e-02 -9.86205106e-01 1.03036115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:112.00, Z:10.24 [[-5.76993138e-01 8.14980657e-01 -5.37163564e-02 1.08073625e+02] [ 8.01384028e-01 5.77609834e-01 1.55404373e-01 1.12002912e+02] [ 1.57678654e-01 4.66198267e-02 -9.86389393e-01 1.02442319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:112.02, Z:10.26 [[-6.40593655e-01 7.62037845e-01 -9.45414774e-02 1.08131075e+02] [ 7.51897666e-01 6.47477086e-01 1.24190670e-01 1.12020224e+02] [ 1.55851431e-01 8.47023887e-03 -9.87744191e-01 1.02555206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:112.02, Z:10.26 [[-6.93844816e-01 7.14489109e-01 -8.99148750e-02 1.08149806e+02] [ 6.98828440e-01 6.98197157e-01 1.55433399e-01 1.12023055e+02] [ 1.73833781e-01 4.50115863e-02 -9.83745787e-01 1.02593085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:111.96, Z:10.19 [[-7.54561763e-01 6.54951635e-01 4.09255683e-02 1.08115484e+02] [ 6.40498059e-01 7.21466659e-01 2.63150332e-01 1.11959272e+02] [ 1.42824307e-01 2.24775925e-01 -9.63886404e-01 1.01890621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.23, Y:112.04, Z:10.26 [[-7.98567988e-01 5.94346447e-01 -9.50866460e-02 1.08231429e+02] [ 5.81574516e-01 8.02617569e-01 1.32574961e-01 1.12036416e+02] [ 1.55113670e-01 5.05701499e-02 -9.86601444e-01 1.02611676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:111.97, Z:10.19 [[-8.48193779e-01 5.28741132e-01 3.16248050e-02 1.08170519e+02] [ 5.14581677e-01 8.08380719e-01 2.85878140e-01 1.11973638e+02] [ 1.25590649e-01 2.58753605e-01 -9.57743995e-01 1.01874462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.08, Z:10.26 [[-8.89314333e-01 4.50460251e-01 -7.87755005e-02 1.08283965e+02] [ 4.42875899e-01 8.91314139e-01 9.70569074e-02 1.12078597e+02] [ 1.13933996e-01 5.14263282e-02 -9.92156428e-01 1.02595134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:112.12, Z:10.27 [[-9.22131290e-01 3.73319078e-01 -1.01522162e-01 1.08328430e+02] [ 3.70140983e-01 9.27670023e-01 4.92339319e-02 1.12120485e+02] [ 1.12559032e-01 7.82263630e-03 -9.93614246e-01 1.02717733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:112.24, Z:10.31 [[-9.47259108e-01 3.02387002e-01 -1.06123905e-01 1.08034724e+02] [ 2.98292408e-01 9.53006149e-01 5.29237181e-02 1.12243300e+02] [ 1.17140179e-01 1.84765188e-02 -9.92943501e-01 1.03130100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.09, Y:112.23, Z:10.30 [[-9.70389027e-01 2.23435310e-01 -9.17703606e-02 1.08093431e+02] [ 2.16633344e-01 9.73091491e-01 7.85044213e-02 1.12228862e+02] [ 1.06841617e-01 5.62993089e-02 -9.92680843e-01 1.02960923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:112.73, Z:9.11 [[-9.74716148e-01 -1.89425313e-01 1.18517852e-01 1.08361211e+02] [ 1.87739311e-01 -9.81892090e-01 -2.53352390e-02 1.12728409e+02] [ 1.21170877e-01 -2.44420668e-03 9.92628654e-01 9.11364523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:112.73, Z:9.11 [[-9.75825135e-01 -1.85175741e-01 1.16082951e-01 1.08360695e+02] [ 1.83573717e-01 -9.82702147e-01 -2.44372728e-02 1.12726157e+02] [ 1.18600156e-01 -2.53672614e-03 9.92938854e-01 9.11394206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:112.72, Z:9.11 [[-9.76574622e-01 -1.82295780e-01 1.14325224e-01 1.08378028e+02] [ 1.80730274e-01 -9.83239819e-01 -2.40005722e-02 1.12721473e+02] [ 1.16784316e-01 -2.77632063e-03 9.93153420e-01 9.11198956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.13, Y:112.25, Z:10.31 [[-9.78893243e-01 1.64836872e-01 -1.20817317e-01 1.08130357e+02] [ 1.58344644e-01 9.85462711e-01 6.15647621e-02 1.12251551e+02] [ 1.29209104e-01 4.11345547e-02 -9.90763825e-01 1.03082044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:112.18, Z:10.26 [[-9.89501180e-01 1.01277537e-01 -1.03103222e-01 1.08138611e+02] [ 7.84980834e-02 9.75613836e-01 2.04977299e-01 1.12184260e+02] [ 1.21348526e-01 1.94731874e-01 -9.73321135e-01 1.02623966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.172755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.31, Y:111.91, Z:9.69 [[-9.97367589e-01 7.10048347e-02 1.47039150e-02 1.08312782e+02] [ 3.69830595e-02 3.23697256e-01 9.45437645e-01 1.11909591e+02] [ 6.23710268e-02 9.43492660e-01 -3.25471127e-01 9.69015280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.202755096 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:107.98, Y:112.80, Z:9.16 [[-9.99594424e-01 1.03506646e-02 2.65301868e-02 1.07978632e+02] [-1.01387257e-02 -9.99915708e-01 8.11070168e-03 1.12795158e+02] [ 2.66119016e-02 7.83842989e-03 9.99615109e-01 9.15628096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.232755096 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:108.31, Y:112.79, Z:9.15 [[-9.99470072e-01 7.42650335e-03 3.16926069e-02 1.08309365e+02] [-7.75307821e-03 -9.99917982e-01 -1.01940301e-02 1.12794461e+02] [ 3.16143016e-02 -1.04343433e-02 9.99445677e-01 9.15066865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.262755096 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:108.05, Y:112.77, Z:9.14 [[-9.99697470e-01 2.33064389e-02 7.85998356e-03 1.08047667e+02] [-2.31043766e-02 -9.99423250e-01 2.48868297e-02 1.12774446e+02] [ 8.43547370e-03 2.46977006e-02 9.99659375e-01 9.13797742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.292755096 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:108.04, Y:112.79, Z:9.14 [[-9.99739773e-01 2.13498839e-02 8.03545938e-03 1.08043742e+02] [-2.13649793e-02 -9.99770127e-01 -1.79745405e-03 1.12789440e+02] [ 7.99523681e-03 -1.96866373e-03 9.99966100e-01 9.14366385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.322755096 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:108.04, Y:112.78, Z:9.14 [[-9.99823225e-01 1.67014344e-02 8.63606151e-03 1.08039631e+02] [-1.66882303e-02 -9.99859464e-01 1.59876918e-03 1.12784693e+02] [ 8.66154957e-03 1.45436597e-03 9.99961430e-01 9.14242461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.352755096 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:108.25, Y:112.80, Z:9.16 [[-9.99346402e-01 -1.49638876e-02 3.29066906e-02 1.08252701e+02] [ 1.37533707e-02 -9.99231316e-01 -3.67099690e-02 1.12796866e+02] [ 3.34307196e-02 -3.62333975e-02 9.98784025e-01 9.15745336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.382755096 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:108.27, Y:112.33, Z:10.32 [[-9.99272098e-01 1.05355549e-02 -3.66643775e-02 1.08267314e+02] [ 1.04747973e-02 9.99943429e-01 1.84883190e-03 1.12327332e+02] [ 3.66817818e-02 1.46343421e-03 -9.99325925e-01 1.03232933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.412755096 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:108.24, Y:112.79, Z:9.15 [[-9.97511798e-01 6.10744529e-02 3.52154021e-02 1.08237541e+02] [-6.10793394e-02 -9.98132473e-01 9.38028928e-04 1.12793847e+02] [ 3.52069260e-02 -1.21523857e-03 9.99379305e-01 9.14852655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.442755096 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:108.23, Y:112.79, Z:9.15 [[-9.97570708e-01 6.00386137e-02 3.53277208e-02 1.08233604e+02] [-6.00427174e-02 -9.98195361e-01 9.45704662e-04 1.12792165e+02] [ 3.53207458e-02 -1.17776509e-03 9.99375334e-01 9.14833589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47275509600001 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:108.31, Y:112.36, Z:10.32 [[-9.96528376e-01 -7.52200400e-02 -3.56811183e-02 1.08308668e+02] [-7.52338167e-02 9.97165460e-01 -9.58283977e-04 1.12364501e+02] [ 3.56520609e-02 1.72946954e-03 -9.99362767e-01 1.03223741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50275509600002 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:108.32, Y:112.39, Z:10.32 [[-9.87488447e-01 -1.53761030e-01 -3.49873353e-02 1.08324568e+02] [-1.53727256e-01 9.88106505e-01 -3.66945948e-03 1.12394083e+02] [ 3.51354335e-02 1.75495820e-03 -9.99381019e-01 1.03228389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53275509600002 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:108.08, Y:112.36, Z:10.33 [[-9.72328734e-01 -2.31090488e-01 -3.42639761e-02 1.08076509e+02] [-2.31010792e-01 9.72930654e-01 -6.32116134e-03 1.12362352e+02] [ 3.47972329e-02 1.76910145e-03 -9.99392827e-01 1.03315173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56275509600002 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:108.17, Y:112.85, Z:9.15 [[-9.57495587e-01 2.86320368e-01 3.49692292e-02 1.08167077e+02] [-2.86167476e-01 -9.58133420e-01 9.40877564e-03 1.12845468e+02] [ 3.61991113e-02 -9.98194918e-04 9.99344099e-01 9.15022249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59275509600002 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:108.32, Y:112.46, Z:10.32 [[-9.51638084e-01 -3.05327755e-01 -3.40575840e-02 1.08316381e+02] [-3.05197844e-01 9.52245703e-01 -9.07729333e-03 1.12458315e+02] [ 3.52027376e-02 1.75600320e-03 -9.99378649e-01 1.03221839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62275509600002 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:108.34, Y:112.50, Z:10.32 [[-9.24806431e-01 -3.78966035e-01 -3.34336482e-02 1.08336320e+02] [-3.78786095e-01 9.25408936e-01 -1.18066215e-02 1.12495338e+02] [ 3.54141053e-02 1.74536152e-03 -9.99371200e-01 1.03213317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65275509600002 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:108.11, Y:112.87, Z:9.15 [[-9.01462526e-01 4.31683307e-01 3.18564890e-02 1.08108756e+02] [-4.31452606e-01 -9.02024688e-01 1.41460778e-02 1.12866913e+02] [ 3.48419652e-02 -9.92406162e-04 9.99392342e-01 9.15165474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68275509600002 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:108.05, Y:112.38, Z:10.33 [[-8.92673492e-01 -4.49189230e-01 -3.69198115e-02 1.08053187e+02] [-4.49122676e-01 8.93407881e-01 -1.05442372e-02 1.12381574e+02] [ 3.77208084e-02 7.16896348e-03 -9.99262601e-01 1.03299955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71275509600002 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:108.40, Y:112.12, Z:9.69 [[-8.74372678e-01 -1.12863359e-01 -4.71947330e-01 1.08396705e+02] [-4.85250162e-01 1.99019145e-01 8.51424489e-01 1.12119626e+02] [-2.16807376e-03 9.73474829e-01 -2.28783866e-01 9.69446459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74275509600002 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:107.71, Y:112.68, Z:9.17 [[-8.55396661e-01 5.16796760e-01 -3.48949979e-02 1.07710680e+02] [-5.16634779e-01 -8.56087968e-01 -1.42090043e-02 1.12675661e+02] [-3.72163552e-02 5.87363469e-03 9.99289970e-01 9.17042152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77275509600003 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:107.75, Y:112.70, Z:9.17 [[-8.58447959e-01 5.11993252e-01 -3.04960927e-02 1.07753546e+02] [-5.11633743e-01 -8.58989017e-01 -1.92036933e-02 1.12701965e+02] [-3.60279701e-02 -8.82541239e-04 9.99350392e-01 9.17351089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80275509600003 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:107.56, Y:113.00, Z:10.01 [[-8.74077228e-01 -5.70366191e-02 4.82427014e-01 1.07564842e+02] [-4.85763634e-01 9.28830637e-02 -8.69141202e-01 1.13001508e+02] [ 4.76357661e-03 -9.94042032e-01 -1.08893286e-01 1.00068898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.832755096 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:107.54, Y:112.99, Z:9.99 [[-8.68328636e-01 -1.15083429e-01 4.82453297e-01 1.07544948e+02] [-4.90872992e-01 6.00450676e-02 -8.69159534e-01 1.12992687e+02] [ 7.10569187e-02 -9.91539406e-01 -1.08630199e-01 9.99212074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.862755096 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:107.65, Y:112.64, Z:9.15 [[-8.45413814e-01 5.26970574e-01 8.70488229e-02 1.07651935e+02] [-5.24599018e-01 -8.49876919e-01 5.00508978e-02 1.12641677e+02] [ 1.00356136e-01 -3.35200663e-03 9.94945933e-01 9.14611719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.892755096 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:107.64, Y:112.63, Z:9.15 [[-8.45398660e-01 5.26875084e-01 8.77710208e-02 1.07636360e+02] [-5.24472649e-01 -8.49935744e-01 5.03753077e-02 1.12631917e+02] [ 1.01141222e-01 -3.44628213e-03 9.94866110e-01 9.14707404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.922755096 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:107.58, Y:112.59, Z:9.14 [[-8.45583981e-01 5.30122832e-01 6.29087702e-02 1.07577927e+02] [-5.27620972e-01 -8.47844840e-01 5.26805153e-02 1.12585851e+02] [ 8.12640202e-02 1.13538135e-02 9.96627940e-01 9.13960855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.952755096 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:107.58, Y:112.60, Z:9.16 [[-8.44920562e-01 5.27236979e-01 9.01687969e-02 1.07576479e+02] [-5.25795178e-01 -8.49622383e-01 4.10028887e-02 1.12599875e+02] [ 9.82276672e-02 -1.27661349e-02 9.95082083e-01 9.15587585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.982755096 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:107.48, Y:112.54, Z:9.17 [[-8.46472310e-01 5.24858601e-01 8.94878663e-02 1.07478734e+02] [-5.22553032e-01 -8.51175013e-01 4.93905418e-02 1.12535903e+02] [ 1.02092886e-01 -4.95442989e-03 9.94762533e-01 9.16506587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.012755096 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:107.64, Y:112.63, Z:9.15 [[-8.48839863e-01 5.20662461e-01 9.15504751e-02 1.07637588e+02] [-5.18279748e-01 -8.53747960e-01 5.00052349e-02 1.12625492e+02] [ 1.04196880e-01 -5.00232042e-03 9.94544110e-01 9.14589372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.042755096 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:107.96, Y:112.36, Z:10.32 [[-8.34223557e-01 -5.35032459e-01 -1.33459077e-01 1.07964801e+02] [-5.35726264e-01 8.43717929e-01 -3.37257588e-02 1.12364437e+02] [ 1.30646192e-01 4.33627104e-02 -9.90480312e-01 1.03175206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.072755096 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:107.97, Y:112.26, Z:10.26 [[-7.92053056e-01 -5.70691680e-01 -2.16709394e-01 1.07965725e+02] [-6.03304976e-01 7.85958784e-01 1.35247535e-01 1.12256172e+02] [ 9.31400089e-02 2.37865080e-01 -9.66822188e-01 1.02611110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.102755096 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:108.12, Y:112.02, Z:9.58 [[-7.62574610e-01 1.87929386e-02 -6.46627242e-01 1.08123180e+02] [-6.45484664e-01 4.39868552e-02 7.62505545e-01 1.12024404e+02] [ 4.27728188e-02 9.98855336e-01 -2.14127053e-02 9.57793982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.132755096 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:107.50, Y:112.54, Z:9.17 [[-7.69346850e-01 6.38793596e-01 6.94009272e-03 1.07500480e+02] [-6.38667625e-01 -7.69350253e-01 1.42777251e-02 1.12537421e+02] [ 1.44598815e-02 6.55211032e-03 9.99873983e-01 9.16610266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.162755096 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:107.33, Y:112.93, Z:9.94 [[-7.94350975e-01 -7.29274870e-02 6.03065594e-01 1.07329031e+02] [-6.03890974e-01 -1.26401100e-02 -7.96966699e-01 1.12925370e+02] [ 6.57435940e-02 -9.97257143e-01 -3.39995675e-02 9.94433469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.192755096 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:107.83, Y:112.34, Z:10.33 [[-7.37823120e-01 -6.68958658e-01 -9.00630800e-02 1.07831738e+02] [-6.66047251e-01 7.43185949e-01 -6.36844115e-02 1.12342856e+02] [ 1.09535854e-01 1.29984357e-02 -9.93897851e-01 1.03333581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22275509600001 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:107.87, Y:112.21, Z:10.28 [[-6.82083283e-01 -6.87930751e-01 -2.48019510e-01 1.07867913e+02] [-7.25588309e-01 6.78878722e-01 1.12451263e-01 1.12207133e+02] [ 9.10164865e-02 2.56661183e-01 -9.62206338e-01 1.02760410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25275509600002 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:108.02, Y:112.08, Z:9.45 [[-6.83443805e-01 1.73808353e-01 -7.09010030e-01 1.08018711e+02] [-7.29847101e-01 -1.42608485e-01 6.68570138e-01 1.12076398e+02] [ 1.50922282e-02 9.74399034e-01 2.24318408e-01 9.44539018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28275509600002 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:107.50, Y:112.57, Z:9.17 [[-6.75133580e-01 7.37693045e-01 -1.90269173e-03 1.07498019e+02] [-7.37690312e-01 -6.75136259e-01 -2.00878210e-03 1.12573672e+02] [-2.76644076e-03 4.74010037e-05 9.99996172e-01 9.17282684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31275509600002 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:107.50, Y:112.58, Z:9.17 [[-6.75440015e-01 7.37411830e-01 -2.13977611e-03 1.07498030e+02] [-7.37408383e-01 -6.75443402e-01 -2.25557158e-03 1.12575385e+02] [-3.10858282e-03 5.43855383e-05 9.99995167e-01 9.17236973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34275509600002 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:107.39, Y:112.46, Z:9.17 [[-6.74227483e-01 7.38475917e-01 -8.40365402e-03 1.07388240e+02] [-7.38482365e-01 -6.74266504e-01 -2.91179388e-03 1.12458363e+02] [-7.81659207e-03 4.24273883e-03 9.99960449e-01 9.17164301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37275509600002 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:107.18, Y:112.79, Z:9.99 [[-6.87013997e-01 -9.95706622e-02 7.19789866e-01 1.07175050e+02] [-7.25085405e-01 2.90902053e-02 -6.88044268e-01 1.12787725e+02] [ 4.75701885e-02 -9.94605170e-01 -9.21826122e-02 9.98936214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40275509600002 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:107.15, Y:112.76, Z:9.98 [[-6.79479064e-01 -1.44938645e-01 7.19236394e-01 1.07151587e+02] [-7.24786292e-01 -1.96999126e-02 -6.88692054e-01 1.12764256e+02] [ 1.13986987e-01 -9.89244511e-01 -9.16638650e-02 9.97762379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43275509600002 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:107.35, Y:112.43, Z:9.15 [[-6.58248292e-01 7.47647908e-01 8.79306129e-02 1.07352437e+02] [-7.41582915e-01 -6.64090139e-01 9.50740116e-02 1.12430709e+02] [ 1.29475739e-01 -2.62553445e-03 9.91579114e-01 9.14729919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46275509600002 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:107.69, Y:112.24, Z:10.32 [[-6.29930488e-01 -7.70069908e-01 -1.00895579e-01 1.07691555e+02] [-7.63879031e-01 6.37783949e-01 -9.85923909e-02 1.12236667e+02] [ 1.40272614e-01 1.49656642e-02 -9.89999809e-01 1.03237810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49275509600002 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:107.66, Y:112.19, Z:10.33 [[-5.67492652e-01 -8.13928093e-01 -1.24391111e-01 1.07662513e+02] [-8.11884721e-01 5.78302834e-01 -8.00564373e-02 1.12187391e+02] [ 1.37095916e-01 5.55598026e-02 -9.88998391e-01 1.03262591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52275509600003 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:107.25, Y:112.33, Z:9.16 [[-5.47293787e-01 8.34734235e-01 6.07311010e-02 1.07248141e+02] [-8.27986994e-01 -5.50597173e-01 1.06208712e-01 1.12328938e+02] [ 1.22094420e-01 7.84280629e-03 9.92487503e-01 9.16036829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55275509600003 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:107.58, Y:112.17, Z:10.35 [[-5.16223669e-01 -8.54909615e-01 -5.14069344e-02 1.07584539e+02] [-8.45617305e-01 5.18291072e-01 -1.27693921e-01 1.12171410e+02] [ 1.35810516e-01 -2.24480310e-02 -9.90480484e-01 1.03532827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.582755096 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:107.15, Y:112.20, Z:9.18 [[-4.79897992e-01 8.75645326e-01 5.42510877e-02 1.07152268e+02] [-8.68843076e-01 -4.82926719e-01 1.09057296e-01 1.12201116e+02] [ 1.21694811e-01 5.20069553e-03 9.92553941e-01 9.17777719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.612755096 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:107.00, Y:112.62, Z:10.05 [[-4.89825998e-01 -2.72561734e-01 8.28118707e-01 1.07000582e+02] [-8.54901661e-01 -3.60571501e-02 -5.17535537e-01 1.12615744e+02] [ 1.70919984e-01 -9.61462419e-01 -2.15351750e-01 1.00540669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.642755096 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:107.20, Y:112.30, Z:9.15 [[-4.58512240e-01 8.83716433e-01 9.38711417e-02 1.07197411e+02] [-8.67807301e-01 -4.67997169e-01 1.67000412e-01 1.12304217e+02] [ 1.91512437e-01 -4.89032894e-03 9.81478003e-01 9.14509129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.672755096 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:107.12, Y:112.16, Z:9.18 [[-4.57746930e-01 8.84660009e-01 8.85687102e-02 1.07118118e+02] [-8.68850192e-01 -4.66236126e-01 1.66502912e-01 1.12160795e+02] [ 1.88592400e-01 -7.36744296e-04 9.82055174e-01 9.17691674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.702755096 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:106.90, Y:112.52, Z:10.01 [[ -0.47563652 -0.21594346 0.85272406 106.90396886] [ -0.84793298 -0.1453774 -0.50977943 112.51531024] [ 0.23405034 -0.96552257 -0.11395879 10.01473162] [ 0. 0. 0. 1. ]] SLAMing on 202.732755096 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:107.67, Y:112.24, Z:10.29 [[-4.30122526e-01 -8.83367405e-01 -1.86162943e-01 1.07672140e+02] [-8.64911409e-01 4.62319383e-01 -1.95420168e-01 1.12244957e+02] [ 2.58694543e-01 7.69598374e-02 -9.62888528e-01 1.02872891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.762755096 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:107.62, Y:112.29, Z:10.30 [[-3.59687494e-01 -9.26890815e-01 -1.07230239e-01 1.07619228e+02] [-8.97110033e-01 3.75131105e-01 -2.33388609e-01 1.12292098e+02] [ 2.56551156e-01 1.22503599e-02 -9.66453017e-01 1.03027687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.792755096 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:107.19, Y:112.40, Z:9.09 [[-3.03860351e-01 9.48774706e-01 8.65762396e-02 1.07185788e+02] [-9.18728152e-01 -3.15863779e-01 2.36999272e-01 1.12400090e+02] [ 2.52205213e-01 -7.52534665e-03 9.67644511e-01 9.09064113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.822755096 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:107.61, Y:112.31, Z:10.30 [[-2.87199785e-01 -9.53823309e-01 -8.79623684e-02 1.07605036e+02] [-9.22998734e-01 3.00127496e-01 -2.40825297e-01 1.12308816e+02] [ 2.56104707e-01 1.20241811e-02 -9.66574259e-01 1.03043285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.852755096 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:107.58, Y:112.25, Z:10.33 [[-2.13877079e-01 -9.71546561e-01 -1.01753988e-01 1.07579172e+02] [-9.36149722e-01 2.33606476e-01 -2.62776927e-01 1.12247621e+02] [ 2.79070410e-01 3.90550055e-02 -9.59476114e-01 1.03335124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.882755096 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:107.96, Y:112.29, Z:9.57 [[-1.75816777e-01 -8.44780714e-02 -9.80791474e-01 1.07958915e+02] [-9.60279941e-01 2.34015928e-01 1.51983489e-01 1.12286547e+02] [ 2.16681555e-01 9.68555626e-01 -1.22266524e-01 9.56917147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.912755096 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:107.07, Y:112.10, Z:9.18 [[-1.46745749e-01 9.88625045e-01 3.29576202e-02 1.07070998e+02] [-9.71941930e-01 -1.50301289e-01 1.80937576e-01 1.12104115e+02] [ 1.83832992e-01 -5.48107284e-03 9.82942210e-01 9.17693777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.942755096 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:107.07, Y:112.10, Z:9.18 [[-1.50069972e-01 9.88128107e-01 3.28914442e-02 1.07069594e+02] [-9.71369028e-01 -1.53558868e-01 1.81278473e-01 1.12101331e+02] [ 1.84177127e-01 -4.74527482e-03 9.82881615e-01 9.17789238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97275509600001 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:107.11, Y:112.33, Z:9.13 [[-1.53914903e-01 9.87526008e-01 3.32052230e-02 1.07110412e+02] [-9.70817642e-01 -1.57394861e-01 1.80941881e-01 1.12331114e+02] [ 1.83911145e-01 -4.38656414e-03 9.82933085e-01 9.13416758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00275509600002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:107.55, Y:112.26, Z:10.34 [[-1.22844185e-01 -9.91843395e-01 -3.39998049e-02 1.07545213e+02] [-9.74390842e-01 1.27042587e-01 -1.85533472e-01 1.12258909e+02] [ 1.88339572e-01 1.03373905e-02 -9.82049563e-01 1.03396810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03275509600002 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:107.09, Y:112.33, Z:9.13 [[-7.97620473e-02 9.96637312e-01 1.87638801e-02 1.07086982e+02] [-9.79732582e-01 -8.18511957e-02 1.82823549e-01 1.12326704e+02] [ 1.83744616e-01 -3.80120414e-03 9.82966666e-01 9.13234293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06275509600002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:107.52, Y:112.17, Z:10.36 [[-3.89017793e-02 -9.99207870e-01 -8.38358930e-03 1.07516971e+02] [-9.81781486e-01 3.97822494e-02 -1.85802278e-01 1.12169790e+02] [ 1.85988617e-01 1.00281354e-03 -9.82551387e-01 1.03620971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09275509600002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:107.05, Y:111.96, Z:9.20 [[-9.91611707e-03 9.99877957e-01 1.20723223e-02 1.07047761e+02] [-9.81918747e-01 -1.20190024e-02 1.88920928e-01 1.11957147e+02] [ 1.89042969e-01 -9.98067759e-03 9.81918093e-01 9.20198857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12275509600002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:107.85, Y:112.37, Z:10.00 [[ 1.08675724e-02 -7.07005981e-01 -7.07124062e-01 1.07851848e+02] [-9.87804302e-01 1.02253433e-01 -1.17417619e-01 1.12372103e+02] [ 1.55320822e-01 6.99776235e-01 -6.97272302e-01 1.00023777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15275509600002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:107.04, Y:112.21, Z:9.17 [[ 4.04586072e-02 9.99176349e-01 -3.11859303e-03 1.07043095e+02] [-9.89459138e-01 4.04990861e-02 1.39033945e-01 1.12207650e+02] [ 1.39045730e-01 -2.53939940e-03 9.90282705e-01 9.16977078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.52, Y:112.38, Z:10.34 [[ 8.21524990e-02 -9.96520279e-01 -1.40818968e-02 1.07519966e+02] [-9.86180429e-01 -7.92441011e-02 -1.45494102e-01 1.12375527e+02] [ 1.43871916e-01 2.58399952e-02 -9.89258898e-01 1.03397469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:112.37, Z:10.32 [[ 1.59984810e-01 -9.84165094e-01 -7.63146719e-02 1.07589123e+02] [-9.77139988e-01 -1.46928086e-01 -1.53654094e-01 1.12373322e+02] [ 1.40008227e-01 9.91524387e-02 -9.85173330e-01 1.03197042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24275509600002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:107.57, Y:112.37, Z:10.35 [[ 2.36434707e-01 -9.71327787e-01 2.49190698e-02 1.07567402e+02] [-9.61896847e-01 -2.37609232e-01 -1.35263846e-01 1.12365619e+02] [ 1.37306533e-01 8.01149317e-03 -9.90496205e-01 1.03470326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27275509600003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.15, Y:112.06, Z:9.18 [[ 2.72220488e-01 9.61659240e-01 -3.32793105e-02 1.07153864e+02] [-9.53439810e-01 2.74236395e-01 1.25486764e-01 1.12064053e+02] [ 1.29801905e-01 -2.43024872e-03 9.91536968e-01 9.18412883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30275509600003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.63, Y:112.35, Z:10.34 [[ 3.11634870e-01 -9.50150004e-01 -9.93363775e-03 1.07634558e+02] [-9.40597500e-01 -3.06985438e-01 -1.45038902e-01 1.12346325e+02] [ 1.34759231e-01 5.45427341e-02 -9.89376086e-01 1.03449744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.332755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:107.77, Y:112.37, Z:10.28 [[ 0.37955228 -0.90923323 -0.17098246 107.76650287] [ -0.91658095 -0.34442613 -0.20310098 112.37236174] [ 0.12577533 0.23380671 -0.96411358 10.2813136 ] [ 0. 0. 0. 1. ]] SLAMing on 203.362755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.26, Y:111.98, Z:9.19 [[ 4.16546184e-01 9.08359385e-01 -3.70473308e-02 1.07263223e+02] [-9.01945681e-01 4.18025741e-01 1.08390350e-01 1.11976418e+02] [ 1.13944130e-01 -1.17349066e-02 9.93417851e-01 9.18835904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.392755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.28, Y:111.95, Z:9.19 [[ 4.17091892e-01 9.07688042e-01 -4.62252392e-02 1.07278644e+02] [-9.01547059e-01 4.19639282e-01 1.05431368e-01 1.11953243e+02] [ 1.15096718e-01 -2.30034019e-03 9.93351627e-01 9.18818472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:111.93, Z:9.19 [[ 4.16907826e-01 9.07766056e-01 -4.63535517e-02 1.07289028e+02] [-9.01595999e-01 4.19470670e-01 1.05683542e-01 1.11928623e+02] [ 1.15379887e-01 -2.26811884e-03 9.93318850e-01 9.19203882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:112.26, Z:10.36 [[ 4.50271781e-01 -8.92807309e-01 -1.22650729e-02 1.07724835e+02] [-8.85191053e-01 -4.44546272e-01 -1.37169282e-01 1.12262241e+02] [ 1.17013345e-01 7.26203895e-02 -9.90471684e-01 1.03554753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:112.32, Z:10.24 [[ 5.16803318e-01 -8.18158894e-01 -2.52052285e-01 1.07874828e+02] [-8.50769807e-01 -4.58004001e-01 -2.57726736e-01 1.12318305e+02] [ 9.54204662e-02 3.47632506e-01 -9.32762872e-01 1.02437443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.512755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:107.75, Y:112.24, Z:10.36 [[ 5.79207153e-01 -8.14433470e-01 3.48883554e-02 1.07748201e+02] [-8.10811961e-01 -5.80000216e-01 -7.86365924e-02 1.12240459e+02] [ 8.42795264e-02 1.72589810e-02 -9.96292672e-01 1.03648302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:111.83, Z:9.20 [[ 6.16418594e-01 7.85328936e-01 -5.73286922e-02 1.07422974e+02] [-7.82546651e-01 6.19065327e-01 6.61729590e-02 1.11831757e+02] [ 8.74577451e-02 4.07213377e-03 9.96159907e-01 9.19620782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.572755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.44, Y:111.81, Z:9.20 [[ 6.16464806e-01 7.84823382e-01 -6.34302847e-02 1.07440773e+02] [-7.82153749e-01 6.19649294e-01 6.53472676e-02 1.11811682e+02] [ 9.05905947e-02 9.32794425e-03 9.95844533e-01 9.19898094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:111.79, Z:9.20 [[ 6.18790290e-01 7.83352443e-01 -5.88007419e-02 1.07456700e+02] [-7.80695693e-01 6.21550231e-01 6.47266983e-02 1.11786659e+02] [ 8.72514320e-02 5.85323357e-03 9.96169126e-01 9.19856111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:111.76, Z:9.21 [[ 6.19509322e-01 7.83351769e-01 -5.06774784e-02 1.07467522e+02] [-7.80056647e-01 6.21558179e-01 7.19517697e-02 1.11759067e+02] [ 8.78625472e-02 -5.04348815e-03 9.96119840e-01 9.20501896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:111.73, Z:9.21 [[ 6.19574651e-01 7.83351927e-01 -4.98699343e-02 1.07481274e+02] [-7.79820790e-01 6.21534776e-01 7.46596123e-02 1.11734478e+02] [ 8.94806495e-02 -7.36759164e-03 9.95961310e-01 9.21048114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:111.72, Z:9.21 [[ 6.21985028e-01 7.80454608e-01 -6.34446975e-02 1.07505877e+02] [-7.78020304e-01 6.25124300e-01 6.24821317e-02 1.11716312e+02] [ 8.84252897e-02 1.04983124e-02 9.96027486e-01 9.20570003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:111.69, Z:9.21 [[ 6.22695435e-01 7.80788019e-01 -5.11904753e-02 1.07513454e+02] [-7.77344132e-01 6.24767469e-01 7.34963352e-02 1.11686894e+02] [ 8.93672017e-02 -5.97321682e-03 9.95980835e-01 9.21404328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:111.66, Z:9.22 [[ 6.23887206e-01 7.79805534e-01 -5.16534905e-02 1.07529151e+02] [-7.76444075e-01 6.26000796e-01 7.25093291e-02 1.11664559e+02] [ 8.88783022e-02 -5.13159612e-03 9.96029274e-01 9.21639900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:111.64, Z:9.22 [[ 6.24363615e-01 7.79574053e-01 -4.93393602e-02 1.07542974e+02] [-7.75885529e-01 6.26239947e-01 7.63228297e-02 1.11638926e+02] [ 9.03975759e-02 -9.37150229e-03 9.95861664e-01 9.22255941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81275509600002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:107.56, Y:111.62, Z:9.22 [[ 6.25555739e-01 7.78133980e-01 -5.64581855e-02 1.07561265e+02] [-7.74602510e-01 6.28092868e-01 7.40965625e-02 1.11615946e+02] [ 9.31180367e-02 -2.61887768e-03 9.95651632e-01 9.22254611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:111.59, Z:9.23 [[ 6.24907501e-01 7.78575056e-01 -5.75456139e-02 1.07578702e+02] [-7.75204855e-01 6.27551199e-01 7.23666053e-02 1.11593387e+02] [ 9.24556528e-02 -6.12795234e-04 9.95716615e-01 9.22574259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:111.56, Z:9.24 [[ 6.22360462e-01 7.81359645e-01 -4.63093995e-02 1.07582844e+02] [-7.76714940e-01 6.23816484e-01 8.69879019e-02 1.11562283e+02] [ 9.68574029e-02 -1.81686284e-02 9.95132426e-01 9.23949288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.98, Y:111.99, Z:10.40 [[ 6.34166715e-01 -7.72621395e-01 2.98120437e-02 1.07983924e+02] [-7.67984189e-01 -6.33892768e-01 -9.15436781e-02 1.11990014e+02] [ 8.96262432e-02 3.51587754e-02 -9.95354709e-01 1.04010099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:111.53, Z:9.23 [[ 6.82840046e-01 7.26908377e-01 -7.30320731e-02 1.07659842e+02] [-7.24579909e-01 6.86623642e-01 5.94300369e-02 1.11528100e+02] [ 9.33457397e-02 1.23363638e-02 9.95557325e-01 9.23387968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:111.50, Z:9.24 [[ 6.80494836e-01 7.30242334e-01 -6.06045491e-02 1.07670235e+02] [-7.26684904e-01 6.83169388e-01 7.21708930e-02 1.11496539e+02] [ 9.41054141e-02 -5.07150908e-03 9.95549321e-01 9.24134332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99275509600002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:108.04, Y:111.96, Z:10.41 [[ 6.94267090e-01 -7.19427032e-01 2.04438877e-02 1.08044396e+02] [-7.14949823e-01 -6.92653882e-01 -9.52751282e-02 1.11956887e+02] [ 8.27040410e-02 5.15300321e-02 -9.95241025e-01 1.04053956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:112.02, Z:10.35 [[ 7.48484374e-01 -6.56661474e-01 -9.25572833e-02 1.08122908e+02] [-6.58907720e-01 -7.20647755e-01 -2.15655812e-01 1.12020710e+02] [ 7.49116652e-02 2.22401714e-01 -9.72072898e-01 1.03481047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:112.09, Z:10.28 [[ 7.96362073e-01 -5.77046039e-01 -1.81177586e-01 1.08192625e+02] [-6.02327562e-01 -7.29492638e-01 -3.24101835e-01 1.12092489e+02] [ 5.48539646e-02 3.67230663e-01 -9.28511003e-01 1.02761762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:112.12, Z:10.27 [[ 8.38970398e-01 -5.14935545e-01 -1.75983114e-01 1.08218324e+02] [-5.43360332e-01 -7.74985241e-01 -3.22734296e-01 1.12115516e+02] [ 2.98030445e-02 3.66386764e-01 -9.29985225e-01 1.02666788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:112.16, Z:10.23 [[ 8.76068969e-01 -4.40205171e-01 -1.96780511e-01 1.08253875e+02] [-4.82175024e-01 -7.97047251e-01 -3.63624705e-01 1.12162233e+02] [ 3.22610996e-03 4.13442968e-01 -9.10524302e-01 1.02276867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:112.17, Z:10.24 [[ 9.08667217e-01 -3.82822612e-01 -1.66645541e-01 1.08263408e+02] [-4.16943944e-01 -8.52979324e-01 -3.13980924e-01 1.12169336e+02] [-2.19462036e-02 3.54786021e-01 -9.34689918e-01 1.02407737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:112.01, Z:10.38 [[ 9.38677809e-01 -3.43367313e-01 -3.13505701e-02 1.08211223e+02] [-3.43361814e-01 -9.39185742e-01 5.72777443e-03 1.12011670e+02] [-3.14107389e-02 5.38805387e-03 -9.99492038e-01 1.03754495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:112.04, Z:10.39 [[ 9.65097829e-01 -2.61483145e-01 -1.45858050e-02 1.08221801e+02] [-2.61024184e-01 -9.64939588e-01 2.75312185e-02 1.12042186e+02] [-2.12733702e-02 -2.27630713e-02 -9.99514525e-01 1.03866233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:111.94, Z:10.43 [[ 9.81621331e-01 -1.88607995e-01 2.90961803e-02 1.08211070e+02] [-1.89963502e-01 -9.51105677e-01 2.43540260e-01 1.11938477e+02] [-1.82600978e-02 -2.44591526e-01 -9.69454256e-01 1.04339264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:112.14, Z:10.37 [[ 9.93415081e-01 -1.13047408e-01 -1.86215220e-02 1.08255101e+02] [-1.13790692e-01 -9.92466330e-01 -4.54121280e-02 1.12144272e+02] [-1.33475102e-02 4.72320487e-02 -9.98794762e-01 1.03700591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:112.14, Z:10.38 [[ 9.99321707e-01 -3.36170742e-02 -1.50339151e-02 1.08257904e+02] [-3.37890820e-02 -9.99364678e-01 -1.13374690e-02 1.12136711e+02] [-1.46432312e-02 1.18377611e-02 -9.99822706e-01 1.03788657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:112.14, Z:10.38 [[ 9.98795584e-01 4.67498936e-02 -1.48939412e-02 1.08264779e+02] [ 4.66937987e-02 -9.98900867e-01 -4.09222387e-03 1.12143707e+02] [-1.50688819e-02 3.39184043e-03 -9.99880705e-01 1.03822171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.16, Z:10.38 [[ 9.91780415e-01 1.26956685e-01 -1.59250813e-02 1.08269656e+02] [ 1.26800236e-01 -9.91872903e-01 -1.04806504e-02 1.12159831e+02] [-1.71262453e-02 8.37519976e-03 -9.99818257e-01 1.03776049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.28, Y:112.12, Z:10.40 [[ 9.78532018e-01 2.03951661e-01 -2.96447101e-02 1.08281600e+02] [ 2.05754827e-01 -9.75017771e-01 8.36976497e-02 1.12117117e+02] [-1.18338445e-02 -8.80003723e-02 -9.96050147e-01 1.04042711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.412755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:108.27, Y:112.18, Z:10.38 [[ 9.59347152e-01 2.82034983e-01 -1.04551993e-02 1.08271762e+02] [ 2.82020221e-01 -9.59404106e-01 -2.89084249e-03 1.12184882e+02] [-1.08460798e-02 -1.75256104e-04 -9.99941164e-01 1.03833612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.20, Z:10.38 [[ 9.33932109e-01 3.57312639e-01 -9.92437104e-03 1.08270956e+02] [ 3.57294621e-01 -9.33984819e-01 -3.59335860e-03 1.12201621e+02] [-1.05531643e-02 -1.89971409e-04 -9.99944296e-01 1.03814818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.22, Z:10.38 [[ 9.02638502e-01 4.30298693e-01 -9.31498542e-03 1.08268705e+02] [ 4.30278105e-01 -9.02686542e-01 -4.21416613e-03 1.12220824e+02] [-1.02218622e-02 -2.04165670e-04 -9.99947735e-01 1.03814447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:112.24, Z:10.38 [[ 8.66436242e-01 4.99205863e-01 -9.04126636e-03 1.08266062e+02] [ 4.99181041e-01 -8.66483392e-01 -4.98202619e-03 1.12238415e+02] [-1.03211638e-02 -1.96620697e-04 -9.99946716e-01 1.03815263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.57, Y:111.77, Z:9.21 [[ 8.51657834e-01 -5.24094626e-01 -1.93835065e-03 1.08572661e+02] [ 5.24093356e-01 8.51660039e-01 -1.15425543e-03 1.11767306e+02] [ 2.25575485e-03 -3.28460196e-05 9.99997455e-01 9.20849056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:111.78, Z:9.21 [[ 8.50544981e-01 -5.25898529e-01 -1.99308677e-03 1.08596366e+02] [ 5.25897188e-01 8.50547316e-01 -1.18798549e-03 1.11781560e+02] [ 2.31997443e-03 -3.77236310e-05 9.99997308e-01 9.20766985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:111.80, Z:9.21 [[ 8.49648686e-01 -5.27346052e-01 -1.80361936e-03 1.08619757e+02] [ 5.27344957e-01 8.49650599e-01 -1.07504136e-03 1.11795838e+02] [ 2.09936509e-03 -3.77220942e-05 9.99997796e-01 9.20738729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.64, Y:111.81, Z:9.21 [[ 8.47263804e-01 -5.31168351e-01 -2.05660628e-03 1.08642472e+02] [ 5.31166940e-01 8.47266298e-01 -1.22565735e-03 1.11809946e+02] [ 2.39352358e-03 -5.39461529e-05 9.99997134e-01 9.20580127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.67, Y:111.83, Z:9.21 [[ 8.46228321e-01 -5.32817061e-01 -1.89929522e-03 1.08666480e+02] [ 5.32815858e-01 8.46230451e-01 -1.13369271e-03 1.11825038e+02] [ 2.21129227e-03 -5.26117331e-05 9.99997554e-01 9.20685225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.69, Y:111.84, Z:9.21 [[ 8.44926530e-01 -5.34880118e-01 -1.55506976e-03 1.08689951e+02] [ 5.34879314e-01 8.44927960e-01 -9.28455965e-04 1.11839167e+02] [ 1.81053455e-03 -4.72975688e-05 9.99998360e-01 9.20595225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.71, Y:111.85, Z:9.21 [[ 8.42642653e-01 -5.38471115e-01 -1.48874178e-03 1.08712782e+02] [ 5.38470385e-01 8.42643967e-01 -8.88753233e-04 1.11852992e+02] [ 1.73304723e-03 -5.27419773e-05 9.99998497e-01 9.20561859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:111.87, Z:9.21 [[ 8.41773196e-01 -5.39830291e-01 -1.06901302e-03 1.08736728e+02] [ 5.39829913e-01 8.41773874e-01 -6.39719364e-04 1.11867881e+02] [ 1.24520712e-03 -3.85865934e-05 9.99999224e-01 9.20689354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:111.89, Z:9.21 [[ 8.40272924e-01 -5.42163566e-01 -2.84823513e-04 1.08761349e+02] [ 5.42160407e-01 8.40269610e-01 -3.01272902e-03 1.11885241e+02] [ 1.87272045e-03 2.37709459e-03 9.99995421e-01 9.20638623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.78, Y:111.90, Z:9.21 [[ 8.39590601e-01 -5.43215628e-01 -2.09866089e-03 1.08784921e+02] [ 5.43218925e-01 8.39589615e-01 1.57406924e-03 1.11896256e+02] [ 9.06954880e-04 -2.46160605e-03 9.99996559e-01 9.20654736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:111.91, Z:9.21 [[ 8.39204548e-01 -5.43814445e-01 -1.25505094e-03 1.08808352e+02] [ 5.43813928e-01 8.39205485e-01 -7.51997091e-04 1.11912698e+02] [ 1.46219251e-03 -5.14348003e-05 9.99998930e-01 9.20585076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:111.93, Z:9.21 [[ 8.39360535e-01 -5.43573047e-01 -1.49504523e-03 1.08832425e+02] [ 5.43572312e-01 8.39361864e-01 -8.96088822e-04 1.11927645e+02] [ 1.74197369e-03 -6.05236012e-05 9.99998481e-01 9.20547250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:111.94, Z:9.20 [[ 8.40334400e-01 -5.42066718e-01 -1.33034538e-03 1.08855836e+02] [ 5.42066133e-01 8.40335451e-01 -7.98107786e-04 1.11943034e+02] [ 1.55056406e-03 -5.04577495e-05 9.99998797e-01 9.20475125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.88, Y:111.96, Z:9.21 [[ 8.41841052e-01 -5.39722119e-01 -1.91770384e-03 1.08878812e+02] [ 5.39724558e-01 8.41840957e-01 1.09761850e-03 1.11955637e+02] [ 1.02199265e-03 -1.95905217e-03 9.99997559e-01 9.20505716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:111.97, Z:9.20 [[ 8.42610888e-01 -5.38522342e-01 -7.60865224e-04 1.08902772e+02] [ 5.38518805e-01 8.42609168e-01 -2.69930175e-03 1.11974058e+02] [ 2.09474631e-03 1.86472081e-03 9.99996067e-01 9.20461006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:111.99, Z:9.21 [[ 8.42446409e-01 -5.38777310e-01 -1.74901944e-03 1.08927778e+02] [ 5.38776289e-01 8.42448222e-01 -1.05019353e-03 1.11987906e+02] [ 2.03927876e-03 -5.75984339e-05 9.99997919e-01 9.20501702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.95, Y:112.00, Z:9.20 [[ 8.43050018e-01 -5.37832772e-01 -1.60536877e-03 1.08951326e+02] [ 5.37831909e-01 8.43051545e-01 -9.64871512e-04 1.12002661e+02] [ 1.87234814e-03 -4.99836063e-05 9.99998246e-01 9.20490900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.97, Y:112.02, Z:9.21 [[ 8.43740771e-01 -5.36749061e-01 -1.39885681e-03 1.08974412e+02] [ 5.36748404e-01 8.43741930e-01 -8.40857460e-04 1.12016859e+02] [ 1.63160360e-03 -4.13684384e-05 9.99998668e-01 9.20500364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:112.03, Z:9.21 [[ 8.44273996e-01 -5.35909948e-01 -1.39567399e-03 1.08997487e+02] [ 5.35909293e-01 8.44275148e-01 -8.38804188e-04 1.12031145e+02] [ 1.62785638e-03 -3.97740987e-05 9.99998674e-01 9.20517836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:112.05, Z:9.21 [[ 8.44847059e-01 -5.35007828e-01 -2.65348990e-04 1.09020985e+02] [ 5.35007804e-01 8.44847101e-01 -1.61058898e-04 1.12046570e+02] [ 3.10347096e-04 -5.89364361e-06 9.99999952e-01 9.20582184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:112.06, Z:9.21 [[ 8.44787428e-01 -5.35102047e-01 2.09909557e-05 1.09044705e+02] [ 5.35102047e-01 8.44787429e-01 1.10132950e-05 1.12061526e+02] [-2.36261322e-05 1.92841018e-06 1.00000000e+00 9.20579859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:112.08, Z:9.21 [[ 8.44582626e-01 -5.35424444e-01 9.22962099e-04 1.09067224e+02] [ 5.35424158e-01 8.44583130e-01 5.54540785e-04 1.12076224e+02] [-1.07643291e-03 2.58206925e-05 9.99999420e-01 9.20605040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.09, Y:112.09, Z:9.21 [[ 8.44050312e-01 -5.36263119e-01 9.68406834e-04 1.09090609e+02] [ 5.36262805e-01 8.44050867e-01 5.81397506e-04 1.12090899e+02] [-1.12916667e-03 2.85918184e-05 9.99999362e-01 9.20582758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:112.11, Z:9.21 [[ 8.43436629e-01 -5.37227972e-01 8.70859296e-04 1.09114711e+02] [ 5.37227718e-01 8.43437078e-01 5.23054842e-04 1.12105747e+02] [-1.01551471e-03 2.66861403e-05 9.99999484e-01 9.20587687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:112.12, Z:9.21 [[ 8.42459886e-01 -5.38758542e-01 7.57104452e-04 1.09138139e+02] [ 5.38758351e-01 8.42460226e-01 4.55260980e-04 1.12119914e+02] [-8.83106130e-04 2.43572323e-05 9.99999610e-01 9.20574002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:112.13, Z:9.21 [[ 8.42023590e-01 -5.39440372e-01 5.99313389e-04 1.09161174e+02] [ 5.39440252e-01 8.42023803e-01 3.60683293e-04 1.12134098e+02] [-6.99203269e-04 1.95899237e-05 9.99999755e-01 9.20568729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:112.15, Z:9.21 [[ 8.41573046e-01 -5.40143173e-01 4.00292842e-04 1.09184713e+02] [ 5.40143120e-01 8.41573141e-01 2.40052234e-04 1.12148684e+02] [-4.66538280e-04 1.41939354e-05 9.99999891e-01 9.20574795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.21, Y:112.16, Z:9.21 [[ 8.41186210e-01 -5.40745098e-01 7.07112662e-04 1.09208144e+02] [ 5.40744931e-01 8.41186506e-01 4.25379441e-04 1.12163679e+02] [-8.24835477e-04 2.45442684e-05 9.99999660e-01 9.20561268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.23, Y:112.18, Z:9.21 [[ 8.40984826e-01 -5.41058189e-01 7.46953927e-04 1.09232147e+02] [ 5.41058003e-01 8.40985158e-01 4.49757492e-04 1.12178570e+02] [-8.71522140e-04 2.59061734e-05 9.99999620e-01 9.20557613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.26, Y:112.19, Z:9.21 [[ 8.41152624e-01 -5.40797708e-01 3.19540922e-04 1.09255107e+02] [ 5.40797674e-01 8.41152685e-01 1.92452593e-04 1.12192765e+02] [-3.72860626e-04 1.09249837e-05 9.99999930e-01 9.20541457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:112.21, Z:9.21 [[ 8.41281800e-01 -5.40596736e-01 3.19006450e-04 1.09279412e+02] [ 5.40596702e-01 8.41281861e-01 1.91416531e-04 1.12207744e+02] [-3.71853492e-04 1.14185908e-05 9.99999931e-01 9.20507471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.30, Y:112.22, Z:9.20 [[ 8.41353707e-01 -5.40484883e-01 -1.77572125e-04 1.09303252e+02] [ 5.40484872e-01 8.41353725e-01 -1.08956374e-04 1.12222519e+02] [ 2.08290242e-04 -4.30419854e-06 9.99999978e-01 9.20361918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.33, Y:112.24, Z:9.20 [[ 8.42512218e-01 -5.38677210e-01 -1.58476108e-04 1.09325804e+02] [ 5.38677202e-01 8.42512233e-01 -9.65789382e-05 1.12237087e+02] [ 1.85542933e-04 -3.99853096e-06 9.99999983e-01 9.20445284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:112.25, Z:9.20 [[ 8.42977648e-01 -5.37948484e-01 -3.35597159e-04 1.09349715e+02] [ 5.37948445e-01 8.42977715e-01 -2.04846978e-04 1.12251486e+02] [ 3.93098048e-04 -7.85254554e-06 9.99999923e-01 9.20446656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:112.27, Z:9.20 [[ 8.43398367e-01 -5.37288623e-01 -3.60410841e-04 1.09373385e+02] [ 5.37288579e-01 8.43398444e-01 -2.19062681e-04 1.12265410e+02] [ 4.21669829e-04 -8.88752171e-06 9.99999911e-01 9.20443205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:112.28, Z:9.20 [[ 8.43983583e-01 -5.36367824e-01 -1.12665410e-03 1.09397734e+02] [ 5.36367387e-01 8.43984335e-01 -6.84789420e-04 1.12278938e+02] [ 1.31817742e-03 -2.63494891e-05 9.99999131e-01 9.20489206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:112.29, Z:9.20 [[ 8.44065245e-01 -5.36238764e-01 -1.36042396e-03 1.09422317e+02] [ 5.36238127e-01 8.44066340e-01 -8.27153526e-04 1.12293170e+02] [ 1.59183985e-03 -3.13396513e-05 9.99998733e-01 9.20484808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.45, Y:112.31, Z:9.20 [[ 8.44171420e-01 -5.36072102e-01 -1.14663083e-03 1.09446556e+02] [ 5.36071648e-01 8.44172199e-01 -6.97918238e-04 1.12307284e+02] [ 1.34208837e-03 -2.55136487e-05 9.99999099e-01 9.20450652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.47, Y:112.32, Z:9.20 [[ 8.44327562e-01 -5.35825753e-01 -1.31547452e-03 1.09470066e+02] [ 5.35825156e-01 8.44328586e-01 -8.00325601e-04 1.12320667e+02] [ 1.53952781e-03 -2.91273785e-05 9.99998815e-01 9.20478754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:112.34, Z:9.20 [[ 8.44169887e-01 -5.36073962e-01 -1.38168983e-03 1.09494424e+02] [ 5.36073302e-01 8.44171017e-01 -8.41645045e-04 1.12335189e+02] [ 1.61756651e-03 -3.01956287e-05 9.99998691e-01 9.20484483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.52, Y:112.35, Z:9.20 [[ 8.43901737e-01 -5.36496179e-01 -1.30707034e-03 1.09519269e+02] [ 5.36495588e-01 8.43902749e-01 -7.96836618e-04 1.12349131e+02] [ 1.53054005e-03 -2.87856640e-05 9.99998828e-01 9.20487195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.54, Y:112.36, Z:9.21 [[ 8.43641827e-01 -5.36905418e-01 -1.01973842e-03 1.09543879e+02] [ 5.36905058e-01 8.43642443e-01 -6.22445322e-04 1.12363123e+02] [ 1.19448887e-03 -2.23818049e-05 9.99999286e-01 9.20509746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:112.38, Z:9.21 [[ 8.43282668e-01 -5.37469381e-01 -1.00322093e-03 1.09568388e+02] [ 5.37469032e-01 8.43283264e-01 -6.12823946e-04 1.12377221e+02] [ 1.17537352e-03 -2.24163680e-05 9.99999309e-01 9.20526817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.59, Y:112.39, Z:9.21 [[ 8.43042348e-01 -5.37846574e-01 -8.14204144e-04 1.09592761e+02] [ 5.37846345e-01 8.43042741e-01 -4.96916639e-04 1.12389490e+02] [ 9.53673805e-04 -1.89949528e-05 9.99999545e-01 9.20572876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:112.40, Z:9.21 [[ 8.42921079e-01 -5.38036927e-01 -5.66665473e-04 1.09616888e+02] [ 5.38036815e-01 8.42921269e-01 -3.47157408e-04 1.12403331e+02] [ 6.64437885e-04 -1.22605890e-05 9.99999779e-01 9.20580956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:112.42, Z:9.21 [[ 8.42664532e-01 -5.38438563e-01 -6.32761210e-04 1.09640929e+02] [ 5.38438425e-01 8.42664769e-01 -3.86705858e-04 1.12416725e+02] [ 7.41422925e-04 -1.48396384e-05 9.99999725e-01 9.20593129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.912755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.67, Y:112.43, Z:9.20 [[ 8.42414665e-01 -5.38829279e-01 -7.34745247e-04 1.09665295e+02] [ 5.38829091e-01 8.42414986e-01 -4.50059126e-04 1.12431050e+02] [ 8.61465441e-04 -1.67657056e-05 9.99999629e-01 9.20481136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.69, Y:112.45, Z:9.21 [[ 8.42302814e-01 -5.39004532e-01 -2.88771208e-04 1.09688860e+02] [ 5.39004503e-01 8.42302864e-01 -1.77901338e-04 1.12445576e+02] [ 3.39122443e-04 -5.80218412e-06 9.99999942e-01 9.20549003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.71, Y:112.46, Z:9.20 [[ 8.42296502e-01 -5.39014109e-01 -6.26602299e-04 1.09712805e+02] [ 5.39013972e-01 8.42296735e-01 -3.84627574e-04 1.12460008e+02] [ 7.35104760e-04 -1.37769331e-05 9.99999730e-01 9.20470055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:112.47, Z:9.21 [[ 8.42778834e-01 -5.38259995e-01 -1.22366022e-04 1.09736590e+02] [ 5.38259990e-01 8.42778843e-01 -7.64617547e-05 1.12474124e+02] [ 1.44283798e-04 -1.42438523e-06 9.99999990e-01 9.20552145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.76, Y:112.49, Z:9.20 [[ 8.43409829e-01 -5.37270437e-01 -5.81862123e-04 1.09760053e+02] [ 5.37270319e-01 8.43410029e-01 -3.56767691e-04 1.12488275e+02] [ 6.82429083e-04 -1.17158710e-05 9.99999767e-01 9.20453295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:112.50, Z:9.21 [[ 8.44050845e-01 -5.36262849e-01 -5.72563517e-04 1.09783212e+02] [ 5.36262734e-01 8.44051039e-01 -3.51178877e-04 1.12502983e+02] [ 6.71597017e-04 -1.06316494e-05 9.99999774e-01 9.20554668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:112.52, Z:9.21 [[ 8.44427497e-01 -5.35669340e-01 -7.48549315e-04 1.09807255e+02] [ 5.35669142e-01 8.44427829e-01 -4.60133569e-04 1.12518323e+02] [ 8.78575318e-04 -1.24253315e-05 9.99999614e-01 9.20527832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:112.53, Z:9.21 [[ 8.44856570e-01 -5.34992031e-01 -9.50440279e-04 1.09830676e+02] [ 5.34991713e-01 8.44857104e-01 -5.84219011e-04 1.12533259e+02] [ 1.11553874e-03 -1.48964026e-05 9.99999378e-01 9.20536940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:112.55, Z:9.20 [[ 8.46054218e-01 -5.33096487e-01 -6.29021666e-04 1.09854062e+02] [ 5.33096346e-01 8.46054452e-01 -3.87471319e-04 1.12548866e+02] [ 7.38746180e-04 -7.50740768e-06 9.99999727e-01 9.20486408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.88, Y:112.57, Z:9.20 [[ 8.46092105e-01 -5.33036724e-01 3.06401920e-05 1.09877249e+02] [ 5.33035551e-01 8.46090119e-01 -2.14760875e-03 1.12565671e+02] [ 1.11882997e-03 1.83340712e-03 9.99997693e-01 9.20435081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.90, Y:112.58, Z:9.21 [[ 8.46785292e-01 -5.31934064e-01 -9.06301252e-04 1.09901814e+02] [ 5.31934832e-01 8.46783840e-01 1.56964558e-03 1.12578707e+02] [-6.75066969e-05 -1.81124599e-03 9.99998357e-01 9.20540436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:112.59, Z:9.20 [[ 8.47290099e-01 -5.31130350e-01 2.00714257e-04 1.09923841e+02] [ 5.31130336e-01 8.47290122e-01 1.22614182e-04 1.12594436e+02] [-2.35187321e-04 2.71564824e-06 9.99999972e-01 9.20498722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.95, Y:112.61, Z:9.20 [[ 8.47849965e-01 -5.30236111e-01 3.22950696e-04 1.09946116e+02] [ 5.30236074e-01 8.47850026e-01 1.97771313e-04 1.12609934e+02] [-3.78679248e-04 3.55970805e-06 9.99999928e-01 9.20469865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:112.63, Z:9.20 [[ 8.47870365e-01 -5.30203527e-01 -2.51911967e-04 1.09969766e+02] [ 5.30203504e-01 8.47870403e-01 -1.56446176e-04 1.12625288e+02] [ 2.96537016e-04 -9.18531172e-07 9.99999956e-01 9.20449447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:112.64, Z:9.20 [[ 8.47772904e-01 -5.30359406e-01 -6.63085971e-05 1.09991813e+02] [ 5.30359404e-01 8.47772906e-01 -4.14544429e-05 1.12640168e+02] [ 7.82003858e-05 -2.34345522e-08 9.99999997e-01 9.20417133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.362755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.02, Y:112.66, Z:9.20 [[ 8.47192383e-01 -5.31286158e-01 -2.90874230e-04 1.10015483e+02] [ 5.31286128e-01 8.47192433e-01 -1.80616848e-04 1.12655277e+02] [ 3.42385678e-04 -1.52022532e-06 9.99999941e-01 9.20265995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.04, Y:112.67, Z:9.20 [[ 8.46900484e-01 -5.31751399e-01 1.43133570e-04 1.10038993e+02] [ 5.31751392e-01 8.46900496e-01 8.65811844e-05 1.12670060e+02] [-1.67259558e-04 2.78582829e-06 9.99999986e-01 9.20377393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:112.68, Z:9.20 [[ 8.45563979e-01 -5.33873908e-01 4.54656081e-04 1.10062697e+02] [ 5.33873836e-01 8.45564102e-01 2.78656545e-04 1.12684638e+02] [-5.33208319e-04 7.10704909e-06 9.99999858e-01 9.20417342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.452755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.09, Y:112.70, Z:9.20 [[ 8.44588389e-01 -5.35415875e-01 5.42718079e-04 1.10086109e+02] [ 5.35415771e-01 8.44588563e-01 3.33614794e-04 1.12699017e+02] [-6.36996140e-04 8.81263765e-06 9.99999797e-01 9.20242649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.11, Y:112.71, Z:9.20 [[ 8.43202728e-01 -5.37593846e-01 1.41983062e-03 1.10109831e+02] [ 5.37593135e-01 8.43203923e-01 8.74656235e-04 1.12713868e+02] [-1.66741656e-03 2.57786716e-05 9.99998610e-01 9.20425304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.512755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.13, Y:112.73, Z:9.20 [[ 8.41995460e-01 -5.39483511e-01 1.08899942e-03 1.10133617e+02] [ 5.39483094e-01 8.41996164e-01 6.70964709e-04 1.12728333e+02] [-1.27890773e-03 2.25475391e-05 9.99999182e-01 9.20218492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:112.75, Z:9.20 [[ 8.41150991e-01 -5.40714408e-01 9.64055556e-03 1.10153517e+02] [ 5.40782614e-01 8.41134100e-01 -6.89848539e-03 1.12749033e+02] [-4.37888959e-03 1.10161127e-02 9.99929733e-01 9.19758804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.572755096 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:110.18, Y:112.75, Z:9.21 [[ 8.40566846e-01 -5.41692239e-01 -4.11047276e-03 1.10184291e+02] [ 5.41703550e-01 8.40505821e-01 1.03551275e-02 1.12752507e+02] [-2.15441591e-03 -1.09308345e-02 9.99937936e-01 9.20519816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.20, Y:112.77, Z:9.20 [[ 8.40694623e-01 -5.41504386e-01 2.35604149e-03 1.10204825e+02] [ 5.41502432e-01 8.40697923e-01 1.45563280e-03 1.12773505e+02] [-2.76895073e-03 5.20595247e-05 9.99996165e-01 9.20475499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.23, Y:112.79, Z:9.20 [[ 8.40697545e-01 -5.41498625e-01 2.62244145e-03 1.10228070e+02] [ 5.41496200e-01 8.40701633e-01 1.62149209e-03 1.12788432e+02] [-3.08272654e-03 5.68576618e-05 9.99995247e-01 9.20408069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:112.81, Z:9.19 [[ 8.41079352e-01 -5.40679887e-01 1.58361350e-02 1.10243754e+02] [ 5.40881746e-01 8.40980553e-01 -1.40942177e-02 1.12814808e+02] [-5.69742157e-03 2.04198318e-02 9.99775260e-01 9.19255593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:112.81, Z:9.21 [[ 8.41805925e-01 -5.39719776e-01 -8.08385451e-03 1.10280974e+02] [ 5.39770115e-01 8.41603564e-01 1.87527109e-02 1.12809488e+02] [-3.31780816e-03 -2.01495662e-02 9.99791472e-01 9.20904743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:112.83, Z:9.20 [[ 8.42113199e-01 -5.39294177e-01 2.67389462e-03 1.10298178e+02] [ 5.39291636e-01 8.42117443e-01 1.65629632e-03 1.12834558e+02] [-3.14496426e-03 4.72200126e-05 9.99995053e-01 9.20267579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.32, Y:112.85, Z:9.20 [[ 8.42989415e-01 -5.37926931e-01 1.86088820e-03 1.10321316e+02] [ 5.37925696e-01 8.42991469e-01 1.15302916e-03 1.12849949e+02] [-2.18895832e-03 2.90282037e-05 9.99997604e-01 9.20245210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.34, Y:112.86, Z:9.20 [[ 8.43399428e-01 -5.37284959e-01 1.50955823e-03 1.10344186e+02] [ 5.37284144e-01 8.43400778e-01 9.36001977e-04 1.12864873e+02] [-1.77606237e-03 2.16381702e-05 9.99998423e-01 9.20198125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:112.88, Z:9.20 [[ 8.43695468e-01 -5.36820706e-01 1.21936337e-03 1.10367980e+02] [ 5.36820175e-01 8.43696349e-01 7.55882737e-04 1.12880592e+02] [-1.43454593e-03 1.68440201e-05 9.99998971e-01 9.20164822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84275509600002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:110.39, Y:112.90, Z:9.20 [[ 8.43325612e-01 -5.37402884e-01 2.29147590e-04 1.10389829e+02] [ 5.37402865e-01 8.43325643e-01 1.41335554e-04 1.12895870e+02] [-2.69200173e-04 3.95267887e-06 9.99999964e-01 9.19866034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.41, Y:112.91, Z:9.20 [[ 8.43085222e-01 -5.37779635e-01 6.09825113e-04 1.10413132e+02] [ 5.37779503e-01 8.43085443e-01 3.77702555e-04 1.12910865e+02] [-7.17255417e-04 9.51600363e-06 9.99999743e-01 9.19885853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.44, Y:112.93, Z:9.20 [[ 8.42978979e-01 -5.37946159e-01 6.09484055e-04 1.10437298e+02] [ 5.37946026e-01 8.42979199e-01 3.78251057e-04 1.12926057e+02] [-7.17261083e-04 9.01183576e-06 9.99999743e-01 9.19873838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:112.94, Z:9.20 [[ 8.42479286e-01 -5.38727778e-01 1.01658585e-03 1.10461020e+02] [ 5.38727408e-01 8.42479900e-01 6.31417245e-04 1.12941480e+02] [-1.19661516e-03 1.57067117e-05 9.99999284e-01 9.20022238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:112.96, Z:9.20 [[ 8.41836649e-01 -5.39731881e-01 7.43472175e-04 1.10485136e+02] [ 5.39731684e-01 8.41836977e-01 4.61661977e-04 1.12956655e+02] [-8.75056056e-04 1.26315173e-05 9.99999617e-01 9.20002418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:112.97, Z:9.20 [[ 8.41028452e-01 -5.40990167e-01 8.84167180e-04 1.10508726e+02] [ 5.40989888e-01 8.41028917e-01 5.49724576e-04 1.12971768e+02] [-1.04100576e-03 1.59914943e-05 9.99999458e-01 9.19959473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:112.99, Z:9.20 [[ 8.40321012e-01 -5.42087957e-01 1.11507445e-03 1.10531205e+02] [ 5.42087512e-01 8.40321752e-01 6.94827799e-04 1.12986206e+02] [-1.31367910e-03 2.05895345e-05 9.99999137e-01 9.19898800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.55, Y:113.00, Z:9.20 [[ 8.38720656e-01 -5.44561446e-01 7.02000521e-04 1.10554807e+02] [ 5.44561271e-01 8.38720950e-01 4.36631232e-04 1.13001384e+02] [-8.26555078e-04 1.60706623e-05 9.99999658e-01 9.19893836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.082755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.58, Y:113.02, Z:9.20 [[ 8.37208017e-01 -5.46884307e-01 5.39215074e-04 1.10578506e+02] [ 5.46884205e-01 8.37208191e-01 3.35194270e-04 1.13016425e+02] [-6.34747762e-04 1.42608767e-05 9.99999798e-01 9.19675135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.60, Y:113.03, Z:9.20 [[ 8.36297859e-01 -5.48274145e-01 1.16337919e-03 1.10601572e+02] [ 5.48273666e-01 8.36298667e-01 7.25587728e-04 1.13032804e+02] [-1.37075346e-03 3.10427088e-05 9.99999060e-01 9.19812654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:113.05, Z:9.20 [[ 8.35607605e-01 -5.49325841e-01 1.02520479e-03 1.10624574e+02] [ 5.49325469e-01 8.35608233e-01 6.40328322e-04 1.13047284e+02] [-1.20841845e-03 2.81078833e-05 9.99999269e-01 9.19780750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:113.06, Z:9.20 [[ 8.34915932e-01 -5.50376717e-01 9.25789789e-04 1.10648127e+02] [ 5.50376414e-01 8.34916444e-01 5.77696597e-04 1.13062156e+02] [-1.09090788e-03 2.72047717e-05 9.99999405e-01 9.19760911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.202755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.67, Y:113.08, Z:9.20 [[ 8.33708378e-01 -5.52204666e-01 5.89508396e-04 1.10670773e+02] [ 5.52204543e-01 8.33708586e-01 3.68287579e-04 1.13077012e+02] [-6.94848330e-04 1.84847745e-05 9.99999758e-01 9.19597689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.69, Y:113.09, Z:9.20 [[ 8.33535203e-01 -5.52465868e-01 7.28021306e-04 1.10694158e+02] [ 5.52465681e-01 8.33535521e-01 4.54438949e-04 1.13092248e+02] [-8.57893627e-04 2.34159250e-05 9.99999632e-01 9.19713293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.72, Y:113.11, Z:9.20 [[ 8.33135498e-01 -5.53068439e-01 7.37334595e-04 1.10717843e+02] [ 5.53068248e-01 8.33135824e-01 4.60564429e-04 1.13107826e+02] [-8.69023515e-04 2.40837778e-05 9.99999622e-01 9.19712149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.74, Y:113.12, Z:9.20 [[ 8.32776321e-01 -5.53609312e-01 5.73251689e-04 1.10740889e+02] [ 5.53609197e-01 8.32776518e-01 3.57958117e-04 1.13123345e+02] [-6.75559492e-04 1.92583630e-05 9.99999772e-01 9.19721888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:113.14, Z:9.20 [[ 8.32697065e-01 -5.53728636e-01 4.40864087e-04 1.10763725e+02] [ 5.53728568e-01 8.32697182e-01 2.75910094e-04 1.13138297e+02] [-5.19885603e-04 1.43695136e-05 9.99999865e-01 9.19740372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:113.17, Z:9.18 [[ 8.31617052e-01 -5.54680419e-01 2.72527232e-02 1.10772771e+02] [ 5.55296023e-01 8.31216178e-01 -2.69442516e-02 1.13174411e+02] [-7.70745561e-03 3.75406279e-02 9.99265378e-01 9.17523938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:113.15, Z:9.21 [[ 8.32908396e-01 -5.53102346e-01 -1.84769652e-02 1.10823332e+02] [ 5.53404850e-01 8.32279093e-01 3.24743543e-02 1.13150719e+02] [-2.58364967e-03 -3.72734045e-02 9.99301765e-01 9.20805237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:113.18, Z:9.20 [[ 8.33187163e-01 -5.52988125e-01 1.81236701e-03 1.10835589e+02] [ 5.52986958e-01 8.33189132e-01 1.13737967e-03 1.13184342e+02] [-2.13900195e-03 5.45651754e-05 9.99997711e-01 9.19793805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:113.22, Z:9.18 [[ 8.33144746e-01 -5.52326792e-01 2.83716018e-02 1.10843991e+02] [ 5.52995619e-01 8.32710130e-01 -2.81013398e-02 1.13220910e+02] [-8.10419736e-03 3.91018552e-02 9.99202365e-01 9.17727093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:113.20, Z:9.20 [[ 8.34230033e-01 -5.51279926e-01 -1.22757809e-02 1.10889188e+02] [ 5.51410542e-01 8.33909905e-01 2.32526142e-02 1.13202372e+02] [-2.58180408e-03 -2.61670241e-02 9.99654251e-01 9.20471265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:113.24, Z:9.18 [[ 8.33716668e-01 -5.51918288e-01 1.73988668e-02 1.10897787e+02] [ 5.52142918e-01 8.33650020e-01 -1.28779818e-02 1.13243065e+02] [-7.39697196e-03 2.03432491e-02 9.99765691e-01 9.18379611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53275509600002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:110.93, Y:113.25, Z:9.19 [[ 8.34010657e-01 -5.51711905e-01 6.34013770e-03 1.10927043e+02] [ 5.51707840e-01 8.34033603e-01 2.53144371e-03 1.13249248e+02] [-6.68451552e-03 1.38665264e-03 9.99976697e-01 9.18623079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:113.25, Z:9.21 [[ 8.34813041e-01 -5.50322337e-01 -1.52483087e-02 1.10963332e+02] [ 5.50521384e-01 8.34290223e-01 2.97662490e-02 1.13246555e+02] [-3.65951682e-03 -3.32437728e-02 9.99440573e-01 9.20563906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:113.28, Z:9.20 [[ 8.34517228e-01 -5.50973569e-01 3.02044817e-03 1.10975235e+02] [ 5.50979341e-01 8.34517428e-01 -1.55831863e-03 1.13279173e+02] [-1.66202426e-03 2.96464829e-03 9.99994224e-01 9.19544731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:113.29, Z:9.20 [[ 8.34072534e-01 -5.51654341e-01 7.04740825e-04 1.11000621e+02] [ 5.51648828e-01 8.34068777e-01 3.58410656e-03 1.13291176e+02] [-2.56499026e-03 -2.60063539e-03 9.99993329e-01 9.19633096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:113.31, Z:9.20 [[ 8.33639069e-01 -5.52304658e-01 2.33828122e-03 1.11023361e+02] [ 5.52302692e-01 8.33642346e-01 1.47499560e-03 1.13307525e+02] [-2.76393718e-03 6.18250555e-05 9.99996178e-01 9.19502521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:111.05, Y:113.32, Z:9.19 [[ 8.32877972e-01 -5.53450746e-01 2.56051354e-03 1.11046629e+02] [ 5.53448389e-01 8.32881905e-01 1.61661636e-03 1.13322205e+02] [-3.02732292e-03 7.06679392e-05 9.99995415e-01 9.19241067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.07, Y:113.34, Z:9.19 [[ 8.32502180e-01 -5.54013791e-01 2.97306531e-03 1.11069795e+02] [ 5.54010615e-01 8.32507485e-01 1.87769874e-03 1.13337191e+02] [-3.51537012e-03 8.39214498e-05 9.99993818e-01 9.19464101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.10, Y:113.35, Z:9.19 [[ 8.32684020e-01 -5.53732301e-01 4.22634505e-03 1.11096572e+02] [ 5.53725803e-01 8.32694739e-01 2.68458625e-03 1.13351965e+02] [-5.00579741e-03 1.04824235e-04 9.99987465e-01 9.19243664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:113.37, Z:9.19 [[ 8.30748778e-01 -5.56632059e-01 4.14949368e-03 1.11117265e+02] [ 5.56626192e-01 8.30759122e-01 2.56212553e-03 1.13366431e+02] [-4.87339094e-03 1.81234208e-04 9.99988109e-01 9.19480312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:111.14, Y:113.38, Z:9.19 [[ 8.30800229e-01 -5.56549869e-01 4.81913646e-03 1.11139480e+02] [ 5.56556932e-01 8.30809459e-01 -1.51736942e-04 1.13380980e+02] [-3.91933498e-03 2.80818689e-03 9.99988376e-01 9.19227820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:113.39, Z:9.20 [[ 8.30190789e-01 -5.57466341e-01 3.81205130e-03 1.11163325e+02] [ 5.57463522e-01 8.30199341e-01 1.86435286e-03 1.13394212e+02] [-4.20407644e-03 5.77310971e-04 9.99990996e-01 9.19531424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:113.41, Z:9.19 [[ 8.29940166e-01 -5.57833611e-01 4.58074893e-03 1.11187073e+02] [ 5.57839276e-01 8.29948999e-01 4.92988792e-05 1.13410904e+02] [-3.82928856e-03 2.51440654e-03 9.99989507e-01 9.19497541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:113.42, Z:9.20 [[ 8.29397551e-01 -5.58654191e-01 2.27981938e-03 1.11212783e+02] [ 5.58622112e-01 8.29382909e-01 8.08239442e-03 1.13422743e+02] [-6.40610674e-03 -5.42996062e-03 9.99964738e-01 9.19613413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:113.44, Z:9.19 [[ 8.29338176e-01 -5.58723350e-01 5.13885569e-03 1.11234592e+02] [ 5.58713871e-01 8.29354080e-01 3.25893344e-03 1.13441199e+02] [-6.08277314e-03 1.68392034e-04 9.99981486e-01 9.19408569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.952755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.26, Y:113.46, Z:9.19 [[ 8.29339413e-01 -5.58723586e-01 4.90841343e-03 1.11258706e+02] [ 5.58714926e-01 8.29353923e-01 3.11485547e-03 1.13456165e+02] [-5.81115515e-03 1.59131434e-04 9.99983102e-01 9.19227270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:113.47, Z:9.19 [[ 8.29853053e-01 -5.57949492e-01 6.02284258e-03 1.11279976e+02] [ 5.57966834e-01 8.29861735e-01 -1.58521015e-03 1.13472771e+02] [-4.11365939e-03 4.67603789e-03 9.99980606e-01 9.19328292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.012755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.31, Y:113.48, Z:9.19 [[ 8.30300605e-01 -5.57313774e-01 1.50399649e-03 1.11307097e+02] [ 5.57296825e-01 8.30291578e-01 6.01199104e-03 1.13483527e+02] [-4.59932103e-03 -4.15358733e-03 9.99980797e-01 9.19359779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.33, Y:113.51, Z:9.19 [[ 8.30658984e-01 -5.56751528e-01 5.77822028e-03 1.11325988e+02] [ 5.56779786e-01 8.30637517e-01 -6.13072905e-03 1.13505247e+02] [-1.38631378e-03 8.30974142e-03 9.99964513e-01 9.19296743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.35, Y:113.52, Z:9.19 [[ 8.31541196e-01 -5.55460768e-01 1.60442125e-03 1.11350659e+02] [ 5.55463075e-01 8.31537162e-01 -2.59226526e-03 1.13518608e+02] [ 1.05765759e-04 3.04677211e-03 9.99995353e-01 9.19445893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:113.53, Z:9.20 [[ 8.32704627e-01 -5.53711909e-01 -2.47487945e-03 1.11377064e+02] [ 5.53715749e-01 8.32682717e-01 6.19373257e-03 1.13528454e+02] [-1.36875415e-03 -6.52792950e-03 9.99977756e-01 9.19619601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.132755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:111.40, Y:113.54, Z:9.20 [[ 8.32651642e-01 -5.53796811e-01 -5.78594396e-04 1.11400391e+02] [ 5.53790687e-01 8.32636492e-01 5.68744587e-03 1.13544744e+02] [-2.66793058e-03 -5.05608133e-03 9.99983659e-01 9.19521914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.42, Y:113.58, Z:9.18 [[ 8.32536794e-01 -5.53618242e-01 1.97314290e-02 1.11415620e+02] [ 5.53929615e-01 8.32377000e-01 -1.76213631e-02 1.13576645e+02] [-6.66847958e-03 2.56002560e-02 9.99650018e-01 9.17824003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.192755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:111.46, Y:113.56, Z:9.20 [[ 8.33509357e-01 -5.52382366e-01 -1.16564706e-02 1.11455838e+02] [ 5.52497896e-01 8.33203095e-01 2.27744924e-02 1.13564233e+02] [-2.86802063e-03 -2.54229281e-02 9.99672671e-01 9.19824326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:113.59, Z:9.19 [[ 8.33388926e-01 -5.52682228e-01 2.29189728e-03 1.11470608e+02] [ 5.52680298e-01 8.33392076e-01 1.46132213e-03 1.13591597e+02] [-2.71769580e-03 4.88367891e-05 9.99996306e-01 9.19388796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:113.60, Z:9.20 [[ 8.34072578e-01 -5.51654607e-01 -3.58750772e-04 1.11495136e+02] [ 5.51639888e-01 8.34045200e-01 7.87642012e-03 1.13601520e+02] [-4.04584909e-03 -6.76740727e-03 9.99968916e-01 9.19527219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:111.52, Y:113.62, Z:9.19 [[ 8.32787682e-01 -5.53558448e-01 6.14176437e-03 1.11516943e+02] [ 5.53583554e-01 8.32786082e-01 -3.54838189e-03 1.13623664e+02] [-3.15053912e-03 6.35502847e-03 9.99974844e-01 9.18973898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.54, Y:113.64, Z:9.19 [[ 8.32278253e-01 -5.54349848e-01 3.02598249e-03 1.11542137e+02] [ 5.54346490e-01 8.32283750e-01 1.93082589e-03 1.13635080e+02] [-3.58882909e-03 7.04583755e-05 9.99993558e-01 9.19290644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:113.65, Z:9.19 [[ 8.30785999e-01 -5.56584977e-01 2.79058821e-03 1.11566198e+02] [ 5.56582132e-01 8.30790683e-01 1.78115621e-03 1.13649177e+02] [-3.30975948e-03 7.34318900e-05 9.99994520e-01 9.19444383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.59, Y:113.66, Z:9.19 [[ 8.29889030e-01 -5.57922045e-01 2.68155655e-03 1.11590205e+02] [ 5.57919421e-01 8.29893359e-01 1.71269522e-03 1.13663015e+02] [-3.18095640e-03 7.47455016e-05 9.99994938e-01 9.19242530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.61, Y:113.69, Z:9.18 [[ 8.28009333e-01 -5.60311640e-01 2.12464330e-02 1.11605690e+02] [ 5.60658569e-01 8.27866744e-01 -1.72807553e-02 1.13692446e+02] [-7.90660691e-03 2.62206214e-02 9.99624912e-01 9.17837924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:113.68, Z:9.20 [[ 8.27088081e-01 -5.61950170e-01 -1.17180236e-02 1.11646863e+02] [ 5.62061144e-01 8.26760321e-01 2.35508541e-02 1.13678809e+02] [-3.54640952e-03 -2.60648764e-02 9.99653963e-01 9.20232773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:113.71, Z:9.19 [[ 8.26133611e-01 -5.63468830e-01 2.47682665e-03 1.11662118e+02] [ 5.63466611e-01 8.26137319e-01 1.58396951e-03 1.13706320e+02] [-2.93871637e-03 8.70386653e-05 9.99995678e-01 9.19440778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:113.72, Z:9.20 [[ 8.26965847e-01 -5.62252008e-01 -4.08923372e-04 1.11688024e+02] [ 5.62251947e-01 8.26965948e-01 -2.63084960e-04 1.13717499e+02] [ 4.86085752e-04 -1.23556852e-05 9.99999882e-01 9.19544644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:113.73, Z:9.19 [[ 8.24318249e-01 -5.66121285e-01 2.47286472e-03 1.11709054e+02] [ 5.66119077e-01 8.24321953e-01 1.58373910e-03 1.13734286e+02] [-2.93502509e-03 9.44308479e-05 9.99995688e-01 9.19433635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:111.73, Y:113.75, Z:9.19 [[ 8.22776828e-01 -5.68358948e-01 2.52937753e-03 1.11733300e+02] [ 5.68356647e-01 8.22780709e-01 1.62047055e-03 1.13746751e+02] [-3.00213198e-03 1.04302914e-04 9.99995488e-01 9.19097962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:113.78, Z:9.18 [[ 8.21275228e-01 -5.70122901e-01 2.16073462e-02 1.11748086e+02] [ 5.70498961e-01 8.21047060e-01 -2.03140374e-02 1.13777875e+02] [-6.15915014e-03 2.90103843e-02 9.99560135e-01 9.17573032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.79, Y:113.76, Z:9.20 [[ 8.22881311e-01 -5.68052277e-01 -1.35262181e-02 1.11788740e+02] [ 5.68202723e-01 8.22487609e-01 2.56865536e-02 1.13764937e+02] [-3.46615853e-03 -2.88226189e-02 9.99578532e-01 9.20251734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.642755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:111.80, Y:113.79, Z:9.19 [[ 8.23340908e-01 -5.67545478e-01 1.37110533e-03 1.11804069e+02] [ 5.67544800e-01 8.23342048e-01 8.78777969e-04 1.13793298e+02] [-1.62763513e-03 5.46298470e-05 9.99998674e-01 9.19112368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:113.81, Z:9.19 [[ 8.24748737e-01 -5.65495356e-01 2.12656057e-03 1.11825835e+02] [ 5.65498545e-01 8.24735363e-01 -4.79335711e-03 1.13810632e+02] [ 9.56771480e-04 5.15588214e-03 9.99986251e-01 9.19329768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:113.82, Z:9.20 [[ 8.25607981e-01 -5.64237544e-01 -2.73048715e-03 1.11853448e+02] [ 5.64244119e-01 8.25596644e-01 4.33068491e-03 1.13821636e+02] [-1.89253990e-04 -5.11610934e-03 9.99986895e-01 9.19521727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:113.85, Z:9.18 [[ 8.26446541e-01 -5.62826451e-01 1.45774182e-02 1.11869031e+02] [ 5.63007505e-01 8.26293554e-01 -1.61713371e-02 1.13850593e+02] [-2.94357042e-03 2.15719415e-02 9.99762965e-01 9.17921282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.762755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:111.90, Y:113.85, Z:9.19 [[ 8.26943134e-01 -5.62281528e-01 -2.12970100e-03 1.11901452e+02] [ 5.62284806e-01 8.26942299e-01 1.49331480e-03 1.13854312e+02] [ 9.21476520e-04 -2.43238493e-03 9.99996617e-01 9.18526073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.792755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:111.92, Y:113.87, Z:9.18 [[ 8.26758262e-01 -5.62556478e-01 -9.93106941e-04 1.11924723e+02] [ 5.62555903e-01 8.26758850e-01 -8.12393950e-04 1.13871276e+02] [ 1.27807743e-03 1.12975238e-04 9.99999177e-01 9.18475055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.822755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.95, Y:113.88, Z:9.20 [[ 8.28804056e-01 -5.59403412e-01 -1.23149709e-02 1.11951657e+02] [ 5.59529885e-01 8.28715153e-01 1.25500597e-02 1.13879242e+02] [ 3.18505680e-03 -1.72921346e-02 9.99845407e-01 9.19999468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.852755096 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:111.97, Y:113.90, Z:9.19 [[ 8.30148256e-01 -5.57533681e-01 -3.17288670e-03 1.11968057e+02] [ 5.57529940e-01 8.30154317e-01 -2.04361854e-03 1.13903803e+02] [ 3.77337176e-03 -7.24729689e-05 9.99992878e-01 9.19194417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:113.92, Z:9.20 [[ 8.30803161e-01 -5.56559877e-01 -2.68527963e-03 1.11991467e+02] [ 5.56557189e-01 8.30807499e-01 -1.73074588e-03 1.13919325e+02] [ 3.19421417e-03 -5.66025333e-05 9.99994897e-01 9.19640200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:113.94, Z:9.19 [[ 8.30960333e-01 -5.56286347e-01 7.10108008e-03 1.12008457e+02] [ 5.56325672e-01 8.30824415e-01 -1.52492033e-02 1.13942519e+02] [ 2.58317290e-03 1.66219962e-02 9.99858508e-01 9.18799684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.942755096 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:112.03, Y:113.95, Z:9.18 [[ 8.30825072e-01 -5.56520656e-01 3.80253017e-03 1.12034173e+02] [ 5.56533181e-01 8.30796149e-01 -6.96967007e-03 1.13954548e+02] [ 7.19637937e-04 7.90681084e-03 9.99968482e-01 9.18396882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97275509600001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.07, Y:113.96, Z:9.20 [[ 8.31372515e-01 -5.55594964e-01 -1.15748448e-02 1.12067401e+02] [ 5.55711925e-01 8.31261715e-01 1.37192456e-02 1.13957272e+02] [ 1.99938158e-03 -1.78380831e-02 9.99838890e-01 9.19811381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.09, Y:113.98, Z:9.20 [[ 8.32119490e-01 -5.54591723e-01 -2.27479142e-03 1.12085379e+02] [ 5.54596082e-01 8.32116344e-01 2.36155445e-03 1.13979104e+02] [ 5.83192562e-04 -3.22668589e-03 9.99994624e-01 9.19529434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:114.02, Z:9.17 [[ 8.30693643e-01 -5.56267189e-01 2.26910879e-02 1.12093584e+02] [ 5.56703505e-01 8.30360314e-01 -2.41444852e-02 1.14015051e+02] [-5.41099399e-03 3.26888786e-02 9.99450928e-01 9.17496520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.13, Y:114.02, Z:9.18 [[ 8.30658165e-01 -5.56756719e-01 5.38219221e-03 1.12126686e+02] [ 5.56753801e-01 8.30674737e-01 2.16470459e-03 1.14015284e+02] [-5.67606493e-03 1.19842643e-03 9.99983173e-01 9.18180180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:114.04, Z:9.18 [[ 8.29163213e-01 -5.58921157e-01 9.77272424e-03 1.12148164e+02] [ 5.59002403e-01 8.29097939e-01 -1.06264524e-02 1.14039535e+02] [-2.16319645e-03 1.42740398e-02 9.99895781e-01 9.17969186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.20, Y:114.02, Z:9.20 [[ 8.30528968e-01 -5.56313573e-01 -2.71448166e-02 1.12196848e+02] [ 5.56970219e-01 8.29745155e-01 3.61545691e-02 1.14022126e+02] [ 2.41000256e-03 -4.51462714e-02 9.98977480e-01 9.20499711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.19, Y:114.08, Z:9.18 [[ 8.28225594e-01 -5.60136739e-01 1.70058571e-02 1.12193164e+02] [ 5.60392595e-01 8.27755152e-01 -2.79561645e-02 1.14077132e+02] [ 1.58258902e-03 3.26839674e-02 9.99464483e-01 9.17952192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.24, Y:114.06, Z:9.21 [[ 8.29324816e-01 -5.58255438e-01 -2.39000913e-02 1.12241300e+02] [ 5.58720323e-01 8.29048632e-01 2.25824305e-02 1.14057370e+02] [ 7.20757341e-03 -3.20816367e-02 9.99459264e-01 9.20901656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:114.10, Z:9.19 [[ 8.26629073e-01 -5.62727032e-01 4.76053587e-03 1.12245569e+02] [ 5.62654506e-01 8.26309877e-01 -2.51375157e-02 1.14101156e+02] [ 1.02118818e-02 2.34579382e-02 9.99672668e-01 9.19469171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.29, Y:114.10, Z:9.20 [[ 8.25686766e-01 -5.63889242e-01 -1.64404215e-02 1.12285284e+02] [ 5.64105859e-01 8.25565549e-01 1.50367495e-02 1.14095169e+02] [ 5.09358434e-03 -2.16897831e-02 9.99751774e-01 9.20327937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.29, Y:114.14, Z:9.19 [[ 8.23279738e-01 -5.67566107e-01 8.89878281e-03 1.12294577e+02] [ 5.67601783e-01 8.22957354e-01 -2.38623091e-02 1.14137533e+02] [ 6.22011914e-03 2.46963206e-02 9.99675648e-01 9.18895653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30275509600003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:112.32, Y:114.14, Z:9.19 [[ 8.22552028e-01 -5.68679216e-01 -3.48005425e-03 1.12323905e+02] [ 5.68658292e-01 8.22555442e-01 -5.50381449e-03 1.14141400e+02] [ 5.99244247e-03 2.54821206e-03 9.99978798e-01 9.19109477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.332755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:112.35, Y:114.16, Z:9.19 [[ 8.21468173e-01 -5.70250566e-01 -2.08178295e-03 1.12346305e+02] [ 5.70208220e-01 8.21442667e-01 -9.72272373e-03 1.14159006e+02] [ 7.25445404e-03 6.79985834e-03 9.99950566e-01 9.18906260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.362755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.38, Y:114.16, Z:9.20 [[ 8.21062263e-01 -5.70532182e-01 -1.87026541e-02 1.12379786e+02] [ 5.70725660e-01 8.21110875e-01 7.01088262e-03 1.14161807e+02] [ 1.13570185e-02 -1.64304558e-02 9.99800509e-01 9.20189291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.39, Y:114.20, Z:9.19 [[ 8.19683446e-01 -5.72811931e-01 2.35377861e-03 1.12390712e+02] [ 5.72747401e-01 8.19513319e-01 -1.89297116e-02 1.14195397e+02] [ 8.91421172e-03 1.68644918e-02 9.99818046e-01 9.18951481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:114.20, Z:9.19 [[ 8.19591717e-01 -5.72901340e-01 -7.31244889e-03 1.12419969e+02] [ 5.72876649e-01 8.19624319e-01 -5.32173461e-03 1.14202392e+02] [ 9.04228983e-03 1.72518385e-04 9.99959103e-01 9.19462009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:114.22, Z:9.19 [[ 8.19542826e-01 -5.72974804e-01 -7.03064341e-03 1.12443695e+02] [ 5.72926243e-01 8.19569492e-01 -7.83380408e-03 1.14219885e+02] [ 1.02506732e-02 2.39209783e-03 9.99944599e-01 9.19461647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.482755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:112.47, Y:114.24, Z:9.19 [[ 8.19115831e-01 -5.73565496e-01 -8.47807643e-03 1.12468445e+02] [ 5.73509759e-01 8.19157587e-01 -8.21004849e-03 1.14236049e+02] [ 1.16538812e-02 1.86272112e-03 9.99930356e-01 9.19359033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.512755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.49, Y:114.25, Z:9.20 [[ 8.19266569e-01 -5.73251076e-01 -1.36195867e-02 1.12493850e+02] [ 5.73281640e-01 8.19356110e-01 -1.93026176e-03 1.14246808e+02] [ 1.22658162e-02 -6.22646010e-03 9.99905386e-01 9.19903839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.542755096 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:112.52, Y:114.26, Z:9.21 [[ 8.20605369e-01 -5.71080143e-01 -2.17783872e-02 1.12522878e+02] [ 5.71262706e-01 8.20762654e-01 2.75455339e-03 1.14257810e+02] [ 1.63018162e-02 -1.47015817e-02 9.99759028e-01 9.20630779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.54, Y:114.29, Z:9.20 [[ 8.21028223e-01 -5.70883754e-01 -2.09679858e-03 1.12535071e+02] [ 5.70742150e-01 8.20896405e-01 -1.95573687e-02 1.14289393e+02] [ 1.28862385e-02 1.48604204e-02 9.99806538e-01 9.19725354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:114.30, Z:9.21 [[ 8.22519978e-01 -5.68514185e-01 -1.58904728e-02 1.12566714e+02] [ 5.68541598e-01 8.22648388e-01 -3.17517724e-03 1.14295385e+02] [ 1.48774051e-02 -6.42274807e-03 9.99868697e-01 9.20704904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:114.31, Z:9.21 [[ 8.22977619e-01 -5.67960751e-01 -1.13324455e-02 1.12586003e+02] [ 5.67911152e-01 8.23055600e-01 -7.51025882e-03 1.14312972e+02] [ 1.35927650e-02 -2.55047259e-04 9.99907582e-01 9.20522908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.662755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.61, Y:114.32, Z:9.21 [[ 8.23792161e-01 -5.66595146e-01 -1.83416571e-02 1.12614818e+02] [ 5.66663125e-01 8.23947713e-01 -1.75202413e-03 1.14324245e+02] [ 1.61052548e-02 -8.95023696e-03 9.99830243e-01 9.21029556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.692755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.63, Y:114.35, Z:9.21 [[ 8.24419568e-01 -5.65868321e-01 -1.11990952e-02 1.12634973e+02] [ 5.65721990e-01 8.24480069e-01 -1.38291868e-02 1.14347232e+02] [ 1.70589295e-02 5.06547777e-03 9.99841654e-01 9.20638992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72275509600001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:112.66, Y:114.36, Z:9.21 [[ 8.25729960e-01 -5.63846441e-01 -1.57233838e-02 1.12660258e+02] [ 5.63806099e-01 8.25874811e-01 -7.31296977e-03 1.14358594e+02] [ 1.71089386e-02 -2.82640144e-03 9.99849637e-01 9.20842043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75275509600002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:112.69, Y:114.36, Z:9.22 [[ 8.27084107e-01 -5.61330868e-01 -2.89747645e-02 1.12692693e+02] [ 5.61748898e-01 8.27264820e-01 8.43168720e-03 1.14362872e+02] [ 1.92368371e-02 -2.32502565e-02 9.99544581e-01 9.21926461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:114.40, Z:9.21 [[ 8.27440014e-01 -5.61540842e-01 -3.86082352e-03 1.12702921e+02] [ 5.61337466e-01 8.27292199e-01 -2.20876976e-02 1.14399744e+02] [ 1.55971735e-02 1.61090199e-02 9.99748582e-01 9.20745737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:112.73, Y:114.41, Z:9.21 [[ 8.28882485e-01 -5.59283401e-01 -1.24860965e-02 1.12730869e+02] [ 5.59148854e-01 8.28968620e-01 -1.27900556e-02 1.14409119e+02] [ 1.75038480e-02 3.61986658e-03 9.99840243e-01 9.21007345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:114.42, Z:9.22 [[ 8.30490704e-01 -5.56766318e-01 -1.72179287e-02 1.12756141e+02] [ 5.56719483e-01 8.30663498e-01 -7.84660070e-03 1.14420208e+02] [ 1.86710279e-02 -3.06902743e-03 9.99820971e-01 9.21732518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.78, Y:114.44, Z:9.22 [[ 8.30605855e-01 -5.56571607e-01 -1.79432431e-02 1.12781598e+02] [ 5.56557014e-01 8.30785845e-01 -6.25854563e-03 1.14436077e+02] [ 1.83903211e-02 -4.78805313e-03 9.99819419e-01 9.21666812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90275509600002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:112.80, Y:114.45, Z:9.22 [[ 8.30056249e-01 -5.57346244e-01 -1.92817881e-02 1.12801477e+02] [ 5.57246384e-01 8.30278103e-01 -1.07115996e-02 1.14452304e+02] [ 2.19793163e-02 -1.85347655e-03 9.99756708e-01 9.21982365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93275509600002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:112.83, Y:114.46, Z:9.22 [[ 8.30116524e-01 -5.57141867e-01 -2.23494265e-02 1.12828427e+02] [ 5.57314094e-01 8.30299736e-01 1.82974199e-03 1.14461157e+02] [ 1.75372971e-02 -1.39745495e-02 9.99748546e-01 9.22178874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.85, Y:114.48, Z:9.22 [[ 8.29807337e-01 -5.57856131e-01 -1.47078583e-02 1.12847447e+02] [ 5.57774054e-01 8.29937630e-01 -9.57259572e-03 1.14482834e+02] [ 1.75467363e-02 -2.60251611e-04 9.99846010e-01 9.21897225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:114.51, Z:9.22 [[ 8.29840625e-01 -5.57937659e-01 -8.37289847e-03 1.12869800e+02] [ 5.57625190e-01 8.29739378e-01 -2.42221563e-02 1.14505222e+02] [ 2.04617767e-02 1.54315902e-02 9.99671537e-01 9.21502503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:114.51, Z:9.22 [[ 8.28625385e-01 -5.59388335e-01 -2.15560159e-02 1.12899734e+02] [ 5.59527471e-01 8.28811646e-01 5.14927452e-04 1.14506089e+02] [ 1.75778326e-02 -1.24878650e-02 9.99767509e-01 9.22331792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05275509600003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.92, Y:114.53, Z:9.21 [[ 8.26786254e-01 -5.62439095e-01 -9.31422770e-03 1.12919174e+02] [ 5.62219335e-01 8.26774500e-01 -1.87974850e-02 1.14533494e+02] [ 1.82732064e-02 1.03048633e-02 9.99779926e-01 9.21192575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.95, Y:114.54, Z:9.22 [[ 8.25854122e-01 -5.63591415e-01 -1.81572663e-02 1.12948546e+02] [ 5.63555099e-01 8.26044013e-01 -7.54585112e-03 1.14541966e+02] [ 1.92514780e-02 -4.00084773e-03 9.99806668e-01 9.21828915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.97, Y:114.56, Z:9.21 [[ 8.23660868e-01 -5.66954766e-01 -1.20443964e-02 1.12969098e+02] [ 5.66762215e-01 8.23723647e-01 -1.61228138e-02 1.14561747e+02] [ 1.90621603e-02 6.45342204e-03 9.99797473e-01 9.21451723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:114.57, Z:9.22 [[ 8.22369160e-01 -5.68745310e-01 -1.54187253e-02 1.12994261e+02] [ 5.68629330e-01 8.22513398e-01 -1.15062950e-02 1.14573837e+02] [ 1.92262594e-02 6.94882738e-04 9.99814917e-01 9.21632271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.172755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.02, Y:114.59, Z:9.22 [[ 8.21124778e-01 -5.70469209e-01 -1.78600491e-02 1.13018404e+02] [ 5.70383332e-01 8.21316769e-01 -1.00806716e-02 1.14587124e+02] [ 2.04194706e-02 -1.90958506e-03 9.99789677e-01 9.21682888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.04, Y:114.60, Z:9.22 [[ 8.19023521e-01 -5.73453512e-01 -1.87494689e-02 1.13041239e+02] [ 5.73360107e-01 8.19235410e-01 -1.05607818e-02 1.14601437e+02] [ 2.14163463e-02 -2.10066877e-03 9.99768437e-01 9.21888211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.232755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.07, Y:114.61, Z:9.23 [[ 8.17134815e-01 -5.75673956e-01 -2.98360679e-02 1.13066427e+02] [ 5.75935670e-01 8.17494988e-01 2.18317897e-04 1.14608741e+02] [ 2.42651561e-02 -1.73620509e-02 9.99554782e-01 9.22873093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:114.64, Z:9.22 [[ 8.14337161e-01 -5.80192492e-01 -1.52204008e-02 1.13080547e+02] [ 5.79894984e-01 8.14445005e-01 -2.00285021e-02 1.14636739e+02] [ 2.40165659e-02 7.48371942e-03 9.99683549e-01 9.22051836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:114.64, Z:9.23 [[ 8.14145411e-01 -5.80078987e-01 -2.59926881e-02 1.13111118e+02] [ 5.80111708e-01 8.14506550e-01 -7.03465331e-03 1.14642787e+02] [ 2.52518693e-02 -9.35143198e-03 9.99637381e-01 9.22945746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.13, Y:114.66, Z:9.23 [[ 8.13324486e-01 -5.81431613e-01 -2.09895055e-02 1.13131228e+02] [ 5.81269591e-01 8.13594656e-01 -1.37621871e-02 1.14661917e+02] [ 2.50787202e-02 -1.00743757e-03 9.99684972e-01 9.22783332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.15, Y:114.68, Z:9.23 [[ 8.12498830e-01 -5.82620784e-01 -1.99668110e-02 1.13153957e+02] [ 5.82474435e-01 8.12743528e-01 -1.30954676e-02 1.14676745e+02] [ 2.38575880e-02 -9.90104854e-04 9.99714877e-01 9.22828731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.382755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.18, Y:114.69, Z:9.23 [[ 8.12065744e-01 -5.83248589e-01 -1.92434558e-02 1.13177554e+02] [ 5.83112707e-01 8.12293141e-01 -1.26263205e-02 1.14692866e+02] [ 2.29956108e-02 -9.67701255e-04 9.99735098e-01 9.22736014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.20, Y:114.71, Z:9.23 [[ 8.12490500e-01 -5.82672024e-01 -1.87749917e-02 1.13201231e+02] [ 5.82542340e-01 8.12706874e-01 -1.23271696e-02 1.14708755e+02] [ 2.24412617e-02 -9.21519390e-04 9.99747738e-01 9.23045067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.22, Y:114.72, Z:9.23 [[ 8.12913979e-01 -5.82107025e-01 -1.79520195e-02 1.13223341e+02] [ 5.81988185e-01 8.13111721e-01 -1.17932761e-02 1.14723965e+02] [ 2.14619463e-02 -8.60944207e-04 9.99769295e-01 9.23099381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:113.25, Y:114.74, Z:9.23 [[ 8.14065619e-01 -5.80501083e-01 -1.77668320e-02 1.13245921e+02] [ 5.80384202e-01 8.14259076e-01 -1.16762534e-02 1.14740170e+02] [ 2.12448819e-02 -8.06352151e-04 9.99773977e-01 9.23060404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:114.76, Z:9.23 [[ 8.15772113e-01 -5.78089813e-01 -1.81115274e-02 1.13269520e+02] [ 5.77967577e-01 8.15972796e-01 -1.19111898e-02 1.14755122e+02] [ 2.16642511e-02 -7.51059141e-04 9.99765020e-01 9.23281571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.29, Y:114.77, Z:9.24 [[ 8.19954780e-01 -5.72012183e-01 -2.18225035e-02 1.13293891e+02] [ 5.71832251e-01 8.20244824e-01 -1.43633647e-02 1.14769339e+02] [ 2.61158151e-02 -7.01501766e-04 9.99658678e-01 9.23833492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:114.79, Z:9.23 [[ 8.20141877e-01 -5.71901733e-01 -1.71962029e-02 1.13314814e+02] [ 5.71789871e-01 8.20321955e-01 -1.13240327e-02 1.14787404e+02] [ 2.05826567e-02 -5.45301150e-04 9.99788006e-01 9.23272801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:114.81, Z:9.23 [[ 8.21830205e-01 -5.69540867e-01 -1.47754572e-02 1.13338527e+02] [ 5.69350987e-01 8.21952572e-01 -1.52781839e-02 1.14806616e+02] [ 2.08462751e-02 4.14365194e-03 9.99774106e-01 9.23119926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.36, Y:114.82, Z:9.23 [[ 8.23955995e-01 -5.66324582e-01 -1.93128535e-02 1.13363402e+02] [ 5.66301300e-01 8.24167015e-01 -7.18120279e-03 1.14818438e+02] [ 1.99839085e-02 -5.01989896e-03 9.99787699e-01 9.23386139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:114.82, Z:9.25 [[ 8.25815509e-01 -5.62855536e-01 -3.49627076e-02 1.13397133e+02] [ 5.63402272e-01 8.26148135e-01 7.55898028e-03 1.14823511e+02] [ 2.46297617e-02 -2.59403920e-02 9.99360031e-01 9.24954976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:114.86, Z:9.23 [[ 8.25426209e-01 -5.64505192e-01 -2.33703637e-03 1.13400958e+02] [ 5.64155371e-01 8.25047286e-01 -3.20264479e-02 1.14864990e+02] [ 2.00072616e-02 2.51170179e-02 9.99484289e-01 9.22788727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:114.87, Z:9.24 [[ 8.25202579e-01 -5.64600036e-01 -1.63554856e-02 1.13432758e+02] [ 5.64496885e-01 8.25364583e-01 -1.07968804e-02 1.14868472e+02] [ 1.95951576e-02 -3.23007116e-04 9.99807944e-01 9.23505803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:114.88, Z:9.24 [[ 8.26071348e-01 -5.63342687e-01 -1.58475564e-02 1.13455364e+02] [ 5.63245501e-01 8.26223298e-01 -1.04674256e-02 1.14883759e+02] [ 1.89903680e-02 -2.79224445e-04 9.99819628e-01 9.23512952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:114.90, Z:9.24 [[ 8.26123099e-01 -5.63262863e-01 -1.59866186e-02 1.13478541e+02] [ 5.63163873e-01 8.26277720e-01 -1.05632214e-02 1.14899209e+02] [ 1.91592571e-02 -2.76564857e-04 9.99816406e-01 9.23581484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.50, Y:114.91, Z:9.24 [[ 8.25722634e-01 -5.63849221e-01 -1.60058693e-02 1.13502331e+02] [ 5.63749965e-01 8.25877700e-01 -1.05831326e-02 1.14914813e+02] [ 1.91861816e-02 -2.84576092e-04 9.99815888e-01 9.23644841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83275509600003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.52, Y:114.93, Z:9.24 [[ 8.25397531e-01 -5.64315996e-01 -1.63209287e-02 1.13524841e+02] [ 5.64212752e-01 8.25558823e-01 -1.07981844e-02 1.14929742e+02] [ 1.95674749e-02 -2.95681327e-04 9.99808495e-01 9.23572412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:114.94, Z:9.25 [[ 8.25722267e-01 -5.63506008e-01 -2.53715826e-02 1.13554206e+02] [ 5.63630844e-01 8.26022677e-01 -2.60933276e-03 1.14939363e+02] [ 2.24278773e-02 -1.21456224e-02 9.99674684e-01 9.24509690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.892755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.57, Y:114.96, Z:9.24 [[ 8.24759404e-01 -5.65309923e-01 -1.40220178e-02 1.13570427e+02] [ 5.65056067e-01 8.24846421e-01 -1.84397056e-02 1.14964616e+02] [ 2.19901598e-02 7.28509438e-03 9.99731644e-01 9.23612278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.59, Y:114.98, Z:9.24 [[ 8.24291421e-01 -5.66036653e-01 -1.20897167e-02 1.13593072e+02] [ 5.65807713e-01 8.24341612e-01 -1.79593504e-02 1.14981534e+02] [ 2.01317071e-02 7.96328351e-03 9.99765623e-01 9.23560768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.952755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.62, Y:114.99, Z:9.24 [[ 8.24244190e-01 -5.65887827e-01 -1.98111681e-02 1.13621451e+02] [ 5.65843283e-01 8.24470778e-01 -8.32557335e-03 1.14990983e+02] [ 2.10450698e-02 -4.34771094e-03 9.99769075e-01 9.23899370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.982755096 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:113.64, Y:115.01, Z:9.24 [[ 8.23312033e-01 -5.67271106e-01 -1.89944266e-02 1.13642427e+02] [ 5.67131496e-01 8.23531012e-01 -1.25912198e-02 1.15007830e+02] [ 2.27851345e-02 -4.05834770e-04 9.99740303e-01 9.23753995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:115.02, Z:9.24 [[ 8.23188600e-01 -5.67477567e-01 -1.81587382e-02 1.13664828e+02] [ 5.67349946e-01 8.23388765e-01 -1.20408104e-02 1.15022288e+02] [ 2.17845909e-02 -3.90501259e-04 9.99762611e-01 9.24008556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:115.04, Z:9.24 [[ 8.22595843e-01 -5.68326819e-01 -1.84582361e-02 1.13688218e+02] [ 5.68195050e-01 8.22802804e-01 -1.22446188e-02 1.15037799e+02] [ 2.21464336e-02 -4.15505885e-04 9.99754651e-01 9.24072955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.072755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.71, Y:115.05, Z:9.24 [[ 8.21255651e-01 -5.70263969e-01 -1.83891547e-02 1.13710033e+02] [ 5.70133500e-01 8.21461377e-01 -1.22064818e-02 1.15053190e+02] [ 2.20668971e-02 -4.59630938e-04 9.99756391e-01 9.23974434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.102755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.73, Y:115.07, Z:9.24 [[ 8.20810365e-01 -5.70937116e-01 -1.73537972e-02 1.13730657e+02] [ 5.70689689e-01 8.20982296e-01 -1.73594038e-02 1.15070295e+02] [ 2.41582881e-02 4.34514542e-03 9.99698703e-01 9.23961001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.76, Y:115.08, Z:9.24 [[ 8.20163238e-01 -5.71775949e-01 -2.01128406e-02 1.13758546e+02] [ 5.71745242e-01 8.20394014e-01 -7.81276416e-03 1.15083135e+02] [ 2.09676047e-02 -5.09167898e-03 9.99767190e-01 9.24343284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.162755096 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:113.78, Y:115.10, Z:9.24 [[ 8.18655133e-01 -5.74008270e-01 -1.78403889e-02 1.13780151e+02] [ 5.73885922e-01 8.18849332e-01 -1.18625696e-02 1.15101596e+02] [ 2.14178036e-02 -5.26994562e-04 9.99770474e-01 9.24161174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.80, Y:115.12, Z:9.24 [[ 8.18334104e-01 -5.74506001e-01 -1.64969375e-02 1.13803514e+02] [ 5.74401345e-01 8.18500221e-01 -1.09764872e-02 1.15117189e+02] [ 1.98088048e-02 -4.93429221e-04 9.99803665e-01 9.24394971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.82, Y:115.14, Z:9.23 [[ 8.17752667e-01 -5.75569515e-01 -5.55847041e-04 1.13820153e+02] [ 5.75347693e-01 8.17463572e-01 -2.69877856e-02 1.15144905e+02] [ 1.59877314e-02 2.17495284e-02 9.99635609e-01 9.23205792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.86, Y:115.14, Z:9.25 [[ 8.17185316e-01 -5.75722097e-01 -2.74267400e-02 1.13856905e+02] [ 5.76103292e-01 8.17335773e-01 8.19949780e-03 1.15139502e+02] [ 1.76962237e-02 -2.25011444e-02 9.99590187e-01 9.25059157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28275509600002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:113.87, Y:115.17, Z:9.24 [[ 8.16692781e-01 -5.76849341e-01 -1.60542428e-02 1.13873066e+02] [ 5.76750385e-01 8.16850393e-01 -1.06971850e-02 1.15166868e+02] [ 1.92845787e-02 -5.22976915e-04 9.99813898e-01 9.24377994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:115.18, Z:9.25 [[ 8.16799149e-01 -5.76731986e-01 -1.48110548e-02 1.13895868e+02] [ 5.76647631e-01 8.16933284e-01 -9.87515080e-03 1.15182803e+02] [ 1.77949590e-02 -4.74744882e-04 9.99841544e-01 9.24517982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.92, Y:115.20, Z:9.24 [[ 8.16476218e-01 -5.77190614e-01 -1.47505764e-02 1.13917514e+02] [ 5.77106910e-01 8.16609311e-01 -9.84112838e-03 1.15199749e+02] [ 1.77256649e-02 -4.77612253e-04 9.99842774e-01 9.24436126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:115.22, Z:9.25 [[ 8.16511951e-01 -5.77143155e-01 -1.46291354e-02 1.13939141e+02] [ 5.77060765e-01 8.16642858e-01 -9.76300877e-03 1.15215325e+02] [ 1.75814326e-02 -4.70286735e-04 9.99845324e-01 9.24549900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40275509600002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:113.96, Y:115.23, Z:9.24 [[ 8.15949307e-01 -5.77916251e-01 -1.54769114e-02 1.13961563e+02] [ 5.77824101e-01 8.16095916e-01 -1.03326348e-02 1.15232898e+02] [ 1.86020417e-02 -5.12026260e-04 9.99826836e-01 9.24440961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.98, Y:115.25, Z:9.25 [[ 8.15761788e-01 -5.78193194e-01 -1.50111585e-02 1.13984675e+02] [ 5.78106437e-01 8.15899738e-01 -1.00281743e-02 1.15248971e+02] [ 1.80458224e-02 -4.97445992e-04 9.99837037e-01 9.24524937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:115.26, Z:9.25 [[ 8.15173305e-01 -5.79018733e-01 -1.51588105e-02 1.14006501e+02] [ 5.78930288e-01 8.15314075e-01 -1.01331478e-02 1.15264576e+02] [ 1.82264740e-02 -5.15622953e-04 9.99833751e-01 9.24552344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.03, Y:115.28, Z:9.25 [[ 8.13792305e-01 -5.80960070e-01 -1.50824541e-02 1.14029134e+02] [ 5.80872783e-01 8.13931871e-01 -1.00856373e-02 1.15281612e+02] [ 1.81354427e-02 -5.53373063e-04 9.99835386e-01 9.24585930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:115.30, Z:9.25 [[ 8.12789960e-01 -5.82366524e-01 -1.48899920e-02 1.14050688e+02] [ 5.82281570e-01 8.12926137e-01 -9.96337889e-03 1.15297578e+02] [ 1.79068020e-02 -5.72033604e-04 9.99839497e-01 9.24590339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:115.32, Z:9.25 [[ 8.10540107e-01 -5.85499108e-01 -1.46809022e-02 1.14072032e+02] [ 5.85416952e-01 8.10672807e-01 -9.82819400e-03 1.15315272e+02] [ 1.76558070e-02 -6.28303564e-04 9.99843927e-01 9.24588233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:115.33, Z:9.25 [[ 8.09406976e-01 -5.87077450e-01 -1.41567861e-02 1.14094306e+02] [ 5.87001196e-01 8.09530522e-01 -9.48315793e-03 1.15331636e+02] [ 1.70276986e-02 -6.34316157e-04 9.99854817e-01 9.24580030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.612755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:114.12, Y:115.35, Z:9.25 [[ 8.07990676e-01 -5.88998201e-01 -1.52376602e-02 1.14117118e+02] [ 5.88910108e-01 8.08134022e-01 -1.02121218e-02 1.15348218e+02] [ 1.83289930e-02 -7.22312865e-04 9.99831749e-01 9.24541514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.14, Y:115.36, Z:9.25 [[ 8.07003251e-01 -5.90385025e-01 -1.38302110e-02 1.14139664e+02] [ 5.90312559e-01 8.07121466e-01 -9.27483746e-03 1.15364722e+02] [ 1.66383853e-02 -6.79323273e-04 9.99861342e-01 9.24604203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:115.38, Z:9.25 [[ 8.05475809e-01 -5.92466540e-01 -1.38607445e-02 1.14160753e+02] [ 5.92393957e-01 8.05594738e-01 -9.30149780e-03 1.15381640e+02] [ 1.66769691e-02 -7.18889835e-04 9.99860671e-01 9.24659428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:115.40, Z:9.25 [[ 8.04672380e-01 -5.93558924e-01 -1.37900342e-02 1.14183273e+02] [ 5.93487189e-01 8.04790198e-01 -9.25704753e-03 1.15398592e+02] [ 1.65926875e-02 -7.35318178e-04 9.99862062e-01 9.24714606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:115.42, Z:9.25 [[ 8.03967731e-01 -5.94503922e-01 -1.41765203e-02 1.14205665e+02] [ 5.94428141e-01 8.04092341e-01 -9.52327176e-03 1.15416135e+02] [ 1.70608538e-02 -7.70519407e-04 9.99854156e-01 9.24795336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:115.43, Z:9.25 [[ 8.03475753e-01 -5.95157757e-01 -1.46273287e-02 1.14228029e+02] [ 5.95077054e-01 8.03608486e-01 -9.83362659e-03 1.15433142e+02] [ 1.76072046e-02 -8.03307120e-04 9.99844658e-01 9.24853546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:115.45, Z:9.25 [[ 8.03248800e-01 -5.95440227e-01 -1.55660295e-02 1.14249989e+02] [ 5.95348731e-01 8.03399157e-01 -1.04729388e-02 1.15451591e+02] [ 1.87417441e-02 -8.54840368e-04 9.99823993e-01 9.24951550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:115.47, Z:9.25 [[ 8.03166217e-01 -5.95545358e-01 -1.58036298e-02 1.14271743e+02] [ 5.95450932e-01 8.03321218e-01 -1.06399509e-02 1.15468430e+02] [ 1.90319645e-02 -8.64636976e-04 9.99818502e-01 9.24977287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.852755096 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:114.29, Y:115.49, Z:9.25 [[ 8.03241381e-01 -5.95392607e-01 -1.76331426e-02 1.14293947e+02] [ 5.95274899e-01 8.03434334e-01 -1.18771412e-02 1.15486205e+02] [ 2.12386342e-02 -9.56355869e-04 9.99773977e-01 9.24928091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:115.50, Z:9.25 [[ 8.03170505e-01 -5.95532711e-01 -1.60601946e-02 1.14315820e+02] [ 5.95434954e-01 8.03330589e-01 -1.08249584e-02 1.15503192e+02] [ 1.93482624e-02 -8.68513987e-04 9.99812428e-01 9.25050960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:115.52, Z:9.25 [[ 8.03307179e-01 -5.95344953e-01 -1.61852434e-02 1.14338514e+02] [ 5.95245473e-01 8.03469750e-01 -1.09173087e-02 1.15519746e+02] [ 1.95039181e-02 -8.64240365e-04 9.99809407e-01 9.25127878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:115.54, Z:9.25 [[ 8.03538638e-01 -5.95038641e-01 -1.59585049e-02 1.14361438e+02] [ 5.94941715e-01 8.03696655e-01 -1.07723351e-02 1.15536584e+02] [ 1.92357526e-02 -8.38392846e-04 9.99814624e-01 9.25188821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97275509600001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:114.38, Y:115.55, Z:9.25 [[ 8.04062865e-01 -5.94297554e-01 -1.71267719e-02 1.14383307e+02] [ 5.94185571e-01 8.04244772e-01 -1.15695063e-02 1.15551971e+02] [ 2.06498460e-02 -8.73870300e-04 9.99786387e-01 9.25160975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:115.57, Z:9.25 [[ 8.05038434e-01 -5.93007577e-01 -1.59728980e-02 1.14405546e+02] [ 5.92909811e-01 8.05196501e-01 -1.07958374e-02 1.15569494e+02] [ 1.92633350e-02 -7.79423913e-04 9.99814141e-01 9.25258603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:115.59, Z:9.25 [[ 8.05645813e-01 -5.92207982e-01 -1.49843074e-02 1.14427724e+02] [ 5.92121674e-01 8.05784838e-01 -1.01349521e-02 1.15585623e+02] [ 1.80761273e-02 -7.07351430e-04 9.99836363e-01 9.25308776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:115.60, Z:9.25 [[ 8.05782321e-01 -5.92027199e-01 -1.47866952e-02 1.14450942e+02] [ 5.91942991e-01 8.05917689e-01 -1.00086594e-02 1.15601597e+02] [ 1.78422579e-02 -6.88079775e-04 9.99840577e-01 9.25370710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.48, Y:115.62, Z:9.25 [[ 8.05980428e-01 -5.91800834e-01 -1.29353342e-02 1.14475019e+02] [ 5.91651977e-01 8.06077105e-01 -1.36981154e-02 1.15620507e+02] [ 1.85334329e-02 3.38719682e-03 9.99822504e-01 9.25259485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:115.63, Z:9.26 [[ 8.05672839e-01 -5.92065917e-01 -1.86876086e-02 1.14498076e+02] [ 5.92046045e-01 8.05872213e-01 -7.17335920e-03 1.15631624e+02] [ 1.93069260e-02 -5.28454408e-03 9.99799638e-01 9.25651005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:115.65, Z:9.26 [[ 8.05278868e-01 -5.92681397e-01 -1.59595200e-02 1.14519509e+02] [ 5.92582865e-01 8.05436665e-01 -1.08317261e-02 1.15650015e+02] [ 1.92741451e-02 -7.34777999e-04 9.99813966e-01 9.25577528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.54, Y:115.67, Z:9.26 [[ 8.04966425e-01 -5.93107928e-01 -1.58757706e-02 1.14542399e+02] [ 5.93010368e-01 8.05122628e-01 -1.07823014e-02 1.15665757e+02] [ 1.91770106e-02 -7.35105878e-04 9.99815834e-01 9.25637005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:115.68, Z:9.26 [[ 8.04572031e-01 -5.93644900e-01 -1.57980808e-02 1.14564560e+02] [ 5.93548270e-01 8.04726777e-01 -1.07361674e-02 1.15680860e+02] [ 1.90866097e-02 -7.38903561e-04 9.99817561e-01 9.25707035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:115.70, Z:9.26 [[ 8.04356782e-01 -5.93943457e-01 -1.55350330e-02 1.14587981e+02] [ 5.93850003e-01 8.04506455e-01 -1.05611460e-02 1.15696565e+02] [ 1.87707579e-02 -7.30549934e-04 9.99823547e-01 9.25732114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:115.71, Z:9.26 [[ 8.03842772e-01 -5.94640988e-01 -1.54561408e-02 1.14610730e+02] [ 5.94548475e-01 8.03991015e-01 -1.05147090e-02 1.15712133e+02] [ 1.86790753e-02 -7.37252110e-04 9.99825259e-01 9.25805806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30275509600003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:114.63, Y:115.74, Z:9.25 [[ 8.03873775e-01 -5.94763405e-01 -6.59132603e-03 1.14631070e+02] [ 5.94505946e-01 8.03775491e-01 -2.25308582e-02 1.15735627e+02] [ 1.86984762e-02 1.41933835e-02 9.99724419e-01 9.25082565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:115.74, Z:9.25 [[ 8.03452753e-01 -5.95199636e-01 -1.41798176e-02 1.14658761e+02] [ 5.95112066e-01 8.03577836e-01 -1.02122519e-02 1.15743819e+02] [ 1.74729158e-02 -2.33518643e-04 9.99847310e-01 9.25479007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.362755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:114.69, Y:115.75, Z:9.26 [[ 8.03043465e-01 -5.95420899e-01 -2.43956249e-02 1.14685955e+02] [ 5.95634286e-01 8.03253507e-01 1.89771350e-03 1.15751623e+02] [ 1.84659329e-02 -1.60548170e-02 9.99700581e-01 9.26253583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.70, Y:115.78, Z:9.25 [[ 8.02645601e-01 -5.96416805e-01 -6.85817533e-03 1.14700247e+02] [ 5.96159814e-01 8.02556134e-01 -2.22963674e-02 1.15782718e+02] [ 1.88019989e-02 1.38075127e-02 9.99727882e-01 9.25342586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.73, Y:115.79, Z:9.26 [[ 8.02429975e-01 -5.96578677e-01 -1.41427543e-02 1.14729285e+02] [ 5.96459564e-01 8.02553735e-01 -1.19787521e-02 1.15792850e+02] [ 1.84965884e-02 1.17652873e-03 9.99828231e-01 9.25730294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:115.81, Z:9.26 [[ 8.02116209e-01 -5.96982148e-01 -1.48963886e-02 1.14752667e+02] [ 5.96862740e-01 8.02254213e-01 -1.19602520e-02 1.15808600e+02] [ 1.90907475e-02 7.02412672e-04 9.99817508e-01 9.25804631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:115.81, Z:9.27 [[ 8.02157056e-01 -5.96488508e-01 -2.73041724e-02 1.14780013e+02] [ 5.96760461e-01 8.02416049e-01 2.33160635e-03 1.15814634e+02] [ 2.05185297e-02 -1.81643650e-02 9.99624452e-01 9.26705380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:115.84, Z:9.26 [[ 8.02031731e-01 -5.97009024e-01 -1.80368307e-02 1.14797807e+02] [ 5.96882223e-01 8.02234045e-01 -1.23348681e-02 1.15839073e+02] [ 2.18337872e-02 -8.72907987e-04 9.99761233e-01 9.26356017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.542755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.82, Y:115.85, Z:9.26 [[ 8.01902209e-01 -5.97184424e-01 -1.79891808e-02 1.14819953e+02] [ 5.97058171e-01 8.02103490e-01 -1.23098186e-02 1.15854113e+02] [ 2.17804166e-02 -8.69316711e-04 9.99762401e-01 9.26410857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.84, Y:115.87, Z:9.26 [[ 8.01973947e-01 -5.97079571e-01 -1.82694962e-02 1.14843373e+02] [ 5.96949226e-01 8.02181537e-01 -1.25061191e-02 1.15869815e+02] [ 2.21226008e-02 -8.76379889e-04 9.99754881e-01 9.26466218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:115.89, Z:9.27 [[ 8.01845113e-01 -5.97252659e-01 -1.82668171e-02 1.14866816e+02] [ 5.97122271e-01 8.02052675e-01 -1.25100313e-02 1.15886090e+02] [ 2.21225990e-02 -8.76415838e-04 9.99754881e-01 9.26514748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:115.90, Z:9.27 [[ 8.02341224e-01 -5.96574287e-01 -1.86461989e-02 1.14889802e+02] [ 5.96438104e-01 8.02557389e-01 -1.27759854e-02 1.15901006e+02] [ 2.25864691e-02 -8.70603773e-04 9.99744514e-01 9.26541667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.91, Y:115.92, Z:9.27 [[ 8.02583097e-01 -5.96239932e-01 -1.89292586e-02 1.14913178e+02] [ 5.96099320e-01 8.02805823e-01 -1.29773085e-02 1.15916767e+02] [ 2.29341086e-02 -8.68349791e-04 9.99736602e-01 9.26603040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.94, Y:115.93, Z:9.27 [[ 8.03035914e-01 -5.95612053e-01 -1.94833918e-02 1.14935793e+02] [ 5.95462706e-01 8.03271764e-01 -1.33655458e-02 1.15931933e+02] [ 2.36111387e-02 -8.68619955e-04 9.99720841e-01 9.26677550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:115.95, Z:9.27 [[ 8.03476997e-01 -5.95013113e-01 -1.95987507e-02 1.14959532e+02] [ 5.94861688e-01 8.03715540e-01 -1.34500051e-02 1.15947612e+02] [ 2.37547499e-02 -8.51776216e-04 9.99717453e-01 9.26731561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:115.96, Z:9.27 [[ 8.04707364e-01 -5.93358006e-01 -1.92960006e-02 1.14982765e+02] [ 5.93210567e-01 8.04938297e-01 -1.32499462e-02 1.15962157e+02] [ 2.33940515e-02 -7.84262154e-04 9.99726014e-01 9.26826627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:115.98, Z:9.27 [[ 8.05299058e-01 -5.92556179e-01 -1.92510129e-02 1.15006622e+02] [ 5.92409053e-01 8.05528774e-01 -1.32252665e-02 1.15977417e+02] [ 2.33439582e-02 -7.54179634e-04 9.99727208e-01 9.26906007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:115.99, Z:9.27 [[ 8.05782845e-01 -5.91909929e-01 -1.88850046e-02 1.15030230e+02] [ 5.91767970e-01 8.06003800e-01 -1.29824312e-02 1.15992629e+02] [ 2.29058154e-02 -7.14520449e-04 9.99737372e-01 9.26974654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:116.01, Z:9.27 [[ 8.07308415e-01 -5.89860213e-01 -1.78340325e-02 1.15053400e+02] [ 5.89732956e-01 8.07505141e-01 -1.22673558e-02 1.16005808e+02] [ 2.16370981e-02 -6.13777183e-04 9.99765702e-01 9.27050875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:116.02, Z:9.27 [[ 8.08038850e-01 -5.88867796e-01 -1.75480736e-02 1.15076844e+02] [ 5.88744226e-01 8.08229169e-01 -1.20766893e-02 1.16020981e+02] [ 2.12944384e-02 -5.72892874e-04 9.99773084e-01 9.27167744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:116.04, Z:9.27 [[ 8.08529321e-01 -5.88204309e-01 -1.72054778e-02 1.15099363e+02] [ 5.88085219e-01 8.08712187e-01 -1.18479631e-02 1.16035833e+02] [ 2.08833025e-02 -5.38861561e-04 9.99781775e-01 9.27198440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.12, Y:116.05, Z:9.27 [[ 8.09515754e-01 -5.86860435e-01 -1.67054888e-02 1.15123544e+02] [ 5.86747800e-01 8.09687961e-01 -1.15076351e-02 1.16050761e+02] [ 2.02796089e-02 -4.86296888e-04 9.99794229e-01 9.27258245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:116.07, Z:9.27 [[ 8.09848688e-01 -5.86397177e-01 -1.68360649e-02 1.15146088e+02] [ 5.86282524e-01 8.10023535e-01 -1.16049547e-02 1.16065479e+02] [ 2.04427215e-02 -4.72433303e-04 9.99790914e-01 9.27314374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:116.08, Z:9.27 [[ 8.10390623e-01 -5.85624657e-01 -1.76294922e-02 1.15170777e+02] [ 5.85498624e-01 8.10582224e-01 -1.21581265e-02 1.16079415e+02] [ 2.14102516e-02 -4.69211702e-04 9.99770664e-01 9.27370152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:116.09, Z:9.27 [[ 8.10334065e-01 -5.85690421e-01 -1.80397863e-02 1.15194689e+02] [ 5.85558281e-01 8.10534703e-01 -1.24496458e-02 1.16094246e+02] [ 2.19135111e-02 -4.74974198e-04 9.99759757e-01 9.27414045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:116.11, Z:9.27 [[ 8.10274377e-01 -5.85754613e-01 -1.86270508e-02 1.15217345e+02] [ 5.85613573e-01 8.10488308e-01 -1.28625855e-02 1.16108198e+02] [ 2.26313257e-02 -4.86030268e-04 9.99743761e-01 9.27470916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:116.12, Z:9.28 [[ 8.10155290e-01 -5.85904070e-01 -1.91004468e-02 1.15241954e+02] [ 5.85755689e-01 8.10380264e-01 -1.31947129e-02 1.16122396e+02] [ 2.32094611e-02 -4.98428917e-04 9.99730500e-01 9.27516644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:116.14, Z:9.28 [[ 8.09843672e-01 -5.86329833e-01 -1.92497592e-02 1.15265488e+02] [ 5.86179034e-01 8.10072262e-01 -1.33067911e-02 1.16137521e+02] [ 2.33958646e-02 -5.07384687e-04 9.99726151e-01 9.27579002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:116.15, Z:9.28 [[ 8.09525674e-01 -5.86767546e-01 -1.92880645e-02 1.15288441e+02] [ 5.86616093e-01 8.09755260e-01 -1.33408325e-02 1.16152210e+02] [ 2.34465792e-02 -5.14942659e-04 9.99724959e-01 9.27631131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:116.15, Z:9.30 [[ 8.11286000e-01 -5.82663188e-01 -4.81522091e-02 1.15335454e+02] [ 5.83863569e-01 8.11711894e-01 1.50709685e-02 1.16147473e+02] [ 3.03044223e-02 -4.03411864e-02 9.98726304e-01 9.29905602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:116.20, Z:9.27 [[ 8.07520807e-01 -5.89831289e-01 3.03246403e-03 1.15324368e+02] [ 5.89338047e-01 8.06612335e-01 -4.53564580e-02 1.16199292e+02] [ 2.43066352e-02 3.84134300e-02 9.98966264e-01 9.26744643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:116.20, Z:9.28 [[ 8.06277952e-01 -5.91219209e-01 -1.93832447e-02 1.15360568e+02] [ 5.91067090e-01 8.06510662e-01 -1.34256261e-02 1.16195332e+02] [ 2.35702816e-02 -6.32011706e-04 9.99721983e-01 9.27813777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:116.21, Z:9.28 [[ 8.05223662e-01 -5.92653295e-01 -1.94145832e-02 1.15384281e+02] [ 5.92500888e-01 8.05457401e-01 -1.34563071e-02 1.16209764e+02] [ 2.36125445e-02 -6.67820919e-04 9.99720962e-01 9.27888326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:116.22, Z:9.28 [[ 8.03437965e-01 -5.95056965e-01 -1.98656796e-02 1.15409125e+02] [ 5.94897897e-01 8.03683177e-01 -1.37783451e-02 1.16223930e+02] [ 2.41646127e-02 -7.48005468e-04 9.99707713e-01 9.27939469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.45, Y:116.23, Z:9.29 [[ 8.03834589e-01 -5.93634392e-01 -3.80547326e-02 1.15447456e+02] [ 5.94139491e-01 8.04358132e-01 2.50224575e-03 1.16227453e+02] [ 2.91242145e-02 -2.46212111e-02 9.99272523e-01 9.29460644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:116.26, Z:9.28 [[ 8.02407258e-01 -5.96504488e-01 -1.80274188e-02 1.15459398e+02] [ 5.96084673e-01 8.02565315e-01 -2.39160443e-02 1.16258083e+02] [ 2.87342088e-02 8.44453946e-03 9.99551417e-01 9.28296304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.48, Y:116.27, Z:9.28 [[ 8.01689908e-01 -5.97402851e-01 -2.00779597e-02 1.15484081e+02] [ 5.97139817e-01 8.01937862e-01 -1.78802757e-02 1.16271077e+02] [ 2.67830038e-02 2.34508738e-03 9.99638520e-01 9.28318338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.50, Y:116.29, Z:9.28 [[ 8.01685171e-01 -5.97560340e-01 -1.49173537e-02 1.15502680e+02] [ 5.97239889e-01 8.01783490e-01 -2.11601053e-02 1.16289150e+02] [ 2.46049277e-02 8.05450397e-03 9.99664805e-01 9.27910161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.442755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.53, Y:116.30, Z:9.28 [[ 8.02050287e-01 -5.96846532e-01 -2.21258730e-02 1.15531758e+02] [ 5.96703797e-01 8.02351405e-01 -1.32967176e-02 1.16300273e+02] [ 2.56888250e-02 -2.53795625e-03 9.99666766e-01 9.28301656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:116.32, Z:9.28 [[ 8.03606295e-01 -5.95039604e-01 -1.20330103e-02 1.15549408e+02] [ 5.94692396e-01 8.03611459e-01 -2.34430642e-02 1.16323091e+02] [ 2.36194166e-02 1.16830542e-02 9.99652754e-01 9.27628948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.57, Y:116.33, Z:9.28 [[ 8.03721248e-01 -5.94796398e-01 -1.57924381e-02 1.15573787e+02] [ 5.94714044e-01 8.03875233e-01 -9.99079157e-03 1.16332810e+02] [ 1.86376367e-02 -1.36217328e-03 9.99825376e-01 9.27643533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.60, Y:116.35, Z:9.28 [[ 8.05190611e-01 -5.92814943e-01 -1.54441706e-02 1.15595998e+02] [ 5.92563245e-01 8.05320429e-01 -1.81054211e-02 1.16352168e+02] [ 2.31706703e-02 5.42666727e-03 9.99716796e-01 9.27687190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.63, Y:116.36, Z:9.28 [[ 8.06102560e-01 -5.91320598e-01 -2.32080142e-02 1.15626157e+02] [ 5.91528375e-01 8.06279645e-01 2.70491308e-03 1.16357472e+02] [ 1.71126786e-02 -1.59086363e-02 9.99726999e-01 9.28022038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:116.39, Z:9.27 [[ 8.06280246e-01 -5.91526774e-01 -2.87049405e-03 1.15636375e+02] [ 5.91192232e-01 8.05970142e-01 -3.00645281e-02 1.16390687e+02] [ 2.00975058e-02 2.25434214e-02 9.99543838e-01 9.27034055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.67, Y:116.39, Z:9.29 [[ 8.06290303e-01 -5.90883819e-01 -2.74273426e-02 1.15674820e+02] [ 5.91108593e-01 8.06591979e-01 1.08553667e-04 1.16385942e+02] [ 2.20585319e-02 -1.63000637e-02 9.99623794e-01 9.28833527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:116.41, Z:9.28 [[ 8.04948320e-01 -5.93115958e-01 -1.64821611e-02 1.15693730e+02] [ 5.92951811e-01 8.05115603e-01 -1.40362501e-02 1.16410313e+02] [ 2.15951690e-02 1.52532865e-03 9.99765634e-01 9.28356634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.71, Y:116.43, Z:9.28 [[ 8.04544096e-01 -5.93713001e-01 -1.46174335e-02 1.15714922e+02] [ 5.93433387e-01 8.04646078e-01 -1.95321332e-02 1.16428312e+02] [ 2.33583420e-02 7.03998936e-03 9.99702369e-01 9.28353277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:116.43, Z:9.29 [[ 8.04855965e-01 -5.93077539e-01 -2.15848986e-02 1.15744705e+02] [ 5.93235796e-01 8.05027891e-01 1.17717355e-03 1.16433753e+02] [ 1.66782902e-02 -1.37523897e-02 9.99766326e-01 9.28640762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:116.45, Z:9.28 [[ 8.04816456e-01 -5.93325936e-01 -1.53233845e-02 1.15764343e+02] [ 5.93316050e-01 8.04949603e-01 -5.67465602e-03 1.16452432e+02] [ 1.57014729e-02 -4.52455342e-03 9.99866487e-01 9.28468370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.78, Y:116.47, Z:9.28 [[ 8.04147024e-01 -5.94342512e-01 -1.02246142e-02 1.15784051e+02] [ 5.94141167e-01 8.04173330e-01 -1.73645667e-02 1.16474886e+02] [ 1.85428623e-02 7.88880041e-03 9.99796944e-01 9.28176879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:116.48, Z:9.28 [[ 8.04693842e-01 -5.93441019e-01 -1.71923473e-02 1.15812235e+02] [ 5.93501242e-01 8.04830809e-01 -1.90907260e-03 1.16481165e+02] [ 1.49698528e-02 -8.66746049e-03 9.99850378e-01 9.28491833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:116.50, Z:9.28 [[ 8.04447371e-01 -5.93887314e-01 -1.27391245e-02 1.15831875e+02] [ 5.93819802e-01 8.04548154e-01 -8.96164647e-03 1.16500174e+02] [ 1.55714473e-02 -3.55571459e-04 9.99878694e-01 9.28269011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:116.52, Z:9.28 [[ 8.04064095e-01 -5.94394742e-01 -1.32598059e-02 1.15855546e+02] [ 5.94321616e-01 8.04173332e-01 -9.33106323e-03 1.16516119e+02] [ 1.62095172e-02 -3.77816377e-04 9.99868546e-01 9.28320763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.88, Y:116.53, Z:9.28 [[ 8.03704618e-01 -5.94886888e-01 -1.29798501e-02 1.15879000e+02] [ 5.94816790e-01 8.03809337e-01 -9.13981928e-03 1.16532216e+02] [ 1.58704834e-02 -3.74917834e-04 9.99873986e-01 9.28298327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.922755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:115.90, Y:116.55, Z:9.28 [[ 8.03173366e-01 -5.95586019e-01 -1.37782068e-02 1.15902459e+02] [ 5.95507020e-01 8.03291434e-01 -9.70880017e-03 1.16547810e+02] [ 1.68503412e-02 -4.07169172e-04 9.99857940e-01 9.28242193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.952755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:115.94, Y:116.55, Z:9.29 [[ 8.04723025e-01 -5.92936038e-01 -2.91154191e-02 1.15939080e+02] [ 5.93276662e-01 8.04988674e-01 4.00459426e-03 1.16553687e+02] [ 2.10631144e-02 -2.04960878e-02 9.99568035e-01 9.29450612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.982755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:115.94, Y:116.59, Z:9.28 [[ 8.02906373e-01 -5.96100693e-01 -2.30643697e-03 1.15941686e+02] [ 5.95856021e-01 8.02676654e-01 -2.58029551e-02 1.16589031e+02] [ 1.72324825e-02 1.93430527e-02 9.99664388e-01 9.27682027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.97, Y:116.60, Z:9.28 [[ 8.03269319e-01 -5.95476766e-01 -1.28772124e-02 1.15971210e+02] [ 5.95407499e-01 8.03372446e-01 -9.08969103e-03 1.16595258e+02] [ 1.57578975e-02 -3.65718905e-04 9.99875770e-01 9.28281108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.042755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:115.99, Y:116.61, Z:9.28 [[ 8.03330376e-01 -5.95371289e-01 -1.39045389e-02 1.15994325e+02] [ 5.95290396e-01 8.03450608e-01 -9.82169423e-03 1.16611244e+02] [ 1.70191650e-02 -3.87173173e-04 9.99855089e-01 9.28278007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:116.63, Z:9.28 [[ 8.04420823e-01 -5.93928970e-01 -1.24706851e-02 1.16016722e+02] [ 5.93863646e-01 8.04517420e-01 -8.81424175e-03 1.16627969e+02] [ 1.52679169e-02 -3.15526926e-04 9.99883389e-01 9.28339801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:116.64, Z:9.28 [[ 8.06578311e-01 -5.90986179e-01 -1.29137430e-02 1.16038904e+02] [ 5.90915659e-01 8.06681639e-01 -9.13329302e-03 1.16643863e+02] [ 1.58149293e-02 -2.64216909e-04 9.99874901e-01 9.28361038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:116.66, Z:9.28 [[ 8.07629535e-01 -5.89548337e-01 -1.29342005e-02 1.16062155e+02] [ 5.89477360e-01 8.07733065e-01 -9.15081993e-03 1.16660181e+02] [ 1.58422321e-02 -2.33945928e-04 9.99874477e-01 9.28398376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.08, Y:116.68, Z:9.28 [[ 8.09543230e-01 -5.86931733e-01 -1.22841411e-02 1.16084038e+02] [ 5.86867330e-01 8.09636407e-01 -8.69623089e-03 1.16675785e+02] [ 1.50497817e-02 -1.69186232e-04 9.99886731e-01 9.28415508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:116.68, Z:9.30 [[ 8.11664120e-01 -5.83535162e-01 -2.62311107e-02 1.16119384e+02] [ 5.83826009e-01 8.11866325e-01 4.50137857e-03 1.16682974e+02] [ 1.86694428e-02 -1.89680121e-02 9.99645770e-01 9.29628280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:116.72, Z:9.28 [[ 8.11215320e-01 -5.84747378e-01 -4.56551049e-04 1.16123096e+02] [ 5.84582364e-01 8.11004460e-01 -2.31349401e-02 1.16717979e+02] [ 1.38983605e-02 1.85005262e-02 9.99732247e-01 9.27934856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:116.73, Z:9.28 [[ 8.11783757e-01 -5.83854743e-01 -1.09895410e-02 1.16151786e+02] [ 5.83802771e-01 8.11858134e-01 -7.79066034e-03 1.16725596e+02] [ 1.34705623e-02 -9.13929635e-05 9.99909264e-01 9.28486215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:116.74, Z:9.29 [[ 8.12593629e-01 -5.82721629e-01 -1.12737466e-02 1.16173363e+02] [ 5.82666751e-01 8.12671827e-01 -7.99743513e-03 1.16742368e+02] [ 1.38221347e-02 -7.01724544e-05 9.99904467e-01 9.28544571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:116.76, Z:9.29 [[ 8.12680871e-01 -5.82608079e-01 -1.08456220e-02 1.16196215e+02] [ 5.82557254e-01 8.12753236e-01 -7.69567225e-03 1.16758986e+02] [ 1.32983752e-02 -6.40701750e-05 9.99911571e-01 9.28550437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.22, Y:116.78, Z:9.29 [[ 8.12712833e-01 -5.82558102e-01 -1.11314445e-02 1.16218877e+02] [ 5.82504489e-01 8.12789059e-01 -7.90358565e-03 1.16775270e+02] [ 1.36518141e-02 -6.07708847e-05 9.99906808e-01 9.28618280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:116.79, Z:9.29 [[ 8.12511490e-01 -5.82838196e-01 -1.11675918e-02 1.16241073e+02] [ 5.82784192e-01 8.12588231e-01 -7.93429671e-03 1.16790900e+02] [ 1.36990648e-02 -6.15887175e-05 9.99906162e-01 9.28689853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:116.80, Z:9.30 [[ 8.12710309e-01 -5.82084045e-01 -2.60790822e-02 1.16275373e+02] [ 5.82386655e-01 8.12894516e-01 5.31886048e-03 1.16797754e+02] [ 1.81035191e-02 -1.95108022e-02 9.99645733e-01 9.30057588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:116.83, Z:9.29 [[ 8.11475914e-01 -5.84356498e-01 -5.85860866e-03 1.16284490e+02] [ 5.84162004e-01 8.11401762e-01 -1.95431329e-02 1.16830037e+02] [ 1.61738421e-02 1.24364050e-02 9.99791850e-01 9.28746571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:116.84, Z:9.29 [[ 8.10134875e-01 -5.86192801e-01 -7.71266007e-03 1.16307906e+02] [ 5.86079004e-01 8.10149084e-01 -1.30331525e-02 1.16843679e+02] [ 1.38883447e-02 6.03838326e-03 9.99885319e-01 9.28639746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.33, Y:116.86, Z:9.29 [[ 8.08586627e-01 -5.88209578e-01 -1.40412924e-02 1.16334063e+02] [ 5.88132212e-01 8.08708358e-01 -9.55469491e-03 1.16858001e+02] [ 1.69754736e-02 -5.32337855e-04 9.99855765e-01 9.29177817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.36, Y:116.87, Z:9.29 [[ 8.08465357e-01 -5.88380538e-01 -1.38603402e-02 1.16356296e+02] [ 5.88298980e-01 8.08584126e-01 -9.79902798e-03 1.16874275e+02] [ 1.69728084e-02 -2.31849358e-04 9.99855925e-01 9.29204684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:116.89, Z:9.29 [[ 8.07087183e-01 -5.90260333e-01 -1.42484689e-02 1.16378415e+02] [ 5.90239179e-01 8.07205399e-01 -6.09545075e-03 1.16889190e+02] [ 1.50993438e-02 -3.49044439e-03 9.99879906e-01 9.29199120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:116.91, Z:9.28 [[ 8.04291261e-01 -5.94222998e-01 -3.82044617e-03 1.16394431e+02] [ 5.94089394e-01 8.04219641e-01 -1.69871042e-02 1.16912616e+02] [ 1.31666058e-02 1.13928929e-02 9.99848410e-01 9.28407882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:116.93, Z:9.28 [[ 8.02622383e-01 -5.96446137e-01 -7.02254348e-03 1.16418079e+02] [ 5.96350326e-01 8.02634676e-01 -1.19944351e-02 1.16925842e+02] [ 1.27905714e-02 5.43910597e-03 9.99903404e-01 9.28478649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.45, Y:116.93, Z:9.29 [[ 8.01963537e-01 -5.97029329e-01 -2.02599661e-02 1.16451487e+02] [ 5.97183610e-01 8.02102007e-01 2.02652573e-03 1.16931334e+02] [ 1.50406642e-02 -1.37241194e-02 9.99792692e-01 9.29475320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:116.95, Z:9.29 [[ 8.01798510e-01 -5.97464754e-01 -1.24505711e-02 1.16470190e+02] [ 5.97398529e-01 8.01895116e-01 -8.90059740e-03 1.16954390e+02] [ 1.53018454e-02 -3.01467149e-04 9.99882874e-01 9.29111142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:116.99, Z:9.28 [[ 7.97166726e-01 -6.03746436e-01 3.93087743e-03 1.16477953e+02] [ 6.03585264e-01 7.96763856e-01 -2.91922208e-02 1.16986385e+02] [ 1.44927182e-02 2.56436867e-02 9.99566087e-01 9.27832119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.52, Y:116.98, Z:9.30 [[ 7.99350405e-01 -6.00203625e-01 -2.81875533e-02 1.16524412e+02] [ 6.00667171e-01 7.99411420e-01 1.18461786e-02 1.16975770e+02] [ 1.54233327e-02 -2.64005856e-02 9.99532456e-01 9.30048450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:117.00, Z:9.29 [[ 7.98936040e-01 -6.01275130e-01 -1.30162272e-02 1.16538226e+02] [ 6.01203112e-01 7.99041970e-01 -9.31384291e-03 1.17004907e+02] [ 1.60006939e-02 -3.84231514e-04 9.99871907e-01 9.29290966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:117.03, Z:9.28 [[ 7.97061334e-01 -6.03891325e-01 -2.91492773e-03 1.16546203e+02] [ 6.03735352e-01 7.96949047e-01 -1.93866488e-02 1.17029945e+02] [ 1.40304779e-02 1.36925032e-02 9.99807812e-01 9.28433814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:117.04, Z:9.29 [[ 7.98064633e-01 -6.02319650e-01 -1.74321967e-02 1.16577588e+02] [ 6.02372248e-01 7.98210919e-01 -2.64652495e-03 1.17036007e+02] [ 1.55086237e-02 -8.38857355e-03 9.99844545e-01 9.29449238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:117.06, Z:9.30 [[ 7.98056816e-01 -6.02365531e-01 -1.61581372e-02 1.16600283e+02] [ 6.02236634e-01 7.98220346e-01 -1.24625385e-02 1.17057640e+02] [ 2.04047575e-02 2.14791671e-04 9.99791778e-01 9.29605216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.63, Y:117.07, Z:9.30 [[ 8.00212948e-01 -5.99456567e-01 -1.76369358e-02 1.16627864e+02] [ 5.99475692e-01 8.00378761e-01 -4.76800460e-03 1.17069572e+02] [ 1.69744405e-02 -6.75749529e-03 9.99833088e-01 9.29790537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:117.08, Z:9.31 [[ 8.01553913e-01 -5.97356064e-01 -2.60203315e-02 1.16653448e+02] [ 5.97593118e-01 8.01797703e-01 1.70570332e-03 1.17080320e+02] [ 1.98441298e-02 -1.69167842e-02 9.99659959e-01 9.30608828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:117.11, Z:9.29 [[ 8.00740545e-01 -5.98995526e-01 -4.35200937e-03 1.16665565e+02] [ 5.98766600e-01 8.00599926e-01 -2.27665843e-02 1.17113602e+02] [ 1.71213005e-02 1.56242893e-02 9.99731335e-01 9.29210511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:117.12, Z:9.30 [[ 8.01202766e-01 -5.98239744e-01 -1.35401847e-02 1.16693115e+02] [ 5.98161044e-01 8.01317107e-01 -9.70871299e-03 1.17122125e+02] [ 1.66581196e-02 -3.20563308e-04 9.99861193e-01 9.29722774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:117.14, Z:9.30 [[ 8.01054398e-01 -5.98434285e-01 -1.37207285e-02 1.16715391e+02] [ 5.98353441e-01 8.01171830e-01 -9.84167832e-03 1.17138624e+02] [ 1.68822589e-02 -3.26125414e-04 9.99857431e-01 9.29805970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.74, Y:117.16, Z:9.30 [[ 8.00966377e-01 -5.98555768e-01 -1.35593421e-02 1.16737561e+02] [ 5.98476729e-01 8.01081076e-01 -9.73215106e-03 1.17155108e+02] [ 1.66873675e-02 -3.19824927e-04 9.99860705e-01 9.29867915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:117.17, Z:9.30 [[ 8.00674581e-01 -5.98949686e-01 -1.33973310e-02 1.16760044e+02] [ 5.98872478e-01 8.00786595e-01 -9.62206384e-03 1.17172188e+02] [ 1.64915352e-02 -3.19150899e-04 9.99863954e-01 9.29928152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:117.19, Z:9.30 [[ 8.00386266e-01 -5.99338815e-01 -1.32216109e-02 1.16783135e+02] [ 5.99263569e-01 8.00495399e-01 -9.50213798e-03 1.17188738e+02] [ 1.62788388e-02 -3.17848989e-04 9.99867440e-01 9.29930636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:117.20, Z:9.30 [[ 7.99957482e-01 -5.99897491e-01 -1.38212525e-02 1.16805720e+02] [ 5.99815245e-01 8.00076799e-01 -9.93918327e-03 1.17203901e+02] [ 1.70205546e-02 -3.39273938e-04 9.99855082e-01 9.30020095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.83, Y:117.22, Z:9.30 [[ 7.99623215e-01 -6.00337208e-01 -1.40694942e-02 1.16828380e+02] [ 6.00251982e-01 7.99746905e-01 -1.01215250e-02 1.17219784e+02] [ 1.73283625e-02 -3.51835399e-04 9.99849791e-01 9.30080825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.85, Y:117.24, Z:9.30 [[ 7.99152097e-01 -6.00962821e-01 -1.41284641e-02 1.16850545e+02] [ 6.00876876e-01 7.99276896e-01 -1.01697541e-02 1.17235581e+02] [ 1.74041991e-02 -3.62287078e-04 9.99848470e-01 9.30105974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:117.26, Z:9.30 [[ 7.99895750e-01 -5.99990628e-01 -1.33430307e-02 1.16870387e+02] [ 5.99913795e-01 8.00006965e-01 -9.60697832e-03 1.17255029e+02] [ 1.64386144e-02 -3.20087053e-04 9.99864826e-01 9.30133405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:117.27, Z:9.30 [[ 8.00394714e-01 -5.99229530e-01 -1.70959574e-02 1.16896579e+02] [ 5.99220159e-01 8.00560023e-01 -6.23300122e-03 1.17270018e+02] [ 1.74213384e-02 -5.25538106e-03 9.99834425e-01 9.30424846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.91, Y:117.29, Z:9.30 [[ 8.00086015e-01 -5.99794449e-01 -1.04397206e-02 1.16912925e+02] [ 5.99659728e-01 8.00141246e-01 -1.34980271e-02 1.17291807e+02] [ 1.64492927e-02 4.53930270e-03 9.99854397e-01 9.30045276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.94, Y:117.30, Z:9.31 [[ 8.00781504e-01 -5.98648790e-01 -1.91992012e-02 1.16941164e+02] [ 5.98769141e-01 8.00921397e-01 6.57706272e-04 1.17301002e+02] [ 1.49833160e-02 -1.20225682e-02 9.99815462e-01 9.30563798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.95, Y:117.33, Z:9.30 [[ 7.99672447e-01 -6.00411673e-01 -5.45896848e-03 1.16951906e+02] [ 6.00030913e-01 7.99433374e-01 -2.94819289e-02 1.17330570e+02] [ 2.20653758e-02 2.03003364e-02 9.99550407e-01 9.29832917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:117.33, Z:9.31 [[ 7.98446310e-01 -6.01682102e-01 -2.14974048e-02 1.16985993e+02] [ 6.01765111e-01 7.98667115e-01 -3.09690612e-03 1.17334204e+02] [ 1.90326232e-02 -1.04636749e-02 9.99764108e-01 9.30652140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:117.36, Z:9.30 [[ 7.97815305e-01 -6.02691337e-01 -1.59339432e-02 1.17004160e+02] [ 6.02581654e-01 7.97974294e-01 -1.15055070e-02 1.17356090e+02] [ 1.96491464e-02 -4.22232244e-04 9.99806848e-01 9.30375024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.03, Y:117.37, Z:9.30 [[ 7.97329731e-01 -6.03328565e-01 -1.61227489e-02 1.17026212e+02] [ 6.03216303e-01 7.97492602e-01 -1.16465238e-02 1.17373996e+02] [ 1.98844534e-02 -4.39385251e-04 9.99802188e-01 9.30342214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:117.39, Z:9.30 [[ 7.97002461e-01 -6.03765572e-01 -1.59440069e-02 1.17046972e+02] [ 6.03655753e-01 7.97161803e-01 -1.15235337e-02 1.17391149e+02] [ 1.96674663e-02 -4.40406762e-04 9.99806480e-01 9.30336067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.07, Y:117.41, Z:9.30 [[ 7.97767856e-01 -6.02825713e-01 -1.29463038e-02 1.17066387e+02] [ 6.02570225e-01 7.97838678e-01 -1.90412134e-02 1.17410609e+02] [ 2.18075949e-02 7.38941081e-03 9.99734878e-01 9.30193022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:117.42, Z:9.31 [[ 7.97277312e-01 -6.03324905e-01 -1.86533283e-02 1.17093844e+02] [ 6.03218988e-01 7.97492761e-01 -1.14955776e-02 1.17423700e+02] [ 2.18114626e-02 -2.08687856e-03 9.99759924e-01 9.30509953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:117.44, Z:9.31 [[ 7.97767597e-01 -6.02625945e-01 -2.02195636e-02 1.17117816e+02] [ 6.02609134e-01 7.98000305e-01 -7.59897019e-03 1.17437424e+02] [ 2.07145546e-02 -6.12228154e-03 9.99766685e-01 9.30694289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:117.46, Z:9.31 [[ 7.98014434e-01 -6.02403633e-01 -1.68174405e-02 1.17137377e+02] [ 6.02280736e-01 7.98191513e-01 -1.21747095e-02 1.17456068e+02] [ 2.07576275e-02 -4.13226488e-04 9.99784452e-01 9.30575339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.16, Y:117.47, Z:9.31 [[ 7.98635627e-01 -6.01580396e-01 -1.67976708e-02 1.17159816e+02] [ 6.01457496e-01 7.98812166e-01 -1.21656751e-02 1.17473781e+02] [ 2.07368154e-02 -3.87143406e-04 9.99784894e-01 9.30621700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.632755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.18, Y:117.50, Z:9.30 [[ 7.98467630e-01 -6.01930191e-01 -1.13793296e-02 1.17177502e+02] [ 6.01542398e-01 7.98434725e-01 -2.54702588e-02 1.17498025e+02] [ 2.44169697e-02 1.34920279e-02 9.99610813e-01 9.30488996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:117.51, Z:9.31 [[ 7.98742436e-01 -6.01353298e-01 -1.96145864e-02 1.17207002e+02] [ 6.01336990e-01 7.98961440e-01 -7.37842712e-03 1.17505975e+02] [ 2.01083397e-02 -5.90151349e-03 9.99780389e-01 9.30922127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:117.52, Z:9.31 [[ 7.99229048e-01 -6.00750571e-01 -1.82120901e-02 1.17227940e+02] [ 6.00662856e-01 7.99432626e-01 -1.05646193e-02 1.17522500e+02] [ 2.09060400e-02 -2.49577542e-03 9.99778330e-01 9.31086406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.25, Y:117.54, Z:9.31 [[ 7.98252047e-01 -6.02085533e-01 -1.69316112e-02 1.17253099e+02] [ 6.02046082e-01 7.98422167e-01 -7.90939415e-03 1.17539938e+02] [ 1.82807055e-02 -3.87992014e-03 9.99825366e-01 9.31214024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.28, Y:117.55, Z:9.31 [[ 7.98611034e-01 -6.01517102e-01 -1.99397296e-02 1.17278064e+02] [ 6.01711181e-01 7.98696943e-01 5.18153160e-03 1.17548692e+02] [ 1.28090212e-02 -1.61359866e-02 9.99787757e-01 9.31385986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.29, Y:117.58, Z:9.31 [[ 7.97540442e-01 -6.03242734e-01 -5.23895449e-03 1.17293521e+02] [ 6.03081709e-01 7.97481762e-01 -1.77564843e-02 1.17578910e+02] [ 1.48894408e-02 1.10019967e-02 9.99828616e-01 9.30843087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:117.59, Z:9.31 [[ 7.97785132e-01 -6.02904328e-01 -6.72710683e-03 1.17318437e+02] [ 6.02792492e-01 7.97786185e-01 -1.33571861e-02 1.17593078e+02] [ 1.34198982e-02 6.60111499e-03 9.99888160e-01 9.30740780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:117.60, Z:9.32 [[ 7.96928473e-01 -6.03844405e-01 -1.66416380e-02 1.17345371e+02] [ 6.03908207e-01 7.97052560e-01 -1.44715743e-03 1.17602618e+02] [ 1.41381181e-02 -8.89674080e-03 9.99860471e-01 9.31551908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:117.62, Z:9.31 [[ 7.96516185e-01 -6.04521366e-01 -1.07649644e-02 1.17364868e+02] [ 6.04463052e-01 7.96588906e-01 -8.39849080e-03 1.17622584e+02] [ 1.36523183e-02 1.82510648e-04 9.99906786e-01 9.31270410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.39, Y:117.64, Z:9.31 [[ 7.96028310e-01 -6.05161017e-01 -1.09120721e-02 1.17388031e+02] [ 6.05112583e-01 7.96102945e-01 -7.67225148e-03 1.17638739e+02] [ 1.33300803e-02 -4.95702773e-04 9.99911028e-01 9.31315268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:117.65, Z:9.31 [[ 7.95418448e-01 -6.05970477e-01 -1.04533880e-02 1.17410047e+02] [ 6.05919494e-01 7.95487130e-01 -7.86077486e-03 1.17654922e+02] [ 1.30789331e-02 -8.13062427e-05 9.99914464e-01 9.31319032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.43, Y:117.68, Z:9.31 [[ 7.93882758e-01 -6.08036129e-01 -6.49866050e-03 1.17430494e+02] [ 6.07868874e-01 7.93849170e-01 -1.72895204e-02 1.17676387e+02] [ 1.56716093e-02 9.77551868e-03 9.99829405e-01 9.31125910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.45, Y:117.69, Z:9.30 [[ 7.93714213e-01 -6.08288639e-01 -1.63728191e-03 1.17454754e+02] [ 6.08214400e-01 7.93654264e-01 -1.37168823e-02 1.17693216e+02] [ 9.64325945e-03 9.89146604e-03 9.99904579e-01 9.30498832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.49, Y:117.70, Z:9.32 [[ 7.92828724e-01 -6.09105657e-01 -2.03202591e-02 1.17486351e+02] [ 6.09346883e-01 7.92857752e-01 8.54173223e-03 1.17695273e+02] [ 1.09082575e-02 -1.91542172e-02 9.99757033e-01 9.31862369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:117.72, Z:9.31 [[ 7.92033907e-01 -6.10411555e-01 -8.94554507e-03 1.17502369e+02] [ 6.10376813e-01 7.92084367e-01 -6.51928793e-03 1.17720394e+02] [ 1.10650751e-02 -2.96656196e-04 9.99938736e-01 9.31341311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.52, Y:117.74, Z:9.31 [[ 7.91658947e-01 -6.10896999e-01 -8.99829055e-03 1.17524267e+02] [ 6.10861819e-01 7.91710027e-01 -6.56294462e-03 1.17736136e+02] [ 1.11333200e-02 -3.01098303e-04 9.99937977e-01 9.31378183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:117.75, Z:9.31 [[ 7.90318378e-01 -6.12637136e-01 -8.52055091e-03 1.17546447e+02] [ 6.12605676e-01 7.90364248e-01 -6.21615017e-03 1.17752249e+02] [ 1.05425832e-02 -3.07000129e-04 9.99944378e-01 9.31329028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.57, Y:117.77, Z:9.31 [[ 7.89675545e-01 -6.13462767e-01 -8.71594492e-03 1.17568747e+02] [ 6.13429888e-01 7.89723577e-01 -6.35959152e-03 1.17768736e+02] [ 1.07845598e-02 -3.24607223e-04 9.99941792e-01 9.31357114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.59, Y:117.78, Z:9.31 [[ 7.89000807e-01 -6.14334480e-01 -8.41857920e-03 1.17590462e+02] [ 6.14303806e-01 7.89045653e-01 -6.14746926e-03 1.17784945e+02] [ 1.04192457e-02 -3.21207032e-04 9.99945667e-01 9.31351236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.61, Y:117.80, Z:9.31 [[ 7.87873428e-01 -6.15780530e-01 -8.35458976e-03 1.17612869e+02] [ 6.15750394e-01 7.87917651e-01 -6.10145506e-03 1.17801687e+02] [ 1.03398860e-02 -3.37167618e-04 9.99946485e-01 9.31342686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.232755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.64, Y:117.82, Z:9.31 [[ 7.87485961e-01 -6.16271726e-01 -8.66148280e-03 1.17635222e+02] [ 6.16239318e-01 7.87533514e-01 -6.32986111e-03 1.17818045e+02] [ 1.07221224e-02 -3.52869500e-04 9.99942454e-01 9.31328441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:117.83, Z:9.31 [[ 7.87380634e-01 -6.16402449e-01 -8.93072823e-03 1.17656636e+02] [ 6.16367949e-01 7.87431197e-01 -6.53162711e-03 1.17833841e+02] [ 1.10584450e-02 -3.61737942e-04 9.99938788e-01 9.31319862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.68, Y:117.85, Z:9.31 [[ 7.87470303e-01 -6.16288272e-01 -8.90438085e-03 1.17678027e+02] [ 6.16253942e-01 7.87520564e-01 -6.51467398e-03 1.17849657e+02] [ 1.10273002e-02 -3.57247506e-04 9.99939134e-01 9.31352832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:117.87, Z:9.31 [[ 7.87577689e-01 -6.16154477e-01 -8.66280057e-03 1.17700477e+02] [ 6.16121963e-01 7.87625254e-01 -6.33924760e-03 1.17866817e+02] [ 1.07289963e-02 -3.44691719e-04 9.99942383e-01 9.31365900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.72, Y:117.88, Z:9.31 [[ 7.88713422e-01 -6.14703649e-01 -8.40018081e-03 1.17721384e+02] [ 6.14672947e-01 7.88758092e-01 -6.15151740e-03 1.17883442e+02] [ 1.04070708e-02 -3.11579557e-04 9.99945796e-01 9.31392733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.74, Y:117.90, Z:9.31 [[ 7.89218351e-01 -6.14059112e-01 -8.11186941e-03 1.17743798e+02] [ 6.14030428e-01 7.89259984e-01 -5.94232032e-03 1.17900829e+02] [ 1.00513099e-02 -2.91146400e-04 9.99949442e-01 9.31439043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.77, Y:117.92, Z:9.31 [[ 7.89102284e-01 -6.14208285e-01 -8.10972204e-03 1.17766727e+02] [ 6.14179579e-01 7.89143902e-01 -5.94524904e-03 1.17917823e+02] [ 1.00513589e-02 -2.89416069e-04 9.99949442e-01 9.31481935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:117.93, Z:9.32 [[ 7.89735646e-01 -6.13395441e-01 -7.97764966e-03 1.17788513e+02] [ 6.13367607e-01 7.89775891e-01 -5.84989463e-03 1.17934930e+02] [ 9.88885406e-03 -2.73361569e-04 9.99951067e-01 9.31513387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.81, Y:117.95, Z:9.32 [[ 7.91519875e-01 -6.11092021e-01 -7.92643843e-03 1.17809421e+02] [ 6.11064384e-01 7.91559527e-01 -5.81676678e-03 1.17952192e+02] [ 9.82882762e-03 -2.39477698e-04 9.99951667e-01 9.31554216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.83, Y:117.97, Z:9.32 [[ 7.92256236e-01 -6.10134595e-01 -8.11372497e-03 1.17832077e+02] [ 6.10105564e-01 7.92297749e-01 -5.95634670e-03 1.17969522e+02] [ 1.00626592e-02 -2.31275927e-04 9.99949343e-01 9.31614070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.85, Y:117.99, Z:9.32 [[ 7.93454610e-01 -6.08578021e-01 -7.91045123e-03 1.17854048e+02] [ 6.08550313e-01 7.93494015e-01 -5.81075897e-03 1.17986725e+02] [ 9.81319590e-03 -2.03334084e-04 9.99951829e-01 9.31658907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.88, Y:118.00, Z:9.32 [[ 7.93821101e-01 -6.08101782e-01 -7.76420454e-03 1.17876725e+02] [ 6.08075032e-01 7.93859047e-01 -5.70691556e-03 1.18004090e+02] [ 9.63406954e-03 -1.90948932e-04 9.99953573e-01 9.31705139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:118.02, Z:9.32 [[ 7.94018699e-01 -6.07842424e-01 -7.86724051e-03 1.17898084e+02] [ 6.07814899e-01 7.94057651e-01 -5.78757654e-03 1.18020369e+02] [ 9.76497707e-03 -1.86381997e-04 9.99952304e-01 9.31752964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.92, Y:118.04, Z:9.32 [[ 7.94038221e-01 -6.07806467e-01 -8.63723414e-03 1.17919831e+02] [ 6.07773266e-01 7.94085170e-01 -6.35603527e-03 1.18036588e+02] [ 1.07219389e-02 -2.02545063e-04 9.99942498e-01 9.31789668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:118.05, Z:9.32 [[ 7.93798816e-01 -6.08115791e-01 -8.86700354e-03 1.17942141e+02] [ 6.08080809e-01 7.93848310e-01 -6.52614672e-03 1.18053155e+02] [ 1.10077087e-02 -2.11407138e-04 9.99939391e-01 9.31796229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:118.07, Z:9.32 [[ 7.93471931e-01 -6.08539808e-01 -9.03311885e-03 1.17964277e+02] [ 6.08503483e-01 7.93523317e-01 -6.65256404e-03 1.18069790e+02] [ 1.12163405e-02 -2.18061438e-04 9.99937071e-01 9.31823474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.99, Y:118.09, Z:9.32 [[ 7.93229363e-01 -6.08851368e-01 -9.33751891e-03 1.17985569e+02] [ 6.08812511e-01 7.93284288e-01 -6.88223251e-03 1.18085799e+02] [ 1.15975637e-02 -2.25609424e-04 9.99932721e-01 9.31864643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:118.10, Z:9.32 [[ 7.91851938e-01 -6.10647542e-01 -8.94917686e-03 1.18009194e+02] [ 6.10585071e-01 7.91900966e-01 -8.87307709e-03 1.18104816e+02] [ 1.25051845e-02 1.56192950e-03 9.99920587e-01 9.31813361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.03, Y:118.12, Z:9.32 [[ 7.91758649e-01 -6.10731345e-01 -1.12011464e-02 1.18031683e+02] [ 6.10706169e-01 7.91834998e-01 -5.94235387e-03 1.18118491e+02] [ 1.24986415e-02 -2.13569912e-03 9.99919608e-01 9.31930593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.05, Y:118.14, Z:9.32 [[ 7.90347414e-01 -6.12554109e-01 -1.13326503e-02 1.18052829e+02] [ 6.12497124e-01 7.90428588e-01 -8.36187540e-03 1.18135467e+02] [ 1.40797519e-02 -3.32429089e-04 9.99900820e-01 9.31856069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:118.15, Z:9.32 [[ 7.89440193e-01 -6.13716183e-01 -1.16888512e-02 1.18075716e+02] [ 6.13655631e-01 7.89526641e-01 -8.62848396e-03 1.18152412e+02] [ 1.45240996e-02 -3.61257301e-04 9.99894454e-01 9.31853612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:118.19, Z:9.30 [[ 7.86517264e-01 -6.17436148e-01 1.27748433e-02 1.18083516e+02] [ 6.17479670e-01 7.85885705e-01 -3.32041556e-02 1.18187880e+02] [ 1.04618792e-02 3.40038476e-02 9.99366943e-01 9.29764893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.13, Y:118.18, Z:9.31 [[ 7.86922185e-01 -6.16789382e-01 -1.80092545e-02 1.18125180e+02] [ 6.16902635e-01 7.87038903e-01 9.51202501e-04 1.18182969e+02] [ 1.35872923e-02 -1.18584789e-02 9.99837368e-01 9.31486850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:118.20, Z:9.32 [[ 7.85836692e-01 -6.17982945e-01 -2.36172435e-02 1.18149836e+02] [ 6.18204293e-01 7.86012611e-01 2.76189143e-03 1.18196276e+02] [ 1.68566495e-02 -1.67706770e-02 9.99717259e-01 9.32205867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:118.22, Z:9.32 [[ 7.85338915e-01 -6.18912823e-01 -1.37733547e-02 1.18165286e+02] [ 6.18796090e-01 7.85459115e-01 -1.20572334e-02 1.18220792e+02] [ 1.82807833e-02 9.46116557e-04 9.99832445e-01 9.31804540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.19, Y:118.24, Z:9.32 [[ 7.84484819e-01 -6.19955589e-01 -1.54478861e-02 1.18189359e+02] [ 6.19895352e-01 7.84632871e-01 -9.00063789e-03 1.18236709e+02] [ 1.77009150e-02 -2.51520901e-03 9.99840163e-01 9.31927609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.21, Y:118.25, Z:9.32 [[ 7.84532561e-01 -6.19927324e-01 -1.40986794e-02 1.18209975e+02] [ 6.19840878e-01 7.84659001e-01 -1.03700287e-02 1.18253612e+02] [ 1.74913198e-02 -6.03312616e-04 9.99846833e-01 9.31899801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:118.27, Z:9.32 [[ 7.84362591e-01 -6.20120515e-01 -1.50290436e-02 1.18233431e+02] [ 6.20085671e-01 7.84498827e-01 -7.43984071e-03 1.18269286e+02] [ 1.64038650e-02 -3.48376185e-03 9.99859378e-01 9.32010996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:118.29, Z:9.32 [[ 7.83563171e-01 -6.21178570e-01 -1.28818259e-02 1.18253158e+02] [ 6.21105438e-01 7.83668879e-01 -9.54583480e-03 1.18287367e+02] [ 1.60247541e-02 -5.21207537e-04 9.99871460e-01 9.32003696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:118.30, Z:9.32 [[ 7.83680998e-01 -6.21039539e-01 -1.24090033e-02 1.18275875e+02] [ 6.20971561e-01 7.83779080e-01 -9.20184446e-03 1.18304566e+02] [ 1.54406264e-02 -4.94327509e-04 9.99880664e-01 9.32065795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:118.33, Z:9.32 [[ 7.83812902e-01 -6.20931853e-01 -8.99823900e-03 1.18295867e+02] [ 6.20776616e-01 7.83838460e-01 -1.52859668e-02 1.18325516e+02] [ 1.65447095e-02 6.39544160e-03 9.99842673e-01 9.31986135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:118.34, Z:9.32 [[ 7.84297385e-01 -6.20168378e-01 -1.63949618e-02 1.18322452e+02] [ 6.20199278e-01 7.84435374e-01 -3.74152671e-03 1.18335457e+02] [ 1.51811646e-02 -7.23367389e-03 9.99858593e-01 9.32412994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:118.35, Z:9.32 [[ 7.85098263e-01 -6.19256017e-01 -1.19458256e-02 1.18341663e+02] [ 6.19192509e-01 7.85189024e-01 -8.87874505e-03 1.18354792e+02] [ 1.48779475e-02 -4.26078426e-04 9.99889226e-01 9.32271313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:118.37, Z:9.32 [[ 7.85597484e-01 -6.18622439e-01 -1.19528978e-02 1.18364265e+02] [ 6.18558718e-01 7.85688303e-01 -8.88833959e-03 1.18372109e+02] [ 1.48897783e-02 -4.10911921e-04 9.99889057e-01 9.32324464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:118.39, Z:9.32 [[ 7.87542478e-01 -6.16118577e-01 -1.32190901e-02 1.18386374e+02] [ 6.16088962e-01 7.87648165e-01 -6.69020342e-03 1.18388238e+02] [ 1.45339507e-02 -2.87531614e-03 9.99890242e-01 9.32411160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28275509600002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.41, Y:118.41, Z:9.32 [[ 7.88140587e-01 -6.15406261e-01 -1.04665602e-02 1.18407590e+02] [ 6.15312999e-01 7.88207079e-01 -1.09322899e-02 1.18408786e+02] [ 1.49776165e-02 2.17597081e-03 9.99885462e-01 9.32115605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:118.43, Z:9.32 [[ 7.91283893e-01 -6.11373679e-01 -9.59295596e-03 1.18427697e+02] [ 6.11222999e-01 7.91320614e-01 -1.47692944e-02 1.18426649e+02] [ 1.66206617e-02 5.82326946e-03 9.99844910e-01 9.32344138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.45, Y:118.44, Z:9.32 [[ 7.92081710e-01 -6.10218083e-01 -1.55066440e-02 1.18454818e+02] [ 6.10233117e-01 7.92210279e-01 -4.29151565e-03 1.18438750e+02] [ 1.49032832e-02 -6.06343665e-03 9.99870555e-01 9.32469012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.48, Y:118.46, Z:9.32 [[ 7.93388099e-01 -6.08592727e-01 -1.22563379e-02 1.18475456e+02] [ 6.08528437e-01 7.93482644e-01 -8.85635249e-03 1.18458279e+02] [ 1.51151031e-02 -4.31805504e-04 9.99885667e-01 9.32415969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:118.50, Y:118.48, Z:9.32 [[ 7.95538976e-01 -6.05783121e-01 -1.20228084e-02 1.18497548e+02] [ 6.05716688e-01 7.95629806e-01 -8.97248204e-03 1.18475122e+02] [ 1.50010829e-02 -1.44456479e-04 9.99887467e-01 9.32360322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.52, Y:118.49, Z:9.32 [[ 7.97179026e-01 -6.03684729e-01 -8.38736501e-03 1.18518500e+02] [ 6.03520497e-01 7.97185466e-01 -1.60730277e-02 1.18494969e+02] [ 1.63893268e-02 7.75113387e-03 9.99835641e-01 9.32208305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:118.52, Z:9.32 [[ 7.97319006e-01 -6.03540351e-01 -4.63114417e-03 1.18541988e+02] [ 6.03407209e-01 7.97267759e-01 -1.62437916e-02 1.18515592e+02] [ 1.34960456e-02 1.01570180e-02 9.99857336e-01 9.31814447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.57, Y:118.52, Z:9.33 [[ 7.97609327e-01 -6.02718521e-01 -2.34466762e-02 1.18571883e+02] [ 6.02956188e-01 7.97763676e-01 4.11729033e-03 1.18518515e+02] [ 1.62233395e-02 -1.74213077e-02 9.99716611e-01 9.33226901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:118.54, Z:9.33 [[ 7.97972580e-01 -6.02546107e-01 -1.33398281e-02 1.18592333e+02] [ 6.02483359e-01 7.98083386e-01 -8.75848031e-03 1.18543050e+02] [ 1.59236834e-02 -1.04799731e-03 9.99872661e-01 9.32696515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:118.61, Y:118.56, Z:9.33 [[ 7.96389596e-01 -6.04663398e-01 -1.20742390e-02 1.18611067e+02] [ 6.04579250e-01 7.96480762e-01 -1.01156849e-02 1.18559768e+02] [ 1.57334835e-02 7.56191863e-04 9.99875935e-01 9.32561138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.64, Y:118.57, Z:9.33 [[ 7.95827872e-01 -6.05284823e-01 -1.69788311e-02 1.18640688e+02] [ 6.05302503e-01 7.95981878e-01 -4.66152833e-03 1.18571799e+02] [ 1.63363942e-02 -6.56755477e-03 9.99844983e-01 9.33172978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:118.59, Z:9.33 [[ 7.94008873e-01 -6.07849463e-01 -8.30307979e-03 1.18655920e+02] [ 6.07715917e-01 7.94028022e-01 -1.41726613e-02 1.18593996e+02] [ 1.52077226e-02 6.20730509e-03 9.99865088e-01 9.32775612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:118.61, Z:9.33 [[ 7.91849140e-01 -6.10595613e-01 -1.21629172e-02 1.18680761e+02] [ 6.10527408e-01 7.91942522e-01 -9.12832331e-03 1.18606554e+02] [ 1.52060455e-02 -1.97539318e-04 9.99884362e-01 9.32996445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:118.62, Z:9.33 [[ 7.90693149e-01 -6.12090097e-01 -1.22497901e-02 1.18702839e+02] [ 6.12021052e-01 7.90788001e-01 -9.19621037e-03 1.18622418e+02] [ 1.53158963e-02 -2.25748883e-04 9.99882679e-01 9.32997850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.73, Y:118.64, Z:9.33 [[ 7.89374100e-01 -6.13783470e-01 -1.25849845e-02 1.18725658e+02] [ 6.13710769e-01 7.89474371e-01 -9.45039698e-03 1.18638549e+02] [ 1.57360202e-02 -2.63641931e-04 9.99876146e-01 9.33041932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.75, Y:118.66, Z:9.32 [[ 7.88295944e-01 -6.15282779e-01 -4.07501947e-03 1.18746266e+02] [ 6.15138592e-01 7.88226572e-01 -1.74179260e-02 1.18660959e+02] [ 1.39289885e-02 1.12237787e-02 9.99839992e-01 9.32301107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:118.67, Z:9.33 [[ 7.86367615e-01 -6.17664639e-01 -1.07873931e-02 1.18774285e+02] [ 6.17588030e-01 7.86440927e-01 -9.78226324e-03 1.18671549e+02] [ 1.45258055e-02 1.03029017e-03 9.99893964e-01 9.32662445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.792755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:118.80, Y:118.68, Z:9.33 [[ 7.85230628e-01 -6.18841015e-01 -2.11815774e-02 1.18800445e+02] [ 6.18978888e-01 7.85407622e-01 -5.99066426e-05 1.18680101e+02] [ 1.66732450e-02 -1.30639087e-02 9.99775643e-01 9.33343113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.82, Y:118.70, Z:9.33 [[ 7.84057843e-01 -6.20543434e-01 -1.33845311e-02 1.18819735e+02] [ 6.20461738e-01 7.84171973e-01 -1.00771051e-02 1.18701314e+02] [ 1.67490555e-02 -4.03556127e-04 9.99859643e-01 9.33275388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:118.72, Z:9.33 [[ 7.83479439e-01 -6.21235069e-01 -1.50651285e-02 1.18845284e+02] [ 6.21179212e-01 7.83620162e-01 -8.70790342e-03 1.18717107e+02] [ 1.72149934e-02 -2.53568136e-03 9.99848596e-01 9.33343701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.882755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.86, Y:118.73, Z:9.33 [[ 7.82319835e-01 -6.22745699e-01 -1.27855813e-02 1.18864828e+02] [ 6.22628336e-01 7.82422716e-01 -1.21921629e-02 1.18734908e+02] [ 1.75963462e-02 1.57750567e-03 9.99843928e-01 9.33136199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.912755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.89, Y:118.75, Z:9.33 [[ 7.81548823e-01 -6.23683348e-01 -1.41604208e-02 1.18888424e+02] [ 6.23592103e-01 7.81676945e-01 -1.06790783e-02 1.18749306e+02] [ 1.77292378e-02 -4.84105459e-04 9.99842708e-01 9.33185760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.91, Y:118.77, Z:9.33 [[ 7.81919066e-01 -6.23225609e-01 -1.38713279e-02 1.18911141e+02] [ 6.23137926e-01 7.82041960e-01 -1.04641410e-02 1.18766495e+02] [ 1.73694811e-02 -4.61639152e-04 9.99849033e-01 9.33483115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:118.79, Z:9.33 [[ 7.83119134e-01 -6.21835100e-01 -6.74762753e-03 1.18929599e+02] [ 6.21669775e-01 7.83095247e-01 -1.69860454e-02 1.18788732e+02] [ 1.58465543e-02 9.10730107e-03 9.99832958e-01 9.32896386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:118.80, Z:9.34 [[ 7.84425444e-01 -6.19919116e-01 -1.94168288e-02 1.18957863e+02] [ 6.19990797e-01 7.84604061e-01 -2.80684854e-03 1.18796952e+02] [ 1.69745418e-02 -9.83649174e-03 9.99807536e-01 9.33906941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:118.83, Z:9.32 [[ 7.85516746e-01 -6.18824588e-01 4.42401906e-03 1.18965326e+02] [ 6.18674036e-01 7.85119750e-01 -2.87995541e-02 1.18831076e+02] [ 1.43484875e-02 2.53595578e-02 9.99575417e-01 9.32174326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06275509600002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.01, Y:118.82, Z:9.34 [[ 7.87004800e-01 -6.16220166e-01 -2.99358044e-02 1.19006527e+02] [ 6.16686518e-01 7.87155571e-01 9.15669017e-03 1.18823925e+02] [ 1.79215981e-02 -2.56673661e-02 9.99509881e-01 9.34150132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09275509600002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:119.02, Y:118.85, Z:9.33 [[ 7.87768028e-01 -6.15793753e-01 -1.48184791e-02 1.19019184e+02] [ 6.15691834e-01 7.87907334e-01 -1.12070632e-02 1.18852079e+02] [ 1.85768279e-02 -2.95050448e-04 9.99827392e-01 9.33413953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.04, Y:118.87, Z:9.34 [[ 7.88839547e-01 -6.14432581e-01 -1.43098507e-02 1.19041222e+02] [ 6.14337257e-01 7.88969290e-01 -1.08256393e-02 1.18869716e+02] [ 1.79416582e-02 -2.51382014e-04 9.99839004e-01 9.33747510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:118.89, Z:9.34 [[ 7.90112075e-01 -6.12878617e-01 -1.01345842e-02 1.19058437e+02] [ 6.12592427e-01 7.90101606e-01 -2.16788234e-02 1.18891218e+02] [ 2.12938386e-02 1.09203306e-02 9.99713618e-01 9.33618103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.09, Y:118.90, Z:9.34 [[ 7.89536714e-01 -6.13338083e-01 -2.11700737e-02 1.19088555e+02] [ 6.13437896e-01 7.89739990e-01 -2.16677201e-03 1.18898674e+02] [ 1.80478176e-02 -1.12757794e-02 9.99773541e-01 9.33980018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:118.93, Z:9.34 [[ 7.89540301e-01 -6.13613460e-01 -1.02290981e-02 1.19103238e+02] [ 6.13337314e-01 7.89537670e-01 -2.11567406e-02 1.18926410e+02] [ 2.10583190e-02 1.04302118e-02 9.99723841e-01 9.33706195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:118.94, Z:9.34 [[ 7.88782067e-01 -6.14477080e-01 -1.55167398e-02 1.19127788e+02] [ 6.14302037e-01 7.88931713e-01 -1.48243010e-02 1.18939511e+02] [ 2.13508413e-02 2.16117793e-03 9.99769709e-01 9.34076341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:118.96, Z:9.34 [[ 7.87346657e-01 -6.16266639e-01 -1.73398655e-02 1.19151642e+02] [ 6.16123483e-01 7.87537542e-01 -1.32843502e-02 1.18956243e+02] [ 2.18424969e-02 -2.24109612e-04 9.99761399e-01 9.34290921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.18, Y:118.97, Z:9.35 [[ 7.86847280e-01 -6.16742728e-01 -2.23554377e-02 1.19178877e+02] [ 6.16907408e-01 7.87035505e-01 6.03504244e-04 1.18966420e+02] [ 1.72223163e-02 -1.42661008e-02 9.99749904e-01 9.34649915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:118.99, Z:9.34 [[ 7.86668939e-01 -6.17218672e-01 -1.38957618e-02 1.19196679e+02] [ 6.17128632e-01 7.86791607e-01 -1.05460168e-02 1.18990328e+02] [ 1.74422673e-02 -2.79248618e-04 9.99847833e-01 9.34290047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.362755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.22, Y:119.01, Z:9.34 [[ 7.85644386e-01 -6.18517760e-01 -1.40953877e-02 1.19218771e+02] [ 6.18425211e-01 7.85770759e-01 -1.07038335e-02 1.19006881e+02] [ 1.76962546e-02 -3.07536385e-04 9.99843362e-01 9.34186104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:119.03, Z:9.34 [[ 7.85077298e-01 -6.19339476e-01 -8.49996818e-03 1.19235894e+02] [ 6.19023403e-01 7.85005940e-01 -2.39937775e-02 1.19029983e+02] [ 2.15328191e-02 1.35752908e-02 9.99675972e-01 9.34155155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:119.03, Z:9.35 [[ 7.83396628e-01 -6.21130058e-01 -2.20720211e-02 1.19267559e+02] [ 6.21289757e-01 7.83580756e-01 4.86575940e-04 1.19034817e+02] [ 1.69929841e-02 -1.40943026e-02 9.99756265e-01 9.34849228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:119.07, Z:9.34 [[ 7.82176586e-01 -6.23040319e-01 -4.53309088e-03 1.19277434e+02] [ 6.22550675e-01 7.81813706e-01 -3.46119398e-02 1.19070057e+02] [ 2.51086666e-02 2.42505701e-02 9.99390547e-01 9.34006664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.482755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.32, Y:119.06, Z:9.35 [[ 7.81901793e-01 -6.22727041e-01 -2.89934123e-02 1.19315632e+02] [ 6.23167046e-01 7.82037545e-01 8.95046823e-03 1.19063335e+02] [ 1.71002384e-02 -2.50661263e-02 9.99539530e-01 9.35046284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.512755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:119.33, Y:119.09, Z:9.34 [[ 7.81400135e-01 -6.23866574e-01 -1.42943135e-02 1.19329300e+02] [ 6.23771803e-01 7.81530759e-01 -1.08817083e-02 1.19092025e+02] [ 1.79601797e-02 -4.13421359e-04 9.99838618e-01 9.34205335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.542755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:119.35, Y:119.11, Z:9.34 [[ 7.80780154e-01 -6.24638568e-01 -1.44572018e-02 1.19350268e+02] [ 6.24541623e-01 7.80913871e-01 -1.10130754e-02 1.19108949e+02] [ 1.81690211e-02 -4.30333546e-04 9.99834837e-01 9.34183991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:119.13, Z:9.34 [[ 7.81057620e-01 -6.24372124e-01 -1.04136922e-02 1.19367551e+02] [ 6.24098425e-01 7.81064718e-01 -2.09538049e-02 1.19130628e+02] [ 2.12167393e-02 9.86696012e-03 9.99726209e-01 9.34303727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:119.14, Z:9.35 [[ 7.80443315e-01 -6.24914409e-01 -1.97537986e-02 1.19399361e+02] [ 6.24958056e-01 7.80644534e-01 -4.64113298e-03 1.19141984e+02] [ 1.83210058e-02 -8.72315436e-03 9.99794102e-01 9.34632091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:119.17, Z:9.34 [[ 7.79472126e-01 -6.26417325e-01 -4.95368474e-03 1.19411326e+02] [ 6.26214594e-01 7.79381792e-01 -2.04769309e-02 1.19169959e+02] [ 1.66879160e-02 1.28591272e-02 9.99778054e-01 9.33777465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.44, Y:119.18, Z:9.35 [[ 7.79681392e-01 -6.25881360e-01 -1.92211101e-02 1.19437980e+02] [ 6.25867679e-01 7.79893549e-01 -7.46324614e-03 1.19176370e+02] [ 1.96615264e-02 -6.21091744e-03 9.99787402e-01 9.34867433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:119.19, Z:9.35 [[ 7.79143754e-01 -6.26558657e-01 -1.89541453e-02 1.19461046e+02] [ 6.26605098e-01 7.79326055e-01 -4.11715725e-03 1.19194745e+02] [ 1.73510998e-02 -8.66890674e-03 9.99811877e-01 9.34923291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:119.22, Z:9.35 [[ 7.79392108e-01 -6.26369570e-01 -1.44604374e-02 1.19478760e+02] [ 6.26272091e-01 7.79526119e-01 -1.10587889e-02 1.19215411e+02] [ 1.81991775e-02 -4.37035557e-04 9.99834286e-01 9.34717187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.50, Y:119.23, Z:9.35 [[ 7.79506795e-01 -6.26224033e-01 -1.45813760e-02 1.19500835e+02] [ 6.26124827e-01 7.79643041e-01 -1.11548080e-02 1.19233349e+02] [ 1.83536772e-02 -4.34512850e-04 9.99831463e-01 9.34724424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:119.26, Z:9.34 [[ 7.79713526e-01 -6.26135664e-01 -9.73116704e-04 1.19514728e+02] [ 6.25928503e-01 7.79493719e-01 -2.45571064e-02 1.19260316e+02] [ 1.61346185e-02 1.85384066e-02 9.99697955e-01 9.33563530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:119.26, Z:9.35 [[ 7.80495884e-01 -6.24570657e-01 -2.71600791e-02 1.19550809e+02] [ 6.24866076e-01 7.80725346e-01 3.21275773e-03 1.19260145e+02] [ 1.91979679e-02 -1.94789562e-02 9.99625934e-01 9.35393604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.56, Y:119.30, Z:9.33 [[ 7.80216551e-01 -6.25471528e-01 6.89217470e-03 1.19556638e+02] [ 6.25348604e-01 7.79718611e-01 -3.12731696e-02 1.19301718e+02] [ 1.41865203e-02 2.87098564e-02 9.99487112e-01 9.33176194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.60, Y:119.29, Z:9.36 [[ 7.80944742e-01 -6.23702012e-01 -3.34829710e-02 1.19598966e+02] [ 6.24299126e-01 7.81110068e-01 1.08472554e-02 1.19290418e+02] [ 1.93884307e-02 -2.93744966e-02 9.99380422e-01 9.35780394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:119.60, Y:119.34, Z:9.33 [[ 7.80623874e-01 -6.24968311e-01 6.40145466e-03 1.19599913e+02] [ 6.24800963e-01 7.80073801e-01 -3.32959637e-02 1.19336861e+02] [ 1.58153151e-02 2.99912592e-02 9.99425035e-01 9.33160173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:119.34, Z:9.34 [[ 7.80642715e-01 -6.24905288e-01 -9.50433911e-03 1.19633199e+02] [ 6.24805847e-01 7.80694445e-01 -1.15687943e-02 1.19342482e+02] [ 1.46493855e-02 3.09272833e-03 9.99887909e-01 9.34119443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:119.36, Z:9.34 [[ 7.81131114e-01 -6.24225403e-01 -1.32977423e-02 1.19656398e+02] [ 6.24205473e-01 7.81236327e-01 -6.10968957e-03 1.19355170e+02] [ 1.42025028e-02 -3.52805491e-03 9.99892915e-01 9.34434590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:119.38, Z:9.35 [[ 7.81152066e-01 -6.24217612e-01 -1.24025720e-02 1.19678923e+02] [ 6.24098444e-01 7.81248203e-01 -1.23440900e-02 1.19375465e+02] [ 1.73948854e-02 1.90218551e-03 9.99846888e-01 9.34566735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:119.38, Z:9.37 [[ 7.80409970e-01 -6.24231681e-01 -3.59873214e-02 1.19712027e+02] [ 6.24939977e-01 7.80571904e-01 1.25509995e-02 1.19377483e+02] [ 2.02559605e-02 -3.22848409e-02 9.99273429e-01 9.36504371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:119.41, Z:9.36 [[ 7.79603879e-01 -6.26060040e-01 -1.63284700e-02 1.19721892e+02] [ 6.25934391e-01 7.79774734e-01 -1.25499934e-02 1.19408465e+02] [ 2.05895778e-02 -4.36527376e-04 9.99787917e-01 9.35658107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:119.43, Z:9.36 [[ 7.79032032e-01 -6.26776883e-01 -1.61192951e-02 1.19744387e+02] [ 6.26654507e-01 7.79198652e-01 -1.23931137e-02 1.19425848e+02] [ 2.03278502e-02 -4.46596369e-04 9.99793268e-01 9.35700273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:119.45, Z:9.36 [[ 7.77955169e-01 -6.28204298e-01 -1.20463205e-02 1.19763282e+02] [ 6.27880705e-01 7.77985258e-01 -2.24668429e-02 1.19448579e+02] [ 2.34856271e-02 9.91454439e-03 9.99675011e-01 9.35562043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.79, Y:119.46, Z:9.36 [[ 7.77172867e-01 -6.28900024e-01 -2.20702128e-02 1.19792010e+02] [ 6.28980910e-01 7.77410803e-01 -3.93179138e-03 1.19455874e+02] [ 1.96303256e-02 -1.08260609e-02 9.99748692e-01 9.36125602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:119.48, Z:9.36 [[ 7.76665731e-01 -6.29720063e-01 -1.55879861e-02 1.19809734e+02] [ 6.29605769e-01 7.76821990e-01 -1.20071806e-02 1.19477390e+02] [ 1.96702529e-02 -4.88720258e-04 9.99806402e-01 9.35907904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:119.50, Z:9.36 [[ 7.75401252e-01 -6.31413374e-01 -8.36950415e-03 1.19825770e+02] [ 6.30960470e-01 7.75240680e-01 -2.98458253e-02 1.19503885e+02] [ 2.53334333e-02 1.78616640e-02 9.99519474e-01 9.35669327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.86, Y:119.51, Z:9.36 [[ 7.74573977e-01 -6.32076957e-01 -2.26688032e-02 1.19857564e+02] [ 6.32087767e-01 7.74859588e-01 -7.59435802e-03 1.19509465e+02] [ 2.23653582e-02 -8.44628110e-03 9.99714185e-01 9.36392506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:119.53, Z:9.36 [[ 7.72486232e-01 -6.34648279e-01 -2.20586375e-02 1.19880919e+02] [ 6.34729564e-01 7.72724026e-01 -3.99500871e-03 1.19525766e+02] [ 1.95806646e-02 -1.09151801e-02 9.99748697e-01 9.36399662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.90, Y:119.55, Z:9.36 [[ 7.71200774e-01 -6.36390390e-01 -1.60199095e-02 1.19899088e+02] [ 6.36270681e-01 7.71366862e-01 -1.23606451e-02 1.19547274e+02] [ 2.02234231e-02 -6.60459665e-04 9.99795268e-01 9.36145798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:119.58, Z:9.35 [[ 7.69704285e-01 -6.38384476e-01 4.53588611e-03 1.19913127e+02] [ 6.38198029e-01 7.69261670e-01 -3.06554903e-02 1.19578763e+02] [ 1.60807058e-02 2.64904558e-02 9.99519718e-01 9.34502740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:119.59, Z:9.35 [[ 7.67475252e-01 -6.41044913e-01 -6.56942238e-03 1.19940302e+02] [ 6.40916624e-01 7.67471408e-01 -1.46122725e-02 1.19587425e+02] [ 1.44089668e-02 7.00410549e-03 9.99871654e-01 9.34803228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.96, Y:119.60, Z:9.35 [[ 7.66989699e-01 -6.41481865e-01 -1.50936663e-02 1.19963014e+02] [ 6.41404622e-01 7.67135829e-01 -1.01356534e-02 1.19598542e+02] [ 1.80807300e-02 -1.90720557e-03 9.99834711e-01 9.35387249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:119.61, Z:9.35 [[ 7.65636369e-01 -6.43114900e-01 -1.42890291e-02 1.19985714e+02] [ 6.43138953e-01 7.65741711e-01 -3.45242758e-03 1.19613952e+02] [ 1.31620132e-02 -6.54652712e-03 9.99891946e-01 9.35154343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:119.64, Z:9.35 [[ 7.65724438e-01 -6.43121151e-01 -7.82755805e-03 1.20005207e+02] [ 6.42965586e-01 7.65731728e-01 -1.58169722e-02 1.19639272e+02] [ 1.61660389e-02 7.07859172e-03 9.99844264e-01 9.34898473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.03, Y:119.65, Z:9.35 [[ 7.66267116e-01 -6.42367714e-01 -1.40863879e-02 1.20030831e+02] [ 6.42262078e-01 7.66396572e-01 -1.16498150e-02 1.19653169e+02] [ 1.82792244e-02 -1.20282678e-04 9.99832914e-01 9.35319771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:119.65, Z:9.37 [[ 7.67001869e-01 -6.40553454e-01 -3.74086327e-02 1.20064120e+02] [ 6.41294431e-01 7.67205632e-01 1.17034585e-02 1.19653890e+02] [ 2.12034229e-02 -3.29665223e-02 9.99231516e-01 9.37099030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:119.68, Z:9.36 [[ 7.68490963e-01 -6.39611973e-01 -1.78371452e-02 1.20074045e+02] [ 6.39463255e-01 7.68697535e-01 -1.38146653e-02 1.19684827e+02] [ 2.25473949e-02 -7.89753470e-04 9.99745463e-01 9.36277513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:119.71, Z:9.36 [[ 7.68635276e-01 -6.39615182e-01 -9.60370874e-03 1.20089500e+02] [ 6.39114835e-01 7.68495887e-01 -3.07619787e-02 1.19711517e+02] [ 2.70562393e-02 1.75068693e-02 9.99480600e-01 9.36055311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:119.72, Z:9.37 [[ 7.69066220e-01 -6.38718529e-01 -2.39955992e-02 1.20123280e+02] [ 6.38741199e-01 7.69383054e-01 -7.70694724e-03 1.19721171e+02] [ 2.33843774e-02 -9.39982502e-03 9.99682357e-01 9.36786675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:119.74, Z:9.37 [[ 7.70795635e-01 -6.36866603e-01 -1.65836743e-02 1.20138316e+02] [ 6.36594640e-01 7.70962910e-01 -1.90645156e-02 1.19742455e+02] [ 2.49269511e-02 4.13776725e-03 9.99680712e-01 9.36585056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.17, Y:119.75, Z:9.37 [[ 7.71748303e-01 -6.35443525e-01 -2.48210308e-02 1.20167607e+02] [ 6.35619412e-01 7.72001889e-01 -1.02328951e-03 1.19751503e+02] [ 1.98121253e-02 -1.49870070e-02 9.99691387e-01 9.36921984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:119.78, Z:9.37 [[ 7.72761548e-01 -6.34494312e-01 -1.60174121e-02 1.20184711e+02] [ 6.34372424e-01 7.72927341e-01 -1.24480142e-02 1.19775878e+02] [ 2.02784900e-02 -5.41657827e-04 9.99794224e-01 9.36703841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:119.79, Z:9.37 [[ 7.76895103e-01 -6.29409566e-01 -1.66612217e-02 1.20209156e+02] [ 6.29125372e-01 7.77059840e-01 -1.94748861e-02 1.19794553e+02] [ 2.52044458e-02 4.64794634e-03 9.99671512e-01 9.36831333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:119.81, Z:9.37 [[ 7.75259004e-01 -6.31368083e-01 -1.86499120e-02 1.20229599e+02] [ 6.31347046e-01 7.75461799e-01 -7.73985097e-03 1.19809108e+02] [ 1.93489892e-02 -5.77417770e-03 9.99796117e-01 9.36964293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.25, Y:119.84, Z:9.36 [[ 7.76965515e-01 -6.29539169e-01 -2.24126821e-03 1.20245195e+02] [ 6.29310086e-01 7.76769807e-01 -2.44434537e-02 1.19839180e+02] [ 1.71290610e-02 1.75812679e-02 9.99698702e-01 9.35718090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:119.85, Z:9.36 [[ 7.76970579e-01 -6.29517744e-01 -4.91212380e-03 1.20268700e+02] [ 6.29336418e-01 7.76896399e-01 -1.91744383e-02 1.19854528e+02] [ 1.58868604e-02 1.18065960e-02 9.99804087e-01 9.35699841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:119.85, Z:9.38 [[ 7.77012556e-01 -6.28660583e-01 -3.22080527e-02 1.20303508e+02] [ 6.29215010e-01 7.77160530e-01 1.04871747e-02 1.19851881e+02] [ 1.84379540e-02 -2.84144566e-02 9.99426166e-01 9.37531696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.32, Y:119.88, Z:9.37 [[ 7.76640567e-01 -6.29761683e-01 -1.51542999e-02 1.20315981e+02] [ 6.29650971e-01 7.76788316e-01 -1.18138539e-02 1.19881269e+02] [ 1.92115956e-02 -3.66801427e-04 9.99815373e-01 9.36780131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.892755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.34, Y:119.90, Z:9.37 [[ 7.75678332e-01 -6.30933787e-01 -1.56742064e-02 1.20339255e+02] [ 6.30815420e-01 7.75836577e-01 -1.22275371e-02 1.19897872e+02] [ 1.98753889e-02 -4.02895517e-04 9.99802384e-01 9.36675156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.922755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.36, Y:119.92, Z:9.37 [[ 7.75487534e-01 -6.31168382e-01 -1.56702915e-02 1.20361675e+02] [ 6.31049961e-01 7.75645738e-01 -1.22325523e-02 1.19915571e+02] [ 1.98753951e-02 -4.02545073e-04 9.99802384e-01 9.36726455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:119.93, Z:9.37 [[ 7.74174058e-01 -6.32762154e-01 -1.63274387e-02 1.20384085e+02] [ 6.32633773e-01 7.74346078e-01 -1.27538477e-02 1.19932455e+02] [ 2.07132403e-02 -4.55591080e-04 9.99785354e-01 9.36925613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:119.96, Z:9.37 [[ 7.72821309e-01 -6.34541242e-01 -1.02292327e-02 1.20401870e+02] [ 6.34127457e-01 7.72753992e-01 -2.70857143e-02 1.19957663e+02] [ 2.50916832e-02 1.44457799e-02 9.99580776e-01 9.36598942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:119.96, Z:9.37 [[ 7.71953519e-01 -6.35284173e-01 -2.24005451e-02 1.20431258e+02] [ 6.35246641e-01 7.72248816e-01 -9.66811166e-03 1.19964549e+02] [ 2.34407928e-02 -6.76653824e-03 9.99702327e-01 9.37196573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:119.99, Z:9.37 [[ 7.70475409e-01 -6.37319658e-01 -1.38310795e-02 1.20447142e+02] [ 6.36892218e-01 7.70519541e-01 -2.58445323e-02 1.19988667e+02] [ 2.71283455e-02 1.11036697e-02 9.99570288e-01 9.36838348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:120.01, Z:9.36 [[ 7.69835976e-01 -6.38185228e-01 -8.49618835e-03 1.20470421e+02] [ 6.37851188e-01 7.69762326e-01 -2.47350436e-02 1.20008336e+02] [ 2.23255851e-02 1.36226226e-02 9.99657938e-01 9.36081780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:120.01, Z:9.37 [[ 7.68825669e-01 -6.38933671e-01 -2.59008497e-02 1.20503068e+02] [ 6.39156338e-01 7.69076720e-01 4.16486134e-04 1.20009770e+02] [ 1.96536335e-02 -1.68748975e-02 9.99664430e-01 9.37121319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:120.02, Z:9.38 [[ 7.67427391e-01 -6.40260661e-01 -3.34885857e-02 1.20529250e+02] [ 6.40653122e-01 7.67829319e-01 1.30929066e-03 1.20023699e+02] [ 2.48752307e-02 -2.24593525e-02 9.99438242e-01 9.38326503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:120.06, Z:9.36 [[ 7.66040804e-01 -6.42787059e-01 -2.50659654e-03 1.20535135e+02] [ 6.42416068e-01 7.65720372e-01 -3.12074956e-02 1.20062598e+02] [ 2.19791263e-02 2.22959371e-02 9.99509784e-01 9.36330410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.57, Y:120.07, Z:9.37 [[ 7.65075989e-01 -6.43541167e-01 -2.26605052e-02 1.20569658e+02] [ 6.43530923e-01 7.65370544e-01 -8.71100317e-03 1.20065157e+02] [ 2.29495723e-02 -7.91815646e-03 9.99705267e-01 9.37458110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.59, Y:120.09, Z:9.37 [[ 7.64910600e-01 -6.43874019e-01 -1.83853666e-02 1.20589610e+02] [ 6.43708362e-01 7.65131245e-01 -1.46192521e-02 1.20086305e+02] [ 2.34801750e-02 -6.52393333e-04 9.99724090e-01 9.37334864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:120.10, Z:9.38 [[ 7.64434632e-01 -6.44328740e-01 -2.19127338e-02 1.20611039e+02] [ 6.44064184e-01 7.64748635e-01 -1.84621717e-02 1.20101968e+02] [ 2.86534411e-02 -8.35862632e-08 9.99589406e-01 9.37941174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28275509600002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:120.63, Y:120.12, Z:9.38 [[ 7.62413258e-01 -6.46738054e-01 -2.13521331e-02 1.20633433e+02] [ 6.46413829e-01 7.62709890e-01 -2.05617581e-02 1.20121848e+02] [ 2.95835545e-02 1.87424291e-03 9.99560554e-01 9.37782536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:120.13, Z:9.38 [[ 7.64487267e-01 -6.43866300e-01 -3.15500508e-02 1.20662418e+02] [ 6.44136102e-01 7.64908147e-01 -2.05164637e-03 1.20126750e+02] [ 2.54538769e-02 -1.87540692e-02 9.99500068e-01 9.38481861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.68, Y:120.15, Z:9.38 [[ 7.64855411e-01 -6.43873391e-01 -2.05731959e-02 1.20677332e+02] [ 6.43671093e-01 7.65131545e-01 -1.61630082e-02 1.20151226e+02] [ 2.61481320e-02 -8.80007217e-04 9.99657692e-01 9.38054569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:120.17, Z:9.38 [[ 7.66058244e-01 -6.42442600e-01 -2.05492575e-02 1.20699227e+02] [ 6.42240077e-01 7.66333364e-01 -1.61511208e-02 1.20168027e+02] [ 2.61237497e-02 -8.24857465e-04 9.99658376e-01 9.38150371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:120.18, Z:9.39 [[ 7.67287299e-01 -6.40840328e-01 -2.43695594e-02 1.20721969e+02] [ 6.40554243e-01 7.67673667e-01 -1.91677447e-02 1.20184557e+02] [ 3.09913328e-02 -9.02857593e-04 9.99519246e-01 9.38683642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:120.20, Z:9.38 [[ 7.67296430e-01 -6.40974136e-01 -2.02075513e-02 1.20742651e+02] [ 6.40777280e-01 7.67562114e-01 -1.59021464e-02 1.20202294e+02] [ 2.57034153e-02 -7.46879584e-04 9.99669334e-01 9.38320884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:120.22, Z:9.38 [[ 7.68673657e-01 -6.39332942e-01 -1.98544454e-02 1.20763827e+02] [ 6.39142217e-01 7.68929732e-01 -1.56298706e-02 1.20219016e+02] [ 2.52593645e-02 -6.75544450e-04 9.99680703e-01 9.38454707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:120.24, Z:9.38 [[ 7.69172351e-01 -6.38836156e-01 -1.61944448e-02 1.20783381e+02] [ 6.38446269e-01 7.69302675e-01 -2.36591533e-02 1.20240526e+02] [ 2.75727522e-02 7.85868372e-03 9.99588908e-01 9.38360601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.81, Y:120.25, Z:9.39 [[ 7.69844050e-01 -6.37771026e-01 -2.42540153e-02 1.20812677e+02] [ 6.37766913e-01 7.70177896e-01 -8.90916789e-03 1.20250272e+02] [ 2.43619156e-02 -8.60973859e-03 9.99666129e-01 9.38876686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:120.27, Z:9.39 [[ 7.70008318e-01 -6.37752909e-01 -1.89319067e-02 1.20831141e+02] [ 6.37578643e-01 7.70240799e-01 -1.49193083e-02 1.20270470e+02] [ 2.40969592e-02 -5.82587928e-04 9.99709456e-01 9.38728974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.85, Y:120.29, Z:9.39 [[ 7.69725488e-01 -6.38205096e-01 -1.47285002e-02 1.20849381e+02] [ 6.37780009e-01 7.69799257e-01 -2.54119053e-02 1.20292907e+02] [ 2.75559959e-02 1.01666482e-02 9.99568560e-01 9.38548161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:120.30, Z:9.39 [[ 7.70493274e-01 -6.36917472e-01 -2.60047881e-02 1.20878676e+02] [ 6.36981810e-01 7.70848822e-01 -6.80193937e-03 1.20299969e+02] [ 2.43780343e-02 -1.13237285e-02 9.99638677e-01 9.39262226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.642755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.90, Y:120.32, Z:9.39 [[ 7.69985474e-01 -6.37748329e-01 -1.99859418e-02 1.20896585e+02] [ 6.37553511e-01 7.70244580e-01 -1.57736482e-02 1.20322725e+02] [ 2.54536811e-02 -5.96627397e-04 9.99675825e-01 9.38901448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:120.34, Z:9.40 [[ 7.70042988e-01 -6.37483490e-01 -2.54675496e-02 1.20920998e+02] [ 6.37260887e-01 7.70457989e-01 -1.71186800e-02 1.20339469e+02] [ 3.05345529e-02 -3.04735371e-03 9.99529066e-01 9.39710186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:120.36, Z:9.40 [[ 7.70359429e-01 -6.37148556e-01 -2.42500913e-02 1.20943052e+02] [ 6.36883600e-01 7.70739992e-01 -1.84158856e-02 1.20357484e+02] [ 3.04241701e-02 -1.25763435e-03 9.99536287e-01 9.39752169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.732755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:120.96, Y:120.38, Z:9.39 [[ 7.67608439e-01 -6.40630211e-01 -1.92410593e-02 1.20961236e+02] [ 6.40367505e-01 7.67847370e-01 -1.84356744e-02 1.20377130e+02] [ 2.65846468e-02 1.83003010e-03 9.99644891e-01 9.38943892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.98, Y:120.40, Z:9.39 [[ 7.67047728e-01 -6.41392452e-01 -1.59218641e-02 1.20980768e+02] [ 6.40965531e-01 7.67159779e-01 -2.50810945e-02 1.20397662e+02] [ 2.83014384e-02 9.03303046e-03 9.99558619e-01 9.39172235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:120.41, Z:9.40 [[ 7.65789453e-01 -6.42558137e-01 -2.61830965e-02 1.21009832e+02] [ 6.42586746e-01 7.66166671e-01 -8.42055230e-03 1.20406401e+02] [ 2.54713103e-02 -1.03765406e-02 9.99621698e-01 9.39745614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.822755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:121.03, Y:120.43, Z:9.39 [[ 7.63966928e-01 -6.44915014e-01 -2.09560865e-02 1.21028488e+02] [ 6.44702084e-01 7.64253838e-01 -1.65920134e-02 1.20428215e+02] [ 2.67162081e-02 -8.34683163e-04 9.99642710e-01 9.39326394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.05, Y:120.45, Z:9.40 [[ 7.62134770e-01 -6.47102180e-01 -2.02326562e-02 1.21050891e+02] [ 6.46904208e-01 7.62402786e-01 -1.60292861e-02 1.20445351e+02] [ 2.57980195e-02 -8.72114135e-04 9.99666795e-01 9.39715350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:120.46, Z:9.40 [[ 7.61275695e-01 -6.48118334e-01 -2.00484845e-02 1.21071734e+02] [ 6.47924064e-01 7.61539120e-01 -1.58926530e-02 1.20462009e+02] [ 2.55680251e-02 -8.91205091e-04 9.99672687e-01 9.39766772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:120.48, Z:9.40 [[ 7.60495205e-01 -6.49022330e-01 -2.04219953e-02 1.21095001e+02] [ 6.48824772e-01 7.60768637e-01 -1.60467030e-02 1.20479948e+02] [ 2.59510821e-02 -1.04685574e-03 9.99662666e-01 9.39847976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.11, Y:120.50, Z:9.40 [[ 7.59544034e-01 -6.50137356e-01 -2.03538382e-02 1.21114870e+02] [ 6.49936047e-01 7.59816142e-01 -1.62038555e-02 1.20497380e+02] [ 2.59999066e-02 -9.21151401e-04 9.99661521e-01 9.39903323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:120.51, Z:9.40 [[ 7.60158389e-01 -6.49387165e-01 -2.13432508e-02 1.21139621e+02] [ 6.49207675e-01 7.60454957e-01 -1.54160259e-02 1.20514506e+02] [ 2.62415502e-02 -2.13758081e-03 9.99653346e-01 9.40024006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:121.16, Y:120.53, Z:9.40 [[ 7.59241129e-01 -6.50488564e-01 -2.04336901e-02 1.21158470e+02] [ 6.50250474e-01 7.59516045e-01 -1.75982597e-02 1.20533249e+02] [ 2.69671822e-02 7.43058660e-05 9.99636317e-01 9.39898616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:120.55, Z:9.40 [[ 7.60135005e-01 -6.49425938e-01 -2.09934731e-02 1.21180736e+02] [ 6.49212385e-01 7.60424256e-01 -1.66802399e-02 1.20550071e+02] [ 2.67965266e-02 -9.49988514e-04 9.99640457e-01 9.40169611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.20, Y:120.57, Z:9.40 [[ 7.61982795e-01 -6.47234770e-01 -2.16650228e-02 1.21202268e+02] [ 6.47006132e-01 7.62290205e-01 -1.72252146e-02 1.20568531e+02] [ 2.76637925e-02 -8.92085499e-04 9.99616886e-01 9.40110374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:121.22, Y:120.60, Z:9.39 [[ 7.62671842e-01 -6.46717303e-01 -9.40165489e-03 1.21217418e+02] [ 6.46286192e-01 7.62573528e-01 -2.82094350e-02 1.20595350e+02] [ 2.54129829e-02 1.54383820e-02 9.99557821e-01 9.39066956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:120.60, Z:9.41 [[ 7.65295684e-01 -6.42899414e-01 -3.16679669e-02 1.21250193e+02] [ 6.43107021e-01 7.65763237e-01 -4.47482143e-03 1.20597476e+02] [ 2.71270249e-02 -1.69413303e-02 9.99488427e-01 9.40839757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:120.64, Z:9.39 [[ 7.68173814e-01 -6.40235057e-01 -2.83980973e-03 1.21255365e+02] [ 6.39833030e-01 7.67834734e-01 -3.23034840e-02 1.20636135e+02] [ 2.28623274e-02 2.29976864e-02 9.99474072e-01 9.38943059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:120.63, Z:9.41 [[ 7.70305970e-01 -6.36673870e-01 -3.57084814e-02 1.21294370e+02] [ 6.37114344e-01 7.70768270e-01 1.25923148e-03 1.20631654e+02] [ 2.67212447e-02 -2.37203792e-02 9.99361455e-01 9.41150073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.30, Y:120.67, Z:9.39 [[ 7.72145029e-01 -6.35433192e-01 -4.08822014e-03 1.21299796e+02] [ 6.35050761e-01 7.71875354e-01 -3.03144961e-02 1.20671329e+02] [ 2.24184334e-02 2.08109602e-02 9.99532049e-01 9.39220546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:120.67, Z:9.41 [[ 7.72692871e-01 -6.33880695e-01 -3.37785738e-02 1.21336037e+02] [ 6.34243145e-01 7.73133645e-01 1.96936402e-05 1.20669343e+02] [ 2.61028684e-02 -2.14390460e-02 9.99429341e-01 9.41142603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.35, Y:120.70, Z:9.41 [[ 7.72948646e-01 -6.34149696e-01 -2.01135083e-02 1.21350138e+02] [ 6.33946757e-01 7.73210218e-01 -1.60458044e-02 1.20696719e+02] [ 2.57274121e-02 -3.48310535e-04 9.99668935e-01 9.40572083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:120.71, Z:9.41 [[ 7.72733123e-01 -6.34423505e-01 -1.97569423e-02 1.21370636e+02] [ 6.34227550e-01 7.72985574e-01 -1.57707548e-02 1.20714023e+02] [ 2.52771690e-02 -3.43812541e-04 9.99680422e-01 9.40609258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:120.73, Z:9.41 [[ 7.71786046e-01 -6.35580635e-01 -1.95845858e-02 1.21391357e+02] [ 6.35388273e-01 7.72034402e-01 -1.56404807e-02 1.20732683e+02] [ 2.50607606e-02 -3.72711366e-04 9.99685860e-01 9.40610854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.362755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:121.41, Y:120.75, Z:9.40 [[ 7.70404734e-01 -6.37254342e-01 -1.95818572e-02 1.21412286e+02] [ 6.37062325e-01 7.70653442e-01 -1.56482328e-02 1.20750814e+02] [ 2.50627300e-02 -4.19390854e-04 9.99685792e-01 9.40421716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.392755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.43, Y:120.77, Z:9.41 [[ 7.68180057e-01 -6.39973227e-01 -1.82666362e-02 1.21434236e+02] [ 6.39806701e-01 7.68397066e-01 -1.46059840e-02 1.20768557e+02] [ 2.33834684e-02 -4.67090608e-04 9.99726460e-01 9.40532333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.422755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:121.46, Y:120.79, Z:9.41 [[ 7.66668561e-01 -6.41795188e-01 -1.78396579e-02 1.21455281e+02] [ 6.41636652e-01 7.66875924e-01 -1.42731973e-02 1.20785449e+02] [ 2.28412735e-02 -5.03766721e-04 9.99738977e-01 9.40529818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.48, Y:120.80, Z:9.41 [[ 7.64134181e-01 -6.44830218e-01 -1.71155962e-02 1.21477017e+02] [ 6.44684963e-01 7.64325630e-01 -1.36978287e-02 1.20803077e+02] [ 2.19146627e-02 -5.67188427e-04 9.99759684e-01 9.40710236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.482755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.50, Y:120.82, Z:9.41 [[ 7.62026176e-01 -6.47319753e-01 -1.71243820e-02 1.21498575e+02] [ 6.47174791e-01 7.62218300e-01 -1.37132281e-02 1.20821257e+02] [ 2.19293608e-02 -6.32629572e-04 9.99759323e-01 9.40542448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.52, Y:120.84, Z:9.41 [[ 7.60606744e-01 -6.49071305e-01 -1.35581099e-02 1.21516517e+02] [ 6.48776850e-01 7.60695401e-01 -2.07630937e-02 1.20841664e+02] [ 2.37903201e-02 6.99636132e-03 9.99692489e-01 9.40544650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.542755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:121.54, Y:120.85, Z:9.41 [[ 7.58865526e-01 -6.50884474e-01 -2.17374064e-02 1.21543616e+02] [ 6.50888179e-01 7.59132788e-01 -7.87329849e-03 1.20853317e+02] [ 2.16261857e-02 -8.17384609e-03 9.99732712e-01 9.40795643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:120.87, Z:9.41 [[ 7.57504345e-01 -6.52611755e-01 -1.68838461e-02 1.21561893e+02] [ 6.52471558e-01 7.57692107e-01 -1.35475623e-02 1.20874177e+02] [ 2.16340554e-02 -7.53892029e-04 9.99765672e-01 9.40716319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:120.89, Z:9.41 [[ 7.56957916e-01 -6.53239718e-01 -1.71051009e-02 1.21583461e+02] [ 6.53095890e-01 7.57150754e-01 -1.37293336e-02 1.20892170e+02] [ 2.19196860e-02 -7.78743371e-04 9.99759432e-01 9.40777872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:120.91, Z:9.41 [[ 7.56843013e-01 -6.53461318e-01 -1.33026263e-02 1.21601826e+02] [ 6.53113791e-01 7.56909399e-01 -2.30334064e-02 1.20914408e+02] [ 2.51203230e-02 8.74454394e-03 9.99646189e-01 9.40638660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.662755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:121.63, Y:120.93, Z:9.41 [[ 7.57249264e-01 -6.52706557e-01 -2.34030407e-02 1.21630314e+02] [ 6.52752966e-01 7.57541625e-01 -6.65224383e-03 1.20925138e+02] [ 2.20707406e-02 -1.02389974e-02 9.99703979e-01 9.40793432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:120.96, Z:9.39 [[ 7.58053564e-01 -6.52160950e-01 6.39448816e-03 1.21635954e+02] [ 6.51886841e-01 7.57362063e-01 -3.80296220e-02 1.20963899e+02] [ 1.99584917e-02 3.29969732e-02 9.99256153e-01 9.38986240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.68, Y:120.95, Z:9.41 [[ 7.59162835e-01 -6.49897941e-01 -3.61172735e-02 1.21678297e+02] [ 6.50454583e-01 7.59527806e-01 5.13294651e-03 1.20952461e+02] [ 2.40961822e-02 -2.73893883e-02 9.99334376e-01 9.41434528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.69, Y:120.98, Z:9.41 [[ 7.59899292e-01 -6.49665782e-01 -2.20779964e-02 1.21693033e+02] [ 6.49647743e-01 7.60182594e-01 -8.95733229e-03 1.20981833e+02] [ 2.26025809e-02 -7.53625010e-03 9.99716124e-01 9.40675533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:121.02, Z:9.39 [[ 7.61268940e-01 -6.48388295e-01 7.88794880e-03 1.21698312e+02] [ 6.48093679e-01 7.60415057e-01 -4.17555401e-02 1.21020505e+02] [ 2.10756884e-02 3.68993255e-02 9.99096720e-01 9.38875707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:121.00, Z:9.42 [[ 7.61263976e-01 -6.47163644e-01 -4.06986061e-02 1.21748390e+02] [ 6.48079907e-01 7.61436187e-01 1.44002404e-02 1.21004718e+02] [ 2.16700794e-02 -3.73383331e-02 9.99067694e-01 9.41833955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:121.04, Z:9.41 [[ 7.62573153e-01 -6.46768813e-01 -1.31258963e-02 1.21752929e+02] [ 6.46454569e-01 7.62643363e-01 -2.17161421e-02 1.21041930e+02] [ 2.40557012e-02 8.07485132e-03 9.99678008e-01 9.40734456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:121.05, Z:9.41 [[ 7.62241187e-01 -6.46925379e-01 -2.18157475e-02 1.21781619e+02] [ 6.46955407e-01 7.62499245e-01 -6.60327862e-03 1.21053635e+02] [ 2.09063195e-02 -9.08052490e-03 9.99740201e-01 9.41167707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:121.08, Z:9.41 [[ 7.62474671e-01 -6.46817327e-01 -1.61158967e-02 1.21800296e+02] [ 6.46686930e-01 7.62644796e-01 -1.29973096e-02 1.21075710e+02] [ 2.06975898e-02 -5.11820444e-04 9.99785651e-01 9.40986241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93275509600002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:121.82, Y:121.09, Z:9.41 [[ 7.62441519e-01 -6.46868932e-01 -1.56049556e-02 1.21820532e+02] [ 6.46746529e-01 7.62601038e-01 -1.25930212e-02 1.21093554e+02] [ 2.00463895e-02 -4.91008643e-04 9.99798930e-01 9.40726156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:121.12, Z:9.40 [[ 7.62406711e-01 -6.47084468e-01 -4.20706661e-03 1.21837773e+02] [ 6.46852374e-01 7.62280208e-01 -2.26028908e-02 1.21119159e+02] [ 1.78329432e-02 1.45112446e-02 9.99735670e-01 9.40026832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:121.13, Z:9.40 [[ 7.62050536e-01 -6.47469543e-01 -7.88488157e-03 1.21862058e+02] [ 6.47307392e-01 7.62056942e-01 -1.61974713e-02 1.21134237e+02] [ 1.64960981e-02 7.23934957e-03 9.99837722e-01 9.40101185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:121.15, Z:9.41 [[ 7.62400374e-01 -6.46934731e-01 -1.48702483e-02 1.21886659e+02] [ 6.46880332e-01 7.62540010e-01 -8.86394728e-03 1.21145822e+02] [ 1.70735546e-02 -2.86139442e-03 9.99850142e-01 9.40589846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:121.16, Z:9.42 [[ 7.62308484e-01 -6.46657081e-01 -2.68401757e-02 1.21915838e+02] [ 6.46980469e-01 7.62491640e-01 4.77200829e-03 1.21155628e+02] [ 1.73795566e-02 -2.10028118e-02 9.99628347e-01 9.41938415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:121.19, Z:9.40 [[ 7.62175089e-01 -6.47370538e-01 -7.20533367e-04 1.21923930e+02] [ 6.47120721e-01 7.61910969e-01 -2.69526923e-02 1.21193891e+02] [ 1.79973612e-02 2.00763986e-02 9.99636451e-01 9.40361945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:121.20, Z:9.41 [[ 7.62154340e-01 -6.47247351e-01 -1.38430060e-02 1.21954316e+02] [ 6.47149148e-01 7.62279959e-01 -1.12802436e-02 1.21203156e+02] [ 1.78533538e-02 -3.61202897e-04 9.99840551e-01 9.40992457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:121.22, Z:9.41 [[ 7.61381768e-01 -6.48119738e-01 -1.54469550e-02 1.21977602e+02] [ 6.48101194e-01 7.61523372e-01 -6.85539937e-03 1.21220431e+02] [ 1.62063369e-02 -4.79161389e-03 9.99857187e-01 9.41055465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:121.24, Z:9.41 [[ 7.60833854e-01 -6.48818286e-01 -1.29104233e-02 1.21996820e+02] [ 6.48727597e-01 7.60943373e-01 -1.08483641e-02 1.21241104e+02] [ 1.68627181e-02 -1.21545223e-04 9.99857807e-01 9.40964598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:121.26, Z:9.41 [[ 7.60382391e-01 -6.49228574e-01 -1.79130553e-02 1.22021901e+02] [ 6.49234832e-01 7.60562299e-01 -6.25480769e-03 1.21255914e+02] [ 1.76847944e-02 -6.87373383e-03 9.99819984e-01 9.41378693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:121.27, Z:9.41 [[ 7.59849231e-01 -6.49884454e-01 -1.67135385e-02 1.22045381e+02] [ 6.49864767e-01 7.60014568e-01 -7.32398776e-03 1.21274151e+02] [ 1.74622785e-02 -5.29641333e-03 9.99833495e-01 9.41485436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:121.30, Z:9.41 [[ 7.58387214e-01 -6.51691113e-01 -1.21460281e-02 1.22064474e+02] [ 6.51502379e-01 7.58471416e-01 -1.63022056e-02 1.21297806e+02] [ 1.98364176e-02 4.45021814e-03 9.99793335e-01 9.41403501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.09, Y:121.31, Z:9.41 [[ 7.57615980e-01 -6.52548954e-01 -1.40673025e-02 1.22086445e+02] [ 6.52450830e-01 7.57746336e-01 -1.13315745e-02 1.21312467e+02] [ 1.80538540e-02 -5.93241257e-04 9.99836840e-01 9.41437221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:121.33, Z:9.42 [[ 7.56065848e-01 -6.54269455e-01 -1.72021426e-02 1.22109571e+02] [ 6.54185990e-01 7.56255456e-01 -1.08800396e-02 1.21330510e+02] [ 2.01276918e-02 -3.02737429e-03 9.99792834e-01 9.41827961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:121.35, Z:9.42 [[ 7.55954974e-01 -6.54470210e-01 -1.41711630e-02 1.22128742e+02] [ 6.54350038e-01 7.56087760e-01 -1.25430009e-02 1.21349170e+02] [ 1.89236633e-02 2.09042912e-04 9.99820910e-01 9.41627607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.15, Y:121.37, Z:9.41 [[ 7.54767503e-01 -6.55913368e-01 -1.01818722e-02 1.22146166e+02] [ 6.55584901e-01 7.54754788e-01 -2.35297379e-02 1.21373068e+02] [ 2.31182864e-02 1.10843998e-02 9.99671286e-01 9.41448595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.18, Y:121.37, Z:9.43 [[ 7.55668882e-01 -6.54254007e-01 -3.02693613e-02 1.22180845e+02] [ 6.54634317e-01 7.55936615e-01 3.70748774e-03 1.21373801e+02] [ 2.04560798e-02 -2.26169958e-02 9.99534902e-01 9.42739029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:121.41, Z:9.41 [[ 7.54413323e-01 -6.56384413e-01 -4.47655478e-03 1.22187507e+02] [ 6.56131639e-01 7.54282601e-01 -2.34314177e-02 1.21409212e+02] [ 1.87566047e-02 1.47397645e-02 9.99715424e-01 9.41306174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:121.42, Z:9.42 [[ 7.54554029e-01 -6.56111092e-01 -1.29016545e-02 1.22211617e+02] [ 6.55918787e-01 7.54654373e-01 -1.63499844e-02 1.21421593e+02] [ 2.04636961e-02 3.87450900e-03 9.99783089e-01 9.41757761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.23, Y:121.44, Z:9.42 [[ 7.54357283e-01 -6.56328766e-01 -1.33281714e-02 1.22232051e+02] [ 6.56093635e-01 7.54458168e-01 -1.82760911e-02 1.21440722e+02] [ 2.20506721e-02 5.04217397e-03 9.99744139e-01 9.41843004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:121.45, Z:9.42 [[ 7.53812147e-01 -6.56791856e-01 -1.97915602e-02 1.22258570e+02] [ 6.56757222e-01 7.54047014e-01 -9.11327806e-03 1.21454610e+02] [ 2.09092937e-02 -6.12855042e-03 9.99762593e-01 9.42288584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:121.47, Z:9.42 [[ 7.54660719e-01 -6.55881567e-01 -1.75091104e-02 1.22279033e+02] [ 6.55873306e-01 7.54838415e-01 -7.01244993e-03 1.21472277e+02] [ 1.78158858e-02 -6.19173765e-03 9.99822112e-01 9.42234491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:121.49, Z:9.42 [[ 7.54451238e-01 -6.56215183e-01 -1.36001245e-02 1.22298916e+02] [ 6.56110945e-01 7.54573803e-01 -1.16962973e-02 1.21493255e+02] [ 1.79375855e-02 -9.89045715e-05 9.99839104e-01 9.42193845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:121.51, Z:9.42 [[ 7.54501850e-01 -6.56166477e-01 -1.31344375e-02 1.22321236e+02] [ 6.56058903e-01 7.54616082e-01 -1.18862770e-02 1.21511725e+02] [ 1.77108342e-02 3.51253306e-04 9.99843089e-01 9.42217012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:121.53, Z:9.42 [[ 7.53787460e-01 -6.57049980e-01 -9.47573622e-03 1.22340843e+02] [ 6.56902788e-01 7.53831179e-01 -1.47404738e-02 1.21531713e+02] [ 1.68283334e-02 4.88654678e-03 9.99846453e-01 9.42043166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:121.54, Z:9.43 [[ 7.53908091e-01 -6.56771306e-01 -1.65541973e-02 1.22367406e+02] [ 6.56749233e-01 7.54071758e-01 -7.49861288e-03 1.21544821e+02] [ 1.74079265e-02 -5.21869146e-03 9.99834851e-01 9.42529384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.38, Y:121.57, Z:9.42 [[ 7.53108941e-01 -6.57853860e-01 -7.43122554e-03 1.22384235e+02] [ 6.57697198e-01 7.53111075e-01 -1.60656592e-02 1.21569329e+02] [ 1.61653942e-02 7.21169538e-03 9.99843323e-01 9.42080121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:121.58, Z:9.43 [[ 7.53008565e-01 -6.57777550e-01 -1.75155911e-02 1.22411122e+02] [ 6.57801360e-01 7.53173667e-01 -5.17665204e-03 1.21580688e+02] [ 1.65973675e-02 -7.62371634e-03 9.99833189e-01 9.42730905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:121.61, Z:9.42 [[ 7.52260147e-01 -6.58821994e-01 -7.63226844e-03 1.22426842e+02] [ 6.58675274e-01 7.52270550e-01 -1.53591577e-02 1.21606097e+02] [ 1.58604817e-02 6.52689571e-03 9.99852912e-01 9.42188392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:121.62, Z:9.42 [[ 7.51923484e-01 -6.59168527e-01 -1.03888007e-02 1.22449147e+02] [ 6.59067315e-01 7.51992686e-01 -1.17164620e-02 1.21621501e+02] [ 1.55354252e-02 1.96296395e-03 9.99877391e-01 9.42296467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:121.63, Z:9.44 [[ 7.52827145e-01 -6.57512549e-01 -3.04719299e-02 1.22483446e+02] [ 6.57945134e-01 7.53041461e-01 6.06284355e-03 1.21626067e+02] [ 1.89602309e-02 -2.46131312e-02 9.99517235e-01 9.43923106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.50, Y:121.65, Z:9.43 [[ 7.52521197e-01 -6.58387901e-01 -1.54019685e-02 1.22495795e+02] [ 6.58267002e-01 7.52678532e-01 -1.26325683e-02 1.21653867e+02] [ 1.99098611e-02 -6.32332172e-04 9.99801579e-01 9.43322172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:121.67, Z:9.43 [[ 7.52013706e-01 -6.58968325e-01 -1.53666203e-02 1.22517861e+02] [ 6.58848036e-01 7.52170414e-01 -1.26068658e-02 1.21671947e+02] [ 1.98658424e-02 -6.43731756e-04 9.99802447e-01 9.43419717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:121.70, Z:9.42 [[ 7.51122730e-01 -6.60161803e-01 1.01872122e-03 1.22532153e+02] [ 6.59914666e-01 7.50797465e-01 -2.85621964e-02 1.21700377e+02] [ 1.80908178e-02 2.21259840e-02 9.99591498e-01 9.42190847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:121.70, Z:9.43 [[ 7.51094936e-01 -6.59961001e-01 -1.75463365e-02 1.22564899e+02] [ 6.59937931e-01 7.51278625e-01 -7.89653788e-03 1.21704540e+02] [ 1.83935946e-02 -5.64844337e-03 9.99814868e-01 9.43131163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:121.72, Z:9.44 [[ 7.50547625e-01 -6.60295818e-01 -2.62239461e-02 1.22590373e+02] [ 6.60544975e-01 7.50785615e-01 1.13865912e-03 1.21715692e+02] [ 1.89367096e-02 -1.81767137e-02 9.99655445e-01 9.43917392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:121.74, Z:9.43 [[ 7.50064086e-01 -6.61197461e-01 -1.48924299e-02 1.22606701e+02] [ 6.61084507e-01 7.50211620e-01 -1.22392574e-02 1.21740594e+02] [ 1.92650399e-02 -6.64927267e-04 9.99814191e-01 9.43463082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:121.75, Z:9.45 [[ 7.52231357e-01 -6.58087084e-01 -3.27013177e-02 1.22643396e+02] [ 6.58512108e-01 7.52563802e-01 3.08668250e-03 1.21747247e+02] [ 2.25785221e-02 -2.38561130e-02 9.99460403e-01 9.44809436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:121.79, Z:9.43 [[ 7.50616902e-01 -6.60737641e-01 1.88687562e-04 1.22641994e+02] [ 6.60455258e-01 7.50287697e-01 -2.94486538e-02 1.21785925e+02] [ 1.93162641e-02 2.22292770e-02 9.99566277e-01 9.42899848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.67, Y:121.79, Z:9.43 [[ 7.51672669e-01 -6.59384759e-01 -1.41399260e-02 1.22672380e+02] [ 6.59282302e-01 7.51805433e-01 -1.16377306e-02 1.21792924e+02] [ 1.83042154e-02 -5.74438995e-04 9.99832299e-01 9.43489657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:121.81, Z:9.44 [[ 7.52522870e-01 -6.58413790e-01 -1.41637163e-02 1.22693725e+02] [ 6.58310656e-01 7.52655953e-01 -1.16660502e-02 1.21809832e+02] [ 1.83414937e-02 -5.45155809e-04 9.99831632e-01 9.43517125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:121.83, Z:9.44 [[ 7.53742045e-01 -6.57009770e-01 -1.45289924e-02 1.22715519e+02] [ 6.56900931e-01 7.53881881e-01 -1.19697979e-02 1.21827316e+02] [ 1.88174183e-02 -5.21968670e-04 9.99822800e-01 9.43511159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:121.85, Z:9.44 [[ 7.54220445e-01 -6.56454871e-01 -1.47825301e-02 1.22736755e+02] [ 6.56341943e-01 7.54365125e-01 -1.21865517e-02 1.21845003e+02] [ 1.91513464e-02 -5.11048094e-04 9.99816466e-01 9.43536874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:121.86, Z:9.44 [[ 7.54669067e-01 -6.55936828e-01 -1.48821159e-02 1.22760581e+02] [ 6.55816693e-01 7.54815737e-01 -1.25566121e-02 1.21863855e+02] [ 1.94695996e-02 -2.83853335e-04 9.99810409e-01 9.43522309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:121.88, Z:9.44 [[ 7.55433000e-01 -6.55063617e-01 -1.45821783e-02 1.22780462e+02] [ 6.54960527e-01 7.55573352e-01 -1.16455228e-02 1.21880436e+02] [ 1.86464637e-02 -7.53338944e-04 9.99825856e-01 9.43590182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:121.90, Z:9.43 [[ 7.54749459e-01 -6.55964786e-01 -7.96571725e-03 1.22798184e+02] [ 6.55763646e-01 7.54741644e-01 -1.84144289e-02 1.21903233e+02] [ 1.80912755e-02 8.67465250e-03 9.99798708e-01 9.43112169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:121.92, Z:9.44 [[ 7.54781702e-01 -6.55816858e-01 -1.44509554e-02 1.22823648e+02] [ 6.55755809e-01 7.54915988e-01 -9.28282912e-03 1.21915161e+02] [ 1.69970931e-02 -2.46978842e-03 9.99852489e-01 9.43509518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:121.93, Z:9.44 [[ 7.54867886e-01 -6.55644764e-01 -1.74475639e-02 1.22846385e+02] [ 6.55668361e-01 7.55031576e-01 -5.13023884e-03 1.21929028e+02] [ 1.65370759e-02 -7.56716310e-03 9.99834618e-01 9.43951615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.87, Y:121.95, Z:9.44 [[ 7.54323950e-01 -6.56384556e-01 -1.24375738e-02 1.22865101e+02] [ 6.56304162e-01 7.54426371e-01 -1.02809804e-02 1.21950030e+02] [ 1.61315104e-02 -4.07641661e-04 9.99869796e-01 9.43810285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:121.97, Z:9.44 [[ 7.53760592e-01 -6.57036531e-01 -1.21641471e-02 1.22886876e+02] [ 6.56959626e-01 7.53858628e-01 -1.00607460e-02 1.21968325e+02] [ 1.57803249e-02 -4.07959652e-04 9.99875400e-01 9.43847864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.91, Y:121.99, Z:9.44 [[ 7.53402557e-01 -6.57463299e-01 -1.12515671e-02 1.22907744e+02] [ 6.57397450e-01 7.53486474e-01 -9.31272881e-03 1.21985617e+02] [ 1.46006810e-02 -3.80517830e-04 9.99893332e-01 9.43844685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:122.00, Z:9.44 [[ 7.53216316e-01 -6.57677765e-01 -1.11865127e-02 1.22928994e+02] [ 6.57612684e-01 7.53299284e-01 -9.25991436e-03 1.22003212e+02] [ 1.45168318e-02 -3.81674089e-04 9.99894552e-01 9.43925569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:122.02, Z:9.44 [[ 7.53711216e-01 -6.57115399e-01 -1.08974824e-02 1.22949581e+02] [ 6.57053479e-01 7.53789908e-01 -9.02773928e-03 1.22020113e+02] [ 1.41466788e-02 -3.55920402e-04 9.99899867e-01 9.43942023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.97, Y:122.04, Z:9.44 [[ 7.54138151e-01 -6.56621325e-01 -1.11393019e-02 1.22970724e+02] [ 6.56556556e-01 7.54220333e-01 -9.22924691e-03 1.22038204e+02] [ 1.44616083e-02 -3.53454463e-04 9.99895363e-01 9.43982369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:122.06, Z:9.44 [[ 7.54728899e-01 -6.55923226e-01 -1.22069888e-02 1.22991226e+02] [ 6.55845241e-01 7.54827521e-01 -1.01209536e-02 1.22056359e+02] [ 1.58527396e-02 -3.67319287e-04 9.99874270e-01 9.44086383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:122.07, Z:9.44 [[ 7.56962142e-01 -6.53340213e-01 -1.24451628e-02 1.23013113e+02] [ 6.53258721e-01 7.57064374e-01 -1.03235662e-02 1.22074533e+02] [ 1.61665903e-02 -3.15362347e-04 9.99869262e-01 9.44016950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:122.09, Z:9.44 [[ 7.58172200e-01 -6.51925746e-01 -1.29513447e-02 1.23034462e+02] [ 6.51837176e-01 7.58282755e-01 -1.07498751e-02 1.22092275e+02] [ 1.68289017e-02 -2.91911506e-04 9.99858341e-01 9.44070147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:122.11, Z:9.44 [[ 7.59037668e-01 -6.50915640e-01 -1.30632719e-02 1.23056095e+02] [ 6.50825286e-01 7.59150024e-01 -1.08484493e-02 1.22110723e+02] [ 1.69784085e-02 -2.67526068e-04 9.99855821e-01 9.44088097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:122.13, Z:9.44 [[ 7.60816893e-01 -6.48820662e-01 -1.37623844e-02 1.23076754e+02] [ 6.48719867e-01 7.60941323e-01 -1.14384060e-02 1.22127932e+02] [ 1.78938411e-02 -2.25399663e-04 9.99839867e-01 9.44109097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:122.15, Z:9.44 [[ 7.61334933e-01 -6.48205655e-01 -1.40906977e-02 1.23098066e+02] [ 6.48099835e-01 7.61465287e-01 -1.17141263e-02 1.22145727e+02] [ 1.83227401e-02 -2.13805287e-04 9.99832102e-01 9.44151913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:122.16, Z:9.44 [[ 7.61554804e-01 -6.47944582e-01 -1.42161563e-02 1.23119232e+02] [ 6.47836688e-01 7.61687454e-01 -1.18257170e-02 1.22163524e+02] [ 1.84906771e-02 -2.03816017e-04 9.99829012e-01 9.44166007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:122.18, Z:9.44 [[ 7.61267591e-01 -6.48284283e-01 -1.41118154e-02 1.23139887e+02] [ 6.48177860e-01 7.61398350e-01 -1.17479719e-02 1.22180641e+02] [ 1.83607386e-02 -2.03616043e-04 9.99831407e-01 9.44203144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:122.20, Z:9.44 [[ 7.60770827e-01 -6.48872835e-01 -1.38489245e-02 1.23161879e+02] [ 6.48770391e-01 7.60896839e-01 -1.15317167e-02 1.22198496e+02] [ 1.80202206e-02 -2.11778501e-04 9.99837600e-01 9.44277668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:122.22, Z:9.44 [[ 7.59488634e-01 -6.50390798e-01 -1.29932973e-02 1.23183665e+02] [ 6.50300739e-01 7.59599736e-01 -1.08254424e-02 1.22215559e+02] [ 1.69104733e-02 -2.27750328e-04 9.99856982e-01 9.44335465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:122.23, Z:9.44 [[ 7.58610724e-01 -6.51420244e-01 -1.27057267e-02 1.23205639e+02] [ 6.51334168e-01 7.58717080e-01 -1.05921577e-02 1.22233533e+02] [ 1.65399978e-02 -2.40349479e-04 9.99863176e-01 9.44422523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:122.25, Z:9.45 [[ 7.57813543e-01 -6.52354982e-01 -1.23130795e-02 1.23226580e+02] [ 6.52274135e-01 7.57913529e-01 -1.02730333e-02 1.22250492e+02] [ 1.60339140e-02 -2.46459530e-04 9.99871418e-01 9.44522152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:122.27, Z:9.45 [[ 7.56803013e-01 -6.53536883e-01 -1.17788388e-02 1.23248459e+02] [ 6.53463025e-01 7.56894626e-01 -9.82854435e-03 1.22268592e+02] [ 1.53386560e-02 -2.58763654e-04 9.99882322e-01 9.44579889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:122.29, Z:9.45 [[ 7.55047466e-01 -6.55571223e-01 -1.13883765e-02 1.23270085e+02] [ 6.55502327e-01 7.55133293e-01 -9.50836887e-03 1.22287164e+02] [ 1.48331553e-02 -2.85837505e-04 9.99889942e-01 9.44641945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:122.31, Z:9.45 [[ 7.54186520e-01 -6.56562556e-01 -1.13270742e-02 1.23291124e+02] [ 6.56494423e-01 7.54271516e-01 -9.46322736e-03 1.22305647e+02] [ 1.47568902e-02 -2.99122526e-04 9.99891066e-01 9.44718427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:122.32, Z:9.45 [[ 7.52969858e-01 -6.57960536e-01 -1.11501810e-02 1.23311736e+02] [ 6.57894584e-01 7.53052344e-01 -9.32116372e-03 1.22324475e+02] [ 1.45296278e-02 -3.17088359e-04 9.99894389e-01 9.44753211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:122.34, Z:9.45 [[ 7.52776198e-01 -6.58182147e-01 -1.11470924e-02 1.23333530e+02] [ 6.58116164e-01 7.52858660e-01 -9.32485479e-03 1.22342928e+02] [ 1.45296380e-02 -3.16552989e-04 9.99894389e-01 9.44828742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:122.36, Z:9.45 [[ 7.51887614e-01 -6.59194439e-01 -1.13007919e-02 1.23354984e+02] [ 6.59126658e-01 7.51972459e-01 -9.45884688e-03 1.22361556e+02] [ 1.47331036e-02 -3.36663403e-04 9.99891405e-01 9.44894182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:122.38, Z:9.45 [[ 7.51355205e-01 -6.59798068e-01 -1.14832558e-02 1.23376632e+02] [ 6.59728056e-01 7.51442870e-01 -9.61794110e-03 1.22379357e+02] [ 1.49749097e-02 -3.49335916e-04 9.99887809e-01 9.44963823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:122.40, Z:9.45 [[ 7.50214803e-01 -6.61090999e-01 -1.16808027e-02 1.23397530e+02] [ 6.61018581e-01 7.50305638e-01 -9.79209162e-03 1.22396341e+02] [ 1.52376358e-02 -3.75055558e-04 9.99883830e-01 9.45019949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.42, Y:122.41, Z:9.45 [[ 7.49531859e-01 -6.61866790e-01 -1.15907149e-02 1.23419258e+02] [ 6.61795555e-01 7.49621373e-01 -9.71806222e-03 1.22414337e+02] [ 1.51207103e-02 -3.86686370e-04 9.99885601e-01 9.45042498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:122.43, Z:9.45 [[ 7.49013177e-01 -6.62448160e-01 -1.19035949e-02 1.23440510e+02] [ 6.62372997e-01 7.49107650e-01 -9.98704933e-03 1.22431990e+02] [ 1.55329765e-02 -4.04188316e-04 9.99879274e-01 9.45075881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:122.45, Z:9.45 [[ 7.48002085e-01 -6.63576659e-01 -1.26055080e-02 1.23461572e+02] [ 6.63492408e-01 7.48108159e-01 -1.05833230e-02 1.22449868e+02] [ 1.64531295e-02 -4.47311225e-04 9.99864538e-01 9.45075273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:122.47, Z:9.45 [[ 7.47592623e-01 -6.64030676e-01 -1.29819768e-02 1.23482623e+02] [ 6.63941265e-01 7.47705186e-01 -1.09065169e-02 1.22468129e+02] [ 1.69489532e-02 -4.65638583e-04 9.99856248e-01 9.45168905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.50, Y:122.49, Z:9.45 [[ 7.47387853e-01 -6.64254657e-01 -1.33096688e-02 1.23503502e+02] [ 6.64160560e-01 7.47506203e-01 -1.11904890e-02 1.22485670e+02] [ 1.73823945e-02 -4.76121532e-04 9.99848801e-01 9.45219205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:122.50, Z:9.45 [[ 7.47198609e-01 -6.64463592e-01 -1.35045802e-02 1.23524751e+02] [ 6.64366683e-01 7.47320480e-01 -1.13583133e-02 1.22504001e+02] [ 1.76394350e-02 -4.85077221e-04 9.99844295e-01 9.45265672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:122.52, Z:9.45 [[ 7.47175000e-01 -6.64492089e-01 -1.34082944e-02 1.23546387e+02] [ 6.64396439e-01 7.47295146e-01 -1.12843262e-02 1.22522180e+02] [ 1.75182988e-02 -4.77056639e-04 9.99846429e-01 9.45320993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:122.54, Z:9.45 [[ 7.47502254e-01 -6.64127132e-01 -1.32488796e-02 1.23567012e+02] [ 6.64033536e-01 7.47619518e-01 -1.11588122e-02 1.22539492e+02] [ 1.73159909e-02 -4.56463063e-04 9.99849963e-01 9.45359954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.59, Y:122.56, Z:9.45 [[ 7.47708179e-01 -6.63891675e-01 -1.34284317e-02 1.23587907e+02] [ 6.63795441e-01 7.47828615e-01 -1.13126521e-02 1.22557794e+02] [ 1.75525410e-02 -4.55169269e-04 9.99845839e-01 9.45415767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:122.58, Z:9.45 [[ 7.48157929e-01 -6.63383837e-01 -1.34758751e-02 1.23609026e+02] [ 6.63286718e-01 7.48279154e-01 -1.13595001e-02 1.22576491e+02] [ 1.76194252e-02 -4.39668891e-04 9.99844669e-01 9.45448863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:122.60, Z:9.45 [[ 7.48732360e-01 -6.62730780e-01 -1.37027893e-02 1.23630069e+02] [ 6.62630120e-01 7.48857618e-01 -1.15582165e-02 1.22595330e+02] [ 1.79214240e-02 -4.25870213e-04 9.99839308e-01 9.45495840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:122.61, Z:9.46 [[ 7.49880580e-01 -6.61417110e-01 -1.43708725e-02 1.23650343e+02] [ 6.61305995e-01 7.50018160e-01 -1.21301569e-02 1.22614711e+02] [ 1.88015087e-02 -4.07375039e-04 9.99823153e-01 9.45518225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:122.63, Z:9.46 [[ 7.50458721e-01 -6.60754616e-01 -1.46644447e-02 1.23670269e+02] [ 6.60638603e-01 7.50601882e-01 -1.23875801e-02 1.22632420e+02] [ 1.91923105e-02 -3.91530744e-04 9.99815734e-01 9.45589515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.69, Y:122.65, Z:9.46 [[ 7.51629196e-01 -6.59402752e-01 -1.55422835e-02 1.23690162e+02] [ 6.59272038e-01 7.51789778e-01 -1.31342983e-02 1.22651283e+02] [ 2.03453223e-02 -3.74470881e-04 9.99792942e-01 9.45648882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:122.67, Z:9.46 [[ 7.51790851e-01 -6.59207768e-01 -1.59885802e-02 1.23710399e+02] [ 6.59069313e-01 7.51960754e-01 -1.35153549e-02 1.22670041e+02] [ 2.09322118e-02 -3.76862382e-04 9.99780826e-01 9.45724692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:122.69, Z:9.46 [[ 7.52221394e-01 -6.58705115e-01 -1.64482648e-02 1.23729888e+02] [ 6.58558256e-01 7.52401115e-01 -1.39135095e-02 1.22689084e+02] [ 2.15405927e-02 -3.66101072e-04 9.99767907e-01 9.45730431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.75, Y:122.71, Z:9.46 [[ 7.52230103e-01 -6.58683759e-01 -1.68990563e-02 1.23750134e+02] [ 6.58528591e-01 7.52419808e-01 -1.43012838e-02 1.22707449e+02] [ 2.21352081e-02 -3.70655590e-04 9.99754918e-01 9.45767300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.77, Y:122.73, Z:9.46 [[ 7.51989679e-01 -6.58952372e-01 -1.71258176e-02 1.23769879e+02] [ 6.58792969e-01 7.52184570e-01 -1.44981783e-02 1.22725579e+02] [ 2.24353847e-02 -3.79887733e-04 9.99748223e-01 9.45833794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.79, Y:122.74, Z:9.46 [[ 7.51380783e-01 -6.59643851e-01 -1.72310530e-02 1.23790893e+02] [ 6.59482568e-01 7.51578226e-01 -1.45915142e-02 1.22744493e+02] [ 2.25756869e-02 -3.99795707e-04 9.99745057e-01 9.45924496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:122.76, Z:9.46 [[ 7.49926589e-01 -6.61277814e-01 -1.79377919e-02 1.23811592e+02] [ 6.61103266e-01 7.50140947e-01 -1.51996954e-02 1.22763515e+02] [ 2.35070935e-02 -4.60077097e-04 9.99723564e-01 9.45979564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.83, Y:122.78, Z:9.46 [[ 7.49068011e-01 -6.62245639e-01 -1.81060392e-02 1.23831639e+02] [ 6.62067834e-01 7.49286645e-01 -1.53527878e-02 1.22781049e+02] [ 2.37339301e-02 -4.87143960e-04 9.99718192e-01 9.46027553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.85, Y:122.80, Z:9.46 [[ 7.47455372e-01 -6.64044272e-01 -1.88592465e-02 1.23852276e+02] [ 6.63851793e-01 7.47693044e-01 -1.59971446e-02 1.22799597e+02] [ 2.47237397e-02 -5.62592927e-04 9.99694163e-01 9.46083504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.88, Y:122.81, Z:9.47 [[ 7.47858576e-01 -6.63211149e-01 -2.93005491e-02 1.23881829e+02] [ 6.63333475e-01 7.48293695e-01 -6.72657782e-03 1.22811696e+02] [ 2.63865575e-02 -1.44055061e-02 9.99548013e-01 9.46813155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:122.84, Z:9.46 [[ 7.46499169e-01 -6.65311011e-01 -1.00124532e-02 1.23890227e+02] [ 6.64910640e-01 7.46449914e-01 -2.65775482e-02 1.22843625e+02] [ 2.51561303e-02 1.31827310e-02 9.99596611e-01 9.45822513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:122.86, Z:9.46 [[ 7.46282805e-01 -6.65341852e-01 -1.95497908e-02 1.23915895e+02] [ 6.65134747e-01 7.46538580e-01 -1.66107502e-02 1.22855699e+02] [ 2.56465003e-02 -6.06927895e-04 9.99670890e-01 9.46249603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:122.89, Z:9.45 [[ 7.44076973e-01 -6.68078069e-01 4.59916311e-03 1.23919899e+02] [ 6.67779779e-01 7.43498430e-01 -3.57805933e-02 1.22889731e+02] [ 2.04847591e-02 2.96947437e-02 9.99349087e-01 9.44521764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:122.88, Z:9.47 [[ 7.46504101e-01 -6.64159433e-01 -4.02973342e-02 1.23969304e+02] [ 6.64848961e-01 7.46959209e-01 5.27258597e-03 1.22878336e+02] [ 2.65986272e-02 -3.07276478e-02 9.99173821e-01 9.47253815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:122.91, Z:9.46 [[ 7.47197858e-01 -6.64241094e-01 -2.18890465e-02 1.23978853e+02] [ 6.63980442e-01 7.47518147e-01 -1.86169759e-02 1.22910825e+02] [ 2.87286199e-02 -6.23334279e-04 9.99587054e-01 9.46467705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.00, Y:122.93, Z:9.47 [[ 7.47399946e-01 -6.64009679e-01 -2.20105959e-02 1.23999896e+02] [ 6.63745677e-01 7.47723729e-01 -1.87323504e-02 1.22929231e+02] [ 2.88963068e-02 -6.08880243e-04 9.99582229e-01 9.46500777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:122.95, Z:9.47 [[ 7.47473483e-01 -6.63906675e-01 -2.26123491e-02 1.24020707e+02] [ 6.63627615e-01 7.47815186e-01 -1.92571078e-02 1.22947527e+02] [ 2.96947805e-02 -6.12001922e-04 9.99558825e-01 9.46599266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.04, Y:122.96, Z:9.47 [[ 7.48056546e-01 -6.63238427e-01 -2.29389162e-02 1.24041361e+02] [ 6.62950562e-01 7.48407942e-01 -1.95474983e-02 1.22964939e+02] [ 3.01323191e-02 -5.84733343e-04 9.99545748e-01 9.46606591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.06, Y:122.99, Z:9.46 [[ 7.47093135e-01 -6.64584280e-01 -1.34008785e-02 1.24056056e+02] [ 6.64134839e-01 7.47129738e-01 -2.68713526e-02 1.22989471e+02] [ 2.78704734e-02 1.11754128e-02 9.99549072e-01 9.46006540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.09, Y:123.00, Z:9.47 [[ 7.47784792e-01 -6.63200366e-01 -3.13557037e-02 1.24088595e+02] [ 6.63216255e-01 7.48341162e-01 -1.13887738e-02 1.22995557e+02] [ 3.10178027e-02 -1.22792605e-02 9.99443403e-01 9.46996432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:123.02, Z:9.47 [[ 7.47037254e-01 -6.64363339e-01 -2.35943778e-02 1.24105250e+02] [ 6.64058538e-01 7.47409499e-01 -2.01320367e-02 1.23020046e+02] [ 3.10096492e-02 -6.28666594e-04 9.99518887e-01 9.46914228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:123.03, Z:9.48 [[ 7.48038127e-01 -6.62545621e-01 -3.83700549e-02 1.24136474e+02] [ 6.62905168e-01 7.48691209e-01 -4.26743893e-03 1.23026215e+02] [ 3.15546958e-02 -2.22435007e-02 9.99254486e-01 9.47919209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.14, Y:123.06, Z:9.47 [[ 7.45162600e-01 -6.66694535e-01 -1.58460441e-02 1.24144855e+02] [ 6.66171956e-01 7.45254956e-01 -2.84600820e-02 1.23060329e+02] [ 3.07835240e-02 1.06511985e-02 9.99469323e-01 9.47077635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:123.09, Z:9.46 [[ 7.43180863e-01 -6.69090040e-01 8.49970958e-04 1.24156998e+02] [ 6.68414117e-01 7.42371786e-01 -4.58988062e-02 1.23091984e+02] [ 3.00794396e-02 3.46792470e-02 9.98945733e-01 9.46032994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:123.08, Z:9.49 [[ 7.43210728e-01 -6.67410510e-01 -4.69150863e-02 1.24208977e+02] [ 6.68162538e-01 7.44015190e-01 4.69136673e-04 1.23076316e+02] [ 3.45924301e-02 -3.16955706e-02 9.98898771e-01 9.49095796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:123.11, Z:9.48 [[ 7.42942439e-01 -6.68817159e-01 -2.68354331e-02 1.24218739e+02] [ 6.68426416e-01 7.43426340e-01 -2.28780036e-02 1.23108592e+02] [ 3.52513692e-02 -9.40472572e-04 9.99378035e-01 9.48364857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:123.13, Z:9.48 [[ 7.43566751e-01 -6.68243361e-01 -2.36494776e-02 1.24236540e+02] [ 6.67647116e-01 7.43921625e-01 -2.87740062e-02 1.23130154e+02] [ 3.68213964e-02 5.60588883e-03 9.99306139e-01 9.48364238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.25, Y:123.15, Z:9.48 [[ 7.45435783e-01 -6.66350189e-01 -1.74045727e-02 1.24254990e+02] [ 6.65764602e-01 7.45562004e-01 -2.99130881e-02 1.23151959e+02] [ 3.29087801e-02 1.07109378e-02 9.99400965e-01 9.47817604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.29, Y:123.16, Z:9.50 [[ 7.46217950e-01 -6.64486828e-01 -4.01998382e-02 1.24290010e+02] [ 6.64751737e-01 7.47018129e-01 -8.30920518e-03 1.23155637e+02] [ 3.55513653e-02 -2.05224342e-02 9.99157110e-01 9.49553638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.412755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.31, Y:123.18, Z:9.50 [[ 7.48373304e-01 -6.62044287e-01 -4.04321597e-02 1.24314391e+02] [ 6.62134717e-01 7.49271482e-01 -1.30331503e-02 1.23175693e+02] [ 3.89231869e-02 -1.70178749e-02 9.99097281e-01 9.49933501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:123.21, Z:9.49 [[ 7.48170260e-01 -6.63307157e-01 -1.62750669e-02 1.24318855e+02] [ 6.62581772e-01 7.48197188e-01 -3.44436231e-02 1.23209284e+02] [ 3.50236610e-02 1.49861318e-02 9.99274116e-01 9.48806082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:123.22, Z:9.49 [[ 7.49064769e-01 -6.62022995e-01 -2.50504717e-02 1.24343921e+02] [ 6.61517989e-01 7.49477847e-01 -2.60174327e-02 1.23220499e+02] [ 3.59989123e-02 2.91740455e-03 9.99347571e-01 9.49257351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:123.24, Z:9.49 [[ 7.48260856e-01 -6.62811606e-01 -2.80440020e-02 1.24367554e+02] [ 6.62474095e-01 7.48781578e-01 -2.13124688e-02 1.23237407e+02] [ 3.51249838e-02 -2.63113870e-03 9.99379464e-01 9.49498493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.39, Y:123.26, Z:9.50 [[ 7.47884414e-01 -6.63242404e-01 -2.79001102e-02 1.24390383e+02] [ 6.62859833e-01 7.48402923e-01 -2.25811290e-02 1.23256435e+02] [ 3.58572863e-02 -1.60578797e-03 9.99355631e-01 9.49601053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:123.28, Z:9.49 [[ 7.46104431e-01 -6.65404666e-01 -2.37656916e-02 1.24407889e+02] [ 6.64893719e-01 7.46472847e-01 -2.63558630e-02 1.23278116e+02] [ 3.52777577e-02 3.86256715e-03 9.99370082e-01 9.49468899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:123.29, Z:9.50 [[ 7.45073004e-01 -6.66334009e-01 -2.94144011e-02 1.24433028e+02] [ 6.66088292e-01 7.45633100e-01 -1.89121040e-02 1.23291866e+02] [ 3.45341291e-02 -5.50169005e-03 9.99388376e-01 9.49826018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.45, Y:123.32, Z:9.49 [[ 7.43340740e-01 -6.68645198e-01 -1.89246733e-02 1.24450307e+02] [ 6.68085076e-01 7.43530704e-01 -2.87127620e-02 1.23317566e+02] [ 3.32697261e-02 8.70007398e-03 9.99408542e-01 9.49211959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:123.33, Z:9.50 [[ 7.42164357e-01 -6.69666828e-01 -2.71736521e-02 1.24476148e+02] [ 6.69374666e-01 7.42654300e-01 -2.00536300e-02 1.23330372e+02] [ 3.36098803e-02 -3.30626488e-03 9.99429560e-01 9.49717807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:123.35, Z:9.50 [[ 7.40501391e-01 -6.71354077e-01 -3.06821362e-02 1.24498270e+02] [ 6.71192132e-01 7.41092211e-01 -1.68361683e-02 1.23346141e+02] [ 3.40413224e-02 -8.12640241e-03 9.99387387e-01 9.50254619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:123.38, Z:9.49 [[ 7.37427573e-01 -6.75328001e-01 -1.15180425e-02 1.24507357e+02] [ 6.74614184e-01 7.37269851e-01 -3.64536654e-02 1.23377081e+02] [ 3.31100865e-02 1.91117032e-02 9.99268965e-01 9.49103391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:124.55, Y:123.38, Z:9.51 [[ 7.36220716e-01 -6.75611338e-01 -3.90944690e-02 1.24547030e+02] [ 6.75911516e-01 7.36950009e-01 -6.95036045e-03 1.23376049e+02] [ 3.35064116e-02 -2.13074025e-02 9.99211347e-01 9.50699125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:123.40, Z:9.51 [[ 7.36016547e-01 -6.75825524e-01 -3.92365135e-02 1.24570871e+02] [ 6.75997377e-01 7.36826056e-01 -1.07196121e-02 1.23395620e+02] [ 3.61550729e-02 -1.86339683e-02 9.99172451e-01 9.51333157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:123.43, Z:9.50 [[ 7.34137163e-01 -6.78868912e-01 -1.34025145e-02 1.24573633e+02] [ 6.78194985e-01 7.34084219e-01 -3.42333514e-02 1.23430023e+02] [ 3.30785324e-02 1.60424574e-02 9.99323997e-01 9.49986587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:124.60, Y:123.44, Z:9.51 [[ 7.34992578e-01 -6.77517955e-01 -2.74832962e-02 1.24602650e+02] [ 6.77106883e-01 7.35505188e-01 -2.36302367e-02 1.23438949e+02] [ 3.62240165e-02 -1.24108046e-03 9.99342924e-01 9.50516439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:123.46, Z:9.51 [[ 7.35399988e-01 -6.77328501e-01 -2.03213919e-02 1.24617814e+02] [ 6.76708956e-01 7.35632377e-01 -3.01661125e-02 1.23463790e+02] [ 3.53814416e-02 8.43249087e-03 9.99338304e-01 9.50511208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.64, Y:123.48, Z:9.51 [[ 7.36145981e-01 -6.76205531e-01 -2.88993696e-02 1.24644687e+02] [ 6.76034416e-01 7.36678225e-01 -1.68125535e-02 1.23475114e+02] [ 3.26582780e-02 -7.16047470e-03 9.99440926e-01 9.50923364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.66, Y:123.50, Z:9.51 [[ 7.36008962e-01 -6.76514076e-01 -2.48900133e-02 1.24663075e+02] [ 6.76171231e-01 7.36429070e-01 -2.15567126e-02 1.23496074e+02] [ 3.29131489e-02 -9.63977255e-04 9.99457751e-01 9.50854890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:123.52, Z:9.51 [[ 7.36969314e-01 -6.75520906e-01 -2.34037466e-02 1.24682629e+02] [ 6.75045669e-01 7.37334719e-01 -2.55118911e-02 1.23516484e+02] [ 3.44902107e-02 3.00288315e-03 9.99400524e-01 9.50932676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.71, Y:123.53, Z:9.51 [[ 7.40198540e-01 -6.71739960e-01 -2.95219892e-02 1.24706494e+02] [ 6.71297874e-01 7.40784997e-01 -2.44285168e-02 1.23532657e+02] [ 3.82790575e-02 -1.73609611e-03 9.99265580e-01 9.51398214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:123.56, Z:9.51 [[ 7.40783457e-01 -6.71382181e-01 -2.20417018e-02 1.24720940e+02] [ 6.70705262e-01 7.41063765e-01 -3.12881405e-02 1.23555256e+02] [ 3.73406066e-02 8.39425151e-03 9.99267339e-01 9.51086985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:123.57, Z:9.52 [[ 7.43199948e-01 -6.68210768e-01 -3.38852187e-02 1.24749435e+02] [ 6.68146722e-01 7.43881454e-01 -1.48438777e-02 1.23565032e+02] [ 3.51254246e-02 -1.16083287e-02 9.99315491e-01 9.51581581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:123.59, Z:9.51 [[ 7.44951397e-01 -6.66544075e-01 -2.76841424e-02 1.24764955e+02] [ 6.66159130e-01 7.45464053e-01 -2.27015285e-02 1.23585984e+02] [ 3.57691023e-02 -1.53050889e-03 9.99358909e-01 9.51367175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:123.61, Z:9.51 [[ 7.43608719e-01 -6.68218062e-01 -2.30368217e-02 1.24783635e+02] [ 6.67452830e-01 7.43906025e-01 -3.33248504e-02 1.23612640e+02] [ 3.94054974e-02 9.40465752e-03 9.99179043e-01 9.51338517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:123.61, Z:9.53 [[ 7.44504062e-01 -6.65744283e-01 -4.99825025e-02 1.24823868e+02] [ 6.66339009e-01 7.45624285e-01 -6.06224084e-03 1.23612773e+02] [ 4.13040699e-02 -2.87919283e-02 9.98731695e-01 9.52900568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.83, Y:123.65, Z:9.52 [[ 7.43872327e-01 -6.67964775e-01 -2.18407924e-02 1.24828250e+02] [ 6.66945378e-01 7.44040132e-01 -3.98515312e-02 1.23650425e+02] [ 4.28698451e-02 1.50778357e-02 9.98966884e-01 9.51657720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:123.66, Z:9.52 [[ 7.41670472e-01 -6.70196027e-01 -2.76079030e-02 1.24851390e+02] [ 6.69762752e-01 7.42183878e-01 -2.41028480e-02 1.23661795e+02] [ 3.66437735e-02 -6.14374420e-04 9.99328203e-01 9.51649106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.88, Y:123.68, Z:9.52 [[ 7.41498187e-01 -6.70313885e-01 -2.93212399e-02 1.24875273e+02] [ 6.69834410e-01 7.42077220e-01 -2.53626348e-02 1.23677644e+02] [ 3.87595504e-02 -8.34027709e-04 9.99248218e-01 9.51987109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:123.69, Z:9.52 [[ 7.41590546e-01 -6.69979698e-01 -3.42150118e-02 1.24899975e+02] [ 6.69585004e-01 7.42359819e-01 -2.36182538e-02 1.23694523e+02] [ 4.12236006e-02 -5.39478508e-03 9.99135382e-01 9.52398086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:123.72, Z:9.52 [[ 7.38787989e-01 -6.73510480e-01 -2.39987546e-02 1.24913066e+02] [ 6.72973957e-01 7.39167300e-01 -2.71616579e-02 1.23719432e+02] [ 3.60327559e-02 3.91616975e-03 9.99342936e-01 9.51870000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:123.73, Z:9.52 [[ 7.39516979e-01 -6.72584262e-01 -2.72955779e-02 1.24937105e+02] [ 6.72168224e-01 7.40020066e-01 -2.36681346e-02 1.23734720e+02] [ 3.61180902e-02 -8.44232705e-04 9.99347172e-01 9.52123628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:123.76, Z:9.52 [[ 7.38276311e-01 -6.74024668e-01 -2.52751793e-02 1.24954864e+02] [ 6.73462748e-01 7.38700770e-01 -2.77326460e-02 1.23756201e+02] [ 3.73632819e-02 3.45246392e-03 9.99295785e-01 9.52143914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:123.77, Z:9.53 [[ 7.37961655e-01 -6.74152665e-01 -3.05086860e-02 1.24979247e+02] [ 6.73871009e-01 7.38570814e-01 -2.02735202e-02 1.23770073e+02] [ 3.62002728e-02 -5.59783852e-03 9.99328877e-01 9.52502636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:123.79, Z:9.52 [[ 7.37312929e-01 -6.74987675e-01 -2.75913690e-02 1.24998704e+02] [ 6.74562649e-01 7.37828405e-01 -2.39682567e-02 1.23791076e+02] [ 3.65359736e-02 -9.40001435e-04 9.99331896e-01 9.52464630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:123.81, Z:9.53 [[ 7.36991896e-01 -6.75314217e-01 -2.81718583e-02 1.25018491e+02] [ 6.74870790e-01 7.37529509e-01 -2.44875627e-02 1.23809710e+02] [ 3.73143760e-02 -9.65228996e-04 9.99303110e-01 9.52553466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:123.83, Z:9.53 [[ 7.36664487e-01 -6.75670978e-01 -2.81809122e-02 1.25038785e+02] [ 6.75227172e-01 7.37202670e-01 -2.45048948e-02 1.23828950e+02] [ 3.73322899e-02 -9.76631906e-04 9.99302430e-01 9.52588236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:123.85, Z:9.53 [[ 7.36371301e-01 -6.75971714e-01 -2.86277647e-02 1.25057924e+02] [ 6.75513368e-01 7.36926895e-01 -2.49086494e-02 1.23847524e+02] [ 3.79341122e-02 -9.96423209e-04 9.99279746e-01 9.52646657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:123.87, Z:9.53 [[ 7.36044923e-01 -6.76284564e-01 -2.96151984e-02 1.25078340e+02] [ 6.75793880e-01 7.36639741e-01 -2.57783651e-02 1.23867359e+02] [ 3.92492424e-02 -1.03973511e-03 9.99228911e-01 9.52715862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:123.89, Z:9.53 [[ 7.35785803e-01 -6.76555266e-01 -2.98701306e-02 1.25099593e+02] [ 6.76055657e-01 7.36391110e-01 -2.60169505e-02 1.23886186e+02] [ 3.95980036e-02 -1.05096795e-03 9.99215139e-01 9.52798856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:123.90, Z:9.53 [[ 7.35580418e-01 -6.76782028e-01 -2.97915407e-02 1.25119756e+02] [ 6.76284613e-01 7.36182713e-01 -2.59641158e-02 1.23904106e+02] [ 3.95040642e-02 -1.04886545e-03 9.99218859e-01 9.52887130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:123.92, Z:9.53 [[ 7.35386285e-01 -6.76978964e-01 -3.01080514e-02 1.25140268e+02] [ 6.76470703e-01 7.36001597e-01 -2.62495069e-02 1.23922343e+02] [ 3.99299379e-02 -1.06368735e-03 9.99201916e-01 9.53030398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.16, Y:123.94, Z:9.53 [[ 7.34859823e-01 -6.77564489e-01 -2.97893239e-02 1.25161185e+02] [ 6.77067008e-01 7.35462579e-01 -2.59819380e-02 1.23941580e+02] [ 3.95133715e-02 -1.07628606e-03 9.99218462e-01 9.53118025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.672755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.18, Y:123.96, Z:9.53 [[ 7.34273797e-01 -6.78188585e-01 -3.00372176e-02 1.25182007e+02] [ 6.77682646e-01 7.34887079e-01 -2.62147488e-02 1.23960772e+02] [ 3.98525064e-02 -1.10689796e-03 9.99204960e-01 9.53197605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.20, Y:123.98, Z:9.53 [[ 7.34042721e-01 -6.78467316e-01 -2.93834166e-02 1.25201811e+02] [ 6.77982774e-01 7.34629785e-01 -2.56600291e-02 1.23980757e+02] [ 3.89954241e-02 -1.08589273e-03 9.99238799e-01 9.53395950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:124.00, Z:9.53 [[ 7.33515785e-01 -6.79054036e-01 -2.89863579e-02 1.25222414e+02] [ 6.78582352e-01 7.34087479e-01 -2.53291247e-02 1.23999916e+02] [ 3.84783668e-02 -1.09031809e-03 9.99258839e-01 9.53481620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:124.02, Z:9.54 [[ 7.33258525e-01 -6.79333230e-01 -2.89533809e-02 1.25242216e+02] [ 6.78862262e-01 7.33829114e-01 -2.53152319e-02 1.24018374e+02] [ 3.84443121e-02 -1.09274807e-03 9.99260147e-01 9.53598023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:124.04, Z:9.54 [[ 7.32928550e-01 -6.79835942e-01 -2.52751359e-02 1.25260938e+02] [ 6.79064782e-01 7.33329552e-01 -3.31479937e-02 1.24041700e+02] [ 4.10702017e-02 7.13165631e-03 9.99130811e-01 9.53551641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.29, Y:124.05, Z:9.54 [[ 7.32754404e-01 -6.79601534e-01 -3.48244011e-02 1.25288503e+02] [ 6.79380287e-01 7.33523059e-01 -1.96557292e-02 1.24053024e+02] [ 3.89025650e-02 -9.25618949e-03 9.99200137e-01 9.54027191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:124.07, Z:9.54 [[ 7.32728807e-01 -6.79878509e-01 -2.95585540e-02 1.25305640e+02] [ 6.79386876e-01 7.33323907e-01 -2.58750724e-02 1.24074664e+02] [ 3.92678999e-02 -1.12228269e-03 9.99228088e-01 9.53905462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:124.09, Z:9.54 [[ 7.32635369e-01 -6.79985721e-01 -2.94080698e-02 1.25326267e+02] [ 6.79498780e-01 7.33224506e-01 -2.57532860e-02 1.24092915e+02] [ 3.90745842e-02 -1.11497936e-03 9.99235675e-01 9.54017332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:124.11, Z:9.54 [[ 7.32793340e-01 -6.79803689e-01 -2.96793822e-02 1.25346895e+02] [ 6.79306921e-01 7.33393296e-01 -2.60073144e-02 1.24112276e+02] [ 3.94465282e-02 -1.10342294e-03 9.99221074e-01 9.54141788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.37, Y:124.13, Z:9.54 [[ 7.32899191e-01 -6.79674666e-01 -3.00187459e-02 1.25367247e+02] [ 6.79165698e-01 7.33512880e-01 -2.63212736e-02 1.24131338e+02] [ 3.99090396e-02 -1.09686238e-03 9.99202715e-01 9.54267545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:124.15, Z:9.54 [[ 7.33301144e-01 -6.79245506e-01 -2.99161432e-02 1.25387531e+02] [ 6.78739003e-01 7.33910365e-01 -2.62477131e-02 1.24151213e+02] [ 3.97844087e-02 -1.05777521e-03 9.99207727e-01 9.54334723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:124.17, Z:9.54 [[ 7.33492217e-01 -6.79035740e-01 -2.99938739e-02 1.25407745e+02] [ 6.78525811e-01 7.34104480e-01 -2.63312835e-02 1.24169688e+02] [ 3.98985197e-02 -1.03782610e-03 9.99203198e-01 9.54429310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:124.19, Z:9.54 [[ 7.33354000e-01 -6.79196288e-01 -2.97374153e-02 1.25428248e+02] [ 6.78694771e-01 7.33955953e-01 -2.61163971e-02 1.24188159e+02] [ 3.95641130e-02 -1.03006402e-03 9.99216503e-01 9.54499516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.45, Y:124.21, Z:9.55 [[ 7.33351982e-01 -6.79197894e-01 -2.97504742e-02 1.25449328e+02] [ 6.78695276e-01 7.33954483e-01 -2.61445694e-02 1.24207156e+02] [ 3.95928304e-02 -1.01833456e-03 9.99215378e-01 9.54628292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:124.22, Z:9.55 [[ 7.33346593e-01 -6.79194077e-01 -2.99696648e-02 1.25469308e+02] [ 6.78683374e-01 7.33958022e-01 -2.63533543e-02 1.24224802e+02] [ 3.98955180e-02 -1.01377065e-03 9.99203343e-01 9.54740664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:124.24, Z:9.55 [[ 7.33072386e-01 -6.79477843e-01 -3.02446367e-02 1.25490081e+02] [ 6.78957454e-01 7.33695305e-01 -2.66077901e-02 1.24243577e+02] [ 4.02697518e-02 -1.02938538e-03 9.99188314e-01 9.54829724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:124.26, Z:9.55 [[ 7.32559815e-01 -6.80039515e-01 -3.00395588e-02 1.25510964e+02] [ 6.79525962e-01 7.33174723e-01 -2.64441414e-02 1.24262518e+02] [ 4.00073063e-02 -1.04074477e-03 9.99198845e-01 9.54900352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:124.28, Z:9.55 [[ 7.32139210e-01 -6.80501948e-01 -2.98207246e-02 1.25530819e+02] [ 6.79995625e-01 7.32745524e-01 -2.62668430e-02 1.24280619e+02] [ 3.97256403e-02 -1.04697659e-03 9.99210077e-01 9.54978859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:124.30, Z:9.55 [[ 7.31613160e-01 -6.81078506e-01 -2.95677571e-02 1.25551569e+02] [ 6.80580806e-01 7.32209630e-01 -2.60542688e-02 1.24299581e+02] [ 3.93947989e-02 -1.06160208e-03 9.99223160e-01 9.55086931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:124.34, Z:9.53 [[ 7.28450765e-01 -6.85026422e-01 9.91380135e-03 1.25549038e+02] [ 6.84456413e-01 7.27066024e-01 -5.37997717e-02 1.24342363e+02] [ 2.96462770e-02 4.59760498e-02 9.98502529e-01 9.52543859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.61, Y:124.32, Z:9.57 [[ 7.30097636e-01 -6.80740803e-01 -5.95768514e-02 1.25612148e+02] [ 6.82326159e-01 7.30989527e-01 9.23711909e-03 1.24316899e+02] [ 3.72619705e-02 -4.73948430e-02 9.98180983e-01 9.56533238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.62, Y:124.36, Z:9.55 [[ 7.29131214e-01 -6.83772940e-01 -2.86747282e-02 1.25615411e+02] [ 6.83305699e-01 7.29693944e-01 -2.52995952e-02 1.24356679e+02] [ 3.82229541e-02 -1.14688063e-03 9.99268578e-01 9.55355657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:124.38, Z:9.55 [[ 7.28610418e-01 -6.84322515e-01 -2.88019976e-02 1.25636410e+02] [ 6.83850949e-01 7.29178530e-01 -2.54273929e-02 1.24375652e+02] [ 3.84023357e-02 -1.16961002e-03 9.99261674e-01 9.55440977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:124.39, Z:9.56 [[ 7.28351899e-01 -6.84589204e-01 -2.90022898e-02 1.25656130e+02] [ 6.84110685e-01 7.28928136e-01 -2.56191998e-02 1.24393572e+02] [ 3.86792126e-02 -1.18098357e-03 9.99250981e-01 9.55531939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:124.41, Z:9.56 [[ 7.28372189e-01 -6.84546051e-01 -2.95069388e-02 1.25675226e+02] [ 6.84050265e-01 7.28968645e-01 -2.60758510e-02 1.24412370e+02] [ 3.93597540e-02 -1.19130468e-03 9.99224395e-01 9.55605357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:124.43, Z:9.56 [[ 7.28331457e-01 -6.84582459e-01 -2.96672671e-02 1.25695710e+02] [ 6.84080848e-01 7.28934454e-01 -2.62289104e-02 1.24431835e+02] [ 3.95813451e-02 -1.19146873e-03 9.99215641e-01 9.55667230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:124.45, Z:9.56 [[ 7.28478854e-01 -6.84431457e-01 -2.95320140e-02 1.25715204e+02] [ 6.83933695e-01 7.29076278e-01 -2.61243424e-02 1.24450175e+02] [ 3.94114126e-02 -1.16690849e-03 9.99222387e-01 9.55710825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.73, Y:124.47, Z:9.56 [[ 7.29085506e-01 -6.83785506e-01 -2.95246760e-02 1.25734465e+02] [ 6.83286922e-01 7.29682207e-01 -2.61315714e-02 1.24468707e+02] [ 3.94120205e-02 -1.12167505e-03 9.99222415e-01 9.55774274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.75, Y:124.49, Z:9.56 [[ 7.29198897e-01 -6.83670122e-01 -2.93961339e-02 1.25754975e+02] [ 6.83175241e-01 7.29790349e-01 -2.60314644e-02 1.24488026e+02] [ 3.92499492e-02 -1.10059571e-03 9.99228818e-01 9.55865659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:124.51, Z:9.56 [[ 7.29159509e-01 -6.83719682e-01 -2.92199838e-02 1.25775290e+02] [ 6.83230182e-01 7.29743940e-01 -2.58901663e-02 1.24507554e+02] [ 3.90247224e-02 -1.08591392e-03 9.99237655e-01 9.55949201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:124.53, Z:9.56 [[ 7.29084900e-01 -6.83819204e-01 -2.87490004e-02 1.25795845e+02] [ 6.83344890e-01 7.29650715e-01 -2.54871703e-02 1.24527204e+02] [ 3.84053452e-02 -1.06317150e-03 9.99261677e-01 9.56033427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:124.55, Z:9.56 [[ 7.29126199e-01 -6.83811083e-01 -2.78816940e-02 1.25815236e+02] [ 6.83364444e-01 7.29658386e-01 -2.47320924e-02 1.24546921e+02] [ 3.72561907e-02 -1.02054174e-03 9.99305226e-01 9.56137036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:124.57, Z:9.56 [[ 7.29445844e-01 -6.83467978e-01 -2.79335453e-02 1.25834593e+02] [ 6.83018860e-01 7.29979818e-01 -2.47931810e-02 1.24565100e+02] [ 3.73362696e-02 -9.93855462e-04 9.99302264e-01 9.56269654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:124.58, Z:9.56 [[ 7.29472135e-01 -6.83445761e-01 -2.77902073e-02 1.25854601e+02] [ 6.83000886e-01 7.30000637e-01 -2.46751093e-02 1.24584140e+02] [ 3.71509678e-02 -9.80931517e-04 9.99309183e-01 9.56364561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.692755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:125.87, Y:124.61, Z:9.56 [[ 7.29819097e-01 -6.83192079e-01 -2.47521400e-02 1.25872834e+02] [ 6.82559317e-01 7.30222612e-01 -2.97945574e-02 1.24606826e+02] [ 3.84299779e-02 4.84983319e-03 9.99249526e-01 9.56281100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:124.62, Z:9.57 [[ 7.30651039e-01 -6.82030476e-01 -3.13606346e-02 1.25896617e+02] [ 6.81768327e-01 7.31292885e-01 -2.00664985e-02 1.24619560e+02] [ 3.66197725e-02 -6.71907946e-03 9.99306683e-01 9.56708753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:124.64, Z:9.57 [[ 7.31258129e-01 -6.81541026e-01 -2.76293037e-02 1.25914037e+02] [ 6.81098834e-01 7.31779403e-01 -2.45618116e-02 1.24640599e+02] [ 3.69584377e-02 -8.57262105e-04 9.99316436e-01 9.56633505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:124.66, Z:9.57 [[ 7.32435452e-01 -6.80266582e-01 -2.78511280e-02 1.25934496e+02] [ 6.79815991e-01 7.32964357e-01 -2.47683225e-02 1.24660458e+02] [ 3.72629463e-02 -7.92444716e-04 9.99305181e-01 9.56680797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:124.68, Z:9.57 [[ 7.33069613e-01 -6.79588275e-01 -2.77258005e-02 1.25954144e+02] [ 6.79140691e-01 7.33593364e-01 -2.46718165e-02 1.24678862e+02] [ 3.71061405e-02 -7.43560376e-04 9.99311053e-01 9.56725899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:124.70, Z:9.57 [[ 7.32870305e-01 -6.79803392e-01 -2.77211794e-02 1.25975351e+02] [ 6.79355765e-01 7.33394021e-01 -2.46770077e-02 1.24697961e+02] [ 3.71060608e-02 -7.47496886e-04 9.99311053e-01 9.56821314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:124.72, Z:9.57 [[ 7.33436192e-01 -6.79183360e-01 -2.79520380e-02 1.25996171e+02] [ 6.78727235e-01 7.33968295e-01 -2.48974289e-02 1.24716985e+02] [ 3.74258291e-02 -7.11134087e-04 9.99299155e-01 9.56919046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:124.74, Z:9.57 [[ 7.34502429e-01 -6.78016894e-01 -2.82714011e-02 1.26016849e+02] [ 6.77548813e-01 7.35046034e-01 -2.51978877e-02 1.24735694e+02] [ 3.78653748e-02 -6.47344513e-04 9.99282640e-01 9.57028113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:124.75, Z:9.57 [[ 7.34787984e-01 -6.77710056e-01 -2.82081062e-02 1.26037498e+02] [ 6.77243239e-01 7.35328972e-01 -2.51574698e-02 1.24754113e+02] [ 3.77917080e-02 -6.18342722e-04 9.99285447e-01 9.57117224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:124.77, Z:9.57 [[ 7.34957798e-01 -6.77518782e-01 -2.83784112e-02 1.26058598e+02] [ 6.77045552e-01 7.35505227e-01 -2.53255041e-02 1.24772834e+02] [ 3.80309745e-02 -6.00300286e-04 9.99276381e-01 9.57234044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:124.79, Z:9.57 [[ 7.34497772e-01 -6.78058356e-01 -2.73841166e-02 1.26078466e+02] [ 6.77506078e-01 7.35006380e-01 -2.74068749e-02 1.24792132e+02] [ 3.87109609e-02 1.57738305e-03 9.99249205e-01 9.57288350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:124.81, Z:9.57 [[ 7.34604758e-01 -6.78113437e-01 -2.27599556e-02 1.26099211e+02] [ 6.77460028e-01 7.34923452e-01 -3.05847858e-02 1.24813924e+02] [ 3.74667794e-02 7.04876898e-03 9.99273013e-01 9.57062178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.12, Y:124.82, Z:9.58 [[ 7.34251495e-01 -6.77997982e-01 -3.45467625e-02 1.26124693e+02] [ 6.77867947e-01 7.34983908e-01 -1.71377366e-02 1.24822774e+02] [ 3.70106653e-02 -1.08347342e-02 9.99256133e-01 9.57840819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:124.85, Z:9.58 [[ 7.33909048e-01 -6.78698022e-01 -2.73222465e-02 1.26142183e+02] [ 6.78258066e-01 7.34417213e-01 -2.44408305e-02 1.24845939e+02] [ 3.66538715e-02 -5.94187383e-04 9.99327844e-01 9.57671292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.16, Y:124.87, Z:9.58 [[ 7.33531425e-01 -6.79348863e-01 -2.04149821e-02 1.26158417e+02] [ 6.78437460e-01 7.33683919e-01 -3.78222155e-02 1.24870309e+02] [ 4.06726232e-02 1.38934950e-02 9.99075927e-01 9.57632653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:124.88, Z:9.58 [[ 7.32632764e-01 -6.79633793e-01 -3.67033961e-02 1.26191308e+02] [ 6.79632054e-01 7.33410956e-01 -1.44444346e-02 1.24876954e+02] [ 3.67355987e-02 -1.43623384e-02 9.99221807e-01 9.58235847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:124.90, Z:9.58 [[ 7.31684955e-01 -6.81073107e-01 -2.78666370e-02 1.26206657e+02] [ 6.80616175e-01 7.32215079e-01 -2.49539686e-02 1.24900920e+02] [ 3.73998488e-02 -7.08040485e-04 9.99300130e-01 9.57964303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.23, Y:124.92, Z:9.58 [[ 7.31247946e-01 -6.81542354e-01 -2.78650338e-02 1.26227820e+02] [ 6.81085459e-01 7.31778309e-01 -2.49620416e-02 1.24920010e+02] [ 3.74037159e-02 -7.25027683e-04 9.99299973e-01 9.58056417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:124.94, Z:9.58 [[ 7.30779873e-01 -6.82056676e-01 -2.75584556e-02 1.26248706e+02] [ 6.81609576e-01 7.31298951e-01 -2.47028566e-02 1.24938715e+02] [ 3.70022179e-02 -7.31756855e-04 9.99314916e-01 9.58146502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.262755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.27, Y:124.96, Z:9.58 [[ 7.30874290e-01 -6.81969213e-01 -2.72169773e-02 1.26269835e+02] [ 6.81532517e-01 7.31380538e-01 -2.44118161e-02 1.24956200e+02] [ 3.65540745e-02 -7.07286255e-04 9.99331426e-01 9.58175647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.292755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.29, Y:124.97, Z:9.58 [[ 7.30692021e-01 -6.82154892e-01 -2.74567668e-02 1.26291390e+02] [ 6.81710252e-01 7.31207351e-01 -2.46362032e-02 1.24974887e+02] [ 3.68822962e-02 -7.16082335e-04 9.99319360e-01 9.58239698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.31, Y:124.99, Z:9.58 [[ 7.30758516e-01 -6.82081828e-01 -2.75021986e-02 1.26312411e+02] [ 6.81635083e-01 7.31275521e-01 -2.46926320e-02 1.24993442e+02] [ 3.69540802e-02 -7.02112338e-04 9.99316718e-01 9.58430184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:125.01, Z:9.59 [[ 7.30545270e-01 -6.82309107e-01 -2.75298387e-02 1.26333418e+02] [ 6.81861048e-01 7.31063464e-01 -2.47330228e-02 1.25011585e+02] [ 3.70016259e-02 -7.02931859e-04 9.99314958e-01 9.58507561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.35, Y:125.03, Z:9.59 [[ 7.30300960e-01 -6.82563843e-01 -2.76967309e-02 1.26354816e+02] [ 6.82109941e-01 7.30825628e-01 -2.48984107e-02 1.25028819e+02] [ 3.72362356e-02 -7.08882294e-04 9.99306239e-01 9.58572750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:125.05, Z:9.59 [[ 7.29827078e-01 -6.83074183e-01 -2.76061158e-02 1.26376095e+02] [ 6.82623267e-01 7.30348639e-01 -2.48262068e-02 1.25046810e+02] [ 3.71202300e-02 -7.25739026e-04 9.99310543e-01 9.58622498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:125.07, Z:9.59 [[ 7.27483188e-01 -6.85721237e-01 -2.35498790e-02 1.26395490e+02] [ 6.84874650e-01 7.27800667e-01 -3.53963726e-02 1.25070593e+02] [ 4.14116620e-02 9.62155082e-03 9.99095841e-01 9.58518908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:125.08, Z:9.59 [[ 7.28109474e-01 -6.84511165e-01 -3.60702022e-02 1.26423700e+02] [ 6.84390237e-01 7.28904965e-01 -1.75372259e-02 1.25075361e+02] [ 3.82961764e-02 -1.19170739e-02 9.99195369e-01 9.58985684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:125.10, Z:9.59 [[ 7.26653628e-01 -6.86359969e-01 -2.97405190e-02 1.26442696e+02] [ 6.85925501e-01 7.27257480e-01 -2.45512860e-02 1.25095903e+02] [ 3.84800348e-02 -2.55949939e-03 9.99256091e-01 9.58843483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:125.12, Z:9.59 [[ 7.24617386e-01 -6.88694465e-01 -2.50913818e-02 1.26460859e+02] [ 6.87930499e-01 7.25020346e-01 -3.31229069e-02 1.25119167e+02] [ 4.10033250e-02 6.74030743e-03 9.99136275e-01 9.58818313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:125.13, Z:9.59 [[ 7.24024182e-01 -6.88976919e-01 -3.31630644e-02 1.26487724e+02] [ 6.88696926e-01 7.24743503e-01 -2.10570660e-02 1.25129457e+02] [ 3.85425479e-02 -7.59347550e-03 9.99228108e-01 9.59209773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:125.15, Z:9.59 [[ 7.22146235e-01 -6.91201516e-01 -2.72998239e-02 1.26506766e+02] [ 6.90709599e-01 7.22662068e-01 -2.60727001e-02 1.25150125e+02] [ 3.77500370e-02 -2.79482101e-05 9.99287213e-01 9.59164134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.53, Y:125.17, Z:9.59 [[ 7.22132516e-01 -6.91186064e-01 -2.80437965e-02 1.26528025e+02] [ 6.90783211e-01 7.22673327e-01 -2.37027060e-02 1.25166078e+02] [ 3.66494838e-02 -2.25568906e-03 9.99325636e-01 9.59315828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:125.18, Z:9.59 [[ 7.22633717e-01 -6.90738551e-01 -2.60914824e-02 1.26548128e+02] [ 6.90273086e-01 7.23104527e-01 -2.53556751e-02 1.25184591e+02] [ 3.63810113e-02 3.12617681e-04 9.99337943e-01 9.59368662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:125.20, Z:9.60 [[ 7.21249492e-01 -6.92151813e-01 -2.69265269e-02 1.26569752e+02] [ 6.91706484e-01 7.21751591e-01 -2.48350612e-02 1.25203616e+02] [ 3.66238962e-02 -7.12977963e-04 9.99328866e-01 9.59528730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:125.22, Z:9.60 [[ 7.22804722e-01 -6.90575514e-01 -2.56669608e-02 1.26588528e+02] [ 6.90034668e-01 7.23257255e-01 -2.74062252e-02 1.25219652e+02] [ 3.74898836e-02 2.09825622e-03 9.99294804e-01 9.59580414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.61, Y:125.24, Z:9.60 [[ 7.22913366e-01 -6.90358334e-01 -2.83131794e-02 1.26611868e+02] [ 6.89900042e-01 7.23466386e-01 -2.51857010e-02 1.25237819e+02] [ 3.78707921e-02 -1.32618378e-03 9.99281764e-01 9.59805357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.64, Y:125.25, Z:9.60 [[ 7.22800328e-01 -6.90327793e-01 -3.17367944e-02 1.26635407e+02] [ 6.90134746e-01 7.23445931e-01 -1.84395674e-02 1.25253832e+02] [ 3.56892007e-02 -8.57453914e-03 9.99326152e-01 9.60002066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:125.28, Z:9.60 [[ 7.23849128e-01 -6.89534280e-01 -2.41850499e-02 1.26651244e+02] [ 6.88934827e-01 7.24239762e-01 -2.90787037e-02 1.25278545e+02] [ 3.75665378e-02 4.38667115e-03 9.99284500e-01 9.59757543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.67, Y:125.30, Z:9.60 [[ 7.23787712e-01 -6.89476651e-01 -2.74462371e-02 1.26674215e+02] [ 6.89029176e-01 7.24307322e-01 -2.48535371e-02 1.25295534e+02] [ 3.70154440e-02 -9.22573407e-04 9.99314268e-01 9.59944831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:125.31, Z:9.60 [[ 7.25780188e-01 -6.87462153e-01 -2.52766022e-02 1.26692503e+02] [ 6.86817081e-01 7.26206301e-01 -3.01115585e-02 1.25314686e+02] [ 3.90565846e-02 4.49397042e-03 9.99226895e-01 9.60026715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.72, Y:125.33, Z:9.60 [[ 7.26197666e-01 -6.86817217e-01 -3.03160191e-02 1.26716756e+02] [ 6.86413829e-01 7.26821624e-01 -2.37987886e-02 1.25330638e+02] [ 3.83797559e-02 -3.52671005e-03 9.99257002e-01 9.60287918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:125.35, Z:9.60 [[ 7.26742674e-01 -6.86374009e-01 -2.71257259e-02 1.26734190e+02] [ 6.85711678e-01 7.27240545e-01 -3.03427926e-02 1.25352566e+02] [ 4.05534319e-02 3.45097522e-03 9.99171412e-01 9.60306558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:125.37, Z:9.61 [[ 7.27501326e-01 -6.85363138e-01 -3.19247476e-02 1.26758078e+02] [ 6.84952969e-01 7.28188566e-01 -2.41006831e-02 1.25368016e+02] [ 3.97649560e-02 -4.33367178e-03 9.99199664e-01 9.60584289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:125.39, Z:9.60 [[ 7.28642203e-01 -6.84310040e-01 -2.82897359e-02 1.26777132e+02] [ 6.83663335e-01 7.29187217e-01 -2.98403419e-02 1.25390303e+02] [ 4.10485594e-02 2.40227726e-03 9.99154265e-01 9.60470625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.80, Y:125.41, Z:9.61 [[ 7.29039908e-01 -6.83878419e-01 -2.84801937e-02 1.26797251e+02] [ 6.83182985e-01 7.29589243e-01 -3.09926655e-02 1.25408665e+02] [ 4.19740580e-02 3.13770625e-03 9.99113774e-01 9.60603940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.83, Y:125.42, Z:9.61 [[ 7.29269546e-01 -6.83208116e-01 -3.73175445e-02 1.26825029e+02] [ 6.83128564e-01 7.30104099e-01 -1.68335968e-02 1.25420186e+02] [ 3.87465422e-02 -1.32164511e-02 9.99161664e-01 9.61064536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:125.45, Z:9.61 [[ 7.29081872e-01 -6.84029850e-01 -2.32978010e-02 1.26837326e+02] [ 6.83195807e-01 7.29389542e-01 -3.51338158e-02 1.25447958e+02] [ 4.10257512e-02 9.69846822e-03 9.99111019e-01 9.60604048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:125.46, Z:9.61 [[ 7.29176803e-01 -6.83737268e-01 -2.83643854e-02 1.26860944e+02] [ 6.83049660e-01 7.29721715e-01 -3.08120238e-02 1.25462688e+02] [ 4.17654370e-02 3.09312921e-03 9.99122656e-01 9.60937754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:125.47, Z:9.61 [[ 7.27729554e-01 -6.84852004e-01 -3.72482007e-02 1.26889870e+02] [ 6.84815591e-01 7.28546554e-01 -1.57329132e-02 1.25473532e+02] [ 3.79117654e-02 -1.40588427e-02 9.99182189e-01 9.61373338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:125.50, Z:9.61 [[ 7.27428093e-01 -6.85658506e-01 -2.68473965e-02 1.26903446e+02] [ 6.85096428e-01 7.27921024e-01 -2.78184868e-02 1.25499857e+02] [ 3.86167664e-02 1.84289337e-03 9.99252395e-01 9.61080162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.93, Y:125.52, Z:9.61 [[ 7.27255773e-01 -6.85782732e-01 -2.83034438e-02 1.26925178e+02] [ 6.85299167e-01 7.27806021e-01 -2.57574979e-02 1.25518319e+02] [ 3.82634641e-02 -6.64037361e-04 9.99267465e-01 9.61218041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:125.54, Z:9.61 [[ 7.27992416e-01 -6.84959183e-01 -2.92909634e-02 1.26945270e+02] [ 6.84570605e-01 7.28574821e-01 -2.32769802e-02 1.25536339e+02] [ 3.72844397e-02 -3.10626744e-03 9.99299866e-01 9.61352948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:125.56, Z:9.61 [[ 7.28343205e-01 -6.84661238e-01 -2.74802598e-02 1.26963969e+02] [ 6.84204182e-01 7.28861204e-01 -2.50196705e-02 1.25557407e+02] [ 3.71592938e-02 -5.79201686e-04 9.99309187e-01 9.61345064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:125.58, Z:9.61 [[ 7.28513051e-01 -6.84475777e-01 -2.75979259e-02 1.26983574e+02] [ 6.84014092e-01 7.29035388e-01 -2.51421141e-02 1.25575473e+02] [ 3.73290327e-02 -5.61011906e-04 9.99302871e-01 9.61391873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:125.60, Z:9.61 [[ 7.28842217e-01 -6.84144164e-01 -2.71253599e-02 1.27002540e+02] [ 6.83697628e-01 7.29346614e-01 -2.47198183e-02 1.25596070e+02] [ 3.66957088e-02 -5.28697054e-04 9.99326346e-01 9.61424687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:125.61, Z:9.62 [[ 7.28539251e-01 -6.84447432e-01 -2.76092738e-02 1.27022114e+02] [ 6.83984451e-01 7.29062013e-01 -2.51764215e-02 1.25614853e+02] [ 3.73608097e-02 -5.42302731e-04 9.99301694e-01 9.61511502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:125.63, Z:9.62 [[ 7.27711410e-01 -6.85318556e-01 -2.78312948e-02 1.27042467e+02] [ 6.84848400e-01 7.28243183e-01 -2.53877029e-02 1.25633891e+02] [ 3.76666146e-02 -5.85296703e-04 9.99290190e-01 9.61559146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:125.65, Z:9.62 [[ 7.26508450e-01 -6.86591547e-01 -2.78840524e-02 1.27062506e+02] [ 6.86119961e-01 7.27043078e-01 -2.54511710e-02 1.25652828e+02] [ 3.77474662e-02 -6.41314182e-04 9.99287105e-01 9.61617690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:125.67, Z:9.62 [[ 7.23892141e-01 -6.89346183e-01 -2.79644158e-02 1.27082144e+02] [ 6.88873308e-01 7.24431666e-01 -2.55406731e-02 1.25672513e+02] [ 3.78646738e-02 -7.75247129e-04 9.99282575e-01 9.61620806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.10, Y:125.69, Z:9.62 [[ 7.22448077e-01 -6.90967951e-01 -2.51409494e-02 1.27099534e+02] [ 6.90282529e-01 7.22866772e-01 -3.12035350e-02 1.25693591e+02] [ 3.97341996e-02 5.18857571e-03 9.99196813e-01 9.61610130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.12, Y:125.71, Z:9.62 [[ 7.19995402e-01 -6.93235398e-01 -3.21139270e-02 1.27124618e+02] [ 6.92941707e-01 7.20678205e-01 -2.13240606e-02 1.25706861e+02] [ 3.79264009e-02 -6.89985383e-03 9.99256714e-01 9.61911912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:125.73, Z:9.62 [[ 7.19074708e-01 -6.94351850e-01 -2.84090208e-02 1.27143179e+02] [ 6.93865656e-01 7.19634960e-01 -2.59995388e-02 1.25728854e+02] [ 3.84969524e-02 -1.01643313e-03 9.99258201e-01 9.61863906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:125.75, Z:9.62 [[ 7.18024797e-01 -6.95444909e-01 -2.82271007e-02 1.27163414e+02] [ 6.94965146e-01 7.18578641e-01 -2.58492429e-02 1.25747914e+02] [ 3.82601160e-02 -1.05645379e-03 9.99267255e-01 9.61924171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.18, Y:125.77, Z:9.62 [[ 7.17388395e-01 -6.96093481e-01 -2.84210596e-02 1.27183076e+02] [ 6.95606978e-01 7.17950336e-01 -2.60431999e-02 1.25766352e+02] [ 3.85334110e-02 -1.08679800e-03 9.99256721e-01 9.62040534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.20, Y:125.79, Z:9.62 [[ 7.17771557e-01 -6.95729525e-01 -2.76481273e-02 1.27202231e+02] [ 6.95179485e-01 7.18303571e-01 -2.76670110e-02 1.25785309e+02] [ 3.91085050e-02 6.38182674e-04 9.99234766e-01 9.62054818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:125.80, Z:9.62 [[ 7.17493727e-01 -6.95914457e-01 -3.00968579e-02 1.27224236e+02] [ 6.95451231e-01 7.18119913e-01 -2.55220660e-02 1.25803350e+02] [ 3.93743277e-02 -2.61897465e-03 9.99221098e-01 9.62266883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:125.82, Z:9.62 [[ 7.17871697e-01 -6.95575535e-01 -2.88946656e-02 1.27242798e+02] [ 6.95071201e-01 7.18452196e-01 -2.65041236e-02 1.25822572e+02] [ 3.91950559e-02 -1.05728974e-03 9.99231019e-01 9.62283080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:125.84, Z:9.62 [[ 7.19564818e-01 -6.93921939e-01 -2.64351012e-02 1.27260682e+02] [ 6.93257997e-01 7.20040882e-01 -3.05692380e-02 1.25842573e+02] [ 4.02470186e-02 3.67020287e-03 9.99183020e-01 9.62249259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:125.86, Z:9.63 [[ 7.18660846e-01 -6.94646327e-01 -3.15129867e-02 1.27285169e+02] [ 6.94286085e-01 7.19331534e-01 -2.29994891e-02 1.25857945e+02] [ 3.86447957e-02 -5.35019589e-03 9.99238688e-01 9.62541197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:125.88, Z:9.63 [[ 7.18532232e-01 -6.94907300e-01 -2.85530287e-02 1.27304315e+02] [ 6.94413047e-01 7.19098653e-01 -2.62230285e-02 1.25879326e+02] [ 3.87550184e-02 -9.85504431e-04 9.99248256e-01 9.62530509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:125.90, Z:9.63 [[ 7.18604446e-01 -6.94839536e-01 -2.83843293e-02 1.27324857e+02] [ 6.94350667e-01 7.19164154e-01 -2.60781502e-02 1.25898379e+02] [ 3.85331219e-02 -9.68803306e-04 9.99256854e-01 9.62686706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:125.92, Z:9.63 [[ 7.18503819e-01 -6.94950934e-01 -2.82039056e-02 1.27345087e+02] [ 6.94467737e-01 7.19056523e-01 -2.59283436e-02 1.25917276e+02] [ 3.82991289e-02 -9.57088628e-04 9.99265861e-01 9.62802110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:125.94, Z:9.63 [[ 7.19348602e-01 -6.94263915e-01 -2.31345183e-02 1.27360491e+02] [ 6.93459123e-01 7.19666465e-01 -3.45633344e-02 1.25939280e+02] [ 4.06452129e-02 8.82024347e-03 9.99134711e-01 9.62726218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:125.95, Z:9.63 [[ 7.17861172e-01 -6.95385859e-01 -3.33743198e-02 1.27389566e+02] [ 6.95226305e-01 7.18563735e-01 -1.80704932e-02 1.25952026e+02] [ 3.65475414e-02 -1.02305997e-02 9.99279547e-01 9.63248023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:125.98, Z:9.63 [[ 7.17405092e-01 -6.96131958e-01 -2.70227686e-02 1.27406334e+02] [ 6.95687680e-01 7.17913226e-01 -2.48847603e-02 1.25975577e+02] [ 3.67230799e-02 -9.46953449e-04 9.99325032e-01 9.63115931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.43, Y:125.99, Z:9.63 [[ 7.16522178e-01 -6.97051007e-01 -2.67555989e-02 1.27426028e+02] [ 6.96615532e-01 7.17020884e-01 -2.46546736e-02 1.25994289e+02] [ 3.63698883e-02 -9.72745318e-04 9.99337923e-01 9.63251374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:126.02, Z:9.63 [[ 7.16727080e-01 -6.96957295e-01 -2.35121546e-02 1.27443571e+02] [ 6.96333303e-01 7.17094702e-01 -2.99185402e-02 1.26015182e+02] [ 3.77123863e-02 5.07113171e-03 9.99275768e-01 9.63238236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:126.03, Z:9.64 [[ 7.15678467e-01 -6.97769563e-01 -3.03639349e-02 1.27469909e+02] [ 6.97514597e-01 7.16289792e-01 -2.00579384e-02 1.26030858e+02] [ 3.57451955e-02 -6.82425319e-03 9.99337636e-01 9.63599460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:126.05, Z:9.64 [[ 7.15172129e-01 -6.98448112e-01 -2.64397714e-02 1.27487903e+02] [ 6.98022633e-01 7.15659988e-01 -2.43964096e-02 1.26053227e+02] [ 3.59615127e-02 -1.00792668e-03 9.99352667e-01 9.63554963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:126.07, Z:9.64 [[ 7.14758461e-01 -6.98853926e-01 -2.68985570e-02 1.27507239e+02] [ 6.98413236e-01 7.15263671e-01 -2.48360962e-02 1.26072610e+02] [ 3.65963640e-02 -1.03449833e-03 9.99329593e-01 9.63672028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.53, Y:126.09, Z:9.64 [[ 7.14435338e-01 -6.99170598e-01 -2.72511161e-02 1.27527456e+02] [ 6.98718168e-01 7.14954094e-01 -2.51707251e-02 1.26091925e+02] [ 3.70819279e-02 -1.05799443e-03 9.99311669e-01 9.63782398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:126.11, Z:9.64 [[ 7.14169208e-01 -6.99432020e-01 -2.75171038e-02 1.27547893e+02] [ 6.98970305e-01 7.14698330e-01 -2.54324613e-02 1.26111264e+02] [ 3.74547059e-02 -1.07055770e-03 9.99297753e-01 9.63884218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:126.13, Z:9.64 [[ 7.13882533e-01 -6.99713250e-01 -2.78046237e-02 1.27568495e+02] [ 6.99241428e-01 7.14422978e-01 -2.57144761e-02 1.26130443e+02] [ 3.78570217e-02 -1.08502942e-03 9.99282577e-01 9.63989114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.59, Y:126.15, Z:9.64 [[ 7.13696000e-01 -6.99895496e-01 -2.80056180e-02 1.27589152e+02] [ 6.99416327e-01 7.14244429e-01 -2.59171127e-02 1.26149374e+02] [ 3.81421270e-02 -1.09064680e-03 9.99271729e-01 9.64140594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.61, Y:126.17, Z:9.64 [[ 7.14494831e-01 -6.99094290e-01 -2.76461795e-02 1.27608964e+02] [ 6.98626140e-01 7.15028760e-01 -2.56005533e-02 1.26168104e+02] [ 3.76650141e-02 -1.02288064e-03 9.99289898e-01 9.64294481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.63, Y:126.19, Z:9.64 [[ 7.14808029e-01 -6.98785436e-01 -2.73568334e-02 1.27629631e+02] [ 6.98326481e-01 7.15330647e-01 -2.53415020e-02 1.26187769e+02] [ 3.72774539e-02 -9.89692130e-04 9.99304464e-01 9.64402276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:126.21, Z:9.65 [[ 7.15308286e-01 -6.98284498e-01 -2.70705833e-02 1.27648839e+02] [ 6.97834155e-01 7.15819721e-01 -2.50922293e-02 1.26206132e+02] [ 3.68991721e-02 -9.42098123e-04 9.99318550e-01 9.64519333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:126.23, Z:9.65 [[ 7.15770398e-01 -6.97818732e-01 -2.68655002e-02 1.27668723e+02] [ 6.97374467e-01 7.16273831e-01 -2.49128805e-02 1.26225075e+02] [ 3.66277294e-02 -9.03411476e-04 9.99328571e-01 9.64656810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.69, Y:126.24, Z:9.65 [[ 7.16313762e-01 -6.97270014e-01 -2.66293531e-02 1.27688760e+02] [ 6.96832841e-01 7.16808054e-01 -2.47023413e-02 1.26244393e+02] [ 3.63123367e-02 -8.61580763e-04 9.99340118e-01 9.64803689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:126.26, Z:9.65 [[ 7.16612465e-01 -6.96964296e-01 -2.65959611e-02 1.27708650e+02] [ 6.96527440e-01 7.17105344e-01 -2.46870641e-02 1.26262745e+02] [ 3.62781081e-02 -8.33758885e-04 9.99341385e-01 9.64938492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:126.28, Z:9.65 [[ 7.16819645e-01 -6.96767956e-01 -2.61536214e-02 1.27728822e+02] [ 6.96345026e-01 7.17296153e-01 -2.42864935e-02 1.26281721e+02] [ 3.56819425e-02 -8.02908516e-04 9.99362874e-01 9.65069540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:126.30, Z:9.65 [[ 7.17756037e-01 -6.95822741e-01 -2.56316994e-02 1.27747737e+02] [ 6.95415396e-01 7.18213186e-01 -2.38169660e-02 1.26300745e+02] [ 3.49814111e-02 -7.29907273e-04 9.99387697e-01 9.65235472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:126.32, Z:9.65 [[ 7.18217882e-01 -6.95359940e-01 -2.52513005e-02 1.27767476e+02] [ 6.94964051e-01 7.18661308e-01 -2.34710883e-02 1.26320120e+02] [ 3.44679872e-02 -6.91390798e-04 9.99405563e-01 9.65336323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:126.34, Z:9.65 [[ 7.19687176e-01 -6.93871564e-01 -2.43438108e-02 1.27785337e+02] [ 6.93437062e-01 7.20098338e-01 -2.45647064e-02 1.26339913e+02] [ 3.45746889e-02 7.98003539e-04 9.99401798e-01 9.65384125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:126.36, Z:9.66 [[ 7.19285414e-01 -6.94236238e-01 -2.57786484e-02 1.27807254e+02] [ 6.93878970e-01 7.19744918e-01 -2.23434089e-02 1.26360162e+02] [ 3.40656553e-02 -1.81597392e-03 9.99417947e-01 9.65524693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:126.38, Z:9.66 [[ 7.19460948e-01 -6.94077833e-01 -2.51377679e-02 1.27826637e+02] [ 6.93683901e-01 7.19899708e-01 -2.33892125e-02 1.26380289e+02] [ 3.43306057e-02 -6.10039930e-04 9.99410345e-01 9.65590754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:126.40, Z:9.66 [[ 7.19834210e-01 -6.93673940e-01 -2.55963969e-02 1.27845197e+02] [ 6.93264683e-01 7.20288912e-01 -2.38319542e-02 1.26399496e+02] [ 3.49684065e-02 -5.90022111e-04 9.99388244e-01 9.65686336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:126.42, Z:9.66 [[ 7.19644564e-01 -6.93866856e-01 -2.56999461e-02 1.27865274e+02] [ 6.93454117e-01 7.20103070e-01 -2.39365031e-02 1.26419784e+02] [ 3.51153562e-02 -5.95959089e-04 9.99383088e-01 9.65787062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:126.44, Z:9.66 [[ 7.19669790e-01 -6.93831544e-01 -2.59457451e-02 1.27885487e+02] [ 6.93410299e-01 7.20137099e-01 -2.41808852e-02 1.26439909e+02] [ 3.54619546e-02 -5.88794273e-04 9.99370854e-01 9.65911738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:126.46, Z:9.66 [[ 7.19477220e-01 -6.94016465e-01 -2.63377220e-02 1.27904577e+02] [ 6.93581898e-01 7.19958883e-01 -2.45633525e-02 1.26460123e+02] [ 3.60094480e-02 -5.94594587e-04 9.99351273e-01 9.65997738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.92, Y:126.48, Z:9.66 [[ 7.19379677e-01 -6.94113069e-01 -2.64561460e-02 1.27923936e+02] [ 6.93674065e-01 7.19865751e-01 -2.46899239e-02 1.26478798e+02] [ 3.61824722e-02 -5.90512898e-04 9.99345026e-01 9.66109920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:126.50, Z:9.66 [[ 7.18585486e-01 -6.94922191e-01 -2.67964001e-02 1.27944149e+02] [ 6.94472052e-01 7.19084660e-01 -2.50164085e-02 1.26498576e+02] [ 3.66533376e-02 -6.32922948e-04 9.99327840e-01 9.66208187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.96, Y:126.52, Z:9.66 [[ 7.17932943e-01 -6.95586715e-01 -2.70445966e-02 1.27964612e+02] [ 6.95128070e-01 7.18441844e-01 -2.52642488e-02 1.26517964e+02] [ 3.70034457e-02 -6.61421754e-04 9.99314919e-01 9.66334994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:126.54, Z:9.66 [[ 7.17051986e-01 -6.96496663e-01 -2.69971607e-02 1.27984826e+02] [ 6.96039683e-01 7.17559694e-01 -2.52358146e-02 1.26537278e+02] [ 3.69487350e-02 -6.95704156e-04 9.99316920e-01 9.66414191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.00, Y:126.56, Z:9.66 [[ 7.15818986e-01 -6.97758993e-01 -2.71213440e-02 1.28004381e+02] [ 6.97298108e-01 7.16332201e-01 -2.53678415e-02 1.26556165e+02] [ 3.71285316e-02 -7.52879289e-04 9.99310215e-01 9.66457173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:126.58, Z:9.67 [[ 7.15102888e-01 -6.98491406e-01 -2.71590666e-02 1.28024520e+02] [ 6.98029435e-01 7.15618012e-01 -2.54119944e-02 1.26575221e+02] [ 3.71855769e-02 -7.85637257e-04 9.99308068e-01 9.66530686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.04, Y:126.59, Z:9.67 [[ 7.14473399e-01 -6.99129661e-01 -2.73034767e-02 1.28044837e+02] [ 6.98662634e-01 7.14994447e-01 -2.55629733e-02 1.26594186e+02] [ 3.73936671e-02 -8.11854535e-04 9.99300282e-01 9.66642021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:126.61, Z:9.67 [[ 7.13443736e-01 -7.00161963e-01 -2.77715738e-02 1.28065342e+02] [ 6.99678927e-01 7.13983522e-01 -2.60178558e-02 1.26613106e+02] [ 3.80451591e-02 -8.68908657e-04 9.99275643e-01 9.66740864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:126.63, Z:9.67 [[ 7.13256395e-01 -7.00339339e-01 -2.81091740e-02 1.28085250e+02] [ 6.99843979e-01 7.13809527e-01 -2.63507897e-02 1.26631161e+02] [ 3.85190908e-02 -8.77166852e-04 9.99257479e-01 9.66864182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.11, Y:126.65, Z:9.67 [[ 7.13315183e-01 -7.00258305e-01 -2.86313718e-02 1.28105435e+02] [ 6.99743903e-01 7.13889017e-01 -2.68503497e-02 1.26650158e+02] [ 3.92418023e-02 -8.81865720e-04 9.99229355e-01 9.67015958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:126.67, Z:9.67 [[ 7.13507150e-01 -7.00056912e-01 -2.87726897e-02 1.28125859e+02] [ 6.99536583e-01 7.14086532e-01 -2.69998735e-02 1.26669889e+02] [ 3.94476383e-02 -8.62946283e-04 9.99221266e-01 9.67159295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:126.69, Z:9.67 [[ 7.13755112e-01 -6.99794308e-01 -2.90097710e-02 1.28145756e+02] [ 6.99264454e-01 7.14343906e-01 -2.72398253e-02 1.26689142e+02] [ 3.97852278e-02 -8.42937163e-04 9.99207899e-01 9.67302053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:126.71, Z:9.67 [[ 7.13943014e-01 -6.99602622e-01 -2.90093709e-02 1.28166130e+02] [ 6.99071937e-01 7.14531664e-01 -2.72567020e-02 1.26708834e+02] [ 3.97969743e-02 -8.19905089e-04 9.99207450e-01 9.67391968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:126.73, Z:9.68 [[ 7.14706084e-01 -6.98806129e-01 -2.94144132e-02 1.28185990e+02] [ 6.98259155e-01 7.15310698e-01 -2.76542654e-02 1.26727815e+02] [ 4.03654146e-02 -7.74211538e-04 9.99184685e-01 9.67532029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:126.75, Z:9.68 [[ 7.14990763e-01 -6.98509290e-01 -2.95462361e-02 1.28206720e+02] [ 6.97956726e-01 7.15600590e-01 -2.77885626e-02 1.26747109e+02] [ 4.05538731e-02 -7.53428683e-04 9.99177069e-01 9.67643473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.23, Y:126.77, Z:9.68 [[ 7.15214860e-01 -6.98261087e-01 -2.99859850e-02 1.28227357e+02] [ 6.97690988e-01 7.15842798e-01 -2.82201039e-02 1.26765544e+02] [ 4.11702519e-02 -7.37513853e-04 9.99151874e-01 9.67719749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:126.78, Z:9.68 [[ 7.15080830e-01 -6.98378022e-01 -3.04556177e-02 1.28247461e+02] [ 6.97789285e-01 7.15728710e-01 -2.86797323e-02 1.26783934e+02] [ 4.18272546e-02 -7.43276911e-04 9.99124581e-01 9.67853701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:126.80, Z:9.68 [[ 7.14320521e-01 -6.99140599e-01 -3.07996093e-02 1.28268497e+02] [ 6.98538711e-01 7.14983776e-01 -2.90149711e-02 1.26802797e+02] [ 4.23067653e-02 -7.88730153e-04 9.99104357e-01 9.67962447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.29, Y:126.82, Z:9.68 [[ 7.13661588e-01 -6.99802837e-01 -3.10342917e-02 1.28289374e+02] [ 6.99191573e-01 7.14335576e-01 -2.92545648e-02 1.26821777e+02] [ 4.26413261e-02 -8.21056015e-04 9.99090108e-01 9.68107752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.31, Y:126.84, Z:9.68 [[ 7.12659709e-01 -7.00824904e-01 -3.09934392e-02 1.28309982e+02] [ 7.00215425e-01 7.13332812e-01 -2.92345371e-02 1.26840663e+02] [ 4.25969287e-02 -8.67807521e-04 9.99091962e-01 9.68242983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.33, Y:126.86, Z:9.68 [[ 7.11722158e-01 -7.01773018e-01 -3.10837927e-02 1.28329877e+02] [ 7.01160121e-01 7.12400025e-01 -2.93374944e-02 1.26858719e+02] [ 4.27323567e-02 -9.14570992e-04 9.99086137e-01 9.68391461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.35, Y:126.88, Z:9.69 [[ 7.09950453e-01 -7.03566660e-01 -3.10533291e-02 1.28350427e+02] [ 7.02956154e-01 7.10628545e-01 -2.93209222e-02 1.26876014e+02] [ 4.26966054e-02 -1.01272682e-03 9.99087571e-01 9.68543564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.37, Y:126.90, Z:9.69 [[ 7.08982543e-01 -7.04553650e-01 -3.07881188e-02 1.28371535e+02] [ 7.03953997e-01 7.09649942e-01 -2.90814246e-02 1.26895056e+02] [ 4.23382106e-02 -1.05519695e-03 9.99102779e-01 9.68651150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.39, Y:126.92, Z:9.69 [[ 7.07100460e-01 -7.06576570e-01 -2.75407053e-02 1.28390424e+02] [ 7.05917454e-01 7.07633208e-01 -3.05906933e-02 1.26915429e+02] [ 4.11033848e-02 2.18922866e-03 9.99152500e-01 9.68544204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:126.93, Z:9.69 [[ 7.07047158e-01 -7.06400430e-01 -3.29051545e-02 1.28414206e+02] [ 7.05910874e-01 7.07798873e-01 -2.66569679e-02 1.26930617e+02] [ 4.21207249e-02 -4.38037296e-03 9.99102926e-01 9.68948156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:126.95, Z:9.69 [[ 7.06532947e-01 -7.07005145e-01 -3.09017869e-02 1.28433430e+02] [ 7.06401384e-01 7.07207430e-01 -2.92358626e-02 1.26951400e+02] [ 4.25238786e-02 -1.17296482e-03 9.99094762e-01 9.68944997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:126.97, Z:9.69 [[ 7.06141627e-01 -7.07397519e-01 -3.08666892e-02 1.28454230e+02] [ 7.06794763e-01 7.06814934e-01 -2.92200615e-02 1.26970574e+02] [ 4.24872359e-02 -1.18291253e-03 9.99096309e-01 9.68983046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:126.99, Z:9.69 [[ 7.06016788e-01 -7.07495174e-01 -3.14781447e-02 1.28475335e+02] [ 7.06867604e-01 7.06717157e-01 -2.98169411e-02 1.26988259e+02] [ 4.33414869e-02 -1.19961975e-03 9.99059596e-01 9.69096991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:127.01, Z:9.69 [[ 7.06130935e-01 -7.07378371e-01 -3.15427176e-02 1.28495897e+02] [ 7.06747597e-01 7.06834091e-01 -2.98898216e-02 1.27006786e+02] [ 4.34388815e-02 -1.18661223e-03 9.99055382e-01 9.69174442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:127.03, Z:9.69 [[ 7.06969719e-01 -7.06516392e-01 -3.20687577e-02 1.28517109e+02] [ 7.05862661e-01 7.07695762e-01 -3.04074477e-02 1.27025738e+02] [ 4.41782841e-02 -1.13899389e-03 9.99023014e-01 9.69290551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:127.04, Z:9.69 [[ 7.07713605e-01 -7.05772832e-01 -3.20337733e-02 1.28536799e+02] [ 7.05118972e-01 7.08437397e-01 -3.03922608e-02 1.27044127e+02] [ 4.41439550e-02 -1.07860484e-03 9.99024598e-01 9.69357606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:127.06, Z:9.69 [[ 7.08644986e-01 -7.04829101e-01 -3.22214487e-02 1.28556232e+02] [ 7.04165972e-01 7.09376420e-01 -3.05839665e-02 1.27062191e+02] [ 4.44136055e-02 -1.01607324e-03 9.99012712e-01 9.69488738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:127.08, Z:9.70 [[ 7.08445368e-01 -7.05030129e-01 -3.22130073e-02 1.28576808e+02] [ 7.04366803e-01 7.09176624e-01 -3.05928552e-02 1.27081970e+02] [ 4.44135965e-02 -1.01640640e-03 9.99012712e-01 9.69594725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.61, Y:127.09, Z:9.71 [[ 7.11997837e-01 -7.00469103e-01 -4.90113832e-02 1.28609978e+02] [ 7.00563260e-01 7.13360521e-01 -1.81076059e-02 1.27091563e+02] [ 4.76466044e-02 -2.14429981e-02 9.98634067e-01 9.70862141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:127.12, Z:9.70 [[ 7.12737655e-01 -7.00731096e-01 -3.13203787e-02 1.28620488e+02] [ 6.99840313e-01 7.13417531e-01 -3.54818604e-02 1.27121601e+02] [ 4.72077502e-02 3.36999428e-03 9.98879408e-01 9.70193230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:127.14, Z:9.70 [[ 7.12992876e-01 -7.00875184e-01 -2.03748467e-02 1.28633649e+02] [ 6.99836294e-01 7.13127149e-01 -4.09735495e-02 1.27144651e+02] [ 4.32472004e-02 1.49547917e-02 9.98952468e-01 9.69555768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:127.16, Z:9.70 [[ 7.13266458e-01 -7.00210271e-01 -3.09279329e-02 1.28660502e+02] [ 6.99591915e-01 7.13936383e-01 -2.94277896e-02 1.27156226e+02] [ 4.26862170e-02 -6.47076510e-04 9.99088319e-01 9.70076208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:127.18, Z:9.70 [[ 7.13525217e-01 -6.99936009e-01 -3.11664535e-02 1.28681437e+02] [ 6.99307049e-01 7.14205289e-01 -2.96724895e-02 1.27175450e+02] [ 4.30280898e-02 -6.22851117e-04 9.99073669e-01 9.70213776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:127.19, Z:9.70 [[ 7.13794862e-01 -6.99671888e-01 -3.09215791e-02 1.28701984e+02] [ 6.99051789e-01 7.14464066e-01 -2.94566610e-02 1.27194254e+02] [ 4.27023547e-02 -5.89771975e-04 9.99087664e-01 9.70280019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:127.21, Z:9.70 [[ 7.14403811e-01 -6.99060379e-01 -3.06884488e-02 1.28723290e+02] [ 6.98448310e-01 7.15062444e-01 -2.92516667e-02 1.27212624e+02] [ 4.23928384e-02 -5.36793063e-04 9.99100875e-01 9.70455383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.74, Y:127.23, Z:9.71 [[ 7.14445439e-01 -6.99030301e-01 -3.04031781e-02 1.28744136e+02] [ 6.98428827e-01 7.15091861e-01 -2.89966180e-02 1.27231335e+02] [ 4.20105798e-02 -5.17954536e-04 9.99117032e-01 9.70567434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:127.25, Z:9.71 [[ 7.14420525e-01 -6.99094202e-01 -2.95061035e-02 1.28765675e+02] [ 6.98527096e-01 7.15029406e-01 -2.81574984e-02 1.27249877e+02] [ 4.07824756e-02 -4.94518002e-04 9.99167926e-01 9.70636763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:127.27, Z:9.71 [[ 7.14306142e-01 -6.99213880e-01 -2.94395365e-02 1.28785644e+02] [ 6.98648757e-01 7.14912381e-01 -2.81105254e-02 1.27268184e+02] [ 4.07019586e-02 -4.88374673e-04 9.99171213e-01 9.70760213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:127.29, Z:9.71 [[ 7.13970329e-01 -6.99558931e-01 -2.93882954e-02 1.28806414e+02] [ 6.98995452e-01 7.14574738e-01 -2.80767128e-02 1.27286967e+02] [ 4.06414486e-02 -4.96344927e-04 9.99173672e-01 9.70878902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:127.31, Z:9.71 [[ 7.13131664e-01 -7.00437631e-01 -2.88158748e-02 1.28827333e+02] [ 6.99895979e-01 7.13713423e-01 -2.75457641e-02 1.27305237e+02] [ 3.98603664e-02 -5.24358280e-04 9.99205122e-01 9.70939168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:127.32, Z:9.71 [[ 7.12501464e-01 -7.01086542e-01 -2.86238269e-02 1.28848218e+02] [ 7.00551931e-01 7.13075987e-01 -2.73793411e-02 1.27324437e+02] [ 3.96062512e-02 -5.44656591e-04 9.99215216e-01 9.70991142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:127.34, Z:9.71 [[ 7.11999435e-01 -7.01600537e-01 -2.85217622e-02 1.28868245e+02] [ 7.01069478e-01 7.12570259e-01 -2.72986017e-02 1.27342787e+02] [ 3.94764731e-02 -5.59147990e-04 9.99220344e-01 9.71041527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.89, Y:127.36, Z:9.71 [[ 7.11134984e-01 -7.02475683e-01 -2.85473048e-02 1.28889039e+02] [ 7.01943915e-01 7.11707492e-01 -2.73346893e-02 1.27360715e+02] [ 3.95192852e-02 -5.99953064e-04 9.99218628e-01 9.71073421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.91, Y:127.38, Z:9.71 [[ 7.10395245e-01 -7.03220184e-01 -2.86350935e-02 1.28908946e+02] [ 7.02685348e-01 7.10971847e-01 -2.74287196e-02 1.27378879e+02] [ 3.96471746e-02 -6.36228594e-04 9.99213539e-01 9.71148496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.93, Y:127.40, Z:9.71 [[ 7.10405287e-01 -7.03226030e-01 -2.82396485e-02 1.28928505e+02] [ 7.02705287e-01 7.10966082e-01 -2.70649334e-02 1.27398702e+02] [ 3.91101979e-02 -6.17078519e-04 9.99234713e-01 9.71210407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:127.42, Z:9.71 [[ 7.10102901e-01 -7.03770123e-01 -2.14821778e-02 1.28943538e+02] [ 7.03106254e-01 7.10391386e-01 -3.13954653e-02 1.27421670e+02] [ 3.73559446e-02 7.18975739e-03 9.99276158e-01 9.70699614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:127.43, Z:9.72 [[ 7.10549168e-01 -7.02808349e-01 -3.43555610e-02 1.28972635e+02] [ 7.02548038e-01 7.11321170e-01 -2.11765800e-02 1.27432955e+02] [ 3.93209151e-02 -9.08943065e-03 9.99185292e-01 9.71586880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.99, Y:127.46, Z:9.71 [[ 7.10092128e-01 -7.03518179e-01 -2.88329986e-02 1.28991043e+02] [ 7.02923337e-01 7.10677211e-01 -2.89254950e-02 1.27458066e+02] [ 4.08405666e-02 2.72378682e-04 9.99165639e-01 9.71449899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:127.48, Z:9.71 [[ 7.09931703e-01 -7.03728962e-01 -2.76138643e-02 1.29008547e+02] [ 7.03089427e-01 7.10465938e-01 -3.00567413e-02 1.27476291e+02] [ 4.07705093e-02 1.92321753e-03 9.99166686e-01 9.71495976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:127.49, Z:9.72 [[ 7.09006777e-01 -7.04517945e-01 -3.10460224e-02 1.29032311e+02] [ 7.04051334e-01 7.09677487e-01 -2.58763284e-02 1.27493717e+02] [ 4.02630009e-02 -3.51150130e-03 9.99182946e-01 9.71767240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.05, Y:127.52, Z:9.72 [[ 7.08841106e-01 -7.04787788e-01 -2.86087283e-02 1.29050791e+02] [ 7.04251514e-01 7.09417889e-01 -2.74966134e-02 1.27515270e+02] [ 3.96748210e-02 -6.57010350e-04 9.99212428e-01 9.71796937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:127.54, Z:9.72 [[ 7.08776679e-01 -7.04899242e-01 -2.74349753e-02 1.29071034e+02] [ 7.04324001e-01 7.09306920e-01 -2.84849937e-02 1.27536727e+02] [ 3.95388683e-02 8.66387673e-04 9.99217658e-01 9.71729709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:127.56, Z:9.72 [[ 7.08236772e-01 -7.05451565e-01 -2.71802226e-02 1.29089849e+02] [ 7.04777216e-01 7.08752708e-01 -3.09624870e-02 1.27557351e+02] [ 4.11065913e-02 2.77277027e-03 9.99150919e-01 9.71868644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.11, Y:127.58, Z:9.72 [[ 7.07881074e-01 -7.05771124e-01 -2.81337233e-02 1.29110214e+02] [ 7.05076204e-01 7.08435878e-01 -3.14030774e-02 1.27577535e+02] [ 4.20943242e-02 2.39322531e-03 9.99110775e-01 9.72008707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:127.60, Z:9.72 [[ 7.08228131e-01 -7.05353692e-01 -2.98175099e-02 1.29130482e+02] [ 7.04684404e-01 7.08855137e-01 -3.07292399e-02 1.27596026e+02] [ 4.28112778e-02 7.51377931e-04 9.99082894e-01 9.72244391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:127.61, Z:9.73 [[ 7.07920206e-01 -7.05387251e-01 -3.57464307e-02 1.29154987e+02] [ 7.05192006e-01 7.08735513e-01 -1.99551513e-02 1.27610682e+02] [ 3.94108742e-02 -1.10814424e-02 9.99161641e-01 9.72649575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:127.64, Z:9.72 [[ 7.07558831e-01 -7.06288136e-01 -2.27501339e-02 1.29166493e+02] [ 7.05361937e-01 7.07844851e-01 -3.76856072e-02 1.27641330e+02] [ 4.27204624e-02 1.06177056e-02 9.99030643e-01 9.72289079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:127.66, Z:9.73 [[ 7.07135136e-01 -7.06425437e-01 -3.03809388e-02 1.29190605e+02] [ 7.05828873e-01 7.07786887e-01 -2.90400519e-02 1.27656516e+02] [ 4.20178615e-02 -9.08502791e-04 9.99116447e-01 9.72710448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.21, Y:127.67, Z:9.73 [[ 7.08222432e-01 -7.05100318e-01 -3.54193246e-02 1.29212392e+02] [ 7.04947355e-01 7.09011375e-01 -1.87642410e-02 1.27670755e+02] [ 3.83433764e-02 -1.16795028e-02 9.99196364e-01 9.72976722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:127.70, Z:9.73 [[ 7.07447246e-01 -7.06409281e-01 -2.24571096e-02 1.29222902e+02] [ 7.05568672e-01 7.07740867e-01 -3.57171275e-02 1.27700533e+02] [ 4.11247246e-02 9.42295043e-03 9.99109586e-01 9.72528760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.25, Y:127.71, Z:9.73 [[ 7.07458241e-01 -7.05923394e-01 -3.42782591e-02 1.29251079e+02] [ 7.05701105e-01 7.08219686e-01 -2.02688590e-02 1.27712075e+02] [ 3.85847997e-02 -9.85083399e-03 9.99206773e-01 9.73171079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:127.74, Z:9.73 [[ 7.05996593e-01 -7.07940168e-01 -1.97364758e-02 1.29260930e+02] [ 7.06994961e-01 7.06141646e-01 -3.90141131e-02 1.27742215e+02] [ 4.15564053e-02 1.35902420e-02 9.99043728e-01 9.72730278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:127.75, Z:9.73 [[ 7.05142056e-01 -7.08252535e-01 -3.39562756e-02 1.29290423e+02] [ 7.07982004e-01 7.05903276e-01 -2.14952585e-02 1.27752283e+02] [ 3.91939175e-02 -8.88322123e-03 9.99192136e-01 9.73427006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.31, Y:127.77, Z:9.73 [[ 7.04112570e-01 -7.09391489e-01 -3.14516232e-02 1.29309062e+02] [ 7.09082276e-01 7.04781882e-01 -2.20187532e-02 1.27772180e+02] [ 3.77864503e-02 -6.79810759e-03 9.99262713e-01 9.73441468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:127.79, Z:9.73 [[ 7.02236027e-01 -7.11473183e-01 -2.58934940e-02 1.29324934e+02] [ 7.10884277e-01 7.02710506e-01 -2.90084425e-02 1.27794947e+02] [ 3.88343592e-02 1.96349563e-03 9.99243733e-01 9.73355554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.34, Y:127.82, Z:9.73 [[ 7.00471183e-01 -7.13207592e-01 -2.59817792e-02 1.29344479e+02] [ 7.12592353e-01 7.00949119e-01 -2.97064002e-02 1.27815041e+02] [ 3.93987354e-02 2.29406011e-03 9.99220935e-01 9.73462301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:127.84, Z:9.74 [[ 6.97284693e-01 -7.16437201e-01 -2.26228472e-02 1.29361923e+02] [ 7.15526108e-01 6.97580860e-01 -3.74610916e-02 1.27839391e+02] [ 4.26197848e-02 9.93380795e-03 9.99041978e-01 9.73521993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:127.85, Z:9.74 [[ 6.96654161e-01 -7.16704760e-01 -3.17374692e-02 1.29388464e+02] [ 7.16282269e-01 6.97357247e-01 -2.51511828e-02 1.27852389e+02] [ 4.01583265e-02 -5.21131028e-03 9.99179739e-01 9.73872571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:127.87, Z:9.75 [[ 6.94351753e-01 -7.18622631e-01 -3.81727156e-02 1.29413267e+02] [ 7.18581901e-01 6.95228478e-01 -1.72457029e-02 1.27866790e+02] [ 3.89319114e-02 -1.54556385e-02 9.99122330e-01 9.74518267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:127.89, Z:9.74 [[ 6.93683887e-01 -7.19818355e-01 -2.57721129e-02 1.29426140e+02] [ 7.19144319e-01 6.94155177e-01 -3.13055817e-02 1.27894704e+02] [ 4.04241779e-02 3.18230899e-03 9.99177541e-01 9.74129645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:127.92, Z:9.73 [[ 6.92180003e-01 -7.21569828e-01 -1.49608619e-02 1.29441006e+02] [ 7.20720848e-01 6.92161577e-01 -3.83902325e-02 1.27921546e+02] [ 3.80565672e-02 1.57903461e-02 9.99150821e-01 9.73443289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:127.92, Z:9.75 [[ 6.92099332e-01 -7.20464038e-01 -4.39327198e-02 1.29476859e+02] [ 7.20718219e-01 6.93113209e-01 -1.26225690e-02 1.27923077e+02] [ 3.95444554e-02 -2.29270400e-02 9.98954747e-01 9.75138237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:127.95, Z:9.75 [[ 6.92101086e-01 -7.21215091e-01 -2.90668056e-02 1.29486754e+02] [ 7.20664445e-01 6.92709732e-01 -2.82132067e-02 1.27951600e+02] [ 4.04826495e-02 -1.42102234e-03 9.99179231e-01 9.74633006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.51, Y:127.97, Z:9.75 [[ 6.93233051e-01 -7.20103785e-01 -2.96390817e-02 1.29506473e+02] [ 7.19529779e-01 6.93865006e-01 -2.87793390e-02 1.27971833e+02] [ 4.12896326e-02 -1.37541286e-03 9.99146273e-01 9.74706250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:127.99, Z:9.75 [[ 6.93844806e-01 -7.19498929e-01 -3.00112672e-02 1.29525267e+02] [ 7.18909070e-01 6.94492251e-01 -2.91592692e-02 1.27990760e+02] [ 4.18226555e-02 -1.34336471e-03 9.99124147e-01 9.74776301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:128.01, Z:9.75 [[ 6.95847392e-01 -7.17502950e-01 -3.13994356e-02 1.29545268e+02] [ 7.16978465e-01 6.96547699e-01 -2.76257876e-02 1.28008430e+02] [ 4.16927887e-02 -3.28938687e-03 9.99125063e-01 9.74928498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:128.03, Z:9.75 [[ 6.96524514e-01 -7.17088476e-01 -2.52531005e-02 1.29560141e+02] [ 7.16135424e-01 6.96932741e-01 -3.78788625e-02 1.28033906e+02] [ 4.47622083e-02 8.29891647e-03 9.98963199e-01 9.74835005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.59, Y:128.05, Z:9.75 [[ 6.98697239e-01 -7.14535059e-01 -3.55220882e-02 1.29587295e+02] [ 7.14130296e-01 6.99557030e-01 -2.52563239e-02 1.28049074e+02] [ 4.28962554e-02 -7.72087554e-03 9.99049698e-01 9.75341381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.60, Y:128.07, Z:9.75 [[ 6.99931312e-01 -7.13615108e-01 -2.91485287e-02 1.29603476e+02] [ 7.12954521e-01 7.00537631e-01 -3.07063105e-02 1.28073141e+02] [ 4.23321284e-02 7.10732886e-04 9.99103341e-01 9.75097180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:128.09, Z:9.75 [[ 7.02321199e-01 -7.11312668e-01 -2.79145342e-02 1.29622340e+02] [ 7.10602903e-01 7.02871113e-01 -3.18702489e-02 1.28094379e+02] [ 4.22900316e-02 2.54700239e-03 9.99102130e-01 9.75116150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:128.11, Z:9.76 [[ 7.03200802e-01 -7.10212563e-01 -3.32678191e-02 1.29644862e+02] [ 7.09653977e-01 7.03977887e-01 -2.83966303e-02 1.28111158e+02] [ 4.35874525e-02 -3.64010691e-03 9.99042984e-01 9.75589605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:128.13, Z:9.76 [[ 7.03859126e-01 -7.09773425e-01 -2.83551768e-02 1.29661992e+02] [ 7.08920170e-01 7.04415020e-01 -3.50951884e-02 1.28134880e+02] [ 4.48834445e-02 4.60051187e-03 9.98981637e-01 9.75513488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:128.15, Z:9.76 [[ 7.04165269e-01 -7.09101585e-01 -3.64172505e-02 1.29686460e+02] [ 7.08713355e-01 7.05057621e-01 -2.48823309e-02 1.28148315e+02] [ 4.33203603e-02 -8.28811857e-03 9.99026853e-01 9.76036952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:128.17, Z:9.76 [[ 7.03769855e-01 -7.09737012e-01 -3.13267597e-02 1.29703234e+02] [ 7.09079715e-01 7.04466367e-01 -3.05466042e-02 1.28171876e+02] [ 4.37487042e-02 -7.15390671e-04 9.99042311e-01 9.75927162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.72, Y:128.19, Z:9.76 [[ 7.02615916e-01 -7.10889060e-01 -3.11065748e-02 1.29723158e+02] [ 7.10241283e-01 7.03303743e-01 -3.03507081e-02 1.28190638e+02] [ 4.34533568e-02 -7.68283006e-04 9.99055161e-01 9.75998128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:128.21, Z:9.76 [[ 7.01607905e-01 -7.11885941e-01 -3.10605026e-02 1.29742569e+02] [ 7.11240575e-01 7.02294620e-01 -3.03168549e-02 1.28209134e+02] [ 4.33957667e-02 -8.20944675e-04 9.99057623e-01 9.76121774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:128.23, Z:9.76 [[ 7.00398169e-01 -7.13068887e-01 -3.12276711e-02 1.29762631e+02] [ 7.12416981e-01 7.01093415e-01 -3.04970369e-02 1.28228807e+02] [ 4.36400028e-02 -8.87054376e-04 9.99046927e-01 9.76242728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:128.25, Z:9.76 [[ 6.98344390e-01 -7.15080694e-01 -3.12204127e-02 1.29782720e+02] [ 7.14430232e-01 6.99041203e-01 -3.05096783e-02 1.28247358e+02] [ 4.36412368e-02 -9.98543998e-04 9.99046768e-01 9.76415073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:128.27, Z:9.76 [[ 6.96731280e-01 -7.16955811e-01 -2.32354756e-02 1.29797715e+02] [ 7.16104554e-01 6.97068154e-01 -3.59201320e-02 1.28271809e+02] [ 4.19498575e-02 8.38764968e-03 9.99084509e-01 9.75951369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.512755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.82, Y:128.29, Z:9.76 [[ 6.95681483e-01 -7.17699102e-01 -3.05822445e-02 1.29821940e+02] [ 7.17108531e-01 6.96351409e-01 -2.91559500e-02 1.28287192e+02] [ 4.22211882e-02 -1.64753393e-03 9.99106930e-01 9.76364784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:128.30, Z:9.77 [[ 6.94184276e-01 -7.18763127e-01 -3.85714722e-02 1.29846699e+02] [ 7.18361627e-01 6.95187090e-01 -2.59129675e-02 1.28302911e+02] [ 4.54396751e-02 -9.71989096e-03 9.98919796e-01 9.77015690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:128.33, Z:9.77 [[ 6.93993097e-01 -7.19240970e-01 -3.26497879e-02 1.29863493e+02] [ 7.18531487e-01 6.94759524e-01 -3.19641308e-02 1.28326691e+02] [ 4.56736635e-02 -1.27701456e-03 9.98955597e-01 9.76901760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:128.35, Z:9.77 [[ 6.92901735e-01 -7.20296331e-01 -3.25634819e-02 1.29882727e+02] [ 7.19590914e-01 6.93665212e-01 -3.18981238e-02 1.28345879e+02] [ 4.55642561e-02 -1.33012040e-03 9.98960524e-01 9.77002898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.90, Y:128.37, Z:9.77 [[ 6.92005942e-01 -7.21142376e-01 -3.28853954e-02 1.29902967e+02] [ 7.20423049e-01 6.92785501e-01 -3.22316802e-02 1.28365667e+02] [ 4.60261555e-02 -1.38688262e-03 9.98939272e-01 9.77124910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:128.39, Z:9.77 [[ 6.90642182e-01 -7.22431623e-01 -3.32554783e-02 1.29923116e+02] [ 7.21696610e-01 6.91440794e-01 -3.26133606e-02 1.28385712e+02] [ 4.65551173e-02 -1.47620343e-03 9.98914632e-01 9.77242817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:128.41, Z:9.77 [[ 6.90322814e-01 -7.22714645e-01 -3.37335892e-02 1.29943063e+02] [ 7.21957705e-01 6.91144908e-01 -3.31026814e-02 1.28405825e+02] [ 4.72385911e-02 -1.50268849e-03 9.98882504e-01 9.77356963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:128.43, Z:9.77 [[ 6.90166956e-01 -7.22804730e-01 -3.49699202e-02 1.29961935e+02] [ 7.21990266e-01 6.91050594e-01 -3.43384971e-02 1.28426641e+02] [ 4.89860123e-02 -1.54864592e-03 9.98798264e-01 9.77457510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:128.45, Z:9.78 [[ 6.90152339e-01 -7.22790558e-01 -3.55465612e-02 1.29980109e+02] [ 7.21947936e-01 6.91065394e-01 -3.49256264e-02 1.28446049e+02] [ 4.98089113e-02 -1.55876377e-03 9.98757549e-01 9.77547447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:128.47, Z:9.78 [[ 6.90476472e-01 -7.22460585e-01 -3.59575417e-02 1.29999363e+02] [ 7.21597204e-01 6.91410386e-01 -3.53433514e-02 1.28465727e+02] [ 5.03955962e-02 -1.54310900e-03 9.98728143e-01 9.77648655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:128.49, Z:9.78 [[ 6.90708779e-01 -7.22206462e-01 -3.65952107e-02 1.30017976e+02] [ 7.21310712e-01 6.91675838e-01 -3.59915488e-02 1.28485427e+02] [ 5.13053521e-02 -1.53683880e-03 9.98681831e-01 9.77768128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:128.50, Z:9.78 [[ 6.91688928e-01 -7.21251024e-01 -3.69240843e-02 1.30037709e+02] [ 7.20336470e-01 6.92672233e-01 -3.63393268e-02 1.28504263e+02] [ 5.17860646e-02 -1.46225451e-03 9.98657131e-01 9.77919899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:128.53, Z:9.78 [[ 6.92445537e-01 -7.20682763e-01 -3.36976749e-02 1.30054906e+02] [ 7.19411311e-01 6.93242021e-01 -4.31609234e-02 1.28527596e+02] [ 5.44659777e-02 5.64410030e-03 9.98499675e-01 9.77974949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:128.54, Z:9.78 [[ 6.92640390e-01 -7.20056080e-01 -4.20539158e-02 1.30079905e+02] [ 7.19402832e-01 6.93866742e-01 -3.17570458e-02 1.28541145e+02] [ 5.20466675e-02 -8.25749353e-03 9.98610514e-01 9.78439551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:128.56, Z:9.78 [[ 6.92982300e-01 -7.20001018e-01 -3.70683922e-02 1.30096191e+02] [ 7.19074793e-01 6.93971717e-01 -3.65335186e-02 1.28563637e+02] [ 5.20285864e-02 -1.33786471e-03 9.98644700e-01 9.78380747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:128.58, Z:9.79 [[ 6.92908724e-01 -7.20078355e-01 -3.69413458e-02 1.30115591e+02] [ 7.19157813e-01 6.93891488e-01 -3.64231039e-02 1.28583433e+02] [ 5.18607742e-02 -1.32877101e-03 9.98653441e-01 9.78540845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:128.60, Z:9.79 [[ 6.93064829e-01 -7.19930907e-01 -3.68867507e-02 1.30133987e+02] [ 7.19011720e-01 6.94044522e-01 -3.63915921e-02 1.28602620e+02] [ 5.18004792e-02 -1.30027351e-03 9.98656607e-01 9.78753463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:128.62, Z:9.79 [[ 6.93685341e-01 -7.19417361e-01 -3.52037960e-02 1.30153075e+02] [ 7.18358335e-01 6.94575690e-01 -3.90629381e-02 1.28623743e+02] [ 5.25542568e-02 1.80844726e-03 9.98616433e-01 9.78826987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.17, Y:128.65, Z:9.79 [[ 6.92741707e-01 -7.20587929e-01 -2.93592133e-02 1.30171361e+02] [ 7.19416328e-01 6.93319161e-01 -4.18173088e-02 1.28648648e+02] [ 5.04883531e-02 7.84709650e-03 9.98693822e-01 9.78511937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:128.66, Z:9.80 [[ 6.92840905e-01 -7.19579216e-01 -4.66608187e-02 1.30200206e+02] [ 7.19194325e-01 6.94260374e-01 -2.76053597e-02 1.28657978e+02] [ 5.22590006e-02 -1.44320736e-02 9.98529275e-01 9.79764712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:128.69, Z:9.79 [[ 6.92637198e-01 -7.20815440e-01 -2.60540468e-02 1.30209287e+02] [ 7.19526499e-01 6.93018132e-01 -4.48049840e-02 1.28690536e+02] [ 5.03520511e-02 1.22870216e-02 9.98655947e-01 9.78718074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:128.71, Z:9.79 [[ 6.91080175e-01 -7.22070748e-01 -3.19691452e-02 1.30231401e+02] [ 7.21094914e-01 6.91812880e-01 -3.76439242e-02 1.28707449e+02] [ 4.92982429e-02 2.96218172e-03 9.98779710e-01 9.79024740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:128.72, Z:9.80 [[ 6.91483803e-01 -7.20645411e-01 -5.02029967e-02 1.30261362e+02] [ 7.20485926e-01 6.93036941e-01 -2.44914265e-02 1.28716337e+02] [ 5.24421653e-02 -1.92351278e-02 9.98438696e-01 9.80396443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:128.74, Z:9.80 [[ 6.90705160e-01 -7.22157082e-01 -3.76235378e-02 1.30273073e+02] [ 7.21198476e-01 6.91727637e-01 -3.72241106e-02 1.28743727e+02] [ 5.29068960e-02 -1.42315280e-03 9.98598435e-01 9.80055935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:128.76, Z:9.80 [[ 6.89098349e-01 -7.23678745e-01 -3.78488990e-02 1.30292498e+02] [ 7.22709757e-01 6.90135291e-01 -3.74684872e-02 1.28763412e+02] [ 5.32360088e-02 -1.53429594e-03 9.98580780e-01 9.80236079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:128.78, Z:9.80 [[ 6.88206962e-01 -7.24521767e-01 -3.79392561e-02 1.30312077e+02] [ 7.23548145e-01 6.89250093e-01 -3.75817971e-02 1.28782960e+02] [ 5.33784659e-02 -1.58682399e-03 9.98573093e-01 9.80420926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.33, Y:128.80, Z:9.81 [[ 6.86787205e-01 -7.25883058e-01 -3.76446626e-02 1.30330957e+02] [ 7.24925292e-01 6.87816123e-01 -3.73135568e-02 1.28803015e+02] [ 5.29778846e-02 -1.66309470e-03 9.98594301e-01 9.80575290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:128.82, Z:9.81 [[ 6.86173159e-01 -7.26460177e-01 -3.77095005e-02 1.30349687e+02] [ 7.25498775e-01 6.87206474e-01 -3.74003899e-02 1.28822689e+02] [ 5.30841067e-02 -1.69505276e-03 9.98588606e-01 9.80755142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:128.84, Z:9.81 [[ 6.85699133e-01 -7.26891104e-01 -3.80265850e-02 1.30368208e+02] [ 7.25913237e-01 6.86750554e-01 -3.77312603e-02 1.28842459e+02] [ 5.35412958e-02 -1.73170891e-03 9.98564135e-01 9.80914292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:128.86, Z:9.81 [[ 6.85585360e-01 -7.26994641e-01 -3.80986404e-02 1.30387559e+02] [ 7.26012281e-01 6.86640951e-01 -3.78202514e-02 1.28863110e+02] [ 5.36552067e-02 -1.73107017e-03 9.98558021e-01 9.81054464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:128.88, Z:9.81 [[ 6.85827913e-01 -7.26758759e-01 -3.82332453e-02 1.30405973e+02] [ 7.25767816e-01 6.86890681e-01 -3.79772265e-02 1.28882713e+02] [ 5.38623419e-02 -1.70261697e-03 9.98546919e-01 9.81219172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:128.90, Z:9.81 [[ 6.86075375e-01 -7.26519276e-01 -3.83447849e-02 1.30424919e+02] [ 7.25520975e-01 6.87144047e-01 -3.81100094e-02 1.28903189e+02] [ 5.40360471e-02 -1.67360675e-03 9.98537583e-01 9.81346718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:128.92, Z:9.82 [[ 6.87093058e-01 -7.25560202e-01 -3.82821485e-02 1.30442412e+02] [ 7.24562485e-01 6.88156883e-01 -3.80697950e-02 1.28923500e+02] [ 5.39660522e-02 -1.58031677e-03 9.98541520e-01 9.81509600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:128.94, Z:9.82 [[ 6.87494251e-01 -7.25178244e-01 -3.83166950e-02 1.30461404e+02] [ 7.24177286e-01 6.88559467e-01 -3.81197949e-02 1.28944201e+02] [ 5.40269690e-02 -1.54094030e-03 9.98538288e-01 9.81663770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.48, Y:128.96, Z:9.82 [[ 6.87995848e-01 -7.24688172e-01 -3.85845402e-02 1.30480494e+02] [ 7.23671042e-01 6.89075334e-01 -3.84110361e-02 1.28964851e+02] [ 5.44236784e-02 -1.49588103e-03 9.98516813e-01 9.81812623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:128.99, Z:9.82 [[ 6.89192100e-01 -7.23560769e-01 -3.83935234e-02 1.30498137e+02] [ 7.22550734e-01 6.90259297e-01 -3.82431575e-02 1.28985088e+02] [ 5.41727349e-02 -1.38438648e-03 9.98530620e-01 9.81987759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:129.02, Z:9.81 [[ 6.89367772e-01 -7.24094569e-01 -2.14272972e-02 1.30507544e+02] [ 7.22563670e-01 6.89419794e-01 -5.10106950e-02 1.29015715e+02] [ 5.17089700e-02 1.96825427e-02 9.98468217e-01 9.81037404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.54, Y:129.03, Z:9.82 [[ 6.90150573e-01 -7.22621420e-01 -3.88647648e-02 1.30536119e+02] [ 7.21788735e-01 6.91232659e-01 -3.49060641e-02 1.29027109e+02] [ 5.20884643e-02 -3.96170932e-03 9.98634616e-01 9.81959600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65275509600002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:130.56, Y:129.04, Z:9.83 [[ 6.89763534e-01 -7.22286641e-01 -5.02819593e-02 1.30561837e+02] [ 7.22040564e-01 6.91353749e-01 -2.62186780e-02 1.29041832e+02] [ 5.37000220e-02 -1.82209262e-02 9.98390858e-01 9.82692934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.57, Y:129.07, Z:9.83 [[ 6.90131789e-01 -7.22701666e-01 -3.76884051e-02 1.30572473e+02] [ 7.21723403e-01 6.91158993e-01 -3.76108490e-02 1.29068875e+02] [ 5.32301033e-02 -1.24416146e-03 9.98581498e-01 9.82586534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:129.09, Z:9.83 [[ 6.89767357e-01 -7.23051441e-01 -3.76511110e-02 1.30590599e+02] [ 7.22074892e-01 6.90793041e-01 -3.75875736e-02 1.29088993e+02] [ 5.31868748e-02 -1.26024057e-03 9.98583781e-01 9.82761556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:129.11, Z:9.83 [[ 6.88744499e-01 -7.24071566e-01 -3.67611496e-02 1.30608812e+02] [ 7.23141243e-01 6.89723632e-01 -3.67158477e-02 1.29109886e+02] [ 5.19399350e-02 -1.29566533e-03 9.98649370e-01 9.82961413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:129.13, Z:9.83 [[ 6.87768920e-01 -7.25023611e-01 -3.62584657e-02 1.30628283e+02] [ 7.24118714e-01 6.88722721e-01 -3.62367314e-02 1.29130673e+02] [ 5.12445151e-02 -1.33293595e-03 9.98685247e-01 9.83111531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:129.15, Z:9.83 [[ 6.85971400e-01 -7.26760177e-01 -3.55370758e-02 1.30646317e+02] [ 7.25892217e-01 6.86889825e-01 -3.55367024e-02 1.29151221e+02] [ 5.02367159e-02 -1.41892527e-03 9.98736331e-01 9.83294389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.67, Y:129.17, Z:9.83 [[ 6.84642006e-01 -7.28019622e-01 -3.53942720e-02 1.30665276e+02] [ 7.27159613e-01 6.85554661e-01 -3.54076831e-02 1.29172083e+02] [ 5.00421962e-02 -1.49569794e-03 9.98745984e-01 9.83450273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:129.19, Z:9.84 [[ 6.82063567e-01 -7.30439682e-01 -3.53151757e-02 1.30682972e+02] [ 7.29585606e-01 6.82975209e-01 -3.53512076e-02 1.29194135e+02] [ 4.99413143e-02 -1.65367310e-03 9.98750785e-01 9.83582165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:129.21, Z:9.84 [[ 6.80476785e-01 -7.31913501e-01 -3.54114647e-02 1.30701306e+02] [ 7.31055503e-01 6.81395308e-01 -3.54723222e-02 1.29214476e+02] [ 5.00918774e-02 -1.74965441e-03 9.98743081e-01 9.83693115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.72, Y:129.23, Z:9.84 [[ 6.78922716e-01 -7.33342759e-01 -3.56699177e-02 1.30720157e+02] [ 7.32472978e-01 6.79856576e-01 -3.57543284e-02 1.29234927e+02] [ 5.04706060e-02 -1.85282511e-03 9.98723828e-01 9.83840536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:129.26, Z:9.84 [[ 6.77558405e-01 -7.34592968e-01 -3.58856311e-02 1.30739466e+02] [ 7.33713114e-01 6.78505272e-01 -3.59953144e-02 1.29255046e+02] [ 5.07904948e-02 -1.94083027e-03 9.98707444e-01 9.83998181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:129.28, Z:9.84 [[ 6.75495602e-01 -7.36459432e-01 -3.65129771e-02 1.30758314e+02] [ 7.35550012e-01 6.76478447e-01 -3.66482012e-02 1.29276157e+02] [ 5.16901554e-02 -2.10142203e-03 9.98660959e-01 9.84190633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:129.30, Z:9.84 [[ 6.74905006e-01 -7.36982185e-01 -3.68848454e-02 1.30777081e+02] [ 7.36053640e-01 6.75908758e-01 -3.70457809e-02 1.29296662e+02] [ 5.22328706e-02 -2.14684178e-03 9.98632624e-01 9.84329590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.80, Y:129.32, Z:9.85 [[ 6.75152517e-01 -7.36639528e-01 -3.91316198e-02 1.30795823e+02] [ 7.35592151e-01 6.76281917e-01 -3.93313612e-02 1.29318110e+02] [ 5.54370422e-02 -2.23024486e-03 9.98459694e-01 9.84627213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:129.34, Z:9.85 [[ 6.75048552e-01 -7.36685367e-01 -4.00514857e-02 1.30813286e+02] [ 7.35586509e-01 6.76231863e-01 -4.02859171e-02 1.29338170e+02] [ 5.67621364e-02 -2.26638247e-03 9.98385158e-01 9.84817475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:129.36, Z:9.85 [[ 6.75674838e-01 -7.36185791e-01 -3.86522154e-02 1.30829627e+02] [ 7.35055804e-01 6.76778951e-01 -4.07825564e-02 1.29360570e+02] [ 5.61825443e-02 -8.55788112e-04 9.98420147e-01 9.84812207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:129.38, Z:9.85 [[ 6.75435428e-01 -7.36294704e-01 -4.07073895e-02 1.30849327e+02] [ 7.35267896e-01 6.76651608e-01 -3.90348971e-02 1.29379973e+02] [ 5.62859086e-02 -3.56528413e-03 9.98408326e-01 9.85080682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:129.40, Z:9.85 [[ 6.76562875e-01 -7.35505833e-01 -3.59700677e-02 1.30868141e+02] [ 7.34220042e-01 6.77511414e-01 -4.35799573e-02 1.29403619e+02] [ 5.64234442e-02 3.07463660e-03 9.98402194e-01 9.85028136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:129.42, Z:9.86 [[ 6.75908635e-01 -7.35683945e-01 -4.37795693e-02 1.30888236e+02] [ 7.34827922e-01 6.77281895e-01 -3.62926953e-02 1.29419448e+02] [ 5.63510630e-02 -7.63990380e-03 9.98381785e-01 9.85557219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:129.44, Z:9.86 [[ 6.76908978e-01 -7.34962345e-01 -4.03061672e-02 1.30902384e+02] [ 7.33840470e-01 6.78104777e-01 -4.06457329e-02 1.29443066e+02] [ 5.72048877e-02 -2.06483513e-03 9.98360324e-01 9.85735344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:129.47, Z:9.86 [[ 6.77187239e-01 -7.34762851e-01 -3.92555230e-02 1.30920487e+02] [ 7.33580656e-01 6.78323829e-01 -4.16677849e-02 1.29465214e+02] [ 5.72438971e-02 -5.80200115e-04 9.98360055e-01 9.85859218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.94, Y:129.48, Z:9.86 [[ 6.78676369e-01 -7.33270287e-01 -4.13892785e-02 1.30938716e+02] [ 7.32204188e-01 6.79928857e-01 -3.96708563e-02 1.29484455e+02] [ 5.72312250e-02 -3.38173031e-03 9.98355223e-01 9.86222437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.96, Y:129.50, Z:9.86 [[ 6.79644463e-01 -7.32427253e-01 -4.04193464e-02 1.30957036e+02] [ 7.31349727e-01 6.80840654e-01 -3.97942267e-02 1.29504772e+02] [ 5.66655104e-02 -2.51475211e-03 9.98390052e-01 9.86375096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34275509600002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:130.98, Y:129.53, Z:9.86 [[ 6.79716970e-01 -7.32440094e-01 -3.89403381e-02 1.30975524e+02] [ 7.31318443e-01 6.80830850e-01 -4.05300891e-02 1.29526905e+02] [ 5.61976457e-02 -9.28798075e-04 9.98419232e-01 9.86496283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37275509600002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:130.99, Y:129.55, Z:9.87 [[ 6.80382817e-01 -7.31799260e-01 -3.93581617e-02 1.30993105e+02] [ 7.30719460e-01 6.81518131e-01 -3.97757152e-02 1.29548013e+02] [ 5.59311397e-02 -1.69706149e-03 9.98433186e-01 9.86708529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.01, Y:129.57, Z:9.87 [[ 6.80343289e-01 -7.31860166e-01 -3.89063826e-02 1.31011075e+02] [ 7.30803790e-01 6.81452802e-01 -3.93433460e-02 1.29568505e+02] [ 5.53066912e-02 -1.66595049e-03 9.98468024e-01 9.86816773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43275509600002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:131.03, Y:129.59, Z:9.87 [[ 6.79992894e-01 -7.32194108e-01 -3.87485743e-02 1.31029544e+02] [ 7.31145498e-01 6.81093973e-01 -3.92079158e-02 1.29589207e+02] [ 5.50992254e-02 -1.66974151e-03 9.98479488e-01 9.86941599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46275509600002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:131.05, Y:129.61, Z:9.87 [[ 6.79838331e-01 -7.32338270e-01 -3.87363183e-02 1.31049441e+02] [ 7.31289205e-01 6.80938976e-01 -3.92200214e-02 1.29609624e+02] [ 5.50993915e-02 -1.66417754e-03 9.98479488e-01 9.87065697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:129.64, Z:9.87 [[ 6.79374025e-01 -7.33339250e-01 -2.57774677e-02 1.31062037e+02] [ 7.31902649e-01 6.79725761e-01 -4.78685975e-02 1.29637445e+02] [ 5.26255303e-02 1.36540849e-02 9.98520966e-01 9.86512058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52275509600003 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:131.09, Y:129.64, Z:9.88 [[ 6.78800162e-01 -7.32730709e-01 -4.83326925e-02 1.31093476e+02] [ 7.32409432e-01 6.80311773e-01 -2.74283703e-02 1.29644146e+02] [ 5.29789090e-02 -1.67809377e-02 9.98454624e-01 9.87674130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.11, Y:129.67, Z:9.87 [[ 6.78272677e-01 -7.33857364e-01 -3.74104944e-02 1.31107163e+02] [ 7.32878396e-01 6.79301489e-01 -3.79307624e-02 1.29670880e+02] [ 5.32487739e-02 -1.68994343e-03 9.98579848e-01 9.87496192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58275509600003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:131.13, Y:129.69, Z:9.88 [[ 6.77383152e-01 -7.34701574e-01 -3.69548646e-02 1.31125177e+02] [ 7.33746298e-01 6.78388270e-01 -3.74930164e-02 1.29690601e+02] [ 5.26159248e-02 -1.71835740e-03 9.98613344e-01 9.87594740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61275509600003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:131.14, Y:129.71, Z:9.88 [[ 6.76801671e-01 -7.35250572e-01 -3.66891708e-02 1.31144254e+02] [ 7.34308618e-01 6.77793179e-01 -3.72459520e-02 1.29711469e+02] [ 5.22527772e-02 -1.73305174e-03 9.98632387e-01 9.87689295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.642755096 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:131.16, Y:129.73, Z:9.88 [[ 6.76606274e-01 -7.35418529e-01 -3.69260951e-02 1.31163213e+02] [ 7.34463315e-01 6.77610919e-01 -3.75110965e-02 1.29732459e+02] [ 5.26078806e-02 -1.74061890e-03 9.98613730e-01 9.87818660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.672755096 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:131.18, Y:129.75, Z:9.88 [[ 6.76490001e-01 -7.35525634e-01 -3.69231663e-02 1.31182479e+02] [ 7.34569417e-01 6.77494681e-01 -3.75330302e-02 1.29752928e+02] [ 5.26217546e-02 -1.73190912e-03 9.98613014e-01 9.87926366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.702755096 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:131.20, Y:129.77, Z:9.88 [[ 6.76711476e-01 -7.35320374e-01 -3.69530253e-02 1.31201252e+02] [ 7.34360941e-01 6.77717535e-01 -3.75892339e-02 1.29772460e+02] [ 5.26838428e-02 -1.69979256e-03 9.98609795e-01 9.88025423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.732755096 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:131.22, Y:129.79, Z:9.88 [[ 6.76794338e-01 -7.35236908e-01 -3.70959963e-02 1.31220838e+02] [ 7.34268627e-01 6.77808125e-01 -3.77588230e-02 1.29792781e+02] [ 5.29056480e-02 -1.68346865e-03 9.98598097e-01 9.88143544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.762755096 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:131.24, Y:129.81, Z:9.88 [[ 6.78216727e-01 -7.33909296e-01 -3.74061103e-02 1.31239956e+02] [ 7.32921414e-01 6.79245656e-01 -3.80990788e-02 1.29812057e+02] [ 5.33692060e-02 -1.57630671e-03 9.98573604e-01 9.88240643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.792755096 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:131.26, Y:129.83, Z:9.88 [[ 6.80405030e-01 -7.31851532e-01 -3.79780331e-02 1.31258476e+02] [ 7.30829001e-01 6.81462624e-01 -3.86996522e-02 1.29832091e+02] [ 5.42030098e-02 -1.42401004e-03 9.98528921e-01 9.88305496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.822755096 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:131.28, Y:129.86, Z:9.88 [[ 6.81052833e-01 -7.31373517e-01 -3.54938896e-02 1.31276046e+02] [ 7.30117481e-01 6.81968861e-01 -4.29759963e-02 1.29855007e+02] [ 5.56372330e-02 3.35421479e-03 9.98445415e-01 9.88314801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.852755096 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:131.30, Y:129.87, Z:9.89 [[ 6.82461606e-01 -7.29763529e-01 -4.11260076e-02 1.31299632e+02] [ 7.28933769e-01 6.83674209e-01 -3.52864833e-02 1.29871581e+02] [ 5.38675793e-02 -5.89646566e-03 9.98530678e-01 9.88529497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.882755096 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:131.32, Y:129.89, Z:9.89 [[ 6.83538751e-01 -7.28945383e-01 -3.75952829e-02 1.31316603e+02] [ 7.27935071e-01 6.84570923e-01 -3.83820812e-02 1.29893174e+02] [ 5.37150784e-02 -1.13128511e-03 9.98555662e-01 9.88512188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.912755096 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:131.34, Y:129.91, Z:9.89 [[ 6.85680923e-01 -7.26975152e-01 -3.67260158e-02 1.31335728e+02] [ 7.26007010e-01 6.86663126e-01 -3.75176416e-02 1.29913340e+02] [ 5.24927940e-02 -9.38213767e-04 9.98620862e-01 9.88581386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.942755096 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:131.35, Y:129.93, Z:9.89 [[ 6.86636147e-01 -7.26088026e-01 -3.64277316e-02 1.31354439e+02] [ 7.25133088e-01 6.87601237e-01 -3.72363204e-02 1.29932310e+02] [ 5.20845996e-02 -8.47149948e-04 9.98642317e-01 9.88700188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97275509600001 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:131.37, Y:129.95, Z:9.89 [[ 6.87332721e-01 -7.25542612e-01 -3.40829674e-02 1.31373166e+02] [ 7.24495657e-01 6.88173955e-01 -3.90211670e-02 1.29954532e+02] [ 5.17665299e-02 2.12756309e-03 9.98656948e-01 9.88718051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00275509600002 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:131.39, Y:129.97, Z:9.89 [[ 6.87965960e-01 -7.24775387e-01 -3.74629977e-02 1.31393768e+02] [ 7.23989065e-01 6.88974969e-01 -3.39606483e-02 1.29970796e+02] [ 5.04249097e-02 -3.75903066e-03 9.98720781e-01 9.88926802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03275509600002 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:131.41, Y:129.99, Z:9.89 [[ 6.87642446e-01 -7.25176608e-01 -3.55914776e-02 1.31412316e+02] [ 7.24261136e-01 6.88562534e-01 -3.64341124e-02 1.29992235e+02] [ 5.09281240e-02 -7.23881876e-04 9.98702059e-01 9.88939133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06275509600002 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:131.43, Y:130.01, Z:9.89 [[ 6.86978659e-01 -7.25896432e-01 -3.36852022e-02 1.31432572e+02] [ 7.25076290e-01 6.87803643e-01 -3.45039580e-02 1.30011148e+02] [ 4.82151048e-02 -7.20858690e-04 9.98836715e-01 9.89083932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09275509600002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:131.45, Y:130.03, Z:9.89 [[ 6.85980776e-01 -7.26847468e-01 -3.35131720e-02 1.31452413e+02] [ 7.26035752e-01 6.86798491e-01 -3.43499652e-02 1.30030538e+02] [ 4.79839812e-02 -7.68345208e-04 9.98847810e-01 9.89211139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12275509600002 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:131.47, Y:130.05, Z:9.89 [[ 6.85642433e-01 -7.27192305e-01 -3.29515723e-02 1.31471216e+02] [ 7.26305444e-01 6.86433448e-01 -3.59099525e-02 1.30049163e+02] [ 4.87325025e-02 6.88480850e-04 9.98811628e-01 9.89335585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15275509600002 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:131.49, Y:130.07, Z:9.90 [[ 6.82266083e-01 -7.30252323e-01 -3.52779932e-02 1.31492507e+02] [ 7.29445829e-01 6.83173755e-01 -3.43860977e-02 1.30069128e+02] [ 4.92115268e-02 -2.27291681e-03 9.98785793e-01 9.89502379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18275509600002 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:131.51, Y:130.09, Z:9.89 [[ 6.81801880e-01 -7.30797007e-01 -3.28927093e-02 1.31511073e+02] [ 7.30017129e-01 6.82594136e-01 -3.37673967e-02 1.30088277e+02] [ 4.71294830e-02 -9.89566602e-04 9.98888298e-01 9.89498812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21275509600002 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:131.53, Y:130.11, Z:9.90 [[ 6.80479342e-01 -7.32029980e-01 -3.28629399e-02 1.31530245e+02] [ 7.31251951e-01 6.81271594e-01 -3.37579371e-02 1.30108074e+02] [ 4.71004094e-02 -1.05951011e-03 9.98889598e-01 9.89560675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24275509600002 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:131.55, Y:130.13, Z:9.90 [[ 6.78858123e-01 -7.33757604e-01 -2.74121713e-02 1.31546319e+02] [ 7.32575542e-01 6.79354266e-01 -4.25541534e-02 1.30131825e+02] [ 4.98470091e-02 8.80674645e-03 9.98718037e-01 9.89500727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27275509600003 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:131.57, Y:130.15, Z:9.90 [[ 6.77474637e-01 -7.34793158e-01 -3.32735728e-02 1.31569835e+02] [ 7.33860471e-01 6.78290925e-01 -3.70166129e-02 1.30148679e+02] [ 4.97687164e-02 6.59656567e-04 9.98760552e-01 9.89732583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30275509600003 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:131.60, Y:130.16, Z:9.90 [[ 6.76952983e-01 -7.34864499e-01 -4.13379680e-02 1.31596248e+02] [ 7.34493501e-01 6.78099668e-01 -2.64601026e-02 1.30162335e+02] [ 4.74758524e-02 -1.24502235e-02 9.98794791e-01 9.89973845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33275509600003 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:131.61, Y:130.19, Z:9.90 [[ 6.76792877e-01 -7.35411314e-01 -3.34903279e-02 1.31610825e+02] [ 7.34603276e-01 6.77619812e-01 -3.44879216e-02 1.30185799e+02] [ 4.80565174e-02 -1.26092496e-03 9.98843822e-01 9.89809810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36275509600003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:131.63, Y:130.21, Z:9.90 [[ 6.76869772e-01 -7.35338993e-01 -3.35242653e-02 1.31630564e+02] [ 7.34528177e-01 6.77698326e-01 -3.45447006e-02 1.30205476e+02] [ 4.81214039e-02 -1.24225381e-03 9.98840722e-01 9.89877112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.392755096 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:131.64, Y:130.23, Z:9.90 [[ 6.77838819e-01 -7.34717926e-01 -2.69091860e-02 1.31643978e+02] [ 7.33339571e-01 6.78270320e-01 -4.65021129e-02 1.30229329e+02] [ 5.24176382e-02 1.17873664e-02 9.98555682e-01 9.89810262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.422755096 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:131.68, Y:130.24, Z:9.90 [[ 6.78021845e-01 -7.33778774e-01 -4.30707367e-02 1.31676079e+02] [ 7.33429295e-01 6.79251160e-01 -2.64448482e-02 1.30239399e+02] [ 4.86605162e-02 -1.36591553e-02 9.98721974e-01 9.90372911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.452755096 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:131.69, Y:130.26, Z:9.90 [[ 6.78465972e-01 -7.33834486e-01 -3.42179992e-02 1.31691289e+02] [ 7.32985391e-01 6.79327373e-01 -3.53091626e-02 1.30264536e+02] [ 4.91563047e-02 -1.12522820e-03 9.98790464e-01 9.90229494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.482755096 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:131.71, Y:130.28, Z:9.90 [[ 6.79301189e-01 -7.33091220e-01 -3.35731735e-02 1.31711725e+02] [ 7.32271801e-01 6.80129541e-01 -3.46672306e-02 1.30282546e+02] [ 4.82483494e-02 -1.03519725e-03 9.98834834e-01 9.90344999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.512755096 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:131.73, Y:130.30, Z:9.90 [[ 6.79613257e-01 -7.32799047e-01 -3.36359671e-02 1.31731438e+02] [ 7.31975155e-01 6.80444379e-01 -3.47536847e-02 1.30301244e+02] [ 4.83548718e-02 -1.00162742e-03 9.98829717e-01 9.90493250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.542755096 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:131.75, Y:130.32, Z:9.90 [[ 6.80948681e-01 -7.31866404e-01 -2.60856303e-02 1.31745941e+02] [ 7.30537154e-01 6.81341216e-01 -4.57122859e-02 1.30324973e+02] [ 5.12285013e-02 1.20711987e-02 9.98614003e-01 9.90461011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.572755096 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:131.78, Y:130.33, Z:9.91 [[ 6.80709382e-01 -7.31376835e-01 -4.15049638e-02 1.31777329e+02] [ 7.31082521e-01 6.81839999e-01 -2.47500258e-02 1.30333842e+02] [ 4.64013400e-02 -1.34959788e-02 9.98831705e-01 9.91029790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.602755096 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:131.78, Y:130.36, Z:9.91 [[ 6.82172740e-01 -7.30796876e-01 -2.40058257e-02 1.31784370e+02] [ 7.29353174e-01 6.82417572e-01 -4.84789203e-02 1.30362846e+02] [ 5.18102408e-02 1.55622727e-02 9.98535685e-01 9.90743627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.632755096 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:131.82, Y:130.37, Z:9.91 [[ 6.80967390e-01 -7.31040840e-01 -4.31590614e-02 1.31820140e+02] [ 7.30839082e-01 6.82153109e-01 -2.32673995e-02 1.30370419e+02] [ 4.64505072e-02 -1.56979885e-02 9.98797238e-01 9.91442411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.662755096 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:131.83, Y:130.39, Z:9.91 [[ 6.80643540e-01 -7.31903548e-01 -3.22733406e-02 1.31833838e+02] [ 7.31141193e-01 6.81407706e-01 -3.34079914e-02 1.30394402e+02] [ 4.64427304e-02 -8.57435255e-04 9.98920586e-01 9.91239483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.692755096 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:131.85, Y:130.42, Z:9.91 [[ 6.80805669e-01 -7.31994113e-01 -2.62347104e-02 1.31849181e+02] [ 7.30782871e-01 6.81232544e-01 -4.33430022e-02 1.30416132e+02] [ 4.95987610e-02 1.03362846e-02 9.98715737e-01 9.91260649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72275509600001 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:131.88, Y:130.43, Z:9.92 [[ 6.79180640e-01 -7.32912263e-01 -3.94115794e-02 1.31880164e+02] [ 7.32559710e-01 6.80225057e-01 -2.54979226e-02 1.30428005e+02] [ 4.54964840e-02 -1.15536398e-02 9.98897684e-01 9.91780422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75275509600002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:131.90, Y:130.45, Z:9.92 [[ 6.77671699e-01 -7.34694313e-01 -3.13900395e-02 1.31897478e+02] [ 7.33973967e-01 6.78397591e-01 -3.25411098e-02 1.30450155e+02] [ 4.52026955e-02 -9.87282657e-04 9.98977348e-01 9.91682935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78275509600002 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:131.92, Y:130.47, Z:9.92 [[ 6.76765196e-01 -7.35542488e-01 -3.10824333e-02 1.31917849e+02] [ 7.34836161e-01 6.77477829e-01 -3.22429440e-02 1.30469230e+02] [ 4.47737147e-02 -1.01959363e-03 9.98996634e-01 9.91805894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81275509600002 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:131.94, Y:130.49, Z:9.92 [[ 6.76030902e-01 -7.36237789e-01 -3.05963687e-02 1.31937494e+02] [ 7.35553207e-01 6.76722134e-01 -3.17589910e-02 1.30487948e+02] [ 4.40874092e-02 -1.03519778e-03 9.99027141e-01 9.91906292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84275509600002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:131.95, Y:130.51, Z:9.92 [[ 6.76118574e-01 -7.36468100e-01 -2.18726370e-02 1.31952167e+02] [ 7.35162782e-01 6.76299023e-01 -4.64253748e-02 1.30511842e+02] [ 4.89832506e-02 1.53091095e-02 9.98682268e-01 9.91796990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87275509600002 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:131.99, Y:130.52, Z:9.93 [[ 6.75184021e-01 -7.36436493e-01 -4.22827224e-02 1.31987199e+02] [ 7.36323803e-01 6.76297409e-01 -2.11912989e-02 1.30519545e+02] [ 4.42017415e-02 -1.68257486e-02 9.98880924e-01 9.92557609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90275509600002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:132.00, Y:130.54, Z:9.92 [[ 6.75362763e-01 -7.36827796e-01 -3.11438301e-02 1.32001771e+02] [ 7.36116888e-01 6.76079638e-01 -3.23766865e-02 1.30543575e+02] [ 4.49117519e-02 -1.05949088e-03 9.98990396e-01 9.92287410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93275509600002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:132.02, Y:130.56, Z:9.92 [[ 6.75773879e-01 -7.36438865e-01 -3.14239292e-02 1.32022000e+02] [ 7.35713835e-01 6.76503316e-01 -3.26866461e-02 1.30562747e+02] [ 4.53301089e-02 -1.03023779e-03 9.98971531e-01 9.92410148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96275509600002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:132.04, Y:130.58, Z:9.93 [[ 6.76125447e-01 -7.36108189e-01 -3.16087822e-02 1.32042731e+02] [ 7.35373318e-01 6.76863158e-01 -3.28990733e-02 1.30582412e+02] [ 4.56120974e-02 -1.00035438e-03 9.98958726e-01 9.92506970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99275509600002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:132.06, Y:130.60, Z:9.93 [[ 6.76379313e-01 -7.35856822e-01 -3.20275235e-02 1.32062474e+02] [ 7.35101075e-01 6.77136450e-01 -3.33562070e-02 1.30601593e+02] [ 4.62323961e-02 -9.82018619e-04 9.98930228e-01 9.92613364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02275509600003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:132.08, Y:130.62, Z:9.93 [[ 6.77766233e-01 -7.34734552e-01 -2.82501602e-02 1.32079236e+02] [ 7.33568076e-01 6.78309620e-01 -4.21181250e-02 1.30622361e+02] [ 5.01079971e-02 7.82282728e-03 9.98713168e-01 9.92570962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:130.64, Z:9.93 [[ 6.77497485e-01 -7.34471674e-01 -3.93512088e-02 1.32107311e+02] [ 7.33967195e-01 6.78574536e-01 -2.87881050e-02 1.30635777e+02] [ 4.78467759e-02 -9.37862762e-03 9.98810656e-01 9.93050392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08275509600003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:132.12, Y:130.66, Z:9.93 [[ 6.77870111e-01 -7.34422255e-01 -3.34075524e-02 1.32124421e+02] [ 7.33595735e-01 6.78692246e-01 -3.48444134e-02 1.30658200e+02] [ 4.82639594e-02 -8.87651630e-04 9.98834222e-01 9.92956978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11275509600003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:132.14, Y:130.68, Z:9.93 [[ 6.79404236e-01 -7.33292081e-01 -2.63174586e-02 1.32140012e+02] [ 7.31885412e-01 6.79793610e-01 -4.71634566e-02 1.30681519e+02] [ 5.24750294e-02 1.27816881e-02 9.98540435e-01 9.92944603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.142755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:132.17, Y:130.69, Z:9.94 [[ 6.79767114e-01 -7.32143621e-01 -4.33864994e-02 1.32171674e+02] [ 7.31818115e-01 6.81004553e-01 -2.59816114e-02 1.30690167e+02] [ 4.85686747e-02 -1.40895813e-02 9.98720465e-01 9.93660030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.172755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.19, Y:130.71, Z:9.93 [[ 6.80257163e-01 -7.32204196e-01 -3.35739160e-02 1.32185741e+02] [ 7.31363577e-01 6.81084826e-01 -3.50824641e-02 1.30714787e+02] [ 4.85542121e-02 -6.89641786e-04 9.98820311e-01 9.93424405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.20, Y:130.74, Z:9.93 [[ 6.81463688e-01 -7.31372306e-01 -2.64913747e-02 1.32201944e+02] [ 7.29988638e-01 6.81864582e-01 -4.66613381e-02 1.30738986e+02] [ 5.21903406e-02 1.24596051e-02 9.98559426e-01 9.93385639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.23, Y:130.75, Z:9.94 [[ 6.81106675e-01 -7.30927319e-01 -4.28830053e-02 1.32232425e+02] [ 7.30584293e-01 6.82321456e-01 -2.61538063e-02 1.30747433e+02] [ 4.83765261e-02 -1.35161181e-02 9.98737716e-01 9.94091210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.262755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.25, Y:130.77, Z:9.94 [[ 6.80691668e-01 -7.31819354e-01 -3.31554895e-02 1.32248390e+02] [ 7.30996832e-01 6.81498384e-01 -3.46927130e-02 1.30771046e+02] [ 4.79842113e-02 -6.21517125e-04 9.98847901e-01 9.93836154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.292755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.27, Y:130.79, Z:9.94 [[ 6.80155012e-01 -7.32312747e-01 -3.32746134e-02 1.32267762e+02] [ 7.31483810e-01 6.80968154e-01 -3.48397635e-02 1.30789791e+02] [ 4.81725550e-02 -6.43401233e-04 9.98838821e-01 9.93975145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.29, Y:130.81, Z:9.94 [[ 6.79525079e-01 -7.32906977e-01 -3.30610122e-02 1.32287606e+02] [ 7.32088398e-01 6.80328537e-01 -3.46361042e-02 1.30809075e+02] [ 4.78773925e-02 -6.67481991e-04 9.98852997e-01 9.94102460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.352755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.31, Y:130.83, Z:9.94 [[ 6.77965509e-01 -7.34362091e-01 -3.27885373e-02 1.32307681e+02] [ 7.33557648e-01 6.78757510e-01 -3.43717837e-02 1.30827412e+02] [ 4.74968009e-02 -7.49398464e-04 9.98871109e-01 9.94188679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.382755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.33, Y:130.85, Z:9.94 [[ 6.77759862e-01 -7.34552222e-01 -3.27811286e-02 1.32327242e+02] [ 7.33747660e-01 6.78551742e-01 -3.43788482e-02 1.30848185e+02] [ 4.74967513e-02 -7.52473017e-04 9.98871109e-01 9.94318586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:130.87, Z:9.94 [[ 6.76728777e-01 -7.35501139e-01 -3.28060528e-02 1.32347025e+02] [ 7.34695539e-01 6.77523007e-01 -3.44244161e-02 1.30867447e+02] [ 4.75460528e-02 -8.06467603e-04 9.98868721e-01 9.94457687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.36, Y:130.89, Z:9.94 [[ 6.75283985e-01 -7.37042602e-01 -2.75634242e-02 1.32363006e+02] [ 7.35872859e-01 6.75795297e-01 -4.23302748e-02 1.30891164e+02] [ 4.98264484e-02 8.30178088e-03 9.98723388e-01 9.94431985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.39, Y:130.90, Z:9.95 [[ 6.74483627e-01 -7.37261426e-01 -3.89541677e-02 1.32391159e+02] [ 7.36792212e-01 6.75536828e-01 -2.80576260e-02 1.30903228e+02] [ 4.70007802e-02 -9.77671805e-03 9.98847007e-01 9.94973511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:130.93, Z:9.95 [[ 6.72366203e-01 -7.39487352e-01 -3.28959603e-02 1.32408018e+02] [ 7.38678608e-01 6.73169645e-01 -3.45910913e-02 1.30925038e+02] [ 4.77242364e-02 -1.04166144e-03 9.98860006e-01 9.94889594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:130.94, Z:9.96 [[ 6.72712876e-01 -7.38072676e-01 -5.20202975e-02 1.32441336e+02] [ 7.38075888e-01 6.74329254e-01 -2.28919166e-02 1.30936064e+02] [ 5.19747066e-02 -2.29952403e-02 9.98383618e-01 9.96277159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:130.98, Z:9.95 [[ 6.70355115e-01 -7.41827926e-01 -1.77580266e-02 1.32441002e+02] [ 7.40215790e-01 6.70192444e-01 -5.40617480e-02 1.30975980e+02] [ 5.20058097e-02 2.30957976e-02 9.98379677e-01 9.94857167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:130.98, Z:9.96 [[ 6.70800474e-01 -7.40651922e-01 -3.82289775e-02 1.32471930e+02] [ 7.39997263e-01 6.71853515e-01 -3.18889497e-02 1.30984191e+02] [ 4.93028848e-02 -6.89821616e-03 9.98760051e-01 9.95767725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:131.01, Z:9.96 [[ 6.71415151e-01 -7.40345673e-01 -3.30148290e-02 1.32487999e+02] [ 7.39379092e-01 6.72225634e-01 -3.78319334e-02 1.31006381e+02] [ 5.02021226e-02 9.90458981e-04 9.98738587e-01 9.95670002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.51, Y:131.03, Z:9.96 [[ 6.70646176e-01 -7.40901416e-01 -3.60388604e-02 1.32508541e+02] [ 7.40066841e-01 6.71607063e-01 -3.52848909e-02 1.31026938e+02] [ 5.03465788e-02 -3.00748841e-03 9.98727279e-01 9.95909330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.53, Y:131.05, Z:9.96 [[ 6.70425983e-01 -7.41145974e-01 -3.50948305e-02 1.32527589e+02] [ 7.40225495e-01 6.71342823e-01 -3.69463321e-02 1.31048002e+02] [ 5.09432878e-02 -1.20830725e-03 9.98700817e-01 9.95984014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.55, Y:131.07, Z:9.96 [[ 6.70356534e-01 -7.41187567e-01 -3.55402121e-02 1.32546858e+02] [ 7.40242408e-01 6.71296896e-01 -3.74386799e-02 1.31068335e+02] [ 5.16071182e-02 -1.21110847e-03 9.98666730e-01 9.96160218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.56, Y:131.09, Z:9.96 [[ 6.71884698e-01 -7.39782776e-01 -3.59499249e-02 1.32564879e+02] [ 7.38812426e-01 6.72844882e-01 -3.78941202e-02 1.31089824e+02] [ 5.22221404e-02 -1.09977172e-03 9.98634888e-01 9.96288422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:131.11, Z:9.97 [[ 6.71618876e-01 -7.39835427e-01 -3.96437450e-02 1.32585628e+02] [ 7.39097174e-01 6.72754903e-01 -3.37076719e-02 1.31107783e+02] [ 5.16086537e-02 -6.66187119e-03 9.98645165e-01 9.96505939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:131.13, Z:9.96 [[ 6.72941406e-01 -7.38915546e-01 -3.39658578e-02 1.32599999e+02] [ 7.37792919e-01 6.73793826e-01 -4.07858964e-02 1.31132957e+02] [ 5.30233182e-02 2.38674910e-03 9.98590422e-01 9.96411208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:131.15, Z:9.97 [[ 6.73449309e-01 -7.38361575e-01 -3.58916740e-02 1.32618370e+02] [ 7.37223939e-01 6.74404091e-01 -4.09876194e-02 1.31153892e+02] [ 5.44691750e-02 1.14288266e-03 9.98514798e-01 9.96540634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:131.17, Z:9.97 [[ 6.73631739e-01 -7.38117550e-01 -3.74534856e-02 1.32637857e+02] [ 7.37057083e-01 6.74671456e-01 -3.95636618e-02 1.31172549e+02] [ 5.44714307e-02 -9.54018526e-04 9.98514874e-01 9.96758261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.66, Y:131.19, Z:9.97 [[ 6.73767052e-01 -7.38026577e-01 -3.68066723e-02 1.32656150e+02] [ 7.37001401e-01 6.74771019e-01 -3.88973902e-02 1.31193373e+02] [ 5.35433835e-02 -9.18789082e-04 9.98565101e-01 9.96917611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:131.21, Z:9.97 [[ 6.74263534e-01 -7.37526352e-01 -3.77301754e-02 1.32674899e+02] [ 7.36629296e-01 6.75310867e-01 -3.65036029e-02 1.31212178e+02] [ 5.24019666e-02 -3.18010426e-03 9.98621010e-01 9.97139166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.69, Y:131.24, Z:9.97 [[ 6.73750668e-01 -7.38159144e-01 -3.43673616e-02 1.32692553e+02] [ 7.37082278e-01 6.74624858e-01 -3.98875482e-02 1.31235953e+02] [ 5.26284348e-02 1.54268904e-03 9.98612972e-01 9.97198929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.71, Y:131.26, Z:9.97 [[ 6.73511490e-01 -7.38321675e-01 -3.55440136e-02 1.32711996e+02] [ 7.37363060e-01 6.74448179e-01 -3.76214094e-02 1.31255792e+02] [ 5.17492973e-02 -8.70391159e-04 9.98659728e-01 9.97398107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.73, Y:131.28, Z:9.98 [[ 6.73516199e-01 -7.38329091e-01 -3.52998996e-02 1.32732221e+02] [ 7.37381750e-01 6.74440099e-01 -3.73992980e-02 1.31278117e+02] [ 5.14206574e-02 -8.40468695e-04 9.98676729e-01 9.97595088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.75, Y:131.30, Z:9.98 [[ 6.73068059e-01 -7.38758698e-01 -3.48564818e-02 1.32749103e+02] [ 7.37856208e-01 6.73969060e-01 -3.65229118e-02 1.31297691e+02] [ 5.04738090e-02 -1.13666611e-03 9.98724738e-01 9.97679924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.77, Y:131.32, Z:9.98 [[ 6.72336563e-01 -7.39442997e-01 -3.44615706e-02 1.32766703e+02] [ 7.38540755e-01 6.73218581e-01 -3.65279960e-02 1.31318012e+02] [ 5.02105406e-02 -8.92167099e-04 9.98738257e-01 9.97846576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:131.34, Z:9.98 [[ 6.73689981e-01 -7.38157358e-01 -3.55742263e-02 1.32790057e+02] [ 7.37249495e-01 6.74626798e-01 -3.66314793e-02 1.31338969e+02] [ 5.10391223e-02 -1.54881981e-03 9.98695454e-01 9.97996481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:131.36, Z:9.98 [[ 6.72941527e-01 -7.38764710e-01 -3.70999316e-02 1.32810245e+02] [ 7.37862020e-01 6.73957872e-01 -3.66118370e-02 1.31360660e+02] [ 5.20513240e-02 -2.73700497e-03 9.98640660e-01 9.98238850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:131.38, Z:9.98 [[ 6.71118040e-01 -7.40683715e-01 -3.14358159e-02 1.32821934e+02] [ 7.39591346e-01 6.71842781e-01 -4.03970044e-02 1.31382838e+02] [ 5.10413293e-02 3.86150098e-03 9.98689077e-01 9.98168241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:131.40, Z:9.99 [[ 6.69749668e-01 -7.41671772e-01 -3.68560094e-02 1.32844498e+02] [ 7.40887212e-01 6.70749300e-01 -3.43731855e-02 1.31400691e+02] [ 5.02147639e-02 -4.28471641e-03 9.98729252e-01 9.98509885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:131.42, Z:9.99 [[ 6.69097373e-01 -7.42378853e-01 -3.43852345e-02 1.32861839e+02] [ 7.41437124e-01 6.69980154e-01 -3.73842734e-02 1.31422699e+02] [ 5.07907187e-02 -4.80770287e-04 9.98709203e-01 9.98558641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.88, Y:131.43, Z:9.99 [[ 6.71756263e-01 -7.39692132e-01 -3.99884240e-02 1.32882446e+02] [ 7.39286485e-01 6.72848673e-01 -2.70213981e-02 1.31431284e+02] [ 4.68936736e-02 -1.14111080e-02 9.98834706e-01 9.98882452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:131.47, Z:9.99 [[ 6.68061132e-01 -7.43653684e-01 -2.59523153e-02 1.32896060e+02] [ 7.42476076e-01 6.68499347e-01 -4.28707265e-02 1.31466294e+02] [ 4.92300796e-02 9.37129281e-03 9.98743500e-01 9.98568056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.92, Y:131.49, Z:9.98 [[ 6.68272049e-01 -7.43439630e-01 -2.66455570e-02 1.32919624e+02] [ 7.42362404e-01 6.68762004e-01 -4.06871348e-02 1.31487546e+02] [ 4.80679645e-02 7.40941514e-03 9.98816585e-01 9.98394660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:131.50, Z:9.99 [[ 6.66605071e-01 -7.44334176e-01 -4.00538999e-02 1.32941676e+02] [ 7.43816677e-01 6.67730870e-01 -2.95336484e-02 1.31500199e+02] [ 4.87281293e-02 -1.01054790e-02 9.98760957e-01 9.99331215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:131.53, Z:9.99 [[ 6.67746397e-01 -7.43727078e-01 -3.13812402e-02 1.32960223e+02] [ 7.42774001e-01 6.68480809e-01 -3.76854388e-02 1.31527111e+02] [ 4.90054382e-02 1.85514666e-03 9.98796789e-01 9.98891496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.98, Y:131.54, Z:9.99 [[ 6.66268994e-01 -7.44805253e-01 -3.67527244e-02 1.32976436e+02] [ 7.44047210e-01 6.67265059e-01 -3.39277095e-02 1.31543900e+02] [ 4.97933451e-02 -4.74078122e-03 9.98748291e-01 9.99381499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:131.57, Z:9.99 [[ 6.66169953e-01 -7.44995849e-01 -3.46233974e-02 1.32993750e+02] [ 7.44085195e-01 6.67067989e-01 -3.68445527e-02 1.31565843e+02] [ 5.05451989e-02 -1.21802347e-03 9.98721032e-01 9.99427446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:131.59, Z:9.99 [[ 6.67585028e-01 -7.43806026e-01 -3.29063145e-02 1.33016184e+02] [ 7.42772014e-01 6.68393226e-01 -3.92457620e-02 1.31588659e+02] [ 5.11855920e-02 1.75799361e-03 9.98687611e-01 9.99295657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:131.61, Z:9.99 [[ 6.66698184e-01 -7.44847612e-01 -2.67500776e-02 1.33030971e+02] [ 7.43660111e-01 6.67177431e-01 -4.29408271e-02 1.31613049e+02] [ 4.98314206e-02 8.73560573e-03 9.98719439e-01 9.98955620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:131.62, Z:10.00 [[ 6.66074482e-01 -7.44511466e-01 -4.52488933e-02 1.33056142e+02] [ 7.44147318e-01 6.67437426e-01 -2.77858155e-02 1.31622302e+02] [ 5.08876631e-02 -1.51644199e-02 9.98589248e-01 1.00024875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:131.65, Z:10.00 [[ 6.66921180e-01 -7.44267808e-01 -3.57990150e-02 1.33074299e+02] [ 7.43345401e-01 6.67878668e-01 -3.70904104e-02 1.31649965e+02] [ 5.15145970e-02 -1.87465291e-03 9.98670482e-01 9.99974768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.09, Y:131.67, Z:10.00 [[ 6.65706448e-01 -7.45413439e-01 -3.45503814e-02 1.33088568e+02] [ 7.44483537e-01 6.66601777e-01 -3.72335041e-02 1.31669939e+02] [ 5.07857000e-02 -9.35606374e-04 9.98709136e-01 1.00020988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:131.69, Z:10.00 [[ 6.65584743e-01 -7.45681010e-01 -3.09318724e-02 1.33108578e+02] [ 7.44621068e-01 6.66293785e-01 -3.99005933e-02 1.31693101e+02] [ 5.03628291e-02 3.52470231e-03 9.98724768e-01 1.00013863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.13, Y:131.71, Z:10.01 [[ 6.64223909e-01 -7.46589215e-01 -3.75651754e-02 1.33128972e+02] [ 7.45900448e-01 6.65255344e-01 -3.26779587e-02 1.31709570e+02] [ 4.93874452e-02 -6.31439967e-03 9.98759735e-01 1.00076599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:131.74, Z:10.01 [[ 6.61524880e-01 -7.49405618e-01 -2.78577278e-02 1.33143049e+02] [ 7.48149664e-01 6.62058173e-01 -4.41707582e-02 1.31739266e+02] [ 5.15452507e-02 8.37830587e-03 9.98635515e-01 1.00058757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:131.75, Z:10.01 [[ 6.62170035e-01 -7.48224422e-01 -4.11224860e-02 1.33170550e+02] [ 7.47722773e-01 6.63351828e-01 -2.95804968e-02 1.31749949e+02] [ 4.94115264e-02 -1.11609007e-02 9.98716144e-01 1.00115627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:131.77, Z:10.02 [[ 6.57305433e-01 -7.51730320e-01 -5.33956372e-02 1.33197503e+02] [ 7.51729216e-01 6.59026253e-01 -2.42401312e-02 1.31770197e+02] [ 5.34111683e-02 -2.42058905e-02 9.98279180e-01 1.00237460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:131.80, Z:10.02 [[ 6.57292751e-01 -7.52797113e-01 -3.55351425e-02 1.33205205e+02] [ 7.51652908e-01 6.58252375e-01 -4.14935630e-02 1.31798193e+02] [ 5.46273264e-02 5.63324923e-04 9.98506654e-01 1.00185116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:131.81, Z:10.03 [[ 6.56955451e-01 -7.52224880e-01 -5.06681756e-02 1.33233138e+02] [ 7.52089371e-01 6.58562915e-01 -2.56215647e-02 1.31809050e+02] [ 5.26413599e-02 -2.12747697e-02 9.98386835e-01 1.00279577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:131.86, Z:10.01 [[ 6.54627244e-01 -7.55951714e-01 -4.22394632e-04 1.33220225e+02] [ 7.53917738e-01 6.52906652e-01 -7.29448318e-02 1.31857716e+02] [ 5.54185549e-02 4.74332234e-02 9.97335888e-01 1.00070659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:131.84, Z:10.04 [[ 6.54746614e-01 -7.52553418e-01 -7.04998237e-02 1.33281487e+02] [ 7.54010180e-01 6.56808049e-01 -8.47562242e-03 1.31840252e+02] [ 5.26832103e-02 -4.76081997e-02 9.97475784e-01 1.00377082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:131.89, Z:10.01 [[ 6.51369679e-01 -7.58731425e-01 -6.64574063e-03 1.33260719e+02] [ 7.56992489e-01 6.50424527e-01 -6.25324445e-02 1.31894581e+02] [ 5.17678834e-02 3.57009625e-02 9.98020805e-01 1.00074256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:131.90, Z:10.02 [[ 6.50869421e-01 -7.58481651e-01 -3.27808251e-02 1.33295037e+02] [ 7.57577496e-01 6.51693985e-01 -3.70309053e-02 1.31900910e+02] [ 4.94503287e-02 -7.31731482e-04 9.98776316e-01 1.00157652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:131.93, Z:10.01 [[ 6.49465751e-01 -7.59954135e-01 -2.57672663e-02 1.33309812e+02] [ 7.58841674e-01 6.49932330e-01 -4.18004795e-02 1.31926157e+02] [ 4.85134267e-02 7.59470436e-03 9.98793656e-01 1.00120174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:131.94, Z:10.01 [[ 6.48799522e-01 -7.60346168e-01 -3.05431721e-02 1.33330739e+02] [ 7.59433859e-01 6.49517330e-01 -3.72485090e-02 1.31944113e+02] [ 4.81600807e-02 9.71295818e-04 9.98839158e-01 1.00143188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:131.97, Z:10.01 [[ 6.48386300e-01 -7.60757088e-01 -2.90492468e-02 1.33348773e+02] [ 7.59808504e-01 6.49031459e-01 -3.80683978e-02 1.31965798e+02] [ 4.78146785e-02 2.61116282e-03 9.98852811e-01 1.00142530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:131.98, Z:10.03 [[ 6.47530762e-01 -7.60487535e-01 -4.86068125e-02 1.33377495e+02] [ 7.60491877e-01 6.48962791e-01 -2.23472597e-02 1.31975409e+02] [ 4.85388252e-02 -2.24945480e-02 9.98567964e-01 1.00262624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:132.01, Z:10.02 [[ 6.46980884e-01 -7.61960967e-01 -2.88308892e-02 1.33384786e+02] [ 7.60729815e-01 6.47591495e-01 -4.37653404e-02 1.32008169e+02] [ 5.20181197e-02 6.38282166e-03 9.98625743e-01 1.00202325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:132.02, Z:10.03 [[ 6.45893721e-01 -7.62308324e-01 -4.13197353e-02 1.33411324e+02] [ 7.61882380e-01 6.47083389e-01 -2.86064037e-02 1.32020755e+02] [ 4.85442141e-02 -1.30040817e-02 9.98736378e-01 1.00255200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.42, Y:132.04, Z:10.02 [[ 6.46399410e-01 -7.62313181e-01 -3.23483655e-02 1.33423317e+02] [ 7.61345643e-01 6.47208296e-01 -3.83957481e-02 1.32044839e+02] [ 5.02057154e-02 1.90701773e-04 9.98738880e-01 1.00235123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:132.07, Z:10.02 [[ 6.46255446e-01 -7.62469423e-01 -3.15321808e-02 1.33440812e+02] [ 7.61386165e-01 6.47020196e-01 -4.06936650e-02 1.32066840e+02] [ 5.14296330e-02 2.29033636e-03 9.98673994e-01 1.00246809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:132.08, Z:10.03 [[ 6.46479079e-01 -7.62021906e-01 -3.72480330e-02 1.33462891e+02] [ 7.61282578e-01 6.47520755e-01 -3.41424596e-02 1.32084705e+02] [ 5.01361766e-02 -6.28389281e-03 9.98722622e-01 1.00279066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:132.11, Z:10.03 [[ 6.46628040e-01 -7.62204859e-01 -3.02643450e-02 1.33476353e+02] [ 7.61047404e-01 6.47321884e-01 -4.22045999e-02 1.32111465e+02] [ 5.17593239e-02 4.25807650e-03 9.98650510e-01 1.00267979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:132.13, Z:10.03 [[ 6.47692319e-01 -7.60927228e-01 -3.85280912e-02 1.33499001e+02] [ 7.60292945e-01 6.48782289e-01 -3.21897180e-02 1.32125148e+02] [ 4.94903761e-02 -8.44360283e-03 9.98738909e-01 1.00307445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.52, Y:132.15, Z:10.03 [[ 6.47473984e-01 -7.61340220e-01 -3.37418219e-02 1.33515490e+02] [ 7.60462339e-01 6.48349620e-01 -3.66033045e-02 1.32148862e+02] [ 4.97440653e-02 -1.95969740e-03 9.98760075e-01 1.00303630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:132.18, Z:10.03 [[ 6.48746862e-01 -7.60575002e-01 -2.55572817e-02 1.33528806e+02] [ 7.59110644e-01 6.49135223e-01 -4.87287615e-02 1.32176318e+02] [ 5.36520097e-02 1.22118266e-02 9.98485019e-01 1.00299065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:132.19, Z:10.03 [[ 6.49353802e-01 -7.59540787e-01 -3.79134938e-02 1.33555362e+02] [ 7.58954701e-01 6.50402667e-01 -3.10504885e-02 1.32188575e+02] [ 4.82431500e-02 -8.61187163e-03 9.98798495e-01 1.00333813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.57, Y:132.21, Z:10.04 [[ 6.50408665e-01 -7.58545288e-01 -3.97192000e-02 1.33574507e+02] [ 7.57959056e-01 6.51547971e-01 -3.13577884e-02 1.32208936e+02] [ 4.96652668e-02 -9.71015005e-03 9.98718716e-01 1.00379781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:132.24, Z:10.04 [[ 6.50957582e-01 -7.58479124e-01 -3.10426197e-02 1.33588429e+02] [ 7.57430211e-01 6.51692558e-01 -3.99535312e-02 1.32237780e+02] [ 5.05341636e-02 2.49543604e-03 9.98719215e-01 1.00365840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.61, Y:132.25, Z:10.04 [[ 6.52350515e-01 -7.57025465e-01 -3.67593651e-02 1.33610070e+02] [ 7.56295923e-01 6.53359649e-01 -3.37290119e-02 1.32254327e+02] [ 4.95508068e-02 -5.79781968e-03 9.98754776e-01 1.00399967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:132.28, Z:10.04 [[ 6.51872534e-01 -7.57764964e-01 -2.92311335e-02 1.33623490e+02] [ 7.56576478e-01 6.52501850e-01 -4.28178607e-02 1.32280831e+02] [ 5.15192433e-02 5.79619934e-03 9.98655182e-01 1.00389548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:132.30, Z:10.04 [[ 6.53075281e-01 -7.56659900e-01 -3.09592151e-02 1.33642176e+02] [ 7.55428016e-01 6.53789671e-01 -4.34462753e-02 1.32301150e+02] [ 5.31148694e-02 4.98622996e-03 9.98575960e-01 1.00416594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:132.32, Z:10.05 [[ 6.52429584e-01 -7.56869062e-01 -3.85338925e-02 1.33666816e+02] [ 7.56092438e-01 6.53535339e-01 -3.48681196e-02 1.32319543e+02] [ 5.15738615e-02 -6.38619195e-03 9.98648764e-01 1.00461354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:132.34, Z:10.04 [[ 6.52847895e-01 -7.56710653e-01 -3.43309384e-02 1.33683369e+02] [ 7.55950475e-01 6.53739562e-01 -3.41095875e-02 1.32341278e+02] [ 4.82545808e-02 -3.68411679e-03 9.98828275e-01 1.00434375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.69, Y:132.37, Z:10.04 [[ 6.50649572e-01 -7.58959833e-01 -2.52013059e-02 1.33693541e+02] [ 7.57409628e-01 6.50993470e-01 -5.03801318e-02 1.32370689e+02] [ 5.46423820e-02 1.36920995e-02 9.98412108e-01 1.00444277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:132.38, Z:10.05 [[ 6.51086304e-01 -7.57364986e-01 -4.98488023e-02 1.33727790e+02] [ 7.57442233e-01 6.52554652e-01 -2.13000250e-02 1.32376668e+02] [ 4.86609609e-02 -2.38894336e-02 9.98529622e-01 1.00540842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:132.41, Z:10.05 [[ 6.49661612e-01 -7.59479322e-01 -3.36295894e-02 1.33735900e+02] [ 7.58591765e-01 6.50529375e-01 -3.67432400e-02 1.32406305e+02] [ 4.97827667e-02 -1.64045704e-03 9.98758722e-01 1.00495415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:132.43, Z:10.05 [[ 6.48741351e-01 -7.60264200e-01 -3.36601495e-02 1.33754308e+02] [ 7.59375016e-01 6.49611804e-01 -3.67979520e-02 1.32426913e+02] [ 4.98421960e-02 -1.68832344e-03 9.98755678e-01 1.00507215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:132.46, Z:10.04 [[ 6.47684115e-01 -7.61745629e-01 -1.57760475e-02 1.33763927e+02] [ 7.60392500e-01 6.47562157e-01 -4.96638660e-02 1.32458555e+02] [ 4.80472043e-02 2.01705089e-02 9.98641385e-01 1.00393011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:132.47, Z:10.05 [[ 6.47087160e-01 -7.61816270e-01 -3.02353746e-02 1.33789181e+02] [ 7.60913112e-01 6.47792384e-01 -3.70980221e-02 1.32471411e+02] [ 4.78481222e-02 9.99160761e-04 9.98854123e-01 1.00450742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:132.49, Z:10.05 [[ 6.46174541e-01 -7.62300755e-01 -3.68242055e-02 1.33810553e+02] [ 7.61717323e-01 6.47172451e-01 -3.08956008e-02 1.32488606e+02] [ 4.73833511e-02 -8.08568457e-03 9.98844052e-01 1.00495559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:132.52, Z:10.04 [[ 6.44491897e-01 -7.64445214e-01 -1.59282696e-02 1.33816785e+02] [ 7.63309275e-01 6.44470057e-01 -4.49143252e-02 1.32521704e+02] [ 4.45998337e-02 1.67887227e-02 9.98863851e-01 1.00392225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.85, Y:132.53, Z:10.05 [[ 6.45121221e-01 -7.63358672e-01 -3.31986199e-02 1.33845253e+02] [ 7.62748062e-01 6.45952877e-01 -3.09882915e-02 1.32532483e+02] [ 4.50999250e-02 -5.33097856e-03 9.98968256e-01 1.00474623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.87, Y:132.54, Z:10.06 [[ 6.45677690e-01 -7.61808259e-01 -5.24261232e-02 1.33874470e+02] [ 7.62109938e-01 6.47190064e-01 -1.82609698e-02 1.32543355e+02] [ 4.78410236e-02 -2.81637688e-02 9.98457830e-01 1.00620654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:132.58, Z:10.06 [[ 6.45717334e-01 -7.62876430e-01 -3.26906094e-02 1.33881901e+02] [ 7.62033439e-01 6.46541993e-01 -3.58955321e-02 1.32575046e+02] [ 4.85197072e-02 -1.73297020e-03 9.98820722e-01 1.00566065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.90, Y:132.60, Z:10.06 [[ 6.46398691e-01 -7.62305053e-01 -3.25536341e-02 1.33899024e+02] [ 7.61467311e-01 6.47215746e-01 -3.57674696e-02 1.32596644e+02] [ 4.83349474e-02 -1.66848276e-03 9.98829790e-01 1.00581739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:132.62, Z:10.06 [[ 6.47006563e-01 -7.61794541e-01 -3.24281378e-02 1.33916057e+02] [ 7.60961647e-01 6.47816704e-01 -3.56495516e-02 1.32617340e+02] [ 4.81651231e-02 -1.61107524e-03 9.98838088e-01 1.00598908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:132.65, Z:10.04 [[ 6.46217692e-01 -7.63123119e-01 -6.76752901e-03 1.33916493e+02] [ 7.61986336e-01 6.45694497e-01 -4.95523916e-02 1.32652169e+02] [ 4.21843319e-02 2.68648675e-02 9.98748598e-01 1.00442427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.95, Y:132.66, Z:10.06 [[ 6.47824548e-01 -7.60861126e-01 -3.75992166e-02 1.33953264e+02] [ 7.60556630e-01 6.48794748e-01 -2.48794370e-02 1.32656878e+02] [ 4.33239708e-02 -1.24788234e-02 9.98983139e-01 1.00588184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:132.67, Z:10.07 [[ 6.49325127e-01 -7.59230158e-01 -4.41185571e-02 1.33976621e+02] [ 7.59104979e-01 6.50559058e-01 -2.30768918e-02 1.32674531e+02] [ 4.62223992e-02 -1.85062107e-02 9.98759736e-01 1.00688330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:132.71, Z:10.06 [[ 6.49995607e-01 -7.59736075e-01 -1.75159224e-02 1.33978416e+02] [ 7.58563014e-01 6.50033091e-01 -4.51567801e-02 1.32711229e+02] [ 4.56931641e-02 1.60647778e-02 9.98826340e-01 1.00572010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.01, Y:132.72, Z:10.07 [[ 6.50218959e-01 -7.58490793e-01 -4.36694620e-02 1.34012803e+02] [ 7.58354553e-01 6.51432577e-01 -2.31077696e-02 1.32719393e+02] [ 4.59747407e-02 -1.80918255e-02 9.98778759e-01 1.00718639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:132.75, Z:10.07 [[ 6.50311200e-01 -7.59040774e-01 -3.08617289e-02 1.34023357e+02] [ 7.58278083e-01 6.51041861e-01 -3.40417851e-02 1.32747328e+02] [ 4.59313803e-02 -1.26401853e-03 9.98943798e-01 1.00687477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.03, Y:132.77, Z:10.06 [[ 6.50515568e-01 -7.59196054e-01 -2.12331787e-02 1.34034077e+02] [ 7.58120014e-01 6.50766074e-01 -4.19232698e-02 1.32773905e+02] [ 4.56458133e-02 1.11744419e-02 9.98895185e-01 1.00638279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.06, Y:132.79, Z:10.07 [[ 6.51001673e-01 -7.58045963e-01 -3.95365531e-02 1.34063842e+02] [ 7.57736919e-01 6.52063669e-01 -2.54506283e-02 1.32785814e+02] [ 4.50730959e-02 -1.33899043e-02 9.98893952e-01 1.00741869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:132.81, Z:10.07 [[ 6.51640394e-01 -7.57910018e-01 -3.06137630e-02 1.34076636e+02] [ 7.57155622e-01 6.52358118e-01 -3.38267694e-02 1.32811970e+02] [ 4.56087842e-02 -1.13649338e-03 9.98958731e-01 1.00726816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.09, Y:132.83, Z:10.07 [[ 6.51856744e-01 -7.57719327e-01 -3.07279626e-02 1.34094875e+02] [ 7.56958068e-01 6.52579637e-01 -3.39749992e-02 1.32833101e+02] [ 4.57959562e-02 -1.11294682e-03 9.98950195e-01 1.00740854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:132.85, Z:10.08 [[ 6.52126451e-01 -7.57480270e-01 -3.08987664e-02 1.34113544e+02] [ 7.56709239e-01 6.52857150e-01 -3.41858035e-02 1.32854521e+02] [ 4.60675522e-02 -1.08791531e-03 9.98937734e-01 1.00754015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:132.88, Z:10.08 [[ 6.51903394e-01 -7.57660479e-01 -3.11859526e-02 1.34131742e+02] [ 7.56874188e-01 6.52647989e-01 -3.45263039e-02 1.32876433e+02] [ 4.65126653e-02 -1.09602787e-03 9.98917099e-01 1.00767133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.15, Y:132.90, Z:10.08 [[ 6.52154703e-01 -7.57420758e-01 -3.17496343e-02 1.34149201e+02] [ 7.56604349e-01 6.52926200e-01 -3.51743730e-02 1.32897535e+02] [ 4.73719684e-02 -1.08277862e-03 9.98876731e-01 1.00782005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:132.92, Z:10.08 [[ 6.51716349e-01 -7.57787767e-01 -3.19921907e-02 1.34167744e+02] [ 7.56958667e-01 6.52500167e-01 -3.54557131e-02 1.32918532e+02] [ 4.77428154e-02 -1.10969814e-03 9.98859045e-01 1.00798157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:132.94, Z:10.08 [[ 6.51092897e-01 -7.58334168e-01 -3.17384465e-02 1.34187017e+02] [ 7.57517724e-01 6.51865034e-01 -3.51976564e-02 1.32939373e+02] [ 4.73807690e-02 -1.12549173e-03 9.98876267e-01 1.00814713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:132.96, Z:10.08 [[ 6.50487005e-01 -7.58854376e-01 -3.17284288e-02 1.34204749e+02] [ 7.58037945e-01 6.51259334e-01 -3.52101546e-02 1.32959180e+02] [ 4.73828153e-02 -1.14760491e-03 9.98876144e-01 1.00832568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:132.99, Z:10.07 [[ 6.49006170e-01 -7.60630883e-01 -1.52200614e-02 1.34213614e+02] [ 7.59485382e-01 6.48937438e-01 -4.54109573e-02 1.32988535e+02] [ 4.44178442e-02 1.79125773e-02 9.98852439e-01 1.00735721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:133.00, Z:10.08 [[ 6.48121432e-01 -7.60878449e-01 -3.16637782e-02 1.34239965e+02] [ 7.60222037e-01 6.48885162e-01 -3.17883783e-02 1.32997727e+02] [ 4.47332478e-02 -3.46877269e-03 9.98992945e-01 1.00798523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.27, Y:133.01, Z:10.09 [[ 6.47037375e-01 -7.61304846e-01 -4.19233341e-02 1.34265897e+02] [ 7.61119905e-01 6.48180947e-01 -2.36209844e-02 1.33013742e+02] [ 4.51566763e-02 -1.66250243e-02 9.98841571e-01 1.00880292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:133.04, Z:10.09 [[ 6.45179789e-01 -7.63419545e-01 -3.05554985e-02 1.34278680e+02] [ 7.62661948e-01 6.45901525e-01 -3.40290005e-02 1.33040256e+02] [ 4.57142472e-02 -1.34869266e-03 9.98953647e-01 1.00854804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.30, Y:133.06, Z:10.09 [[ 6.44132723e-01 -7.64295581e-01 -3.07457352e-02 1.34296879e+02] [ 7.63528475e-01 6.44864552e-01 -3.42633592e-02 1.33060125e+02] [ 4.60141688e-02 -1.40509346e-03 9.98939799e-01 1.00871507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:133.08, Z:10.09 [[ 6.43234786e-01 -7.65053356e-01 -3.06980902e-02 1.34315878e+02] [ 7.64288494e-01 6.43965278e-01 -3.42318314e-02 1.33080725e+02] [ 4.59576817e-02 -1.44309236e-03 9.98942345e-01 1.00881314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.33, Y:133.10, Z:10.09 [[ 6.42622362e-01 -7.65565820e-01 -3.07485945e-02 1.34334239e+02] [ 7.64798035e-01 6.43355904e-01 -3.43095550e-02 1.33100964e+02] [ 4.60485124e-02 -1.46837742e-03 9.98938125e-01 1.00893637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65275509600002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:134.35, Y:133.12, Z:10.09 [[ 6.41630455e-01 -7.66391095e-01 -3.09038687e-02 1.34353150e+02] [ 7.65615591e-01 6.42372455e-01 -3.45021159e-02 1.33121387e+02] [ 4.62939084e-02 -1.52287538e-03 9.98926701e-01 1.00891327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:133.14, Z:10.09 [[ 6.41581269e-01 -7.66439094e-01 -3.07342025e-02 1.34371416e+02] [ 7.65671116e-01 6.42315230e-01 -3.43349405e-02 1.33141403e+02] [ 4.60566870e-02 -1.50363641e-03 9.98937696e-01 1.00921812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.39, Y:133.17, Z:10.09 [[ 6.42650371e-01 -7.65755514e-01 -2.48795906e-02 1.34385737e+02] [ 7.64536905e-01 6.43063416e-01 -4.41900871e-02 1.33165772e+02] [ 4.98379573e-02 9.37741063e-03 9.98713293e-01 1.00922223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:133.18, Z:10.10 [[ 6.44490979e-01 -7.63866155e-01 -3.37620488e-02 1.34408821e+02] [ 7.63005199e-01 6.45370437e-01 -3.63327065e-02 1.33179637e+02] [ 4.95423530e-02 -2.34451720e-03 9.98769272e-01 1.00967238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:133.20, Z:10.10 [[ 6.43581351e-01 -7.64406868e-01 -3.85380913e-02 1.34432464e+02] [ 7.63961322e-01 6.44637349e-01 -2.83863924e-02 1.33198969e+02] [ 4.65418463e-02 -1.11726585e-02 9.98853857e-01 1.00991588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.44, Y:133.23, Z:10.09 [[ 6.44287598e-01 -7.64329734e-01 -2.63353121e-02 1.34444238e+02] [ 7.63392952e-01 6.44810340e-01 -3.80897009e-02 1.33226048e+02] [ 4.60943725e-02 4.43653022e-03 9.98927238e-01 1.00948911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:133.24, Z:10.10 [[ 6.45552342e-01 -7.62879575e-01 -3.57341366e-02 1.34468628e+02] [ 7.62259752e-01 6.46503815e-01 -3.15101364e-02 1.33241525e+02] [ 4.71406950e-02 -6.89725175e-03 9.98864447e-01 1.01009553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.49, Y:133.26, Z:10.10 [[ 6.46084147e-01 -7.62602503e-01 -3.18229090e-02 1.34485084e+02] [ 7.61770331e-01 6.46866247e-01 -3.56373583e-02 1.33264521e+02] [ 4.77623044e-02 -1.21701567e-03 9.98857988e-01 1.01013371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:133.28, Z:10.10 [[ 6.47473989e-01 -7.61420119e-01 -3.18878681e-02 1.34503910e+02] [ 7.60581997e-01 6.48257785e-01 -3.57333224e-02 1.33283738e+02] [ 4.78796293e-02 -1.11694153e-03 9.98852488e-01 1.01027470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.922755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.52, Y:133.30, Z:10.10 [[ 6.47942430e-01 -7.61025036e-01 -3.18041170e-02 1.34522630e+02] [ 7.60189845e-01 6.48721625e-01 -3.56602314e-02 1.33304207e+02] [ 4.77703473e-02 -1.07138980e-03 9.98857771e-01 1.01042741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:133.33, Z:10.11 [[ 6.48429226e-01 -7.60610786e-01 -3.17926300e-02 1.34541700e+02] [ 7.59774658e-01 6.49207346e-01 -3.56691827e-02 1.33325346e+02] [ 4.77703740e-02 -1.02629406e-03 9.98857817e-01 1.01057433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:133.35, Z:10.11 [[ 6.49018863e-01 -7.60109934e-01 -3.17396319e-02 1.34560660e+02] [ 7.59274905e-01 6.49793768e-01 -3.56325209e-02 1.33346073e+02] [ 4.77088482e-02 -9.72927800e-04 9.98860811e-01 1.01070635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:133.37, Z:10.10 [[ 6.49586723e-01 -7.59914189e-01 -2.38225639e-02 1.34575740e+02] [ 7.58857944e-01 6.49967538e-01 -4.09489975e-02 1.33370677e+02] [ 4.66016175e-02 8.52198321e-03 9.98877202e-01 1.01023529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:133.39, Z:10.11 [[ 6.49844768e-01 -7.59407211e-01 -3.16617256e-02 1.34597144e+02] [ 7.58430183e-01 6.50614821e-01 -3.85228680e-02 1.33386257e+02] [ 4.98541317e-02 1.02067591e-03 9.98755988e-01 1.01092776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:133.40, Z:10.11 [[ 6.50024868e-01 -7.58906736e-01 -3.90926787e-02 1.34622038e+02] [ 7.58485098e-01 6.51096524e-01 -2.78149745e-02 1.33400751e+02] [ 4.65620787e-02 -1.15707891e-02 9.98848382e-01 1.01127615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:133.43, Z:10.11 [[ 6.49863013e-01 -7.59416414e-01 -3.10608360e-02 1.34636461e+02] [ 7.58611783e-01 6.50604333e-01 -3.49594682e-02 1.33425101e+02] [ 4.67571085e-02 -8.44250844e-04 9.98905932e-01 1.01111899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:133.44, Z:10.11 [[ 6.49545848e-01 -7.59672985e-01 -3.14189007e-02 1.34654830e+02] [ 7.58848915e-01 6.50304713e-01 -3.53850890e-02 1.33444488e+02] [ 4.73129554e-02 -8.57961077e-04 9.98879747e-01 1.01127881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.67, Y:133.46, Z:10.11 [[ 6.48439987e-01 -7.60613236e-01 -3.15133105e-02 1.34673862e+02] [ 7.59784347e-01 6.49204641e-01 -3.55116923e-02 1.33463723e+02] [ 4.74692506e-02 -9.16118727e-04 9.98872280e-01 1.01143053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.69, Y:133.49, Z:10.12 [[ 6.48225461e-01 -7.60796483e-01 -3.15033845e-02 1.34692656e+02] [ 7.59967382e-01 6.48989886e-01 -3.55204959e-02 1.33485185e+02] [ 4.74692462e-02 -9.16254843e-04 9.98872280e-01 1.01156067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.71, Y:133.51, Z:10.12 [[ 6.47545913e-01 -7.61359126e-01 -3.18837220e-02 1.34711838e+02] [ 7.60509554e-01 6.48329676e-01 -3.59701295e-02 1.33505330e+02] [ 4.80573495e-02 -9.55564845e-04 9.98844121e-01 1.01157066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.73, Y:133.53, Z:10.12 [[ 6.46405709e-01 -7.62317131e-01 -3.21286785e-02 1.34731159e+02] [ 7.61454514e-01 6.47202868e-01 -3.62694293e-02 1.33526173e+02] [ 4.84425802e-02 -1.01976112e-03 9.98825448e-01 1.01183473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:133.54, Z:10.12 [[ 6.44133098e-01 -7.64237377e-01 -3.21525010e-02 1.34751541e+02] [ 7.63374769e-01 6.44934034e-01 -3.63187893e-02 1.33544895e+02] [ 4.84924184e-02 -1.15027374e-03 9.98822888e-01 1.01192795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:133.56, Z:10.13 [[ 6.44221903e-01 -7.63345895e-01 -4.77617376e-02 1.34783069e+02] [ 7.63083592e-01 6.45717188e-01 -2.74361923e-02 1.33558467e+02] [ 5.17838796e-02 -1.87712023e-02 9.98481884e-01 1.01302595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:133.59, Z:10.12 [[ 6.39345603e-01 -7.68665019e-01 -1.97810025e-02 1.34784532e+02] [ 7.67320886e-01 6.39463232e-01 -4.80149197e-02 1.33590979e+02] [ 4.95566130e-02 1.55197514e-02 9.98650729e-01 1.01173028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:133.61, Z:10.11 [[ 6.37151804e-01 -7.70629452e-01 -1.29547898e-02 1.34800761e+02] [ 7.69367564e-01 6.36930785e-01 -4.89154921e-02 1.33614234e+02] [ 4.59470233e-02 2.11995989e-02 9.98718903e-01 1.01092807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:133.61, Z:10.13 [[ 6.35882883e-01 -7.70187906e-01 -4.96341523e-02 1.34839961e+02] [ 7.70255270e-01 6.37356171e-01 -2.19984179e-02 1.33614667e+02] [ 4.85775487e-02 -2.42425500e-02 9.98525173e-01 1.01307389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:133.65, Z:10.11 [[ 6.31907292e-01 -7.74953393e-01 -1.18496108e-02 1.34838791e+02] [ 7.73656252e-01 6.31616632e-01 -5.01640667e-02 1.33653669e+02] [ 4.63592250e-02 2.25315140e-02 9.98670693e-01 1.01107657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:133.65, Z:10.13 [[ 6.31510739e-01 -7.73694005e-01 -5.09094473e-02 1.34881619e+02] [ 7.73842971e-01 6.33024186e-01 -2.11526759e-02 1.33653880e+02] [ 4.85926100e-02 -2.60377760e-02 9.98479240e-01 1.01341780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:133.69, Z:10.12 [[ 6.29612080e-01 -7.76724436e-01 -1.69640426e-02 1.34881065e+02] [ 7.75459822e-01 6.29620644e-01 -4.73276840e-02 1.33691714e+02] [ 4.74414801e-02 1.66431481e-02 9.98735356e-01 1.01165927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:134.91, Y:133.71, Z:10.12 [[ 6.27872174e-01 -7.77847585e-01 -2.70123582e-02 1.34906628e+02] [ 7.76823441e-01 6.28438876e-01 -4.01238186e-02 1.33706424e+02] [ 4.81858314e-02 4.20879625e-03 9.98829521e-01 1.01192780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.94, Y:133.71, Z:10.13 [[ 6.27491870e-01 -7.77117037e-01 -4.84052120e-02 1.34937101e+02] [ 7.77114111e-01 6.28932943e-01 -2.31735168e-02 1.33714836e+02] [ 4.84521672e-02 -2.30751799e-02 9.98558923e-01 1.01341812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.95, Y:133.74, Z:10.13 [[ 6.26715988e-01 -7.78562964e-01 -3.26616204e-02 1.34946118e+02] [ 7.77683072e-01 6.27562750e-01 -3.70679660e-02 1.33742928e+02] [ 4.93569618e-02 -2.16930235e-03 9.98778847e-01 1.01302408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:133.76, Z:10.13 [[ 6.25964314e-01 -7.79182105e-01 -3.23098334e-02 1.34965638e+02] [ 7.78320871e-01 6.26793819e-01 -3.66896478e-02 1.33763330e+02] [ 4.88395208e-02 -2.18100744e-03 9.98804257e-01 1.01319136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64275509600003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:134.98, Y:133.78, Z:10.13 [[ 6.25835185e-01 -7.79273190e-01 -3.26131532e-02 1.34983925e+02] [ 7.78394650e-01 6.26680527e-01 -3.70578758e-02 1.33783167e+02] [ 4.93162371e-02 -2.19378143e-03 9.98780805e-01 1.01318265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.00, Y:133.80, Z:10.14 [[ 6.26609227e-01 -7.78652235e-01 -3.25818081e-02 1.35003387e+02] [ 7.77773491e-01 6.27452120e-01 -3.70436739e-02 1.33803454e+02] [ 4.92876640e-02 -2.12935875e-03 9.98782355e-01 1.01352915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:133.83, Z:10.13 [[ 6.27888523e-01 -7.77868066e-01 -2.60245128e-02 1.35021082e+02] [ 7.76815431e-01 6.28404328e-01 -4.08140551e-02 1.33828149e+02] [ 4.81018665e-02 5.41043365e-03 9.98827782e-01 1.01313499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:133.84, Z:10.14 [[ 6.27983803e-01 -7.77256755e-01 -3.88365779e-02 1.35043752e+02] [ 7.76627324e-01 6.29110080e-01 -3.27185964e-02 1.33841720e+02] [ 4.98632327e-02 -9.61479900e-03 9.98709775e-01 1.01408500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:133.86, Z:10.14 [[ 6.28782917e-01 -7.76865759e-01 -3.33412007e-02 1.35058136e+02] [ 7.75940040e-01 6.29663085e-01 -3.79664877e-02 1.33864774e+02] [ 5.04885875e-02 -1.99809371e-03 9.98722639e-01 1.01398741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:133.89, Z:10.14 [[ 6.30241715e-01 -7.75767335e-01 -3.13117123e-02 1.35074914e+02] [ 7.74661014e-01 6.31016272e-01 -4.14581424e-02 1.33886755e+02] [ 5.19200726e-02 1.87268795e-03 9.98649488e-01 1.01403291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:133.91, Z:10.14 [[ 6.33603984e-01 -7.73206099e-01 -2.64257401e-02 1.35095633e+02] [ 7.72069511e-01 6.34121858e-01 -4.24044821e-02 1.33910686e+02] [ 4.95445436e-02 6.46514060e-03 9.98750990e-01 1.01364364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.852755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.12, Y:133.92, Z:10.15 [[ 6.33742121e-01 -7.72374994e-01 -4.25181543e-02 1.35119948e+02] [ 7.71877327e-01 6.35027003e-01 -3.07587091e-02 1.33922652e+02] [ 5.07574338e-02 -1.33257098e-02 9.98622105e-01 1.01466845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:133.94, Z:10.16 [[ 6.39339012e-01 -7.67427652e-01 -4.79627560e-02 1.35149681e+02] [ 7.67106274e-01 6.40872401e-01 -2.88189242e-02 1.33941748e+02] [ 5.28544460e-02 -1.83674684e-02 9.98433295e-01 1.01551111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:133.97, Z:10.14 [[ 6.37631519e-01 -7.70054632e-01 -2.10216308e-02 1.35145714e+02] [ 7.68679618e-01 6.37810510e-01 -4.82638406e-02 1.33974135e+02] [ 5.05736110e-02 1.46156469e-02 9.98613385e-01 1.01435283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:133.99, Z:10.15 [[ 6.39959458e-01 -7.67832696e-01 -2.97463087e-02 1.35168213e+02] [ 7.66675075e-01 6.40635933e-01 -4.23666123e-02 1.33989879e+02] [ 5.15870244e-02 4.30716075e-03 9.98659215e-01 1.01486431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:134.01, Z:10.15 [[ 6.40149419e-01 -7.67647543e-01 -3.04297859e-02 1.35186790e+02] [ 7.66404714e-01 6.40854294e-01 -4.39270853e-02 1.34011923e+02] [ 5.32215781e-02 4.79836678e-03 9.98571199e-01 1.01506297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:135.21, Y:134.03, Z:10.15 [[ 6.41032144e-01 -7.66383683e-01 -4.16394127e-02 1.35213279e+02] [ 7.65836483e-01 6.42274044e-01 -3.12815180e-02 1.34026284e+02] [ 5.07175590e-02 -1.18365228e-02 9.98642892e-01 1.01532947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:134.05, Z:10.15 [[ 6.41993228e-01 -7.65991995e-01 -3.31807141e-02 1.35226761e+02] [ 7.65050519e-01 6.42849329e-01 -3.79795121e-02 1.34050348e+02] [ 5.04222020e-02 -1.00233303e-03 9.98727489e-01 1.01539167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:134.07, Z:10.15 [[ 6.41661828e-01 -7.66423176e-01 -2.94212960e-02 1.35242892e+02] [ 7.65182325e-01 6.42310707e-01 -4.39654996e-02 1.34074357e+02] [ 5.25937912e-02 5.69832716e-03 9.98599731e-01 1.01542273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:135.27, Y:134.09, Z:10.16 [[ 6.41650965e-01 -7.66019046e-01 -3.87151045e-02 1.35266978e+02] [ 7.65305144e-01 6.42770221e-01 -3.39776232e-02 1.34088937e+02] [ 5.09124228e-02 -7.82709384e-03 9.98672450e-01 1.01571000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:134.12, Z:10.16 [[ 6.40884021e-01 -7.67039787e-01 -3.02925122e-02 1.35281314e+02] [ 7.65843444e-01 6.41584521e-01 -4.30478876e-02 1.34115519e+02] [ 5.24546495e-02 4.38938141e-03 9.98613661e-01 1.01571196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:134.14, Z:10.16 [[ 6.39568833e-01 -7.67995706e-01 -3.36794266e-02 1.35301945e+02] [ 7.66926074e-01 6.40454986e-01 -4.05192233e-02 1.34135542e+02] [ 5.26887461e-02 8.52019588e-05 9.98610980e-01 1.01595100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:135.32, Y:134.15, Z:10.16 [[ 6.38399822e-01 -7.68901411e-01 -3.51608782e-02 1.35321180e+02] [ 7.67802190e-01 6.39366915e-01 -4.11065167e-02 1.34154551e+02] [ 5.40875609e-02 -7.54206315e-04 9.98535912e-01 1.01591192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:134.17, Z:10.16 [[ 6.37936394e-01 -7.69062914e-01 -3.97415528e-02 1.35342467e+02] [ 7.68360365e-01 6.39112133e-01 -3.40298472e-02 1.34171249e+02] [ 5.15704020e-02 -8.82695598e-03 9.98630351e-01 1.01635583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:134.20, Z:10.16 [[ 6.36924719e-01 -7.70378425e-01 -2.90514233e-02 1.35354430e+02] [ 7.69038657e-01 6.37549395e-01 -4.59381515e-02 1.34198284e+02] [ 5.39114782e-02 6.91747667e-03 9.98521758e-01 1.01607908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27275509600003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:135.38, Y:134.21, Z:10.16 [[ 6.35131055e-01 -7.71340382e-01 -4.05284914e-02 1.35380996e+02] [ 7.70614979e-01 6.36356313e-01 -3.46871333e-02 1.34213111e+02] [ 5.25461479e-02 -9.20098698e-03 9.98576108e-01 1.01629309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:134.23, Z:10.18 [[ 6.34619378e-01 -7.70972928e-01 -5.34695224e-02 1.35411316e+02] [ 7.70827506e-01 6.36433431e-01 -2.78826742e-02 1.34228481e+02] [ 5.55265785e-02 -2.35208932e-02 9.98180127e-01 1.01783262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:134.26, Z:10.16 [[ 6.32991151e-01 -7.73924427e-01 -1.90573885e-02 1.35406518e+02] [ 7.72282963e-01 6.32978577e-01 -5.40106057e-02 1.34264002e+02] [ 5.38630457e-02 1.94705390e-02 9.98358488e-01 1.01622049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36275509600003 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:135.43, Y:134.28, Z:10.17 [[ 6.30961243e-01 -7.75251720e-01 -2.95411588e-02 1.35429668e+02] [ 7.73909401e-01 6.31622250e-01 -4.60170925e-02 1.34283370e+02] [ 5.43336833e-02 6.17282142e-03 9.98503754e-01 1.01683743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:134.30, Z:10.17 [[ 6.31746362e-01 -7.74086704e-01 -4.10646893e-02 1.35455189e+02] [ 7.73476756e-01 6.32981914e-01 -3.26742379e-02 1.34295267e+02] [ 5.12858987e-02 -1.11207517e-02 9.98622093e-01 1.01733440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.47, Y:134.32, Z:10.17 [[ 6.30855562e-01 -7.75170736e-01 -3.36391144e-02 1.35469697e+02] [ 7.74156575e-01 6.31750960e-01 -3.96525297e-02 1.34321287e+02] [ 5.19890235e-02 -1.02692270e-03 9.98647128e-01 1.01719046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:134.34, Z:10.17 [[ 6.30974502e-01 -7.75033623e-01 -3.45551863e-02 1.35486682e+02] [ 7.74015180e-01 6.31917810e-01 -3.97540267e-02 1.34342765e+02] [ 5.26467450e-02 -1.66246149e-03 9.98611815e-01 1.01733471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.50, Y:134.37, Z:10.17 [[ 6.31641818e-01 -7.74737729e-01 -2.84616293e-02 1.35499355e+02] [ 7.73210841e-01 6.32215029e-01 -4.94889119e-02 1.34367446e+02] [ 5.63347971e-02 9.25242597e-03 9.98369062e-01 1.01719792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:134.38, Z:10.18 [[ 6.31483665e-01 -7.74407946e-01 -3.89963334e-02 1.35521952e+02] [ 7.73303119e-01 6.32674420e-01 -4.15375089e-02 1.34384137e+02] [ 5.68389596e-02 -3.92572795e-03 9.98375641e-01 1.01764110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.54, Y:134.40, Z:10.18 [[ 6.34177942e-01 -7.71954901e-01 -4.36344921e-02 1.35541087e+02] [ 7.71264586e-01 6.35570149e-01 -3.46630161e-02 1.34398551e+02] [ 5.44910658e-02 -1.16712183e-02 9.98446046e-01 1.01782741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:134.43, Z:10.18 [[ 6.32133033e-01 -7.74100132e-01 -3.43047301e-02 1.35554936e+02] [ 7.72908279e-01 6.33062862e-01 -4.29442138e-02 1.34428793e+02] [ 5.49601722e-02 6.32046199e-04 9.98488347e-01 1.01760595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:134.45, Z:10.18 [[ 6.33401503e-01 -7.73116702e-01 -3.30620910e-02 1.35571846e+02] [ 7.71795508e-01 6.34255879e-01 -4.52898861e-02 1.34450406e+02] [ 5.59841929e-02 3.16950861e-03 9.98426624e-01 1.01778720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.60, Y:134.47, Z:10.19 [[ 6.34812371e-01 -7.71442103e-01 -4.34779883e-02 1.35596644e+02] [ 7.70245850e-01 6.36271561e-01 -4.33570237e-02 1.34466572e+02] [ 6.11112410e-02 -5.96516502e-03 9.98113136e-01 1.01883350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.662755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.61, Y:134.49, Z:10.18 [[ 6.32959376e-01 -7.73391628e-01 -3.50402490e-02 1.35609769e+02] [ 7.72335163e-01 6.33926838e-01 -4.04371108e-02 1.34493369e+02] [ 5.34866771e-02 -1.46776801e-03 9.98567484e-01 1.01818003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:134.52, Z:10.18 [[ 6.33105249e-01 -7.73711939e-01 -2.34004341e-02 1.35620274e+02] [ 7.72230881e-01 6.33396108e-01 -4.96874013e-02 1.34519801e+02] [ 5.32654795e-02 1.33868167e-02 9.98490652e-01 1.01774092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:134.53, Z:10.19 [[ 6.32912100e-01 -7.72919986e-01 -4.49106836e-02 1.35650985e+02] [ 7.72530868e-01 6.34298679e-01 -2.93469554e-02 1.34529224e+02] [ 5.11696356e-02 -1.61208462e-02 9.98559856e-01 1.01887924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:134.56, Z:10.18 [[ 6.33440833e-01 -7.73277563e-01 -2.81872560e-02 1.35659712e+02] [ 7.71860890e-01 6.34012717e-01 -4.75251670e-02 1.34559972e+02] [ 5.46212241e-02 8.34774088e-03 9.98472252e-01 1.01840524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:134.58, Z:10.18 [[ 6.32494256e-01 -7.73896655e-01 -3.21711728e-02 1.35680550e+02] [ 7.72885869e-01 6.33311887e-01 -3.95409540e-02 1.34579554e+02] [ 5.09749982e-02 1.44781374e-04 9.98699919e-01 1.01838400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:134.60, Z:10.19 [[ 6.32649310e-01 -7.73531984e-01 -3.74582557e-02 1.35699604e+02] [ 7.72623769e-01 6.33737368e-01 -3.78081977e-02 1.34597598e+02] [ 5.29845465e-02 -5.02180859e-03 9.98582705e-01 1.01895511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:134.62, Z:10.19 [[ 6.31760146e-01 -7.74297835e-01 -3.66330424e-02 1.35717068e+02] [ 7.73455211e-01 6.32799350e-01 -3.64968271e-02 1.34618894e+02] [ 5.14407796e-02 -5.27677670e-03 9.98662106e-01 1.01902276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:134.64, Z:10.19 [[ 6.31737233e-01 -7.74409107e-01 -3.46208553e-02 1.35734530e+02] [ 7.73508253e-01 6.32677547e-01 -3.74713675e-02 1.34641331e+02] [ 5.09220061e-02 -3.10745930e-03 9.98697799e-01 1.01903684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:134.67, Z:10.19 [[ 6.31693492e-01 -7.74686428e-01 -2.87101155e-02 1.35747992e+02] [ 7.73380120e-01 6.32312196e-01 -4.54365209e-02 1.34665605e+02] [ 5.33528122e-02 6.49812197e-03 9.98554581e-01 1.01898375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:134.68, Z:10.19 [[ 6.31013027e-01 -7.74783290e-01 -3.91588287e-02 1.35773703e+02] [ 7.74124212e-01 6.32158299e-01 -3.32804636e-02 1.34681624e+02] [ 5.05397256e-02 -9.31339136e-03 9.98678625e-01 1.01949415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.79, Y:134.71, Z:10.19 [[ 6.30579715e-01 -7.75710030e-01 -2.53608388e-02 1.35785473e+02] [ 7.74572147e-01 6.31048073e-01 -4.26182939e-02 1.34709604e+02] [ 4.90633464e-02 7.23043229e-03 9.98769497e-01 1.01882207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:134.72, Z:10.20 [[ 6.31097810e-01 -7.74819842e-01 -3.70103463e-02 1.35808677e+02] [ 7.74066515e-01 6.32146785e-01 -3.48062163e-02 1.34723194e+02] [ 5.03645185e-02 -6.68234284e-03 9.98708547e-01 1.01955862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:135.82, Y:134.75, Z:10.19 [[ 6.29976706e-01 -7.76159077e-01 -2.65788847e-02 1.35821138e+02] [ 7.75079166e-01 6.30513951e-01 -4.12849067e-02 1.34749830e+02] [ 4.88020126e-02 5.40778974e-03 9.98793832e-01 1.01904462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:134.77, Z:10.20 [[ 6.29375366e-01 -7.76270076e-01 -3.59363080e-02 1.35844234e+02] [ 7.75404060e-01 6.30383613e-01 -3.69465036e-02 1.34767061e+02] [ 5.13341248e-02 -4.61193989e-03 9.98670886e-01 1.01971168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:134.79, Z:10.20 [[ 6.29101811e-01 -7.76598206e-01 -3.35579811e-02 1.35860649e+02] [ 7.75613416e-01 6.29994621e-01 -3.91229722e-02 1.34789411e+02] [ 5.15241776e-02 -1.41568773e-03 9.98670744e-01 1.01976184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:134.81, Z:10.20 [[ 6.28361040e-01 -7.77331428e-01 -3.03027292e-02 1.35875486e+02] [ 7.75985291e-01 6.29067943e-01 -4.60472708e-02 1.34813461e+02] [ 5.48564663e-02 5.41983882e-03 9.98479541e-01 1.01982309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:134.83, Z:10.20 [[ 6.27941261e-01 -7.77008880e-01 -4.41245129e-02 1.35902183e+02] [ 7.76600237e-01 6.29295222e-01 -2.96579790e-02 1.34826509e+02] [ 5.08118582e-02 -1.56436384e-02 9.98585716e-01 1.02042743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:134.87, Z:10.20 [[ 6.25370977e-01 -7.80048215e-01 -2.08787720e-02 1.35906005e+02] [ 7.78145332e-01 6.25398452e-01 -5.80225684e-02 1.34865549e+02] [ 5.83179526e-02 2.00389113e-02 9.98096918e-01 1.01980219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:134.88, Z:10.21 [[ 6.25706124e-01 -7.78988427e-01 -4.08518877e-02 1.35935038e+02] [ 7.77938864e-01 6.27007729e-01 -4.08953779e-02 1.34876140e+02] [ 5.74714754e-02 -6.19178264e-03 9.98327948e-01 1.02067324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:134.89, Z:10.21 [[ 6.27571691e-01 -7.77055645e-01 -4.83559409e-02 1.35958186e+02] [ 7.76831334e-01 6.29105438e-01 -2.75576822e-02 1.34889275e+02] [ 5.18348379e-02 -2.02699888e-02 9.98449937e-01 1.02096562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:134.92, Z:10.20 [[ 6.27518602e-01 -7.78096928e-01 -2.80281286e-02 1.35964286e+02] [ 7.76595474e-01 6.28078556e-01 -4.91609329e-02 1.34923154e+02] [ 5.58558374e-02 9.08288202e-03 9.98397529e-01 1.02031385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:134.94, Z:10.21 [[ 6.28082399e-01 -7.77014723e-01 -4.19597440e-02 1.35991346e+02] [ 7.76425425e-01 6.29365932e-01 -3.25896088e-02 1.34935894e+02] [ 5.17306392e-02 -1.21096524e-02 9.98587651e-01 1.02097073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:134.96, Z:10.21 [[ 6.29334928e-01 -7.76409355e-01 -3.35568382e-02 1.36004448e+02] [ 7.75420734e-01 6.30227478e-01 -3.91919639e-02 1.34961146e+02] [ 5.15774489e-02 -1.35579638e-03 9.98668077e-01 1.02079924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:134.98, Z:10.21 [[ 6.29737551e-01 -7.76081737e-01 -3.35820567e-02 1.36022485e+02] [ 7.75089891e-01 6.30630962e-01 -3.92460288e-02 1.34982679e+02] [ 5.16360109e-02 -1.31441459e-03 9.98665106e-01 1.02095246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.04, Y:135.01, Z:10.20 [[ 6.30622544e-01 -7.75756146e-01 -2.27510336e-02 1.36037266e+02] [ 7.74553441e-01 6.30947342e-01 -4.44119106e-02 1.35009687e+02] [ 4.88075168e-02 1.03852607e-02 9.98754210e-01 1.02034523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:135.02, Z:10.22 [[ 6.31717089e-01 -7.74049513e-01 -4.22003663e-02 1.36064432e+02] [ 7.73523456e-01 6.32994251e-01 -3.13008043e-02 1.35021149e+02] [ 5.09409616e-02 -1.28697202e-02 9.98618740e-01 1.02160169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.08, Y:135.05, Z:10.21 [[ 6.33135684e-01 -7.73473045e-01 -2.96421192e-02 1.36078965e+02] [ 7.72432977e-01 6.33824099e-01 -4.01784455e-02 1.35049662e+02] [ 4.98648340e-02 2.54185715e-03 9.98752741e-01 1.02108378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:135.07, Z:10.22 [[ 6.33509563e-01 -7.72927097e-01 -3.53459480e-02 1.36097525e+02] [ 7.72132505e-01 6.34476071e-01 -3.53766763e-02 1.35066670e+02] [ 4.97697500e-02 -4.88029264e-03 9.98748795e-01 1.02151311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.12, Y:135.09, Z:10.22 [[ 6.34768539e-01 -7.71969263e-01 -3.36505363e-02 1.36119112e+02] [ 7.70873093e-01 6.35659838e-01 -4.11247506e-02 1.35091590e+02] [ 5.31373379e-02 1.64404839e-04 9.98587200e-01 1.02174746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:135.11, Z:10.22 [[ 6.33963403e-01 -7.72664261e-01 -3.28685646e-02 1.36134149e+02] [ 7.71834482e-01 6.34809507e-01 -3.58945936e-02 1.35110836e+02] [ 4.85997469e-02 -2.61323284e-03 9.98814916e-01 1.02171261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:135.13, Z:10.22 [[ 6.34536450e-01 -7.72256137e-01 -3.13680062e-02 1.36152374e+02] [ 7.71379115e-01 6.35310748e-01 -3.68037281e-02 1.35132672e+02] [ 4.83503364e-02 -8.43317893e-04 9.98830083e-01 1.02183297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.17, Y:135.15, Z:10.22 [[ 6.34536456e-01 -7.72267849e-01 -3.10782243e-02 1.36169739e+02] [ 7.71405851e-01 6.35296541e-01 -3.64872370e-02 1.35152793e+02] [ 4.79218084e-02 -8.21442010e-04 9.98850752e-01 1.02196661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:135.17, Z:10.22 [[ 6.34440400e-01 -7.72354638e-01 -3.08819114e-02 1.36187919e+02] [ 7.71502605e-01 6.35191041e-01 -3.62777109e-02 1.35174038e+02] [ 4.76351717e-02 -8.09429676e-04 9.98864473e-01 1.02208130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:135.20, Z:10.22 [[ 6.34161410e-01 -7.72600551e-01 -3.04580862e-02 1.36205717e+02] [ 7.71771012e-01 6.34891915e-01 -3.58016892e-02 1.35195202e+02] [ 4.69979975e-02 -8.02618308e-04 9.98894661e-01 1.02215352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:135.22, Z:10.22 [[ 6.33609840e-01 -7.73044808e-01 -3.06642485e-02 1.36223869e+02] [ 7.72203421e-01 6.34350882e-01 -3.60670946e-02 1.35216973e+02] [ 4.73333733e-02 -8.26571577e-04 9.98878806e-01 1.02225486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:135.24, Z:10.22 [[ 6.32504946e-01 -7.74086995e-01 -2.69595377e-02 1.36239504e+02] [ 7.73001466e-01 6.33057086e-01 -4.13214160e-02 1.35240545e+02] [ 4.90532971e-02 5.29623783e-03 9.98782120e-01 1.02216325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:135.26, Z:10.22 [[ 6.31833133e-01 -7.74517483e-01 -3.01589204e-02 1.36259790e+02] [ 7.73487274e-01 6.32549546e-01 -3.99813630e-02 1.35261033e+02] [ 5.00432761e-02 1.93400875e-03 9.98745178e-01 1.02242425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:135.28, Z:10.23 [[ 6.30913540e-01 -7.74908997e-01 -3.82642207e-02 1.36283124e+02] [ 7.74387138e-01 6.31985494e-01 -3.03133081e-02 1.35276674e+02] [ 4.76724876e-02 -1.05062438e-02 9.98807766e-01 1.02288018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.29, Y:135.30, Z:10.23 [[ 6.30090822e-01 -7.76083085e-01 -2.60883248e-02 1.36293587e+02] [ 7.74873038e-01 6.30586243e-01 -4.39632246e-02 1.35304950e+02] [ 5.05700537e-02 7.48568490e-03 9.98692462e-01 1.02250124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:135.32, Z:10.23 [[ 6.27459038e-01 -7.77737708e-01 -3.76724396e-02 1.36319996e+02] [ 7.77138375e-01 6.28520725e-01 -3.19005389e-02 1.35320719e+02] [ 4.84881611e-02 -9.26041696e-03 9.98780828e-01 1.02303505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:135.35, Z:10.22 [[ 6.25615166e-01 -7.79732034e-01 -2.49723752e-02 1.36330107e+02] [ 7.78632624e-01 6.26076467e-01 -4.19463194e-02 1.35348972e+02] [ 4.83415055e-02 6.79794752e-03 9.98807733e-01 1.02239262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:135.36, Z:10.23 [[ 6.23613880e-01 -7.80806244e-01 -3.80438899e-02 1.36355751e+02] [ 7.80185845e-01 6.24702419e-01 -3.25105379e-02 1.35362980e+02] [ 4.91505411e-02 -9.40728169e-03 9.98747079e-01 1.02335813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:135.39, Z:10.23 [[ 6.22251468e-01 -7.82443629e-01 -2.41883830e-02 1.36365455e+02] [ 7.81297703e-01 6.22671349e-01 -4.30614690e-02 1.35392508e+02] [ 4.87545851e-02 7.89673419e-03 9.98779571e-01 1.02263263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:135.41, Z:10.23 [[ 6.21456161e-01 -7.82866718e-01 -3.01983620e-02 1.36386449e+02] [ 7.81975246e-01 6.22189312e-01 -3.73520300e-02 1.35411209e+02] [ 4.80307592e-02 -4.01722412e-04 9.98845776e-01 1.02297100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:135.43, Z:10.24 [[ 6.20677462e-01 -7.83038808e-01 -4.01212501e-02 1.36409921e+02] [ 7.82480240e-01 6.21863475e-01 -3.17882614e-02 1.35427680e+02] [ 4.98413823e-02 -1.16638280e-02 9.98689037e-01 1.02384957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:135.45, Z:10.24 [[ 6.20322370e-01 -7.83678140e-01 -3.23840900e-02 1.36422935e+02] [ 7.82743816e-01 6.21165053e-01 -3.82896244e-02 1.35453726e+02] [ 5.01226066e-02 -1.59653555e-03 9.98741796e-01 1.02367441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:135.48, Z:10.24 [[ 6.20049603e-01 -7.83890006e-01 -3.24799566e-02 1.36440352e+02] [ 7.82949195e-01 6.20897647e-01 -3.84274646e-02 1.35475394e+02] [ 5.02896341e-02 -1.60322170e-03 9.98733389e-01 1.02379845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:135.50, Z:10.24 [[ 6.19702732e-01 -7.84148321e-01 -3.28623556e-02 1.36457557e+02] [ 7.83184282e-01 6.20571318e-01 -3.89052666e-02 1.35496815e+02] [ 5.09009349e-02 -1.62758040e-03 9.98702381e-01 1.02392146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.47, Y:135.52, Z:10.24 [[ 6.19947262e-01 -7.83930056e-01 -3.34523315e-02 1.36474393e+02] [ 7.82929535e-01 6.20847026e-01 -3.96271828e-02 1.35519230e+02] [ 5.18337201e-02 -1.62405490e-03 9.98654409e-01 1.02407586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:135.54, Z:10.24 [[ 6.20185225e-01 -7.83730749e-01 -3.37105319e-02 1.36490957e+02] [ 7.82713075e-01 6.21098657e-01 -3.99587464e-02 1.35541218e+02] [ 5.22544643e-02 -1.60384995e-03 9.98632514e-01 1.02419023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:135.56, Z:10.24 [[ 6.21381634e-01 -7.82775457e-01 -3.38740104e-02 1.36506570e+02] [ 7.81745236e-01 6.22302406e-01 -4.01758791e-02 1.35564070e+02] [ 5.25285703e-02 -1.51629290e-03 9.98618271e-01 1.02435994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:135.59, Z:10.25 [[ 6.22196765e-01 -7.82145465e-01 -3.34612660e-02 1.36522770e+02] [ 7.81138016e-01 6.23094236e-01 -3.97111161e-02 1.35585325e+02] [ 5.19093914e-02 -1.42973892e-03 9.98650775e-01 1.02450816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:135.61, Z:10.25 [[ 6.22670616e-01 -7.81775027e-01 -3.33033151e-02 1.36539463e+02] [ 7.80775652e-01 6.23559058e-01 -3.95409067e-02 1.35607296e+02] [ 5.16786772e-02 -1.38145685e-03 9.98662809e-01 1.02470756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.55, Y:135.63, Z:10.25 [[ 6.23959933e-01 -7.80851514e-01 -3.07394628e-02 1.36553764e+02] [ 7.79792696e-01 6.24715077e-01 -4.06746108e-02 1.35631770e+02] [ 5.09642373e-02 1.40891887e-03 9.98699485e-01 1.02466868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28275509600002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:136.57, Y:135.65, Z:10.25 [[ 6.25181371e-01 -7.79708723e-01 -3.46779491e-02 1.36573711e+02] [ 7.78829556e-01 6.26131184e-01 -3.72056760e-02 1.35650648e+02] [ 5.07225355e-02 -3.74791621e-03 9.98705751e-01 1.02512196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:135.68, Z:10.25 [[ 6.25428710e-01 -7.79841976e-01 -2.61805563e-02 1.36584200e+02] [ 7.78696914e-01 6.25944432e-01 -4.27163273e-02 1.35677930e+02] [ 4.96995586e-02 6.32929905e-03 9.98744158e-01 1.02469699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:135.69, Z:10.26 [[ 6.26287165e-01 -7.78652200e-01 -3.82771429e-02 1.36609536e+02] [ 7.77946854e-01 6.27399907e-01 -3.41767452e-02 1.35694111e+02] [ 5.06268737e-02 -8.37312607e-03 9.98682537e-01 1.02556137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:135.72, Z:10.25 [[ 6.26403090e-01 -7.78819068e-01 -3.25580717e-02 1.36623509e+02] [ 7.77855569e-01 6.27247752e-01 -3.87423811e-02 1.35719576e+02] [ 5.05952824e-02 -1.05713016e-03 9.98718679e-01 1.02545863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:135.74, Z:10.26 [[ 6.26217240e-01 -7.78971740e-01 -3.24807085e-02 1.36640307e+02] [ 7.78011732e-01 6.27058150e-01 -3.86758503e-02 1.35740604e+02] [ 5.04946875e-02 -1.05088806e-03 9.98723777e-01 1.02557930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:135.76, Z:10.26 [[ 6.25717898e-01 -7.79358378e-01 -3.28272860e-02 1.36656894e+02] [ 7.78377383e-01 6.26577487e-01 -3.91063054e-02 1.35761452e+02] [ 5.10466651e-02 -1.08250168e-03 9.98695682e-01 1.02572999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:135.78, Z:10.26 [[ 6.24658083e-01 -7.80208158e-01 -3.28254327e-02 1.36674621e+02] [ 7.79227301e-01 6.25518933e-01 -3.91264402e-02 1.35783560e+02] [ 5.10596974e-02 -1.13782620e-03 9.98694955e-01 1.02584458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:135.81, Z:10.26 [[ 6.23780875e-01 -7.80914999e-01 -3.26983867e-02 1.36692491e+02] [ 7.79941425e-01 6.24636200e-01 -3.89998871e-02 1.35805375e+02] [ 5.08801929e-02 -1.17544262e-03 9.98704072e-01 1.02596547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.71, Y:135.83, Z:10.26 [[ 6.22707441e-01 -7.81790747e-01 -3.22284243e-02 1.36710498e+02] [ 7.80844909e-01 6.23539698e-01 -3.84639158e-02 1.35827410e+02] [ 5.01664354e-02 -1.21363445e-03 9.98740134e-01 1.02609193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:135.85, Z:10.26 [[ 6.20844792e-01 -7.83582747e-01 -2.34483133e-02 1.36721529e+02] [ 7.82454734e-01 6.21232739e-01 -4.28307613e-02 1.35853311e+02] [ 4.81283054e-02 8.24401136e-03 9.98807140e-01 1.02560172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:135.87, Z:10.27 [[ 6.20285496e-01 -7.83412507e-01 -3.88683192e-02 1.36749774e+02] [ 7.82850147e-01 6.21407697e-01 -3.15930764e-02 1.35866377e+02] [ 4.89034839e-02 -1.08313423e-02 9.98744778e-01 1.02661208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:135.90, Z:10.25 [[ 6.17747530e-01 -7.86300879e-01 -1.09048988e-02 1.36749779e+02] [ 7.85012529e-01 6.17433156e-01 -5.03152778e-02 1.35902112e+02] [ 4.62959932e-02 2.25216564e-02 9.98673849e-01 1.02507925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:135.91, Z:10.27 [[ 6.16594753e-01 -7.85694545e-01 -4.99499042e-02 1.36792911e+02] [ 7.85688992e-01 6.18140809e-01 -2.43874609e-02 1.35906072e+02] [ 5.00371691e-02 -2.42079094e-02 9.98453934e-01 1.02740563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:135.95, Z:10.25 [[ 6.13525371e-01 -7.89656907e-01 -5.34690025e-03 1.36783062e+02] [ 7.88393453e-01 6.12901245e-01 -5.27998717e-02 1.35949515e+02] [ 4.49709052e-02 2.81785997e-02 9.98590799e-01 1.02501084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:135.95, Z:10.28 [[ 6.14401457e-01 -7.87073401e-01 -5.50119228e-02 1.36831170e+02] [ 7.87421291e-01 6.16084381e-01 -2.01927235e-02 1.35947658e+02] [ 4.97851420e-02 -3.09111205e-02 9.98281495e-01 1.02783360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:135.98, Z:10.27 [[ 6.12816104e-01 -7.89554427e-01 -3.25611524e-02 1.36834631e+02] [ 7.88596023e-01 6.13677846e-01 -3.89334488e-02 1.35981764e+02] [ 5.07221347e-02 -1.81855091e-03 9.98711148e-01 1.02715351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:136.00, Z:10.27 [[ 6.12251859e-01 -7.89988783e-01 -3.26402154e-02 1.36851419e+02] [ 7.89025016e-01 6.13118524e-01 -3.90538017e-02 1.36003348e+02] [ 5.08643860e-02 -1.84318383e-03 9.98703868e-01 1.02726753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.87, Y:136.03, Z:10.27 [[ 6.11566903e-01 -7.90508847e-01 -3.28889995e-02 1.36868511e+02] [ 7.89529868e-01 6.12447716e-01 -3.93748926e-02 1.36025710e+02] [ 5.12689936e-02 -1.88646631e-03 9.98683099e-01 1.02740065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:136.05, Z:10.28 [[ 6.11391930e-01 -7.90643465e-01 -3.29062237e-02 1.36885407e+02] [ 7.89662320e-01 6.12273931e-01 -3.94215002e-02 1.36046711e+02] [ 5.13159745e-02 -1.88281786e-03 9.98680693e-01 1.02752115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.90, Y:136.07, Z:10.28 [[ 6.11073348e-01 -7.90874020e-01 -3.32813388e-02 1.36902143e+02] [ 7.89869771e-01 6.11976000e-01 -3.98888418e-02 1.36069541e+02] [ 5.19144293e-02 -1.91291541e-03 9.98649705e-01 1.02766146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:136.09, Z:10.28 [[ 6.11187010e-01 -7.90799226e-01 -3.29700335e-02 1.36918670e+02] [ 7.89812258e-01 6.12072770e-01 -3.95413907e-02 1.36091040e+02] [ 5.14493609e-02 -1.87295228e-03 9.98673848e-01 1.02779815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:136.11, Z:10.28 [[ 6.11092960e-01 -7.90886724e-01 -3.26126575e-02 1.36933919e+02] [ 7.89920017e-01 6.11959789e-01 -3.91354621e-02 1.36112992e+02] [ 5.09093524e-02 -1.84598559e-03 9.98701572e-01 1.02790357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:136.14, Z:10.28 [[ 6.10959760e-01 -7.91000726e-01 -3.23422839e-02 1.36951398e+02] [ 7.90049026e-01 6.11812484e-01 -3.88332327e-02 1.36135444e+02] [ 5.05045283e-02 -1.82644738e-03 9.98722162e-01 1.02806030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.97, Y:136.16, Z:10.28 [[ 6.11061712e-01 -7.90937611e-01 -3.19574594e-02 1.36968724e+02] [ 7.90007161e-01 6.11894197e-01 -3.83950035e-02 1.36157253e+02] [ 4.99226363e-02 -1.78490517e-03 9.98751493e-01 1.02820325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:136.18, Z:10.28 [[ 6.10907751e-01 -7.91057026e-01 -3.19452962e-02 1.36986838e+02] [ 7.90126211e-01 6.11739828e-01 -3.84051207e-02 1.36179261e+02] [ 4.99228506e-02 -1.77882997e-03 9.98751493e-01 1.02835075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:136.20, Z:10.29 [[ 6.11517923e-01 -7.90617584e-01 -3.11394558e-02 1.37004080e+02] [ 7.89731919e-01 6.12307912e-01 -3.74502005e-02 1.36201866e+02] [ 4.86757222e-02 -1.69035339e-03 9.98813204e-01 1.02855998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.02, Y:136.22, Z:10.29 [[ 6.12001863e-01 -7.90263098e-01 -3.06260797e-02 1.37021131e+02] [ 7.89404837e-01 6.12765544e-01 -3.68563741e-02 1.36223437e+02] [ 4.78928388e-02 -1.62020584e-03 9.98851166e-01 1.02868944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:136.25, Z:10.29 [[ 6.12230021e-01 -7.90099905e-01 -3.02744277e-02 1.37038474e+02] [ 7.89260348e-01 6.12976055e-01 -3.64480298e-02 1.36245750e+02] [ 4.73550841e-02 -1.57982732e-03 9.98876869e-01 1.02885423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:136.27, Z:10.29 [[ 6.14487933e-01 -7.88586264e-01 -2.31578338e-02 1.37049795e+02] [ 7.87418509e-01 6.14863192e-01 -4.37646839e-02 1.36270066e+02] [ 4.87511282e-02 8.65796319e-03 9.98773431e-01 1.02883282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:136.29, Z:10.29 [[ 6.14044517e-01 -7.88590742e-01 -3.27715336e-02 1.37074168e+02] [ 7.87850662e-01 6.14900808e-01 -3.44721588e-02 1.36289178e+02] [ 4.73356678e-02 -4.65163440e-03 9.98868208e-01 1.02930361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:136.31, Z:10.29 [[ 6.14093392e-01 -7.88510630e-01 -3.37682101e-02 1.37092864e+02] [ 7.87920632e-01 6.14977288e-01 -3.13689880e-02 1.36310713e+02] [ 4.55014627e-02 -7.34318119e-03 9.98937283e-01 1.02945272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:136.34, Z:10.29 [[ 6.15430968e-01 -7.87699110e-01 -2.78358666e-02 1.37105817e+02] [ 7.86823482e-01 6.16059409e-01 -3.71431431e-02 1.36335604e+02] [ 4.64061683e-02 9.57127006e-04 9.98922195e-01 1.02943105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:136.36, Z:10.30 [[ 6.15374250e-01 -7.87647698e-01 -3.04242727e-02 1.37124605e+02] [ 7.86954683e-01 6.16115939e-01 -3.32186158e-02 1.36355627e+02] [ 4.49094456e-02 -3.50064313e-03 9.98984928e-01 1.02960888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:136.38, Z:10.30 [[ 6.15921687e-01 -7.87288733e-01 -2.85819294e-02 1.37139811e+02] [ 7.86532517e-01 6.16583300e-01 -3.45200451e-02 1.36378360e+02] [ 4.48003829e-02 -1.21897251e-03 9.98995215e-01 1.02962735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.16, Y:136.40, Z:10.30 [[ 6.16051159e-01 -7.87187158e-01 -2.85892744e-02 1.37156871e+02] [ 7.86429447e-01 6.16713014e-01 -3.45511527e-02 1.36400111e+02] [ 4.48296013e-02 -1.19816964e-03 9.98993930e-01 1.02970895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.17, Y:136.42, Z:10.30 [[ 6.16911837e-01 -7.86553167e-01 -2.74572579e-02 1.37172833e+02] [ 7.85693054e-01 6.17521540e-01 -3.67909306e-02 1.36422020e+02] [ 4.58934711e-02 1.12378379e-03 9.98945707e-01 1.02976512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.20, Y:136.44, Z:10.30 [[ 6.17834385e-01 -7.85414691e-01 -3.74757982e-02 1.37197161e+02] [ 7.85185011e-01 6.18797287e-01 -2.39669823e-02 1.36436832e+02] [ 4.20139422e-02 -1.46178092e-02 9.99010084e-01 1.03005962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:136.47, Z:10.30 [[ 6.15998857e-01 -7.87492446e-01 -2.00263846e-02 1.37204860e+02] [ 7.86427692e-01 6.16239138e-01 -4.21996573e-02 1.36470767e+02] [ 4.55729533e-02 1.02456372e-02 9.98908471e-01 1.02966544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:136.49, Z:10.30 [[ 6.16915695e-01 -7.86614372e-01 -2.55510236e-02 1.37224610e+02] [ 7.85633570e-01 6.17429647e-01 -3.95034647e-02 1.36488375e+02] [ 4.68499526e-02 4.29656546e-03 9.98892698e-01 1.02997626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.24, Y:136.51, Z:10.30 [[ 6.16451003e-01 -7.86822582e-01 -2.99730900e-02 1.37244759e+02] [ 7.85984143e-01 6.17178156e-01 -3.63324966e-02 1.36508162e+02] [ 4.70859652e-02 -1.16116948e-03 9.98890166e-01 1.03025033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:136.53, Z:10.30 [[ 6.15740069e-01 -7.87495707e-01 -2.67334826e-02 1.37260647e+02] [ 7.86442739e-01 6.16306004e-01 -4.09234381e-02 1.36534804e+02] [ 4.87030376e-02 4.17384736e-03 9.98804582e-01 1.03028833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.28, Y:136.55, Z:10.31 [[ 6.16795214e-01 -7.86249366e-01 -3.70890615e-02 1.37284435e+02] [ 7.85813679e-01 6.17802105e-01 -2.85905770e-02 1.36549251e+02] [ 4.53930233e-02 -1.15105608e-02 9.98902888e-01 1.03067485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:136.58, Z:10.31 [[ 6.17750767e-01 -7.85825940e-01 -2.93527092e-02 1.37296913e+02] [ 7.85018072e-01 6.18446875e-01 -3.56383084e-02 1.36575184e+02] [ 4.61585985e-02 -1.02681483e-03 9.98933596e-01 1.03056718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:136.60, Z:10.31 [[ 6.18895758e-01 -7.85108461e-01 -2.39321173e-02 1.37310138e+02] [ 7.83922178e-01 6.19300696e-01 -4.39621051e-02 1.36599953e+02] [ 4.93361976e-02 8.44704281e-03 9.98746508e-01 1.03057590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:136.62, Z:10.31 [[ 6.18775225e-01 -7.84697169e-01 -3.69807191e-02 1.37336312e+02] [ 7.84168734e-01 6.19796769e-01 -3.05182174e-02 1.36615318e+02] [ 4.68680890e-02 -1.01152068e-02 9.98849871e-01 1.03107663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.35, Y:136.64, Z:10.31 [[ 6.20081638e-01 -7.83946673e-01 -3.04364203e-02 1.37348842e+02] [ 7.83072347e-01 6.20827550e-01 -3.70250360e-02 1.36639693e+02] [ 4.79214221e-02 -8.75374112e-04 9.98850725e-01 1.03095460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.36, Y:136.66, Z:10.31 [[ 6.20442705e-01 -7.83823656e-01 -2.59099719e-02 1.37363148e+02] [ 7.82654570e-01 6.20948557e-01 -4.32979732e-02 1.36664769e+02] [ 5.00267353e-02 6.58535376e-03 9.98726168e-01 1.03097475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.39, Y:136.68, Z:10.31 [[ 6.20733470e-01 -7.83326613e-01 -3.30057078e-02 1.37385041e+02] [ 7.82479780e-01 6.21602416e-01 -3.65490062e-02 1.36683271e+02] [ 4.91462369e-02 -3.13910758e-03 9.98786661e-01 1.03131301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:136.71, Z:10.31 [[ 6.20149928e-01 -7.83960032e-01 -2.86484916e-02 1.37398970e+02] [ 7.82873211e-01 6.20802835e-01 -4.13929360e-02 1.36707291e+02] [ 5.02354723e-02 3.24168963e-03 9.98732141e-01 1.03135123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:136.73, Z:10.32 [[ 6.18490090e-01 -7.85157256e-01 -3.15925898e-02 1.37418400e+02] [ 7.84189103e-01 6.19296088e-01 -3.89846885e-02 1.36728665e+02] [ 5.01742784e-02 -6.62921168e-04 9.98740258e-01 1.03160409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.44, Y:136.75, Z:10.32 [[ 6.18557756e-01 -7.84842214e-01 -3.75366801e-02 1.37440481e+02] [ 7.84273392e-01 6.19615613e-01 -3.14918704e-02 1.36745112e+02] [ 4.79744624e-02 -9.95947881e-03 9.98798909e-01 1.03191047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:136.77, Z:10.32 [[ 6.14993273e-01 -7.87974493e-01 -2.96558796e-02 1.37454614e+02] [ 7.87003532e-01 6.15707469e-01 -3.91120575e-02 1.36770750e+02] [ 4.90786503e-02 7.14370240e-04 9.98794661e-01 1.03185804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.47, Y:136.79, Z:10.32 [[ 6.12891674e-01 -7.89580699e-01 -3.04321431e-02 1.37473866e+02] [ 7.88653331e-01 6.13646491e-01 -3.82610360e-02 1.36792421e+02] [ 4.88847534e-02 -5.50540672e-04 9.98804274e-01 1.03202364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:136.81, Z:10.32 [[ 6.09596096e-01 -7.92198997e-01 -2.85192777e-02 1.37490980e+02] [ 7.91126438e-01 6.10257275e-01 -4.12918440e-02 1.36814830e+02] [ 5.01154541e-02 2.60899230e-03 9.98740023e-01 1.03218632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:136.83, Z:10.33 [[ 6.09088894e-01 -7.92408669e-01 -3.31544948e-02 1.37511270e+02] [ 7.91519870e-01 6.09981644e-01 -3.76655060e-02 1.36832453e+02] [ 5.00701067e-02 -3.30080001e-03 9.98740251e-01 1.03251042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:136.85, Z:10.33 [[ 6.07204495e-01 -7.93878844e-01 -3.25435315e-02 1.37527829e+02] [ 7.92963434e-01 6.08070368e-01 -3.82023609e-02 1.36853367e+02] [ 5.01168034e-02 -2.60918523e-03 9.98739955e-01 1.03265873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:136.88, Z:10.33 [[ 6.03688208e-01 -7.96590012e-01 -3.17001580e-02 1.37546173e+02] [ 7.95682129e-01 6.04515819e-01 -3.80864008e-02 1.36876079e+02] [ 4.95024935e-02 -2.23093812e-03 9.98771508e-01 1.03277850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:136.90, Z:10.33 [[ 6.02573341e-01 -7.97519581e-01 -2.94599254e-02 1.37562886e+02] [ 7.96438710e-01 6.03291029e-01 -4.15369084e-02 1.36899649e+02] [ 5.08994065e-02 1.56600863e-03 9.98702557e-01 1.03291161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:136.92, Z:10.33 [[ 6.01930757e-01 -7.97998516e-01 -2.96265616e-02 1.37580400e+02] [ 7.96831080e-01 6.02654612e-01 -4.32163112e-02 1.36921054e+02] [ 5.23411361e-02 2.40586180e-03 9.98626365e-01 1.03310434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:136.94, Z:10.33 [[ 6.01039155e-01 -7.98312409e-01 -3.80687741e-02 1.37604067e+02] [ 7.97611080e-01 6.02169147e-01 -3.47689911e-02 1.36938394e+02] [ 5.06803582e-02 -9.46655101e-03 9.98670058e-01 1.03348910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:136.96, Z:10.33 [[ 6.01058477e-01 -7.98498484e-01 -3.35988008e-02 1.37619125e+02] [ 7.97547009e-01 6.01987827e-01 -3.91078464e-02 1.36962171e+02] [ 5.14536251e-02 -3.29052051e-03 9.98669964e-01 1.03345184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:136.99, Z:10.33 [[ 6.01613118e-01 -7.98206954e-01 -3.04518405e-02 1.37634400e+02] [ 7.96943306e-01 6.02376834e-01 -4.49835193e-02 1.36987038e+02] [ 5.42496413e-02 2.79428486e-03 9.98523494e-01 1.03345873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:137.01, Z:10.34 [[ 6.02749621e-01 -7.97166023e-01 -3.49174189e-02 1.37653923e+02] [ 7.96079399e-01 6.03754274e-01 -4.16937286e-02 1.37005799e+02] [ 5.43183647e-02 -2.66615873e-03 9.98520108e-01 1.03372471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.172755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:137.67, Y:137.03, Z:10.34 [[ 6.03531277e-01 -7.96703914e-01 -3.18256244e-02 1.37669921e+02] [ 7.95396869e-01 6.04365623e-01 -4.56729069e-02 1.37030170e+02] [ 5.56220970e-02 2.25102580e-03 9.98449355e-01 1.03376434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:137.05, Z:10.34 [[ 6.04597559e-01 -7.95503106e-01 -4.04549153e-02 1.37694036e+02] [ 7.94780041e-01 6.05855709e-01 -3.55463834e-02 1.37047210e+02] [ 5.27870999e-02 -1.06615026e-02 9.98548874e-01 1.03416933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:137.07, Z:10.34 [[ 6.06964396e-01 -7.94020109e-01 -3.35602155e-02 1.37708127e+02] [ 7.92949212e-01 6.07889461e-01 -4.12546899e-02 1.37071209e+02] [ 5.31579547e-02 -1.57141849e-03 9.98584880e-01 1.03415268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:137.09, Z:10.34 [[ 6.07925495e-01 -7.93290986e-01 -3.34066594e-02 1.37725816e+02] [ 7.92227503e-01 6.08840869e-01 -4.10898949e-02 1.37092567e+02] [ 5.29355828e-02 -1.48607966e-03 9.98596823e-01 1.03431007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:137.11, Z:10.35 [[ 6.09971942e-01 -7.91711517e-01 -3.35723749e-02 1.37743253e+02] [ 7.90633655e-01 6.10893674e-01 -4.13200124e-02 1.37113224e+02] [ 5.32226811e-02 -1.33940130e-03 9.98581770e-01 1.03450844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:137.14, Z:10.35 [[ 6.10822854e-01 -7.91148063e-01 -3.13078823e-02 1.37759488e+02] [ 7.89909066e-01 6.11620190e-01 -4.43216779e-02 1.37136605e+02] [ 5.42135425e-02 2.34231379e-03 9.98526617e-01 1.03461559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:137.16, Z:10.35 [[ 6.12767804e-01 -7.89669403e-01 -3.06243609e-02 1.37776743e+02] [ 7.88253088e-01 6.13512300e-01 -4.75365849e-02 1.37158966e+02] [ 5.63266087e-02 4.98914167e-03 9.98399931e-01 1.03487841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:137.18, Z:10.35 [[ 6.13294959e-01 -7.88773341e-01 -4.13026574e-02 1.37802423e+02] [ 7.88040366e-01 6.14591171e-01 -3.56380915e-02 1.37175658e+02] [ 5.34946251e-02 -1.06914993e-02 9.98510900e-01 1.03536683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:137.21, Z:10.35 [[ 6.13754433e-01 -7.89083789e-01 -2.55395660e-02 1.37809331e+02] [ 7.87427581e-01 6.14165972e-01 -5.25163180e-02 1.37205153e+02] [ 5.71253076e-02 1.21215643e-02 9.98293427e-01 1.03506408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:137.22, Z:10.36 [[ 6.14600330e-01 -7.87615876e-01 -4.39052035e-02 1.37839130e+02] [ 7.87015282e-01 6.16011329e-01 -3.37192579e-02 1.37217197e+02] [ 5.36039256e-02 -1.38301991e-02 9.98466497e-01 1.03581487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:137.25, Z:10.34 [[ 6.14550251e-01 -7.88744200e-01 -1.45112519e-02 1.37840904e+02] [ 7.87320110e-01 6.14388453e-01 -5.15157614e-02 1.37253967e+02] [ 4.95483037e-02 2.02340236e-02 9.98566748e-01 1.03432794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.88, Y:137.26, Z:10.36 [[ 6.15664438e-01 -7.86398783e-01 -5.03413821e-02 1.37878466e+02] [ 7.86186232e-01 6.17328076e-01 -2.85876658e-02 1.37257512e+02] [ 5.35584541e-02 -2.19772924e-02 9.98322839e-01 1.03628901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:137.29, Z:10.36 [[ 6.15208625e-01 -7.87612510e-01 -3.44221091e-02 1.37886549e+02] [ 7.86463971e-01 6.16170196e-01 -4.25289500e-02 1.37285533e+02] [ 5.47062107e-02 -9.07571786e-04 9.98502082e-01 1.03600400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:137.31, Z:10.36 [[ 6.14157947e-01 -7.88791068e-01 -2.48730460e-02 1.37900671e+02] [ 7.87447979e-01 6.14592024e-01 -4.69289286e-02 1.37312602e+02] [ 5.23038954e-02 9.23554464e-03 9.98588507e-01 1.03551025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:137.33, Z:10.36 [[ 6.13450562e-01 -7.89245073e-01 -2.77600962e-02 1.37919240e+02] [ 7.87948297e-01 6.14047822e-01 -4.56371911e-02 1.37331434e+02] [ 5.30649548e-02 6.12263998e-03 9.98572293e-01 1.03569413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.95, Y:137.35, Z:10.37 [[ 6.12314491e-01 -7.89492325e-01 -4.21050217e-02 1.37945477e+02] [ 7.88669941e-01 6.13674517e-01 -3.74607935e-02 1.37345641e+02] [ 5.54137878e-02 -1.02691783e-02 9.98410665e-01 1.03662368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.96, Y:137.37, Z:10.36 [[ 6.12170441e-01 -7.89752119e-01 -3.92293444e-02 1.37962333e+02] [ 7.88905077e-01 6.13373557e-01 -3.74387460e-02 1.37366424e+02] [ 5.36295715e-02 -8.02933530e-03 9.98528617e-01 1.03647308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.98, Y:137.39, Z:10.36 [[ 6.11561638e-01 -7.90481862e-01 -3.36271899e-02 1.37976683e+02] [ 7.89384336e-01 6.12484514e-01 -4.16544244e-02 1.37390102e+02] [ 5.35232000e-02 -1.07052891e-03 9.98566032e-01 1.03649077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.99, Y:137.41, Z:10.37 [[ 6.10856280e-01 -7.91024532e-01 -3.36867070e-02 1.37994465e+02] [ 7.89922647e-01 6.11783432e-01 -4.17521810e-02 1.37410081e+02] [ 5.36359687e-02 -1.10531079e-03 9.98559944e-01 1.03673416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.01, Y:137.44, Z:10.37 [[ 6.08805969e-01 -7.92718741e-01 -3.08591896e-02 1.38011588e+02] [ 7.91422024e-01 6.09578948e-01 -4.54388034e-02 1.37436469e+02] [ 5.48313034e-02 3.24077235e-03 9.98490373e-01 1.03684762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:137.45, Z:10.37 [[ 6.11057337e-01 -7.90655568e-01 -3.83758226e-02 1.38033539e+02] [ 7.89677914e-01 6.12231728e-01 -3.97630841e-02 1.37450011e+02] [ 5.49338000e-02 -6.00701521e-03 9.98471929e-01 1.03717195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.05, Y:137.47, Z:10.37 [[ 6.11623848e-01 -7.90358163e-01 -3.53587733e-02 1.38049770e+02] [ 7.89198985e-01 6.12642670e-01 -4.28243063e-02 1.37472831e+02] [ 5.55088334e-02 -1.71274097e-03 9.98456727e-01 1.03719268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:137.50, Z:10.37 [[ 6.12026640e-01 -7.90137946e-01 -3.32478262e-02 1.38067195e+02] [ 7.88878358e-01 6.12928114e-01 -4.46101226e-02 1.37496496e+02] [ 5.56266780e-02 1.07409290e-03 9.98451060e-01 1.03713991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:137.51, Z:10.38 [[ 6.13399364e-01 -7.88885925e-01 -3.74194658e-02 1.38086336e+02] [ 7.87670677e-01 6.14534253e-01 -4.38469616e-02 1.37514870e+02] [ 5.75857944e-02 -2.57851759e-03 9.98337231e-01 1.03756790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:137.54, Z:10.38 [[ 6.13176168e-01 -7.89120904e-01 -3.60996735e-02 1.38103319e+02] [ 7.87842552e-01 6.14237235e-01 -4.49080343e-02 1.37537848e+02] [ 5.76116322e-02 -9.04322586e-04 9.98338661e-01 1.03767247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:137.57, Z:10.37 [[ 6.13048202e-01 -7.89807965e-01 -1.93721465e-02 1.38112206e+02] [ 7.88156966e-01 6.13093285e-01 -5.40853173e-02 1.37568278e+02] [ 5.45939473e-02 1.78886143e-02 9.98348385e-01 1.03668657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:137.58, Z:10.37 [[ 6.13929000e-01 -7.88625532e-01 -3.40727783e-02 1.38137955e+02] [ 7.87452657e-01 6.14873632e-01 -4.29968694e-02 1.37581035e+02] [ 5.48588819e-02 -4.33674760e-04 9.98494024e-01 1.03735437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:137.60, Z:10.38 [[ 6.13900495e-01 -7.88616631e-01 -3.47849389e-02 1.38156006e+02] [ 7.87414210e-01 6.14884843e-01 -4.35372455e-02 1.37602881e+02] [ 5.57229276e-02 -6.62618650e-04 9.98446051e-01 1.03753663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.012755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.18, Y:137.62, Z:10.39 [[ 6.14750084e-01 -7.86986920e-01 -5.22869303e-02 1.38184824e+02] [ 7.86498286e-01 6.16642895e-01 -3.42342837e-02 1.37615249e+02] [ 5.91842975e-02 -2.00780523e-02 9.98045135e-01 1.03884444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:137.65, Z:10.38 [[ 6.13293636e-01 -7.89483890e-01 -2.42095702e-02 1.38184969e+02] [ 7.87751346e-01 6.13608364e-01 -5.41534113e-02 1.37651422e+02] [ 5.76084406e-02 1.41408210e-02 9.98239102e-01 1.03769035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.072755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.21, Y:137.67, Z:10.38 [[ 6.14663214e-01 -7.88037103e-01 -3.44478940e-02 1.38209053e+02] [ 7.86799130e-01 6.15627747e-01 -4.41543440e-02 1.37667640e+02] [ 5.60023407e-02 3.64779779e-05 9.98430637e-01 1.03823901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:137.68, Z:10.39 [[ 6.16339971e-01 -7.86011331e-01 -4.80752179e-02 1.38235335e+02] [ 7.85276637e-01 6.18032775e-01 -3.70957125e-02 1.37682534e+02] [ 5.88697107e-02 -1.48887750e-02 9.98154638e-01 1.03942089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.132755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:138.25, Y:137.71, Z:10.39 [[ 6.16855674e-01 -7.86226135e-01 -3.65724238e-02 1.38246338e+02] [ 7.84900728e-01 6.17938636e-01 -4.56365027e-02 1.37710569e+02] [ 5.84801248e-02 -5.54586375e-04 9.98288419e-01 1.03884631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:137.73, Z:10.39 [[ 6.17018172e-01 -7.86109557e-01 -3.63364791e-02 1.38263246e+02] [ 7.84799290e-01 6.18086961e-01 -4.53716069e-02 1.37732795e+02] [ 5.81261577e-02 -5.21737050e-04 9.98309109e-01 1.03937588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:137.76, Z:10.39 [[ 6.16037603e-01 -7.87332130e-01 -2.46127719e-02 1.38273955e+02] [ 7.85756332e-01 6.16407458e-01 -5.12721481e-02 1.37760678e+02] [ 5.55397057e-02 1.22459299e-02 9.98381379e-01 1.03880515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22275509600001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:138.31, Y:137.77, Z:10.40 [[ 6.15762983e-01 -7.86579894e-01 -4.61304690e-02 1.38305189e+02] [ 7.85783500e-01 6.17351053e-01 -3.77089980e-02 1.37771740e+02] [ 5.81398332e-02 -1.30287563e-02 9.98223428e-01 1.03970103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.31, Y:137.81, Z:10.39 [[ 6.15663055e-01 -7.87765629e-01 -1.96039637e-02 1.38306340e+02] [ 7.86211405e-01 6.15747759e-01 -5.22142107e-02 1.37807112e+02] [ 5.32036572e-02 1.67335007e-02 9.98443469e-01 1.03873376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.34, Y:137.82, Z:10.40 [[ 6.15745144e-01 -7.86701436e-01 -4.42579837e-02 1.38337215e+02] [ 7.85906699e-01 6.17220335e-01 -3.72789273e-02 1.37815854e+02] [ 5.66443131e-02 -1.18283274e-02 9.98324352e-01 1.04000634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:138.35, Y:137.84, Z:10.40 [[ 6.14995287e-01 -7.87579880e-01 -3.87134181e-02 1.38351852e+02] [ 7.86538658e-01 6.16189464e-01 -4.08348336e-02 1.37840582e+02] [ 5.60154937e-02 -5.33636971e-03 9.98415639e-01 1.03994066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34275509600002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:138.37, Y:137.86, Z:10.40 [[ 6.13464394e-01 -7.88925475e-01 -3.54687505e-02 1.38366395e+02] [ 7.87672648e-01 6.14488524e-01 -4.44483177e-02 1.37864828e+02] [ 5.68615503e-02 -6.70304369e-04 9.98381848e-01 1.03976282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:137.89, Z:10.40 [[ 6.14026957e-01 -7.88572268e-01 -3.35361668e-02 1.38383402e+02] [ 7.87267904e-01 6.14940383e-01 -4.53604749e-02 1.37889789e+02] [ 5.63927558e-02 1.45060663e-03 9.98407609e-01 1.04006088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:138.40, Y:137.91, Z:10.40 [[ 6.11710596e-01 -7.90135064e-01 -3.86875695e-02 1.38403967e+02] [ 7.88850092e-01 6.12925874e-01 -4.51376205e-02 1.37907881e+02] [ 5.93774290e-02 -2.90753201e-03 9.98231370e-01 1.04039281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:137.94, Z:10.40 [[ 6.09847359e-01 -7.92208897e-01 -2.21644505e-02 1.38410797e+02] [ 7.90601479e-01 6.10078182e-01 -5.24777319e-02 1.37939317e+02] [ 5.50953738e-02 1.44801588e-02 9.98376094e-01 1.03969630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:138.44, Y:137.95, Z:10.41 [[ 6.08552718e-01 -7.92076171e-01 -4.77381232e-02 1.38440964e+02] [ 7.91456740e-01 6.10204669e-01 -3.53056872e-02 1.37949263e+02] [ 5.70948192e-02 -1.62972875e-02 9.98235734e-01 1.04092283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:137.98, Z:10.41 [[ 6.07597015e-01 -7.93656223e-01 -3.05886739e-02 1.38446457e+02] [ 7.91986876e-01 6.08322077e-01 -5.19715288e-02 1.37980485e+02] [ 5.98552928e-02 7.35191750e-03 9.98179990e-01 1.04080889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:138.00, Z:10.41 [[ 6.06263528e-01 -7.94563938e-01 -3.33569154e-02 1.38467712e+02] [ 7.92987367e-01 6.07167482e-01 -5.01865002e-02 1.38000823e+02] [ 6.01296176e-02 3.97463217e-03 9.98182664e-01 1.04087366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55275509600003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:138.49, Y:138.02, Z:10.41 [[ 6.04575942e-01 -7.95595658e-01 -3.89291569e-02 1.38485611e+02] [ 7.94176225e-01 6.05824110e-01 -4.75528292e-02 1.38017688e+02] [ 6.14170463e-02 -2.16731429e-03 9.98109838e-01 1.04106356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:138.51, Y:138.04, Z:10.41 [[ 6.03233628e-01 -7.96417480e-01 -4.27596545e-02 1.38507289e+02] [ 7.95374784e-01 6.04682316e-01 -4.16923280e-02 1.38041087e+02] [ 5.90605057e-02 -8.85973669e-03 9.98215088e-01 1.04134014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:138.07, Z:10.40 [[ 6.01377868e-01 -7.98688391e-01 -2.10122213e-02 1.38512264e+02] [ 7.96953243e-01 6.01521348e-01 -5.51143890e-02 1.38074686e+02] [ 5.66585224e-02 1.63988159e-02 9.98258930e-01 1.04038316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.54, Y:138.09, Z:10.41 [[ 6.00648444e-01 -7.98626253e-01 -3.76504257e-02 1.38539230e+02] [ 7.97476661e-01 6.01812829e-01 -4.30382933e-02 1.38088877e+02] [ 5.70300201e-02 -4.17445190e-03 9.98363737e-01 1.04127541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:138.11, Z:10.41 [[ 5.99651187e-01 -7.99461384e-01 -3.57763823e-02 1.38553042e+02] [ 7.98159929e-01 6.00716280e-01 -4.56144498e-02 1.38114899e+02] [ 5.79584464e-02 -1.20251582e-03 9.98318272e-01 1.04143580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:138.13, Z:10.43 [[ 5.99235982e-01 -7.98782269e-01 -5.35081781e-02 1.38577905e+02] [ 7.98299785e-01 6.01231322e-01 -3.51902005e-02 1.38128101e+02] [ 6.02801008e-02 -2.16283327e-02 9.97947155e-01 1.04270965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.732755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.59, Y:138.16, Z:10.42 [[ 5.98559529e-01 -8.00205643e-01 -3.73820816e-02 1.38585837e+02] [ 7.98813152e-01 5.99723576e-01 -4.72142051e-02 1.38157157e+02] [ 6.01999890e-02 -1.60078605e-03 9.98185052e-01 1.04222838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:138.18, Z:10.43 [[ 5.97724858e-01 -8.00864457e-01 -3.66212638e-02 1.38602667e+02] [ 7.99528103e-01 5.98843466e-01 -4.62743495e-02 1.38179996e+02] [ 5.89898863e-02 -1.62040069e-03 9.98257265e-01 1.04259539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:138.21, Z:10.43 [[ 5.97216475e-01 -8.01478593e-01 -3.10571603e-02 1.38615402e+02] [ 7.99727372e-01 5.97981698e-01 -5.34230232e-02 1.38205783e+02] [ 6.13890229e-02 7.06784844e-03 9.98088891e-01 1.04267177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:138.22, Z:10.43 [[ 5.96920658e-01 -8.01158568e-01 -4.27863998e-02 1.38640681e+02] [ 8.00225402e-01 5.98362607e-01 -4.00187041e-02 1.38221567e+02] [ 5.76631095e-02 -1.03507728e-02 9.98282439e-01 1.04319849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:138.25, Z:10.43 [[ 5.96653751e-01 -8.01728144e-01 -3.51608218e-02 1.38652131e+02] [ 8.00493885e-01 5.97686737e-01 -4.44983590e-02 1.38246825e+02] [ 5.66907436e-02 -1.59591006e-03 9.98390511e-01 1.04307620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.882755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.66, Y:138.28, Z:10.42 [[ 5.96592357e-01 -8.02405854e-01 -1.49132316e-02 1.38660949e+02] [ 8.00779240e-01 5.96409171e-01 -5.52151095e-02 1.38280244e+02] [ 5.31993152e-02 2.09987060e-02 9.98363104e-01 1.04174882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.912755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:138.70, Y:138.28, Z:10.44 [[ 5.96585250e-01 -8.00801452e-01 -5.29440580e-02 1.38696244e+02] [ 8.00586149e-01 5.98441112e-01 -3.04967870e-02 1.38283965e+02] [ 5.61057722e-02 -2.41923462e-02 9.98131691e-01 1.04365661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:138.31, Z:10.43 [[ 5.97141084e-01 -8.01363578e-01 -3.51985857e-02 1.38702561e+02] [ 8.00122084e-01 5.98175644e-01 -4.46155844e-02 1.38313863e+02] [ 5.68082410e-02 -1.52136726e-03 9.98383949e-01 1.04346417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.72, Y:138.34, Z:10.44 [[ 5.97267893e-01 -8.01279595e-01 -3.49581870e-02 1.38719933e+02] [ 8.00053746e-01 5.98288214e-01 -4.43307596e-02 1.38335828e+02] [ 5.64364044e-02 -1.49108905e-03 9.98405083e-01 1.04359603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.74, Y:138.36, Z:10.44 [[ 5.97912356e-01 -8.00791750e-01 -3.51196297e-02 1.38737638e+02] [ 7.99552055e-01 5.98941162e-01 -4.45645004e-02 1.38357848e+02] [ 5.67214761e-02 -1.43430669e-03 9.98389011e-01 1.04371965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:138.39, Z:10.43 [[ 5.98854567e-01 -8.00680837e-01 -1.68346537e-02 1.38747519e+02] [ 7.99050857e-01 5.98782652e-01 -5.45624683e-02 1.38388386e+02] [ 5.37674213e-02 1.92232388e-02 9.98368435e-01 1.04261363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:138.39, Z:10.45 [[ 5.98708781e-01 -7.99327606e-01 -5.12169300e-02 1.38781785e+02] [ 7.98998451e-01 6.00495353e-01 -3.17302222e-02 1.38393954e+02] [ 5.61183710e-02 -2.19250851e-02 9.98183359e-01 1.04458270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:138.42, Z:10.44 [[ 5.99461976e-01 -7.99638078e-01 -3.49897793e-02 1.38789388e+02] [ 7.98401188e-01 6.00480910e-01 -4.44771841e-02 1.38423051e+02] [ 5.65763445e-02 -1.27350072e-03 9.98397464e-01 1.04415235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:138.45, Z:10.44 [[ 6.00173690e-01 -7.99560025e-01 -2.22555163e-02 1.38802227e+02] [ 7.97822858e-01 6.00395338e-01 -5.48099111e-02 1.38453303e+02] [ 5.71859221e-02 1.51395070e-02 9.98248749e-01 1.04355454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:138.46, Z:10.45 [[ 6.01307849e-01 -7.97571827e-01 -4.80421860e-02 1.38832633e+02] [ 7.97048998e-01 6.02959158e-01 -3.39580554e-02 1.38459215e+02] [ 5.60514643e-02 -1.78727309e-02 9.98267899e-01 1.04483947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:138.49, Z:10.44 [[ 6.01314095e-01 -7.98432704e-01 -3.04397307e-02 1.38840475e+02] [ 7.96881077e-01 6.02055471e-01 -5.00974922e-02 1.38490370e+02] [ 5.83258825e-02 5.86748279e-03 9.98280353e-01 1.04442609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:138.51, Z:10.45 [[ 6.01856808e-01 -7.97587159e-01 -4.02878102e-02 1.38863924e+02] [ 7.96632110e-01 6.03149217e-01 -3.98535226e-02 1.38505633e+02] [ 5.60862190e-02 -8.10844937e-03 9.98393003e-01 1.04481940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.88, Y:138.53, Z:10.45 [[ 6.01759514e-01 -7.97934435e-01 -3.44401702e-02 1.38878045e+02] [ 7.96726798e-01 6.02743385e-01 -4.38955799e-02 1.38529622e+02] [ 5.57843795e-02 -1.02482365e-03 9.98442313e-01 1.04476207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.90, Y:138.55, Z:10.45 [[ 6.02877575e-01 -7.97113808e-01 -3.38852116e-02 1.38895515e+02] [ 7.95888694e-01 6.03829004e-01 -4.41782927e-02 1.38549207e+02] [ 5.56760007e-02 -3.34754888e-04 9.98448832e-01 1.04487344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:138.57, Z:10.45 [[ 6.01474670e-01 -7.98158594e-01 -3.42210472e-02 1.38914434e+02] [ 7.96979751e-01 6.02446232e-01 -4.33798815e-02 1.38572433e+02] [ 5.52403661e-02 -1.18158178e-03 9.98472386e-01 1.04506521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:138.59, Z:10.45 [[ 6.00994459e-01 -7.98530806e-01 -3.39736989e-02 1.38932730e+02] [ 7.97354509e-01 6.01953043e-01 -4.33396044e-02 1.38592454e+02] [ 5.50585807e-02 -1.04221992e-03 9.98482582e-01 1.04522477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:138.61, Z:10.45 [[ 6.00452390e-01 -7.98935730e-01 -3.40386004e-02 1.38949535e+02] [ 7.97754171e-01 6.01415466e-01 -4.34479063e-02 1.38613149e+02] [ 5.51834255e-02 -1.06603619e-03 9.98475665e-01 1.04540512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:138.64, Z:10.45 [[ 6.00810551e-01 -7.98836129e-01 -2.97912902e-02 1.38964389e+02] [ 7.97456296e-01 6.01531314e-01 -4.71543665e-02 1.38637850e+02] [ 5.55890055e-02 4.57358895e-03 9.98443261e-01 1.04541325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:138.66, Z:10.46 [[ 6.00405030e-01 -7.99163997e-01 -2.91668790e-02 1.38980947e+02] [ 7.97669359e-01 6.01079935e-01 -4.92595813e-02 1.38661901e+02] [ 5.68981096e-02 6.31017473e-03 9.98360049e-01 1.04555414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:138.67, Z:10.46 [[ 6.01548246e-01 -7.97673977e-01 -4.30805390e-02 1.39006116e+02] [ 7.97017586e-01 6.02942349e-01 -3.49784464e-02 1.38674235e+02] [ 5.38764778e-02 -1.32947241e-02 9.98459101e-01 1.04614806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:138.70, Z:10.46 [[ 6.02448902e-01 -7.97411875e-01 -3.44908945e-02 1.39018272e+02] [ 7.96437887e-01 6.03424483e-01 -3.95674883e-02 1.38700142e+02] [ 5.23642352e-02 -3.63246524e-03 9.98621446e-01 1.04596655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:138.73, Z:10.46 [[ 6.02294122e-01 -7.97708904e-01 -3.00382380e-02 1.39031262e+02] [ 7.96449379e-01 6.03034581e-01 -4.49186049e-02 1.38725687e+02] [ 5.39460673e-02 3.13027569e-03 9.98538944e-01 1.04595579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:138.74, Z:10.46 [[ 6.02977552e-01 -7.96994130e-01 -3.49059856e-02 1.39051447e+02] [ 7.95851666e-01 6.03983643e-01 -4.27069670e-02 1.38744632e+02] [ 5.51198463e-02 -2.02864436e-03 9.98477685e-01 1.04626275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:138.77, Z:10.46 [[ 6.03494672e-01 -7.96667114e-01 -3.34019414e-02 1.39067251e+02] [ 7.95477347e-01 6.04418247e-01 -4.35244044e-02 1.38766007e+02] [ 5.48632045e-02 -3.03741517e-04 9.98493834e-01 1.04633407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:138.79, Z:10.47 [[ 6.02404307e-01 -7.97452720e-01 -3.43250825e-02 1.39084090e+02] [ 7.96254717e-01 6.03380606e-01 -4.37066405e-02 1.38790150e+02] [ 5.55650684e-02 -1.00244035e-03 9.98454565e-01 1.04655445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.09, Y:138.82, Z:10.46 [[ 6.01477261e-01 -7.98759639e-01 -1.44271515e-02 1.39088016e+02] [ 7.96750490e-01 6.01089437e-01 -6.22908083e-02 1.38822826e+02] [ 5.84273920e-02 2.59716648e-02 9.97953763e-01 1.04585528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.13, Y:138.82, Z:10.47 [[ 6.02140771e-01 -7.96537005e-01 -5.43625827e-02 1.39128881e+02] [ 7.96437578e-01 6.04033163e-01 -2.88291840e-02 1.38824851e+02] [ 5.58003147e-02 -2.59371766e-02 9.98104998e-01 1.04749529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:138.87, Z:10.46 [[ 6.00441332e-01 -7.99487425e-01 -1.70312585e-02 1.39120909e+02] [ 7.97520659e-01 6.00252580e-01 -6.04784163e-02 1.38865323e+02] [ 5.85747902e-02 2.27309604e-02 9.98024197e-01 1.04614649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:138.88, Z:10.47 [[ 5.99993647e-01 -7.99320924e-01 -3.30709068e-02 1.39146274e+02] [ 7.97699226e-01 6.00889266e-01 -5.10689131e-02 1.38879693e+02] [ 6.06924037e-02 4.26038662e-03 9.98147425e-01 1.04692618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.18, Y:138.89, Z:10.48 [[ 5.97678801e-01 -7.99680326e-01 -5.73709675e-02 1.39180114e+02] [ 7.99824713e-01 5.99663379e-01 -2.61583618e-02 1.38890580e+02] [ 5.53215955e-02 -3.02524193e-02 9.98010176e-01 1.04802404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.18, Y:138.92, Z:10.47 [[ 5.97136380e-01 -8.01394191e-01 -3.45759124e-02 1.39184265e+02] [ 8.00157897e-01 5.98135576e-01 -4.45103642e-02 1.38922994e+02] [ 5.63514306e-02 -1.08743157e-03 9.98410403e-01 1.04730318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:138.95, Z:10.47 [[ 5.96851562e-01 -8.01607013e-01 -3.45602361e-02 1.39201581e+02] [ 8.00370370e-01 5.97850328e-01 -4.45225328e-02 1.38945680e+02] [ 5.63514230e-02 -1.08764573e-03 9.98410404e-01 1.04746308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:138.98, Z:10.47 [[ 5.94042668e-01 -8.04090991e-01 -2.34731368e-02 1.39211819e+02] [ 8.02522574e-01 5.94389250e-01 -5.15648895e-02 1.38975208e+02] [ 5.54150433e-02 1.17940224e-02 9.98393747e-01 1.04710314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:138.98, Z:10.49 [[ 5.94226563e-01 -8.01221586e-01 -7.02763226e-02 1.39257715e+02] [ 8.02312520e-01 5.96628043e-01 -1.81548419e-02 1.38976941e+02] [ 5.64748760e-02 -4.55954842e-02 9.97362341e-01 1.04920271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:139.03, Z:10.46 [[ 5.90937352e-01 -8.06715860e-01 1.60224403e-03 1.39227555e+02] [ 8.04727010e-01 5.89338716e-01 -7.13744921e-02 1.39030089e+02] [ 5.66346704e-02 4.34672224e-02 9.97448302e-01 1.04644233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:139.04, Z:10.47 [[ 5.90128325e-01 -8.06767755e-01 -2.95694119e-02 1.39263209e+02] [ 8.05708437e-01 5.90868401e-01 -4.13333728e-02 1.39036126e+02] [ 5.08180635e-02 5.67669428e-04 9.98707766e-01 1.04731075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:139.05, Z:10.48 [[ 5.90465107e-01 -8.06081222e-01 -3.97997485e-02 1.39285614e+02] [ 8.05486955e-01 5.91675463e-01 -3.33303379e-02 1.39053416e+02] [ 5.04154942e-02 -1.23777767e-02 9.98651625e-01 1.04785761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:139.09, Z:10.47 [[ 5.90232299e-01 -8.06981157e-01 -2.01803309e-02 1.39291689e+02] [ 8.05699004e-01 5.90466914e-01 -4.68821799e-02 1.39085530e+02] [ 4.97488534e-02 1.14121044e-02 9.98696558e-01 1.04718821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.32, Y:139.10, Z:10.48 [[ 5.90606180e-01 -8.05933901e-01 -4.06803175e-02 1.39319956e+02] [ 8.05394369e-01 5.91849543e-01 -3.24658149e-02 1.39098498e+02] [ 5.02419282e-02 -1.35891877e-02 9.98644623e-01 1.04820399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:139.13, Z:10.48 [[ 5.90480986e-01 -8.06742866e-01 -2.23193246e-02 1.39325477e+02] [ 8.05513200e-01 5.90836760e-01 -4.53917066e-02 1.39129973e+02] [ 4.98065129e-02 8.82442907e-03 9.98719901e-01 1.04761491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:139.15, Z:10.48 [[ 5.90177213e-01 -8.06814984e-01 -2.72110030e-02 1.39344650e+02] [ 8.05822596e-01 5.90801724e-01 -4.00408007e-02 1.39150075e+02] [ 4.83818255e-02 1.70392708e-03 9.98827460e-01 1.04778450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:139.17, Z:10.49 [[ 5.90582420e-01 -8.06134957e-01 -3.68624097e-02 1.39366126e+02] [ 8.05327272e-01 5.91679282e-01 -3.69271222e-02 1.39167155e+02] [ 5.15789682e-02 -7.87779469e-03 9.98637847e-01 1.04855370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:139.20, Z:10.48 [[ 5.89219552e-01 -8.07585397e-01 -2.50229048e-02 1.39376393e+02] [ 8.06459717e-01 5.89728459e-01 -4.29309892e-02 1.39196255e+02] [ 4.94271590e-02 5.11581352e-03 9.98764629e-01 1.04796906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:139.20, Z:10.51 [[ 5.91825502e-01 -8.02971928e-01 -7.05596083e-02 1.39421203e+02] [ 8.03828647e-01 5.94434893e-01 -2.25091960e-02 1.39199821e+02] [ 6.00173457e-02 -4.33963182e-02 9.97253567e-01 1.05102208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.202755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:139.40, Y:139.25, Z:10.49 [[ 5.90838216e-01 -8.06694299e-01 -1.24302574e-02 1.39404316e+02] [ 8.04612303e-01 5.90304702e-01 -6.43381791e-02 1.39249656e+02] [ 5.92388816e-02 2.80119169e-02 9.97850734e-01 1.04884556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:139.26, Z:10.49 [[ 5.91513654e-01 -8.05712210e-01 -3.06501377e-02 1.39430870e+02] [ 8.04287267e-01 5.92295228e-01 -4.80453503e-02 1.39264950e+02] [ 5.68646557e-02 3.76796525e-03 9.98374786e-01 1.04946999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:139.29, Z:10.50 [[ 5.91470440e-01 -8.05539254e-01 -3.56262342e-02 1.39450230e+02] [ 8.04226143e-01 5.92540651e-01 -4.59987809e-02 1.39286579e+02] [ 5.81638156e-02 -1.44462975e-03 9.98306007e-01 1.04981644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:139.30, Z:10.52 [[ 5.94252316e-01 -8.01396867e-01 -6.80238753e-02 1.39488127e+02] [ 8.01587481e-01 5.97054893e-01 -3.13522858e-02 1.39295465e+02] [ 6.57396112e-02 -3.58959184e-02 9.97190948e-01 1.05210383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:139.34, Z:10.49 [[ 5.93240139e-01 -8.04931111e-01 -1.23306398e-02 1.39467550e+02] [ 8.02760704e-01 5.92649880e-01 -6.58890951e-02 1.39342962e+02] [ 6.03439347e-02 2.91895028e-02 9.97750762e-01 1.04937938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:139.35, Z:10.51 [[ 5.94754434e-01 -8.02771990e-01 -4.27117678e-02 1.39503376e+02] [ 8.01537635e-01 5.96240142e-01 -4.51122288e-02 1.39350480e+02] [ 6.16813043e-02 -7.40439127e-03 9.98068430e-01 1.05051936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:139.37, Z:10.51 [[ 5.94244750e-01 -8.03280868e-01 -4.01624698e-02 1.39518146e+02] [ 8.01580204e-01 5.95599316e-01 -5.22554477e-02 1.39374748e+02] [ 6.58965409e-02 -1.14091532e-03 9.97825809e-01 1.05099774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.53, Y:139.40, Z:10.51 [[ 5.93040344e-01 -8.04531418e-01 -3.21301675e-02 1.39528742e+02] [ 8.02574505e-01 5.93858998e-01 -5.66185052e-02 1.39402019e+02] [ 6.46321554e-02 7.79020451e-03 9.97878749e-01 1.05053016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:139.42, Z:10.52 [[ 5.92964765e-01 -8.03591546e-01 -5.13168125e-02 1.39556274e+02] [ 8.02436529e-01 5.95009989e-01 -4.53732306e-02 1.39415929e+02] [ 6.69955606e-02 -1.42737578e-02 9.97651169e-01 1.05164426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:139.45, Z:10.51 [[ 5.91956747e-01 -8.05412540e-01 -2.99641651e-02 1.39559621e+02] [ 8.03335362e-01 5.92617455e-01 -5.87949686e-02 1.39447302e+02] [ 6.51114923e-02 1.07328049e-02 9.97820275e-01 1.05078239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:139.46, Z:10.53 [[ 5.93041663e-01 -8.02890537e-01 -6.05670762e-02 1.39597252e+02] [ 8.02222971e-01 5.95627645e-01 -4.08168123e-02 1.39456855e+02] [ 6.88468574e-02 -2.43822296e-02 9.97329242e-01 1.05269876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:139.49, Z:10.52 [[ 5.90720683e-01 -8.06345530e-01 -2.92568260e-02 1.39593739e+02] [ 8.03977956e-01 5.91282314e-01 -6.32824719e-02 1.39492014e+02] [ 6.83265821e-02 1.38604218e-02 9.97566723e-01 1.05157412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.62, Y:139.51, Z:10.52 [[ 5.89858545e-01 -8.06270191e-01 -4.46685162e-02 1.39619560e+02] [ 8.04813275e-01 5.91505198e-01 -4.89611517e-02 1.39505163e+02] [ 6.58975767e-02 -7.06966112e-03 9.97801348e-01 1.05221342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:139.53, Z:10.52 [[ 5.89538354e-01 -8.06719749e-01 -4.05928089e-02 1.39633821e+02] [ 8.05031051e-01 5.90931156e-01 -5.22051335e-02 1.39527620e+02] [ 6.61024677e-02 -1.90154318e-03 9.97811028e-01 1.05228770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:139.55, Z:10.52 [[ 5.88950574e-01 -8.07161018e-01 -4.03523569e-02 1.39650098e+02] [ 8.05451667e-01 5.90329262e-01 -5.25259486e-02 1.39548831e+02] [ 6.62180752e-02 -1.56668557e-03 9.97803945e-01 1.05245739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:139.56, Z:10.54 [[ 5.88955924e-01 -8.05587892e-01 -6.44908290e-02 1.39682458e+02] [ 8.05332381e-01 5.91695468e-01 -3.65544696e-02 1.39560728e+02] [ 6.76067694e-02 -3.04075814e-02 9.97248567e-01 1.05373574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:139.59, Z:10.53 [[ 5.89297872e-01 -8.07071443e-01 -3.69283726e-02 1.39683017e+02] [ 8.04979368e-01 5.90435852e-01 -5.82556568e-02 1.39594619e+02] [ 6.88203121e-02 4.60335655e-03 9.97618451e-01 1.05285652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.70, Y:139.62, Z:10.53 [[ 5.87944340e-01 -8.07990965e-01 -3.83673477e-02 1.39702032e+02] [ 8.05905008e-01 5.89185931e-01 -5.81124578e-02 1.39617243e+02] [ 6.95598423e-02 3.24645300e-03 9.97572498e-01 1.05307809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:139.64, Z:10.53 [[ 5.88473814e-01 -8.07538208e-01 -3.97569285e-02 1.39719257e+02] [ 8.05787336e-01 5.89814777e-01 -5.31535350e-02 1.39635745e+02] [ 6.63727343e-02 -7.56166035e-04 9.97794612e-01 1.05322339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.74, Y:139.66, Z:10.54 [[ 5.88122193e-01 -8.07670393e-01 -4.21997862e-02 1.39738793e+02] [ 8.06025008e-01 5.89623041e-01 -5.16561365e-02 1.39657417e+02] [ 6.66030984e-02 -3.63396270e-03 9.97772931e-01 1.05354061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:139.68, Z:10.53 [[ 5.87254584e-01 -8.08561868e-01 -3.68749049e-02 1.39755253e+02] [ 8.06721301e-01 5.88406670e-01 -5.45741032e-02 1.39682208e+02] [ 6.58239789e-02 2.30112101e-03 9.97828597e-01 1.05338361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:139.70, Z:10.54 [[ 5.87515161e-01 -8.07943721e-01 -4.53087218e-02 1.39777097e+02] [ 8.06824439e-01 5.89160908e-01 -4.38605682e-02 1.39697682e+02] [ 6.21309984e-02 -1.07874353e-02 9.98009705e-01 1.05381858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:139.73, Z:10.53 [[ 5.86645527e-01 -8.09529101e-01 -2.25756685e-02 1.39777026e+02] [ 8.07476222e-01 5.86833184e-01 -6.00746647e-02 1.39728666e+02] [ 6.18803407e-02 1.70132179e-02 9.97938562e-01 1.05290075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:139.74, Z:10.54 [[ 5.89089314e-01 -8.06674823e-01 -4.74289950e-02 1.39811546e+02] [ 8.05728101e-01 5.90834296e-01 -4.14374558e-02 1.39740625e+02] [ 6.14492292e-02 -1.38045117e-02 9.98014743e-01 1.05415842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.922755096 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:139.81, Y:139.78, Z:10.53 [[ 5.87082434e-01 -8.09234904e-01 -2.17505545e-02 1.39810147e+02] [ 8.07101071e-01 5.87190261e-01 -6.16073001e-02 1.39776286e+02] [ 6.26264913e-02 1.86136678e-02 9.97863445e-01 1.05308899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:139.78, Z:10.55 [[ 5.90121155e-01 -8.05837957e-01 -4.88078743e-02 1.39845542e+02] [ 8.04917736e-01 5.91948117e-01 -4.12899996e-02 1.39784772e+02] [ 6.21647783e-02 -1.49202214e-02 9.97954371e-01 1.05450378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:139.82, Z:10.53 [[ 5.91121858e-01 -8.06351737e-01 -1.92827609e-02 1.39842668e+02] [ 8.04454686e-01 5.91129385e-01 -5.84697171e-02 1.39818992e+02] [ 5.85457646e-02 1.90506205e-02 9.98102934e-01 1.05297315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:139.84, Z:10.54 [[ 5.90416987e-01 -8.06433280e-01 -3.27589182e-02 1.39866955e+02] [ 8.04776681e-01 5.91309876e-01 -5.18374741e-02 1.39837320e+02] [ 6.11741362e-02 4.24211184e-03 9.98118094e-01 1.05366284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.042755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:139.88, Y:139.86, Z:10.54 [[ 5.90422327e-01 -8.06439464e-01 -3.25094798e-02 1.39884120e+02] [ 8.04789127e-01 5.91300341e-01 -5.17529422e-02 1.39858858e+02] [ 6.09584815e-02 4.39281663e-03 9.98130636e-01 1.05353024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:139.87, Z:10.54 [[ 5.89729057e-01 -8.06203851e-01 -4.74867243e-02 1.39908286e+02] [ 8.05365141e-01 5.91451230e-01 -3.96539066e-02 1.39874509e+02] [ 6.00552137e-02 -1.48590914e-02 9.98084455e-01 1.05448868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:139.91, Z:10.53 [[ 5.89181465e-01 -8.07590495e-01 -2.57447891e-02 1.39912407e+02] [ 8.05908653e-01 5.89648945e-01 -5.31541493e-02 1.39907457e+02] [ 5.81071734e-02 1.05694913e-02 9.98254398e-01 1.05349517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:139.92, Z:10.55 [[ 5.88872897e-01 -8.06781797e-01 -4.82891620e-02 1.39939224e+02] [ 8.05790759e-01 5.90684248e-01 -4.23482311e-02 1.39920021e+02] [ 6.26894293e-02 -1.39732349e-02 9.97935261e-01 1.05498606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:139.95, Z:10.55 [[ 5.86786099e-01 -8.08918703e-01 -3.65048777e-02 1.39947838e+02] [ 8.07390730e-01 5.87920433e-01 -4.96968240e-02 1.39948867e+02] [ 6.16626539e-02 -3.12294373e-04 9.98096999e-01 1.05475249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.94, Y:139.99, Z:10.53 [[ 5.84105249e-01 -8.11676649e-01 -1.44065225e-03 1.39944519e+02] [ 8.09974542e-01 5.82993457e-01 -6.37171101e-02 1.39988343e+02] [ 5.25575813e-02 3.60506068e-02 9.97966961e-01 1.05251910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.97, Y:140.00, Z:10.53 [[ 5.82923640e-01 -8.12137489e-01 -2.51540883e-02 1.39973643e+02] [ 8.10682188e-01 5.83406330e-01 -4.93096807e-02 1.40001364e+02] [ 5.47212946e-02 8.35180725e-03 9.98466738e-01 1.05347074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.02, Y:140.00, Z:10.57 [[ 5.81493348e-01 -8.10154339e-01 -7.42659615e-02 1.40017949e+02] [ 8.11187422e-01 5.84336617e-01 -2.29278202e-02 1.40002191e+02] [ 6.19713937e-02 -4.69112389e-02 9.96974865e-01 1.05670815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.00, Y:140.05, Z:10.54 [[ 5.79752270e-01 -8.14724162e-01 -1.05756953e-02 1.39996972e+02] [ 8.12536075e-01 5.79063198e-01 -6.68650851e-02 1.40053981e+02] [ 6.06005964e-02 3.01720509e-02 9.97705976e-01 1.05414301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:140.07, Z:10.55 [[ 5.77441530e-01 -8.15813348e-01 -3.17783225e-02 1.40025551e+02] [ 8.14276430e-01 5.78307089e-01 -5.01478555e-02 1.40068151e+02] [ 5.92889191e-02 3.08111539e-03 9.98236110e-01 1.05494594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.06, Y:140.08, Z:10.57 [[ 5.74569697e-01 -8.16499461e-01 -5.65534564e-02 1.40056352e+02] [ 8.16014178e-01 5.76819701e-01 -3.74151446e-02 1.40082651e+02] [ 6.31705932e-02 -2.46508139e-02 9.97698258e-01 1.05664435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:140.11, Z:10.57 [[ 5.73048048e-01 -8.17977786e-01 -5.02819722e-02 1.40067302e+02] [ 8.16903863e-01 5.75041537e-01 -4.46688860e-02 1.40107386e+02] [ 6.54523791e-02 -1.54781194e-02 9.97735643e-01 1.05694142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:140.14, Z:10.56 [[ 5.69802574e-01 -8.21047851e-01 -3.47196311e-02 1.40074945e+02] [ 8.19214643e-01 5.70852288e-01 -5.49093322e-02 1.40138561e+02] [ 6.49029701e-02 2.84464868e-03 9.97887525e-01 1.05644051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.09, Y:140.16, Z:10.57 [[ 5.68674471e-01 -8.21594281e-01 -3.99021781e-02 1.40093207e+02] [ 8.19817509e-01 5.70069217e-01 -5.40401567e-02 1.40159438e+02] [ 6.71460871e-02 -1.98124673e-03 9.97741188e-01 1.05692161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:140.17, Z:10.58 [[ 5.70737929e-01 -8.18776802e-01 -6.21511360e-02 1.40128669e+02] [ 8.18240802e-01 5.73443051e-01 -4.05593074e-02 1.40173376e+02] [ 6.88491571e-02 -2.77058602e-02 9.97242287e-01 1.05827056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:140.21, Z:10.57 [[ 5.68216751e-01 -8.22578771e-01 -2.22236238e-02 1.40117966e+02] [ 8.19938109e-01 5.68260772e-01 -6.91461727e-02 1.40211981e+02] [ 6.95069874e-02 2.10680176e-02 9.97358971e-01 1.05696175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:140.23, Z:10.58 [[ 5.68241965e-01 -8.21432116e-01 -4.84803870e-02 1.40150002e+02] [ 8.19770300e-01 5.70225963e-01 -5.30943217e-02 1.40225428e+02] [ 7.12581564e-02 -9.57235966e-03 9.97411974e-01 1.05819137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:140.25, Z:10.58 [[ 5.66465426e-01 -8.23302816e-01 -3.59081390e-02 1.40156265e+02] [ 8.21243145e-01 5.67591352e-01 -5.83074077e-02 1.40252484e+02] [ 6.83858021e-02 3.53981757e-03 9.97652671e-01 1.05772543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:140.27, Z:10.58 [[ 5.66760871e-01 -8.22886957e-01 -4.04866775e-02 1.40174115e+02] [ 8.21139831e-01 5.68198080e-01 -5.36686146e-02 1.40272385e+02] [ 6.71676554e-02 -2.82795282e-03 9.97737695e-01 1.05803752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:140.30, Z:10.58 [[ 5.67362194e-01 -8.22813287e-01 -3.28395417e-02 1.40187389e+02] [ 8.20785177e-01 5.68280353e-01 -5.80442367e-02 1.40299735e+02] [ 6.64216355e-02 5.97789640e-03 9.97773737e-01 1.05784138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:140.32, Z:10.58 [[ 5.68390849e-01 -8.21722901e-01 -4.12712510e-02 1.40207383e+02] [ 8.19991146e-01 5.69876675e-01 -5.34331022e-02 1.40317714e+02] [ 6.74267270e-02 -3.47117412e-03 9.97718190e-01 1.05837694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:140.34, Z:10.59 [[ 5.68086924e-01 -8.21967674e-01 -4.05757161e-02 1.40223315e+02] [ 8.20175110e-01 5.69528976e-01 -5.43096244e-02 1.40340368e+02] [ 6.77498017e-02 -2.42660488e-03 9.97699392e-01 1.05855702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:140.36, Z:10.60 [[ 5.70481863e-01 -8.19515992e-01 -5.42584898e-02 1.40249260e+02] [ 8.18481446e-01 5.72753339e-01 -4.51855652e-02 1.40358347e+02] [ 6.81070244e-02 -1.86320218e-02 9.97504026e-01 1.05950783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:140.39, Z:10.59 [[ 5.70203768e-01 -8.20927336e-01 -3.07566594e-02 1.40249653e+02] [ 8.18717692e-01 5.70952443e-01 -6.09479150e-02 1.40391654e+02] [ 6.75943993e-02 9.57170959e-03 9.97666968e-01 1.05864034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:140.41, Z:10.59 [[ 5.71779094e-01 -8.19223614e-01 -4.40606113e-02 1.40272426e+02] [ 8.17605875e-01 5.73438761e-01 -5.18519172e-02 1.40407685e+02] [ 6.77443774e-02 -6.37637242e-03 9.97682335e-01 1.05932490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:140.43, Z:10.59 [[ 5.73697734e-01 -8.18180825e-01 -3.80926066e-02 1.40283227e+02] [ 8.16237319e-01 5.74959630e-01 -5.63743122e-02 1.40434294e+02] [ 6.80260922e-02 1.24920811e-03 9.97682760e-01 1.05918060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:140.45, Z:10.60 [[ 5.74681086e-01 -8.17127092e-01 -4.52212867e-02 1.40303628e+02] [ 8.15504445e-01 5.76414752e-01 -5.19474219e-02 1.40454375e+02] [ 6.85138625e-02 -7.02495946e-03 9.97625431e-01 1.05973111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.32, Y:140.48, Z:10.60 [[ 5.74493390e-01 -8.17367794e-01 -4.32114986e-02 1.40318382e+02] [ 8.15692754e-01 5.76093989e-01 -5.25456694e-02 1.40478837e+02] [ 6.78430225e-02 -5.06016655e-03 9.97683176e-01 1.05981623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:140.50, Z:10.60 [[ 5.76511930e-01 -8.16235695e-01 -3.73267229e-02 1.40330153e+02] [ 8.14157861e-01 5.77710086e-01 -5.82926548e-02 1.40503777e+02] [ 6.91445699e-02 3.21656612e-03 9.97601465e-01 1.05981605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.35, Y:140.53, Z:10.60 [[ 5.76183529e-01 -8.16322263e-01 -4.03795022e-02 1.40348794e+02] [ 8.14316421e-01 5.77596709e-01 -5.71909895e-02 1.40526748e+02] [ 7.00093455e-02 7.08144472e-05 9.97546333e-01 1.06015273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.37, Y:140.55, Z:10.61 [[ 5.76721823e-01 -8.15749163e-01 -4.41049066e-02 1.40367274e+02] [ 8.13884386e-01 5.78391864e-01 -5.52725827e-02 1.40548358e+02] [ 7.05984822e-02 -4.01939018e-03 9.97496716e-01 1.06055695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.38, Y:140.57, Z:10.61 [[ 5.75582443e-01 -8.16655889e-01 -4.21664624e-02 1.40382441e+02] [ 8.14871951e-01 5.77115748e-01 -5.40473619e-02 1.40571042e+02] [ 6.84730258e-02 -3.25155490e-03 9.97647669e-01 1.06058788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:140.60, Z:10.61 [[ 5.74633890e-01 -8.17405308e-01 -4.05518741e-02 1.40398228e+02] [ 8.15425807e-01 5.76062848e-01 -5.68537448e-02 1.40596292e+02] [ 6.98329809e-02 -3.96956105e-04 9.97558618e-01 1.06081470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.41, Y:140.62, Z:10.61 [[ 5.74043634e-01 -8.17725240e-01 -4.24186150e-02 1.40414603e+02] [ 8.15972866e-01 5.75596075e-01 -5.36417735e-02 1.40615657e+02] [ 6.82802204e-02 -3.81972027e-03 9.97658870e-01 1.06105942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:140.64, Z:10.61 [[ 5.72563260e-01 -8.18940245e-01 -3.88354031e-02 1.40428587e+02] [ 8.16916984e-01 5.73877497e-01 -5.75435533e-02 1.40641261e+02] [ 6.94114956e-02 1.22202412e-03 9.97587365e-01 1.06117919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:140.66, Z:10.61 [[ 5.71151061e-01 -8.19764455e-01 -4.21034864e-02 1.40445026e+02] [ 8.17955180e-01 5.72691367e-01 -5.45336799e-02 1.40661833e+02] [ 6.88170756e-02 -3.29179567e-03 9.97623864e-01 1.06140239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.45, Y:140.69, Z:10.61 [[ 5.68604680e-01 -8.22217837e-01 -2.54272927e-02 1.40450340e+02] [ 8.19823662e-01 5.68949690e-01 -6.46947690e-02 1.40693330e+02] [ 6.76600433e-02 1.59398522e-02 9.97581094e-01 1.06074316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:140.69, Z:10.63 [[ 5.70781215e-01 -8.18695399e-01 -6.28223452e-02 1.40488831e+02] [ 8.18284247e-01 5.73488283e-01 -3.90138478e-02 1.40694993e+02] [ 6.79683366e-02 -2.91381640e-02 9.97261888e-01 1.06255839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:140.74, Z:10.61 [[ 5.66221670e-01 -8.24000711e-01 -2.03923790e-02 1.40478473e+02] [ 8.21083592e-01 5.66039310e-01 -7.36290311e-02 1.40740850e+02] [ 7.22132621e-02 2.49465051e-02 9.97077187e-01 1.06116111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:140.75, Z:10.62 [[ 5.65762011e-01 -8.23608535e-01 -3.97785003e-02 1.40506735e+02] [ 8.21518252e-01 5.67158472e-01 -5.86432380e-02 1.40754425e+02] [ 7.08597847e-02 4.99352223e-04 9.97486161e-01 1.06185733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:140.78, Z:10.62 [[ 5.65108340e-01 -8.23955971e-01 -4.18225127e-02 1.40524729e+02] [ 8.21894536e-01 5.66651978e-01 -5.82658374e-02 1.40777574e+02] [ 7.17072941e-02 -1.44718403e-03 9.97424669e-01 1.06210618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.54, Y:140.80, Z:10.62 [[ 5.65082056e-01 -8.23960425e-01 -4.20890501e-02 1.40541939e+02] [ 8.21872656e-01 5.66645475e-01 -5.86365367e-02 1.40800490e+02] [ 7.21637555e-02 -1.45738468e-03 9.97391733e-01 1.06235122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.56, Y:140.82, Z:10.63 [[ 5.65803799e-01 -8.23423673e-01 -4.28895794e-02 1.40557037e+02] [ 8.21310458e-01 5.67424025e-01 -5.89839578e-02 1.40822036e+02] [ 7.29053650e-02 -1.85231267e-03 9.97337143e-01 1.06252405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.58, Y:140.84, Z:10.63 [[ 5.66604048e-01 -8.22702312e-01 -4.60516991e-02 1.40575467e+02] [ 8.20587601e-01 5.68456173e-01 -5.91064089e-02 1.40844330e+02] [ 7.48053519e-02 -4.29952272e-03 9.97188886e-01 1.06294248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.58, Y:140.87, Z:10.63 [[ 5.66388900e-01 -8.23383291e-01 -3.52642928e-02 1.40583778e+02] [ 8.20571084e-01 5.67397754e-01 -6.87232496e-02 1.40871245e+02] [ 7.65944560e-02 9.98722684e-03 9.97012309e-01 1.06285212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:140.88, Z:10.65 [[ 5.69210845e-01 -8.19114477e-01 -7.10667831e-02 1.40624267e+02] [ 8.18588962e-01 5.72678416e-01 -4.41762735e-02 1.40878177e+02] [ 7.68838379e-02 -3.30288703e-02 9.96492835e-01 1.06458760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.422755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.62, Y:140.92, Z:10.64 [[ 5.67477793e-01 -8.22687898e-01 -3.39643466e-02 1.40618155e+02] [ 8.19563923e-01 5.68332282e-01 -7.28930276e-02 1.40918045e+02] [ 7.92712463e-02 1.35292213e-02 9.96761270e-01 1.06375935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.65, Y:140.93, Z:10.65 [[ 5.69184545e-01 -8.20127275e-01 -5.84825253e-02 1.40650135e+02] [ 8.18938161e-01 5.71822749e-01 -4.85698730e-02 1.40926877e+02] [ 7.32751160e-02 -2.02483506e-02 9.97106194e-01 1.06467940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:140.96, Z:10.64 [[ 5.69251213e-01 -8.21006079e-01 -4.36127855e-02 1.40658186e+02] [ 8.18908685e-01 5.70914802e-01 -5.86928908e-02 1.40955762e+02] [ 7.30864049e-02 -2.30388951e-03 9.97322951e-01 1.06444387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:140.98, Z:10.65 [[ 5.68546532e-01 -8.21853899e-01 -3.62078737e-02 1.40668904e+02] [ 8.19134987e-01 5.69632893e-01 -6.73516140e-02 1.40981985e+02] [ 7.59783825e-02 8.63339035e-03 9.97072089e-01 1.06461044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:140.99, Z:10.65 [[ 5.69135945e-01 -8.20606961e-01 -5.18506620e-02 1.40694389e+02] [ 8.19117974e-01 5.71337196e-01 -5.11815662e-02 1.40994261e+02] [ 7.16241613e-02 -1.33425402e-02 9.97342447e-01 1.06518316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:141.02, Z:10.65 [[ 5.69101097e-01 -8.21148835e-01 -4.28780971e-02 1.40705932e+02] [ 8.19113161e-01 5.70709816e-01 -5.78267679e-02 1.41020607e+02] [ 7.19553340e-02 -2.21273658e-03 9.97405401e-01 1.06514967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.72, Y:141.04, Z:10.65 [[ 5.68994411e-01 -8.21223245e-01 -4.28689058e-02 1.40722747e+02] [ 8.19186046e-01 5.70602785e-01 -5.78505255e-02 1.41043281e+02] [ 7.19693133e-02 -2.20098376e-03 9.97404418e-01 1.06535032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:141.06, Z:10.66 [[ 5.69149282e-01 -8.21116331e-01 -4.28610148e-02 1.40739068e+02] [ 8.19076982e-01 5.70756759e-01 -5.78758934e-02 1.41064932e+02] [ 7.19860552e-02 -2.16644748e-03 9.97403286e-01 1.06555627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.78, Y:141.08, Z:10.67 [[ 5.70945782e-01 -8.17683332e-01 -7.35858890e-02 1.40775870e+02] [ 8.17325294e-01 5.74567798e-01 -4.30256676e-02 1.41076575e+02] [ 7.74614534e-02 -3.55782850e-02 9.96360331e-01 1.06749319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:141.12, Z:10.65 [[ 5.68363691e-01 -8.22593096e-01 -1.74158673e-02 1.40757782e+02] [ 8.19429144e-01 5.67831593e-01 -7.81227287e-02 1.41121755e+02] [ 7.41524970e-02 3.01310532e-02 9.96791617e-01 1.06517510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:141.13, Z:10.66 [[ 5.67749806e-01 -8.22042840e-01 -4.36546390e-02 1.40790020e+02] [ 8.19921857e-01 5.69421149e-01 -5.90567895e-02 1.41132147e+02] [ 7.34050857e-02 -2.26391188e-03 9.97299638e-01 1.06613348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:141.15, Z:10.66 [[ 5.67179853e-01 -8.22431484e-01 -4.37432065e-02 1.40806309e+02] [ 8.20300137e-01 5.68859543e-01 -5.92157539e-02 1.41153371e+02] [ 7.35846408e-02 -2.29657564e-03 9.97286331e-01 1.06633270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.84, Y:141.17, Z:10.68 [[ 5.69443701e-01 -8.18868366e-01 -7.20310370e-02 1.40844615e+02] [ 8.18246690e-01 5.73040010e-01 -4.57984855e-02 1.41165790e+02] [ 7.87795971e-02 -3.28594985e-02 9.96350354e-01 1.06827318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:141.21, Z:10.66 [[ 5.64892892e-01 -8.24894593e-01 -2.10933850e-02 1.40826964e+02] [ 8.21672151e-01 5.64667729e-01 -7.74934337e-02 1.41207864e+02] [ 7.58346682e-02 2.64436428e-02 9.96769701e-01 1.06608989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:141.22, Z:10.67 [[ 5.64043127e-01 -8.24550179e-01 -4.44111909e-02 1.40857685e+02] [ 8.22353435e-01 5.65783020e-01 -6.02030132e-02 1.41219958e+02] [ 7.47675030e-02 -2.56459952e-03 9.97197695e-01 1.06700427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:141.24, Z:10.67 [[ 5.63067850e-01 -8.25215527e-01 -4.44289395e-02 1.40873525e+02] [ 8.23016086e-01 5.64811836e-01 -6.02670048e-02 1.41241176e+02] [ 7.48272591e-02 -2.63131908e-03 9.97193039e-01 1.06722096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.89, Y:141.26, Z:10.67 [[ 5.61448797e-01 -8.26324949e-01 -4.42981633e-02 1.40890897e+02] [ 8.24139785e-01 5.63186905e-01 -6.01175864e-02 1.41263147e+02] [ 7.46248070e-02 -2.75493223e-03 9.97207876e-01 1.06747152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:141.28, Z:10.68 [[ 5.60632373e-01 -8.26861660e-01 -4.46221566e-02 1.40907309e+02] [ 8.24642999e-01 5.62398274e-01 -6.05979066e-02 1.41284702e+02] [ 7.52015095e-02 -2.82420087e-03 9.97164358e-01 1.06771098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:141.30, Z:10.69 [[ 5.62682589e-01 -8.23890433e-01 -6.77706275e-02 1.40941175e+02] [ 8.22805580e-01 5.66085662e-01 -5.03785671e-02 1.41298947e+02] [ 7.98704000e-02 -2.74149079e-02 9.96428192e-01 1.06926916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:141.33, Z:10.68 [[ 5.61960923e-01 -8.26210370e-01 -3.97032124e-02 1.40941139e+02] [ 8.23353662e-01 5.63329385e-01 -6.89111849e-02 1.41333823e+02] [ 7.93011218e-02 6.03560776e-03 9.96832435e-01 1.06829144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.96, Y:141.35, Z:10.69 [[ 5.62596100e-01 -8.25350745e-01 -4.77679473e-02 1.40962903e+02] [ 8.22924382e-01 5.64608425e-01 -6.33465788e-02 1.41352994e+02] [ 7.92533315e-02 -3.67087031e-03 9.96847749e-01 1.06870366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:141.38, Z:10.68 [[ 5.63614697e-01 -8.25318236e-01 -3.44714702e-02 1.40972093e+02] [ 8.22397183e-01 5.64555511e-01 -7.02847688e-02 1.41381349e+02] [ 7.74683599e-02 1.12642888e-02 9.96931176e-01 1.06810549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:141.40, Z:10.69 [[ 5.64181331e-01 -8.24410731e-01 -4.52368463e-02 1.40994474e+02] [ 8.22031143e-01 5.65988956e-01 -6.26202933e-02 1.41398868e+02] [ 7.72283972e-02 -1.85689604e-03 9.97011698e-01 1.06860848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:141.42, Z:10.69 [[ 5.64258449e-01 -8.24228255e-01 -4.75414168e-02 1.41010136e+02] [ 8.21948171e-01 5.66240470e-01 -6.14242172e-02 1.41419342e+02] [ 7.75474495e-02 -4.41744704e-03 9.96978876e-01 1.06896775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.02, Y:141.45, Z:10.68 [[ 5.66113560e-01 -8.23611290e-01 -3.43493941e-02 1.41021698e+02] [ 8.20774629e-01 5.67048660e-01 -6.91724255e-02 1.41448314e+02] [ 7.64489685e-02 1.09663369e-02 9.97013187e-01 1.06842696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:141.47, Z:10.69 [[ 5.67036044e-01 -8.22602474e-01 -4.23709082e-02 1.41043903e+02] [ 8.20147359e-01 5.68615479e-01 -6.35196540e-02 1.41468625e+02] [ 7.63441788e-02 1.26754483e-03 9.97080719e-01 1.06895710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:141.48, Z:10.70 [[ 5.68014171e-01 -8.20877257e-01 -5.93332243e-02 1.41068674e+02] [ 8.19344017e-01 5.70811601e-01 -5.33806969e-02 1.41482521e+02] [ 7.76870928e-02 -1.82933300e-02 9.96809947e-01 1.07011444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:141.51, Z:10.70 [[ 5.69574979e-01 -8.20652541e-01 -4.59755340e-02 1.41078819e+02] [ 8.18236112e-01 5.71424803e-01 -6.29552157e-02 1.41510032e+02] [ 7.79359181e-02 -1.76112652e-03 9.96956815e-01 1.06991752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:141.53, Z:10.70 [[ 5.69771715e-01 -8.20528913e-01 -4.57438003e-02 1.41095515e+02] [ 8.18133153e-01 5.71602462e-01 -6.26799011e-02 1.41531946e+02] [ 7.75779400e-02 -1.71128485e-03 9.96984822e-01 1.07010411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:141.55, Z:10.70 [[ 5.69746727e-01 -8.20540110e-01 -4.58540510e-02 1.41113616e+02] [ 8.18129493e-01 5.71586443e-01 -6.28734448e-02 1.41553813e+02] [ 7.77997372e-02 -1.69261211e-03 9.96967570e-01 1.07036701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:141.57, Z:10.71 [[ 5.69510369e-01 -8.20717755e-01 -4.56103690e-02 1.41130056e+02] [ 8.18330114e-01 5.71331366e-01 -6.25803022e-02 1.41574631e+02] [ 7.74193996e-02 -1.68420748e-03 9.96997192e-01 1.07052682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:141.60, Z:10.71 [[ 5.68836290e-01 -8.21197744e-01 -4.53821518e-02 1.41146960e+02] [ 8.18833210e-01 5.70641125e-01 -6.22967216e-02 1.41596643e+02] [ 7.70548494e-02 -1.72377702e-03 9.97025365e-01 1.07073975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:141.62, Z:10.71 [[ 5.69392741e-01 -8.20797941e-01 -4.56360161e-02 1.41170253e+02] [ 8.18517800e-01 5.71213117e-01 -6.11897598e-02 1.41619740e+02] [ 7.62923199e-02 -2.51288637e-03 9.97082327e-01 1.07092635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:141.64, Z:10.71 [[ 5.68152580e-01 -8.21996587e-01 -3.90417331e-02 1.41182606e+02] [ 8.19496520e-01 5.69474704e-01 -6.42184898e-02 1.41643091e+02] [ 7.50206588e-02 4.49133623e-03 9.97171865e-01 1.07079616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.20, Y:141.67, Z:10.71 [[ 5.65880784e-01 -8.23304231e-01 -4.41484024e-02 1.41202913e+02] [ 8.20923510e-01 5.67599724e-01 -6.25711188e-02 1.41665483e+02] [ 7.65736879e-02 -8.34667674e-04 9.97063576e-01 1.07127034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:141.68, Z:10.72 [[ 5.64846253e-01 -8.23550290e-01 -5.20925219e-02 1.41221694e+02] [ 8.21790688e-01 5.67122469e-01 -5.50651486e-02 1.41679163e+02] [ 7.48917587e-02 -1.17058065e-02 9.97122961e-01 1.07177886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:141.70, Z:10.72 [[ 5.63862414e-01 -8.24667408e-01 -4.45291336e-02 1.41233915e+02] [ 8.22398942e-01 5.65613927e-01 -6.11626135e-02 1.41704876e+02] [ 7.56251121e-02 -2.13341347e-03 9.97134039e-01 1.07170772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.25, Y:141.73, Z:10.72 [[ 5.62885397e-01 -8.25320539e-01 -4.47888169e-02 1.41251200e+02] [ 8.23024520e-01 5.64660178e-01 -6.15590941e-02 1.41725588e+02] [ 7.60964460e-02 -2.21157948e-03 9.97098009e-01 1.07169901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:141.75, Z:10.72 [[ 5.61126224e-01 -8.26751482e-01 -4.02411208e-02 1.41264834e+02] [ 8.23972904e-01 5.62545577e-01 -6.79052826e-02 1.41753081e+02] [ 7.87782575e-02 4.94584164e-03 9.96879895e-01 1.07194580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:141.77, Z:10.72 [[ 5.62434801e-01 -8.25241180e-01 -5.14207115e-02 1.41288041e+02] [ 8.23269961e-01 5.64695435e-01 -5.78414872e-02 1.41768447e+02] [ 7.67702182e-02 -9.80106179e-03 9.97000638e-01 1.07243528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:141.79, Z:10.72 [[ 5.62218395e-01 -8.25751609e-01 -4.52189926e-02 1.41301139e+02] [ 8.23397770e-01 5.64029711e-01 -6.23425798e-02 1.41794330e+02] [ 7.69843409e-02 -2.18307254e-03 9.97029912e-01 1.07242790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.32, Y:141.82, Z:10.73 [[ 5.62571142e-01 -8.25513895e-01 -4.51721113e-02 1.41317215e+02] [ 8.23161126e-01 5.64377790e-01 -6.23175029e-02 1.41816181e+02] [ 7.69381009e-02 -2.12589716e-03 9.97033605e-01 1.07256672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:141.84, Z:10.73 [[ 5.64049659e-01 -8.24462923e-01 -4.59224525e-02 1.41333760e+02] [ 8.22024282e-01 5.65912473e-01 -6.33967928e-02 1.41837878e+02] [ 7.82563938e-02 -1.99043170e-03 9.96931279e-01 1.07272030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:141.86, Z:10.73 [[ 5.64949462e-01 -8.23828789e-01 -4.62410200e-02 1.41350768e+02] [ 8.21351478e-01 5.66835537e-01 -6.38688000e-02 1.41860730e+02] [ 7.88280095e-02 -1.89748589e-03 9.96886425e-01 1.07290112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:141.88, Z:10.73 [[ 5.66092481e-01 -8.23024358e-01 -4.65854969e-02 1.41366856e+02] [ 8.20503853e-01 5.68003307e-01 -6.43868783e-02 1.41882139e+02] [ 7.94526855e-02 -1.77465196e-03 9.96837059e-01 1.07309513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:141.90, Z:10.73 [[ 5.68684489e-01 -8.21213290e-01 -4.69753547e-02 1.41384035e+02] [ 8.18640608e-01 5.70619362e-01 -6.49699849e-02 1.41903668e+02] [ 8.01592620e-02 -1.50851027e-03 9.96780927e-01 1.07330486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:141.93, Z:10.73 [[ 5.68816072e-01 -8.21849302e-01 -3.18119701e-02 1.41393408e+02] [ 8.18776488e-01 5.69500453e-01 -7.26243474e-02 1.41933893e+02] [ 7.78032006e-02 1.52630028e-02 9.96851896e-01 1.07272419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:141.94, Z:10.74 [[ 5.71567400e-01 -8.18336848e-01 -6.02951948e-02 1.41425276e+02] [ 8.16695032e-01 5.74459785e-01 -5.48195186e-02 1.41941869e+02] [ 7.94979967e-02 -1.79097363e-02 9.96674124e-01 1.07417764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.43, Y:141.97, Z:10.74 [[ 5.72277591e-01 -8.18722465e-01 -4.68175655e-02 1.41433931e+02] [ 8.16148088e-01 5.74188438e-01 -6.48840238e-02 1.41969770e+02] [ 8.00041128e-02 -1.07839369e-03 9.96793950e-01 1.07381722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:141.99, Z:10.74 [[ 5.72858402e-01 -8.18322914e-01 -4.66996677e-02 1.41450674e+02] [ 8.15756711e-01 5.74757878e-01 -6.47639564e-02 1.41991994e+02] [ 7.98388314e-02 -9.94990797e-04 9.96807289e-01 1.07410622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:142.01, Z:10.74 [[ 5.72894391e-01 -8.18317822e-01 -4.63460730e-02 1.41467730e+02] [ 8.15787088e-01 5.74765182e-01 -6.43149528e-02 1.42014700e+02] [ 7.92681812e-02 -9.62852246e-04 9.96852862e-01 1.07428358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:142.04, Z:10.75 [[ 5.72701818e-01 -8.18464922e-01 -4.61280725e-02 1.41485173e+02] [ 8.15955155e-01 5.74555707e-01 -6.40540715e-02 1.42036198e+02] [ 7.89291580e-02 -9.54555378e-04 9.96879771e-01 1.07455136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:142.06, Z:10.75 [[ 5.73169893e-01 -8.18199634e-01 -4.50070331e-02 1.41500800e+02] [ 8.15678501e-01 5.74934217e-01 -6.41812194e-02 1.42056956e+02] [ 7.83891335e-02 7.54733474e-05 9.96922835e-01 1.07471838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:142.08, Z:10.75 [[ 5.71904842e-01 -8.19046634e-01 -4.56887570e-02 1.41519319e+02] [ 8.16677901e-01 5.73724427e-01 -6.22694797e-02 1.42078943e+02] [ 7.72143636e-02 -1.70078123e-03 9.97013064e-01 1.07505026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:142.10, Z:10.75 [[ 5.71178904e-01 -8.19589522e-01 -4.50297003e-02 1.41535638e+02] [ 8.17193464e-01 5.72950231e-01 -6.26328643e-02 1.42101909e+02] [ 7.71330165e-02 -1.02340597e-03 9.97020286e-01 1.07525038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:142.12, Z:10.75 [[ 5.70781662e-01 -8.19859871e-01 -4.51451595e-02 1.41552746e+02] [ 8.17449092e-01 5.72563283e-01 -6.28352506e-02 1.42124428e+02] [ 7.73645612e-02 -1.03866086e-03 9.97002330e-01 1.07546887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.102755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:141.57, Y:142.15, Z:10.75 [[ 5.69079974e-01 -8.21020135e-01 -4.55403197e-02 1.41570032e+02] [ 8.18567229e-01 5.70898013e-01 -6.34283119e-02 1.42146369e+02] [ 7.80747992e-02 -1.18203123e-03 9.96946803e-01 1.07545943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:142.17, Z:10.76 [[ 5.68543460e-01 -8.21415160e-01 -4.51161650e-02 1.41586685e+02] [ 8.19005795e-01 5.70329460e-01 -6.28793735e-02 1.42169313e+02] [ 7.73811487e-02 -1.20074403e-03 9.97000861e-01 1.07582983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:142.19, Z:10.76 [[ 5.67393685e-01 -8.22218017e-01 -4.49659760e-02 1.41601998e+02] [ 8.19823938e-01 5.69171231e-01 -6.27122079e-02 1.42191533e+02] [ 7.71564471e-02 -1.28167279e-03 9.97018174e-01 1.07601295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:142.21, Z:10.76 [[ 5.67259160e-01 -8.22329776e-01 -4.46182168e-02 1.41617096e+02] [ 8.19969628e-01 5.69009796e-01 -6.22708702e-02 1.42213972e+02] [ 7.65953931e-02 -1.26186116e-03 9.97061459e-01 1.07621909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:142.24, Z:10.76 [[ 5.66725409e-01 -8.23101955e-01 -3.64071735e-02 1.41627200e+02] [ 8.19984253e-01 5.67783122e-01 -7.24441270e-02 1.42241919e+02] [ 8.03002812e-02 1.12026186e-02 9.96707764e-01 1.07622077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:142.26, Z:10.77 [[ 5.66877660e-01 -8.21957638e-01 -5.50941090e-02 1.41653909e+02] [ 8.20196682e-01 5.69383194e-01 -5.54993901e-02 1.42255586e+02] [ 7.69878073e-02 -1.37266410e-02 9.96937539e-01 1.07700183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.66, Y:142.28, Z:10.77 [[ 5.66958883e-01 -8.22489174e-01 -4.54882777e-02 1.41663870e+02] [ 8.20027715e-01 5.68779402e-01 -6.35966909e-02 1.42283548e+02] [ 7.81803851e-02 -1.24493961e-03 9.96938452e-01 1.07670631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31275509600002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:141.68, Y:142.31, Z:10.77 [[ 5.66562190e-01 -8.22752338e-01 -4.56713765e-02 1.41679760e+02] [ 8.20268561e-01 5.68398624e-01 -6.38943855e-02 1.42306380e+02] [ 7.85288027e-02 -1.26265134e-03 9.96911046e-01 1.07682433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:142.33, Z:10.77 [[ 5.66588113e-01 -8.22741950e-01 -4.55367299e-02 1.41695187e+02] [ 8.20269434e-01 5.68413725e-01 -6.37486643e-02 1.42328335e+02] [ 7.83324027e-02 -1.23315222e-03 9.96926534e-01 1.07724429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:141.71, Y:142.35, Z:10.77 [[ 5.65788424e-01 -8.23247680e-01 -4.63326711e-02 1.41710153e+02] [ 8.20685843e-01 5.67680867e-01 -6.49090074e-02 1.42350748e+02] [ 7.97383606e-02 -1.29980228e-03 9.96814980e-01 1.07724855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:142.37, Z:10.78 [[ 5.65562747e-01 -8.23411598e-01 -4.61748799e-02 1.41724942e+02] [ 8.20864310e-01 5.67443095e-01 -6.47311227e-02 1.42373490e+02] [ 7.95019739e-02 -1.29379939e-03 9.96833869e-01 1.07752892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.74, Y:142.40, Z:10.78 [[ 5.64680846e-01 -8.24321123e-01 -4.03760783e-02 1.41735755e+02] [ 8.21179652e-01 5.66070488e-01 -7.23061674e-02 1.42400669e+02] [ 8.24592075e-02 7.67389390e-03 9.96564895e-01 1.07757347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:142.42, Z:10.78 [[ 5.64477703e-01 -8.24250638e-01 -4.44500609e-02 1.41752475e+02] [ 8.21231720e-01 5.66215354e-01 -7.05594435e-02 1.42420721e+02] [ 8.33269734e-02 3.32543261e-03 9.96516712e-01 1.07795903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:142.44, Z:10.79 [[ 5.62608001e-01 -8.24721917e-01 -5.74977947e-02 1.41776273e+02] [ 8.22967704e-01 5.65317896e-01 -5.60342310e-02 1.42438154e+02] [ 7.87171907e-02 -1.57935214e-02 9.96771874e-01 1.07851647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.78, Y:142.47, Z:10.78 [[ 5.61937942e-01 -8.26004994e-01 -4.40624513e-02 1.41784025e+02] [ 8.23328889e-01 5.63661802e-01 -6.64448225e-02 1.42467154e+02] [ 7.97200759e-02 1.05997777e-03 9.96816726e-01 1.07813725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:142.49, Z:10.79 [[ 5.60156123e-01 -8.27057155e-01 -4.69210002e-02 1.41801261e+02] [ 8.24760951e-01 5.62102714e-01 -6.17244999e-02 1.42490118e+02] [ 7.74241108e-02 -4.12325225e-03 9.96989722e-01 1.07860778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.84, Y:142.50, Z:10.81 [[ 5.61801652e-01 -8.23603697e-01 -7.78193691e-02 1.41837837e+02] [ 8.23036511e-01 5.65953542e-01 -4.80363410e-02 1.42502749e+02] [ 8.36050556e-02 -3.70612863e-02 9.95809548e-01 1.08079328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.81, Y:142.55, Z:10.78 [[ 5.57913205e-01 -8.29721569e-01 -1.71748052e-02 1.41814326e+02] [ 8.26185499e-01 5.57253241e-01 -8.29840165e-02 1.42549671e+02] [ 7.84243443e-02 3.21083036e-02 9.96402870e-01 1.07790151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:142.56, Z:10.79 [[ 5.57946577e-01 -8.28905379e-01 -4.01433688e-02 1.41841706e+02] [ 8.26135712e-01 5.59369071e-01 -6.78677152e-02 1.42562378e+02] [ 7.87108731e-02 4.70268886e-03 9.96886394e-01 1.07895699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:142.58, Z:10.79 [[ 5.58007619e-01 -8.28512804e-01 -4.68404793e-02 1.41860648e+02] [ 8.26071436e-01 5.59961066e-01 -6.36363658e-02 1.42582232e+02] [ 7.89523886e-02 -3.18400505e-03 9.96873303e-01 1.07937362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:142.61, Z:10.80 [[ 5.56800577e-01 -8.29220553e-01 -4.86455726e-02 1.41876926e+02] [ 8.27071651e-01 5.58880160e-01 -6.00454015e-02 1.42606389e+02] [ 7.69779265e-02 -6.80005979e-03 9.97009608e-01 1.07961136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:142.64, Z:10.79 [[ 5.56332927e-01 -8.30119334e-01 -3.73572811e-02 1.41884881e+02] [ 8.27080119e-01 5.57514838e-01 -7.15239970e-02 1.42635922e+02] [ 8.02006913e-02 8.89369008e-03 9.96739059e-01 1.07947288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.762755096 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:141.91, Y:142.65, Z:10.80 [[ 5.55462226e-01 -8.29785891e-01 -5.40100965e-02 1.41909321e+02] [ 8.27895098e-01 5.57934764e-01 -5.74326203e-02 1.42650479e+02] [ 7.77908884e-02 -1.28130431e-02 9.96887358e-01 1.08002123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:142.68, Z:10.80 [[ 5.55401565e-01 -8.30399657e-01 -4.43340795e-02 1.41917575e+02] [ 8.28042074e-01 5.57164742e-01 -6.25601634e-02 1.42677340e+02] [ 7.66513242e-02 -1.96447042e-03 9.97056024e-01 1.08012263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:142.70, Z:10.80 [[ 5.55478314e-01 -8.30391056e-01 -4.35262736e-02 1.41933356e+02] [ 8.28115150e-01 5.57177781e-01 -6.14672078e-02 1.42700644e+02] [ 7.52936921e-02 -1.90106564e-03 9.97159589e-01 1.08028428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:142.72, Z:10.81 [[ 5.54957285e-01 -8.30747041e-01 -4.33793169e-02 1.41948478e+02] [ 8.28484181e-01 5.56646815e-01 -6.13048616e-02 1.42724199e+02] [ 7.50757910e-02 -1.91749826e-03 9.97175987e-01 1.08051789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:142.75, Z:10.81 [[ 5.54510805e-01 -8.31043868e-01 -4.34034224e-02 1.41963709e+02] [ 8.28776318e-01 5.56203507e-01 -6.13797515e-02 1.42747470e+02] [ 7.51504019e-02 -1.93599323e-03 9.97170331e-01 1.08073577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:142.77, Z:10.81 [[ 5.54204693e-01 -8.31246653e-01 -4.34299347e-02 1.41979153e+02] [ 8.28973881e-01 5.55900378e-01 -6.14579129e-02 1.42771280e+02] [ 7.52294015e-02 -1.94201774e-03 9.97164362e-01 1.08094138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.942755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.99, Y:142.79, Z:10.81 [[ 5.53461494e-01 -8.31701080e-01 -4.42005370e-02 1.41992952e+02] [ 8.29344924e-01 5.55220003e-01 -6.25918920e-02 1.42794852e+02] [ 7.65987665e-02 -2.01528900e-03 9.97059962e-01 1.08101302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97275509600001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.01, Y:142.82, Z:10.81 [[ 5.53257114e-01 -8.31835213e-01 -4.42351037e-02 1.42008136e+02] [ 8.29472376e-01 5.55019041e-01 -6.26852642e-02 1.42818274e+02] [ 7.66951350e-02 -2.01072815e-03 9.97052563e-01 1.08120245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:142.83, Z:10.84 [[ 5.56359560e-01 -8.27088018e-01 -7.99340355e-02 1.42049063e+02] [ 8.26874827e-01 5.60574775e-01 -4.50992446e-02 1.42829073e+02] [ 8.21100488e-02 -4.10040459e-02 9.95779397e-01 1.08361383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:142.87, Z:10.83 [[ 5.56369143e-01 -8.29734673e-01 -4.46514184e-02 1.42044322e+02] [ 8.26834341e-01 5.58155559e-01 -6.93350170e-02 1.42867742e+02] [ 8.24521051e-02 1.65653789e-03 9.96593652e-01 1.08250102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:142.89, Z:10.82 [[ 5.57151793e-01 -8.29596493e-01 -3.67632810e-02 1.42053513e+02] [ 8.26067887e-01 5.58216402e-01 -7.75002845e-02 1.42893146e+02] [ 8.48158306e-02 1.28104566e-02 9.96314291e-01 1.08231602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.08, Y:142.91, Z:10.83 [[ 5.57571983e-01 -8.28064807e-01 -5.84992241e-02 1.42082369e+02] [ 8.26049449e-01 5.60430236e-01 -5.96678932e-02 1.42907390e+02] [ 8.21936165e-02 -1.50541063e-02 9.96502676e-01 1.08316374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:142.94, Z:10.81 [[ 5.55815460e-01 -8.31054083e-01 -2.04520412e-02 1.42071152e+02] [ 8.27684119e-01 5.55520508e-01 -7.95987727e-02 1.42943968e+02] [ 7.75124134e-02 2.73143988e-02 9.96617153e-01 1.08139744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:142.96, Z:10.82 [[ 5.56328024e-01 -8.29769683e-01 -4.45129536e-02 1.42100257e+02] [ 8.27347554e-01 5.58103758e-01 -6.33736591e-02 1.42957481e+02] [ 7.74283877e-02 -1.57114071e-03 9.96996678e-01 1.08234234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18275509600002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:142.12, Y:142.98, Z:10.82 [[ 5.57292235e-01 -8.29096839e-01 -4.49866164e-02 1.42115202e+02] [ 8.26617375e-01 5.59103094e-01 -6.40893538e-02 1.42981206e+02] [ 7.82884371e-02 -1.47021960e-03 9.96929666e-01 1.08236577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:143.00, Z:10.83 [[ 5.58206241e-01 -8.28535930e-01 -4.39773303e-02 1.42130904e+02] [ 8.26161807e-01 5.59934304e-01 -6.26916605e-02 1.43004362e+02] [ 7.65667090e-02 -1.33751446e-03 9.97063564e-01 1.08275432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:143.02, Z:10.84 [[ 5.59759057e-01 -8.26306278e-01 -6.23516832e-02 1.42160151e+02] [ 8.24763526e-01 5.62834713e-01 -5.46096416e-02 1.43021438e+02] [ 8.02179814e-02 -2.08571526e-02 9.96559107e-01 1.08409492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:143.06, Z:10.83 [[ 5.58846380e-01 -8.28803205e-01 -2.78562623e-02 1.42154039e+02] [ 8.25806475e-01 5.59264855e-01 -7.25705758e-02 1.43056789e+02] [ 7.57257544e-02 1.75519218e-02 9.96974192e-01 1.08270320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:143.08, Z:10.83 [[ 5.58471150e-01 -8.28639730e-01 -3.82906334e-02 1.42175498e+02] [ 8.25945134e-01 5.59752181e-01 -6.70233718e-02 1.43075305e+02] [ 7.69714943e-02 5.80465721e-03 9.97016397e-01 1.08329490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33275509600003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:142.20, Y:143.09, Z:10.84 [[ 5.58217811e-01 -8.28262504e-01 -4.87247300e-02 1.42198623e+02] [ 8.26311950e-01 5.60279988e-01 -5.74011935e-02 1.43092571e+02] [ 7.48427474e-02 -8.21945806e-03 9.97161473e-01 1.08366295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:143.12, Z:10.84 [[ 5.58399075e-01 -8.28489301e-01 -4.23786670e-02 1.42210769e+02] [ 8.26271817e-01 5.60003639e-01 -6.05871996e-02 1.43116562e+02] [ 7.39280543e-02 -1.18446194e-03 9.97262874e-01 1.08379725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.23, Y:143.14, Z:10.84 [[ 5.58167912e-01 -8.28653276e-01 -4.22176528e-02 1.42226878e+02] [ 8.26450873e-01 5.59760971e-01 -6.03871579e-02 1.43139426e+02] [ 7.36718106e-02 -1.18464219e-03 9.97281836e-01 1.08395338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:143.16, Z:10.84 [[ 5.58696986e-01 -8.28366949e-01 -4.08151377e-02 1.42243969e+02] [ 8.26115276e-01 5.60185729e-01 -6.10368657e-02 1.43164226e+02] [ 7.34249799e-02 3.83104182e-04 9.97300670e-01 1.08417183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:143.18, Z:10.84 [[ 5.58527301e-01 -8.28379099e-01 -4.28406607e-02 1.42259617e+02] [ 8.26337066e-01 5.60160418e-01 -5.82010351e-02 1.43184616e+02] [ 7.22101634e-02 -2.89395881e-03 9.97385240e-01 1.08439067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:143.21, Z:10.85 [[ 5.58451241e-01 -8.28511969e-01 -4.12326258e-02 1.42275058e+02] [ 8.26401892e-01 5.59970334e-01 -5.91027759e-02 1.43207988e+02] [ 7.20564045e-02 -1.06870145e-03 9.97399986e-01 1.08455041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:143.23, Z:10.85 [[ 5.58216305e-01 -8.28671167e-01 -4.12147231e-02 1.42291203e+02] [ 8.26560602e-01 5.59734721e-01 -5.91152578e-02 1.43231462e+02] [ 7.20564212e-02 -1.06736557e-03 9.97399986e-01 1.08474771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.542755096 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:142.31, Y:143.25, Z:10.85 [[ 5.57698942e-01 -8.28993216e-01 -4.17389413e-02 1.42307908e+02] [ 8.26826747e-01 5.59257573e-01 -5.99040624e-02 1.43253697e+02] [ 7.30028804e-02 -1.10244089e-03 9.97331121e-01 1.08479249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:143.28, Z:10.85 [[ 5.58134244e-01 -8.28745829e-01 -4.08229949e-02 1.42323350e+02] [ 8.26670171e-01 5.59624249e-01 -5.86270311e-02 1.43275345e+02] [ 7.14324453e-02 -1.02539849e-03 9.97444913e-01 1.08511422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:143.29, Z:10.86 [[ 5.59385465e-01 -8.26669894e-01 -6.08669624e-02 1.42353603e+02] [ 8.25483313e-01 5.62238367e-01 -4.96519694e-02 1.43291855e+02] [ 7.52675299e-02 -2.24700718e-02 9.96910174e-01 1.08645401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:143.33, Z:10.85 [[ 5.58392678e-01 -8.28957467e-01 -3.20489571e-02 1.42352936e+02] [ 8.26051813e-01 5.59162541e-01 -7.05383291e-02 1.43326277e+02] [ 7.63938509e-02 1.29139874e-02 9.96994086e-01 1.08547923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:143.34, Z:10.87 [[ 5.58741695e-01 -8.27102755e-01 -6.08995187e-02 1.42387656e+02] [ 8.25797139e-01 5.61633484e-01 -5.12534274e-02 1.43337241e+02] [ 7.65950599e-02 -2.16532214e-02 9.96827134e-01 1.08688204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.38, Y:143.37, Z:10.85 [[ 5.56446867e-01 -8.30437511e-01 -2.72107475e-02 1.42383592e+02] [ 8.27718554e-01 5.56885727e-01 -6.89947999e-02 1.43373094e+02] [ 7.24491468e-02 1.58690997e-02 9.97245854e-01 1.08547306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:143.39, Z:10.86 [[ 5.55139203e-01 -8.31069279e-01 -3.38277989e-02 1.42402459e+02] [ 8.28733462e-01 5.56128148e-01 -6.26285322e-02 1.43391954e+02] [ 7.08612402e-02 6.73332455e-03 9.97463456e-01 1.08567432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:143.41, Z:10.86 [[ 5.53963718e-01 -8.31768000e-01 -3.58635268e-02 1.42420688e+02] [ 8.29632055e-01 5.55113613e-01 -5.96617989e-02 1.43413305e+02] [ 6.95331071e-02 3.29694051e-03 9.97574196e-01 1.08583050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:143.44, Z:10.85 [[ 5.53616869e-01 -8.32307140e-01 -2.78062544e-02 1.42432897e+02] [ 8.30014647e-01 5.54191131e-01 -6.28321288e-02 1.43439763e+02] [ 6.77056090e-02 1.17053279e-02 9.97636675e-01 1.08549721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:143.45, Z:10.87 [[ 5.54540444e-01 -8.30454580e-01 -5.31985586e-02 1.42463917e+02] [ 8.29248773e-01 5.56812019e-01 -4.80296538e-02 1.43451930e+02] [ 6.95080427e-02 -1.74804539e-02 9.97428226e-01 1.08690171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:143.48, Z:10.87 [[ 5.54545460e-01 -8.31213687e-01 -3.95365580e-02 1.42471739e+02] [ 8.29247605e-01 5.55951983e-01 -5.71471958e-02 1.43479621e+02] [ 6.94819592e-02 -1.09487807e-03 9.97582607e-01 1.08663273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:143.50, Z:10.87 [[ 5.55146821e-01 -8.30834740e-01 -3.90594597e-02 1.42488073e+02] [ 8.28912197e-01 5.56518292e-01 -5.64974393e-02 1.43501994e+02] [ 6.86773391e-02 -1.01248871e-03 9.97638410e-01 1.08678841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.50, Y:143.52, Z:10.87 [[ 5.55223136e-01 -8.30781274e-01 -3.91119540e-02 1.42503277e+02] [ 8.28850771e-01 5.56598153e-01 -5.66117953e-02 1.43523682e+02] [ 6.88016607e-02 -9.85794680e-04 9.97629871e-01 1.08697683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:143.55, Z:10.87 [[ 5.55427983e-01 -8.30780311e-01 -3.61086033e-02 1.42517260e+02] [ 8.28604083e-01 5.56589365e-01 -6.01959440e-02 1.43547630e+02] [ 7.01072697e-02 3.51477557e-03 9.97533266e-01 1.08707854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:143.57, Z:10.87 [[ 5.55604211e-01 -8.30344299e-01 -4.28054381e-02 1.42537263e+02] [ 8.28588719e-01 5.57225137e-01 -5.42298957e-02 1.43566368e+02] [ 6.88817508e-02 -5.33774474e-03 9.97610552e-01 1.08745329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:143.59, Z:10.88 [[ 5.55596949e-01 -8.30526478e-01 -3.92147770e-02 1.42550946e+02] [ 8.28579049e-01 5.56978407e-01 -5.68490510e-02 1.43590477e+02] [ 6.90564262e-02 -9.07383346e-04 9.97612343e-01 1.08752368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.58, Y:143.61, Z:10.89 [[ 5.56741566e-01 -8.28543066e-01 -5.96256295e-02 1.42578701e+02] [ 8.27483083e-01 5.59461486e-01 -4.76927043e-02 1.43605416e+02] [ 7.28737028e-02 -2.27866888e-02 9.97080834e-01 1.08889205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:143.64, Z:10.87 [[ 5.55432920e-01 -8.31289798e-01 -2.12495431e-02 1.42572626e+02] [ 8.28662777e-01 5.55447855e-01 -6.92508717e-02 1.43643570e+02] [ 6.93705563e-02 2.08555085e-02 9.97372936e-01 1.08731988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:143.66, Z:10.88 [[ 5.55035708e-01 -8.30905348e-01 -3.91365107e-02 1.42598309e+02] [ 8.28959572e-01 5.56413067e-01 -5.68377187e-02 1.43657641e+02] [ 6.90028304e-02 -8.95621752e-04 9.97616062e-01 1.08807895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:143.68, Z:10.88 [[ 5.54147414e-01 -8.31504267e-01 -3.90038224e-02 1.42614728e+02] [ 8.29570454e-01 5.55517562e-01 -5.66842124e-02 1.43679273e+02] [ 6.88004728e-02 -9.45008919e-04 9.97629992e-01 1.08831769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:143.71, Z:10.88 [[ 5.52928420e-01 -8.32728751e-01 -2.88615607e-02 1.42623947e+02] [ 8.30020559e-01 5.53505634e-01 -6.85374675e-02 1.43707578e+02] [ 7.30481561e-02 1.39406248e-02 9.97230979e-01 1.08825991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:143.72, Z:10.89 [[ 5.52110284e-01 -8.32224414e-01 -5.07617870e-02 1.42653552e+02] [ 8.30871746e-01 5.54242628e-01 -4.96714220e-02 1.43720645e+02] [ 6.94721163e-02 -1.47524317e-02 9.97474807e-01 1.08914690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:143.75, Z:10.89 [[ 5.50945588e-01 -8.33614865e-01 -3.93092375e-02 1.42662904e+02] [ 8.31648399e-01 5.52344927e-01 -5.72365495e-02 1.43747849e+02] [ 6.94254963e-02 -1.15723999e-03 9.97586468e-01 1.08895552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:143.77, Z:10.90 [[ 5.50718078e-01 -8.32836418e-01 -5.56156346e-02 1.42690717e+02] [ 8.31528663e-01 5.53206983e-01 -5.02206751e-02 1.43765074e+02] [ 7.25925646e-02 -1.85885607e-02 9.97188440e-01 1.09012058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:143.80, Z:10.89 [[ 5.47611395e-01 -8.36342669e-01 -2.55480032e-02 1.42686708e+02] [ 8.33800297e-01 5.47991809e-01 -6.69480562e-02 1.43798278e+02] [ 6.99916125e-02 1.53595858e-02 9.97429324e-01 1.08884774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:143.82, Z:10.90 [[ 5.46982303e-01 -8.36210544e-01 -3.95257733e-02 1.42710692e+02] [ 8.34221581e-01 5.48406661e-01 -5.76583657e-02 1.43815384e+02] [ 6.98907308e-02 -1.43514750e-03 9.97553621e-01 1.08952043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:143.84, Z:10.90 [[ 5.46548810e-01 -8.36482907e-01 -3.97585751e-02 1.42726470e+02] [ 8.34468326e-01 5.47991080e-01 -5.80378342e-02 1.43838080e+02] [ 7.03350008e-02 -1.45676239e-03 9.97522363e-01 1.08970032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:143.86, Z:10.90 [[ 5.46748044e-01 -8.36343831e-01 -3.99446268e-02 1.42742442e+02] [ 8.34307126e-01 5.48203402e-01 -5.83493792e-02 1.43860990e+02] [ 7.06979236e-02 -1.42367781e-03 9.97496755e-01 1.08989832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:143.88, Z:10.90 [[ 5.47121998e-01 -8.36076582e-01 -4.04162020e-02 1.42757947e+02] [ 8.33987810e-01 5.48611006e-01 -5.90787320e-02 1.43883849e+02] [ 7.15671175e-02 -1.38334595e-03 9.97434827e-01 1.09008218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:143.91, Z:10.90 [[ 5.48224094e-01 -8.35332053e-01 -4.08742472e-02 1.42773099e+02] [ 8.33190582e-01 5.49744238e-01 -5.97890203e-02 1.43905954e+02] [ 7.24140670e-02 -1.27825626e-03 9.97373836e-01 1.09023095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:143.93, Z:10.90 [[ 5.48505744e-01 -8.35141418e-01 -4.09909956e-02 1.42788772e+02] [ 8.32984916e-01 5.50033886e-01 -5.99904563e-02 1.43928776e+02] [ 7.26469513e-02 -1.23977113e-03 9.97356949e-01 1.09038668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:143.95, Z:10.91 [[ 5.48766679e-01 -8.34959126e-01 -4.12115289e-02 1.42804566e+02] [ 8.32775801e-01 5.50310657e-01 -6.03543411e-02 1.43951894e+02] [ 7.30725514e-02 -1.19951260e-03 9.97325906e-01 1.09061380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:143.97, Z:10.91 [[ 5.49756286e-01 -8.34307210e-01 -4.12250526e-02 1.42820818e+02] [ 8.32117585e-01 5.51298730e-01 -6.04155243e-02 1.43974412e+02] [ 7.31324266e-02 -1.09027694e-03 9.97321643e-01 1.09082116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:144.00, Z:10.91 [[ 5.49830083e-01 -8.34344353e-01 -3.94509824e-02 1.42835243e+02] [ 8.32008356e-01 5.51241579e-01 -6.24084630e-02 1.43998254e+02] [ 7.38171705e-02 1.49050337e-03 9.97270677e-01 1.09099984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.85, Y:144.02, Z:10.91 [[ 5.50015664e-01 -8.33985253e-01 -4.41742744e-02 1.42853614e+02] [ 8.31999063e-01 5.51764123e-01 -5.77400375e-02 1.44017712e+02] [ 7.25281196e-02 -4.99502984e-03 9.97353860e-01 1.09128650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:144.04, Z:10.91 [[ 5.50321277e-01 -8.34001089e-01 -3.98581989e-02 1.42866845e+02] [ 8.31779851e-01 5.51762702e-01 -6.08292672e-02 1.44041830e+02] [ 7.27239426e-02 3.22393202e-04 9.97352056e-01 1.09139950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.88, Y:144.06, Z:10.92 [[ 5.50038478e-01 -8.34142360e-01 -4.07945592e-02 1.42883971e+02] [ 8.31989103e-01 5.51548314e-01 -5.99048436e-02 1.44063645e+02] [ 7.24693379e-02 -9.90659690e-04 9.97370149e-01 1.09163475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.90, Y:144.09, Z:10.92 [[ 5.50017123e-01 -8.34142959e-01 -4.10693179e-02 1.42899897e+02] [ 8.32025362e-01 5.51546285e-01 -5.94179428e-02 1.44085239e+02] [ 7.22146883e-02 -1.48982813e-03 9.97387998e-01 1.09173674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:144.11, Z:10.92 [[ 5.49297131e-01 -8.34656007e-01 -4.02742175e-02 1.42916380e+02] [ 8.32470215e-01 5.50771473e-01 -6.03665918e-02 1.44108414e+02] [ 7.25672286e-02 -3.67890859e-04 9.97363455e-01 1.09209794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.93, Y:144.13, Z:10.92 [[ 5.48846423e-01 -8.34923470e-01 -4.08705774e-02 1.42932411e+02] [ 8.32755592e-01 5.50365097e-01 -6.01363764e-02 1.44130019e+02] [ 7.27030114e-02 -1.02956684e-03 9.97353103e-01 1.09233231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:144.15, Z:10.93 [[ 5.48181077e-01 -8.35363592e-01 -4.08065577e-02 1.42948221e+02] [ 8.33200547e-01 5.49696771e-01 -6.00858448e-02 1.44152551e+02] [ 7.26247602e-02 -1.06212302e-03 9.97358770e-01 1.09253996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:144.18, Z:10.93 [[ 5.46572584e-01 -8.36406240e-01 -4.10245215e-02 1.42964667e+02] [ 8.34219923e-01 5.48108747e-01 -6.04476759e-02 1.44175457e+02] [ 7.30447124e-02 -1.18443074e-03 9.97327964e-01 1.09275246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.98, Y:144.20, Z:10.93 [[ 5.45519947e-01 -8.37084736e-01 -4.11962653e-02 1.42981037e+02] [ 8.34878914e-01 5.47071808e-01 -6.07423738e-02 1.44198399e+02] [ 7.33838292e-02 -1.25771671e-03 9.97302979e-01 1.09293892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.00, Y:144.22, Z:10.93 [[ 5.43075865e-01 -8.38637261e-01 -4.19064384e-02 1.42998474e+02] [ 8.36356005e-01 5.44688339e-01 -6.18324060e-02 1.44220716e+02] [ 7.46809079e-02 -1.46901411e-03 9.97206400e-01 1.09321463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86275509600003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:143.02, Y:144.24, Z:10.93 [[ 5.41279706e-01 -8.39782752e-01 -4.22043787e-02 1.43015080e+02] [ 8.37469099e-01 5.42920180e-01 -6.23152182e-02 1.44243610e+02] [ 7.52448543e-02 -1.61490008e-03 9.97163780e-01 1.09319737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89275509600003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:143.03, Y:144.27, Z:10.93 [[ 5.38499213e-01 -8.41548340e-01 -4.26026893e-02 1.43031514e+02] [ 8.39192898e-01 5.40178628e-01 -6.29470362e-02 1.44265593e+02] [ 7.59860361e-02 -1.85494485e-03 9.97107156e-01 1.09334414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:144.29, Z:10.94 [[ 5.37513671e-01 -8.42182736e-01 -4.25122641e-02 1.43047758e+02] [ 8.39835848e-01 5.39188806e-01 -6.28584205e-02 1.44288447e+02] [ 7.58604135e-02 -1.91606299e-03 9.97116606e-01 1.09382282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:144.31, Z:10.94 [[ 5.36187503e-01 -8.43034458e-01 -4.23776333e-02 1.43063906e+02] [ 8.40701850e-01 5.37855812e-01 -6.27018716e-02 1.44311499e+02] [ 7.56528948e-02 -2.00699474e-03 9.97132194e-01 1.09399791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.982755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:143.08, Y:144.33, Z:10.94 [[ 5.34505661e-01 -8.44095903e-01 -4.24947732e-02 1.43079627e+02] [ 8.41750434e-01 5.36187960e-01 -6.29180390e-02 1.44334710e+02] [ 7.58940447e-02 -2.13994579e-03 9.97113592e-01 1.09402269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:144.36, Z:10.94 [[ 5.33407227e-01 -8.44791845e-01 -4.24672597e-02 1.43095930e+02] [ 8.42448375e-01 5.35090491e-01 -6.29198016e-02 1.44357579e+02] [ 7.58779622e-02 -2.21459705e-03 9.97114653e-01 1.09442715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:143.11, Y:144.38, Z:10.95 [[ 5.32972176e-01 -8.45069986e-01 -4.23955044e-02 1.43111996e+02] [ 8.42732110e-01 5.34651060e-01 -6.28556602e-02 1.44380694e+02] [ 7.57842333e-02 -2.22773492e-03 9.97121751e-01 1.09465325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07275509600004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:143.13, Y:144.40, Z:10.95 [[ 5.32793047e-01 -8.45151150e-01 -4.30244388e-02 1.43128260e+02] [ 8.42779590e-01 5.34521434e-01 -6.33198159e-02 1.44403974e+02] [ 7.65123000e-02 -2.52376121e-03 9.97065443e-01 1.09478813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:144.43, Z:10.95 [[ 5.32895960e-01 -8.45014290e-01 -4.44155991e-02 1.43143780e+02] [ 8.42716764e-01 5.34727450e-01 -6.24100134e-02 1.44426950e+02] [ 7.64875932e-02 -4.17172596e-03 9.97061806e-01 1.09517861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:144.45, Z:10.95 [[ 5.34331749e-01 -8.44237898e-01 -4.18563552e-02 1.43155695e+02] [ 8.41686748e-01 5.35968597e-01 -6.55826341e-02 1.44449209e+02] [ 7.78010371e-02 -1.87055891e-04 9.96968888e-01 1.09530136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16275509600007 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:143.17, Y:144.47, Z:10.96 [[ 5.33024677e-01 -8.44963278e-01 -4.38377962e-02 1.43171498e+02] [ 8.42466829e-01 5.34819318e-01 -6.49456582e-02 1.44474623e+02] [ 7.83219965e-02 -2.31425062e-03 9.96925428e-01 1.09550019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19275509600004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:143.18, Y:144.50, Z:10.96 [[ 5.37334544e-01 -8.42175357e-01 -4.48581853e-02 1.43184534e+02] [ 8.39621564e-01 5.39198283e-01 -6.55808009e-02 1.44495486e+02] [ 7.94179909e-02 -2.42506998e-03 9.96838453e-01 1.09555294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:144.52, Z:10.96 [[ 5.40144736e-01 -8.40595386e-01 -4.05346898e-02 1.43198314e+02] [ 8.37540789e-01 5.41642188e-01 -7.17576955e-02 1.44521114e+02] [ 8.22744858e-02 4.81008538e-03 9.96598100e-01 1.09585492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:144.54, Z:10.96 [[ 5.42739750e-01 -8.38616549e-01 -4.64310923e-02 1.43217388e+02] [ 8.36116083e-01 5.44710015e-01 -6.48143059e-02 1.44543217e+02] [ 7.96458305e-02 -3.64448281e-03 9.96816563e-01 1.09621338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2827550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:143.23, Y:144.56, Z:10.96 [[ 5.42989168e-01 -8.38359878e-01 -4.81194113e-02 1.43231047e+02] [ 8.35883161e-01 5.45092872e-01 -6.45995463e-02 1.44564647e+02] [ 8.03872159e-02 -5.14535171e-03 9.96750431e-01 1.09645277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31275509600005 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:143.24, Y:144.59, Z:10.96 [[ 5.43965204e-01 -8.37928125e-01 -4.44782470e-02 1.43244140e+02] [ 8.35288413e-01 5.45779684e-01 -6.64665528e-02 1.44589389e+02] [ 7.99695176e-02 -9.96672451e-04 9.96796811e-01 1.09646860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.342755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:143.26, Y:144.61, Z:10.97 [[ 5.46176313e-01 -8.36515185e-01 -4.39747651e-02 1.43257879e+02] [ 8.33926958e-01 5.47943220e-01 -6.57575564e-02 1.44612832e+02] [ 7.91028689e-02 -7.56522405e-04 9.96866171e-01 1.09681738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:144.64, Z:10.97 [[ 5.47401594e-01 -8.35723035e-01 -4.38007275e-02 1.43272731e+02] [ 8.33149174e-01 5.49150827e-01 -6.55425316e-02 1.44636614e+02] [ 7.88286092e-02 -6.14453691e-04 9.96887994e-01 1.09726204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:144.66, Z:10.97 [[ 5.47600106e-01 -8.35951556e-01 -3.63196978e-02 1.43284866e+02] [ 8.33357493e-01 5.48771389e-01 -6.60700595e-02 1.44664535e+02] [ 7.51625800e-02 5.91267930e-03 9.97153763e-01 1.09688146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:144.69, Z:10.97 [[ 5.47275485e-01 -8.35904337e-01 -4.18746102e-02 1.43303660e+02] [ 8.33565625e-01 5.48874704e-01 -6.24892610e-02 1.44686186e+02] [ 7.52189585e-02 -7.06395048e-04 9.97166791e-01 1.09727505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:144.71, Z:10.97 [[ 5.47353887e-01 -8.36049513e-01 -3.77483183e-02 1.43315479e+02] [ 8.33336572e-01 5.48626419e-01 -6.75219166e-02 1.44710875e+02] [ 7.71613901e-02 5.50132931e-03 9.97003438e-01 1.09739561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:144.73, Z:10.98 [[ 5.46682459e-01 -8.36185796e-01 -4.39500141e-02 1.43333416e+02] [ 8.33777650e-01 5.48442771e-01 -6.34456974e-02 1.44730510e+02] [ 7.71564585e-02 -1.95988958e-03 9.97017071e-01 1.09786155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:144.75, Z:10.99 [[ 5.45128861e-01 -8.36676162e-01 -5.29860815e-02 1.43353570e+02] [ 8.34633170e-01 5.47572194e-01 -5.96000378e-02 1.44749792e+02] [ 7.88796358e-02 -1.17342405e-02 9.96815083e-01 1.09877633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55275509600006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:143.36, Y:144.78, Z:10.98 [[ 5.43217387e-01 -8.38821494e-01 -3.59634929e-02 1.43359467e+02] [ 8.35983755e-01 5.44353343e-01 -6.93584871e-02 1.44780346e+02] [ 7.77562373e-02 7.61184026e-03 9.96943342e-01 1.09789272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:144.80, Z:10.99 [[ 5.41185406e-01 -8.39133204e-01 -5.45327684e-02 1.43385159e+02] [ 8.37416320e-01 5.43706468e-01 -5.58317384e-02 1.44795730e+02] [ 7.65000844e-02 -1.54513082e-02 9.96949845e-01 1.09914589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.39, Y:144.83, Z:10.99 [[ 5.38743572e-01 -8.41607042e-01 -3.81175837e-02 1.43390438e+02] [ 8.38736735e-01 5.40061687e-01 -6.96711105e-02 1.44826400e+02] [ 7.92215438e-02 5.56424521e-03 9.96841505e-01 1.09875905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.40, Y:144.85, Z:10.98 [[ 5.36998391e-01 -8.42938195e-01 -3.29837400e-02 1.43403742e+02] [ 8.40036927e-01 5.37913425e-01 -7.06194544e-02 1.44852126e+02] [ 7.72702320e-02 1.02149738e-02 9.96957855e-01 1.09846310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.43, Y:144.87, Z:10.99 [[ 5.33236530e-01 -8.44475981e-01 -5.01908393e-02 1.43427700e+02] [ 8.42328992e-01 5.35504355e-01 -6.09668333e-02 1.44867726e+02] [ 7.83624394e-02 -9.76745638e-03 9.96877086e-01 1.09941598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:144.89, Z:11.00 [[ 5.30863048e-01 -8.46133969e-01 -4.73469262e-02 1.43441558e+02] [ 8.43654282e-01 5.32942311e-01 -6.49611086e-02 1.44893492e+02] [ 8.01989809e-02 -5.45898489e-03 9.96763925e-01 1.09972289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.45, Y:144.92, Z:11.00 [[ 5.26772135e-01 -8.48850548e-01 -4.43155180e-02 1.43454147e+02] [ 8.46216176e-01 5.28627991e-01 -6.68627741e-02 1.44917331e+02] [ 8.01829257e-02 -2.27906189e-03 9.96777560e-01 1.09959797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.47, Y:144.94, Z:11.00 [[ 5.24920836e-01 -8.49991086e-01 -4.44214944e-02 1.43469070e+02] [ 8.47344201e-01 5.26791452e-01 -6.70713935e-02 1.44940720e+02] [ 8.04109501e-02 -2.43312364e-03 9.96758827e-01 1.09980929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.48, Y:144.96, Z:11.00 [[ 5.23334410e-01 -8.50975139e-01 -4.42990853e-02 1.43483987e+02] [ 8.48342654e-01 5.25199768e-01 -6.69323889e-02 1.44964129e+02] [ 8.02236682e-02 -2.55278135e-03 9.96773618e-01 1.10004678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.50, Y:144.99, Z:11.00 [[ 5.21883774e-01 -8.51864664e-01 -4.43161381e-02 1.43498341e+02] [ 8.49229570e-01 5.23755179e-01 -6.70048501e-02 1.44987077e+02] [ 8.02898710e-02 -2.66583080e-03 9.96767992e-01 1.10033649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85275509600007 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:143.51, Y:145.01, Z:11.00 [[ 5.19162251e-01 -8.53511919e-01 -4.45865647e-02 1.43513214e+02] [ 8.50846552e-01 5.21065182e-01 -6.74627415e-02 1.45011216e+02] [ 8.08127604e-02 -2.91221612e-03 9.96725046e-01 1.10031365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:145.03, Z:11.01 [[ 5.18362127e-01 -8.54023535e-01 -4.40965633e-02 1.43527308e+02] [ 8.51414833e-01 5.20226088e-01 -6.67652587e-02 1.45034181e+02] [ 7.99592849e-02 -2.93588654e-03 9.96793807e-01 1.10069847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91275509600007 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:143.54, Y:145.06, Z:11.01 [[ 5.17798175e-01 -8.54364612e-01 -4.41152928e-02 1.43542406e+02] [ 8.51752088e-01 5.19665546e-01 -6.68288927e-02 1.45057890e+02] [ 8.00214388e-02 -2.97141410e-03 9.96788714e-01 1.10071712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:145.08, Z:11.01 [[ 5.18347935e-01 -8.54062484e-01 -4.35050770e-02 1.43556131e+02] [ 8.51517249e-01 5.20162561e-01 -6.59491155e-02 1.45080848e+02] [ 7.89543776e-02 -2.86073569e-03 9.96874126e-01 1.10112177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.57, Y:145.11, Z:11.01 [[ 5.19916792e-01 -8.53114837e-01 -4.33774603e-02 1.43570275e+02] [ 8.50577550e-01 5.21716274e-01 -6.58024454e-02 1.45105452e+02] [ 7.87677694e-02 -2.68409761e-03 9.96889379e-01 1.10136328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00275509600004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:143.59, Y:145.13, Z:11.01 [[ 5.20404114e-01 -8.52795052e-01 -4.38196015e-02 1.43585306e+02] [ 8.50200884e-01 5.22239062e-01 -6.65193142e-02 1.45129524e+02] [ 7.96116496e-02 -2.63853917e-03 9.96822463e-01 1.10134079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.60, Y:145.16, Z:11.02 [[ 5.22219672e-01 -8.51975294e-01 -3.77453660e-02 1.43596254e+02] [ 8.48919386e-01 5.23550682e-01 -7.23226016e-02 1.45156342e+02] [ 8.13786819e-02 5.72551232e-03 9.96666809e-01 1.10159851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.62, Y:145.17, Z:11.02 [[ 5.24865263e-01 -8.49723506e-01 -4.98640069e-02 1.43617487e+02] [ 8.47587993e-01 5.27129637e-01 -6.10650452e-02 1.45174466e+02] [ 7.81732001e-02 -1.02132125e-02 9.96887477e-01 1.10217582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.62, Y:145.20, Z:11.02 [[ 5.26737600e-01 -8.49408698e-01 -3.24401660e-02 1.43620888e+02] [ 8.46065579e-01 5.27580901e-01 -7.63637985e-02 1.45204553e+02] [ 8.19788867e-02 1.27771761e-02 9.96552159e-01 1.10187528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:143.65, Y:145.22, Z:11.03 [[ 5.27549602e-01 -8.47716437e-01 -5.53918718e-02 1.43649247e+02] [ 8.45870230e-01 5.30203763e-01 -5.82024375e-02 1.45219176e+02] [ 7.87081419e-02 -1.61496626e-02 9.96766882e-01 1.10268271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.152755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.66, Y:145.25, Z:11.03 [[ 5.31116760e-01 -8.46221502e-01 -4.27101398e-02 1.43656735e+02] [ 8.43719172e-01 5.32829198e-01 -6.50461758e-02 1.45246507e+02] [ 7.78006821e-02 -1.48824963e-03 9.96967822e-01 1.10254124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:145.27, Z:11.03 [[ 5.32659686e-01 -8.45269135e-01 -4.23526629e-02 1.43671371e+02] [ 8.42803001e-01 5.34339168e-01 -6.45349060e-02 1.45269953e+02] [ 7.71800509e-02 -1.31980869e-03 9.97016298e-01 1.10281025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.69, Y:145.29, Z:11.03 [[ 5.35500044e-01 -8.43500502e-01 -4.17924207e-02 1.43685751e+02] [ 8.41090560e-01 5.37127405e-01 -6.37245631e-02 1.45294059e+02] [ 7.61995554e-02 -1.02670424e-03 9.97092059e-01 1.10301347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:145.32, Z:11.03 [[ 5.36832282e-01 -8.42663488e-01 -4.15854154e-02 1.43700010e+02] [ 8.40271599e-01 5.38439849e-01 -6.34520990e-02 1.45316740e+02] [ 7.58600118e-02 -8.79908385e-04 9.97118089e-01 1.10320539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.71, Y:145.34, Z:11.03 [[ 5.37773176e-01 -8.42062635e-01 -4.15996341e-02 1.43714895e+02] [ 8.39664763e-01 5.39379194e-01 -6.35072583e-02 1.45340349e+02] [ 7.59150664e-02 -7.77246857e-04 9.97113985e-01 1.10338327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.73, Y:145.36, Z:11.04 [[ 5.38513857e-01 -8.41591691e-01 -4.15481797e-02 1.43730237e+02] [ 8.39195096e-01 5.40113834e-01 -6.34715488e-02 1.45364263e+02] [ 7.58578747e-02 -6.86720147e-04 9.97118404e-01 1.10356074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:145.39, Z:11.04 [[ 5.39676043e-01 -8.40865471e-01 -4.11707234e-02 1.43746023e+02] [ 8.38506989e-01 5.41243891e-01 -6.29371099e-02 1.45387948e+02] [ 7.52050451e-02 -5.56288913e-04 9.97167936e-01 1.10371709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.76, Y:145.41, Z:11.04 [[ 5.39612145e-01 -8.40897878e-01 -4.13460157e-02 1.43761011e+02] [ 8.38516052e-01 5.41193559e-01 -6.32484104e-02 1.45411061e+02] [ 7.55616514e-02 -5.39687475e-04 9.97140986e-01 1.10390459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:145.43, Z:11.04 [[ 5.38857544e-01 -8.41381996e-01 -4.13386557e-02 1.43776066e+02] [ 8.38999156e-01 5.40440557e-01 -6.32804862e-02 1.45434448e+02] [ 7.55841479e-02 -5.83929866e-04 9.97139256e-01 1.10406410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:145.46, Z:11.04 [[ 5.38000601e-01 -8.42100065e-01 -3.77204845e-02 1.43788935e+02] [ 8.39445916e-01 5.39303742e-01 -6.69479472e-02 1.45459288e+02] [ 7.67196691e-02 4.35372919e-03 9.97043197e-01 1.10416438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:145.48, Z:11.04 [[ 5.36776566e-01 -8.42718895e-01 -4.11798738e-02 1.43805400e+02] [ 8.40181254e-01 5.38353631e-01 -6.53515740e-02 1.45480426e+02] [ 7.72423409e-02 4.80635429e-04 9.97012232e-01 1.10445837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.82, Y:145.50, Z:11.05 [[ 5.34600172e-01 -8.43946984e-01 -4.42283165e-02 1.43822656e+02] [ 8.41615152e-01 5.36414170e-01 -6.27994785e-02 1.45501721e+02] [ 7.67241262e-02 -3.65060929e-03 9.97045677e-01 1.10471114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.84, Y:145.52, Z:11.05 [[ 5.32045076e-01 -8.45469217e-01 -4.59330021e-02 1.43838912e+02] [ 8.43411266e-01 5.33976367e-01 -5.93858323e-02 1.45521719e+02] [ 7.47360307e-02 -7.14447178e-03 9.97177759e-01 1.10484885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:145.55, Z:11.05 [[ 5.29363120e-01 -8.47502155e-01 -3.89202374e-02 1.43850243e+02] [ 8.44971816e-01 5.30789008e-01 -6.54649398e-02 1.45548804e+02] [ 7.61401117e-02 1.76822111e-03 9.97095561e-01 1.10482895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.87, Y:145.57, Z:11.05 [[ 5.27418046e-01 -8.48593362e-01 -4.14669698e-02 1.43867534e+02] [ 8.46196132e-01 5.29043633e-01 -6.37568786e-02 1.45571461e+02] [ 7.60415003e-02 -1.46266114e-03 9.97103581e-01 1.10507480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:145.59, Z:11.05 [[ 5.25613073e-01 -8.49712336e-01 -4.14710042e-02 1.43883308e+02] [ 8.47314867e-01 5.27244137e-01 -6.38054570e-02 1.45594775e+02] [ 7.60816277e-02 -1.60201606e-03 9.97100306e-01 1.10525057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.90, Y:145.62, Z:11.05 [[ 5.22322756e-01 -8.51724644e-01 -4.17620559e-02 1.43899573e+02] [ 8.49296434e-01 5.23986238e-01 -6.42961150e-02 1.45617608e+02] [ 7.66453282e-02 -1.88504117e-03 9.97056638e-01 1.10547714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.92, Y:145.64, Z:11.06 [[ 5.20427399e-01 -8.52892720e-01 -4.15852069e-02 1.43915593e+02] [ 8.50485402e-01 5.22082280e-01 -6.40677363e-02 1.45641154e+02] [ 7.63538055e-02 -2.02500603e-03 9.97078731e-01 1.10566393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.93, Y:145.66, Z:11.06 [[ 5.18621998e-01 -8.53997899e-01 -4.14585531e-02 1.43930386e+02] [ 8.51605383e-01 5.20271980e-01 -6.39166574e-02 1.45663257e+02] [ 7.61544146e-02 -2.15774237e-03 9.97093701e-01 1.10583803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.95, Y:145.69, Z:11.06 [[ 5.16166894e-01 -8.55491639e-01 -4.13012497e-02 1.43946231e+02] [ 8.53118522e-01 5.17811315e-01 -6.37199251e-02 1.45686134e+02] [ 7.58981176e-02 -2.34474523e-03 9.97112821e-01 1.10605710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.96, Y:145.71, Z:11.06 [[ 5.15167013e-01 -8.56099264e-01 -4.11946505e-02 1.43961461e+02] [ 8.53737013e-01 5.16805830e-01 -6.35991138e-02 1.45709263e+02] [ 7.57367901e-02 -2.40523236e-03 9.97124944e-01 1.10626117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:145.73, Z:11.06 [[ 5.14122778e-01 -8.57138147e-01 -3.14954923e-02 1.43969531e+02] [ 8.54085350e-01 5.14976237e-01 -7.30594987e-02 1.45734748e+02] [ 7.88415135e-02 1.06617139e-02 9.96830148e-01 1.10626206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:145.75, Z:11.07 [[ 5.13531086e-01 -8.56530144e-01 -5.13997656e-02 1.43996786e+02] [ 8.54848368e-01 5.15870410e-01 -5.57851968e-02 1.45750476e+02] [ 7.42973208e-02 -1.52915731e-02 9.97118888e-01 1.10703393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:145.78, Z:11.07 [[ 5.13622637e-01 -8.57057657e-01 -4.05457683e-02 1.44005621e+02] [ 8.54760993e-01 5.15214788e-01 -6.27484353e-02 1.45777483e+02] [ 7.46688063e-02 -2.42792441e-03 9.97205432e-01 1.10688366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:145.80, Z:11.07 [[ 5.14636576e-01 -8.56453053e-01 -4.04643394e-02 1.44020642e+02] [ 8.54160432e-01 5.16219741e-01 -6.26668638e-02 1.45801243e+02] [ 7.45597176e-02 -2.31237747e-03 9.97213869e-01 1.10710168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.03, Y:145.83, Z:11.07 [[ 5.15149292e-01 -8.56146132e-01 -4.04352338e-02 1.44034958e+02] [ 8.53852671e-01 5.16728909e-01 -6.26645969e-02 1.45825017e+02] [ 7.45441065e-02 -2.24410962e-03 9.97215193e-01 1.10730602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:145.85, Z:11.08 [[ 5.17415308e-01 -8.54785728e-01 -4.02834825e-02 1.44049088e+02] [ 8.52502181e-01 5.18977156e-01 -6.24719366e-02 1.45849109e+02] [ 7.43063269e-02 -2.01782037e-03 9.97233422e-01 1.10751981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:145.87, Z:11.08 [[ 5.18366023e-01 -8.54206932e-01 -4.03383733e-02 1.44062862e+02] [ 8.51912094e-01 5.19929662e-01 -6.26013697e-02 1.45872243e+02] [ 7.44476407e-02 -1.91432502e-03 9.97223086e-01 1.10770715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99275509600005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:144.08, Y:145.90, Z:11.08 [[ 5.18968162e-01 -8.53832638e-01 -4.05200429e-02 1.44077249e+02] [ 8.51512427e-01 5.20544353e-01 -6.29298260e-02 1.45895902e+02] [ 7.48240188e-02 -1.84474392e-03 9.97195048e-01 1.10766871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:145.92, Z:11.08 [[ 5.21485833e-01 -8.52328960e-01 -3.98480789e-02 1.44091611e+02] [ 8.50077698e-01 5.23003679e-01 -6.19278548e-02 1.45919823e+02] [ 7.36235960e-02 -1.57946428e-03 9.97284850e-01 1.10813082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:145.94, Z:11.08 [[ 5.22018662e-01 -8.52012084e-01 -3.96475078e-02 1.44106276e+02] [ 8.49779418e-01 5.23519956e-01 -6.16587174e-02 1.45943675e+02] [ 7.32902338e-02 -1.50463495e-03 9.97309520e-01 1.10833105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:145.96, Z:11.10 [[ 5.24422224e-01 -8.49570940e-01 -5.66617074e-02 1.44134746e+02] [ 8.48049308e-01 5.27113689e-01 -5.44383188e-02 1.45963073e+02] [ 7.61163752e-02 -1.95032575e-02 9.96908181e-01 1.10955315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:146.00, Z:11.08 [[ 5.22838125e-01 -8.52078580e-01 -2.45436236e-02 1.44127316e+02] [ 8.49336308e-01 5.23175005e-01 -7.01124127e-02 1.45996442e+02] [ 7.25818954e-02 1.58116517e-02 9.97237113e-01 1.10821652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.15, Y:146.01, Z:11.09 [[ 5.22584482e-01 -8.51701367e-01 -3.88618111e-02 1.44150447e+02] [ 8.49545408e-01 5.24025703e-01 -6.05777437e-02 1.46014652e+02] [ 7.19587350e-02 -1.35788438e-03 9.97406686e-01 1.10888507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:146.04, Z:11.09 [[ 5.22041659e-01 -8.52046209e-01 -3.85974620e-02 1.44165302e+02] [ 8.49917369e-01 5.23464777e-01 -6.02087490e-02 1.46037359e+02] [ 7.15050481e-02 -1.37317814e-03 9.97439293e-01 1.10902213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:146.06, Z:11.09 [[ 5.21559880e-01 -8.52344218e-01 -3.85308361e-02 1.44180260e+02] [ 8.50220290e-01 5.22979357e-01 -6.01502329e-02 1.46060380e+02] [ 7.14195351e-02 -1.38775043e-03 9.97445399e-01 1.10919206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.20, Y:146.08, Z:11.09 [[ 5.20865097e-01 -8.52769129e-01 -3.85274456e-02 1.44195551e+02] [ 8.50643566e-01 5.22286118e-01 -6.01891517e-02 1.46084183e+02] [ 7.14498005e-02 -1.42269540e-03 9.97443182e-01 1.10937476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:146.11, Z:11.09 [[ 5.19695358e-01 -8.53474720e-01 -3.86993279e-02 1.44210928e+02] [ 8.51328991e-01 5.21132076e-01 -6.05004848e-02 1.46107373e+02] [ 7.18030953e-02 -1.50403866e-03 9.97417693e-01 1.10949620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:146.13, Z:11.10 [[ 5.19172622e-01 -8.53776915e-01 -3.90482686e-02 1.44226517e+02] [ 8.51589967e-01 5.20636741e-01 -6.10893827e-02 1.46130863e+02] [ 7.24866680e-02 -1.53717873e-03 9.97368197e-01 1.10973686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:146.15, Z:11.10 [[ 5.18916797e-01 -8.53933320e-01 -3.90287315e-02 1.44241720e+02] [ 8.51745876e-01 5.20380174e-01 -6.11018622e-02 1.46154972e+02] [ 7.24866942e-02 -1.53577842e-03 9.97368197e-01 1.10993319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.26, Y:146.18, Z:11.10 [[ 5.17972478e-01 -8.54494029e-01 -3.92996941e-02 1.44257069e+02] [ 8.52274647e-01 5.19458739e-01 -6.15673999e-02 1.46177645e+02] [ 7.30235452e-02 -1.60391415e-03 9.97328927e-01 1.11004266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:146.20, Z:11.10 [[ 5.17864195e-01 -8.54555778e-01 -3.93839808e-02 1.44271851e+02] [ 8.52323651e-01 5.19357187e-01 -6.17454928e-02 1.46200337e+02] [ 7.32193211e-02 -1.59211841e-03 9.97314592e-01 1.11027428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:146.22, Z:11.10 [[ 5.17786515e-01 -8.54599570e-01 -3.94550275e-02 1.44287183e+02] [ 8.52356172e-01 5.19285168e-01 -6.19021006e-02 1.46224269e+02] [ 7.33899191e-02 -1.57766326e-03 9.97302076e-01 1.11045171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:146.25, Z:11.10 [[ 5.17651850e-01 -8.54988400e-01 -3.21153780e-02 1.44297854e+02] [ 8.52129829e-01 5.18567275e-01 -7.04466832e-02 1.46252377e+02] [ 7.68850811e-02 9.10038434e-03 9.96998429e-01 1.11045463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:144.32, Y:146.27, Z:11.11 [[ 5.18927005e-01 -8.53408644e-01 -4.90759727e-02 1.44321414e+02] [ 8.51624617e-01 5.21093655e-01 -5.65412617e-02 1.46266131e+02] [ 7.38259794e-02 -1.24535189e-02 9.97193379e-01 1.11097476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.33, Y:146.29, Z:11.11 [[ 5.20759940e-01 -8.52752921e-01 -4.02683556e-02 1.44331353e+02] [ 8.50401789e-01 5.22312940e-01 -6.32928834e-02 1.46292649e+02] [ 7.50058744e-02 -1.28388343e-03 9.97182265e-01 1.11096449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:146.32, Z:11.11 [[ 5.21475217e-01 -8.52305828e-01 -4.04768285e-02 1.44345927e+02] [ 8.49925478e-01 5.23042379e-01 -6.36659409e-02 1.46315590e+02] [ 7.54339491e-02 -1.20207750e-03 9.97150076e-01 1.11111464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:146.34, Z:11.11 [[ 5.22286698e-01 -8.51797955e-01 -4.07044052e-02 1.44361021e+02] [ 8.49385550e-01 5.23869269e-01 -6.40716485e-02 1.46338986e+02] [ 7.58998862e-02 -1.10996387e-03 9.97114826e-01 1.11129160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.592755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:144.38, Y:146.36, Z:11.11 [[ 5.23697612e-01 -8.50917267e-01 -4.09953214e-02 1.44375859e+02] [ 8.48464039e-01 5.25298842e-01 -6.45747776e-02 1.46361743e+02] [ 7.64825881e-02 -9.65399138e-04 9.97070450e-01 1.11127574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:146.39, Z:11.12 [[ 5.24734590e-01 -8.50294542e-01 -4.06546613e-02 1.44391283e+02] [ 8.47877512e-01 5.26306442e-01 -6.40722567e-02 1.46385440e+02] [ 7.58771003e-02 -8.49243709e-04 9.97116816e-01 1.11168738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:146.41, Z:11.12 [[ 5.26508257e-01 -8.49212785e-01 -4.03323749e-02 1.44406279e+02] [ 8.46827529e-01 5.28050380e-01 -6.36076515e-02 1.46408944e+02] [ 7.53139568e-02 -6.64611651e-04 9.97159649e-01 1.11188868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:146.43, Z:11.12 [[ 5.27209229e-01 -8.48779781e-01 -4.02903454e-02 1.44421113e+02] [ 8.46394844e-01 5.28746205e-01 -6.35863067e-02 1.46432335e+02] [ 7.52741387e-02 -5.78252888e-04 9.97162710e-01 1.11213259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.712755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:144.44, Y:146.46, Z:11.12 [[ 5.27214103e-01 -8.48758673e-01 -4.06694568e-02 1.44435442e+02] [ 8.46324985e-01 5.28780111e-01 -6.42309453e-02 1.46455475e+02] [ 7.60217718e-02 -5.56117156e-04 9.97106003e-01 1.11213510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:146.48, Z:11.13 [[ 5.28329035e-01 -8.48089815e-01 -4.01509236e-02 1.44451013e+02] [ 8.45712425e-01 5.29852321e-01 -6.34587487e-02 1.46478374e+02] [ 7.50927785e-02 -4.29035424e-04 9.97176459e-01 1.11258547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.47, Y:146.50, Z:11.13 [[ 5.28329989e-01 -8.48086493e-01 -4.02084972e-02 1.44465680e+02] [ 8.45698893e-01 5.29857656e-01 -6.35943867e-02 1.46500541e+02] [ 7.52383205e-02 -4.05459963e-04 9.97165498e-01 1.11279769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:146.52, Z:11.13 [[ 5.27536627e-01 -8.48587246e-01 -4.00598635e-02 1.44481309e+02] [ 8.46215263e-01 5.29055274e-01 -6.34054164e-02 1.46523897e+02] [ 7.49989097e-02 -4.50588408e-04 9.97183514e-01 1.11298500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:146.55, Z:11.13 [[ 5.26880876e-01 -8.48987373e-01 -4.02117228e-02 1.44496948e+02] [ 8.46595176e-01 5.28412910e-01 -6.36899029e-02 1.46547683e+02] [ 7.53203168e-02 -4.86058744e-04 9.97159272e-01 1.11319623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:146.57, Z:11.13 [[ 5.26055710e-01 -8.49502178e-01 -4.01427470e-02 1.44512217e+02] [ 8.47116386e-01 5.27584840e-01 -6.36244036e-02 1.46570964e+02] [ 7.52277742e-02 -5.35597992e-04 9.97166232e-01 1.11339877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:146.59, Z:11.14 [[ 5.25672702e-01 -8.49365595e-01 -4.73951150e-02 1.44534215e+02] [ 8.47222779e-01 5.27741746e-01 -6.08458019e-02 1.46591957e+02] [ 7.66927114e-02 -8.16924394e-03 9.97021309e-01 1.11409396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:144.54, Y:146.62, Z:11.13 [[ 5.23129318e-01 -8.51580005e-01 -3.38705161e-02 1.44538738e+02] [ 8.48914871e-01 5.24182674e-01 -6.76466345e-02 1.46619115e+02] [ 7.53608590e-02 6.63475294e-03 9.97134254e-01 1.11344457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.56, Y:146.64, Z:11.14 [[ 5.21673877e-01 -8.52201106e-01 -4.01203240e-02 1.44557350e+02] [ 8.49819798e-01 5.23213627e-01 -6.36695491e-02 1.46639794e+02] [ 7.52507604e-02 -8.80305075e-04 9.97164253e-01 1.11389788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:146.66, Z:11.14 [[ 5.19944165e-01 -8.53352923e-01 -3.80375237e-02 1.44573206e+02] [ 8.50893780e-01 5.21332040e-01 -6.47509024e-02 1.46662915e+02] [ 7.50855517e-02 1.30096158e-03 9.97176247e-01 1.11401796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:146.68, Z:11.14 [[ 5.17461591e-01 -8.54673772e-01 -4.20267161e-02 1.44588484e+02] [ 8.52450023e-01 5.19150931e-01 -6.17354713e-02 1.46683746e+02] [ 7.45818969e-02 -3.87993989e-03 9.97207344e-01 1.11439050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:144.60, Y:146.71, Z:11.14 [[ 5.13951142e-01 -8.56888415e-01 -3.99558166e-02 1.44602644e+02] [ 8.54531944e-01 5.15499764e-01 -6.35228373e-02 1.46707653e+02] [ 7.50291974e-02 -1.49588678e-03 9.97180215e-01 1.11433278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07275509600004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:144.62, Y:146.73, Z:11.15 [[ 5.11700404e-01 -8.58062911e-01 -4.34826070e-02 1.44620666e+02] [ 8.56035188e-01 5.13498869e-01 -5.93520709e-02 1.46730880e+02] [ 7.32560802e-02 -6.85216309e-03 9.97289624e-01 1.11464298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.64, Y:146.75, Z:11.15 [[ 5.10328494e-01 -8.58832214e-01 -4.44078463e-02 1.44636612e+02] [ 8.56998976e-01 5.12176793e-01 -5.68127513e-02 1.46753833e+02] [ 7.15372892e-02 -9.06431300e-03 9.97396739e-01 1.11493928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:144.64, Y:146.78, Z:11.15 [[ 5.07986249e-01 -8.60827955e-01 -3.04171359e-02 1.44642591e+02] [ 8.58111124e-01 5.08818137e-01 -6.89159151e-02 1.46781653e+02] [ 7.48015367e-02 8.90705454e-03 9.97158661e-01 1.11464567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.66, Y:146.80, Z:11.15 [[ 5.06966078e-01 -8.61064586e-01 -3.94103421e-02 1.44662258e+02] [ 8.58770540e-01 5.08491730e-01 -6.28436120e-02 1.46800716e+02] [ 7.41522417e-02 -1.98486129e-03 9.97244958e-01 1.11522972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:146.82, Z:11.15 [[ 5.05745196e-01 -8.61781502e-01 -3.94263928e-02 1.44676501e+02] [ 8.59485255e-01 5.07275412e-01 -6.29027327e-02 1.46823619e+02] [ 7.42084511e-02 -2.07364837e-03 9.97240596e-01 1.11541725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:146.85, Z:11.16 [[ 5.04187032e-01 -8.62690258e-01 -3.95089169e-02 1.44689960e+02] [ 8.60383666e-01 5.05727921e-01 -6.30810335e-02 1.46846383e+02] [ 7.44001556e-02 -2.18818771e-03 9.97226067e-01 1.11561207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.70, Y:146.87, Z:11.15 [[ 5.05028467e-01 -8.62447034e-01 -3.36357191e-02 1.44704924e+02] [ 8.59971808e-01 5.06130594e-01 -6.54240815e-02 1.46873823e+02] [ 7.34488715e-02 4.11525343e-03 9.97290493e-01 1.11540944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.72, Y:146.89, Z:11.16 [[ 5.03759342e-01 -8.62693438e-01 -4.45708236e-02 1.44721556e+02] [ 8.60688965e-01 5.05656650e-01 -5.93789295e-02 1.46891178e+02] [ 7.37633462e-02 -8.44892562e-03 9.97239983e-01 1.11623913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31275509600005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:144.73, Y:146.92, Z:11.15 [[ 5.04892331e-01 -8.62676480e-01 -2.95469940e-02 1.44729621e+02] [ 8.60100462e-01 5.05684832e-01 -6.71568798e-02 1.46922445e+02] [ 7.28761274e-02 8.49361037e-03 9.97304832e-01 1.11543494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.342755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:144.75, Y:146.94, Z:11.17 [[ 5.05588618e-01 -8.61354761e-01 -4.94785192e-02 1.44752822e+02] [ 8.59625525e-01 5.07809539e-01 -5.63331913e-02 1.46937724e+02] [ 7.36485267e-02 -1.40515777e-02 9.97185262e-01 1.11664624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:146.97, Z:11.17 [[ 5.08507578e-01 -8.60210221e-01 -3.81892570e-02 1.44760836e+02] [ 8.58037399e-01 5.09936796e-01 -6.11251636e-02 1.46966171e+02] [ 7.20545978e-02 -1.68520183e-03 9.97399266e-01 1.11672097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.402755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:144.77, Y:146.99, Z:11.17 [[ 5.09362293e-01 -8.59710581e-01 -3.80495770e-02 1.44774499e+02] [ 8.57549112e-01 5.10779013e-01 -6.09452182e-02 1.46989708e+02] [ 7.18301743e-02 -1.58618492e-03 9.97415616e-01 1.11665976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43275509600005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:144.79, Y:147.01, Z:11.17 [[ 5.12109366e-01 -8.58102618e-01 -3.74685840e-02 1.44787897e+02] [ 8.55999252e-01 5.13476548e-01 -6.00592621e-02 1.47014017e+02] [ 7.07762492e-02 -1.31616927e-03 9.97491348e-01 1.11694654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:147.04, Z:11.16 [[ 5.12833108e-01 -8.58175689e-01 -2.31665683e-02 1.44793226e+02] [ 8.55810862e-01 5.13177103e-01 -6.50924672e-02 1.47043442e+02] [ 6.77493253e-02 1.35553715e-02 9.97610285e-01 1.11633294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:147.06, Z:11.18 [[ 5.16593625e-01 -8.54851546e-01 -4.85783951e-02 1.44820963e+02] [ 8.53508486e-01 5.18642282e-01 -5.03333636e-02 1.47057493e+02] [ 6.82223634e-02 -1.54601777e-02 9.97550346e-01 1.11791296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.83, Y:147.09, Z:11.18 [[ 5.17637587e-01 -8.54849111e-01 -3.58375045e-02 1.44828204e+02] [ 8.52910499e-01 5.18876084e-01 -5.75438125e-02 1.47086218e+02] [ 6.77865009e-02 -7.79343642e-04 9.97699545e-01 1.11765394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:147.11, Z:11.18 [[ 5.18328067e-01 -8.54440987e-01 -3.55895187e-02 1.44842447e+02] [ 8.52525479e-01 5.19547985e-01 -5.71856513e-02 1.47110750e+02] [ 6.73522271e-02 -7.00043331e-04 9.97729015e-01 1.11782288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.582755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:144.85, Y:147.14, Z:11.18 [[ 5.19214457e-01 -8.54254892e-01 -2.57861904e-02 1.44850113e+02] [ 8.51693523e-01 5.19691341e-01 -6.73725011e-02 1.47139447e+02] [ 7.09541485e-02 1.30188452e-02 9.97394615e-01 1.11756775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.88, Y:147.15, Z:11.19 [[ 5.19514864e-01 -8.53197567e-01 -4.64566247e-02 1.44876554e+02] [ 8.51910447e-01 5.21395834e-01 -4.89384800e-02 1.47153898e+02] [ 6.59764826e-02 -1.41526161e-02 9.97720806e-01 1.11853729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64275509600003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:144.88, Y:147.18, Z:11.18 [[ 5.18746637e-01 -8.54208829e-01 -3.50600050e-02 1.44883675e+02] [ 8.52342730e-01 5.19929714e-01 -5.64354804e-02 1.47181901e+02] [ 6.64364240e-02 -6.07424677e-04 9.97790475e-01 1.11806083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:147.21, Z:11.18 [[ 5.18186892e-01 -8.54574472e-01 -3.44211709e-02 1.44897664e+02] [ 8.52774021e-01 5.19328495e-01 -5.54471194e-02 1.47205884e+02] [ 6.52595877e-02 -6.21509839e-04 9.97868128e-01 1.11848037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70275509600003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:144.91, Y:147.23, Z:11.18 [[ 5.17274498e-01 -8.55115200e-01 -3.47143916e-02 1.44911665e+02] [ 8.53282481e-01 5.18437595e-01 -5.59595159e-02 1.47229172e+02] [ 6.58490783e-02 -6.74751669e-04 9.97829366e-01 1.11839223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73275509600006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:144.93, Y:147.25, Z:11.19 [[ 5.15164710e-01 -8.56382252e-01 -3.48534135e-02 1.44925192e+02] [ 8.54535820e-01 5.16341707e-01 -5.62118637e-02 1.47253068e+02] [ 6.61351134e-02 -8.25121829e-04 9.97810336e-01 1.11852737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.94, Y:147.28, Z:11.19 [[ 5.14039346e-01 -8.57069135e-01 -3.45839435e-02 1.44939512e+02] [ 8.55250107e-01 5.15200654e-01 -5.58170242e-02 1.47277278e+02] [ 6.56567190e-02 -8.85774761e-04 9.97841877e-01 1.11894350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.95, Y:147.30, Z:11.19 [[ 5.12134696e-01 -8.58203740e-01 -3.47043820e-02 1.44953225e+02] [ 8.56372070e-01 5.13308202e-01 -5.60496815e-02 1.47300192e+02] [ 6.59160902e-02 -1.01487685e-03 9.97824653e-01 1.11902385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:147.32, Z:11.19 [[ 5.12771523e-01 -8.57983600e-01 -3.04878310e-02 1.44963009e+02] [ 8.55793762e-01 5.13648216e-01 -6.15024166e-02 1.47322316e+02] [ 6.84280848e-02 5.44539222e-03 9.97641190e-01 1.11907588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:147.35, Z:11.20 [[ 5.10175718e-01 -8.59152768e-01 -3.97147127e-02 1.44983655e+02] [ 8.57460367e-01 5.11679604e-01 -5.42743299e-02 1.47345036e+02] [ 6.69511492e-02 -6.36434690e-03 9.97735956e-01 1.11953770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.99, Y:147.37, Z:11.19 [[ 5.08649796e-01 -8.60629632e-01 -2.43314836e-02 1.44986490e+02] [ 8.58059518e-01 5.09048925e-01 -6.78458208e-02 1.47372809e+02] [ 7.07760394e-02 1.36319019e-02 9.97399079e-01 1.11921820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:147.39, Z:11.20 [[ 5.05747984e-01 -8.61354360e-01 -4.78293110e-02 1.45014663e+02] [ 8.60220846e-01 5.07714229e-01 -4.73957649e-02 1.47388184e+02] [ 6.51081705e-02 -1.71734578e-02 9.97730424e-01 1.12006983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.02, Y:147.42, Z:11.20 [[ 5.04017957e-01 -8.63103237e-01 -3.19170962e-02 1.45019237e+02] [ 8.61143666e-01 5.05024223e-01 -5.81560118e-02 1.47417780e+02] [ 6.63135488e-02 1.82646899e-03 9.97797162e-01 1.11965914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.04, Y:147.44, Z:11.20 [[ 5.01739536e-01 -8.64423440e-01 -3.20866585e-02 1.45035347e+02] [ 8.62470040e-01 5.02762305e-01 -5.80990129e-02 1.47444273e+02] [ 6.63541110e-02 1.47679017e-03 9.97795045e-01 1.11962137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:147.46, Z:11.20 [[ 4.99072476e-01 -8.65635099e-01 -4.00317134e-02 1.45052701e+02] [ 8.64026710e-01 5.00612033e-01 -5.33426409e-02 1.47463953e+02] [ 6.62156197e-02 -7.96662572e-03 9.97773534e-01 1.12024744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.06, Y:147.49, Z:11.20 [[ 4.97873438e-01 -8.66551349e-01 -3.47965300e-02 1.45064455e+02] [ 8.64710754e-01 4.99084051e-01 -5.64838168e-02 1.47490243e+02] [ 6.63125208e-02 -1.96714156e-03 9.97796963e-01 1.12023432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:147.52, Z:11.20 [[ 4.97086221e-01 -8.67333203e-01 -2.52666555e-02 1.45072174e+02] [ 8.64850453e-01 4.97601471e-01 -6.65317255e-02 1.47518368e+02] [ 7.02778995e-02 1.12201256e-02 9.97464348e-01 1.12017184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.09, Y:147.54, Z:11.21 [[ 4.96386288e-01 -8.67460726e-01 -3.33547960e-02 1.45089209e+02] [ 8.65183757e-01 4.97500155e-01 -6.28542926e-02 1.47537750e+02] [ 7.11176465e-02 2.34198123e-03 9.97465185e-01 1.12062422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:147.56, Z:11.21 [[ 4.94647923e-01 -8.67689776e-01 -4.93749409e-02 1.45113871e+02] [ 8.66659642e-01 4.96714787e-01 -4.66420927e-02 1.47556026e+02] [ 6.49961302e-02 -1.97198544e-02 9.97690649e-01 1.12124304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.12, Y:147.59, Z:11.21 [[ 4.93525462e-01 -8.69071900e-01 -3.38622434e-02 1.45119904e+02] [ 8.67324274e-01 4.94681069e-01 -5.51293354e-02 1.47585771e+02] [ 6.46623670e-02 -2.16181493e-03 9.97904858e-01 1.12095731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.13, Y:147.61, Z:11.21 [[ 4.93105591e-01 -8.69320571e-01 -3.35949558e-02 1.45134627e+02] [ 8.67598610e-01 4.94243955e-01 -5.47317517e-02 1.47609514e+02] [ 6.41835415e-02 -2.15840419e-03 9.97935777e-01 1.12115079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:147.64, Z:11.21 [[ 4.93281830e-01 -8.69558235e-01 -2.32704056e-02 1.45141715e+02] [ 8.67178733e-01 4.93682476e-01 -6.54114492e-02 1.47636144e+02] [ 6.83672558e-02 1.20866785e-02 9.97587004e-01 1.12102891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.16, Y:147.66, Z:11.22 [[ 4.93071853e-01 -8.69272742e-01 -3.52852464e-02 1.45163254e+02] [ 8.67316060e-01 4.94329333e-01 -5.83212052e-02 1.47656199e+02] [ 6.81395663e-02 -1.84691616e-03 9.97674089e-01 1.12162488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:147.68, Z:11.22 [[ 4.93121005e-01 -8.69083091e-01 -3.90673044e-02 1.45181253e+02] [ 8.67446588e-01 4.94611489e-01 -5.38135001e-02 1.47679063e+02] [ 6.60915407e-02 -7.35223264e-03 9.97786477e-01 1.12193462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.19, Y:147.71, Z:11.22 [[ 4.92940821e-01 -8.69341195e-01 -3.54292913e-02 1.45193972e+02] [ 8.67555412e-01 4.94201789e-01 -5.57870870e-02 1.47705499e+02] [ 6.60072320e-02 -3.23714094e-03 9.97813894e-01 1.12198905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.21, Y:147.73, Z:11.22 [[ 4.93473732e-01 -8.68866975e-01 -3.94189697e-02 1.45211037e+02] [ 8.67442849e-01 4.94959481e-01 -5.05768394e-02 1.47729235e+02] [ 6.34553383e-02 -9.23536167e-03 9.97941946e-01 1.12222921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:147.76, Z:11.22 [[ 4.94193905e-01 -8.68879620e-01 -2.86459442e-02 1.45217730e+02] [ 8.66867655e-01 4.95003391e-01 -5.92630767e-02 1.47755912e+02] [ 6.56723191e-02 4.45520882e-03 9.97831297e-01 1.12204916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.22, Y:147.79, Z:11.21 [[ 4.92174055e-01 -8.70468325e-01 -7.04240876e-03 1.45219433e+02] [ 8.68399816e-01 4.91533563e-01 -6.53950716e-02 1.47789308e+02] [ 6.03859187e-02 2.60701311e-02 9.97834600e-01 1.12076497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:147.79, Z:11.24 [[ 4.95419217e-01 -8.66225234e-01 -6.49125877e-02 1.45268226e+02] [ 8.66231479e-01 4.98233296e-01 -3.75047635e-02 1.47791968e+02] [ 6.48291850e-02 -3.76487463e-02 9.97185915e-01 1.12387059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:147.83, Z:11.23 [[ 4.95599463e-01 -8.67869421e-01 -3.44069750e-02 1.45265877e+02] [ 8.66049279e-01 4.96788592e-01 -5.62115702e-02 1.47827547e+02] [ 6.58772956e-02 -1.93971192e-03 9.97825846e-01 1.12304481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:147.85, Z:11.23 [[ 4.96287985e-01 -8.67467870e-01 -3.46082401e-02 1.45279432e+02] [ 8.65622718e-01 4.97489668e-01 -5.65803863e-02 1.47851417e+02] [ 6.62989091e-02 -1.87751294e-03 9.97798041e-01 1.12316983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.29, Y:147.88, Z:11.23 [[ 4.96647944e-01 -8.67264138e-01 -3.45504583e-02 1.45293672e+02] [ 8.65421872e-01 4.97844935e-01 -5.65279135e-02 1.47875371e+02] [ 6.62254029e-02 -1.82625023e-03 9.97803017e-01 1.12331215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:147.90, Z:11.23 [[ 4.96729204e-01 -8.67212015e-01 -3.46903159e-02 1.45307107e+02] [ 8.65351895e-01 4.97935798e-01 -5.67982337e-02 1.47898670e+02] [ 6.65296609e-02 -1.80598914e-03 9.97782813e-01 1.12346596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:147.92, Z:11.24 [[ 4.97135710e-01 -8.66980029e-01 -3.46657733e-02 1.45321212e+02] [ 8.65119051e-01 4.98339805e-01 -5.68019960e-02 1.47922655e+02] [ 6.65215308e-02 -1.75172032e-03 9.97783452e-01 1.12356663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.34, Y:147.95, Z:11.24 [[ 4.97031197e-01 -8.67042743e-01 -3.45958363e-02 1.45336182e+02] [ 8.65186720e-01 4.98230737e-01 -5.67280596e-02 1.47946457e+02] [ 6.64223614e-02 -1.73624275e-03 9.97790086e-01 1.12370890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:147.97, Z:11.24 [[ 4.96571189e-01 -8.67303319e-01 -3.46699720e-02 1.45351199e+02] [ 8.65437204e-01 4.97776933e-01 -5.68908694e-02 1.47970542e+02] [ 6.65995522e-02 -1.75431701e-03 9.97778243e-01 1.12388823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:147.99, Z:11.24 [[ 4.96416609e-01 -8.67394460e-01 -3.46034760e-02 1.45366372e+02] [ 8.65533018e-01 4.97618139e-01 -5.68223777e-02 1.47993684e+02] [ 6.65067329e-02 -1.74287892e-03 9.97784454e-01 1.12407951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:148.02, Z:11.24 [[ 4.96254406e-01 -8.67490638e-01 -3.45189359e-02 1.45381191e+02] [ 8.65635786e-01 4.97450497e-01 -5.67246833e-02 1.48017605e+02] [ 6.63795936e-02 -1.73095217e-03 9.97792941e-01 1.12424142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:148.04, Z:11.24 [[ 4.95953849e-01 -8.67655245e-01 -3.47009307e-02 1.45396241e+02] [ 8.65778397e-01 4.97163295e-01 -5.70651055e-02 1.48041096e+02] [ 6.67648671e-02 -1.74165742e-03 9.97767217e-01 1.12439203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:148.06, Z:11.25 [[ 4.95729210e-01 -8.67785233e-01 -3.46603572e-02 1.45411182e+02] [ 8.65910339e-01 4.96936388e-01 -5.70395610e-02 1.48064506e+02] [ 6.67220814e-02 -1.73658513e-03 9.97770088e-01 1.12453389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:148.09, Z:11.25 [[ 4.95484635e-01 -8.67918995e-01 -3.48079604e-02 1.45426357e+02] [ 8.66025618e-01 4.96702713e-01 -5.73240305e-02 1.48087914e+02] [ 6.70418233e-02 -1.74140908e-03 9.97748646e-01 1.12471726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:148.11, Z:11.25 [[ 4.95417822e-01 -8.67970835e-01 -3.44646412e-02 1.45442538e+02] [ 8.66112093e-01 4.96612225e-01 -5.67991208e-02 1.48111042e+02] [ 6.64155425e-02 -1.71094580e-03 9.97790583e-01 1.12486030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.47, Y:148.13, Z:11.26 [[ 4.96626394e-01 -8.66723863e-01 -4.63893408e-02 1.45466983e+02] [ 8.65217146e-01 4.98595916e-01 -5.29282712e-02 1.48131392e+02] [ 6.90037315e-02 -1.38512766e-02 9.97520239e-01 1.12580210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.47, Y:148.16, Z:11.25 [[ 4.95112104e-01 -8.68486528e-01 -2.43958086e-02 1.45466527e+02] [ 8.66298908e-01 4.95616953e-01 -6.23701762e-02 1.48160657e+02] [ 6.62586341e-02 9.74616687e-03 9.97754883e-01 1.12490045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:148.18, Z:11.25 [[ 4.94761539e-01 -8.68355464e-01 -3.42024601e-02 1.45487625e+02] [ 8.66517707e-01 4.95939452e-01 -5.64900338e-02 1.48179172e+02] [ 6.60157788e-02 -1.68794121e-03 9.97817151e-01 1.12533386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:148.20, Z:11.26 [[ 4.94402140e-01 -8.68559784e-01 -3.42114845e-02 1.45503191e+02] [ 8.66719633e-01 4.95581484e-01 -5.65337972e-02 1.48202524e+02] [ 6.60575609e-02 -1.70133498e-03 9.97814364e-01 1.12552330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:148.22, Z:11.26 [[ 4.93231237e-01 -8.69230413e-01 -3.40798485e-02 1.45519632e+02] [ 8.67403382e-01 4.94404061e-01 -5.63559943e-02 1.48224142e+02] [ 6.58355597e-02 -1.76443911e-03 9.97828926e-01 1.12570187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:148.25, Z:11.26 [[ 4.92591985e-01 -8.69590777e-01 -3.41323407e-02 1.45535120e+02] [ 8.67756149e-01 4.93769846e-01 -5.64854483e-02 1.48247476e+02] [ 6.59727455e-02 -1.79426943e-03 9.97819812e-01 1.12593536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:148.27, Z:11.26 [[ 4.91727840e-01 -8.70081187e-01 -3.40948519e-02 1.45549823e+02] [ 8.68249162e-01 4.92905009e-01 -5.64627761e-02 1.48270089e+02] [ 6.59327226e-02 -1.83850762e-03 9.97822377e-01 1.12611765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:148.29, Z:11.26 [[ 4.90512104e-01 -8.70771447e-01 -3.39847518e-02 1.45565166e+02] [ 8.68950156e-01 4.91684310e-01 -5.63219810e-02 1.48292731e+02] [ 6.57533421e-02 -1.90444199e-03 9.97834090e-01 1.12628570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:148.32, Z:11.26 [[ 4.89658919e-01 -8.71247811e-01 -3.40792529e-02 1.45579758e+02] [ 8.69414761e-01 4.90839522e-01 -5.65202336e-02 1.48316409e+02] [ 6.59705740e-02 -1.95336908e-03 9.97819657e-01 1.12647479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:148.34, Z:11.27 [[ 4.88390973e-01 -8.71975634e-01 -3.36563596e-02 1.45594725e+02] [ 8.70187009e-01 4.89545162e-01 -5.58578808e-02 1.48338712e+02] [ 6.51830190e-02 -2.00684213e-03 9.97871308e-01 1.12662367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:148.36, Z:11.27 [[ 4.87507037e-01 -8.72469426e-01 -3.36747538e-02 1.45609559e+02] [ 8.70677260e-01 4.88664388e-01 -5.59305365e-02 1.48361986e+02] [ 6.52533360e-02 -2.05331224e-03 9.97866617e-01 1.12683365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:148.39, Z:11.27 [[ 4.86249830e-01 -8.73235377e-01 -3.19543138e-02 1.45623487e+02] [ 8.71376773e-01 4.87298626e-01 -5.69435474e-02 1.48386739e+02] [ 6.52964133e-02 -1.55456582e-04 9.97865900e-01 1.12690891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:148.41, Z:11.27 [[ 4.86460103e-01 -8.73034645e-01 -3.41624993e-02 1.45639539e+02] [ 8.71290252e-01 4.87649596e-01 -5.52373809e-02 1.48410215e+02] [ 6.48834762e-02 -2.89467062e-03 9.97888649e-01 1.12721928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.65, Y:148.43, Z:11.27 [[ 4.86994642e-01 -8.72715018e-01 -3.47090237e-02 1.45653594e+02] [ 8.70966313e-01 4.88218871e-01 -5.53174117e-02 1.48433330e+02] [ 6.52219363e-02 -3.29110727e-03 9.97865355e-01 1.12746978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:148.46, Z:11.28 [[ 4.87254285e-01 -8.72604373e-01 -3.38359280e-02 1.45666320e+02] [ 8.70786279e-01 4.88423538e-01 -5.63356353e-02 1.48456668e+02] [ 6.56849853e-02 -2.01408211e-03 9.97838377e-01 1.12760407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:148.48, Z:11.28 [[ 4.88439777e-01 -8.71936581e-01 -3.39585342e-02 1.45680498e+02] [ 8.70101764e-01 4.89615076e-01 -5.65685143e-02 1.48480782e+02] [ 6.59507672e-02 -1.91706797e-03 9.97821037e-01 1.12776187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:148.51, Z:11.28 [[ 4.89245787e-01 -8.71480158e-01 -3.40718869e-02 1.45694954e+02] [ 8.69629293e-01 4.90427304e-01 -5.67974631e-02 1.48505175e+02] [ 6.62076458e-02 -1.84199138e-03 9.97804167e-01 1.12794489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:148.53, Z:11.28 [[ 4.90569978e-01 -8.70729228e-01 -3.42302164e-02 1.45708941e+02] [ 8.68856616e-01 4.91759720e-01 -5.71012997e-02 1.48528724e+02] [ 6.65528122e-02 -1.72896661e-03 9.97781406e-01 1.12809494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:148.55, Z:11.28 [[ 4.90823743e-01 -8.70580741e-01 -3.43689785e-02 1.45722712e+02] [ 8.68689686e-01 4.92022663e-01 -5.73753385e-02 1.48553377e+02] [ 6.68601811e-02 -1.69479878e-03 9.97760915e-01 1.12826473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:148.58, Z:11.28 [[ 4.90780377e-01 -8.70593915e-01 -3.46533865e-02 1.45736274e+02] [ 8.68668659e-01 4.91999368e-01 -5.78911312e-02 1.48578299e+02] [ 6.74491108e-02 -1.69047960e-03 9.97721284e-01 1.12845287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:148.60, Z:11.29 [[ 4.90450787e-01 -8.70781852e-01 -3.45975686e-02 1.45749465e+02] [ 8.68860376e-01 4.91666657e-01 -5.78406864e-02 1.48601296e+02] [ 6.73770909e-02 -1.69244640e-03 9.97726146e-01 1.12865238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:148.63, Z:11.29 [[ 4.89809234e-01 -8.71149395e-01 -3.44332231e-02 1.45763483e+02] [ 8.69245058e-01 4.91015044e-01 -5.75956174e-02 1.48625406e+02] [ 6.70816178e-02 -1.72004381e-03 9.97746009e-01 1.12883257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:148.65, Z:11.29 [[ 4.88328921e-01 -8.71982861e-01 -3.43621203e-02 1.45776986e+02] [ 8.70085705e-01 4.89533056e-01 -5.75174199e-02 1.48649037e+02] [ 6.69755981e-02 -1.81057007e-03 9.97752971e-01 1.12906190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:148.67, Z:11.29 [[ 4.87425686e-01 -8.72496056e-01 -3.41589240e-02 1.45791326e+02] [ 8.70619685e-01 4.88617656e-01 -5.72201973e-02 1.48673656e+02] [ 6.66150498e-02 -1.84883768e-03 9.97777038e-01 1.12926122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.80, Y:148.70, Z:11.29 [[ 4.86006264e-01 -8.73303360e-01 -3.37513361e-02 1.45804850e+02] [ 8.71470896e-01 4.87173036e-01 -5.65765828e-02 1.48697812e+02] [ 6.58512608e-02 -1.91673348e-03 9.97827609e-01 1.12946163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.82, Y:148.72, Z:11.30 [[ 4.85197702e-01 -8.73756386e-01 -3.36595853e-02 1.45818168e+02] [ 8.71932325e-01 4.86359911e-01 -5.64628835e-02 1.48722362e+02] [ 6.57054779e-02 -1.95321909e-03 9.97837149e-01 1.12964191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:148.75, Z:11.30 [[ 4.84209238e-01 -8.74305867e-01 -3.36253764e-02 1.45830946e+02] [ 8.72484168e-01 4.85371227e-01 -5.64459790e-02 1.48746095e+02] [ 6.56718408e-02 -2.00594407e-03 9.97839258e-01 1.12981332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.84, Y:148.77, Z:11.30 [[ 4.82262572e-01 -8.75389622e-01 -3.34039093e-02 1.45843811e+02] [ 8.73591651e-01 4.83413407e-01 -5.61168817e-02 1.48771451e+02] [ 6.52720335e-02 -2.11830453e-03 9.97865259e-01 1.12994851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:148.80, Z:11.30 [[ 4.80505934e-01 -8.76354588e-01 -3.34168201e-02 1.45857280e+02] [ 8.74554951e-01 4.81661353e-01 -5.61780923e-02 1.48796598e+02] [ 6.53275197e-02 -2.23093877e-03 9.97861382e-01 1.13014873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:148.82, Z:11.30 [[ 4.79662117e-01 -8.76819476e-01 -3.33445786e-02 1.45870897e+02] [ 8.75026114e-01 4.80814366e-01 -5.60967445e-02 1.48820999e+02] [ 6.52192705e-02 -2.26989381e-03 9.97868375e-01 1.13034399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.88, Y:148.85, Z:11.31 [[ 4.79096718e-01 -8.77130955e-01 -3.32809704e-02 1.45884572e+02] [ 8.75342573e-01 4.80245823e-01 -5.60297262e-02 1.48845362e+02] [ 6.51284543e-02 -2.28859239e-03 9.97874264e-01 1.13054767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:148.87, Z:11.31 [[ 4.78719175e-01 -8.77329170e-01 -3.34885014e-02 1.45897845e+02] [ 8.75516187e-01 4.79883517e-01 -5.64199953e-02 1.48870134e+02] [ 6.55694875e-02 -2.31039144e-03 9.97845331e-01 1.13078423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:148.89, Z:11.31 [[ 4.79243337e-01 -8.77037883e-01 -3.36210496e-02 1.45909381e+02] [ 8.75207128e-01 4.80415906e-01 -5.66836829e-02 1.48894765e+02] [ 6.58658243e-02 -2.26010494e-03 9.97825929e-01 1.13092078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:148.92, Z:11.31 [[ 4.80422640e-01 -8.76379142e-01 -3.39659679e-02 1.45920623e+02] [ 8.74506043e-01 4.81616950e-01 -5.73087638e-02 1.48919226e+02] [ 6.65827911e-02 -2.17101654e-03 9.97778542e-01 1.13107638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:148.94, Z:11.31 [[ 4.81041274e-01 -8.76035062e-01 -3.40861097e-02 1.45934049e+02] [ 8.74144945e-01 4.82242799e-01 -5.75543038e-02 1.48944228e+02] [ 6.68573690e-02 -2.11020487e-03 9.97760312e-01 1.13124394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:148.97, Z:11.31 [[ 4.81615521e-01 -8.75704303e-01 -3.44740930e-02 1.45946937e+02] [ 8.73767087e-01 4.82843350e-01 -5.82526915e-02 1.48968388e+02] [ 6.76577192e-02 -2.06692748e-03 9.97706450e-01 1.13146069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:148.99, Z:11.32 [[ 4.82134367e-01 -8.75409823e-01 -3.47000580e-02 1.45960391e+02] [ 8.73443191e-01 4.83377260e-01 -5.86806301e-02 1.48993321e+02] [ 6.81428190e-02 -2.01658092e-03 9.97673539e-01 1.13159818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:149.02, Z:11.32 [[ 4.83508963e-01 -8.74624957e-01 -3.53591204e-02 1.45973071e+02] [ 8.72577787e-01 4.84796341e-01 -5.98373921e-02 1.49018184e+02] [ 6.94772486e-02 -1.92166764e-03 9.97581685e-01 1.13182434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:149.04, Z:11.32 [[ 4.83607117e-01 -8.74650357e-01 -3.33303263e-02 1.45985298e+02] [ 8.72431068e-01 4.84753210e-01 -6.22764537e-02 1.49044090e+02] [ 7.06271051e-02 1.03892407e-03 9.97502247e-01 1.13199147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:149.07, Z:11.32 [[ 4.84076407e-01 -8.74203806e-01 -3.79175191e-02 1.46000839e+02] [ 8.72265426e-01 4.85535317e-01 -5.83822067e-02 1.49066242e+02] [ 6.94482419e-02 -4.81269213e-03 9.97573947e-01 1.13234831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.01, Y:149.09, Z:11.32 [[ 4.83617035e-01 -8.74565731e-01 -3.53460875e-02 1.46012781e+02] [ 8.72512153e-01 4.84903422e-01 -5.99267458e-02 1.49091620e+02] [ 6.95493171e-02 -1.85829578e-03 9.97576784e-01 1.13246617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:149.12, Z:11.33 [[ 4.82580896e-01 -8.75143615e-01 -3.52041578e-02 1.46026180e+02] [ 8.73105094e-01 4.83859477e-01 -5.97285592e-02 1.49116347e+02] [ 6.93049326e-02 -1.91306789e-03 9.97593688e-01 1.13267914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.04, Y:149.14, Z:11.33 [[ 4.81905277e-01 -8.75515209e-01 -3.52196400e-02 1.46039771e+02] [ 8.73472935e-01 4.83186640e-01 -5.97971824e-02 1.49140525e+02] [ 6.93710021e-02 -1.94682462e-03 9.97589031e-01 1.13289408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:149.17, Z:11.33 [[ 4.81651100e-01 -8.75655815e-01 -3.52010055e-02 1.46054072e+02] [ 8.73613116e-01 4.82931784e-01 -5.98081499e-02 1.49165167e+02] [ 6.93710387e-02 -1.94539898e-03 9.97589031e-01 1.13309894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:149.19, Z:11.33 [[ 4.80771564e-01 -8.76143337e-01 -3.50935262e-02 1.46067412e+02] [ 8.74111666e-01 4.82046565e-01 -5.96649447e-02 1.49189027e+02] [ 6.91917575e-02 -1.99045180e-03 9.97601393e-01 1.13332683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:149.21, Z:11.33 [[ 4.79317457e-01 -8.76945630e-01 -3.49447881e-02 1.46080236e+02] [ 8.74930209e-01 4.80585116e-01 -5.94565041e-02 1.49213694e+02] [ 6.89340665e-02 -2.07571046e-03 9.97619059e-01 1.13349405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.09, Y:149.24, Z:11.34 [[ 4.78685238e-01 -8.77292861e-01 -3.48952611e-02 1.46093904e+02] [ 8.75281151e-01 4.79950848e-01 -5.94145576e-02 1.49238341e+02] [ 6.88719774e-02 -2.10229267e-03 9.97623291e-01 1.13367234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:149.26, Z:11.34 [[ 4.77410046e-01 -8.77974176e-01 -3.52277540e-02 1.46106681e+02] [ 8.75922661e-01 4.78702941e-01 -6.00248797e-02 1.49262944e+02] [ 6.95639237e-02 -2.20030747e-03 9.97575069e-01 1.13381915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.12, Y:149.29, Z:11.34 [[ 4.76809374e-01 -8.78286731e-01 -3.55701889e-02 1.46120457e+02] [ 8.76192995e-01 4.78129026e-01 -6.06503957e-02 1.49286970e+02] [ 7.02755776e-02 -2.24767307e-03 9.97525083e-01 1.13404354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:149.31, Z:11.34 [[ 4.76025021e-01 -8.78700768e-01 -3.58488497e-02 1.46134163e+02] [ 8.76571990e-01 4.77367413e-01 -6.11710720e-02 1.49311200e+02] [ 7.08641406e-02 -2.30513660e-03 9.97483313e-01 1.13426229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.15, Y:149.33, Z:11.34 [[ 4.74966811e-01 -8.79269755e-01 -3.59336417e-02 1.46147547e+02] [ 8.77129290e-01 4.76318236e-01 -6.13607882e-02 1.49334339e+02] [ 7.10685340e-02 -2.37411166e-03 9.97468610e-01 1.13444326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:149.36, Z:11.35 [[ 4.74350161e-01 -8.79604556e-01 -3.58852149e-02 1.46161306e+02] [ 8.77467451e-01 4.75699561e-01 -6.13253717e-02 1.49358387e+02] [ 7.10126573e-02 -2.39840803e-03 9.97472531e-01 1.13464517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:149.39, Z:11.34 [[ 4.72164951e-01 -8.81385607e-01 -1.48213123e-02 1.46161173e+02] [ 8.78921718e-01 4.71999475e-01 -6.86520927e-02 1.49390196e+02] [ 6.75046180e-02 1.93883387e-02 9.97530560e-01 1.13352019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:149.41, Z:11.34 [[ 4.72552966e-01 -8.80581633e-01 -3.56326114e-02 1.46187198e+02] [ 8.78627967e-01 4.73881168e-01 -5.87327439e-02 1.49407920e+02] [ 6.86045990e-02 -3.55347654e-03 9.97637600e-01 1.13443083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:149.43, Z:11.35 [[ 4.73100685e-01 -8.80261186e-01 -3.62765281e-02 1.46201218e+02] [ 8.78249404e-01 4.74475288e-01 -5.95918217e-02 1.49431443e+02] [ 6.96686837e-02 -3.66690746e-03 9.97563446e-01 1.13468521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:149.46, Z:11.35 [[ 4.74416521e-01 -8.79474106e-01 -3.81347832e-02 1.46216069e+02] [ 8.77345009e-01 4.75926689e-01 -6.13149448e-02 1.49455965e+02] [ 7.20742674e-02 -4.36853885e-03 9.97389701e-01 1.13500558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:149.48, Z:11.36 [[ 4.75548872e-01 -8.78658587e-01 -4.25717871e-02 1.46232298e+02] [ 8.76602575e-01 4.77375510e-01 -6.06675297e-02 1.49477991e+02] [ 7.36287745e-02 -8.46816284e-03 9.97249765e-01 1.13553162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:149.51, Z:11.35 [[ 4.76450079e-01 -8.78531410e-01 -3.43202950e-02 1.46241424e+02] [ 8.76075338e-01 4.77683037e-01 -6.56575829e-02 1.49505124e+02] [ 7.40764717e-02 1.21539652e-03 9.97251823e-01 1.13543087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:149.52, Z:11.36 [[ 4.79130925e-01 -8.76439352e-01 -4.78290506e-02 1.46262480e+02] [ 8.74469908e-01 4.81336545e-01 -6.01457346e-02 1.49523945e+02] [ 7.57359586e-02 -1.30073840e-02 9.97043065e-01 1.13631261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.27, Y:149.55, Z:11.36 [[ 4.80439381e-01 -8.76187920e-01 -3.83761607e-02 1.46270365e+02] [ 8.73712746e-01 4.81965899e-01 -6.58400354e-02 1.49550691e+02] [ 7.61842445e-02 -1.89759492e-03 9.97091952e-01 1.13620066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:149.57, Z:11.36 [[ 4.81825445e-01 -8.75428697e-01 -3.83254057e-02 1.46283935e+02] [ 8.72953813e-01 4.83344113e-01 -6.58035662e-02 1.49574118e+02] [ 7.61306895e-02 -1.75047650e-03 9.97096311e-01 1.13641783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:149.60, Z:11.37 [[ 4.84474199e-01 -8.73964343e-01 -3.83546433e-02 1.46298065e+02] [ 8.71477287e-01 4.85987744e-01 -6.59033425e-02 1.49598229e+02] [ 7.62370580e-02 -1.49673146e-03 9.97088597e-01 1.13666901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:149.62, Z:11.37 [[ 4.86983690e-01 -8.72567163e-01 -3.83853196e-02 1.46311863e+02] [ 8.70068101e-01 4.88492550e-01 -6.60040039e-02 1.49620898e+02] [ 7.63438691e-02 -1.25496875e-03 9.97080758e-01 1.13691980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:149.65, Z:11.37 [[ 4.87670310e-01 -8.72186359e-01 -3.83226276e-02 1.46326044e+02] [ 8.69690452e-01 4.89172351e-01 -6.59464073e-02 1.49645087e+02] [ 7.62639267e-02 -1.16871843e-03 9.97086981e-01 1.13709251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:149.67, Z:11.37 [[ 4.88137451e-01 -8.71922345e-01 -3.83829770e-02 1.46340245e+02] [ 8.69414050e-01 4.89642933e-01 -6.60984693e-02 1.49669231e+02] [ 7.64266858e-02 -1.10556118e-03 9.97074591e-01 1.13731873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:149.69, Z:11.38 [[ 4.89359648e-01 -8.70613303e-01 -5.05926113e-02 1.46361983e+02] [ 8.68648813e-01 4.91754875e-01 -6.02194472e-02 1.49687676e+02] [ 7.73070151e-02 -1.44782443e-02 9.96902205e-01 1.13811146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:149.72, Z:11.37 [[ 4.88177752e-01 -8.72339413e-01 -2.65787822e-02 1.46361056e+02] [ 8.69350924e-01 4.88737045e-01 -7.32466467e-02 1.49719850e+02] [ 7.68859722e-02 1.26510944e-02 9.96959627e-01 1.13731670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:149.74, Z:11.38 [[ 4.86844235e-01 -8.72774344e-01 -3.53218766e-02 1.46381460e+02] [ 8.70083581e-01 4.88116812e-01 -6.85313081e-02 1.49740616e+02] [ 7.70535692e-02 2.63108738e-03 9.97023483e-01 1.13784046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:149.76, Z:11.38 [[ 4.84999101e-01 -8.73503424e-01 -4.20433153e-02 1.46399771e+02] [ 8.71294998e-01 4.86776352e-01 -6.24003988e-02 1.49761404e+02] [ 7.49726537e-02 -6.36799295e-03 9.97165257e-01 1.13825769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:149.79, Z:11.38 [[ 4.84822487e-01 -8.73843512e-01 -3.66697692e-02 1.46410928e+02] [ 8.71385854e-01 4.86207235e-01 -6.54921235e-02 1.49785729e+02] [ 7.50589743e-02 -2.01463950e-04 9.97179076e-01 1.13831001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.43, Y:149.81, Z:11.39 [[ 4.82625822e-01 -8.75026907e-01 -3.74196322e-02 1.46426334e+02] [ 8.72632946e-01 4.84072177e-01 -6.46983022e-02 1.49808992e+02] [ 7.47265580e-02 -1.42853258e-03 9.97203039e-01 1.13860056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:149.83, Z:11.39 [[ 4.80635677e-01 -8.76127087e-01 -3.72917406e-02 1.46441050e+02] [ 8.73749297e-01 4.82077649e-01 -6.45236898e-02 1.49833119e+02] [ 7.45084670e-02 -1.57124475e-03 9.97219143e-01 1.13880957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.46, Y:149.86, Z:11.39 [[ 4.79522263e-01 -8.76740116e-01 -3.72178518e-02 1.46455555e+02] [ 8.74370041e-01 4.80961620e-01 -6.44434002e-02 1.49857412e+02] [ 7.44004725e-02 -1.64012945e-03 9.97227095e-01 1.13899652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:149.88, Z:11.39 [[ 4.78800808e-01 -8.77134928e-01 -3.72035518e-02 1.46470281e+02] [ 8.74764328e-01 4.80241088e-01 -6.44660255e-02 1.49881275e+02] [ 7.44120768e-02 -1.67795491e-03 9.97226167e-01 1.13917796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.48, Y:149.90, Z:11.39 [[ 4.77375519e-01 -8.77913350e-01 -3.71586240e-02 1.46483615e+02] [ 8.75547233e-01 4.78816252e-01 -6.44363256e-02 1.49904583e+02] [ 7.43616635e-02 -1.77380607e-03 9.97229761e-01 1.13938998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:149.93, Z:11.40 [[ 4.75479648e-01 -8.78921568e-01 -3.76295458e-02 1.46498369e+02] [ 8.76494220e-01 4.76962420e-01 -6.53049210e-02 1.49928019e+02] [ 7.53457828e-02 -1.93091858e-03 9.97155597e-01 1.13953875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.51, Y:149.95, Z:11.39 [[ 4.74291180e-01 -8.79656838e-01 -3.53797188e-02 1.46511586e+02] [ 8.77046057e-01 4.75607663e-01 -6.77315664e-02 1.49953129e+02] [ 7.64074009e-02 1.09484172e-03 9.97076081e-01 1.13948949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:149.98, Z:11.40 [[ 4.73616354e-01 -8.79807524e-01 -4.03270347e-02 1.46528062e+02] [ 8.77297529e-01 4.75314343e-01 -6.65230814e-02 1.49976207e+02] [ 7.76955256e-02 -3.87238866e-03 9.96969613e-01 1.13987355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:150.00, Z:11.40 [[ 4.73411351e-01 -8.79907663e-01 -4.05486972e-02 1.46541326e+02] [ 8.77288169e-01 4.75132457e-01 -6.79309754e-02 1.49999392e+02] [ 7.90389880e-02 -3.41359744e-03 9.96865681e-01 1.14009503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:150.02, Z:11.40 [[ 4.73680792e-01 -8.79778660e-01 -4.01997185e-02 1.46554770e+02] [ 8.76994354e-01 4.75378851e-01 -6.99703512e-02 1.50023410e+02] [ 8.06685178e-02 -2.11131476e-03 9.96738748e-01 1.14022190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:150.05, Z:11.40 [[ 4.73833719e-01 -8.79687567e-01 -4.03904800e-02 1.46568033e+02] [ 8.76871918e-01 4.75547536e-01 -7.03575165e-02 1.50046440e+02] [ 8.11002258e-02 -2.07951393e-03 9.96703782e-01 1.14040527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:150.07, Z:11.40 [[ 4.75002391e-01 -8.79137465e-01 -3.86011077e-02 1.46582557e+02] [ 8.76243552e-01 4.76568270e-01 -7.12735612e-02 1.50071961e+02] [ 8.10553210e-02 3.11402575e-05 9.96709604e-01 1.14046643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:150.10, Z:11.41 [[ 4.75136741e-01 -8.78978285e-01 -4.05247081e-02 1.46597485e+02] [ 8.76191715e-01 4.76856437e-01 -6.99715489e-02 1.50095503e+02] [ 8.08279399e-02 -2.26135971e-03 9.96725504e-01 1.14072964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:150.12, Z:11.41 [[ 4.75683802e-01 -8.78631381e-01 -4.16151032e-02 1.46612353e+02] [ 8.75904543e-01 4.77487805e-01 -6.92576927e-02 1.50119224e+02] [ 8.07226864e-02 -3.50609533e-03 9.96730433e-01 1.14111332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:150.14, Z:11.41 [[ 4.76875115e-01 -8.78064808e-01 -3.99038578e-02 1.46625376e+02] [ 8.75300377e-01 4.78538655e-01 -6.96419823e-02 1.50142419e+02] [ 8.02457122e-02 -1.71733339e-03 9.96773634e-01 1.14132181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:150.17, Z:11.42 [[ 4.77279123e-01 -8.77872308e-01 -3.93045850e-02 1.46639253e+02] [ 8.75185667e-01 4.78891991e-01 -6.86477148e-02 1.50166068e+02] [ 7.90865788e-02 -1.63468832e-03 9.96866411e-01 1.14150199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.65, Y:150.19, Z:11.42 [[ 4.78480815e-01 -8.77243640e-01 -3.87260388e-02 1.46653748e+02] [ 8.74629629e-01 4.80043118e-01 -6.76876447e-02 1.50189007e+02] [ 7.79687242e-02 -1.48370159e-03 9.96954701e-01 1.14176633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:150.21, Z:11.42 [[ 4.79152708e-01 -8.76887859e-01 -3.84755148e-02 1.46668031e+02] [ 8.74302576e-01 4.80692984e-01 -6.72997913e-02 1.50213271e+02] [ 7.75092799e-02 -1.39236439e-03 9.96990658e-01 1.14197790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:150.24, Z:11.42 [[ 4.79578666e-01 -8.76656536e-01 -3.84398399e-02 1.46682066e+02] [ 8.74071550e-01 4.81114901e-01 -6.72857965e-02 1.50237677e+02] [ 7.74805130e-02 -1.33033789e-03 9.96992979e-01 1.14221338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:150.26, Z:11.42 [[ 4.80618506e-01 -8.76107268e-01 -3.79724360e-02 1.46696869e+02] [ 8.73516994e-01 4.82115542e-01 -6.73250810e-02 1.50262167e+02] [ 7.72910943e-02 -8.11888244e-04 9.97008238e-01 1.14239077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:150.29, Z:11.43 [[ 4.82260954e-01 -8.75182101e-01 -3.84793731e-02 1.46710329e+02] [ 8.72667468e-01 4.83791004e-01 -6.63155786e-02 1.50285332e+02] [ 7.66541820e-02 -1.59828291e-03 9.97056459e-01 1.14266423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.72, Y:150.31, Z:11.43 [[ 4.83761505e-01 -8.74382302e-01 -3.78205716e-02 1.46723607e+02] [ 8.71861929e-01 4.85236868e-01 -6.63472576e-02 1.50309579e+02] [ 7.63648036e-02 -8.78067352e-04 9.97079558e-01 1.14286601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:150.33, Z:11.43 [[ 4.84114331e-01 -8.74183495e-01 -3.79016062e-02 1.46737307e+02] [ 8.71647904e-01 4.85595034e-01 -6.65386645e-02 1.50333072e+02] [ 7.65718340e-02 -8.24534613e-04 9.97063726e-01 1.14306863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:150.36, Z:11.43 [[ 4.84026492e-01 -8.74225820e-01 -3.80469497e-02 1.46750131e+02] [ 8.71666825e-01 4.85518857e-01 -6.68459794e-02 1.50355380e+02] [ 7.69109927e-02 -8.09038953e-04 9.97037635e-01 1.14326430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.76, Y:150.38, Z:11.43 [[ 4.83164813e-01 -8.74690212e-01 -3.83248704e-02 1.46763727e+02] [ 8.72090914e-01 4.84681635e-01 -6.73880652e-02 1.50377221e+02] [ 7.75190419e-02 -8.63229303e-04 9.96990498e-01 1.14341353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.78, Y:150.40, Z:11.44 [[ 4.82292233e-01 -8.75171223e-01 -3.83344908e-02 1.46777719e+02] [ 8.72568008e-01 4.83812457e-01 -6.74579655e-02 1.50400700e+02] [ 7.75839743e-02 -9.14997524e-04 9.96985401e-01 1.14357130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:150.42, Z:11.44 [[ 4.80658822e-01 -8.76044808e-01 -3.88920506e-02 1.46790955e+02] [ 8.73363847e-01 4.82228578e-01 -6.84922556e-02 1.50422906e+02] [ 7.87571432e-02 -1.04550406e-03 9.96893284e-01 1.14379973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.80, Y:150.45, Z:11.44 [[ 4.80094783e-01 -8.76362947e-01 -3.86908804e-02 1.46803777e+02] [ 8.73706465e-01 4.81650131e-01 -6.81921132e-02 1.50447099e+02] [ 7.83965089e-02 -1.06579454e-03 9.96921688e-01 1.14399364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:150.47, Z:11.44 [[ 4.79489019e-01 -8.76692013e-01 -3.87478481e-02 1.46817305e+02] [ 8.74024548e-01 4.81050844e-01 -6.83459978e-02 1.50472162e+02] [ 7.85580754e-02 -1.09541499e-03 9.96908937e-01 1.14417907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:150.50, Z:11.44 [[ 4.79231484e-01 -8.76821801e-01 -3.89963225e-02 1.46829045e+02] [ 8.74116421e-01 4.80814225e-01 -6.88343119e-02 1.50496203e+02] [ 7.91054119e-02 -1.09975644e-03 9.96865650e-01 1.14438981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:150.52, Z:11.45 [[ 4.78842725e-01 -8.77026339e-01 -3.91719981e-02 1.46842144e+02] [ 8.74292990e-01 4.80441007e-01 -6.91968739e-02 1.50521080e+02] [ 7.95073152e-02 -1.11338368e-03 9.96833661e-01 1.14459601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:150.55, Z:11.44 [[ 4.78279233e-01 -8.77567297e-01 -3.35352638e-02 1.46852833e+02] [ 8.74586240e-01 4.79423844e-01 -7.24685150e-02 1.50548801e+02] [ 7.96736039e-02 5.33070552e-03 9.96806752e-01 1.14439961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:150.57, Z:11.45 [[ 4.78526717e-01 -8.77177289e-01 -3.96507820e-02 1.46870056e+02] [ 8.74441143e-01 4.80164184e-01 -6.92462536e-02 1.50572062e+02] [ 7.97801265e-02 -1.53609275e-03 9.96811302e-01 1.14482663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:150.59, Z:11.45 [[ 4.78608281e-01 -8.76679588e-01 -4.86519589e-02 1.46887371e+02] [ 8.74417888e-01 4.80927791e-01 -6.40454229e-02 1.50591742e+02] [ 7.95453941e-02 -1.18894734e-02 9.96760338e-01 1.14541678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:150.62, Z:11.45 [[ 4.77062371e-01 -8.78156117e-01 -3.54023769e-02 1.46890604e+02] [ 8.75038565e-01 4.78354361e-01 -7.40581872e-02 1.50621267e+02] [ 8.19695315e-02 4.35192925e-03 9.96625334e-01 1.14519957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:150.64, Z:11.46 [[ 4.76174015e-01 -8.78420196e-01 -4.04508021e-02 1.46905723e+02] [ 8.75490091e-01 4.77887371e-01 -7.16991012e-02 1.50643793e+02] [ 8.23128660e-02 -1.27302755e-03 9.96605725e-01 1.14554054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:150.67, Z:11.46 [[ 4.75513775e-01 -8.78777288e-01 -4.04614493e-02 1.46918967e+02] [ 8.75842308e-01 4.77230308e-01 -7.17738475e-02 1.50669006e+02] [ 8.23826570e-02 -1.30839600e-03 9.96599913e-01 1.14574349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:150.69, Z:11.46 [[ 4.75252915e-01 -8.78919434e-01 -4.04387883e-02 1.46932803e+02] [ 8.75983882e-01 4.76968469e-01 -7.17866135e-02 1.50693914e+02] [ 8.23826766e-02 -1.30692947e-03 9.96599913e-01 1.14595181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:150.72, Z:11.46 [[ 4.73355802e-01 -8.79953768e-01 -4.01951661e-02 1.46945067e+02] [ 8.77053143e-01 4.75057105e-01 -7.14039963e-02 1.50718760e+02] [ 8.19272149e-02 -1.45380087e-03 9.96637255e-01 1.14617958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:150.74, Z:11.47 [[ 4.73721637e-01 -8.79154908e-01 -5.17151686e-02 1.46968282e+02] [ 8.76614104e-01 4.76356227e-01 -6.80621668e-02 1.50741339e+02] [ 8.44720305e-02 -1.30917252e-02 9.96339843e-01 1.14715286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:150.77, Z:11.46 [[ 4.70503967e-01 -8.81883770e-01 -3.01170033e-02 1.46965873e+02] [ 8.78678164e-01 4.71378196e-01 -7.56787926e-02 1.50771246e+02] [ 8.09363976e-02 9.14401895e-03 9.96677323e-01 1.14644944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:150.79, Z:11.47 [[ 4.69410108e-01 -8.82099885e-01 -3.94200973e-02 1.46983999e+02] [ 8.79306804e-01 4.71059241e-01 -7.01622088e-02 1.50791396e+02] [ 8.04592774e-02 -1.72750977e-03 9.96756400e-01 1.14701147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:150.82, Z:11.47 [[ 4.68538144e-01 -8.82571085e-01 -3.92465106e-02 1.46996713e+02] [ 8.79799876e-01 4.70175638e-01 -6.99074188e-02 1.50815042e+02] [ 8.01510196e-02 -1.77478295e-03 9.96781152e-01 1.14725443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:150.84, Z:11.48 [[ 4.66977610e-01 -8.83422480e-01 -3.86863428e-02 1.47009553e+02] [ 8.80729842e-01 4.68573585e-01 -6.89473799e-02 1.50839562e+02] [ 7.90370637e-02 -1.87533392e-03 9.96869914e-01 1.14751767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:150.86, Z:11.48 [[ 4.66220178e-01 -8.83827861e-01 -3.85623883e-02 1.47022969e+02] [ 8.81149820e-01 4.67808347e-01 -6.87775048e-02 1.50864245e+02] [ 7.88272821e-02 -1.91378098e-03 9.96886451e-01 1.14775168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.04, Y:150.89, Z:11.48 [[ 4.65072304e-01 -8.84434443e-01 -3.85158219e-02 1.47035291e+02] [ 8.81760882e-01 4.66660216e-01 -6.87458348e-02 1.50887968e+02] [ 7.87749858e-02 -1.98996126e-03 9.96890436e-01 1.14799760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:150.91, Z:11.48 [[ 4.64513828e-01 -8.84721325e-01 -3.86662807e-02 1.47047884e+02] [ 8.82024633e-01 4.66115935e-01 -6.90541995e-02 1.50912018e+02] [ 7.91166924e-02 -2.02798141e-03 9.96863299e-01 1.14822308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:150.94, Z:11.48 [[ 4.64541287e-01 -8.84706627e-01 -3.86726927e-02 1.47060807e+02] [ 8.82004621e-01 4.66143952e-01 -6.91206462e-02 1.50935852e+02] [ 7.91785355e-02 -2.00009978e-03 9.96858445e-01 1.14843977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:150.96, Z:11.49 [[ 4.64425691e-01 -8.84753138e-01 -3.89956656e-02 1.47072754e+02] [ 8.82001515e-01 4.66055670e-01 -6.97527067e-02 1.50959593e+02] [ 7.98880772e-02 -1.99928716e-03 9.96801835e-01 1.14867127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:150.98, Z:11.49 [[ 4.64478616e-01 -8.84714866e-01 -3.92329072e-02 1.47085384e+02] [ 8.81925097e-01 4.66128402e-01 -7.02313019e-02 1.50984227e+02] [ 8.04222492e-02 -1.97954758e-03 9.96758919e-01 1.14892131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.10, Y:151.01, Z:11.49 [[ 4.64030393e-01 -8.84945430e-01 -3.93367592e-02 1.47098558e+02] [ 8.82137484e-01 4.65690437e-01 -7.04689698e-02 1.51008918e+02] [ 8.06799453e-02 -2.00068603e-03 9.96738052e-01 1.14910440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:151.03, Z:11.49 [[ 4.63729860e-01 -8.85092353e-01 -3.95745330e-02 1.47112058e+02] [ 8.82246531e-01 4.65411077e-01 -7.09477889e-02 1.51033620e+02] [ 8.12137715e-02 -2.01388623e-03 9.96694671e-01 1.14934485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:151.06, Z:11.50 [[ 4.63098831e-01 -8.85410707e-01 -3.98416053e-02 1.47125801e+02] [ 8.82523109e-01 4.64804949e-01 -7.14795126e-02 1.51058497e+02] [ 8.18073012e-02 -2.05905868e-03 9.96646038e-01 1.14955766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:151.08, Z:11.50 [[ 4.61499442e-01 -8.86233473e-01 -4.01060700e-02 1.47139247e+02] [ 8.83306031e-01 4.63233651e-01 -7.20072179e-02 1.51083419e+02] [ 8.23936880e-02 -2.19464267e-03 9.96597443e-01 1.14976574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:151.11, Z:11.50 [[ 4.59327528e-01 -8.87355641e-01 -4.02267177e-02 1.47152692e+02] [ 8.84410326e-01 4.61079508e-01 -7.22776790e-02 1.51107072e+02] [ 8.26837214e-02 -2.37779692e-03 9.96573002e-01 1.14996913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.17, Y:151.13, Z:11.50 [[ 4.58159328e-01 -8.87964187e-01 -4.01202379e-02 1.47166290e+02] [ 8.85032185e-01 4.59906050e-01 -7.21419238e-02 1.51131415e+02] [ 8.25109849e-02 -2.45520641e-03 9.96587131e-01 1.15016189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:151.16, Z:11.50 [[ 4.57208755e-01 -8.88457420e-01 -4.00445530e-02 1.47180039e+02] [ 8.85534051e-01 4.58952161e-01 -7.20580272e-02 1.51155685e+02] [ 8.23990230e-02 -2.51525428e-03 9.96596244e-01 1.15043218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:151.18, Z:11.51 [[ 4.55915015e-01 -8.89128858e-01 -3.98920196e-02 1.47192734e+02] [ 8.86225958e-01 4.57649542e-01 -7.18362626e-02 1.51178024e+02] [ 8.21282586e-02 -2.60211247e-03 9.96618371e-01 1.15065025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:151.20, Z:11.51 [[ 4.55690009e-01 -8.89256872e-01 -3.96084856e-02 1.47206124e+02] [ 8.86390732e-01 4.57400881e-01 -7.13856052e-02 1.51202004e+02] [ 8.15970962e-02 -2.57888745e-03 9.96662061e-01 1.15086783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:151.23, Z:11.51 [[ 4.56631830e-01 -8.88788563e-01 -3.92716498e-02 1.47218839e+02] [ 8.85964737e-01 4.58310919e-01 -7.08349200e-02 1.51225145e+02] [ 8.09558927e-02 -2.44781772e-03 9.96714679e-01 1.15107889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:151.25, Z:11.51 [[ 4.57425611e-01 -8.88374978e-01 -3.93917273e-02 1.47231711e+02] [ 8.85527480e-01 4.59112572e-01 -7.11106768e-02 1.51248905e+02] [ 8.12581831e-02 -2.35461216e-03 9.96690305e-01 1.15135002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:151.27, Z:11.52 [[ 4.58531605e-01 -8.87811646e-01 -3.92332646e-02 1.47245345e+02] [ 8.84980519e-01 4.60201644e-01 -7.08796751e-02 1.51273761e+02] [ 8.09830138e-02 -2.22010366e-03 9.96713009e-01 1.15154520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:151.30, Z:11.52 [[ 4.61766064e-01 -8.86134274e-01 -3.92192618e-02 1.47258369e+02] [ 8.83294814e-01 4.63424686e-01 -7.09072053e-02 1.51298972e+02] [ 8.10084790e-02 -1.89962943e-03 9.96711602e-01 1.15178830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:151.32, Z:11.52 [[ 4.63570081e-01 -8.85190203e-01 -3.92566454e-02 1.47271089e+02] [ 8.82337614e-01 4.65226155e-01 -7.10278728e-02 1.51323371e+02] [ 8.11363954e-02 -1.71121815e-03 9.96701539e-01 1.15198141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86275509600006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:147.28, Y:151.35, Z:11.52 [[ 4.67752678e-01 -8.82966740e-01 -3.97135847e-02 1.47284191e+02] [ 8.80034703e-01 4.69433713e-01 -7.19090510e-02 1.51348069e+02] [ 8.21361958e-02 -1.31368156e-03 9.96620248e-01 1.15206719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:151.37, Z:11.52 [[ 4.69707115e-01 -8.81953184e-01 -3.91638482e-02 1.47296706e+02] [ 8.79094079e-01 4.71335741e-01 -7.09663261e-02 1.51372252e+02] [ 8.10482987e-02 -1.09531879e-03 9.96709573e-01 1.15241571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:151.40, Z:11.53 [[ 4.71294868e-01 -8.81106111e-01 -3.91556830e-02 1.47309499e+02] [ 8.78240739e-01 4.72917719e-01 -7.10072967e-02 1.51396623e+02] [ 8.10823794e-02 -9.22741393e-04 9.96706976e-01 1.15263500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.32, Y:151.42, Z:11.53 [[ 4.74322996e-01 -8.79483825e-01 -3.90627262e-02 1.47322213e+02] [ 8.76622155e-01 4.75928378e-01 -7.08927147e-02 1.51421052e+02] [ 8.09400558e-02 -6.17206368e-04 9.96718780e-01 1.15286009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:147.34, Y:151.45, Z:11.53 [[ 4.75311510e-01 -8.78938574e-01 -3.93185895e-02 1.47335282e+02] [ 8.76032833e-01 4.76934725e-01 -7.14124976e-02 1.51445437e+02] [ 8.15195994e-02 -5.01193280e-04 9.96671613e-01 1.15295284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:151.47, Z:11.53 [[ 4.76845721e-01 -8.78127746e-01 -3.88564010e-02 1.47347063e+02] [ 8.75282969e-01 4.78426118e-01 -7.06269977e-02 1.51470066e+02] [ 8.06094434e-02 -3.32164388e-04 9.96745708e-01 1.15329693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.36, Y:151.49, Z:11.53 [[ 4.76989604e-01 -8.78054961e-01 -3.87350331e-02 1.47359687e+02] [ 8.75223149e-01 4.78559714e-01 -7.04630405e-02 1.51494079e+02] [ 8.04074487e-02 -2.91659880e-04 9.96762036e-01 1.15347608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:151.52, Z:11.54 [[ 4.76712093e-01 -8.78216895e-01 -3.84794125e-02 1.47372609e+02] [ 8.75418596e-01 4.78262480e-01 -7.00519963e-02 1.51519255e+02] [ 7.99241060e-02 -2.90959421e-04 9.96800909e-01 1.15365361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:151.54, Z:11.54 [[ 4.76134600e-01 -8.78535528e-01 -3.83558217e-02 1.47385781e+02] [ 8.75752021e-01 4.77676905e-01 -6.98796957e-02 1.51544037e+02] [ 7.97134856e-02 -3.18047391e-04 9.96817766e-01 1.15382305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:151.57, Z:11.54 [[ 4.74503752e-01 -8.79411393e-01 -3.84940329e-02 1.47398560e+02] [ 8.76606293e-01 4.76062398e-01 -7.01854641e-02 1.51568180e+02] [ 8.00474584e-02 -4.40845413e-04 9.96790956e-01 1.15399893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:151.59, Z:11.54 [[ 4.73518961e-01 -8.79933148e-01 -3.86968856e-02 1.47411344e+02] [ 8.77095621e-01 4.75097254e-01 -7.06107044e-02 1.51591920e+02] [ 8.05174834e-02 -5.05361504e-04 9.96753068e-01 1.15418525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:151.62, Z:11.54 [[ 4.70798666e-01 -8.81366123e-01 -3.92730653e-02 1.47423980e+02] [ 8.78444848e-01 4.72433285e-01 -7.17038346e-02 1.51615856e+02] [ 8.17512339e-02 -7.41152185e-04 9.96652490e-01 1.15431476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.44, Y:151.64, Z:11.55 [[ 4.68927469e-01 -8.82345467e-01 -3.96674365e-02 1.47436883e+02] [ 8.79363879e-01 4.70601400e-01 -7.24809712e-02 1.51640607e+02] [ 8.26208075e-02 -8.93792463e-04 9.96580656e-01 1.15452053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.45, Y:151.66, Z:11.55 [[ 4.67205692e-01 -8.83241772e-01 -4.00351556e-02 1.47450419e+02] [ 8.80203206e-01 4.68916730e-01 -7.32080352e-02 1.51664676e+02] [ 8.34335490e-02 -1.03586159e-03 9.96512805e-01 1.15463313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:151.69, Z:11.55 [[ 4.64087198e-01 -8.84881836e-01 -4.00900182e-02 1.47463517e+02] [ 8.81836372e-01 4.65813730e-01 -7.33633585e-02 1.51688306e+02] [ 8.35923843e-02 -1.30584077e-03 9.96499176e-01 1.15487566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:151.71, Z:11.55 [[ 4.62333233e-01 -8.85800030e-01 -4.00785251e-02 1.47476964e+02] [ 8.82754952e-01 4.64064888e-01 -7.33994156e-02 1.51712612e+02] [ 8.36162408e-02 -1.44452741e-03 9.96496983e-01 1.15509300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:151.74, Z:11.55 [[ 4.60422008e-01 -8.86796640e-01 -4.00411410e-02 1.47490421e+02] [ 8.83756451e-01 4.62157077e-01 -7.33850941e-02 1.51737131e+02] [ 8.35829516e-02 -1.59850426e-03 9.96499541e-01 1.15528111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:151.76, Z:11.55 [[ 4.58575667e-01 -8.87756793e-01 -3.99529140e-02 1.47503582e+02] [ 8.84728981e-01 4.60309502e-01 -7.32788759e-02 1.51760715e+02] [ 8.34445258e-02 -1.74359148e-03 9.96510899e-01 1.15546042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:151.78, Z:11.56 [[ 4.55982799e-01 -8.89089673e-01 -3.99904993e-02 1.47517309e+02] [ 8.86056350e-01 4.57728854e-01 -7.34060062e-02 1.51784168e+02] [ 8.35693275e-02 -1.96195964e-03 9.96500034e-01 1.15570297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:151.81, Z:11.56 [[ 4.54745420e-01 -8.89728362e-01 -3.98753676e-02 1.47529800e+02] [ 8.86710268e-01 4.56485760e-01 -7.32506113e-02 1.51806608e+02] [ 8.33756839e-02 -2.04751795e-03 9.96516083e-01 1.15586785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.462755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.54, Y:151.83, Z:11.56 [[ 4.53577623e-01 -8.90310480e-01 -4.01819468e-02 1.47543247e+02] [ 8.87243989e-01 4.55348909e-01 -7.38611821e-02 1.51831037e+02] [ 8.40561901e-02 -2.14941137e-03 9.96458698e-01 1.15611030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:151.85, Z:11.56 [[ 4.53152346e-01 -8.90548614e-01 -3.97003432e-02 1.47556558e+02] [ 8.87551593e-01 4.54883038e-01 -7.30314440e-02 1.51854648e+02] [ 8.30970640e-02 -2.14173267e-03 9.96539157e-01 1.15635951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:151.88, Z:11.57 [[ 4.52699410e-01 -8.90773446e-01 -3.98235016e-02 1.47569512e+02] [ 8.87753305e-01 4.54442514e-01 -7.33216964e-02 1.51878155e+02] [ 8.34105124e-02 -2.16075641e-03 9.96512929e-01 1.15657568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:151.90, Z:11.57 [[ 4.53070152e-01 -8.90584891e-01 -3.98244933e-02 1.47582939e+02] [ 8.87558283e-01 4.54812226e-01 -7.33902833e-02 1.51901703e+02] [ 8.34729439e-02 -2.09561217e-03 9.96507840e-01 1.15681288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:151.93, Z:11.57 [[ 4.53313905e-01 -8.90467180e-01 -3.96825458e-02 1.47596072e+02] [ 8.87456829e-01 4.55042899e-01 -7.31869991e-02 1.51925744e+02] [ 8.32278814e-02 -2.03986191e-03 9.96528454e-01 1.15699782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:151.95, Z:11.57 [[ 4.54268098e-01 -8.89883845e-01 -4.17999796e-02 1.47610588e+02] [ 8.87104999e-01 4.56158938e-01 -7.04538406e-02 1.51948693e+02] [ 8.17631688e-02 -5.07603874e-03 9.96638860e-01 1.15726157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:147.62, Y:151.98, Z:11.57 [[ 4.53741619e-01 -8.90387442e-01 -3.64519666e-02 1.47620353e+02] [ 8.87288134e-01 4.55201496e-01 -7.42385679e-02 1.51975912e+02] [ 8.26940783e-02 1.34173055e-03 9.96574076e-01 1.15733969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.63, Y:152.00, Z:11.57 [[ 4.54586921e-01 -8.90261142e-01 -2.80326657e-02 1.47626023e+02] [ 8.86936476e-01 4.55331727e-01 -7.75674311e-02 1.52000382e+02] [ 8.18194319e-02 1.03979459e-02 9.96592928e-01 1.15721158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.65, Y:152.02, Z:11.58 [[ 4.54000737e-01 -8.89650944e-01 -4.90359870e-02 1.47652320e+02] [ 8.87200770e-01 4.56456833e-01 -6.72454700e-02 1.52019605e+02] [ 8.22078072e-02 -1.29752725e-02 9.96530742e-01 1.15825419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.66, Y:152.05, Z:11.58 [[ 4.54211332e-01 -8.90028130e-01 -3.92682167e-02 1.47659282e+02] [ 8.87053118e-01 4.55902071e-01 -7.27328555e-02 1.52047492e+02] [ 8.26367487e-02 -1.79690682e-03 9.96578115e-01 1.15818878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.67, Y:152.07, Z:11.58 [[ 4.54577974e-01 -8.89842705e-01 -3.92278707e-02 1.47671083e+02] [ 8.86868577e-01 4.56264118e-01 -7.27130021e-02 1.52072345e+02] [ 8.26014043e-02 -1.73623668e-03 9.96581153e-01 1.15843204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:152.10, Z:11.59 [[ 4.54601617e-01 -8.89844355e-01 -3.89152212e-02 1.47682986e+02] [ 8.86912984e-01 4.56261048e-01 -7.21887406e-02 1.52096480e+02] [ 8.19922429e-02 -1.69729672e-03 9.96631522e-01 1.15864161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:152.12, Z:11.59 [[ 4.54839215e-01 -8.89730114e-01 -3.87506379e-02 1.47695065e+02] [ 8.86818408e-01 4.56483979e-01 -7.19408582e-02 1.52121481e+02] [ 8.16969934e-02 -1.64325553e-03 9.96655859e-01 1.15888635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:152.14, Z:11.59 [[ 4.56542845e-01 -8.89092708e-01 -3.29057502e-02 1.47702707e+02] [ 8.86023121e-01 4.57703941e-01 -7.39603394e-02 1.52144947e+02] [ 8.08186899e-02 4.61080820e-03 9.96718155e-01 1.15891731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88275509600004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:147.72, Y:152.17, Z:11.59 [[ 4.54663723e-01 -8.89603719e-01 -4.34294991e-02 1.47722608e+02] [ 8.86854247e-01 4.56685535e-01 -7.01987621e-02 1.52169283e+02] [ 8.22827039e-02 -6.59880521e-03 9.96587183e-01 1.15940517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:152.19, Z:11.59 [[ 4.54808406e-01 -8.89884200e-01 -3.54319746e-02 1.47729417e+02] [ 8.86677542e-01 4.56177033e-01 -7.55344346e-02 1.52194559e+02] [ 8.33801530e-02 2.93695964e-03 9.96513484e-01 1.15945148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:152.22, Z:11.60 [[ 4.54501431e-01 -8.89893176e-01 -3.89690282e-02 1.47743838e+02] [ 8.86835115e-01 4.56167760e-01 -7.37187488e-02 1.52217029e+02] [ 8.33782258e-02 -1.05382576e-03 9.96517416e-01 1.15976175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:152.24, Z:11.60 [[ 4.52719744e-01 -8.90625893e-01 -4.27826133e-02 1.47759298e+02] [ 8.87799329e-01 4.54700047e-01 -7.11352195e-02 1.52241857e+02] [ 8.28081247e-02 -5.77805704e-03 9.96548759e-01 1.16010670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:152.27, Z:11.61 [[ 4.52821375e-01 -8.90586773e-01 -4.25206184e-02 1.47771133e+02] [ 8.87053536e-01 4.54809720e-01 -7.92725814e-02 1.52266295e+02] [ 8.99379030e-02 -1.82174564e-03 9.95945709e-01 1.16103038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:152.29, Z:11.60 [[ 4.50330153e-01 -8.91986218e-01 -3.95391129e-02 1.47782499e+02] [ 8.88932333e-01 4.52058492e-01 -7.37728105e-02 1.52291930e+02] [ 8.36783219e-02 -1.92547484e-03 9.96490959e-01 1.16043554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:152.32, Z:11.61 [[ 4.49792889e-01 -8.92263116e-01 -3.94067150e-02 1.47794735e+02] [ 8.89225218e-01 4.51511646e-01 -7.35917418e-02 1.52315700e+02] [ 8.34557876e-02 -1.94040264e-03 9.96509592e-01 1.16064184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:152.34, Z:11.61 [[ 4.48759221e-01 -8.92795899e-01 -3.91234455e-02 1.47807136e+02] [ 8.89800103e-01 4.50456946e-01 -7.31048279e-02 1.52340950e+02] [ 8.28911184e-02 -2.00558024e-03 9.96556592e-01 1.16091112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:152.34, Z:11.66 [[ 4.51313800e-01 -8.84086935e-01 -1.21268895e-01 1.47867732e+02] [ 8.87156721e-01 4.59178619e-01 -4.59124044e-02 1.52342972e+02] [ 9.62746404e-02 -8.68636132e-02 9.91557314e-01 1.16604812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.152755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.80, Y:152.41, Z:11.61 [[ 4.51545177e-01 -8.92058858e-01 1.83833273e-02 1.47802245e+02] [ 8.87222634e-01 4.46722820e-01 -1.15215971e-01 1.52412886e+02] [ 9.45671760e-02 6.83353203e-02 9.93170345e-01 1.16117104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.85, Y:152.42, Z:11.63 [[ 4.50962013e-01 -8.91583174e-01 -4.13848590e-02 1.47848534e+02] [ 8.87628489e-01 4.52855652e-01 -8.38893502e-02 1.52416605e+02] [ 9.35357004e-02 1.09653045e-03 9.95615322e-01 1.16314166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:152.44, Z:11.63 [[ 4.49002162e-01 -8.92498027e-01 -4.29456700e-02 1.47862447e+02] [ 8.88629481e-01 4.51050419e-01 -8.30130417e-02 1.52443279e+02] [ 9.34596384e-02 -8.89753255e-04 9.95622672e-01 1.16344192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:152.47, Z:11.64 [[ 4.49628262e-01 -8.92123895e-01 -4.41518125e-02 1.47875625e+02] [ 8.88321315e-01 4.51785420e-01 -8.23114535e-02 1.52468196e+02] [ 9.33791597e-02 -2.21144040e-03 9.95628165e-01 1.16372797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:152.49, Z:11.64 [[ 4.51292681e-01 -8.91363548e-01 -4.24963596e-02 1.47886581e+02] [ 8.87662844e-01 4.53287780e-01 -8.11471704e-02 1.52490656e+02] [ 9.15947103e-02 -1.10131529e-03 9.95795760e-01 1.16385374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:152.52, Z:11.64 [[ 4.50552937e-01 -8.91671808e-01 -4.38570113e-02 1.47899154e+02] [ 8.87897798e-01 4.52677990e-01 -8.19764445e-02 1.52516672e+02] [ 9.29491883e-02 -2.00581595e-03 9.95668833e-01 1.16413350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:152.54, Z:11.64 [[ 4.52355579e-01 -8.90980195e-01 -3.90988721e-02 1.47907648e+02] [ 8.87027755e-01 4.54030409e-01 -8.38936832e-02 1.52539388e+02] [ 9.24996871e-02 3.26799088e-03 9.95707351e-01 1.16420242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36275509600006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:147.92, Y:152.56, Z:11.65 [[ 4.49953535e-01 -8.91788731e-01 -4.74834156e-02 1.47924895e+02] [ 8.88207633e-01 4.52410322e-01 -8.00755981e-02 1.52562473e+02] [ 9.28925033e-02 -6.14483368e-03 9.95657182e-01 1.16455318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.93, Y:152.59, Z:11.65 [[ 4.50618563e-01 -8.91852652e-01 -3.92652211e-02 1.47930504e+02] [ 8.87699274e-01 4.52309010e-01 -8.60613637e-02 1.52587875e+02] [ 9.45140688e-02 3.92513979e-03 9.95515788e-01 1.16466761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:152.61, Z:11.65 [[ 4.49207324e-01 -8.92107461e-01 -4.85495372e-02 1.47947988e+02] [ 8.88607729e-01 4.51760711e-01 -7.93004638e-02 1.52608946e+02] [ 9.26773089e-02 -7.51914486e-03 9.95667805e-01 1.16516507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:152.64, Z:11.65 [[ 4.49386645e-01 -8.92517915e-01 -3.82546081e-02 1.47954355e+02] [ 8.88630786e-01 4.50998898e-01 -8.32785680e-02 1.52635904e+02] [ 9.15804000e-02 3.43005374e-03 9.95791778e-01 1.16502232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:152.66, Z:11.65 [[ 4.47782449e-01 -8.93249463e-01 -3.99534108e-02 1.47967308e+02] [ 8.89422117e-01 4.49558975e-01 -8.26137150e-02 1.52660554e+02] [ 9.17560710e-02 1.45752442e-03 9.95780447e-01 1.16536064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:152.68, Z:11.66 [[ 4.46827480e-01 -8.93412926e-01 -4.64601645e-02 1.47983328e+02] [ 8.89876718e-01 4.49199377e-01 -7.96200066e-02 1.52683869e+02] [ 9.20034200e-02 -5.76741178e-03 9.95741989e-01 1.16580594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:152.71, Z:11.66 [[ 4.44966988e-01 -8.94364139e-01 -4.60126810e-02 1.47995288e+02] [ 8.90946065e-01 4.47297698e-01 -7.83573736e-02 1.52710506e+02] [ 9.06613912e-02 -6.12837262e-03 9.95862920e-01 1.16597479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:152.74, Z:11.66 [[ 4.45402712e-01 -8.94543169e-01 -3.75358817e-02 1.48001026e+02] [ 8.90478981e-01 4.46958238e-01 -8.52966521e-02 1.52735043e+02] [ 9.30785090e-02 4.56644657e-03 9.95648301e-01 1.16598598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:152.76, Z:11.66 [[ 4.43267191e-01 -8.95110076e-01 -4.78763970e-02 1.48019859e+02] [ 8.91792668e-01 4.45766702e-01 -7.74460056e-02 1.52757735e+02] [ 9.06644035e-02 -8.36654652e-03 9.95846357e-01 1.16644103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:152.79, Z:11.66 [[ 4.42972011e-01 -8.96044138e-01 -2.96765874e-02 1.48020499e+02] [ 8.91559536e-01 4.43754702e-01 -9.05723944e-02 1.52786970e+02] [ 9.43259883e-02 1.36625912e-02 9.95447609e-01 1.16624326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:152.80, Z:11.67 [[ 4.42739577e-01 -8.95029827e-01 -5.38820565e-02 1.48047784e+02] [ 8.92077150e-01 4.45746913e-01 -7.42162200e-02 1.52803162e+02] [ 9.04434909e-02 -1.52084936e-02 9.95785457e-01 1.16706769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:152.83, Z:11.67 [[ 4.41016878e-01 -8.96363962e-01 -4.51194020e-02 1.48055792e+02] [ 8.92886756e-01 4.43285786e-01 -7.90629685e-02 1.52832300e+02] [ 9.08699853e-02 -5.41841297e-03 9.95848024e-01 1.16706449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.06, Y:152.86, Z:11.67 [[ 4.41526712e-01 -8.96362075e-01 -3.98646924e-02 1.48064829e+02] [ 8.92644738e-01 4.43322516e-01 -8.15507075e-02 1.52856897e+02] [ 9.07718771e-02 4.21807902e-04 9.95871622e-01 1.16710092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75275509600004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.08, Y:152.88, Z:11.67 [[ 4.39994927e-01 -8.96877053e-01 -4.49000611e-02 1.48080765e+02] [ 8.93352249e-01 4.42250678e-01 -7.95996064e-02 1.52881334e+02] [ 9.12481429e-02 -5.08814761e-03 9.95815187e-01 1.16737489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7827550960001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:148.09, Y:152.91, Z:11.67 [[ 4.39314017e-01 -8.97309448e-01 -4.28829644e-02 1.48091935e+02] [ 8.93639867e-01 4.41393848e-01 -8.11126327e-02 1.52906073e+02] [ 9.17114084e-02 -2.68801010e-03 9.95782000e-01 1.16746363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:152.93, Z:11.68 [[ 4.39591546e-01 -8.97195523e-01 -4.24201302e-02 1.48104037e+02] [ 8.93598460e-01 4.41625860e-01 -8.03018778e-02 1.52930032e+02] [ 9.07803117e-02 -2.60653642e-03 9.95867532e-01 1.16786432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:152.96, Z:11.68 [[ 4.41189748e-01 -8.96672841e-01 -3.64612466e-02 1.48115314e+02] [ 8.92844306e-01 4.42675685e-01 -8.28690747e-02 1.52956436e+02] [ 9.04469559e-02 4.00676982e-03 9.95893214e-01 1.16777969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:152.98, Z:11.68 [[ 4.41256048e-01 -8.96162082e-01 -4.67613383e-02 1.48131826e+02] [ 8.92751058e-01 4.43669506e-01 -7.84405411e-02 1.52977046e+02] [ 9.10420185e-02 -7.13387112e-03 9.95821499e-01 1.16834207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:153.00, Z:11.68 [[ 4.41638316e-01 -8.96207244e-01 -4.20496519e-02 1.48141577e+02] [ 8.92486873e-01 4.43633112e-01 -8.15894803e-02 1.53003449e+02] [ 9.17757013e-02 -1.49572162e-03 9.95778582e-01 1.16842697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:153.03, Z:11.69 [[ 4.42698186e-01 -8.95599709e-01 -4.38118378e-02 1.48155093e+02] [ 8.92041025e-01 4.44845165e-01 -7.98472853e-02 1.53026593e+02] [ 9.10006896e-02 -3.73370833e-03 9.95843830e-01 1.16869863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.17, Y:153.05, Z:11.69 [[ 4.41543562e-01 -8.96132866e-01 -4.45552327e-02 1.48167394e+02] [ 8.92460084e-01 4.43768415e-01 -8.11455034e-02 1.53051232e+02] [ 9.24893575e-02 -3.93449212e-03 9.95705900e-01 1.16900310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:153.07, Z:11.69 [[ 4.42505746e-01 -8.95597156e-01 -4.57646097e-02 1.48180797e+02] [ 8.92117215e-01 4.44827773e-01 -7.90893585e-02 1.53073492e+02] [ 9.11895739e-02 -5.82990054e-03 9.95816486e-01 1.16928104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.20, Y:153.10, Z:11.69 [[ 4.43503622e-01 -8.95288076e-01 -4.19976055e-02 1.48195420e+02] [ 8.91669299e-01 4.45484132e-01 -8.04347523e-02 1.53100724e+02] [ 9.07215414e-02 -1.77487144e-03 9.95874717e-01 1.16936741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:153.13, Z:11.69 [[ 4.42504954e-01 -8.95990901e-01 -3.72782990e-02 1.48205686e+02] [ 8.92122881e-01 4.44057994e-01 -8.32421988e-02 1.53127751e+02] [ 9.11379793e-02 3.57826186e-03 9.95831846e-01 1.16939792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:153.15, Z:11.70 [[ 4.41679696e-01 -8.96321153e-01 -3.90824312e-02 1.48219204e+02] [ 8.92597153e-01 4.43403906e-01 -8.16290275e-02 1.53151529e+02] [ 9.04951267e-02 1.16901724e-03 9.95896212e-01 1.16957639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.23, Y:153.18, Z:11.69 [[ 4.40244214e-01 -8.97184845e-01 -3.52758707e-02 1.48229748e+02] [ 8.93422457e-01 4.41630478e-01 -8.22121329e-02 1.53177785e+02] [ 8.93383793e-02 4.67716070e-03 9.95990350e-01 1.16937990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.25, Y:153.20, Z:11.70 [[ 4.39895235e-01 -8.97134338e-01 -4.05235924e-02 1.48246327e+02] [ 8.93663962e-01 4.41755181e-01 -7.88484844e-02 1.53201468e+02] [ 8.86391898e-02 -1.52940161e-03 9.96062626e-01 1.16985785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:153.22, Z:11.71 [[ 4.39483021e-01 -8.96129820e-01 -6.16929529e-02 1.48270844e+02] [ 8.93874736e-01 4.43080488e-01 -6.83201093e-02 1.53217841e+02] [ 8.85586310e-02 -2.51202440e-02 9.95754158e-01 1.17107140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:153.25, Z:11.70 [[ 4.38086212e-01 -8.98456634e-01 -2.92600051e-02 1.48265476e+02] [ 8.94494349e-01 4.38922725e-01 -8.50100056e-02 1.53253749e+02] [ 8.92206846e-02 1.10688022e-02 9.95950376e-01 1.17015295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.28, Y:153.28, Z:11.71 [[ 4.37402702e-01 -8.98515709e-01 -3.67205229e-02 1.48282566e+02] [ 8.94633257e-01 4.38925938e-01 -8.35185966e-02 1.53276718e+02] [ 9.11603611e-02 3.67985882e-03 9.95829427e-01 1.17064483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:148.30, Y:153.30, Z:11.71 [[ 4.36240191e-01 -8.99013580e-01 -3.83285747e-02 1.48296281e+02] [ 8.95155324e-01 4.37916202e-01 -8.32246685e-02 1.53301813e+02] [ 9.16048110e-02 1.99591754e-03 9.95793440e-01 1.17078953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.32, Y:153.32, Z:11.72 [[ 4.35010869e-01 -8.98538562e-01 -5.82580234e-02 1.48317993e+02] [ 8.95658768e-01 4.38449932e-01 -7.45454804e-02 1.53318400e+02] [ 9.25252151e-02 -1.97512153e-02 9.95514427e-01 1.17203175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.31, Y:153.36, Z:11.71 [[ 4.34060876e-01 -9.00501725e-01 -2.62259172e-02 1.48313864e+02] [ 8.96050324e-01 4.34560635e-01 -9.08343109e-02 1.53356964e+02] [ 9.31932050e-02 1.59278789e-02 9.95520632e-01 1.17116196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:153.38, Z:11.72 [[ 4.33633467e-01 -9.00211847e-01 -3.97573513e-02 1.48333538e+02] [ 8.96480262e-01 4.35452193e-01 -8.18811794e-02 1.53377752e+02] [ 9.10228336e-02 -1.35260999e-04 9.95848797e-01 1.17174920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:153.40, Z:11.72 [[ 4.32767370e-01 -9.00264723e-01 -4.72845859e-02 1.48349861e+02] [ 8.96856762e-01 4.35262852e-01 -7.87032253e-02 1.53401309e+02] [ 9.14349611e-02 -8.34731287e-03 9.95776064e-01 1.17240586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:153.43, Z:11.72 [[ 4.32816872e-01 -9.01040445e-01 -2.82076690e-02 1.48349452e+02] [ 8.97220635e-01 4.33598837e-01 -8.35893606e-02 1.53429975e+02] [ 8.75482071e-02 1.08703828e-02 9.96100972e-01 1.17159877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44275509600004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:148.37, Y:153.45, Z:11.72 [[ 4.33737711e-01 -9.00094160e-01 -4.12565312e-02 1.48369196e+02] [ 8.96469092e-01 4.35690964e-01 -8.07251526e-02 1.53452172e+02] [ 9.06353362e-02 -1.97166214e-03 9.95882196e-01 1.17218691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:153.48, Z:11.73 [[ 4.33864033e-01 -9.00017036e-01 -4.16093190e-02 1.48380417e+02] [ 8.96568052e-01 4.35843506e-01 -7.87792195e-02 1.53475850e+02] [ 8.90377911e-02 -3.12611619e-03 9.96023343e-01 1.17260539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50275509600004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.41, Y:153.49, Z:11.74 [[ 4.35654806e-01 -8.97777265e-01 -6.48141332e-02 1.48405405e+02] [ 8.95218239e-01 4.39660400e-01 -7.26845087e-02 1.53494457e+02] [ 9.37507072e-02 -2.63574386e-02 9.95246748e-01 1.17418215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.41, Y:153.52, Z:11.74 [[ 4.37890239e-01 -8.97753358e-01 -4.78648837e-02 1.48407507e+02] [ 8.94198273e-01 4.40431376e-01 -8.01851122e-02 1.53522270e+02] [ 9.30676503e-02 -7.68841831e-03 9.95630102e-01 1.17400543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:153.55, Z:11.74 [[ 4.37084654e-01 -8.98738820e-01 -3.50077035e-02 1.48412451e+02] [ 8.94257132e-01 4.38410788e-01 -9.00009068e-02 1.53554542e+02] [ 9.62350636e-02 8.03212669e-03 9.95326227e-01 1.17404516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:153.57, Z:11.75 [[ 4.40488284e-01 -8.96244512e-01 -5.21137884e-02 1.48433549e+02] [ 8.92863371e-01 4.43401385e-01 -7.86779030e-02 1.53571676e+02] [ 9.36219647e-02 -1.18737983e-02 9.95537011e-01 1.17476668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:153.60, Z:11.75 [[ 4.41579577e-01 -8.96205234e-01 -4.27042897e-02 1.48440010e+02] [ 8.92337868e-01 4.43637560e-01 -8.31795968e-02 1.53598567e+02] [ 9.34912169e-02 -1.37624363e-03 9.95619153e-01 1.17476302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.652755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.45, Y:153.62, Z:11.75 [[ 4.42445789e-01 -8.95793595e-01 -4.23740311e-02 1.48452371e+02] [ 8.91977702e-01 4.44468531e-01 -8.26045045e-02 1.53623947e+02] [ 9.28305094e-02 -1.24867572e-03 9.95681142e-01 1.17482940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.46, Y:153.65, Z:11.75 [[ 4.44207603e-01 -8.94930066e-01 -4.21874600e-02 1.48463069e+02] [ 8.91137745e-01 4.46205231e-01 -8.23068113e-02 1.53648857e+02] [ 9.24831054e-02 -1.03352667e-03 9.95713717e-01 1.17526661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:153.67, Z:11.76 [[ 4.44417415e-01 -8.94831628e-01 -4.20656588e-02 1.48475328e+02] [ 8.91054391e-01 4.46402732e-01 -8.21381325e-02 1.53674339e+02] [ 9.22780238e-02 -9.79173569e-04 9.95732799e-01 1.17552514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74275509600005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:148.49, Y:153.70, Z:11.76 [[ 4.44042827e-01 -8.95012584e-01 -4.21715914e-02 1.48487452e+02] [ 8.91210997e-01 4.46039791e-01 -8.24103385e-02 1.53698712e+02] [ 9.25684978e-02 -9.90066352e-04 9.95705827e-01 1.17554873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:153.72, Z:11.76 [[ 4.43796514e-01 -8.95144801e-01 -4.19575945e-02 1.48499396e+02] [ 8.91376105e-01 4.45774406e-01 -8.20598440e-02 1.53723375e+02] [ 9.21590645e-02 -9.82124522e-04 9.95743814e-01 1.17598336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:153.75, Z:11.76 [[ 4.42955284e-01 -8.95561952e-01 -4.19452685e-02 1.48511817e+02] [ 8.91791363e-01 4.44935623e-01 -8.21002790e-02 1.53747950e+02] [ 9.21888304e-02 -1.03967573e-03 9.95741000e-01 1.17622721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:153.77, Z:11.77 [[ 4.40870927e-01 -8.96604395e-01 -4.16339460e-02 1.48523988e+02] [ 8.92888463e-01 4.42830749e-01 -8.15543959e-02 1.53772081e+02] [ 9.15588213e-02 -1.21950793e-03 9.95798923e-01 1.17650631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:153.80, Z:11.77 [[ 4.40654609e-01 -8.96711971e-01 -4.16071665e-02 1.48536347e+02] [ 8.92995229e-01 4.42612892e-01 -8.15680563e-02 1.53796775e+02] [ 9.15589208e-02 -1.21166123e-03 9.95798923e-01 1.17674488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:153.82, Z:11.77 [[ 4.36989067e-01 -8.98582438e-01 -3.98767728e-02 1.48547958e+02] [ 8.94752623e-01 4.38804415e-01 -8.28759860e-02 1.53823294e+02] [ 9.19690095e-02 5.36052743e-04 9.95761725e-01 1.17696527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.56, Y:153.85, Z:11.77 [[ 4.36356873e-01 -8.98714726e-01 -4.36408287e-02 1.48562580e+02] [ 8.95130087e-01 4.38515232e-01 -8.02902160e-02 1.53845309e+02] [ 9.12951676e-02 -4.02903117e-03 9.95815726e-01 1.17727097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.56, Y:153.88, Z:11.76 [[ 4.34578403e-01 -9.00357264e-01 -2.23250863e-02 1.48564587e+02] [ 8.96029657e-01 4.34727144e-01 -9.02394801e-02 1.53878988e+02] [ 9.09530924e-02 1.92121897e-02 9.95669838e-01 1.17640072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:153.89, Z:11.78 [[ 4.31227413e-01 -9.00201249e-01 -6.06681870e-02 1.48597534e+02] [ 8.97559241e-01 4.34860596e-01 -7.26888686e-02 1.53889147e+02] [ 9.18168142e-02 -2.31078591e-02 9.95507760e-01 1.17821104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:153.92, Z:11.78 [[ 4.29701047e-01 -9.01993361e-01 -4.20117487e-02 1.48599318e+02] [ 8.98198781e-01 4.31744257e-01 -8.26791759e-02 1.53918375e+02] [ 9.27143989e-02 -2.20757301e-03 9.95690297e-01 1.17789555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04275509600006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:148.61, Y:153.94, Z:11.78 [[ 4.25789484e-01 -9.03833237e-01 -4.22941536e-02 1.48611922e+02] [ 8.99989334e-01 4.27877040e-01 -8.33092902e-02 1.53942146e+02] [ 9.33944026e-02 -2.59206741e-03 9.95625817e-01 1.17785577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.62, Y:153.97, Z:11.78 [[ 4.24564144e-01 -9.04420048e-01 -4.20673865e-02 1.48624410e+02] [ 9.00613568e-01 4.26634758e-01 -8.29336139e-02 1.53966240e+02] [ 9.29542323e-02 -2.67582027e-03 9.95666787e-01 1.17828626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10275509600007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:148.64, Y:153.99, Z:11.78 [[ 4.22297602e-01 -9.05479224e-01 -4.20964385e-02 1.48636440e+02] [ 9.01666122e-01 4.24380816e-01 -8.30609889e-02 1.53989645e+02] [ 9.30749207e-02 -2.88047609e-03 9.95654941e-01 1.17823844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:154.01, Z:11.79 [[ 4.21172604e-01 -9.06000883e-01 -4.21430595e-02 1.48648940e+02] [ 9.02176672e-01 4.23265340e-01 -8.32088010e-02 1.54013948e+02] [ 9.32249436e-02 -2.97521779e-03 9.95640627e-01 1.17875448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:154.04, Z:11.79 [[ 4.18533330e-01 -9.07211518e-01 -4.23923830e-02 1.48661679e+02] [ 9.03341605e-01 4.20662332e-01 -8.37684132e-02 1.54038411e+02] [ 9.38285480e-02 -3.23493035e-03 9.95583115e-01 1.17897773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19275509600004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:148.67, Y:154.06, Z:11.79 [[ 4.16859938e-01 -9.07985009e-01 -4.23203991e-02 1.48673917e+02] [ 9.04125885e-01 4.18989064e-01 -8.36931759e-02 1.54062638e+02] [ 9.37239334e-02 -3.37463615e-03 9.95592505e-01 1.17887622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22275509600007 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:148.69, Y:154.09, Z:11.79 [[ 4.15804426e-01 -9.08483952e-01 -4.19950913e-02 1.48685660e+02] [ 9.04680042e-01 4.17905659e-01 -8.31196852e-02 1.54086331e+02] [ 9.30628864e-02 -3.43058793e-03 9.95654323e-01 1.17912693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25275509600004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.70, Y:154.11, Z:11.80 [[ 4.15799592e-01 -9.08485453e-01 -4.20104782e-02 1.48697469e+02] [ 9.04671693e-01 4.17902642e-01 -8.32256569e-02 1.54110354e+02] [ 9.31655885e-02 -3.40049626e-03 9.95644821e-01 1.17952812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2827550960001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:148.71, Y:154.13, Z:11.80 [[ 4.15737121e-01 -9.08515640e-01 -4.19759309e-02 1.48708788e+02] [ 9.04701924e-01 4.17837213e-01 -8.32255433e-02 1.54134113e+02] [ 9.31508137e-02 -3.37575774e-03 9.95646288e-01 1.17960448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31275509600005 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:148.72, Y:154.16, Z:11.80 [[ 4.16988406e-01 -9.07939283e-01 -4.20348450e-02 1.48720212e+02] [ 9.04106774e-01 4.19089294e-01 -8.33972724e-02 1.54159292e+02] [ 9.33360132e-02 -3.22829246e-03 9.95629432e-01 1.17977180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.342755096 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:148.73, Y:154.19, Z:11.80 [[ 4.18840153e-01 -9.07428293e-01 -3.38647349e-02 1.48729181e+02] [ 9.03433111e-01 4.20176080e-01 -8.52096017e-02 1.54187458e+02] [ 9.15507550e-02 5.09467984e-03 9.95787379e-01 1.17959953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:154.21, Z:11.81 [[ 4.20360765e-01 -9.06023171e-01 -4.91817102e-02 1.48748033e+02] [ 9.02615777e-01 4.23083385e-01 -7.92793100e-02 1.54206719e+02] [ 9.26368564e-02 -1.10662762e-02 9.95638464e-01 1.18083628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:154.23, Z:11.81 [[ 4.23560586e-01 -9.04913442e-01 -4.15703439e-02 1.48754542e+02] [ 9.01137211e-01 4.25588514e-01 -8.26204790e-02 1.54232751e+02] [ 9.24562428e-02 -2.46580529e-03 9.95713695e-01 1.18087244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43275509600005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:148.77, Y:154.26, Z:11.81 [[ 4.24709398e-01 -9.04383646e-01 -4.13781163e-02 1.48766336e+02] [ 9.00633077e-01 4.26714066e-01 -8.23113963e-02 1.54257542e+02] [ 9.20977049e-02 -2.30807664e-03 9.95747300e-01 1.18086256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.462755096 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:148.78, Y:154.28, Z:11.81 [[ 4.25987873e-01 -9.03783415e-01 -4.13505896e-02 1.48777849e+02] [ 9.00028251e-01 4.27984740e-01 -8.23298871e-02 1.54281940e+02] [ 9.21058079e-02 -2.14516534e-03 9.95746915e-01 1.18102378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.79, Y:154.31, Z:11.81 [[ 4.29171225e-01 -9.02280869e-01 -4.12467441e-02 1.48788936e+02] [ 8.98531356e-01 4.31145032e-01 -8.21910220e-02 1.54306119e+02] [ 9.19427155e-02 -1.78747130e-03 9.95762694e-01 1.18147295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.522755096 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:148.80, Y:154.33, Z:11.82 [[ 4.30081741e-01 -9.01860786e-01 -4.09489674e-02 1.48801107e+02] [ 8.98156879e-01 4.32023594e-01 -8.16690565e-02 1.54331654e+02] [ 9.13450396e-02 -1.65422681e-03 9.95817929e-01 1.18152236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:154.36, Z:11.82 [[ 4.32424723e-01 -9.00765444e-01 -4.03791353e-02 1.48812456e+02] [ 8.97153743e-01 4.34303723e-01 -8.05942723e-02 1.54356655e+02] [ 9.01333443e-02 -1.37533653e-03 9.95928757e-01 1.18202036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.582755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:148.82, Y:154.38, Z:11.82 [[ 4.32549548e-01 -9.00712749e-01 -4.02173073e-02 1.48824182e+02] [ 8.97124009e-01 4.34413135e-01 -8.03351817e-02 1.54381198e+02] [ 8.98298489e-02 -1.33096543e-03 9.95956237e-01 1.18215908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61275509600006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:148.84, Y:154.41, Z:11.82 [[ 4.32672324e-01 -9.00657992e-01 -4.01228318e-02 1.48835873e+02] [ 8.97079846e-01 4.34526782e-01 -8.02136282e-02 1.54405282e+02] [ 8.96794903e-02 -1.28716681e-03 9.95969845e-01 1.18230258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64275509600003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:148.85, Y:154.43, Z:11.83 [[ 4.32059975e-01 -9.00954858e-01 -4.00564929e-02 1.48848229e+02] [ 8.97383687e-01 4.33910833e-01 -8.01492841e-02 1.54430445e+02] [ 8.95918330e-02 -1.31674559e-03 9.95977695e-01 1.18253862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67275509600006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.86, Y:154.46, Z:11.83 [[ 4.31078890e-01 -9.01431987e-01 -3.98918937e-02 1.48860332e+02] [ 8.97886635e-01 4.32918537e-01 -7.98819745e-02 1.54455388e+02] [ 8.92781073e-02 -1.38296533e-03 9.96005777e-01 1.18279424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:154.48, Z:11.83 [[ 4.29198772e-01 -9.02327947e-01 -3.99085124e-02 1.48871567e+02] [ 8.98777847e-01 4.31047441e-01 -7.99780309e-02 1.54479250e+02] [ 8.93688746e-02 -1.54241418e-03 9.95997402e-01 1.18323443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73275509600006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:148.88, Y:154.50, Z:11.83 [[ 4.27502382e-01 -9.03130297e-01 -3.99672482e-02 1.48883410e+02] [ 8.99566584e-01 4.29363299e-01 -8.01693141e-02 1.54503893e+02] [ 8.95638059e-02 -1.68062818e-03 9.95979669e-01 1.18324467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:154.53, Z:11.84 [[ 4.26635942e-01 -9.03544502e-01 -3.98635852e-02 1.48895294e+02] [ 8.99994975e-01 4.28490755e-01 -8.00294780e-02 1.54527663e+02] [ 8.93913726e-02 -1.73357467e-03 9.95995069e-01 1.18371123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.91, Y:154.55, Z:11.84 [[ 4.24256097e-01 -9.04664489e-01 -3.98613454e-02 1.48907509e+02] [ 9.01114151e-01 4.26120172e-01 -8.00929807e-02 1.54551889e+02] [ 8.94429988e-02 -1.93968699e-03 9.95990054e-01 1.18389918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.92, Y:154.57, Z:11.84 [[ 4.22946468e-01 -9.05281595e-01 -3.97683252e-02 1.48918983e+02] [ 9.01744264e-01 4.24807123e-01 -7.99761867e-02 1.54574878e+02] [ 8.92948376e-02 -2.03521350e-03 9.96003158e-01 1.18407134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85275509600007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.93, Y:154.60, Z:11.84 [[ 4.20238020e-01 -9.06544832e-01 -3.97048415e-02 1.48930867e+02] [ 9.03017855e-01 4.22103451e-01 -7.99213980e-02 1.54599557e+02] [ 8.92118809e-02 -2.26817078e-03 9.96010088e-01 1.18411284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.94, Y:154.62, Z:11.84 [[ 4.19218135e-01 -9.07019436e-01 -3.96471760e-02 1.48942492e+02] [ 9.03498908e-01 4.21082271e-01 -7.98714263e-02 1.54623389e+02] [ 8.91396589e-02 -2.33762984e-03 9.96016394e-01 1.18448118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:154.65, Z:11.85 [[ 4.18138336e-01 -9.07515370e-01 -3.97012069e-02 1.48954156e+02] [ 9.03981270e-01 4.20011916e-01 -8.00490743e-02 1.54647435e+02] [ 8.93207452e-02 -2.41756071e-03 9.95999980e-01 1.18471495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94275509600004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:148.97, Y:154.67, Z:11.85 [[ 4.16335989e-01 -9.08334932e-01 -3.98998078e-02 1.48966509e+02] [ 9.04762815e-01 4.18235591e-01 -8.05185647e-02 1.54673352e+02] [ 8.98253447e-02 -2.57708613e-03 9.95954199e-01 1.18466199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:154.70, Z:11.85 [[ 4.16125900e-01 -9.08442566e-01 -3.96401305e-02 1.48978137e+02] [ 9.04911577e-01 4.18001879e-01 -8.00591468e-02 1.54697795e+02] [ 8.92987858e-02 -2.55612849e-03 9.96001603e-01 1.18513452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00275509600004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:148.99, Y:154.72, Z:11.85 [[ 4.15414431e-01 -9.08754537e-01 -3.99504978e-02 1.48989451e+02] [ 9.05163115e-01 4.17322842e-01 -8.07550714e-02 1.54722654e+02] [ 9.00587928e-02 -2.61489499e-03 9.95933018e-01 1.18512839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0327550960001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:149.00, Y:154.75, Z:11.85 [[ 4.15462259e-01 -9.08746344e-01 -3.96382768e-02 1.49001084e+02] [ 9.05204954e-01 4.17340993e-01 -8.01903178e-02 1.54747793e+02] [ 8.94153359e-02 -2.56471392e-03 9.95991124e-01 1.18532728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.01, Y:154.77, Z:11.86 [[ 4.16174333e-01 -9.08431548e-01 -3.93833432e-02 1.49012905e+02] [ 9.04928640e-01 4.18026434e-01 -7.97374310e-02 1.54772772e+02] [ 8.88992763e-02 -2.45444299e-03 9.96037597e-01 1.18583334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.02, Y:154.80, Z:11.86 [[ 4.17356412e-01 -9.07912224e-01 -3.88460909e-02 1.49024077e+02] [ 9.04496757e-01 4.19154112e-01 -7.87111620e-02 1.54796666e+02] [ 8.77453249e-02 -2.28555510e-03 9.96140319e-01 1.18610419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:154.82, Z:11.86 [[ 4.17838154e-01 -9.07703397e-01 -3.85463396e-02 1.49035276e+02] [ 9.04333350e-01 4.19606638e-01 -7.81758391e-02 1.54819918e+02] [ 8.71347747e-02 -2.19389215e-03 9.96194117e-01 1.18634250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.152755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.05, Y:154.84, Z:11.86 [[ 4.18200581e-01 -9.07549758e-01 -3.82323284e-02 1.49046735e+02] [ 9.04227708e-01 4.19939242e-01 -7.76098323e-02 1.54844460e+02] [ 8.64900396e-02 -2.11425374e-03 9.96250472e-01 1.18646106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:149.06, Y:154.87, Z:11.87 [[ 4.20095114e-01 -9.06695094e-01 -3.77372682e-02 1.49057863e+02] [ 9.03449549e-01 4.21782473e-01 -7.66710997e-02 1.54869257e+02] [ 8.54342283e-02 -1.88456360e-03 9.96342030e-01 1.18671628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.212755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:149.07, Y:154.89, Z:11.87 [[ 4.20872069e-01 -9.06341503e-01 -3.75736663e-02 1.49068983e+02] [ 9.03116969e-01 4.22542215e-01 -7.64056047e-02 1.54893129e+02] [ 8.51260308e-02 -1.77643064e-03 9.96368608e-01 1.18694036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:154.92, Z:11.87 [[ 4.22699131e-01 -9.05512236e-01 -3.70544826e-02 1.49080328e+02] [ 9.02368964e-01 4.24317263e-01 -7.53996950e-02 1.54917951e+02] [ 8.39982030e-02 -1.56542951e-03 9.96464676e-01 1.18731073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.272755096 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:149.09, Y:154.94, Z:11.87 [[ 4.23199948e-01 -9.05274271e-01 -3.71523597e-02 1.49090917e+02] [ 9.02107900e-01 4.24824977e-01 -7.56642355e-02 1.54941962e+02] [ 8.42801360e-02 -1.49433668e-03 9.96440980e-01 1.18733019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.10, Y:154.97, Z:11.88 [[ 4.23661402e-01 -9.05069987e-01 -3.68691649e-02 1.49102297e+02] [ 9.01945345e-01 4.25260297e-01 -7.51549955e-02 1.54965947e+02] [ 8.36995228e-02 -1.41370087e-03 9.96490036e-01 1.18770254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.11, Y:154.99, Z:11.88 [[ 4.23665511e-01 -9.05072261e-01 -3.67659799e-02 1.49113987e+02] [ 9.01959749e-01 4.25255559e-01 -7.50088029e-02 1.54990919e+02] [ 8.35233242e-02 -1.38279119e-03 9.96504863e-01 1.18796384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:155.01, Z:11.88 [[ 4.23172751e-01 -9.05300783e-01 -3.68146059e-02 1.49124831e+02] [ 9.02175489e-01 4.24768790e-01 -7.51722176e-02 1.55014992e+02] [ 8.36911630e-02 -1.40240094e-03 9.96490754e-01 1.18809177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39275509600003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.14, Y:155.04, Z:11.88 [[ 4.21973071e-01 -9.05849719e-01 -3.70811736e-02 1.49136285e+02] [ 9.02675252e-01 4.23596573e-01 -7.57847750e-02 1.55039728e+02] [ 8.43570752e-02 -1.49312352e-03 9.96434471e-01 1.18816227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.15, Y:155.06, Z:11.88 [[ 4.20477462e-01 -9.06548814e-01 -3.69858369e-02 1.49148993e+02] [ 9.03387820e-01 4.22097956e-01 -7.56555450e-02 1.55064272e+02] [ 8.41970907e-02 -1.60110300e-03 9.96447834e-01 1.18841647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.16, Y:155.09, Z:11.88 [[ 4.19539851e-01 -9.07275729e-01 -2.89320673e-02 1.49155752e+02] [ 9.03547879e-01 4.20450093e-01 -8.26011450e-02 1.55090906e+02] [ 8.71065044e-02 8.51296401e-03 9.96162630e-01 1.18847084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.18, Y:155.11, Z:11.89 [[ 4.17282924e-01 -9.07610389e-01 -4.60254607e-02 1.49177917e+02] [ 9.04827687e-01 4.19652749e-01 -7.19612921e-02 1.55110895e+02] [ 8.46275274e-02 -1.16168928e-02 9.96344935e-01 1.18907963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:155.14, Z:11.89 [[ 4.15197483e-01 -9.09196903e-01 -3.11775754e-02 1.49181378e+02] [ 9.05581034e-01 4.16330396e-01 -8.11910846e-02 1.55138303e+02] [ 8.67988550e-02 5.47651302e-03 9.96210804e-01 1.18897040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:155.16, Z:11.90 [[ 4.12619546e-01 -9.09872528e-01 -4.33254340e-02 1.49201326e+02] [ 9.07001833e-01 4.14784713e-01 -7.28101486e-02 1.55159895e+02] [ 8.42186817e-02 -9.25335763e-03 9.96404330e-01 1.18950931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:155.19, Z:11.90 [[ 4.10531149e-01 -9.11096421e-01 -3.69795424e-02 1.49210083e+02] [ 9.07928766e-01 4.12186326e-01 -7.59459639e-02 1.55186271e+02] [ 8.44365576e-02 -2.39660647e-03 9.96425975e-01 1.18953713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60275509600007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.22, Y:155.21, Z:11.90 [[ 4.06484359e-01 -9.12881608e-01 -3.76514990e-02 1.49222469e+02] [ 9.09599092e-01 4.08214893e-01 -7.73956930e-02 1.55209315e+02] [ 8.60230073e-02 -2.78763064e-03 9.96289251e-01 1.18963548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63275509600004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:149.23, Y:155.23, Z:11.90 [[ 4.06486641e-01 -9.13056609e-01 -3.31095058e-02 1.49231809e+02] [ 9.09368937e-01 4.07819970e-01 -8.20427262e-02 1.55232971e+02] [ 8.84123711e-02 3.24051611e-03 9.96078688e-01 1.18970531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:155.26, Z:11.90 [[ 4.02434506e-01 -9.14472790e-01 -4.22609079e-02 1.49250978e+02] [ 9.11438847e-01 4.04560693e-01 -7.48990916e-02 1.55255690e+02] [ 8.55902835e-02 -8.37625426e-03 9.96295208e-01 1.19032844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:155.28, Z:11.90 [[ 4.01384910e-01 -9.15142180e-01 -3.74825907e-02 1.49260445e+02] [ 9.11883713e-01 4.03118663e-01 -7.72232978e-02 1.55280839e+02] [ 8.57802289e-02 -3.18349756e-03 9.96308997e-01 1.19043151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.27, Y:155.31, Z:11.91 [[ 4.00786466e-01 -9.15407232e-01 -3.74140022e-02 1.49273007e+02] [ 9.12156143e-01 4.02516225e-01 -7.71482903e-02 1.55305103e+02] [ 8.56818459e-02 -3.20742134e-03 9.96317386e-01 1.19066647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:155.33, Z:11.91 [[ 4.00489490e-01 -9.15538286e-01 -3.73873775e-02 1.49284855e+02] [ 9.12286567e-01 4.02218064e-01 -7.71611910e-02 1.55330063e+02] [ 8.56819031e-02 -3.20575619e-03 9.96317386e-01 1.19090537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:149.30, Y:155.35, Z:11.91 [[ 4.00679836e-01 -9.15453718e-01 -3.74187047e-02 1.49297157e+02] [ 9.12190648e-01 4.02410830e-01 -7.72900098e-02 1.55352716e+02] [ 8.58131189e-02 -3.16444406e-03 9.96306225e-01 1.19110280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:155.38, Z:11.91 [[ 4.00826372e-01 -9.15888154e-01 -2.20705426e-02 1.49299831e+02] [ 9.11538775e-01 4.01106457e-01 -9.06127566e-02 1.55383467e+02] [ 9.18437876e-02 1.62018271e-02 9.95641612e-01 1.19099502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:155.40, Z:11.93 [[ 4.05508607e-01 -9.11927351e-01 -6.28591810e-02 1.49339955e+02] [ 9.09715341e-01 4.09332698e-01 -6.97476959e-02 1.55397723e+02] [ 8.93351497e-02 -2.89006703e-02 9.95582233e-01 1.19261744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:155.44, Z:11.91 [[ 4.04276116e-01 -9.14442309e-01 -1.88702411e-02 1.49325873e+02] [ 9.10588098e-01 4.04339934e-01 -8.56652354e-02 1.55436034e+02] [ 8.59659077e-02 1.74493916e-02 9.96145261e-01 1.19103625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.902755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.35, Y:155.45, Z:11.92 [[ 4.07536578e-01 -9.11866823e-01 -4.91206112e-02 1.49354852e+02] [ 9.08910588e-01 4.10240749e-01 -7.47266390e-02 1.55451332e+02] [ 8.82920192e-02 -1.41924050e-02 9.95993522e-01 1.19235266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:155.48, Z:11.92 [[ 4.08782373e-01 -9.12097716e-01 -3.12206292e-02 1.49356398e+02] [ 9.08250491e-01 4.09929851e-01 -8.38961475e-02 1.55481396e+02] [ 8.93197525e-02 5.93911450e-03 9.95985295e-01 1.19224424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:155.50, Z:11.93 [[ 4.10681911e-01 -9.10584725e-01 -4.66457487e-02 1.49377738e+02] [ 9.07465414e-01 4.13174191e-01 -7.61157622e-02 1.55499868e+02] [ 8.85826699e-02 -1.10700369e-02 9.96007312e-01 1.19308920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:155.53, Z:11.93 [[ 4.09703298e-01 -9.11885803e-01 -2.46473160e-02 1.49374398e+02] [ 9.07593608e-01 4.10194547e-01 -8.95224951e-02 1.55530487e+02] [ 9.17444869e-02 1.43079150e-02 9.95679784e-01 1.19268632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:155.55, Z:11.94 [[ 4.09614867e-01 -9.10723740e-01 -5.28954738e-02 1.49403216e+02] [ 9.08093311e-01 4.12593148e-01 -7.16479764e-02 1.55546188e+02] [ 8.70758230e-02 -1.86859497e-02 9.96026424e-01 1.19361779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:155.58, Z:11.93 [[ 4.08673541e-01 -9.12174513e-01 -3.03906899e-02 1.49402771e+02] [ 9.08226452e-01 4.09739281e-01 -8.50789842e-02 1.55578372e+02] [ 9.00591405e-02 7.16790131e-03 9.95910625e-01 1.19329293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.42, Y:155.60, Z:11.94 [[ 4.06681530e-01 -9.12744855e-01 -3.88196246e-02 1.49419229e+02] [ 9.09171424e-01 4.08522653e-01 -8.07252316e-02 1.55601059e+02] [ 8.95402358e-02 -2.46423269e-03 9.95980157e-01 1.19378064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:155.62, Z:11.94 [[ 4.06439751e-01 -9.12523659e-01 -4.59053459e-02 1.49436042e+02] [ 9.09630615e-01 4.08852053e-01 -7.35672642e-02 1.55622111e+02] [ 8.59003640e-02 -1.18562475e-02 9.96233184e-01 1.19412098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:155.65, Z:11.94 [[ 4.05523647e-01 -9.13408768e-01 -3.51424846e-02 1.49441561e+02] [ 9.09792306e-01 4.07042385e-01 -8.12062659e-02 1.55650387e+02] [ 8.84789960e-02 9.58698930e-04 9.96077581e-01 1.19405446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:155.67, Z:11.95 [[ 4.04692049e-01 -9.13012644e-01 -5.13055262e-02 1.49463622e+02] [ 9.10215256e-01 4.07577262e-01 -7.34095629e-02 1.55670216e+02] [ 8.79348250e-02 -1.69908062e-02 9.95981315e-01 1.19497443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:155.70, Z:11.94 [[ 4.03528039e-01 -9.14599933e-01 -2.59246020e-02 1.49460806e+02] [ 9.10922178e-01 4.04244089e-01 -8.25075906e-02 1.55701007e+02] [ 8.59413039e-02 9.67883132e-03 9.96253187e-01 1.19405585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.48, Y:155.72, Z:11.95 [[ 4.02829717e-01 -9.14568244e-01 -3.59603432e-02 1.49478828e+02] [ 9.11234967e-01 4.04429397e-01 -7.80236961e-02 1.55724150e+02] [ 8.59014146e-02 -1.33805868e-03 9.96302743e-01 1.19453851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:155.75, Z:11.95 [[ 4.04021938e-01 -9.13931919e-01 -3.86616172e-02 1.49492216e+02] [ 9.10586902e-01 4.05851486e-01 -7.82052757e-02 1.55746985e+02] [ 8.71651725e-02 -3.60811515e-03 9.96187339e-01 1.19489937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.50, Y:155.77, Z:11.95 [[ 4.04256176e-01 -9.13869225e-01 -3.76826833e-02 1.49503128e+02] [ 9.10448713e-01 4.06001812e-01 -7.90295461e-02 1.55771534e+02] [ 8.75219077e-02 -2.35996843e-03 9.96159800e-01 1.19506696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:155.80, Z:11.95 [[ 4.04426360e-01 -9.13775541e-01 -3.81258410e-02 1.49514841e+02] [ 9.10267237e-01 4.06212741e-01 -8.00297783e-02 1.55796073e+02] [ 8.86164564e-02 -2.33855210e-03 9.96063078e-01 1.19531673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:155.82, Z:11.96 [[ 4.05428071e-01 -9.13311523e-01 -3.86023432e-02 1.49527786e+02] [ 9.09706273e-01 4.07255524e-01 -8.11013838e-02 1.55820504e+02] [ 8.97918459e-02 -2.23601618e-03 9.95958044e-01 1.19552737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:155.84, Z:11.96 [[ 4.05758176e-01 -9.13155185e-01 -3.88318256e-02 1.49539478e+02] [ 9.09499761e-01 4.07606220e-01 -8.16538749e-02 1.55844008e+02] [ 9.03907529e-02 -2.18580872e-03 9.95903978e-01 1.19578160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:155.87, Z:11.96 [[ 4.06071304e-01 -9.13011937e-01 -3.89268274e-02 1.49552327e+02] [ 9.09332835e-01 4.07927246e-01 -8.19094470e-02 1.55868241e+02] [ 9.06636164e-02 -2.13636631e-03 9.95879282e-01 1.19601176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:155.89, Z:11.96 [[ 4.06128719e-01 -9.12987334e-01 -3.89049079e-02 1.49564644e+02] [ 9.09305892e-01 4.07982492e-01 -8.19333957e-02 1.55892777e+02] [ 9.06766738e-02 -2.10095693e-03 9.95878169e-01 1.19626611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:155.91, Z:11.98 [[ 4.07385878e-01 -9.11239159e-01 -6.06625250e-02 1.49591065e+02] [ 9.08312550e-01 4.11187844e-01 -7.67650251e-02 1.55912424e+02] [ 9.48949898e-02 -2.38275456e-02 9.95202085e-01 1.19779909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:155.95, Z:11.96 [[ 4.05204058e-01 -9.14010847e-01 -1.98454795e-02 1.49579596e+02] [ 9.09621194e-01 4.05244035e-01 -9.14688760e-02 1.55947184e+02] [ 9.16458070e-02 1.90116910e-02 9.95610166e-01 1.19624697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5327550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.61, Y:155.96, Z:11.98 [[ 4.05610978e-01 -9.12283824e-01 -5.67270665e-02 1.49614348e+02] [ 9.09148016e-01 4.09075967e-01 -7.81456166e-02 1.55962082e+02] [ 9.44966615e-02 -1.98765801e-02 9.95326732e-01 1.19808889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.62, Y:155.99, Z:11.98 [[ 4.04008213e-01 -9.14102016e-01 -3.45668588e-02 1.49615645e+02] [ 9.10015558e-01 4.05469584e-01 -8.64066046e-02 1.55992393e+02] [ 9.30002613e-02 3.45259863e-03 9.95660098e-01 1.19750954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.62, Y:156.02, Z:11.97 [[ 4.02468473e-01 -9.14992153e-01 -2.84339368e-02 1.49624008e+02] [ 9.10954991e-01 4.03374876e-01 -8.63117270e-02 1.56017824e+02] [ 9.04440886e-02 8.83571231e-03 9.95862338e-01 1.19729094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.63, Y:156.04, Z:11.98 [[ 4.00988291e-01 -9.15727629e-01 -2.55205766e-02 1.49633946e+02] [ 9.10619906e-01 4.01480155e-01 -9.79033773e-02 1.56044754e+02] [ 9.98988326e-02 1.60185628e-02 9.94868649e-01 1.19780737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:156.05, Z:11.99 [[ 4.01190117e-01 -9.12710136e-01 -7.75028912e-02 1.49677568e+02] [ 9.12196248e-01 4.05791291e-01 -5.68456938e-02 1.56050976e+02] [ 8.33336392e-02 -4.78919160e-02 9.95370217e-01 1.19931127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.65, Y:156.09, Z:11.97 [[ 4.00241380e-01 -9.16327685e-01 -1.22642817e-02 1.49650352e+02] [ 9.12332075e-01 3.99685859e-01 -8.88898146e-02 1.56092711e+02] [ 8.63540580e-02 2.43882845e-02 9.95965957e-01 1.19725521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:156.11, Z:11.99 [[ 4.01849917e-01 -9.14525029e-01 -4.64824113e-02 1.49684521e+02] [ 9.11488576e-01 4.04349632e-01 -7.54317613e-02 1.56108277e+02] [ 8.77793796e-02 -1.20559398e-02 9.96066983e-01 1.19881680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:156.14, Z:11.98 [[ 4.00672415e-01 -9.15930006e-01 -2.31049981e-02 1.49681738e+02] [ 9.12059959e-01 4.01126496e-01 -8.51126574e-02 1.56138932e+02] [ 8.72252637e-02 1.30291503e-02 9.96103406e-01 1.19801253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.71, Y:156.16, Z:11.99 [[ 4.00941644e-01 -9.15007170e-01 -4.48070995e-02 1.49708056e+02] [ 9.12056905e-01 4.03284966e-01 -7.42525309e-02 1.56157542e+02] [ 8.60116278e-02 -1.10956926e-02 9.96232345e-01 1.19908420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.72, Y:156.18, Z:11.99 [[ 4.00777638e-01 -9.15437756e-01 -3.67559438e-02 1.49715023e+02] [ 9.12092758e-01 4.02453691e-01 -7.82165452e-02 1.56183159e+02] [ 8.63949439e-02 -2.17738801e-03 9.96258587e-01 1.19905570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:156.21, Z:11.99 [[ 4.00375128e-01 -9.15666227e-01 -3.54276372e-02 1.49726111e+02] [ 9.12268790e-01 4.01938768e-01 -7.88091428e-02 1.56208900e+02] [ 8.64026113e-02 -7.66307086e-04 9.96260007e-01 1.19917371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:156.23, Z:11.99 [[ 3.99885438e-01 -9.16034218e-01 -3.11921099e-02 1.49736128e+02] [ 9.12372461e-01 4.01077004e-01 -8.19373512e-02 1.56233824e+02] [ 8.75678555e-02 4.30673150e-03 9.96149247e-01 1.19938744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:156.25, Z:12.00 [[ 3.99763595e-01 -9.15607455e-01 -4.30355244e-02 1.49755410e+02] [ 9.12682844e-01 4.01954275e-01 -7.37752493e-02 1.56254092e+02] [ 8.48474813e-02 -9.78512594e-03 9.96345902e-01 1.19995229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:156.28, Z:12.00 [[ 3.99353438e-01 -9.16089599e-01 -3.60094205e-02 1.49763755e+02] [ 9.12857699e-01 4.00967827e-01 -7.69130911e-02 1.56281044e+02] [ 8.48979019e-02 -2.15596934e-03 9.96387323e-01 1.19997035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.78, Y:156.31, Z:12.00 [[ 3.99423651e-01 -9.16057962e-01 -3.60354903e-02 1.49776098e+02] [ 9.12815709e-01 4.01040266e-01 -7.70336720e-02 1.56305001e+02] [ 8.50189912e-02 -2.12469116e-03 9.96377066e-01 1.20019725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:156.33, Z:12.00 [[ 3.99309032e-01 -9.16109811e-01 -3.59876623e-02 1.49787890e+02] [ 9.12870581e-01 4.00921915e-01 -7.69994882e-02 1.56329831e+02] [ 8.49682291e-02 -2.10548710e-03 9.96381437e-01 1.20039671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:156.35, Z:12.01 [[ 4.00393542e-01 -9.15624135e-01 -3.62967698e-02 1.49799675e+02] [ 9.12320829e-01 4.02030446e-01 -7.77317482e-02 1.56353038e+02] [ 8.57654713e-02 -1.99100914e-03 9.96313364e-01 1.20061770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.81, Y:156.38, Z:12.01 [[ 4.01572317e-01 -9.15087774e-01 -3.67972797e-02 1.49812308e+02] [ 9.11683780e-01 4.03250370e-01 -7.88785376e-02 1.56377819e+02] [ 8.70193021e-02 -1.87204596e-03 9.96204867e-01 1.20093048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:156.40, Z:12.01 [[ 4.02781974e-01 -9.14571568e-01 -3.64078020e-02 1.49823717e+02] [ 9.11231521e-01 4.04420458e-01 -7.81102331e-02 1.56402153e+02] [ 8.61614584e-02 -1.71454295e-03 9.96279711e-01 1.20102038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:156.43, Z:12.01 [[ 4.03050565e-01 -9.14656757e-01 -3.08748785e-02 1.49831940e+02] [ 9.10860315e-01 4.04193913e-01 -8.34312162e-02 1.56429087e+02] [ 8.87903636e-02 5.50429729e-03 9.96035127e-01 1.20113482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.85, Y:156.45, Z:12.02 [[ 4.03798646e-01 -9.13827496e-01 -4.31967745e-02 1.49850763e+02] [ 9.10738253e-01 4.06006864e-01 -7.55927284e-02 1.56449123e+02] [ 8.66169007e-02 -8.81671363e-03 9.96202679e-01 1.20167698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:156.47, Z:12.02 [[ 4.04345365e-01 -9.13879074e-01 -3.64672899e-02 1.49859412e+02] [ 9.10509911e-01 4.05983738e-01 -7.84149583e-02 1.56474963e+02] [ 8.64669162e-02 -1.49710399e-03 9.96253598e-01 1.20166819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:156.50, Z:12.02 [[ 4.05069507e-01 -9.13212964e-01 -4.42806703e-02 1.49877420e+02] [ 9.10053794e-01 4.07375927e-01 -7.64653258e-02 1.56498350e+02] [ 8.78680059e-02 -9.32402022e-03 9.96088488e-01 1.20237232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:156.53, Z:12.02 [[ 4.04157035e-01 -9.14224936e-01 -2.91523248e-02 1.49880204e+02] [ 9.10669564e-01 4.05161156e-01 -8.07798457e-02 1.56525712e+02] [ 8.56623388e-02 6.09960804e-03 9.96305555e-01 1.20184336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:156.55, Z:12.02 [[ 4.03640089e-01 -9.14216068e-01 -3.58282048e-02 1.49895229e+02] [ 9.10947524e-01 4.05224459e-01 -7.72511973e-02 1.56547237e+02] [ 8.51427507e-02 -1.45593427e-03 9.96367699e-01 1.20225884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.91, Y:156.57, Z:12.02 [[ 4.03185105e-01 -9.14419885e-01 -3.57497606e-02 1.49906927e+02] [ 9.11160255e-01 4.04764283e-01 -7.71548103e-02 1.56571572e+02] [ 8.50221189e-02 -1.46609069e-03 9.96377985e-01 1.20245854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:156.59, Z:12.03 [[ 4.03006028e-01 -9.14135090e-01 -4.40815006e-02 1.49924995e+02] [ 9.11093987e-01 4.05289439e-01 -7.51546262e-02 1.56594527e+02] [ 8.65672476e-02 -9.87462271e-03 9.96197071e-01 1.20315155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:156.62, Z:12.03 [[ 4.01845537e-01 -9.15092295e-01 -3.35597471e-02 1.49930283e+02] [ 9.11659706e-01 4.03242583e-01 -7.91959586e-02 1.56621971e+02] [ 8.60043306e-02 1.22947336e-03 9.96294005e-01 1.20294066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:156.65, Z:12.03 [[ 4.00357272e-01 -9.15820284e-01 -3.14207273e-02 1.49939485e+02] [ 9.12475081e-01 4.01579563e-01 -7.82501125e-02 1.56645377e+02] [ 8.42809622e-02 2.65737090e-03 9.96438487e-01 1.20289918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.95, Y:156.67, Z:12.03 [[ 3.99649044e-01 -9.15990949e-01 -3.52309910e-02 1.49952690e+02] [ 9.12811189e-01 4.01195430e-01 -7.62755510e-02 1.56668359e+02] [ 8.40022269e-02 -1.67579176e-03 9.96464158e-01 1.20325240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:156.69, Z:12.04 [[ 3.99351254e-01 -9.16129098e-01 -3.50150185e-02 1.49962360e+02] [ 9.12983017e-01 4.00879905e-01 -7.58769601e-02 1.56692205e+02] [ 8.35499083e-02 -1.66655804e-03 9.96502200e-01 1.20350474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:156.72, Z:12.04 [[ 3.98676428e-01 -9.16428830e-01 -3.48612275e-02 1.49972819e+02] [ 9.13305823e-01 4.00194114e-01 -7.56118099e-02 1.56717035e+02] [ 8.32441006e-02 -1.69431581e-03 9.96527746e-01 1.20368656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:156.74, Z:12.04 [[ 3.97871012e-01 -9.16779630e-01 -3.48391678e-02 1.49984059e+02] [ 9.13656236e-01 3.99389640e-01 -7.56319860e-02 1.56743038e+02] [ 8.32522669e-02 -1.73924813e-03 9.96526987e-01 1.20388904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:156.77, Z:12.04 [[ 3.97225562e-01 -9.17060072e-01 -3.48235159e-02 1.49995281e+02] [ 9.13935267e-01 3.98745138e-01 -7.56613741e-02 1.56769162e+02] [ 8.32717328e-02 -1.77180742e-03 9.96525303e-01 1.20407058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:156.80, Z:12.04 [[ 3.96875441e-01 -9.17408181e-01 -2.91909902e-02 1.50002914e+02] [ 9.13869673e-01 3.97911674e-01 -8.06754083e-02 1.56795904e+02] [ 8.56277154e-02 5.34132769e-03 9.96312885e-01 1.20409106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.02, Y:156.82, Z:12.05 [[ 3.96169552e-01 -9.17233348e-01 -4.16253751e-02 1.50020275e+02] [ 9.14328731e-01 3.98249847e-01 -7.34849005e-02 1.56816982e+02] [ 8.39801005e-02 -8.94679632e-03 9.96427267e-01 1.20464369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:156.84, Z:12.05 [[ 3.95750129e-01 -9.17682434e-01 -3.52248005e-02 1.50027149e+02] [ 9.14473749e-01 3.97310323e-01 -7.66959601e-02 1.56844558e+02] [ 8.43777122e-02 -1.85971927e-03 9.96432107e-01 1.20462921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:156.87, Z:12.05 [[ 3.95271855e-01 -9.17889826e-01 -3.51912985e-02 1.50037386e+02] [ 9.14682554e-01 3.96830879e-01 -7.66881965e-02 1.56869289e+02] [ 8.43563093e-02 -1.87618109e-03 9.96433888e-01 1.20483484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:156.89, Z:12.05 [[ 3.94971059e-01 -9.18020294e-01 -3.51653553e-02 1.50048712e+02] [ 9.14812480e-01 3.96528968e-01 -7.67000912e-02 1.56894521e+02] [ 8.43563223e-02 -1.87538968e-03 9.96433888e-01 1.20505726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:156.92, Z:12.05 [[ 3.94721225e-01 -9.18127063e-01 -3.51831169e-02 1.50059072e+02] [ 9.14910740e-01 3.96281706e-01 -7.68059100e-02 1.56918794e+02] [ 8.44600102e-02 -1.87248860e-03 9.96425110e-01 1.20522320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:156.94, Z:12.05 [[ 3.94511732e-01 -9.18214677e-01 -3.52462698e-02 1.50070460e+02] [ 9.14980853e-01 3.96078688e-01 -7.70176055e-02 1.56944325e+02] [ 8.46789920e-02 -1.86531304e-03 9.96406538e-01 1.20545205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.08, Y:156.97, Z:12.06 [[ 3.94495607e-01 -9.18217009e-01 -3.53658164e-02 1.50081034e+02] [ 9.14955552e-01 3.96073374e-01 -7.73448174e-02 1.56967965e+02] [ 8.50267851e-02 -1.84595937e-03 9.96376956e-01 1.20564289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.09, Y:156.99, Z:12.06 [[ 3.95225682e-01 -9.17913632e-01 -3.50888072e-02 1.50091813e+02] [ 9.14695564e-01 3.96776446e-01 -7.68145603e-02 1.56991511e+02] [ 8.44315442e-02 -1.73648932e-03 9.96427769e-01 1.20585286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:157.02, Z:12.06 [[ 3.95473871e-01 -9.17808120e-01 -3.50524354e-02 1.50102894e+02] [ 9.14590010e-01 3.97020686e-01 -7.68094331e-02 1.57015984e+02] [ 8.44128634e-02 -1.68248345e-03 9.96429444e-01 1.20606196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:157.04, Z:12.06 [[ 3.96144071e-01 -9.17531043e-01 -3.47370111e-02 1.50113134e+02] [ 9.14363667e-01 3.97661021e-01 -7.61892184e-02 1.57040217e+02] [ 8.37195283e-02 -1.58035375e-03 9.96488105e-01 1.20621676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:157.07, Z:12.06 [[ 3.95586170e-01 -9.17806081e-01 -3.38168469e-02 1.50123161e+02] [ 9.14613415e-01 3.97028395e-01 -7.64902248e-02 1.57065243e+02] [ 8.36294419e-02 -6.70866749e-04 9.96496697e-01 1.20637550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:157.09, Z:12.07 [[ 3.96294425e-01 -9.17435562e-01 -3.55347535e-02 1.50135261e+02] [ 9.14347150e-01 3.97875467e-01 -7.52622254e-02 1.57088989e+02] [ 8.31866487e-02 -2.66510025e-03 9.96530420e-01 1.20660076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.15, Y:157.11, Z:12.07 [[ 3.96396983e-01 -9.17438670e-01 -3.42887618e-02 1.50146693e+02] [ 9.14333418e-01 3.97874585e-01 -7.54335170e-02 1.57114828e+02] [ 8.28482524e-02 -1.44974223e-03 9.96561120e-01 1.20677243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:157.14, Z:12.07 [[ 3.96048863e-01 -9.17589411e-01 -3.42778436e-02 1.50158315e+02] [ 9.14481286e-01 3.97526799e-01 -7.54746445e-02 1.57139553e+02] [ 8.28810960e-02 -1.45479931e-03 9.96558381e-01 1.20698904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:157.16, Z:12.07 [[ 3.95465261e-01 -9.17851357e-01 -3.40016825e-02 1.50170553e+02] [ 9.14788594e-01 3.96921560e-01 -7.49339976e-02 1.57164459e+02] [ 8.22742722e-02 -1.47055838e-03 9.96608640e-01 1.20716809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:157.19, Z:12.07 [[ 3.95096217e-01 -9.18010757e-01 -3.39886613e-02 1.50181817e+02] [ 9.14945657e-01 3.96552728e-01 -7.49691866e-02 1.57188795e+02] [ 8.23008162e-02 -1.47773606e-03 9.96606438e-01 1.20736467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:157.21, Z:12.08 [[ 3.94737057e-01 -9.18170555e-01 -3.38450483e-02 1.50193590e+02] [ 9.15126444e-01 3.96182592e-01 -7.47191108e-02 1.57212782e+02] [ 8.20137064e-02 -1.47809681e-03 9.96630106e-01 1.20755655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:157.24, Z:12.08 [[ 3.94508496e-01 -9.18277569e-01 -3.36058611e-02 1.50205033e+02] [ 9.15271130e-01 3.95934552e-01 -7.42602764e-02 1.57238063e+02] [ 8.14972676e-02 -1.46216457e-03 9.96672493e-01 1.20774459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:157.26, Z:12.08 [[ 3.94509883e-01 -9.18283752e-01 -3.34201091e-02 1.50216201e+02] [ 9.15305420e-01 3.95920327e-01 -7.39126637e-02 1.57262865e+02] [ 8.11044986e-02 -1.43033066e-03 9.96704577e-01 1.20794506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:157.29, Z:12.08 [[ 3.94158306e-01 -9.18433549e-01 -3.34521514e-02 1.50226892e+02] [ 9.15446253e-01 3.95572663e-01 -7.40298974e-02 1.57286252e+02] [ 8.12242980e-02 -1.44414771e-03 9.96694802e-01 1.20812594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:157.31, Z:12.08 [[ 3.93360957e-01 -9.18776013e-01 -3.34334520e-02 1.50237888e+02] [ 9.15788838e-01 3.94776407e-01 -7.40431760e-02 1.57310950e+02] [ 8.12278321e-02 -1.49228759e-03 9.96694443e-01 1.20827062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:157.34, Z:12.08 [[ 3.92479628e-01 -9.19157130e-01 -3.33153434e-02 1.50249106e+02] [ 9.16186818e-01 3.93888061e-01 -7.38505950e-02 1.57336212e+02] [ 8.10028170e-02 -1.53822442e-03 9.96712686e-01 1.20844308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:157.36, Z:12.09 [[ 3.91594280e-01 -9.19535801e-01 -3.32840902e-02 1.50260250e+02] [ 9.16566816e-01 3.93003041e-01 -7.38504010e-02 1.57361459e+02] [ 8.09888363e-02 -1.58769802e-03 9.96713744e-01 1.20864378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:157.39, Z:12.09 [[ 3.90929413e-01 -9.19820765e-01 -3.32258051e-02 1.50271709e+02] [ 9.16857625e-01 3.92335503e-01 -7.37898946e-02 1.57386621e+02] [ 8.09091403e-02 -1.61669258e-03 9.96720170e-01 1.20886134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:157.41, Z:12.09 [[ 3.89621676e-01 -9.20369990e-01 -3.33771112e-02 1.50282423e+02] [ 9.17376585e-01 3.91044940e-01 -7.41893272e-02 1.57410406e+02] [ 8.13335808e-02 -1.71361033e-03 9.96685463e-01 1.20908778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:157.44, Z:12.09 [[ 3.88367553e-01 -9.20894539e-01 -3.35245037e-02 1.50292707e+02] [ 9.17870399e-01 3.89807646e-01 -7.45917501e-02 1.57435208e+02] [ 8.17592432e-02 -1.80213416e-03 9.96650480e-01 1.20927986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:157.46, Z:12.09 [[ 3.87750408e-01 -9.21150108e-01 -3.36466944e-02 1.50302901e+02] [ 9.18098955e-01 3.89203175e-01 -7.49346183e-02 1.57459628e+02] [ 8.21214320e-02 -1.83506616e-03 9.96620641e-01 1.20947022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:157.48, Z:12.10 [[ 3.87220433e-01 -9.21371912e-01 -3.36769341e-02 1.50313240e+02] [ 9.18309980e-01 3.88677706e-01 -7.50761025e-02 1.57484336e+02] [ 8.22624856e-02 -1.85486371e-03 9.96608972e-01 1.20967296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:157.51, Z:12.10 [[ 3.86746214e-01 -9.21571923e-01 -3.36534754e-02 1.50323778e+02] [ 9.18509274e-01 3.88203166e-01 -7.50933766e-02 1.57509906e+02] [ 8.22683331e-02 -1.86895017e-03 9.96608463e-01 1.20987139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:157.54, Z:12.10 [[ 3.86317784e-01 -9.21757415e-01 -3.34938321e-02 1.50334107e+02] [ 9.18718778e-01 3.87762507e-01 -7.48067216e-02 1.57535152e+02] [ 8.19413027e-02 -1.87224558e-03 9.96635399e-01 1.21009790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:157.56, Z:12.10 [[ 3.85853591e-01 -9.21956038e-01 -3.33776994e-02 1.50344666e+02] [ 9.18933515e-01 3.87289979e-01 -7.46168098e-02 1.57560118e+02] [ 8.17202668e-02 -1.88072256e-03 9.96653531e-01 1.21032038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:157.59, Z:12.10 [[ 3.85118175e-01 -9.22632638e-01 -2.08088029e-02 1.50347255e+02] [ 9.18876762e-01 3.85450005e-01 -8.42246351e-02 1.57589249e+02] [ 8.57291505e-02 1.33157123e-02 9.96229494e-01 1.21025687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.37, Y:157.61, Z:12.11 [[ 3.84487466e-01 -9.22399822e-01 -3.67145262e-02 1.50366023e+02] [ 9.19265594e-01 3.86210338e-01 -7.61074457e-02 1.57609097e+02] [ 8.43810240e-02 -4.48804182e-03 9.96423454e-01 1.21095178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:157.63, Z:12.11 [[ 3.85343353e-01 -9.21707073e-01 -4.43460343e-02 1.50381611e+02] [ 9.19173118e-01 3.87637414e-01 -6.96994537e-02 1.57632203e+02] [ 8.14326616e-02 -1.39034614e-02 9.96581866e-01 1.21136341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:157.66, Z:12.11 [[ 3.86505447e-01 -9.21692880e-01 -3.31024841e-02 1.50385032e+02] [ 9.18692705e-01 3.87916744e-01 -7.43257246e-02 1.57660581e+02] [ 8.13464990e-02 -1.68371325e-03 9.96684460e-01 1.21122954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:157.68, Z:12.11 [[ 3.87224708e-01 -9.21394248e-01 -3.30100732e-02 1.50395109e+02] [ 9.18404135e-01 3.88625930e-01 -7.41871337e-02 1.57684711e+02] [ 8.11841687e-02 -1.58949650e-03 9.96697850e-01 1.21144106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:157.71, Z:12.12 [[ 3.87345717e-01 -9.21545790e-01 -2.67703753e-02 1.50401655e+02] [ 9.18189727e-01 3.88224212e-01 -7.88009336e-02 1.57712855e+02] [ 8.30115764e-02 5.94292050e-03 9.96530862e-01 1.21154135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:157.73, Z:12.12 [[ 3.90443583e-01 -9.19776624e-01 -3.95571787e-02 1.50418988e+02] [ 9.17133497e-01 3.92342398e-01 -7.02395320e-02 1.57732911e+02] [ 8.01246379e-02 -8.85463904e-03 9.96745523e-01 1.21212861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:157.76, Z:12.12 [[ 3.91061961e-01 -9.19790381e-01 -3.24992071e-02 1.50424617e+02] [ 9.16871541e-01 3.92408343e-01 -7.32275199e-02 1.57759609e+02] [ 8.01069284e-02 -1.16110060e-03 9.96785600e-01 1.21213783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:157.79, Z:12.12 [[ 3.93070207e-01 -9.18946531e-01 -3.21416402e-02 1.50434462e+02] [ 9.16083046e-01 3.94380999e-01 -7.24946897e-02 1.57785761e+02] [ 7.92947958e-02 -9.48908949e-04 9.96850759e-01 1.21234290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:157.81, Z:12.13 [[ 3.93770035e-01 -9.18649566e-01 -3.20645243e-02 1.50444527e+02] [ 9.15793899e-01 3.95072437e-01 -7.23830374e-02 1.57809993e+02] [ 7.91624557e-02 -8.62224569e-04 9.96861356e-01 1.21256017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.45, Y:157.83, Z:12.13 [[ 3.94452145e-01 -9.18356555e-01 -3.20740297e-02 1.50454497e+02] [ 9.15492331e-01 3.95753255e-01 -7.24786402e-02 1.57833983e+02] [ 7.92546360e-02 -7.74173135e-04 9.96854103e-01 1.21281363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:157.86, Z:12.13 [[ 3.95685295e-01 -9.17829934e-01 -3.19586986e-02 1.50465386e+02] [ 9.14978893e-01 3.96973305e-01 -7.22898322e-02 1.57859344e+02] [ 7.90365222e-02 -6.37511045e-04 9.96871517e-01 1.21304396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:157.88, Z:12.13 [[ 3.95934348e-01 -9.17721001e-01 -3.20024530e-02 1.50476239e+02] [ 9.14856748e-01 3.97225144e-01 -7.24521642e-02 1.57884609e+02] [ 7.92030517e-02 -5.91359638e-04 9.96858328e-01 1.21326570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:157.91, Z:12.13 [[ 3.95940655e-01 -9.17718868e-01 -3.19855674e-02 1.50487047e+02] [ 9.14852648e-01 3.97230108e-01 -7.24767093e-02 1.57909533e+02] [ 7.92188741e-02 -5.65605301e-04 9.96857086e-01 1.21347030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:157.93, Z:12.14 [[ 3.95114123e-01 -9.18068085e-01 -3.21841870e-02 1.50497698e+02] [ 9.15161543e-01 3.96422273e-01 -7.29981587e-02 1.57934634e+02] [ 7.97758083e-02 -6.11126830e-04 9.96812644e-01 1.21365979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:157.96, Z:12.14 [[ 3.94327000e-01 -9.18399626e-01 -3.23781560e-02 1.50508013e+02] [ 9.15453243e-01 3.95653510e-01 -7.35095927e-02 1.57958400e+02] [ 8.03217135e-02 -6.53870695e-04 9.96768777e-01 1.21389514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.52, Y:157.98, Z:12.14 [[ 3.92469547e-01 -9.19191435e-01 -3.24770822e-02 1.50518686e+02] [ 9.16225244e-01 3.93810198e-01 -7.37890946e-02 1.57983036e+02] [ 8.06161099e-02 -7.96350076e-04 9.96744907e-01 1.21407684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:158.01, Z:12.15 [[ 3.90895222e-01 -9.19356694e-01 -4.45443043e-02 1.50539436e+02] [ 9.16581375e-01 3.93226387e-01 -7.24678642e-02 1.58008300e+02] [ 8.41398119e-02 -1.25011379e-02 9.96375538e-01 1.21500641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:158.04, Z:12.14 [[ 3.89104245e-01 -9.20896298e-01 -2.34071599e-02 1.50534764e+02] [ 9.17557807e-01 3.89698686e-01 -7.88834872e-02 1.58035116e+02] [ 8.17652508e-02 9.21647744e-03 9.96609001e-01 1.21420265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:158.06, Z:12.15 [[ 3.85701171e-01 -9.22032331e-01 -3.30301127e-02 1.50551578e+02] [ 9.18955261e-01 3.87110633e-01 -7.52767344e-02 1.58057281e+02] [ 8.21938907e-02 -1.31887126e-03 9.96615485e-01 1.21469821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:158.08, Z:12.15 [[ 3.84921499e-01 -9.22352301e-01 -3.31914450e-02 1.50562836e+02] [ 9.19240195e-01 3.86347470e-01 -7.57172149e-02 1.58081492e+02] [ 8.26613782e-02 -1.36572647e-03 9.96576756e-01 1.21493328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.57, Y:158.11, Z:12.15 [[ 3.82178660e-01 -9.23491054e-01 -3.32226483e-02 1.50572996e+02] [ 9.20370933e-01 3.83616692e-01 -7.58655371e-02 1.58106321e+02] [ 8.28059073e-02 -1.58297053e-03 9.96564436e-01 1.21517401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.58, Y:158.13, Z:12.15 [[ 3.79830721e-01 -9.24511758e-01 -3.17274853e-02 1.50582402e+02] [ 9.21263569e-01 3.81153483e-01 -7.74303474e-02 1.58131388e+02] [ 8.36783081e-02 1.81048385e-04 9.96492804e-01 1.21540362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:158.16, Z:12.16 [[ 3.79145168e-01 -9.24668686e-01 -3.51676351e-02 1.50594872e+02] [ 9.21583030e-01 3.80754123e-01 -7.55712696e-02 1.58155218e+02] [ 8.32686087e-02 -3.75741405e-03 9.96520055e-01 1.21575606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:158.18, Z:12.16 [[ 3.78522034e-01 -9.24991345e-01 -3.33478933e-02 1.50604985e+02] [ 9.21836900e-01 3.79983711e-01 -7.63486095e-02 1.58181701e+02] [ 8.32934591e-02 -1.84168760e-03 9.96523360e-01 1.21597814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:158.21, Z:12.16 [[ 3.78301780e-01 -9.25079707e-01 -3.33961008e-02 1.50615728e+02] [ 9.21910787e-01 3.79768559e-01 -7.65267424e-02 1.58207345e+02] [ 8.34761254e-02 -1.83802265e-03 9.96508082e-01 1.21621506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:158.23, Z:12.16 [[ 3.78175941e-01 -9.25129009e-01 -3.34555446e-02 1.50625809e+02] [ 9.21943290e-01 3.79648496e-01 -7.67306335e-02 1.58231852e+02] [ 8.36870821e-02 -1.82643533e-03 9.96490410e-01 1.21643181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:158.26, Z:12.16 [[ 3.78239391e-01 -9.25275263e-01 -2.82957747e-02 1.50632664e+02] [ 9.21975915e-01 3.79280435e-01 -7.81457840e-02 1.58259895e+02] [ 8.30383946e-02 3.46979098e-03 9.96540308e-01 1.21630772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:158.28, Z:12.17 [[ 3.78319159e-01 -9.25127623e-01 -3.18354408e-02 1.50645520e+02] [ 9.21974038e-01 3.79655968e-01 -7.63231236e-02 1.58284667e+02] [ 8.26951450e-02 -4.76949924e-04 9.96574777e-01 1.21657476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:158.31, Z:12.17 [[ 3.79884525e-01 -9.24206846e-01 -3.91082320e-02 1.50661145e+02] [ 9.21267074e-01 3.81810795e-01 -7.40776290e-02 1.58307639e+02] [ 8.33949969e-02 -7.88818153e-03 9.96485349e-01 1.21729503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:158.34, Z:12.17 [[ 3.79360697e-01 -9.24937297e-01 -2.40095432e-02 1.50663128e+02] [ 9.21632466e-01 3.80042745e-01 -7.84927398e-02 1.58338223e+02] [ 8.17255153e-02 7.64908591e-03 9.96625522e-01 1.21673872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.68, Y:158.36, Z:12.17 [[ 3.79644361e-01 -9.24599977e-01 -3.13853663e-02 1.50678239e+02] [ 9.21552124e-01 3.80939213e-01 -7.50133233e-02 1.58361600e+02] [ 8.13132338e-02 -4.44865733e-04 9.96688497e-01 1.21717112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.70, Y:158.38, Z:12.18 [[ 3.80352430e-01 -9.23880071e-01 -4.21621029e-02 1.50695329e+02] [ 9.21138690e-01 3.82511122e-01 -7.20330176e-02 1.58384357e+02] [ 8.26773427e-02 -1.14392110e-02 9.96510713e-01 1.21809720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.70, Y:158.41, Z:12.18 [[ 3.79808164e-01 -9.24473233e-01 -3.30907936e-02 1.50700668e+02] [ 9.21323533e-01 3.81243919e-01 -7.62628511e-02 1.58412076e+02] [ 8.31186283e-02 -1.52207333e-03 9.96538497e-01 1.21789945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.71, Y:158.44, Z:12.18 [[ 3.79546064e-01 -9.24591966e-01 -3.27792825e-02 1.50710887e+02] [ 9.21496090e-01 3.80955937e-01 -7.56143568e-02 1.58436633e+02] [ 8.23998891e-02 -1.50684915e-03 9.96598208e-01 1.21823992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.72, Y:158.46, Z:12.18 [[ 3.79318333e-01 -9.24686360e-01 -3.27526744e-02 1.50721684e+02] [ 9.21589841e-01 3.80726792e-01 -7.56258805e-02 1.58462070e+02] [ 8.24000409e-02 -1.49824914e-03 9.96598208e-01 1.21846577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.592755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.73, Y:158.49, Z:12.19 [[ 3.78427130e-01 -9.25049168e-01 -3.28168329e-02 1.50731602e+02] [ 9.21937568e-01 3.79844181e-01 -7.58255818e-02 1.58485920e+02] [ 8.26076744e-02 -1.56061376e-03 9.96580923e-01 1.21858540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.74, Y:158.51, Z:12.19 [[ 3.78025309e-01 -9.25217344e-01 -3.27067474e-02 1.50742047e+02] [ 9.22122582e-01 3.79434315e-01 -7.56276729e-02 1.58510420e+02] [ 8.23820969e-02 -1.57045591e-03 9.96599580e-01 1.21890158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.75, Y:158.53, Z:12.19 [[ 3.76864818e-01 -9.25690534e-01 -3.27099991e-02 1.50751916e+02] [ 9.22590912e-01 3.78278105e-01 -7.57078910e-02 1.58534755e+02] [ 8.24555545e-02 -1.64630738e-03 9.96593383e-01 1.21911183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:158.56, Z:12.19 [[ 3.75497696e-01 -9.26243996e-01 -3.27649308e-02 1.50760775e+02] [ 9.23151793e-01 3.76919972e-01 -7.56445802e-02 1.58559041e+02] [ 8.24150950e-02 -1.84263900e-03 9.96596386e-01 1.21932129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:158.58, Z:12.20 [[ 3.75328207e-01 -9.26323270e-01 -3.24643821e-02 1.50772259e+02] [ 9.23181364e-01 3.76727173e-01 -7.62417658e-02 1.58584866e+02] [ 8.28547367e-02 -1.35482727e-03 9.96560714e-01 1.21954781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.78, Y:158.61, Z:12.20 [[ 3.74447256e-01 -9.26669559e-01 -3.27533536e-02 1.50782279e+02] [ 9.23547875e-01 3.75872780e-01 -7.60195710e-02 1.58609075e+02] [ 8.27561164e-02 -1.78397039e-03 9.96568233e-01 1.21971249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:158.63, Z:12.20 [[ 3.74739010e-01 -9.26644271e-01 -3.00178123e-02 1.50790483e+02] [ 9.23374783e-01 3.75936623e-01 -7.77860278e-02 1.58633631e+02] [ 8.33647720e-02 1.43176814e-03 9.96518071e-01 1.21984271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80275509600006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:150.80, Y:158.66, Z:12.20 [[ 3.73444682e-01 -9.27185485e-01 -2.94303512e-02 1.50799055e+02] [ 9.23847442e-01 3.74596233e-01 -7.86356607e-02 1.58658812e+02] [ 8.39343419e-02 2.17691472e-03 9.96468909e-01 1.21987711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.81, Y:158.68, Z:12.21 [[ 3.73269098e-01 -9.26946638e-01 -3.79487872e-02 1.50814766e+02] [ 9.24124473e-01 3.75109406e-01 -7.27110143e-02 1.58682673e+02] [ 8.16341773e-02 -7.92862825e-03 9.96630823e-01 1.22050845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:158.71, Z:12.21 [[ 3.72901480e-01 -9.27304966e-01 -3.24035023e-02 1.50821543e+02] [ 9.24226245e-01 3.74302433e-01 -7.55217624e-02 1.58709617e+02] [ 8.21604150e-02 -1.78599034e-03 9.96617518e-01 1.22059045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:158.74, Z:12.21 [[ 3.72345285e-01 -9.27528649e-01 -3.23974351e-02 1.50830513e+02] [ 9.24446034e-01 3.73747690e-01 -7.55790601e-02 1.58735818e+02] [ 8.22102101e-02 -1.80817373e-03 9.96613371e-01 1.22077627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.84, Y:158.76, Z:12.21 [[ 3.71890126e-01 -9.27709697e-01 -3.24415256e-02 1.50839488e+02] [ 9.24613196e-01 3.73297999e-01 -7.57564664e-02 1.58760382e+02] [ 8.23903651e-02 -1.82278082e-03 9.96598467e-01 1.22099046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:158.79, Z:12.21 [[ 3.70880043e-01 -9.28112633e-01 -3.24797354e-02 1.50848090e+02] [ 9.25005565e-01 3.72294718e-01 -7.59035482e-02 1.58786624e+02] [ 8.25390759e-02 -1.89282473e-03 9.96586032e-01 1.22120349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:158.81, Z:12.21 [[ 3.70047855e-01 -9.28445126e-01 -3.24689554e-02 1.50857396e+02] [ 9.25335297e-01 3.71464519e-01 -7.59519499e-02 1.58811000e+02] [ 8.25782825e-02 -1.93881433e-03 9.96582695e-01 1.22143242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.87, Y:158.84, Z:12.22 [[ 3.68901151e-01 -9.28905588e-01 -3.23473275e-02 1.50867033e+02] [ 9.25814487e-01 3.70311202e-01 -7.57439745e-02 1.58835913e+02] [ 8.23375789e-02 -2.00558507e-03 9.96602479e-01 1.22166258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.87, Y:158.86, Z:12.21 [[ 3.66517953e-01 -9.30113442e-01 -2.35281899e-02 1.50870337e+02] [ 9.27045378e-01 3.67224318e-01 -7.57176837e-02 1.58863337e+02] [ 7.90661589e-02 5.94019068e-03 9.96851672e-01 1.22117056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:158.89, Z:12.21 [[ 3.65635259e-01 -9.30469774e-01 -2.31701904e-02 1.50879859e+02] [ 9.27307288e-01 3.66308399e-01 -7.69373222e-02 1.58888443e+02] [ 8.00752881e-02 6.64511133e-03 9.96766668e-01 1.22144312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:158.91, Z:12.22 [[ 3.64539534e-01 -9.30636864e-01 -3.20305473e-02 1.50894758e+02] [ 9.27753241e-01 3.65931660e-01 -7.32662553e-02 1.58912009e+02] [ 7.99052694e-02 -3.00799743e-03 9.96797923e-01 1.22198290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.91, Y:158.93, Z:12.23 [[ 3.63695433e-01 -9.30369655e-01 -4.62378304e-02 1.50913500e+02] [ 9.27903116e-01 3.66206154e-01 -6.99203847e-02 1.58934571e+02] [ 8.19843822e-02 -1.74745024e-02 9.96480408e-01 1.22313616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.90, Y:158.97, Z:12.22 [[ 3.62786355e-01 -9.31778805e-01 -1.32030067e-02 1.50902973e+02] [ 9.28432423e-01 3.62627143e-01 -8.07142563e-02 1.58969079e+02] [ 7.99956018e-02 1.70239314e-02 9.96649833e-01 1.22202390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19275509600004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:150.93, Y:158.98, Z:12.24 [[ 3.62651871e-01 -9.30591068e-01 -4.98385893e-02 1.50933336e+02] [ 9.28399104e-01 3.65410351e-01 -6.74564993e-02 1.58984732e+02] [ 8.09859521e-02 -2.18068760e-02 9.96476661e-01 1.22352091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:159.01, Z:12.23 [[ 3.63181684e-01 -9.31216397e-01 -3.05791702e-02 1.50931597e+02] [ 9.28109306e-01 3.64465939e-01 -7.60111556e-02 1.59014948e+02] [ 8.19279005e-02 -7.74952924e-04 9.96637958e-01 1.22344132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:159.04, Z:12.24 [[ 3.63792936e-01 -9.30924132e-01 -3.21707929e-02 1.50940912e+02] [ 9.27947297e-01 3.65202102e-01 -7.44394948e-02 1.59041866e+02] [ 8.10463632e-02 -2.77223789e-03 9.96706477e-01 1.22375122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.95, Y:159.07, Z:12.24 [[ 3.65379130e-01 -9.30410256e-01 -2.88937270e-02 1.50947869e+02] [ 9.27302727e-01 3.66518505e-01 -7.59857789e-02 1.59066233e+02] [ 8.12880336e-02 9.70385965e-04 9.96690180e-01 1.22387581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31275509600005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:150.96, Y:159.09, Z:12.24 [[ 3.67298014e-01 -9.29636093e-01 -2.94771648e-02 1.50956296e+02] [ 9.26523245e-01 3.68478443e-01 -7.60152130e-02 1.59093395e+02] [ 8.15281854e-02 6.08958382e-04 9.96670850e-01 1.22390853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:159.12, Z:12.25 [[ 3.68195752e-01 -9.29071452e-01 -3.54700673e-02 1.50969451e+02] [ 9.26314386e-01 3.69844651e-01 -7.18094099e-02 1.59118464e+02] [ 7.98344874e-02 -6.41651390e-03 9.96787481e-01 1.22450885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:159.15, Z:12.25 [[ 3.69876590e-01 -9.28661717e-01 -2.79056044e-02 1.50974182e+02] [ 9.25517840e-01 3.70919834e-01 -7.63885155e-02 1.59145500e+02] [ 8.12898322e-02 2.42718892e-03 9.96687550e-01 1.22458326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.98, Y:159.17, Z:12.25 [[ 3.71789706e-01 -9.27934241e-01 -2.66544519e-02 1.50981279e+02] [ 9.24648184e-01 3.72717868e-01 -7.81481120e-02 1.59171575e+02] [ 8.24508995e-02 4.40867304e-03 9.96585377e-01 1.22477603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.00, Y:159.19, Z:12.25 [[ 3.72066386e-01 -9.27362393e-01 -3.95676060e-02 1.50998192e+02] [ 9.24795749e-01 3.74013210e-01 -6.97634699e-02 1.59193725e+02] [ 7.94948258e-02 -1.06353116e-02 9.96778543e-01 1.22526882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.00, Y:159.22, Z:12.25 [[ 3.73945848e-01 -9.27115877e-01 -2.49129190e-02 1.50998552e+02] [ 9.23903324e-01 3.74728300e-01 -7.73391881e-02 1.59221157e+02] [ 8.10379650e-02 5.90353957e-03 9.96693532e-01 1.22512711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.01, Y:159.25, Z:12.26 [[ 3.73956168e-01 -9.26932646e-01 -3.08650880e-02 1.51011173e+02] [ 9.23845382e-01 3.75227675e-01 -7.55903542e-02 1.59246306e+02] [ 8.16486023e-02 -2.47089758e-04 9.96661148e-01 1.22552939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:159.27, Z:12.26 [[ 3.74923029e-01 -9.26228032e-01 -3.91708378e-02 1.51024452e+02] [ 9.23610807e-01 3.76835457e-01 -7.02717278e-02 1.59269708e+02] [ 7.98486047e-02 -9.83212000e-03 9.96758511e-01 1.22584322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.03, Y:159.30, Z:12.26 [[ 3.73548322e-01 -9.27148521e-01 -2.92791871e-02 1.51028756e+02] [ 9.24103266e-01 3.74692719e-01 -7.50900810e-02 1.59299503e+02] [ 8.05903558e-02 9.92781358e-04 9.96746813e-01 1.22583882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:159.32, Z:12.26 [[ 3.75451046e-01 -9.26003323e-01 -3.94253559e-02 1.51044094e+02] [ 9.23557133e-01 3.77359925e-01 -6.81300847e-02 1.59318117e+02] [ 7.79662342e-02 -1.08320572e-02 9.96897153e-01 1.22622194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:159.35, Z:12.26 [[ 3.74918203e-01 -9.26626274e-01 -2.82858677e-02 1.51048707e+02] [ 9.23789639e-01 3.75982283e-01 -7.24570653e-02 1.59346932e+02] [ 7.77756056e-02 1.03528116e-03 9.96970352e-01 1.22611264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:159.38, Z:12.25 [[ 3.71665841e-01 -9.28366349e-01 6.51755487e-04 1.51042267e+02] [ 9.25151861e-01 3.70320384e-01 -8.34077225e-02 1.59384030e+02] [ 7.71915645e-02 3.16027741e-02 9.96515292e-01 1.22509826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:159.41, Z:12.26 [[ 3.69772833e-01 -9.28906014e-01 -2.00416673e-02 1.51064475e+02] [ 9.26000270e-01 3.70211413e-01 -7.39392279e-02 1.59405089e+02] [ 7.61022475e-02 8.78212846e-03 9.97061343e-01 1.22564884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:159.42, Z:12.26 [[ 3.69305024e-01 -9.28600371e-01 -3.62649978e-02 1.51084098e+02] [ 9.26253796e-01 3.70972160e-01 -6.65849943e-02 1.59424132e+02] [ 7.52841550e-02 -9.00041891e-03 9.97121501e-01 1.22630271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.09, Y:159.45, Z:12.26 [[ 3.68610004e-01 -9.29274505e-01 -2.39908205e-02 1.51087730e+02] [ 9.26471896e-01 3.69363618e-01 -7.22519479e-02 1.59454061e+02] [ 7.60032294e-02 4.40596981e-03 9.97097837e-01 1.22620096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76275509600003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:151.12, Y:159.47, Z:12.28 [[ 3.68628080e-01 -9.27863121e-01 -5.64213334e-02 1.51116912e+02] [ 9.26216318e-01 3.71774651e-01 -6.25055253e-02 1.59470262e+02] [ 7.89725933e-02 -2.92170679e-02 9.96448540e-01 1.22773664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:159.50, Z:12.27 [[ 3.67772768e-01 -9.29408153e-01 -3.07193056e-02 1.51112409e+02] [ 9.26521781e-01 3.69050291e-01 -7.32070438e-02 1.59502423e+02] [ 7.93761921e-02 -1.53854862e-03 9.96843545e-01 1.22744833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82275509600004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:151.12, Y:159.53, Z:12.28 [[ 3.66443928e-01 -9.29929212e-01 -3.08303222e-02 1.51123711e+02] [ 9.27018488e-01 3.67734951e-01 -7.35372618e-02 1.59528489e+02] [ 7.97218349e-02 -1.63299565e-03 9.96815812e-01 1.22752999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:159.55, Z:12.28 [[ 3.65669044e-01 -9.30230156e-01 -3.09516791e-02 1.51134911e+02] [ 9.27292170e-01 3.66972793e-01 -7.38931703e-02 1.59554331e+02] [ 8.00960795e-02 -1.68080479e-03 9.96785731e-01 1.22786320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.14, Y:159.58, Z:12.28 [[ 3.64439610e-01 -9.30917657e-01 -2.40018014e-02 1.51141123e+02] [ 9.27582156e-01 3.65170773e-01 -7.90041136e-02 1.59580886e+02] [ 8.23110807e-02 6.52858562e-03 9.96585302e-01 1.22782505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:159.60, Z:12.28 [[ 3.63625892e-01 -9.30977561e-01 -3.25114048e-02 1.51157091e+02] [ 9.27972598e-01 3.65064316e-01 -7.47990837e-02 1.59603177e+02] [ 8.15050223e-02 -2.97080929e-03 9.96668503e-01 1.22823734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:159.63, Z:12.28 [[ 3.62947714e-01 -9.31239872e-01 -3.25769397e-02 1.51167104e+02] [ 9.28230623e-01 3.64393878e-01 -7.48666308e-02 1.59627061e+02] [ 8.15896291e-02 -3.06624060e-03 9.96661292e-01 1.22846627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.18, Y:159.65, Z:12.29 [[ 3.61810591e-01 -9.31572603e-01 -3.55750193e-02 1.51179626e+02] [ 9.28782833e-01 3.63490646e-01 -7.23671085e-02 1.59652208e+02] [ 8.03464024e-02 -6.85828090e-03 9.96743407e-01 1.22866537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:159.68, Z:12.29 [[ 3.61678920e-01 -9.32005400e-01 -2.35434500e-02 1.51182364e+02] [ 9.28579143e-01 3.62374245e-01 -8.01603472e-02 1.59680007e+02] [ 8.32414164e-02 7.13035115e-03 9.96503901e-01 1.22867556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:159.70, Z:12.29 [[ 3.60750628e-01 -9.31850502e-01 -3.89053649e-02 1.51203269e+02] [ 9.29225921e-01 3.62686170e-01 -7.06960398e-02 1.59701773e+02] [ 7.99885779e-02 -1.06482328e-02 9.96738904e-01 1.22921324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:159.73, Z:12.29 [[ 3.59979207e-01 -9.32810116e-01 -1.67408940e-02 1.51200193e+02] [ 9.29073393e-01 3.60057982e-01 -8.47400682e-02 1.59732825e+02] [ 8.50740853e-02 1.49511434e-02 9.96262447e-01 1.22898266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:159.75, Z:12.30 [[ 3.59655158e-01 -9.31926150e-01 -4.64953639e-02 1.51228847e+02] [ 9.29623806e-01 3.62163964e-01 -6.80943681e-02 1.59748638e+02] [ 8.02978676e-02 -1.87327064e-02 9.96594872e-01 1.22987287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.22, Y:159.78, Z:12.29 [[ 3.59110333e-01 -9.33142655e-01 -1.68687613e-02 1.51221288e+02] [ 9.29318611e-01 3.59188553e-01 -8.57350678e-02 1.59781382e+02] [ 8.60621147e-02 1.51118949e-02 9.96175157e-01 1.22941169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.152755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:151.25, Y:159.80, Z:12.30 [[ 3.57907163e-01 -9.32596813e-01 -4.65365074e-02 1.51250297e+02] [ 9.30192019e-01 3.60448511e-01 -6.94239136e-02 1.59799406e+02] [ 8.15185354e-02 -1.84405718e-02 9.96501216e-01 1.23000323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:159.83, Z:12.30 [[ 3.56542722e-01 -9.34011481e-01 -2.23571082e-02 1.51246945e+02] [ 9.30352770e-01 3.57134236e-01 -8.30593804e-02 1.59830951e+02] [ 8.55629036e-02 8.81422004e-03 9.96293782e-01 1.22990021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:159.85, Z:12.29 [[ 3.56080922e-01 -9.34124166e-01 -2.48680411e-02 1.51258421e+02] [ 9.31079928e-01 3.56928952e-01 -7.54446194e-02 1.59852923e+02] [ 7.93507660e-02 3.71025578e-03 9.96839852e-01 1.22948230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:159.88, Z:12.30 [[ 3.55972938e-01 -9.34323418e-01 -1.79727098e-02 1.51265213e+02] [ 9.30732378e-01 3.56198022e-01 -8.28263819e-02 1.59879203e+02] [ 8.37884719e-02 1.27561676e-02 9.96401913e-01 1.22972160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:159.90, Z:12.31 [[ 3.56019703e-01 -9.33709659e-01 -3.78977918e-02 1.51288789e+02] [ 9.30718091e-01 3.57929921e-01 -7.51665321e-02 1.59901620e+02] [ 8.37484707e-02 -8.51139397e-03 9.96450576e-01 1.23063374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:159.93, Z:12.30 [[ 3.55588857e-01 -9.34363014e-01 -2.28543832e-02 1.51290586e+02] [ 9.30922891e-01 3.56247194e-01 -8.04394732e-02 1.59931807e+02] [ 8.33014785e-02 7.32771186e-03 9.96497450e-01 1.23030945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:159.94, Z:12.32 [[ 3.58685166e-01 -9.31730200e-01 -5.67784003e-02 1.51321287e+02] [ 9.29380127e-01 3.62136507e-01 -7.14823769e-02 1.59944509e+02] [ 8.71638208e-02 -2.71290486e-02 9.95824524e-01 1.23226657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:159.98, Z:12.32 [[ 3.59393606e-01 -9.32447777e-01 -3.71130514e-02 1.51321104e+02] [ 9.29177551e-01 3.61248970e-01 -7.82832077e-02 1.59975410e+02] [ 8.64020546e-02 -6.35012996e-03 9.96240112e-01 1.23193017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:160.00, Z:12.32 [[ 3.61070561e-01 -9.31963583e-01 -3.27403298e-02 1.51329430e+02] [ 9.28579949e-01 3.62547692e-01 -7.93627679e-02 1.60001156e+02] [ 8.58331406e-02 -1.74645461e-03 9.96307996e-01 1.23198335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:160.03, Z:12.32 [[ 3.62982846e-01 -9.31206765e-01 -3.31272374e-02 1.51340121e+02] [ 9.27732111e-01 3.64488054e-01 -8.03840098e-02 1.60025368e+02] [ 8.69286160e-02 -1.55518520e-03 9.96213329e-01 1.23231014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.35, Y:160.05, Z:12.32 [[ 3.64917831e-01 -9.30484350e-01 -3.21535487e-02 1.51349238e+02] [ 9.26869158e-01 3.66331631e-01 -8.19432684e-02 1.60047602e+02] [ 8.80257908e-02 1.00427100e-04 9.96118191e-01 1.23249569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:160.07, Z:12.33 [[ 3.64645162e-01 -9.30560913e-01 -3.30195798e-02 1.51359684e+02] [ 9.26975680e-01 3.66136131e-01 -8.16114156e-02 1.60072256e+02] [ 8.80340546e-02 -8.49139553e-04 9.96117104e-01 1.23276385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:160.10, Z:12.33 [[ 3.64436851e-01 -9.30609325e-01 -3.39420946e-02 1.51371009e+02] [ 9.27158368e-01 3.66006961e-01 -8.01015896e-02 1.60098301e+02] [ 8.69663292e-02 -2.27772603e-03 9.96208648e-01 1.23304232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:160.13, Z:12.33 [[ 3.66930080e-01 -9.29689876e-01 -3.22343135e-02 1.51383426e+02] [ 9.26082973e-01 3.68343191e-01 -8.18145542e-02 1.60125838e+02] [ 8.79354526e-02 1.68572084e-04 9.96126161e-01 1.23317258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:160.15, Z:12.33 [[ 3.67144363e-01 -9.29595223e-01 -3.25228742e-02 1.51392356e+02] [ 9.26001567e-01 3.68582016e-01 -8.16602414e-02 1.60147695e+02] [ 8.78983169e-02 -1.35135183e-04 9.96129443e-01 1.23349876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:160.17, Z:12.34 [[ 3.67204382e-01 -9.29468494e-01 -3.53448746e-02 1.51404937e+02] [ 9.26058724e-01 3.68884945e-01 -7.96186927e-02 1.60172597e+02] [ 8.70412585e-02 -3.49509666e-03 9.96198576e-01 1.23382755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:160.20, Z:12.34 [[ 3.67822456e-01 -9.29408241e-01 -3.01158265e-02 1.51411761e+02] [ 9.25669688e-01 3.69042873e-01 -8.33245873e-02 1.60197287e+02] [ 8.85565892e-02 2.77134663e-03 9.96067292e-01 1.23392396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:160.22, Z:12.34 [[ 3.68038660e-01 -9.29023892e-01 -3.82381134e-02 1.51429118e+02] [ 9.25548680e-01 3.69974772e-01 -8.04879372e-02 1.60222438e+02] [ 8.89223540e-02 -5.76856287e-03 9.96021857e-01 1.23442235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:160.25, Z:12.34 [[ 3.67792393e-01 -9.29551210e-01 -2.57546962e-02 1.51432091e+02] [ 9.25712347e-01 3.68620477e-01 -8.47088750e-02 1.60250658e+02] [ 8.82349456e-02 7.31383953e-03 9.96072840e-01 1.23408257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:160.27, Z:12.35 [[ 3.65979731e-01 -9.29769696e-01 -3.98390315e-02 1.51450283e+02] [ 9.26481095e-01 3.68051251e-01 -7.85560824e-02 1.60271158e+02] [ 8.77018702e-02 -8.16017563e-03 9.96113344e-01 1.23490636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:160.30, Z:12.35 [[ 3.64953668e-01 -9.30434663e-01 -3.31686147e-02 1.51456998e+02] [ 9.26860549e-01 3.66456444e-01 -8.14812694e-02 1.60297297e+02] [ 8.79678501e-02 -1.00579225e-03 9.96122807e-01 1.23494210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:160.32, Z:12.35 [[ 3.63695078e-01 -9.30924678e-01 -3.32435669e-02 1.51467559e+02] [ 9.27328593e-01 3.65209593e-01 -8.17535012e-02 1.60321908e+02] [ 8.82472213e-02 -1.09436414e-03 9.96098002e-01 1.23518288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.47, Y:160.35, Z:12.34 [[ 3.61114924e-01 -9.32399780e-01 -1.50553072e-02 1.51469376e+02] [ 9.28673231e-01 3.61043075e-01 -8.49348500e-02 1.60353176e+02] [ 8.46288498e-02 1.66897811e-02 9.96272758e-01 1.23431286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:160.37, Z:12.36 [[ 3.60733941e-01 -9.31334333e-01 -4.98736790e-02 1.51500481e+02] [ 9.28491069e-01 3.63659942e-01 -7.52049355e-02 1.60368961e+02] [ 8.81779976e-02 -1.91782927e-02 9.95920094e-01 1.23616085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:160.40, Z:12.36 [[ 3.58314808e-01 -9.33115113e-01 -3.01111794e-02 1.51500565e+02] [ 9.29321035e-01 3.59571377e-01 -8.40882803e-02 1.60398152e+02] [ 8.92911634e-02 2.14712364e-03 9.96003252e-01 1.23581706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:160.42, Z:12.36 [[ 3.57695394e-01 -9.33357707e-01 -2.99565750e-02 1.51511222e+02] [ 9.29427440e-01 3.58936854e-01 -8.56093991e-02 1.60422490e+02] [ 9.06567112e-02 2.77962499e-03 9.95878323e-01 1.23607620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:160.44, Z:12.37 [[ 3.56575199e-01 -9.33507288e-01 -3.76599333e-02 1.51526225e+02] [ 9.29996731e-01 3.58506513e-01 -8.11120284e-02 1.60443322e+02] [ 8.92200010e-02 -6.10107719e-03 9.95993257e-01 1.23650008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.962755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.52, Y:160.48, Z:12.35 [[ 3.53469097e-01 -9.35411476e-01 -8.06029050e-03 1.51520329e+02] [ 9.31469959e-01 3.52747180e-01 -8.90681880e-02 1.60478007e+02] [ 8.61586500e-02 2.39749335e-02 9.95992916e-01 1.23505150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.56, Y:160.49, Z:12.38 [[ 3.53198423e-01 -9.33662543e-01 -5.93728068e-02 1.51561204e+02] [ 9.31331237e-01 3.56916539e-01 -7.23374786e-02 1.60488153e+02] [ 8.87299309e-02 -2.97462662e-02 9.95611450e-01 1.23755195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:160.52, Z:12.37 [[ 3.51312999e-01 -9.35859929e-01 -2.73014533e-02 1.51553870e+02] [ 9.31805325e-01 3.52334069e-01 -8.71753383e-02 1.60520420e+02] [ 9.12031381e-02 5.18618998e-03 9.95818804e-01 1.23698981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:160.54, Z:12.38 [[ 3.52411137e-01 -9.34781084e-01 -4.46174258e-02 1.51575149e+02] [ 9.31779676e-01 3.54920340e-01 -7.62770468e-02 1.60537798e+02] [ 8.71379724e-02 -1.46927298e-02 9.96087896e-01 1.23759524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:160.57, Z:12.37 [[ 3.49460566e-01 -9.36600591e-01 -2.56251074e-02 1.51575871e+02] [ 9.32646249e-01 3.50343535e-01 -8.61996625e-02 1.60570075e+02] [ 8.97122455e-02 6.22422252e-03 9.95948278e-01 1.23729462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.59, Y:160.59, Z:12.38 [[ 3.48806201e-01 -9.36653680e-01 -3.18452341e-02 1.51589577e+02] [ 9.32828655e-01 3.50256821e-01 -8.45627577e-02 1.60592000e+02] [ 9.03600286e-02 -2.10132656e-04 9.95909143e-01 1.23769942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:160.61, Z:12.38 [[ 3.49964274e-01 -9.35939753e-01 -3.92655756e-02 1.51606430e+02] [ 9.32614289e-01 3.52048711e-01 -7.93239799e-02 1.60612496e+02] [ 8.80658615e-02 -8.85907782e-03 9.96075259e-01 1.23807789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:151.61, Y:160.64, Z:12.38 [[ 3.50248797e-01 -9.36073179e-01 -3.30572964e-02 1.51614210e+02] [ 9.32476986e-01 3.51799055e-01 -8.20005836e-02 1.60639241e+02] [ 8.83880726e-02 -2.10456238e-03 9.96083892e-01 1.23789676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:160.67, Z:12.38 [[ 3.50845945e-01 -9.36087070e-01 -2.54582110e-02 1.51619053e+02] [ 9.32022751e-01 3.51699915e-01 -8.74114514e-02 1.60666820e+02] [ 9.07783801e-02 6.94032150e-03 9.95846935e-01 1.23822003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:160.69, Z:12.39 [[ 3.53565274e-01 -9.34510246e-01 -4.10146001e-02 1.51637883e+02] [ 9.31329063e-01 3.55775451e-01 -7.77817801e-02 1.60688175e+02] [ 8.72798583e-02 -1.06971527e-02 9.96126396e-01 1.23890008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:160.71, Z:12.40 [[ 3.59763305e-01 -9.31261328e-01 -5.76428912e-02 1.51659324e+02] [ 9.28583271e-01 3.63393098e-01 -7.53562526e-02 1.60712090e+02] [ 9.11233926e-02 -2.64158100e-02 9.95489192e-01 1.24018064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:160.75, Z:12.38 [[ 3.60254430e-01 -9.32802558e-01 -9.80471427e-03 1.51639929e+02] [ 9.28724390e-01 3.59627679e-01 -9.02160784e-02 1.60748173e+02] [ 8.76798354e-02 2.33948647e-02 9.95873951e-01 1.23837818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:160.77, Z:12.39 [[ 3.64192336e-01 -9.30759268e-01 -3.24210994e-02 1.51662910e+02] [ 9.27245749e-01 3.65632030e-01 -8.07993850e-02 1.60767248e+02] [ 8.70589688e-02 -6.35809791e-04 9.96202957e-01 1.23929225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.67, Y:160.79, Z:12.40 [[ 3.65456566e-01 -9.30269575e-01 -3.22492878e-02 1.51673193e+02] [ 9.26784382e-01 3.66876384e-01 -8.04514010e-02 1.60792574e+02] [ 8.66729928e-02 -4.86643589e-04 9.96236697e-01 1.23952101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:160.82, Z:12.40 [[ 3.66503743e-01 -9.29858901e-01 -3.22091741e-02 1.51682955e+02] [ 9.26373520e-01 3.67916154e-01 -8.04350982e-02 1.60816597e+02] [ 8.66435675e-02 -3.57961377e-04 9.96239311e-01 1.23977358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:160.84, Z:12.40 [[ 3.68223356e-01 -9.29182188e-01 -3.21250886e-02 1.51691906e+02] [ 9.25706938e-01 3.69622010e-01 -8.02884455e-02 1.60841061e+02] [ 8.64767333e-02 -1.74336563e-04 9.96253855e-01 1.23995015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:160.87, Z:12.40 [[ 3.68237555e-01 -9.29178653e-01 -3.20645323e-02 1.51701198e+02] [ 9.25709181e-01 3.69630912e-01 -8.02215799e-02 1.60866715e+02] [ 8.63922218e-02 -1.41833515e-04 9.96261193e-01 1.24013930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:160.89, Z:12.40 [[ 3.68219079e-01 -9.29184657e-01 -3.21027032e-02 1.51710773e+02] [ 9.25700062e-01 3.69615829e-01 -8.03961098e-02 1.60892022e+02] [ 8.65684990e-02 -1.14092832e-04 9.96245894e-01 1.24035769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:160.92, Z:12.41 [[ 3.67654094e-01 -9.29411901e-01 -3.19997824e-02 1.51720561e+02] [ 9.25943419e-01 3.69044035e-01 -8.02202263e-02 1.60916937e+02] [ 8.63669618e-02 -1.36693309e-04 9.96263383e-01 1.24055297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.73, Y:160.94, Z:12.41 [[ 3.66860974e-01 -9.29727231e-01 -3.19421477e-02 1.51730413e+02] [ 9.26265209e-01 3.68248887e-01 -8.01593393e-02 1.60941495e+02] [ 8.62889810e-02 -1.79566821e-04 9.96270134e-01 1.24078078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:160.97, Z:12.41 [[ 3.65575895e-01 -9.30235974e-01 -3.18637210e-02 1.51740461e+02] [ 9.26785359e-01 3.66961797e-01 -8.00495892e-02 1.60966683e+02] [ 8.61577760e-02 -2.66629824e-04 9.96281470e-01 1.24105620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.75, Y:160.99, Z:12.41 [[ 3.64193384e-01 -9.30782111e-01 -3.17465179e-02 1.51750568e+02] [ 9.27351895e-01 3.65574247e-01 -7.98369182e-02 1.60991668e+02] [ 8.59164846e-02 -3.64116123e-04 9.96302276e-01 1.24130730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:161.02, Z:12.42 [[ 3.62511421e-01 -9.31451146e-01 -3.13724714e-02 1.51759215e+02] [ 9.28097142e-01 3.63866082e-01 -7.89757514e-02 1.61015956e+02] [ 8.49774324e-02 -4.87089177e-04 9.96382757e-01 1.24151721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:161.04, Z:12.42 [[ 3.61223254e-01 -9.31951037e-01 -3.13851088e-02 1.51768731e+02] [ 9.28588954e-01 3.62583694e-01 -7.90924760e-02 1.61041461e+02] [ 8.50900438e-02 -5.73823779e-04 9.96373100e-01 1.24174840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:161.07, Z:12.42 [[ 3.59941943e-01 -9.32443249e-01 -3.14862604e-02 1.51778473e+02] [ 9.29054438e-01 3.61315855e-01 -7.94273579e-02 1.61066774e+02] [ 8.54379888e-02 -6.63212408e-04 9.96343269e-01 1.24196685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.79, Y:161.09, Z:12.42 [[ 3.57643711e-01 -9.33316152e-01 -3.18109366e-02 1.51787743e+02] [ 9.29853314e-01 3.59054642e-01 -8.03279376e-02 1.61090965e+02] [ 8.63932262e-02 -8.50723130e-04 9.96260752e-01 1.24215551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:161.12, Z:12.42 [[ 3.56223919e-01 -9.33859797e-01 -3.17867629e-02 1.51797311e+02] [ 9.30397036e-01 3.57638049e-01 -8.03516140e-02 1.61116344e+02] [ 8.64052978e-02 -9.51143156e-04 9.96259615e-01 1.24236299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:161.14, Z:12.43 [[ 3.53901071e-01 -9.34734636e-01 -3.20186359e-02 1.51806866e+02] [ 9.31217638e-01 3.55344695e-01 -8.10176430e-02 1.61141718e+02] [ 8.71076495e-02 -1.14408790e-03 9.96198248e-01 1.24258329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:161.17, Z:12.43 [[ 3.52642239e-01 -9.35206675e-01 -3.21236131e-02 1.51816548e+02] [ 9.31661068e-01 3.54100199e-01 -8.13677007e-02 1.61167438e+02] [ 8.74705946e-02 -1.23463160e-03 9.96166337e-01 1.24284453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:161.19, Z:12.43 [[ 3.51394588e-01 -9.35675445e-01 -3.21450688e-02 1.51825801e+02] [ 9.32119613e-01 3.52859341e-01 -8.15065161e-02 1.61193387e+02] [ 8.76063334e-02 -1.32210043e-03 9.96154296e-01 1.24305134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:161.22, Z:12.43 [[ 3.49757395e-01 -9.36285443e-01 -3.22386958e-02 1.51835115e+02] [ 9.32703788e-01 3.51237058e-01 -8.18301520e-02 1.61218500e+02] [ 8.79398048e-02 -1.44845292e-03 9.96124738e-01 1.24327494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:161.24, Z:12.44 [[ 3.48897230e-01 -9.36604114e-01 -3.23025748e-02 1.51844931e+02] [ 9.33001874e-01 3.50386188e-01 -8.20793668e-02 1.61243233e+02] [ 8.81942486e-02 -1.50109904e-03 9.96102164e-01 1.24357112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:161.27, Z:12.44 [[ 3.47986093e-01 -9.36939634e-01 -3.24006305e-02 1.51854165e+02] [ 9.33309097e-01 3.49487750e-01 -8.24162661e-02 1.61267514e+02] [ 8.85426897e-02 -1.56008878e-03 9.96071161e-01 1.24381263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:161.30, Z:12.43 [[ 3.46448650e-01 -9.37876412e-01 -1.90044503e-02 1.51854718e+02] [ 9.34061147e-01 3.46768398e-01 -8.53314279e-02 1.61296092e+02] [ 8.66204762e-02 1.18116394e-02 9.96171360e-01 1.24322156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:161.31, Z:12.45 [[ 3.46425688e-01 -9.37005827e-01 -4.48254735e-02 1.51880075e+02] [ 9.33860161e-01 3.49000266e-01 -7.81281969e-02 1.61314496e+02] [ 8.88506779e-02 -1.47951094e-02 9.95935069e-01 1.24472704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:161.34, Z:12.45 [[ 3.46047792e-01 -9.37655661e-01 -3.24466676e-02 1.51882032e+02] [ 9.34001133e-01 3.47561562e-01 -8.27214803e-02 1.61342034e+02] [ 8.88414788e-02 -1.67963867e-03 9.96044362e-01 1.24456479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.89, Y:161.37, Z:12.45 [[ 3.46157930e-01 -9.37622874e-01 -3.22185437e-02 1.51890434e+02] [ 9.34011487e-01 3.47650251e-01 -8.22304349e-02 1.61367212e+02] [ 8.83019215e-02 -1.62777284e-03 9.96092426e-01 1.24481208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:161.39, Z:12.45 [[ 3.46217666e-01 -9.37601639e-01 -3.21946267e-02 1.51899750e+02] [ 9.33989727e-01 3.47707652e-01 -8.22348925e-02 1.61392363e+02] [ 8.82978881e-02 -1.59827805e-03 9.96092831e-01 1.24510147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:161.42, Z:12.45 [[ 3.46102358e-01 -9.37650614e-01 -3.20075541e-02 1.51909029e+02] [ 9.34073408e-01 3.47575682e-01 -8.18413983e-02 1.61417726e+02] [ 8.78636848e-02 -1.57190420e-03 9.96131267e-01 1.24532193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:161.44, Z:12.46 [[ 3.46037874e-01 -9.37669625e-01 -3.21475435e-02 1.51918480e+02] [ 9.34053357e-01 3.47524477e-01 -8.22864750e-02 1.61442707e+02] [ 8.83295864e-02 -1.55328406e-03 9.96090092e-01 1.24562837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:161.47, Z:12.46 [[ 3.45854690e-01 -9.37736982e-01 -3.21541056e-02 1.51928256e+02] [ 9.34111847e-01 3.47342741e-01 -8.23897953e-02 1.61467924e+02] [ 8.84284531e-02 -1.54063376e-03 9.96081340e-01 1.24588137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:161.49, Z:12.46 [[ 3.45459034e-01 -9.37881906e-01 -3.21805246e-02 1.51938149e+02] [ 9.34243765e-01 3.46951193e-01 -8.25436710e-02 1.61493611e+02] [ 8.85812869e-02 -1.54899760e-03 9.96067747e-01 1.24616396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:161.52, Z:12.46 [[ 3.45601656e-01 -9.37840061e-01 -3.18671458e-02 1.51948105e+02] [ 9.34264963e-01 3.47064530e-01 -8.18241483e-02 1.61519064e+02] [ 8.77979202e-02 -1.49379664e-03 9.96137186e-01 1.24641178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:161.54, Z:12.47 [[ 3.45436956e-01 -9.37901403e-01 -3.18475736e-02 1.51957111e+02] [ 9.34323350e-01 3.46898794e-01 -8.18602713e-02 1.61543131e+02] [ 8.78247481e-02 -1.47836866e-03 9.96134844e-01 1.24665133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:161.57, Z:12.47 [[ 3.45351470e-01 -9.37930991e-01 -3.19032712e-02 1.51965670e+02] [ 9.34332436e-01 3.46818879e-01 -8.20948490e-02 1.61567470e+02] [ 8.80639598e-02 -1.45668433e-03 9.96113757e-01 1.24690071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:161.60, Z:12.45 [[ 3.43655173e-01 -9.39078089e-01 -5.78484837e-03 1.51957688e+02] [ 9.35335415e-01 3.42823273e-01 -8.72918409e-02 1.61599345e+02] [ 8.39570358e-02 2.45875191e-02 9.96165985e-01 1.24549024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:161.61, Z:12.48 [[ 3.45171142e-01 -9.36876197e-01 -5.58558457e-02 1.51997355e+02] [ 9.34370147e-01 3.48632197e-01 -7.35392380e-02 1.61611837e+02] [ 8.83703078e-02 -2.68064120e-02 9.95726923e-01 1.24807199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:161.64, Z:12.48 [[ 3.44816946e-01 -9.38121006e-01 -3.20975480e-02 1.51993491e+02] [ 9.34462525e-01 3.46304603e-01 -8.27823097e-02 1.61643676e+02] [ 8.87753523e-02 -1.44921253e-03 9.96050620e-01 1.24759138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:161.67, Z:12.48 [[ 3.44504585e-01 -9.38232852e-01 -3.21824067e-02 1.52002954e+02] [ 9.34547987e-01 3.46001453e-01 -8.30846283e-02 1.61669271e+02] [ 8.90878872e-02 -1.45296798e-03 9.96022709e-01 1.24783211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:161.69, Z:12.48 [[ 3.44103947e-01 -9.38381128e-01 -3.21454922e-02 1.52012714e+02] [ 9.34697552e-01 3.45599088e-01 -8.30768183e-02 1.61694573e+02] [ 8.90671712e-02 -1.45925181e-03 9.96024553e-01 1.24806622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:161.72, Z:12.48 [[ 3.43570919e-01 -9.38572846e-01 -3.22496083e-02 1.52022542e+02] [ 9.34858253e-01 3.45077981e-01 -8.34340076e-02 1.61720328e+02] [ 8.94375236e-02 -1.48331388e-03 9.95991330e-01 1.24831945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:161.75, Z:12.49 [[ 3.42799302e-01 -9.38859521e-01 -3.21160258e-02 1.52031921e+02] [ 9.35169217e-01 3.44297089e-01 -8.31748166e-02 1.61745800e+02] [ 8.91469226e-02 -1.52164959e-03 9.96017325e-01 1.24856466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:161.77, Z:12.49 [[ 3.41226222e-01 -9.39434047e-01 -3.20676865e-02 1.52040425e+02] [ 9.35749675e-01 3.42725815e-01 -8.31357985e-02 1.61770947e+02] [ 8.90910237e-02 -1.63921277e-03 9.96022140e-01 1.24881076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:161.80, Z:12.49 [[ 3.40363345e-01 -9.39746779e-01 -3.20746681e-02 1.52049681e+02] [ 9.36054064e-01 3.41867129e-01 -8.32445492e-02 1.61796694e+02] [ 8.91940717e-02 -1.69023020e-03 9.96012832e-01 1.24909229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:161.82, Z:12.49 [[ 3.39245675e-01 -9.40285738e-01 -2.78406572e-02 1.52055417e+02] [ 9.36372185e-01 3.40372734e-01 -8.57527453e-02 1.61821361e+02] [ 9.01082841e-02 3.02203096e-03 9.95927389e-01 1.24924459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:161.85, Z:12.50 [[ 3.37755639e-01 -9.40546270e-01 -3.59700205e-02 1.52069918e+02] [ 9.37053095e-01 3.39607710e-01 -8.12286902e-02 1.61846023e+02] [ 8.86150379e-02 -6.27037084e-03 9.96046213e-01 1.24972275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:161.87, Z:12.50 [[ 3.35624523e-01 -9.41455734e-01 -3.18948315e-02 1.52076569e+02] [ 9.37793382e-01 3.37130335e-01 -8.29862050e-02 1.61871542e+02] [ 8.88805538e-02 -2.05855643e-03 9.96040165e-01 1.24982074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:161.90, Z:12.50 [[ 3.33846192e-01 -9.42398622e-01 -2.07739492e-02 1.52078855e+02] [ 9.38028521e-01 3.34311022e-01 -9.13161213e-02 1.61901017e+02] [ 9.30011471e-02 1.09989825e-02 9.95605248e-01 1.24983967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:161.92, Z:12.51 [[ 3.33813075e-01 -9.41800924e-01 -3.97473367e-02 1.52099766e+02] [ 9.38195537e-01 3.36033411e-01 -8.28895732e-02 1.61920940e+02] [ 9.14219098e-02 -9.62115054e-03 9.95765770e-01 1.25059197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.11, Y:161.95, Z:12.51 [[ 3.32656131e-01 -9.42288193e-01 -3.78531400e-02 1.52108272e+02] [ 9.38691020e-01 3.34706348e-01 -8.26488264e-02 1.61947240e+02] [ 9.05486996e-02 -8.03876378e-03 9.95859584e-01 1.25072473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.11, Y:161.97, Z:12.51 [[ 3.31633194e-01 -9.42840007e-01 -3.27436318e-02 1.52113919e+02] [ 9.38956579e-01 3.33237209e-01 -8.55190320e-02 1.61973642e+02] [ 9.15421613e-02 -2.38389881e-03 9.95798348e-01 1.25078965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:162.00, Z:12.51 [[ 3.31094090e-01 -9.43024663e-01 -3.28814366e-02 1.52123284e+02] [ 9.39100289e-01 3.32714089e-01 -8.59766431e-02 1.61999626e+02] [ 9.20182121e-02 -2.41260816e-03 9.95754401e-01 1.25100804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:162.02, Z:12.51 [[ 3.30597145e-01 -9.43196999e-01 -3.29385574e-02 1.52132348e+02] [ 9.39251342e-01 3.32225066e-01 -8.62172932e-02 1.62024707e+02] [ 9.22629067e-02 -2.43439331e-03 9.95731706e-01 1.25124540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:162.06, Z:12.50 [[ 3.30213727e-01 -9.43863800e-01 -8.94545803e-03 1.52125981e+02] [ 9.39592705e-01 3.29594933e-01 -9.23727670e-02 1.62055323e+02] [ 9.01356885e-02 2.20976686e-02 9.95684313e-01 1.25022298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:162.08, Z:12.51 [[ 3.30446773e-01 -9.43423158e-01 -2.75258988e-02 1.52146989e+02] [ 9.39533657e-01 3.31582334e-01 -8.56134531e-02 1.62078292e+02] [ 8.98968160e-02 2.42918100e-03 9.95948122e-01 1.25103475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:162.10, Z:12.52 [[ 3.31982993e-01 -9.42394249e-01 -4.09923509e-02 1.52164713e+02] [ 9.38943856e-01 3.34307447e-01 -8.13816081e-02 1.62098463e+02] [ 9.03976076e-02 -1.14722062e-02 9.95839676e-01 1.25187678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:162.12, Z:12.53 [[ 3.32520888e-01 -9.41874946e-01 -4.79733732e-02 1.52178894e+02] [ 9.38638404e-01 3.35460635e-01 -8.01505459e-02 1.62121801e+02] [ 9.15849693e-02 -1.83779197e-02 9.95627664e-01 1.25272653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:162.15, Z:12.52 [[ 3.32857765e-01 -9.42420143e-01 -3.24034231e-02 1.52179121e+02] [ 9.38554595e-01 3.34425159e-01 -8.52941107e-02 1.62149851e+02] [ 9.12194080e-02 -2.02157457e-03 9.95828767e-01 1.25247524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:162.17, Z:12.53 [[ 3.34295158e-01 -9.41912920e-01 -3.23542579e-02 1.52188703e+02] [ 9.38048084e-01 3.35852104e-01 -8.52593506e-02 1.62174763e+02] [ 9.11731294e-02 -1.84806154e-03 9.95833342e-01 1.25275576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:162.20, Z:12.55 [[ 3.36905217e-01 -9.39760966e-01 -5.78290761e-02 1.52216171e+02] [ 9.36669340e-01 3.40768492e-01 -8.07922217e-02 1.62196924e+02] [ 9.56317034e-02 -2.69474015e-02 9.95051966e-01 1.25450276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:162.23, Z:12.53 [[ 3.35396962e-01 -9.42026336e-01 -9.76012010e-03 1.52194722e+02] [ 9.37597940e-01 3.34793504e-01 -9.39330175e-02 1.62231444e+02] [ 9.17550012e-02 2.23537802e-02 9.95530677e-01 1.25263268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:162.25, Z:12.54 [[ 3.35830684e-01 -9.41364258e-01 -3.24204397e-02 1.52217143e+02] [ 9.37457331e-01 3.37388093e-01 -8.56914723e-02 1.62250416e+02] [ 9.16051595e-02 -1.61495314e-03 9.95794099e-01 1.25350425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:162.28, Z:12.54 [[ 3.36830144e-01 -9.41002451e-01 -3.25551977e-02 1.52227332e+02] [ 9.37052272e-01 3.38396464e-01 -8.61444841e-02 1.62275532e+02] [ 9.20787345e-02 -1.48986304e-03 9.95750615e-01 1.25375931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:162.30, Z:12.54 [[ 3.36896970e-01 -9.40975312e-01 -3.26480369e-02 1.52237188e+02] [ 9.36993935e-01 3.38472072e-01 -8.64813414e-02 1.62300939e+02] [ 9.24272559e-02 -1.45571069e-03 9.95718375e-01 1.25403326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:162.33, Z:12.54 [[ 3.36643249e-01 -9.41066971e-01 -3.26232984e-02 1.52246910e+02] [ 9.37083676e-01 3.38217174e-01 -8.65062290e-02 1.62326223e+02] [ 9.24419147e-02 -1.44902239e-03 9.95717024e-01 1.25427370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:162.35, Z:12.55 [[ 3.36349024e-01 -9.41165325e-01 -3.28201979e-02 1.52256724e+02] [ 9.37125629e-01 3.37943364e-01 -8.71196834e-02 1.62351171e+02] [ 9.30853932e-02 -1.45402812e-03 9.95657067e-01 1.25455586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:162.37, Z:12.55 [[ 3.34995526e-01 -9.41640232e-01 -3.30404452e-02 1.52266688e+02] [ 9.37539332e-01 3.36617329e-01 -8.77996283e-02 1.62374908e+02] [ 9.37976488e-02 -1.56423429e-03 9.95590053e-01 1.25474780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:162.40, Z:12.55 [[ 3.34101518e-01 -9.41950268e-01 -3.32545888e-02 1.52276415e+02] [ 9.37787936e-01 3.35748479e-01 -8.84688930e-02 1.62399435e+02] [ 9.44984751e-02 -1.62816071e-03 9.95523675e-01 1.25499953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:162.42, Z:12.55 [[ 3.32780214e-01 -9.42412529e-01 -3.34059116e-02 1.52286403e+02] [ 9.38205334e-01 3.34448225e-01 -8.89670552e-02 1.62424102e+02] [ 9.50162153e-02 -1.73512880e-03 9.95474213e-01 1.25526908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:162.45, Z:12.55 [[ 3.32696745e-01 -9.42449700e-01 -3.31879254e-02 1.52295029e+02] [ 9.38288708e-01 3.34343629e-01 -8.84795891e-02 1.62449918e+02] [ 9.44837336e-02 -1.70298439e-03 9.95524949e-01 1.25549489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:162.48, Z:12.55 [[ 3.32072327e-01 -9.42953926e-01 -2.37878868e-02 1.52297627e+02] [ 9.38662389e-01 3.32836071e-01 -9.01835324e-02 1.62478525e+02] [ 9.29563826e-02 7.61866085e-03 9.95641033e-01 1.25512896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:162.50, Z:12.55 [[ 3.32687798e-01 -9.42714135e-01 -2.46756843e-02 1.52304381e+02] [ 9.38239221e-01 3.33517966e-01 -9.20485283e-02 1.62502647e+02] [ 9.50052327e-02 7.47172738e-03 9.95448733e-01 1.25535661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:162.53, Z:12.56 [[ 3.32629286e-01 -9.42368849e-01 -3.60376205e-02 1.52320105e+02] [ 9.38364594e-01 3.34539831e-01 -8.69194432e-02 1.62527172e+02] [ 9.39661951e-02 -4.90447481e-03 9.95563308e-01 1.25591593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:162.56, Z:12.56 [[ 3.31874477e-01 -9.43006364e-01 -2.44607769e-02 1.52322078e+02] [ 9.38880320e-01 3.32714024e-01 -8.83466088e-02 1.62557056e+02] [ 9.14498579e-02 6.35424257e-03 9.95789409e-01 1.25552134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:162.58, Z:12.56 [[ 3.30970162e-01 -9.42944565e-01 -3.62532621e-02 1.52336546e+02] [ 9.39035419e-01 3.32902760e-01 -8.59548346e-02 1.62579688e+02] [ 9.31194551e-02 -5.59461165e-03 9.95639226e-01 1.25623629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:162.61, Z:12.56 [[ 3.29394826e-01 -9.43803328e-01 -2.70984651e-02 1.52338328e+02] [ 9.39398928e-01 3.30475861e-01 -9.11885930e-02 1.62606103e+02] [ 9.50194861e-02 4.58078169e-03 9.95464873e-01 1.25618602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:162.63, Z:12.57 [[ 3.29186567e-01 -9.43547364e-01 -3.68045622e-02 1.52353537e+02] [ 9.39526383e-01 3.31185634e-01 -8.72138281e-02 1.62629981e+02] [ 9.44795198e-02 -5.86923654e-03 9.95509504e-01 1.25668580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:162.66, Z:12.58 [[ 3.29032750e-01 -9.43393721e-01 -4.17820079e-02 1.52367167e+02] [ 9.38999686e-01 3.31548528e-01 -9.14065837e-02 1.62656896e+02] [ 1.00085160e-01 -9.15753270e-03 9.94936732e-01 1.25762211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.38, Y:162.68, Z:12.58 [[ 3.27917922e-01 -9.43820030e-01 -4.09094988e-02 1.52375245e+02] [ 9.39578765e-01 3.30337813e-01 -8.98257950e-02 1.62682172e+02] [ 9.82933389e-02 -8.98220828e-03 9.95116948e-01 1.25765834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:162.71, Z:12.58 [[ 3.28888712e-01 -9.43815773e-01 -3.23110267e-02 1.52377704e+02] [ 9.39175247e-01 3.30471827e-01 -9.34784822e-02 1.62706985e+02] [ 9.89043500e-02 3.98301044e-04 9.95096865e-01 1.25775391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:162.73, Z:12.58 [[ 3.26767837e-01 -9.44582882e-01 -3.14000037e-02 1.52385401e+02] [ 9.39885079e-01 3.28270700e-01 -9.40977428e-02 1.62734304e+02] [ 9.91908182e-02 1.23572089e-03 9.95067663e-01 1.25801603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:162.76, Z:12.59 [[ 3.26307232e-01 -9.44501331e-01 -3.79582124e-02 1.52398659e+02] [ 9.40007780e-01 3.28459890e-01 -9.21925969e-02 1.62760489e+02] [ 9.95437807e-02 -5.59790383e-03 9.95017437e-01 1.25858358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:162.79, Z:12.59 [[ 3.26528061e-01 -9.44534443e-01 -3.51299306e-02 1.52405946e+02] [ 9.39759121e-01 3.28406083e-01 -9.48801318e-02 1.62786736e+02] [ 1.01154435e-01 -2.03264726e-03 9.94868659e-01 1.25907735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:162.81, Z:12.60 [[ 3.26671473e-01 -9.43351750e-01 -5.80794719e-02 1.52427696e+02] [ 9.39567319e-01 3.30794367e-01 -8.82515732e-02 1.62805699e+02] [ 1.02464638e-01 -2.57403022e-02 9.94403557e-01 1.26022412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:162.84, Z:12.58 [[ 3.26129109e-01 -9.45290375e-01 -8.11854538e-03 1.52408193e+02] [ 9.40266124e-01 3.25259109e-01 -1.00529238e-01 1.62843944e+02] [ 9.76699517e-02 2.51519176e-02 9.94900981e-01 1.25829629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:162.86, Z:12.59 [[ 3.26331186e-01 -9.44662654e-01 -3.34727964e-02 1.52431410e+02] [ 9.40301232e-01 3.28038013e-01 -9.06898845e-02 1.62862545e+02] [ 9.66516965e-02 -1.87957413e-03 9.95316491e-01 1.25926590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:162.89, Z:12.60 [[ 3.27323460e-01 -9.44322087e-01 -3.33938321e-02 1.52438896e+02] [ 9.39969927e-01 3.29017873e-01 -9.05746938e-02 1.62887200e+02] [ 9.65188516e-02 -1.74197575e-03 9.95329632e-01 1.25956086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:162.91, Z:12.60 [[ 3.27491114e-01 -9.44265999e-01 -3.33360631e-02 1.52447778e+02] [ 9.39920681e-01 3.29179053e-01 -9.05000786e-02 1.62912905e+02] [ 9.64296809e-02 -1.69528351e-03 9.95338356e-01 1.25986730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:162.94, Z:12.60 [[ 3.27985406e-01 -9.44104894e-01 -3.30381896e-02 1.52456744e+02] [ 9.39826754e-01 3.29641301e-01 -8.97902274e-02 1.62938890e+02] [ 9.56621449e-02 -1.60029032e-03 9.95412574e-01 1.26015243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:162.96, Z:12.60 [[ 3.28133763e-01 -9.44058184e-01 -3.28995205e-02 1.52465795e+02] [ 9.39807102e-01 3.29775290e-01 -8.95034560e-02 1.62963866e+02] [ 9.53459190e-02 -1.55009721e-03 9.95442993e-01 1.26043619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:162.98, Z:12.63 [[ 3.30800211e-01 -9.40653931e-01 -7.57720396e-02 1.52503015e+02] [ 9.38115688e-01 3.36503299e-01 -8.18809174e-02 1.62981196e+02] [ 1.02519148e-01 -4.39967143e-02 9.93757573e-01 1.26326089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:163.02, Z:12.61 [[ 3.30136237e-01 -9.43861463e-01 -1.16448929e-02 1.52475147e+02] [ 9.38545654e-01 3.29543142e-01 -1.02632224e-01 1.63023299e+02] [ 1.00708096e-01 2.29533528e-02 9.94651207e-01 1.26114576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:163.04, Z:12.62 [[ 3.29466245e-01 -9.43092084e-01 -4.50479043e-02 1.52503278e+02] [ 9.39052554e-01 3.32267800e-01 -8.81952918e-02 1.63040617e+02] [ 9.81442497e-02 -1.32449779e-02 9.95084055e-01 1.26223018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:163.07, Z:12.61 [[ 3.26826015e-01 -9.45037910e-01 -9.38640137e-03 1.52488086e+02] [ 9.40380350e-01 3.26172905e-01 -9.64159384e-02 1.63072791e+02] [ 9.41783067e-02 2.26844495e-02 9.95296871e-01 1.26076418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:163.09, Z:12.62 [[ 3.25925914e-01 -9.44852912e-01 -3.20198796e-02 1.52510560e+02] [ 9.40755119e-01 3.27491703e-01 -8.79146777e-02 1.63093043e+02] [ 9.35526842e-02 -1.46919402e-03 9.95613247e-01 1.26158469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:163.12, Z:12.62 [[ 3.23626757e-01 -9.45641098e-01 -3.20723489e-02 1.52520347e+02] [ 9.41524367e-01 3.25207834e-01 -8.81574267e-02 1.63118884e+02] [ 9.37954649e-02 -1.66679591e-03 9.95590093e-01 1.26177320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:163.14, Z:12.62 [[ 3.22230448e-01 -9.46117601e-01 -3.20783801e-02 1.52530234e+02] [ 9.41992333e-01 3.23818374e-01 -8.82728963e-02 1.63144617e+02] [ 9.39041098e-02 -1.77337312e-03 9.95579667e-01 1.26206574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:163.17, Z:12.62 [[ 3.20703001e-01 -9.46641284e-01 -3.19353259e-02 1.52540072e+02] [ 9.42546042e-01 3.22283609e-01 -8.79786001e-02 1.63170224e+02] [ 9.35764071e-02 -1.88551398e-03 9.95610316e-01 1.26229074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:152.55, Y:163.19, Z:12.62 [[ 3.18545624e-01 -9.47364255e-01 -3.20882166e-02 1.52549441e+02] [ 9.43223726e-01 3.20151000e-01 -8.85005053e-02 1.63194992e+02] [ 9.41152900e-02 -2.07491858e-03 9.95559143e-01 1.26240617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:163.22, Z:12.63 [[ 3.15804203e-01 -9.48472943e-01 -2.58221102e-02 1.52555897e+02] [ 9.44035280e-01 3.16824733e-01 -9.17577163e-02 1.63223061e+02] [ 9.52107944e-02 4.60048940e-03 9.95446503e-01 1.26272308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:163.25, Z:12.63 [[ 3.14470379e-01 -9.48765154e-01 -3.08717338e-02 1.52567645e+02] [ 9.44480055e-01 3.15980998e-01 -9.00746068e-02 1.63246870e+02] [ 9.52145295e-02 -8.31941173e-04 9.95456429e-01 1.26312665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:163.27, Z:12.63 [[ 3.14009549e-01 -9.48856115e-01 -3.27120249e-02 1.52577431e+02] [ 9.44624473e-01 3.15696610e-01 -8.95558772e-02 1.63271894e+02] [ 9.53027171e-02 -2.77917864e-03 9.95444458e-01 1.26343225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:163.30, Z:12.63 [[ 3.13655999e-01 -9.49312833e-01 -2.06169758e-02 1.52584166e+02] [ 9.45054548e-01 3.14209021e-01 -9.02473995e-02 1.63304939e+02] [ 9.21510543e-02 8.82247149e-03 9.95705954e-01 1.26283211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:163.33, Z:12.63 [[ 3.12722868e-01 -9.49514930e-01 -2.50161038e-02 1.52594362e+02] [ 9.45638033e-01 3.13705855e-01 -8.57749743e-02 1.63325426e+02] [ 8.92923170e-02 3.16761673e-03 9.96000426e-01 1.26287727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:163.35, Z:12.63 [[ 3.12075401e-01 -9.49626373e-01 -2.86128671e-02 1.52606276e+02] [ 9.45706700e-01 3.13384311e-01 -8.61922921e-02 1.63354232e+02] [ 9.08172973e-02 -1.60886051e-04 9.95867558e-01 1.26334851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:163.38, Z:12.64 [[ 3.13395061e-01 -9.48749317e-01 -4.07218507e-02 1.52622347e+02] [ 9.45103665e-01 3.15795305e-01 -8.39785008e-02 1.63377870e+02] [ 9.25343146e-02 -1.21679230e-02 9.95635145e-01 1.26421191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:163.40, Z:12.66 [[ 3.13273522e-01 -9.48089874e-01 -5.46378152e-02 1.52635031e+02] [ 9.44657035e-01 3.17005592e-01 -8.44425274e-02 1.63397128e+02] [ 9.73795981e-02 -2.51603885e-02 9.94929228e-01 1.26561160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:163.43, Z:12.65 [[ 3.14339668e-01 -9.48741024e-01 -3.28792174e-02 1.52631304e+02] [ 9.44270432e-01 3.16047413e-01 -9.20183916e-02 1.63427981e+02] [ 9.76930147e-02 -2.12184215e-03 9.95214335e-01 1.26518121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:163.46, Z:12.65 [[ 3.16400880e-01 -9.48159994e-01 -2.97171358e-02 1.52638346e+02] [ 9.43499017e-01 3.17788948e-01 -9.39137330e-02 1.63455770e+02] [ 9.84890218e-02 1.67629943e-03 9.95136726e-01 1.26534968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:163.48, Z:12.66 [[ 3.18398575e-01 -9.47259264e-01 -3.63625349e-02 1.52651283e+02] [ 9.42929189e-01 3.20422220e-01 -9.06319262e-02 1.63479016e+02] [ 9.75032959e-02 -5.43021943e-03 9.95220388e-01 1.26579005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:163.51, Z:12.66 [[ 3.16797308e-01 -9.47918284e-01 -3.30210829e-02 1.52658834e+02] [ 9.43461605e-01 3.18506950e-01 -9.18342162e-02 1.63509256e+02] [ 9.75687771e-02 -2.06129137e-03 9.95226650e-01 1.26597248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:163.53, Z:12.66 [[ 3.21494874e-01 -9.46326989e-01 -3.32607418e-02 1.52667606e+02] [ 9.42032846e-01 3.23202109e-01 -9.00805965e-02 1.63530531e+02] [ 9.59956415e-02 -2.37226130e-03 9.95378927e-01 1.26621903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:163.56, Z:12.66 [[ 3.22220541e-01 -9.46124517e-01 -3.19737563e-02 1.52675698e+02] [ 9.41841041e-01 3.23801034e-01 -8.99352224e-02 1.63556232e+02] [ 9.54430542e-02 -1.13521990e-03 9.95434244e-01 1.26644769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:163.58, Z:12.67 [[ 3.23313727e-01 -9.45764601e-01 -3.15840623e-02 1.52684831e+02] [ 9.41573999e-01 3.24851276e-01 -8.89384772e-02 1.63581971e+02] [ 9.43749864e-02 -9.83701375e-04 9.95536235e-01 1.26668410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:163.61, Z:12.67 [[ 3.22020400e-01 -9.46398893e-01 -2.51395732e-02 1.52690268e+02] [ 9.41849433e-01 3.22940002e-01 -9.28945667e-02 1.63611148e+02] [ 9.60338889e-02 6.23625273e-03 9.95358529e-01 1.26682055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:163.64, Z:12.67 [[ 3.20865425e-01 -9.46515749e-01 -3.39605127e-02 1.52704324e+02] [ 9.42260147e-01 3.22641606e-01 -8.97118168e-02 1.63635292e+02] [ 9.58707218e-02 -3.21421744e-03 9.95388604e-01 1.26734941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:163.66, Z:12.68 [[ 3.21439399e-01 -9.46188378e-01 -3.74735331e-02 1.52716033e+02] [ 9.42210857e-01 3.23532893e-01 -8.69779713e-02 1.63658703e+02] [ 9.44214662e-02 -7.34982294e-03 9.95505182e-01 1.26767955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:163.69, Z:12.68 [[ 3.18749503e-01 -9.47308934e-01 -3.16944548e-02 1.52722230e+02] [ 9.43103180e-01 3.20318024e-01 -8.91782251e-02 1.63685119e+02] [ 9.46316345e-02 -1.46562610e-03 9.95511279e-01 1.26779162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:163.71, Z:12.68 [[ 3.17963990e-01 -9.47582357e-01 -3.14098318e-02 1.52731474e+02] [ 9.43384561e-01 3.19508978e-01 -8.91043412e-02 1.63710121e+02] [ 9.44694249e-02 -1.29957852e-03 9.95526915e-01 1.26802559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:163.74, Z:12.68 [[ 3.15570907e-01 -9.48511419e-01 -2.72229699e-02 1.52737861e+02] [ 9.44081274e-01 3.16726641e-01 -9.16230475e-02 1.63737857e+02] [ 9.55277466e-02 3.21287212e-03 9.95421583e-01 1.26815532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:163.76, Z:12.68 [[ 3.13549082e-01 -9.49091030e-01 -3.02190362e-02 1.52748498e+02] [ 9.44691631e-01 3.15001923e-01 -9.12771058e-02 1.63763071e+02] [ 9.61493369e-02 7.21821346e-05 9.95366917e-01 1.26847609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:152.76, Y:163.79, Z:12.69 [[ 3.12880775e-01 -9.49036200e-01 -3.78934342e-02 1.52762187e+02] [ 9.44993726e-01 3.15057556e-01 -8.78953547e-02 1.63786371e+02] [ 9.53544862e-02 -8.30829095e-03 9.95408707e-01 1.26868769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:163.81, Z:12.70 [[ 3.12375807e-01 -9.48957954e-01 -4.35907986e-02 1.52776324e+02] [ 9.44778521e-01 3.15130695e-01 -8.99232519e-02 1.63812569e+02] [ 9.90701837e-02 -1.30938019e-02 9.94994297e-01 1.26976010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:163.84, Z:12.69 [[ 3.08946828e-01 -9.50827085e-01 -2.19023113e-02 1.52770568e+02] [ 9.46276959e-01 3.09616630e-01 -9.32601739e-02 1.63840825e+02] [ 9.54556192e-02 8.08678243e-03 9.95400838e-01 1.26891190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:163.86, Z:12.69 [[ 3.07465163e-01 -9.51036755e-01 -3.15319455e-02 1.52784242e+02] [ 9.46753965e-01 3.09070494e-01 -9.01795972e-02 1.63863003e+02] [ 9.55097055e-02 -2.12590992e-03 9.95426229e-01 1.26941656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:163.89, Z:12.70 [[ 3.04187304e-01 -9.52267865e-01 -2.56124463e-02 1.52789232e+02] [ 9.47539980e-01 3.05229108e-01 -9.48850759e-02 1.63892119e+02] [ 9.81736728e-02 4.59401857e-03 9.95158693e-01 1.26952694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.81, Y:163.91, Z:12.70 [[ 3.03584100e-01 -9.52012488e-01 -3.88447844e-02 1.52805578e+02] [ 9.47908406e-01 3.05900712e-01 -8.88504817e-02 1.63913078e+02] [ 9.64694154e-02 -9.84770411e-03 9.95287232e-01 1.27006735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.81, Y:163.94, Z:12.70 [[ 3.02488064e-01 -9.52680236e-01 -3.00223036e-02 1.52809479e+02] [ 9.48153078e-01 3.03974018e-01 -9.27660364e-02 1.63942177e+02] [ 9.75023697e-02 -4.05120784e-04 9.95235210e-01 1.27002878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:163.97, Z:12.70 [[ 3.01017462e-01 -9.53121653e-01 -3.07831540e-02 1.52818623e+02] [ 9.48546276e-01 3.02585299e-01 -9.32850454e-02 1.63968285e+02] [ 9.82265266e-02 -1.11881840e-03 9.95163453e-01 1.27031149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:163.99, Z:12.71 [[ 2.99683743e-01 -9.53364485e-01 -3.58582413e-02 1.52829929e+02] [ 9.49017761e-01 3.01746929e-01 -9.11815767e-02 1.63991233e+02] [ 9.77493911e-02 -6.70447168e-03 9.95188478e-01 1.27068104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:164.02, Z:12.71 [[ 2.99163269e-01 -9.53676125e-01 -3.16731307e-02 1.52836699e+02] [ 9.49313138e-01 3.00822265e-01 -9.11621134e-02 1.64017537e+02] [ 9.64671139e-02 -2.79536321e-03 9.95332247e-01 1.27074802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.85, Y:164.04, Z:12.71 [[ 2.98037963e-01 -9.54028839e-01 -3.16598550e-02 1.52845119e+02] [ 9.49659688e-01 2.99701065e-01 -9.12455420e-02 1.64042519e+02] [ 9.65393708e-02 -2.87145263e-03 9.95325025e-01 1.27106144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22275509600007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:152.85, Y:164.07, Z:12.71 [[ 2.97722314e-01 -9.54128508e-01 -3.16261501e-02 1.52853749e+02] [ 9.49758509e-01 2.99383646e-01 -9.12590130e-02 1.64068075e+02] [ 9.65411781e-02 -2.86736068e-03 9.95324861e-01 1.27134434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.86, Y:164.09, Z:12.72 [[ 2.97444337e-01 -9.54215300e-01 -3.16232029e-02 1.52862060e+02] [ 9.49836247e-01 2.99106942e-01 -9.13572128e-02 1.64093341e+02] [ 9.66331698e-02 -2.86317873e-03 9.95315946e-01 1.27160560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:164.12, Z:12.72 [[ 2.98469392e-01 -9.54010453e-01 -2.79298619e-02 1.52867398e+02] [ 9.49368851e-01 2.99769373e-01 -9.40058901e-02 1.64117898e+02] [ 9.80551190e-02 1.54213997e-03 9.95179791e-01 1.27181550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:164.14, Z:12.72 [[ 2.98444332e-01 -9.53776588e-01 -3.52306904e-02 1.52880458e+02] [ 9.49527234e-01 3.00445379e-01 -9.01698710e-02 1.64143225e+02] [ 9.65868100e-02 -6.54181314e-03 9.95303066e-01 1.27227897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:164.17, Z:12.72 [[ 2.99004471e-01 -9.53923277e-01 -2.50341231e-02 1.52883024e+02] [ 9.49105784e-01 3.00010506e-01 -9.58744325e-02 1.64171978e+02] [ 9.89673528e-02 4.90685295e-03 9.95078583e-01 1.27228447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:164.20, Z:12.73 [[ 3.00565270e-01 -9.52985107e-01 -3.84695094e-02 1.52899554e+02] [ 9.48880032e-01 3.02859170e-01 -8.88988612e-02 1.64195011e+02] [ 9.63701345e-02 -9.78303906e-03 9.95297488e-01 1.27288979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:164.22, Z:12.73 [[ 3.01150298e-01 -9.53062520e-01 -3.13102343e-02 1.52904019e+02] [ 9.48718243e-01 3.02764658e-01 -9.09244619e-02 1.64222759e+02] [ 9.61363291e-02 -2.32266172e-03 9.95365466e-01 1.27296354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.91, Y:164.25, Z:12.73 [[ 3.01618698e-01 -9.52920913e-01 -3.11110018e-02 1.52912131e+02] [ 9.48620804e-01 3.03210752e-01 -9.04533589e-02 1.64247521e+02] [ 9.56280876e-02 -2.23011920e-03 9.95414635e-01 1.27308614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:164.27, Z:12.73 [[ 3.03125621e-01 -9.52456756e-01 -3.06754971e-02 1.52919810e+02] [ 9.48263649e-01 3.04667109e-01 -8.92972890e-02 1.64273156e+02] [ 9.43976212e-02 -2.02016259e-03 9.95532525e-01 1.27348054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.93, Y:164.30, Z:12.74 [[ 3.03322047e-01 -9.52402397e-01 -3.04205705e-02 1.52927998e+02] [ 9.48268837e-01 3.04837422e-01 -8.86586605e-02 1.64298779e+02] [ 9.37120490e-02 -1.95475263e-03 9.95597424e-01 1.27370383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:164.32, Z:12.74 [[ 3.04050067e-01 -9.52176872e-01 -3.02119358e-02 1.52935652e+02] [ 9.48089213e-01 3.05541841e-01 -8.81534307e-02 1.64323990e+02] [ 9.31686684e-02 -1.84055399e-03 9.95648639e-01 1.27393887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:164.35, Z:12.73 [[ 3.04344558e-01 -9.52450516e-01 -1.45741375e-02 1.52935909e+02] [ 9.48221135e-01 3.04381168e-01 -9.07126417e-02 1.64354624e+02] [ 9.08353954e-02 1.37883936e-02 9.95770461e-01 1.27322950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:164.37, Z:12.75 [[ 3.04379883e-01 -9.51493022e-01 -4.48766668e-02 1.52960742e+02] [ 9.48024295e-01 3.07184505e-01 -8.29916584e-02 1.64372144e+02] [ 9.27514005e-02 -1.72831791e-02 9.95539286e-01 1.27487398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:164.41, Z:12.74 [[ 3.05659968e-01 -9.51994676e-01 -1.66769850e-02 1.52953539e+02] [ 9.47748053e-01 3.05883660e-01 -9.06025087e-02 1.64406343e+02] [ 9.13543231e-02 1.18879798e-02 9.95747490e-01 1.27384371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:164.42, Z:12.75 [[ 3.06091492e-01 -9.51030493e-01 -4.30000063e-02 1.52975720e+02] [ 9.47436432e-01 3.08730947e-01 -8.39607594e-02 1.64424403e+02] [ 9.31246751e-02 -1.50400985e-02 9.95540853e-01 1.27526902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:164.45, Z:12.75 [[ 3.06464787e-01 -9.51401013e-01 -3.02563666e-02 1.52976260e+02] [ 9.47256215e-01 3.07951217e-01 -8.87226684e-02 1.64453280e+02] [ 9.37283215e-02 -1.47015760e-03 9.95596726e-01 1.27513806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:164.48, Z:12.75 [[ 3.07982484e-01 -9.50903336e-01 -3.04899157e-02 1.52984365e+02] [ 9.46682053e-01 3.09485320e-01 -8.95093754e-02 1.64479482e+02] [ 9.45509450e-02 -1.29693617e-03 9.95519180e-01 1.27538862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:164.51, Z:12.75 [[ 3.08027609e-01 -9.51241351e-01 -1.60899018e-02 1.52984427e+02] [ 9.46834725e-01 3.08163709e-01 -9.24074269e-02 1.64509588e+02] [ 9.28600894e-02 1.32295609e-02 9.95591273e-01 1.27472785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:164.53, Z:12.76 [[ 3.08256779e-01 -9.50517595e-01 -3.86530560e-02 1.53005377e+02] [ 9.46481801e-01 3.10526800e-01 -8.80074245e-02 1.64528938e+02] [ 9.56554154e-02 -9.45552884e-03 9.95369597e-01 1.27607536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:164.55, Z:12.76 [[ 3.08251413e-01 -9.50637450e-01 -3.56301309e-02 1.53012225e+02] [ 9.46656592e-01 3.10228015e-01 -8.71772603e-02 1.64554651e+02] [ 9.39274332e-02 -6.85698470e-03 9.95555432e-01 1.27616819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.02, Y:164.58, Z:12.76 [[ 3.06531128e-01 -9.51441942e-01 -2.82293769e-02 1.53016673e+02] [ 9.47134286e-01 3.07826670e-01 -9.04399551e-02 1.64584461e+02] [ 9.47381217e-02 9.85650680e-04 9.95501741e-01 1.27611469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:164.61, Z:12.77 [[ 3.06997638e-01 -9.51147712e-01 -3.27182038e-02 1.53027520e+02] [ 9.47089744e-01 3.08710078e-01 -8.78584292e-02 1.64606995e+02] [ 9.36667831e-02 -4.01474501e-03 9.95595508e-01 1.27654456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:164.63, Z:12.77 [[ 3.04938495e-01 -9.51895717e-01 -3.01174080e-02 1.53034477e+02] [ 9.47734594e-01 3.06418837e-01 -8.89192616e-02 1.64633040e+02] [ 9.38704054e-02 -1.42840369e-03 9.95583400e-01 1.27672802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:164.66, Z:12.77 [[ 3.03785383e-01 -9.52268079e-01 -2.99991300e-02 1.53042991e+02] [ 9.48131709e-01 3.05259300e-01 -8.86736879e-02 1.64657768e+02] [ 9.35986358e-02 -1.50535619e-03 9.95608874e-01 1.27694858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.05, Y:164.68, Z:12.77 [[ 3.02399687e-01 -9.52711114e-01 -2.99326419e-02 1.53051508e+02] [ 9.48585069e-01 3.03873258e-01 -8.85856077e-02 1.64683554e+02] [ 9.34922223e-02 -1.60539708e-03 9.95618716e-01 1.27708004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:164.71, Z:12.77 [[ 3.00421818e-01 -9.53336956e-01 -2.99228776e-02 1.53059975e+02] [ 9.49206811e-01 3.01903172e-01 -8.86617470e-02 1.64709303e+02] [ 9.35583317e-02 -1.76707596e-03 9.95612232e-01 1.27742884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:164.73, Z:12.78 [[ 2.99170742e-01 -9.53730521e-01 -2.99158873e-02 1.53068205e+02] [ 9.49594267e-01 3.00657020e-01 -8.87473095e-02 1.64734738e+02] [ 9.36354392e-02 -1.85735659e-03 9.95604819e-01 1.27765075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:164.76, Z:12.79 [[ 2.99659832e-01 -9.52934027e-01 -4.60513373e-02 1.53089548e+02] [ 9.49204889e-01 3.02648272e-01 -8.61051772e-02 1.64760560e+02] [ 9.59899109e-02 -1.79098916e-02 9.95221168e-01 1.27869153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:164.79, Z:12.78 [[ 2.96625613e-01 -9.54866536e-01 -1.55930857e-02 1.53076652e+02] [ 9.50381161e-01 2.96756408e-01 -9.33342557e-02 1.64790563e+02] [ 9.37491056e-02 1.28659559e-02 9.95512718e-01 1.27771784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:164.81, Z:12.78 [[ 2.96013733e-01 -9.54718752e-01 -2.97988921e-02 1.53092995e+02] [ 9.50593860e-01 2.97502587e-01 -8.86765173e-02 1.64813045e+02] [ 9.35263814e-02 -2.07717690e-03 9.95614635e-01 1.27836885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:164.84, Z:12.78 [[ 2.94469626e-01 -9.55415076e-01 -2.16719000e-02 1.53096864e+02] [ 9.51089860e-01 2.95201140e-01 -9.10184903e-02 1.64843269e+02] [ 9.33580074e-02 6.19025652e-03 9.95613360e-01 1.27813649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:164.86, Z:12.79 [[ 2.93730169e-01 -9.55076501e-01 -3.93886306e-02 1.53114057e+02] [ 9.51199874e-01 2.96117442e-01 -8.67943579e-02 1.64863338e+02] [ 9.45589122e-02 -1.19723390e-02 9.95447274e-01 1.27926711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:164.89, Z:12.79 [[ 2.93416263e-01 -9.55511762e-01 -3.00694068e-02 1.53117209e+02] [ 9.51274319e-01 2.94944635e-01 -8.99156927e-02 1.64891666e+02] [ 9.47843122e-02 -2.22152788e-03 9.95495354e-01 1.27926303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:164.92, Z:12.78 [[ 2.92586137e-01 -9.56196430e-01 -9.04104913e-03 1.53114524e+02] [ 9.51840563e-01 2.92133070e-01 -9.30473660e-02 1.64924729e+02] [ 9.16127486e-02 1.86187320e-02 9.95620634e-01 1.27825425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:164.94, Z:12.80 [[ 2.92227193e-01 -9.55051773e-01 -4.97933624e-02 1.53145734e+02] [ 9.51732688e-01 2.95531712e-01 -8.28607090e-02 1.64940095e+02] [ 9.38517847e-02 -2.31758182e-02 9.95316394e-01 1.28034448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:164.97, Z:12.80 [[ 2.91646556e-01 -9.56062820e-01 -2.97686315e-02 1.53142440e+02] [ 9.51890131e-01 2.93152811e-01 -8.92558597e-02 1.64970429e+02] [ 9.40609669e-02 -2.30530242e-03 9.95563770e-01 1.27999977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:165.00, Z:12.80 [[ 2.91423079e-01 -9.56129490e-01 -2.98159048e-02 1.53150100e+02] [ 9.51934346e-01 2.92935325e-01 -8.94980217e-02 1.64995125e+02] [ 9.43058296e-02 -2.30099479e-03 9.95540615e-01 1.28019093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:165.02, Z:12.80 [[ 2.91119301e-01 -9.56223073e-01 -2.97823189e-02 1.53158139e+02] [ 9.52027945e-01 2.92629722e-01 -8.95021645e-02 1.65020647e+02] [ 9.42992266e-02 -2.29779228e-03 9.95541248e-01 1.28041538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:165.04, Z:12.81 [[ 2.90920742e-01 -9.56287604e-01 -2.96502950e-02 1.53165960e+02] [ 9.52119712e-01 2.92418940e-01 -8.92144497e-02 1.65044486e+02] [ 9.39849802e-02 -2.27629643e-03 9.95571013e-01 1.28061969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:165.07, Z:12.81 [[ 2.91117501e-01 -9.56229734e-01 -2.95853920e-02 1.53174412e+02] [ 9.52069082e-01 2.92608561e-01 -8.91330025e-02 1.65068811e+02] [ 9.38885663e-02 -2.21916007e-03 9.95580239e-01 1.28087504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:165.09, Z:12.81 [[ 2.91440247e-01 -9.56137094e-01 -2.94013548e-02 1.53182780e+02] [ 9.52017177e-01 2.92911705e-01 -8.86906331e-02 1.65093934e+02] [ 9.34124052e-02 -2.14257478e-03 9.95625197e-01 1.28111319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:165.12, Z:12.81 [[ 2.91591209e-01 -9.56094190e-01 -2.92996133e-02 1.53190911e+02] [ 9.51992668e-01 2.93052097e-01 -8.84897072e-02 1.65118928e+02] [ 9.31908080e-02 -2.09019631e-03 9.95646074e-01 1.28133343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:165.14, Z:12.82 [[ 2.92435089e-01 -9.55842482e-01 -2.91010192e-02 1.53199610e+02] [ 9.51785548e-01 2.93872911e-01 -8.79942242e-02 1.65144897e+02] [ 9.26606189e-02 -1.96533068e-03 9.95695811e-01 1.28157403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:165.17, Z:12.82 [[ 2.92290080e-01 -9.56025367e-01 -2.41248032e-02 1.53204407e+02] [ 9.51709493e-01 2.93262100e-01 -9.08095907e-02 1.65171353e+02] [ 9.38911628e-02 3.58293833e-03 9.95576020e-01 1.28172159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:165.19, Z:12.82 [[ 2.93535979e-01 -9.55324050e-01 -3.45338730e-02 1.53219070e+02] [ 9.51500840e-01 2.95460239e-01 -8.57286329e-02 1.65192874e+02] [ 9.21020112e-02 -7.69457099e-03 9.95719847e-01 1.28215860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:165.22, Z:12.82 [[ 2.93287040e-01 -9.55784385e-01 -2.14224470e-02 1.53219330e+02] [ 9.51295386e-01 2.93989020e-01 -9.27768539e-02 1.65222201e+02] [ 9.49726324e-02 6.83117386e-03 9.95456445e-01 1.28208660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:165.25, Z:12.82 [[ 2.93355568e-01 -9.55800085e-01 -1.97156680e-02 1.53225692e+02] [ 9.50906353e-01 2.93856202e-01 -9.70857381e-02 1.65247721e+02] [ 9.85881281e-02 9.73288789e-03 9.95080726e-01 1.28238132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:165.27, Z:12.83 [[ 2.94132473e-01 -9.55041392e-01 -3.71756509e-02 1.53244898e+02] [ 9.50974102e-01 2.96326245e-01 -8.85382029e-02 1.65268619e+02] [ 9.55737695e-02 -9.31112072e-03 9.95378801e-01 1.28306351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:165.30, Z:12.83 [[ 2.92849052e-01 -9.55818108e-01 -2.55181796e-02 1.53246052e+02] [ 9.51662167e-01 2.93953268e-01 -8.90538967e-02 1.65297674e+02] [ 9.26204793e-02 1.79466314e-03 9.95699867e-01 1.28251777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:165.32, Z:12.84 [[ 2.93579660e-01 -9.54865468e-01 -4.51986824e-02 1.53264884e+02] [ 9.51379636e-01 2.96464226e-01 -8.35808083e-02 1.65316233e+02] [ 9.32082200e-02 -1.84634807e-02 9.95475428e-01 1.28390149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:165.35, Z:12.84 [[ 2.93527987e-01 -9.55512515e-01 -2.89336066e-02 1.53263601e+02] [ 9.51418788e-01 2.94946278e-01 -8.83684479e-02 1.65345464e+02] [ 9.29710176e-02 -1.58936427e-03 9.95667547e-01 1.28370815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:165.37, Z:12.84 [[ 2.93212852e-01 -9.55615445e-01 -2.87288238e-02 1.53271731e+02] [ 9.51570986e-01 2.94612663e-01 -8.78409754e-02 1.65370966e+02] [ 9.24060680e-02 -1.58141221e-03 9.95720150e-01 1.28394439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:165.40, Z:12.84 [[ 2.94428529e-01 -9.55163342e-01 -3.12223048e-02 1.53284736e+02] [ 9.51101555e-01 2.96055438e-01 -8.80738907e-02 1.65398812e+02] [ 9.33684849e-02 -3.76411663e-03 9.95624506e-01 1.28428490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:165.42, Z:12.84 [[ 2.92296329e-01 -9.55939527e-01 -2.72484117e-02 1.53287948e+02] [ 9.51880619e-01 2.93563576e-01 -8.79983708e-02 1.65422703e+02] [ 9.21202621e-02 -2.15634227e-04 9.95747865e-01 1.28440621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:165.45, Z:12.85 [[ 2.91812888e-01 -9.56045825e-01 -2.86639114e-02 1.53296771e+02] [ 9.51991245e-01 2.93212837e-01 -8.79710335e-02 1.65447660e+02] [ 9.25089660e-02 -1.61671132e-03 9.95710539e-01 1.28472465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.30, Y:165.47, Z:12.85 [[ 2.90956510e-01 -9.56495234e-01 -2.14750318e-02 1.53299666e+02] [ 9.51948083e-01 2.91670277e-01 -9.33985935e-02 1.65474963e+02] [ 9.55989380e-02 6.73181343e-03 9.95397170e-01 1.28483021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:165.50, Z:12.85 [[ 2.91434518e-01 -9.55900090e-01 -3.63447218e-02 1.53317400e+02] [ 9.52105039e-01 2.93533600e-01 -8.56389000e-02 1.65497610e+02] [ 9.25306293e-02 -9.64586120e-03 9.95663116e-01 1.28536970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:165.53, Z:12.85 [[ 2.90793243e-01 -9.56564505e-01 -2.05824826e-02 1.53315232e+02] [ 9.51927496e-01 2.91414826e-01 -9.44004291e-02 1.65526223e+02] [ 9.62981402e-02 7.85797581e-03 9.95321516e-01 1.28523099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.55, Z:12.86 [[ 2.91366719e-01 -9.55854810e-01 -3.80396762e-02 1.53334113e+02] [ 9.52020490e-01 2.93630200e-01 -8.62455311e-02 1.65547134e+02] [ 9.36078035e-02 -1.10854737e-02 9.95547433e-01 1.28591410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.57, Z:12.86 [[ 2.91841287e-01 -9.56030218e-01 -2.88943987e-02 1.53336937e+02] [ 9.51857917e-01 2.93264533e-01 -8.92323919e-02 1.65573827e+02] [ 9.37825654e-02 -1.46166607e-03 9.95591630e-01 1.28588675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.60, Z:12.86 [[ 2.91916437e-01 -9.56004452e-01 -2.89876166e-02 1.53345496e+02] [ 9.51794461e-01 2.93348694e-01 -8.96317302e-02 1.65599991e+02] [ 9.41918126e-02 -1.42527765e-03 9.95553048e-01 1.28616489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.63, Z:12.86 [[ 2.91903728e-01 -9.56007545e-01 -2.90135767e-02 1.53353841e+02] [ 9.51780008e-01 2.93338752e-01 -8.98175570e-02 1.65625658e+02] [ 9.43770686e-02 -1.39646253e-03 9.95535544e-01 1.28642280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.65, Z:12.86 [[ 2.92114528e-01 -9.56258385e-01 -1.54597439e-02 1.53353526e+02] [ 9.51208285e-01 2.92175254e-01 -9.91787209e-02 1.65653458e+02] [ 9.93574381e-02 1.42661087e-02 9.94949535e-01 1.28641134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:165.67, Z:12.87 [[ 2.91368357e-01 -9.55621546e-01 -4.34964629e-02 1.53378449e+02] [ 9.51939894e-01 2.94133640e-01 -8.54156909e-02 1.65671586e+02] [ 9.44188474e-02 -1.65185887e-02 9.95395508e-01 1.28726172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:165.70, Z:12.87 [[ 2.91202555e-01 -9.56632478e-01 -7.44137896e-03 1.53365133e+02] [ 9.51134328e-01 2.90346312e-01 -1.05083342e-01 1.65704059e+02] [ 1.02686715e-01 2.35227868e-02 9.94435577e-01 1.28669769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:165.73, Z:12.88 [[ 2.90765670e-01 -9.55701106e-01 -4.57244096e-02 1.53399605e+02] [ 9.51795788e-01 2.93794678e-01 -8.81445666e-02 1.65726058e+02] [ 9.76734480e-02 -1.78908865e-02 9.95057694e-01 1.28779185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:165.75, Z:12.88 [[ 2.88567904e-01 -9.56804472e-01 -3.54085789e-02 1.53399243e+02] [ 9.52417817e-01 2.90642198e-01 -9.18009567e-02 1.65751004e+02] [ 9.81267931e-02 -7.23295178e-03 9.95147636e-01 1.28795690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:165.78, Z:12.88 [[ 2.87689460e-01 -9.57253897e-01 -2.99958560e-02 1.53404559e+02] [ 9.52665241e-01 2.89244341e-01 -9.36303919e-02 1.65777806e+02] [ 9.83041891e-02 -1.63953250e-03 9.95155062e-01 1.28809889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:165.80, Z:12.88 [[ 2.86217343e-01 -9.57700541e-01 -2.98212529e-02 1.53413286e+02] [ 9.53157039e-01 2.87761376e-01 -9.31936171e-02 1.65802494e+02] [ 9.78329822e-02 -1.75070763e-03 9.95201308e-01 1.28839379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:165.83, Z:12.88 [[ 2.86359331e-01 -9.57935632e-01 -1.89118455e-02 1.53414061e+02] [ 9.52637661e-01 2.86773601e-01 -1.01204684e-01 1.65827413e+02] [ 1.02370991e-01 1.09647692e-02 9.94685857e-01 1.28845980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:165.86, Z:12.89 [[ 2.83435751e-01 -9.58719039e-01 -2.28468817e-02 1.53424665e+02] [ 9.53308805e-01 2.84265964e-01 -1.01956773e-01 1.65855592e+02] [ 1.04242490e-01 7.11806105e-03 9.94526438e-01 1.28895917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:165.87, Z:12.90 [[ 2.83762211e-01 -9.57640883e-01 -4.90198664e-02 1.53448688e+02] [ 9.53843218e-01 2.87138699e-01 -8.79459078e-02 1.65873025e+02] [ 9.82960975e-02 -2.18015419e-02 9.94918374e-01 1.28982386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:165.90, Z:12.90 [[ 2.85556606e-01 -9.57455368e-01 -4.16730555e-02 1.53457354e+02] [ 9.53050611e-01 2.88277086e-01 -9.26868695e-02 1.65903994e+02] [ 1.00756928e-01 -1.32491831e-02 9.94822849e-01 1.29016764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:165.93, Z:12.89 [[ 2.82284437e-01 -9.59112557e-01 -2.04597134e-02 1.53448703e+02] [ 9.54185534e-01 2.82912463e-01 -9.74192223e-02 1.65931325e+02] [ 9.92243073e-02 7.97756773e-03 9.95033113e-01 1.28945379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.46, Y:165.96, Z:12.90 [[ 2.80692505e-01 -9.59447810e-01 -2.59155665e-02 1.53459093e+02] [ 9.54429803e-01 2.81872573e-01 -9.80387844e-02 1.65956252e+02] [ 1.01367984e-01 2.78416297e-03 9.94845104e-01 1.28992074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:165.98, Z:12.90 [[ 2.81003725e-01 -9.59065303e-01 -3.50806367e-02 1.53472966e+02] [ 9.54537544e-01 2.83092178e-01 -9.33643168e-02 1.65979114e+02] [ 9.94735306e-02 -7.25006405e-03 9.95013796e-01 1.29037928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:166.01, Z:12.91 [[ 2.80905321e-01 -9.59176274e-01 -3.27578481e-02 1.53482947e+02] [ 9.54431199e-01 2.82773604e-01 -9.53948356e-02 1.66007222e+02] [ 1.00763518e-01 -4.46819538e-03 9.94900371e-01 1.29061621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:166.03, Z:12.91 [[ 2.79831880e-01 -9.59683887e-01 -2.64755686e-02 1.53486518e+02] [ 9.54809661e-01 2.81076055e-01 -9.66165755e-02 1.66033335e+02] [ 1.00163019e-01 1.75726928e-03 9.94969488e-01 1.29056620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:166.06, Z:12.91 [[ 2.78617370e-01 -9.59978654e-01 -2.85192001e-02 1.53495181e+02] [ 9.55108284e-01 2.80072980e-01 -9.65779070e-02 1.66059000e+02] [ 1.00700187e-01 -3.30641878e-04 9.94916762e-01 1.29080753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.51, Y:166.08, Z:12.91 [[ 2.78343621e-01 -9.59805502e-01 -3.60309268e-02 1.53506189e+02] [ 9.55140248e-01 2.80551621e-01 -9.48572374e-02 1.66081486e+02] [ 1.01153033e-01 -8.01168144e-03 9.94838618e-01 1.29145729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:166.11, Z:12.91 [[ 2.78698551e-01 -9.60172835e-01 -1.98807600e-02 1.53504088e+02] [ 9.55098463e-01 2.79274627e-01 -9.89576099e-02 1.66112208e+02] [ 1.00568601e-01 8.59125914e-03 9.94893033e-01 1.29094059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:166.14, Z:12.91 [[ 2.79051167e-01 -9.59850281e-01 -2.85986733e-02 1.53516379e+02] [ 9.55022999e-01 2.80512396e-01 -9.61450353e-02 1.66135318e+02] [ 1.00307122e-01 -4.83006424e-04 9.94956405e-01 1.29144346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.52, Y:166.16, Z:12.92 [[ 2.78949928e-01 -9.59875286e-01 -2.87466994e-02 1.53524294e+02] [ 9.55127611e-01 2.80425926e-01 -9.53548433e-02 1.66161899e+02] [ 9.95900772e-02 -8.57539658e-04 9.95028181e-01 1.29168013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:166.19, Z:12.92 [[ 2.79482896e-01 -9.59658112e-01 -3.07509227e-02 1.53532432e+02] [ 9.54946296e-01 2.81155510e-01 -9.50218452e-02 1.66185804e+02] [ 9.98342759e-02 -2.80849929e-03 9.95000115e-01 1.29199482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.54, Y:166.21, Z:12.92 [[ 2.79693370e-01 -9.59681934e-01 -2.79679221e-02 1.53538308e+02] [ 9.54819188e-01 2.81088075e-01 -9.64873681e-02 1.66213263e+02] [ 1.00458633e-01 2.82568488e-04 9.94941196e-01 1.29222979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:166.24, Z:12.93 [[ 2.81400799e-01 -9.59004243e-01 -3.35328375e-02 1.53549802e+02] [ 9.54252403e-01 2.83345298e-01 -9.54871339e-02 1.66237868e+02] [ 1.01073938e-01 -5.12863497e-03 9.94865698e-01 1.29280480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:166.26, Z:12.93 [[ 2.81791858e-01 -9.59032595e-01 -2.91518448e-02 1.53554528e+02] [ 9.54124427e-01 2.83295294e-01 -9.69038369e-02 1.66264134e+02] [ 1.01192519e-01 -5.07775006e-04 9.94866733e-01 1.29293827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:166.29, Z:12.94 [[ 2.83474959e-01 -9.58041702e-01 -4.24033507e-02 1.53569931e+02] [ 9.53377256e-01 2.86315826e-01 -9.53680057e-02 1.66286833e+02] [ 1.03507277e-01 -1.33919486e-02 9.94538536e-01 1.29405343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:166.31, Z:12.94 [[ 2.83734469e-01 -9.58402174e-01 -3.09842515e-02 1.53570008e+02] [ 9.53284746e-01 2.85417435e-01 -9.89195678e-02 1.66313605e+02] [ 1.03648174e-01 -1.46992322e-03 9.94612937e-01 1.29398422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:166.34, Z:12.94 [[ 2.83719451e-01 -9.58406608e-01 -3.09846071e-02 1.53577425e+02] [ 9.53275361e-01 2.85402728e-01 -9.90523528e-02 1.66339842e+02] [ 1.03775521e-01 -1.43378337e-03 9.94599711e-01 1.29426070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:166.37, Z:12.95 [[ 2.84231695e-01 -9.58254960e-01 -3.09802527e-02 1.53584372e+02] [ 9.53111991e-01 2.85911918e-01 -9.91559780e-02 1.66366348e+02] [ 1.03874331e-01 -1.34437865e-03 9.94589521e-01 1.29454063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:166.39, Z:12.95 [[ 2.84121917e-01 -9.58287535e-01 -3.09796328e-02 1.53591467e+02] [ 9.53132624e-01 2.85802821e-01 -9.92720907e-02 1.66391923e+02] [ 1.03985273e-01 -1.32232201e-03 9.94577958e-01 1.29481110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:166.42, Z:12.95 [[ 2.83655016e-01 -9.58424023e-01 -3.10358460e-02 1.53598503e+02] [ 9.53241338e-01 2.85344660e-01 -9.95458497e-02 1.66417198e+02] [ 1.04263047e-01 -1.34797179e-03 9.94548842e-01 1.29510358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:166.44, Z:12.95 [[ 2.82114032e-01 -9.58876907e-01 -3.10926043e-02 1.53605251e+02] [ 9.53664083e-01 2.83818404e-01 -9.98595522e-02 1.66442091e+02] [ 1.04577672e-01 -1.48011900e-03 9.94515621e-01 1.29543858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:166.47, Z:12.96 [[ 2.80718647e-01 -9.59285578e-01 -3.11162567e-02 1.53612115e+02] [ 9.54053489e-01 2.82433413e-01 -1.00066514e-01 1.66465924e+02] [ 1.04780635e-01 -1.59603672e-03 9.94494078e-01 1.29570670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:166.49, Z:12.96 [[ 2.78333063e-01 -9.59989783e-01 -3.08273071e-02 1.53619993e+02] [ 9.54844964e-01 2.80029211e-01 -9.92710252e-02 1.66492090e+02] [ 1.03931716e-01 -1.80489047e-03 9.94582797e-01 1.29603170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:166.52, Z:12.96 [[ 2.78004041e-01 -9.60086277e-01 -3.07911266e-02 1.53627964e+02] [ 9.54940807e-01 2.79698212e-01 -9.92822464e-02 1.66518519e+02] [ 1.03931745e-01 -1.80283767e-03 9.94582798e-01 1.29631002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:166.54, Z:12.97 [[ 2.76786465e-01 -9.60438534e-01 -3.07745863e-02 1.53635571e+02] [ 9.55288065e-01 2.78485571e-01 -9.93503842e-02 1.66542957e+02] [ 1.03990216e-01 -1.89975337e-03 9.94576506e-01 1.29660186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:166.57, Z:12.97 [[ 2.75476619e-01 -9.60820729e-01 -3.05967299e-02 1.53643286e+02] [ 9.55718309e-01 2.77163397e-01 -9.89088697e-02 1.66568808e+02] [ 1.03513986e-01 -1.99477391e-03 9.94625998e-01 1.29688429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.65, Y:166.59, Z:12.97 [[ 2.74097865e-01 -9.61213913e-01 -3.06296349e-02 1.53650892e+02] [ 9.56090055e-01 2.75795862e-01 -9.91385371e-02 1.66594986e+02] [ 1.03740868e-01 -2.11102802e-03 9.94602119e-01 1.29718279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:166.62, Z:12.97 [[ 2.73727348e-01 -9.61317061e-01 -3.07058237e-02 1.53658157e+02] [ 9.56154711e-01 2.75436046e-01 -9.95145867e-02 1.66620326e+02] [ 1.04122561e-01 -2.11965411e-03 9.94562215e-01 1.29744375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:166.65, Z:12.98 [[ 2.73787718e-01 -9.61296649e-01 -3.08064667e-02 1.53665201e+02] [ 9.56085913e-01 2.75507570e-01 -9.99765251e-02 1.66645001e+02] [ 1.04594513e-01 -2.08128424e-03 9.94512773e-01 1.29769732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.67, Y:166.67, Z:12.98 [[ 2.74635997e-01 -9.61046443e-01 -3.10612800e-02 1.53672179e+02] [ 9.55733439e-01 2.76379934e-01 -1.00934262e-01 1.66671201e+02] [ 1.05587228e-01 -1.96612220e-03 9.94408101e-01 1.29791324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.68, Y:166.70, Z:12.98 [[ 2.75272353e-01 -9.60857400e-01 -3.12759972e-02 1.53679411e+02] [ 9.55455523e-01 2.77037101e-01 -1.01760443e-01 1.66695895e+02] [ 1.06441887e-01 -1.87098766e-03 9.94317165e-01 1.29818466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:166.72, Z:12.98 [[ 2.75945461e-01 -9.60663330e-01 -3.13060649e-02 1.53686981e+02] [ 9.55235456e-01 2.77710043e-01 -1.01991936e-01 1.66722042e+02] [ 1.06673922e-01 -1.76045132e-03 9.94292500e-01 1.29841413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:166.75, Z:12.99 [[ 2.77540833e-01 -9.60198726e-01 -3.14562038e-02 1.53693900e+02] [ 9.54701227e-01 2.79313441e-01 -1.02613690e-01 1.66747142e+02] [ 1.07315675e-01 -1.55178747e-03 9.94223787e-01 1.29865653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.70, Y:166.77, Z:12.99 [[ 2.78041767e-01 -9.60054117e-01 -3.14462840e-02 1.53701078e+02] [ 9.54544282e-01 2.79810598e-01 -1.02719243e-01 1.66771921e+02] [ 1.07415035e-01 -1.45663092e-03 9.94213201e-01 1.29890941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:166.80, Z:12.99 [[ 2.79075081e-01 -9.59751921e-01 -3.15174343e-02 1.53708014e+02] [ 9.54200289e-01 2.80846129e-01 -1.03088602e-01 1.66798417e+02] [ 1.07791033e-01 -1.30448495e-03 9.94172717e-01 1.29917695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:166.82, Z:12.99 [[ 2.79206325e-01 -9.59715365e-01 -3.14681916e-02 1.53715109e+02] [ 9.54166933e-01 2.80971265e-01 -1.03056354e-01 1.66824499e+02] [ 1.07746424e-01 -1.25192205e-03 9.94177620e-01 1.29944655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:166.85, Z:13.00 [[ 2.79232540e-01 -9.59707415e-01 -3.14780166e-02 1.53722243e+02] [ 9.54141364e-01 2.80998588e-01 -1.03218463e-01 1.66850553e+02] [ 1.07904803e-01 -1.21252405e-03 9.94160492e-01 1.29974735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.73, Y:166.88, Z:13.00 [[ 2.79024150e-01 -9.59773645e-01 -3.13061442e-02 1.53729264e+02] [ 9.54254941e-01 2.80772368e-01 -1.02783193e-01 1.66877244e+02] [ 1.07438500e-01 -1.19504982e-03 9.94211014e-01 1.29990490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.74, Y:166.90, Z:13.00 [[ 2.78596086e-01 -9.59900705e-01 -3.12227222e-02 1.53736077e+02] [ 9.54398095e-01 2.80337633e-01 -1.02640572e-01 1.66902741e+02] [ 1.07277661e-01 -1.20364510e-03 9.94228371e-01 1.30028458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.74, Y:166.93, Z:13.01 [[ 2.78254225e-01 -9.60005170e-01 -3.10589674e-02 1.53744014e+02] [ 9.54549834e-01 2.79979667e-01 -1.02205676e-01 1.66928851e+02] [ 1.06813856e-01 -1.20817104e-03 9.94278301e-01 1.30055645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:166.95, Z:13.01 [[ 2.77560257e-01 -9.60215457e-01 -3.07665415e-02 1.53751524e+02] [ 9.54850417e-01 2.79257473e-01 -1.01370335e-01 1.66953825e+02] [ 1.05929149e-01 -1.24106863e-03 9.94372905e-01 1.30085768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.76, Y:166.98, Z:13.01 [[ 2.77022642e-01 -9.60374190e-01 -3.06573172e-02 1.53758841e+02] [ 9.55037491e-01 2.78710972e-01 -1.01111748e-01 1.66979020e+02] [ 1.05649643e-01 -1.26864382e-03 9.94402606e-01 1.30113068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:167.00, Z:13.01 [[ 2.76442357e-01 -9.60551076e-01 -3.03521622e-02 1.53765781e+02] [ 9.55307626e-01 2.78100659e-01 -1.00236531e-01 1.67004213e+02] [ 1.04723264e-01 -1.28602903e-03 9.94500570e-01 1.30141228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:167.03, Z:13.02 [[ 2.75932496e-01 -9.60700891e-01 -3.02498768e-02 1.53773232e+02] [ 9.55480022e-01 2.77582605e-01 -1.00029118e-01 1.67030421e+02] [ 1.04494902e-01 -1.30186891e-03 9.94524570e-01 1.30169794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.78, Y:167.06, Z:13.02 [[ 2.75581380e-01 -9.60799360e-01 -3.03231239e-02 1.53780700e+02] [ 9.55540027e-01 2.77241560e-01 -1.00401065e-01 1.67056381e+02] [ 1.04872109e-01 -1.30629454e-03 9.94484859e-01 1.30200899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:167.08, Z:13.02 [[ 2.75077502e-01 -9.60948899e-01 -3.01592665e-02 1.53787925e+02] [ 9.55733537e-01 2.76722736e-01 -9.99896681e-02 1.67081190e+02] [ 1.04430716e-01 -1.31931438e-03 9.94531289e-01 1.30224649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:167.11, Z:13.03 [[ 2.73305537e-01 -9.61457783e-01 -3.00502098e-02 1.53794951e+02] [ 9.56272412e-01 2.74948621e-01 -9.97312886e-02 1.67106134e+02] [ 1.04149687e-01 -1.47907317e-03 9.94560534e-01 1.30251031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.80, Y:167.13, Z:13.03 [[ 2.72202962e-01 -9.61774381e-01 -2.99263757e-02 1.53802345e+02] [ 9.56619543e-01 2.73838674e-01 -9.94556679e-02 1.67131879e+02] [ 1.03848912e-01 -1.55602841e-03 9.94591867e-01 1.30275407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.81, Y:167.16, Z:13.03 [[ 2.70171617e-01 -9.62349980e-01 -2.98297387e-02 1.53809448e+02] [ 9.57218954e-01 2.71807837e-01 -9.92591276e-02 1.67157132e+02] [ 1.03629976e-01 -1.73659221e-03 9.94614404e-01 1.30299131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:167.18, Z:13.03 [[ 2.68777474e-01 -9.62743529e-01 -2.97248614e-02 1.53816938e+02] [ 9.57637502e-01 2.70409857e-01 -9.90400136e-02 1.67183526e+02] [ 1.03388028e-01 -1.84591728e-03 9.94639386e-01 1.30325610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:167.21, Z:13.04 [[ 2.67564854e-01 -9.63086001e-01 -2.95703202e-02 1.53824549e+02] [ 9.58022552e-01 2.69186947e-01 -9.86467327e-02 1.67209081e+02] [ 1.02965231e-01 -1.93463492e-03 9.94683074e-01 1.30350372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.83, Y:167.24, Z:13.04 [[ 2.65608861e-01 -9.63632379e-01 -2.94035830e-02 1.53832780e+02] [ 9.58616379e-01 2.67223182e-01 -9.82161330e-02 1.67235001e+02] [ 1.02501565e-01 -2.09968109e-03 9.94730627e-01 1.30378613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:167.26, Z:13.04 [[ 2.64770184e-01 -9.63865142e-01 -2.93383158e-02 1.53840576e+02] [ 9.58859422e-01 2.66381992e-01 -9.81287100e-02 1.67260357e+02] [ 1.02398042e-01 -2.14976386e-03 9.94741182e-01 1.30407793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.85, Y:167.29, Z:13.04 [[ 2.63887569e-01 -9.64112811e-01 -2.91519810e-02 1.53848477e+02] [ 9.59158270e-01 2.65483838e-01 -9.76408999e-02 1.67286771e+02] [ 1.01876222e-01 -2.19514397e-03 9.94794661e-01 1.30430584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:167.31, Z:13.05 [[ 2.63245024e-01 -9.64289493e-01 -2.91175254e-02 1.53856175e+02] [ 9.59334564e-01 2.64841115e-01 -9.76543784e-02 1.67313137e+02] [ 1.01878609e-01 -2.22641940e-03 9.94794347e-01 1.30460972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.86, Y:167.34, Z:13.05 [[ 2.62573342e-01 -9.64477848e-01 -2.89434173e-02 1.53863340e+02] [ 9.59570288e-01 2.64154143e-01 -9.71979999e-02 1.67338222e+02] [ 1.01390841e-01 -2.25163966e-03 9.94844122e-01 1.30485168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:167.36, Z:13.05 [[ 2.62452226e-01 -9.64512236e-01 -2.88959349e-02 1.53871078e+02] [ 9.59607381e-01 2.64028773e-01 -9.71724364e-02 1.67364159e+02] [ 1.01353362e-01 -2.22563008e-03 9.94848000e-01 1.30511192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:167.39, Z:13.05 [[ 2.62508660e-01 -9.64495094e-01 -2.89554348e-02 1.53878644e+02] [ 9.59556896e-01 2.64091685e-01 -9.74994658e-02 1.67388800e+02] [ 1.01684646e-01 -2.18993305e-03 9.94814273e-01 1.30535798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:167.41, Z:13.06 [[ 2.62418058e-01 -9.64517937e-01 -2.90157094e-02 1.53886480e+02] [ 9.59549098e-01 2.64008350e-01 -9.78014340e-02 1.67414970e+02] [ 1.01991627e-01 -2.17713536e-03 9.94782875e-01 1.30562642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.89, Y:167.44, Z:13.06 [[ 2.63795115e-01 -9.64366827e-01 -2.02178252e-02 1.53888468e+02] [ 9.58832366e-01 2.64450481e-01 -1.03471916e-01 1.67439922e+02] [ 1.05131497e-01 7.90988066e-03 9.94426871e-01 1.30575231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:167.46, Z:13.06 [[ 2.62600968e-01 -9.64143438e-01 -3.83166050e-02 1.53906480e+02] [ 9.59389111e-01 2.65133766e-01 -9.63152118e-02 1.67463414e+02] [ 1.03020705e-01 -1.14680658e-02 9.94613100e-01 1.30641416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:167.49, Z:13.06 [[ 2.63404241e-01 -9.64225531e-01 -2.97881098e-02 1.53908830e+02] [ 9.59172793e-01 2.65070531e-01 -9.86162560e-02 1.67490111e+02] [ 1.02984262e-01 -2.59600443e-03 9.94679598e-01 1.30643328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:167.52, Z:13.07 [[ 2.63145837e-01 -9.64342297e-01 -2.82524887e-02 1.53915170e+02] [ 9.59220855e-01 2.64656329e-01 -9.92591495e-02 1.67516483e+02] [ 1.03196996e-01 -9.80744431e-04 9.94660454e-01 1.30673274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:167.54, Z:13.07 [[ 2.63526590e-01 -9.64462117e-01 -1.91457998e-02 1.53916802e+02] [ 9.58725760e-01 2.64052656e-01 -1.05456684e-01 1.67543368e+02] [ 1.06764476e-01 9.43506885e-03 9.94239572e-01 1.30691638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.94, Y:167.57, Z:13.08 [[ 2.63569925e-01 -9.63409093e-01 -4.87217947e-02 1.53943786e+02] [ 9.58837379e-01 2.67181715e-01 -9.61499404e-02 1.67565825e+02] [ 1.05649300e-01 -2.13740453e-02 9.94173715e-01 1.30826038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.93, Y:167.60, Z:13.07 [[ 2.62284451e-01 -9.64908599e-01 -1.25802478e-02 1.53928692e+02] [ 9.59219277e-01 2.62117311e-01 -1.05796478e-01 1.67597321e+02] [ 1.05381432e-01 1.56815549e-02 9.94308223e-01 1.30725732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:167.62, Z:13.08 [[ 2.61221303e-01 -9.64683405e-01 -3.39021985e-02 1.53949895e+02] [ 9.59767980e-01 2.63317327e-01 -9.75162036e-02 1.67618482e+02] [ 1.02999300e-01 -7.06493484e-03 9.94656338e-01 1.30816383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:167.64, Z:13.08 [[ 2.60119482e-01 -9.65064091e-01 -3.14508393e-02 1.53955963e+02] [ 9.60163794e-01 2.61968100e-01 -9.72532971e-02 1.67644245e+02] [ 1.02094781e-01 -4.90047996e-03 9.94762605e-01 1.30833650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:167.67, Z:13.09 [[ 2.60624449e-01 -9.64789101e-01 -3.54525972e-02 1.53969894e+02] [ 9.59852008e-01 2.62886445e-01 -9.78511119e-02 1.67673202e+02] [ 1.03725694e-01 -8.52685454e-03 9.94569391e-01 1.30894926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:167.70, Z:13.09 [[ 2.59677913e-01 -9.65199204e-01 -3.09496198e-02 1.53975310e+02] [ 9.60199175e-01 2.61481793e-01 -9.82080284e-02 1.67702351e+02] [ 1.02883073e-01 -4.21534359e-03 9.94684525e-01 1.30906818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.97, Y:167.73, Z:13.09 [[ 2.58939603e-01 -9.65683459e-01 -2.01429646e-02 1.53973434e+02] [ 9.60401141e-01 2.59631983e-01 -1.01098383e-01 1.67726166e+02] [ 1.02858794e-01 6.83304896e-03 9.94672498e-01 1.30895743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.99, Y:167.75, Z:13.09 [[ 2.58830606e-01 -9.65383077e-01 -3.22836287e-02 1.53988279e+02] [ 9.60538786e-01 2.60768049e-01 -9.67743037e-02 1.67750700e+02] [ 1.01842814e-01 -5.96152583e-03 9.94782640e-01 1.30945257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.99, Y:167.78, Z:13.10 [[ 2.59306823e-01 -9.65379032e-01 -2.83424748e-02 1.53992787e+02] [ 9.60463701e-01 2.60843581e-01 -9.73144674e-02 1.67776895e+02] [ 1.01338299e-01 -1.98761293e-03 9.94850038e-01 1.30974018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:167.80, Z:13.10 [[ 2.60959732e-01 -9.64936748e-01 -2.82327905e-02 1.53999633e+02] [ 9.60042995e-01 2.62476536e-01 -9.70747963e-02 1.67803456e+02] [ 1.01081483e-01 -1.77207994e-03 9.94876572e-01 1.30997989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.01, Y:167.83, Z:13.10 [[ 2.61874744e-01 -9.64683778e-01 -2.84047143e-02 1.54007089e+02] [ 9.59715029e-01 2.63405559e-01 -9.77986418e-02 1.67829350e+02] [ 1.01826723e-01 -1.64943691e-03 9.94800783e-01 1.31016503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.01, Y:167.85, Z:13.11 [[ 2.62523043e-01 -9.64512456e-01 -2.82378251e-02 1.54013000e+02] [ 9.59587811e-01 2.64032867e-01 -9.73543992e-02 1.67854732e+02] [ 1.01355245e-01 -1.53889961e-03 9.94849107e-01 1.31052013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.02, Y:167.88, Z:13.11 [[ 2.64195616e-01 -9.64054155e-01 -2.82889161e-02 1.54018937e+02] [ 9.59094897e-01 2.65702507e-01 -9.76686030e-02 1.67880041e+02] [ 1.01674258e-01 -1.32813834e-03 9.94816858e-01 1.31069307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:167.91, Z:13.11 [[ 2.64712582e-01 -9.63909414e-01 -2.83882218e-02 1.54025589e+02] [ 9.58900352e-01 2.66227540e-01 -9.81479089e-02 1.67906125e+02] [ 1.02163420e-01 -1.24048953e-03 9.94766856e-01 1.31093324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:167.93, Z:13.11 [[ 2.66339732e-01 -9.63687059e-01 -1.92457823e-02 1.54026611e+02] [ 9.58111777e-01 2.66874299e-01 -1.03922719e-01 1.67932384e+02] [ 1.05285185e-01 9.23913861e-03 9.94399149e-01 1.31089051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.04, Y:167.96, Z:13.11 [[ 2.65183299e-01 -9.63846185e-01 -2.60451618e-02 1.54036509e+02] [ 9.58331827e-01 2.66448898e-01 -1.02981035e-01 1.67957873e+02] [ 1.06197582e-01 2.34894301e-03 9.94342273e-01 1.31131345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:167.98, Z:13.12 [[ 2.63858818e-01 -9.63942907e-01 -3.45339787e-02 1.54048807e+02] [ 9.59032245e-01 2.66006106e-01 -9.74571901e-02 1.67982826e+02] [ 1.03129416e-01 -7.40426010e-03 9.94640388e-01 1.31165620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8427550960001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:154.05, Y:168.01, Z:13.12 [[ 2.62834354e-01 -9.64442256e-01 -2.77351314e-02 1.54051247e+02] [ 9.58973907e-01 2.64293410e-01 -1.02557488e-01 1.68008110e+02] [ 1.06240988e-01 3.58363897e-04 9.94340346e-01 1.31196297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:168.03, Z:13.12 [[ 2.60917871e-01 -9.64743782e-01 -3.45152037e-02 1.54062658e+02] [ 9.59774198e-01 2.63083003e-01 -9.80857924e-02 1.68032279e+02] [ 1.03708022e-01 -7.53446577e-03 9.94579247e-01 1.31231891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:168.06, Z:13.12 [[ 2.59262374e-01 -9.65618360e-01 -1.90841203e-02 1.54060209e+02] [ 9.59860531e-01 2.59805128e-01 -1.05683753e-01 1.68060231e+02] [ 1.07008325e-01 9.08172701e-03 9.94216647e-01 1.31227698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:168.09, Z:13.12 [[ 2.54278755e-01 -9.67104634e-01 -7.13740920e-03 1.54058838e+02] [ 9.61418606e-01 2.53570900e-01 -1.06658631e-01 1.68089885e+02] [ 1.04959895e-01 2.02589859e-02 9.94270081e-01 1.31168326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:168.11, Z:13.14 [[ 2.53712782e-01 -9.66404319e-01 -4.11402130e-02 1.54087521e+02] [ 9.60934022e-01 2.56684091e-01 -1.03533006e-01 1.68109801e+02] [ 1.10614783e-01 -1.32653832e-02 9.93774823e-01 1.31376011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:168.14, Z:13.14 [[ 2.53344745e-01 -9.66889814e-01 -3.06680312e-02 1.54088440e+02] [ 9.60972346e-01 2.55182884e-01 -1.06835601e-01 1.68137862e+02] [ 1.11124211e-01 -2.40489169e-03 9.93803615e-01 1.31377200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.10, Y:168.16, Z:13.14 [[ 2.50310937e-01 -9.67600867e-01 -3.30604961e-02 1.54095891e+02] [ 9.61853200e-01 2.52426919e-01 -1.05447011e-01 1.68162055e+02] [ 1.10375979e-01 -5.40480387e-03 9.93875209e-01 1.31415683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:168.19, Z:13.13 [[ 2.50133391e-01 -9.68143814e-01 -1.14386577e-02 1.54089116e+02] [ 9.62532155e-01 2.49926569e-01 -1.05207227e-01 1.68190412e+02] [ 1.04714550e-01 1.53057646e-02 9.94384532e-01 1.31291355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.12, Y:168.21, Z:13.16 [[ 2.49520276e-01 -9.67051837e-01 -5.05012600e-02 1.54121546e+02] [ 9.61745443e-01 2.53565634e-01 -1.03683040e-01 1.68212942e+02] [ 1.13072258e-01 -2.26983360e-02 9.93327464e-01 1.31557014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:168.25, Z:13.13 [[ 2.47500508e-01 -9.68877668e-01 4.42291762e-03 1.54093305e+02] [ 9.62849668e-01 2.45446680e-01 -1.12589714e-01 1.68248186e+02] [ 1.08000070e-01 3.21246163e-02 9.93631720e-01 1.31304043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.12, Y:168.27, Z:13.14 [[ 2.47575042e-01 -9.68228296e-01 -3.52216605e-02 1.54124739e+02] [ 9.62904990e-01 2.49915819e-01 -1.01764745e-01 1.68267889e+02] [ 1.07333956e-01 -8.72070153e-03 9.94184777e-01 1.31441091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.13, Y:168.29, Z:13.15 [[ 2.48181151e-01 -9.67964284e-01 -3.80954315e-02 1.54134047e+02] [ 9.62380021e-01 2.50857393e-01 -1.04380379e-01 1.68293547e+02] [ 1.10593000e-01 -1.07570396e-02 9.93807564e-01 1.31506835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:168.32, Z:13.15 [[ 2.48089118e-01 -9.68304200e-01 -2.89614609e-02 1.54135477e+02] [ 9.62295704e-01 2.49771213e-01 -1.07709420e-01 1.68322107e+02] [ 1.11529223e-01 -1.14795435e-03 9.93760492e-01 1.31510605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:168.34, Z:13.17 [[ 2.49358722e-01 -9.66611378e-01 -5.90141626e-02 1.54159886e+02] [ 9.61492055e-01 2.54388574e-01 -1.04016735e-01 1.68341805e+02] [ 1.15556288e-01 -3.08041684e-02 9.92823170e-01 1.31708414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:168.37, Z:13.17 [[ 2.49602582e-01 -9.67828082e-01 -3.17388526e-02 1.54150946e+02] [ 9.61349473e-01 2.51598974e-01 -1.11826415e-01 1.68373544e+02] [ 1.16214207e-01 -2.59996737e-03 9.93220770e-01 1.31662817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:168.40, Z:13.17 [[ 2.50452007e-01 -9.67605470e-01 -3.18346707e-02 1.54157546e+02] [ 9.61067593e-01 2.52455102e-01 -1.12318754e-01 1.68398895e+02] [ 1.16717065e-01 -2.46481312e-03 9.93162148e-01 1.31697476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:168.43, Z:13.17 [[ 2.50644596e-01 -9.67557111e-01 -3.17887371e-02 1.54164594e+02] [ 9.61018928e-01 2.52641025e-01 -1.12317104e-01 1.68425009e+02] [ 1.16704352e-01 -2.39790280e-03 9.93163805e-01 1.31730448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.16, Y:168.46, Z:13.17 [[ 2.50456193e-01 -9.67975556e-01 -1.71760890e-02 1.54163154e+02] [ 9.61391051e-01 2.50763563e-01 -1.13335270e-01 1.68455386e+02] [ 1.14012908e-01 1.18725819e-02 9.93408324e-01 1.31674360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:168.47, Z:13.18 [[ 2.51690404e-01 -9.66746292e-01 -4.53160839e-02 1.54186559e+02] [ 9.60806060e-01 2.55217569e-01 -1.08239120e-01 1.68474889e+02] [ 1.16205229e-01 -1.62972201e-02 9.93091509e-01 1.31837304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:168.50, Z:13.18 [[ 2.52194304e-01 -9.67159645e-01 -3.16267951e-02 1.54185452e+02] [ 9.60641940e-01 2.54160929e-01 -1.12112824e-01 1.68502492e+02] [ 1.16469294e-01 -2.10781036e-03 9.93192056e-01 1.31830227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:168.53, Z:13.19 [[ 2.52124301e-01 -9.67182212e-01 -3.14945478e-02 1.54192189e+02] [ 9.60700846e-01 2.54075361e-01 -1.11801592e-01 1.68529032e+02] [ 1.16134500e-01 -2.06894048e-03 9.93231341e-01 1.31862023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.20, Y:168.55, Z:13.19 [[ 2.53004141e-01 -9.66955474e-01 -3.14008883e-02 1.54198614e+02] [ 9.60493072e-01 2.54938086e-01 -1.11622717e-01 1.68553958e+02] [ 1.15939480e-01 -1.91932598e-03 9.93254425e-01 1.31902248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:168.58, Z:13.19 [[ 2.53457294e-01 -9.66839528e-01 -3.13165643e-02 1.54205588e+02] [ 9.60392371e-01 2.55378180e-01 -1.11483092e-01 1.68580142e+02] [ 1.15783827e-01 -1.81998666e-03 9.93272769e-01 1.31936408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.21, Y:168.61, Z:13.20 [[ 2.54600185e-01 -9.66540261e-01 -3.12836854e-02 1.54212170e+02] [ 9.60086415e-01 2.56509702e-01 -1.11520618e-01 1.68605921e+02] [ 1.15813736e-01 -1.64187144e-03 9.93269592e-01 1.31976003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:168.63, Z:13.20 [[ 2.55085668e-01 -9.66414712e-01 -3.12074623e-02 1.54218414e+02] [ 9.59973489e-01 2.56982936e-01 -1.11403192e-01 1.68631147e+02] [ 1.15681469e-01 -1.54097866e-03 9.93285167e-01 1.32005488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5927550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.23, Y:168.66, Z:13.20 [[ 2.55159824e-01 -9.66393217e-01 -3.12668367e-02 1.54225407e+02] [ 9.59912938e-01 2.57063986e-01 -1.11737452e-01 1.68657718e+02] [ 1.16019894e-01 -1.50253239e-03 9.93245753e-01 1.32025226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.23, Y:168.68, Z:13.21 [[ 2.55588074e-01 -9.66280773e-01 -3.12442716e-02 1.54231372e+02] [ 9.59791436e-01 2.57486847e-01 -1.11807524e-01 1.68684450e+02] [ 1.16082450e-01 -1.41131451e-03 9.93238578e-01 1.32063100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:168.71, Z:13.21 [[ 2.55024135e-01 -9.66429289e-01 -3.12589145e-02 1.54237913e+02] [ 9.59916533e-01 2.56928704e-01 -1.12017369e-01 1.68710479e+02] [ 1.16288178e-01 -1.43881629e-03 9.93214473e-01 1.32092221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:168.74, Z:13.21 [[ 2.54120796e-01 -9.66668435e-01 -3.12211014e-02 1.54244481e+02] [ 9.60154969e-01 2.56027086e-01 -1.12038237e-01 1.68735720e+02] [ 1.16297275e-01 -1.50584958e-03 9.93213309e-01 1.32120354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:168.76, Z:13.21 [[ 2.52359688e-01 -9.67130882e-01 -3.11840544e-02 1.54251565e+02] [ 9.60621905e-01 2.54273514e-01 -1.12029171e-01 1.68761801e+02] [ 1.16276150e-01 -1.68443899e-03 9.93215495e-01 1.32149661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:168.79, Z:13.22 [[ 2.50327928e-01 -9.67918834e-01 -2.16577901e-02 1.54252338e+02] [ 9.60740453e-01 2.51111443e-01 -1.17986547e-01 1.68789991e+02] [ 1.19639919e-01 8.72781261e-03 9.92778986e-01 1.32169676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.772755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.27, Y:168.81, Z:13.22 [[ 2.47420961e-01 -9.68020981e-01 -4.14517660e-02 1.54271814e+02] [ 9.61861897e-01 2.50546913e-01 -1.09763088e-01 1.68810778e+02] [ 1.16638584e-01 -1.27131855e-02 9.93093055e-01 1.32229147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.27, Y:168.84, Z:13.22 [[ 2.45891313e-01 -9.68796763e-01 -3.11495409e-02 1.54272688e+02] [ 9.62251189e-01 2.47845588e-01 -1.12450940e-01 1.68838102e+02] [ 1.16662383e-01 -2.32297357e-03 9.93168914e-01 1.32246087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:168.86, Z:13.23 [[ 2.44006127e-01 -9.69274247e-01 -3.11198348e-02 1.54279865e+02] [ 9.62725607e-01 2.45969813e-01 -1.12508919e-01 1.68864410e+02] [ 1.16706538e-01 -2.50699633e-03 9.93163279e-01 1.32277525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:168.89, Z:13.23 [[ 2.39989688e-01 -9.70347268e-01 -2.88293100e-02 1.54285138e+02] [ 9.63710218e-01 2.41714353e-01 -1.13299543e-01 1.68890830e+02] [ 1.16908360e-01 -5.92378533e-04 9.93142530e-01 1.32303765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.29, Y:168.91, Z:13.23 [[ 2.39094776e-01 -9.70425715e-01 -3.32809209e-02 1.54294376e+02] [ 9.64089625e-01 2.41335409e-01 -1.10853126e-01 1.68914476e+02] [ 1.15606589e-01 -5.58138718e-03 9.93279399e-01 1.32343463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:168.94, Z:13.24 [[ 2.37211765e-01 -9.71130734e-01 -2.52126171e-02 1.54296113e+02] [ 9.64430571e-01 2.38532552e-01 -1.13911789e-01 1.68941639e+02] [ 1.16637269e-01 2.70539792e-03 9.93170896e-01 1.32357565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:168.97, Z:13.24 [[ 2.35848789e-01 -9.71135932e-01 -3.56419670e-02 1.54308601e+02] [ 9.65018862e-01 2.38369935e-01 -1.09171287e-01 1.68965610e+02] [ 1.14516133e-01 -8.64725466e-03 9.93383753e-01 1.32408698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98275509600006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.31, Y:168.99, Z:13.24 [[ 2.34881914e-01 -9.71549025e-01 -3.03805458e-02 1.54312309e+02] [ 9.65236517e-01 2.36814962e-01 -1.10621604e-01 1.68993180e+02] [ 1.14668880e-01 -3.34139809e-03 9.93398149e-01 1.32404187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:169.02, Z:13.24 [[ 2.34001958e-01 -9.72068327e-01 -1.80624188e-02 1.54309153e+02] [ 9.65630388e-01 2.34533946e-01 -1.12034733e-01 1.69022951e+02] [ 1.13141666e-01 8.77472648e-03 9.93540119e-01 1.32379298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:169.04, Z:13.25 [[ 2.35380757e-01 -9.70996280e-01 -4.19776585e-02 1.54330149e+02] [ 9.65001029e-01 2.38629360e-01 -1.08761401e-01 1.69044611e+02] [ 1.15624017e-01 -1.49081429e-02 9.93181169e-01 1.32509150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:169.08, Z:13.24 [[ 2.35511345e-01 -9.71729592e-01 -1.66134224e-02 1.54320872e+02] [ 9.65200856e-01 2.35860071e-01 -1.12948374e-01 1.69077058e+02] [ 1.13673721e-01 1.05653340e-02 9.93461956e-01 1.32422750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:169.11, Z:13.24 [[ 2.36572690e-01 -9.71577973e-01 -8.34289672e-03 1.54321780e+02] [ 9.65042246e-01 2.35960947e-01 -1.14087223e-01 1.69105154e+02] [ 1.12813230e-01 1.89386734e-02 9.93435706e-01 1.32391362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:169.12, Z:13.26 [[ 2.39844489e-01 -9.68825911e-01 -6.20562309e-02 1.54358286e+02] [ 9.63839388e-01 2.45282093e-01 -1.04164915e-01 1.69120584e+02] [ 1.16138950e-01 -3.48288589e-02 9.92622131e-01 1.32628098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16275509600007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:154.35, Y:169.15, Z:13.25 [[ 2.41020210e-01 -9.70032251e-01 -3.07683424e-02 1.54347037e+02] [ 9.63422964e-01 2.42964432e-01 -1.13068467e-01 1.69153399e+02] [ 1.17155672e-01 -2.39114195e-03 9.93110684e-01 1.32545449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.34, Y:169.18, Z:13.25 [[ 2.42010658e-01 -9.70112256e-01 -1.76932769e-02 1.54344276e+02] [ 9.63201562e-01 2.42404431e-01 -1.16115643e-01 1.69181885e+02] [ 1.16934138e-01 1.10590313e-02 9.93078096e-01 1.32525056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:169.21, Z:13.26 [[ 2.42278714e-01 -9.69801109e-01 -2.80505532e-02 1.54355464e+02] [ 9.62652435e-01 2.43892664e-01 -1.17544282e-01 1.69211232e+02] [ 1.20835899e-01 1.47554405e-03 9.92671400e-01 1.32628518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.37, Y:169.23, Z:13.27 [[ 2.46469451e-01 -9.68144004e-01 -4.41587646e-02 1.54372115e+02] [ 9.62118427e-01 2.49905925e-01 -1.08973216e-01 1.69226568e+02] [ 1.16537303e-01 -1.56273923e-02 9.93063362e-01 1.32661786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.37, Y:169.25, Z:13.27 [[ 2.47875184e-01 -9.68210455e-01 -3.35620004e-02 1.54371563e+02] [ 9.61948442e-01 2.50086906e-01 -1.10053321e-01 1.69254437e+02] [ 1.14948193e-01 -5.00542672e-03 9.93358877e-01 1.32681383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:169.28, Z:13.27 [[ 2.48067985e-01 -9.68281641e-01 -2.98820602e-02 1.54375686e+02] [ 9.61929629e-01 2.49858037e-01 -1.10735500e-01 1.69280503e+02] [ 1.14689425e-01 -1.27450664e-03 9.93400580e-01 1.32702762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.37, Y:169.31, Z:13.26 [[ 2.47636923e-01 -9.68786236e-01 -1.13658722e-02 1.54371595e+02] [ 9.62473864e-01 2.47333503e-01 -1.11670048e-01 1.69311041e+02] [ 1.10995566e-01 1.67142721e-02 9.93680340e-01 1.32618141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.40, Y:169.33, Z:13.28 [[ 2.48130779e-01 -9.67603489e-01 -4.66326560e-02 1.54399504e+02] [ 9.62096771e-01 2.51769156e-01 -1.04795491e-01 1.69328932e+02] [ 1.13141147e-01 -1.88621410e-02 9.93399869e-01 1.32801369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.40, Y:169.36, Z:13.28 [[ 2.47879248e-01 -9.68346643e-01 -2.93369545e-02 1.54396240e+02] [ 9.62179079e-01 2.49606472e-01 -1.09123912e-01 1.69357479e+02] [ 1.12992468e-01 -1.17785065e-03 9.93595146e-01 1.32792558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.40, Y:169.38, Z:13.28 [[ 2.47290638e-01 -9.68502586e-01 -2.91561565e-02 1.54403377e+02] [ 9.62393446e-01 2.49000605e-01 -1.08616548e-01 1.69383549e+02] [ 1.12455309e-01 -1.19983844e-03 9.93656059e-01 1.32810733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:169.41, Z:13.28 [[ 2.46582399e-01 -9.68692740e-01 -2.88356614e-02 1.54410018e+02] [ 9.62702228e-01 2.48259641e-01 -1.07571239e-01 1.69409089e+02] [ 1.11362209e-01 -1.23498137e-03 9.93779117e-01 1.32847786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.42, Y:169.44, Z:13.29 [[ 2.45934374e-01 -9.68861662e-01 -2.86943057e-02 1.54416912e+02] [ 9.62918083e-01 2.47599378e-01 -1.07160220e-01 1.69435209e+02] [ 1.10928121e-01 -1.27588410e-03 9.93827613e-01 1.32864915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.42, Y:169.46, Z:13.29 [[ 2.45020085e-01 -9.69099471e-01 -2.84846164e-02 1.54423541e+02] [ 9.63227531e-01 2.46666640e-01 -1.06528361e-01 1.69461781e+02] [ 1.10262783e-01 -1.33557880e-03 9.93901572e-01 1.32908521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.43, Y:169.49, Z:13.29 [[ 2.44148313e-01 -9.69320611e-01 -2.84456278e-02 1.54430515e+02] [ 9.63449170e-01 2.45795863e-01 -1.06536806e-01 1.69488252e+02] [ 1.10260139e-01 -1.39513508e-03 9.93901784e-01 1.32938121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.43, Y:169.52, Z:13.29 [[ 2.43307927e-01 -9.69826236e-01 -1.54377475e-02 1.54430699e+02] [ 9.63773598e-01 2.43521365e-01 -1.08801640e-01 1.69518003e+02] [ 1.09278107e-01 1.15938081e-02 9.93943600e-01 1.32902562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.45, Y:169.54, Z:13.30 [[ 2.42283719e-01 -9.69316944e-01 -4.15121765e-02 1.54451775e+02] [ 9.63828370e-01 2.45368474e-01 -1.04063368e-01 1.69537324e+02] [ 1.11056165e-01 -1.47977537e-02 9.93703957e-01 1.33023884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.45, Y:169.57, Z:13.30 [[ 2.42083738e-01 -9.69829127e-01 -2.87563534e-02 1.54450749e+02] [ 9.63786453e-01 2.43780799e-01 -1.08104558e-01 1.69565093e+02] [ 1.11853196e-01 -1.54462826e-03 9.93723541e-01 1.33016817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.46, Y:169.59, Z:13.30 [[ 2.41845971e-01 -9.69886105e-01 -2.88352074e-02 1.54457320e+02] [ 9.63797182e-01 2.43554002e-01 -1.08519304e-01 1.69591226e+02] [ 1.12274295e-01 -1.54633513e-03 9.93676050e-01 1.33043878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.46, Y:169.62, Z:13.31 [[ 2.41714339e-01 -9.69913435e-01 -2.90190866e-02 1.54463814e+02] [ 9.63728912e-01 2.43445240e-01 -1.09366357e-01 1.69617194e+02] [ 1.13140457e-01 -1.53111606e-03 9.93577824e-01 1.33064041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:169.64, Z:13.31 [[ 2.41184602e-01 -9.70174043e-01 -2.43375034e-02 1.54467208e+02] [ 9.63897669e-01 2.42389278e-01 -1.10221236e-01 1.69643776e+02] [ 1.12832932e-01 3.12480227e-03 9.93609060e-01 1.33063294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:169.67, Z:13.31 [[ 2.42309010e-01 -9.69850469e-01 -2.60079099e-02 1.54477428e+02] [ 9.63530526e-01 2.43694645e-01 -1.10552454e-01 1.69671466e+02] [ 1.13557337e-01 1.72844042e-03 9.93529941e-01 1.33096535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:169.70, Z:13.32 [[ 2.43016886e-01 -9.69342532e-01 -3.63021921e-02 1.54491753e+02] [ 9.63123228e-01 2.45574943e-01 -1.09939052e-01 1.69695598e+02] [ 1.15483508e-01 -8.24643828e-03 9.93275166e-01 1.33178812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:169.72, Z:13.32 [[ 2.40988064e-01 -9.70053258e-01 -3.03550547e-02 1.54494758e+02] [ 9.63532763e-01 2.42882499e-01 -1.12306302e-01 1.69723844e+02] [ 1.16315805e-01 -2.18361147e-03 9.93209880e-01 1.33195615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:169.75, Z:13.32 [[ 2.42672145e-01 -9.69648899e-01 -2.98536871e-02 1.54502090e+02] [ 9.63173962e-01 2.44496299e-01 -1.11881538e-01 1.69746688e+02] [ 1.15784926e-01 -1.60376134e-03 9.93273013e-01 1.33217486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.51, Y:169.77, Z:13.32 [[ 2.42795483e-01 -9.69626160e-01 -2.95882365e-02 1.54509890e+02] [ 9.63104275e-01 2.44588600e-01 -1.12278991e-01 1.69771092e+02] [ 1.16105592e-01 -1.23572522e-03 9.93236107e-01 1.33249205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:169.80, Z:13.33 [[ 2.42453013e-01 -9.69712897e-01 -2.95539026e-02 1.54516426e+02] [ 9.63190554e-01 2.44244458e-01 -1.12288028e-01 1.69797028e+02] [ 1.16105526e-01 -1.24146915e-03 9.93236108e-01 1.33278552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:169.82, Z:13.33 [[ 2.42403698e-01 -9.69726984e-01 -2.94961585e-02 1.54523749e+02] [ 9.63211326e-01 2.44188702e-01 -1.12231096e-01 1.69822179e+02] [ 1.16036151e-01 -1.20580131e-03 9.93244259e-01 1.33310729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:169.85, Z:13.33 [[ 2.42450057e-01 -9.69722659e-01 -2.92563625e-02 1.54531884e+02] [ 9.63293342e-01 2.44206135e-01 -1.11486774e-01 1.69846639e+02] [ 1.15255834e-01 -1.15248455e-03 9.93335172e-01 1.33345384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.53, Y:169.88, Z:13.34 [[ 2.38247375e-01 -9.70958076e-01 -2.18769978e-02 1.54534520e+02] [ 9.64118796e-01 2.39165192e-01 -1.15217000e-01 1.69880509e+02] [ 1.17103093e-01 6.35812312e-03 9.93099411e-01 1.33376832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:169.90, Z:13.34 [[ 2.41889732e-01 -9.69531062e-01 -3.87153274e-02 1.54551987e+02] [ 9.63602793e-01 2.44709099e-01 -1.07643460e-01 1.69895077e+02] [ 1.13837671e-01 -1.12683500e-02 9.93435458e-01 1.33436198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:169.92, Z:13.34 [[ 2.44307140e-01 -9.69279654e-01 -2.84776075e-02 1.54554471e+02] [ 9.63028430e-01 2.45960614e-01 -1.09907322e-01 1.69916654e+02] [ 1.13535301e-01 -5.73602079e-04 9.93533797e-01 1.33433702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.56, Y:169.94, Z:13.35 [[ 2.40661622e-01 -9.70221056e-01 -2.74424021e-02 1.54560771e+02] [ 9.64007682e-01 2.42221173e-01 -1.09627057e-01 1.69944743e+02] [ 1.13009609e-01 -7.16611992e-05 9.93593892e-01 1.33466237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:169.98, Z:13.33 [[ 2.37373512e-01 -9.71408377e-01 4.42512674e-03 1.54545949e+02] [ 9.65540762e-01 2.35434451e-01 -1.10912832e-01 1.69975029e+02] [ 1.06699827e-01 3.06004086e-02 9.93820287e-01 1.33305037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:169.99, Z:13.36 [[ 2.38859781e-01 -9.69323880e-01 -5.79415357e-02 1.54594575e+02] [ 9.64629691e-01 2.43709030e-01 -1.00476203e-01 1.69990287e+02] [ 1.11514859e-01 -3.18924017e-02 9.93250880e-01 1.33622166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:170.02, Z:13.36 [[ 2.38155543e-01 -9.70821096e-01 -2.80773380e-02 1.54584678e+02] [ 9.64785586e-01 2.39801144e-01 -1.08093406e-01 1.70020280e+02] [ 1.11672336e-01 -1.34556728e-03 9.93744172e-01 1.33565168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:170.05, Z:13.36 [[ 2.37200942e-01 -9.71060623e-01 -2.78743533e-02 1.54592881e+02] [ 9.65095580e-01 2.38828985e-01 -1.07476682e-01 1.70045742e+02] [ 1.11023577e-01 -1.40784508e-03 9.93816776e-01 1.33591826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:170.07, Z:13.36 [[ 2.36494725e-01 -9.71236289e-01 -2.77545631e-02 1.54600186e+02] [ 9.65306428e-01 2.38113374e-01 -1.07170523e-01 1.70071473e+02] [ 1.10696634e-01 -1.44639465e-03 9.93853190e-01 1.33616698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:170.10, Z:13.36 [[ 2.35944392e-01 -9.71373317e-01 -2.76427764e-02 1.54607541e+02] [ 9.65474938e-01 2.37553628e-01 -1.06894428e-01 1.70097293e+02] [ 1.10401037e-01 -1.46726715e-03 9.93886039e-01 1.33644456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.61, Y:170.12, Z:13.37 [[ 2.35415645e-01 -9.71501976e-01 -2.76294265e-02 1.54614575e+02] [ 9.65592917e-01 2.37026775e-01 -1.06998256e-01 1.70122321e+02] [ 1.10497931e-01 -1.48971512e-03 9.93875238e-01 1.33672309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.62, Y:170.15, Z:13.37 [[ 2.34573042e-01 -9.71705444e-01 -2.76408947e-02 1.54622699e+02] [ 9.65774701e-01 2.36190891e-01 -1.07205834e-01 1.70148611e+02] [ 1.10701020e-01 -1.54727818e-03 9.93852549e-01 1.33693213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36275509600006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.63, Y:170.17, Z:13.37 [[ 2.33841528e-01 -9.71875817e-01 -2.78484426e-02 1.54630220e+02] [ 9.65839053e-01 2.35488483e-01 -1.08166993e-01 1.70174500e+02] [ 1.11682872e-01 -1.60317846e-03 9.93742605e-01 1.33704016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:170.20, Z:13.37 [[ 2.33150149e-01 -9.72237516e-01 -1.98801661e-02 1.54631595e+02] [ 9.66206749e-01 2.33918227e-01 -1.08290263e-01 1.70201400e+02] [ 1.09934189e-01 6.03954027e-03 9.93920519e-01 1.33697847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:170.23, Z:13.38 [[ 2.34648619e-01 -9.71460174e-01 -3.47153514e-02 1.54649214e+02] [ 9.65671212e-01 2.37047001e-01 -1.06244196e-01 1.70225253e+02] [ 1.11441175e-01 -8.59356165e-03 9.93733875e-01 1.33796907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:170.25, Z:13.38 [[ 2.34838048e-01 -9.71638353e-01 -2.77489225e-02 1.54651964e+02] [ 9.65602160e-01 2.36467668e-01 -1.08145788e-01 1.70252234e+02] [ 1.11640319e-01 -1.39767369e-03 9.93747697e-01 1.33805621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:170.28, Z:13.38 [[ 2.36569601e-01 -9.71218301e-01 -2.77459091e-02 1.54659419e+02] [ 9.65161317e-01 2.38188311e-01 -1.08304948e-01 1.70276518e+02] [ 1.11796499e-01 -1.15761990e-03 9.93730448e-01 1.33834985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.67, Y:170.30, Z:13.39 [[ 2.36971565e-01 -9.71119738e-01 -2.77656699e-02 1.54665937e+02] [ 9.65033311e-01 2.38590260e-01 -1.08560566e-01 1.70301701e+02] [ 1.12049927e-01 -1.06902919e-03 9.93702003e-01 1.33857641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.67, Y:170.33, Z:13.39 [[ 2.39568321e-01 -9.70483475e-01 -2.77280349e-02 1.54673087e+02] [ 9.64390414e-01 2.41166528e-01 -1.08581006e-01 1.70326063e+02] [ 1.12063146e-01 -7.28081702e-04 9.93700821e-01 1.33892470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:170.35, Z:13.39 [[ 2.39332401e-01 -9.70691770e-01 -2.18515290e-02 1.54675022e+02] [ 9.64575108e-01 2.40276081e-01 -1.08914026e-01 1.70352552e+02] [ 1.10972349e-01 4.98921447e-03 9.93810971e-01 1.33885258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60275509600007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:154.69, Y:170.38, Z:13.39 [[ 2.40283670e-01 -9.70143624e-01 -3.29409636e-02 1.54689273e+02] [ 9.64176037e-01 2.42459210e-01 -1.07601589e-01 1.70375044e+02] [ 1.12375835e-01 -5.90598305e-03 9.93648223e-01 1.33948260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:170.40, Z:13.40 [[ 2.40997229e-01 -9.70135981e-01 -2.75048122e-02 1.54693203e+02] [ 9.64085014e-01 2.42561294e-01 -1.08185508e-01 1.70399965e+02] [ 1.11626257e-01 -4.44569665e-04 9.93750160e-01 1.33981446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.70, Y:170.43, Z:13.40 [[ 2.40408980e-01 -9.70285016e-01 -2.73954353e-02 1.54700081e+02] [ 9.64264125e-01 2.41964391e-01 -1.07925577e-01 1.70425329e+02] [ 1.11347290e-01 -4.70157575e-04 9.93781445e-01 1.34012045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:170.45, Z:13.40 [[ 2.38389232e-01 -9.70789414e-01 -2.71751211e-02 1.54707490e+02] [ 9.64850723e-01 2.39932235e-01 -1.07217558e-01 1.70450139e+02] [ 1.10605858e-01 -6.60423815e-04 9.93864130e-01 1.34039959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:170.48, Z:13.41 [[ 2.36614522e-01 -9.71227887e-01 -2.70177622e-02 1.54714428e+02] [ 9.65342026e-01 2.38150626e-01 -1.06766344e-01 1.70476309e+02] [ 1.10128747e-01 -8.18913858e-04 9.93916993e-01 1.34068709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.72, Y:170.50, Z:13.41 [[ 2.34758041e-01 -9.71681962e-01 -2.68854394e-02 1.54721397e+02] [ 9.65838680e-01 2.36290479e-01 -1.06407016e-01 1.70501074e+02] [ 1.09746552e-01 -9.87094608e-04 9.93959114e-01 1.34098984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.73, Y:170.53, Z:13.41 [[ 2.32723596e-01 -9.72175240e-01 -2.67400463e-02 1.54728355e+02] [ 9.66379647e-01 2.34251850e-01 -1.06002115e-01 1.70526598e+02] [ 1.09316537e-01 -1.17184317e-03 9.94006299e-01 1.34128755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:170.55, Z:13.42 [[ 2.28642583e-01 -9.73145832e-01 -2.66413142e-02 1.54735587e+02] [ 9.67381153e-01 2.30183996e-01 -1.05778228e-01 1.70552295e+02] [ 1.09070046e-01 -1.58689798e-03 9.94032800e-01 1.34161271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:170.58, Z:13.42 [[ 2.26298613e-01 -9.73778984e-01 -2.33115405e-02 1.54739519e+02] [ 9.68054218e-01 2.27492447e-01 -1.05442962e-01 1.70579925e+02] [ 1.07981339e-01 1.29476085e-03 9.94152078e-01 1.34173907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:170.60, Z:13.42 [[ 2.25041355e-01 -9.73909751e-01 -2.92606662e-02 1.54749890e+02] [ 9.68308002e-01 2.26884159e-01 -1.04418349e-01 1.70604759e+02] [ 1.08332830e-01 -4.83489053e-03 9.94102923e-01 1.34228760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.75, Y:170.63, Z:13.42 [[ 2.22635189e-01 -9.74626538e-01 -2.31664501e-02 1.54751188e+02] [ 9.68781439e-01 2.23833543e-01 -1.06588312e-01 1.70632788e+02] [ 1.09069226e-01 1.28708214e-03 9.94033323e-01 1.34232219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:170.66, Z:13.43 [[ 2.21996418e-01 -9.74586204e-01 -2.99887010e-02 1.54761542e+02] [ 9.68846169e-01 2.23943416e-01 -1.05765998e-01 1.70657819e+02] [ 1.09793855e-01 -5.57476534e-03 9.93938746e-01 1.34293827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:170.68, Z:13.43 [[ 2.20946691e-01 -9.74912977e-01 -2.69675088e-02 1.54764515e+02] [ 9.68943516e-01 2.22574227e-01 -1.07745888e-01 1.70684919e+02] [ 1.11045137e-01 -2.32389536e-03 9.93812647e-01 1.34309557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:170.71, Z:13.43 [[ 2.20138809e-01 -9.75089642e-01 -2.71863009e-02 1.54770187e+02] [ 9.69005682e-01 2.21798212e-01 -1.08782082e-01 1.70711429e+02] [ 1.12102154e-01 -2.39652209e-03 9.93693798e-01 1.34340438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:170.74, Z:13.44 [[ 2.19101191e-01 -9.75319160e-01 -2.73350351e-02 1.54775873e+02] [ 9.69151510e-01 2.20785708e-01 -1.09540048e-01 1.70737714e+02] [ 1.12871693e-01 -2.49143542e-03 9.93606448e-01 1.34365668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.78, Y:170.77, Z:13.43 [[ 2.16705754e-01 -9.76078931e-01 -1.75652079e-02 1.54775002e+02] [ 9.69746879e-01 2.17301506e-01 -1.11225207e-01 1.70767348e+02] [ 1.12381527e-01 7.06933674e-03 9.93639984e-01 1.34328794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:170.79, Z:13.44 [[ 2.15769053e-01 -9.75739629e-01 -3.70930121e-02 1.54792454e+02] [ 9.69754274e-01 2.18575267e-01 -1.08634714e-01 1.70789970e+02] [ 1.14106811e-01 -1.25310976e-02 9.93389454e-01 1.34449698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:170.82, Z:13.44 [[ 2.13736974e-01 -9.76734418e-01 -1.75038111e-02 1.54786194e+02] [ 9.70254772e-01 2.14335890e-01 -1.12542455e-01 1.70819106e+02] [ 1.13675785e-01 7.07132763e-03 9.93492734e-01 1.34391681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:170.85, Z:13.44 [[ 2.10467340e-01 -9.77353758e-01 -2.19802167e-02 1.54793442e+02] [ 9.70987932e-01 2.11601552e-01 -1.11387697e-01 1.70845415e+02] [ 1.13516233e-01 2.10094717e-03 9.93533920e-01 1.34438512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:170.87, Z:13.46 [[ 2.09155094e-01 -9.76996902e-01 -4.16077019e-02 1.54810046e+02] [ 9.71243506e-01 2.12496594e-01 -1.07383656e-01 1.70866723e+02] [ 1.13754995e-01 -1.79513715e-02 9.93346641e-01 1.34559427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:170.90, Z:13.45 [[ 2.07719821e-01 -9.77811744e-01 -2.71416366e-02 1.54806975e+02] [ 9.71636973e-01 2.09455125e-01 -1.09773148e-01 1.70895589e+02] [ 1.13022428e-01 -3.56975899e-03 9.93586024e-01 1.34547954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.80, Y:170.93, Z:13.45 [[ 2.05221883e-01 -9.78621866e-01 -1.35359638e-02 1.54803231e+02] [ 9.72561654e-01 2.05460504e-01 -1.09132079e-01 1.70926079e+02] [ 1.09580145e-01 9.23173141e-03 9.93935092e-01 1.34499230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.81, Y:170.95, Z:13.45 [[ 2.04156790e-01 -9.78780098e-01 -1.75932986e-02 1.54810428e+02] [ 9.72996234e-01 2.04861951e-01 -1.06348054e-01 1.70952780e+02] [ 1.07695557e-01 4.59346406e-03 9.94173308e-01 1.34518248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:170.97, Z:13.47 [[ 2.04626173e-01 -9.77737808e-01 -4.64425234e-02 1.54833139e+02] [ 9.72603019e-01 2.08440974e-01 -1.02935548e-01 1.70973894e+02] [ 1.10324502e-01 -2.41068311e-02 9.93603223e-01 1.34704892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:171.00, Z:13.47 [[ 2.04733553e-01 -9.78461061e-01 -2.64220483e-02 1.54824926e+02] [ 9.72559106e-01 2.06398051e-01 -1.07371458e-01 1.71003332e+02] [ 1.10512250e-01 -3.71446360e-03 9.93867821e-01 1.34679086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.83, Y:171.03, Z:13.47 [[ 2.04804300e-01 -9.78452145e-01 -2.62030128e-02 1.54829362e+02] [ 9.72629120e-01 2.06441581e-01 -1.06651158e-01 1.71029285e+02] [ 1.09762446e-01 -3.64319750e-03 9.93951172e-01 1.34706163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:171.06, Z:13.47 [[ 2.04944906e-01 -9.78703750e-01 -1.16856867e-02 1.54824569e+02] [ 9.72757880e-01 2.04992434e-01 -1.08259918e-01 1.71057771e+02] [ 1.08349865e-01 1.08199749e-02 9.94053940e-01 1.34661094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:171.08, Z:13.48 [[ 2.07501817e-01 -9.77479629e-01 -3.84261634e-02 1.54843857e+02] [ 9.72165618e-01 2.10424106e-01 -1.03032555e-01 1.71080290e+02] [ 1.08798015e-01 -1.59771525e-02 9.93935472e-01 1.34810613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:171.11, Z:13.48 [[ 2.08659312e-01 -9.77646180e-01 -2.58696317e-02 1.54841189e+02] [ 9.71907552e-01 2.10234542e-01 -1.05816573e-01 1.71108581e+02] [ 1.08889859e-01 -3.06327711e-03 9.94049101e-01 1.34811277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:171.13, Z:13.48 [[ 2.10075885e-01 -9.77349716e-01 -2.56057693e-02 1.54845309e+02] [ 9.71707027e-01 2.11611564e-01 -1.04909484e-01 1.71133712e+02] [ 1.07951731e-01 -2.84235332e-03 9.94152073e-01 1.34833810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:171.16, Z:13.49 [[ 2.13040508e-01 -9.76812959e-01 -2.12175607e-02 1.54845353e+02] [ 9.70913354e-01 2.14082737e-01 -1.07218659e-01 1.71162412e+02] [ 1.09274889e-01 2.24150458e-03 9.94009041e-01 1.34854860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:171.19, Z:13.49 [[ 2.15458661e-01 -9.76044772e-01 -3.02352120e-02 1.54855600e+02] [ 9.70589737e-01 2.17454186e-01 -1.03292013e-01 1.71186406e+02] [ 1.07392403e-01 -7.09082765e-03 9.94191426e-01 1.34896886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:171.21, Z:13.49 [[ 2.18492512e-01 -9.75505943e-01 -2.54789442e-02 1.54855932e+02] [ 9.69846288e-01 2.19965864e-01 -1.04943775e-01 1.71212983e+02] [ 1.07977774e-01 -1.78123057e-03 9.94151713e-01 1.34910098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:171.24, Z:13.49 [[ 2.19433420e-01 -9.75292509e-01 -2.55635875e-02 1.54860317e+02] [ 9.69579947e-01 2.20911267e-01 -1.05417925e-01 1.71237902e+02] [ 1.08460597e-01 -1.65372607e-03 9.94099373e-01 1.34938561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:171.26, Z:13.50 [[ 2.20074478e-01 -9.75147948e-01 -2.55676275e-02 1.54865295e+02] [ 9.69412479e-01 2.21549324e-01 -1.05618856e-01 1.71264580e+02] [ 1.08658501e-01 -1.54156262e-03 9.94077941e-01 1.34967489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.86, Y:171.29, Z:13.50 [[ 2.21042610e-01 -9.75191071e-01 -1.19390291e-02 1.54860685e+02] [ 9.68700190e-01 2.20956362e-01 -1.13129253e-01 1.71292220e+02] [ 1.12960642e-01 1.34410456e-02 9.93508546e-01 1.34973260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:171.31, Z:13.50 [[ 2.22421871e-01 -9.74485493e-01 -3.01087175e-02 1.54876408e+02] [ 9.68556589e-01 2.24388840e-01 -1.07460606e-01 1.71312580e+02] [ 1.11474862e-01 -5.26040773e-03 9.93753331e-01 1.35041997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.88, Y:171.34, Z:13.51 [[ 2.21400315e-01 -9.74908575e-01 -2.31337712e-02 1.54877223e+02] [ 9.68674385e-01 2.22596961e-01 -1.10093277e-01 1.71340827e+02] [ 1.12480387e-01 1.96559455e-03 9.93652001e-01 1.35059914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:171.37, Z:13.51 [[ 2.19422344e-01 -9.74919713e-01 -3.72207984e-02 1.54890699e+02] [ 9.69625196e-01 2.22139315e-01 -1.02377266e-01 1.71366196e+02] [ 1.08077817e-01 -1.36263643e-02 9.94049047e-01 1.35113620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.89, Y:171.39, Z:13.51 [[ 2.17932578e-01 -9.75633089e-01 -2.54060480e-02 1.54889353e+02] [ 9.69906085e-01 2.19402379e-01 -1.05568849e-01 1.71394598e+02] [ 1.08570610e-01 -1.63458916e-03 9.94087396e-01 1.35116387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:171.42, Z:13.51 [[ 2.17598734e-01 -9.75708609e-01 -2.53673201e-02 1.54895575e+02] [ 9.69981035e-01 2.19066305e-01 -1.05578154e-01 1.71421444e+02] [ 1.08570639e-01 -1.63214679e-03 9.94087397e-01 1.35147670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:171.45, Z:13.52 [[ 2.16090772e-01 -9.76046270e-01 -2.52677112e-02 1.54901262e+02] [ 9.70348707e-01 2.17555933e-01 -1.05322375e-01 1.71447928e+02] [ 1.08296652e-01 -1.75929756e-03 9.94117066e-01 1.35178721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:171.47, Z:13.52 [[ 2.11888644e-01 -9.76971652e-01 -2.50917222e-02 1.54906302e+02] [ 9.71341737e-01 2.13358046e-01 -1.04754825e-01 1.71474398e+02] [ 1.07696015e-01 -2.17627932e-03 9.94181489e-01 1.35205886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.91, Y:171.50, Z:13.52 [[ 2.09606743e-01 -9.77465002e-01 -2.50436259e-02 1.54912099e+02] [ 9.71842313e-01 2.11084022e-01 -1.04718933e-01 1.71500207e+02] [ 1.07645401e-01 -2.38866082e-03 9.94186482e-01 1.35237440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:171.53, Z:13.53 [[ 2.07280207e-01 -9.77962671e-01 -2.49785954e-02 1.54917802e+02] [ 9.72354051e-01 2.08763604e-01 -1.04620057e-01 1.71526970e+02] [ 1.07529132e-01 -2.60237123e-03 9.94198528e-01 1.35264984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:171.55, Z:13.53 [[ 2.03266749e-01 -9.78804694e-01 -2.49799940e-02 1.54922454e+02] [ 9.73183737e-01 2.04773810e-01 -1.04790749e-01 1.71552627e+02] [ 1.07684926e-01 -3.00964895e-03 9.94180516e-01 1.35296107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:171.58, Z:13.53 [[ 2.01605664e-01 -9.79150115e-01 -2.49040050e-02 1.54927972e+02] [ 9.73547291e-01 2.03113618e-01 -1.04644782e-01 1.71578586e+02] [ 1.07521292e-01 -3.14824595e-03 9.94197797e-01 1.35331159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:171.60, Z:13.54 [[ 2.00390779e-01 -9.79400103e-01 -2.48791855e-02 1.54933696e+02] [ 9.73792745e-01 2.01903206e-01 -1.04703319e-01 1.71604393e+02] [ 1.07569629e-01 -3.24559059e-03 9.94192256e-01 1.35365130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:171.63, Z:13.54 [[ 1.99233937e-01 -9.79638533e-01 -2.47827173e-02 1.54938593e+02] [ 9.74058090e-01 2.00741826e-01 -1.04467971e-01 1.71630809e+02] [ 1.07315777e-01 -3.32624122e-03 9.94219422e-01 1.35400566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:171.66, Z:13.54 [[ 1.99031194e-01 -9.79681281e-01 -2.47218669e-02 1.54943952e+02] [ 9.74111319e-01 2.00533389e-01 -1.04371924e-01 1.71657383e+02] [ 1.07208780e-01 -3.30858169e-03 9.94231025e-01 1.35436491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.95, Y:171.68, Z:13.55 [[ 2.00538273e-01 -9.79377367e-01 -2.45840308e-02 1.54948924e+02] [ 9.73849273e-01 2.02015848e-01 -1.03957635e-01 1.71683442e+02] [ 1.06780119e-01 -3.09365595e-03 9.94277846e-01 1.35469548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.94, Y:171.71, Z:13.54 [[ 2.01204888e-01 -9.79545960e-01 -2.51098967e-03 1.54940136e+02] [ 9.73969623e-01 2.00331372e-01 -1.06068446e-01 1.71712612e+02] [ 1.04401947e-01 1.88958621e-02 9.94355661e-01 1.35385714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.96, Y:171.74, Z:13.55 [[ 2.03200697e-01 -9.78760162e-01 -2.71665520e-02 1.54960644e+02] [ 9.73462291e-01 2.04928066e-01 -1.01860968e-01 1.71735634e+02] [ 1.05264646e-01 -5.74739441e-03 9.94427635e-01 1.35493954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:171.76, Z:13.56 [[ 2.06345852e-01 -9.77646070e-01 -4.03677022e-02 1.54973428e+02] [ 9.72670681e-01 2.09434858e-01 -1.00243638e-01 1.71759947e+02] [ 1.06457202e-01 -1.85796216e-02 9.94143683e-01 1.35602713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.97, Y:171.79, Z:13.56 [[ 2.07781552e-01 -9.77869288e-01 -2.44638812e-02 1.54969468e+02] [ 9.72320050e-01 2.09205545e-01 -1.04051723e-01 1.71787725e+02] [ 1.06866964e-01 -2.16669376e-03 9.94270968e-01 1.35592362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:171.81, Z:13.56 [[ 2.09116007e-01 -9.77584263e-01 -2.44847969e-02 1.54975182e+02] [ 9.72004533e-01 2.10535198e-01 -1.04317393e-01 1.71814395e+02] [ 1.07133953e-01 -1.98489696e-03 9.94242614e-01 1.35623433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:171.84, Z:13.57 [[ 2.11131558e-01 -9.77154249e-01 -2.43523915e-02 1.54980575e+02] [ 9.71614284e-01 2.12524382e-01 -1.03918578e-01 1.71840113e+02] [ 1.06719957e-01 -1.72064013e-03 9.94287630e-01 1.35652255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:171.87, Z:13.57 [[ 2.11783757e-01 -9.77013377e-01 -2.43413406e-02 1.54986460e+02] [ 9.71458716e-01 2.13171913e-01 -1.04046617e-01 1.71866305e+02] [ 1.06843827e-01 -1.61122404e-03 9.94274510e-01 1.35681212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.99, Y:171.89, Z:13.57 [[ 2.12700824e-01 -9.76813831e-01 -2.43536207e-02 1.54992091e+02] [ 9.71234745e-01 2.14085402e-01 -1.04261745e-01 1.71893182e+02] [ 1.07058070e-01 -1.47652343e-03 9.94251673e-01 1.35710621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.00, Y:171.92, Z:13.57 [[ 2.12604245e-01 -9.76833209e-01 -2.44196169e-02 1.54997465e+02] [ 9.71205992e-01 2.13997118e-01 -1.04709858e-01 1.71918412e+02] [ 1.07509794e-01 -1.45471798e-03 9.94202961e-01 1.35739813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.402755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.00, Y:171.94, Z:13.58 [[ 2.12427170e-01 -9.76871505e-01 -2.44286889e-02 1.55003039e+02] [ 9.71221546e-01 2.13822351e-01 -1.04922408e-01 1.71943781e+02] [ 1.07719110e-01 -1.43729873e-03 9.94180329e-01 1.35764068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:171.97, Z:13.58 [[ 2.11863447e-01 -9.76996708e-01 -2.43169055e-02 1.55009079e+02] [ 9.71379918e-01 2.13249417e-01 -1.04621893e-01 1.71970681e+02] [ 1.07400811e-01 -1.45539889e-03 9.94214739e-01 1.35791555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.02, Y:172.00, Z:13.58 [[ 2.10738547e-01 -9.77236719e-01 -2.44470713e-02 1.55015978e+02] [ 9.71542545e-01 2.12146160e-01 -1.05352215e-01 1.71997136e+02] [ 1.08140405e-01 -1.54959719e-03 9.94134423e-01 1.35818503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.02, Y:172.02, Z:13.58 [[ 2.09622663e-01 -9.77477800e-01 -2.44026521e-02 1.55022312e+02] [ 9.71787643e-01 2.11031935e-01 -1.05329475e-01 1.72022477e+02] [ 1.08106962e-01 -1.63475077e-03 9.94137924e-01 1.35847223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:172.05, Z:13.59 [[ 2.08438848e-01 -9.77731228e-01 -2.43904190e-02 1.55028878e+02] [ 9.72029117e-01 2.09853907e-01 -1.05454886e-01 1.72048580e+02] [ 1.08224960e-01 -1.72730238e-03 9.94124929e-01 1.35876688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:172.07, Z:13.59 [[ 2.06102887e-01 -9.78224733e-01 -2.44534553e-02 1.55036087e+02] [ 9.72478010e-01 2.07539273e-01 -1.05896036e-01 1.72074964e+02] [ 1.08665174e-01 -1.95496875e-03 9.94076485e-01 1.35900232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.04, Y:172.10, Z:13.59 [[ 2.05023035e-01 -9.78448868e-01 -2.45635571e-02 1.55042735e+02] [ 9.72632749e-01 2.06479110e-01 -1.06545352e-01 1.72101650e+02] [ 1.09321041e-01 -2.04706853e-03 9.94004386e-01 1.35930969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.05, Y:172.13, Z:13.60 [[ 2.03000116e-01 -9.78867973e-01 -2.46666814e-02 1.55049483e+02] [ 9.72986719e-01 2.04480925e-01 -1.07165273e-01 1.72126464e+02] [ 1.09944520e-01 -2.24579047e-03 9.93935189e-01 1.35955371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:172.15, Z:13.60 [[ 2.02333596e-01 -9.79001877e-01 -2.48282224e-02 1.55056283e+02] [ 9.73023674e-01 2.03838298e-01 -1.08050350e-01 1.72153123e+02] [ 1.10842438e-01 -2.29623250e-03 9.93835339e-01 1.35989399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:172.18, Z:13.60 [[ 2.02199003e-01 -9.79025034e-01 -2.50109349e-02 1.55062903e+02] [ 9.72938874e-01 2.03727114e-01 -1.09019310e-01 1.72177291e+02] [ 1.11828039e-01 -2.29051508e-03 9.93724933e-01 1.36014916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:172.20, Z:13.60 [[ 2.02382913e-01 -9.78984936e-01 -2.50928704e-02 1.55069259e+02] [ 9.72835511e-01 2.03920336e-01 -1.09579036e-01 1.72203464e+02] [ 1.12393173e-01 -2.23431073e-03 9.93661302e-01 1.36042975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.08, Y:172.23, Z:13.61 [[ 2.03007524e-01 -9.78852636e-01 -2.52083747e-02 1.55075690e+02] [ 9.72625220e-01 2.04555518e-01 -1.10259791e-01 1.72229965e+02] [ 1.13084599e-01 -2.13473376e-03 9.93583070e-01 1.36072473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.08, Y:172.26, Z:13.61 [[ 2.03892493e-01 -9.78667589e-01 -2.52507806e-02 1.55081884e+02] [ 9.72396921e-01 2.05440405e-01 -1.10627612e-01 1.72256166e+02] [ 1.13455189e-01 -1.99764179e-03 9.93541106e-01 1.36095171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:172.28, Z:13.61 [[ 2.05894254e-01 -9.78241328e-01 -2.55237354e-02 1.55088573e+02] [ 9.71809102e-01 2.07462937e-01 -1.12009814e-01 1.72281297e+02] [ 1.14867858e-01 -1.74202129e-03 9.93379253e-01 1.36119889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:172.31, Z:13.61 [[ 2.06847058e-01 -9.78039722e-01 -2.55459620e-02 1.55094901e+02] [ 9.71572135e-01 2.08412505e-01 -1.12302331e-01 1.72307263e+02] [ 1.15160239e-01 -1.59033809e-03 9.93345655e-01 1.36147439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.10, Y:172.33, Z:13.62 [[ 2.09178632e-01 -9.77644137e-01 -2.13598024e-02 1.55099458e+02] [ 9.70865780e-01 2.10240268e-01 -1.14972461e-01 1.72333333e+02] [ 1.16892843e-01 3.31228095e-03 9.93139009e-01 1.36163698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.11, Y:172.36, Z:13.62 [[ 2.09128561e-01 -9.77604696e-01 -2.35436458e-02 1.55106430e+02] [ 9.70730133e-01 2.10445327e-01 -1.15740109e-01 1.72358534e+02] [ 1.18102724e-01 1.35003591e-03 9.93000465e-01 1.36203157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:172.38, Z:13.62 [[ 2.09974600e-01 -9.77157680e-01 -3.27648413e-02 1.55118475e+02] [ 9.70798573e-01 2.12350589e-01 -1.11612532e-01 1.72381693e+02] [ 1.16020677e-01 -8.37226436e-03 9.93211512e-01 1.36246566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:172.40, Z:13.63 [[ 2.13252028e-01 -9.76405076e-01 -3.40102805e-02 1.55127457e+02] [ 9.70316263e-01 2.15729458e-01 -1.09303019e-01 1.72403614e+02] [ 1.14061042e-01 -9.69163774e-03 9.93426470e-01 1.36265234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:172.44, Z:13.63 [[ 2.10697512e-01 -9.77477466e-01 -1.20150502e-02 1.55120144e+02] [ 9.70501681e-01 2.10635694e-01 -1.17299155e-01 1.72435897e+02] [ 1.17188080e-01 1.30540137e-02 9.93023941e-01 1.36254111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.13, Y:172.46, Z:13.63 [[ 2.10339071e-01 -9.77468987e-01 -1.76594093e-02 1.55129885e+02] [ 9.70402559e-01 2.10942495e-01 -1.17567586e-01 1.72460122e+02] [ 1.18643789e-01 7.59232083e-03 9.92907855e-01 1.36303590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:172.49, Z:13.63 [[ 2.07068047e-01 -9.78192163e-01 -1.62146946e-02 1.55135668e+02] [ 9.71172766e-01 2.07526324e-01 -1.17287186e-01 1.72488063e+02] [ 1.18094382e-01 8.53915869e-03 9.92965659e-01 1.36305096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:172.51, Z:13.64 [[ 2.06788982e-01 -9.77722286e-01 -3.60200993e-02 1.55154336e+02] [ 9.71192320e-01 2.09585606e-01 -1.13399083e-01 1.72510898e+02] [ 1.18422105e-01 -1.15327628e-02 9.92896369e-01 1.36411987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:172.54, Z:13.63 [[ 2.06009745e-01 -9.78546607e-01 -2.55401384e-03 1.55141743e+02] [ 9.71809722e-01 2.04895870e-01 -1.16634246e-01 1.72543645e+02] [ 1.14655352e-01 2.15457757e-02 9.93171652e-01 1.36286008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.15, Y:172.57, Z:13.63 [[ 2.04466808e-01 -9.78788703e-01 -1.28841006e-02 1.55152979e+02] [ 9.72406636e-01 2.04608871e-01 -1.12073834e-01 1.72567854e+02] [ 1.12332804e-01 1.03867942e-02 9.93616352e-01 1.36313944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.152755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:155.20, Y:172.59, Z:13.66 [[ 2.08137750e-01 -9.75588686e-01 -7.00385094e-02 1.55198226e+02] [ 9.70394068e-01 2.14938509e-01 -1.10167102e-01 1.72586096e+02] [ 1.22531751e-01 -4.50350212e-02 9.91442291e-01 1.36629018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.16, Y:172.63, Z:13.64 [[ 2.05026744e-01 -9.78712696e-01 9.24618855e-03 1.55155258e+02] [ 9.71996519e-01 2.02493260e-01 -1.19244481e-01 1.72625801e+02] [ 1.14833797e-01 3.34355708e-02 9.92821868e-01 1.36359867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:172.64, Z:13.66 [[ 2.06917006e-01 -9.77421739e-01 -4.28030001e-02 1.55196403e+02] [ 9.71049305e-01 2.10512340e-01 -1.12906161e-01 1.72642354e+02] [ 1.19367496e-01 -1.82016188e-02 9.92683284e-01 1.36582604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:172.67, Z:13.67 [[ 2.06937126e-01 -9.77405057e-01 -4.30857417e-02 1.55204097e+02] [ 9.70629174e-01 2.10627245e-01 -1.16254762e-01 1.72666648e+02] [ 1.22703024e-01 -1.77628514e-02 9.92284460e-01 1.36676281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:172.70, Z:13.67 [[ 2.05884594e-01 -9.78212685e-01 -2.66735425e-02 1.55202482e+02] [ 9.70881333e-01 2.07601287e-01 -1.19545568e-01 1.72695028e+02] [ 1.22478453e-01 -1.28425378e-03 9.92470342e-01 1.36658324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:172.72, Z:13.66 [[ 2.03700063e-01 -9.78974182e-01 -1.07626680e-02 1.55198321e+02] [ 9.71676283e-01 2.03502277e-01 -1.20133363e-01 1.72724539e+02] [ 1.19797689e-01 1.40133445e-02 9.92699421e-01 1.36589053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:172.75, Z:13.68 [[ 2.03288724e-01 -9.78231175e-01 -4.16828944e-02 1.55224280e+02] [ 9.71316645e-01 2.06849628e-01 -1.17291120e-01 1.72745538e+02] [ 1.23359922e-01 -1.66433269e-02 9.92222419e-01 1.36770540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:172.78, Z:13.67 [[ 2.01511690e-01 -9.79357629e-01 -1.58641882e-02 1.55216565e+02] [ 9.72011297e-01 2.01944777e-01 -1.20051432e-01 1.72775177e+02] [ 1.20776976e-01 8.77159695e-03 9.92640912e-01 1.36696144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.23, Y:172.80, Z:13.68 [[ 2.01740306e-01 -9.78933091e-01 -3.14778213e-02 1.55233171e+02] [ 9.71688052e-01 2.04075660e-01 -1.19060715e-01 1.72796356e+02] [ 1.22976331e-01 -6.56727782e-03 9.92387874e-01 1.36798315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.24, Y:172.82, Z:13.68 [[ 1.98955850e-01 -9.79679659e-01 -2.53837485e-02 1.55237220e+02] [ 9.72137335e-01 2.00567886e-01 -1.21332295e-01 1.72823294e+02] [ 1.23957946e-01 -5.36719769e-04 9.92287327e-01 1.36819493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.24, Y:172.85, Z:13.68 [[ 1.98245186e-01 -9.79917425e-01 -2.14636068e-02 1.55241611e+02] [ 9.72346209e-01 1.99377378e-01 -1.21620358e-01 1.72849148e+02] [ 1.23457266e-01 3.24059382e-03 9.92344598e-01 1.36797797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:172.87, Z:13.69 [[ 1.98163725e-01 -9.79776024e-01 -2.77503339e-02 1.55251664e+02] [ 9.72425209e-01 2.00071135e-01 -1.19836367e-01 1.72874659e+02] [ 1.22964840e-01 -3.23790332e-03 9.92405746e-01 1.36872197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51275509600003 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:155.26, Y:172.90, Z:13.69 [[ 1.97247391e-01 -9.80020440e-01 -2.55617653e-02 1.55258314e+02] [ 9.72439074e-01 1.98894947e-01 -1.21667779e-01 1.72900402e+02] [ 1.24321016e-01 -8.58607434e-04 9.92241678e-01 1.36908860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:172.92, Z:13.70 [[ 1.97682537e-01 -9.79618772e-01 -3.56184850e-02 1.55270864e+02] [ 9.72367985e-01 2.00563495e-01 -1.19477133e-01 1.72922968e+02] [ 1.24185810e-01 -1.10157318e-02 9.92197832e-01 1.36975324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:172.95, Z:13.70 [[ 1.98717297e-01 -9.79702019e-01 -2.63702527e-02 1.55271953e+02] [ 9.72270176e-01 2.00452130e-01 -1.20456003e-01 1.72949802e+02] [ 1.23296963e-01 -1.70231894e-03 9.92368360e-01 1.36981265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.28, Y:172.98, Z:13.70 [[ 1.99849338e-01 -9.79467827e-01 -2.65144924e-02 1.55279167e+02] [ 9.71924680e-01 2.01594794e-01 -1.21334064e-01 1.72975506e+02] [ 1.24187996e-01 -1.52155710e-03 9.92257540e-01 1.37027645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63275509600004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:155.28, Y:173.00, Z:13.70 [[ 1.99333773e-01 -9.79582143e-01 -2.61700458e-02 1.55284178e+02] [ 9.72209090e-01 2.01038523e-01 -1.19970823e-01 1.73001979e+02] [ 1.22782463e-01 -1.52851964e-03 9.92432431e-01 1.37028948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:173.03, Z:13.72 [[ 2.01225904e-01 -9.78765632e-01 -3.90637134e-02 1.55299412e+02] [ 9.71578237e-01 2.04506361e-01 -1.19217770e-01 1.73027923e+02] [ 1.24675034e-01 -1.39637502e-02 9.92099365e-01 1.37158621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.29, Y:173.06, Z:13.71 [[ 2.01011509e-01 -9.79551693e-01 -8.53543049e-03 1.55285762e+02] [ 9.71608814e-01 2.00476352e-01 -1.25640539e-01 1.73056340e+02] [ 1.24782555e-01 1.69620950e-02 9.92039113e-01 1.37086045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.30, Y:173.08, Z:13.72 [[ 2.00549248e-01 -9.79333067e-01 -2.62057865e-02 1.55301498e+02] [ 9.71711096e-01 2.02251648e-01 -1.21950060e-01 1.73079718e+02] [ 1.24729890e-01 -1.00746077e-03 9.92190224e-01 1.37170264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:173.10, Z:13.72 [[ 2.00617111e-01 -9.79322787e-01 -2.60701636e-02 1.55307072e+02] [ 9.71750199e-01 2.02301707e-01 -1.21554804e-01 1.73104374e+02] [ 1.24315428e-01 -9.47713119e-04 9.92242297e-01 1.37200796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.31, Y:173.13, Z:13.72 [[ 1.99853818e-01 -9.79415714e-01 -2.83427393e-02 1.55314161e+02] [ 9.72042889e-01 2.01822031e-01 -1.20002041e-01 1.73130968e+02] [ 1.23252074e-01 -3.56749222e-03 9.92368983e-01 1.37243691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:173.16, Z:13.73 [[ 1.99098609e-01 -9.79590866e-01 -2.75949261e-02 1.55318663e+02] [ 9.72316454e-01 2.00977947e-01 -1.19199738e-01 1.73157057e+02] [ 1.22312946e-01 -3.09849884e-03 9.92486747e-01 1.37266517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:173.18, Z:13.73 [[ 1.96992004e-01 -9.80090255e-01 -2.48443666e-02 1.55321548e+02] [ 9.72716884e-01 1.98551789e-01 -1.19996045e-01 1.73184412e+02] [ 1.22539847e-01 -5.28273586e-04 9.92463454e-01 1.37297534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87275509600005 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:155.33, Y:173.21, Z:13.73 [[ 1.95556060e-01 -9.80291631e-01 -2.80383064e-02 1.55327973e+02] [ 9.73262409e-01 1.97507815e-01 -1.17264432e-01 1.73209170e+02] [ 1.20491126e-01 -4.35685947e-03 9.92704844e-01 1.37334416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:173.24, Z:13.74 [[ 1.94302664e-01 -9.80577799e-01 -2.67143268e-02 1.55332094e+02] [ 9.73536634e-01 1.96104295e-01 -1.17343635e-01 1.73235031e+02] [ 1.20303358e-01 -3.20719486e-03 9.92731996e-01 1.37359629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.33, Y:173.26, Z:13.74 [[ 1.93223364e-01 -9.80930241e-01 -2.09903382e-02 1.55333444e+02] [ 9.73706163e-01 1.94343703e-01 -1.18856358e-01 1.73260930e+02] [ 1.20669136e-01 2.52740375e-03 9.92689565e-01 1.37371480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.962755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.34, Y:173.29, Z:13.74 [[ 1.92271189e-01 -9.81046458e-01 -2.40756508e-02 1.55340376e+02] [ 9.73792228e-01 1.93771894e-01 -1.19084634e-01 1.73285341e+02] [ 1.21492742e-01 -5.48137533e-04 9.92592169e-01 1.37413817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:173.31, Z:13.75 [[ 1.91385521e-01 -9.81111260e-01 -2.81474303e-02 1.55347617e+02] [ 9.74074890e-01 1.93380960e-01 -1.17396391e-01 1.73311554e+02] [ 1.20622098e-01 -4.94973562e-03 9.92686159e-01 1.37465321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:173.34, Z:13.74 [[ 1.89500594e-01 -9.81802901e-01 -1.23526616e-02 1.55339766e+02] [ 9.74564897e-01 1.89606665e-01 -1.19467878e-01 1.73338639e+02] [ 1.19636057e-01 1.06007636e-02 9.92761219e-01 1.37413257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:155.35, Y:173.36, Z:13.74 [[ 1.87805267e-01 -9.82082002e-01 -1.56244336e-02 1.55345415e+02] [ 9.75017311e-01 1.88328203e-01 -1.17786802e-01 1.73363951e+02] [ 1.18618820e-01 6.88688861e-03 9.92915981e-01 1.37412226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:173.39, Z:13.76 [[ 1.90535087e-01 -9.80607225e-01 -4.58895478e-02 1.55371067e+02] [ 9.74280580e-01 1.94620935e-01 -1.13578360e-01 1.73385977e+02] [ 1.20306827e-01 -2.30686324e-02 9.92468692e-01 1.37597317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.35, Y:173.42, Z:13.75 [[ 1.88896373e-01 -9.81956452e-01 -8.92673161e-03 1.55351822e+02] [ 9.74983382e-01 1.88624003e-01 -1.17594173e-01 1.73417216e+02] [ 1.17156153e-01 1.35096979e-02 9.93021613e-01 1.37467941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.36, Y:173.44, Z:13.75 [[ 1.87723027e-01 -9.82144077e-01 -1.23724445e-02 1.55359167e+02] [ 9.74886201e-01 1.87842843e-01 -1.19632612e-01 1.73444659e+02] [ 1.19820536e-01 1.03960705e-02 9.92741135e-01 1.37514438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:173.47, Z:13.76 [[ 1.87215722e-01 -9.81909221e-01 -2.83646937e-02 1.55374356e+02] [ 9.75172628e-01 1.89252911e-01 -1.14985572e-01 1.73466068e+02] [ 1.18273494e-01 -6.13336601e-03 9.92962115e-01 1.37584971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:173.49, Z:13.77 [[ 1.86982088e-01 -9.81711670e-01 -3.57756326e-02 1.55386786e+02] [ 9.74695745e-01 1.89940818e-01 -1.17858773e-01 1.73491191e+02] [ 1.22498586e-01 -1.28328774e-02 9.92385718e-01 1.37700102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:173.52, Z:13.77 [[ 1.85870710e-01 -9.82092120e-01 -3.07757558e-02 1.55389209e+02] [ 9.75187510e-01 1.88216271e-01 -1.16550225e-01 1.73518221e+02] [ 1.20255556e-01 -8.34885954e-03 9.92707861e-01 1.37708337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:173.54, Z:13.77 [[ 1.85188593e-01 -9.82421061e-01 -2.35381474e-02 1.55389979e+02] [ 9.75285570e-01 1.86675438e-01 -1.18196183e-01 1.73544709e+02] [ 1.20512414e-01 -1.06783066e-03 9.92711246e-01 1.37719484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.39, Y:173.57, Z:13.78 [[ 1.84236395e-01 -9.82667513e-01 -2.05307035e-02 1.55393052e+02] [ 9.75225902e-01 1.85363509e-01 -1.20726178e-01 1.73571807e+02] [ 1.22439336e-01 2.22008195e-03 9.92473516e-01 1.37751170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:173.60, Z:13.78 [[ 1.83803316e-01 -9.82532285e-01 -2.90972489e-02 1.55403335e+02] [ 9.75506056e-01 1.85968303e-01 -1.17489254e-01 1.73596354e+02] [ 1.20848151e-01 -6.78962808e-03 9.92647785e-01 1.37800671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.41, Y:173.62, Z:13.78 [[ 1.83279696e-01 -9.82631855e-01 -2.90377311e-02 1.55408653e+02] [ 9.75718061e-01 1.85434849e-01 -1.16568360e-01 1.73621442e+02] [ 1.19928391e-01 -6.96802519e-03 9.92758091e-01 1.37827300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:173.65, Z:13.80 [[ 1.85791301e-01 -9.81292385e-01 -5.04663114e-02 1.55430075e+02] [ 9.74837065e-01 1.90521119e-01 -1.15734177e-01 1.73645328e+02] [ 1.23183965e-01 -2.76940275e-02 9.91997355e-01 1.37978952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:173.68, Z:13.78 [[ 1.82385020e-01 -9.83226973e-01 -6.50461362e-04 1.55402550e+02] [ 9.75851881e-01 1.81097766e-01 -1.22133967e-01 1.73678014e+02] [ 1.20203208e-01 2.16406521e-02 9.92513411e-01 1.37805927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.41, Y:173.70, Z:13.78 [[ 1.81782327e-01 -9.83316996e-01 -6.54764279e-03 1.55410318e+02] [ 9.76409802e-01 1.81286482e-01 -1.17299232e-01 1.73703900e+02] [ 1.16529327e-01 1.49297446e-02 9.93075032e-01 1.37794380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:173.72, Z:13.79 [[ 1.82962330e-01 -9.82794958e-01 -2.52756000e-02 1.55426635e+02] [ 9.76379430e-01 1.84653268e-01 -1.12189030e-01 1.73723831e+02] [ 1.14926036e-01 -4.15220954e-03 9.93365374e-01 1.37874220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:173.75, Z:13.79 [[ 1.82050594e-01 -9.83063380e-01 -2.10706314e-02 1.55428923e+02] [ 9.76463468e-01 1.83265855e-01 -1.13722128e-01 1.73752060e+02] [ 1.15657587e-01 1.28479153e-04 9.93289135e-01 1.37900124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:173.78, Z:13.80 [[ 1.83150888e-01 -9.82726467e-01 -2.65413328e-02 1.55436950e+02] [ 9.76037320e-01 1.84998567e-01 -1.14571725e-01 1.73778623e+02] [ 1.17502775e-01 -4.92141806e-03 9.93060359e-01 1.37964511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:173.80, Z:13.81 [[ 1.84028177e-01 -9.82409862e-01 -3.16937520e-02 1.55445017e+02] [ 9.75473350e-01 1.86500648e-01 -1.16915578e-01 1.73802675e+02] [ 1.20769922e-01 -9.40064969e-03 9.92636013e-01 1.38052688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:173.83, Z:13.81 [[ 1.84832502e-01 -9.82474886e-01 -2.40841356e-02 1.55444655e+02] [ 9.75276981e-01 1.86388600e-01 -1.18718572e-01 1.73827296e+02] [ 1.21127024e-01 -1.54565239e-03 9.92635812e-01 1.38056262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:155.45, Y:173.86, Z:13.81 [[ 1.83422088e-01 -9.82622728e-01 -2.84413836e-02 1.55451542e+02] [ 9.75621537e-01 1.85509106e-01 -1.17256078e-01 1.73855568e+02] [ 1.20494623e-01 -6.24067177e-03 9.92694364e-01 1.38083288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:173.88, Z:13.81 [[ 1.85445024e-01 -9.82477517e-01 -1.86566663e-02 1.55452273e+02] [ 9.75180657e-01 1.86338576e-01 -1.19585210e-01 1.73884841e+02] [ 1.20966237e-01 3.98286194e-03 9.92648632e-01 1.38093249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.47, Y:173.91, Z:13.83 [[ 1.86610048e-01 -9.81449623e-01 -4.39696240e-02 1.55474278e+02] [ 9.74401549e-01 1.90610319e-01 -1.19202885e-01 1.73909585e+02] [ 1.25372691e-01 -2.05996136e-02 9.91895833e-01 1.38254445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:173.94, Z:13.82 [[ 1.83724202e-01 -9.82898458e-01 -1.24915311e-02 1.55456576e+02] [ 9.75419129e-01 1.83869620e-01 -1.21447457e-01 1.73937688e+02] [ 1.21667331e-01 1.01283587e-02 9.92519258e-01 1.38154144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.47, Y:173.96, Z:13.82 [[ 1.81673855e-01 -9.83113275e-01 -2.19749479e-02 1.55465589e+02] [ 9.75554166e-01 1.82996833e-01 -1.21680846e-01 1.73963719e+02] [ 1.23647401e-01 6.68476398e-04 9.92325991e-01 1.38215796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.47, Y:173.99, Z:13.82 [[ 1.81286282e-01 -9.83301584e-01 -1.59147339e-02 1.55466208e+02] [ 9.75246767e-01 1.81837536e-01 -1.25812777e-01 1.73990929e+02] [ 1.26605799e-01 7.28733768e-03 9.91926341e-01 1.38243748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:174.01, Z:13.83 [[ 1.82113525e-01 -9.82563308e-01 -3.74701147e-02 1.55484168e+02] [ 9.75479952e-01 1.85327740e-01 -1.18711805e-01 1.74012908e+02] [ 1.23586115e-01 -1.49323205e-02 9.92221496e-01 1.38325411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:174.04, Z:13.83 [[ 1.82292647e-01 -9.82940450e-01 -2.44430275e-02 1.55481290e+02] [ 9.75463162e-01 1.83915461e-01 -1.21023648e-01 1.74041616e+02] [ 1.23454490e-01 -1.78155166e-03 9.92348636e-01 1.38318644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86275509600006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.48, Y:174.07, Z:13.83 [[ 1.80769389e-01 -9.83389433e-01 -1.63600658e-02 1.55480846e+02] [ 9.75864152e-01 1.81408614e-01 -1.21573322e-01 1.74069958e+02] [ 1.22521777e-01 6.01153331e-03 9.92447619e-01 1.38283529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:174.09, Z:13.84 [[ 1.81911767e-01 -9.82794145e-01 -3.19965185e-02 1.55495106e+02] [ 9.75545174e-01 1.84461268e-01 -1.19522607e-01 1.74093111e+02] [ 1.23368237e-01 -9.47148050e-03 9.92315761e-01 1.38411971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:174.12, Z:13.84 [[ 1.81336976e-01 -9.83121199e-01 -2.42818815e-02 1.55495247e+02] [ 9.75659108e-01 1.82946968e-01 -1.20911997e-01 1.74121102e+02] [ 1.23313444e-01 -1.76502296e-03 9.92366202e-01 1.38422972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:174.15, Z:13.85 [[ 1.80944849e-01 -9.83196396e-01 -2.41621275e-02 1.55499881e+02] [ 9.75780822e-01 1.82542403e-01 -1.20540691e-01 1.74147178e+02] [ 1.22925786e-01 -1.76572345e-03 9.92414295e-01 1.38454486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:174.17, Z:13.85 [[ 1.80601255e-01 -9.83260598e-01 -2.41201803e-02 1.55504443e+02] [ 9.75849636e-01 1.82196184e-01 -1.20507423e-01 1.74172632e+02] [ 1.22884806e-01 -1.77387736e-03 9.92419356e-01 1.38487852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.51, Y:174.20, Z:13.85 [[ 1.78736997e-01 -9.83604959e-01 -2.39660255e-02 1.55509878e+02] [ 9.76263136e-01 1.80326000e-01 -1.19970090e-01 1.74198963e+02] [ 1.22324873e-01 -1.95405367e-03 9.92488190e-01 1.38505364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.51, Y:174.23, Z:13.85 [[ 1.78353894e-01 -9.83927825e-01 -8.71344927e-03 1.55507562e+02] [ 9.76714670e-01 1.78105635e-01 -1.19611184e-01 1.74230454e+02] [ 1.19240687e-01 1.28225667e-02 9.92782575e-01 1.38472889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:174.25, Z:13.86 [[ 1.75949870e-01 -9.83652758e-01 -3.83261533e-02 1.55529297e+02] [ 9.76949202e-01 1.79266748e-01 -1.15903792e-01 1.74250536e+02] [ 1.20879690e-01 -1.70494477e-02 9.92520739e-01 1.38642183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:174.28, Z:13.86 [[ 1.74498011e-01 -9.84375979e-01 -2.35451788e-02 1.55525725e+02] [ 9.77213854e-01 1.76064026e-01 -1.18551858e-01 1.74279349e+02] [ 1.20845060e-01 -2.32161159e-03 9.92668667e-01 1.38634432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13275509600004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:155.53, Y:174.31, Z:13.86 [[ 1.72605167e-01 -9.84708914e-01 -2.35756463e-02 1.55530771e+02] [ 9.77503104e-01 1.74189617e-01 -1.18935521e-01 1.74305366e+02] [ 1.21223500e-01 -2.51638199e-03 9.92622048e-01 1.38638770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.52, Y:174.34, Z:13.86 [[ 1.69099730e-01 -9.85590886e-01 -3.98583168e-03 1.55523495e+02] [ 9.78615950e-01 1.68380826e-01 -1.18147029e-01 1.74336317e+02] [ 1.17115773e-01 1.60780323e-02 9.92988113e-01 1.38581831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:174.36, Z:13.88 [[ 1.68566117e-01 -9.84800638e-01 -4.18708412e-02 1.55551424e+02] [ 9.78301888e-01 1.72342897e-01 -1.14992789e-01 1.74355210e+02] [ 1.20461114e-01 -2.15784351e-02 9.92483497e-01 1.38781837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.54, Y:174.38, Z:13.87 [[ 1.66283368e-01 -9.85941265e-01 -1.64214225e-02 1.55541374e+02] [ 9.78235873e-01 1.67034159e-01 -1.23102258e-01 1.74383887e+02] [ 1.24114534e-01 4.40583341e-03 9.92258117e-01 1.38748895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:174.41, Z:13.88 [[ 1.66381472e-01 -9.85554001e-01 -3.16309456e-02 1.55555991e+02] [ 9.78046233e-01 1.69025841e-01 -1.21884501e-01 1.74407057e+02] [ 1.25470204e-01 -1.06572046e-02 9.92040146e-01 1.38827284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:174.43, Z:13.88 [[ 1.66114187e-01 -9.85986625e-01 -1.53770006e-02 1.55550070e+02] [ 9.78033293e-01 1.66725469e-01 -1.25113935e-01 1.74432316e+02] [ 1.25924404e-01 5.74398105e-03 9.92023211e-01 1.38810601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:174.46, Z:13.88 [[ 1.64006361e-01 -9.86419313e-01 -8.87992336e-03 1.55549799e+02] [ 9.78604047e-01 1.63827530e-01 -1.24477551e-01 1.74463905e+02] [ 1.24241836e-01 1.17251812e-02 9.92182688e-01 1.38775410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:174.49, Z:13.88 [[ 1.63340283e-01 -9.86335217e-01 -2.15125901e-02 1.55561269e+02] [ 9.78746694e-01 1.64747114e-01 -1.22120011e-01 1.74488908e+02] [ 1.23995405e-01 -1.10825930e-03 9.92282173e-01 1.38833727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:174.51, Z:13.89 [[ 1.64653235e-01 -9.85843766e-01 -3.16446032e-02 1.55573168e+02] [ 9.78141380e-01 1.67329473e-01 -1.23451561e-01 1.74514088e+02] [ 1.26999026e-01 -1.06261970e-02 9.91845921e-01 1.38930298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:174.54, Z:13.91 [[ 1.66531734e-01 -9.85098183e-01 -4.29971098e-02 1.55586233e+02] [ 9.77252080e-01 1.70698748e-01 -1.25858295e-01 1.74538336e+02] [ 1.31322330e-01 -2.10596150e-02 9.91116006e-01 1.39064665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.56, Y:174.57, Z:13.89 [[ 1.66767410e-01 -9.85995151e-01 -1.48098132e-03 1.55563657e+02] [ 9.77432316e-01 1.65516287e-01 -1.31264717e-01 1.74570400e+02] [ 1.29671501e-01 2.04431179e-02 9.91346247e-01 1.38923063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.60, Y:174.59, Z:13.92 [[ 1.67705415e-01 -9.84641124e-01 -4.85463813e-02 1.55597097e+02] [ 9.77233904e-01 1.72531700e-01 -1.23477569e-01 1.74589856e+02] [ 1.29956882e-01 -2.67333127e-02 9.91159189e-01 1.39154305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:174.62, Z:13.91 [[ 1.71718097e-01 -9.84889873e-01 -2.24684997e-02 1.55587658e+02] [ 9.76217886e-01 1.73181197e-01 -1.30410551e-01 1.74622148e+02] [ 1.32331153e-01 4.59700541e-04 9.91205455e-01 1.39124913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.59, Y:174.65, Z:13.92 [[ 1.70665145e-01 -9.84920923e-01 -2.83581305e-02 1.55593670e+02] [ 9.76656787e-01 1.72903020e-01 -1.27460059e-01 1.74647304e+02] [ 1.30441285e-01 -5.94317106e-03 9.91438223e-01 1.39172659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.60, Y:174.67, Z:13.92 [[ 1.71384482e-01 -9.84890409e-01 -2.48644508e-02 1.55595914e+02] [ 9.76507135e-01 1.73163480e-01 -1.28250635e-01 1.74673949e+02] [ 1.30618436e-01 -2.30014497e-03 9.91430045e-01 1.39194894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:174.70, Z:13.92 [[ 1.73403259e-01 -9.84538627e-01 -2.47992440e-02 1.55600033e+02] [ 9.76161881e-01 1.75156394e-01 -1.28172614e-01 1.74700621e+02] [ 1.30534635e-01 -1.98252772e-03 9.91441768e-01 1.39240322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:174.73, Z:13.93 [[ 1.73076531e-01 -9.84597256e-01 -2.47539594e-02 1.55605027e+02] [ 9.76219860e-01 1.74826552e-01 -1.28181360e-01 1.74727688e+02] [ 1.30534664e-01 -1.98012163e-03 9.91441769e-01 1.39274929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:174.75, Z:13.93 [[ 1.73916633e-01 -9.84449717e-01 -2.47337639e-02 1.55609386e+02] [ 9.76053916e-01 1.75657106e-01 -1.28309528e-01 1.74754002e+02] [ 1.30658940e-01 -1.82632608e-03 9.91425694e-01 1.39309083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:174.78, Z:13.93 [[ 1.74140209e-01 -9.84409617e-01 -2.47566878e-02 1.55613395e+02] [ 9.75960971e-01 1.75882486e-01 -1.28707163e-01 1.74779320e+02] [ 1.31054837e-01 -1.74846890e-03 9.91373579e-01 1.39348108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:174.81, Z:13.94 [[ 1.76932423e-01 -9.83745401e-01 -3.06578422e-02 1.55623486e+02] [ 9.75417355e-01 1.79421769e-01 -1.27940662e-01 1.74808544e+02] [ 1.31361722e-01 -7.26734008e-03 9.91307865e-01 1.39406990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:174.84, Z:13.94 [[ 1.76286063e-01 -9.84179088e-01 -1.77411109e-02 1.55619560e+02] [ 9.75744989e-01 1.77095010e-01 -1.28682062e-01 1.74837400e+02] [ 1.29788056e-01 5.37405404e-03 9.91527196e-01 1.39391611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.62, Y:174.86, Z:13.94 [[ 1.74955586e-01 -9.84448091e-01 -1.58902478e-02 1.55621915e+02] [ 9.76215482e-01 1.75546109e-01 -1.27227731e-01 1.74862883e+02] [ 1.28038568e-01 6.74689622e-03 9.91746240e-01 1.39377412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:174.89, Z:13.94 [[ 1.73651138e-01 -9.84533580e-01 -2.32144597e-02 1.55630955e+02] [ 9.76376404e-01 1.75194561e-01 -1.26475230e-01 1.74889781e+02] [ 1.28586159e-01 -7.03482886e-04 9.91698092e-01 1.39445580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:174.91, Z:13.96 [[ 1.73182260e-01 -9.84079414e-01 -3.99451126e-02 1.55647328e+02] [ 9.76192494e-01 1.76889791e-01 -1.25531737e-01 1.74914925e+02] [ 1.30599081e-01 -1.72542492e-02 9.91285111e-01 1.39575414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85275509600007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.63, Y:174.94, Z:13.95 [[ 1.69364598e-01 -9.85482440e-01 -1.18318948e-02 1.55634470e+02] [ 9.76980656e-01 1.69459311e-01 -1.29585261e-01 1.74943939e+02] [ 1.29709024e-01 1.03876233e-02 9.91497689e-01 1.39476529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:174.96, Z:13.96 [[ 1.68227028e-01 -9.85371923e-01 -2.72367422e-02 1.55647189e+02] [ 9.77010654e-01 1.70342950e-01 -1.28193064e-01 1.74963311e+02] [ 1.30957433e-01 -5.04504918e-03 9.91375155e-01 1.39602138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:174.99, Z:13.96 [[ 1.65260914e-01 -9.85714421e-01 -3.24947729e-02 1.55654884e+02] [ 9.77921296e-01 1.68049191e-01 -1.24215169e-01 1.74988578e+02] [ 1.27901404e-01 -1.12494180e-02 9.91723087e-01 1.39637284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.65, Y:175.02, Z:13.96 [[ 1.64244992e-01 -9.86368126e-01 -1.00748521e-02 1.55646979e+02] [ 9.78394898e-01 1.64200476e-01 -1.25624944e-01 1.75019841e+02] [ 1.25566736e-01 1.07760840e-02 9.92026648e-01 1.39565630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97275509600007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.67, Y:175.04, Z:13.97 [[ 1.63338388e-01 -9.85880670e-01 -3.68764892e-02 1.55667009e+02] [ 9.78328175e-01 1.66682104e-01 -1.22845670e-01 1.75040538e+02] [ 1.27257823e-01 -1.60118946e-02 9.91740423e-01 1.39696559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.66, Y:175.07, Z:13.97 [[ 1.63150848e-01 -9.86321729e-01 -2.34786464e-02 1.55663375e+02] [ 9.78357664e-01 1.64811717e-01 -1.25113463e-01 1.75067361e+02] [ 1.27271683e-01 -2.55814609e-03 9.91864595e-01 1.39689597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:175.09, Z:13.97 [[ 1.63563541e-01 -9.86253897e-01 -2.34567242e-02 1.55667447e+02] [ 9.78271062e-01 1.65218636e-01 -1.25253872e-01 1.75093032e+02] [ 1.27407607e-01 -2.46006771e-03 9.91847392e-01 1.39740179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.67, Y:175.12, Z:13.98 [[ 1.65377986e-01 -9.85949296e-01 -2.35394783e-02 1.55671830e+02] [ 9.77875003e-01 1.67030495e-01 -1.25941623e-01 1.75119020e+02] [ 1.28103865e-01 -2.19069542e-03 9.91758338e-01 1.39771093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.68, Y:175.14, Z:13.98 [[ 1.66100703e-01 -9.85825343e-01 -2.36421054e-02 1.55676082e+02] [ 9.77646946e-01 1.67762149e-01 -1.26737169e-01 1.75144680e+02] [ 1.28906964e-01 -2.06249924e-03 9.91654547e-01 1.39796224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.68, Y:175.17, Z:13.98 [[ 1.67084299e-01 -9.85657807e-01 -2.36965082e-02 1.55680171e+02] [ 9.77407676e-01 1.68745652e-01 -1.27275838e-01 1.75170078e+02] [ 1.29449107e-01 -1.89535475e-03 9.91584256e-01 1.39830416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.152755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:155.68, Y:175.19, Z:13.98 [[ 1.69295286e-01 -9.85272985e-01 -2.40052363e-02 1.55683730e+02] [ 9.76765011e-01 1.70981496e-01 -1.29210842e-01 1.75194493e+02] [ 1.31412403e-01 -1.57268850e-03 9.91326539e-01 1.39829713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18275509600005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:155.69, Y:175.22, Z:13.99 [[ 1.70634362e-01 -9.85041278e-01 -2.40332118e-02 1.55688451e+02] [ 9.76473410e-01 1.72313289e-01 -1.29644940e-01 1.75221153e+02] [ 1.31846860e-01 -1.34591047e-03 9.91269184e-01 1.39864811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:175.25, Z:13.99 [[ 1.73134061e-01 -9.84605039e-01 -2.40315174e-02 1.55692910e+02] [ 9.75999348e-01 1.74791263e-01 -1.29897216e-01 1.75246313e+02] [ 1.32097953e-01 -9.65112761e-04 9.91236198e-01 1.39924989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.73, Y:175.27, Z:14.02 [[ 1.80361315e-01 -9.81613939e-01 -6.24809622e-02 1.55727729e+02] [ 9.72617779e-01 1.87453382e-01 -1.37389543e-01 1.75268942e+02] [ 1.46575758e-01 -3.59903359e-02 9.88544507e-01 1.40218781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.68, Y:175.30, Z:13.99 [[ 1.73729774e-01 -9.84611450e-01 1.89276907e-02 1.55677820e+02] [ 9.75197639e-01 1.69328653e-01 -1.42539023e-01 1.75304880e+02] [ 1.37140554e-01 4.32215115e-02 9.89608190e-01 1.39934519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:175.32, Z:14.02 [[ 1.74065664e-01 -9.82832090e-01 -6.11737447e-02 1.55732633e+02] [ 9.75368868e-01 1.80624451e-01 -1.26611131e-01 1.75321524e+02] [ 1.35486956e-01 -3.76283156e-02 9.90064339e-01 1.40217977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.332755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.73, Y:175.35, Z:14.03 [[ 1.73880113e-01 -9.83417268e-01 -5.15381786e-02 1.55734863e+02] [ 9.75094194e-01 1.79253506e-01 -1.30611993e-01 1.75351533e+02] [ 1.37684489e-01 -2.75437506e-02 9.90093088e-01 1.40266505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.72, Y:175.38, Z:14.02 [[ 1.71031825e-01 -9.85102317e-01 -1.79315168e-02 1.55721147e+02] [ 9.76087832e-01 1.71888918e-01 -1.33066694e-01 1.75382202e+02] [ 1.34166538e-01 5.25590419e-03 9.90944860e-01 1.40197625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:155.74, Y:175.41, Z:14.03 [[ 1.67953657e-01 -9.85200883e-01 -3.42168026e-02 1.55736000e+02] [ 9.76937627e-01 1.70986760e-01 -1.27892144e-01 1.75406508e+02] [ 1.31850073e-01 -1.19477287e-02 9.91197664e-01 1.40267036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.70, Y:175.43, Z:14.00 [[ 1.61665164e-01 -9.86623480e-01 2.09399922e-02 1.55702472e+02] [ 9.79259565e-01 1.57760312e-01 -1.27131383e-01 1.75434661e+02] [ 1.22127308e-01 4.10584035e-02 9.91664827e-01 1.40043530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.74, Y:175.45, Z:14.02 [[ 1.60363038e-01 -9.86813431e-01 -2.19760818e-02 1.55736441e+02] [ 9.79038133e-01 1.61853034e-01 -1.23644368e-01 1.75454945e+02] [ 1.25570818e-01 -1.68743563e-03 9.92083223e-01 1.40212374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48275509600006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:155.74, Y:175.48, Z:14.02 [[ 1.57655414e-01 -9.87265319e-01 -2.12593476e-02 1.55739171e+02] [ 9.79970364e-01 1.59070449e-01 -1.19811009e-01 1.75481898e+02] [ 1.21666988e-01 -1.94467634e-03 9.92569072e-01 1.40204668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51275509600003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:155.74, Y:175.51, Z:14.02 [[ 1.55409552e-01 -9.87619260e-01 -2.13557785e-02 1.55744773e+02] [ 9.80232646e-01 1.56854665e-01 -1.20584304e-01 1.75507223e+02] [ 1.22441134e-01 -2.19367868e-03 9.92473353e-01 1.40237300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.75, Y:175.53, Z:14.03 [[ 1.54524356e-01 -9.87763656e-01 -2.10993867e-02 1.55749182e+02] [ 9.80524100e-01 1.55942123e-01 -1.19392391e-01 1.75531983e+02] [ 1.21221748e-01 -2.23942487e-03 9.92622926e-01 1.40287136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.75, Y:175.56, Z:14.03 [[ 1.52110952e-01 -9.88201646e-01 -1.78819606e-02 1.55751960e+02] [ 9.80687214e-01 1.53155389e-01 -1.21638872e-01 1.75560184e+02] [ 1.22942452e-01 9.65994478e-04 9.92413331e-01 1.40307501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:175.58, Z:14.04 [[ 1.52056287e-01 -9.88052134e-01 -2.51369591e-02 1.55760623e+02] [ 9.80902891e-01 1.53979133e-01 -1.18827378e-01 1.75582246e+02] [ 1.21278211e-01 -6.58846596e-03 9.92596689e-01 1.40369149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:175.61, Z:14.04 [[ 1.50691249e-01 -9.88358512e-01 -2.09666003e-02 1.55763746e+02] [ 9.81113932e-01 1.52121213e-01 -1.19476315e-01 1.75609321e+02] [ 1.21274898e-01 -2.56658846e-03 9.92615641e-01 1.40390807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66275509600007 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:155.77, Y:175.64, Z:14.04 [[ 1.50141828e-01 -9.88437008e-01 -2.12064534e-02 1.55769183e+02] [ 9.80993844e-01 1.51609408e-01 -1.21101881e-01 1.75635463e+02] [ 1.22916678e-01 -2.62094256e-03 9.92413533e-01 1.40404084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:175.66, Z:14.05 [[ 1.49598641e-01 -9.88526490e-01 -2.08716522e-02 1.55773205e+02] [ 9.81286498e-01 1.51025028e-01 -1.19449782e-01 1.75662343e+02] [ 1.21231416e-01 -2.61154535e-03 9.92620836e-01 1.40451107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:175.69, Z:14.08 [[ 1.54568961e-01 -9.85531507e-01 -6.95419611e-02 1.55813711e+02] [ 9.79408057e-01 1.62100564e-01 -1.20346438e-01 1.75688274e+02] [ 1.29877998e-01 -4.95081330e-02 9.90293214e-01 1.40778580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.76, Y:175.72, Z:14.04 [[ 1.49277575e-01 -9.88542072e-01 2.23780619e-02 1.55756432e+02] [ 9.81210603e-01 1.45296795e-01 -1.26943275e-01 1.75720644e+02] [ 1.22237307e-01 4.09073758e-02 9.91657515e-01 1.40397342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:175.74, Z:14.05 [[ 1.50032084e-01 -9.88461799e-01 -2.08241473e-02 1.55786778e+02] [ 9.81164339e-01 1.51450693e-01 -1.19913419e-01 1.75742001e+02] [ 1.21683666e-01 -2.44105061e-03 9.92565931e-01 1.40539947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:175.77, Z:14.06 [[ 1.50865308e-01 -9.88336673e-01 -2.07431795e-02 1.55791215e+02] [ 9.81063434e-01 1.52267434e-01 -1.19704495e-01 1.75767244e+02] [ 1.21466853e-01 -2.29111929e-03 9.92592844e-01 1.40565925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:175.79, Z:14.06 [[ 1.51658152e-01 -9.88214846e-01 -2.07658946e-02 1.55795228e+02] [ 9.80891345e-01 1.53058085e-01 -1.20105756e-01 1.75792051e+02] [ 1.21868679e-01 -2.15406930e-03 9.92543896e-01 1.40594018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:175.82, Z:14.06 [[ 1.53962502e-01 -9.87858272e-01 -2.07745778e-02 1.55798393e+02] [ 9.80497668e-01 1.55346924e-01 -1.20381292e-01 1.75819174e+02] [ 1.22146922e-01 -1.83522027e-03 9.92510333e-01 1.40623510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:175.84, Z:14.07 [[ 1.55367782e-01 -9.87639397e-01 -2.07189300e-02 1.55801659e+02] [ 9.80284909e-01 1.56734826e-01 -1.20314969e-01 1.75844889e+02] [ 1.22075182e-01 -1.61738449e-03 9.92519538e-01 1.40652037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:175.87, Z:14.07 [[ 1.57432768e-01 -9.87315148e-01 -2.05845202e-02 1.55804798e+02] [ 9.80020865e-01 1.58767362e-01 -1.19799950e-01 1.75871717e+02] [ 1.21548456e-01 -1.31282157e-03 9.92584631e-01 1.40680541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:175.90, Z:14.07 [[ 1.58034601e-01 -9.87219981e-01 -2.05371311e-02 1.55808494e+02] [ 9.79927470e-01 1.59358963e-01 -1.19778436e-01 1.75896560e+02] [ 1.21520441e-01 -1.19576157e-03 9.92588209e-01 1.40708877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:175.92, Z:14.07 [[ 1.58240228e-01 -9.87191048e-01 -2.03436835e-02 1.55812286e+02] [ 9.80000424e-01 1.59538679e-01 -1.18939396e-01 1.75922799e+02] [ 1.20661511e-01 -1.11582137e-03 9.92693082e-01 1.40735136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:175.95, Z:14.08 [[ 1.57960886e-01 -9.87238593e-01 -2.02068809e-02 1.55815757e+02] [ 9.80111818e-01 1.59244307e-01 -1.18414845e-01 1.75947635e+02] [ 1.20121536e-01 -1.10008886e-03 9.92758584e-01 1.40765432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:175.98, Z:14.08 [[ 1.55538319e-01 -9.87741020e-01 -1.32479423e-02 1.55814308e+02] [ 9.80329740e-01 1.55992994e-01 -1.20912312e-01 1.75978655e+02] [ 1.21496636e-01 5.81914591e-03 9.92574786e-01 1.40787820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:176.00, Z:14.08 [[ 1.57250574e-01 -9.87061815e-01 -3.13246078e-02 1.55826481e+02] [ 9.80800451e-01 1.59800363e-01 -1.11777988e-01 1.75996597e+02] [ 1.15337468e-01 -1.31460366e-02 9.93239372e-01 1.40828065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:176.03, Z:14.08 [[ 1.57235947e-01 -9.87448728e-01 -1.48951918e-02 1.55822437e+02] [ 9.80527722e-01 1.57895254e-01 -1.16766756e-01 1.76027923e+02] [ 1.17653065e-01 3.75478297e-03 9.93047661e-01 1.40829020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:176.05, Z:14.09 [[ 1.56286663e-01 -9.87515117e-01 -1.97071676e-02 1.55828807e+02] [ 9.80721331e-01 1.57519273e-01 -1.15643196e-01 1.76053864e+02] [ 1.17303663e-01 -1.25375044e-03 9.93095302e-01 1.40874344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:176.08, Z:14.11 [[ 1.55404159e-01 -9.86559576e-01 -5.04950520e-02 1.55850667e+02] [ 9.80325006e-01 1.60316258e-01 -1.15158932e-01 1.76076981e+02] [ 1.21706325e-01 -3.16053852e-02 9.92062836e-01 1.41068078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.81, Y:176.11, Z:14.08 [[ 1.50620963e-01 -9.88450017e-01 1.67299165e-02 1.55811185e+02] [ 9.81400984e-01 1.47466603e-01 -1.22905289e-01 1.76110975e+02] [ 1.19018631e-01 3.49308695e-02 9.92277381e-01 1.40844292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:176.13, Z:14.10 [[ 1.49906747e-01 -9.88228354e-01 -3.05399394e-02 1.55843276e+02] [ 9.81817943e-01 1.52430485e-01 -1.13130337e-01 1.76130960e+02] [ 1.16453824e-01 -1.30256598e-02 9.93110688e-01 1.41000967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:176.16, Z:14.10 [[ 1.50226004e-01 -9.88456377e-01 -1.96503810e-02 1.55842154e+02] [ 9.81869146e-01 1.51490109e-01 -1.13946158e-01 1.76155703e+02] [ 1.15607645e-01 -2.17642691e-03 9.93292573e-01 1.40988164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:176.19, Z:14.10 [[ 1.45944596e-01 -9.89292724e-01 -2.85184758e-04 1.55831009e+02] [ 9.82092118e-01 1.44917037e-01 -1.20391547e-01 1.76185317e+02] [ 1.19143809e-01 1.72904179e-02 9.92726445e-01 1.40975260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:176.21, Z:14.11 [[ 1.42656393e-01 -9.89610727e-01 -1.78818816e-02 1.55845661e+02] [ 9.82398200e-01 1.43771700e-01 -1.19262208e-01 1.76213223e+02] [ 1.20594069e-01 -5.53611903e-04 9.92701750e-01 1.41061241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:176.24, Z:14.11 [[ 1.41759413e-01 -9.89547825e-01 -2.64456166e-02 1.55854367e+02] [ 9.82688421e-01 1.43895409e-01 -1.16694385e-01 1.76236877e+02] [ 1.19280078e-01 -9.44527374e-03 9.92815718e-01 1.41102509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.86, Y:176.26, Z:14.11 [[ 1.39734924e-01 -9.89939576e-01 -2.22213358e-02 1.55855351e+02] [ 9.83082533e-01 1.41380948e-01 -1.16448103e-01 1.76263899e+02] [ 1.18418259e-01 -5.57354022e-03 9.92948162e-01 1.41116763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.86, Y:176.29, Z:14.11 [[ 1.37642930e-01 -9.90289651e-01 -1.95148826e-02 1.55857430e+02] [ 9.83318189e-01 1.38986236e-01 -1.17337831e-01 1.76291571e+02] [ 1.18910740e-01 -3.03861615e-03 9.92900299e-01 1.41136287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.86, Y:176.32, Z:14.12 [[ 1.36671873e-01 -9.90423783e-01 -1.95327776e-02 1.55861081e+02] [ 9.83409830e-01 1.38025300e-01 -1.17703538e-01 1.76318723e+02] [ 1.19272401e-01 -3.12196253e-03 9.92856660e-01 1.41166546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.86, Y:176.34, Z:14.12 [[ 1.36419759e-01 -9.90459283e-01 -1.94950756e-02 1.55864250e+02] [ 9.83441285e-01 1.37770587e-01 -1.17739141e-01 1.76344667e+02] [ 1.19301673e-01 -3.11031697e-03 9.92853180e-01 1.41189075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:176.37, Z:14.12 [[ 1.36323726e-01 -9.90472239e-01 -1.95086156e-02 1.55867498e+02] [ 9.83411310e-01 1.37677971e-01 -1.18097301e-01 1.76369728e+02] [ 1.19658004e-01 -3.08552923e-03 9.92810375e-01 1.41214410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:176.40, Z:14.12 [[ 1.35969006e-01 -9.90521929e-01 -1.94611826e-02 1.55871564e+02] [ 9.83460403e-01 1.37320128e-01 -1.18105117e-01 1.76396141e+02] [ 1.19658120e-01 -3.08066720e-03 9.92810377e-01 1.41245985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.87, Y:176.42, Z:14.13 [[ 1.35811972e-01 -9.90694491e-01 -8.91814540e-03 1.55868646e+02] [ 9.83065859e-01 1.35873088e-01 -1.22963495e-01 1.76423731e+02] [ 1.23030993e-01 7.93279045e-03 9.92371123e-01 1.41255666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:176.45, Z:14.13 [[ 1.36064459e-01 -9.90241121e-01 -3.01493839e-02 1.55885351e+02] [ 9.83343536e-01 1.38693305e-01 -1.17471940e-01 1.76447390e+02] [ 1.20507064e-01 -1.36634457e-02 9.92618435e-01 1.41333498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:176.47, Z:14.13 [[ 1.36988239e-01 -9.90378248e-01 -1.96251953e-02 1.55883172e+02] [ 9.83087862e-01 1.38357371e-01 -1.19981225e-01 1.76474861e+02] [ 1.21542086e-01 -2.85727449e-03 9.92582167e-01 1.41332755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:176.50, Z:14.14 [[ 1.37414537e-01 -9.90319754e-01 -1.95967073e-02 1.55886894e+02] [ 9.83015272e-01 1.38777373e-01 -1.20090863e-01 1.76499921e+02] [ 1.21647934e-01 -2.76163225e-03 9.92569470e-01 1.41360163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:176.53, Z:14.14 [[ 1.39697427e-01 -9.90192887e-01 -1.63539893e-03 1.55879266e+02] [ 9.82001697e-01 1.38753443e-01 -1.28141134e-01 1.76527062e+02] [ 1.27111356e-01 1.62950221e-02 9.91754594e-01 1.41359761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:176.55, Z:14.15 [[ 1.39562889e-01 -9.89504948e-01 -3.74453862e-02 1.55904554e+02] [ 9.82832354e-01 1.43032069e-01 -1.16543518e-01 1.76549299e+02] [ 1.20676278e-01 -2.05373870e-02 9.92479446e-01 1.41464759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:176.58, Z:14.14 [[ 1.40248183e-01 -9.89929006e-01 -1.92616392e-02 1.55897581e+02] [ 9.82756593e-01 1.41546909e-01 -1.18970384e-01 1.76576226e+02] [ 1.20498659e-01 -2.24412273e-03 9.92710953e-01 1.41445046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:176.60, Z:14.15 [[ 1.41604270e-01 -9.89738669e-01 -1.91206337e-02 1.55901905e+02] [ 9.82633613e-01 1.42875034e-01 -1.18397244e-01 1.76601557e+02] [ 1.19914192e-01 -2.02302209e-03 9.92782199e-01 1.41480041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:176.63, Z:14.16 [[ 1.44251912e-01 -9.88823150e-01 -3.76850598e-02 1.55920861e+02] [ 9.81999807e-01 1.47741453e-01 -1.17681103e-01 1.76629026e+02] [ 1.21933444e-01 -2.00309974e-02 9.92336130e-01 1.41606271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:176.66, Z:14.15 [[ 1.42282614e-01 -9.89823988e-01 -2.03248542e-03 1.55901939e+02] [ 9.82750115e-01 1.41510269e-01 -1.19067441e-01 1.76656920e+02] [ 1.18143426e-01 1.49438014e-02 9.92884089e-01 1.41499105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:176.68, Z:14.16 [[ 1.41863377e-01 -9.89711914e-01 -1.85771163e-02 1.55915864e+02] [ 9.82920235e-01 1.43062751e-01 -1.15762091e-01 1.76680031e+02] [ 1.17228814e-01 -1.83742240e-03 9.93103232e-01 1.41570029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:176.70, Z:14.16 [[ 1.42723433e-01 -9.89674148e-01 -1.32326466e-02 1.55916023e+02] [ 9.83229752e-01 1.43302279e-01 -1.12799429e-01 1.76704095e+02] [ 1.13530948e-01 3.08838994e-03 9.93529660e-01 1.41563823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:176.73, Z:14.16 [[ 1.40586710e-01 -9.89836909e-01 -2.14072534e-02 1.55927153e+02] [ 9.83321966e-01 1.42115940e-01 -1.13494368e-01 1.76732904e+02] [ 1.15383226e-01 -5.09442274e-03 9.93307987e-01 1.41637754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:176.76, Z:14.16 [[ 1.40174334e-01 -9.90065126e-01 -1.10545526e-02 1.55926876e+02] [ 9.83494896e-01 1.40516823e-01 -1.13986019e-01 1.76763246e+02] [ 1.14406933e-01 5.10581818e-03 9.93420850e-01 1.41622941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:176.79, Z:14.17 [[ 1.38874681e-01 -9.90188250e-01 -1.55258905e-02 1.55934533e+02] [ 9.83779101e-01 1.39739437e-01 -1.12479201e-01 1.76788569e+02] [ 1.13545162e-01 3.46466529e-04 9.93532776e-01 1.41650445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:176.81, Z:14.17 [[ 1.38073638e-01 -9.90019960e-01 -2.82161108e-02 1.55946148e+02] [ 9.83734925e-01 1.40390686e-01 -1.12053794e-01 1.76811397e+02] [ 1.14896772e-01 -1.22854986e-02 9.93301464e-01 1.41745534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:176.84, Z:14.17 [[ 1.37284379e-01 -9.90367373e-01 -1.80406902e-02 1.55945042e+02] [ 9.83819620e-01 1.38448179e-01 -1.13714809e-01 1.76839632e+02] [ 1.15117138e-01 -2.13751794e-03 9.93349624e-01 1.41748074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.95, Y:176.87, Z:14.18 [[ 1.35537028e-01 -9.90609764e-01 -1.79446302e-02 1.55950191e+02] [ 9.84103888e-01 1.36700529e-01 -1.13368881e-01 1.76866698e+02] [ 1.14757361e-01 -2.29369910e-03 9.93390903e-01 1.41773148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.94, Y:176.89, Z:14.18 [[ 1.35781488e-01 -9.90738433e-01 8.63369057e-04 1.55942840e+02] [ 9.83438902e-01 1.34675388e-01 -1.21286709e-01 1.76891123e+02] [ 1.20047129e-01 1.73175606e-02 9.92617141e-01 1.41765216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:176.92, Z:14.19 [[ 1.33730293e-01 -9.90357646e-01 -3.61654647e-02 1.55970170e+02] [ 9.84329990e-01 1.36971821e-01 -1.11054901e-01 1.76916026e+02] [ 1.14937720e-01 -2.07473469e-02 9.93156014e-01 1.41885997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:176.94, Z:14.19 [[ 1.33439928e-01 -9.90893320e-01 -1.80059680e-02 1.55963566e+02] [ 9.84249775e-01 1.34627295e-01 -1.14576922e-01 1.76942994e+02] [ 1.15957601e-01 -2.43323381e-03 9.93251184e-01 1.41865068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:176.97, Z:14.19 [[ 1.33176826e-01 -9.90928898e-01 -1.79959025e-02 1.55967922e+02] [ 9.84257430e-01 1.34365382e-01 -1.14818355e-01 1.76969087e+02] [ 1.16194852e-01 -2.42145673e-03 9.93223486e-01 1.41892733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:177.00, Z:14.20 [[ 1.34781155e-01 -9.90536917e-01 -2.58970288e-02 1.55980161e+02] [ 9.83767807e-01 1.36893419e-01 -1.16021956e-01 1.76998236e+02] [ 1.18469164e-01 -9.83908998e-03 9.92908984e-01 1.41962570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:177.02, Z:14.19 [[ 1.33234801e-01 -9.91013889e-01 -1.18304786e-02 1.55973732e+02] [ 9.84041490e-01 1.33699113e-01 -1.17417602e-01 1.77023005e+02] [ 1.17944199e-01 4.00242900e-03 9.93012158e-01 1.41939451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.99, Y:177.05, Z:14.20 [[ 1.34473198e-01 -9.90617889e-01 -2.43548232e-02 1.55987563e+02] [ 9.83561657e-01 1.36423813e-01 -1.18300511e-01 1.77050667e+02] [ 1.20513180e-01 -8.04622218e-03 9.92679118e-01 1.42019359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:177.08, Z:14.20 [[ 1.34685575e-01 -9.90817049e-01 -1.18899781e-02 1.55983854e+02] [ 9.83561733e-01 1.35136571e-01 -1.19768213e-01 1.77079406e+02] [ 1.20275159e-01 4.43652319e-03 9.92730680e-01 1.41994721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.99, Y:177.10, Z:14.21 [[ 1.34055220e-01 -9.90747687e-01 -2.11711829e-02 1.55991143e+02] [ 9.83744850e-01 1.35622737e-01 -1.17696831e-01 1.77101640e+02] [ 1.19479157e-01 -5.04916755e-03 9.92823870e-01 1.42061406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:177.13, Z:14.21 [[ 1.35260762e-01 -9.90611339e-01 -1.98419125e-02 1.55995916e+02] [ 9.83418075e-01 1.36666361e-01 -1.19210716e-01 1.77130415e+02] [ 1.20803209e-01 -3.38836312e-03 9.92670692e-01 1.42091855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:177.16, Z:14.21 [[ 1.35897270e-01 -9.90596811e-01 -1.58079377e-02 1.55997459e+02] [ 9.83397542e-01 1.36812023e-01 -1.19213021e-01 1.77158848e+02] [ 1.20254754e-01 6.55236956e-04 9.92742849e-01 1.42107625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:177.18, Z:14.22 [[ 1.35782535e-01 -9.90568828e-01 -1.83439352e-02 1.56002519e+02] [ 9.83420665e-01 1.37002753e-01 -1.18802533e-01 1.77183820e+02] [ 1.20195255e-01 -1.90849590e-03 9.92748437e-01 1.42150698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:177.21, Z:14.22 [[ 1.35775673e-01 -9.90556877e-01 -1.90273694e-02 1.56007240e+02] [ 9.83521475e-01 1.37075665e-01 -1.17880318e-01 1.77210513e+02] [ 1.19375349e-01 -2.70854686e-03 9.92845501e-01 1.42187851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:177.24, Z:14.22 [[ 1.36577106e-01 -9.90575742e-01 -1.03146735e-02 1.56005687e+02] [ 9.83519728e-01 1.36834775e-01 -1.18174403e-01 1.77235626e+02] [ 1.18472103e-01 5.99523313e-03 9.92939282e-01 1.42180791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.01, Y:177.26, Z:14.22 [[ 1.34869366e-01 -9.90703942e-01 -1.77751094e-02 1.56014436e+02] [ 9.83911798e-01 1.36022833e-01 -1.15824706e-01 1.77264089e+02] [ 1.17165813e-01 -1.86793524e-03 9.93110610e-01 1.42235900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:177.29, Z:14.23 [[ 1.34994126e-01 -9.90646428e-01 -1.99057720e-02 1.56019315e+02] [ 9.83968411e-01 1.36392987e-01 -1.14904832e-01 1.77289741e+02] [ 1.16545069e-01 -4.07517350e-03 9.93177044e-01 1.42283666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:177.32, Z:14.23 [[ 1.33594870e-01 -9.90936909e-01 -1.40161431e-02 1.56018983e+02] [ 9.84326186e-01 1.34320058e-01 -1.14280709e-01 1.77317312e+02] [ 1.15127622e-01 1.47085978e-03 9.93349620e-01 1.42286721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:177.34, Z:14.24 [[ 1.34511699e-01 -9.90651222e-01 -2.27323432e-02 1.56028710e+02] [ 9.84032398e-01 1.36241237e-01 -1.14536305e-01 1.77341907e+02] [ 1.16562613e-01 -6.96288930e-03 9.93158938e-01 1.42364352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:177.37, Z:14.24 [[ 1.32058129e-01 -9.91075085e-01 -1.81886280e-02 1.56026888e+02] [ 9.84142346e-01 1.33282428e-01 -1.17045449e-01 1.77367081e+02] [ 1.18425053e-01 -2.44339599e-03 9.92959987e-01 1.42412473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:177.39, Z:14.24 [[ 1.31920473e-01 -9.91144250e-01 -1.51678638e-02 1.56028476e+02] [ 9.84038446e-01 1.32787728e-01 -1.18472594e-01 1.77391910e+02] [ 1.19437537e-01 7.03199503e-04 9.92841468e-01 1.42436982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:177.42, Z:14.25 [[ 1.30257075e-01 -9.91113987e-01 -2.69473532e-02 1.56038720e+02] [ 9.84612059e-01 1.32500515e-01 -1.13941684e-01 1.77417726e+02] [ 1.16499735e-01 -1.16909784e-02 9.93121912e-01 1.42491098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.04, Y:177.45, Z:14.25 [[ 1.27913185e-01 -9.91633306e-01 -1.73667367e-02 1.56035571e+02] [ 9.84857828e-01 1.29066276e-01 -1.15745218e-01 1.77445564e+02] [ 1.17018273e-01 -2.29842717e-03 9.93127102e-01 1.42492283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:177.47, Z:14.25 [[ 1.26523379e-01 -9.91856089e-01 -1.46059653e-02 1.56037366e+02] [ 9.84940519e-01 1.27363000e-01 -1.16922366e-01 1.77471847e+02] [ 1.17830420e-01 4.07405733e-04 9.93033648e-01 1.42514261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:177.50, Z:14.26 [[ 1.23490242e-01 -9.92173689e-01 -1.84805523e-02 1.56042719e+02] [ 9.85264821e-01 1.24808584e-01 -1.16944641e-01 1.77495955e+02] [ 1.18335927e-01 -3.76671603e-03 9.92966475e-01 1.42550557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:177.52, Z:14.26 [[ 1.20842741e-01 -9.92496105e-01 -1.86685186e-02 1.56046163e+02] [ 9.85612076e-01 1.22201013e-01 -1.16772206e-01 1.77523200e+02] [ 1.18177271e-01 -4.28884391e-03 9.92983252e-01 1.42576554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:177.55, Z:14.26 [[ 1.18887126e-01 -9.92755882e-01 -1.73669505e-02 1.56049097e+02] [ 9.85820089e-01 1.20106591e-01 -1.17188565e-01 1.77550516e+02] [ 1.18425522e-01 -3.18847700e-03 9.92957819e-01 1.42601132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:177.58, Z:14.24 [[ 1.14942769e-01 -9.92773385e-01 3.44842984e-02 1.56019187e+02] [ 9.86948442e-01 1.10189198e-01 -1.17435571e-01 1.77583762e+02] [ 1.12787112e-01 4.75325943e-02 9.92481597e-01 1.42370348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:177.60, Z:14.28 [[ 1.14527828e-01 -9.91406833e-01 -6.32128829e-02 1.56082187e+02] [ 9.86600535e-01 1.20954182e-01 -1.09496441e-01 1.77597833e+02] [ 1.16201382e-01 -4.98254746e-02 9.91975131e-01 1.42772028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:177.63, Z:14.27 [[ 1.13694686e-01 -9.93342605e-01 -1.85469187e-02 1.56059243e+02] [ 9.86662659e-01 1.15079622e-01 -1.15123753e-01 1.77628616e+02] [ 1.16491702e-01 -5.21059315e-03 9.93177997e-01 1.42670691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:177.65, Z:14.27 [[ 1.12352612e-01 -9.93523210e-01 -1.69859192e-02 1.56061108e+02] [ 9.86717557e-01 1.13568754e-01 -1.16149047e-01 1.77654515e+02] [ 1.17325844e-01 -3.71065599e-03 9.93086541e-01 1.42692832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:177.68, Z:14.27 [[ 1.11245934e-01 -9.93696428e-01 -1.38474215e-02 1.56062189e+02] [ 9.86737507e-01 1.12102829e-01 -1.17396965e-01 1.77681529e+02] [ 1.18209280e-01 -6.03835193e-04 9.92988520e-01 1.42715593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:177.71, Z:14.28 [[ 1.12413889e-01 -9.93453344e-01 -2.03364510e-02 1.56069464e+02] [ 9.86696155e-01 1.14021541e-01 -1.15886954e-01 1.77705299e+02] [ 1.17447075e-01 -7.03859478e-03 9.93054199e-01 1.42757301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:177.73, Z:14.28 [[ 1.14813655e-01 -9.93256996e-01 -1.60737318e-02 1.56070456e+02] [ 9.86355486e-01 1.15907845e-01 -1.16911190e-01 1.77731200e+02] [ 1.17985929e-01 -2.43141250e-03 9.93012290e-01 1.42771472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:177.76, Z:14.28 [[ 1.15507647e-01 -9.93154717e-01 -1.73692673e-02 1.56074566e+02] [ 9.86328302e-01 1.16747735e-01 -1.16303253e-01 1.77758558e+02] [ 1.17534947e-01 -3.69788483e-03 9.93061862e-01 1.42801269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:177.78, Z:14.28 [[ 1.16859874e-01 -9.93006023e-01 -1.68169055e-02 1.56077460e+02] [ 9.86133907e-01 1.18026824e-01 -1.16660130e-01 1.77784901e+02] [ 1.17829058e-01 -2.95083267e-03 9.93029509e-01 1.42831826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:177.81, Z:14.28 [[ 1.18021904e-01 -9.92970462e-01 -8.97170132e-03 1.56074298e+02] [ 9.85691033e-01 1.18242119e-01 -1.20133212e-01 1.77812885e+02] [ 1.20349564e-01 5.33502484e-03 9.92717241e-01 1.42847032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:177.84, Z:14.29 [[ 1.20164776e-01 -9.92428354e-01 -2.54241923e-02 1.56087608e+02] [ 9.85803520e-01 1.22309479e-01 -1.15029613e-01 1.77836201e+02] [ 1.17268269e-01 -1.12407505e-02 9.93036655e-01 1.42912341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:177.87, Z:14.29 [[ 1.21233983e-01 -9.92580895e-01 -9.24598391e-03 1.56081414e+02] [ 9.85935359e-01 1.21491355e-01 -1.14766368e-01 1.77866320e+02] [ 1.15038212e-01 4.79764145e-03 9.93349482e-01 1.42870938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:177.89, Z:14.30 [[ 1.20794947e-01 -9.92391189e-01 -2.38392248e-02 1.56092615e+02] [ 9.85812797e-01 1.22744391e-01 -1.14485562e-01 1.77888831e+02] [ 1.16540594e-01 -9.67173552e-03 9.93138836e-01 1.42977794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:177.92, Z:14.30 [[ 1.20749657e-01 -9.92547172e-01 -1.64204796e-02 1.56091878e+02] [ 9.85831042e-01 1.21839958e-01 -1.15291722e-01 1.77915797e+02] [ 1.16433143e-01 -2.26638258e-03 9.93195946e-01 1.42993938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:177.94, Z:14.30 [[ 1.20032125e-01 -9.92637333e-01 -1.62300172e-02 1.56094911e+02] [ 9.86042997e-01 1.21102774e-01 -1.14251157e-01 1.77942038e+02] [ 1.15375464e-01 -2.28968562e-03 9.93319314e-01 1.43029701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:177.97, Z:14.31 [[ 1.19611913e-01 -9.92689880e-01 -1.61180804e-02 1.56098170e+02] [ 9.86150126e-01 1.20671373e-01 -1.13782024e-01 1.77967103e+02] [ 1.14895254e-01 -2.28516148e-03 9.93374984e-01 1.43061692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.08, Y:178.00, Z:14.29 [[ 1.16256724e-01 -9.93092375e-01 1.58716555e-02 1.56080512e+02] [ 9.86853100e-01 1.13690439e-01 -1.14871419e-01 1.78000119e+02] [ 1.12273475e-01 2.90175673e-02 9.93253567e-01 1.42926490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:178.02, Z:14.30 [[ 1.16592687e-01 -9.93044398e-01 -1.64002807e-02 1.56103439e+02] [ 9.87149334e-01 1.17685886e-01 -1.08102847e-01 1.78021262e+02] [ 1.09281008e-01 -3.58552482e-03 9.94004429e-01 1.43028981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:178.05, Z:14.31 [[ 1.16262025e-01 -9.93112131e-01 -1.45409021e-02 1.56105824e+02] [ 9.87133626e-01 1.17155448e-01 -1.08820058e-01 1.78048187e+02] [ 1.09774066e-01 -1.70217306e-03 9.93955108e-01 1.43059860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:178.07, Z:14.33 [[ 1.16436596e-01 -9.92133357e-01 -4.59774045e-02 1.56128823e+02] [ 9.86610013e-01 1.20863348e-01 -1.09511341e-01 1.78068882e+02] [ 1.14206837e-01 -3.26106399e-02 9.92921621e-01 1.43282001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:178.11, Z:14.30 [[ 1.13280239e-01 -9.93369243e-01 1.96248203e-02 1.56091456e+02] [ 9.87116209e-01 1.10276801e-01 -1.15933675e-01 1.78105075e+02] [ 1.13000785e-01 3.25049727e-02 9.93063064e-01 1.43045468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:178.12, Z:14.32 [[ 1.13419251e-01 -9.93219079e-01 -2.55330097e-02 1.56122403e+02] [ 9.87243794e-01 1.15552687e-01 -1.09532041e-01 1.78123984e+02] [ 1.11739720e-01 -1.27842634e-02 9.93655271e-01 1.43199200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:178.16, Z:14.32 [[ 1.10609002e-01 -9.93813798e-01 -9.98915345e-03 1.56115788e+02] [ 9.87402126e-01 1.11028559e-01 -1.12737309e-01 1.78155165e+02] [ 1.13148975e-01 2.60644995e-03 9.93574615e-01 1.43190720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:178.17, Z:14.34 [[ 1.13369809e-01 -9.92499697e-01 -4.57344370e-02 1.56141445e+02] [ 9.86848210e-01 1.17823995e-01 -1.10671213e-01 1.78172779e+02] [ 1.15229759e-01 -3.25861730e-02 9.92804232e-01 1.43408086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:178.21, Z:14.31 [[ 1.09654495e-01 -9.93787117e-01 1.90540742e-02 1.56102901e+02] [ 9.87757634e-01 1.06809299e-01 -1.13695337e-01 1.78208271e+02] [ 1.10953808e-01 3.12880120e-02 9.93332931e-01 1.43148890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:178.23, Z:14.33 [[ 1.09436817e-01 -9.93957125e-01 -8.53332375e-03 1.56122898e+02] [ 9.87418959e-01 1.09694717e-01 -1.13889722e-01 1.78232302e+02] [ 1.14137561e-01 4.03776299e-03 9.93456750e-01 1.43276999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:178.25, Z:14.35 [[ 1.12026930e-01 -9.92924566e-01 -3.93798551e-02 1.56146122e+02] [ 9.86709229e-01 1.15845032e-01 -1.13950977e-01 1.78252493e+02] [ 1.17706685e-01 -2.60908884e-02 9.92705597e-01 1.43462134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:178.28, Z:14.34 [[ 1.12683102e-01 -9.93232788e-01 -2.81273430e-02 1.56142892e+02] [ 9.86970671e-01 1.15155015e-01 -1.12375342e-01 1.78277118e+02] [ 1.14853879e-01 -1.50980604e-02 9.93267655e-01 1.43447457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:178.31, Z:14.33 [[ 1.11320735e-01 -9.93718848e-01 1.14256384e-02 1.56120110e+02] [ 9.87593137e-01 1.09338514e-01 -1.12715951e-01 1.78306963e+02] [ 1.10758703e-01 2.38315046e-02 9.93561558e-01 1.43268905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:178.33, Z:14.34 [[ 1.13343763e-01 -9.93530285e-01 -7.12485586e-03 1.56135760e+02] [ 9.87004063e-01 1.13415625e-01 -1.13841446e-01 1.78332514e+02] [ 1.13912995e-01 5.87095624e-03 9.93473382e-01 1.43363527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:178.35, Z:14.36 [[ 1.14509136e-01 -9.92694543e-01 -3.80158029e-02 1.56157907e+02] [ 9.86440673e-01 1.18149971e-01 -1.13909535e-01 1.78352193e+02] [ 1.17568940e-01 -2.44566517e-02 9.92763525e-01 1.43550492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:178.39, Z:14.35 [[ 1.15608033e-01 -9.93259121e-01 -8.43210251e-03 1.56143804e+02] [ 9.86434798e-01 1.15801433e-01 -1.16346112e-01 1.78385085e+02] [ 1.16538286e-01 5.13282586e-03 9.93172937e-01 1.43477047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:178.41, Z:14.36 [[ 1.14736857e-01 -9.92969165e-01 -2.91151431e-02 1.56158569e+02] [ 9.86335529e-01 1.17360567e-01 -1.15623190e-01 1.78410127e+02] [ 1.18227232e-01 -1.54510585e-02 9.92866349e-01 1.43614062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:178.44, Z:14.35 [[ 1.15673002e-01 -9.93284123e-01 2.53132086e-03 1.56142306e+02] [ 9.86539948e-01 1.14590325e-01 -1.16653279e-01 1.78439247e+02] [ 1.15579785e-01 1.59908841e-02 9.93169474e-01 1.43500348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:178.46, Z:14.36 [[ 1.17633237e-01 -9.93004850e-01 -1.01877317e-02 1.56152594e+02] [ 9.86352616e-01 1.18022993e-01 -1.14800221e-01 1.78462675e+02] [ 1.15199563e-01 3.45562577e-03 9.93336358e-01 1.43568046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:178.49, Z:14.37 [[ 1.17058052e-01 -9.92407213e-01 -3.77536166e-02 1.56172264e+02] [ 9.86369015e-01 1.20604331e-01 -1.11940888e-01 1.78486663e+02] [ 1.15644194e-01 -2.41354153e-02 9.92997433e-01 1.43739660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:178.51, Z:14.37 [[ 1.18213666e-01 -9.92870856e-01 -1.52641099e-02 1.56162140e+02] [ 9.86311000e-01 1.19184538e-01 -1.13954625e-01 1.78514832e+02] [ 1.14961471e-01 -1.58416569e-03 9.93368688e-01 1.43711516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:178.54, Z:14.37 [[ 1.18665791e-01 -9.92817246e-01 -1.52428759e-02 1.56165162e+02] [ 9.86236499e-01 1.19631501e-01 -1.14130941e-01 1.78540660e+02] [ 1.15134695e-01 -1.48964220e-03 9.93348772e-01 1.43743812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:178.57, Z:14.38 [[ 1.18572727e-01 -9.92829040e-01 -1.51988563e-02 1.56168194e+02] [ 9.86247940e-01 1.19533991e-01 -1.14134241e-01 1.78567078e+02] [ 1.15132569e-01 -1.45663250e-03 9.93349067e-01 1.43772538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:178.59, Z:14.38 [[ 1.18801694e-01 -9.92802222e-01 -1.51626263e-02 1.56171358e+02] [ 9.86213177e-01 1.19757362e-01 -1.14200456e-01 1.78592391e+02] [ 1.15194303e-01 -1.38637415e-03 9.93342011e-01 1.43800602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:178.62, Z:14.38 [[ 1.18345856e-01 -9.92857261e-01 -1.51234367e-02 1.56174048e+02] [ 9.86272061e-01 1.19299992e-01 -1.14170630e-01 1.78618764e+02] [ 1.15159365e-01 -1.40420227e-03 9.93346037e-01 1.43822709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:178.64, Z:14.39 [[ 1.18137604e-01 -9.92882566e-01 -1.50903086e-02 1.56177123e+02] [ 9.86287735e-01 1.19089425e-01 -1.14255032e-01 1.78644578e+02] [ 1.15238926e-01 -1.38557051e-03 9.93336836e-01 1.43851084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:178.67, Z:14.39 [[ 1.16821356e-01 -9.93037839e-01 -1.51202000e-02 1.56180469e+02] [ 9.86378774e-01 1.17786233e-01 -1.14818627e-01 1.78670463e+02] [ 1.15800193e-01 -1.50097665e-03 9.93271394e-01 1.43878576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:178.70, Z:14.39 [[ 1.17179112e-01 -9.93103366e-01 -3.84195240e-03 1.56177526e+02] [ 9.85904592e-01 1.16793162e-01 -1.19797713e-01 1.78695558e+02] [ 1.19420226e-01 1.02499911e-02 9.92790888e-01 1.43889050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:178.72, Z:14.39 [[ 1.15358534e-01 -9.93248748e-01 -1.22202140e-02 1.56186299e+02] [ 9.86015824e-01 1.15990715e-01 -1.19661809e-01 1.78721366e+02] [ 1.20271374e-01 1.75468657e-03 9.92739501e-01 1.43945236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:178.74, Z:14.40 [[ 1.12559159e-01 -9.93252674e-01 -2.79206268e-02 1.56199908e+02] [ 9.86675887e-01 1.15047724e-01 -1.15042233e-01 1.78743343e+02] [ 1.17478210e-01 -1.45995523e-02 9.92968138e-01 1.44000197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:178.77, Z:14.40 [[ 1.08489271e-01 -9.93987839e-01 -1.47734250e-02 1.56195177e+02] [ 9.87169384e-01 1.09472755e-01 -1.16242522e-01 1.78773786e+02] [ 1.17160941e-01 -1.97280642e-03 9.93110982e-01 1.43996471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:178.80, Z:14.40 [[ 1.06532041e-01 -9.94193755e-01 -1.51559362e-02 1.56199467e+02] [ 9.87367238e-01 1.07574010e-01 -1.16334729e-01 1.78800745e+02] [ 1.17289646e-01 -2.57109869e-03 9.93094421e-01 1.44028234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:178.83, Z:14.40 [[ 1.02637030e-01 -9.94706558e-01 -4.95017323e-03 1.56198095e+02] [ 9.87415651e-01 1.02484135e-01 -1.20446393e-01 1.78827936e+02] [ 1.20316131e-01 7.47438160e-03 9.92707491e-01 1.44046147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:178.85, Z:14.41 [[ 9.96636715e-02 -9.94704887e-01 -2.50866518e-02 1.56213798e+02] [ 9.88129100e-01 1.01904197e-01 -1.14962672e-01 1.78851928e+02] [ 1.16910367e-01 -1.33312487e-02 9.93052992e-01 1.44118682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:178.88, Z:14.41 [[ 9.72882671e-02 -9.95217126e-01 -8.82417539e-03 1.56207492e+02] [ 9.88055168e-01 9.76451807e-02 -1.19215787e-01 1.78878681e+02] [ 1.19507231e-01 2.87952523e-03 9.92829155e-01 1.44113397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:178.90, Z:14.42 [[ 9.41010746e-02 -9.95338395e-01 -2.11297605e-02 1.56219121e+02] [ 9.88532574e-01 9.59333265e-02 -1.16619669e-01 1.78904108e+02] [ 1.18103083e-01 -9.91342034e-03 9.92951855e-01 1.44177731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:178.93, Z:14.41 [[ 9.15868835e-02 -9.95796997e-01 4.27781529e-04 1.56208125e+02] [ 9.89015146e-01 9.09130650e-02 -1.16549797e-01 1.78933877e+02] [ 1.16021047e-01 1.10975151e-02 9.93184757e-01 1.44098280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:178.96, Z:14.42 [[ 9.21372207e-02 -9.95560686e-01 -1.92263803e-02 1.56224262e+02] [ 9.88519671e-01 9.37735146e-02 -1.18471046e-01 1.78955610e+02] [ 1.19748041e-01 -8.09006221e-03 9.92771352e-01 1.44219865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:178.98, Z:14.43 [[ 9.13298729e-02 -9.95546144e-01 -2.33822449e-02 1.56229834e+02] [ 9.88822204e-01 9.34418801e-02 -1.16186333e-01 1.78982705e+02] [ 1.17853737e-01 -1.25095998e-02 9.92952167e-01 1.44257139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:179.01, Z:14.43 [[ 9.18203096e-02 -9.95664313e-01 -1.48864892e-02 1.56228036e+02] [ 9.88693115e-01 9.29369000e-02 -1.17680314e-01 1.79009363e+02] [ 1.18553593e-01 -3.91272656e-03 9.92939946e-01 1.44266716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:179.04, Z:14.43 [[ 9.44756060e-02 -9.95483996e-01 -9.27223996e-03 1.56227504e+02] [ 9.88239478e-01 9.49048479e-02 -1.19899138e-01 1.79035152e+02] [ 1.20237653e-01 2.16435012e-03 9.92742778e-01 1.44279293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:179.06, Z:14.42 [[ 9.27094032e-02 -9.95683158e-01 4.47396372e-03 1.56220313e+02] [ 9.88579395e-01 9.15099452e-02 -1.19735999e-01 1.79064615e+02] [ 1.18809705e-01 1.55235213e-02 9.92795686e-01 1.44232995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:179.09, Z:14.44 [[ 9.45415353e-02 -9.94806426e-01 -3.77103841e-02 1.56249224e+02] [ 9.88512195e-01 9.82955427e-02 -1.14811266e-01 1.79086192e+02] [ 1.17921748e-01 -2.64227412e-02 9.92671295e-01 1.44418418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:179.12, Z:14.44 [[ 9.66948258e-02 -9.95206640e-01 -1.46237504e-02 1.56238047e+02] [ 9.88293569e-01 9.77444291e-02 -1.17140292e-01 1.79115012e+02] [ 1.18008187e-01 -3.12569838e-03 9.93007703e-01 1.44389680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:179.14, Z:14.44 [[ 9.76302199e-02 -9.95115814e-01 -1.45895999e-02 1.56241246e+02] [ 9.88191374e-01 9.86695540e-02 -1.17226817e-01 1.79141647e+02] [ 1.18093809e-01 -2.97243687e-03 9.92997994e-01 1.44424680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:179.17, Z:14.44 [[ 9.97702728e-02 -9.94989277e-01 -6.49859498e-03 1.56239442e+02] [ 9.87689288e-01 9.98248902e-02 -1.20436128e-01 1.79167614e+02] [ 1.20481377e-01 5.59735264e-03 9.92699807e-01 1.44448703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:179.19, Z:14.45 [[ 9.97241094e-02 -9.94984928e-01 -7.75213255e-03 1.56242752e+02] [ 9.87518011e-01 9.99243118e-02 -1.21751014e-01 1.79193526e+02] [ 1.21915050e-01 4.48614091e-03 9.92530400e-01 1.44490346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:179.22, Z:14.46 [[ 1.00160821e-01 -9.94538917e-01 -2.93283455e-02 1.56258365e+02] [ 9.87988782e-01 1.02900705e-01 -1.15280576e-01 1.79216965e+02] [ 1.17668926e-01 -1.74294792e-02 9.92899913e-01 1.44564333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:179.24, Z:14.46 [[ 1.01908488e-01 -9.94690856e-01 -1.43094769e-02 1.56251585e+02] [ 9.87841820e-01 1.02883437e-01 -1.16548436e-01 1.79244371e+02] [ 1.17401871e-01 -2.25822483e-03 9.93081921e-01 1.44559427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:179.27, Z:14.46 [[ 1.02472041e-01 -9.94635081e-01 -1.41610556e-02 1.56253775e+02] [ 9.87883904e-01 1.03423922e-01 -1.15710350e-01 1.79270832e+02] [ 1.16554165e-01 -2.13240318e-03 9.93182048e-01 1.44587096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:179.30, Z:14.46 [[ 1.03670576e-01 -9.94512534e-01 -1.40439287e-02 1.56255331e+02] [ 9.87828258e-01 1.04599549e-01 -1.15127176e-01 1.79295807e+02] [ 1.15964409e-01 -1.93768887e-03 9.93251479e-01 1.44617719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:179.32, Z:14.46 [[ 1.03812085e-01 -9.94499150e-01 -1.39460445e-02 1.56257816e+02] [ 9.87862580e-01 1.04727990e-01 -1.14715178e-01 1.79322335e+02] [ 1.15544689e-01 -1.86795362e-03 9.93300526e-01 1.44648071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:179.35, Z:14.47 [[ 1.03615188e-01 -9.94520212e-01 -1.39083178e-02 1.56260198e+02] [ 9.87876961e-01 1.04528157e-01 -1.14773577e-01 1.79347635e+02] [ 1.15598453e-01 -1.84742086e-03 9.93294309e-01 1.44678404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:179.37, Z:14.47 [[ 1.03226497e-01 -9.94561957e-01 -1.38131537e-02 1.56262702e+02] [ 9.87965664e-01 1.04130324e-01 -1.14370987e-01 1.79373108e+02] [ 1.15187401e-01 -1.84080524e-03 9.93342073e-01 1.44710971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:179.40, Z:14.47 [[ 1.02532298e-01 -9.94634086e-01 -1.37899630e-02 1.56264824e+02] [ 9.88016413e-01 1.03438417e-01 -1.14560296e-01 1.79399477e+02] [ 1.15371987e-01 -1.87857944e-03 9.93320580e-01 1.44740737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:179.43, Z:14.48 [[ 1.01800187e-01 -9.94709645e-01 -1.37638837e-02 1.56267284e+02] [ 9.88075939e-01 1.02708447e-01 -1.14703592e-01 1.79426067e+02] [ 1.15510436e-01 -1.92291514e-03 9.93304405e-01 1.44770939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.27, Y:179.45, Z:14.48 [[ 1.01255317e-01 -9.94766197e-01 -1.36957438e-02 1.56269818e+02] [ 9.88156020e-01 1.02158952e-01 -1.14504271e-01 1.79453291e+02] [ 1.15304121e-01 -1.93936551e-03 9.93328344e-01 1.44800950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.27, Y:179.48, Z:14.48 [[ 9.98998767e-02 -9.94903705e-01 -1.36613709e-02 1.56271801e+02] [ 9.88288034e-01 1.00808673e-01 -1.14561661e-01 1.79480126e+02] [ 1.15355006e-01 -2.05667354e-03 9.93322200e-01 1.44830697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:179.51, Z:14.49 [[ 9.92064324e-02 -9.94973383e-01 -1.36400438e-02 1.56274450e+02] [ 9.88337753e-01 1.00117754e-01 -1.14738487e-01 1.79506404e+02] [ 1.15527351e-01 -2.09817427e-03 9.93302083e-01 1.44861652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:179.53, Z:14.49 [[ 9.77067619e-02 -9.95123163e-01 -1.35380790e-02 1.56277036e+02] [ 9.88545007e-01 9.86152316e-02 -1.14253254e-01 1.79533443e+02] [ 1.15031120e-01 -2.21968491e-03 9.93359409e-01 1.44893183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:179.56, Z:14.49 [[ 9.70803542e-02 -9.95185280e-01 -1.34782560e-02 1.56279784e+02] [ 9.88624010e-01 9.79857625e-02 -1.14111165e-01 1.79559475e+02] [ 1.14882428e-01 -2.24697522e-03 9.93376554e-01 1.44926094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:179.59, Z:14.50 [[ 9.65009322e-02 -9.95242204e-01 -1.34359923e-02 1.56282366e+02] [ 9.88678510e-01 9.74053615e-02 -1.14135879e-01 1.79586798e+02] [ 1.14901581e-01 -2.26965809e-03 9.93374288e-01 1.44960232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:179.61, Z:14.50 [[ 9.67267390e-02 -9.95220722e-01 -1.34034787e-02 1.56284499e+02] [ 9.88648287e-01 9.76261057e-02 -1.14209055e-01 1.79612081e+02] [ 1.14971747e-01 -2.20425685e-03 9.93366316e-01 1.44991624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:179.64, Z:14.50 [[ 9.59794139e-02 -9.95380849e-01 -2.21754937e-03 1.56279606e+02] [ 9.88328638e-01 9.55637039e-02 -1.18634233e-01 1.79641015e+02] [ 1.18298161e-01 9.19477665e-03 9.92935547e-01 1.45008570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:179.66, Z:14.51 [[ 9.73367151e-02 -9.94942184e-01 -2.48115721e-02 1.56295532e+02] [ 9.88561368e-01 9.95380987e-02 -1.13307500e-01 1.79663715e+02] [ 1.15204108e-01 -1.34987818e-02 9.93250118e-01 1.45086984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:179.69, Z:14.51 [[ 9.83626447e-02 -9.95116169e-01 -8.28256422e-03 1.56287688e+02] [ 9.88252746e-01 9.86557125e-02 -1.16720008e-01 1.79690158e+02] [ 1.16967090e-01 3.29562188e-03 9.93130323e-01 1.45079050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:179.72, Z:14.51 [[ 9.79753632e-02 -9.95099416e-01 -1.33409278e-02 1.56293428e+02] [ 9.88290830e-01 9.88631358e-02 -1.16220979e-01 1.79716290e+02] [ 1.16970354e-01 -1.79792403e-03 9.93133779e-01 1.45124371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:179.75, Z:14.51 [[ 9.94692514e-02 -9.95032617e-01 -3.99498717e-03 1.56288963e+02] [ 9.87816025e-01 9.92291800e-02 -1.19887739e-01 1.79745423e+02] [ 1.19688630e-01 7.97883135e-03 9.92779417e-01 1.45149380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:179.77, Z:14.52 [[ 1.01186721e-01 -9.94474388e-01 -2.79631670e-02 1.56305562e+02] [ 9.88184402e-01 1.03719734e-01 -1.12844157e-01 1.79767741e+02] [ 1.15120956e-01 -1.62144353e-02 9.93219139e-01 1.45222132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:179.80, Z:14.52 [[ 1.02943987e-01 -9.94601539e-01 -1.30504549e-02 1.56298777e+02] [ 9.88022894e-01 1.03761681e-01 -1.14211531e-01 1.79796628e+02] [ 1.14949101e-01 -1.13675792e-03 9.93370732e-01 1.45218396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:179.82, Z:14.53 [[ 1.03481320e-01 -9.94546232e-01 -1.30157251e-02 1.56301298e+02] [ 9.87958797e-01 1.04291544e-01 -1.14283375e-01 1.79822725e+02] [ 1.15017530e-01 -1.03280555e-03 9.93362925e-01 1.45256024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:179.85, Z:14.53 [[ 1.03814495e-01 -9.94592148e-01 -3.00152234e-03 1.56297457e+02] [ 9.87568171e-01 1.03438538e-01 -1.18362061e-01 1.79849965e+02] [ 1.18032450e-01 9.32348967e-03 9.92965968e-01 1.45281009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:179.88, Z:14.54 [[ 1.04277633e-01 -9.94299414e-01 -2.22452264e-02 1.56311279e+02] [ 9.87941291e-01 1.06132880e-01 -1.12728952e-01 1.79875655e+02] [ 1.14447281e-01 -1.02218693e-02 9.93376733e-01 1.45352967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:179.90, Z:14.53 [[ 1.03756322e-01 -9.94600161e-01 -2.26841001e-03 1.56301360e+02] [ 9.87683459e-01 1.03302795e-01 -1.17515608e-01 1.79902176e+02] [ 1.17115376e-01 9.95251628e-03 9.93068445e-01 1.45340471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:179.93, Z:14.54 [[ 1.02220664e-01 -9.94479583e-01 -2.36916428e-02 1.56316268e+02] [ 9.88280518e-01 1.04240116e-01 -1.11515093e-01 1.79927124e+02] [ 1.13369103e-01 -1.20148421e-02 9.93480292e-01 1.45411361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:179.96, Z:14.54 [[ 1.01070141e-01 -9.94799558e-01 -1.25963056e-02 1.56312695e+02] [ 9.88419579e-01 1.01846314e-01 -1.12490289e-01 1.79955421e+02] [ 1.13188177e-01 -1.08102565e-03 9.93572981e-01 1.45416148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:179.98, Z:14.54 [[ 9.94104504e-02 -9.94967663e-01 -1.25264380e-02 1.56315563e+02] [ 9.88618501e-01 1.00189040e-01 -1.12230194e-01 1.79982046e+02] [ 1.12920426e-01 -1.22701419e-03 9.93603277e-01 1.45448115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:180.01, Z:14.55 [[ 9.78586155e-02 -9.95121490e-01 -1.25264517e-02 1.56318702e+02] [ 9.88731100e-01 9.86476273e-02 -1.12603096e-01 1.80007963e+02] [ 1.13289465e-01 -1.36610929e-03 9.93561086e-01 1.45481300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:180.03, Z:14.55 [[ 9.37753266e-02 -9.95584059e-01 4.30916954e-03 1.56311779e+02] [ 9.88524336e-01 9.25937525e-02 -1.19356749e-01 1.80034450e+02] [ 1.18430674e-01 1.54524370e-02 9.92842081e-01 1.45477250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:180.06, Z:14.56 [[ 9.13134958e-02 -9.95386821e-01 -2.94435440e-02 1.56335427e+02] [ 9.89349362e-01 9.40459754e-02 -1.11099926e-01 1.80057832e+02] [ 1.13356449e-01 -1.89850288e-02 9.93372983e-01 1.45578694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:180.09, Z:14.56 [[ 8.88613612e-02 -9.95966530e-01 -1.24229487e-02 1.56329167e+02] [ 9.89561028e-01 8.96968167e-02 -1.12798283e-01 1.80085920e+02] [ 1.13457614e-01 -2.26985693e-03 9.93540245e-01 1.45567606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:180.11, Z:14.56 [[ 8.44280320e-02 -9.96352580e-01 -1.23872062e-02 1.56333320e+02] [ 9.89945164e-01 8.52880664e-02 -1.12847323e-01 1.80111821e+02] [ 1.13492202e-01 -2.73517747e-03 9.93535122e-01 1.45595791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82275509600004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:156.34, Y:180.14, Z:14.56 [[ 8.26062712e-02 -9.96504168e-01 -1.24758948e-02 1.56337318e+02] [ 9.89959782e-01 8.34917096e-02 -1.14055968e-01 1.80138369e+02] [ 1.14698882e-01 -2.92889582e-03 9.93395988e-01 1.45607961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:180.16, Z:14.56 [[ 8.02292958e-02 -9.96766905e-01 4.35859131e-03 1.56330396e+02] [ 9.89589329e-01 7.91259011e-02 -1.20216688e-01 1.80164724e+02] [ 1.19483138e-01 1.39581156e-02 9.92738108e-01 1.45627738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:180.19, Z:14.57 [[ 8.05365412e-02 -9.96564187e-01 -1.93309794e-02 1.56347867e+02] [ 9.89849500e-01 8.22421993e-02 -1.15905946e-01 1.80187416e+02] [ 1.17097537e-01 -9.80009632e-03 9.93072064e-01 1.45713430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:180.21, Z:14.57 [[ 7.90743246e-02 -9.96631754e-01 -2.17347365e-02 1.56351678e+02] [ 9.90257406e-01 8.10381138e-02 -1.13239099e-01 1.80214426e+02] [ 1.14619024e-01 -1.25686785e-02 9.93330009e-01 1.45742244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:180.24, Z:14.57 [[ 7.89985915e-02 -9.96798600e-01 -1.23196373e-02 1.56348658e+02] [ 9.90235747e-01 7.98903811e-02 -1.14239629e-01 1.80242037e+02] [ 1.14858123e-01 -3.17457552e-03 9.93376834e-01 1.45749018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:180.27, Z:14.58 [[ 8.03432618e-02 -9.96690988e-01 -1.23302480e-02 1.56350546e+02] [ 9.90070958e-01 8.12288806e-02 -1.14723006e-01 1.80267439e+02] [ 1.15344958e-01 -2.99059995e-03 9.93320994e-01 1.45780447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:180.29, Z:14.58 [[ 8.16426719e-02 -9.96647750e-01 -5.26657331e-03 1.56348661e+02] [ 9.89691921e-01 8.16944399e-02 -1.17626187e-01 1.80294289e+02] [ 1.17662125e-01 4.39103116e-03 9.93043979e-01 1.45797630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:180.32, Z:14.59 [[ 8.24264180e-02 -9.96412724e-01 -1.91720679e-02 1.56359341e+02] [ 9.89848914e-01 8.40880619e-02 -1.14578906e-01 1.80319893e+02] [ 1.15780022e-01 -9.53312178e-03 9.93229131e-01 1.45862755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:180.35, Z:14.59 [[ 8.52940255e-02 -9.96279466e-01 -1.23350804e-02 1.56356616e+02] [ 9.89505675e-01 8.61503507e-02 -1.16002745e-01 1.80345368e+02] [ 1.16633824e-01 -2.31129097e-03 9.93172296e-01 1.45873148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:180.38, Z:14.59 [[ 8.44302973e-02 -9.96426177e-01 -2.52968181e-03 1.56351773e+02] [ 9.89262585e-01 8.41267061e-02 -1.19508304e-01 1.80375384e+02] [ 1.19294017e-01 7.58760211e-03 9.92829978e-01 1.45889662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:180.40, Z:14.60 [[ 8.81323905e-02 -9.95855907e-01 -2.24431508e-02 1.56365021e+02] [ 9.89124448e-01 9.01556363e-02 -1.16210105e-01 1.80397826e+02] [ 1.17751896e-01 -1.19571948e-02 9.92971055e-01 1.45959803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:180.42, Z:14.60 [[ 8.88363271e-02 -9.95970633e-01 -1.22720974e-02 1.56361019e+02] [ 9.89016225e-01 8.96638835e-02 -1.17504442e-01 1.80424640e+02] [ 1.18131337e-01 -1.69864042e-03 9.92996527e-01 1.45966843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:180.45, Z:14.60 [[ 8.87572315e-02 -9.95977811e-01 -1.22618785e-02 1.56362913e+02] [ 9.88996748e-01 8.95845142e-02 -1.17728699e-01 1.80449737e+02] [ 1.18353647e-01 -1.67768455e-03 9.92970090e-01 1.45995421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:180.48, Z:14.60 [[ 8.83415324e-02 -9.96089656e-01 1.08235722e-03 1.56356760e+02] [ 9.88497739e-01 8.75342082e-02 -1.23328758e-01 1.80478446e+02] [ 1.22751756e-01 1.19649591e-02 9.92365279e-01 1.46011171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:180.50, Z:14.61 [[ 8.75438765e-02 -9.96083072e-01 -1.24331886e-02 1.56367090e+02] [ 9.88697076e-01 8.84061723e-02 -1.21088568e-01 1.80502849e+02] [ 1.21713443e-01 -1.69209463e-03 9.92563839e-01 1.46070282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:180.53, Z:14.61 [[ 8.59517592e-02 -9.96225601e-01 -1.21180389e-02 1.56369094e+02] [ 9.88728335e-01 8.67889147e-02 -1.21999853e-01 1.80530843e+02] [ 1.22591088e-01 -1.49534647e-03 9.92456140e-01 1.46114892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:180.56, Z:14.62 [[ 8.33182970e-02 -9.96221920e-01 -2.44938426e-02 1.56378879e+02] [ 9.89260846e-01 8.56480977e-02 -1.18437247e-01 1.80556131e+02] [ 1.20087633e-01 -1.43628098e-02 9.92659393e-01 1.46168395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:180.58, Z:14.62 [[ 8.21489204e-02 -9.96619993e-01 3.79881870e-04 1.56366508e+02] [ 9.88898997e-01 8.14651311e-02 -1.24266676e-01 1.80584616e+02] [ 1.23815707e-01 1.05840381e-02 9.92248784e-01 1.46157527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:180.61, Z:14.62 [[ 8.01688864e-02 -9.96729549e-01 -1.01565613e-02 1.56375663e+02] [ 9.89592506e-01 8.08081096e-02 -1.19066038e-01 1.80613911e+02] [ 1.19497371e-01 -5.05465231e-04 9.92834388e-01 1.46178090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:180.64, Z:14.62 [[ 7.85245240e-02 -9.96815519e-01 -1.38823508e-02 1.56380353e+02] [ 9.89847191e-01 7.96153931e-02 -1.17745180e-01 1.80639241e+02] [ 1.18475471e-01 -4.49552172e-03 9.92946803e-01 1.46216698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:180.66, Z:14.63 [[ 7.60903744e-02 -9.96996494e-01 -1.44307089e-02 1.56382454e+02] [ 9.89427922e-01 7.72889336e-02 -1.22714335e-01 1.80662976e+02] [ 1.23461096e-01 -4.94076659e-03 9.92337113e-01 1.46296433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:180.69, Z:14.63 [[ 7.53107126e-02 -9.96853798e-01 -2.47144212e-02 1.56391167e+02] [ 9.89954306e-01 7.77177476e-02 -1.18111913e-01 1.80688429e+02] [ 1.19661058e-01 -1.55710553e-02 9.92692688e-01 1.46338700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:180.71, Z:14.63 [[ 7.47867012e-02 -9.97129291e-01 -1.18374977e-02 1.56385725e+02] [ 9.89958585e-01 7.56663623e-02 -1.19401012e-01 1.80714830e+02] [ 1.19953947e-01 -2.78902463e-03 9.92775540e-01 1.46335536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:180.74, Z:14.64 [[ 7.24071999e-02 -9.97305864e-01 -1.17563117e-02 1.56387482e+02] [ 9.90078419e-01 7.32956826e-02 -1.19885227e-01 1.80741154e+02] [ 1.20423927e-01 -2.95911689e-03 9.92718148e-01 1.46365431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:180.77, Z:14.64 [[ 7.17390722e-02 -9.97352098e-01 -1.19288425e-02 1.56390210e+02] [ 9.90142695e-01 7.26527228e-02 -1.19745671e-01 1.80767941e+02] [ 1.20295259e-01 -3.22081294e-03 9.92732933e-01 1.46392910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:180.79, Z:14.64 [[ 7.10709930e-02 -9.97398933e-01 -1.20117499e-02 1.56393170e+02] [ 9.90034772e-01 7.20037411e-02 -1.21023183e-01 1.80793232e+02] [ 1.21573285e-01 -3.29081231e-03 9.92577003e-01 1.46425925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:180.82, Z:14.65 [[ 7.08355232e-02 -9.97415307e-01 -1.20429897e-02 1.56395300e+02] [ 9.89949034e-01 7.17765960e-02 -1.21856595e-01 1.80818302e+02] [ 1.22406038e-01 -3.29017038e-03 9.92474653e-01 1.46459022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:180.84, Z:14.65 [[ 7.25499197e-02 -9.97357129e-01 -3.90725340e-03 1.56392843e+02] [ 9.89437637e-01 7.24656800e-02 -1.25546356e-01 1.80843664e+02] [ 1.25497694e-01 5.24239444e-03 9.92080060e-01 1.46477586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:180.87, Z:14.65 [[ 7.23092990e-02 -9.97210293e-01 -1.85201555e-02 1.56404301e+02] [ 9.89730613e-01 7.40378631e-02 -1.22277176e-01 1.80872607e+02] [ 1.23307252e-01 -9.48818799e-03 9.92323181e-01 1.46532161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:180.90, Z:14.65 [[ 7.32696436e-02 -9.97296583e-01 -5.57542897e-03 1.56397435e+02] [ 9.89213634e-01 7.33845268e-02 -1.26771835e-01 1.80896507e+02] [ 1.26838268e-01 3.77323685e-03 9.91916235e-01 1.46545833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:180.92, Z:14.66 [[ 7.16017320e-02 -9.97403913e-01 -7.65683816e-03 1.56400204e+02] [ 9.89089550e-01 7.19915285e-02 -1.28526582e-01 1.80924425e+02] [ 1.28744143e-01 1.62942727e-03 9.91676505e-01 1.46595334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:180.95, Z:14.66 [[ 7.34105619e-02 -9.97199818e-01 -1.42622920e-02 1.56407354e+02] [ 9.88985853e-01 7.46339353e-02 -1.27815328e-01 1.80948546e+02] [ 1.28521872e-01 -4.72220997e-03 9.91695432e-01 1.46647311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:180.97, Z:14.67 [[ 7.45988852e-02 -9.97158603e-01 -1.04750895e-02 1.56408363e+02] [ 9.88701558e-01 7.53275936e-02 -1.29595456e-01 1.80974561e+02] [ 1.30016287e-01 -6.89060737e-04 9.91511619e-01 1.46686098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:181.00, Z:14.66 [[ 7.33780688e-02 -9.97188492e-01 1.51911595e-02 1.56393846e+02] [ 9.89512434e-01 7.08959876e-02 -1.25852702e-01 1.81003435e+02] [ 1.24421874e-01 2.42666694e-02 9.91932622e-01 1.46564622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:181.03, Z:14.67 [[ 7.26770755e-02 -9.97251320e-01 -1.44169263e-02 1.56414510e+02] [ 9.89393445e-01 7.39122251e-02 -1.25050364e-01 1.81027743e+02] [ 1.25772228e-01 -5.17571762e-03 9.92045643e-01 1.46712137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:181.05, Z:14.69 [[ 7.51484980e-02 -9.95997904e-01 -4.83826180e-02 1.56439995e+02] [ 9.88966642e-01 8.06540423e-02 -1.24257424e-01 1.81050089e+02] [ 1.27662388e-01 -3.85110365e-02 9.91069733e-01 1.46928890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:181.08, Z:14.69 [[ 7.40540190e-02 -9.97123583e-01 -1.61419568e-02 1.56424049e+02] [ 9.89202606e-01 7.54992000e-02 -1.25610808e-01 1.81079033e+02] [ 1.26468204e-01 -6.66568055e-03 9.91948266e-01 1.46878208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:181.11, Z:14.69 [[ 7.28357329e-02 -9.97273693e-01 -1.18379611e-02 1.56425583e+02] [ 9.89400788e-01 7.37456027e-02 -1.25090633e-01 1.81105454e+02] [ 1.25622595e-01 -2.60142008e-03 9.92074693e-01 1.46902570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:181.13, Z:14.69 [[ 7.21625850e-02 -9.97391947e-01 -1.36573755e-03 1.56422337e+02] [ 9.89066907e-01 7.17366834e-02 -1.28842934e-01 1.81132621e+02] [ 1.28604878e-01 7.94683337e-03 9.91664073e-01 1.46921668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:181.16, Z:14.70 [[ 7.09129639e-02 -9.97241648e-01 -2.19191061e-02 1.56437365e+02] [ 9.89611102e-01 7.30915470e-02 -1.23804249e-01 1.81156984e+02] [ 1.25064855e-01 -1.29120645e-02 9.92064545e-01 1.46999908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:181.18, Z:14.70 [[ 6.99077296e-02 -9.97485569e-01 -1.16382385e-02 1.56434117e+02] [ 9.89712734e-01 7.08134306e-02 -1.24314767e-01 1.81184458e+02] [ 1.24826330e-01 -2.82794972e-03 9.92174576e-01 1.47005236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:181.21, Z:14.70 [[ 6.81386085e-02 -9.97608380e-01 -1.16039210e-02 1.56437382e+02] [ 9.89816366e-01 6.90543080e-02 -1.24479172e-01 1.81209332e+02] [ 1.24982766e-01 -3.00391337e-03 9.92154365e-01 1.47038181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:181.24, Z:14.71 [[ 6.78098128e-02 -9.97697197e-01 1.46057700e-03 1.56432571e+02] [ 9.89342705e-01 6.70527770e-02 -1.29247582e-01 1.81236000e+02] [ 1.28852014e-01 1.02092655e-02 9.91611279e-01 1.47052091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:181.26, Z:14.71 [[ 6.60033985e-02 -9.97525335e-01 -2.42230898e-02 1.56450481e+02] [ 9.89992018e-01 6.85010765e-02 -1.23383168e-01 1.81259636e+02] [ 1.24737143e-01 -1.58369572e-02 9.92063423e-01 1.47135299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:181.29, Z:14.69 [[ 6.27444594e-02 -9.97600941e-01 2.92488602e-02 1.56418276e+02] [ 9.90636798e-01 5.86924555e-02 -1.23263661e-01 1.81292526e+02] [ 1.21251256e-01 3.67091090e-02 9.91942828e-01 1.46906695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:181.31, Z:14.73 [[ 6.39896267e-02 -9.96661471e-01 -5.07073888e-02 1.56472927e+02] [ 9.90130755e-01 6.97546614e-02 -1.21554003e-01 1.81309640e+02] [ 1.24685268e-01 -4.24287499e-02 9.91288750e-01 1.47271716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:181.34, Z:14.72 [[ 6.12179932e-02 -9.98102219e-01 -6.65719101e-03 1.56448996e+02] [ 9.90067603e-01 6.15682252e-02 -1.26394205e-01 1.81343070e+02] [ 1.26564208e-01 1.14653045e-03 9.91957755e-01 1.47191249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:181.37, Z:14.72 [[ 6.06115580e-02 -9.98075689e-01 -1.30827110e-02 1.56454675e+02] [ 9.90119802e-01 6.17784585e-02 -1.25881691e-01 1.81369246e+02] [ 1.26447685e-01 -5.32356579e-03 9.91958992e-01 1.47242665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:181.39, Z:14.73 [[ 6.21082012e-02 -9.97926297e-01 -1.69020033e-02 1.56460699e+02] [ 9.90066821e-01 6.37415824e-02 -1.25318400e-01 1.81392919e+02] [ 1.26135887e-01 -8.95081227e-03 9.91972591e-01 1.47276449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:181.42, Z:14.73 [[ 6.21300901e-02 -9.98005682e-01 -1.11584443e-02 1.56459767e+02] [ 9.90057297e-01 6.30412162e-02 -1.25747181e-01 1.81418995e+02] [ 1.26199843e-01 -3.23481548e-03 9.91999564e-01 1.47290445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:181.45, Z:14.73 [[ 6.20595532e-02 -9.98069521e-01 2.41715974e-03 1.56453558e+02] [ 9.89459310e-01 6.12063310e-02 -1.31240465e-01 1.81445472e+02] [ 1.30839162e-01 1.05364058e-02 9.91347617e-01 1.47301511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:181.47, Z:14.74 [[ 6.35608804e-02 -9.97698800e-01 -2.36033505e-02 1.56472119e+02] [ 9.89851070e-01 6.60378444e-02 -1.25832675e-01 1.81470435e+02] [ 1.27101823e-01 -1.53657661e-02 9.91770649e-01 1.47391088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:181.49, Z:14.73 [[ 6.50923711e-02 -9.97877589e-01 -1.81697016e-03 1.56460103e+02] [ 9.90461666e-01 6.48300095e-02 -1.21584364e-01 1.81493951e+02] [ 1.21444107e-01 6.11457528e-03 9.92579438e-01 1.47275343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:181.52, Z:14.74 [[ 6.60480544e-02 -9.97661871e-01 -1.75626130e-02 1.56473699e+02] [ 9.89719684e-01 6.77396557e-02 -1.25961446e-01 1.81523933e+02] [ 1.26856617e-01 -9.06255540e-03 9.91879664e-01 1.47438199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:181.55, Z:14.75 [[ 6.67170402e-02 -9.97710681e-01 -1.10559602e-02 1.56472396e+02] [ 9.89675282e-01 6.75803383e-02 -1.26395150e-01 1.81551278e+02] [ 1.26852957e-01 -2.50910020e-03 9.91918359e-01 1.47453928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:181.58, Z:14.75 [[ 6.70693882e-02 -9.97687095e-01 -1.10525122e-02 1.56474363e+02] [ 9.89587538e-01 6.79306386e-02 -1.26893396e-01 1.81577429e+02] [ 1.27350708e-01 -2.42676587e-03 9.91854782e-01 1.47487943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:181.61, Z:14.75 [[ 6.49062287e-02 -9.97881698e-01 4.39298423e-03 1.56465555e+02] [ 9.89149389e-01 6.37555621e-02 -1.32358283e-01 1.81609294e+02] [ 1.31797831e-01 1.29361946e-02 9.91192205e-01 1.47501129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:181.63, Z:14.76 [[ 6.79626051e-02 -9.97293864e-01 -2.80362948e-02 1.56487955e+02] [ 9.89550557e-01 7.09634317e-02 -1.25514491e-01 1.81629064e+02] [ 1.27164383e-01 -1.92130393e-02 9.91695558e-01 1.47601818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:181.66, Z:14.76 [[ 6.83145324e-02 -9.97605619e-01 -1.07774558e-02 1.56479966e+02] [ 9.89548678e-01 6.91299470e-02 -1.26548270e-01 1.81657458e+02] [ 1.26990310e-01 -2.01973122e-03 9.91901901e-01 1.47588815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:181.68, Z:14.76 [[ 6.83850193e-02 -9.97601741e-01 -1.06890340e-02 1.56482189e+02] [ 9.89608659e-01 6.91876546e-02 -1.26046701e-01 1.81684140e+02] [ 1.26483958e-01 -1.95825455e-03 9.91966720e-01 1.47619288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:181.71, Z:14.76 [[ 6.69253711e-02 -9.97749591e-01 -4.09250340e-03 1.56479966e+02] [ 9.89582733e-01 6.69004444e-02 -1.27476840e-01 1.81712469e+02] [ 1.27463755e-01 4.48156409e-03 9.91833104e-01 1.47642740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:181.73, Z:14.77 [[ 6.82533771e-02 -9.97506409e-01 -1.79566535e-02 1.56490882e+02] [ 9.89693013e-01 6.99680253e-02 -1.24948849e-01 1.81734406e+02] [ 1.25893669e-01 -9.24339357e-03 9.92000677e-01 1.47704095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:181.76, Z:14.77 [[ 6.79782805e-02 -9.97631745e-01 -1.04811358e-02 1.56488739e+02] [ 9.89722604e-01 6.87566634e-02 -1.25386160e-01 1.81761290e+02] [ 1.25809862e-01 -1.84988140e-03 9.92052648e-01 1.47711457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:181.79, Z:14.77 [[ 6.74026204e-02 -9.97671437e-01 -1.04206848e-02 1.56490754e+02] [ 9.89780287e-01 6.81776995e-02 -1.25246894e-01 1.81786270e+02] [ 1.25665707e-01 -1.87221954e-03 9.92070877e-01 1.47739544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:181.81, Z:14.78 [[ 6.67689425e-02 -9.97714726e-01 -1.03554107e-02 1.56493219e+02] [ 9.89846076e-01 6.75404971e-02 -1.25072090e-01 1.81812244e+02] [ 1.25485676e-01 -1.89933143e-03 9.92093613e-01 1.47772979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:181.84, Z:14.78 [[ 6.51157719e-02 -9.97877692e-01 -2.17389028e-04 1.56489017e+02] [ 9.89677534e-01 6.46085446e-02 -1.27922303e-01 1.81841320e+02] [ 1.27664858e-01 8.11461446e-03 9.91784169e-01 1.47787198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:181.86, Z:14.79 [[ 6.41367752e-02 -9.97724539e-01 -2.07898809e-02 1.56504780e+02] [ 9.90112821e-01 6.62241408e-02 -1.23656643e-01 1.81864153e+02] [ 1.24752059e-01 -1.26533893e-02 9.92107260e-01 1.47866034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:181.89, Z:14.79 [[ 6.30059795e-02 -9.97961484e-01 -1.01549362e-02 1.56501244e+02] [ 9.90182659e-01 6.37805154e-02 -1.24379851e-01 1.81891538e+02] [ 1.24773988e-01 -2.21856744e-03 9.92182710e-01 1.47865589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:181.92, Z:14.79 [[ 6.15049495e-02 -9.98055832e-01 -1.00845367e-02 1.56503822e+02] [ 9.90311809e-01 6.22817644e-02 -1.24110851e-01 1.81917606e+02] [ 1.24497641e-01 -2.35340419e-03 9.92217113e-01 1.47898825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:181.94, Z:14.79 [[ 6.02039405e-02 -9.98135623e-01 -1.00380619e-02 1.56506480e+02] [ 9.90389300e-01 6.09851268e-02 -1.24136413e-01 1.81944163e+02] [ 1.24517149e-01 -2.46808786e-03 9.92214386e-01 1.47932420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:181.97, Z:14.78 [[ 5.80841573e-02 -9.98242962e-01 1.17140621e-02 1.56493552e+02] [ 9.91118122e-01 5.62555630e-02 -1.20499709e-01 1.81973879e+02] [ 1.19629006e-01 1.86091434e-02 9.92644247e-01 1.47834604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:182.00, Z:14.78 [[ 5.58615177e-02 -9.98359085e-01 1.25947600e-02 1.56492111e+02] [ 9.91825481e-01 5.40376598e-02 -1.15594749e-01 1.81996917e+02] [ 1.14724476e-01 1.89491020e-02 9.93216606e-01 1.47782334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:182.02, Z:14.82 [[ 5.89763585e-02 -9.96847966e-01 -5.30652662e-02 1.56537378e+02] [ 9.90992559e-01 6.48666311e-02 -1.17158308e-01 1.82021589e+02] [ 1.20231186e-01 -4.56777135e-02 9.91694514e-01 1.48154147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:182.05, Z:14.81 [[ 5.85528047e-02 -9.98239644e-01 -9.44364143e-03 1.56512846e+02] [ 9.90974303e-01 5.92641556e-02 -1.20240136e-01 1.82050059e+02] [ 1.20588140e-01 -2.31800878e-03 9.92699918e-01 1.48055284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:182.08, Z:14.81 [[ 5.80128887e-02 -9.98270982e-01 -9.46319988e-03 1.56514383e+02] [ 9.90916896e-01 5.87322830e-02 -1.20971999e-01 1.82076437e+02] [ 1.21318631e-01 -2.35930955e-03 9.92610812e-01 1.48083403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:182.10, Z:14.81 [[ 5.74630811e-02 -9.98303115e-01 -9.42789179e-03 1.56516188e+02] [ 9.90930674e-01 5.81826091e-02 -1.21124662e-01 1.82103049e+02] [ 1.21467667e-01 -2.38219086e-03 9.92592530e-01 1.48109996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:182.13, Z:14.81 [[ 5.66317578e-02 -9.98350944e-01 -9.39339971e-03 1.56517586e+02] [ 9.90956589e-01 5.73536860e-02 -1.21307849e-01 1.82128741e+02] [ 1.21646552e-01 -2.43857461e-03 9.92570486e-01 1.48139365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:182.16, Z:14.82 [[ 5.45835862e-02 -9.98501254e-01 -3.98463823e-03 1.56514652e+02] [ 9.90897254e-01 5.46588538e-02 -1.23024556e-01 1.82157111e+02] [ 1.23057969e-01 2.76675436e-03 9.92395627e-01 1.48161031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.52, Y:182.18, Z:14.82 [[ 5.49204859e-02 -9.98377467e-01 -1.50390976e-02 1.56522817e+02] [ 9.91163713e-01 5.63326096e-02 -1.20088018e-01 1.82181145e+02] [ 1.20740362e-01 -8.31091552e-03 9.92649331e-01 1.48215969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:182.21, Z:14.82 [[ 5.49021336e-02 -9.98479758e-01 -4.89172883e-03 1.56518524e+02] [ 9.91320046e-01 5.50932684e-02 -1.19370425e-01 1.82210100e+02] [ 1.19458455e-01 1.70442218e-03 9.92837737e-01 1.48194862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:182.23, Z:14.83 [[ 5.42612779e-02 -9.98431667e-01 -1.37811608e-02 1.56523323e+02] [ 9.91212553e-01 5.55261163e-02 -1.20060503e-01 1.82233632e+02] [ 1.20637422e-01 -7.14542326e-03 9.92670920e-01 1.48274177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:182.26, Z:14.83 [[ 5.41179208e-02 -9.98493125e-01 -9.09556980e-03 1.56521735e+02] [ 9.91171555e-01 5.48207807e-02 -1.20721291e-01 1.82259877e+02] [ 1.21038005e-01 -2.48208480e-03 9.92644771e-01 1.48292830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:182.29, Z:14.83 [[ 5.49226967e-02 -9.98449362e-01 -9.07576584e-03 1.56522724e+02] [ 9.91081905e-01 5.56181374e-02 -1.21092030e-01 1.82286576e+02] [ 1.21409037e-01 -2.34412645e-03 9.92599794e-01 1.48322855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:182.32, Z:14.82 [[ 5.36137403e-02 -9.98459349e-01 1.43002041e-02 1.56508330e+02] [ 9.91589932e-01 5.15446505e-02 -1.18712072e-01 1.82315779e+02] [ 1.17792079e-01 2.05445366e-02 9.92825739e-01 1.48208967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:182.34, Z:14.83 [[ 5.33850344e-02 -9.98571658e-01 2.16395817e-03 1.56516680e+02] [ 9.91376177e-01 5.27403823e-02 -1.19965524e-01 1.82342196e+02] [ 1.19680044e-01 8.54966022e-03 9.92775700e-01 1.48273153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.36, Z:14.85 [[ 5.57608996e-02 -9.97558556e-01 -4.20434141e-02 1.56546811e+02] [ 9.91017659e-01 6.04234272e-02 -1.19302172e-01 1.82362900e+02] [ 1.21551310e-01 -3.50133694e-02 9.91967410e-01 1.48523416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:182.39, Z:14.85 [[ 5.58449801e-02 -9.98399443e-01 -8.93812690e-03 1.56528132e+02] [ 9.90978011e-01 5.65178129e-02 -1.21524974e-01 1.82392110e+02] [ 1.21835630e-01 -2.07092746e-03 9.92548130e-01 1.48466817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:182.42, Z:14.83 [[ 5.28071222e-02 -9.98151660e-01 3.00777524e-02 1.56502449e+02] [ 9.91861332e-01 4.89323094e-02 -1.17544577e-01 1.82422643e+02] [ 1.15855541e-01 3.60401504e-02 9.92612009e-01 1.48272506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:182.45, Z:14.84 [[ 5.37244936e-02 -9.98550412e-01 3.27925056e-03 1.56520747e+02] [ 9.91818433e-01 5.29808811e-02 -1.16143112e-01 1.82448661e+02] [ 1.15801015e-01 9.49215104e-03 9.93227076e-01 1.48367196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:182.47, Z:14.87 [[ 5.69346711e-02 -9.96890467e-01 -5.44778849e-02 1.56560363e+02] [ 9.90684250e-01 6.31729077e-02 -1.20639551e-01 1.82469606e+02] [ 1.23705944e-01 -4.71018093e-02 9.91200413e-01 1.48712887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:182.50, Z:14.84 [[ 5.44812515e-02 -9.98152645e-01 2.68903572e-02 1.56510290e+02] [ 9.91134522e-01 5.07907279e-02 -1.22770768e-01 1.82502146e+02] [ 1.21178186e-01 3.33406664e-02 9.92070687e-01 1.48423388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:182.53, Z:14.85 [[ 5.44956877e-02 -9.98513409e-01 1.09212771e-03 1.56527624e+02] [ 9.91217441e-01 5.39654482e-02 -1.20729930e-01 1.82530750e+02] [ 1.20491517e-01 7.66179661e-03 9.92684789e-01 1.48508757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.55, Z:14.87 [[ 5.54070664e-02 -9.98130595e-01 -2.57948174e-02 1.56546578e+02] [ 9.90862944e-01 5.81485802e-02 -1.21693749e-01 1.82553762e+02] [ 1.22966186e-01 -1.88164351e-02 9.92232462e-01 1.48667358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.58, Z:14.88 [[ 5.74875109e-02 -9.97859207e-01 -3.11799481e-02 1.56554338e+02] [ 9.90100809e-01 6.09905859e-02 -1.26414149e-01 1.82580302e+02] [ 1.28045206e-01 -2.36040570e-02 9.91487405e-01 1.48801862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:182.61, Z:14.88 [[ 5.68339977e-02 -9.98382074e-01 -1.76964800e-03 1.56538214e+02] [ 9.89826193e-01 5.65783447e-02 -1.30548838e-01 1.82608746e+02] [ 1.30437743e-01 5.66796840e-03 9.91440300e-01 1.48760891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.63, Z:14.88 [[ 5.59848531e-02 -9.98291186e-01 -1.67452715e-02 1.56549351e+02] [ 9.90119642e-01 5.76705822e-02 -1.27817049e-01 1.82632609e+02] [ 1.28564343e-01 -9.42400350e-03 9.91656391e-01 1.48824605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:182.66, Z:14.87 [[ 5.30324467e-02 -9.98498164e-01 1.37468608e-02 1.56530362e+02] [ 9.90889980e-01 5.09118264e-02 -1.24679725e-01 1.82661427e+02] [ 1.23792599e-01 2.02336975e-02 9.92101804e-01 1.48703324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.69, Z:14.88 [[ 5.30402098e-02 -9.98455158e-01 -1.65539315e-02 1.56551397e+02] [ 9.90811498e-01 5.46850795e-02 -1.23701729e-01 1.82685394e+02] [ 1.24415882e-01 -9.84065997e-03 9.92181359e-01 1.48844215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.71, Z:14.88 [[ 5.25784368e-02 -9.98599903e-01 -5.80877951e-03 1.56546487e+02] [ 9.90843600e-01 5.28926459e-02 -1.24222902e-01 1.82713923e+02] [ 1.24356219e-01 7.75854002e-04 9.92237335e-01 1.48846419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.74, Z:14.89 [[ 5.31839017e-02 -9.98526535e-01 -1.07810796e-02 1.56552053e+02] [ 9.90622503e-01 5.41174247e-02 -1.25452626e-01 1.82739459e+02] [ 1.25851220e-01 -4.00791996e-03 9.92041031e-01 1.48907607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:182.76, Z:14.90 [[ 5.34969775e-02 -9.98289504e-01 -2.35826292e-02 1.56561499e+02] [ 9.90543233e-01 5.60402761e-02 -1.25234143e-01 1.82764642e+02] [ 1.26341508e-01 -1.66599657e-02 9.91846898e-01 1.49020515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:182.80, Z:14.88 [[ 5.04417141e-02 -9.98188670e-01 3.27873993e-02 1.56524431e+02] [ 9.90846752e-01 4.59008512e-02 -1.26948127e-01 1.82795500e+02] [ 1.25213212e-01 3.88907692e-02 9.91367318e-01 1.48820522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:182.82, Z:14.90 [[ 5.26465698e-02 -9.98449182e-01 -1.80988750e-02 1.56557392e+02] [ 9.90896028e-01 5.44799857e-02 -1.23113742e-01 1.82818938e+02] [ 1.23908841e-01 -1.14525872e-02 9.92227513e-01 1.48987340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.85, Z:14.89 [[ 5.18091969e-02 -9.98656289e-01 1.19285328e-03 1.56545328e+02] [ 9.90984677e-01 5.12633522e-02 -1.23779798e-01 1.82847108e+02] [ 1.23552324e-01 7.59503125e-03 9.92308994e-01 1.48946418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:182.87, Z:14.91 [[ 5.46990454e-02 -9.98150182e-01 -2.65373079e-02 1.56564802e+02] [ 9.90997701e-01 5.75211796e-02 -1.20891979e-01 1.82869934e+02] [ 1.22194808e-01 -1.96857353e-02 9.92310889e-01 1.49058855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.90, Z:14.91 [[ 5.53756213e-02 -9.98463917e-01 1.82971485e-03 1.56548231e+02] [ 9.90133290e-01 5.46771627e-02 -1.29021226e-01 1.82902090e+02] [ 1.28722995e-01 8.95629211e-03 9.91640144e-01 1.49053651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.93, Z:14.91 [[ 5.42358189e-02 -9.98522788e-01 -3.27381326e-03 1.56551092e+02] [ 9.90460350e-01 5.42132573e-02 -1.26685511e-01 1.82926044e+02] [ 1.26675854e-01 3.62831021e-03 9.91937530e-01 1.49070665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:182.95, Z:14.91 [[ 5.36123778e-02 -9.98561740e-01 4.04335648e-04 1.56548377e+02] [ 9.90315501e-01 5.31177009e-02 -1.28272050e-01 1.82953440e+02] [ 1.28066085e-01 7.27738949e-03 9.91738936e-01 1.49084879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:182.97, Z:14.93 [[ 5.50025605e-02 -9.97748755e-01 -3.83684846e-02 1.56575130e+02] [ 9.89767248e-01 5.95490919e-02 -1.29671512e-01 1.82974977e+02] [ 1.31664398e-01 -3.08436042e-02 9.90814391e-01 1.49310354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:183.01, Z:14.91 [[ 5.18001270e-02 -9.98438588e-01 2.09077145e-02 1.56537442e+02] [ 9.90596282e-01 4.87160169e-02 -1.27850518e-01 1.83008417e+02] [ 1.26632350e-01 2.73337773e-02 9.91573050e-01 1.49097922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:183.03, Z:14.92 [[ 5.25979105e-02 -9.98545620e-01 -1.18365853e-02 1.56559975e+02] [ 9.90748998e-01 5.36647539e-02 -1.24645564e-01 1.83031046e+02] [ 1.25099490e-01 -5.17098877e-03 9.92130727e-01 1.49210928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:183.06, Z:14.92 [[ 5.24002344e-02 -9.98604355e-01 -6.59979435e-03 1.56558408e+02] [ 9.90683974e-01 5.28142057e-02 -1.25522601e-01 1.83058259e+02] [ 1.25695979e-01 3.91032076e-05 9.92068808e-01 1.49238639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:183.08, Z:14.94 [[ 5.15507579e-02 -9.98310332e-01 -2.68142017e-02 1.56572484e+02] [ 9.89730186e-01 5.46554943e-02 -1.32086849e-01 1.83082329e+02] [ 1.33329209e-01 -1.97296477e-02 9.90875402e-01 1.49438501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:183.11, Z:14.94 [[ 5.08565661e-02 -9.98595902e-01 -1.48268203e-02 1.56566184e+02] [ 9.90042952e-01 5.23610475e-02 -1.30664738e-01 1.83108188e+02] [ 1.31257620e-01 -8.03402900e-03 9.91315738e-01 1.49435911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:183.14, Z:14.93 [[ 4.78141088e-02 -9.98823226e-01 8.12248627e-03 1.56551268e+02] [ 9.90601587e-01 4.63741215e-02 -1.28677650e-01 1.83137774e+02] [ 1.28149552e-01 1.41987550e-02 9.91653209e-01 1.49344827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.272755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.58, Y:183.16, Z:14.95 [[ 4.78715659e-02 -9.98343355e-01 -3.19195666e-02 1.56577981e+02] [ 9.90471535e-01 5.15768314e-02 -1.27694826e-01 1.83157031e+02] [ 1.29129591e-01 -2.55024709e-02 9.91299739e-01 1.49538570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:183.19, Z:14.95 [[ 4.62950018e-02 -9.98923547e-01 -2.91908148e-03 1.56561452e+02] [ 9.90314724e-01 4.62785490e-02 -1.30900891e-01 1.83186658e+02] [ 1.30895073e-01 3.16924762e-03 9.91391162e-01 1.49504905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:183.22, Z:14.95 [[ 4.38174923e-02 -9.99022337e-01 5.86489144e-03 1.56556519e+02] [ 9.90727365e-01 4.26964672e-02 -1.28981785e-01 1.83215172e+02] [ 1.28605274e-01 1.14621668e-02 9.91629619e-01 1.49469482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:183.24, Z:14.96 [[ 4.38469093e-02 -9.98900496e-01 -1.65905998e-02 1.56573078e+02] [ 9.90957287e-01 4.55941729e-02 -1.26193608e-01 1.83240116e+02] [ 1.26811293e-01 -1.09073761e-02 9.91866889e-01 1.49571956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:183.27, Z:14.95 [[ 4.14814615e-02 -9.99000465e-01 1.66540785e-02 1.56552404e+02] [ 9.91097193e-01 3.90312644e-02 -1.27290667e-01 1.83269788e+02] [ 1.26513406e-01 2.17860134e-02 9.91725631e-01 1.49474189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.29, Z:14.96 [[ 4.15935881e-02 -9.98929408e-01 -2.02487399e-02 1.56578183e+02] [ 9.90874208e-01 4.38418662e-02 -1.27460559e-01 1.83292972e+02] [ 1.28211843e-01 -1.47624121e-02 9.91636927e-01 1.49639541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:183.32, Z:14.96 [[ 4.07065017e-02 -9.99141687e-01 7.67264656e-03 1.56560477e+02] [ 9.90728957e-01 3.93652615e-02 -1.30025037e-01 1.83321277e+02] [ 1.29611399e-01 1.28943775e-02 9.91481024e-01 1.49569371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:183.35, Z:14.96 [[ 3.95664347e-02 -9.99213719e-01 -2.53782766e-03 1.56567473e+02] [ 9.90940780e-01 3.95648060e-02 -1.28339379e-01 1.83345622e+02] [ 1.28338877e-01 2.56309476e-03 9.91727061e-01 1.49609502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.58, Y:183.37, Z:14.97 [[ 3.87487476e-02 -9.99084964e-01 -1.81044039e-02 1.56578623e+02] [ 9.91079941e-01 4.07376452e-02 -1.26889694e-01 1.83369438e+02] [ 1.27511116e-01 -1.30260948e-02 9.91751600e-01 1.49689993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.39, Z:14.97 [[ 3.73142424e-02 -9.99100915e-01 -2.01248288e-02 1.56580801e+02] [ 9.91218837e-01 3.95613978e-02 -1.26174928e-01 1.83394940e+02] [ 1.26857653e-01 -1.52399875e-02 9.91803851e-01 1.49736627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.43, Z:14.98 [[ 3.87281132e-02 -9.99190921e-01 -1.08460205e-02 1.56575861e+02] [ 9.90412789e-01 3.98236926e-02 -1.32274640e-01 1.83426775e+02] [ 1.32599548e-01 -5.61929024e-03 9.91153764e-01 1.49836953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:183.45, Z:14.98 [[ 3.85198642e-02 -9.99187441e-01 1.18607422e-02 1.56559312e+02] [ 9.90427932e-01 3.66023523e-02 -1.33089369e-01 1.83452034e+02] [ 1.32547095e-01 1.68737948e-02 9.91033068e-01 1.49782195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:183.47, Z:15.00 [[ 4.18301794e-02 -9.98269579e-01 -4.13289695e-02 1.56593196e+02] [ 9.89844805e-01 4.70309168e-02 -1.34146769e-01 1.83470211e+02] [ 1.35858378e-01 -3.52978824e-02 9.90099268e-01 1.50016263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.50, Z:15.00 [[ 4.11578239e-02 -9.99079758e-01 -1.20694293e-02 1.56575460e+02] [ 9.89900111e-01 4.24138357e-02 -1.35273195e-01 1.83500099e+02] [ 1.35660622e-01 -6.37997910e-03 9.90734824e-01 1.49975439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:183.52, Z:14.99 [[ 4.20577649e-02 -9.99083013e-01 8.01733300e-03 1.56563560e+02] [ 9.90614982e-01 4.06541015e-02 -1.30495985e-01 1.83524100e+02] [ 1.30050385e-01 1.34304597e-02 9.91416421e-01 1.49856308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:183.55, Z:14.99 [[ 4.18147153e-02 -9.99120349e-01 3.17132281e-03 1.56567352e+02] [ 9.90361815e-01 4.10282594e-02 -1.32288164e-01 1.83550889e+02] [ 1.32041683e-01 8.67234894e-03 9.91206227e-01 1.49914540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:183.58, Z:15.00 [[ 4.16095327e-02 -9.99115433e-01 -6.08261122e-03 1.56574056e+02] [ 9.89760501e-01 4.20503579e-02 -1.36403513e-01 1.83577103e+02] [ 1.36538631e-01 -3.44641887e-04 9.90634687e-01 1.50024583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.60, Z:15.01 [[ 4.13919788e-02 -9.98847274e-01 -2.43069508e-02 1.56584062e+02] [ 9.89844992e-01 4.43058534e-02 -1.35069920e-01 1.83602812e+02] [ 1.35991162e-01 -1.84693022e-02 9.90537879e-01 1.50131915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:183.63, Z:15.00 [[ 4.15256674e-02 -9.99076740e-01 1.10130557e-02 1.56561661e+02] [ 9.90097237e-01 3.96680302e-02 -1.34662202e-01 1.83632376e+02] [ 1.34101007e-01 1.64959339e-02 9.90830361e-01 1.50022652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:183.66, Z:15.01 [[ 4.09151367e-02 -9.99154218e-01 -4.09888583e-03 1.56571715e+02] [ 9.90050481e-01 4.10944284e-02 -1.34578206e-01 1.83661599e+02] [ 1.34632823e-01 1.44818180e-03 9.90894498e-01 1.50100867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:183.68, Z:15.03 [[ 4.17375093e-02 -9.98851464e-01 -2.35315260e-02 1.56585725e+02] [ 9.89424294e-01 4.45952578e-02 -1.38024744e-01 1.83683616e+02] [ 1.38915612e-01 -1.75218545e-02 9.90149200e-01 1.50258438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.71, Z:15.03 [[ 4.12895095e-02 -9.99038487e-01 -1.47403306e-02 1.56581964e+02] [ 9.89692031e-01 4.29191305e-02 -1.36629542e-01 1.83710812e+02] [ 1.37130814e-01 -8.94702098e-03 9.90512539e-01 1.50268384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.74, Z:15.03 [[ 4.04977817e-02 -9.99148837e-01 -7.84419961e-03 1.56579248e+02] [ 9.89733201e-01 4.11906409e-02 -1.36863148e-01 1.83738542e+02] [ 1.37069763e-01 -2.22101089e-03 9.90558906e-01 1.50293955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.77, Z:15.04 [[ 4.16013199e-02 -9.99102713e-01 -7.94355649e-03 1.56582697e+02] [ 9.89318616e-01 4.23030124e-02 -1.39495991e-01 1.83765146e+02] [ 1.39706859e-01 -2.05549098e-03 9.90190774e-01 1.50358808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.79, Z:15.04 [[ 4.00764182e-02 -9.99166383e-01 -7.77305382e-03 1.56582539e+02] [ 9.89677004e-01 4.07646783e-02 -1.37396031e-01 1.83792327e+02] [ 1.37598362e-01 -2.18647181e-03 9.90485694e-01 1.50372100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.82, Z:15.04 [[ 3.68050649e-02 -9.99284085e-01 -8.75807682e-03 1.56580850e+02] [ 9.90095454e-01 3.76520373e-02 -1.35252785e-01 1.83817190e+02] [ 1.35485715e-01 -3.69334451e-03 9.90772416e-01 1.50411794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.84, Z:15.04 [[ 3.60939344e-02 -9.99316855e-01 -7.94045504e-03 1.56581889e+02] [ 9.90112511e-01 3.68369800e-02 -1.35352325e-01 1.83844801e+02] [ 1.35552362e-01 -2.97654594e-03 9.90765713e-01 1.50447873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.87, Z:15.05 [[ 3.45780489e-02 -9.99381071e-01 -6.46793624e-03 1.56581747e+02] [ 9.90288596e-01 3.51340229e-02 -1.34514300e-01 1.83871216e+02] [ 1.34658290e-01 -1.75388145e-03 9.90890543e-01 1.50479066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:183.90, Z:15.05 [[ 3.18661903e-02 -9.99492104e-01 -2.82707682e-04 1.56578716e+02] [ 9.90673264e-01 3.16225134e-02 -1.32538679e-01 1.83898868e+02] [ 1.32480303e-01 3.94343184e-03 9.91177794e-01 1.50486318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:183.92, Z:15.07 [[ 3.32890490e-02 -9.98518657e-01 -4.30387193e-02 1.56608086e+02] [ 9.90019774e-01 3.88447843e-02 -1.35469297e-01 1.83923232e+02] [ 1.36940450e-01 -3.80995391e-02 9.89846321e-01 1.50720348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.55, Y:183.96, Z:15.05 [[ 2.94759406e-02 -9.98667432e-01 4.23618935e-02 1.56554766e+02] [ 9.90093736e-01 2.33499372e-02 -1.38452789e-01 1.83955557e+02] [ 1.37279144e-01 4.60232716e-02 9.89462629e-01 1.50509829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:183.98, Z:15.07 [[ 2.98090451e-02 -9.98956671e-01 -3.45975542e-02 1.56602380e+02] [ 9.90418438e-01 3.41882556e-02 -1.33800156e-01 1.83975455e+02] [ 1.34843389e-01 -3.02776007e-02 9.90404224e-01 1.50748974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:184.00, Z:15.08 [[ 3.00519859e-02 -9.99235166e-01 -2.50192310e-02 1.56597985e+02] [ 9.89975172e-01 3.32107975e-02 -1.37281471e-01 1.84003144e+02] [ 1.38007382e-01 -2.06428367e-02 9.90216055e-01 1.50806760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:184.03, Z:15.07 [[ 2.89720719e-02 -9.99530946e-01 9.92506912e-03 1.56576986e+02] [ 9.90252231e-01 2.73469722e-02 -1.36574746e-01 1.84031195e+02] [ 1.36239265e-01 1.37851752e-02 9.90580048e-01 1.50715144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.58, Y:184.06, Z:15.08 [[ 2.77887420e-02 -9.99575767e-01 8.72190366e-03 1.56577168e+02] [ 9.89506463e-01 2.62690707e-02 -1.42080599e-01 1.84059063e+02] [ 1.41791208e-01 1.25786212e-02 9.89816666e-01 1.50778748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32275509600004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:156.59, Y:184.08, Z:15.09 [[ 2.85543543e-02 -9.99541181e-01 -1.01032409e-02 1.56589690e+02] [ 9.89603890e-01 2.96928645e-02 -1.40721264e-01 1.84084517e+02] [ 1.40956693e-01 -5.98000165e-03 9.89997702e-01 1.50854805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:184.11, Z:15.09 [[ 2.93567427e-02 -9.99349897e-01 -2.09276208e-02 1.56596753e+02] [ 9.89963550e-01 3.19637972e-02 -1.37660763e-01 1.84109065e+02] [ 1.38240196e-01 -1.66763102e-02 9.90258324e-01 1.50903114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:184.14, Z:15.09 [[ 3.01201021e-02 -9.99519959e-01 -7.25473767e-03 1.56589371e+02] [ 9.89847401e-01 3.08356947e-02 -1.38748990e-01 1.84135874e+02] [ 1.38906090e-01 -3.00194948e-03 9.90301008e-01 1.50910604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:184.16, Z:15.09 [[ 3.22397106e-02 -9.99454073e-01 -7.22197755e-03 1.56589900e+02] [ 9.89720982e-01 3.29313688e-02 -1.39168610e-01 1.84160995e+02] [ 1.39330464e-01 -2.66098699e-03 9.90242365e-01 1.50947868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:184.19, Z:15.11 [[ 3.42383901e-02 -9.99159849e-01 -2.25239598e-02 1.56600564e+02] [ 9.89329723e-01 3.70777642e-02 -1.40896906e-01 1.84186587e+02] [ 1.41613670e-01 -1.74595396e-02 9.89768020e-01 1.51060480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.58, Y:184.22, Z:15.10 [[ 3.45546113e-02 -9.99372422e-01 7.79359558e-03 1.56582559e+02] [ 9.89565547e-01 3.31219850e-02 -1.40224683e-01 1.84215305e+02] [ 1.39878542e-01 1.25576831e-02 9.90089035e-01 1.50991085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:184.24, Z:15.11 [[ 3.55172729e-02 -9.99343798e-01 -7.10605248e-03 1.56592204e+02] [ 9.89564583e-01 3.61615069e-02 -1.39478608e-01 1.84239165e+02] [ 1.39644048e-01 -2.07799805e-03 9.90199587e-01 1.51058760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5327550960001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:156.58, Y:184.27, Z:15.10 [[ 3.68519986e-02 -9.99299973e-01 6.44164356e-03 1.56582681e+02] [ 9.90004243e-01 3.56295309e-02 -1.36462945e-01 1.84266196e+02] [ 1.36137904e-01 1.14061867e-02 9.90624232e-01 1.51021757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:184.29, Z:15.11 [[ 3.76553073e-02 -9.99282112e-01 -4.16404018e-03 1.56590518e+02] [ 9.90033481e-01 3.78720317e-02 -1.35644445e-01 1.84293687e+02] [ 1.35704768e-01 9.85194052e-04 9.90748831e-01 1.51086829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:184.32, Z:15.12 [[ 3.80941229e-02 -9.99064313e-01 -2.04776956e-02 1.56603214e+02] [ 9.89832902e-01 4.05366008e-02 -1.36336384e-01 1.84320513e+02] [ 1.37038912e-01 -1.50758819e-02 9.90450935e-01 1.51207737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:156.61, Y:184.35, Z:15.13 [[ 3.99301704e-02 -9.98911039e-01 -2.41312527e-02 1.56609248e+02] [ 9.89497165e-01 4.28886497e-02 -1.38043195e-01 1.84349041e+02] [ 1.38927829e-01 -1.83657178e-02 9.90132193e-01 1.51296826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:184.38, Z:15.12 [[ 3.70884569e-02 -9.99270376e-01 9.11932833e-03 1.56588281e+02] [ 9.89998494e-01 3.54982744e-02 -1.36538841e-01 1.84376096e+02] [ 1.36115499e-01 1.40921363e-02 9.90592743e-01 1.51216535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.59, Y:184.40, Z:15.12 [[ 3.57692562e-02 -9.99357337e-01 2.33940720e-03 1.56592788e+02] [ 9.90325555e-01 3.51317384e-02 -1.34242525e-01 1.84401738e+02] [ 1.34074065e-01 7.11852999e-03 9.90945746e-01 1.51237174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:184.43, Z:15.13 [[ 3.44067473e-02 -9.99296398e-01 -1.49293115e-02 1.56604903e+02] [ 9.90191297e-01 3.61096990e-02 -1.34971422e-01 1.84427395e+02] [ 1.35415549e-01 -1.01389467e-02 9.90737014e-01 1.51342379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.60, Y:184.45, Z:15.13 [[ 3.34396227e-02 -9.99440494e-01 6.99864288e-04 1.56596375e+02] [ 9.89868180e-01 3.30226464e-02 -1.38095946e-01 1.84454143e+02] [ 1.37995570e-01 5.31064973e-03 9.90418608e-01 1.51344777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.772755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.61, Y:184.48, Z:15.14 [[ 3.00849440e-02 -9.99362684e-01 -1.92125382e-02 1.56608783e+02] [ 9.90744837e-01 3.23597959e-02 -1.31823787e-01 1.84479689e+02] [ 1.32361487e-01 -1.50688118e-02 9.91086963e-01 1.51402554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:184.51, Z:15.14 [[ 2.97367512e-02 -9.99556547e-01 -1.56020833e-03 1.56599321e+02] [ 9.90526748e-01 2.96773924e-02 -1.34074661e-01 1.84506842e+02] [ 1.34061509e-01 2.44151676e-03 9.90970005e-01 1.51404978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.832755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.60, Y:184.53, Z:15.14 [[ 2.97077746e-02 -9.99531736e-01 -7.33193349e-03 1.56604390e+02] [ 9.90568549e-01 3.04213659e-02 -1.33598241e-01 1.84531194e+02] [ 1.33758729e-01 -3.29387629e-03 9.91008452e-01 1.51445730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:184.56, Z:15.15 [[ 2.90955337e-02 -9.99556433e-01 -6.35516577e-03 1.56604869e+02] [ 9.90483200e-01 2.96859019e-02 -1.34394113e-01 1.84557894e+02] [ 1.34523159e-01 -2.38441648e-03 9.90907581e-01 1.51481052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:184.58, Z:15.15 [[ 2.90701153e-02 -9.99572437e-01 -3.14177426e-03 1.56604124e+02] [ 9.90184458e-01 2.92266801e-02 -1.36676770e-01 1.84583584e+02] [ 1.36710156e-01 8.62273422e-04 9.90610716e-01 1.51511673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:184.61, Z:15.16 [[ 2.84180838e-02 -9.99553225e-01 -9.26087786e-03 1.56609226e+02] [ 9.90110573e-01 2.94205002e-02 -1.37169558e-01 1.84610365e+02] [ 1.37380734e-01 -5.27119709e-03 9.90504290e-01 1.51555891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:184.64, Z:15.16 [[ 2.81187083e-02 -9.99584479e-01 -6.34090408e-03 1.56608702e+02] [ 9.90096529e-01 2.87235278e-02 -1.37418418e-01 1.84636424e+02] [ 1.37543451e-01 -2.41407871e-03 9.90492792e-01 1.51581661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:184.66, Z:15.16 [[ 2.78060397e-02 -9.99593333e-01 -6.32395207e-03 1.56610304e+02] [ 9.89988581e-01 2.84135537e-02 -1.38258018e-01 1.84661314e+02] [ 1.38381479e-01 -2.41623239e-03 9.90376054e-01 1.51616513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:184.69, Z:15.17 [[ 2.73382429e-02 -9.99606516e-01 -6.27956369e-03 1.56611648e+02] [ 9.89960845e-01 2.79448310e-02 -1.38551839e-01 1.84687684e+02] [ 1.38672802e-01 -2.42875834e-03 9.90335274e-01 1.51652834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:184.71, Z:15.17 [[ 2.70276446e-02 -9.99615297e-01 -6.22609931e-03 1.56612573e+02] [ 9.89969351e-01 2.76298215e-02 -1.38554242e-01 1.84714310e+02] [ 1.38672965e-01 -2.41885269e-03 9.90335275e-01 1.51689447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:184.74, Z:15.17 [[ 2.63943420e-02 -9.99632615e-01 -6.16226906e-03 1.56613927e+02] [ 9.90050472e-01 2.69926534e-02 -1.38099454e-01 1.84740004e+02] [ 1.38215054e-01 -2.45591317e-03 9.90399196e-01 1.51722758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:184.76, Z:15.18 [[ 2.51225480e-02 -9.99665913e-01 -6.07613737e-03 1.56615905e+02] [ 9.90188332e-01 2.57192163e-02 -1.37352063e-01 1.84764617e+02] [ 1.37462449e-01 -2.56588654e-03 9.90503655e-01 1.51757888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:184.79, Z:15.18 [[ 2.44284653e-02 -9.99683493e-01 -6.01370588e-03 1.56617762e+02] [ 9.90228933e-01 2.50227007e-02 -1.37187917e-01 1.84791123e+02] [ 1.37294975e-01 -2.60365530e-03 9.90526785e-01 1.51791534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:184.82, Z:15.18 [[ 2.25820906e-02 -9.99723497e-01 6.55576877e-03 1.56611296e+02] [ 9.89708695e-01 2.14280842e-02 -1.41483345e-01 1.84819277e+02] [ 1.41303747e-01 9.68329107e-03 9.89918929e-01 1.51815938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:184.84, Z:15.19 [[ 2.23770900e-02 -9.99564387e-01 -1.92432557e-02 1.56629350e+02] [ 9.90397511e-01 2.47902526e-02 -1.36008135e-01 1.84842341e+02] [ 1.36425933e-01 -1.60150063e-02 9.90520815e-01 1.51889605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:184.87, Z:15.19 [[ 2.17690848e-02 -9.99746017e-01 -5.83169593e-03 1.56622682e+02] [ 9.90366804e-01 2.23619665e-02 -1.36651148e-01 1.84869023e+02] [ 1.36746849e-01 -2.80074763e-03 9.90602067e-01 1.51889302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:184.89, Z:15.19 [[ 2.10482115e-02 -9.99761822e-01 -5.76824650e-03 1.56623921e+02] [ 9.90425186e-01 2.16382993e-02 -1.36344175e-01 1.84894817e+02] [ 1.36436516e-01 -2.84321558e-03 9.90644736e-01 1.51922480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:184.92, Z:15.19 [[ 2.16931039e-02 -9.99762876e-01 -1.89743132e-03 1.56623689e+02] [ 9.90224871e-01 2.17476251e-02 -1.37774259e-01 1.84918596e+02] [ 1.37782854e-01 1.10986764e-03 9.90461838e-01 1.51944746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:184.95, Z:15.20 [[ 2.00240109e-02 -9.99760093e-01 -8.87667171e-03 1.56628610e+02] [ 9.90539143e-01 2.10433580e-02 -1.35607461e-01 1.84945436e+02] [ 1.35761723e-01 -6.07728551e-03 9.90722878e-01 1.51993730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:184.97, Z:15.20 [[ 2.16573232e-02 -9.99749746e-01 5.60410336e-03 1.56621486e+02] [ 9.90175115e-01 2.06746911e-02 -1.38296053e-01 1.84972589e+02] [ 1.38145581e-01 8.54416602e-03 9.90375078e-01 1.52001682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:185.00, Z:15.21 [[ 2.21778043e-02 -9.99625938e-01 -1.60040556e-02 1.56635721e+02] [ 9.90610184e-01 2.41322523e-02 -1.34570050e-01 1.84998241e+02] [ 1.34905926e-01 -1.28693122e-02 9.90774834e-01 1.52084646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:185.03, Z:15.21 [[ 2.29389187e-02 -9.99722630e-01 -5.33567564e-03 1.56630356e+02] [ 9.90677675e-01 2.34475925e-02 -1.34193721e-01 1.85025505e+02] [ 1.34281608e-01 -2.20767588e-03 9.90940753e-01 1.52092955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:185.05, Z:15.21 [[ 2.38385252e-02 -9.99701953e-01 -5.26588939e-03 1.56631496e+02] [ 9.90712549e-01 2.43288413e-02 -1.33778746e-01 1.85050677e+02] [ 1.33866986e-01 -2.02789470e-03 9.90997234e-01 1.52125406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:185.08, Z:15.22 [[ 2.63394542e-02 -9.99639469e-01 -5.21198520e-03 1.56633107e+02] [ 9.90642334e-01 2.68001421e-02 -1.33826453e-01 1.85077398e+02] [ 1.33917886e-01 -1.63829746e-03 9.90991078e-01 1.52158248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:185.10, Z:15.22 [[ 2.71170616e-02 -9.99618964e-01 -5.15668103e-03 1.56634394e+02] [ 9.90644739e-01 2.75630858e-02 -1.33653574e-01 1.85103410e+02] [ 1.33744782e-01 -1.48414672e-03 9.91014698e-01 1.52191788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:185.13, Z:15.22 [[ 2.79044039e-02 -9.99597549e-01 -5.10727381e-03 1.56636809e+02] [ 9.90607369e-01 2.83369056e-02 -1.33768682e-01 1.85128576e+02] [ 1.33859571e-01 -1.32656772e-03 9.90999422e-01 1.52219637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:185.15, Z:15.23 [[ 2.77180145e-02 -9.99603019e-01 -5.05144098e-03 1.56638686e+02] [ 9.90612088e-01 2.81447262e-02 -1.33774309e-01 1.85154215e+02] [ 1.33863374e-01 -1.29606027e-03 9.90998949e-01 1.52255284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:185.18, Z:15.23 [[ 2.71203508e-02 -9.99619750e-01 -4.98408924e-03 1.56640534e+02] [ 9.90681831e-01 2.75429024e-02 -1.33382530e-01 1.85180847e+02] [ 1.33469088e-01 -1.32026565e-03 9.91052097e-01 1.52293625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:185.21, Z:15.23 [[ 2.56236044e-02 -9.99659626e-01 -4.90543183e-03 1.56643614e+02] [ 9.90831210e-01 2.60478501e-02 -1.32570820e-01 1.85207853e+02] [ 1.32653472e-01 -1.46351272e-03 9.91161397e-01 1.52331184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:185.23, Z:15.24 [[ 2.41097968e-02 -9.99695557e-01 5.24510139e-03 1.56639229e+02] [ 9.90511659e-01 2.31775888e-02 -1.35460152e-01 1.85234690e+02] [ 1.35297343e-01 8.46125082e-03 9.90768912e-01 1.52351720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:185.26, Z:15.24 [[ 2.18130585e-02 -9.99652977e-01 -1.47687773e-02 1.56654589e+02] [ 9.91124990e-01 2.35598254e-02 -1.30828852e-01 1.85259606e+02] [ 1.31131401e-01 -1.17839269e-02 9.91294958e-01 1.52425619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.65, Y:185.29, Z:15.24 [[ 2.04550888e-02 -9.99779701e-01 -4.70519873e-03 1.56650824e+02] [ 9.91089664e-01 2.08963855e-02 -1.31547024e-01 1.85286559e+02] [ 1.31616366e-01 -1.97246777e-03 9.91298765e-01 1.52430976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:185.31, Z:15.25 [[ 1.89247369e-02 -9.99810121e-01 -4.64499733e-03 1.56652384e+02] [ 9.91157792e-01 1.93708130e-02 -1.31266916e-01 1.85312709e+02] [ 1.31331969e-01 -2.11973345e-03 9.91336179e-01 1.52471165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:185.34, Z:15.25 [[ 1.73040933e-02 -9.99839680e-01 -4.60246003e-03 1.56654366e+02] [ 9.91149134e-01 1.77592833e-02 -1.31559881e-01 1.85337743e+02] [ 1.31620526e-01 -2.28519981e-03 9.91297541e-01 1.52497285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.36, Z:15.25 [[ 1.68813236e-02 -9.99847097e-01 -4.56107683e-03 1.56655789e+02] [ 9.91103176e-01 1.73356730e-02 -1.31961995e-01 1.85363474e+02] [ 1.32020887e-01 -2.29280458e-03 9.91244283e-01 1.52529719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.39, Z:15.26 [[ 1.64658769e-02 -9.99854237e-01 -4.51442710e-03 1.56656748e+02] [ 9.91093529e-01 1.69179944e-02 -1.32088597e-01 1.85389266e+02] [ 1.32145718e-01 -2.29926492e-03 9.91227634e-01 1.52557933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.42, Z:15.26 [[ 1.65195826e-02 -9.99853509e-01 -4.47933352e-03 1.56658358e+02] [ 9.91030875e-01 1.69676445e-02 -1.32551517e-01 1.85415783e+02] [ 1.32608103e-01 -2.24946208e-03 9.91165996e-01 1.52585932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.44, Z:15.26 [[ 1.63616875e-02 -9.99856265e-01 -4.44359737e-03 1.56659739e+02] [ 9.90971547e-01 1.68074463e-02 -1.33014674e-01 1.85441379e+02] [ 1.33070240e-01 -2.22713403e-03 9.91104107e-01 1.52619942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.47, Z:15.26 [[ 1.61174527e-02 -9.99860415e-01 -4.40197422e-03 1.56662019e+02] [ 9.90927073e-01 1.65606516e-02 -1.33376461e-01 1.85466413e+02] [ 1.33430743e-01 -2.21234662e-03 9.91055671e-01 1.52647181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.49, Z:15.27 [[ 1.58979919e-02 -9.99864121e-01 -4.35813544e-03 1.56663561e+02] [ 9.90892607e-01 1.63379296e-02 -1.33659689e-01 1.85492685e+02] [ 1.33712731e-01 -2.19352354e-03 9.91017706e-01 1.52681761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:185.52, Z:15.27 [[ 1.58925877e-02 -9.99864418e-01 -4.30934655e-03 1.56665045e+02] [ 9.90874122e-01 1.63263497e-02 -1.33798072e-01 1.85518709e+02] [ 1.33850287e-01 -2.14362239e-03 9.90999246e-01 1.52715992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:185.54, Z:15.27 [[ 1.71678538e-02 -9.99843587e-01 -4.25038370e-03 1.56665531e+02] [ 9.90876038e-01 1.75819211e-02 -1.33624671e-01 1.85543506e+02] [ 1.33678500e-01 -1.91755455e-03 9.91022897e-01 1.52747498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.57, Z:15.28 [[ 1.81737418e-02 -9.99826112e-01 -4.17864692e-03 1.56664646e+02] [ 9.90986245e-01 1.85675407e-02 -1.32670676e-01 1.85569853e+02] [ 1.32725193e-01 -1.72985901e-03 9.91151366e-01 1.52777185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.60, Z:15.28 [[ 1.90390092e-02 -9.99810237e-01 -4.12392814e-03 1.56664696e+02] [ 9.90983958e-01 1.94177302e-02 -1.32566009e-01 1.85596250e+02] [ 1.32620930e-01 -1.56282117e-03 9.91165600e-01 1.52810896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.62, Z:15.28 [[ 2.02810877e-02 -9.99785937e-01 -4.09369517e-03 1.56664358e+02] [ 9.90864621e-01 2.06458010e-02 -1.33270601e-01 1.85622922e+02] [ 1.33326590e-01 -1.35342497e-03 9.91071233e-01 1.52847186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.65, Z:15.29 [[ 2.12957653e-02 -9.99765065e-01 -4.03794092e-03 1.56663144e+02] [ 9.90859668e-01 2.16438477e-02 -1.33149025e-01 1.85648023e+02] [ 1.33205140e-01 -1.16552241e-03 9.91087802e-01 1.52886317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.67, Z:15.29 [[ 2.25162405e-02 -9.99738575e-01 -3.97495615e-03 1.56661729e+02] [ 9.90872345e-01 2.28447799e-02 -1.32853722e-01 1.85674549e+02] [ 1.32909798e-01 -9.47307771e-04 9.91127685e-01 1.52927383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.70, Z:15.30 [[ 2.27649167e-02 -9.99733150e-01 -3.92272836e-03 1.56661524e+02] [ 9.90868721e-01 2.30842966e-02 -1.32839351e-01 1.85700876e+02] [ 1.32894457e-01 -8.62832070e-04 9.91129819e-01 1.52963970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.73, Z:15.30 [[ 2.18633425e-02 -9.99739299e-01 6.58249452e-03 1.56655074e+02] [ 9.90500125e-01 2.07662673e-02 -1.35934780e-01 1.85728949e+02] [ 1.35762648e-01 9.49195031e-03 9.90695920e-01 1.52986320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:185.75, Z:15.31 [[ 2.10616244e-02 -9.99676832e-01 -1.42351235e-02 1.56667650e+02] [ 9.90865731e-01 2.27686771e-02 -1.32916103e-01 1.85754377e+02] [ 1.33197264e-01 -1.13056670e-02 9.91025061e-01 1.53070495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.78, Z:15.31 [[ 1.97227050e-02 -9.99798411e-01 -3.76189962e-03 1.56661370e+02] [ 9.90951803e-01 2.00475427e-02 -1.32712544e-01 1.85779678e+02] [ 1.32761207e-01 -1.11041087e-03 9.91147430e-01 1.53079131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.80, Z:15.31 [[ 1.82985632e-02 -9.99825755e-01 -3.69088947e-03 1.56661279e+02] [ 9.91053017e-01 1.86258899e-02 -1.32162752e-01 1.85804537e+02] [ 1.32208469e-01 -1.23947868e-03 9.91221158e-01 1.53116356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.83, Z:15.32 [[ 1.52424153e-02 -9.99877218e-01 -3.63561424e-03 1.56659549e+02] [ 9.91109894e-01 1.55891939e-02 -1.32129314e-01 1.85830962e+02] [ 1.32169767e-01 -1.58932338e-03 9.91225820e-01 1.53152817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.86, Z:15.32 [[ 1.29692591e-02 -9.99909476e-01 -3.58297770e-03 1.56659309e+02] [ 9.91150323e-01 1.33289079e-02 -1.32073380e-01 1.85856588e+02] [ 1.32109182e-01 -1.83837562e-03 9.91233466e-01 1.53185580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.66, Y:185.88, Z:15.32 [[ 1.07702741e-02 -9.99935795e-01 -3.52231246e-03 1.56660088e+02] [ 9.91214612e-01 1.11405857e-02 -1.31793322e-01 1.85882676e+02] [ 1.31824101e-01 -2.07191737e-03 9.91270959e-01 1.53219126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.91, Z:15.33 [[ 6.77760599e-03 -9.99970908e-01 -3.49961610e-03 1.56662052e+02] [ 9.91098848e-01 7.18270487e-03 -1.32934131e-01 1.85908486e+02] [ 1.32955401e-01 -2.56749032e-03 9.91118696e-01 1.53254874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.93, Z:15.33 [[ 5.01371101e-03 -9.99981457e-01 -3.45659446e-03 1.56663178e+02] [ 9.91057248e-01 5.42983217e-03 -1.33326849e-01 1.85933819e+02] [ 1.33343145e-01 -2.75722070e-03 9.91066094e-01 1.53288173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.96, Z:15.33 [[ 4.62276861e-03 -9.99983545e-01 -3.39705489e-03 1.56662866e+02] [ 9.91081326e-01 5.03398552e-03 -1.33163303e-01 1.85960047e+02] [ 1.33178213e-01 -2.75117453e-03 9.91088288e-01 1.53323039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:185.99, Z:15.34 [[ 4.73732872e-03 -9.99983149e-01 -3.35547062e-03 1.56662986e+02] [ 9.91025554e-01 5.14310270e-03 -1.33573577e-01 1.85985106e+02] [ 1.33588584e-01 -2.69257519e-03 9.91033219e-01 1.53359936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.01, Z:15.34 [[ 5.22657432e-03 -9.99980879e-01 -3.30514971e-03 1.56663047e+02] [ 9.91001845e-01 5.62165029e-03 -1.33730103e-01 1.86011243e+02] [ 1.33746126e-01 -2.57645914e-03 9.91012278e-01 1.53390950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.04, Z:15.34 [[ 5.52576591e-03 -9.99979378e-01 -3.27252459e-03 1.56662917e+02] [ 9.90896939e-01 5.91571688e-03 -1.34492605e-01 1.86037473e+02] [ 1.34509191e-01 -2.49955995e-03 9.90909194e-01 1.53427316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.06, Z:15.35 [[ 6.72405173e-03 -9.99972207e-01 -3.22075583e-03 1.56663569e+02] [ 9.90886843e-01 7.09619511e-03 -1.34509885e-01 1.86064019e+02] [ 1.34529002e-01 -2.28695315e-03 9.90907018e-01 1.53462964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.66, Y:186.09, Z:15.35 [[ 7.15819861e-03 -9.99969374e-01 -3.16410278e-03 1.56663496e+02] [ 9.90901888e-01 7.51848240e-03 -1.34376044e-01 1.86090486e+02] [ 1.34395718e-01 -2.17342501e-03 9.90925359e-01 1.53499240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.12, Z:15.36 [[ 8.85278447e-03 -9.99930368e-01 -7.80299806e-03 1.56668900e+02] [ 9.90336284e-01 9.84736127e-03 -1.38336816e-01 1.86121054e+02] [ 1.38404022e-01 -6.50292609e-03 9.90354502e-01 1.53588316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.14, Z:15.36 [[ 7.26917314e-03 -9.99973264e-01 -7.93721775e-04 1.56661810e+02] [ 9.90738080e-01 7.30966274e-03 -1.35589918e-01 1.86143039e+02] [ 1.35592095e-01 1.99256203e-04 9.90764727e-01 1.53565653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.17, Z:15.36 [[ 6.96828487e-03 -9.99971198e-01 -3.00784219e-03 1.56663406e+02] [ 9.90692782e-01 7.31246708e-03 -1.35920340e-01 1.86169187e+02] [ 1.35938420e-01 -2.03271590e-03 9.90715203e-01 1.53607852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.20, Z:15.37 [[ 7.19601892e-03 -9.99919573e-01 -1.04433847e-02 1.56670391e+02] [ 9.90628913e-01 8.55284027e-03 -1.36312894e-01 1.86198711e+02] [ 1.36391251e-01 -9.36460869e-03 9.90610787e-01 1.53681617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:186.22, Z:15.37 [[ 5.41465067e-03 -9.99897563e-01 1.32493521e-02 1.56654942e+02] [ 9.90316581e-01 3.52379771e-03 -1.38782755e-01 1.86224319e+02] [ 1.38721851e-01 1.38725132e-02 9.90234215e-01 1.53662902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.25, Z:15.38 [[ 4.71484210e-03 -9.99891607e-01 -1.39479416e-02 1.56671744e+02] [ 9.90768761e-01 6.56063527e-03 -1.35403913e-01 1.86249481e+02] [ 1.35480744e-01 -1.31807767e-02 9.90692301e-01 1.53759063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:186.28, Z:15.37 [[ 2.60975896e-03 -9.99915098e-01 1.27666211e-02 1.56654721e+02] [ 9.90091688e-01 7.91276775e-04 -1.40420166e-01 1.86277424e+02] [ 1.40398142e-01 1.30065883e-02 9.90009692e-01 1.53748056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.30, Z:15.38 [[ 2.56224458e-03 -9.99902054e-01 -1.37592778e-02 1.56670798e+02] [ 9.90582142e-01 4.42148120e-03 -1.36848346e-01 1.86300867e+02] [ 1.36895778e-01 -1.32790559e-02 9.90496448e-01 1.53832893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.33, Z:15.38 [[ 1.64221078e-03 -9.99997979e-01 -1.15940130e-03 1.56663026e+02] [ 9.90649608e-01 1.78502355e-03 -1.36419092e-01 1.86331853e+02] [ 1.36420886e-01 -9.24531543e-04 9.90650537e-01 1.53818892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.36, Z:15.39 [[-5.26050260e-04 -9.99940592e-01 -1.08874008e-02 1.56667165e+02] [ 9.90457028e-01 9.79512337e-04 -1.37818415e-01 1.86355159e+02] [ 1.37820892e-01 -1.08560021e-02 9.90397672e-01 1.53905350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.38, Z:15.39 [[-9.02071891e-04 -9.99996226e-01 -2.59515039e-03 1.56662371e+02] [ 9.90434992e-01 -5.35369002e-04 -1.37979127e-01 1.86382193e+02] [ 1.37977217e-01 -2.69479485e-03 9.90431737e-01 1.53921886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.41, Z:15.40 [[-1.76495168e-03 -9.99995203e-01 -2.54526590e-03 1.56662408e+02] [ 9.90417098e-01 -1.39654000e-03 -1.38101491e-01 1.86406920e+02] [ 1.38097274e-01 -2.76461733e-03 9.90414812e-01 1.53961711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.43, Z:15.40 [[-2.69337086e-03 -9.99993288e-01 -2.48370848e-03 1.56662385e+02] [ 9.90450338e-01 -2.32528558e-03 -1.37850359e-01 1.86432750e+02] [ 1.37843658e-01 -2.83127205e-03 9.90449953e-01 1.54000364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.46, Z:15.40 [[-3.50600926e-03 -9.99990901e-01 -2.43014708e-03 1.56662661e+02] [ 9.90439409e-01 -3.13736995e-03 -1.37912778e-01 1.86458861e+02] [ 1.37903899e-01 -2.89043692e-03 9.90441397e-01 1.54040097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.082755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.66, Y:186.48, Z:15.41 [[-2.95939722e-03 -9.99973676e-01 6.62489469e-03 1.56657635e+02] [ 9.90037830e-01 -3.86246174e-03 -1.40748632e-01 1.86483416e+02] [ 1.40770515e-01 6.14236525e-03 9.90023198e-01 1.54056214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.51, Z:15.41 [[-3.72252590e-03 -9.99939350e-01 -1.03653314e-02 1.56667386e+02] [ 9.90386522e-01 -2.25325451e-03 -1.38309290e-01 1.86510558e+02] [ 1.38277546e-01 -1.07805444e-02 9.90334843e-01 1.54134479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:186.54, Z:15.40 [[-4.99119079e-03 -9.99478136e-01 3.19146298e-02 1.56640039e+02] [ 9.91178776e-01 -9.17150666e-03 -1.32213910e-01 1.86541528e+02] [ 1.32437618e-01 3.09731989e-02 9.90707292e-01 1.53961032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.66, Y:186.57, Z:15.41 [[-4.73487450e-03 -9.99988716e-01 -3.84950978e-04 1.56660385e+02] [ 9.91328301e-01 -4.64331323e-03 -1.31326463e-01 1.86565331e+02] [ 1.31323194e-01 -1.00342712e-03 9.91339100e-01 1.54058883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:186.59, Z:15.43 [[-1.64655385e-03 -9.99268133e-01 -3.82163347e-02 1.56685927e+02] [ 9.90315281e-01 3.67605461e-03 -1.38788079e-01 1.86588216e+02] [ 1.38826990e-01 -3.80747422e-02 9.89584449e-01 1.54320241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.61, Z:15.43 [[-1.07759786e-03 -9.99997004e-01 -2.19793311e-03 1.56664808e+02] [ 9.90199603e-01 -7.60081793e-04 -1.39657324e-01 1.86614794e+02] [ 1.39655235e-01 -2.32688693e-03 9.90197456e-01 1.54263362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.64, Z:15.43 [[ 1.69810555e-04 -9.99997654e-01 -2.15961201e-03 1.56666456e+02] [ 9.90148853e-01 4.70523296e-04 -1.40017958e-01 1.86640829e+02] [ 1.40018646e-01 -2.11456083e-03 9.90146609e-01 1.54302445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.67, Z:15.43 [[-3.63385808e-04 -9.99997735e-01 -2.09692609e-03 1.56667065e+02] [ 9.90205712e-01 -6.70622965e-05 -1.39616059e-01 1.86667183e+02] [ 1.39615602e-01 -2.12712269e-03 9.90203494e-01 1.54336986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32275509600004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:156.66, Y:186.69, Z:15.44 [[-4.22384484e-04 -9.99991475e-01 4.10762187e-03 1.56664122e+02] [ 9.89953570e-01 -9.98923276e-04 -1.41389288e-01 1.86693788e+02] [ 1.41392186e-01 4.00663430e-03 9.89945552e-01 1.54369247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.72, Z:15.44 [[-2.22392770e-04 -9.99967673e-01 -8.03763745e-03 1.56673187e+02] [ 9.90281867e-01 8.97607721e-04 -1.39071989e-01 1.86719853e+02] [ 1.39074708e-01 -7.99045523e-03 9.90249654e-01 1.54429001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.75, Z:15.45 [[ 1.12079066e-03 -9.99998979e-01 8.86802400e-04 1.56667253e+02] [ 9.90245679e-01 9.86301982e-04 -1.39328827e-01 1.86746253e+02] [ 1.39327810e-01 1.03431069e-03 9.90245773e-01 1.54452477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.77, Z:15.45 [[ 3.62194039e-03 -9.99992754e-01 -1.17186866e-03 1.56669466e+02] [ 9.90317848e-01 3.74951702e-03 -1.38767798e-01 1.86770427e+02] [ 1.38771187e-01 -6.57913753e-04 9.90324252e-01 1.54495862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.80, Z:15.45 [[ 3.99043930e-03 -9.99984964e-01 -3.76135261e-03 1.56671697e+02] [ 9.90394160e-01 4.47199624e-03 -1.38200610e-01 1.86797372e+02] [ 1.38215353e-01 -3.17374052e-03 9.90397114e-01 1.54535928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.82, Z:15.46 [[ 3.03971807e-03 -9.99993571e-01 -1.90217187e-03 1.56670317e+02] [ 9.90366181e-01 3.27378123e-03 -1.38434499e-01 1.86824635e+02] [ 1.38439837e-01 -1.46304484e-03 9.90369765e-01 1.54568483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.85, Z:15.46 [[ 4.29582127e-03 -9.99989965e-01 -1.27077355e-03 1.56670675e+02] [ 9.90360052e-01 4.43038795e-03 -1.38446158e-01 1.86849336e+02] [ 1.38450399e-01 -6.63783407e-04 9.90369147e-01 1.54600352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.88, Z:15.47 [[ 3.72792491e-03 -9.99967245e-01 -7.18406091e-03 1.56674960e+02] [ 9.90364681e-01 4.68646579e-03 -1.38404607e-01 1.86877782e+02] [ 1.38433741e-01 -6.59887821e-03 9.90349713e-01 1.54656787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.90, Z:15.46 [[ 1.86093407e-03 -9.99991505e-01 3.67778403e-03 1.56666496e+02] [ 9.90462829e-01 1.33649538e-03 -1.37773723e-01 1.86902860e+02] [ 1.37767637e-01 3.89909619e-03 9.90456902e-01 1.54649217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.93, Z:15.46 [[ 7.04122637e-04 -9.99978869e-01 6.46263340e-03 1.56662513e+02] [ 9.90618600e-01 -1.85642033e-04 -1.36655607e-01 1.86929788e+02] [ 1.36653920e-01 6.49822716e-03 9.90597537e-01 1.54649064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:186.95, Z:15.47 [[ 8.67001601e-04 -9.99956075e-01 -9.33258306e-03 1.56672244e+02] [ 9.90482847e-01 2.14319008e-03 -1.37619533e-01 1.86954990e+02] [ 1.37633489e-01 -9.12444709e-03 9.90441198e-01 1.54748407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:186.98, Z:15.48 [[ 9.39259089e-04 -9.99976299e-01 6.82045168e-03 1.56662224e+02] [ 9.90115910e-01 -2.66038822e-05 -1.40251506e-01 1.86980337e+02] [ 1.40248364e-01 6.88477022e-03 9.90092418e-01 1.54752324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:187.01, Z:15.48 [[-2.70307192e-04 -9.99956438e-01 -9.33001425e-03 1.56671163e+02] [ 9.90472159e-01 1.01714286e-03 -1.37709361e-01 1.87007101e+02] [ 1.37712852e-01 -9.27834319e-03 9.90428737e-01 1.54815777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.712755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.67, Y:187.03, Z:15.48 [[-1.05274603e-03 -9.99998554e-01 -1.33535647e-03 1.56666636e+02] [ 9.90319237e-01 -8.57200544e-04 -1.38805884e-01 1.87034087e+02] [ 1.38804539e-01 -1.46855655e-03 9.90318708e-01 1.54813763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:187.06, Z:15.49 [[-1.98679919e-03 -9.99997207e-01 -1.27983613e-03 1.56665675e+02] [ 9.90344645e-01 -1.79021570e-03 -1.38615581e-01 1.87059510e+02] [ 1.38612902e-01 -1.54288018e-03 9.90345436e-01 1.54862336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.09, Z:15.48 [[-5.67046923e-03 -9.99678898e-01 2.46970977e-02 1.56646206e+02] [ 9.90894534e-01 -8.93959554e-03 -1.34343237e-01 1.87085546e+02] [ 1.34520882e-01 2.37104299e-02 9.90627048e-01 1.54755278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.67, Y:187.11, Z:15.49 [[-5.45000428e-03 -9.99903057e-01 -1.28130336e-02 1.56671511e+02] [ 9.90288081e-01 -3.61662354e-03 -1.38983585e-01 1.87112205e+02] [ 1.38923771e-01 -1.34460556e-02 9.90211790e-01 1.54928419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.832755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.66, Y:187.14, Z:15.50 [[-6.34170169e-03 -9.99979864e-01 -2.32159527e-04 1.56663244e+02] [ 9.89905574e-01 -6.24493995e-03 -1.41590799e-01 1.87137511e+02] [ 1.41586498e-01 -1.12774262e-03 9.89925246e-01 1.54953137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:187.16, Z:15.50 [[-8.35452699e-03 -9.99888478e-01 -1.23787226e-02 1.56670714e+02] [ 9.90386313e-01 -6.56453240e-03 -1.38173293e-01 1.87163142e+02] [ 1.38076623e-01 -1.34140899e-02 9.90330707e-01 1.55002225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.19, Z:15.50 [[-9.66193856e-03 -9.99952813e-01 -1.00959743e-03 1.56663789e+02] [ 9.90312891e-01 -9.42892438e-03 -1.38533291e-01 1.87188309e+02] [ 1.38517235e-01 -2.33831750e-03 9.90357263e-01 1.55010375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.22, Z:15.50 [[-1.11192668e-02 -9.99842811e-01 1.38099973e-02 1.56654503e+02] [ 9.89718073e-01 -1.29741065e-02 -1.42442302e-01 1.87215084e+02] [ 1.42599084e-01 1.20841500e-02 9.89706762e-01 1.55028239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:187.24, Z:15.51 [[-1.27722184e-02 -9.99801532e-01 -1.52894536e-02 1.56672008e+02] [ 9.90283897e-01 -1.05301586e-02 -1.38661170e-01 1.87240295e+02] [ 1.38472650e-01 -1.69119105e-02 9.90221850e-01 1.55121292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.27, Z:15.51 [[-1.53166340e-02 -9.99872391e-01 4.53895993e-03 1.56658770e+02] [ 9.90002438e-01 -1.58017127e-02 -1.40162331e-01 1.87270267e+02] [ 1.40216169e-01 2.34676627e-03 9.90118134e-01 1.55119105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:187.29, Z:15.52 [[-1.39102943e-02 -9.99880575e-01 -6.73345237e-03 1.56665624e+02] [ 9.90289108e-01 -1.28446440e-02 -1.38428677e-01 1.87293440e+02] [ 1.38325656e-01 -8.59364818e-03 9.90349515e-01 1.55175572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.32, Z:15.52 [[-1.45359611e-02 -9.99894133e-01 -6.55381759e-04 1.56661111e+02] [ 9.90260442e-01 -1.43051375e-02 -1.38490509e-01 1.87319925e+02] [ 1.38466472e-01 -2.66209127e-03 9.90363544e-01 1.55198618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.35, Z:15.53 [[-1.48428399e-02 -9.99889675e-01 5.73061305e-04 1.56660317e+02] [ 9.89902464e-01 -1.47753829e-02 -1.40978013e-01 1.87352865e+02] [ 1.40970927e-01 -1.52523928e-03 9.90012561e-01 1.55256544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.37, Z:15.53 [[-1.38363181e-02 -9.99894946e-01 -4.31904417e-03 1.56662085e+02] [ 9.90325048e-01 -1.31071679e-02 -1.38146664e-01 1.87373301e+02] [ 1.38075541e-01 -6.18869882e-03 9.90402365e-01 1.55279360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.40, Z:15.53 [[-1.42400436e-02 -9.99830073e-01 1.17066913e-02 1.56650977e+02] [ 9.89742874e-01 -1.57588737e-02 -1.41988383e-01 1.87401578e+02] [ 1.42148740e-01 9.56469349e-03 9.89799097e-01 1.55293632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:187.43, Z:15.54 [[-1.30710863e-02 -9.99831420e-01 -1.28948763e-02 1.56665475e+02] [ 9.90302550e-01 -1.11605481e-02 -1.38478525e-01 1.87425871e+02] [ 1.38311266e-01 -1.45798936e-02 9.90281485e-01 1.55370966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.45, Z:15.54 [[-1.21010759e-02 -9.99926693e-01 -4.15542367e-04 1.56656248e+02] [ 9.90154116e-01 -1.19248475e-02 -1.39472668e-01 1.87451726e+02] [ 1.39457489e-01 -2.09922033e-03 9.90225834e-01 1.55376833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.48, Z:15.54 [[-1.18611940e-02 -9.99929589e-01 -3.60327512e-04 1.56655635e+02] [ 9.90113605e-01 -1.16943866e-02 -1.39779436e-01 1.87477611e+02] [ 1.39765380e-01 -2.01471617e-03 9.90182599e-01 1.55410873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.50, Z:15.54 [[-1.18678855e-02 -9.99929527e-01 -3.05863840e-04 1.56655447e+02] [ 9.90026438e-01 -1.17074039e-02 -1.40394401e-01 1.87503443e+02] [ 1.40380927e-01 -1.96899797e-03 9.90095611e-01 1.55445488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.53, Z:15.55 [[-1.15630904e-02 -9.99929724e-01 2.61582309e-03 1.56653597e+02] [ 9.89779503e-01 -1.18174899e-02 -1.42115734e-01 1.87529786e+02] [ 1.42136659e-01 9.45791011e-04 9.89846592e-01 1.55480370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.55, Z:15.55 [[-1.13631204e-02 -9.99930223e-01 -3.22930677e-03 1.56657143e+02] [ 9.89890198e-01 -1.07922911e-02 -1.41424621e-01 1.87554640e+02] [ 1.41379901e-01 -4.80368411e-03 9.89943760e-01 1.55525484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.58, Z:15.55 [[-1.13792476e-02 -9.99935242e-01 -1.59439872e-04 1.56654853e+02] [ 9.89826534e-01 -1.12415951e-02 -1.41834619e-01 1.87581481e+02] [ 1.41823642e-01 -1.77178906e-03 9.89890355e-01 1.55546237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.61, Z:15.56 [[-1.21473649e-02 -9.99926030e-01 6.12613992e-04 1.56653652e+02] [ 9.89763534e-01 -1.21110297e-02 -1.42202217e-01 1.87608064e+02] [ 1.42199117e-01 -1.12103922e-03 9.89837438e-01 1.55579085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.63, Z:15.56 [[-1.29922799e-02 -9.99875145e-01 8.99422200e-03 1.56648808e+02] [ 9.89449438e-01 -1.41538083e-02 -1.44185576e-01 1.87634637e+02] [ 1.44294876e-01 7.02602854e-03 9.89509790e-01 1.55598578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.66, Z:15.57 [[-1.33716744e-02 -9.99859592e-01 -1.00992428e-02 1.56661836e+02] [ 9.89752386e-01 -1.17991206e-02 -1.42305994e-01 1.87660297e+02] [ 1.42166851e-01 -1.18986191e-02 9.89771190e-01 1.55669349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.67, Z:15.57 [[-1.30994046e-02 -9.99914197e-01 5.98229713e-05 1.56655352e+02] [ 9.89793762e-01 -1.29753121e-02 -1.41915289e-01 1.87674656e+02] [ 1.41903889e-01 -1.79979339e-03 9.89878804e-01 1.55665264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.68, Z:15.57 [[-9.49887471e-03 -9.99930908e-01 6.92470179e-03 1.56649353e+02] [ 9.90398304e-01 -1.03629853e-02 -1.37854300e-01 1.87681817e+02] [ 1.37916536e-01 5.54875218e-03 9.90428312e-01 1.55657393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.71, Z:15.57 [[-8.76349572e-03 -9.99958557e-01 -2.46674905e-03 1.56656400e+02] [ 9.90526875e-01 -8.34271796e-03 -1.37065345e-01 1.87706661e+02] [ 1.37039086e-01 -3.64455279e-03 9.90558936e-01 1.55708832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.73, Z:15.57 [[-9.93927768e-03 -9.99947854e-01 -2.34543736e-03 1.56656671e+02] [ 9.90759100e-01 -9.53059359e-03 -1.35298093e-01 1.87733894e+02] [ 1.35268685e-01 -3.66852873e-03 9.90802162e-01 1.55739951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.76, Z:15.58 [[-9.46954831e-03 -9.99890607e-01 -1.13622844e-02 1.56662955e+02] [ 9.91156153e-01 -7.88154172e-03 -1.32466455e-01 1.87756476e+02] [ 1.32362412e-01 -1.25161955e-02 9.91122362e-01 1.55782128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.66, Y:187.78, Z:15.58 [[-1.04019772e-02 -9.99945814e-01 -4.09944441e-04 1.56656390e+02] [ 9.91222992e-01 -1.02572033e-02 -1.31802011e-01 1.87783048e+02] [ 1.31790664e-01 -1.77734787e-03 9.91275977e-01 1.55785448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.81, Z:15.58 [[-1.12653302e-02 -9.99936480e-01 -3.57473182e-04 1.56656193e+02] [ 9.91205502e-01 -1.11198259e-02 -1.31863576e-01 1.87808406e+02] [ 1.31851225e-01 -1.83981611e-03 9.91267809e-01 1.55818375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.83, Z:15.58 [[-1.21019335e-02 -9.99926723e-01 -3.01719715e-04 1.56655163e+02] [ 9.91273069e-01 -1.19575869e-02 -1.31281067e-01 1.87834437e+02] [ 1.31267839e-01 -1.88784137e-03 9.91345142e-01 1.55846310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.86, Z:15.59 [[-1.29876509e-02 -9.99915626e-01 -2.49261260e-04 1.56652830e+02] [ 9.91297996e-01 -1.28430605e-02 -1.31008924e-01 1.87859875e+02] [ 1.30994669e-01 -1.94859035e-03 9.91381158e-01 1.55866829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:187.88, Z:15.58 [[-1.21176996e-02 -9.99077885e-01 4.11890999e-02 1.56626984e+02] [ 9.89859565e-01 -1.78159370e-02 -1.40927765e-01 1.87884242e+02] [ 1.41531636e-01 3.90637042e-02 9.89162688e-01 1.55839871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.68, Y:187.91, Z:15.60 [[-1.36040438e-02 -9.98952602e-01 -4.36878527e-02 1.56678425e+02] [ 9.91758687e-01 -7.91362195e-03 -1.27875257e-01 1.87907983e+02] [ 1.27395592e-01 -4.50674281e-02 9.90827578e-01 1.56013601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.94, Z:15.59 [[-1.35473214e-02 -9.99908230e-01 -4.24907592e-05 1.56651546e+02] [ 9.91674032e-01 -1.34303175e-02 -1.28071236e-01 1.87935332e+02] [ 1.28058912e-01 -1.77715917e-03 9.91764971e-01 1.55934428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.93, Z:15.59 [[-1.38746883e-02 -9.99903742e-01 6.84939414e-06 1.56652146e+02] [ 9.91712139e-01 -1.37618965e-02 -1.27740532e-01 1.87931073e+02] [ 1.27728330e-01 -1.76556744e-03 9.91807621e-01 1.55924764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.93, Z:15.59 [[-1.44342466e-02 -9.99895818e-01 7.89946034e-05 1.56652176e+02] [ 9.91704155e-01 -1.43260856e-02 -1.27740488e-01 1.87928714e+02] [ 1.27728311e-01 -1.76549842e-03 9.91807623e-01 1.55921604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.93, Z:15.59 [[-1.51088464e-02 -9.99885844e-01 1.50732350e-04 1.56652114e+02] [ 9.91719136e-01 -1.50046703e-02 -1.27546132e-01 1.87925230e+02] [ 1.27533834e-01 -1.77759077e-03 9.91832628e-01 1.55913052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.92, Z:15.59 [[-1.60003221e-02 -9.99871962e-01 2.23083123e-04 1.56652007e+02] [ 9.91681731e-01 -1.58977567e-02 -1.27728637e-01 1.87923946e+02] [ 1.27715830e-01 -1.82247188e-03 9.91809128e-01 1.55910680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.92, Z:15.59 [[-1.68041414e-02 -9.99858757e-01 2.94806714e-04 1.56652131e+02] [ 9.91680864e-01 -1.67043317e-02 -1.27632401e-01 1.87920505e+02] [ 1.27619298e-01 -1.85239873e-03 9.91821498e-01 1.55899545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.92, Z:15.59 [[-1.83532153e-02 -9.99831499e-01 3.64172984e-04 1.56653049e+02] [ 9.91750098e-01 -1.82510848e-02 -1.26880422e-01 1.87917346e+02] [ 1.26865689e-01 -1.96749511e-03 9.91917953e-01 1.55893961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.92, Z:15.59 [[-1.95909143e-02 -9.99807985e-01 4.34359829e-04 1.56653802e+02] [ 9.91766534e-01 -1.94883311e-02 -1.26567556e-01 1.87915679e+02] [ 1.26551718e-01 -2.04879060e-03 9.91957895e-01 1.55892915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.91, Z:15.59 [[-2.18710612e-02 -9.99760673e-01 5.02577702e-04 1.56655502e+02] [ 9.91804303e-01 -2.17602948e-02 -1.25899617e-01 1.87911454e+02] [ 1.25880422e-01 -2.25509951e-03 9.92042859e-01 1.55890690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.91, Z:15.59 [[-2.32426904e-02 -9.99729690e-01 5.70337138e-04 1.56656356e+02] [ 9.91849771e-01 -2.31309704e-02 -1.25295609e-01 1.87907715e+02] [ 1.25274933e-01 -2.34651829e-03 9.92119290e-01 1.55888391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.91, Z:15.59 [[-2.51041380e-02 -9.99684640e-01 6.34408723e-04 1.56656597e+02] [ 9.91944714e-01 -2.49885797e-02 -1.24182348e-01 1.87905283e+02] [ 1.24159039e-01 -2.48819243e-03 9.92259211e-01 1.55882805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.91, Z:15.59 [[-2.66265448e-02 -9.99645208e-01 6.96550816e-04 1.56657227e+02] [ 9.92056042e-01 -2.65100862e-02 -1.22971642e-01 1.87907720e+02] [ 1.22946478e-01 -2.58329249e-03 9.92409941e-01 1.55891071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.90, Z:15.59 [[-2.72211325e-02 -9.99629145e-01 7.63412705e-04 1.56657432e+02] [ 9.92082467e-01 -2.71092772e-02 -1.22627348e-01 1.87899316e+02] [ 1.22602567e-01 -2.58068694e-03 9.92452493e-01 1.55881943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.90, Z:15.59 [[-2.73692634e-02 -9.99625045e-01 8.32490352e-04 1.56657697e+02] [ 9.92076576e-01 -2.72647252e-02 -1.22640540e-01 1.87897783e+02] [ 1.22617253e-01 -2.53068707e-03 9.92450807e-01 1.55882445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.90, Z:15.59 [[-2.72822659e-02 -9.99627368e-01 8.96048877e-04 1.56657805e+02] [ 9.92160219e-01 -2.71878093e-02 -1.21979191e-01 1.87896463e+02] [ 1.21958099e-01 -2.43884468e-03 9.92532253e-01 1.55878730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.90, Z:15.59 [[-2.73915298e-02 -9.99624315e-01 9.65486186e-04 1.56657598e+02] [ 9.92143292e-01 -2.73044573e-02 -1.22090769e-01 1.87899190e+02] [ 1.22071263e-01 -2.38635228e-03 9.92518469e-01 1.55883608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.89, Z:15.59 [[-2.69320081e-02 -9.99636729e-01 1.03733632e-03 1.56657369e+02] [ 9.92113684e-01 -2.68563713e-02 -1.22430283e-01 1.87891007e+02] [ 1.22413667e-01 -2.26813783e-03 9.92476574e-01 1.55871557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.89, Z:15.59 [[-2.68799570e-02 -9.99638058e-01 1.10527623e-03 1.56657240e+02] [ 9.92127666e-01 -2.68132583e-02 -1.22326380e-01 1.87890524e+02] [ 1.22311740e-01 -2.19155270e-03 9.92489312e-01 1.55867953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.89, Z:15.59 [[-2.70390805e-02 -9.99633686e-01 1.17527160e-03 1.56657053e+02] [ 9.92107768e-01 -2.69794781e-02 -1.22451155e-01 1.87887565e+02] [ 1.22438008e-01 -2.14497055e-03 9.92473845e-01 1.55864211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:188.17, Z:15.62 [[-2.52764492e-02 -9.99651157e-01 7.65928096e-03 1.56650042e+02] [ 9.92470250e-01 -2.60119528e-02 -1.19692029e-01 1.88170000e+02] [ 1.19849508e-01 4.57621901e-03 9.92781524e-01 1.56214003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:188.18, Z:15.62 [[-2.76154026e-02 -9.99618346e-01 7.42953776e-04 1.56654353e+02] [ 9.92343179e-01 -2.75039124e-02 -1.20409924e-01 1.88180780e+02] [ 1.20384403e-01 -2.58790341e-03 9.92723979e-01 1.56245290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:187.71, Z:16.82 [[-7.34320289e-02 9.94483444e-01 -7.49027135e-02 1.56242654e+02] [ 9.88596111e-01 8.24867104e-02 1.25990758e-01 1.87705056e+02] [ 1.31474201e-01 -6.47967744e-02 -9.89199632e-01 1.68209263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:187.69, Z:16.80 [[-1.51913409e-01 9.88391354e-01 2.20179125e-03 1.56220226e+02] [ 9.79256617e-01 1.50206474e-01 1.35994464e-01 1.87694497e+02] [ 1.34085029e-01 2.28155014e-02 -9.90707150e-01 1.68010446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:187.67, Z:16.78 [[-2.27061104e-01 9.71303891e-01 7.07955201e-02 1.56207696e+02] [ 9.65615973e-01 2.15088216e-01 1.46023462e-01 1.87665863e+02] [ 1.26605875e-01 1.01517534e-01 -9.86744720e-01 1.67800446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:187.66, Z:16.81 [[-3.00346498e-01 9.53322962e-01 -3.11016319e-02 1.56299047e+02] [ 9.45575067e-01 3.01869429e-01 1.21501608e-01 1.87661004e+02] [ 1.25218904e-01 7.08365464e-03 -9.92103849e-01 1.68055810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:187.73, Z:16.82 [[-3.69617081e-01 9.27591700e-01 -5.43769294e-02 1.56313699e+02] [ 9.21008004e-01 3.73483125e-01 1.10700555e-01 1.87727212e+02] [ 1.22993782e-01 -9.16477105e-03 -9.92365123e-01 1.68191867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:187.93, Z:16.86 [[-4.42579914e-01 8.89891195e-01 -1.10529093e-01 1.56277268e+02] [ 8.86911282e-01 4.52585715e-01 9.24908006e-02 1.87931542e+02] [ 1.32330638e-01 -5.70949289e-02 -9.89559888e-01 1.68556661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:187.63, Z:16.79 [[-5.10411401e-01 8.59790395e-01 -1.55138192e-02 1.56399916e+02] [ 8.50133426e-01 5.07229778e-01 1.41389921e-01 1.87628848e+02] [ 1.29434767e-01 5.89782114e-02 -9.89832416e-01 1.67886128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:187.88, Z:16.84 [[-5.74601181e-01 8.16415826e-01 -5.74341549e-02 1.56283636e+02] [ 8.08029416e-01 5.77052062e-01 1.18740814e-01 1.87882019e+02] [ 1.30084377e-01 2.18201251e-02 -9.91262799e-01 1.68359758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.47, Y:187.62, Z:16.78 [[-6.36933337e-01 7.70917598e-01 -1.40757331e-03 1.56466910e+02] [ 7.61089890e-01 6.29102202e-01 1.58027209e-01 1.87623940e+02] [ 1.22711464e-01 9.95815078e-02 -9.87433755e-01 1.67797640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:187.66, Z:16.81 [[-6.94212165e-01 7.15381576e-01 -7.93641686e-02 1.56548965e+02] [ 7.09799602e-01 6.98710645e-01 8.93753863e-02 1.87663566e+02] [ 1.19390094e-01 5.71282514e-03 -9.92830987e-01 1.68061000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:187.67, Z:16.81 [[-7.47924320e-01 6.58212446e-01 -8.58230018e-02 1.56585050e+02] [ 6.53045387e-01 7.52810939e-01 8.25070502e-02 1.87671713e+02] [ 1.18915662e-01 5.66271401e-03 -9.92888211e-01 1.68063604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:187.68, Z:16.81 [[-7.96864467e-01 5.97968813e-01 -8.62572887e-02 1.56606154e+02] [ 5.90729054e-01 8.01105072e-01 9.62800541e-02 1.87677692e+02] [ 1.26673621e-01 2.57674674e-02 -9.91609717e-01 1.68080460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:187.85, Z:16.82 [[-8.43004975e-01 5.36825411e-01 -3.40747786e-02 1.56290939e+02] [ 5.26202100e-01 8.36149112e-01 1.54809600e-01 1.87847187e+02] [ 1.11597323e-01 1.12575043e-01 -9.87356520e-01 1.68206778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:187.49, Z:15.92 [[-8.59047750e-01 -6.04047110e-03 5.11859821e-01 1.56358905e+02] [ 5.08228344e-01 -1.29539395e-01 8.51424392e-01 1.87494954e+02] [ 6.11630071e-02 9.91555877e-01 1.14350464e-01 1.59223919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.53, Y:188.35, Z:15.63 [[-8.70186012e-01 -4.91817097e-01 2.98705075e-02 1.56531615e+02] [ 4.91673442e-01 -8.70690150e-01 -1.24855663e-02 1.88354763e+02] [ 3.21485717e-02 3.82177009e-03 9.99475794e-01 1.56326807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:188.55, Z:16.40 [[-8.52170782e-01 -1.22433100e-01 -5.08738729e-01 1.56965223e+02] [ 5.16798601e-01 -4.45665240e-02 -8.54946215e-01 1.88549314e+02] [ 8.20009984e-02 -9.91475648e-01 1.01251544e-01 1.63958025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:187.78, Z:16.82 [[-8.79253989e-01 4.67944957e-01 -8.91063411e-02 1.56574117e+02] [ 4.64852053e-01 8.83736488e-01 5.40591262e-02 1.87782367e+02] [ 1.04043220e-01 6.11043679e-03 -9.94554006e-01 1.68226932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:187.96, Z:16.86 [[-9.13472078e-01 3.96529392e-01 -9.12863878e-02 1.56226721e+02] [ 3.93289679e-01 9.17950236e-01 5.18709211e-02 1.87962928e+02] [ 1.04364706e-01 1.14806439e-02 -9.94472827e-01 1.68637830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:187.56, Z:15.93 [[-9.21155385e-01 -1.45567438e-03 3.89192290e-01 1.56343791e+02] [ 3.86136849e-01 -1.28531643e-01 9.13442910e-01 1.87560595e+02] [ 4.86938491e-02 9.91704340e-01 1.18959705e-01 1.59309928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:188.33, Z:15.64 [[-9.28758824e-01 -3.69519270e-01 2.93692940e-02 1.56657534e+02] [ 3.69174801e-01 -9.29211837e-01 -1.65930529e-02 1.88330354e+02] [ 3.34217484e-02 -4.56854103e-03 9.99430896e-01 1.56382291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.52, Y:187.86, Z:16.86 [[-9.43815561e-01 3.28741467e-01 -3.37821671e-02 1.56524380e+02] [ 3.28106484e-01 9.44359811e-01 2.30365573e-02 1.87863056e+02] [ 3.94755926e-02 1.06581132e-02 -9.99163691e-01 1.68642674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:187.86, Z:16.85 [[-9.68034548e-01 2.50342947e-01 -1.54118028e-02 1.56549114e+02] [ 2.49412770e-01 9.67289047e-01 4.63159694e-02 1.87859019e+02] [ 2.65025443e-02 4.09915581e-02 -9.98807943e-01 1.68488015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:187.95, Z:16.88 [[-9.83057817e-01 1.76295786e-01 -5.01709451e-02 1.56591480e+02] [ 1.79376605e-01 9.81597808e-01 -6.54963955e-02 1.87949927e+02] [ 3.77009512e-02 -7.33862374e-02 -9.96590738e-01 1.68788247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:188.41, Z:15.64 [[-9.89613330e-01 -1.40358153e-01 3.10651776e-02 1.56626429e+02] [ 1.40268910e-01 -9.90100594e-01 -5.04447861e-03 1.88411632e+02] [ 3.14656845e-02 -6.34604674e-04 9.99504631e-01 1.56382799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.61, Y:187.92, Z:16.86 [[-9.93987078e-01 1.01809691e-01 -4.03047928e-02 1.56612211e+02] [ 1.01644837e-01 9.94801903e-01 6.12382184e-03 1.87923978e+02] [ 4.07187490e-02 1.99022568e-03 -9.99168666e-01 1.68607082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.63, Y:187.95, Z:16.86 [[-9.98897911e-01 2.37201888e-02 -4.05008103e-02 1.56634417e+02] [ 2.36205320e-02 9.99716681e-01 2.93743040e-03 1.87948231e+02] [ 4.05590120e-02 1.97754241e-03 -9.99175188e-01 1.68607541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:187.97, Z:16.86 [[-9.97677549e-01 -5.46860590e-02 -4.06071738e-02 1.56655854e+02] [-5.47208502e-02 9.98501659e-01 -2.55050624e-04 1.87974111e+02] [ 4.05602781e-02 1.96760079e-03 -9.99175156e-01 1.68605953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:188.00, Z:16.86 [[-9.90260526e-01 -1.33214022e-01 -4.04736316e-02 1.56673029e+02] [-1.33184055e-01 9.91085324e-01 -3.44792371e-03 1.88001704e+02] [ 4.05721341e-02 1.97609961e-03 -9.99174658e-01 1.68603891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:188.51, Z:15.64 [[-9.85649127e-01 1.64509340e-01 3.78480535e-02 1.56550169e+02] [-1.64684430e-01 -9.86345114e-01 -1.53458153e-03 1.88509066e+02] [ 3.70787897e-02 -7.74554405e-03 9.99282327e-01 1.56428728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:187.98, Z:16.84 [[-9.76397191e-01 -2.09166121e-01 -5.38336172e-02 1.56695699e+02] [-2.12856243e-01 9.74149659e-01 7.56614931e-02 1.87980868e+02] [ 3.66161788e-02 8.53344909e-02 -9.95679306e-01 1.68391348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:188.06, Z:16.86 [[-9.56324935e-01 -2.90357407e-01 -3.36926506e-02 1.56687888e+02] [-2.90244745e-01 9.56916490e-01 -8.29569285e-03 1.88056881e+02] [ 3.46497689e-02 1.84573687e-03 -9.99397812e-01 1.68635692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:188.54, Z:15.64 [[-9.47910545e-01 3.17559220e-01 2.49347068e-02 1.56499792e+02] [-3.17459132e-01 -9.48238376e-01 7.98003378e-03 1.88535247e+02] [ 2.61781792e-02 -3.51392199e-04 9.99657231e-01 1.56392659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:187.99, Z:16.87 [[-9.29527096e-01 -3.66928699e-01 -3.66429837e-02 1.56455144e+02] [-3.67096326e-01 9.30180121e-01 -2.28690416e-03 1.87988929e+02] [ 3.49237058e-02 1.13257653e-02 -9.99325804e-01 1.68696114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:188.55, Z:15.64 [[-9.21455215e-01 3.87866425e-01 2.19071471e-02 1.56464572e+02] [-3.87633425e-01 -9.21704119e-01 1.42072500e-02 1.88551543e+02] [ 2.57024230e-02 4.59940220e-03 9.99659057e-01 1.56375604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:188.12, Z:16.87 [[-8.99525315e-01 -4.35867802e-01 -2.95544624e-02 1.56700010e+02] [-4.35699754e-01 9.00008773e-01 -1.22447275e-02 1.88120377e+02] [ 3.19363579e-02 1.86242970e-03 -9.99488169e-01 1.68654566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:188.15, Z:16.87 [[-8.63044832e-01 -5.04328009e-01 -2.84055850e-02 1.56700825e+02] [-5.04123893e-01 8.63510212e-01 -1.44642329e-02 1.88148544e+02] [ 3.18232305e-02 1.83665264e-03 -9.99491825e-01 1.68658428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:188.57, Z:15.64 [[-8.49155653e-01 5.27694160e-01 2.17612390e-02 1.56392899e+02] [-5.27531585e-01 -8.49434370e-01 1.31026021e-02 1.88571281e+02] [ 2.53989109e-02 -3.53592281e-04 9.99677333e-01 1.56392884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:188.58, Z:15.64 [[-8.48917996e-01 5.28087361e-01 2.14936272e-02 1.56398569e+02] [-5.27929293e-01 -8.49189966e-01 1.29252755e-02 1.88575573e+02] [ 2.50778472e-02 -3.74616451e-04 9.99685431e-01 1.56389629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.68, Y:188.16, Z:16.87 [[-8.25962048e-01 -5.63029366e-01 -2.80112243e-02 1.56676947e+02] [-5.62769762e-01 8.26435374e-01 -1.71688040e-02 1.88157571e+02] [ 3.28160075e-02 1.58308950e-03 -9.99460156e-01 1.68669345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:188.57, Z:15.64 [[-8.05785939e-01 5.91818804e-01 2.14365195e-02 1.56336494e+02] [-5.91624264e-01 -8.06070903e-01 1.51798990e-02 1.88566181e+02] [ 2.62631043e-02 -4.50615939e-04 9.99654964e-01 1.56409100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:188.57, Z:15.64 [[-8.07231084e-01 5.89832585e-01 2.18059460e-02 1.56339996e+02] [-5.89663836e-01 -8.07524319e-01 1.41786510e-02 1.88569612e+02] [ 2.59718620e-02 -1.41272993e-03 9.99661676e-01 1.56401096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:188.14, Z:16.86 [[-7.85570170e-01 -6.17203572e-01 -4.40370130e-02 1.56645523e+02] [-6.17918781e-01 7.86234369e-01 3.44939004e-03 1.88141333e+02] [ 3.24944372e-02 2.99210353e-02 -9.99023945e-01 1.68617884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:188.54, Z:15.64 [[-7.60846518e-01 6.48814634e-01 1.23347752e-02 1.56270215e+02] [-6.48667570e-01 -7.60941674e-01 1.40766336e-02 1.88538628e+02] [ 1.85191704e-02 2.70898905e-03 9.99824836e-01 1.56384226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:188.69, Z:16.72 [[-7.67472889e-01 -3.01654972e-01 5.65676270e-01 1.56117044e+02] [-6.36544364e-01 2.53779198e-01 -7.28290733e-01 1.88691326e+02] [ 7.61356509e-02 -9.19021434e-01 -3.86785427e-01 1.67210338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:188.10, Z:16.83 [[-7.17210094e-01 -6.83715081e-01 -1.34697320e-01 1.56604454e+02] [-6.91047316e-01 7.22725093e-01 1.10474730e-02 1.88098432e+02] [ 8.97958092e-02 1.01005581e-01 -9.90825204e-01 1.68290030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:188.44, Z:15.63 [[-6.90561863e-01 7.21243454e-01 5.41497415e-02 1.56118213e+02] [-7.19202386e-01 -6.92680063e-01 5.42425849e-02 1.88441009e+02] [ 7.66305557e-02 -1.48676279e-03 9.97058447e-01 1.56322905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:187.96, Z:16.88 [[-6.60387682e-01 -7.47867351e-01 -6.76944172e-02 1.56368538e+02] [-7.45732023e-01 6.63734027e-01 -5.78004427e-02 1.87959529e+02] [ 8.81581522e-02 1.23111944e-02 -9.96030409e-01 1.68801186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:187.86, Z:15.93 [[-6.51158021e-01 1.36769527e-01 -7.46516797e-01 1.56687373e+02] [-7.58307653e-01 -7.70337031e-02 6.47329369e-01 1.87863971e+02] [ 3.10279785e-02 9.87603111e-01 1.53874493e-01 1.59282605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:188.40, Z:15.66 [[-6.44490178e-01 7.64584462e-01 6.55827858e-03 1.56057768e+02] [-7.64547421e-01 -6.44523525e-01 7.52774589e-03 1.88402069e+02] [ 9.98256237e-03 -1.62556685e-04 9.99950160e-01 1.56621784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:188.40, Z:15.66 [[-6.46217836e-01 7.63120907e-01 6.99925777e-03 1.56056848e+02] [-7.63078736e-01 -6.46255721e-01 8.02407702e-03 1.88397307e+02] [ 1.06466513e-02 -1.55683078e-04 9.99943311e-01 1.56610758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:187.90, Z:16.90 [[-6.08092820e-01 -7.93758074e-01 -1.30859749e-02 1.56291854e+02] [-7.93700788e-01 6.08219928e-01 -1.03720054e-02 1.87903019e+02] [ 1.61920137e-02 4.07920655e-03 -9.99860580e-01 1.69010871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:188.32, Z:15.66 [[-5.90497160e-01 8.07030428e-01 3.87196949e-03 1.55966350e+02] [-8.06971559e-01 -5.90502847e-01 1.01632028e-02 1.88318052e+02] [ 1.04884229e-02 2.87677313e-03 9.99940857e-01 1.56609333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:188.57, Z:16.41 [[-6.07825475e-01 8.04359805e-02 7.89986231e-01 1.55657933e+02] [-7.91244531e-01 -1.45210835e-01 -5.94008338e-01 1.88567500e+02] [ 6.69349173e-02 -9.86125685e-01 1.51907375e-01 1.64146555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:188.52, Z:16.40 [[-6.11682355e-01 3.89140306e-02 7.90145806e-01 1.55626165e+02] [-7.79778243e-01 -1.98055216e-01 -5.93902368e-01 1.88521967e+02] [ 1.33381364e-01 -9.79418108e-01 1.51491195e-01 1.63983395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:188.00, Z:15.67 [[-6.00702429e-01 7.94821138e-01 8.61159139e-02 1.55727377e+02] [-7.86248156e-01 -6.06839632e-01 1.16445260e-01 1.87996663e+02] [ 1.44811703e-01 2.24047181e-03 9.89456695e-01 1.56658916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:188.46, Z:16.45 [[-6.07887512e-01 -8.39585739e-02 7.89571865e-01 1.55603225e+02] [-7.68451801e-01 -1.88120696e-01 -6.11630961e-01 1.88460758e+02] [ 1.99886472e-01 -9.78550746e-01 4.98381046e-02 1.64481079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:188.08, Z:15.63 [[-5.95782360e-01 7.92208669e-01 1.32093923e-01 1.55792038e+02] [-7.74427021e-01 -6.10243672e-01 1.66929478e-01 1.88081654e+02] [ 2.12852460e-01 -2.84346454e-03 9.77080214e-01 1.56266864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:188.01, Z:16.84 [[-5.55337493e-01 -8.20867693e-01 -1.33328543e-01 1.56342884e+02] [-8.03518489e-01 5.70956462e-01 -1.68424334e-01 1.88009243e+02] [ 2.14378888e-01 1.35996024e-02 -9.76655898e-01 1.68384009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:188.04, Z:16.84 [[-4.89755360e-01 -8.63676389e-01 -1.19175425e-01 1.56321236e+02] [-8.45189892e-01 5.03867787e-01 -1.78245054e-01 1.88039892e+02] [ 2.13994703e-01 1.34293940e-02 -9.76742504e-01 1.68396454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.30, Y:188.07, Z:16.84 [[-4.21704229e-01 -9.00691639e-01 -1.04499351e-01 1.56300182e+02] [-8.81112085e-01 4.34260927e-01 -1.87240330e-01 1.88074594e+02] [ 2.14025784e-01 1.31156021e-02 -9.76739958e-01 1.68397419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:188.11, Z:16.84 [[-3.44370207e-01 -9.37034341e-01 -5.81016816e-02 1.56263607e+02] [-9.16455038e-01 3.48948981e-01 -1.95818213e-01 1.88113953e+02] [ 2.03762913e-01 -1.41863797e-02 -9.78917475e-01 1.68419183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:188.02, Z:15.63 [[-3.19726029e-01 9.43796946e-01 8.38009033e-02 1.55692762e+02] [-9.23990992e-01 -3.30151271e-01 1.92978715e-01 1.88020274e+02] [ 2.09799697e-01 -1.57309615e-02 9.77617831e-01 1.56346861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:188.11, Z:16.85 [[-2.82146511e-01 -9.56441259e-01 -7.49230614e-02 1.56241968e+02] [-9.34365828e-01 2.91667378e-01 -2.04672033e-01 1.88109083e+02] [ 2.17609390e-01 1.22580482e-02 -9.75958961e-01 1.68454051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:188.13, Z:16.85 [[-2.07759875e-01 -9.76435984e-01 -5.83832413e-02 1.56212015e+02] [-9.53726837e-01 2.15467095e-01 -2.09711828e-01 1.88130267e+02] [ 2.17349842e-01 1.21119610e-02 -9.76018620e-01 1.68473021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:188.15, Z:16.85 [[-1.32309691e-01 -9.90345690e-01 -4.13468260e-02 1.56180920e+02] [-9.67242045e-01 1.38115579e-01 -2.12995100e-01 1.88146186e+02] [ 2.16649420e-01 1.18110726e-02 -9.76178020e-01 1.68498984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:188.16, Z:16.85 [[-5.55217116e-02 -9.98163988e-01 -2.42072762e-02 1.56148252e+02] [-9.74922637e-01 5.94300272e-02 -2.14461942e-01 1.88158154e+02] [ 2.15506826e-01 1.16929275e-02 -9.76432324e-01 1.68528809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:188.17, Z:16.86 [[ 2.22459703e-02 -9.99726952e-01 -7.15107610e-03 1.56115964e+02] [-9.76645466e-01 -2.02022887e-02 -2.13905357e-01 1.88168555e+02] [ 2.13702483e-01 1.17425983e-02 -9.76828214e-01 1.68553813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:188.16, Z:16.86 [[ 1.00983233e-01 -9.94840939e-01 9.68978874e-03 1.56122482e+02] [-9.71968288e-01 -1.00730679e-01 -2.12440529e-01 1.88162939e+02] [ 2.12320594e-01 1.20347640e-02 -9.77125954e-01 1.68611405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.64, Y:187.81, Z:15.65 [[ 1.39605458e-01 9.89862944e-01 -2.61087719e-02 1.55639568e+02] [-9.67801602e-01 1.41976389e-01 2.07852746e-01 1.87811857e+02] [ 2.09452560e-01 -3.74926651e-03 9.77811622e-01 1.56535863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:188.13, Z:16.87 [[ 1.84389971e-01 -9.82503640e-01 2.62094726e-02 1.56132454e+02] [-9.60276601e-01 -1.85773166e-01 -2.08223873e-01 1.88131186e+02] [ 2.09449730e-01 1.32260505e-02 -9.77729964e-01 1.68732073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:188.13, Z:16.88 [[ 2.63525208e-01 -9.63710480e-01 4.26213109e-02 1.56138529e+02] [-9.41825452e-01 -2.66592917e-01 -2.04677882e-01 1.88126338e+02] [ 2.08612760e-01 1.37959461e-02 -9.77901012e-01 1.68793066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:187.70, Z:15.67 [[ 2.81997189e-01 9.57581665e-01 -5.92869288e-02 1.55718538e+02] [-9.36049010e-01 2.88158385e-01 2.01933150e-01 1.87704926e+02] [ 2.10451507e-01 -1.44910962e-03 9.77603224e-01 1.56694033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:187.68, Z:15.68 [[ 2.79954526e-01 9.58168937e-01 -5.94789928e-02 1.55727114e+02] [-9.36530755e-01 2.86201543e-01 2.02481657e-01 1.87678881e+02] [ 2.11034614e-01 -9.81750317e-04 9.77478096e-01 1.56754012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:187.65, Z:15.68 [[ 2.78263507e-01 9.58660174e-01 -5.94986626e-02 1.55735809e+02] [-9.37070069e-01 2.84552943e-01 2.02309932e-01 1.87653195e+02] [ 2.10876994e-01 -5.41055247e-04 9.77512456e-01 1.56805025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:187.63, Z:15.69 [[ 2.76997794e-01 9.59022302e-01 -5.95688319e-02 1.55744050e+02] [-9.37439988e-01 2.83330521e-01 2.02311850e-01 1.87628107e+02] [ 2.10899244e-01 -1.97730873e-04 9.77507785e-01 1.56861132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:187.60, Z:15.69 [[ 2.77776572e-01 9.58794554e-01 -5.96085465e-02 1.55751888e+02] [-9.37200462e-01 2.84100135e-01 2.02342303e-01 1.87601860e+02] [ 2.10939494e-01 -3.40793993e-04 9.77499061e-01 1.56923135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:187.99, Z:16.91 [[ 3.48627499e-01 -9.35447415e-01 5.82837923e-02 1.56183860e+02] [-9.14340611e-01 -3.53111884e-01 -1.98225236e-01 1.87994607e+02] [ 2.06009985e-01 1.58155301e-02 -9.78422074e-01 1.69137489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:187.54, Z:15.70 [[ 3.54928794e-01 9.31851624e-01 -7.53531842e-02 1.55804231e+02] [-9.10990451e-01 3.62838333e-01 1.96073310e-01 1.87543438e+02] [ 2.10052256e-01 -9.46032010e-04 9.77689703e-01 1.57034924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:187.97, Z:16.92 [[ 4.15816884e-01 -9.06432558e-01 7.40022776e-02 1.56206300e+02] [-8.85804373e-01 -4.22097060e-01 -1.92833306e-01 1.87968490e+02] [ 2.06026530e-01 1.46318032e-02 -9.78437008e-01 1.69243077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.86, Y:187.49, Z:15.72 [[ 4.31944968e-01 8.97376650e-01 -9.02147006e-02 1.55861243e+02] [-8.77439627e-01 4.41260400e-01 1.88119537e-01 1.87487059e+02] [ 2.08622254e-01 -2.09933400e-03 9.77994043e-01 1.57155758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:187.94, Z:16.93 [[ 4.81532459e-01 -8.71881859e-01 8.91544480e-02 1.56231965e+02] [-8.51921623e-01 -4.89527162e-01 -1.85991147e-01 1.87944745e+02] [ 2.05805831e-01 1.36081721e-02 -9.78498226e-01 1.69348196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:187.95, Z:16.94 [[ 5.47628291e-01 -8.30317188e-01 1.03327744e-01 1.56246011e+02] [-8.11221986e-01 -5.57129689e-01 -1.77553933e-01 1.87945542e+02] [ 2.04993036e-01 1.34118195e-02 -9.78671537e-01 1.69406967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:187.95, Z:16.95 [[ 6.10583587e-01 -7.83318369e-01 1.16619104e-01 1.56260153e+02] [-7.65220779e-01 -6.21478473e-01 -1.67933517e-01 1.87947667e+02] [ 2.04021671e-01 1.32980874e-02 -9.78876049e-01 1.69462590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:187.40, Z:15.74 [[ 6.31810816e-01 7.63839303e-01 -1.31774858e-01 1.56034665e+02] [-7.46813776e-01 6.45399820e-01 1.60400305e-01 1.87396789e+02] [ 2.07567526e-01 -2.93136837e-03 9.78216300e-01 1.57387526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:187.37, Z:15.74 [[ 6.30806368e-01 7.64549871e-01 -1.32464415e-01 1.56051849e+02] [-7.47381038e-01 6.44559152e-01 1.61136849e-01 1.87374867e+02] [ 2.08578308e-01 -2.64475864e-03 9.78002093e-01 1.57447266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.07, Y:187.35, Z:15.75 [[ 6.30113773e-01 7.65072115e-01 -1.32745214e-01 1.56069133e+02] [-7.47863419e-01 6.43940105e-01 1.61373627e-01 1.87353401e+02] [ 2.08942430e-01 -2.40845541e-03 9.77924977e-01 1.57504504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00275509600004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:156.09, Y:187.33, Z:15.75 [[ 6.29071585e-01 7.65837244e-01 -1.33275116e-01 1.56085745e+02] [-7.48529132e-01 6.43031051e-01 1.61911104e-01 1.87332145e+02] [ 2.09697591e-01 -2.09336782e-03 9.77764050e-01 1.57545874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:187.31, Z:15.76 [[ 6.28060610e-01 7.66629650e-01 -1.33487268e-01 1.56102597e+02] [-7.49293432e-01 6.42087015e-01 1.62122229e-01 1.87312408e+02] [ 2.09998149e-01 -1.80145242e-03 9.77700124e-01 1.57620398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:187.85, Z:16.98 [[ 6.77223921e-01 -7.24722198e-01 1.27064928e-01 1.56358317e+02] [-7.08124749e-01 -6.88879005e-01 -1.54935653e-01 1.87845721e+02] [ 1.99817668e-01 1.49483103e-02 -9.79719066e-01 1.69796972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:187.28, Z:15.77 [[ 6.83519639e-01 7.15111638e-01 -1.46342914e-01 1.56174871e+02] [-6.98945406e-01 6.99009455e-01 1.51198881e-01 1.87276615e+02] [ 2.10419160e-01 -1.06169721e-03 9.77610684e-01 1.57730615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:187.26, Z:15.78 [[ 6.82779423e-01 7.15771229e-01 -1.46573555e-01 1.56194469e+02] [-6.99589232e-01 6.98334391e-01 1.51340623e-01 1.87257208e+02] [ 2.10682618e-01 -7.90982499e-04 9.77554197e-01 1.57789421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:187.24, Z:15.78 [[ 6.84384507e-01 7.12055166e-01 -1.56828846e-01 1.56223543e+02] [-6.98793076e-01 7.01954934e-01 1.37649944e-01 1.87244335e+02] [ 2.08101136e-01 1.53854230e-02 9.77986302e-01 1.57754376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18275509600005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.22, Y:187.21, Z:15.79 [[ 6.83790170e-01 7.17034352e-01 -1.35250664e-01 1.56224147e+02] [-6.98462990e-01 6.96830327e-01 1.63024374e-01 1.87210318e+02] [ 2.11140841e-01 -1.70068811e-02 9.77307685e-01 1.57939450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:187.20, Z:15.80 [[ 6.86401776e-01 7.12291854e-01 -1.46604625e-01 1.56251101e+02] [-6.96071173e-01 7.01881334e-01 1.51153946e-01 1.87197557e+02] [ 2.10564774e-01 -1.70508381e-03 9.77578421e-01 1.57980456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:187.78, Z:17.00 [[ 7.29374596e-01 -6.79073644e-01 8.28956231e-02 1.56505119e+02] [-6.54939822e-01 -7.28133261e-01 -2.02177603e-01 1.87783076e+02] [ 1.97652542e-01 9.31715628e-02 -9.75834275e-01 1.69974311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:187.94, Z:16.78 [[ 7.75030834e-01 -5.90690381e-01 -2.24526345e-01 1.56715584e+02] [-6.08706458e-01 -6.02418254e-01 -5.16302910e-01 1.87944460e+02] [ 1.69716394e-01 5.36821311e-01 -8.26449772e-01 1.67823897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:187.98, Z:16.68 [[ 8.12533553e-01 -4.92970205e-01 -3.11078129e-01 1.56786200e+02] [-5.68942929e-01 -5.54549143e-01 -6.07271925e-01 1.87982794e+02] [ 1.26858856e-01 6.70414517e-01 -7.31061698e-01 1.66764075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.332755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:156.44, Y:187.23, Z:15.75 [[ 8.29390404e-01 5.40532895e-01 -1.41194008e-01 1.56441592e+02] [-5.46202266e-01 8.37651643e-01 -1.67606421e-03 1.87226021e+02] [ 1.17365425e-01 7.85105988e-02 9.89980527e-01 1.57494416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:187.15, Z:15.79 [[ 8.29650605e-01 5.52854084e-01 -7.76674646e-02 1.56420857e+02] [-5.45413659e-01 8.32342468e-01 9.86405406e-02 1.87149579e+02] [ 1.19179755e-01 -3.94762881e-02 9.92087601e-01 1.57930842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:187.15, Z:15.79 [[ 8.29634181e-01 5.49430369e-01 -9.91634784e-02 1.56457567e+02] [-5.45232375e-01 8.35536605e-01 6.78250642e-02 1.87154006e+02] [ 1.20119866e-01 -2.20285269e-03 9.92756952e-01 1.57865126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:187.14, Z:15.79 [[ 8.29734036e-01 5.49271510e-01 -9.92080556e-02 1.56480626e+02] [-5.45071048e-01 8.35641026e-01 6.78352961e-02 1.87140327e+02] [ 1.20162317e-01 -2.20981520e-03 9.92751799e-01 1.57894084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:187.13, Z:15.79 [[ 8.29330478e-01 5.49826547e-01 -9.95074234e-02 1.56505740e+02] [-5.45607150e-01 8.35276171e-01 6.80187880e-02 1.87126769e+02] [ 1.20514715e-01 -2.11809228e-03 9.92709281e-01 1.57925680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.53, Y:187.11, Z:15.80 [[ 8.29097943e-01 5.50145713e-01 -9.96809647e-02 1.56528752e+02] [-5.45919556e-01 8.35066195e-01 6.80902921e-02 1.87112425e+02] [ 1.20699786e-01 -2.03573318e-03 9.92686969e-01 1.57959905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:187.10, Z:15.80 [[ 8.28937241e-01 5.50305770e-01 -1.00132961e-01 1.56552399e+02] [-5.46045089e-01 8.34960809e-01 6.83755017e-02 1.87097530e+02] [ 1.21234531e-01 -2.00188812e-03 9.92621872e-01 1.57995444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54275509600006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:156.58, Y:187.08, Z:15.80 [[ 8.28831992e-01 5.50268583e-01 -1.01202844e-01 1.56575568e+02] [-5.45921193e-01 8.34985341e-01 6.90617974e-02 1.87082855e+02] [ 1.22505428e-01 -1.99184987e-03 9.92465845e-01 1.57993405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.60, Y:187.07, Z:15.81 [[ 8.29051701e-01 5.49992234e-01 -1.00905008e-01 1.56599376e+02] [-5.45672270e-01 8.35167373e-01 6.88275604e-02 1.87068993e+02] [ 1.22127194e-01 -2.00054154e-03 9.92512441e-01 1.58063825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:187.05, Z:15.81 [[ 8.29450412e-01 5.49371728e-01 -1.01008508e-01 1.56621851e+02] [-5.45044055e-01 8.35575540e-01 6.88512509e-02 1.87054998e+02] [ 1.22225169e-01 -2.05461188e-03 9.92500270e-01 1.58097016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:187.04, Z:15.81 [[ 8.30531079e-01 5.47775753e-01 -1.00796085e-01 1.56645377e+02] [-5.43458659e-01 8.36622155e-01 6.86735391e-02 1.87040346e+02] [ 1.21945938e-01 -2.25700312e-03 9.92534178e-01 1.58133452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:187.02, Z:15.82 [[ 8.30694159e-01 5.47524376e-01 -1.00818013e-01 1.56668924e+02] [-5.43209345e-01 8.36786696e-01 6.86413330e-02 1.87024529e+02] [ 1.21945975e-01 -2.25466747e-03 9.92534179e-01 1.58166455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:187.01, Z:15.82 [[ 8.31346963e-01 5.46594132e-01 -1.00484235e-01 1.56691718e+02] [-5.42306216e-01 8.37394379e-01 6.83712008e-02 1.87009442e+02] [ 1.21516230e-01 -2.34696506e-03 9.92586670e-01 1.58197908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.71, Y:186.99, Z:15.82 [[ 8.31917314e-01 5.45686865e-01 -1.00694728e-01 1.56714427e+02] [-5.41376936e-01 8.37985538e-01 6.84927049e-02 1.86993991e+02] [ 1.21756296e-01 -2.46646350e-03 9.92556961e-01 1.58236577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.74, Y:186.98, Z:15.83 [[ 8.32292684e-01 5.44070000e-01 -1.06191914e-01 1.56738588e+02] [-5.40295118e-01 8.39030197e-01 6.41054937e-02 1.86982324e+02] [ 1.23976099e-01 4.02043946e-03 9.92277060e-01 1.58265069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:186.97, Z:15.83 [[ 8.32398740e-01 5.43109550e-01 -1.10201431e-01 1.56763939e+02] [-5.39479402e-01 8.39633090e-01 6.30733616e-02 1.86967659e+02] [ 1.26784513e-01 6.94921558e-03 9.91905941e-01 1.58304270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:186.94, Z:15.84 [[ 8.33580395e-01 5.44566458e-01 -9.26881705e-02 1.56779186e+02] [-5.38757811e-01 8.38527943e-01 8.13074949e-02 1.86939175e+02] [ 1.21998956e-01 -1.78398579e-02 9.92369888e-01 1.58382867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.81, Y:186.93, Z:15.84 [[ 8.33480276e-01 5.43265260e-01 -1.00863698e-01 1.56807452e+02] [-5.38938931e-01 8.39556715e-01 6.84788338e-02 1.86931282e+02] [ 1.21882966e-01 -2.71638384e-03 9.92540762e-01 1.58379898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87275509600005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.83, Y:186.92, Z:15.84 [[ 8.33071288e-01 5.41754791e-01 -1.11776454e-01 1.56834733e+02] [-5.38734929e-01 8.40455825e-01 5.82982219e-02 1.86923438e+02] [ 1.25526513e-01 1.16513051e-02 9.92021845e-01 1.58364398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.85, Y:186.89, Z:15.85 [[ 8.32687965e-01 5.46029506e-01 -9.21006610e-02 1.56847888e+02] [-5.40404985e-01 8.37597323e-01 7.99573461e-02 1.86893091e+02] [ 1.20802337e-01 -1.68078635e-02 9.92534277e-01 1.58482221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93275509600005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:156.88, Y:186.88, Z:15.84 [[ 8.31537983e-01 5.46315446e-01 -1.00419199e-01 1.56876078e+02] [-5.42062984e-01 8.37576708e-01 6.80659917e-02 1.86884132e+02] [ 1.21294285e-01 -2.16592668e-03 9.92614228e-01 1.58443786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:186.88, Z:15.84 [[ 8.30796613e-01 5.46528101e-01 -1.05280686e-01 1.56905874e+02] [-5.43792062e-01 8.37368935e-01 5.57087008e-02 1.86875116e+02] [ 1.18605146e-01 1.09682014e-02 9.92880918e-01 1.58442568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:186.85, Z:15.86 [[ 8.28546151e-01 5.51093849e-01 -9.90295192e-02 1.56920066e+02] [-5.46386644e-01 8.34424305e-01 7.20951824e-02 1.86853700e+02] [ 1.22363849e-01 -5.62577922e-03 9.92469364e-01 1.58552007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:186.84, Z:15.86 [[ 8.28434578e-01 5.51951698e-01 -9.51076983e-02 1.56942265e+02] [-5.46977220e-01 8.33818950e-01 7.45780095e-02 1.86836465e+02] [ 1.20466060e-01 -9.76125740e-03 9.92669455e-01 1.58586236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.98, Y:186.83, Z:15.85 [[ 8.27810085e-01 5.50580332e-01 -1.07665036e-01 1.56975335e+02] [-5.48233641e-01 8.34644572e-01 5.29935200e-02 1.86833570e+02] [ 1.19039228e-01 1.51570245e-02 9.92773855e-01 1.58507274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:186.80, Z:15.87 [[ 8.27414464e-01 5.54141027e-01 -9.11757993e-02 1.56985183e+02] [-5.48438605e-01 8.32246844e-01 8.11189688e-02 1.86802549e+02] [ 1.20832120e-01 -1.71146799e-02 9.92525409e-01 1.58665847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.02, Y:186.80, Z:15.86 [[ 8.24737622e-01 5.54563490e-01 -1.10757349e-01 1.57016829e+02] [-5.51518820e-01 8.32052257e-01 5.92961430e-02 1.86801882e+02] [ 1.25039378e-01 1.21810024e-02 9.92077002e-01 1.58624007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:186.79, Z:15.86 [[ 8.26266247e-01 5.52239798e-01 -1.10974301e-01 1.57047428e+02] [-5.50469189e-01 8.33426998e-01 4.88171224e-02 1.86790770e+02] [ 1.19447736e-01 2.07519928e-02 9.92623591e-01 1.58571274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.06, Y:186.76, Z:15.87 [[ 8.25891789e-01 5.55516689e-01 -9.64570434e-02 1.57060125e+02] [-5.51067080e-01 8.31490699e-01 7.03440960e-02 1.86763247e+02] [ 1.19280454e-01 -4.94231006e-03 9.92848300e-01 1.58670997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:186.73, Z:15.88 [[ 8.25075781e-01 5.57730707e-01 -9.04788047e-02 1.57080696e+02] [-5.51354738e-01 8.29735962e-01 8.68687852e-02 1.86734707e+02] [ 1.23522907e-01 -2.17874131e-02 9.92102515e-01 1.58821698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:186.73, Z:15.88 [[ 8.25620768e-01 5.54956238e-01 -1.01852450e-01 1.57112049e+02] [-5.50515474e-01 8.31877606e-01 7.00882394e-02 1.86729374e+02] [ 1.23624678e-01 -1.79495600e-03 9.92327424e-01 1.58807552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:186.72, Z:15.89 [[ 8.25875601e-01 5.54735843e-01 -1.00983348e-01 1.57130560e+02] [-5.49997871e-01 8.32015335e-01 7.24763720e-02 1.86715943e+02] [ 1.24224936e-01 -4.31584076e-03 9.92244697e-01 1.58861986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.17, Y:186.71, Z:15.88 [[ 8.26736935e-01 5.50212399e-01 -1.17355686e-01 1.57165724e+02] [-5.48663236e-01 8.34660741e-01 4.80635101e-02 1.86714130e+02] [ 1.24397323e-01 2.46528713e-02 9.91926178e-01 1.58786072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:186.68, Z:15.89 [[ 8.26569644e-01 5.54113962e-01 -9.86931625e-02 1.57175408e+02] [-5.48611742e-01 8.32369930e-01 7.86476663e-02 1.86679320e+02] [ 1.25728991e-01 -1.08635457e-02 9.92005143e-01 1.58944584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:186.67, Z:15.89 [[ 8.28029359e-01 5.50893034e-01 -1.04327589e-01 1.57202937e+02] [-5.46879894e-01 8.34573297e-01 6.64062830e-02 1.86670943e+02] [ 1.23651779e-01 2.06830909e-03 9.92323516e-01 1.58930883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:186.66, Z:15.90 [[ 8.28993397e-01 5.48775647e-01 -1.07774007e-01 1.57228386e+02] [-5.44894975e-01 8.35957095e-01 6.53085057e-02 1.86656228e+02] [ 1.25934163e-01 4.58519493e-03 9.92028005e-01 1.58970355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:186.63, Z:15.90 [[ 8.29587914e-01 5.49400115e-01 -9.97166272e-02 1.57247596e+02] [-5.44273552e-01 8.35518985e-01 7.53281172e-02 1.86633075e+02] [ 1.24700411e-01 -8.21817276e-03 9.92160405e-01 1.59046727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:186.62, Z:15.91 [[ 8.30188024e-01 5.49119826e-01 -9.62042711e-02 1.57266177e+02] [-5.43521291e-01 8.35632658e-01 7.93893393e-02 1.86615238e+02] [ 1.23985691e-01 -1.36190091e-02 9.92190542e-01 1.59114156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:186.61, Z:15.91 [[ 8.31654981e-01 5.44213442e-01 -1.10370840e-01 1.57301229e+02] [-5.41122083e-01 8.38878156e-01 5.89095192e-02 1.86611014e+02] [ 1.24647039e-01 1.07317038e-02 9.92143108e-01 1.59079629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:186.58, Z:15.92 [[ 8.31923535e-01 5.45894709e-01 -9.95097888e-02 1.57314877e+02] [-5.40313912e-01 8.37771567e-01 7.87380350e-02 1.86583538e+02] [ 1.26349148e-01 -1.17375012e-02 9.91916390e-01 1.59199848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:186.56, Z:15.93 [[ 8.30997094e-01 5.47822898e-01 -9.66121248e-02 1.57334096e+02] [-5.40997830e-01 8.36315970e-01 8.88647708e-02 1.86559290e+02] [ 1.29480419e-01 -2.15794164e-02 9.91347139e-01 1.59323770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:186.57, Z:15.93 [[ 8.31071267e-01 5.43107194e-01 -1.19812872e-01 1.57367814e+02] [-5.40321669e-01 8.39492136e-01 5.74930242e-02 1.86566085e+02] [ 1.31806839e-01 1.69566907e-02 9.91130379e-01 1.59260230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:186.52, Z:15.94 [[ 8.31308424e-01 5.48010713e-01 -9.27931171e-02 1.57376812e+02] [-5.40349527e-01 8.35944684e-01 9.60149728e-02 1.86523028e+02] [ 1.30187147e-01 -2.96773388e-02 9.91045187e-01 1.59438366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:186.53, Z:15.93 [[ 8.31112488e-01 5.42837207e-01 -1.20746842e-01 1.57415857e+02] [-5.40331634e-01 8.39620232e-01 5.54940684e-02 1.86534240e+02] [ 1.31505736e-01 1.91215250e-02 9.91130974e-01 1.59327303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:186.51, Z:15.94 [[ 8.31177080e-01 5.45975814e-01 -1.05143107e-01 1.57429923e+02] [-5.40693445e-01 8.37776922e-01 7.60291208e-02 1.86505783e+02] [ 1.29596530e-01 -6.34347360e-03 9.91546519e-01 1.59420464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:186.50, Z:15.94 [[ 8.32255638e-01 5.42519718e-01 -1.14117965e-01 1.57462705e+02] [-5.39306671e-01 8.39963729e-01 6.00770242e-02 1.86499295e+02] [ 1.28447922e-01 1.15451377e-02 9.91649051e-01 1.59389176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:186.47, Z:15.95 [[ 8.30326500e-01 5.48807837e-01 -9.67877138e-02 1.57468963e+02] [-5.42499822e-01 8.35755056e-01 8.48965824e-02 1.86469741e+02] [ 1.27482731e-01 -1.79845646e-02 9.91677724e-01 1.59531798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:186.46, Z:15.95 [[ 8.30633526e-01 5.47493737e-01 -1.01481795e-01 1.57497026e+02] [-5.43003977e-01 8.36804141e-01 7.00393418e-02 1.86463306e+02] [ 1.23266487e-01 -3.07200735e-03 9.92368851e-01 1.59490078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:186.45, Z:15.95 [[ 8.30644956e-01 5.47001706e-01 -1.04010051e-01 1.57520547e+02] [-5.42421285e-01 8.37128358e-01 7.06771621e-02 1.86448728e+02] [ 1.25730291e-01 -2.29036290e-03 9.92061817e-01 1.59548317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:186.44, Z:15.95 [[ 8.30684613e-01 5.44558712e-01 -1.15839899e-01 1.57552267e+02] [-5.41810044e-01 8.38578285e-01 5.68184537e-02 1.86441255e+02] [ 1.28081808e-01 1.55650057e-02 9.91641458e-01 1.59534939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:186.42, Z:15.96 [[ 8.30855188e-01 5.45244053e-01 -1.11303997e-01 1.57572687e+02] [-5.41563129e-01 8.38244942e-01 6.36772690e-02 1.86422615e+02] [ 1.28019665e-01 7.37155147e-03 9.91744234e-01 1.59575076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.59, Y:186.40, Z:15.96 [[ 8.30150906e-01 5.47607332e-01 -1.04764896e-01 1.57590611e+02] [-5.42955068e-01 8.36732346e-01 7.12655314e-02 1.86402598e+02] [ 1.26685705e-01 -2.27851390e-03 9.91940291e-01 1.59626034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.62, Y:186.39, Z:15.96 [[ 8.29682681e-01 5.46892138e-01 -1.11962662e-01 1.57618214e+02] [-5.43226213e-01 8.37165255e-01 6.37151314e-02 1.86390753e+02] [ 1.28576555e-01 7.95771186e-03 9.91667658e-01 1.59648215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.64, Y:186.37, Z:15.97 [[ 8.29490043e-01 5.47897330e-01 -1.08419486e-01 1.57638737e+02] [-5.43766304e-01 8.36539509e-01 6.72298758e-02 1.86373024e+02] [ 1.27532253e-01 3.18835079e-03 9.91829299e-01 1.59690538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:186.34, Z:15.99 [[ 8.28300863e-01 5.52269454e-01 -9.44252664e-02 1.57651580e+02] [-5.45379618e-01 8.33347955e-01 8.99569767e-02 1.86341012e+02] [ 1.28369593e-01 -2.30138257e-02 9.91459334e-01 1.59857851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.68, Y:186.33, Z:15.99 [[ 8.27156180e-01 5.51825058e-01 -1.06309734e-01 1.57680343e+02] [-5.46305583e-01 8.33934201e-01 7.81278358e-02 1.86331619e+02] [ 1.31768221e-01 -6.54632100e-03 9.91258938e-01 1.59876421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:186.32, Z:15.99 [[ 8.27227984e-01 5.51475956e-01 -1.07555254e-01 1.57704098e+02] [-5.46392239e-01 8.34185080e-01 7.47714707e-02 1.86317759e+02] [ 1.30955657e-01 -3.08569670e-03 9.91383425e-01 1.59900762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:186.31, Z:15.99 [[ 8.26661804e-01 5.50738977e-01 -1.15398619e-01 1.57730002e+02] [-5.46602527e-01 8.34647534e-01 6.77434263e-02 1.86307317e+02] [ 1.33626118e-01 7.07627381e-03 9.91006552e-01 1.59915322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.75, Y:186.28, Z:16.00 [[ 8.27620065e-01 5.51442382e-01 -1.04672480e-01 1.57746940e+02] [-5.45763149e-01 8.34168750e-01 7.94045431e-02 1.86283330e+02] [ 1.31101543e-01 -8.59041067e-03 9.91331726e-01 1.59988489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.78, Y:186.28, Z:15.99 [[ 8.27911687e-01 5.49131020e-01 -1.14093651e-01 1.57776574e+02] [-5.45821999e-01 8.35656688e-01 6.12882198e-02 1.86279427e+02] [ 1.28998385e-01 1.15335912e-02 9.91577729e-01 1.59927841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.79, Y:186.25, Z:16.01 [[ 8.27686986e-01 5.52016149e-01 -1.01056543e-01 1.57789784e+02] [-5.45885927e-01 8.33721293e-01 8.31706675e-02 1.86249912e+02] [ 1.30164544e-01 -1.36739342e-02 9.91398111e-01 1.60062031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:186.24, Z:16.01 [[ 8.28514252e-01 5.48874076e-01 -1.10911598e-01 1.57820057e+02] [-5.44384623e-01 8.35901875e-01 7.00959165e-02 1.86241614e+02] [ 1.31185044e-01 2.30310242e-03 9.91355224e-01 1.60060512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.84, Y:186.22, Z:16.01 [[ 8.28935297e-01 5.48319188e-01 -1.10509463e-01 1.57842777e+02] [-5.43610742e-01 8.36268895e-01 7.17056217e-02 1.86224085e+02] [ 1.31733194e-01 6.34810067e-04 9.91285006e-01 1.60097442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.86, Y:186.21, Z:16.01 [[ 8.29134551e-01 5.48267204e-01 -1.09265592e-01 1.57863405e+02] [-5.43108367e-01 8.36298128e-01 7.50915669e-02 1.86207330e+02] [ 1.32548853e-01 -2.91795524e-03 9.91172178e-01 1.60144102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.89, Y:186.19, Z:16.02 [[ 8.29296224e-01 5.47391154e-01 -1.12386377e-01 1.57888547e+02] [-5.42819724e-01 8.36873371e-01 7.06378589e-02 1.86193512e+02] [ 1.32719705e-01 2.42583253e-03 9.91150642e-01 1.60158974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.91, Y:186.17, Z:16.02 [[ 8.29452040e-01 5.47826425e-01 -1.09066590e-01 1.57908276e+02] [-5.42420393e-01 8.36579183e-01 7.69115611e-02 1.86174791e+02] [ 1.33377024e-01 -4.63450871e-03 9.91054535e-01 1.60222162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.94, Y:186.16, Z:16.02 [[ 8.29603556e-01 5.46572289e-01 -1.14090633e-01 1.57936519e+02] [-5.42412248e-01 8.37391585e-01 6.75595041e-02 1.86163727e+02] [ 1.32464689e-01 5.83655160e-03 9.91170541e-01 1.60210426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.95, Y:186.14, Z:16.03 [[ 8.29794751e-01 5.47536347e-01 -1.07910239e-01 1.57953366e+02] [-5.41679136e-01 8.36741997e-01 8.02903665e-02 1.86142310e+02] [ 1.34254923e-01 -8.17179957e-03 9.90913133e-01 1.60303161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.98, Y:186.13, Z:16.03 [[ 8.29928690e-01 5.46468802e-01 -1.12206139e-01 1.57979373e+02] [-5.41346626e-01 8.37478578e-01 7.46556184e-02 1.86130101e+02] [ 1.34767204e-01 -1.21642466e-03 9.90876542e-01 1.60322283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:186.11, Z:16.04 [[ 8.30126076e-01 5.46129354e-01 -1.12398516e-01 1.58002483e+02] [-5.40993283e-01 8.37699954e-01 7.47332229e-02 1.86114825e+02] [ 1.34970239e-01 -1.23115484e-03 9.90848888e-01 1.60358957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.03, Y:186.10, Z:16.04 [[ 8.30482776e-01 5.45631552e-01 -1.12180964e-01 1.58025982e+02] [-5.40517696e-01 8.38024226e-01 7.45386883e-02 1.86099331e+02] [ 1.34681026e-01 -1.26730042e-03 9.90888195e-01 1.60398465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.05, Y:186.08, Z:16.04 [[ 8.30752934e-01 5.45219490e-01 -1.12184092e-01 1.58048715e+02] [-5.40108445e-01 8.38292335e-01 7.44904599e-02 1.86084754e+02] [ 1.34656715e-01 -1.29159283e-03 9.90891468e-01 1.60431205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:186.07, Z:16.05 [[ 8.31196330e-01 5.44405842e-01 -1.12849194e-01 1.58071737e+02] [-5.39230946e-01 8.38820786e-01 7.48977711e-02 1.86070376e+02] [ 1.35435034e-01 -1.40297467e-03 9.90785236e-01 1.60469920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.10, Y:186.06, Z:16.05 [[ 8.31678215e-01 5.43626262e-01 -1.13056775e-01 1.58095135e+02] [-5.38428429e-01 8.39326040e-01 7.50108404e-02 1.86055567e+02] [ 1.35669358e-01 -1.51190038e-03 9.90753016e-01 1.60505274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:186.04, Z:16.05 [[ 8.31976855e-01 5.43073955e-01 -1.13512962e-01 1.58117317e+02] [-5.37835448e-01 8.39683407e-01 7.52649134e-02 1.86041045e+02] [ 1.36189364e-01 -1.56737142e-03 9.90681584e-01 1.60538619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:186.03, Z:16.06 [[ 8.32131834e-01 5.42834112e-01 -1.13524172e-01 1.58141038e+02] [-5.37595691e-01 8.39838444e-01 7.52480000e-02 1.86025536e+02] [ 1.36189146e-01 -1.58615038e-03 9.90681584e-01 1.60573961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.16, Y:186.01, Z:16.06 [[ 8.32761752e-01 5.41732477e-01 -1.14165618e-01 1.58164762e+02] [-5.36430701e-01 8.40549172e-01 7.56253433e-02 1.86010427e+02] [ 1.36930521e-01 -1.73595057e-03 9.90579133e-01 1.60610481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:186.00, Z:16.06 [[ 8.33238934e-01 5.40254855e-01 -1.17633205e-01 1.58191943e+02] [-5.36365114e-01 8.41456590e-01 6.52937369e-02 1.86001250e+02] [ 1.34258494e-01 8.68906384e-03 9.90908249e-01 1.60595460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.21, Y:185.98, Z:16.07 [[ 8.33083809e-01 5.42142738e-01 -1.09784422e-01 1.58208224e+02] [-5.35671320e-01 8.40208878e-01 8.42928167e-02 1.85975920e+02] [ 1.37940584e-01 -1.14146146e-02 9.90374728e-01 1.60708413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:185.97, Z:16.07 [[ 8.33015696e-01 5.41004310e-01 -1.15754856e-01 1.58235800e+02] [-5.35563678e-01 8.41017945e-01 7.65530129e-02 1.85965806e+02] [ 1.38767421e-01 -1.77576507e-03 9.90323407e-01 1.60720815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.26, Y:185.95, Z:16.08 [[ 8.32784891e-01 5.41327755e-01 -1.15903357e-01 1.58259426e+02] [-5.35882962e-01 8.40809984e-01 7.66030185e-02 1.85952152e+02] [ 1.38920040e-01 -1.68320235e-03 9.90302171e-01 1.60753145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.29, Y:185.94, Z:16.07 [[ 8.33083820e-01 5.40220556e-01 -1.18882714e-01 1.58285831e+02] [-5.35725272e-01 8.41505067e-01 6.97685921e-02 1.85941915e+02] [ 1.37730834e-01 5.56538895e-03 9.90454059e-01 1.60748755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.31, Y:185.92, Z:16.08 [[ 8.32128709e-01 5.42791946e-01 -1.13748474e-01 1.58305976e+02] [-5.37019360e-01 8.39853873e-01 7.90928480e-02 1.85919715e+02] [ 1.38463058e-01 -4.73029653e-03 9.90356303e-01 1.60836047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:185.90, Z:16.09 [[ 8.31995860e-01 5.42908960e-01 -1.14161069e-01 1.58328541e+02] [-5.37107844e-01 8.39778671e-01 7.92902761e-02 1.85904705e+02] [ 1.38917432e-01 -4.65237601e-03 9.90293039e-01 1.60887653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:185.89, Z:16.09 [[ 8.31735298e-01 5.43020741e-01 -1.15519992e-01 1.58351797e+02] [-5.37646605e-01 8.39718300e-01 7.62187923e-02 1.85891525e+02] [ 1.38392636e-01 -1.28492866e-03 9.90376609e-01 1.60915485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.38, Y:185.88, Z:16.09 [[ 8.30922592e-01 5.44045311e-01 -1.16543319e-01 1.58376053e+02] [-5.39065391e-01 8.39053947e-01 7.34641304e-02 1.85877611e+02] [ 1.37753947e-01 1.78146417e-03 9.90464879e-01 1.60946813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.40, Y:185.86, Z:16.10 [[ 8.30960137e-01 5.44665994e-01 -1.13332282e-01 1.58396813e+02] [-5.39055385e-01 8.38644546e-01 7.80680353e-02 1.85861215e+02] [ 1.37566504e-01 -3.77904830e-03 9.90485323e-01 1.61000428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:185.85, Z:16.10 [[ 8.30865412e-01 5.44455729e-01 -1.15024458e-01 1.58421326e+02] [-5.39156726e-01 8.38789044e-01 7.57823525e-02 1.85847612e+02] [ 1.37741391e-01 -9.48725159e-04 9.90467773e-01 1.61031570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.44, Y:185.83, Z:16.11 [[ 8.31084220e-01 5.44196708e-01 -1.14668922e-01 1.58444022e+02] [-5.38935019e-01 8.38957119e-01 7.54983345e-02 1.85832667e+02] [ 1.37288253e-01 -9.46376896e-04 9.90530686e-01 1.61071734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:185.82, Z:16.11 [[ 8.31600296e-01 5.43482317e-01 -1.14315001e-01 1.58466164e+02] [-5.38249622e-01 8.39419970e-01 7.52426659e-02 1.85817894e+02] [ 1.36851353e-01 -1.04181684e-03 9.90591047e-01 1.61104165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.49, Y:185.80, Z:16.11 [[ 8.32116552e-01 5.42700774e-01 -1.14271230e-01 1.58488852e+02] [-5.37468163e-01 8.39925324e-01 7.51892511e-02 1.85802469e+02] [ 1.36784565e-01 -1.14907200e-03 9.90600153e-01 1.61143717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.51, Y:185.79, Z:16.12 [[ 8.33191799e-01 5.41175740e-01 -1.13667253e-01 1.58510333e+02] [-5.35990896e-01 8.40908432e-01 7.47446918e-02 1.85786696e+02] [ 1.36033765e-01 -1.35205144e-03 9.90703279e-01 1.61179220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.53, Y:185.77, Z:16.12 [[ 8.33773745e-01 5.40238436e-01 -1.13858573e-01 1.58533515e+02] [-5.35030677e-01 8.41510678e-01 7.48462056e-02 1.85770813e+02] [ 1.36248002e-01 -1.48697176e-03 9.90673645e-01 1.61218803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.56, Y:185.76, Z:16.13 [[ 8.34208613e-01 5.39566470e-01 -1.13859624e-01 1.58555850e+02] [-5.34359032e-01 8.41941568e-01 7.47985337e-02 1.85756061e+02] [ 1.36221932e-01 -1.55566233e-03 9.90677125e-01 1.61254609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:185.74, Z:16.13 [[ 8.34688588e-01 5.38877320e-01 -1.13605438e-01 1.58579126e+02] [-5.33690196e-01 8.42382652e-01 7.46072512e-02 1.85740922e+02] [ 1.35903406e-01 -1.64371253e-03 9.90720729e-01 1.61287140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.60, Y:185.73, Z:16.13 [[ 8.35452695e-01 5.37790426e-01 -1.13138202e-01 1.58602266e+02] [-5.32642808e-01 8.43076698e-01 7.42517304e-02 1.85725852e+02] [ 1.35316051e-01 -1.77155888e-03 9.90800902e-01 1.61321830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:185.71, Z:16.14 [[ 8.35780646e-01 5.37190898e-01 -1.13563421e-01 1.58626638e+02] [-5.32234612e-01 8.43460594e-01 7.28048357e-02 1.85710068e+02] [ 1.34896365e-01 -4.06489492e-04 9.90859630e-01 1.61352207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.65, Y:185.69, Z:16.14 [[ 8.37019420e-01 5.35697062e-01 -1.11477120e-01 1.58648106e+02] [-5.30427349e-01 8.44402208e-01 7.50449092e-02 1.85694128e+02] [ 1.34332864e-01 -3.68353295e-03 9.90929419e-01 1.61398453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.67, Y:185.68, Z:16.14 [[ 8.37651230e-01 5.34559751e-01 -1.12188635e-01 1.58672298e+02] [-5.29487423e-01 8.45127917e-01 7.34974410e-02 1.85679440e+02] [ 1.34102521e-01 -2.16275064e-03 9.90965104e-01 1.61432637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.70, Y:185.66, Z:16.15 [[ 8.38566881e-01 5.33190732e-01 -1.11862549e-01 1.58695280e+02] [-5.28142709e-01 8.45991849e-01 7.32329901e-02 1.85663453e+02] [ 1.33681956e-01 -2.33137069e-03 9.91021543e-01 1.61470749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:185.65, Z:16.15 [[ 8.39105214e-01 5.32345199e-01 -1.11852711e-01 1.58717396e+02] [-5.27297132e-01 8.46523898e-01 7.31780292e-02 1.85648612e+02] [ 1.33641966e-01 -2.42445202e-03 9.91026714e-01 1.61506043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.74, Y:185.63, Z:16.15 [[ 8.39887735e-01 5.31122511e-01 -1.11792090e-01 1.58740401e+02] [-5.26072367e-01 8.47291055e-01 7.31145165e-02 1.85633723e+02] [ 1.33553204e-01 -2.59725604e-03 9.91038241e-01 1.61539170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.76, Y:185.62, Z:16.16 [[ 8.41124706e-01 5.29228447e-01 -1.11474126e-01 1.58763630e+02] [-5.24197163e-01 8.48474597e-01 7.28573408e-02 1.85618615e+02] [ 1.33141142e-01 -2.84768851e-03 9.91092996e-01 1.61576525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.79, Y:185.60, Z:16.16 [[ 8.41603441e-01 5.28528242e-01 -1.11182487e-01 1.58786804e+02] [-5.23523890e-01 8.48910736e-01 7.26174814e-02 1.85603758e+02] [ 1.32764397e-01 -2.90843429e-03 9.91143358e-01 1.61611941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:185.59, Z:16.16 [[ 8.42230953e-01 5.27634330e-01 -1.10675365e-01 1.58810083e+02] [-5.22674695e-01 8.49466338e-01 7.22364447e-02 1.85588952e+02] [ 1.32129425e-01 -2.99255716e-03 9.91227955e-01 1.61645048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:185.57, Z:16.17 [[ 8.43116421e-01 5.26306642e-01 -1.10254337e-01 1.58833179e+02] [-5.21380151e-01 8.50289024e-01 7.19118525e-02 1.85573842e+02] [ 1.31595738e-01 -3.14564090e-03 9.91298475e-01 1.61678967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:185.56, Z:16.17 [[ 8.44171102e-01 5.24047438e-01 -1.12913385e-01 1.58859737e+02] [-5.20369219e-01 8.51666688e-01 6.22874635e-02 1.85564387e+02] [ 1.28806155e-01 6.17537340e-03 9.91650563e-01 1.61653725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:185.54, Z:16.18 [[ 8.44037847e-01 5.25943900e-01 -1.04800412e-01 1.58876064e+02] [-5.20117071e-01 8.50431974e-01 7.90170221e-02 1.85539748e+02] [ 1.30684142e-01 -1.21848737e-02 9.91349174e-01 1.61776070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.90, Y:185.53, Z:16.18 [[ 8.44774809e-01 5.23972757e-01 -1.08664952e-01 1.58901702e+02] [-5.19153063e-01 8.51727581e-01 7.09945410e-02 1.85530662e+02] [ 1.29752142e-01 -3.56065719e-03 9.91540066e-01 1.61780971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:158.93, Y:185.52, Z:16.18 [[ 8.45085750e-01 5.22540207e-01 -1.13056654e-01 1.58929783e+02] [-5.18950231e-01 8.52588411e-01 6.15114550e-02 1.85520217e+02] [ 1.28533001e-01 6.68832254e-03 9.91682678e-01 1.61766267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.95, Y:185.50, Z:16.19 [[ 8.45103578e-01 5.24286591e-01 -1.04515616e-01 1.58947011e+02] [-5.18515230e-01 8.51454900e-01 7.85271253e-02 1.85495351e+02] [ 1.30161053e-01 -1.21706156e-02 9.91418164e-01 1.61882644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.97, Y:185.48, Z:16.19 [[ 8.45339610e-01 5.22942794e-01 -1.09232676e-01 1.58973637e+02] [-5.18113964e-01 8.52360958e-01 7.09839341e-02 1.85484528e+02] [ 1.30226205e-01 -3.41055662e-03 9.91478443e-01 1.61890834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.00, Y:185.47, Z:16.19 [[ 8.45532270e-01 5.22761219e-01 -1.08608878e-01 1.58995914e+02] [-5.17992453e-01 8.52472465e-01 7.05302365e-02 1.85469983e+02] [ 1.29456551e-01 -3.37701175e-03 9.91579345e-01 1.61919818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:185.46, Z:16.20 [[ 8.45516335e-01 5.22927551e-01 -1.07930089e-01 1.59019908e+02] [-5.18222705e-01 8.52370701e-01 7.00672169e-02 1.85455087e+02] [ 1.28636524e-01 -3.31115353e-03 9.91686282e-01 1.61956961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.04, Y:185.44, Z:16.20 [[ 8.45157702e-01 5.23560996e-01 -1.07667740e-01 1.59042835e+02] [-5.18890460e-01 8.51982314e-01 6.98485976e-02 1.85440836e+02] [ 1.28301012e-01 -3.16531687e-03 9.91730221e-01 1.61989820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.07, Y:185.43, Z:16.20 [[ 8.44803346e-01 5.24126092e-01 -1.07699328e-01 1.59065811e+02] [-5.19460131e-01 8.51635170e-01 6.98477605e-02 1.85426862e+02] [ 1.28329569e-01 -3.06211489e-03 9.91726850e-01 1.62025544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.09, Y:185.41, Z:16.21 [[ 8.44522555e-01 5.24782616e-01 -1.06699856e-01 1.59089152e+02] [-5.20211147e-01 8.51231285e-01 6.91784812e-02 1.85412308e+02] [ 1.27129920e-01 -2.91633325e-03 9.91881787e-01 1.62050574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:185.40, Z:16.21 [[ 8.43261845e-01 5.26904414e-01 -1.06212991e-01 1.59111430e+02] [-5.22397545e-01 8.49920742e-01 6.88152389e-02 1.85398071e+02] [ 1.26531677e-01 -2.54385955e-03 9.91959305e-01 1.62081332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:185.38, Z:16.21 [[ 8.42584719e-01 5.27965767e-01 -1.06316227e-01 1.59134792e+02] [-5.23462720e-01 8.49262378e-01 6.88490688e-02 1.85383019e+02] [ 1.26640323e-01 -2.35859214e-03 9.91945899e-01 1.62118791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:185.37, Z:16.21 [[ 8.41202777e-01 5.30105839e-01 -1.06609979e-01 1.59157290e+02] [-5.25601340e-01 8.47929126e-01 6.89886086e-02 1.85368631e+02] [ 1.26968971e-01 -1.99906115e-03 9.91904675e-01 1.62147277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.18, Y:185.35, Z:16.22 [[ 8.40436236e-01 5.31261400e-01 -1.06903032e-01 1.59180241e+02] [-5.26744180e-01 8.47206024e-01 6.91557830e-02 1.85353755e+02] [ 1.27308690e-01 -1.81047624e-03 9.91861492e-01 1.62179733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.20, Y:185.34, Z:16.22 [[ 8.39833762e-01 5.32263138e-01 -1.06654603e-01 1.59203907e+02] [-5.27779186e-01 8.46577406e-01 6.89624966e-02 1.85338565e+02] [ 1.26997572e-01 -1.62695315e-03 9.91901694e-01 1.62211770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.23, Y:185.32, Z:16.22 [[ 8.38211262e-01 5.34829147e-01 -1.06581724e-01 1.59226274e+02] [-5.30378018e-01 8.44959378e-01 6.88680442e-02 1.85324402e+02] [ 1.26889865e-01 -1.19736647e-03 9.91916089e-01 1.62240238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.25, Y:185.31, Z:16.23 [[ 8.36978886e-01 5.36807561e-01 -1.06320207e-01 1.59250122e+02] [-5.32396911e-01 8.43704257e-01 6.86779177e-02 1.85309571e+02] [ 1.26569637e-01 -8.77417175e-04 9.91957336e-01 1.62268594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:185.29, Z:16.23 [[ 8.36526372e-01 5.37464102e-01 -1.06564386e-01 1.59272768e+02] [-5.33044481e-01 8.43286305e-01 6.87879986e-02 1.85294850e+02] [ 1.26835367e-01 -7.39417184e-04 9.91923507e-01 1.62302836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:185.28, Z:16.23 [[ 8.36357636e-01 5.37812133e-01 -1.06132058e-01 1.59296028e+02] [-5.33433922e-01 8.43064450e-01 6.84878398e-02 1.85279951e+02] [ 1.26309756e-01 -6.65887772e-04 9.91990626e-01 1.62334226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:185.27, Z:16.24 [[ 8.36069309e-01 5.38290891e-01 -1.05976539e-01 1.59319448e+02] [-5.33935441e-01 8.42758928e-01 6.83398409e-02 1.85265117e+02] [ 1.26099388e-01 -5.52213607e-04 9.92017459e-01 1.62366821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:185.25, Z:16.24 [[ 8.35544185e-01 5.39278506e-01 -1.05093328e-01 1.59342672e+02] [-5.35009314e-01 8.42127403e-01 6.77234863e-02 1.85249982e+02] [ 1.25023792e-01 -3.60055929e-04 9.92153679e-01 1.62399473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:185.23, Z:16.24 [[ 8.35292407e-01 5.39715998e-01 -1.04848634e-01 1.59365672e+02] [-5.35476123e-01 8.41847122e-01 6.75184764e-02 1.85234790e+02] [ 1.24707323e-01 -2.53730372e-04 9.92193539e-01 1.62435720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:185.22, Z:16.25 [[ 8.35117324e-01 5.40132961e-01 -1.04093418e-01 1.59388273e+02] [-5.35963204e-01 8.41579682e-01 6.69856877e-02 1.85219593e+02] [ 1.23784084e-01 -1.50666363e-04 9.92309165e-01 1.62468183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:185.20, Z:16.25 [[ 8.35050993e-01 5.40262755e-01 -1.03951884e-01 1.59411367e+02] [-5.36107868e-01 8.41496371e-01 6.68745995e-02 1.85204192e+02] [ 1.23604989e-01 -1.14277844e-04 9.92331494e-01 1.62506589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:185.19, Z:16.25 [[ 8.35248509e-01 5.40091542e-01 -1.03252378e-01 1.59433461e+02] [-5.35997067e-01 8.41606271e-01 6.63779165e-02 1.85188238e+02] [ 1.22748000e-01 -9.90841444e-05 9.92437866e-01 1.62541961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.46, Y:185.17, Z:16.26 [[ 8.35517717e-01 5.39745771e-01 -1.02881713e-01 1.59456690e+02] [-5.35680557e-01 8.41828062e-01 6.61200115e-02 1.85172203e+02] [ 1.22296709e-01 -1.32708024e-04 9.92493575e-01 1.62578115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:185.16, Z:16.26 [[ 8.36230129e-01 5.38840337e-01 -1.01834490e-01 1.59478297e+02] [-5.34856593e-01 8.42407883e-01 6.54017149e-02 1.85156089e+02] [ 1.21027259e-01 -2.24036340e-04 9.92649159e-01 1.62613683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.50, Y:185.14, Z:16.26 [[ 8.37008775e-01 5.37766981e-01 -1.01108773e-01 1.59501236e+02] [-5.33834431e-01 8.43093437e-01 6.49173105e-02 1.85140370e+02] [ 1.20154529e-01 -3.61014388e-04 9.92755135e-01 1.62647852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.52, Y:185.12, Z:16.27 [[ 8.37627951e-01 5.36829996e-01 -1.00960240e-01 1.59524026e+02] [-5.32907705e-01 8.43690314e-01 6.47767837e-02 1.85124267e+02] [ 1.19953297e-01 -4.56354861e-04 9.92779431e-01 1.62685294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.55, Y:185.11, Z:16.27 [[ 8.38341429e-01 5.35853473e-01 -1.00223271e-01 1.59545494e+02] [-5.31987033e-01 8.44310814e-01 6.42576498e-02 1.85108903e+02] [ 1.19052277e-01 -5.52369163e-04 9.92887834e-01 1.62720647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.57, Y:185.09, Z:16.28 [[ 8.39401695e-01 5.34392992e-01 -9.91409390e-02 1.59567415e+02] [-5.30603273e-01 8.45235827e-01 6.35339501e-02 1.85091296e+02] [ 1.17749571e-01 -7.25998585e-04 9.93043056e-01 1.62758980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:185.08, Z:16.28 [[ 8.39559741e-01 5.34140897e-01 -9.91611955e-02 1.59591386e+02] [-5.30353163e-01 8.45395161e-01 6.35023184e-02 1.85076164e+02] [ 1.17749580e-01 -7.23536360e-04 9.93043057e-01 1.62794365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.61, Y:185.06, Z:16.28 [[ 8.40135511e-01 5.33302045e-01 -9.87990533e-02 1.59614540e+02] [-5.29541103e-01 8.45924515e-01 6.32292327e-02 1.85059879e+02] [ 1.17296820e-01 -8.02964016e-04 9.93096577e-01 1.62833912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.64, Y:185.04, Z:16.29 [[ 8.40550536e-01 5.32752564e-01 -9.82318779e-02 1.59637587e+02] [-5.29036417e-01 8.46270646e-01 6.28208770e-02 1.85043558e+02] [ 1.16598738e-01 -8.35881127e-04 9.93178753e-01 1.62869680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.66, Y:185.03, Z:16.29 [[ 8.40854362e-01 5.32387426e-01 -9.76092763e-02 1.59659531e+02] [-5.28717850e-01 8.46500371e-01 6.24063915e-02 1.85028647e+02] [ 1.15850667e-01 -8.66919855e-04 9.93266264e-01 1.62903343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:185.01, Z:16.29 [[ 8.40708984e-01 5.32768723e-01 -9.67775375e-02 1.59682283e+02] [-5.29166334e-01 8.46260517e-01 6.18557155e-02 1.85014564e+02] [ 1.14853799e-01 -7.91241042e-04 9.93382091e-01 1.62939589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:185.00, Z:16.30 [[ 8.40943522e-01 5.32452713e-01 -9.64784997e-02 1.59706520e+02] [-5.28872470e-01 8.46459355e-01 6.16479598e-02 1.84999858e+02] [ 1.14489752e-01 -8.17630045e-04 9.93424093e-01 1.62974105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.73, Y:184.99, Z:16.30 [[ 8.41065044e-01 5.32366535e-01 -9.58929866e-02 1.59729456e+02] [-5.28834334e-01 8.46513588e-01 6.12290178e-02 1.84986118e+02] [ 1.13770996e-01 -7.86082753e-04 9.93506690e-01 1.63003612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.75, Y:184.97, Z:16.30 [[ 8.41535659e-01 5.31840439e-01 -9.46756709e-02 1.59752618e+02] [-5.28396364e-01 8.46844175e-01 6.04336389e-02 1.84972972e+02] [ 1.12316593e-01 -8.30781825e-04 9.93672125e-01 1.63032511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.78, Y:184.96, Z:16.31 [[ 8.41896226e-01 5.31303336e-01 -9.44854983e-02 1.59775976e+02] [-5.27871785e-01 8.47181198e-01 6.02942559e-02 1.84958521e+02] [ 1.12080877e-01 -8.85277898e-04 9.93698693e-01 1.63066925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.80, Y:184.94, Z:16.31 [[ 8.43120132e-01 5.29480716e-01 -9.38009278e-02 1.59799311e+02] [-5.26089242e-01 8.48321252e-01 5.98428236e-02 1.84944455e+02] [ 1.11258942e-01 -1.10703034e-03 9.93790834e-01 1.63091894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.82, Y:184.93, Z:16.31 [[ 8.43839469e-01 5.28262765e-01 -9.41987343e-02 1.59823053e+02] [-5.24838317e-01 8.49080030e-01 6.00653291e-02 1.84930033e+02] [ 1.11712541e-01 -1.24639025e-03 9.93739782e-01 1.63123188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:184.92, Z:16.31 [[ 8.44585277e-01 5.27080603e-01 -9.41368579e-02 1.59846823e+02] [-5.23655128e-01 8.49814162e-01 6.00099669e-02 1.84915543e+02] [ 1.11628925e-01 -1.38828611e-03 9.93748990e-01 1.63148962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.87, Y:184.90, Z:16.32 [[ 8.45905354e-01 5.24921575e-01 -9.43476155e-02 1.59870379e+02] [-5.21469056e-01 8.51148972e-01 6.01286238e-02 1.84902052e+02] [ 1.11866688e-01 -1.66376288e-03 9.93721830e-01 1.63168510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:184.89, Z:16.32 [[ 8.46748535e-01 5.23498647e-01 -9.46894177e-02 1.59894781e+02] [-5.20013921e-01 8.52024509e-01 6.03304120e-02 1.84887658e+02] [ 1.12260594e-01 -1.84487259e-03 9.93677088e-01 1.63194299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.92, Y:184.87, Z:16.32 [[ 8.48641687e-01 5.20126943e-01 -9.63080999e-02 1.59919596e+02] [-5.16505230e-01 8.54085893e-01 6.13158633e-02 1.84874019e+02] [ 1.14147422e-01 -2.29156040e-03 9.93461179e-01 1.63212433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:184.86, Z:16.32 [[ 8.49655282e-01 5.18394346e-01 -9.67119683e-02 1.59944072e+02] [-5.14732816e-01 8.55137970e-01 6.15563223e-02 1.84859493e+02] [ 1.14612526e-01 -2.52083063e-03 9.93407074e-01 1.63235740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.97, Y:184.85, Z:16.33 [[ 8.50789621e-01 5.16412408e-01 -9.73408687e-02 1.59966711e+02] [-5.12691925e-01 8.56335465e-01 6.19399739e-02 1.84845806e+02] [ 1.15343009e-01 -2.79200954e-03 9.93321798e-01 1.63259379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.99, Y:184.83, Z:16.33 [[ 8.52010633e-01 5.14236789e-01 -9.81753811e-02 1.59990834e+02] [-5.10439704e-01 8.57642657e-01 6.24530353e-02 1.84831529e+02] [ 1.16315043e-01 -3.09803759e-03 9.93207538e-01 1.63286387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:184.82, Z:16.33 [[ 8.53599366e-01 5.11303479e-01 -9.96838680e-02 1.60014534e+02] [-5.07373914e-01 8.59393050e-01 6.33663747e-02 1.84818493e+02] [ 1.18067071e-01 -3.51250303e-03 9.92999410e-01 1.63297808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:184.80, Z:16.33 [[ 8.54145042e-01 5.10141382e-01 -1.00955519e-01 1.60039012e+02] [-5.06106120e-01 8.60082626e-01 6.41441482e-02 1.84804481e+02] [ 1.19552672e-01 -3.69420022e-03 9.92820987e-01 1.63323442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.06, Y:184.79, Z:16.33 [[ 8.54167639e-01 5.09642250e-01 -1.03259003e-01 1.60063960e+02] [-5.05422190e-01 8.60377975e-01 6.55602744e-02 1.84792591e+02] [ 1.22254058e-01 -3.81007332e-03 9.92491526e-01 1.63333393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.09, Y:184.78, Z:16.34 [[ 8.53969609e-01 5.09731978e-01 -1.04447200e-01 1.60088928e+02] [-5.05417014e-01 8.60324757e-01 6.62944510e-02 1.84778963e+02] [ 1.23650914e-01 -3.82405436e-03 9.92318411e-01 1.63351101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:184.77, Z:16.34 [[ 8.53415045e-01 5.10305318e-01 -1.06166115e-01 1.60112985e+02] [-5.05857010e-01 8.59985075e-01 6.73376299e-02 1.84766770e+02] [ 1.25664025e-01 -3.76207298e-03 9.92065723e-01 1.63375791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.14, Y:184.76, Z:16.34 [[ 8.51009467e-01 5.13762729e-01 -1.08769230e-01 1.60139662e+02] [-5.09125066e-01 8.57925954e-01 6.89545054e-02 1.84756597e+02] [ 1.28742201e-01 -3.30379524e-03 9.91672593e-01 1.63383844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:184.74, Z:16.34 [[ 8.49767897e-01 5.15454695e-01 -1.10458041e-01 1.60162948e+02] [-5.10691768e-01 8.56911389e-01 6.99770622e-02 1.84743503e+02] [ 1.30722759e-01 -3.05424853e-03 9.91414258e-01 1.63407958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:184.73, Z:16.34 [[ 8.48459879e-01 5.17242368e-01 -1.12143509e-01 1.60187222e+02] [-5.12350942e-01 8.55834378e-01 7.10213357e-02 1.84730358e+02] [ 1.32711514e-01 -2.80192121e-03 9.91150747e-01 1.63433550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:184.72, Z:16.35 [[ 8.46025918e-01 5.20677033e-01 -1.14610531e-01 1.60213286e+02] [-5.15605052e-01 8.53750705e-01 7.25338796e-02 1.84720587e+02] [ 1.35615547e-01 -2.27177311e-03 9.90758933e-01 1.63451509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.24, Y:184.71, Z:16.35 [[ 8.44932007e-01 5.22291568e-01 -1.15331795e-01 1.60238659e+02] [-5.17175120e-01 8.52764645e-01 7.29544772e-02 1.84708343e+02] [ 1.36454385e-01 -1.99483787e-03 9.90644347e-01 1.63478138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.26, Y:184.70, Z:16.35 [[ 8.43827009e-01 5.23920198e-01 -1.16032774e-01 1.60264504e+02] [-5.18763370e-01 8.51765660e-01 7.33472989e-02 1.84696209e+02] [ 1.37260864e-01 -1.69887903e-03 9.90533477e-01 1.63506629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.29, Y:184.69, Z:16.35 [[ 8.41956149e-01 5.26653242e-01 -1.17244211e-01 1.60292609e+02] [-5.21619875e-01 8.50080209e-01 7.26384474e-02 1.84688737e+02] [ 1.37922257e-01 -1.47699691e-06 9.90443058e-01 1.63527397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.32, Y:184.67, Z:16.36 [[ 8.41530353e-01 5.27733857e-01 -1.15428082e-01 1.60317576e+02] [-5.22500195e-01 8.49407176e-01 7.41687010e-02 1.84674822e+02] [ 1.37186776e-01 -2.10401778e-03 9.90542963e-01 1.63561564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:184.66, Z:16.36 [[ 8.41117065e-01 5.28284659e-01 -1.15919807e-01 1.60342585e+02] [-5.23194508e-01 8.49066856e-01 7.31640754e-02 1.84662664e+02] [ 1.37075125e-01 -8.90945985e-04 9.90560254e-01 1.63592943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:184.65, Z:16.36 [[ 8.40591075e-01 5.29190800e-01 -1.15601648e-01 1.60368735e+02] [-5.24144185e-01 8.48502569e-01 7.29127080e-02 1.84651943e+02] [ 1.36673030e-01 -6.97839814e-04 9.90615968e-01 1.63625331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.39, Y:184.64, Z:16.37 [[ 8.40666089e-01 5.29157650e-01 -1.15207241e-01 1.60394235e+02] [-5.24152209e-01 8.48523275e-01 7.26134481e-02 1.84639279e+02] [ 1.36179987e-01 -6.57533619e-04 9.90683895e-01 1.63656408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.42, Y:184.63, Z:16.37 [[ 8.41198317e-01 5.28347397e-01 -1.15040949e-01 1.60420902e+02] [-5.23356039e-01 8.49027959e-01 7.24567551e-02 1.84629618e+02] [ 1.35955320e-01 -7.43125181e-04 9.90714691e-01 1.63686009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:184.62, Z:16.37 [[ 8.41792908e-01 5.27364312e-01 -1.15202355e-01 1.60446338e+02] [-5.22356663e-01 8.49638831e-01 7.25077480e-02 1.84617234e+02] [ 1.36118393e-01 -8.59790409e-04 9.90692204e-01 1.63722424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:184.61, Z:16.38 [[ 8.43632383e-01 5.24498715e-01 -1.14828135e-01 1.60473135e+02] [-5.19502187e-01 8.51410266e-01 7.22359802e-02 1.84606671e+02] [ 1.35653532e-01 -1.28714503e-03 9.90755501e-01 1.63753431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.50, Y:184.59, Z:16.38 [[ 8.44706549e-01 5.22758362e-01 -1.14867495e-01 1.60497935e+02] [-5.17749938e-01 8.52479551e-01 7.22053770e-02 1.84593634e+02] [ 1.35668155e-01 -1.51971657e-03 9.90753169e-01 1.63791286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:184.58, Z:16.38 [[ 8.45701573e-01 5.21115664e-01 -1.15010061e-01 1.60521543e+02] [-5.16086470e-01 8.53484287e-01 7.22449105e-02 1.84581098e+02] [ 1.35807235e-01 -1.74249788e-03 9.90733748e-01 1.63829685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.54, Y:184.57, Z:16.39 [[ 8.46617489e-01 5.19603699e-01 -1.15112217e-01 1.60544799e+02] [-5.14554943e-01 8.54405133e-01 7.22847169e-02 1.84568225e+02] [ 1.35911875e-01 -1.96594535e-03 9.90718980e-01 1.63868037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.57, Y:184.55, Z:16.39 [[ 8.47740397e-01 5.17807344e-01 -1.14942481e-01 1.60569272e+02] [-5.12760672e-01 8.55494354e-01 7.21519426e-02 1.84554046e+02] [ 1.35693450e-01 -2.22813253e-03 9.90748365e-01 1.63905129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:184.54, Z:16.39 [[ 8.49579584e-01 5.14715654e-01 -1.15248974e-01 1.60592662e+02] [-5.09620808e-01 8.57356747e-01 7.22913612e-02 1.84541272e+02] [ 1.36018980e-01 -2.68398950e-03 9.90702596e-01 1.63947739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:184.53, Z:16.40 [[ 8.50406487e-01 5.13302525e-01 -1.15452700e-01 1.60616767e+02] [-5.08180282e-01 8.58202863e-01 7.23923116e-02 1.84527892e+02] [ 1.36240994e-01 -2.89210570e-03 9.90671503e-01 1.63987593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:184.51, Z:16.40 [[ 8.51149534e-01 5.12109082e-01 -1.15276876e-01 1.60641175e+02] [-5.06999079e-01 8.58915071e-01 7.22276531e-02 1.84514575e+02] [ 1.36001483e-01 -3.03126320e-03 9.90703996e-01 1.64024042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.67, Y:184.50, Z:16.41 [[ 8.52089068e-01 5.10524920e-01 -1.15362586e-01 1.60665815e+02] [-5.05400383e-01 8.59856858e-01 7.22262952e-02 1.84500891e+02] [ 1.36068635e-01 -3.23894133e-03 9.90694118e-01 1.64069239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.69, Y:184.49, Z:16.41 [[ 8.52351798e-01 5.09150214e-01 -1.19425596e-01 1.60691710e+02] [-5.04486804e-01 8.60676131e-01 6.87725424e-02 1.84488808e+02] [ 1.37802314e-01 1.63023698e-03 9.90458411e-01 1.64105345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:184.47, Z:16.42 [[ 8.52019462e-01 5.11137267e-01 -1.13143853e-01 1.60710451e+02] [-5.05387317e-01 8.59458590e-01 7.69063893e-02 1.84468880e+02] [ 1.36552178e-01 -8.34427230e-03 9.90597737e-01 1.64160683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.74, Y:184.46, Z:16.42 [[ 8.51859369e-01 5.10719989e-01 -1.16192550e-01 1.60735525e+02] [-5.05540694e-01 8.59741450e-01 7.26171173e-02 1.84456836e+02] [ 1.36982564e-01 -3.11950953e-03 9.90568547e-01 1.64190836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.76, Y:184.44, Z:16.42 [[ 8.51482039e-01 5.11335009e-01 -1.16253368e-01 1.60758631e+02] [-5.06163858e-01 8.59376327e-01 7.25980477e-02 1.84442043e+02] [ 1.37027316e-01 -2.97268016e-03 9.90562809e-01 1.64227343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:184.43, Z:16.43 [[ 8.50179093e-01 5.13611327e-01 -1.15753682e-01 1.60780861e+02] [-5.08513068e-01 8.58019179e-01 7.22326061e-02 1.84426455e+02] [ 1.36418363e-01 -2.54839186e-03 9.90648038e-01 1.64273398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.80, Y:184.41, Z:16.43 [[ 8.49527859e-01 5.14815488e-01 -1.15184333e-01 1.60803772e+02] [-5.09782181e-01 8.57297866e-01 7.18505245e-02 1.84410389e+02] [ 1.35737045e-01 -2.32010190e-03 9.90742182e-01 1.64321288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.83, Y:184.39, Z:16.44 [[ 8.48977190e-01 5.15939800e-01 -1.14209694e-01 1.60826631e+02] [-5.11009389e-01 8.56622333e-01 7.11869538e-02 1.84394177e+02] [ 1.34562757e-01 -2.07387408e-03 9.90902903e-01 1.64362118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.85, Y:184.38, Z:16.44 [[ 8.47537567e-01 5.18582175e-01 -1.12927409e-01 1.60848008e+02] [-5.13792760e-01 8.55026315e-01 7.03349162e-02 1.84377601e+02] [ 1.33030340e-01 -1.59019844e-03 9.91110690e-01 1.64412794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:184.36, Z:16.45 [[ 8.46875289e-01 5.19749079e-01 -1.12530616e-01 1.60871387e+02] [-5.15007098e-01 8.54317851e-01 7.00621057e-02 1.84361707e+02] [ 1.32551629e-01 -1.37980017e-03 9.91175142e-01 1.64452205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:184.34, Z:16.45 [[ 8.45037767e-01 5.22799476e-01 -1.12213552e-01 1.60893545e+02] [-5.18118195e-01 8.52455266e-01 6.98108521e-02 1.84344189e+02] [ 1.32154110e-01 -8.52923428e-04 9.91228815e-01 1.64495088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:184.33, Z:16.45 [[ 8.44091978e-01 5.23288995e-01 -1.16950247e-01 1.60922099e+02] [-5.20008860e-01 8.52089004e-01 5.94568351e-02 1.84332456e+02] [ 1.30765127e-01 1.06281268e-02 9.91356406e-01 1.64482052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:184.31, Z:16.46 [[ 8.43087665e-01 5.27242537e-01 -1.05917405e-01 1.60934697e+02] [-5.21259480e-01 8.49624713e-01 8.01648411e-02 1.84305775e+02] [ 1.32256359e-01 -1.23755374e-02 9.91138286e-01 1.64612355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:184.29, Z:16.46 [[ 8.41223843e-01 5.29003894e-01 -1.11791442e-01 1.60960121e+02] [-5.24430428e-01 8.48619363e-01 6.94111102e-02 1.84293403e+02] [ 1.31587130e-01 2.36552794e-04 9.91304581e-01 1.64635315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:184.28, Z:16.47 [[ 8.40590748e-01 5.30072362e-01 -1.11492087e-01 1.60981937e+02] [-5.25539045e-01 8.47952295e-01 6.91781568e-02 1.84277196e+02] [ 1.31209400e-01 4.42926329e-04 9.91354577e-01 1.64670873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:184.26, Z:16.47 [[ 8.39532471e-01 5.30925570e-01 -1.15339802e-01 1.61005150e+02] [-5.26974759e-01 8.47395389e-01 6.49511961e-02 1.84261145e+02] [ 1.32222667e-01 6.25252603e-03 9.91200319e-01 1.64706557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.02, Y:184.24, Z:16.48 [[ 8.39932474e-01 5.31878596e-01 -1.07789606e-01 1.61024415e+02] [-5.26869839e-01 8.46808712e-01 7.29601095e-02 1.84238580e+02] [ 1.30083098e-01 -4.49047302e-03 9.91492927e-01 1.64766281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:184.22, Z:16.48 [[ 8.40178753e-01 5.31032387e-01 -1.10019399e-01 1.61047731e+02] [-5.26635893e-01 8.47351278e-01 6.81941938e-02 1.84224601e+02] [ 1.29438404e-01 6.44851978e-04 9.91587255e-01 1.64794372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.07, Y:184.21, Z:16.48 [[ 8.40637878e-01 5.30287699e-01 -1.10104109e-01 1.61068036e+02] [-5.26106230e-01 8.47815332e-01 6.64935886e-02 1.84205835e+02] [ 1.28608684e-01 2.02942837e-03 9.91693344e-01 1.64840316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:184.19, Z:16.49 [[ 8.41766608e-01 5.28933297e-01 -1.07974742e-01 1.61091165e+02] [-5.24543797e-01 8.48663184e-01 6.80044577e-02 1.84186686e+02] [ 1.27604010e-01 -6.06400757e-04 9.91825009e-01 1.64887855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.12, Y:184.17, Z:16.49 [[ 8.41923046e-01 5.28575903e-01 -1.08503919e-01 1.61115686e+02] [-5.24293384e-01 8.48885970e-01 6.71495145e-02 1.84172413e+02] [ 1.27601070e-01 3.53163002e-04 9.91825510e-01 1.64921200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:184.16, Z:16.50 [[ 8.42560856e-01 5.27633867e-01 -1.08137442e-01 1.61136777e+02] [-5.23378297e-01 8.49471860e-01 6.68783754e-02 1.84156012e+02] [ 1.27147010e-01 2.47689175e-04 9.91883852e-01 1.64958506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:184.14, Z:16.50 [[ 8.43455168e-01 5.24562289e-01 -1.15835159e-01 1.61161703e+02] [-5.21366175e-01 8.51303763e-01 5.88150905e-02 1.84141495e+02] [ 1.29463085e-01 1.07846416e-02 9.91525593e-01 1.64982956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.18, Y:184.12, Z:16.51 [[ 8.43444943e-01 5.26830491e-01 -1.05120224e-01 1.61176443e+02] [-5.21698938e-01 8.49938711e-01 7.37184204e-02 1.84115888e+02] [ 1.28182860e-01 -7.33631948e-03 9.91723416e-01 1.65061145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:184.10, Z:16.51 [[ 8.43582170e-01 5.26284952e-01 -1.06739274e-01 1.61199367e+02] [-5.21623031e-01 8.50301660e-01 6.99749953e-02 1.84098868e+02] [ 1.27587369e-01 -3.35199452e-03 9.91821671e-01 1.65091936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:184.08, Z:16.51 [[ 8.42688700e-01 5.27080306e-01 -1.09827619e-01 1.61221956e+02] [-5.22696507e-01 8.49815447e-01 6.78385446e-02 1.84083742e+02] [ 1.29089568e-01 2.39737904e-04 9.91632909e-01 1.65127580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.23, Y:184.06, Z:16.53 [[ 8.42511776e-01 5.29822246e-01 -9.72743237e-02 1.61232327e+02] [-5.22519921e-01 8.47701632e-01 9.15143440e-02 1.84056281e+02] [ 1.30945938e-01 -2.62741406e-02 9.91041286e-01 1.65276610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:184.06, Z:16.51 [[ 8.42658270e-01 5.24431460e-01 -1.22060164e-01 1.61275067e+02] [-5.23425220e-01 8.50997254e-01 4.27751513e-02 1.84063200e+02] [ 1.26305499e-01 2.78445332e-02 9.91600526e-01 1.65112295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.29, Y:184.03, Z:16.52 [[ 8.42380700e-01 5.27834795e-01 -1.08559592e-01 1.61287126e+02] [-5.23655068e-01 8.49346476e-01 6.63018409e-02 1.84034392e+02] [ 1.27201125e-01 9.96389156e-04 9.91876444e-01 1.65224851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:184.02, Z:16.53 [[ 8.43116007e-01 5.27691067e-01 -1.03428894e-01 1.61302806e+02] [-5.21865762e-01 8.49339457e-01 7.92376991e-02 1.84015848e+02] [ 1.29659267e-01 -1.28305737e-02 9.91475593e-01 1.65336459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:184.01, Z:16.53 [[ 8.42927942e-01 5.24917411e-01 -1.18043196e-01 1.61336596e+02] [-5.22356797e-01 8.51003163e-01 5.41940327e-02 1.84007325e+02] [ 1.28902524e-01 1.59790012e-02 9.91528522e-01 1.65274469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:183.98, Z:16.54 [[ 8.43611149e-01 5.26376894e-01 -1.06054676e-01 1.61349628e+02] [-5.21307449e-01 8.50227022e-01 7.31611610e-02 1.83982341e+02] [ 1.28680896e-01 -6.43247848e-03 9.91665191e-01 1.65379775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:183.96, Z:16.54 [[ 8.43281528e-01 5.27265913e-01 -1.04244525e-01 1.61371997e+02] [-5.22462968e-01 8.49681882e-01 7.12260275e-02 1.83963789e+02] [ 1.26129740e-01 -5.59968947e-03 9.91997950e-01 1.65404884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:183.96, Z:16.54 [[ 8.45328720e-01 5.21230245e-01 -1.17210863e-01 1.61403707e+02] [-5.18415485e-01 8.53307562e-01 5.57816166e-02 1.83955063e+02] [ 1.29091981e-01 1.36101238e-02 9.91539220e-01 1.65403815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.42, Y:183.93, Z:16.55 [[ 8.46576572e-01 5.20837941e-01 -1.09708463e-01 1.61421108e+02] [-5.16376260e-01 8.53655051e-01 6.80339029e-02 1.83934822e+02] [ 1.29087822e-01 -9.45062345e-04 9.91632715e-01 1.65482410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.44, Y:183.92, Z:16.55 [[ 8.46978851e-01 5.20414263e-01 -1.08608568e-01 1.61442170e+02] [-5.16076694e-01 8.53913603e-01 6.70552348e-02 1.83919363e+02] [ 1.27638834e-01 -7.44014923e-04 9.91820435e-01 1.65510258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.46, Y:183.90, Z:16.56 [[ 8.48492134e-01 5.17588814e-01 -1.10285617e-01 1.61464872e+02] [-5.13126320e-01 8.55628949e-01 6.78268530e-02 1.83899769e+02] [ 1.29469987e-01 -9.60098191e-04 9.91582876e-01 1.65578410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.49, Y:183.89, Z:16.56 [[ 8.49566054e-01 5.15456779e-01 -1.11990310e-01 1.61488892e+02] [-5.11443014e-01 8.56911369e-01 6.42569072e-02 1.83886115e+02] [ 1.29087428e-01 2.68617432e-03 9.91629578e-01 1.65605221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:183.87, Z:16.57 [[ 8.49740666e-01 5.15783215e-01 -1.09125968e-01 1.61510530e+02] [-5.11422674e-01 8.56718469e-01 6.69351441e-02 1.83870551e+02] [ 1.28014256e-01 -1.06801973e-03 9.91771753e-01 1.65662258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.53, Y:183.85, Z:16.57 [[ 8.50303872e-01 5.14742106e-01 -1.09653497e-01 1.61533438e+02] [-5.10334340e-01 8.57344220e-01 6.72290881e-02 1.83854879e+02] [ 1.28616434e-01 -1.20520883e-03 9.91693683e-01 1.65705357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.55, Y:183.84, Z:16.57 [[ 8.50706786e-01 5.14066023e-01 -1.09699992e-01 1.61554714e+02] [-5.09606336e-01 8.57749142e-01 6.75854419e-02 1.83840663e+02] [ 1.28838453e-01 -1.59158299e-03 9.91664318e-01 1.65742703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:183.83, Z:16.58 [[ 8.52431117e-01 5.11134811e-01 -1.10010887e-01 1.61579525e+02] [-5.06781619e-01 8.59499975e-01 6.65746476e-02 1.83825772e+02] [ 1.28582975e-01 -9.98805754e-04 9.91698251e-01 1.65779299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.60, Y:183.81, Z:16.59 [[ 8.50397222e-01 5.13831105e-01 -1.13146634e-01 1.61599445e+02] [-5.09141643e-01 8.57890377e-01 6.92740104e-02 1.83808133e+02] [ 1.32662550e-01 -1.30276275e-03 9.91160406e-01 1.65872058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.63, Y:183.80, Z:16.59 [[ 8.54070207e-01 5.08574936e-01 -1.09158670e-01 1.61625603e+02] [-5.04174391e-01 8.61015393e-01 6.67882975e-02 1.83796578e+02] [ 1.27954150e-01 -2.00688891e-03 9.91778054e-01 1.65854319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.65, Y:183.78, Z:16.59 [[ 8.55404729e-01 5.06325836e-01 -1.09164540e-01 1.61649322e+02] [-5.01908902e-01 8.62339103e-01 6.67736846e-02 1.83784465e+02] [ 1.27946093e-01 -2.32787122e-03 9.91778392e-01 1.65883864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.67, Y:183.77, Z:16.59 [[ 8.55851689e-01 5.05471626e-01 -1.09618986e-01 1.61673981e+02] [-5.01013407e-01 8.62839755e-01 6.70307600e-02 1.83770854e+02] [ 1.28465766e-01 -2.44780761e-03 9.91710923e-01 1.65916604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.70, Y:183.76, Z:16.60 [[ 8.56469589e-01 5.04247956e-01 -1.10425730e-01 1.61696938e+02] [-4.99715872e-01 8.63554895e-01 6.75054900e-02 1.83757771e+02] [ 1.29398185e-01 -2.63490939e-03 9.91589213e-01 1.65950455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:183.74, Z:16.60 [[ 8.56455206e-01 5.04147024e-01 -1.10996660e-01 1.61719901e+02] [-4.99569708e-01 8.63613791e-01 6.78330783e-02 1.83744241e+02] [ 1.30056091e-01 -2.64542396e-03 9.91503109e-01 1.65986965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.74, Y:183.73, Z:16.60 [[ 8.55089206e-01 5.07072457e-01 -1.08166416e-01 1.61738612e+02] [-5.02120114e-01 8.61879784e-01 7.09833043e-02 1.83730172e+02] [ 1.29220126e-01 -6.38452413e-03 9.91595380e-01 1.66026239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.77, Y:183.72, Z:16.60 [[ 8.56305557e-01 5.03523520e-01 -1.14912393e-01 1.61770068e+02] [-4.99501858e-01 8.63976468e-01 6.35811002e-02 1.83720746e+02] [ 1.31296183e-01 2.95410455e-03 9.91338784e-01 1.66044329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.79, Y:183.71, Z:16.61 [[ 8.55986889e-01 5.04596095e-01 -1.12557665e-01 1.61793510e+02] [-4.99903815e-01 8.63351802e-01 6.87011054e-02 1.83705240e+02] [ 1.31843173e-01 -2.53923915e-03 9.91267335e-01 1.66092185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.82, Y:183.69, Z:16.61 [[ 8.55851921e-01 5.04763389e-01 -1.12833550e-01 1.61817139e+02] [-5.00055668e-01 8.63254178e-01 6.88226195e-02 1.83692671e+02] [ 1.32143173e-01 -2.47891468e-03 9.91227540e-01 1.66121506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.84, Y:183.68, Z:16.62 [[ 8.55672568e-01 5.04978799e-01 -1.13229272e-01 1.61842493e+02] [-5.00242712e-01 8.63128312e-01 6.90416214e-02 1.83680765e+02] [ 1.32595946e-01 -2.43490326e-03 9.91167184e-01 1.66151263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.87, Y:183.67, Z:16.62 [[ 8.55861895e-01 5.04583953e-01 -1.13558138e-01 1.61866815e+02] [-4.99823104e-01 8.63359121e-01 6.91945981e-02 1.83667085e+02] [ 1.32955939e-01 -2.46203867e-03 9.91118891e-01 1.66186685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.89, Y:183.65, Z:16.62 [[ 8.56282496e-01 5.03842023e-01 -1.13681585e-01 1.61890250e+02] [-4.99070473e-01 8.63792084e-01 6.92235366e-02 1.83654009e+02] [ 1.33074980e-01 -2.53978050e-03 9.91102719e-01 1.66223512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:183.64, Z:16.63 [[ 8.56758992e-01 5.02927426e-01 -1.14140414e-01 1.61914300e+02] [-4.98112048e-01 8.64324509e-01 6.94804302e-02 1.83640709e+02] [ 1.33597971e-01 -2.67326802e-03 9.91032005e-01 1.66260206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:183.63, Z:16.63 [[ 8.58269290e-01 5.00233061e-01 -1.14632938e-01 1.61938479e+02] [-4.95358305e-01 8.65885379e-01 6.97327774e-02 1.83628129e+02] [ 1.34141625e-01 -3.06512371e-03 9.90957431e-01 1.66295328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.96, Y:183.61, Z:16.63 [[ 8.59308233e-01 4.98491742e-01 -1.14434889e-01 1.61962294e+02] [-4.93621619e-01 8.66888124e-01 6.95893520e-02 1.83614290e+02] [ 1.33891964e-01 -3.31116782e-03 9.90990403e-01 1.66334278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.99, Y:183.60, Z:16.64 [[ 8.61344012e-01 4.95141829e-01 -1.13670848e-01 1.61986153e+02] [-4.90314380e-01 8.68804010e-01 6.90753324e-02 1.83600555e+02] [ 1.32959775e-01 -3.76317276e-03 9.91114291e-01 1.66377377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.01, Y:183.59, Z:16.64 [[ 8.60816311e-01 4.95714774e-01 -1.15161370e-01 1.62006165e+02] [-4.91189767e-01 8.68484848e-01 6.68332321e-02 1.83589292e+02] [ 1.33146126e-01 -9.65049590e-04 9.91095948e-01 1.66405174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.03, Y:183.57, Z:16.65 [[ 8.63551567e-01 4.91400467e-01 -1.13155961e-01 1.62033131e+02] [-4.86503791e-01 8.70920221e-01 6.93687949e-02 1.83573184e+02] [ 1.32637673e-01 -4.85272779e-03 9.91152712e-01 1.66455568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.05, Y:183.56, Z:16.65 [[ 8.64105365e-01 4.90879388e-01 -1.11172586e-01 1.62054163e+02] [-4.85759480e-01 8.71195796e-01 7.11028343e-02 1.83558451e+02] [ 1.31756006e-01 -7.43720288e-03 9.91254278e-01 1.66489961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:183.55, Z:16.65 [[ 8.65373927e-01 4.87647424e-01 -1.15446765e-01 1.62083139e+02] [-4.83283419e-01 8.73040491e-01 6.50956024e-02 1.83547285e+02] [ 1.32533403e-01 -5.38529724e-04 9.91178393e-01 1.66512211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.11, Y:183.53, Z:16.66 [[ 8.65908889e-01 4.87181744e-01 -1.13383172e-01 1.62106198e+02] [-4.82345432e-01 8.73287709e-01 6.86400922e-02 1.83531324e+02] [ 1.32456331e-01 -4.74621068e-03 9.91177479e-01 1.66555072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:183.52, Z:16.65 [[ 8.66340184e-01 4.85352765e-01 -1.17844729e-01 1.62135899e+02] [-4.81878219e-01 8.74295928e-01 5.83096198e-02 1.83521647e+02] [ 1.31331902e-01 6.27084149e-03 9.91318621e-01 1.66513581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.16, Y:183.51, Z:16.65 [[ 8.67020776e-01 4.84741137e-01 -1.15329979e-01 1.62159653e+02] [-4.80917162e-01 8.74653420e-01 6.08282620e-02 1.83506322e+02] [ 1.30359721e-01 2.72479926e-03 9.91463019e-01 1.66532136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:183.48, Z:16.67 [[ 8.66133483e-01 4.88494457e-01 -1.05763678e-01 1.62173786e+02] [-4.81497996e-01 8.72258421e-01 8.55857856e-02 1.83478270e+02] [ 1.34061441e-01 -2.32037155e-02 9.90701326e-01 1.66714916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:183.47, Z:16.67 [[ 8.65443626e-01 4.87300746e-01 -1.16384335e-01 1.62203931e+02] [-4.82220347e-01 8.73221261e-01 7.03431976e-02 1.83472939e+02] [ 1.35907568e-01 -4.75517759e-03 9.90710110e-01 1.66698453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.24, Y:183.47, Z:16.66 [[ 8.65612913e-01 4.85409491e-01 -1.22849137e-01 1.62236396e+02] [-4.83270551e-01 8.74116984e-01 4.86731229e-02 1.83469915e+02] [ 1.31010913e-01 1.72372864e-02 9.91231061e-01 1.66594834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:183.45, Z:16.67 [[ 8.66155430e-01 4.86829426e-01 -1.13012749e-01 1.62255053e+02] [-4.82219546e-01 8.73490156e-01 6.69272560e-02 1.83445156e+02] [ 1.31297681e-01 -3.47244963e-03 9.91336906e-01 1.66681333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:183.42, Z:16.69 [[ 8.64541339e-01 4.91287774e-01 -1.05851766e-01 1.62269885e+02] [-4.83810211e-01 8.70610889e-01 8.92432670e-02 1.83418577e+02] [ 1.35999826e-01 -2.59423281e-02 9.90369145e-01 1.66867422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.29, Y:183.40, Z:16.70 [[ 8.61920117e-01 4.95310081e-01 -1.08451075e-01 1.62294358e+02] [-4.87274506e-01 8.68288207e-01 9.29470057e-02 1.83397103e+02] [ 1.40204379e-01 -2.72674497e-02 9.89747048e-01 1.66956767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:183.41, Z:16.68 [[ 8.63339650e-01 4.87890131e-01 -1.28871523e-01 1.62331374e+02] [-4.85291234e-01 8.72743918e-01 5.30138893e-02 1.83411207e+02] [ 1.38336791e-01 1.67712277e-02 9.90243232e-01 1.66813833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:162.35, Y:183.39, Z:16.69 [[ 8.62497618e-01 4.91997222e-01 -1.18476127e-01 1.62347478e+02] [-4.86803209e-01 8.70587964e-01 7.14089170e-02 1.83386622e+02] [ 1.38276879e-01 -3.91546216e-03 9.90385871e-01 1.66892105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:183.37, Z:16.69 [[ 8.61008273e-01 4.94037713e-01 -1.20795249e-01 1.62370630e+02] [-4.89238951e-01 8.69440473e-01 6.86914344e-02 1.83374364e+02] [ 1.38960438e-01 -4.61523918e-05 9.90297932e-01 1.66920025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:183.36, Z:16.70 [[ 8.61637588e-01 4.93787228e-01 -1.17281032e-01 1.62395311e+02] [-4.88340683e-01 8.69562374e-01 7.33802072e-02 1.83355904e+02] [ 1.38217382e-01 -5.95404531e-03 9.90384019e-01 1.66973419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:183.34, Z:16.70 [[ 8.60628726e-01 4.95263053e-01 -1.18459719e-01 1.62418731e+02] [-4.90118808e-01 8.68736871e-01 7.12727451e-02 1.83342843e+02] [ 1.38209083e-01 -3.28003547e-03 9.90397643e-01 1.67001159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:183.33, Z:16.70 [[ 8.60342265e-01 4.95725694e-01 -1.18605324e-01 1.62442773e+02] [-4.90576547e-01 8.68473300e-01 7.13356820e-02 1.83328186e+02] [ 1.38368488e-01 -3.18811173e-03 9.90375685e-01 1.67040833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:162.47, Y:183.31, Z:16.71 [[ 8.59910401e-01 4.96346365e-01 -1.19140207e-01 1.62466792e+02] [-4.91163556e-01 8.68119196e-01 7.16060269e-02 1.83313510e+02] [ 1.38969292e-01 -3.05743949e-03 9.90291971e-01 1.67071703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:183.30, Z:16.71 [[ 8.59964175e-01 4.96449487e-01 -1.18319587e-01 1.62490854e+02] [-4.91346213e-01 8.68060514e-01 7.10622456e-02 1.83299588e+02] [ 1.37987377e-01 -2.97510445e-03 9.90429519e-01 1.67113243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.51, Y:183.29, Z:16.72 [[ 8.60299962e-01 4.95935019e-01 -1.18035730e-01 1.62514373e+02] [-4.90858564e-01 8.68354434e-01 7.08409973e-02 1.83285560e+02] [ 1.37629381e-01 -3.00565850e-03 9.90479237e-01 1.67150847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:183.27, Z:16.72 [[ 8.61290738e-01 4.94579271e-01 -1.16488667e-01 1.62536417e+02] [-4.89629991e-01 8.69126864e-01 6.98639128e-02 1.83271280e+02] [ 1.35796673e-01 -3.13679604e-03 9.90731762e-01 1.67190202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:183.26, Z:16.72 [[ 8.62020918e-01 4.93328755e-01 -1.16390188e-01 1.62560329e+02] [-4.88379826e-01 8.69836642e-01 6.97808073e-02 1.83256312e+02] [ 1.35665329e-01 -3.30989574e-03 9.90749193e-01 1.67228358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:183.24, Z:16.73 [[ 8.62166141e-01 4.93069706e-01 -1.16412242e-01 1.62584733e+02] [-4.88123395e-01 8.69983521e-01 6.97439982e-02 1.83241902e+02] [ 1.35665384e-01 -3.30737532e-03 9.90749194e-01 1.67264342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.61, Y:183.21, Z:16.74 [[ 8.61368694e-01 4.95620112e-01 -1.11376293e-01 1.62605805e+02] [-4.88916901e-01 8.68372127e-01 8.30067014e-02 1.83213835e+02] [ 1.37855859e-01 -1.70456217e-02 9.90305614e-01 1.67376875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.64, Y:183.22, Z:16.73 [[ 8.64061817e-01 4.87991672e-01 -1.23536655e-01 1.62636794e+02] [-4.84486030e-01 8.72803645e-01 5.90515450e-02 1.83216090e+02] [ 1.36639905e-01 8.82759822e-03 9.90581450e-01 1.67323409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.66, Y:183.20, Z:16.74 [[ 8.64840564e-01 4.88092537e-01 -1.17543500e-01 1.62656314e+02] [-4.83194990e-01 8.72787051e-01 6.90316239e-02 1.83196393e+02] [ 1.36284265e-01 -2.90491818e-03 9.90665514e-01 1.67390498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:183.18, Z:16.74 [[ 8.65658073e-01 4.87115222e-01 -1.15563238e-01 1.62679363e+02] [-4.81960478e-01 8.73319220e-01 7.09058311e-02 1.83181082e+02] [ 1.35462906e-01 -5.68329187e-03 9.90766118e-01 1.67437528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:183.17, Z:16.75 [[ 8.66752929e-01 4.85451239e-01 -1.14352328e-01 1.62704070e+02] [-4.80269487e-01 8.74238334e-01 7.10531906e-02 1.83166188e+02] [ 1.34464048e-01 -6.66562698e-03 9.90896054e-01 1.67475973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:183.15, Z:16.75 [[ 8.66703794e-01 4.84410023e-01 -1.19043954e-01 1.62730084e+02] [-4.79962009e-01 8.74841009e-01 6.54956357e-02 1.83154987e+02] [ 1.35871276e-01 3.71259619e-04 9.90726430e-01 1.67502258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49275509600005 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:162.75, Y:183.14, Z:16.75 [[ 8.68175770e-01 4.83379489e-01 -1.12316975e-01 1.62750199e+02] [-4.78083989e-01 8.75367573e-01 7.18840124e-02 1.83137501e+02] [ 1.33065895e-01 -8.71101048e-03 9.91068911e-01 1.67543421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.77, Y:183.12, Z:16.76 [[ 8.67753944e-01 4.83547200e-01 -1.14826813e-01 1.62774784e+02] [-4.78259769e-01 8.75287955e-01 7.16839504e-02 1.83122967e+02] [ 1.35169100e-01 -7.28698565e-03 9.90795748e-01 1.67583682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:183.11, Z:16.76 [[ 8.68226938e-01 4.82885204e-01 -1.14034486e-01 1.62799019e+02] [-4.77514655e-01 8.75644154e-01 7.22984709e-02 1.83108532e+02] [ 1.34765493e-01 -8.31834186e-03 9.90842605e-01 1.67618052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:183.08, Z:16.78 [[ 8.65515599e-01 4.88453838e-01 -1.10885511e-01 1.62817959e+02] [-4.80727840e-01 8.72244483e-01 8.99461248e-02 1.83082145e+02] [ 1.40653805e-01 -2.45440219e-02 9.89754565e-01 1.67766388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61275509600006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:162.86, Y:183.09, Z:16.76 [[ 8.66545753e-01 4.81283495e-01 -1.32153910e-01 1.62856729e+02] [-4.78996459e-01 8.76351129e-01 5.07059258e-02 1.83094573e+02] [ 1.40217153e-01 1.93622502e-02 9.89931439e-01 1.67614538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:183.06, Z:16.78 [[ 8.66022708e-01 4.86409957e-01 -1.15801652e-01 1.62870324e+02] [-4.79518536e-01 8.73573560e-01 8.32538780e-02 1.83062333e+02] [ 1.41656776e-01 -1.65707103e-02 9.89777131e-01 1.67793635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:162.90, Y:183.06, Z:16.77 [[ 8.66538616e-01 4.83771331e-01 -1.22784876e-01 1.62900164e+02] [-4.79672386e-01 8.75183806e-01 6.29897520e-02 1.83062621e+02] [ 1.37931971e-01 4.31346191e-03 9.90432312e-01 1.67709487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70275509600003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:162.92, Y:183.05, Z:16.78 [[ 8.66015106e-01 4.85230406e-01 -1.20703308e-01 1.62921244e+02] [-4.80473905e-01 8.74386047e-01 6.77780722e-02 1.83046535e+02] [ 1.38429270e-01 -7.02044529e-04 9.90372074e-01 1.67767097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:162.94, Y:183.03, Z:16.78 [[ 8.66130669e-01 4.86053720e-01 -1.16487959e-01 1.62944152e+02] [-4.80615691e-01 8.73899985e-01 7.28517216e-02 1.83028621e+02] [ 1.37208676e-01 -7.11316922e-03 9.90516624e-01 1.67823940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76275509600003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:162.97, Y:183.02, Z:16.79 [[ 8.66529696e-01 4.83777050e-01 -1.22825292e-01 1.62973218e+02] [-4.79472953e-01 8.75186013e-01 6.44603009e-02 1.83020513e+02] [ 1.38679392e-01 3.03464038e-03 9.90332680e-01 1.67854159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:183.00, Z:16.79 [[ 8.65922921e-01 4.85744958e-01 -1.19286759e-01 1.62993749e+02] [-4.80581491e-01 8.74091734e-01 7.07465350e-02 1.83003293e+02] [ 1.38632342e-01 -3.93403789e-03 9.90336103e-01 1.67918309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:182.98, Z:16.80 [[ 8.65534139e-01 4.90503049e-01 -1.01278887e-01 1.63008033e+02] [-4.83632748e-01 8.71078543e-01 8.55659809e-02 1.82980128e+02] [ 1.30192240e-01 -2.50784910e-02 9.91171554e-01 1.67984826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:183.01, Z:16.78 [[ 8.66450760e-01 4.79741996e-01 -1.38241448e-01 1.63060311e+02] [-4.82299999e-01 8.75849145e-01 1.65827019e-02 1.83007127e+02] [ 1.29034072e-01 5.23057553e-02 9.90259722e-01 1.67755253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:182.96, Z:16.80 [[ 8.66969449e-01 4.88229505e-01 -9.99796193e-02 1.63058003e+02] [-4.82396442e-01 8.72506973e-01 7.76225175e-02 1.82956474e+02] [ 1.25130518e-01 -1.90665387e-02 9.91957066e-01 1.68010913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91275509600007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:163.08, Y:182.93, Z:16.82 [[ 8.63605133e-01 4.94307861e-01 -9.92265747e-02 1.63079209e+02] [-4.86311750e-01 8.68640788e-01 9.46787383e-02 1.82928406e+02] [ 1.32992695e-01 -3.35099952e-02 9.90550364e-01 1.68184285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94275509600004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:163.13, Y:182.95, Z:16.80 [[ 8.64305766e-01 4.83878331e-01 -1.37249059e-01 1.63129600e+02] [-4.84442798e-01 8.74254869e-01 3.15214101e-02 1.82952833e+02] [ 1.35243185e-01 3.92451816e-02 9.90034897e-01 1.67965597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.13, Y:182.90, Z:16.83 [[ 8.63264558e-01 4.94185624e-01 -1.02736912e-01 1.63131276e+02] [-4.86099426e-01 8.68781107e-01 9.44814044e-02 1.82898874e+02] [ 1.35947240e-01 -3.16220937e-02 9.90211286e-01 1.68290063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:163.16, Y:182.90, Z:16.81 [[ 8.64565137e-01 4.92688557e-01 -9.89197141e-02 1.63155786e+02] [-4.87705832e-01 8.70104660e-01 7.11400211e-02 1.82896981e+02] [ 1.21120379e-01 -1.32614606e-02 9.92549237e-01 1.68099396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:182.89, Z:16.83 [[ 8.62800501e-01 4.91659039e-01 -1.17671938e-01 1.63188926e+02] [-4.87263028e-01 8.70787489e-01 6.56040422e-02 1.82886663e+02] [ 1.34722072e-01 7.33984240e-04 9.90883154e-01 1.68267085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:182.88, Z:16.82 [[ 8.64139764e-01 4.88332331e-01 -1.21630598e-01 1.63219082e+02] [-4.85358568e-01 8.72582132e-01 5.50225743e-02 1.82879680e+02] [ 1.33001989e-01 1.14872587e-02 9.91049199e-01 1.68233623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:182.85, Z:16.84 [[ 8.63544127e-01 4.91342926e-01 -1.13462198e-01 1.63234908e+02] [-4.85419265e-01 8.70892446e-01 7.69056847e-02 1.82853384e+02] [ 1.36600435e-01 -1.13347158e-02 9.90561379e-01 1.68387815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:182.84, Z:16.84 [[ 8.63418336e-01 4.91382457e-01 -1.14245605e-01 1.63259067e+02] [-4.85887982e-01 8.70905783e-01 7.37291425e-02 1.82840300e+02] [ 1.35726366e-01 -8.14852690e-03 9.90712852e-01 1.68416891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.28, Y:182.82, Z:16.85 [[ 8.63262129e-01 4.91015823e-01 -1.16969899e-01 1.63281921e+02] [-4.84575259e-01 8.71059409e-01 8.02640920e-02 1.82819546e+02] [ 1.41298670e-01 -1.26082318e-02 9.89886720e-01 1.68529799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:182.79, Z:16.87 [[ 8.62715284e-01 4.93826718e-01 -1.08892201e-01 1.63299494e+02] [-4.84765483e-01 8.68918096e-01 9.99188162e-02 1.82790677e+02] [ 1.43960985e-01 -3.34143095e-02 9.89019069e-01 1.68707771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:182.81, Z:16.85 [[ 8.65841686e-01 4.82413601e-01 -1.32647246e-01 1.63339789e+02] [-4.80565522e-01 8.75657293e-01 4.77607004e-02 1.82808907e+02] [ 1.39193939e-01 2.23924875e-02 9.90011931e-01 1.68484533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.35, Y:182.78, Z:16.86 [[ 8.66512753e-01 4.84750061e-01 -1.19050526e-01 1.63353268e+02] [-4.79495826e-01 8.74639936e-01 7.13353752e-02 1.82781686e+02] [ 1.38706172e-01 -4.72878184e-03 9.90322289e-01 1.68591611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:182.75, Z:16.88 [[ 8.64806756e-01 4.89675771e-01 -1.11026638e-01 1.63369599e+02] [-4.81129556e-01 8.71410833e-01 9.56948815e-02 1.82750774e+02] [ 1.43609280e-01 -2.93393832e-02 9.89199462e-01 1.68783560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:182.74, Z:16.88 [[ 8.62806017e-01 4.89906013e-01 -1.24731216e-01 1.63397933e+02] [-4.82485394e-01 8.71660972e-01 8.61103638e-02 1.82741097e+02] [ 1.50909318e-01 -1.41155500e-02 9.88446827e-01 1.68830712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.332755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:163.44, Y:182.75, Z:16.86 [[ 8.65307746e-01 4.81442805e-01 -1.39482366e-01 1.63435275e+02] [-4.79614958e-01 8.76127422e-01 4.86850390e-02 1.82752593e+02] [ 1.45643387e-01 2.47702878e-02 9.89027015e-01 1.68623670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.44, Y:182.70, Z:16.90 [[ 8.62978937e-01 4.93107298e-01 -1.10057015e-01 1.63436893e+02] [-4.82646013e-01 8.69003489e-01 1.09021843e-01 1.82701466e+02] [ 1.49399397e-01 -4.09649741e-02 9.87927979e-01 1.68979829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:182.71, Z:16.89 [[ 8.63641194e-01 4.87199204e-01 -1.29463604e-01 1.63475879e+02] [-4.81553238e-01 8.73289504e-01 7.39724322e-02 1.82706821e+02] [ 1.49098516e-01 -1.54202206e-03 9.88821144e-01 1.68881514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:182.69, Z:16.90 [[ 8.63888579e-01 4.88000063e-01 -1.24709510e-01 1.63497223e+02] [-4.81053254e-01 8.72766614e-01 8.28625668e-02 1.82687764e+02] [ 1.49279234e-01 -1.15921096e-02 9.88727128e-01 1.68959747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:182.68, Z:16.89 [[ 8.64152928e-01 4.85175105e-01 -1.33584561e-01 1.63526317e+02] [-4.80467578e-01 8.74398365e-01 6.76639092e-02 1.82683322e+02] [ 1.49634966e-01 5.71108524e-03 9.88724815e-01 1.68928901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:182.66, Z:16.90 [[ 8.64037701e-01 4.88574874e-01 -1.21381397e-01 1.63541681e+02] [-4.81279546e-01 8.72384620e-01 8.55282013e-02 1.82658946e+02] [ 1.47678194e-01 -1.54812067e-02 9.88914295e-01 1.69032802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:182.66, Z:16.90 [[ 8.63899114e-01 4.83926918e-01 -1.39617547e-01 1.63577426e+02] [-4.80232738e-01 8.74995199e-01 6.13181750e-02 1.82659002e+02] [ 1.51838199e-01 1.40761998e-02 9.88305126e-01 1.68980942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:182.63, Z:16.91 [[ 8.65732211e-01 4.86019977e-01 -1.19550493e-01 1.63593446e+02] [-4.78271675e-01 8.73729142e-01 8.86204907e-02 1.82627012e+02] [ 1.47526079e-01 -1.95439989e-02 9.88865051e-01 1.69112195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:182.62, Z:16.91 [[ 8.64896516e-01 4.85949474e-01 -1.25726389e-01 1.63618515e+02] [-4.79287096e-01 8.73934252e-01 8.07638751e-02 1.82617786e+02] [ 1.49123760e-01 -9.59335837e-03 9.88772002e-01 1.69142590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:182.60, Z:16.92 [[ 8.66267009e-01 4.84337770e-01 -1.22467932e-01 1.63643024e+02] [-4.77866155e-01 8.74818924e-01 7.95976694e-02 1.82603820e+02] [ 1.45689423e-01 -1.04295550e-02 9.89275400e-01 1.69162209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.67, Y:182.58, Z:16.92 [[ 8.67897750e-01 4.82853162e-01 -1.16646133e-01 1.63666102e+02] [-4.75348319e-01 8.75468034e-01 8.71762483e-02 1.82584397e+02] [ 1.44213288e-01 -2.02125265e-02 9.89340175e-01 1.69237167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66275509600007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:163.70, Y:182.58, Z:16.92 [[ 8.69204481e-01 4.78879154e-01 -1.23119156e-01 1.63696531e+02] [-4.73688409e-01 8.77876205e-01 7.03751352e-02 1.82578999e+02] [ 1.41784562e-01 -2.85026583e-03 9.89893436e-01 1.69186132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:182.59, Z:16.91 [[ 8.72425596e-01 4.70589217e-01 -1.31982457e-01 1.63728699e+02] [-4.69470309e-01 8.81975020e-01 4.14450532e-02 1.82588833e+02] [ 1.35908826e-01 2.58041198e-02 9.90385248e-01 1.69054128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:182.56, Z:16.92 [[ 8.72931067e-01 4.73815306e-01 -1.16148218e-01 1.63742656e+02] [-4.68873105e-01 8.80608268e-01 6.84623155e-02 1.82559602e+02] [ 1.34719574e-01 -5.30410661e-03 9.90869569e-01 1.69175481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:182.55, Z:16.92 [[ 8.73133722e-01 4.73470456e-01 -1.16031164e-01 1.63766279e+02] [-4.68541832e-01 8.80793702e-01 6.83447619e-02 1.82546866e+02] [ 1.34558744e-01 -5.30866234e-03 9.90891398e-01 1.69206236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:182.53, Z:16.92 [[ 8.73220482e-01 4.73349688e-01 -1.15870888e-01 1.63791143e+02] [-4.68438309e-01 8.80858726e-01 6.82162453e-02 1.82533214e+02] [ 1.34356021e-01 -5.28945969e-03 9.90919008e-01 1.69240049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:182.52, Z:16.93 [[ 8.73590857e-01 4.72534504e-01 -1.16405147e-01 1.63817041e+02] [-4.67700241e-01 8.81300216e-01 6.75752406e-02 1.82519338e+02] [ 1.34519514e-01 -4.59039689e-03 9.90900312e-01 1.69274451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.84, Y:182.51, Z:16.93 [[ 8.73842549e-01 4.71323412e-01 -1.19387779e-01 1.63842909e+02] [-4.66824155e-01 8.81959832e-01 6.49774013e-02 1.82507533e+02] [ 1.35920596e-01 -1.04691905e-03 9.90719181e-01 1.69306147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:182.50, Z:16.93 [[ 8.72999857e-01 4.72123391e-01 -1.22355028e-01 1.63865036e+02] [-4.67521473e-01 8.81532451e-01 6.57587272e-02 1.82495245e+02] [ 1.38906161e-01 -2.03756756e-04 9.90305527e-01 1.69348317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.88, Y:182.48, Z:16.94 [[ 8.72807470e-01 4.74745037e-01 -1.13244291e-01 1.63884761e+02] [-4.68730249e-01 8.80015866e-01 7.65769457e-02 1.82475273e+02] [ 1.36011298e-01 -1.37559055e-02 9.90611782e-01 1.69405761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:182.47, Z:16.94 [[ 8.73206646e-01 4.72562812e-01 -1.19140849e-01 1.63914344e+02] [-4.67709933e-01 8.81290687e-01 6.76324082e-02 1.82467216e+02] [ 1.36958281e-01 -3.33370996e-03 9.90571207e-01 1.69415005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:182.45, Z:16.95 [[ 8.73326044e-01 4.74214081e-01 -1.11456841e-01 1.63934687e+02] [-4.68298659e-01 8.80295364e-01 7.60028869e-02 1.82448837e+02] [ 1.34156579e-01 -1.41802116e-02 9.90858685e-01 1.69466765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:182.44, Z:16.95 [[ 8.71858671e-01 4.75542401e-01 -1.17140439e-01 1.63961326e+02] [-4.70740577e-01 8.79684948e-01 6.75107479e-02 1.82440029e+02] [ 1.35150904e-01 -3.71707328e-03 9.90818054e-01 1.69477372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:182.43, Z:16.95 [[ 8.71302322e-01 4.76668233e-01 -1.16703297e-01 1.63983726e+02] [-4.71781722e-01 8.79072355e-01 6.82187759e-02 1.82425900e+02] [ 1.35108365e-01 -4.38069557e-03 9.90821144e-01 1.69516675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:182.41, Z:16.96 [[ 8.70883805e-01 4.77393075e-01 -1.16864236e-01 1.64007787e+02] [-4.72502606e-01 8.78679552e-01 6.82900606e-02 1.82411764e+02] [ 1.35287417e-01 -4.25405176e-03 9.90797264e-01 1.69552518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:182.40, Z:16.96 [[ 8.70209105e-01 4.78589770e-01 -1.16995493e-01 1.64032066e+02] [-4.73705497e-01 8.78029377e-01 6.83192197e-02 1.82397449e+02] [ 1.35422360e-01 -4.03059862e-03 9.90779763e-01 1.69588343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:182.38, Z:16.96 [[ 8.68469978e-01 4.81456161e-01 -1.18151860e-01 1.64055107e+02] [-4.76507273e-01 8.76462870e-01 6.89467614e-02 1.82384073e+02] [ 1.36750561e-01 -3.57797198e-03 9.90599052e-01 1.69621109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:182.37, Z:16.97 [[ 8.67927961e-01 4.82358780e-01 -1.18452787e-01 1.64079494e+02] [-4.77396066e-01 8.75967055e-01 6.90993069e-02 1.82370129e+02] [ 1.37091397e-01 -3.42432579e-03 9.90552484e-01 1.69655254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:182.36, Z:16.97 [[ 8.66768898e-01 4.84491911e-01 -1.18233946e-01 1.64102135e+02] [-4.79573820e-01 8.74790459e-01 6.89246247e-02 1.82356456e+02] [ 1.36823351e-01 -3.03981608e-03 9.90590799e-01 1.69687435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.13, Y:182.34, Z:16.97 [[ 8.66858435e-01 4.84328247e-01 -1.18248057e-01 1.64126676e+02] [-4.79411942e-01 8.74881091e-01 6.89004076e-02 1.82342346e+02] [ 1.36823402e-01 -3.03736907e-03 9.90590799e-01 1.69723957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:182.33, Z:16.98 [[ 8.66511759e-01 4.85040752e-01 -1.17867895e-01 1.64150630e+02] [-4.80166915e-01 8.74486779e-01 6.86484403e-02 1.82327469e+02] [ 1.36371207e-01 -2.88841725e-03 9.90653598e-01 1.69762604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:182.31, Z:16.98 [[ 8.66502465e-01 4.85167108e-01 -1.17415315e-01 1.64173204e+02] [-4.80338271e-01 8.74416916e-01 6.83388734e-02 1.82313329e+02] [ 1.35825711e-01 -2.81673286e-03 9.90728743e-01 1.69801105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:182.30, Z:16.98 [[ 8.66408725e-01 4.85632450e-01 -1.16176782e-01 1.64195411e+02] [-4.80913768e-01 8.74158968e-01 6.75873194e-02 1.82297497e+02] [ 1.34379572e-01 -2.68722911e-03 9.90926289e-01 1.69843891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:182.28, Z:16.99 [[ 8.67372577e-01 4.84045477e-01 -1.15606178e-01 1.64221817e+02] [-4.79179001e-01 8.75033260e-01 6.85877427e-02 1.82281360e+02] [ 1.34358838e-01 -4.09507423e-03 9.90924282e-01 1.69888846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.24, Y:182.27, Z:16.99 [[ 8.66891365e-01 4.84845061e-01 -1.15864699e-01 1.64243603e+02] [-4.80182593e-01 8.74596329e-01 6.71262849e-02 1.82267961e+02] [ 1.33880688e-01 -2.55498517e-03 9.90994164e-01 1.69924932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.27, Y:182.25, Z:17.00 [[ 8.67499860e-01 4.83894730e-01 -1.15281756e-01 1.64266460e+02] [-4.79248815e-01 8.75121628e-01 6.69530386e-02 1.82252713e+02] [ 1.33283780e-01 -2.83310674e-03 9.91073866e-01 1.69966903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:182.24, Z:17.00 [[ 8.67584701e-01 4.82830057e-01 -1.19045885e-01 1.64292194e+02] [-4.78789014e-01 8.75709408e-01 6.24028216e-02 1.82240839e+02] [ 1.34379560e-01 2.85812874e-03 9.90925812e-01 1.69993189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.31, Y:182.21, Z:17.01 [[ 8.67869822e-01 4.84665013e-01 -1.09095362e-01 1.64312604e+02] [-4.78590909e-01 8.74562041e-01 7.80511236e-02 1.82214200e+02] [ 1.33239311e-01 -1.55261663e-02 9.90962272e-01 1.70097625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:182.21, Z:17.01 [[ 8.68502303e-01 4.81485216e-01 -1.17795321e-01 1.64338884e+02] [-4.77166517e-01 8.76454153e-01 6.43446450e-02 1.82209165e+02] [ 1.34223193e-01 3.24510513e-04 9.90951073e-01 1.70085090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:182.20, Z:17.01 [[ 8.69131361e-01 4.79617053e-01 -1.20740053e-01 1.64364173e+02] [-4.75465915e-01 8.77473956e-01 6.30207956e-02 1.82195155e+02] [ 1.36172100e-01 2.63442991e-03 9.90681694e-01 1.70113430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.38, Y:182.18, Z:17.01 [[ 8.71181796e-01 4.77416448e-01 -1.14524292e-01 1.64384684e+02] [-4.72371023e-01 8.78653312e-01 6.95267910e-02 1.82178461e+02] [ 1.33820382e-01 -6.47251753e-03 9.90984466e-01 1.70149492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:182.17, Z:17.01 [[ 8.72188467e-01 4.74534438e-01 -1.18761715e-01 1.64412512e+02] [-4.70651059e-01 8.80231861e-01 6.06584884e-02 1.82169881e+02] [ 1.33322387e-01 2.98969271e-03 9.91068213e-01 1.70134205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:182.15, Z:17.02 [[ 8.72225366e-01 4.75702991e-01 -1.13708294e-01 1.64431177e+02] [-4.70112432e-01 8.79541553e-01 7.34912032e-02 1.82149357e+02] [ 1.34971154e-01 -1.06452091e-02 9.90792343e-01 1.70234777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.47, Y:182.16, Z:17.01 [[ 8.74476848e-01 4.68422823e-01 -1.25977386e-01 1.64466998e+02] [-4.66967063e-01 8.83243113e-01 4.27008947e-02 1.82155532e+02] [ 1.31270732e-01 2.14863460e-02 9.91113683e-01 1.70092683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.48, Y:182.13, Z:17.02 [[ 8.74403647e-01 4.71671425e-01 -1.13773146e-01 1.64481895e+02] [-4.66685784e-01 8.81746393e-01 6.87581021e-02 1.82126290e+02] [ 1.32750293e-01 -7.02602536e-03 9.91124611e-01 1.70230136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.50, Y:182.10, Z:17.04 [[ 8.73911457e-01 4.74609901e-01 -1.04996229e-01 1.64497626e+02] [-4.67281958e-01 8.79770206e-01 8.74754623e-02 1.82101888e+02] [ 1.33889275e-01 -2.73829651e-02 9.90617906e-01 1.70374166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.53, Y:182.10, Z:17.03 [[ 8.73885318e-01 4.70938000e-01 -1.20589595e-01 1.64531058e+02] [-4.66664877e-01 8.82165795e-01 6.33040525e-02 1.82102624e+02] [ 1.36192300e-01 9.54446602e-04 9.90681960e-01 1.70332720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.55, Y:182.09, Z:17.04 [[ 8.73909502e-01 4.71479397e-01 -1.18276625e-01 1.64554084e+02] [-4.66561738e-01 8.81866643e-01 6.80541641e-02 1.82086404e+02] [ 1.36390347e-01 -4.28983275e-03 9.90645886e-01 1.70384899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:182.07, Z:17.04 [[ 8.73946462e-01 4.71419468e-01 -1.18242406e-01 1.64578032e+02] [-4.66510822e-01 8.81898851e-01 6.79858023e-02 1.82073567e+02] [ 1.36327673e-01 -4.25458937e-03 9.90654664e-01 1.70419293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.60, Y:182.06, Z:17.05 [[ 8.73915727e-01 4.71452598e-01 -1.18337440e-01 1.64602795e+02] [-4.66539591e-01 8.81881251e-01 6.80166850e-02 1.82061598e+02] [ 1.36426212e-01 -4.23174984e-03 9.90641197e-01 1.70457245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:182.05, Z:17.05 [[ 8.74039346e-01 4.70672119e-01 -1.20511322e-01 1.64630668e+02] [-4.66604032e-01 8.82305392e-01 6.17889335e-02 1.82051132e+02] [ 1.35410118e-01 2.22510991e-03 9.90787136e-01 1.70457564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.65, Y:182.03, Z:17.06 [[ 8.73863307e-01 4.72395900e-01 -1.14913159e-01 1.64650056e+02] [-4.66762000e-01 8.81322741e-01 7.35082473e-02 1.82032831e+02] [ 1.36000575e-01 -1.05990641e-02 9.90652060e-01 1.70559940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:182.02, Z:17.06 [[ 8.73851288e-01 4.71586323e-01 -1.18280454e-01 1.64676480e+02] [-4.66695872e-01 8.81810363e-01 6.78634372e-02 1.82022992e+02] [ 1.36304399e-01 -4.10155255e-03 9.90658512e-01 1.70580695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:182.01, Z:17.06 [[ 8.74023304e-01 4.70750478e-01 -1.20321453e-01 1.64704197e+02] [-4.66906402e-01 8.82259005e-01 6.01453214e-02 1.82012795e+02] [ 1.34468124e-01 3.61044400e-03 9.90911342e-01 1.70570202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.72, Y:181.98, Z:17.08 [[ 8.72919805e-01 4.75814785e-01 -1.07755767e-01 1.64719416e+02] [-4.67942300e-01 8.79068980e-01 9.09270726e-02 1.81980433e+02] [ 1.37989198e-01 -2.89485609e-02 9.90010587e-01 1.70777287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.76, Y:181.99, Z:17.06 [[ 8.74241760e-01 4.69004020e-01 -1.25445502e-01 1.64756391e+02] [-4.66214834e-01 8.83107380e-01 5.25840608e-02 1.81990871e+02] [ 1.35443985e-01 1.25133722e-02 9.90705982e-01 1.70644157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.78, Y:181.97, Z:17.07 [[ 8.74849931e-01 4.70001573e-01 -1.17201198e-01 1.64775641e+02] [-4.65206536e-01 8.82655701e-01 6.70954003e-02 1.81969979e+02] [ 1.34983249e-01 -4.17564289e-03 9.90839082e-01 1.70718481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:181.96, Z:17.08 [[ 8.75145709e-01 4.69401706e-01 -1.17396873e-01 1.64800166e+02] [-4.64592080e-01 8.82974598e-01 6.71569619e-02 1.81956464e+02] [ 1.35182050e-01 -4.23046946e-03 9.90811746e-01 1.70755899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:181.94, Z:17.08 [[ 8.75532275e-01 4.68645796e-01 -1.17534477e-01 1.64824974e+02] [-4.63825022e-01 8.83375667e-01 6.71846728e-02 1.81942754e+02] [ 1.35312911e-01 -4.30691830e-03 9.90793554e-01 1.70789049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:181.93, Z:17.08 [[ 8.76403770e-01 4.66913277e-01 -1.17933979e-01 1.64848333e+02] [-4.62050657e-01 8.84291424e-01 6.73636934e-02 1.81929576e+02] [ 1.35741009e-01 -4.54632245e-03 9.90733925e-01 1.70825476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:181.92, Z:17.09 [[ 8.76994883e-01 4.65760128e-01 -1.18099444e-01 1.64872501e+02] [-4.60876638e-01 8.84898478e-01 6.74344769e-02 1.81915837e+02] [ 1.35914309e-01 -4.71041652e-03 9.90709399e-01 1.70861179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:181.90, Z:17.09 [[ 8.77616126e-01 4.64443800e-01 -1.18667146e-01 1.64895787e+02] [-4.59507940e-01 8.85589075e-01 6.77085179e-02 1.81903136e+02] [ 1.36537129e-01 -4.89359141e-03 9.90622867e-01 1.70887948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.92, Y:181.89, Z:17.09 [[ 8.77670181e-01 4.64305073e-01 -1.18810153e-01 1.64920491e+02] [-4.59360902e-01 8.85661839e-01 6.77544689e-02 1.81889526e+02] [ 1.36684362e-01 -4.88933804e-03 9.90602584e-01 1.70923456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:181.88, Z:17.10 [[ 8.77666257e-01 4.64281181e-01 -1.18932442e-01 1.64944400e+02] [-4.59333269e-01 8.85674555e-01 6.77755947e-02 1.81876539e+02] [ 1.36802371e-01 -4.85472498e-03 9.90586464e-01 1.70958391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:181.86, Z:17.10 [[ 8.77883598e-01 4.63957240e-01 -1.18592021e-01 1.64969116e+02] [-4.59038058e-01 8.85844209e-01 6.75581113e-02 1.81863528e+02] [ 1.36398130e-01 -4.86990676e-03 9.90642132e-01 1.70990256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:181.85, Z:17.10 [[ 8.77638206e-01 4.64344201e-01 -1.18893412e-01 1.64993996e+02] [-4.59410380e-01 8.85641939e-01 6.76790808e-02 1.81850670e+02] [ 1.36723380e-01 -4.77687962e-03 9.90597748e-01 1.71017201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.02, Y:181.84, Z:17.11 [[ 8.77542154e-01 4.64487461e-01 -1.19042712e-01 1.65017365e+02] [-4.59549867e-01 8.85567156e-01 6.77106473e-02 1.81837643e+02] [ 1.36871063e-01 -4.71288454e-03 9.90577660e-01 1.71052663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:181.82, Z:17.11 [[ 8.77357911e-01 4.64845156e-01 -1.19004521e-01 1.65041769e+02] [-4.59918778e-01 8.85379914e-01 6.76544583e-02 1.81824912e+02] [ 1.36813060e-01 -4.62476043e-03 9.90586088e-01 1.71081548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.07, Y:181.81, Z:17.11 [[ 8.77174279e-01 4.65092997e-01 -1.19389231e-01 1.65066523e+02] [-4.60143609e-01 8.85250096e-01 6.78242245e-02 1.81811495e+02] [ 1.37233900e-01 -4.55747378e-03 9.90528185e-01 1.71117401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:181.80, Z:17.11 [[ 8.77382601e-01 4.64842871e-01 -1.18831294e-01 1.65091512e+02] [-4.59944222e-01 8.85381595e-01 6.74592008e-02 1.81798038e+02] [ 1.36568969e-01 -4.53176202e-03 9.90620200e-01 1.71149464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:181.78, Z:17.12 [[ 8.77444210e-01 4.64945541e-01 -1.17971614e-01 1.65115910e+02] [-4.60125289e-01 8.85328148e-01 6.69237542e-02 1.81783820e+02] [ 1.35559492e-01 -4.44013751e-03 9.90759259e-01 1.71187892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:181.78, Z:17.11 [[ 8.77256075e-01 4.61854484e-01 -1.30813661e-01 1.65149975e+02] [-4.60382579e-01 8.86672841e-01 4.31179167e-02 1.81782910e+02] [ 1.35903123e-01 2.23988761e-02 9.90468895e-01 1.71088405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.16, Y:181.74, Z:17.13 [[ 8.77268621e-01 4.68282107e-01 -1.05411742e-01 1.65157424e+02] [-4.60603331e-01 8.83066076e-01 8.96597815e-02 1.81742903e+02] [ 1.35071605e-01 -3.01027132e-02 9.90378457e-01 1.71344088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.20, Y:181.75, Z:17.12 [[ 8.77222903e-01 4.63710126e-01 -1.24309686e-01 1.65198603e+02] [-4.61378361e-01 8.85866070e-01 4.86961440e-02 1.81751697e+02] [ 1.32702628e-01 1.46364263e-02 9.91047823e-01 1.71180225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:181.72, Z:17.14 [[ 8.76074711e-01 4.69966965e-01 -1.07815369e-01 1.65207676e+02] [-4.63052273e-01 8.82374877e-01 8.36490842e-02 1.81720097e+02] [ 1.34445879e-01 -2.33586958e-02 9.90645586e-01 1.71390426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.24, Y:181.72, Z:17.14 [[ 8.75065709e-01 4.69696646e-01 -1.16812092e-01 1.65238564e+02] [-4.65032094e-01 8.82820767e-01 6.61259781e-02 1.81716798e+02] [ 1.34183291e-01 -3.54320432e-03 9.90950196e-01 1.71370043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:181.70, Z:17.14 [[ 8.74650196e-01 4.70625951e-01 -1.16181967e-01 1.65262986e+02] [-4.66026347e-01 8.82326504e-01 6.57220216e-02 1.81703697e+02] [ 1.33440918e-01 -3.33992115e-03 9.91051142e-01 1.71402116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:181.69, Z:17.14 [[ 8.74140144e-01 4.71704621e-01 -1.15644968e-01 1.65287459e+02] [-4.67163313e-01 8.81751113e-01 6.53713571e-02 1.81690017e+02] [ 1.32806051e-01 -3.11864110e-03 9.91137138e-01 1.71440823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.32, Y:181.68, Z:17.14 [[ 8.73884531e-01 4.71056355e-01 -1.20132167e-01 1.65315769e+02] [-4.68020366e-01 8.82058046e-01 5.41344621e-02 1.81682284e+02] [ 1.31463927e-01 8.91703165e-03 9.91280849e-01 1.71418425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.34, Y:181.66, Z:17.15 [[ 8.72736626e-01 4.73844062e-01 -1.17484414e-01 1.65336641e+02] [-4.69569016e-01 8.80608732e-01 6.35074893e-02 1.81664163e+02] [ 1.33550447e-01 -2.58271375e-04 9.91041983e-01 1.71520654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:181.64, Z:17.16 [[ 8.72484208e-01 4.77090075e-01 -1.05623705e-01 1.65355850e+02] [-4.71368752e-01 8.78709151e-01 7.53772317e-02 1.81643461e+02] [ 1.28774245e-01 -1.59777305e-02 9.91545211e-01 1.71587935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.38, Y:181.64, Z:17.16 [[ 8.72508527e-01 4.75546644e-01 -1.12179583e-01 1.65383470e+02] [-4.71321252e-01 8.79687358e-01 6.32963641e-02 1.81636958e+02] [ 1.28783335e-01 -2.35399580e-03 9.91669961e-01 1.71575497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.41, Y:181.62, Z:17.16 [[ 8.72669975e-01 4.75411680e-01 -1.11493717e-01 1.65407806e+02] [-4.71239489e-01 8.79760338e-01 6.28895289e-02 1.81623629e+02] [ 1.27986167e-01 -2.34156151e-03 9.91773189e-01 1.71620696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.44, Y:181.62, Z:17.16 [[ 8.73952851e-01 4.72350653e-01 -1.14417113e-01 1.65436524e+02] [-4.69906265e-01 8.81344824e-01 4.91874262e-02 1.81617996e+02] [ 1.24074643e-01 1.07778268e-02 9.92214353e-01 1.71574906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.45, Y:181.59, Z:17.17 [[ 8.73274464e-01 4.76070146e-01 -1.03677032e-01 1.65451712e+02] [-4.70633243e-01 8.79274910e-01 7.33483757e-02 1.81590148e+02] [ 1.26079585e-01 -1.52594055e-02 9.91902762e-01 1.71731245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:181.59, Z:17.17 [[ 8.73167555e-01 4.73746647e-01 -1.14640899e-01 1.65480813e+02] [-4.70329795e-01 8.80651204e-01 5.69503398e-02 1.81586607e+02] [ 1.27938678e-01 4.19184149e-03 9.91773222e-01 1.71717719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.50, Y:181.57, Z:17.18 [[ 8.74980014e-01 4.72414014e-01 -1.05995164e-01 1.65502119e+02] [-4.67774904e-01 8.81333786e-01 6.66137951e-02 1.81567123e+02] [ 1.24886410e-01 -8.70386153e-03 9.92132868e-01 1.71779149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:181.56, Z:17.18 [[ 8.75853575e-01 4.70245988e-01 -1.08393842e-01 1.65528369e+02] [-4.66280941e-01 8.82530655e-01 6.10059652e-02 1.81557072e+02] [ 1.24348699e-01 -2.89031013e-03 9.92234371e-01 1.71796963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:181.54, Z:17.18 [[ 8.76869209e-01 4.68307560e-01 -1.08574487e-01 1.65551979e+02] [-4.64439595e-01 8.83562576e-01 6.01085388e-02 1.81544329e+02] [ 1.24081636e-01 -2.28103621e-03 9.92269391e-01 1.71828573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:181.54, Z:17.18 [[ 8.76325906e-01 4.67218084e-01 -1.17303741e-01 1.65577230e+02] [-4.64404299e-01 8.84096993e-01 5.19726403e-02 1.81536832e+02] [ 1.27990442e-01 8.93139031e-03 9.91735185e-01 1.71849416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:181.51, Z:17.19 [[ 8.77838744e-01 4.67802917e-01 -1.02759772e-01 1.65596451e+02] [-4.62519933e-01 8.83696889e-01 7.17991624e-02 1.81510027e+02] [ 1.24396348e-01 -1.54996440e-02 9.92111541e-01 1.71939790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.62, Y:181.50, Z:17.19 [[ 8.77583221e-01 4.66789101e-01 -1.09341779e-01 1.65621274e+02] [-4.62564510e-01 8.84356929e-01 6.28243221e-02 1.81503253e+02] [ 1.26022869e-01 -4.55594456e-03 9.92016875e-01 1.71940683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.65, Y:181.49, Z:17.20 [[ 8.77597267e-01 4.66529528e-01 -1.10332391e-01 1.65645730e+02] [-4.62528691e-01 8.84502039e-01 6.10192900e-02 1.81490970e+02] [ 1.26056525e-01 -2.51846574e-03 9.92019864e-01 1.71970135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:181.48, Z:17.20 [[ 8.78412719e-01 4.64871875e-01 -1.10838777e-01 1.65672364e+02] [-4.60974830e-01 8.85376350e-01 6.00909711e-02 1.81478208e+02] [ 1.26068634e-01 -1.69078696e-03 9.92020081e-01 1.72004486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.70, Y:181.47, Z:17.20 [[ 8.78704613e-01 4.64561933e-01 -1.09819915e-01 1.65697002e+02] [-4.60469135e-01 8.85533354e-01 6.16348532e-02 1.81465216e+02] [ 1.25882405e-01 -3.59014831e-03 9.92038674e-01 1.72033796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:181.45, Z:17.21 [[ 8.78904946e-01 4.64130152e-01 -1.10042256e-01 1.65720926e+02] [-4.60023067e-01 8.85759620e-01 6.17144587e-02 1.81452671e+02] [ 1.26114528e-01 -3.61916706e-03 9.92009086e-01 1.72067540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:181.44, Z:17.21 [[ 8.79282440e-01 4.63495080e-01 -1.09702785e-01 1.65745296e+02] [-4.59410849e-01 8.86091842e-01 6.15054336e-02 1.81439222e+02] [ 1.25714209e-01 -3.68199797e-03 9.92059666e-01 1.72100731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:181.43, Z:17.21 [[ 8.79485636e-01 4.63095091e-01 -1.09763171e-01 1.65768372e+02] [-4.59009228e-01 8.86300882e-01 6.14920710e-02 1.81426404e+02] [ 1.25759871e-01 -3.69908494e-03 9.92053815e-01 1.72138995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.79, Y:181.41, Z:17.22 [[ 8.80156446e-01 4.62067868e-01 -1.08710237e-01 1.65792416e+02] [-4.58054945e-01 8.86836462e-01 6.08831419e-02 1.81413212e+02] [ 1.24540345e-01 -3.79142829e-03 9.92207301e-01 1.72176159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.82, Y:181.40, Z:17.22 [[ 8.80590647e-01 4.61370855e-01 -1.08152884e-01 1.65815976e+02] [-4.57399738e-01 8.87199121e-01 6.05243811e-02 1.81400320e+02] [ 1.23877329e-01 -3.82810317e-03 9.92290156e-01 1.72214003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.84, Y:181.39, Z:17.23 [[ 8.81565097e-01 4.59637129e-01 -1.07595027e-01 1.65840739e+02] [-4.55696498e-01 8.88097651e-01 6.01935568e-02 1.81387551e+02] [ 1.23222085e-01 -4.03386168e-03 9.92370922e-01 1.72251558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:181.37, Z:17.23 [[ 8.81816942e-01 4.59238656e-01 -1.07232164e-01 1.65864834e+02] [-4.55327440e-01 8.88303766e-01 5.99444904e-02 1.81374696e+02] [ 1.22783563e-01 -4.03432037e-03 9.92425272e-01 1.72283307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:181.36, Z:17.23 [[ 8.82192186e-01 4.58514143e-01 -1.07246109e-01 1.65889254e+02] [-4.54598847e-01 8.88677564e-01 5.99339291e-02 1.81361753e+02] [ 1.22787765e-01 -4.11928653e-03 9.92424403e-01 1.72319751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.91, Y:181.35, Z:17.24 [[ 8.82888748e-01 4.57201849e-01 -1.07116425e-01 1.65914065e+02] [-4.53291994e-01 8.89352772e-01 5.98165114e-02 1.81348723e+02] [ 1.22612509e-01 -4.25630677e-03 9.92445493e-01 1.72357736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.94, Y:181.35, Z:17.23 [[ 8.81991663e-01 4.53757914e-01 -1.27257461e-01 1.65944772e+02] [-4.53151377e-01 8.90731692e-01 3.53678163e-02 1.81352584e+02] [ 1.29400680e-01 2.64727744e-02 9.91238950e-01 1.72336808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:181.31, Z:17.25 [[ 8.83956226e-01 4.58323625e-01 -9.25248330e-02 1.65956204e+02] [-4.51598217e-01 8.88157296e-01 8.50627323e-02 1.81309583e+02] [ 1.21162865e-01 -3.34076822e-02 9.92070303e-01 1.72509358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.99, Y:181.31, Z:17.25 [[ 8.84026070e-01 4.54891527e-01 -1.07571401e-01 1.65989399e+02] [-4.50941752e-01 8.90535381e-01 5.99855918e-02 1.81311695e+02] [ 1.23083076e-01 -4.52039093e-03 9.92386075e-01 1.72462186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:181.30, Z:17.25 [[ 8.84094098e-01 4.54589420e-01 -1.08287046e-01 1.66014240e+02] [-4.50586782e-01 8.90689349e-01 6.03658550e-02 1.81298643e+02] [ 1.23891798e-01 -4.57638450e-03 9.92285180e-01 1.72495320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.05, Y:181.29, Z:17.25 [[ 8.83734509e-01 4.51905162e-01 -1.21634875e-01 1.66045091e+02] [-4.49374027e-01 8.91994573e-01 4.90781655e-02 1.81293533e+02] [ 1.30676325e-01 1.12874851e-02 9.91360828e-01 1.72512524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:181.26, Z:17.26 [[ 8.84260609e-01 4.55665557e-01 -1.02235396e-01 1.66059152e+02] [-4.49847466e-01 8.89908756e-01 7.54961149e-02 1.81264569e+02] [ 1.25381153e-01 -2.07679067e-02 9.91891254e-01 1.72613088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.09, Y:181.26, Z:17.26 [[ 8.84074962e-01 4.54064713e-01 -1.10619608e-01 1.66088828e+02] [-4.49897053e-01 8.90956562e-01 6.15552308e-02 1.81260547e+02] [ 1.26507324e-01 -4.65200260e-03 9.91954765e-01 1.72603869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:181.25, Z:17.26 [[ 8.83952331e-01 4.54283992e-01 -1.10699285e-01 1.66112777e+02] [-4.50115934e-01 8.90845064e-01 6.15688067e-02 1.81248276e+02] [ 1.26585635e-01 -4.59637830e-03 9.91945034e-01 1.72640925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:181.24, Z:17.27 [[ 8.83776616e-01 4.54590491e-01 -1.10843936e-01 1.66137420e+02] [-4.50416288e-01 8.90688980e-01 6.16304198e-02 1.81235636e+02] [ 1.26744075e-01 -4.54160948e-03 9.91925054e-01 1.72678239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.16, Y:181.22, Z:17.27 [[ 8.83653870e-01 4.54841565e-01 -1.10792547e-01 1.66161816e+02] [-4.50678711e-01 8.90561181e-01 6.15587738e-02 1.81222949e+02] [ 1.26667031e-01 -4.46480627e-03 9.91935244e-01 1.72714149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:181.21, Z:17.27 [[ 8.83318370e-01 4.55430720e-01 -1.11047362e-01 1.66185637e+02] [-4.51259323e-01 8.90260611e-01 6.16528007e-02 1.81210892e+02] [ 1.26939672e-01 -4.34789413e-03 9.91900910e-01 1.72749814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.21, Y:181.20, Z:17.28 [[ 8.83059527e-01 4.55846231e-01 -1.11400561e-01 1.66208919e+02] [-4.51654050e-01 8.90048237e-01 6.18284300e-02 1.81198327e+02] [ 1.27336130e-01 -4.28366966e-03 9.91850372e-01 1.72785091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:181.20, Z:17.26 [[ 8.83902335e-01 4.51537866e-01 -1.21779386e-01 1.66244164e+02] [-4.51268356e-01 8.91836576e-01 3.13750230e-02 1.81204422e+02] [ 1.22774322e-01 2.72227272e-02 9.92061182e-01 1.72633822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:181.16, Z:17.29 [[ 8.82273456e-01 4.60635710e-01 -9.69963443e-02 1.66249054e+02] [-4.53325364e-01 8.86929937e-01 8.86081342e-02 1.81157233e+02] [ 1.26845032e-01 -3.42057016e-02 9.91332592e-01 1.72937230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.28, Y:181.17, Z:17.28 [[ 8.81688107e-01 4.57822729e-01 -1.14124630e-01 1.66284168e+02] [-4.54810556e-01 8.89026919e-01 5.27114323e-02 1.81165177e+02] [ 1.25592360e-01 5.43004341e-03 9.92067071e-01 1.72807910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.31, Y:181.14, Z:17.29 [[ 8.81500842e-01 4.59440138e-01 -1.08954230e-01 1.66305092e+02] [-4.54351422e-01 8.88134955e-01 6.91454120e-02 1.81142017e+02] [ 1.28534238e-01 -1.14482295e-02 9.91638991e-01 1.72946853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:181.14, Z:17.29 [[ 8.80692408e-01 4.55800747e-01 -1.28944026e-01 1.66337470e+02] [-4.54028045e-01 8.89872522e-01 4.45581549e-02 1.81144031e+02] [ 1.35053386e-01 1.93021754e-02 9.90650296e-01 1.72928962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.35, Y:181.11, Z:17.31 [[ 8.81810975e-01 4.60486811e-01 -1.01790478e-01 1.66349450e+02] [-4.53819621e-01 8.87270425e-01 8.24557158e-02 1.81106314e+02] [ 1.28285450e-01 -2.65158390e-02 9.91382748e-01 1.73068276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.38, Y:181.11, Z:17.30 [[ 8.81094847e-01 4.56519216e-01 -1.23539776e-01 1.66383836e+02] [-4.53758435e-01 8.89647241e-01 5.12939397e-02 1.81112529e+02] [ 1.33323490e-01 1.08623893e-02 9.91013045e-01 1.73025118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:181.09, Z:17.31 [[ 8.81513864e-01 4.58441669e-01 -1.12980277e-01 1.66405573e+02] [-4.53395690e-01 8.88677847e-01 6.84399892e-02 1.81088647e+02] [ 1.31778813e-01 -9.10602845e-03 9.91237320e-01 1.73113388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.43, Y:181.07, Z:17.31 [[ 8.80891010e-01 4.60660293e-01 -1.08734187e-01 1.66427999e+02] [-4.55323567e-01 8.87478939e-01 7.11447936e-02 1.81074650e+02] [ 1.29272882e-01 -1.31615711e-02 9.91521707e-01 1.73145916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.46, Y:181.07, Z:17.32 [[ 8.80884727e-01 4.59628174e-01 -1.13066529e-01 1.66456197e+02] [-4.55366783e-01 8.88104108e-01 6.25474713e-02 1.81066542e+02] [ 1.29163429e-01 -3.61037054e-03 9.91616747e-01 1.73154228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.48, Y:181.05, Z:17.32 [[ 8.80974289e-01 4.59452021e-01 -1.13084667e-01 1.66481484e+02] [-4.55193836e-01 8.88195313e-01 6.25112626e-02 1.81053885e+02] [ 1.29162197e-01 -3.59537175e-03 9.91616962e-01 1.73189545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:181.04, Z:17.32 [[ 8.81049889e-01 4.59359158e-01 -1.12872749e-01 1.66504673e+02] [-4.55122284e-01 8.88243484e-01 6.23475703e-02 1.81041263e+02] [ 1.28898411e-01 -3.56041664e-03 9.91651412e-01 1.73223036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.53, Y:181.03, Z:17.33 [[ 8.81417489e-01 4.58611065e-01 -1.13044691e-01 1.66527698e+02] [-4.54357709e-01 8.88629571e-01 6.24224129e-02 1.81028087e+02] [ 1.29082464e-01 -3.65747961e-03 9.91627118e-01 1.73261379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:181.02, Z:17.33 [[ 8.81681767e-01 4.58084211e-01 -1.13119924e-01 1.66551282e+02] [-4.53823387e-01 8.88901018e-01 6.24444877e-02 1.81015714e+02] [ 1.29157249e-01 -3.71969940e-03 9.91617148e-01 1.73297864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:181.00, Z:17.33 [[ 8.82334479e-01 4.56845353e-01 -1.13040661e-01 1.66576368e+02] [-4.52584332e-01 8.89537709e-01 6.23705564e-02 1.81002897e+02] [ 1.29047629e-01 -3.87126047e-03 9.91630840e-01 1.73330685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.60, Y:180.99, Z:17.34 [[ 8.82426781e-01 4.56589957e-01 -1.13351612e-01 1.66600091e+02] [-4.52309486e-01 8.89668805e-01 6.24943675e-02 1.80989794e+02] [ 1.29379694e-01 -3.87669409e-03 9.91587548e-01 1.73367503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:180.98, Z:17.34 [[ 8.82517289e-01 4.56362615e-01 -1.13562314e-01 1.66623575e+02] [-4.52066960e-01 8.89785346e-01 6.25899483e-02 1.80977032e+02] [ 1.29609795e-01 -3.89894138e-03 9.91557411e-01 1.73402941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.65, Y:180.96, Z:17.34 [[ 8.82336295e-01 4.56695635e-01 -1.13629924e-01 1.66648329e+02] [-4.52400172e-01 8.89614744e-01 6.26074441e-02 1.80963537e+02] [ 1.29679402e-01 -3.83462315e-03 9.91548561e-01 1.73433754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.67, Y:180.95, Z:17.35 [[ 8.81916154e-01 4.57467700e-01 -1.13785763e-01 1.66671691e+02] [-4.53172944e-01 8.89218607e-01 6.26462424e-02 1.80950715e+02] [ 1.29839051e-01 -3.68410376e-03 9.91528239e-01 1.73468066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.70, Y:180.94, Z:17.35 [[ 8.81504632e-01 4.58169788e-01 -1.14149153e-01 1.66695737e+02] [-4.53855951e-01 8.88857509e-01 6.28259908e-02 1.80937352e+02] [ 1.30247303e-01 -3.57412927e-03 9.91475096e-01 1.73505733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.73, Y:180.93, Z:17.34 [[ 8.81223279e-01 4.56812749e-01 -1.21522198e-01 1.66727689e+02] [-4.55150626e-01 8.89387890e-01 4.27444586e-02 1.80934107e+02] [ 1.27606585e-01 1.76434924e-02 9.91667922e-01 1.73430086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.74, Y:180.90, Z:17.36 [[ 8.80790850e-01 4.61899196e-01 -1.04195067e-01 1.66738980e+02] [-4.55652939e-01 8.86660781e-01 7.88229547e-02 1.80901477e+02] [ 1.28793939e-01 -2.19497489e-02 9.91428429e-01 1.73599484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.77, Y:180.90, Z:17.36 [[ 8.80003858e-01 4.61007925e-01 -1.14301804e-01 1.66767992e+02] [-4.56723978e-01 8.87390817e-01 6.27753551e-02 1.80896618e+02] [ 1.30370307e-01 -3.03818021e-03 9.91460717e-01 1.73590845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:180.88, Z:17.36 [[ 8.80049484e-01 4.60981339e-01 -1.14057491e-01 1.66792167e+02] [-4.56718418e-01 8.87404705e-01 6.26193038e-02 1.80882686e+02] [ 1.30081485e-01 -3.01592897e-03 9.91498720e-01 1.73628224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:180.87, Z:17.37 [[ 8.80060381e-01 4.60880744e-01 -1.14379482e-01 1.66815394e+02] [-4.56598715e-01 8.87457010e-01 6.27508432e-02 1.80869268e+02] [ 1.30427529e-01 -2.99900644e-03 9.91453310e-01 1.73665884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.84, Y:180.86, Z:17.37 [[ 8.80848876e-01 4.59651174e-01 -1.13252179e-01 1.66839144e+02] [-4.55447313e-01 8.88094054e-01 6.21023046e-02 1.80855489e+02] [ 1.29123984e-01 -3.12234441e-03 9.91623541e-01 1.73698756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.86, Y:180.84, Z:17.37 [[ 8.81375805e-01 4.58751025e-01 -1.12801537e-01 1.66863390e+02] [-4.54579008e-01 8.88559083e-01 6.18116644e-02 1.80842141e+02] [ 1.28586995e-01 -3.20209443e-03 9.91693063e-01 1.73736760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.89, Y:180.83, Z:17.38 [[ 8.81972209e-01 4.57655338e-01 -1.12590470e-01 1.66887763e+02] [-4.53495763e-01 8.89123498e-01 6.16522416e-02 1.80828501e+02] [ 1.28322310e-01 -3.31626259e-03 9.91726972e-01 1.73775590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.91, Y:180.81, Z:17.38 [[ 8.83328156e-01 4.55176005e-01 -1.12009700e-01 1.66911631e+02] [-4.51045387e-01 8.90394139e-01 6.12889497e-02 1.80814638e+02] [ 1.27630039e-01 -3.61679666e-03 9.91815251e-01 1.73809484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:180.80, Z:17.38 [[ 8.84149243e-01 4.53594592e-01 -1.11946692e-01 1.66936297e+02] [-4.49461930e-01 8.91200030e-01 6.12084987e-02 1.80800835e+02] [ 1.27530740e-01 -3.80167136e-03 9.91827333e-01 1.73843286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.96, Y:180.79, Z:17.39 [[ 8.85673537e-01 4.50610486e-01 -1.11948987e-01 1.66959495e+02] [-4.46459921e-01 8.92710836e-01 6.11629113e-02 1.80786939e+02] [ 1.27498723e-01 -4.18963626e-03 9.91829886e-01 1.73874774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:180.77, Z:17.39 [[ 8.86495769e-01 4.48955715e-01 -1.12089331e-01 1.66982214e+02] [-4.44784118e-01 8.93543100e-01 6.12194121e-02 1.80773565e+02] [ 1.27641453e-01 -4.41519564e-03 9.91810549e-01 1.73907642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.02, Y:180.78, Z:17.38 [[ 8.88216777e-01 4.42140817e-01 -1.24829702e-01 1.67018250e+02] [-4.41945767e-01 8.96513707e-01 3.07751919e-02 1.80777289e+02] [ 1.25518507e-01 2.78329164e-02 9.91700778e-01 1.73774670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:180.74, Z:17.39 [[ 8.89647708e-01 4.43592022e-01 -1.08411599e-01 1.67030311e+02] [-4.39126511e-01 8.96185684e-01 6.33965900e-02 1.80744830e+02] [ 1.25279145e-01 -8.79422356e-03 9.92082556e-01 1.73911008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.05, Y:180.72, Z:17.41 [[ 8.89397446e-01 4.46090782e-01 -9.98759095e-02 1.67046230e+02] [-4.38947718e-01 8.94394389e-01 8.59277514e-02 1.80717983e+02] [ 1.27660031e-01 -3.25836201e-02 9.91282616e-01 1.74090647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:180.72, Z:17.40 [[ 8.89786627e-01 4.42064677e-01 -1.13395680e-01 1.67079423e+02] [-4.37752265e-01 8.96967062e-01 6.18307735e-02 1.80717884e+02] [ 1.29045391e-01 -5.37697945e-03 9.91624110e-01 1.74046431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.10, Y:180.70, Z:17.41 [[ 8.89772742e-01 4.42007699e-01 -1.13726257e-01 1.67103433e+02] [-4.37675396e-01 8.96995239e-01 6.19660269e-02 1.80703416e+02] [ 1.29401372e-01 -5.36049713e-03 9.91577808e-01 1.74082283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:180.71, Z:17.40 [[ 8.90165058e-01 4.38037584e-01 -1.25416286e-01 1.67138111e+02] [-4.37346944e-01 8.98631858e-01 3.44736726e-02 1.80705248e+02] [ 1.27803834e-01 2.41631707e-02 9.91505079e-01 1.73966673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.14, Y:180.66, Z:17.42 [[ 8.89455657e-01 4.45907191e-01 -1.00176902e-01 1.67143039e+02] [-4.38555928e-01 8.94438850e-01 8.74519335e-02 1.80660562e+02] [ 1.28597559e-01 -3.38514429e-02 9.91118937e-01 1.74244477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:180.66, Z:17.42 [[ 8.88373156e-01 4.44717650e-01 -1.14102357e-01 1.67175036e+02] [-4.40391727e-01 8.95657453e-01 6.20713659e-02 1.80660127e+02] [ 1.29800859e-01 -4.89280104e-03 9.91528012e-01 1.74201235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.20, Y:180.65, Z:17.42 [[ 8.88498172e-01 4.44464493e-01 -1.14115353e-01 1.67200006e+02] [-4.40139558e-01 8.95783055e-01 6.20474643e-02 1.80646759e+02] [ 1.29800495e-01 -4.90237734e-03 9.91528012e-01 1.74238040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.22, Y:180.63, Z:17.43 [[ 8.87810549e-01 4.45775890e-01 -1.14351581e-01 1.67224600e+02] [-4.41449280e-01 8.95132353e-01 6.21337581e-02 1.80632785e+02] [ 1.30057531e-01 -4.68258259e-03 9.91495392e-01 1.74275546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:180.62, Z:17.43 [[ 8.86064280e-01 4.49206505e-01 -1.14470992e-01 1.67247632e+02] [-4.44905091e-01 8.93418349e-01 6.21539573e-02 1.80618989e+02] [ 1.30190447e-01 -4.14367426e-03 9.91480347e-01 1.74309418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:180.61, Z:17.43 [[ 8.85188630e-01 4.50955023e-01 -1.14370698e-01 1.67271560e+02] [-4.46679673e-01 8.92538347e-01 6.20690702e-02 1.80605056e+02] [ 1.30070593e-01 -3.85576906e-03 9.91497238e-01 1.74346495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.30, Y:180.59, Z:17.44 [[ 8.84313041e-01 4.52640933e-01 -1.14484195e-01 1.67295327e+02] [-4.48376928e-01 8.91685724e-01 6.20862380e-02 1.80590926e+02] [ 1.30186695e-01 -3.57159834e-03 9.91483065e-01 1.74381645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:180.58, Z:17.44 [[ 8.82758567e-01 4.55363221e-01 -1.15679081e-01 1.67318882e+02] [-4.51038441e-01 8.90300132e-01 6.26897124e-02 1.80575205e+02] [ 1.31535690e-01 -3.16416825e-03 9.91306386e-01 1.74424807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.34, Y:180.56, Z:17.45 [[ 8.81258018e-01 4.58575069e-01 -1.14425577e-01 1.67342139e+02] [-4.54373204e-01 8.88651754e-01 6.19923503e-02 1.80561643e+02] [ 1.30112636e-01 -2.63933976e-03 9.91495706e-01 1.74457542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.37, Y:180.55, Z:17.45 [[ 8.80166903e-01 4.60671762e-01 -1.14401705e-01 1.67365708e+02] [-4.56492017e-01 8.87567569e-01 6.19584366e-02 1.80548350e+02] [ 1.30081745e-01 -2.31030029e-03 9.91500581e-01 1.74495990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.39, Y:180.53, Z:17.45 [[ 8.78629862e-01 4.63805850e-01 -1.13550423e-01 1.67390846e+02] [-4.59404364e-01 8.85928059e-01 6.38678678e-02 1.80533226e+02] [ 1.30219797e-01 -3.95065585e-03 9.91477280e-01 1.74536140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:180.52, Z:17.46 [[ 8.77337433e-01 4.65854008e-01 -1.15148044e-01 1.67414440e+02] [-4.61866121e-01 8.84861577e-01 6.08249661e-02 1.80521548e+02] [ 1.30225634e-01 -1.81039195e-04 9.91484368e-01 1.74556434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:180.51, Z:17.46 [[ 8.76750149e-01 4.67024825e-01 -1.14878147e-01 1.67437385e+02] [-4.62875422e-01 8.84243251e-01 6.21306481e-02 1.80506851e+02] [ 1.30596781e-01 -1.29878431e-03 9.91434715e-01 1.74592975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.46, Y:180.49, Z:17.46 [[ 8.76488521e-01 4.67544928e-01 -1.14758934e-01 1.67459778e+02] [-4.63411081e-01 8.83968491e-01 6.20473833e-02 1.80490260e+02] [ 1.30453221e-01 -1.20325745e-03 9.91453735e-01 1.74634656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:180.48, Z:17.47 [[ 8.76563457e-01 4.67448256e-01 -1.14580254e-01 1.67482508e+02] [-4.63331985e-01 8.84019649e-01 6.19090659e-02 1.80475433e+02] [ 1.30230481e-01 -1.17852814e-03 9.91483047e-01 1.74669177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.51, Y:180.46, Z:17.47 [[ 8.76743169e-01 4.67110849e-01 -1.14581286e-01 1.67505770e+02] [-4.62994050e-01 8.84197933e-01 6.18912329e-02 1.80460648e+02] [ 1.30222603e-01 -1.21226188e-03 9.91484041e-01 1.74701716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:180.45, Z:17.47 [[ 8.76931073e-01 4.66169765e-01 -1.16951461e-01 1.67532473e+02] [-4.62616636e-01 8.84687853e-01 5.75608524e-02 1.80449518e+02] [ 1.30298666e-01 3.62679139e-03 9.91468156e-01 1.74724010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:180.45, Z:17.47 [[ 8.77048316e-01 4.61597240e-01 -1.33094854e-01 1.67567672e+02] [-4.60383375e-01 8.86743785e-01 4.16245977e-02 1.80446180e+02] [ 1.37234834e-01 2.47678747e-02 9.90228839e-01 1.74722847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:180.41, Z:17.48 [[ 8.76051225e-01 4.71568139e-01 -1.00785619e-01 1.67570398e+02] [-4.64973841e-01 8.81460190e-01 8.26272454e-02 1.80407186e+02] [ 1.27802887e-01 -2.55230232e-02 9.91471128e-01 1.74844518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.61, Y:180.41, Z:17.48 [[ 8.76873961e-01 4.66996839e-01 -1.14043890e-01 1.67606349e+02] [-4.63419398e-01 8.84256191e-01 5.77360398e-02 1.80408023e+02] [ 1.27806563e-01 2.22292075e-03 9.91796623e-01 1.74789656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.63, Y:180.39, Z:17.48 [[ 8.76768710e-01 4.67196754e-01 -1.14034307e-01 1.67629477e+02] [-4.63202224e-01 8.84153150e-01 6.09664376e-02 1.80393534e+02] [ 1.29307114e-01 -6.32520216e-04 9.91604392e-01 1.74842411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:180.37, Z:17.49 [[ 8.75544546e-01 4.71252149e-01 -1.06504275e-01 1.67646412e+02] [-4.65644529e-01 8.81866512e-01 7.40717791e-02 1.80371244e+02] [ 1.28829038e-01 -1.52600093e-02 9.91549399e-01 1.74926760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.68, Y:180.37, Z:17.49 [[ 8.76841012e-01 4.66668267e-01 -1.15631172e-01 1.67678460e+02] [-4.63327541e-01 8.84420786e-01 5.59237247e-02 1.80369598e+02] [ 1.28364440e-01 4.53889143e-03 9.91716678e-01 1.74889418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64275509600003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:167.70, Y:180.35, Z:17.49 [[ 8.76729798e-01 4.68075841e-01 -1.10679123e-01 1.67698300e+02] [-4.63804391e-01 8.83678801e-01 6.32239210e-02 1.80352757e+02] [ 1.27398385e-01 -4.09683197e-03 9.91843167e-01 1.74943359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.73, Y:180.35, Z:17.50 [[ 8.78767348e-01 4.62771457e-01 -1.16664165e-01 1.67729851e+02] [-4.59429031e-01 8.86465479e-01 5.57128308e-02 1.80345099e+02] [ 1.29201063e-01 4.64028761e-03 9.91607560e-01 1.74959114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.75, Y:180.32, Z:17.51 [[ 8.78667460e-01 4.64819690e-01 -1.09023625e-01 1.67749086e+02] [-4.58743037e-01 8.85230340e-01 7.69550020e-02 1.80318989e+02] [ 1.32281220e-01 -1.76040275e-02 9.91055890e-01 1.75100419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:180.31, Z:17.51 [[ 8.80144624e-01 4.60227047e-01 -1.16346489e-01 1.67779280e+02] [-4.55419923e-01 8.87783495e-01 6.65819793e-02 1.80312484e+02] [ 1.33933321e-01 -5.61526203e-03 9.90974437e-01 1.75106312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:180.29, Z:17.52 [[ 8.80653367e-01 4.60337540e-01 -1.11977659e-01 1.67801401e+02] [-4.54224729e-01 8.87589058e-01 7.65869382e-02 1.80292900e+02] [ 1.34645987e-01 -1.65835233e-02 9.90754987e-01 1.75194526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:180.31, Z:17.50 [[ 8.83454825e-01 4.50770509e-01 -1.27724390e-01 1.67838222e+02] [-4.50050267e-01 8.92273099e-01 3.61036719e-02 1.80306583e+02] [ 1.30239508e-01 2.55864328e-02 9.91152362e-01 1.75038630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:180.28, Z:17.51 [[ 8.84850284e-01 4.50778428e-01 -1.17638358e-01 1.67857699e+02] [-4.47186433e-01 8.92632885e-01 5.68403561e-02 1.80282573e+02] [ 1.30630273e-01 2.31107223e-03 9.91428460e-01 1.75147245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.88, Y:180.27, Z:17.52 [[ 8.85430745e-01 4.51015507e-01 -1.12238176e-01 1.67880827e+02] [-4.46562623e-01 8.92495149e-01 6.35156099e-02 1.80266246e+02] [ 1.28818553e-01 -6.11729951e-03 9.91649313e-01 1.75196377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:180.26, Z:17.52 [[ 8.85574828e-01 4.50249852e-01 -1.14159081e-01 1.67906879e+02] [-4.46188915e-01 8.92898990e-01 6.03891217e-02 1.80255739e+02] [ 1.29122721e-01 -2.54256972e-03 9.91625362e-01 1.75222353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:180.24, Z:17.53 [[ 8.85513911e-01 4.50861882e-01 -1.12199275e-01 1.67929123e+02] [-4.46160670e-01 8.92559068e-01 6.54138044e-02 1.80241142e+02] [ 1.29637072e-01 -7.86592985e-03 9.91530311e-01 1.75288989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:180.21, Z:17.55 [[ 8.83787565e-01 4.56523421e-01 -1.02498325e-01 1.67948182e+02] [-4.48980480e-01 8.89119471e-01 8.87867996e-02 1.80211111e+02] [ 1.31666510e-01 -3.24489224e-02 9.90762836e-01 1.75454297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:180.25, Z:17.51 [[ 8.86272419e-01 4.42994428e-01 -1.35192959e-01 1.67998624e+02] [-4.46027191e-01 8.94977674e-01 8.64339120e-03 1.80252527e+02] [ 1.24823654e-01 5.26393364e-02 9.90781588e-01 1.75100943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:180.19, Z:17.54 [[ 8.83589010e-01 4.56452607e-01 -1.04505880e-01 1.68000196e+02] [-4.49797051e-01 8.89393195e-01 8.16232688e-02 1.80194849e+02] [ 1.30203973e-01 -2.51149865e-02 9.91169089e-01 1.75441085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:180.20, Z:17.53 [[ 8.83768392e-01 4.52680869e-01 -1.18462905e-01 1.68036032e+02] [-4.49994235e-01 8.91626616e-01 5.00716167e-02 1.80200601e+02] [ 1.28291142e-01 9.05591219e-03 9.91695202e-01 1.75346541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.06, Y:180.18, Z:17.54 [[ 8.83232126e-01 4.55502537e-01 -1.11438100e-01 1.68055710e+02] [-4.51284456e-01 8.90223229e-01 6.20076072e-02 1.80181567e+02] [ 1.27449407e-01 -4.47682846e-03 9.91834969e-01 1.75425278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.08, Y:180.17, Z:17.55 [[ 8.82330902e-01 4.57263059e-01 -1.11367292e-01 1.68081795e+02] [-4.53371251e-01 8.89329084e-01 5.95675113e-02 1.80170484e+02] [ 1.26280194e-01 -2.06752751e-03 9.91992459e-01 1.75465916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:180.16, Z:17.55 [[ 8.82078013e-01 4.57733196e-01 -1.11439218e-01 1.68107087e+02] [-4.53993300e-01 8.89089125e-01 5.84004385e-02 1.80158532e+02] [ 1.25811216e-01 -9.21084427e-04 9.92053773e-01 1.75497587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.13, Y:180.14, Z:17.55 [[ 8.81515624e-01 4.59276270e-01 -1.09524024e-01 1.68131217e+02] [-4.55228260e-01 8.88284984e-01 6.09673591e-02 1.80142814e+02] [ 1.25289407e-01 -3.88524899e-03 9.92112629e-01 1.75544663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:180.13, Z:17.56 [[ 8.81332422e-01 4.58532109e-01 -1.14023973e-01 1.68158965e+02] [-4.55394541e-01 8.88666139e-01 5.37429520e-02 1.80133599e+02] [ 1.25972113e-01 4.56048897e-03 9.92023300e-01 1.75553276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.18, Y:180.11, Z:17.57 [[ 8.80826704e-01 4.61174999e-01 -1.07060441e-01 1.68178303e+02] [-4.55626653e-01 8.87173626e-01 7.29884234e-02 1.80107703e+02] [ 1.28641636e-01 -1.55105620e-02 9.91569842e-01 1.75705615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.21, Y:180.11, Z:17.56 [[ 8.81405420e-01 4.57769935e-01 -1.16495376e-01 1.68209671e+02] [-4.54721163e-01 8.89049298e-01 5.31037525e-02 1.80105776e+02] [ 1.27879434e-01 6.16697778e-03 9.91770547e-01 1.75644936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.24, Y:180.10, Z:17.56 [[ 8.82109105e-01 4.55611415e-01 -1.19589987e-01 1.68235446e+02] [-4.53318377e-01 8.90091466e-01 4.73247379e-02 1.80098083e+02] [ 1.28007718e-01 1.24667565e-02 9.91694814e-01 1.75643167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:180.08, Z:17.57 [[ 8.82373181e-01 4.55623189e-01 -1.17580097e-01 1.68256110e+02] [-4.51818114e-01 8.90171845e-01 5.87748189e-02 1.80078654e+02] [ 1.31445662e-01 1.26349383e-03 9.91322572e-01 1.75727028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.27, Y:180.05, Z:17.59 [[ 8.82218295e-01 4.58830742e-01 -1.05665658e-01 1.68271779e+02] [-4.51606611e-01 8.88083624e-01 8.57842913e-02 1.80047585e+02] [ 1.33200410e-01 -2.79611616e-02 9.90694617e-01 1.75895678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:180.05, Z:17.58 [[ 8.82954977e-01 4.53028575e-01 -1.23108160e-01 1.68306372e+02] [-4.50126670e-01 8.91445925e-01 5.20590440e-02 1.80052257e+02] [ 1.33328502e-01 9.44847408e-03 9.91026860e-01 1.75787765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:180.03, Z:17.59 [[ 8.83441867e-01 4.53010390e-01 -1.19632995e-01 1.68326739e+02] [-4.48922671e-01 8.91505234e-01 6.07194626e-02 1.80034138e+02] [ 1.34159989e-01 6.38481689e-05 9.90959683e-01 1.75853230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:180.02, Z:17.59 [[ 8.84137341e-01 4.51926054e-01 -1.18591757e-01 1.68351018e+02] [-4.47183942e-01 8.92042171e-01 6.54773742e-02 1.80017417e+02] [ 1.35379780e-01 -4.85866221e-03 9.90781867e-01 1.75897293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:180.00, Z:17.59 [[ 8.84279893e-01 4.51080269e-01 -1.20729704e-01 1.68376884e+02] [-4.46614432e-01 8.92480912e-01 6.33511625e-02 1.80004418e+02] [ 1.36325416e-01 -2.10053092e-03 9.90661884e-01 1.75925711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:179.99, Z:17.60 [[ 8.84872369e-01 4.51064591e-01 -1.16368490e-01 1.68397754e+02] [-4.45972235e-01 8.92452104e-01 6.81029250e-02 1.79987578e+02] [ 1.34572121e-01 -8.36528118e-03 9.90868491e-01 1.75967742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:179.97, Z:17.60 [[ 8.85499261e-01 4.48413440e-01 -1.21722821e-01 1.68421136e+02] [-4.43379064e-01 8.93808921e-01 6.72355427e-02 1.79973948e+02] [ 1.38946264e-01 -5.56767317e-03 9.90284271e-01 1.76048178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:179.96, Z:17.61 [[ 8.86304838e-01 4.47670419e-01 -1.18553490e-01 1.68444515e+02] [-4.42330366e-01 8.94151267e-01 6.95511279e-02 1.79957907e+02] [ 1.37140736e-01 -9.20369241e-03 9.90508814e-01 1.76092706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:179.95, Z:17.61 [[ 8.87148148e-01 4.45332137e-01 -1.21026654e-01 1.68468460e+02] [-4.40642060e-01 8.95356667e-01 6.45833816e-02 1.79945861e+02] [ 1.37123077e-01 -3.96559303e-03 9.90546080e-01 1.76116209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:179.93, Z:17.62 [[ 8.86902240e-01 4.45411631e-01 -1.22527123e-01 1.68491593e+02] [-4.40911228e-01 8.95323630e-01 6.31892986e-02 1.79933318e+02] [ 1.37846677e-01 -2.01914632e-03 9.90451522e-01 1.76152399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:179.92, Z:17.62 [[ 8.86935692e-01 4.45862719e-01 -1.20629659e-01 1.68513261e+02] [-4.41044513e-01 8.95087713e-01 6.55570241e-02 1.79918447e+02] [ 1.37203559e-01 -4.94181533e-03 9.90530546e-01 1.76193240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.54, Y:179.90, Z:17.62 [[ 8.87214358e-01 4.45932176e-01 -1.18301214e-01 1.68537119e+02] [-4.40936910e-01 8.95037496e-01 6.69516440e-02 1.79903484e+02] [ 1.35739915e-01 -7.23708789e-03 9.90718073e-01 1.76236454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:179.89, Z:17.63 [[ 8.87658639e-01 4.44558116e-01 -1.20125858e-01 1.68564388e+02] [-4.40298279e-01 8.95748536e-01 6.14165024e-02 1.79892598e+02] [ 1.34905766e-01 -1.62568031e-03 9.90857099e-01 1.76266556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72275509600007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:168.60, Y:179.89, Z:17.62 [[ 8.86550891e-01 4.42272566e-01 -1.35729495e-01 1.68598881e+02] [-4.40983386e-01 8.96574528e-01 4.10824702e-02 1.79889876e+02] [ 1.39861258e-01 2.34327520e-02 9.89893800e-01 1.76226727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:179.86, Z:17.63 [[ 8.87236219e-01 4.47350893e-01 -1.12645772e-01 1.68613990e+02] [-4.42445277e-01 8.94309503e-01 6.67284752e-02 1.79862052e+02] [ 1.30591227e-01 -9.36433028e-03 9.91392072e-01 1.76322618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:179.85, Z:17.64 [[ 8.86478796e-01 4.48410147e-01 -1.14383937e-01 1.68639859e+02] [-4.43822624e-01 8.93806302e-01 6.42788664e-02 1.79849678e+02] [ 1.31060380e-01 -6.21567286e-03 9.91354902e-01 1.76360458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.66, Y:179.84, Z:17.64 [[ 8.85137802e-01 4.50522669e-01 -1.16449113e-01 1.68662670e+02] [-4.46487014e-01 8.92764078e-01 6.01801189e-02 1.79839348e+02] [ 1.31074093e-01 -1.27468121e-03 9.91371755e-01 1.76379251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.68, Y:179.81, Z:17.66 [[ 8.84053532e-01 4.53376362e-01 -1.13574763e-01 1.68682620e+02] [-4.46613152e-01 8.91080736e-01 8.06958094e-02 1.79814987e+02] [ 1.37789856e-01 -2.06154325e-02 9.90246919e-01 1.76570730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:179.83, Z:17.64 [[ 8.84748877e-01 4.46188771e-01 -1.34666276e-01 1.68726718e+02] [-4.45877470e-01 8.94441896e-01 3.41610377e-02 1.79827197e+02] [ 1.35693431e-01 2.98207188e-02 9.90301983e-01 1.76365627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.74, Y:179.80, Z:17.65 [[ 8.84832905e-01 4.50271365e-01 -1.19693057e-01 1.68742406e+02] [-4.45767955e-01 8.92887015e-01 6.35901541e-02 1.79796815e+02] [ 1.35505202e-01 -2.91133132e-03 9.90772357e-01 1.76504581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.77, Y:179.78, Z:17.66 [[ 8.84006860e-01 4.52299841e-01 -1.18138581e-01 1.68766387e+02] [-4.47314746e-01 8.91841180e-01 6.72965565e-02 1.79780985e+02] [ 1.35799073e-01 -6.64548815e-03 9.90714111e-01 1.76565737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:179.76, Z:17.67 [[ 8.81926714e-01 4.56609476e-01 -1.17102769e-01 1.68787676e+02] [-4.50482391e-01 8.89554329e-01 7.58861733e-02 1.79762538e+02] [ 1.38819621e-01 -1.41733079e-02 9.90216254e-01 1.76682511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.81, Y:179.75, Z:17.67 [[ 8.81444265e-01 4.56737595e-01 -1.20194747e-01 1.68812905e+02] [-4.50923857e-01 8.89539540e-01 7.33967409e-02 1.79752750e+02] [ 1.40441031e-01 -1.04964574e-02 9.90033404e-01 1.76745662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.84, Y:179.74, Z:17.68 [[ 8.80577728e-01 4.58790142e-01 -1.18720136e-01 1.68838495e+02] [-4.53320960e-01 8.88500440e-01 7.11833886e-02 1.79740730e+02] [ 1.38141130e-01 -8.86418032e-03 9.90372887e-01 1.76773115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:179.74, Z:17.66 [[ 8.80946092e-01 4.55072520e-01 -1.29780524e-01 1.68875548e+02] [-4.53591516e-01 8.90196299e-01 4.24886467e-02 1.79742229e+02] [ 1.34865558e-01 2.14371376e-02 9.90631985e-01 1.76648979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:179.71, Z:17.69 [[ 8.80325674e-01 4.61187130e-01 -1.11054665e-01 1.68883316e+02] [-4.53860653e-01 8.86952100e-01 8.55948609e-02 1.79706680e+02] [ 1.37975417e-01 -2.49480108e-02 9.90121397e-01 1.76903945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:179.71, Z:17.69 [[ 8.80374378e-01 4.57092418e-01 -1.26520658e-01 1.68918123e+02] [-4.53124543e-01 8.89408871e-01 6.02495543e-02 1.79707642e+02] [ 1.40068210e-01 4.28745173e-03 9.90132574e-01 1.76856355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:179.69, Z:17.69 [[ 8.80827130e-01 4.57230796e-01 -1.22815173e-01 1.68939655e+02] [-4.52334538e-01 8.89341954e-01 6.68158254e-02 1.79690219e+02] [ 1.39774939e-01 -3.29964725e-03 9.90177802e-01 1.76916235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.96, Y:179.68, Z:17.70 [[ 8.80632968e-01 4.58358923e-01 -1.19969468e-01 1.68961569e+02] [-4.53098362e-01 8.88740199e-01 6.95897448e-02 1.79675502e+02] [ 1.38518769e-01 -6.92505407e-03 9.90335597e-01 1.76955666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:179.67, Z:17.69 [[ 8.81578137e-01 4.54450629e-01 -1.27650359e-01 1.68994539e+02] [-4.51305635e-01 8.90718293e-01 5.42599965e-02 1.79669635e+02] [ 1.38359000e-01 9.77489992e-03 9.90333903e-01 1.76917990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:179.65, Z:17.70 [[ 8.81441951e-01 4.56734296e-01 -1.20224244e-01 1.69014549e+02] [-4.51384835e-01 8.89571331e-01 7.01040446e-02 1.79646889e+02] [ 1.38966962e-01 -7.52524515e-03 9.90268425e-01 1.77016724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.04, Y:179.63, Z:17.71 [[ 8.82366154e-01 4.55344803e-01 -1.18705862e-01 1.69036182e+02] [-4.49586479e-01 8.90246337e-01 7.30305184e-02 1.79634697e+02] [ 1.38931526e-01 -1.10711073e-02 9.90240103e-01 1.77081449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.07, Y:179.63, Z:17.70 [[ 8.83579142e-01 4.49777474e-01 -1.30338495e-01 1.69071795e+02] [-4.47374195e-01 8.93012104e-01 4.88437543e-02 1.79633222e+02] [ 1.38362674e-01 1.51527568e-02 9.90265704e-01 1.76997600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:169.08, Y:179.60, Z:17.72 [[ 8.83755029e-01 4.53356614e-01 -1.15951843e-01 1.69083711e+02] [-4.46762277e-01 8.91144448e-01 7.91520082e-02 1.79604045e+02] [ 1.39213928e-01 -1.81480758e-02 9.90096020e-01 1.77188417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.12, Y:179.60, Z:17.71 [[ 8.85648791e-01 4.46035846e-01 -1.29144270e-01 1.69121583e+02] [-4.42957666e-01 8.94958875e-01 5.32646030e-02 1.79603958e+02] [ 1.39336733e-01 1.00317133e-02 9.90194243e-01 1.77124438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:179.59, Z:17.72 [[ 8.86109918e-01 4.47007622e-01 -1.22447537e-01 1.69140212e+02] [-4.42477486e-01 8.94527685e-01 6.35129524e-02 1.79586995e+02] [ 1.37923486e-01 -2.09917857e-03 9.90440662e-01 1.77177155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:179.57, Z:17.73 [[ 8.86362878e-01 4.47852818e-01 -1.17425300e-01 1.69160019e+02] [-4.41158423e-01 8.93915511e-01 7.93366632e-02 1.79565367e+02] [ 1.40499445e-01 -1.85179131e-02 9.89907568e-01 1.77315786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:179.56, Z:17.73 [[ 8.86873030e-01 4.45103507e-01 -1.23851103e-01 1.69188707e+02] [-4.40153055e-01 8.95468695e-01 6.63408195e-02 1.79559926e+02] [ 1.40433317e-01 -4.32244210e-03 9.90080704e-01 1.77307651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.21, Y:179.55, Z:17.73 [[ 8.88164033e-01 4.42753567e-01 -1.23020033e-01 1.69212695e+02] [-4.38029272e-01 8.96636549e-01 6.46007433e-02 1.79548606e+02] [ 1.38906468e-01 -3.48968111e-03 9.90299356e-01 1.77345616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:179.54, Z:17.74 [[ 8.88802935e-01 4.41754384e-01 -1.21993471e-01 1.69237032e+02] [-4.37102619e-01 8.97128829e-01 6.40403333e-02 1.79535938e+02] [ 1.37733958e-01 -3.59557055e-03 9.90462735e-01 1.77384173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.26, Y:179.53, Z:17.74 [[ 8.89897063e-01 4.38513311e-01 -1.25655453e-01 1.69264850e+02] [-4.34640996e-01 8.98720303e-01 5.82153004e-02 1.79526700e+02] [ 1.38457291e-01 2.80938652e-03 9.90364421e-01 1.77411513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:179.51, Z:17.75 [[ 8.90289078e-01 4.40009055e-01 -1.17377123e-01 1.69284074e+02] [-4.34569827e-01 8.97923487e-01 6.98747258e-02 1.79507111e+02] [ 1.36141188e-01 -1.12001491e-02 9.90626132e-01 1.77491398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5927550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:169.31, Y:179.50, Z:17.75 [[ 8.90784207e-01 4.38140606e-01 -1.20566605e-01 1.69311398e+02] [-4.33580276e-01 8.98897544e-01 6.31771289e-02 1.79498266e+02] [ 1.36057491e-01 -4.00188680e-03 9.90692861e-01 1.77487701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.34, Y:179.49, Z:17.75 [[ 8.91086717e-01 4.37717184e-01 -1.19867138e-01 1.69335609e+02] [-4.33208529e-01 8.99103696e-01 6.27926247e-02 1.79487351e+02] [ 1.35258398e-01 -4.02620725e-03 9.90802178e-01 1.77541149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:179.48, Z:17.76 [[ 8.91231705e-01 4.37545416e-01 -1.19415482e-01 1.69360545e+02] [-4.33073856e-01 8.99187388e-01 6.25226175e-02 1.79475513e+02] [ 1.34733380e-01 -4.00641566e-03 9.90873789e-01 1.77576029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:179.47, Z:17.76 [[ 8.91188536e-01 4.36003738e-01 -1.25234716e-01 1.69388711e+02] [-4.32448317e-01 8.99933721e-01 5.57471990e-02 1.79467846e+02] [ 1.37008931e-01 4.47627736e-03 9.90559698e-01 1.77595583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.41, Y:179.45, Z:17.77 [[ 8.91184344e-01 4.38820021e-01 -1.15010666e-01 1.69408209e+02] [-4.33355590e-01 8.98484963e-01 7.01976026e-02 1.79448116e+02] [ 1.34139468e-01 -1.27184893e-02 9.90880842e-01 1.77671688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:179.44, Z:17.77 [[ 8.90906568e-01 4.38349773e-01 -1.18890552e-01 1.69435741e+02] [-4.33936121e-01 8.98796475e-01 6.21638161e-02 1.79440250e+02] [ 1.34107904e-01 -3.79124707e-03 9.90959483e-01 1.77685093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:179.43, Z:17.77 [[ 8.90813735e-01 4.38736973e-01 -1.18155654e-01 1.69461003e+02] [-4.34383813e-01 8.98607940e-01 6.17614219e-02 1.79428050e+02] [ 1.33272628e-01 -3.69301951e-03 9.91072534e-01 1.77720091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:179.41, Z:17.78 [[ 8.89537551e-01 4.41854578e-01 -1.16135604e-01 1.69485689e+02] [-4.36707914e-01 8.97034034e-01 6.79421807e-02 1.79411093e+02] [ 1.34198153e-01 -9.71978363e-03 9.90906848e-01 1.77779787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:179.41, Z:17.77 [[ 8.90504428e-01 4.37783229e-01 -1.23885866e-01 1.69517751e+02] [-4.35499859e-01 8.98991870e-01 4.64057058e-02 1.79413529e+02] [ 1.31688026e-01 1.26277908e-02 9.91210776e-01 1.77702070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:179.40, Z:17.78 [[ 8.90141961e-01 4.40262934e-01 -1.17540796e-01 1.69540628e+02] [-4.36734774e-01 8.97867101e-01 5.56543448e-02 1.79396593e+02] [ 1.30038559e-01 1.79388530e-03 9.91507315e-01 1.77757960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.56, Y:179.37, Z:17.79 [[ 8.88892581e-01 4.44418722e-01 -1.11184437e-01 1.69560040e+02] [-4.38678349e-01 8.95674220e-01 7.29999880e-02 1.79372994e+02] [ 1.32027596e-01 -1.61149423e-02 9.91115040e-01 1.77897068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:179.37, Z:17.79 [[ 8.88982566e-01 4.42756832e-01 -1.16946082e-01 1.69586500e+02] [-4.38218651e-01 8.96626947e-01 6.34392014e-02 1.79368002e+02] [ 1.32945148e-01 -5.14838986e-03 9.91110025e-01 1.77918341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:179.37, Z:17.78 [[ 8.90245969e-01 4.37571370e-01 -1.26465061e-01 1.69619732e+02] [-4.36104985e-01 8.98981785e-01 4.05486417e-02 1.79370353e+02] [ 1.31432711e-01 1.90537788e-02 9.91141966e-01 1.77826844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.63, Y:179.33, Z:17.80 [[ 8.88817190e-01 4.44804084e-01 -1.10242138e-01 1.69632178e+02] [-4.38194632e-01 8.95345995e-01 7.96304790e-02 1.79333293e+02] [ 1.34124820e-01 -2.24694253e-02 9.90709674e-01 1.78040877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:179.33, Z:17.80 [[ 8.88732644e-01 4.41802856e-01 -1.22329574e-01 1.69662775e+02] [-4.37726582e-01 8.97112104e-01 5.98774860e-02 1.79332753e+02] [ 1.36197386e-01 3.31829875e-04 9.90681665e-01 1.78032189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:179.32, Z:17.81 [[ 8.88518993e-01 4.42728629e-01 -1.20521204e-01 1.69687866e+02] [-4.38228161e-01 8.96649932e-01 6.30474221e-02 1.79318537e+02] [ 1.35978228e-01 -3.20304629e-03 9.90706648e-01 1.78075669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.71, Y:179.30, Z:17.81 [[ 8.87732789e-01 4.44382011e-01 -1.20229467e-01 1.69710238e+02] [-4.39321586e-01 8.95811149e-01 6.72229801e-02 1.79304057e+02] [ 1.37575580e-01 -6.85664326e-03 9.90467539e-01 1.78143622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.74, Y:179.30, Z:17.82 [[ 8.88719613e-01 4.42219854e-01 -1.20909266e-01 1.69737340e+02] [-4.37732705e-01 8.96901730e-01 6.29076048e-02 1.79295011e+02] [ 1.36262721e-01 -2.98128231e-03 9.90668251e-01 1.78156085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:179.29, Z:17.82 [[ 8.89712587e-01 4.39779492e-01 -1.22496984e-01 1.69763054e+02] [-4.35807641e-01 8.98105322e-01 5.89790724e-02 1.79287467e+02] [ 1.35952980e-01 9.10698608e-04 9.90714872e-01 1.78163990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.78, Y:179.27, Z:17.82 [[ 8.89235764e-01 4.41497326e-01 -1.19749188e-01 1.69784790e+02] [-4.36542701e-01 8.97237733e-01 6.62942077e-02 1.79269033e+02] [ 1.36712206e-01 -6.67554636e-03 9.90588315e-01 1.78244315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:179.26, Z:17.83 [[ 8.89621198e-01 4.40262601e-01 -1.21420618e-01 1.69809166e+02] [-4.35729370e-01 8.97863255e-01 6.30990648e-02 1.79258324e+02] [ 1.36799269e-01 -3.22773638e-03 9.90593530e-01 1.78271562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:179.25, Z:17.83 [[ 8.89948860e-01 4.38150528e-01 -1.26550945e-01 1.69835402e+02] [-4.34460786e-01 8.98891157e-01 5.69079419e-02 1.79249359e+02] [ 1.38689770e-01 4.33626495e-03 9.90326383e-01 1.78293600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:179.23, Z:17.84 [[ 8.90114352e-01 4.38502485e-01 -1.24145117e-01 1.69858231e+02] [-4.34017597e-01 8.98728126e-01 6.25817959e-02 1.79234035e+02] [ 1.39014982e-01 -1.82378907e-03 9.90288599e-01 1.78350439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.88, Y:179.22, Z:17.84 [[ 8.91361381e-01 4.37745142e-01 -1.17703351e-01 1.69881633e+02] [-4.32294449e-01 8.99027770e-01 6.97895279e-02 1.79217050e+02] [ 1.36368608e-01 -1.13251848e-02 9.90593430e-01 1.78405055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:179.21, Z:17.84 [[ 8.91671256e-01 4.35972858e-01 -1.21860736e-01 1.69908831e+02] [-4.31386975e-01 8.99951929e-01 6.31807165e-02 1.79208803e+02] [ 1.37213882e-01 -3.76729438e-03 9.90534279e-01 1.78418908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:179.20, Z:17.84 [[ 8.91285901e-01 4.33462318e-01 -1.33115968e-01 1.69937637e+02] [-4.30543726e-01 9.01099411e-01 5.14970985e-02 1.79204417e+02] [ 1.42272772e-01 1.14136071e-02 9.89761682e-01 1.78429906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:179.17, Z:17.86 [[ 8.91889949e-01 4.37296525e-01 -1.15343265e-01 1.69952402e+02] [-4.29692549e-01 8.98922199e-01 8.54587245e-02 1.79171052e+02] [ 1.41055425e-01 -2.66576359e-02 9.89642732e-01 1.78596851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:179.18, Z:17.85 [[ 8.92941868e-01 4.31780744e-01 -1.27358586e-01 1.69985711e+02] [-4.28077629e-01 9.01969704e-01 5.65702890e-02 1.79176538e+02] [ 1.39299547e-01 4.00538183e-03 9.90242189e-01 1.78508493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:179.15, Z:17.86 [[ 8.92026622e-01 4.34840805e-01 -1.23296307e-01 1.70006322e+02] [-4.29166674e-01 9.00449543e-01 7.07572305e-02 1.79154182e+02] [ 1.41790235e-01 -1.02026671e-02 9.89844147e-01 1.78620688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.03, Y:179.14, Z:17.87 [[ 8.91977110e-01 4.33572204e-01 -1.28031163e-01 1.70034252e+02] [-4.28215466e-01 9.01098743e-01 6.82097520e-02 1.79141832e+02] [ 1.44942573e-01 -6.01661340e-03 9.89421776e-01 1.78676984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.06, Y:179.14, Z:17.86 [[ 8.93642355e-01 4.31170706e-01 -1.24479571e-01 1.70058922e+02] [-4.26990783e-01 9.02270295e-01 5.98931247e-02 1.79136222e+02] [ 1.38138380e-01 -3.71403535e-04 9.90412868e-01 1.78643012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:179.13, Z:17.86 [[ 8.94242585e-01 4.29067894e-01 -1.27400712e-01 1.70088315e+02] [-4.26105516e-01 9.03231097e-01 5.10653912e-02 1.79128267e+02] [ 1.36982805e-01 8.62129881e-03 9.90535908e-01 1.78623838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:179.11, Z:17.87 [[ 8.93802598e-01 4.31173607e-01 -1.23313567e-01 1.70106125e+02] [-4.26075640e-01 9.02242875e-01 6.64630960e-02 1.79107941e+02] [ 1.39915920e-01 -6.86398089e-03 9.90139597e-01 1.78745219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:179.10, Z:17.88 [[ 8.94601674e-01 4.29211338e-01 -1.24360248e-01 1.70133214e+02] [-4.24464577e-01 9.03193900e-01 6.38012628e-02 1.79096702e+02] [ 1.39705643e-01 -4.29019632e-03 9.90183785e-01 1.78782200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:179.08, Z:17.88 [[ 8.94064643e-01 4.32157499e-01 -1.17848678e-01 1.70153617e+02] [-4.26500434e-01 9.01702276e-01 7.09252091e-02 1.79079057e+02] [ 1.36915282e-01 -1.31492095e-02 9.90495484e-01 1.78834602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:179.07, Z:17.89 [[ 8.94084594e-01 4.30932956e-01 -1.22104571e-01 1.70181606e+02] [-4.26348611e-01 9.02374579e-01 6.28250009e-02 1.79071306e+02] [ 1.37257424e-01 -4.11175119e-03 9.90526876e-01 1.78850234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:179.06, Z:17.89 [[ 8.94022870e-01 4.31295131e-01 -1.21274973e-01 1.70207425e+02] [-4.26823171e-01 9.02203236e-01 6.20588576e-02 1.79058793e+02] [ 1.36180356e-01 -3.71906939e-03 9.90677081e-01 1.78877389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:170.23, Y:179.05, Z:17.89 [[ 8.93368709e-01 4.30202564e-01 -1.29684632e-01 1.70234735e+02] [-4.26992707e-01 9.02697157e-01 5.30572344e-02 1.79053375e+02] [ 1.39891307e-01 7.97471908e-03 9.90134752e-01 1.78907674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:179.03, Z:17.90 [[ 8.93340831e-01 4.34059473e-01 -1.16338014e-01 1.70252908e+02] [-4.28091643e-01 9.00745394e-01 7.34525730e-02 1.79028419e+02] [ 1.36673715e-01 -1.58148512e-02 9.90489872e-01 1.79005780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:179.02, Z:17.90 [[ 8.93106533e-01 4.33010934e-01 -1.21910832e-01 1.70280774e+02] [-4.28482921e-01 9.01381325e-01 6.25627246e-02 1.79022175e+02] [ 1.36978491e-01 -3.63846858e-03 9.90567340e-01 1.79004008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:170.31, Y:179.01, Z:17.90 [[ 8.92416972e-01 4.34143058e-01 -1.22929872e-01 1.70305397e+02] [-4.29552334e-01 9.00837240e-01 6.30639309e-02 1.79010035e+02] [ 1.38118575e-01 -3.47450885e-03 9.90409606e-01 1.79037705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:170.33, Y:179.00, Z:17.91 [[ 8.92547182e-01 4.33869525e-01 -1.22950247e-01 1.70330651e+02] [-4.29281691e-01 9.00969024e-01 6.30241827e-02 1.78997292e+02] [ 1.38118636e-01 -3.47176667e-03 9.90409607e-01 1.79077840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:178.99, Z:17.90 [[ 8.93059749e-01 4.31563000e-01 -1.27270037e-01 1.70360463e+02] [-4.28831387e-01 9.02023842e-01 4.95644109e-02 1.78993030e+02] [ 1.36190773e-01 1.03134060e-02 9.90628945e-01 1.79026329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:178.97, Z:17.92 [[ 8.91738130e-01 4.36728601e-01 -1.18622243e-01 1.70374758e+02] [-4.30843627e-01 8.99487683e-01 7.27714006e-02 1.78967653e+02] [ 1.38480598e-01 -1.37853953e-02 9.90269199e-01 1.79162554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:178.96, Z:17.92 [[ 8.92411937e-01 4.33511272e-01 -1.25175524e-01 1.70405925e+02] [-4.29244046e-01 9.01148047e-01 6.06773996e-02 1.78962128e+02] [ 1.39106016e-01 -4.18387119e-04 9.90277406e-01 1.79166107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:178.95, Z:17.92 [[ 8.92629195e-01 4.34204112e-01 -1.21160679e-01 1.70428612e+02] [-4.29253987e-01 9.00789965e-01 6.57149397e-02 1.78946208e+02] [ 1.37674021e-01 -6.65036934e-03 9.90455267e-01 1.79218670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:178.94, Z:17.92 [[ 8.93953557e-01 4.30153241e-01 -1.25758611e-01 1.70458122e+02] [-4.27206363e-01 9.02718671e-01 5.09286336e-02 1.78943804e+02] [ 1.35431763e-01 8.19704569e-03 9.90752767e-01 1.79169919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:178.93, Z:17.92 [[ 8.94603540e-01 4.29862473e-01 -1.22076867e-01 1.70480556e+02] [-4.25756413e-01 9.02893755e-01 5.92818991e-02 1.78925283e+02] [ 1.35705505e-01 -1.05878765e-03 9.90748654e-01 1.79247077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:178.92, Z:17.92 [[ 8.95023699e-01 4.28245454e-01 -1.24653157e-01 1.70506309e+02] [-4.25434708e-01 9.03622197e-01 4.97215776e-02 1.78919706e+02] [ 1.33932400e-01 8.52978938e-03 9.90953760e-01 1.79220803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:178.88, Z:17.95 [[ 8.93579707e-01 4.34879409e-01 -1.11333769e-01 1.70520292e+02] [-4.27574085e-01 9.00070363e-01 8.39865693e-02 1.78882650e+02] [ 1.36732256e-01 -2.74452594e-02 9.90227776e-01 1.79451678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:178.88, Z:17.94 [[ 8.93550331e-01 4.31990929e-01 -1.22276912e-01 1.70552465e+02] [-4.27485111e-01 9.01871472e-01 6.23243773e-02 1.78882054e+02] [ 1.37201624e-01 -3.41840869e-03 9.90537243e-01 1.79420639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:178.87, Z:17.95 [[ 8.92951636e-01 4.33728477e-01 -1.20486451e-01 1.70576534e+02] [-4.28536214e-01 9.01002503e-01 6.74626066e-02 1.78865548e+02] [ 1.37819048e-01 -8.60803739e-03 9.90420018e-01 1.79486441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:178.86, Z:17.95 [[ 8.92880636e-01 4.32667584e-01 -1.24751480e-01 1.70603649e+02] [-4.28761074e-01 9.01551979e-01 5.80342262e-02 1.78859404e+02] [ 1.37579472e-01 1.67094177e-03 9.90489322e-01 1.79480110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:178.84, Z:17.96 [[ 8.91916876e-01 4.35960675e-01 -1.20094033e-01 1.70624671e+02] [-4.30326434e-01 8.99892669e-01 7.07979130e-02 1.78837694e+02] [ 1.38936846e-01 -1.14662161e-02 9.90234860e-01 1.79583056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:178.83, Z:17.95 [[ 8.91873173e-01 4.34220460e-01 -1.26549734e-01 1.70653408e+02] [-4.30672513e-01 9.00793290e-01 5.56114637e-02 1.78834320e+02] [ 1.38142786e-01 4.90311920e-03 9.90400187e-01 1.79549540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:178.82, Z:17.96 [[ 8.91573581e-01 4.35722258e-01 -1.23461184e-01 1.70675862e+02] [-4.31183792e-01 9.00076991e-01 6.27849317e-02 1.78817588e+02] [ 1.38481363e-01 -2.74292487e-03 9.90361241e-01 1.79610452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.70, Y:178.80, Z:17.96 [[ 8.91334906e-01 4.36141888e-01 -1.23702625e-01 1.70700783e+02] [-4.31595933e-01 8.99874033e-01 6.28623627e-02 1.78804768e+02] [ 1.38733690e-01 -2.64186832e-03 9.90326201e-01 1.79648796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.72, Y:178.79, Z:17.97 [[ 8.90605793e-01 4.37380500e-01 -1.24577764e-01 1.70724708e+02] [-4.32788186e-01 8.99273272e-01 6.32611104e-02 1.78792166e+02] [ 1.39698630e-01 -2.42492698e-03 9.90191099e-01 1.79683330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.75, Y:178.78, Z:17.97 [[ 8.90420799e-01 4.37794749e-01 -1.24445002e-01 1.70749562e+02] [-4.33219064e-01 8.99071902e-01 6.31740300e-02 1.78779546e+02] [ 1.39542263e-01 -2.33952321e-03 9.90213353e-01 1.79721665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:178.77, Z:17.98 [[ 8.90429535e-01 4.37718568e-01 -1.24650305e-01 1.70774872e+02] [-4.33133345e-01 8.99109059e-01 6.32329521e-02 1.78766953e+02] [ 1.39752456e-01 -2.31428459e-03 9.90183768e-01 1.79758749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:178.75, Z:17.98 [[ 8.90387467e-01 4.37843327e-01 -1.24512567e-01 1.70798151e+02] [-4.33276446e-01 8.99048480e-01 6.31137990e-02 1.78753651e+02] [ 1.39576790e-01 -2.24737309e-03 9.90208700e-01 1.79798383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:178.74, Z:17.98 [[ 8.90807098e-01 4.36960145e-01 -1.24613588e-01 1.70822767e+02] [-4.32384146e-01 8.99477816e-01 6.31158401e-02 1.78740794e+02] [ 1.39666264e-01 -2.34309870e-03 9.90195862e-01 1.79842021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:178.73, Z:17.98 [[ 8.92587740e-01 4.33050349e-01 -1.25517020e-01 1.70848644e+02] [-4.29459263e-01 9.01360434e-01 5.58042080e-02 1.78732976e+02] [ 1.37302108e-01 4.09429508e-03 9.90520756e-01 1.79829760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.87, Y:178.72, Z:17.99 [[ 8.92377360e-01 4.33606433e-01 -1.25092398e-01 1.70871794e+02] [-4.29087576e-01 9.01099975e-01 6.24714837e-02 1.78715093e+02] [ 1.39808794e-01 -2.07254364e-03 9.90176351e-01 1.79906017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:178.70, Z:18.00 [[ 8.92717344e-01 4.34338328e-01 -1.20024834e-01 1.70893881e+02] [-4.29093545e-01 9.00703614e-01 6.79097126e-02 1.78698500e+02] [ 1.37602593e-01 -9.12229653e-03 9.90445511e-01 1.79966234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.92, Y:178.69, Z:18.00 [[ 8.93165560e-01 4.31410401e-01 -1.27044669e-01 1.70923736e+02] [-4.27637251e-01 9.02149423e-01 5.70333267e-02 1.78691416e+02] [ 1.39218045e-01 3.38882989e-03 9.90255953e-01 1.79970015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:178.67, Z:18.00 [[ 8.93686874e-01 4.32608435e-01 -1.19053405e-01 1.70943759e+02] [-4.27460202e-01 9.01535632e-01 6.71660557e-02 1.78671598e+02] [ 1.36387489e-01 -9.13482964e-03 9.90613450e-01 1.80036846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:178.66, Z:18.01 [[ 8.93995797e-01 4.31147598e-01 -1.21996983e-01 1.70970112e+02] [-4.26753342e-01 9.02276789e-01 6.14669023e-02 1.78661935e+02] [ 1.36576354e-01 -2.88853193e-03 9.90625336e-01 1.80056003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:178.65, Z:18.01 [[ 8.94288192e-01 4.30461922e-01 -1.22274951e-01 1.70993545e+02] [-4.26047604e-01 9.02603892e-01 6.15601611e-02 1.78648978e+02] [ 1.36865152e-01 -2.95757549e-03 9.90585273e-01 1.80089147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:178.64, Z:18.01 [[ 8.94479392e-01 4.30087947e-01 -1.22192368e-01 1.71018461e+02] [-4.25680466e-01 9.02782062e-01 6.14873089e-02 1.78635894e+02] [ 1.36758029e-01 -2.98422639e-03 9.90599988e-01 1.80125120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.04, Y:178.62, Z:18.02 [[ 8.94108561e-01 4.30803188e-01 -1.22386657e-01 1.71041970e+02] [-4.26394650e-01 9.02441445e-01 6.15389311e-02 1.78623626e+02] [ 1.36957959e-01 -2.83746940e-03 9.90572797e-01 1.80156542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:178.61, Z:18.02 [[ 8.93705262e-01 4.31644093e-01 -1.22369450e-01 1.71066098e+02] [-4.27247374e-01 9.02039988e-01 6.15104984e-02 1.78612822e+02] [ 1.36932780e-01 -2.69022993e-03 9.90576689e-01 1.80190260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:178.60, Z:18.02 [[ 8.93499558e-01 4.32001102e-01 -1.22611531e-01 1.71091496e+02] [-4.27592907e-01 9.01869263e-01 6.16128194e-02 1.78601084e+02] [ 1.37196376e-01 -2.62320618e-03 9.90540394e-01 1.80227379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:178.59, Z:18.03 [[ 8.92922144e-01 4.33099929e-01 -1.22941028e-01 1.71116273e+02] [-4.28684460e-01 9.01342661e-01 6.17336320e-02 1.78589250e+02] [ 1.37548825e-01 -2.42041897e-03 9.90492030e-01 1.80266483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:178.58, Z:18.03 [[ 8.92861567e-01 4.33321413e-01 -1.22600058e-01 1.71141051e+02] [-4.28938701e-01 9.01236417e-01 6.15183824e-02 1.78577131e+02] [ 1.37148869e-01 -2.33948997e-03 9.90547684e-01 1.80306792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:178.57, Z:18.03 [[ 8.92508253e-01 4.34080392e-01 -1.22487680e-01 1.71166219e+02] [-4.29719391e-01 9.00871506e-01 6.14147761e-02 1.78565574e+02] [ 1.37004611e-01 -2.17786331e-03 9.90568016e-01 1.80343262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:178.55, Z:18.04 [[ 8.92193473e-01 4.34728511e-01 -1.22482360e-01 1.71190608e+02] [-4.30380605e-01 9.00559261e-01 6.13641037e-02 1.78554303e+02] [ 1.36979349e-01 -2.03462054e-03 9.90571814e-01 1.80373393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:178.54, Z:18.04 [[ 8.92132509e-01 4.34870962e-01 -1.22420717e-01 1.71215958e+02] [-4.30533288e-01 9.00490598e-01 6.13006547e-02 1.78542032e+02] [ 1.36896580e-01 -1.98211297e-03 9.90583362e-01 1.80411725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.24, Y:178.53, Z:18.05 [[ 8.92262937e-01 4.34601246e-01 -1.22427973e-01 1.71241336e+02] [-4.30263034e-01 9.00620746e-01 6.12861600e-02 1.78529512e+02] [ 1.36896214e-01 -2.00713785e-03 9.90583362e-01 1.80451356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.27, Y:178.52, Z:18.05 [[ 8.92197127e-01 4.34768332e-01 -1.22314289e-01 1.71265395e+02] [-4.30446219e-01 9.00540252e-01 6.11825783e-02 1.78518026e+02] [ 1.36749188e-01 -1.93719749e-03 9.90603809e-01 1.80487849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.29, Y:178.51, Z:18.05 [[ 8.92502955e-01 4.34373703e-01 -1.21482350e-01 1.71290694e+02] [-4.30109643e-01 9.00730606e-01 6.07459562e-02 1.78506343e+02] [ 1.35809316e-01 -1.96521531e-03 9.90733046e-01 1.80523439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:178.49, Z:18.06 [[ 8.92573676e-01 4.34358990e-01 -1.21014469e-01 1.71315115e+02] [-4.30134377e-01 9.00737808e-01 6.04633683e-02 1.78494283e+02] [ 1.35265115e-01 -1.91552767e-03 9.90807590e-01 1.80559591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:178.48, Z:18.06 [[ 8.93001034e-01 4.33774385e-01 -1.19953888e-01 1.71340026e+02] [-4.29621236e-01 9.01019371e-01 5.99139833e-02 1.78482470e+02] [ 1.34069928e-01 -1.96851130e-03 9.90969919e-01 1.80597072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:178.47, Z:18.06 [[ 8.93164578e-01 4.32626283e-01 -1.22847608e-01 1.71365874e+02] [-4.28935402e-01 9.01570448e-01 5.64371163e-02 1.78473705e+02] [ 1.35171952e-01 2.28605479e-03 9.90819518e-01 1.80614671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:178.46, Z:18.07 [[ 8.93344704e-01 4.33503752e-01 -1.18362737e-01 1.71388551e+02] [-4.28825069e-01 9.01130005e-01 6.38261242e-02 1.78456831e+02] [ 1.34329078e-01 -6.26182106e-03 9.90916994e-01 1.80677693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:178.45, Z:18.07 [[ 8.93300008e-01 4.32709576e-01 -1.21562819e-01 1.71414502e+02] [-4.28448960e-01 9.01531026e-01 6.06077412e-02 1.78446944e+02] [ 1.35818203e-01 -2.05743209e-03 9.90731640e-01 1.80704777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:178.43, Z:18.07 [[ 8.93513228e-01 4.32257750e-01 -1.21603243e-01 1.71439636e+02] [-4.27992734e-01 9.01747630e-01 6.06088480e-02 1.78433853e+02] [ 1.35854080e-01 -2.10950303e-03 9.90726612e-01 1.80733428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:178.42, Z:18.08 [[ 8.93716127e-01 4.32579408e-01 -1.18939225e-01 1.71462388e+02] [-4.27965886e-01 9.01578228e-01 6.32605625e-02 1.78421335e+02] [ 1.34598233e-01 -5.63505398e-03 9.90884232e-01 1.80771164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:178.41, Z:18.08 [[ 8.94527018e-01 4.29674317e-01 -1.23293939e-01 1.71492912e+02] [-4.26023139e-01 9.02980535e-01 5.59503309e-02 1.78412032e+02] [ 1.35372447e-01 2.47698831e-03 9.90791686e-01 1.80787225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:178.40, Z:18.08 [[ 8.94676228e-01 4.30051659e-01 -1.20871906e-01 1.71516839e+02] [-4.25840840e-01 9.02801410e-01 6.00765522e-02 1.78397156e+02] [ 1.34959348e-01 -2.27686920e-03 9.90848520e-01 1.80842768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:178.39, Z:18.09 [[ 8.95306834e-01 4.28816449e-01 -1.20590741e-01 1.71541366e+02] [-4.24620633e-01 9.03388414e-01 5.98889890e-02 1.78386228e+02] [ 1.34621662e-01 -2.41370423e-03 9.90894133e-01 1.80874517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:178.37, Z:18.09 [[ 8.95799920e-01 4.27711532e-01 -1.20852592e-01 1.71566693e+02] [-4.23490038e-01 9.03911640e-01 5.99994615e-02 1.78374169e+02] [ 1.34902526e-01 -2.56764425e-03 9.90855547e-01 1.80911084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:178.36, Z:18.09 [[ 8.96290659e-01 4.26611636e-01 -1.21101472e-01 1.71591588e+02] [-4.22369210e-01 9.04430897e-01 6.00749739e-02 1.78362237e+02] [ 1.35156596e-01 -2.69510497e-03 9.90820585e-01 1.80945386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:178.35, Z:18.10 [[ 8.96943880e-01 4.25384897e-01 -1.20579295e-01 1.71616044e+02] [-4.21170574e-01 9.05008045e-01 5.97978744e-02 1.78350271e+02] [ 1.34562345e-01 -2.85088648e-03 9.90901028e-01 1.80977626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:178.34, Z:18.10 [[ 8.98033682e-01 4.22816804e-01 -1.21496735e-01 1.71640143e+02] [-4.18981056e-01 9.06215170e-01 5.68237619e-02 1.78340036e+02] [ 1.34128226e-01 -1.24821610e-04 9.90963977e-01 1.81009172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:178.32, Z:18.11 [[ 8.99077753e-01 4.21773244e-01 -1.17330834e-01 1.71665036e+02] [-4.17393520e-01 9.06682922e-01 6.08993248e-02 1.78324346e+02] [ 1.32067569e-01 -5.78009851e-03 9.91223864e-01 1.81058749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:178.31, Z:18.11 [[ 9.00019827e-01 4.19457526e-01 -1.18404791e-01 1.71689839e+02] [-4.15357482e-01 9.07767932e-01 5.86135178e-02 1.78313588e+02] [ 1.32069953e-01 -3.57301228e-03 9.91233959e-01 1.81080738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:178.30, Z:18.11 [[ 9.00366645e-01 4.18647260e-01 -1.18635480e-01 1.71714338e+02] [-4.14528541e-01 9.08141514e-01 5.86947890e-02 1.78301298e+02] [ 1.32310217e-01 -3.66903756e-03 9.91201566e-01 1.81114926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:178.29, Z:18.11 [[ 9.00839827e-01 4.17727543e-01 -1.18284854e-01 1.71739775e+02] [-4.13627455e-01 9.08564486e-01 5.85055867e-02 1.78288777e+02] [ 1.31908813e-01 -3.77829941e-03 9.91254654e-01 1.81148374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:178.28, Z:18.12 [[ 9.00748892e-01 4.18471678e-01 -1.16330941e-01 1.71764980e+02] [-4.14518756e-01 9.08222848e-01 5.74931189e-02 1.78279780e+02] [ 1.29713661e-01 -3.56550618e-03 9.91545084e-01 1.81182089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:178.27, Z:18.12 [[ 9.00634538e-01 4.18688433e-01 -1.16436353e-01 1.71790127e+02] [-4.14734046e-01 9.08123161e-01 5.75151785e-02 1.78267268e+02] [ 1.29819489e-01 -3.51003629e-03 9.91531432e-01 1.81219925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:178.25, Z:18.13 [[ 9.00419366e-01 4.19069392e-01 -1.16729648e-01 1.71815061e+02] [-4.15104109e-01 9.07947759e-01 5.76146351e-02 1.78254386e+02] [ 1.30128952e-01 -3.42237688e-03 9.91491172e-01 1.81257098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:178.24, Z:18.13 [[ 8.99707840e-01 4.20342746e-01 -1.17634085e-01 1.71840293e+02] [-4.16332455e-01 9.07359686e-01 5.80145474e-02 1.78242009e+02] [ 1.31122420e-01 -3.22125589e-03 9.91360951e-01 1.81293196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.86, Y:178.23, Z:18.13 [[ 8.99261199e-01 4.21204453e-01 -1.17966537e-01 1.71864378e+02] [-4.17184958e-01 9.06960548e-01 5.81315322e-02 1.78230324e+02] [ 1.31476255e-01 -3.06156646e-03 9.91314592e-01 1.81326310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.89, Y:178.22, Z:18.14 [[ 8.99381178e-01 4.20944811e-01 -1.17978649e-01 1.71889838e+02] [-4.16926317e-01 9.07081049e-01 5.81069406e-02 1.78217991e+02] [ 1.31476012e-01 -3.07188507e-03 9.91314593e-01 1.81366048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.92, Y:178.21, Z:18.14 [[ 8.98531615e-01 4.22626643e-01 -1.18438410e-01 1.71915033e+02] [-4.18596768e-01 9.06299558e-01 5.82911385e-02 1.78206781e+02] [ 1.31976067e-01 -2.79849510e-03 9.91248953e-01 1.81397359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:178.20, Z:18.14 [[ 8.98176746e-01 4.21394048e-01 -1.25321944e-01 1.71945504e+02] [-4.18508151e-01 9.06845019e-01 4.98300975e-02 1.78201620e+02] [ 1.34645687e-01 7.69202038e-03 9.90863952e-01 1.81410541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:178.18, Z:18.15 [[ 8.97594211e-01 4.26024496e-01 -1.13259710e-01 1.71963864e+02] [-4.20735038e-01 9.04608547e-01 6.83037737e-02 1.78179586e+02] [ 1.31554783e-01 -1.36567434e-02 9.91214827e-01 1.81494176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:178.17, Z:18.15 [[ 8.97067514e-01 4.25918425e-01 -1.17742819e-01 1.71992507e+02] [-4.22060019e-01 9.04760084e-01 5.72235178e-02 1.78173621e+02] [ 1.30901554e-01 -1.63882231e-03 9.91394017e-01 1.81498212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.02, Y:178.16, Z:18.15 [[ 8.97251318e-01 4.25776489e-01 -1.16852277e-01 1.72016213e+02] [-4.21830672e-01 9.04824484e-01 5.78924590e-02 1.78160862e+02] [ 1.30380049e-01 -2.65221071e-03 9.91460543e-01 1.81539445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:178.15, Z:18.16 [[ 8.97069178e-01 4.26217285e-01 -1.16643539e-01 1.72040267e+02] [-4.22366565e-01 9.04618505e-01 5.72000473e-02 1.78148774e+02] [ 1.29897553e-01 -2.04606851e-03 9.91525310e-01 1.81579361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:178.14, Z:18.16 [[ 8.97299511e-01 4.25829942e-01 -1.16286063e-01 1.72064981e+02] [-4.22002234e-01 9.04800831e-01 5.70050070e-02 1.78136290e+02] [ 1.29490165e-01 -2.07758662e-03 9.91578530e-01 1.81615055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:178.12, Z:18.16 [[ 8.97576051e-01 4.25444984e-01 -1.15558635e-01 1.72089643e+02] [-4.21667738e-01 9.04981901e-01 5.66045777e-02 1.78124234e+02] [ 1.28660607e-01 -2.07956499e-03 9.91686505e-01 1.81649875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:178.12, Z:18.17 [[ 8.97332742e-01 4.23852791e-01 -1.23055928e-01 1.72118606e+02] [-4.21283166e-01 9.05684216e-01 4.75036333e-02 1.78118471e+02] [ 1.31584359e-01 9.21482521e-03 9.91262147e-01 1.81665517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:178.10, Z:18.17 [[ 8.98117847e-01 4.25306667e-01 -1.11797009e-01 1.72139393e+02] [-4.20400504e-01 9.04972147e-01 6.54891559e-02 1.78095466e+02] [ 1.29026154e-01 -1.18174605e-02 9.91570774e-01 1.81747821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:178.09, Z:18.18 [[ 8.97499865e-01 4.25932208e-01 -1.14349227e-01 1.72164895e+02] [-4.21978753e-01 9.04747000e-01 5.80241220e-02 1.78088638e+02] [ 1.28171463e-01 -3.82369736e-03 9.91744652e-01 1.81757815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:178.08, Z:18.18 [[ 8.97057142e-01 4.26765220e-01 -1.14716740e-01 1.72189739e+02] [-4.23069595e-01 9.04360732e-01 5.60694554e-02 1.78077692e+02] [ 1.27673808e-01 -1.76434083e-03 9.91814643e-01 1.81789002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:178.07, Z:18.18 [[ 8.96812018e-01 4.27231058e-01 -1.14899205e-01 1.72214490e+02] [-4.23529598e-01 9.04140909e-01 5.61417599e-02 1.78065911e+02] [ 1.27870575e-01 -1.68539103e-03 9.91789431e-01 1.81822967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:178.05, Z:18.19 [[ 8.96691001e-01 4.27322978e-01 -1.15500313e-01 1.72239704e+02] [-4.23589234e-01 9.04097553e-01 5.63894933e-02 1.78054361e+02] [ 1.28520077e-01 -1.63926195e-03 9.91705552e-01 1.81854494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:178.04, Z:18.19 [[ 8.96598560e-01 4.27275571e-01 -1.16389895e-01 1.72264402e+02] [-4.23485689e-01 9.04119951e-01 5.68065555e-02 1.78043163e+02] [ 1.29502480e-01 -1.64322088e-03 9.91577737e-01 1.81890391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:178.03, Z:18.19 [[ 8.96777845e-01 4.26574605e-01 -1.17573822e-01 1.72290040e+02] [-4.22703598e-01 9.04450698e-01 5.73637724e-02 1.78031459e+02] [ 1.30809654e-01 -1.74368274e-03 9.91405968e-01 1.81915626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:178.02, Z:18.19 [[ 8.97130172e-01 4.25718538e-01 -1.17988054e-01 1.72314255e+02] [-4.21815058e-01 9.04853729e-01 5.75481246e-02 1.78020289e+02] [ 1.31261234e-01 -1.85902130e-03 9.91346071e-01 1.81948115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.33, Y:177.99, Z:18.21 [[ 8.96442804e-01 4.28494872e-01 -1.13059473e-01 1.72334050e+02] [-4.21777864e-01 9.03246964e-01 7.90465428e-02 1.77993933e+02] [ 1.35991664e-01 -2.31747215e-02 9.90438892e-01 1.82110046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:177.99, Z:18.21 [[ 8.97435181e-01 4.24033129e-01 -1.21679919e-01 1.72365870e+02] [-4.20086600e-01 9.05646419e-01 5.77218574e-02 1.77994728e+02] [ 1.34674963e-01 -6.85522131e-04 9.90889593e-01 1.82061427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:177.98, Z:18.21 [[ 8.97835858e-01 4.22446705e-01 -1.24215756e-01 1.72392349e+02] [-4.18912900e-01 9.06382784e-01 5.46098021e-02 1.77984566e+02] [ 1.35656754e-01 3.00494415e-03 9.90751339e-01 1.82076553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:177.98, Z:18.21 [[ 8.99489174e-01 4.17941512e-01 -1.27452417e-01 1.72421020e+02] [-4.15556031e-01 9.08400704e-01 4.60580748e-02 1.77979577e+02] [ 1.35027447e-01 1.15348807e-02 9.90774715e-01 1.82062699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.44, Y:177.96, Z:18.21 [[ 8.99968878e-01 4.19640128e-01 -1.18144753e-01 1.72439573e+02] [-4.14974731e-01 9.07659250e-01 6.28542592e-02 1.77958527e+02] [ 1.33611348e-01 -7.53978991e-03 9.91005126e-01 1.82145517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:177.95, Z:18.22 [[ 9.00269425e-01 4.18244903e-01 -1.20773190e-01 1.72465180e+02] [-4.14106007e-01 9.08329697e-01 5.87654317e-02 1.77950175e+02] [ 1.34280217e-01 -2.89181800e-03 9.90939181e-01 1.82168586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:177.94, Z:18.22 [[ 9.00530164e-01 4.17396928e-01 -1.21758898e-01 1.72490594e+02] [-4.13184815e-01 9.08719237e-01 5.92254761e-02 1.77939611e+02] [ 1.35365184e-01 -3.02540004e-03 9.90791156e-01 1.82198856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:177.94, Z:18.22 [[ 9.01324569e-01 4.14480278e-01 -1.25778063e-01 1.72520927e+02] [-4.11837953e-01 9.10014548e-01 4.75712338e-02 1.77935728e+02] [ 1.34177205e-01 8.92305808e-03 9.90917180e-01 1.82159479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:177.91, Z:18.23 [[ 9.01133728e-01 4.17945320e-01 -1.15237641e-01 1.72537020e+02] [-4.11999125e-01 9.08297105e-01 7.24782026e-02 1.77909655e+02] [ 1.34961941e-01 -1.78347456e-02 9.90690263e-01 1.82296185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.57, Y:177.92, Z:18.22 [[ 9.01930302e-01 4.12444738e-01 -1.28105694e-01 1.72571636e+02] [-4.10204623e-01 9.10899870e-01 4.46496825e-02 1.77915528e+02] [ 1.35106987e-01 1.22786464e-02 9.90754933e-01 1.82221968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:177.89, Z:18.24 [[ 9.01378102e-01 4.16750603e-01 -1.17628447e-01 1.72588354e+02] [-4.11086462e-01 9.08900524e-01 7.00553914e-02 1.77887713e+02] [ 1.36108184e-01 -1.47909336e-02 9.90583561e-01 1.82367751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:177.88, Z:18.24 [[ 9.01412012e-01 4.15252199e-01 -1.22564255e-01 1.72616601e+02] [-4.10761087e-01 9.09694073e-01 6.10902885e-02 1.77882943e+02] [ 1.36863853e-01 -4.72289335e-03 9.90578609e-01 1.82375341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:177.87, Z:18.24 [[ 9.01629373e-01 4.15026602e-01 -1.21726718e-01 1.72643121e+02] [-4.10412671e-01 9.09789876e-01 6.19985624e-02 1.77871227e+02] [ 1.36476788e-01 -5.94153741e-03 9.90625451e-01 1.82418063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:177.86, Z:18.24 [[ 9.01379928e-01 4.15211119e-01 -1.22938812e-01 1.72669356e+02] [-4.10903920e-01 9.09718966e-01 5.97442251e-02 1.77861424e+02] [ 1.36646235e-01 -3.33620557e-03 9.90614292e-01 1.82449498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:177.85, Z:18.25 [[ 9.01038695e-01 4.15149903e-01 -1.25617787e-01 1.72696114e+02] [-4.11268055e-01 9.09752806e-01 5.66429168e-02 1.77853652e+02] [ 1.37796435e-01 6.25123018e-04 9.90460374e-01 1.82479048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:177.84, Z:18.25 [[ 9.01200509e-01 4.15336307e-01 -1.23828083e-01 1.72720246e+02] [-4.11006177e-01 9.09662702e-01 5.98973321e-02 1.77840818e+02] [ 1.37519325e-01 -3.08539935e-03 9.90494278e-01 1.82530467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.75, Y:177.83, Z:18.26 [[ 9.00902335e-01 4.16169399e-01 -1.23199085e-01 1.72745934e+02] [-4.11897786e-01 9.09282481e-01 5.95448099e-02 1.77832994e+02] [ 1.36803498e-01 -2.89862773e-03 9.90593964e-01 1.82567391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.77, Y:177.82, Z:18.26 [[ 9.00960137e-01 4.15900395e-01 -1.23683847e-01 1.72771507e+02] [-4.11595265e-01 9.09405445e-01 5.97584702e-02 1.77821109e+02] [ 1.37332335e-01 -2.93231381e-03 9.90520687e-01 1.82609054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:177.83, Z:18.25 [[ 9.02317451e-01 4.10947184e-01 -1.30175379e-01 1.72805075e+02] [-4.09999731e-01 9.11404116e-01 3.52527682e-02 1.77827819e+02] [ 1.33129402e-01 2.15626823e-02 9.90864074e-01 1.82498546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:177.79, Z:18.27 [[ 9.01020408e-01 4.18489839e-01 -1.14142364e-01 1.72816670e+02] [-4.11367330e-01 9.07842326e-01 8.12356570e-02 1.77788524e+02] [ 1.37619567e-01 -2.62405450e-02 9.90137510e-01 1.82745691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.85, Y:177.79, Z:18.27 [[ 9.01267358e-01 4.16286148e-01 -1.20095760e-01 1.72845511e+02] [-4.11249720e-01 9.09184960e-01 6.52409041e-02 1.77785573e+02] [ 1.36348144e-01 -9.41014950e-03 9.90616289e-01 1.82732875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.88, Y:177.79, Z:18.26 [[ 9.02924636e-01 4.07790640e-01 -1.35771482e-01 1.72884420e+02] [-4.07181586e-01 9.12732365e-01 3.35079991e-02 1.77794360e+02] [ 1.37587274e-01 2.50284494e-02 9.90173378e-01 1.82635440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:177.75, Z:18.29 [[ 9.02692493e-01 4.14537908e-01 -1.15345509e-01 1.72893292e+02] [-4.07580185e-01 9.09692699e-01 7.96089551e-02 1.77755000e+02] [ 1.37929897e-01 -2.48498622e-02 9.90130208e-01 1.82854009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:177.76, Z:18.28 [[ 9.03162601e-01 4.10830012e-01 -1.24563305e-01 1.72925351e+02] [-4.06435786e-01 9.11704877e-01 6.00347285e-02 1.77755315e+02] [ 1.38229041e-01 -3.59413678e-03 9.90393767e-01 1.82834438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:177.74, Z:18.29 [[ 9.03572203e-01 4.10465637e-01 -1.22781252e-01 1.72949376e+02] [-4.05819940e-01 9.11855751e-01 6.18810592e-02 1.77743074e+02] [ 1.37358839e-01 -6.08692466e-03 9.90502650e-01 1.82881810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:177.73, Z:18.29 [[ 9.03512362e-01 4.09649553e-01 -1.25907328e-01 1.72976113e+02] [-4.05530258e-01 9.12242032e-01 5.79627812e-02 1.77734470e+02] [ 1.38602384e-01 -1.31085816e-03 9.90347243e-01 1.82910873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:177.73, Z:18.29 [[ 9.04057606e-01 4.07310503e-01 -1.29529916e-01 1.73005127e+02] [-4.04989051e-01 9.13213759e-01 4.49944258e-02 1.77731104e+02] [ 1.36615204e-01 1.17806451e-02 9.90554139e-01 1.82870444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:177.71, Z:18.30 [[ 9.02879506e-01 4.10540916e-01 -1.27533343e-01 1.73023516e+02] [-4.05904637e-01 9.11833863e-01 6.16476482e-02 1.77708779e+02] [ 1.41598103e-01 -3.89402292e-03 9.89916569e-01 1.83004806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:177.69, Z:18.31 [[ 9.03201530e-01 4.11549159e-01 -1.21878163e-01 1.73047022e+02] [-4.05951701e-01 9.11299266e-01 6.88248733e-02 1.77690050e+02] [ 1.39392299e-01 -1.26860832e-02 9.90155973e-01 1.83068699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:177.68, Z:18.31 [[ 9.03011862e-01 4.11772934e-01 -1.22526029e-01 1.73072374e+02] [-4.06762285e-01 9.11246849e-01 6.46035864e-02 1.77681584e+02] [ 1.38253466e-01 -8.49883750e-03 9.90360414e-01 1.83093115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:177.67, Z:18.31 [[ 9.02491818e-01 4.12254574e-01 -1.24718418e-01 1.73100146e+02] [-4.07904175e-01 9.11063392e-01 5.98137042e-02 1.77673778e+02] [ 1.38284858e-01 -3.10821520e-03 9.90387620e-01 1.83121787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:177.66, Z:18.32 [[ 9.02450439e-01 4.12480417e-01 -1.24270311e-01 1.73124972e+02] [-4.08170334e-01 9.10961471e-01 5.95497875e-02 1.77662185e+02] [ 1.37768586e-01 -3.01727771e-03 9.90459849e-01 1.83162020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:177.65, Z:18.32 [[ 9.02277696e-01 4.13290597e-01 -1.22824436e-01 1.73147993e+02] [-4.08740014e-01 9.10584462e-01 6.13802777e-02 1.77649629e+02] [ 1.37209915e-01 -5.17879376e-03 9.90528455e-01 1.83208686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:177.64, Z:18.33 [[ 9.02426542e-01 4.13024453e-01 -1.22626006e-01 1.73172711e+02] [-4.08507875e-01 9.10705842e-01 6.11243423e-02 1.77638117e+02] [ 1.36922068e-01 -5.06653979e-03 9.90568866e-01 1.83255215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:177.63, Z:18.33 [[ 9.02476742e-01 4.11770951e-01 -1.26413661e-01 1.73199550e+02] [-4.08007026e-01 9.11286255e-01 5.55664348e-02 1.77629252e+02] [ 1.38079676e-01 1.43024698e-03 9.90420091e-01 1.83288857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.22, Y:177.61, Z:18.33 [[ 9.02792570e-01 4.11615426e-01 -1.24652783e-01 1.73223340e+02] [-4.07294063e-01 9.11352688e-01 5.95636188e-02 1.77614299e+02] [ 1.38119953e-01 -3.00325400e-03 9.90410955e-01 1.83349253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.25, Y:177.60, Z:18.34 [[ 9.03623431e-01 4.11103231e-01 -1.20244866e-01 1.73247184e+02] [-4.06174544e-01 9.11543412e-01 6.41158909e-02 1.77598861e+02] [ 1.35966665e-01 -9.09621797e-03 9.90671653e-01 1.83402354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.28, Y:177.59, Z:18.34 [[ 9.04573176e-01 4.06787168e-01 -1.27560057e-01 1.73275417e+02] [-4.03151811e-01 9.13520071e-01 5.43111111e-02 1.77592545e+02] [ 1.38621736e-01 2.29769389e-03 9.90342736e-01 1.83423090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:177.56, Z:18.37 [[ 9.04265492e-01 4.10165766e-01 -1.18608449e-01 1.73288058e+02] [-4.01934911e-01 9.11464011e-01 8.76452218e-02 1.77561400e+02] [ 1.44056402e-01 -3.15816731e-02 9.89065393e-01 1.83655809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.32, Y:177.57, Z:18.36 [[ 9.06572197e-01 4.00254636e-01 -1.33877099e-01 1.73323924e+02] [-3.96988378e-01 9.16380836e-01 5.14430906e-02 1.77567850e+02] [ 1.43272743e-01 6.51077654e-03 9.89661827e-01 1.83565209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:177.55, Z:18.36 [[ 9.07861792e-01 3.97836353e-01 -1.32337461e-01 1.73348610e+02] [-3.94318399e-01 9.17447179e-01 5.29497220e-02 1.77553765e+02] [ 1.42477954e-01 4.11206611e-03 9.89789434e-01 1.83597097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:177.53, Z:18.36 [[ 9.09132579e-01 3.97572761e-01 -1.24152541e-01 1.73369502e+02] [-3.92693786e-01 9.17534131e-01 6.26315295e-02 1.77534820e+02] [ 1.38814784e-01 -8.18643252e-03 9.90284524e-01 1.83635556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:177.53, Z:18.37 [[ 9.09532632e-01 3.94339065e-01 -1.31328188e-01 1.73397381e+02] [-3.90852098e-01 9.18957870e-01 5.24506568e-02 1.77529287e+02] [ 1.41368415e-01 3.62431382e-03 9.89950421e-01 1.83662308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:177.50, Z:18.38 [[ 9.08898237e-01 3.97250613e-01 -1.26869799e-01 1.73418478e+02] [-3.91605149e-01 9.17632568e-01 6.77928943e-02 1.77504977e+02] [ 1.43350628e-01 -1.19339756e-02 9.89600009e-01 1.83776128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:177.50, Z:18.38 [[ 9.09369422e-01 3.94603110e-01 -1.31664877e-01 1.73446487e+02] [-3.90597705e-01 9.18851567e-01 5.60823593e-02 1.77501735e+02] [ 1.43110752e-01 4.28416148e-04 9.89706587e-01 1.83756510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.47, Y:177.49, Z:18.38 [[ 9.08069564e-01 3.97905522e-01 -1.30693775e-01 1.73468055e+02] [-3.93068426e-01 9.17412890e-01 6.20548328e-02 1.77486797e+02] [ 1.44592115e-01 -4.97850849e-03 9.89478820e-01 1.83823512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:177.47, Z:18.39 [[ 9.08179367e-01 3.97652006e-01 -1.30702406e-01 1.73493690e+02] [-3.92814915e-01 9.17522695e-01 6.20366494e-02 1.77474837e+02] [ 1.44591422e-01 -4.99855057e-03 9.89478820e-01 1.83862944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:177.46, Z:18.39 [[ 9.07464686e-01 3.99151345e-01 -1.31095569e-01 1.73518540e+02] [-3.94307071e-01 9.16872841e-01 6.21781928e-02 1.77463027e+02] [ 1.45016476e-01 -4.73260434e-03 9.89417922e-01 1.83905270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:177.42, Z:18.42 [[ 9.03628402e-01 4.11228342e-01 -1.19778806e-01 1.73534418e+02] [-4.00543606e-01 9.10380529e-01 1.03788786e-01 1.77419442e+02] [ 1.51725183e-01 -4.58098599e-02 9.87360585e-01 1.84203485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:177.46, Z:18.39 [[ 9.04593225e-01 3.99571534e-01 -1.48504835e-01 1.73579885e+02] [-4.00012117e-01 9.16075568e-01 2.82109931e-02 1.77459319e+02] [ 1.47313961e-01 3.38842603e-02 9.88509208e-01 1.83902566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:177.43, Z:18.41 [[ 9.04209550e-01 4.06652680e-01 -1.30532325e-01 1.73592839e+02] [-4.01485236e-01 9.13561097e-01 6.49286270e-02 1.77426189e+02] [ 1.45652654e-01 -6.30228341e-03 9.89315716e-01 1.84051351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:177.39, Z:18.43 [[ 9.00711344e-01 4.16762416e-01 -1.22589406e-01 1.73610325e+02] [-4.06428764e-01 9.08084065e-01 1.00990051e-01 1.77387193e+02] [ 1.53410343e-01 -4.11390235e-02 9.87305853e-01 1.84333942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.66, Y:177.42, Z:18.40 [[ 9.02472680e-01 4.04313437e-01 -1.48572227e-01 1.73655201e+02] [-4.04766720e-01 9.13974296e-01 2.85462611e-02 1.77423494e+02] [ 1.47332833e-01 3.43748722e-02 9.88489456e-01 1.84032305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:177.39, Z:18.42 [[ 9.01345136e-01 4.12267683e-01 -1.32711356e-01 1.73668258e+02] [-4.07479930e-01 9.11059515e-01 6.26950296e-02 1.77392122e+02] [ 1.46755079e-01 -2.43264580e-03 9.89169869e-01 1.84176649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.69, Y:177.38, Z:18.42 [[ 9.00640014e-01 4.13535484e-01 -1.33551372e-01 1.73693039e+02] [-4.08704145e-01 9.10485302e-01 6.30669149e-02 1.77379978e+02] [ 1.47676969e-01 -2.21758760e-03 9.89033162e-01 1.84223266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:177.37, Z:18.43 [[ 8.99774463e-01 4.15260235e-01 -1.34033028e-01 1.73717801e+02] [-4.10420550e-01 9.09700692e-01 6.32425675e-02 1.77367370e+02] [ 1.48192061e-01 -1.89413832e-03 9.88956786e-01 1.84258590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:177.36, Z:18.43 [[ 8.99665738e-01 4.15554423e-01 -1.33850970e-01 1.73742537e+02] [-4.10739134e-01 9.09566546e-01 6.31035756e-02 1.77355408e+02] [ 1.47969334e-01 -1.79429343e-03 9.88990322e-01 1.84299849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.77, Y:177.34, Z:18.43 [[ 8.99689047e-01 4.15573842e-01 -1.33633830e-01 1.73766747e+02] [-4.10782208e-01 9.09557779e-01 6.29493841e-02 1.77343350e+02] [ 1.47707807e-01 -1.74047158e-03 9.89029511e-01 1.84341635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:177.33, Z:18.44 [[ 9.00116615e-01 4.14631493e-01 -1.33681729e-01 1.73791195e+02] [-4.09831593e-01 9.09987505e-01 6.29349434e-02 1.77330164e+02] [ 1.47743513e-01 -1.86179220e-03 9.89023957e-01 1.84384485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:177.32, Z:18.44 [[ 9.00536468e-01 4.13623138e-01 -1.33977497e-01 1.73816088e+02] [-4.08798491e-01 9.10446024e-01 6.30224643e-02 1.77317681e+02] [ 1.48046829e-01 -1.98422879e-03 9.88978361e-01 1.84421446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.84, Y:177.31, Z:18.45 [[ 9.01110173e-01 4.12185853e-01 -1.34548427e-01 1.73841329e+02] [-4.07311612e-01 9.11097174e-01 6.32391586e-02 1.77305317e+02] [ 1.48652978e-01 -2.18231258e-03 9.88887016e-01 1.84459280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.86, Y:177.29, Z:18.45 [[ 9.02150346e-01 4.10053099e-01 -1.34094036e-01 1.73864191e+02] [-4.05195942e-01 9.12058282e-01 6.29756987e-02 1.77291950e+02] [ 1.48124956e-01 -2.47918928e-03 9.88965546e-01 1.84501042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.89, Y:177.28, Z:18.45 [[ 9.02870115e-01 4.08718328e-01 -1.33322479e-01 1.73888733e+02] [-4.03906331e-01 9.12656700e-01 6.25893301e-02 1.77279871e+02] [ 1.47259060e-01 -2.66024236e-03 9.89094380e-01 1.84538220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:177.27, Z:18.46 [[ 9.03624871e-01 4.06831802e-01 -1.33977525e-01 1.73913252e+02] [-4.01959054e-01 9.13498366e-01 6.28462729e-02 1.77266879e+02] [ 1.47956112e-01 -2.93597619e-03 9.88989570e-01 1.84582286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:177.25, Z:18.46 [[ 9.03682317e-01 4.06333312e-01 -1.35098148e-01 1.73937571e+02] [-4.01380738e-01 9.13720020e-01 6.33184640e-02 1.77254556e+02] [ 1.49170284e-01 -2.99398186e-03 9.88806990e-01 1.84623486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:177.24, Z:18.47 [[ 9.04085197e-01 4.05564511e-01 -1.34712227e-01 1.73963197e+02] [-4.00640445e-01 9.14061305e-01 6.30806154e-02 1.77242576e+02] [ 1.48718493e-01 -3.05908390e-03 9.88874841e-01 1.84657063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.99, Y:177.23, Z:18.47 [[ 9.04439660e-01 4.04914538e-01 -1.34287446e-01 1.73987641e+02] [-4.00022946e-01 9.14349267e-01 6.28256284e-02 1.77231112e+02] [ 1.48224638e-01 -3.10393014e-03 9.88948847e-01 1.84686582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:177.22, Z:18.47 [[ 9.04547106e-01 4.04549448e-01 -1.34663569e-01 1.74012167e+02] [-3.99629689e-01 9.14510696e-01 6.29785638e-02 1.77219253e+02] [ 1.48629217e-01 -3.15151748e-03 9.88887973e-01 1.84719871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.04, Y:177.21, Z:18.48 [[ 9.04641066e-01 4.04248232e-01 -1.34936686e-01 1.74036557e+02] [-3.99308454e-01 9.14643762e-01 6.30836523e-02 1.77207338e+02] [ 1.48920453e-01 -3.18670296e-03 9.88844044e-01 1.84754554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:177.19, Z:18.48 [[ 9.05010201e-01 4.03328050e-01 -1.35214717e-01 1.74061258e+02] [-3.98361260e-01 9.15049422e-01 6.31890952e-02 1.77194174e+02] [ 1.49214083e-01 -3.32247080e-03 9.88799332e-01 1.84783326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.09, Y:177.18, Z:18.48 [[ 9.05052646e-01 4.03093801e-01 -1.35628524e-01 1.74085890e+02] [-3.98101550e-01 9.15152631e-01 6.33310112e-02 1.77181783e+02] [ 1.49649139e-01 -3.32397356e-03 9.88733577e-01 1.84821031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.11, Y:177.17, Z:18.49 [[ 9.05213546e-01 4.02663642e-01 -1.35832351e-01 1.74109641e+02] [-3.97659082e-01 9.15341873e-01 6.33759500e-02 1.77170398e+02] [ 1.49852230e-01 -3.35380034e-03 9.88702716e-01 1.84856890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:177.15, Z:18.49 [[ 9.05862529e-01 4.03198275e-01 -1.29785322e-01 1.74132081e+02] [-3.96917671e-01 9.15006626e-01 7.22442851e-02 1.77152279e+02] [ 1.47883201e-01 -1.39293030e-02 9.88906736e-01 1.84917091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.16, Y:177.15, Z:18.49 [[ 9.05089883e-01 4.01338487e-01 -1.40498122e-01 1.74162315e+02] [-3.97676728e-01 9.15906337e-01 5.44867113e-02 1.77151428e+02] [ 1.50550734e-01 6.55746213e-03 9.88580536e-01 1.84896609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:177.14, Z:18.50 [[ 9.04643481e-01 4.04014858e-01 -1.35617723e-01 1.74185111e+02] [-3.99057511e-01 9.14747419e-01 6.31685291e-02 1.77135706e+02] [ 1.49576987e-01 -3.02572681e-03 9.88745453e-01 1.84960445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.21, Y:177.12, Z:18.50 [[ 9.04283874e-01 4.04775356e-01 -1.35748245e-01 1.74210503e+02] [-3.99824628e-01 9.14411699e-01 6.31784045e-02 1.77124264e+02] [ 1.49702844e-01 -2.85572098e-03 9.88726910e-01 1.84998092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:177.11, Z:18.50 [[ 9.04077430e-01 4.05130053e-01 -1.36064839e-01 1.74236017e+02] [-4.00167813e-01 9.14254911e-01 6.32746345e-02 1.77112732e+02] [ 1.50032403e-01 -2.75639996e-03 9.88677238e-01 1.85034696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:177.10, Z:18.51 [[ 9.03613627e-01 4.06107140e-01 -1.36232903e-01 1.74261520e+02] [-4.01151579e-01 9.13821916e-01 6.33002091e-02 1.77100755e+02] [ 1.50199280e-01 -2.54888714e-03 9.88652456e-01 1.85077798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:177.09, Z:18.51 [[ 9.03370001e-01 4.06630851e-01 -1.36286434e-01 1.74286066e+02] [-4.01684938e-01 9.13589357e-01 6.32747792e-02 1.77089371e+02] [ 1.50239313e-01 -2.41632939e-03 9.88646706e-01 1.85119027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:177.08, Z:18.52 [[ 9.03633651e-01 4.06278345e-01 -1.35588097e-01 1.74311776e+02] [-4.01383109e-01 9.13746113e-01 6.29256835e-02 1.77077940e+02] [ 1.49458439e-01 -2.43899302e-03 9.88765001e-01 1.85159052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:177.07, Z:18.52 [[ 9.03686459e-01 4.05776957e-01 -1.36732752e-01 1.74340521e+02] [-4.01855623e-01 9.13963534e-01 5.64155765e-02 1.77069314e+02] [ 1.47860890e-01 3.96483257e-03 9.89000221e-01 1.85150969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:177.05, Z:18.53 [[ 9.03960066e-01 4.06746501e-01 -1.31960159e-01 1.74360890e+02] [-4.01065479e-01 9.13498384e-01 6.83167921e-02 1.77053603e+02] [ 1.48333008e-01 -8.83098762e-03 9.88898039e-01 1.85259424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:177.05, Z:18.53 [[ 9.04137863e-01 4.05566586e-01 -1.34352036e-01 1.74388361e+02] [-4.00768873e-01 9.14062262e-01 6.22454147e-02 1.77046364e+02] [ 1.48050786e-01 -2.43432224e-03 9.88976764e-01 1.85279627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:177.04, Z:18.53 [[ 9.04298786e-01 4.05561918e-01 -1.33278791e-01 1.74413898e+02] [-4.00848288e-01 9.14064503e-01 6.16987394e-02 1.77035831e+02] [ 1.46848071e-01 -2.36952004e-03 9.89156221e-01 1.85316829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:177.03, Z:18.53 [[ 9.05627571e-01 4.03121395e-01 -1.31650463e-01 1.74443530e+02] [-3.99749997e-01 9.15131344e-01 5.22930578e-02 1.77029909e+02] [ 1.41557915e-01 5.26923728e-03 9.89915952e-01 1.85263894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.46, Y:177.01, Z:18.54 [[ 9.04692545e-01 4.06129289e-01 -1.28803728e-01 1.74463692e+02] [-4.00495215e-01 9.13760015e-01 6.81631681e-02 1.77010162e+02] [ 1.45378756e-01 -1.00814332e-02 9.89324710e-01 1.85414816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.49, Y:177.00, Z:18.54 [[ 9.04772395e-01 4.04945307e-01 -1.31932606e-01 1.74490789e+02] [-4.00337734e-01 9.14337927e-01 6.09578073e-02 1.77004470e+02] [ 1.45315563e-01 -2.33534080e-03 9.89382602e-01 1.85428005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:177.01, Z:18.53 [[ 9.06761382e-01 3.98243973e-01 -1.38511852e-01 1.74527338e+02] [-3.98128610e-01 9.16846974e-01 2.97529285e-02 1.77014628e+02] [ 1.38843097e-01 2.81667246e-02 9.89913749e-01 1.85263163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:176.97, Z:18.56 [[ 9.05185980e-01 4.07977896e-01 -1.19131770e-01 1.74534385e+02] [-3.99704849e-01 9.12439008e-01 8.76988634e-02 1.76968318e+02] [ 1.44479671e-01 -3.17662355e-02 9.88997741e-01 1.85579644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:176.97, Z:18.55 [[ 9.05093833e-01 4.04381074e-01 -1.31457598e-01 1.74568729e+02] [-3.99813075e-01 9.14587596e-01 6.06550369e-02 1.76972867e+02] [ 1.44757237e-01 -2.34003348e-03 9.89464434e-01 1.85525557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:176.96, Z:18.56 [[ 9.05229842e-01 4.03951221e-01 -1.31842117e-01 1.74593935e+02] [-3.99359286e-01 9.14777460e-01 6.07812463e-02 1.76962041e+02] [ 1.45158856e-01 -2.36862407e-03 9.89405527e-01 1.85565522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:176.95, Z:18.56 [[ 9.05583579e-01 4.03311971e-01 -1.31369079e-01 1.74619968e+02] [-3.98753796e-01 9.15059353e-01 6.05127333e-02 1.76950855e+02] [ 1.44616014e-01 -2.41541893e-03 9.89484904e-01 1.85599558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:176.94, Z:18.56 [[ 9.05596318e-01 4.03038412e-01 -1.32118685e-01 1.74647381e+02] [-3.98519619e-01 9.15181139e-01 6.02129325e-02 1.76938863e+02] [ 1.45180653e-01 -1.87672216e-03 9.89403384e-01 1.85623266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:176.93, Z:18.57 [[ 9.05903712e-01 4.02355062e-01 -1.32094165e-01 1.74670232e+02] [-3.97545669e-01 9.15475900e-01 6.21395027e-02 1.76928572e+02] [ 1.45931168e-01 -3.77894282e-03 9.89287528e-01 1.85674893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:176.92, Z:18.57 [[ 9.06682996e-01 4.00888840e-01 -1.31202448e-01 1.74695974e+02] [-3.96335282e-01 9.16122776e-01 6.03108882e-02 1.76918186e+02] [ 1.44375513e-01 -2.68269741e-03 9.89519335e-01 1.85706557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:176.91, Z:18.57 [[ 9.07449718e-01 3.99267074e-01 -1.30846526e-01 1.74720272e+02] [-3.94729216e-01 9.16830130e-01 6.00945851e-02 1.76907255e+02] [ 1.43957827e-01 -2.88386778e-03 9.89579622e-01 1.85745982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.75, Y:176.90, Z:18.58 [[ 9.08128782e-01 3.97958315e-01 -1.30120313e-01 1.74745466e+02] [-3.93461318e-01 9.17398429e-01 5.97353709e-02 1.76895597e+02] [ 1.43144358e-01 -3.05009965e-03 9.89697120e-01 1.85785020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.77, Y:176.88, Z:18.58 [[ 9.09034151e-01 3.96285951e-01 -1.28896690e-01 1.74770813e+02] [-3.91863773e-01 9.18121433e-01 5.91254372e-02 1.76883843e+02] [ 1.41773393e-01 -3.23709853e-03 9.89893846e-01 1.85816660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:176.87, Z:18.59 [[ 9.10292943e-01 3.93519343e-01 -1.28488462e-01 1.74795999e+02] [-3.89104841e-01 9.19309245e-01 5.88891712e-02 1.76871793e+02] [ 1.41294659e-01 -3.61091434e-03 9.89961000e-01 1.85852659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:176.86, Z:18.59 [[ 9.10746054e-01 3.92442471e-01 -1.28571114e-01 1.74821130e+02] [-3.88018797e-01 9.19768975e-01 5.88765285e-02 1.76860039e+02] [ 1.41361372e-01 -3.73355685e-03 9.89951021e-01 1.85887161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.85, Y:176.85, Z:18.59 [[ 9.11509904e-01 3.90932554e-01 -1.27755362e-01 1.74845577e+02] [-3.86557592e-01 9.20411086e-01 5.84522120e-02 1.76849747e+02] [ 1.40438324e-01 -3.89496520e-03 9.90081768e-01 1.85921909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.87, Y:176.84, Z:18.60 [[ 9.12025170e-01 3.89718077e-01 -1.27788538e-01 1.74870279e+02] [-3.85332132e-01 9.20925251e-01 5.84450999e-02 1.76838442e+02] [ 1.40460804e-01 -4.06237224e-03 9.90077906e-01 1.85957654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:176.83, Z:18.60 [[ 9.12487721e-01 3.88887738e-01 -1.27013722e-01 1.74896122e+02] [-3.84550133e-01 9.21275828e-01 5.80693079e-02 1.76826739e+02] [ 1.39597114e-01 -4.14438667e-03 9.90199712e-01 1.85991447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:176.81, Z:18.60 [[ 9.12810626e-01 3.88138549e-01 -1.26985152e-01 1.74921199e+02] [-3.83802552e-01 9.21591406e-01 5.80075909e-02 1.76814621e+02] [ 1.39543407e-01 -4.21271983e-03 9.90206994e-01 1.86036304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.95, Y:176.80, Z:18.61 [[ 9.13109675e-01 3.87689653e-01 -1.26204021e-01 1.74946798e+02] [-3.83409639e-01 9.21780350e-01 5.76023863e-02 1.76802935e+02] [ 1.38664235e-01 -4.20945825e-03 9.90330506e-01 1.86074647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.97, Y:176.79, Z:18.61 [[ 9.12905730e-01 3.88067661e-01 -1.26517267e-01 1.74971549e+02] [-3.83776865e-01 9.21621695e-01 5.76954964e-02 1.76791863e+02] [ 1.38990815e-01 -4.11614907e-03 9.90285116e-01 1.86112098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.00, Y:176.78, Z:18.61 [[ 9.12869667e-01 3.88325131e-01 -1.25986361e-01 1.74997557e+02] [-3.84075899e-01 9.21513578e-01 5.74319585e-02 1.76780775e+02] [ 1.38400416e-01 -4.03956791e-03 9.90368117e-01 1.86148960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:176.77, Z:18.62 [[ 9.12089722e-01 3.90325829e-01 -1.25451529e-01 1.75022753e+02] [-3.86138356e-01 9.20669454e-01 5.71395352e-02 1.76770587e+02] [ 1.37802427e-01 -3.67473541e-03 9.90452920e-01 1.86184419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.05, Y:176.76, Z:18.62 [[ 9.11573876e-01 3.91480675e-01 -1.25602351e-01 1.75047526e+02] [-3.87296912e-01 9.20179731e-01 5.71871074e-02 1.76759979e+02] [ 1.37964385e-01 -3.48487052e-03 9.90431060e-01 1.86221188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.07, Y:176.75, Z:18.63 [[ 9.11687898e-01 3.91212552e-01 -1.25610174e-01 1.75073347e+02] [-3.87028625e-01 9.20293673e-01 5.71699189e-02 1.76748415e+02] [ 1.37963838e-01 -3.50639033e-03 9.90431060e-01 1.86260645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:176.74, Z:18.63 [[ 9.10521623e-01 3.93833652e-01 -1.25878629e-01 1.75099448e+02] [-3.89662862e-01 9.19176589e-01 5.72472946e-02 1.76738280e+02] [ 1.38250600e-01 -3.07467278e-03 9.90392507e-01 1.86298346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:176.73, Z:18.63 [[ 9.10086076e-01 3.94843577e-01 -1.25864548e-01 1.75124325e+02] [-3.90690151e-01 9.18743860e-01 5.71920049e-02 1.76727777e+02] [ 1.38219176e-01 -2.87560818e-03 9.90397491e-01 1.86334741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.14, Y:176.69, Z:18.66 [[ 9.07705005e-01 4.02960780e-01 -1.17022361e-01 1.75141352e+02] [-3.94075694e-01 9.14447920e-01 9.21376626e-02 1.76692786e+02] [ 1.44138719e-01 -3.75181493e-02 9.88846003e-01 1.86573058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:176.72, Z:18.63 [[ 9.08903961e-01 3.92730444e-01 -1.40201242e-01 1.75184946e+02] [-3.92997268e-01 9.19144457e-01 2.69558007e-02 1.76723073e+02] [ 1.39451558e-01 3.05984711e-02 9.89756029e-01 1.86316934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:176.69, Z:18.64 [[ 9.08851006e-01 3.97409326e-01 -1.26710999e-01 1.75199533e+02] [-3.93237862e-01 9.17638274e-01 5.74802641e-02 1.76694345e+02] [ 1.39118055e-01 -2.41343351e-03 9.90272862e-01 1.86439936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:176.68, Z:18.65 [[ 9.08840047e-01 3.97417582e-01 -1.26763692e-01 1.75225002e+02] [-3.93245662e-01 9.17634751e-01 5.74831621e-02 1.76682664e+02] [ 1.39167588e-01 -2.39372775e-03 9.90265950e-01 1.86479325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:176.67, Z:18.65 [[ 9.08441207e-01 3.98117857e-01 -1.27423492e-01 1.75250451e+02] [-3.93583703e-01 9.17323603e-01 6.00772479e-02 1.76668296e+02] [ 1.40806402e-01 -4.42483787e-03 9.90027261e-01 1.86537906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:176.66, Z:18.66 [[ 9.08935238e-01 3.96733926e-01 -1.28214374e-01 1.75275387e+02] [-3.92696571e-01 9.17933138e-01 5.64637703e-02 1.76660310e+02] [ 1.40093316e-01 -9.72565429e-04 9.90137827e-01 1.86557478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.30, Y:176.65, Z:18.66 [[ 9.09428799e-01 3.96037982e-01 -1.26858883e-01 1.75300201e+02] [-3.91860683e-01 9.18230692e-01 5.74247499e-02 1.76648328e+02] [ 1.39228102e-01 -2.51271294e-03 9.90257149e-01 1.86601964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.32, Y:176.64, Z:18.66 [[ 9.09836872e-01 3.95179010e-01 -1.26611280e-01 1.75324679e+02] [-3.91016629e-01 9.18600469e-01 5.72640695e-02 1.76636980e+02] [ 1.38934739e-01 -2.59384611e-03 9.90298142e-01 1.86642111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:176.62, Z:18.67 [[ 9.09826162e-01 3.95680675e-01 -1.25112581e-01 1.75349122e+02] [-3.91439686e-01 9.18380700e-01 5.78952798e-02 1.76624961e+02] [ 1.37809023e-01 -3.70061080e-03 9.90451906e-01 1.86684163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.38, Y:176.62, Z:18.67 [[ 9.09245795e-01 3.96325652e-01 -1.27271603e-01 1.75375026e+02] [-3.92601276e-01 9.18109753e-01 5.42099486e-02 1.76616093e+02] [ 1.38334093e-01 6.76825878e-04 9.90385390e-01 1.86719606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:176.60, Z:18.68 [[ 9.09499452e-01 3.96256155e-01 -1.25665451e-01 1.75400860e+02] [-3.92032040e-01 9.18134058e-01 5.77990673e-02 1.76601970e+02] [ 1.38280967e-01 -3.30333688e-03 9.90387531e-01 1.86772238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.43, Y:176.59, Z:18.68 [[ 9.09183156e-01 3.96525319e-01 -1.27097048e-01 1.75425064e+02] [-3.92457042e-01 9.18022300e-01 5.66791532e-02 1.76591145e+02] [ 1.39152643e-01 -1.65159995e-03 9.90269566e-01 1.86808233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:176.58, Z:18.68 [[ 9.09738722e-01 3.95259013e-01 -1.27066005e-01 1.75452182e+02] [-3.91063684e-01 9.18565988e-01 5.74953922e-02 1.76579196e+02] [ 1.39444082e-01 -2.61488469e-03 9.90226494e-01 1.86849382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:176.57, Z:18.69 [[ 9.09974639e-01 3.94604491e-01 -1.27410569e-01 1.75476997e+02] [-3.90403691e-01 9.18847491e-01 5.74825843e-02 1.76568252e+02] [ 1.39753768e-01 -2.56613754e-03 9.90182963e-01 1.86887474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:176.56, Z:18.69 [[ 9.10645004e-01 3.93179127e-01 -1.27026972e-01 1.75502931e+02] [-3.88992840e-01 9.19457760e-01 5.72887263e-02 1.76557027e+02] [ 1.39320667e-01 -2.75710982e-03 9.90243480e-01 1.86920509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:176.55, Z:18.70 [[ 9.10918263e-01 3.92544805e-01 -1.27029498e-01 1.75527449e+02] [-3.88358795e-01 9.19728588e-01 5.72430870e-02 1.76546972e+02] [ 1.39303137e-01 -2.81075064e-03 9.90245796e-01 1.86955819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:176.54, Z:18.70 [[ 9.11095081e-01 3.92011482e-01 -1.27407816e-01 1.75552840e+02] [-3.87798108e-01 9.19955810e-01 5.73928073e-02 1.76536492e+02] [ 1.39708200e-01 -2.88179441e-03 9.90188525e-01 1.86992292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:176.53, Z:18.70 [[ 9.11651989e-01 3.90673518e-01 -1.27533737e-01 1.75579256e+02] [-3.86445203e-01 9.20524261e-01 5.74037362e-02 1.76526220e+02] [ 1.39824018e-01 -3.04742944e-03 9.90171681e-01 1.87028092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.60, Y:176.52, Z:18.71 [[ 9.11700603e-01 3.90476989e-01 -1.27787843e-01 1.75603975e+02] [-3.86236568e-01 9.20607671e-01 5.74702501e-02 1.76515430e+02] [ 1.40083279e-01 -3.03932372e-03 9.90135060e-01 1.87065446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.63, Y:176.50, Z:18.71 [[ 9.11707510e-01 3.90383763e-01 -1.28023178e-01 1.75629767e+02] [-3.86129733e-01 9.20647207e-01 5.75547635e-02 1.76504339e+02] [ 1.40332627e-01 -3.03955450e-03 9.90099750e-01 1.87102255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.65, Y:176.49, Z:18.71 [[ 9.11510062e-01 3.90624890e-01 -1.28691886e-01 1.75654131e+02] [-3.86335374e-01 9.20545140e-01 5.78067824e-02 1.76493875e+02] [ 1.41047459e-01 -2.97323584e-03 9.89998371e-01 1.87135489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.68, Y:176.49, Z:18.72 [[ 9.11311951e-01 3.89902025e-01 -1.32238192e-01 1.75679976e+02] [-3.86133404e-01 9.20854679e-01 5.41078081e-02 1.76485262e+02] [ 1.42868902e-01 1.75249105e-03 9.89740070e-01 1.87165522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.272755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:175.71, Y:176.47, Z:18.72 [[ 9.11658606e-01 3.88819281e-01 -1.33034404e-01 1.75705941e+02] [-3.84789041e-01 9.21313999e-01 5.58382370e-02 1.76473455e+02] [ 1.44277442e-01 2.84771592e-04 9.89537235e-01 1.87196551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:176.46, Z:18.73 [[ 9.11940771e-01 3.90396562e-01 -1.26311336e-01 1.75728895e+02] [-3.85153800e-01 9.20589769e-01 6.45834973e-02 1.76456696e+02] [ 1.41494099e-01 -1.02470332e-02 9.89886063e-01 1.87273378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.76, Y:176.45, Z:18.73 [[ 9.11882455e-01 3.89629032e-01 -1.29072093e-01 1.75755488e+02] [-3.85317224e-01 9.20966833e-01 5.78854788e-02 1.76449465e+02] [ 1.41424980e-01 -3.05105183e-03 9.89944274e-01 1.87292151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.78, Y:176.45, Z:18.73 [[ 9.10750233e-01 3.89000864e-01 -1.38608586e-01 1.75783205e+02] [-3.86639326e-01 9.21147280e-01 4.46958698e-02 1.76447089e+02] [ 1.45065654e-01 1.28847563e-02 9.89338132e-01 1.87302905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:176.42, Z:18.74 [[ 9.11826898e-01 3.92340185e-01 -1.20999536e-01 1.75801331e+02] [-3.86256049e-01 9.19640678e-01 7.11848890e-02 1.76419339e+02] [ 1.39204788e-01 -1.81714939e-02 9.90096876e-01 1.87410407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:176.42, Z:18.74 [[ 9.11837276e-01 3.90529970e-01 -1.26645669e-01 1.75831214e+02] [-3.86404939e-01 9.20586123e-01 5.66781607e-02 1.76416508e+02] [ 1.38722766e-01 -2.74474764e-03 9.90327451e-01 1.87406863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:176.41, Z:18.74 [[ 9.11883262e-01 3.90612918e-01 -1.26057391e-01 1.75856823e+02] [-3.86533287e-01 9.20551127e-01 5.63705751e-02 1.76405315e+02] [ 1.38061348e-01 -2.67800636e-03 9.90420059e-01 1.87447292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.88, Y:176.39, Z:18.75 [[ 9.11950809e-01 3.90831380e-01 -1.24886167e-01 1.75881935e+02] [-3.86835626e-01 9.20458678e-01 5.58034040e-02 1.76393439e+02] [ 1.36762277e-01 -2.57954099e-03 9.90600538e-01 1.87488856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.91, Y:176.38, Z:18.75 [[ 9.11959291e-01 3.90790651e-01 -1.24951666e-01 1.75906412e+02] [-3.86796896e-01 9.20476073e-01 5.57849377e-02 1.76381731e+02] [ 1.36815251e-01 -2.54267540e-03 9.90593318e-01 1.87528997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.93, Y:176.37, Z:18.76 [[ 9.12245090e-01 3.90165592e-01 -1.24818692e-01 1.75931363e+02] [-3.86177341e-01 9.20740991e-01 5.57053690e-02 1.76369353e+02] [ 1.36660005e-01 -2.61479868e-03 9.90614560e-01 1.87568464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:175.96, Y:176.37, Z:18.76 [[ 9.12151364e-01 3.85575913e-01 -1.38964403e-01 1.75964170e+02] [-3.84082876e-01 9.22495519e-01 3.85014589e-02 1.76369600e+02] [ 1.43039274e-01 1.82546894e-02 9.89548651e-01 1.87582138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.98, Y:176.34, Z:18.77 [[ 9.12808618e-01 3.91804165e-01 -1.15195151e-01 1.75976083e+02] [-3.85273438e-01 9.19726771e-01 7.52797774e-02 1.76335374e+02] [ 1.35442994e-01 -2.43343979e-02 9.90486261e-01 1.87700119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.01, Y:176.34, Z:18.77 [[ 9.13215632e-01 3.88094542e-01 -1.24176635e-01 1.76007360e+02] [-3.84142015e-01 9.21615262e-01 5.53192612e-02 1.76335936e+02] [ 1.35912185e-01 -2.81695138e-03 9.90716883e-01 1.87671941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.04, Y:176.33, Z:18.77 [[ 9.13485547e-01 3.84568290e-01 -1.32858515e-01 1.76038453e+02] [-3.82192948e-01 9.23035604e-01 4.39752700e-02 1.76331665e+02] [ 1.39544634e-01 1.06068140e-02 9.90158972e-01 1.87687014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:176.31, Z:18.78 [[ 9.14050837e-01 3.87962522e-01 -1.18305319e-01 1.76054396e+02] [-3.82318236e-01 9.21518108e-01 6.80965638e-02 1.76305129e+02] [ 1.35439408e-01 -1.70134403e-02 9.90639546e-01 1.87786547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.09, Y:176.31, Z:18.77 [[ 9.14892699e-01 3.82002324e-01 -1.30558701e-01 1.76090238e+02] [-3.80354244e-01 9.24046194e-01 3.83312021e-02 1.76311934e+02] [ 1.35284879e-01 1.45896190e-02 9.90699321e-01 1.87705820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.11, Y:176.29, Z:18.79 [[ 9.15060885e-01 3.84551943e-01 -1.21586920e-01 1.76107477e+02] [-3.79332799e-01 9.23014071e-01 6.44333099e-02 1.76286159e+02] [ 1.37004393e-01 -1.28384949e-02 9.90487238e-01 1.87851745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.14, Y:176.29, Z:18.79 [[ 9.15001103e-01 3.81158655e-01 -1.32253777e-01 1.76138131e+02] [-3.78173039e-01 9.24489565e-01 4.80020391e-02 1.76285627e+02] [ 1.40563629e-01 6.09289415e-03 9.90052899e-01 1.87858223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.16, Y:176.26, Z:18.80 [[ 9.15834233e-01 3.84494936e-01 -1.15807174e-01 1.76155226e+02] [-3.78313933e-01 9.22857448e-01 7.21990212e-02 1.76259184e+02] [ 1.34633671e-01 -2.23108677e-02 9.90644235e-01 1.87954365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:176.27, Z:18.79 [[ 9.15918722e-01 3.78365632e-01 -1.33911699e-01 1.76192790e+02] [-3.76202303e-01 9.25580744e-01 4.20964796e-02 1.76266019e+02] [ 1.39873951e-01 1.18209358e-02 9.90098754e-01 1.87919298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:176.24, Z:18.80 [[ 9.15444751e-01 3.84369879e-01 -1.19250591e-01 1.76206700e+02] [-3.78593069e-01 9.23008203e-01 6.87251381e-02 1.76238800e+02] [ 1.36485147e-01 -1.77666198e-02 9.90482787e-01 1.88021099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:176.23, Z:18.80 [[ 9.15545565e-01 3.82363369e-01 -1.24798126e-01 1.76237894e+02] [-3.78124681e-01 9.23998558e-01 5.69946589e-02 1.76233859e+02] [ 1.37105959e-01 -4.99195540e-03 9.90543808e-01 1.88027798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:176.22, Z:18.81 [[ 9.14955536e-01 3.83217856e-01 -1.26492850e-01 1.76264364e+02] [-3.79116183e-01 9.23652105e-01 5.60152579e-02 1.76223560e+02] [ 1.38301434e-01 -3.29598396e-03 9.90384698e-01 1.88057589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:176.21, Z:18.81 [[ 9.14567493e-01 3.83798592e-01 -1.27534076e-01 1.76291822e+02] [-3.79882611e-01 9.23415465e-01 5.47090519e-02 1.76212195e+02] [ 1.38764196e-01 -1.58714251e-03 9.90324179e-01 1.88083790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:176.20, Z:18.81 [[ 9.14344237e-01 3.84563060e-01 -1.26830078e-01 1.76314408e+02] [-3.80138580e-01 9.23084176e-01 5.83974691e-02 1.76201083e+02] [ 1.39532348e-01 -5.18238341e-03 9.90203952e-01 1.88141921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:176.20, Z:18.81 [[ 9.14025460e-01 3.83896928e-01 -1.31074812e-01 1.76345990e+02] [-3.81681465e-01 9.23309790e-01 4.26414134e-02 1.76198278e+02] [ 1.37392565e-01 1.10534888e-02 9.90454998e-01 1.88094339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:176.17, Z:18.83 [[ 9.13501733e-01 3.88178797e-01 -1.21785898e-01 1.76361912e+02] [-3.82321958e-01 9.21433402e-01 6.92127631e-02 1.76172382e+02] [ 1.39084521e-01 -1.66645562e-02 9.90140287e-01 1.88258106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.40, Y:176.19, Z:18.81 [[ 9.14395748e-01 3.81590081e-01 -1.35164440e-01 1.76401366e+02] [-3.81500449e-01 9.23956576e-01 2.75980522e-02 1.76185940e+02] [ 1.35417216e-01 2.63297530e-02 9.90438752e-01 1.88091971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:176.14, Z:18.84 [[ 9.13435542e-01 3.90043610e-01 -1.16195926e-01 1.76409085e+02] [-3.82467306e-01 9.20276508e-01 8.25221739e-02 1.76142180e+02] [ 1.39119628e-01 -3.09375438e-02 9.89792199e-01 1.88392936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:176.15, Z:18.84 [[ 9.13600183e-01 3.85989049e-01 -1.27856011e-01 1.76441887e+02] [-3.81860839e-01 9.22499494e-01 5.63647330e-02 1.76145845e+02] [ 1.39703275e-01 -2.67162685e-03 9.90189809e-01 1.88353481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:176.14, Z:18.84 [[ 9.14306737e-01 3.84514380e-01 -1.27247325e-01 1.76466252e+02] [-3.80418119e-01 9.23114639e-01 5.60483591e-02 1.76135096e+02] [ 1.39015268e-01 -2.83820439e-03 9.90286171e-01 1.88393247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:176.14, Z:18.83 [[ 9.15906398e-01 3.78044826e-01 -1.34898403e-01 1.76502257e+02] [-3.77929249e-01 9.25426994e-01 2.74656313e-02 1.76141501e+02] [ 1.35221864e-01 2.58261048e-02 9.90478702e-01 1.88256883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.52, Y:176.11, Z:18.84 [[ 9.15957096e-01 3.81791388e-01 -1.23523014e-01 1.76519088e+02] [-3.77661597e-01 9.24235863e-01 5.62119832e-02 1.76112157e+02] [ 1.35625651e-01 -4.83786602e-03 9.90748342e-01 1.88394561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.54, Y:176.09, Z:18.86 [[ 9.15542326e-01 3.84846479e-01 -1.16942024e-01 1.76536413e+02] [-3.77531539e-01 9.22515636e-01 8.02174465e-02 1.76087179e+02] [ 1.38752248e-01 -2.92931652e-02 9.89893794e-01 1.88598149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.57, Y:176.09, Z:18.86 [[ 9.15725286e-01 3.80959917e-01 -1.27737005e-01 1.76569295e+02] [-3.76811063e-01 9.24585660e-01 5.61674241e-02 1.76090200e+02] [ 1.39501340e-01 -3.30121409e-03 9.90216379e-01 1.88567576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:176.07, Z:18.87 [[ 9.14974252e-01 3.83809190e-01 -1.24549684e-01 1.76595125e+02] [-3.78229869e-01 9.23307935e-01 6.66680042e-02 1.76069778e+02] [ 1.40585504e-01 -1.38910967e-02 9.89971087e-01 1.88660181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.62, Y:176.07, Z:18.86 [[ 9.16279085e-01 3.78419787e-01 -1.31267297e-01 1.76623819e+02] [-3.75397058e-01 9.25619068e-01 4.80248914e-02 1.76074749e+02] [ 1.39677083e-01 5.27315373e-03 9.90183067e-01 1.88621433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.65, Y:176.07, Z:18.87 [[ 9.16317199e-01 3.76513147e-01 -1.36384166e-01 1.76652003e+02] [-3.73685457e-01 9.26375762e-01 4.67667311e-02 1.76065586e+02] [ 1.43951275e-01 8.11161940e-03 9.89551531e-01 1.88671203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:176.04, Z:18.88 [[ 9.16314172e-01 3.80618496e-01 -1.24490554e-01 1.76668640e+02] [-3.74760671e-01 9.24592905e-01 6.84280626e-02 1.76041803e+02] [ 1.41148069e-01 -1.60474401e-02 9.89858425e-01 1.88768698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:176.04, Z:18.88 [[ 9.16366464e-01 3.78782095e-01 -1.29601808e-01 1.76698084e+02] [-3.74516767e-01 9.25479251e-01 5.67921389e-02 1.76037310e+02] [ 1.41455629e-01 -3.50436145e-03 9.89938394e-01 1.88773523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.73, Y:176.03, Z:18.88 [[ 9.16060346e-01 3.78819349e-01 -1.31640966e-01 1.76726822e+02] [-3.75092508e-01 9.25470279e-01 5.30129519e-02 1.76026425e+02] [ 1.41912133e-01 8.14476814e-04 9.89878923e-01 1.88778954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:176.02, Z:18.87 [[ 9.16345805e-01 3.77174874e-01 -1.34348352e-01 1.76755850e+02] [-3.74796298e-01 9.26083254e-01 4.35607756e-02 1.76023370e+02] [ 1.40847789e-01 1.04365310e-02 9.89976252e-01 1.88740700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.78, Y:176.01, Z:18.88 [[ 9.16059209e-01 3.78070074e-01 -1.33785442e-01 1.76782399e+02] [-3.74755688e-01 9.25767383e-01 5.01290979e-02 1.76008582e+02] [ 1.42806510e-01 4.21563356e-03 9.89741648e-01 1.88805405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.80, Y:175.99, Z:18.89 [[ 9.15744618e-01 3.81364922e-01 -1.26382720e-01 1.76800947e+02] [-3.76029215e-01 9.24351007e-01 6.46316148e-02 1.75990073e+02] [ 1.41470225e-01 -1.16624585e-02 9.89873811e-01 1.88886208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.83, Y:175.98, Z:18.90 [[ 9.13991104e-01 3.82440519e-01 -1.35497275e-01 1.76827893e+02] [-3.77558110e-01 9.23968252e-01 6.10945404e-02 1.75981634e+02] [ 1.48560208e-01 -4.68177148e-03 9.88892282e-01 1.88983792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.86, Y:175.97, Z:18.90 [[ 9.14476218e-01 3.81425787e-01 -1.35083739e-01 1.76858351e+02] [-3.77813183e-01 9.24394394e-01 5.24614463e-02 1.75974374e+02] [ 1.44880799e-01 3.06167227e-03 9.89444380e-01 1.88955397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.88, Y:175.96, Z:18.90 [[ 9.13816208e-01 3.83954552e-01 -1.32358753e-01 1.76881209e+02] [-3.79372206e-01 9.23343532e-01 5.92743719e-02 1.75959287e+02] [ 1.44971263e-01 -3.95264974e-03 9.89427971e-01 1.89019499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.91, Y:175.95, Z:18.91 [[ 9.13698696e-01 3.83617956e-01 -1.34134101e-01 1.76906247e+02] [-3.79398808e-01 9.23491388e-01 5.67468138e-02 1.75950727e+02] [ 1.45640784e-01 -9.59171902e-04 9.89337072e-01 1.89054707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.93, Y:175.94, Z:18.91 [[ 9.13550061e-01 3.84554999e-01 -1.32452779e-01 1.76932044e+02] [-3.79884978e-01 9.23091519e-01 5.99120251e-02 1.75937602e+02] [ 1.45305506e-01 -4.41581307e-03 9.89376981e-01 1.89113463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:175.92, Z:18.93 [[ 9.12470737e-01 3.88200012e-01 -1.29220373e-01 1.76952264e+02] [-3.81279831e-01 9.21364576e-01 7.55844523e-02 1.75917024e+02] [ 1.48400960e-01 -1.96994789e-02 9.88731048e-01 1.89268705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:175.92, Z:18.93 [[ 9.12510254e-01 3.85825289e-01 -1.35881872e-01 1.76981541e+02] [-3.81269516e-01 9.22569306e-01 5.91559878e-02 1.75915704e+02] [ 1.48184320e-01 -2.17282989e-03 9.88957373e-01 1.89256863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.01, Y:175.90, Z:18.93 [[ 9.12967194e-01 3.84717963e-01 -1.35952166e-01 1.77006029e+02] [-3.80148704e-01 9.23031229e-01 5.91634450e-02 1.75903900e+02] [ 1.48249335e-01 -2.33224457e-03 9.88947266e-01 1.89305223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:175.89, Z:18.93 [[ 9.13380817e-01 3.83886927e-01 -1.35522359e-01 1.77030347e+02] [-3.79345335e-01 9.23376963e-01 5.89245375e-02 1.75892778e+02] [ 1.47758584e-01 -2.41076735e-03 9.89020520e-01 1.89345557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:175.88, Z:18.94 [[ 9.13418608e-01 3.83723412e-01 -1.35730575e-01 1.77054782e+02] [-3.79171378e-01 9.23444935e-01 5.89789634e-02 1.75880509e+02] [ 1.47971321e-01 -2.40733349e-03 9.88988722e-01 1.89386193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:175.87, Z:18.94 [[ 9.14608928e-01 3.80868292e-01 -1.35756597e-01 1.77082801e+02] [-3.77093221e-01 9.24626620e-01 5.35379874e-02 1.75872446e+02] [ 1.45915085e-01 2.22657127e-03 9.89294612e-01 1.89390526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.10, Y:175.86, Z:18.95 [[ 9.15170047e-01 3.80865669e-01 -1.31928493e-01 1.77103356e+02] [-3.75598914e-01 9.24588810e-01 6.37258833e-02 1.75857243e+02] [ 1.46250609e-01 -8.76782101e-03 9.89208716e-01 1.89486471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.13, Y:175.85, Z:18.95 [[ 9.15645519e-01 3.79126390e-01 -1.33628081e-01 1.77130699e+02] [-3.74677306e-01 9.25339932e-01 5.79907400e-02 1.75849537e+02] [ 1.45637220e-01 -3.03155160e-03 9.89333417e-01 1.89514478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:175.85, Z:18.95 [[ 9.16867837e-01 3.74231001e-01 -1.38940735e-01 1.77163550e+02] [-3.72334389e-01 9.27219087e-01 4.03963675e-02 1.75849974e+02] [ 1.43946074e-01 1.46942835e-02 9.89476430e-01 1.89452281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:177.18, Y:175.82, Z:18.96 [[ 9.15893838e-01 3.80733591e-01 -1.27202243e-01 1.77177922e+02] [-3.73899828e-01 9.24447323e-01 7.48068603e-02 1.75818677e+02] [ 1.46073257e-01 -2.09542457e-02 9.89051830e-01 1.89648292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:175.83, Z:18.95 [[ 9.16768737e-01 3.75089474e-01 -1.37269697e-01 1.77214797e+02] [-3.73034290e-01 9.26893783e-01 4.13924370e-02 1.75827006e+02] [ 1.42760296e-01 1.32590119e-02 9.89668478e-01 1.89541546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.24, Y:175.80, Z:18.96 [[ 9.16065791e-01 3.78926302e-01 -1.31294796e-01 1.77236564e+02] [-3.74376916e-01 9.25415208e-01 5.87249250e-02 1.75804380e+02] [ 1.43754620e-01 -4.64215398e-03 9.89602476e-01 1.89645313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.26, Y:175.80, Z:18.97 [[ 9.16198813e-01 3.77681851e-01 -1.33925934e-01 1.77264412e+02] [-3.73873999e-01 9.25934835e-01 5.35062052e-02 1.75799109e+02] [ 1.44215010e-01 1.04910262e-03 9.89545820e-01 1.89664436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.29, Y:175.79, Z:18.97 [[ 9.15684598e-01 3.77429035e-01 -1.38090698e-01 1.77293536e+02] [-3.74634180e-01 9.25995177e-01 4.67136312e-02 1.75791032e+02] [ 1.45502401e-01 8.95854273e-03 9.89317338e-01 1.89671548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:175.76, Z:18.99 [[ 9.14764715e-01 3.83171836e-01 -1.28003358e-01 1.77307670e+02] [-3.75989039e-01 9.23403399e-01 7.71907093e-02 1.75763037e+02] [ 1.47776041e-01 -2.24834778e-02 9.88765258e-01 1.89850933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.34, Y:175.77, Z:18.97 [[ 9.15131912e-01 3.79212912e-01 -1.36861793e-01 1.77343210e+02] [-3.76508050e-01 9.25262806e-01 4.61565675e-02 1.75769652e+02] [ 1.44136293e-01 9.29021905e-03 9.89514235e-01 1.89749656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:175.75, Z:18.99 [[ 9.14340858e-01 3.82817759e-01 -1.32027870e-01 1.77361424e+02] [-3.76883288e-01 9.23736207e-01 6.83403823e-02 1.75746331e+02] [ 1.48120836e-01 -1.27273061e-02 9.88887372e-01 1.89911118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:175.74, Z:18.99 [[ 9.13815180e-01 3.82607821e-01 -1.36209662e-01 1.77389574e+02] [-3.78119066e-01 9.23908843e-01 5.84672684e-02 1.75740537e+02] [ 1.48215346e-01 -1.92480704e-03 9.88953238e-01 1.89927065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:175.73, Z:19.00 [[ 9.13974864e-01 3.83941942e-01 -1.31295592e-01 1.77412550e+02] [-3.78542026e-01 9.23307348e-01 6.48804679e-02 1.75725483e+02] [ 1.46136518e-01 -9.59821741e-03 9.89217869e-01 1.89987196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.44, Y:175.72, Z:19.00 [[ 9.13919259e-01 3.81831742e-01 -1.37681185e-01 1.77442694e+02] [-3.78303274e-01 9.24220555e-01 5.19903736e-02 1.75721234e+02] [ 1.47099356e-01 4.57023920e-03 9.89111163e-01 1.89999711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:175.70, Z:19.01 [[ 9.14408511e-01 3.83790521e-01 -1.28693089e-01 1.77463319e+02] [-3.78281210e-01 9.23348668e-01 6.58070171e-02 1.75701526e+02] [ 1.44084701e-01 -1.14923192e-02 9.89498623e-01 1.90076374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.49, Y:175.70, Z:19.01 [[ 9.14679735e-01 3.82056971e-01 -1.31884239e-01 1.77490099e+02] [-3.77826542e-01 9.24136465e-01 5.67353445e-02 1.75695550e+02] [ 1.43555168e-01 -2.06530398e-03 9.89640161e-01 1.90090425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.52, Y:175.69, Z:19.01 [[ 9.15449790e-01 3.78476276e-01 -1.36774960e-01 1.77519518e+02] [-3.75382638e-01 9.25586678e-01 4.87563029e-02 1.75688384e+02] [ 1.45050185e-01 6.70899820e-03 9.89401553e-01 1.90126107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:175.67, Z:19.02 [[ 9.15592188e-01 3.80456385e-01 -1.30168679e-01 1.77541200e+02] [-3.75464805e-01 9.24765782e-01 6.19227628e-02 1.75669164e+02] [ 1.43934450e-01 -7.82224027e-03 9.89556308e-01 1.90205794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:175.66, Z:19.02 [[ 9.15858266e-01 3.79849936e-01 -1.30067919e-01 1.77565754e+02] [-3.75045156e-01 9.25023721e-01 6.05990681e-02 1.75658695e+02] [ 1.43334462e-01 -6.71881451e-03 9.89651499e-01 1.90232843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.59, Y:175.65, Z:19.03 [[ 9.16122726e-01 3.78507931e-01 -1.32101844e-01 1.77592109e+02] [-3.74252211e-01 9.25594774e-01 5.66533106e-02 1.75650185e+02] [ 1.43716504e-01 -2.46197812e-03 9.89615837e-01 1.90265023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.62, Y:175.64, Z:19.03 [[ 9.16552105e-01 3.77670255e-01 -1.31519647e-01 1.77616540e+02] [-3.73450577e-01 9.25936685e-01 5.63553189e-02 1.75639587e+02] [ 1.43062593e-01 -2.53649821e-03 9.89710392e-01 1.90308849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.64, Y:175.63, Z:19.03 [[ 9.16764827e-01 3.77295217e-01 -1.31112820e-01 1.77640830e+02] [-3.73100935e-01 9.26089482e-01 5.61601682e-02 1.75629270e+02] [ 1.42611167e-01 -2.56735108e-03 9.89775461e-01 1.90346011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.67, Y:175.62, Z:19.04 [[ 9.16722395e-01 3.77233651e-01 -1.31585802e-01 1.77665973e+02] [-3.73011232e-01 9.26114562e-01 5.63421592e-02 1.75618483e+02] [ 1.43117686e-01 -2.56713699e-03 9.89702348e-01 1.90385019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:175.61, Z:19.04 [[ 9.16419353e-01 3.77711901e-01 -1.32322671e-01 1.77691907e+02] [-3.73453643e-01 9.25919897e-01 5.66102451e-02 1.75607426e+02] [ 1.43902557e-01 -2.46234061e-03 9.89588799e-01 1.90422230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.72, Y:175.60, Z:19.04 [[ 9.15882025e-01 3.75889879e-01 -1.40950047e-01 1.77719941e+02] [-3.73320883e-01 9.26597149e-01 4.52685487e-02 1.75604392e+02] [ 1.47619901e-01 1.11589458e-02 9.88981215e-01 1.90429138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:175.58, Z:19.05 [[ 9.16294870e-01 3.79660175e-01 -1.27522013e-01 1.77739037e+02] [-3.73657768e-01 9.24994443e-01 6.90300892e-02 1.75579012e+02] [ 1.44165129e-01 -1.56023259e-02 9.89430636e-01 1.90537089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.77, Y:175.58, Z:19.05 [[ 9.16020531e-01 3.78500326e-01 -1.32830303e-01 1.77767003e+02] [-3.74233850e-01 9.25598442e-01 5.67146364e-02 1.75576038e+02] [ 1.44414030e-01 -2.24217573e-03 9.89514811e-01 1.90536009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.79, Y:175.57, Z:19.06 [[ 9.15819366e-01 3.79182226e-01 -1.32271421e-01 1.77793029e+02] [-3.74961931e-01 9.25319624e-01 5.64548026e-02 1.75565491e+02] [ 1.43799999e-01 -2.10565413e-03 9.89604530e-01 1.90573173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.82, Y:175.56, Z:19.06 [[ 9.15718017e-01 3.79344105e-01 -1.32508730e-01 1.77817582e+02] [-3.75117536e-01 9.25253425e-01 5.65060591e-02 1.75555134e+02] [ 1.44039396e-01 -2.03726826e-03 9.89569857e-01 1.90618949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:175.54, Z:19.07 [[ 9.15719656e-01 3.79456982e-01 -1.32173788e-01 1.77843357e+02] [-3.75256166e-01 9.25207232e-01 5.63417080e-02 1.75544348e+02] [ 1.43667399e-01 -1.99418042e-03 9.89624020e-01 1.90659422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.87, Y:175.54, Z:19.07 [[ 9.14102613e-01 3.80579504e-01 -1.39913022e-01 1.77867504e+02] [-3.78036797e-01 9.24677786e-01 4.53781119e-02 1.75541447e+02] [ 1.46644443e-01 1.14120202e-02 9.89123437e-01 1.90666314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.89, Y:175.52, Z:19.08 [[ 9.15394019e-01 3.81794078e-01 -1.27620818e-01 1.77891558e+02] [-3.76316544e-01 9.24169873e-01 6.55431549e-02 1.75517492e+02] [ 1.42967303e-01 -1.19719870e-02 9.89655001e-01 1.90762498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.92, Y:175.51, Z:19.08 [[ 9.15316940e-01 3.80425052e-01 -1.32180477e-01 1.77918715e+02] [-3.76241331e-01 9.24810013e-01 5.62929887e-02 1.75512461e+02] [ 1.43657092e-01 -1.79416759e-03 9.89625899e-01 1.90771813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.94, Y:175.50, Z:19.08 [[ 9.15508477e-01 3.79714119e-01 -1.32896264e-01 1.77944661e+02] [-3.75482331e-01 9.25101962e-01 5.65630590e-02 1.75501709e+02] [ 1.44420386e-01 -1.88376102e-03 9.89514630e-01 1.90809798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.97, Y:175.49, Z:19.08 [[ 9.15775705e-01 3.79094699e-01 -1.32823443e-01 1.77969748e+02] [-3.74868518e-01 9.25355863e-01 5.64811523e-02 1.75491028e+02] [ 1.44320657e-01 -1.93273974e-03 9.89529086e-01 1.90846798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.00, Y:175.49, Z:19.09 [[ 9.16174546e-01 3.75461413e-01 -1.40188904e-01 1.77998891e+02] [-3.72915450e-01 9.26772388e-01 4.50223008e-02 1.75486667e+02] [ 1.46827342e-01 1.10303223e-02 9.89100634e-01 1.90868110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.02, Y:175.47, Z:19.09 [[ 9.17048018e-01 3.73912278e-01 -1.38609313e-01 1.78024684e+02] [-3.70225259e-01 9.27458579e-01 5.24770683e-02 1.75471644e+02] [ 1.48176217e-01 3.19267728e-03 9.88955821e-01 1.90940211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:175.45, Z:19.10 [[ 9.18015023e-01 3.76629574e-01 -1.24091023e-01 1.78042657e+02] [-3.70063118e-01 9.26120034e-01 7.31776736e-02 1.75447225e+02] [ 1.42484059e-01 -2.12566927e-02 9.89568818e-01 1.91025609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.07, Y:175.45, Z:19.10 [[ 9.18982719e-01 3.71771911e-01 -1.31363649e-01 1.78072925e+02] [-3.67585625e-01 9.28319547e-01 5.57102005e-02 1.75445165e+02] [ 1.42658931e-01 -2.90932249e-03 9.89767632e-01 1.91009565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.10, Y:175.43, Z:19.11 [[ 9.19392710e-01 3.70573330e-01 -1.31880444e-01 1.78097047e+02] [-3.66348753e-01 9.28798167e-01 5.58798348e-02 1.75434321e+02] [ 1.43197891e-01 -3.06127666e-03 9.89689341e-01 1.91051939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.12, Y:175.42, Z:19.11 [[ 9.19993259e-01 3.69273836e-01 -1.31336351e-01 1.78122435e+02] [-3.65075815e-01 9.29315056e-01 5.56163334e-02 1.75423270e+02] [ 1.42590505e-01 -3.21892644e-03 9.89776534e-01 1.91088994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.15, Y:175.41, Z:19.11 [[ 9.20950830e-01 3.67013181e-01 -1.30961421e-01 1.78147078e+02] [-3.62823659e-01 9.30209112e-01 5.54075826e-02 1.75412374e+02] [ 1.42156820e-01 -3.51175732e-03 9.89837919e-01 1.91123739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.17, Y:175.40, Z:19.12 [[ 9.21390685e-01 3.66054585e-01 -1.30549782e-01 1.78172215e+02] [-3.61884935e-01 9.30586308e-01 5.52124763e-02 1.75400567e+02] [ 1.41698620e-01 -3.62826190e-03 9.89903196e-01 1.91165482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.20, Y:175.39, Z:19.12 [[ 9.21608123e-01 3.65310732e-01 -1.31097429e-01 1.78199737e+02] [-3.61802925e-01 9.30885221e-01 5.05108805e-02 1.75391207e+02] [ 1.40488826e-01 8.80195403e-04 9.90081873e-01 1.91166861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:175.38, Z:19.12 [[ 9.21314617e-01 3.65673868e-01 -1.32143856e-01 1.78222682e+02] [-3.61593282e-01 9.30739801e-01 5.45318392e-02 1.75379321e+02] [ 1.42932415e-01 -2.45864989e-03 9.89729397e-01 1.91236560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.25, Y:175.36, Z:19.13 [[ 9.21352109e-01 3.66883281e-01 -1.28479375e-01 1.78246306e+02] [-3.61988282e-01 9.30221782e-01 6.04311150e-02 1.75364927e+02] [ 1.41685479e-01 -9.17030688e-03 9.89869249e-01 1.91290617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.27, Y:175.36, Z:19.13 [[ 9.20824040e-01 3.67228418e-01 -1.31249295e-01 1.78272880e+02] [-3.63046340e-01 9.30124828e-01 5.53638914e-02 1.75356027e+02] [ 1.42409423e-01 -3.33082588e-03 9.89802234e-01 1.91307206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:175.35, Z:19.13 [[ 9.20934265e-01 3.66945475e-01 -1.31267277e-01 1.78299007e+02] [-3.62766617e-01 9.30236499e-01 5.53212238e-02 1.75345212e+02] [ 1.42409485e-01 -3.32782448e-03 9.89802235e-01 1.91348177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.32, Y:175.33, Z:19.14 [[ 9.20467005e-01 3.67804191e-01 -1.32138452e-01 1.78323520e+02] [-3.63585058e-01 9.29897853e-01 5.56407163e-02 1.75334193e+02] [ 1.43340151e-01 -3.17187694e-03 9.89668399e-01 1.91387986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.35, Y:175.32, Z:19.14 [[ 9.19468895e-01 3.68805593e-01 -1.36232835e-01 1.78350383e+02] [-3.64938881e-01 9.29506263e-01 5.32702608e-02 1.75324615e+02] [ 1.46275643e-01 7.36310355e-04 9.89243597e-01 1.91418427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:175.31, Z:19.15 [[ 9.19400149e-01 3.70252965e-01 -1.32725690e-01 1.78374390e+02] [-3.65447466e-01 9.28908317e-01 5.98121120e-02 1.75309729e+02] [ 1.45435609e-01 -6.48699771e-03 9.89346452e-01 1.91469930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:175.30, Z:19.15 [[ 9.19001978e-01 3.70355243e-01 -1.35175289e-01 1.78401217e+02] [-3.65985695e-01 9.28886225e-01 5.67877867e-02 1.75301016e+02] [ 1.46594118e-01 -2.71586621e-03 9.89192999e-01 1.91500804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:175.29, Z:19.15 [[ 9.18295725e-01 3.71504053e-01 -1.36812643e-01 1.78429276e+02] [-3.67799382e-01 9.28428682e-01 5.23812596e-02 1.75293731e+02] [ 1.46480633e-01 2.21811892e-03 9.89211051e-01 1.91529950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:175.28, Z:19.16 [[ 9.17547661e-01 3.72958073e-01 -1.37871554e-01 1.78456208e+02] [-3.68863912e-01 9.27848152e-01 5.51109943e-02 1.75279915e+02] [ 1.48477956e-01 2.88876748e-04 9.88915675e-01 1.91589711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.48, Y:175.26, Z:19.17 [[ 9.17675971e-01 3.74690342e-01 -1.32204232e-01 1.78478872e+02] [-3.69145771e-01 9.27084910e-01 6.51534204e-02 1.75262276e+02] [ 1.46976906e-01 -1.09870950e-02 9.89078901e-01 1.91660824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.51, Y:175.26, Z:19.17 [[ 9.17935153e-01 3.72613153e-01 -1.36214882e-01 1.78505851e+02] [-3.68461825e-01 9.27986481e-01 5.54704919e-02 1.75257327e+02] [ 1.47074604e-01 -7.28330386e-04 9.89125134e-01 1.91666359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.53, Y:175.25, Z:19.17 [[ 9.19077202e-01 3.70830812e-01 -1.33347686e-01 1.78529484e+02] [-3.66173256e-01 9.28685694e-01 5.88220077e-02 1.75245147e+02] [ 1.45651101e-01 -5.23360984e-03 9.89322175e-01 1.91735637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:175.24, Z:19.18 [[ 9.19429110e-01 3.69617521e-01 -1.34287007e-01 1.78555319e+02] [-3.65364185e-01 9.29180916e-01 5.59628146e-02 1.75236962e+02] [ 1.45461761e-01 -2.39017800e-03 9.89360987e-01 1.91769612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.58, Y:175.23, Z:19.18 [[ 9.19831766e-01 3.68567016e-01 -1.34416803e-01 1.78583269e+02] [-3.64769712e-01 9.29601052e-01 5.27725537e-02 1.75227362e+02] [ 1.44404224e-01 4.89307323e-04 9.89518661e-01 1.91777812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69275509600004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:178.61, Y:175.21, Z:19.18 [[ 9.20275249e-01 3.68000473e-01 -1.32925236e-01 1.78606690e+02] [-3.63288545e-01 9.29806158e-01 5.90079866e-02 1.75214030e+02] [ 1.45309670e-01 -6.01337387e-03 9.89367949e-01 1.91835794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:175.21, Z:19.19 [[ 9.20664111e-01 3.66772453e-01 -1.33624706e-01 1.78632615e+02] [-3.62545317e-01 9.30306660e-01 5.55914695e-02 1.75206259e+02] [ 1.44701373e-01 -2.73605956e-03 9.89471590e-01 1.91893972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:175.20, Z:19.19 [[ 9.21138522e-01 3.65940927e-01 -1.32631300e-01 1.78658591e+02] [-3.61771242e-01 9.30633793e-01 5.51571579e-02 1.75197185e+02] [ 1.43615431e-01 -2.82519284e-03 9.89629540e-01 1.91935453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.69, Y:175.20, Z:19.19 [[ 9.21907178e-01 3.62791396e-01 -1.35902755e-01 1.78689810e+02] [-3.60927761e-01 9.31778250e-01 3.89928725e-02 1.75197468e+02] [ 1.40777510e-01 1.31032682e-02 9.89954543e-01 1.91870875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.71, Y:175.18, Z:19.19 [[ 9.21960059e-01 3.63819646e-01 -1.32758862e-01 1.78714285e+02] [-3.60957152e-01 9.31452523e-01 4.58926097e-02 1.75183727e+02] [ 1.40355210e-01 5.60910740e-03 9.90085326e-01 1.91916942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.73, Y:175.16, Z:19.20 [[ 9.21093872e-01 3.68737543e-01 -1.24974811e-01 1.78733297e+02] [-3.63408938e-01 9.29436529e-01 6.38880438e-02 1.75164078e+02] [ 1.39714075e-01 -1.34299222e-02 9.90100810e-01 1.92015654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.77, Y:175.16, Z:19.20 [[ 9.20965608e-01 3.65779097e-01 -1.34268389e-01 1.78767863e+02] [-3.63197140e-01 9.30666300e-01 4.41370046e-02 1.75164944e+02] [ 1.41103458e-01 8.11723155e-03 9.89961577e-01 1.91993653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:175.16, Z:19.20 [[ 9.20728459e-01 3.66696730e-01 -1.33388957e-01 1.78793768e+02] [-3.64210456e-01 9.30301243e-01 4.34780538e-02 1.75156475e+02] [ 1.40035173e-01 8.55017139e-03 9.90109613e-01 1.91997707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.81, Y:175.12, Z:19.22 [[ 9.19153473e-01 3.74003406e-01 -1.23605607e-01 1.78809745e+02] [-3.66145640e-01 9.26938683e-01 8.19880986e-02 1.75121915e+02] [ 1.45238646e-01 -3.01019916e-02 9.88938626e-01 1.92238292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.84, Y:175.13, Z:19.22 [[ 9.18864745e-01 3.70608804e-01 -1.35413054e-01 1.78841329e+02] [-3.66100573e-01 9.28782554e-01 5.77350648e-02 1.75126768e+02] [ 1.47166405e-01 -3.47591915e-03 9.89105640e-01 1.92212343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.87, Y:175.12, Z:19.22 [[ 9.18943845e-01 3.70096163e-01 -1.36275602e-01 1.78867290e+02] [-3.65768849e-01 9.28991200e-01 5.64667935e-02 1.75116793e+02] [ 1.47496979e-01 -2.04444224e-03 9.89060393e-01 1.92243531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:175.11, Z:19.23 [[ 9.19159721e-01 3.69677467e-01 -1.35955791e-01 1.78892810e+02] [-3.65373565e-01 9.29157862e-01 5.62834485e-02 1.75105910e+02] [ 1.47131114e-01 -2.05882704e-03 9.89114855e-01 1.92282754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:175.10, Z:19.23 [[ 9.19576232e-01 3.68738884e-01 -1.35687837e-01 1.78917389e+02] [-3.64449355e-01 9.29530517e-01 5.61220556e-02 1.75095532e+02] [ 1.46820369e-01 -2.15716373e-03 9.89160819e-01 1.92322775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.94, Y:175.08, Z:19.24 [[ 9.19334270e-01 3.69442089e-01 -1.35414338e-01 1.78941894e+02] [-3.64985369e-01 9.29248047e-01 5.73039931e-02 1.75084427e+02] [ 1.47004016e-01 -3.25727269e-03 9.89130532e-01 1.92368416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:175.08, Z:19.24 [[ 9.20070825e-01 3.67131362e-01 -1.36690309e-01 1.78969962e+02] [-3.63091426e-01 9.30169041e-01 5.43154771e-02 1.75075634e+02] [ 1.47086009e-01 -3.43006505e-04 9.89123647e-01 1.92399418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:175.07, Z:19.24 [[ 9.20357060e-01 3.63523031e-01 -1.44200862e-01 1.78999156e+02] [-3.60907319e-01 9.31522939e-01 4.48433040e-02 1.75070778e+02] [ 1.50627984e-01 1.07712950e-02 9.88531835e-01 1.92424360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:175.05, Z:19.25 [[ 9.21136224e-01 3.66826680e-01 -1.30177739e-01 1.79016078e+02] [-3.60735580e-01 9.30149339e-01 6.84985290e-02 1.75045874e+02] [ 1.46211825e-01 -1.61367343e-02 9.89121685e-01 1.92525275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:175.04, Z:19.25 [[ 9.21236018e-01 3.64542699e-01 -1.35767518e-01 1.79048096e+02] [-3.60556300e-01 9.31186493e-01 5.37668156e-02 1.75041787e+02] [ 1.46025179e-01 -5.80092938e-04 9.89280704e-01 1.92498571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:175.04, Z:19.25 [[ 9.22041521e-01 3.61858577e-01 -1.37469282e-01 1.79075313e+02] [-3.59255696e-01 9.32192858e-01 4.41794130e-02 1.75038132e+02] [ 1.44134582e-01 8.65136951e-03 9.89520276e-01 1.92475111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:175.01, Z:19.26 [[ 9.22156172e-01 3.64686007e-01 -1.28965541e-01 1.79092712e+02] [-3.58458462e-01 9.30960538e-01 6.94262787e-02 1.75013443e+02] [ 1.45380622e-01 -1.77930818e-02 9.89215791e-01 1.92646581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.13, Y:175.02, Z:19.25 [[ 9.22787668e-01 3.59807097e-01 -1.37846917e-01 1.79129168e+02] [-3.57983110e-01 9.32926748e-01 3.86752635e-02 1.75019373e+02] [ 1.42516711e-01 1.36578120e-02 9.89698162e-01 1.92542252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:174.99, Z:19.27 [[ 9.22622248e-01 3.63567578e-01 -1.28789766e-01 1.79147749e+02] [-3.57802009e-01 9.31446893e-01 6.62148661e-02 1.74991919e+02] [ 1.44034406e-01 -1.50100718e-02 9.89458836e-01 1.92704221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:174.99, Z:19.27 [[ 9.22972568e-01 3.61060324e-01 -1.33255696e-01 1.79175962e+02] [-3.56866973e-01 9.32537067e-01 5.49598233e-02 1.74987958e+02] [ 1.44109688e-01 -3.17185221e-03 9.89556637e-01 1.92705428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.20, Y:174.98, Z:19.28 [[ 9.23260025e-01 3.60634582e-01 -1.32414591e-01 1.79197949e+02] [-3.55669224e-01 9.32668223e-01 6.02444062e-02 1.74975753e+02] [ 1.45225097e-01 -8.52545729e-03 9.89361909e-01 1.92787147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.23, Y:174.97, Z:19.28 [[ 9.23183163e-01 3.59828720e-01 -1.35115284e-01 1.79225238e+02] [-3.55535134e-01 9.33012851e-01 5.55138530e-02 1.74967951e+02] [ 1.46039775e-01 -3.21122366e-03 9.89273507e-01 1.92813721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:174.96, Z:19.28 [[ 9.22857523e-01 3.60471743e-01 -1.35624905e-01 1.79250110e+02] [-3.56159931e-01 9.32765070e-01 5.56725096e-02 1.74958668e+02] [ 1.46574541e-01 -3.07363762e-03 9.89194853e-01 1.92847762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:174.95, Z:19.29 [[ 9.21894581e-01 3.62634925e-01 -1.36404887e-01 1.79276803e+02] [-3.58299914e-01 9.31927297e-01 5.59704017e-02 1.74949077e+02] [ 1.47416260e-01 -2.72495077e-03 9.89070787e-01 1.92881923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:174.94, Z:19.29 [[ 9.21578652e-01 3.63352748e-01 -1.36629311e-01 1.79303216e+02] [-3.59018689e-01 9.31648104e-01 5.60124230e-02 1.74939027e+02] [ 1.47642706e-01 -2.56737709e-03 9.89037431e-01 1.92921739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.33, Y:174.93, Z:19.30 [[ 9.21406121e-01 3.63758944e-01 -1.36712073e-01 1.79328999e+02] [-3.59431485e-01 9.31489879e-01 5.59965538e-02 1.74928635e+02] [ 1.47715160e-01 -2.45694409e-03 9.89026893e-01 1.92961388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:174.92, Z:19.30 [[ 9.21222552e-01 3.64183281e-01 -1.36819400e-01 1.79354006e+02] [-3.59861052e-01 9.31324349e-01 5.59908919e-02 1.74917922e+02] [ 1.47814185e-01 -2.34409905e-03 9.89012372e-01 1.93003783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:174.91, Z:19.30 [[ 9.21176380e-01 3.63591398e-01 -1.38691643e-01 1.79380584e+02] [-3.59576234e-01 9.31558501e-01 5.38859060e-02 1.74908880e+02] [ 1.48791831e-01 2.31794692e-04 9.88868514e-01 1.93044371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.41, Y:174.90, Z:19.31 [[ 9.21437158e-01 3.64197887e-01 -1.35327242e-01 1.79405634e+02] [-3.59579521e-01 9.31309240e-01 5.80143727e-02 1.74895752e+02] [ 1.47160223e-01 -4.79569376e-03 9.89101041e-01 1.93104896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:174.89, Z:19.31 [[ 9.21533885e-01 3.63742162e-01 -1.35893114e-01 1.79431393e+02] [-3.59488144e-01 9.31496815e-01 5.55153903e-02 1.74887366e+02] [ 1.46777291e-01 -2.30734987e-03 9.89166873e-01 1.93141839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.46, Y:174.86, Z:19.33 [[ 9.20327573e-01 3.67909507e-01 -1.32814733e-01 1.79457665e+02] [-3.61591185e-01 9.29720211e-01 6.98007450e-02 1.74863419e+02] [ 1.49160899e-01 -1.62149135e-02 9.88679980e-01 1.93270274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:174.87, Z:19.32 [[ 9.21996286e-01 3.61194670e-01 -1.39503619e-01 1.79488051e+02] [-3.58587736e-01 9.32445094e-01 4.42829914e-02 1.74874876e+02] [ 1.46074246e-01 9.19553331e-03 9.89230892e-01 1.93188450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.51, Y:174.86, Z:19.33 [[ 9.22146424e-01 3.62497426e-01 -1.35061424e-01 1.79509561e+02] [-3.58297317e-01 9.31981697e-01 5.50740281e-02 1.74859051e+02] [ 1.45838968e-01 -2.39417237e-03 9.89305445e-01 1.93262503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:174.85, Z:19.33 [[ 9.22283327e-01 3.60701915e-01 -1.38879782e-01 1.79538691e+02] [-3.57406591e-01 9.32669936e-01 4.88601944e-02 1.74853488e+02] [ 1.47152963e-01 4.57360661e-03 9.89103173e-01 1.93296151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:174.84, Z:19.34 [[ 9.22375598e-01 3.63216664e-01 -1.31517723e-01 1.79560981e+02] [-3.58093878e-01 9.31654421e-01 6.15533454e-02 1.74835884e+02] [ 1.44886269e-01 -9.67961229e-03 9.89400967e-01 1.93367401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.59, Y:174.83, Z:19.34 [[ 9.22064576e-01 3.62704464e-01 -1.35064393e-01 1.79587863e+02] [-3.58522023e-01 9.31901474e-01 5.49690957e-02 1.74831316e+02] [ 1.45804243e-01 -2.26149651e-03 9.89310875e-01 1.93386437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.61, Y:174.82, Z:19.34 [[ 9.21917414e-01 3.62963714e-01 -1.35372166e-01 1.79613107e+02] [-3.58768014e-01 9.31800664e-01 5.50729901e-02 1.74821396e+02] [ 1.46129371e-01 -2.20554551e-03 9.89263030e-01 1.93409644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:174.81, Z:19.35 [[ 9.21509738e-01 3.63850931e-01 -1.35765613e-01 1.79639071e+02] [-3.59645161e-01 9.31454958e-01 5.51998056e-02 1.74812198e+02] [ 1.46544054e-01 -2.03971247e-03 9.89202042e-01 1.93464901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.66, Y:174.80, Z:19.35 [[ 9.21411001e-01 3.63910579e-01 -1.36274935e-01 1.79664979e+02] [-3.59681024e-01 9.31431761e-01 5.53573433e-02 1.74802199e+02] [ 1.47075925e-01 -1.99135699e-03 9.89123201e-01 1.93506202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.69, Y:174.79, Z:19.35 [[ 9.21425804e-01 3.63759503e-01 -1.36577859e-01 1.79691480e+02] [-3.59516687e-01 9.31490810e-01 5.54312513e-02 1.74791508e+02] [ 1.47384664e-01 -1.97376611e-03 9.89077280e-01 1.93524312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.72, Y:174.78, Z:19.36 [[ 9.21184561e-01 3.64011378e-01 -1.37530803e-01 1.79717363e+02] [-3.59719324e-01 9.31392566e-01 5.57664416e-02 1.74780845e+02] [ 1.48394787e-01 -1.89869736e-03 9.88926379e-01 1.93565389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.75, Y:174.77, Z:19.36 [[ 9.21750160e-01 3.62349647e-01 -1.38128117e-01 1.79745796e+02] [-3.58111201e-01 9.32041049e-01 5.52797526e-02 1.74769960e+02] [ 1.48771674e-01 -1.48889483e-03 9.88870453e-01 1.93629164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:174.76, Z:19.37 [[ 9.21644369e-01 3.62707916e-01 -1.37893531e-01 1.79767673e+02] [-3.58118141e-01 9.31895362e-01 5.76405315e-02 1.74758421e+02] [ 1.49409019e-01 -3.74189637e-03 9.88768397e-01 1.93673525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.79, Y:174.75, Z:19.37 [[ 9.21898217e-01 3.61666098e-01 -1.38929155e-01 1.79793628e+02] [-3.57277432e-01 9.32305127e-01 5.62137579e-02 1.74748489e+02] [ 1.49854974e-01 -2.18711131e-03 9.88705570e-01 1.93707986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.83, Y:174.76, Z:19.36 [[ 9.24254528e-01 3.52877597e-01 -1.45708510e-01 1.79829576e+02] [-3.52672252e-01 9.35324543e-01 2.81119553e-02 1.74755775e+02] [ 1.46204825e-01 2.54047466e-02 9.88928080e-01 1.93575539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:174.71, Z:19.38 [[ 9.23773487e-01 3.60777885e-01 -1.28381711e-01 1.79842661e+02] [-3.53138499e-01 9.32247949e-01 7.87842796e-02 1.74712784e+02] [ 1.48107212e-01 -2.74423040e-02 9.88590498e-01 1.93832331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.87, Y:174.71, Z:19.38 [[ 9.23433436e-01 3.58154578e-01 -1.37825932e-01 1.79872673e+02] [-3.53735981e-01 9.33657101e-01 5.61718184e-02 1.74714856e+02] [ 1.48800354e-01 -3.11694397e-03 9.88862346e-01 1.93802200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:174.70, Z:19.38 [[ 9.24022199e-01 3.57042395e-01 -1.36761489e-01 1.79896413e+02] [-3.52666823e-01 9.34082159e-01 5.58268113e-02 1.74702792e+02] [ 1.47679005e-01 -3.35397326e-03 9.89029657e-01 1.93843622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.92, Y:174.69, Z:19.39 [[ 9.24439382e-01 3.55920029e-01 -1.36867678e-01 1.79922156e+02] [-3.51632130e-01 9.34512038e-01 5.51551928e-02 1.74692471e+02] [ 1.47535331e-01 -2.86055917e-03 9.89052649e-01 1.93867714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.95, Y:174.68, Z:19.39 [[ 9.24504770e-01 3.55743859e-01 -1.36884029e-01 1.79948420e+02] [-3.51460050e-01 9.34579165e-01 5.51145833e-02 1.74682085e+02] [ 1.47535636e-01 -2.84442730e-03 9.89052650e-01 1.93909055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.98, Y:174.68, Z:19.39 [[ 9.25299359e-01 3.53137213e-01 -1.38257746e-01 1.79976247e+02] [-3.50312471e-01 9.35547402e-01 4.50802794e-02 1.74680839e+02] [ 1.45266200e-01 6.72065908e-03 9.89369781e-01 1.93900339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.00, Y:174.66, Z:19.40 [[ 9.24083827e-01 3.57978890e-01 -1.33866333e-01 1.79997291e+02] [-3.52513716e-01 9.33660832e-01 6.33366418e-02 1.74657848e+02] [ 1.47658933e-01 -1.13386477e-02 9.88973344e-01 1.94023735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.03, Y:174.65, Z:19.40 [[ 9.23947239e-01 3.56936157e-01 -1.37543006e-01 1.80025914e+02] [-3.52637861e-01 9.34125221e-01 5.52866209e-02 1.74652862e+02] [ 1.48216185e-01 -2.57904911e-03 9.88951622e-01 1.94038768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.05, Y:174.64, Z:19.41 [[ 9.23438797e-01 3.58153886e-01 -1.37791805e-01 1.80051299e+02] [-3.53860354e-01 9.33659626e-01 5.53403283e-02 1.74643652e+02] [ 1.48470999e-01 -2.34434932e-03 9.88913983e-01 1.94075760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:174.63, Z:19.41 [[ 9.23151887e-01 3.58772698e-01 -1.38104111e-01 1.80076885e+02] [-3.54469596e-01 9.33422293e-01 5.54448228e-02 1.74633696e+02] [ 1.48801544e-01 -2.23028446e-03 9.88864564e-01 1.94118409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.11, Y:174.64, Z:19.41 [[ 9.22884507e-01 3.53508001e-01 -1.52696693e-01 1.80111742e+02] [-3.52920483e-01 9.35110860e-01 3.18561211e-02 1.74640365e+02] [ 1.54049730e-01 2.44902701e-02 9.87759539e-01 1.94078252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:174.61, Z:19.42 [[ 9.21085074e-01 3.66315128e-01 -1.31967849e-01 1.80121666e+02] [-3.59417863e-01 9.30267493e-01 7.36287427e-02 1.74605385e+02] [ 1.49736722e-01 -2.03867338e-02 9.88515703e-01 1.94228727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.16, Y:174.61, Z:19.42 [[ 9.21123948e-01 3.60301835e-01 -1.47354196e-01 1.80159914e+02] [-3.57439738e-01 9.32782913e-01 4.63990391e-02 1.74612492e+02] [ 1.54167135e-01 9.93097896e-03 9.87994874e-01 1.94206342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.18, Y:174.59, Z:19.43 [[ 9.20359714e-01 3.65615966e-01 -1.38791075e-01 1.80180234e+02] [-3.59942612e-01 9.30714480e-01 6.48989420e-02 1.74592354e+02] [ 1.52902952e-01 -9.77354965e-03 9.88192878e-01 1.94295380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.21, Y:174.59, Z:19.43 [[ 9.20226768e-01 3.64851247e-01 -1.41655438e-01 1.80210945e+02] [-3.61100758e-01 9.31060818e-01 5.22684972e-02 1.74589680e+02] [ 1.50960054e-01 3.05301570e-03 9.88535149e-01 1.94273250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.582755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.23, Y:174.57, Z:19.44 [[ 9.20492778e-01 3.66053605e-01 -1.36739913e-01 1.80233426e+02] [-3.60334414e-01 9.30529929e-01 6.53694278e-02 1.74572687e+02] [ 1.51169296e-01 -1.08999898e-02 9.88447790e-01 1.94369986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.26, Y:174.57, Z:19.44 [[ 9.20288450e-01 3.64836250e-01 -1.41292882e-01 1.80261538e+02] [-3.60761722e-01 9.31071239e-01 5.43813208e-02 1.74570913e+02] [ 1.51394016e-01 9.26561963e-04 9.88473062e-01 1.94384955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.29, Y:174.56, Z:19.44 [[ 9.21649410e-01 3.62301276e-01 -1.38924983e-01 1.80287403e+02] [-3.57831622e-01 9.32057321e-01 5.67950674e-02 1.74559131e+02] [ 1.50062973e-01 -2.63338842e-03 9.88672934e-01 1.94431560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.31, Y:174.55, Z:19.45 [[ 9.22324736e-01 3.60417715e-01 -1.39341856e-01 1.80313708e+02] [-3.56108825e-01 9.32789551e-01 5.55891921e-02 1.74548879e+02] [ 1.50011957e-01 -1.65042237e-03 9.88682805e-01 1.94471279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:174.54, Z:19.45 [[ 9.23179577e-01 3.58290074e-01 -1.39167856e-01 1.80338791e+02] [-3.53975311e-01 9.33608284e-01 5.54711688e-02 1.74538222e+02] [ 1.49803032e-01 -1.94786508e-03 9.88713941e-01 1.94513542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:174.53, Z:19.46 [[ 9.24837830e-01 3.54230158e-01 -1.38549571e-01 1.80364480e+02] [-3.49916038e-01 9.35154804e-01 5.51747971e-02 1.74526918e+02] [ 1.49109874e-01 -2.54702256e-03 9.88817353e-01 1.94555757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:180.39, Y:174.52, Z:19.46 [[ 9.25628581e-01 3.52155089e-01 -1.38558739e-01 1.80389459e+02] [-3.47825071e-01 9.35937375e-01 5.51266767e-02 1.74517067e+02] [ 1.49095442e-01 -2.83262423e-03 9.88818753e-01 1.94586949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79275509600006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:180.42, Y:174.51, Z:19.46 [[ 9.26642076e-01 3.49311858e-01 -1.38980898e-01 1.80415336e+02] [-3.44928841e-01 9.37000830e-01 5.52588405e-02 1.74507008e+02] [ 1.49527785e-01 -3.26664668e-03 9.88752128e-01 1.94599728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.44, Y:174.50, Z:19.47 [[ 9.27070368e-01 3.48540919e-01 -1.38057093e-01 1.80440068e+02] [-3.44215345e-01 9.37287683e-01 5.48415462e-02 1.74498021e+02] [ 1.48513735e-01 -3.32060271e-03 9.88904770e-01 1.94659925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:174.49, Z:19.47 [[ 9.27451888e-01 3.47660332e-01 -1.37714517e-01 1.80465816e+02] [-3.43349992e-01 9.37614268e-01 5.46833371e-02 1.74487652e+02] [ 1.48134323e-01 -3.43188605e-03 9.88961296e-01 1.94702198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.49, Y:174.48, Z:19.47 [[ 9.27840052e-01 3.46592339e-01 -1.37791831e-01 1.80490978e+02] [-3.42273242e-01 9.38009122e-01 5.46618307e-02 1.74477727e+02] [ 1.48195366e-01 -3.55497929e-03 9.88951716e-01 1.94741735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.52, Y:174.47, Z:19.48 [[ 9.27685844e-01 3.46733647e-01 -1.38472935e-01 1.80515560e+02] [-3.42376522e-01 9.37956997e-01 5.49089121e-02 1.74468284e+02] [ 1.48920426e-01 -3.52833851e-03 9.88842888e-01 1.94780382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.54, Y:174.46, Z:19.48 [[ 9.26924961e-01 3.47808909e-01 -1.40851267e-01 1.80543838e+02] [-3.43848628e-01 9.37565441e-01 5.23370298e-02 1.74458380e+02] [ 1.50260566e-01 -8.09844231e-05 9.88646426e-01 1.94795863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:174.45, Z:19.49 [[ 9.27108014e-01 3.48258128e-01 -1.38517169e-01 1.80565989e+02] [-3.43258594e-01 9.37369508e-01 5.92616512e-02 1.74446401e+02] [ 1.50480122e-01 -7.39474311e-03 9.88585379e-01 1.94865701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.59, Y:174.44, Z:19.49 [[ 9.26616481e-01 3.48795559e-01 -1.40440576e-01 1.80593011e+02] [-3.44355248e-01 9.37193619e-01 5.55660275e-02 1.74440103e+02] [ 1.51001195e-01 -3.12694756e-03 9.88528635e-01 1.94888351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.62, Y:174.43, Z:19.49 [[ 9.26230130e-01 3.49661869e-01 -1.40834384e-01 1.80619760e+02] [-3.45210059e-01 9.36871254e-01 5.56980120e-02 1.74431790e+02] [ 1.51419156e-01 -2.97173097e-03 9.88465178e-01 1.94922677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.65, Y:174.42, Z:19.50 [[ 9.25890189e-01 3.50486275e-01 -1.41020314e-01 1.80645468e+02] [-3.45733803e-01 9.36556178e-01 5.77118969e-02 1.74419779e+02] [ 1.52300674e-01 -4.67938957e-03 9.88323129e-01 1.94980885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.67, Y:174.41, Z:19.50 [[ 9.26301970e-01 3.48957755e-01 -1.42102589e-01 1.80672075e+02] [-3.44615684e-01 9.37136545e-01 5.49101717e-02 1.74413334e+02] [ 1.52330860e-01 -1.89261922e-03 9.88327743e-01 1.95005686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.69, Y:174.38, Z:19.53 [[ 9.24292704e-01 3.57402970e-01 -1.33963110e-01 1.80689914e+02] [-3.47142119e-01 9.33068582e-01 9.42091816e-02 1.74376414e+02] [ 1.58667411e-01 -4.05726211e-02 9.86498107e-01 1.95259460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.73, Y:174.41, Z:19.50 [[ 9.25699494e-01 3.42841881e-01 -1.59812052e-01 1.80733929e+02] [-3.43764432e-01 9.38781032e-01 2.27197802e-02 1.74411534e+02] [ 1.57817815e-01 3.39060101e-02 9.86885971e-01 1.95048671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:180.75, Y:174.38, Z:19.52 [[ 9.26554217e-01 3.48021098e-01 -1.42753626e-01 1.80749766e+02] [-3.42385240e-01 9.37437542e-01 6.31126124e-02 1.74377034e+02] [ 1.55787129e-01 -9.60052274e-03 9.87743995e-01 1.95199872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2127550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.78, Y:174.37, Z:19.52 [[ 9.27314477e-01 3.45141795e-01 -1.44792963e-01 1.80776978e+02] [-3.40374033e-01 9.38542654e-01 5.72992469e-02 1.74370268e+02] [ 1.55670737e-01 -3.85065646e-03 9.87801495e-01 1.95213244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.80, Y:174.36, Z:19.53 [[ 9.27661995e-01 3.44376912e-01 -1.44387555e-01 1.80802366e+02] [-3.39634968e-01 9.38823301e-01 5.70867599e-02 1.74360889e+02] [ 1.55213763e-01 -3.91815483e-03 9.87873137e-01 1.95270861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.272755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:180.83, Y:174.35, Z:19.53 [[ 9.27958291e-01 3.43470113e-01 -1.44643329e-01 1.80828481e+02] [-3.38708523e-01 9.39154972e-01 5.71355920e-02 1.74350266e+02] [ 1.55466870e-01 -4.02751799e-03 9.87832897e-01 1.95293915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:180.85, Y:174.34, Z:19.53 [[ 9.28322732e-01 3.42775776e-01 -1.43950243e-01 1.80854082e+02] [-3.38059836e-01 9.39408414e-01 5.68100230e-02 1.74340184e+02] [ 1.54701169e-01 -4.07424020e-03 9.87952908e-01 1.95345940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:174.33, Z:19.54 [[ 9.28462017e-01 3.42476468e-01 -1.43764221e-01 1.80879744e+02] [-3.37777313e-01 9.39517593e-01 5.66849101e-02 1.74330518e+02] [ 1.54482263e-01 -4.06949382e-03 9.87987181e-01 1.95404956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.91, Y:174.32, Z:19.55 [[ 9.28239585e-01 3.43184393e-01 -1.43512181e-01 1.80905773e+02] [-3.38518481e-01 9.39259979e-01 5.65325633e-02 1.74320062e+02] [ 1.54196341e-01 -3.89423769e-03 9.88032552e-01 1.95450445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.93, Y:174.31, Z:19.55 [[ 9.27982355e-01 3.43940016e-01 -1.43366712e-01 1.80930647e+02] [-3.39300832e-01 9.38984275e-01 5.64223096e-02 1.74310092e+02] [ 1.54024978e-01 -3.71446297e-03 9.88059972e-01 1.95492845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:174.30, Z:19.55 [[ 9.27637091e-01 3.44988966e-01 -1.43080540e-01 1.80954933e+02] [-3.40384416e-01 9.38600174e-01 5.62864328e-02 1.74300235e+02] [ 1.53713618e-01 -3.51099661e-03 9.88109203e-01 1.95534050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.98, Y:174.29, Z:19.56 [[ 9.26665748e-01 3.47712123e-01 -1.42782603e-01 1.80979585e+02] [-3.43162377e-01 9.37596441e-01 5.61470935e-02 1.74290243e+02] [ 1.53395486e-01 -3.03197082e-03 9.88160226e-01 1.95580815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:174.28, Z:19.56 [[ 9.26118569e-01 3.49244596e-01 -1.42592454e-01 1.81004766e+02] [-3.44728398e-01 9.37027549e-01 5.60509161e-02 1.74280577e+02] [ 1.53188537e-01 -2.75412594e-03 9.88193142e-01 1.95620761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51275509600003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:181.03, Y:174.27, Z:19.56 [[ 9.24852995e-01 3.52278090e-01 -1.43342542e-01 1.81031054e+02] [-3.47755373e-01 9.35892710e-01 5.63119521e-02 1.74269413e+02] [ 1.53990707e-01 -2.23213851e-03 9.88069775e-01 1.95641927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:174.26, Z:19.57 [[ 9.24403418e-01 3.53676891e-01 -1.42796981e-01 1.81055615e+02] [-3.49213425e-01 9.35365643e-01 5.60455059e-02 1.74259996e+02] [ 1.53389390e-01 -1.94203431e-03 9.88163915e-01 1.95705191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57275509600004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:181.08, Y:174.25, Z:19.57 [[ 9.23631959e-01 3.55548926e-01 -1.43139674e-01 1.81081617e+02] [-3.51091863e-01 9.34656300e-01 5.61436144e-02 1.74248246e+02] [ 1.53748200e-01 -1.60086155e-03 9.88108763e-01 1.95723481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60275509600007 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.11, Y:174.24, Z:19.58 [[ 9.23056242e-01 3.56825243e-01 -1.43676442e-01 1.81107404e+02] [-3.52357962e-01 9.34170187e-01 5.63021127e-02 1.74237327e+02] [ 1.54308263e-01 -1.34447831e-03 9.88021838e-01 1.95766801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.13, Y:174.23, Z:19.58 [[ 9.22994516e-01 3.57063925e-01 -1.43479885e-01 1.81132755e+02] [-3.52619821e-01 9.34079108e-01 5.61736677e-02 1.74227346e+02] [ 1.54079153e-01 -1.25413591e-03 9.88057712e-01 1.95823858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.16, Y:174.22, Z:19.59 [[ 9.22998889e-01 3.56941617e-01 -1.43755807e-01 1.81158525e+02] [-3.52487135e-01 9.34125889e-01 5.62284892e-02 1.74217025e+02] [ 1.54356309e-01 -1.22676070e-03 9.88014486e-01 1.95866941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69275509600004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:181.18, Y:174.21, Z:19.59 [[ 9.22998344e-01 3.56518926e-01 -1.44804393e-01 1.81183296e+02] [-3.52001871e-01 9.34287255e-01 5.65862938e-02 1.74207494e+02] [ 1.55462983e-01 -1.25763835e-03 9.87840918e-01 1.95887972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72275509600007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:181.21, Y:174.20, Z:19.59 [[ 9.23229284e-01 3.56304276e-01 -1.43857399e-01 1.81209387e+02] [-3.51847575e-01 9.34369128e-01 5.61926671e-02 1.74197188e+02] [ 1.54437600e-01 -1.26283879e-03 9.88001737e-01 1.95933920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:174.20, Z:19.60 [[ 9.22696977e-01 3.52690908e-01 -1.55690113e-01 1.81240930e+02] [-3.50819612e-01 9.35576891e-01 4.02676089e-02 1.74197096e+02] [ 1.59862092e-01 1.74643441e-02 9.86984857e-01 1.95973018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7827550960001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:181.26, Y:174.17, Z:19.61 [[ 9.23860395e-01 3.57280630e-01 -1.37231635e-01 1.81257192e+02] [-3.50116826e-01 9.33775228e-01 7.40407492e-02 1.74166625e+02] [ 1.54596827e-01 -2.03562114e-02 9.87767911e-01 1.96076673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81275509600005 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:181.29, Y:174.17, Z:19.61 [[ 9.24081417e-01 3.53586058e-01 -1.45087678e-01 1.81288511e+02] [-3.49037390e-01 9.35400593e-01 5.65564338e-02 1.74167006e+02] [ 1.55712667e-01 -1.62172494e-03 9.87801061e-01 1.96055961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.31, Y:174.16, Z:19.61 [[ 9.24373873e-01 3.53357605e-01 -1.43775332e-01 1.81314637e+02] [-3.48896421e-01 9.35486959e-01 5.59949695e-02 1.74158241e+02] [ 1.54286197e-01 -1.59758790e-03 9.88024907e-01 1.96123968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.34, Y:174.15, Z:19.62 [[ 9.24576528e-01 3.52545823e-01 -1.44463440e-01 1.81340740e+02] [-3.48039628e-01 9.35793019e-01 5.62124890e-02 1.74148199e+02] [ 1.55005357e-01 -1.69374613e-03 9.87912178e-01 1.96162505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9027550960001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.37, Y:174.14, Z:19.62 [[ 9.25175991e-01 3.50533345e-01 -1.45518934e-01 1.81365963e+02] [-3.45944115e-01 9.36548123e-01 5.65710360e-02 1.74139498e+02] [ 1.56115519e-01 -1.99674547e-03 9.87736786e-01 1.96188969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93275509600005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:181.39, Y:174.13, Z:19.62 [[ 9.25272454e-01 3.50275285e-01 -1.45527008e-01 1.81392354e+02] [-3.45686151e-01 9.36644625e-01 5.65502591e-02 1.74129446e+02] [ 1.56115248e-01 -2.01772589e-03 9.87736786e-01 1.96231649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9627550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.42, Y:174.12, Z:19.63 [[ 9.25975604e-01 3.48529308e-01 -1.45246349e-01 1.81418499e+02] [-3.43943985e-01 9.37295150e-01 5.63944754e-02 1.74120353e+02] [ 1.55793826e-01 -2.26330053e-03 9.87787002e-01 1.96282055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:174.11, Z:19.63 [[ 9.26727910e-01 3.46668733e-01 -1.44900555e-01 1.81444083e+02] [-3.42090763e-01 9.37984238e-01 5.62092424e-02 1.74112165e+02] [ 1.55400424e-01 -2.52153220e-03 9.87848344e-01 1.96334548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.022755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.47, Y:174.10, Z:19.64 [[ 9.27441566e-01 3.44690030e-01 -1.45054902e-01 1.81469880e+02] [-3.40081925e-01 9.38712285e-01 5.62452757e-02 1.74102227e+02] [ 1.55552005e-01 -2.83365612e-03 9.87823640e-01 1.96364627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.49, Y:174.09, Z:19.64 [[ 9.28002289e-01 3.43345169e-01 -1.44657688e-01 1.81494550e+02] [-3.38754616e-01 9.39204503e-01 5.60375977e-02 1.74092957e+02] [ 1.55103390e-01 -2.99955948e-03 9.87893689e-01 1.96418545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.52, Y:174.08, Z:19.65 [[ 9.28440076e-01 3.41975152e-01 -1.45093143e-01 1.81519665e+02] [-3.37345864e-01 9.39703534e-01 5.61697075e-02 1.74083608e+02] [ 1.55553183e-01 -3.20363583e-03 9.87822324e-01 1.96461748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.55, Y:174.07, Z:19.65 [[ 9.29281288e-01 3.39324406e-01 -1.45928872e-01 1.81545584e+02] [-3.34612658e-01 9.40662350e-01 5.64686862e-02 1.74074624e+02] [ 1.56430999e-01 -3.64564569e-03 9.87682161e-01 1.96497142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.57, Y:174.06, Z:19.65 [[ 9.29380107e-01 3.39046011e-01 -1.45946630e-01 1.81571996e+02] [-3.34338062e-01 9.40762740e-01 5.64227533e-02 1.74064615e+02] [ 1.56431061e-01 -3.64267105e-03 9.87682162e-01 1.96539758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17275509600006 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:181.60, Y:174.06, Z:19.66 [[ 9.30370128e-01 3.36199202e-01 -1.46224218e-01 1.81598982e+02] [-3.31446160e-01 9.41782052e-01 5.64801649e-02 1.74055119e+02] [ 1.56699930e-01 -4.08200290e-03 9.87637823e-01 1.96553443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.62, Y:174.05, Z:19.66 [[ 9.30685326e-01 3.35970109e-01 -1.44737380e-01 1.81624677e+02] [-3.31319320e-01 9.41864035e-01 5.58538030e-02 1.74045701e+02] [ 1.55088141e-01 -4.02802443e-03 9.87892425e-01 1.96625528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.65, Y:174.04, Z:19.67 [[ 9.30977704e-01 3.35343106e-01 -1.44310482e-01 1.81650757e+02] [-3.30720597e-01 9.42087276e-01 5.56367840e-02 1.74035942e+02] [ 1.54610481e-01 -4.07015657e-03 9.87967121e-01 1.96670823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.68, Y:174.03, Z:19.67 [[ 9.31321630e-01 3.33523215e-01 -1.46295207e-01 1.81679335e+02] [-3.30344394e-01 9.42727187e-01 4.62388535e-02 1.74032535e+02] [ 1.53338200e-01 5.26455702e-03 9.88159745e-01 1.96654477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29275509600006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:181.70, Y:174.01, Z:19.68 [[ 9.31344557e-01 3.35561381e-01 -1.41406775e-01 1.81700862e+02] [-3.29658885e-01 9.41928875e-01 6.39923048e-02 1.74012179e+02] [ 1.54668471e-01 -1.29828850e-02 9.87881121e-01 1.96761466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.73, Y:174.01, Z:19.68 [[ 9.30800357e-01 3.36116960e-01 -1.43652650e-01 1.81728013e+02] [-3.31565863e-01 9.41812582e-01 5.52552201e-02 1.74009585e+02] [ 1.53866090e-01 -3.80126366e-03 9.88084398e-01 1.96799515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:181.75, Y:174.00, Z:19.68 [[ 9.30688183e-01 3.36449115e-01 -1.43601879e-01 1.81753162e+02] [-3.31910527e-01 9.41694330e-01 5.52013600e-02 1.74000884e+02] [ 1.53801524e-01 -3.71227805e-03 9.88094788e-01 1.96828514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:173.99, Z:19.69 [[ 9.30384768e-01 3.37372837e-01 -1.43400672e-01 1.81779357e+02] [-3.32861442e-01 9.41364481e-01 5.51014870e-02 1.73991323e+02] [ 1.53582045e-01 -3.53302958e-03 9.88129583e-01 1.96887113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:173.98, Z:19.69 [[ 9.30114461e-01 3.38284902e-01 -1.43004946e-01 1.81805517e+02] [-3.33816934e-01 9.41037866e-01 5.48998074e-02 1.73982155e+02] [ 1.53144845e-01 -3.32563215e-03 9.88198157e-01 1.96933809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.83, Y:173.97, Z:19.70 [[ 9.30088537e-01 3.38390326e-01 -1.42924107e-01 1.81831438e+02] [-3.33936763e-01 9.41000203e-01 5.48165720e-02 1.73972510e+02] [ 1.53041012e-01 -3.25665146e-03 9.88214472e-01 1.96962490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:173.96, Z:19.70 [[ 9.29760160e-01 3.39490259e-01 -1.42451428e-01 1.81856173e+02] [-3.35087080e-01 9.40604735e-01 5.45837115e-02 1.73963994e+02] [ 1.52521126e-01 -3.01612725e-03 9.88295608e-01 1.97016527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.89, Y:173.97, Z:19.70 [[ 9.29113685e-01 3.35177236e-01 -1.56217732e-01 1.81889387e+02] [-3.33624337e-01 9.41985473e-01 3.68533720e-02 1.73966243e+02] [ 1.59507246e-01 1.78770651e-02 9.87034877e-01 1.97031484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:173.93, Z:19.72 [[ 9.29693523e-01 3.41960015e-01 -1.36869653e-01 1.81905315e+02] [-3.34645190e-01 9.39432694e-01 7.40189846e-02 1.73934090e+02] [ 1.53891360e-01 -2.30121996e-02 9.87819765e-01 1.97161488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.94, Y:173.94, Z:19.71 [[ 9.29727585e-01 3.39007159e-01 -1.43808079e-01 1.81935432e+02] [-3.34538683e-01 9.40779102e-01 5.49413433e-02 1.73935243e+02] [ 1.53917144e-01 -2.97111726e-03 9.88079291e-01 1.97145349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:173.92, Z:19.72 [[ 9.29806976e-01 3.38704690e-01 -1.44007360e-01 1.81961122e+02] [-3.34225666e-01 9.40887976e-01 5.49820144e-02 1.73924902e+02] [ 1.54117459e-01 -2.99170483e-03 9.88048004e-01 1.97188037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.99, Y:173.91, Z:19.72 [[ 9.29920839e-01 3.38262162e-01 -1.44311964e-01 1.81985911e+02] [-3.33766181e-01 9.41047050e-01 5.50507552e-02 1.73914961e+02] [ 1.54425935e-01 -3.02639141e-03 9.87999733e-01 1.97227166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6527550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:182.01, Y:173.90, Z:19.73 [[ 9.30120441e-01 3.37424222e-01 -1.44985723e-01 1.82012331e+02] [-3.32879165e-01 9.41347390e-01 5.52860973e-02 1.73904770e+02] [ 1.55136800e-01 -3.16000280e-03 9.87887943e-01 1.97251460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.04, Y:173.90, Z:19.73 [[ 9.29598504e-01 3.35981691e-01 -1.51535227e-01 1.82040185e+02] [-3.32947504e-01 9.41835138e-01 4.57442190e-02 1.73900520e+02] [ 1.58090421e-01 7.92951780e-03 9.87392800e-01 1.97299875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.06, Y:173.88, Z:19.74 [[ 9.29485589e-01 3.37840561e-01 -1.48055042e-01 1.82062261e+02] [-3.33091540e-01 9.41197788e-01 5.65398032e-02 1.73884748e+02] [ 1.58450517e-01 -3.23705034e-03 9.87361613e-01 1.97372130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.09, Y:173.87, Z:19.74 [[ 9.30208958e-01 3.38628116e-01 -1.41570805e-01 1.82086647e+02] [-3.32529824e-01 9.40819031e-01 6.54482042e-02 1.73869007e+02] [ 1.55355109e-01 -1.38039910e-02 9.87762239e-01 1.97429322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.772755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.12, Y:173.87, Z:19.74 [[ 9.30783233e-01 3.34310231e-01 -1.47916334e-01 1.82118226e+02] [-3.31210865e-01 9.42441950e-01 4.58533961e-02 1.73870178e+02] [ 1.54731818e-01 6.31192464e-03 9.87936346e-01 1.97381603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.14, Y:173.85, Z:19.75 [[ 9.30614340e-01 3.36966480e-01 -1.42865467e-01 1.82138025e+02] [-3.30997885e-01 9.41431831e-01 6.43933878e-02 1.73848606e+02] [ 1.56196511e-01 -1.26372427e-02 9.87645154e-01 1.97515458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.832755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:182.17, Y:173.84, Z:19.75 [[ 9.31041343e-01 3.33869078e-01 -1.47286985e-01 1.82165603e+02] [-3.29169470e-01 9.42612592e-01 5.59371273e-02 1.73843160e+02] [ 1.57510244e-01 -3.59739932e-03 9.87510801e-01 1.97506611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.19, Y:173.84, Z:19.75 [[ 9.31460420e-01 3.32402396e-01 -1.47953144e-01 1.82194895e+02] [-3.29341431e-01 9.43116043e-01 4.54571265e-02 1.73838715e+02] [ 1.54647042e-01 6.38558618e-03 9.87949147e-01 1.97517828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.22, Y:173.82, Z:19.76 [[ 9.31056286e-01 3.35932334e-01 -1.42420712e-01 1.82215629e+02] [-3.29906833e-01 9.41792669e-01 6.47151514e-02 1.73819023e+02] [ 1.55870695e-01 -1.32678823e-02 9.87688357e-01 1.97642644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.24, Y:173.82, Z:19.77 [[ 9.30176938e-01 3.36604196e-01 -1.46521259e-01 1.82243686e+02] [-3.32004682e-01 9.41641404e-01 5.55369869e-02 1.73816812e+02] [ 1.56664467e-01 -3.01348024e-03 9.87647287e-01 1.97655803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:173.81, Z:19.77 [[ 9.29862239e-01 3.37199627e-01 -1.47148322e-01 1.82269600e+02] [-3.32571585e-01 9.41428692e-01 5.57508629e-02 1.73807126e+02] [ 1.57328822e-01 -2.90327177e-03 9.87542006e-01 1.97694862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.30, Y:173.80, Z:19.77 [[ 9.29713768e-01 3.37425960e-01 -1.47567039e-01 1.82295253e+02] [-3.32782479e-01 9.41347835e-01 5.58576297e-02 1.73797300e+02] [ 1.57759727e-01 -2.82388226e-03 9.87473490e-01 1.97736240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.32, Y:173.79, Z:19.77 [[ 9.28414265e-01 3.38483736e-01 -1.53217863e-01 1.82323407e+02] [-3.35160183e-01 9.40946566e-01 4.78248007e-02 1.73789717e+02] [ 1.60357740e-01 6.95130000e-03 9.87034485e-01 1.97749696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:173.78, Z:19.78 [[ 9.28492797e-01 3.40873986e-01 -1.47329740e-01 1.82345269e+02] [-3.35865475e-01 9.40096982e-01 5.84127274e-02 1.73775419e+02] [ 1.58415623e-01 -4.75282354e-03 9.87361079e-01 1.97813963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:173.77, Z:19.78 [[ 9.28684836e-01 3.41238145e-01 -1.45261848e-01 1.82369240e+02] [-3.36806262e-01 9.39974710e-01 5.48551367e-02 1.73770042e+02] [ 1.55261129e-01 -2.01803357e-03 9.87871403e-01 1.97819126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:173.76, Z:19.79 [[ 9.29241007e-01 3.39263669e-01 -1.46326052e-01 1.82397591e+02] [-3.33705876e-01 9.40652436e-01 6.17525913e-02 1.73757634e+02] [ 1.58592368e-01 -8.55317689e-03 9.87307097e-01 1.97927214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.43, Y:173.75, Z:19.79 [[ 9.29510453e-01 3.37489035e-01 -1.48699255e-01 1.82425812e+02] [-3.32796119e-01 9.41325569e-01 5.61508329e-02 1.73751746e+02] [ 1.58924701e-01 -2.70625126e-03 9.87286998e-01 1.97943443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.45, Y:173.74, Z:19.80 [[ 9.30117271e-01 3.36272866e-01 -1.47656434e-01 1.82450876e+02] [-3.31638409e-01 9.41760294e-01 5.57091970e-02 1.73742849e+02] [ 1.57790458e-01 -2.84754154e-03 9.87468512e-01 1.98004235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:173.73, Z:19.81 [[ 9.30498923e-01 3.35167369e-01 -1.47765318e-01 1.82477066e+02] [-3.30515753e-01 9.42153777e-01 5.57278965e-02 1.73733232e+02] [ 1.57895825e-01 -3.01598232e-03 9.87451170e-01 1.98050031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.50, Y:173.72, Z:19.81 [[ 9.30938655e-01 3.33985470e-01 -1.47671686e-01 1.82503213e+02] [-3.29332725e-01 9.42572898e-01 5.56443056e-02 1.73723890e+02] [ 1.57775718e-01 -3.16831629e-03 9.87469890e-01 1.98092659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.53, Y:173.72, Z:19.81 [[ 9.31963592e-01 3.31078880e-01 -1.47751949e-01 1.82528922e+02] [-3.26392234e-01 9.43596146e-01 5.56275333e-02 1.73715000e+02] [ 1.57835271e-01 -3.61774693e-03 9.87458829e-01 1.98132969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:173.68, Z:19.83 [[ 9.30575742e-01 3.38351564e-01 -1.39810611e-01 1.82550349e+02] [-3.28402382e-01 9.40270558e-01 8.96836288e-02 1.73679688e+02] [ 1.61804397e-01 -3.75432718e-02 9.86108432e-01 1.98346882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:173.71, Z:19.81 [[ 9.32942744e-01 3.23324151e-01 -1.58364546e-01 1.82589976e+02] [-3.23403107e-01 9.45904101e-01 2.59973519e-02 1.73713062e+02] [ 1.58203246e-01 2.69615454e-02 9.87038403e-01 1.98137482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.61, Y:173.69, Z:19.83 [[ 9.34078102e-01 3.25171254e-01 -1.47518658e-01 1.82608630e+02] [-3.20441589e-01 9.45644358e-01 5.54430901e-02 1.73686411e+02] [ 1.57528685e-01 -4.51706324e-03 9.87504081e-01 1.98264903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.63, Y:173.68, Z:19.83 [[ 9.34499486e-01 3.23976469e-01 -1.47478671e-01 1.82633807e+02] [-3.19242660e-01 9.46053619e-01 5.53775624e-02 1.73676953e+02] [ 1.57463757e-01 -4.66882042e-03 9.87513730e-01 1.98306563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.66, Y:173.67, Z:19.84 [[ 9.35049225e-01 3.22124378e-01 -1.48050099e-01 1.82659894e+02] [-3.17334273e-01 9.46684269e-01 5.55684548e-02 1.73666895e+02] [ 1.58056654e-01 -4.97786988e-03 9.87417498e-01 1.98352052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43275509600005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:182.69, Y:173.67, Z:19.84 [[ 9.34552991e-01 3.19241291e-01 -1.57148673e-01 1.82688509e+02] [-3.16559313e-01 9.47620358e-01 4.24953876e-02 1.73666423e+02] [ 1.62483564e-01 1.00326844e-02 9.86660244e-01 1.98384185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4627550960001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:182.71, Y:173.64, Z:19.85 [[ 9.35606490e-01 3.22676552e-01 -1.43249219e-01 1.82708502e+02] [-3.15667214e-01 9.46295013e-01 6.98566963e-02 1.73640239e+02] [ 1.58097139e-01 -2.01392965e-02 9.87218164e-01 1.98472282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:182.74, Y:173.64, Z:19.85 [[ 9.35307042e-01 3.20930429e-01 -1.49011400e-01 1.82738024e+02] [-3.16083754e-01 9.47089110e-01 5.57967599e-02 1.73640057e+02] [ 1.59033952e-01 -5.08701978e-03 9.87260008e-01 1.98484079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:173.63, Z:19.85 [[ 9.35058948e-01 3.21357577e-01 -1.49646492e-01 1.82763944e+02] [-3.16483106e-01 9.46944797e-01 5.59821019e-02 1.73630635e+02] [ 1.59697239e-01 -4.98597873e-03 9.87153449e-01 1.98541908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55275509600006 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:182.79, Y:173.62, Z:19.86 [[ 9.34674711e-01 3.22043636e-01 -1.50569193e-01 1.82788889e+02] [-3.17125593e-01 9.46712401e-01 5.62760033e-02 1.73620839e+02] [ 1.60669051e-01 -4.85041252e-03 9.86996418e-01 1.98565344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.82, Y:173.61, Z:19.86 [[ 9.34329241e-01 3.23348836e-01 -1.49914641e-01 1.82816251e+02] [-3.18416883e-01 9.46266414e-01 5.64850699e-02 1.73609949e+02] [ 1.60123571e-01 -5.04029989e-03 9.87084109e-01 1.98632651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61275509600006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:182.84, Y:173.60, Z:19.87 [[ 9.34120911e-01 3.23642718e-01 -1.50577275e-01 1.82840426e+02] [-3.18735237e-01 9.46168029e-01 5.63374674e-02 1.73602183e+02] [ 1.60704614e-01 -4.63172299e-03 9.86991679e-01 1.98662298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:173.60, Z:19.87 [[ 9.33869533e-01 3.24173872e-01 -1.50993366e-01 1.82868626e+02] [-3.20239803e-01 9.45996599e-01 5.03676782e-02 1.73596631e+02] [ 1.59167096e-01 1.31724554e-03 9.87250779e-01 1.98680623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:173.59, Z:19.87 [[ 9.34155089e-01 3.23401100e-01 -1.50884057e-01 1.82896196e+02] [-3.20264610e-01 9.46243083e-01 4.53277812e-02 1.73590598e+02] [ 1.57432050e-01 5.97964627e-03 9.87511718e-01 1.98683097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:182.91, Y:173.57, Z:19.88 [[ 9.32599323e-01 3.30363890e-01 -1.45321037e-01 1.82914882e+02] [-3.23308476e-01 9.43668179e-01 7.04414507e-02 1.73565489e+02] [ 1.60406150e-01 -1.87101261e-02 9.86873750e-01 1.98849395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:182.95, Y:173.58, Z:19.88 [[ 9.33461979e-01 3.24787719e-01 -1.52189589e-01 1.82949587e+02] [-3.22880755e-01 9.45685219e-01 3.77820597e-02 1.73576265e+02] [ 1.56194594e-01 1.38709731e-02 9.87628901e-01 1.98755480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.97, Y:173.56, Z:19.88 [[ 9.33818488e-01 3.26065115e-01 -1.47188901e-01 1.82972839e+02] [-3.22764063e-01 9.45338336e-01 4.64627712e-02 1.73562605e+02] [ 1.54293200e-01 4.11949322e-03 9.88016517e-01 1.98795924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.99, Y:173.53, Z:19.90 [[ 9.32271816e-01 3.33087842e-01 -1.41144430e-01 1.82990603e+02] [-3.25009642e-01 9.42525339e-01 7.75546148e-02 1.73532869e+02] [ 1.58864701e-01 -2.64286810e-02 9.86946570e-01 1.99006032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:173.56, Z:19.88 [[ 9.34236812e-01 3.21920458e-01 -1.53521326e-01 1.83030827e+02] [-3.22473489e-01 9.46323295e-01 2.19788585e-02 1.73558631e+02] [ 1.52356251e-01 2.89730990e-02 9.87900872e-01 1.98794731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.04, Y:173.51, Z:19.91 [[ 9.33695507e-01 3.32181576e-01 -1.33671614e-01 1.83039390e+02] [-3.23239908e-01 9.42542072e-01 8.44417180e-02 1.73511035e+02] [ 1.54041103e-01 -3.56348526e-02 9.87421640e-01 1.99070101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.08, Y:173.52, Z:19.90 [[ 9.33949960e-01 3.24866472e-01 -1.48994122e-01 1.83075961e+02] [-3.21202017e-01 9.45756947e-01 4.87140846e-02 1.73522038e+02] [ 1.56737799e-01 2.36069514e-03 9.87637428e-01 1.99003441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.10, Y:173.50, Z:19.91 [[ 9.34246576e-01 3.27681978e-01 -1.40740390e-01 1.83095093e+02] [-3.20530451e-01 9.44540442e-01 7.14393648e-02 1.73495930e+02] [ 1.56344383e-01 -2.16304012e-02 9.87465726e-01 1.99149770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.13, Y:173.51, Z:19.91 [[ 9.35607553e-01 3.19265788e-01 -1.50691284e-01 1.83129426e+02] [-3.17202663e-01 9.47588395e-01 3.81929766e-02 1.73506519e+02] [ 1.54987023e-01 1.20660392e-02 9.87842818e-01 1.99065735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:173.49, Z:19.92 [[ 9.35369811e-01 3.21972601e-01 -1.46345351e-01 1.83150587e+02] [-3.17453026e-01 9.46740695e-01 5.39039133e-02 1.73486105e+02] [ 1.55906683e-01 -3.96231864e-03 9.87763841e-01 1.99161737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.18, Y:173.48, Z:19.91 [[ 9.36939297e-01 3.18339881e-01 -1.44237559e-01 1.83176721e+02] [-3.14800917e-01 9.47976070e-01 4.73471637e-02 1.73481416e+02] [ 1.51806245e-01 1.04469760e-03 9.88409719e-01 1.99136696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:173.47, Z:19.93 [[ 9.36799615e-01 3.18300541e-01 -1.45228255e-01 1.83202531e+02] [-3.13053224e-01 9.47945887e-01 5.82775651e-02 1.73465940e+02] [ 1.56218308e-01 -9.13022704e-03 9.87680353e-01 1.99250857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:173.46, Z:19.93 [[ 9.36873117e-01 3.17336166e-01 -1.46855439e-01 1.83230288e+02] [-3.12767285e-01 9.48302368e-01 5.38446321e-02 1.73459000e+02] [ 1.56350210e-01 -4.51401131e-03 9.87691367e-01 1.99280423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:183.25, Y:173.44, Z:19.94 [[ 9.36359542e-01 3.21171889e-01 -1.41701894e-01 1.83253442e+02] [-3.14680829e-01 9.46852833e-01 6.66760024e-02 1.73441974e+02] [ 1.55585297e-01 -1.78418417e-02 9.87661321e-01 1.99352686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.29, Y:173.45, Z:19.93 [[ 9.36425542e-01 3.17089900e-01 -1.50203862e-01 1.83285592e+02] [-3.14972151e-01 9.48326730e-01 3.83269847e-02 1.73450063e+02] [ 1.54595437e-01 1.14196662e-02 9.87911859e-01 1.99279215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.31, Y:173.43, Z:19.94 [[ 9.35720482e-01 3.20460925e-01 -1.47417691e-01 1.83307631e+02] [-3.16523431e-01 9.47261714e-01 5.00815601e-02 1.73433999e+02] [ 1.55692318e-01 -2.01188181e-04 9.87805579e-01 1.99354664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:183.33, Y:173.42, Z:19.94 [[ 9.34881577e-01 3.24027498e-01 -1.44922802e-01 1.83333379e+02] [-3.19203504e-01 9.46027794e-01 5.60404804e-02 1.73420087e+02] [ 1.55259656e-01 -6.13134630e-03 9.87854668e-01 1.99406800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:183.36, Y:173.41, Z:19.94 [[ 9.34400790e-01 3.24980280e-01 -1.45886880e-01 1.83360002e+02] [-3.20620130e-01 9.45716426e-01 5.31335381e-02 1.73412136e+02] [ 1.55234971e-01 -2.87374947e-03 9.87873395e-01 1.99440873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.39, Y:173.40, Z:19.95 [[ 9.33410427e-01 3.27895598e-01 -1.45703299e-01 1.83386175e+02] [-3.23589898e-01 9.44711077e-01 5.30147102e-02 1.73402906e+02] [ 1.55030811e-01 -2.33636750e-03 9.87906873e-01 1.99482562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.272755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:183.41, Y:173.40, Z:19.95 [[ 9.32589360e-01 3.28463936e-01 -1.49627965e-01 1.83413589e+02] [-3.25106036e-01 9.44504651e-01 4.70853465e-02 1.73397455e+02] [ 1.56790147e-01 4.73366142e-03 9.87620596e-01 1.99518551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.44, Y:173.38, Z:19.96 [[ 9.32371804e-01 3.32064315e-01 -1.42884951e-01 1.83436819e+02] [-3.26865829e-01 9.43219096e-01 5.91309339e-02 1.73380956e+02] [ 1.54407088e-01 -8.42780744e-03 9.87971368e-01 1.99594670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.46, Y:173.38, Z:19.96 [[ 9.31181076e-01 3.34308473e-01 -1.45394802e-01 1.83463720e+02] [-3.30118171e-01 9.42463011e-01 5.27775144e-02 1.73375854e+02] [ 1.54673193e-01 -1.14795656e-03 9.87965022e-01 1.99622158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.49, Y:173.37, Z:19.97 [[ 9.30827613e-01 3.35318138e-01 -1.45333072e-01 1.83489537e+02] [-3.31147442e-01 9.42104469e-01 5.27308308e-02 1.73366374e+02] [ 1.54600540e-01 -9.56638413e-04 9.87976598e-01 1.99656382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.52, Y:173.36, Z:19.97 [[ 9.30337667e-01 3.36612617e-01 -1.45477737e-01 1.83515432e+02] [-3.32457240e-01 9.41642960e-01 5.27325191e-02 1.73356749e+02] [ 1.54738518e-01 -6.93921875e-04 9.87955216e-01 1.99711210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:173.35, Z:19.98 [[ 9.29385404e-01 3.38327428e-01 -1.47571412e-01 1.83541838e+02] [-3.34070512e-01 9.41028358e-01 5.35025453e-02 1.73346703e+02] [ 1.56970262e-01 -4.25227594e-04 9.87603238e-01 1.99766130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.57, Y:173.34, Z:19.98 [[ 9.29896992e-01 3.37908885e-01 -1.45289952e-01 1.83567575e+02] [-3.33690761e-01 9.41178274e-01 5.32346955e-02 1.73338265e+02] [ 1.54732223e-01 -1.02086848e-03 9.87955919e-01 1.99797279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.59, Y:173.33, Z:19.98 [[ 9.29984538e-01 3.37445533e-01 -1.45805593e-01 1.83592435e+02] [-3.33304616e-01 9.41344963e-01 5.27038300e-02 1.73329495e+02] [ 1.55038033e-01 -4.16069756e-04 9.87908414e-01 1.99839398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.62, Y:173.32, Z:19.99 [[ 9.30304146e-01 3.36489055e-01 -1.45977093e-01 1.83617996e+02] [-3.32330477e-01 9.41687215e-01 5.27412920e-02 1.73319710e+02] [ 1.55211630e-01 -5.52805665e-04 9.87881088e-01 1.99876676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54275509600006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:183.64, Y:173.31, Z:19.99 [[ 9.30893215e-01 3.34531997e-01 -1.46717980e-01 1.83643560e+02] [-3.30314968e-01 9.42384024e-01 5.29563352e-02 1.73309036e+02] [ 1.55980269e-01 -8.33548244e-04 9.87759819e-01 1.99915145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57275509600004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:183.67, Y:173.30, Z:20.00 [[ 9.31287609e-01 3.33312467e-01 -1.46990438e-01 1.83668747e+02] [-3.29072530e-01 9.42815897e-01 5.30042855e-02 1.73299556e+02] [ 1.56251911e-01 -9.91718890e-04 9.87716739e-01 1.99960424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.69, Y:173.29, Z:20.00 [[ 9.32131789e-01 3.31508066e-01 -1.45714550e-01 1.83694182e+02] [-3.27323731e-01 9.43451544e-01 5.25200899e-02 1.73289674e+02] [ 1.54885450e-01 -1.25981523e-03 9.87931632e-01 2.00026130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:173.28, Z:20.01 [[ 9.32576890e-01 3.30231278e-01 -1.45765728e-01 1.83720394e+02] [-3.26036516e-01 9.43898976e-01 5.24872721e-02 1.73280576e+02] [ 1.54921060e-01 -1.42346700e-03 9.87925827e-01 2.00070813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.75, Y:173.27, Z:20.01 [[ 9.32924375e-01 3.29319162e-01 -1.45605631e-01 1.83745591e+02] [-3.25130348e-01 9.44217433e-01 5.23803003e-02 1.73271741e+02] [ 1.54733212e-01 -1.52604920e-03 9.87955112e-01 2.00108203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.77, Y:173.26, Z:20.01 [[ 9.33572552e-01 3.27131589e-01 -1.46380371e-01 1.83770754e+02] [-3.22874564e-01 9.44976930e-01 5.26366600e-02 1.73262673e+02] [ 1.55545188e-01 -1.87764259e-03 9.87826994e-01 2.00138760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72275509600007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.80, Y:173.25, Z:20.02 [[ 9.34107921e-01 3.25861905e-01 -1.45795784e-01 1.83797126e+02] [-3.21627338e-01 9.45415138e-01 5.24029845e-02 1.73252872e+02] [ 1.54913678e-01 -2.05813290e-03 9.87925866e-01 2.00183381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.82, Y:173.24, Z:20.02 [[ 9.34548577e-01 3.24500620e-01 -1.46007897e-01 1.83821985e+02] [-3.20244666e-01 9.45882828e-01 5.24311870e-02 1.73243552e+02] [ 1.55120315e-01 -2.24124092e-03 9.87893043e-01 2.00224162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.85, Y:173.23, Z:20.03 [[ 9.35372601e-01 3.22277214e-01 -1.45655395e-01 1.83846390e+02] [-3.18018584e-01 9.46641816e-01 5.22824207e-02 1.73234130e+02] [ 1.54732921e-01 -2.58242129e-03 9.87952962e-01 2.00285737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81275509600005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:183.87, Y:173.22, Z:20.03 [[ 9.35797699e-01 3.20670122e-01 -1.46469589e-01 1.83872888e+02] [-3.16349375e-01 9.47186708e-01 5.25396449e-02 1.73224598e+02] [ 1.55581942e-01 -2.83091578e-03 9.87818933e-01 2.00305578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8427550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:183.90, Y:173.22, Z:20.04 [[ 9.36165769e-01 3.20073608e-01 -1.45418492e-01 1.83898619e+02] [-3.15816098e-01 9.47388366e-01 5.21102366e-02 1.73215583e+02] [ 1.54446899e-01 -2.85831889e-03 9.87996956e-01 2.00369588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:183.92, Y:173.21, Z:20.04 [[ 9.36516734e-01 3.19068352e-01 -1.45367787e-01 1.83924719e+02] [-3.14809980e-01 9.47727044e-01 5.20396729e-02 1.73206407e+02] [ 1.54373196e-01 -2.97279451e-03 9.88008137e-01 2.00409569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.95, Y:173.20, Z:20.05 [[ 9.36914877e-01 3.18229564e-01 -1.44639063e-01 1.83951176e+02] [-3.14012160e-01 9.48008792e-01 5.17271108e-02 1.73197491e+02] [ 1.53580199e-01 -3.04547507e-03 9.88131493e-01 2.00461491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93275509600005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:183.98, Y:173.19, Z:20.05 [[ 9.37001374e-01 3.17990287e-01 -1.44604990e-01 1.83976346e+02] [-3.13779984e-01 9.48089113e-01 5.16638636e-02 1.73188336e+02] [ 1.53527023e-01 -3.03495986e-03 9.88139789e-01 2.00476003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9627550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.00, Y:173.18, Z:20.05 [[ 9.37045565e-01 3.18678573e-01 -1.42792075e-01 1.84001051e+02] [-3.14585203e-01 9.47858517e-01 5.09939388e-02 1.73179867e+02] [ 1.51597360e-01 -2.86337018e-03 9.88438183e-01 2.00536653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99275509600005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:184.03, Y:173.17, Z:20.06 [[ 9.37135673e-01 3.18206865e-01 -1.43251949e-01 1.84027110e+02] [-3.14085085e-01 9.48016786e-01 5.11344684e-02 1.73170891e+02] [ 1.52076591e-01 -2.92663394e-03 9.88364379e-01 2.00564877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.05, Y:173.16, Z:20.06 [[ 9.37173412e-01 3.18716734e-01 -1.41864865e-01 1.84052130e+02] [-3.14688448e-01 9.47845973e-01 5.05884626e-02 1.73162028e+02] [ 1.50589431e-01 -2.76692771e-03 9.88592518e-01 2.00630283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.08, Y:173.15, Z:20.07 [[ 9.37300545e-01 3.18571443e-01 -1.41350360e-01 1.84077794e+02] [-3.14574424e-01 9.47894842e-01 5.03815366e-02 1.73152973e+02] [ 1.50035396e-01 -2.75743371e-03 9.88676781e-01 2.00676893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.10, Y:173.14, Z:20.07 [[ 9.37424882e-01 3.18313305e-01 -1.41107157e-01 1.84103187e+02] [-3.14334675e-01 9.47981591e-01 5.02455544e-02 1.73144066e+02] [ 1.49760816e-01 -2.74656045e-03 9.88718440e-01 2.00717112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.13, Y:173.13, Z:20.08 [[ 9.37634792e-01 3.17890797e-01 -1.40664275e-01 1.84129829e+02] [-3.13937688e-01 9.48123281e-01 5.00536934e-02 1.73134870e+02] [ 1.49278682e-01 -2.77226724e-03 9.88791277e-01 2.00757611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.16, Y:173.13, Z:20.08 [[ 9.37940217e-01 3.17067227e-01 -1.40486739e-01 1.84156589e+02] [-3.13122690e-01 9.48398781e-01 4.99392897e-02 1.73125504e+02] [ 1.49071564e-01 -2.85048254e-03 9.88822301e-01 2.00783870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.18, Y:173.12, Z:20.08 [[ 9.38113250e-01 3.16910336e-01 -1.39683105e-01 1.84181813e+02] [-3.13016832e-01 9.48451337e-01 4.96036688e-02 1.73117580e+02] [ 1.48202544e-01 -2.81069583e-03 9.88953035e-01 2.00847756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.21, Y:173.12, Z:20.09 [[ 9.37903327e-01 3.13477840e-01 -1.48556362e-01 1.84213034e+02] [-3.11792175e-01 9.49501198e-01 3.51157371e-02 1.73117435e+02] [ 1.52062449e-01 1.33835447e-02 9.88280270e-01 2.00854220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.23, Y:173.09, Z:20.10 [[ 9.38285169e-01 3.17485944e-01 -1.37199185e-01 1.84232465e+02] [-3.11843693e-01 9.48146963e-01 6.14072321e-02 1.73093651e+02] [ 1.49580924e-01 -1.48327947e-02 9.88638223e-01 2.00972480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26275509600003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:184.26, Y:173.09, Z:20.10 [[ 9.39048376e-01 3.14387803e-01 -1.39098733e-01 1.84260526e+02] [-3.09842701e-01 9.49265792e-01 5.37769247e-02 1.73089308e+02] [ 1.48948478e-01 -7.40040679e-03 9.88817266e-01 2.00962475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.29, Y:173.09, Z:20.10 [[ 9.39646327e-01 3.11119377e-01 -1.42371039e-01 1.84290607e+02] [-3.07710941e-01 9.50370618e-01 4.59311014e-02 1.73085364e+02] [ 1.49595308e-01 6.50135741e-04 9.88747097e-01 2.01009859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.31, Y:173.07, Z:20.11 [[ 9.40167372e-01 3.11545199e-01 -1.37930782e-01 1.84312626e+02] [-3.06879848e-01 9.50190092e-01 5.44384726e-02 1.73072060e+02] [ 1.48020507e-01 -8.85309827e-03 9.88944666e-01 2.01069464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.34, Y:173.07, Z:20.11 [[ 9.40492149e-01 3.09668819e-01 -1.39927629e-01 1.84339437e+02] [-3.05707338e-01 9.50836901e-01 4.95198033e-02 1.73066573e+02] [ 1.48383092e-01 -3.79608335e-03 9.88922670e-01 2.01085908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38275509600004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:184.37, Y:173.06, Z:20.11 [[ 9.41048365e-01 3.08186547e-01 -1.39459766e-01 1.84365995e+02] [-3.04238736e-01 9.51317555e-01 4.93325636e-02 1.73058963e+02] [ 1.47874156e-01 -3.99526560e-03 9.88998115e-01 2.01110259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41275509600007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:184.39, Y:173.05, Z:20.11 [[ 9.41182348e-01 3.07763765e-01 -1.39489259e-01 1.84391526e+02] [-3.03816983e-01 9.51454330e-01 4.92940129e-02 1.73051192e+02] [ 1.47888571e-01 -4.01544885e-03 9.88995878e-01 2.01148656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.42, Y:173.04, Z:20.12 [[ 9.40995389e-01 3.08499617e-01 -1.39124638e-01 1.84416708e+02] [-3.04584768e-01 9.51216599e-01 4.91436655e-02 1.73043757e+02] [ 1.47498467e-01 -3.86871698e-03 9.89054718e-01 2.01213124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:173.04, Z:20.13 [[ 9.41241447e-01 3.07967845e-01 -1.38637457e-01 1.84443853e+02] [-3.04082512e-01 9.51388821e-01 4.89196945e-02 1.73035881e+02] [ 1.46963819e-01 -3.88801801e-03 9.89134227e-01 2.01251336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.47, Y:173.03, Z:20.13 [[ 9.40707575e-01 3.09348469e-01 -1.39186146e-01 1.84470784e+02] [-3.05454994e-01 9.50941796e-01 4.90606423e-02 1.73028834e+02] [ 1.47534758e-01 -3.63661441e-03 9.89050186e-01 2.01277902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5327550960001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:184.50, Y:173.02, Z:20.13 [[ 9.40433473e-01 3.09924448e-01 -1.39755929e-01 1.84496740e+02] [-3.06012738e-01 9.50754700e-01 4.92108191e-02 1.73021001e+02] [ 1.48125242e-01 -3.51240695e-03 9.88962373e-01 2.01297971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56275509600005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.52, Y:173.01, Z:20.13 [[ 9.40097163e-01 3.11171302e-01 -1.39247065e-01 1.84523086e+02] [-3.07305091e-01 9.50348171e-01 4.90095361e-02 1.73013742e+02] [ 1.47583555e-01 -3.28239395e-03 9.89044145e-01 2.01346367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.55, Y:173.01, Z:20.14 [[ 9.40063299e-01 3.11554729e-01 -1.38616899e-01 1.84549573e+02] [-3.07735274e-01 9.50222959e-01 4.87373461e-02 1.73005713e+02] [ 1.46901311e-01 -3.15888090e-03 9.89146110e-01 2.01403042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62275509600005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.58, Y:173.00, Z:20.14 [[ 9.39977662e-01 3.11551315e-01 -1.39204069e-01 1.84576465e+02] [-3.07706752e-01 9.50224192e-01 4.88931409e-02 1.72996953e+02] [ 1.47507796e-01 -3.12442835e-03 9.89055958e-01 2.01422398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.60, Y:172.99, Z:20.15 [[ 9.39883778e-01 3.11634284e-01 -1.39651558e-01 1.84602359e+02] [-3.07773245e-01 9.50197152e-01 4.90000203e-02 1.72989957e+02] [ 1.47966599e-01 -3.07331109e-03 9.88987584e-01 2.01476180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.63, Y:172.98, Z:20.15 [[ 9.40048381e-01 3.11049115e-01 -1.39848094e-01 1.84628510e+02] [-3.07174036e-01 9.50388623e-01 4.90466835e-02 1.72981275e+02] [ 1.48165965e-01 -3.14855207e-03 9.88957498e-01 2.01513078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7127550960001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:184.65, Y:172.97, Z:20.15 [[ 9.40231132e-01 3.09980418e-01 -1.40987797e-01 1.84654577e+02] [-3.06037430e-01 9.50737233e-01 4.93943842e-02 1.72972056e+02] [ 1.49353640e-01 -3.29459452e-03 9.88778355e-01 2.01531795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.68, Y:172.96, Z:20.16 [[ 9.40718225e-01 3.09151425e-01 -1.39551490e-01 1.84680249e+02] [-3.05287359e-01 9.51006955e-01 4.88405610e-02 1.72963498e+02] [ 1.47813567e-01 -3.34189995e-03 9.89009596e-01 2.01593607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.772755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:184.71, Y:172.95, Z:20.16 [[ 9.41397984e-01 3.07023355e-01 -1.39665653e-01 1.84705578e+02] [-3.03137237e-01 9.51695057e-01 4.88296513e-02 1.72954199e+02] [ 1.47910955e-01 -3.63027503e-03 9.88994019e-01 2.01610162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:172.95, Z:20.17 [[ 9.41812255e-01 3.06151259e-01 -1.38784300e-01 1.84730765e+02] [-3.02309989e-01 9.51975652e-01 4.84874133e-02 1.72945640e+02] [ 1.46963757e-01 -3.71015971e-03 9.89134919e-01 2.01665589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:172.94, Z:20.17 [[ 9.42418679e-01 3.04469599e-01 -1.38366531e-01 1.84756594e+02] [-3.00636733e-01 9.52513907e-01 4.83198834e-02 1.72935611e+02] [ 1.46507981e-01 -3.93949879e-03 9.89201644e-01 2.01702797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:172.93, Z:20.17 [[ 9.42781428e-01 3.03460687e-01 -1.38111511e-01 1.84782741e+02] [-2.99635772e-01 9.52835313e-01 4.82003146e-02 1.72925898e+02] [ 1.46224426e-01 -4.05921218e-03 9.89243115e-01 2.01741045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:184.81, Y:172.92, Z:20.18 [[ 9.43059906e-01 3.02359766e-01 -1.38623896e-01 1.84808466e+02] [-2.98501749e-01 9.53184634e-01 4.83297019e-02 1.72915369e+02] [ 1.46747125e-01 -4.19832872e-03 9.89165130e-01 2.01764240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.83, Y:172.91, Z:20.18 [[ 9.43003719e-01 3.02818734e-01 -1.38002900e-01 1.84833584e+02] [-2.99007546e-01 9.53039519e-01 4.80641530e-02 1.72905812e+02] [ 1.46076943e-01 -4.06076664e-03 9.89264897e-01 2.01803007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.86, Y:172.90, Z:20.18 [[ 9.43091036e-01 3.02543674e-01 -1.38009504e-01 1.84860324e+02] [-2.98732333e-01 9.53126777e-01 4.80451814e-02 1.72896687e+02] [ 1.46076320e-01 -4.08307878e-03 9.89264897e-01 2.01844731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98275509600006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:184.89, Y:172.89, Z:20.19 [[ 9.42771948e-01 3.02907377e-01 -1.39384990e-01 1.84886507e+02] [-2.99030025e-01 9.53011508e-01 4.84779384e-02 1.72886619e+02] [ 1.47519825e-01 -4.02334325e-03 9.89050916e-01 2.01873668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.91, Y:172.88, Z:20.19 [[ 9.41773833e-01 3.06601910e-01 -1.38048239e-01 1.84910799e+02] [-3.02845642e-01 9.51831892e-01 4.79642087e-02 1.72876207e+02] [ 1.46104634e-01 -3.36412917e-03 9.89263422e-01 2.01925202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.94, Y:172.87, Z:20.20 [[ 9.40833909e-01 3.09021041e-01 -1.39059528e-01 1.84935622e+02] [-3.05608183e-01 9.51055015e-01 4.58039030e-02 1.72868331e+02] [ 1.46407631e-01 -5.96135471e-04 9.89224166e-01 2.01952672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.96, Y:172.86, Z:20.20 [[ 9.40288192e-01 3.11418444e-01 -1.37392392e-01 1.84962793e+02] [-3.07468730e-01 9.50262551e-01 4.96393489e-02 1.72855669e+02] [ 1.46017453e-01 -4.43142944e-03 9.89272089e-01 2.02006317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.99, Y:172.85, Z:20.20 [[ 9.38153579e-01 3.17594593e-01 -1.37846065e-01 1.84989052e+02] [-3.13978168e-01 9.48225279e-01 4.78176790e-02 1.72845020e+02] [ 1.45895760e-01 -1.57967158e-03 9.89298707e-01 2.02044590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.01, Y:172.83, Z:20.21 [[ 9.37012951e-01 3.20877845e-01 -1.38000497e-01 1.85014700e+02] [-3.17295671e-01 9.47120034e-01 4.78236184e-02 1.72834786e+02] [ 1.46048575e-01 -1.02438957e-03 9.89276890e-01 2.02082794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:172.83, Z:20.21 [[ 9.35717321e-01 3.24769484e-01 -1.37687607e-01 1.85039194e+02] [-3.21252624e-01 9.45793130e-01 4.76666191e-02 1.72825018e+02] [ 1.45704656e-01 -3.69976251e-04 9.89328063e-01 2.02122143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.06, Y:172.81, Z:20.22 [[ 9.33228295e-01 3.32016911e-01 -1.37294283e-01 1.85064452e+02] [-3.28601064e-01 9.43273113e-01 4.75097339e-02 1.72812598e+02] [ 1.45280041e-01 7.77619562e-04 9.89390269e-01 2.02161883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.09, Y:172.80, Z:20.22 [[ 9.32166806e-01 3.35163522e-01 -1.36859268e-01 1.85089013e+02] [-3.31810353e-01 9.42159061e-01 4.73095579e-02 1.72801845e+02] [ 1.44799637e-01 1.31092261e-03 9.89460129e-01 2.02204679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:172.79, Z:20.22 [[ 9.31533229e-01 3.37082604e-01 -1.36459378e-01 1.85114646e+02] [-3.33772623e-01 9.41473674e-01 4.71503625e-02 1.72790776e+02] [ 1.44366479e-01 1.62427516e-03 9.89522956e-01 2.02245678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.14, Y:172.78, Z:20.23 [[ 9.30902906e-01 3.39480936e-01 -1.34805318e-01 1.85138093e+02] [-3.36283170e-01 9.40610770e-01 4.65296516e-02 1.72777000e+02] [ 1.42595264e-01 2.01817185e-03 9.89779025e-01 2.02289079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.16, Y:172.76, Z:20.23 [[ 9.30992234e-01 3.39401324e-01 -1.34388252e-01 1.85162964e+02] [-3.36225500e-01 9.40639498e-01 4.63653780e-02 1.72764742e+02] [ 1.42147369e-01 2.01895039e-03 9.89843447e-01 2.02337331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3427550960001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:185.19, Y:172.75, Z:20.24 [[ 9.31410379e-01 3.38023453e-01 -1.34962405e-01 1.85187557e+02] [-3.34813169e-01 9.41135840e-01 4.65131437e-02 1.72752517e+02] [ 1.42740490e-01 1.86436576e-03 9.89758393e-01 2.02369311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37275509600005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:185.21, Y:172.74, Z:20.24 [[ 9.32377962e-01 3.36666356e-01 -1.31632448e-01 1.85214507e+02] [-3.33602461e-01 9.41622588e-01 4.53464346e-02 1.72744569e+02] [ 1.39214705e-01 1.63289238e-03 9.90260874e-01 2.02415283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.24, Y:172.73, Z:20.25 [[ 9.33288718e-01 3.35094123e-01 -1.29166937e-01 1.85239891e+02] [-3.32135396e-01 9.42183598e-01 4.44538610e-02 1.72734671e+02] [ 1.36595198e-01 1.41262499e-03 9.90625942e-01 2.02460228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.27, Y:172.73, Z:20.25 [[ 9.34339486e-01 3.32543376e-01 -1.28158605e-01 1.85265585e+02] [-3.29613182e-01 9.43087349e-01 4.40613388e-02 1.72725389e+02] [ 1.35517065e-01 1.07451682e-03 9.90774430e-01 2.02500892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:172.72, Z:20.25 [[ 9.37314905e-01 3.24523334e-01 -1.26985730e-01 1.85294072e+02] [-3.22585260e-01 9.45850985e-01 3.61201429e-02 1.72722489e+02] [ 1.31831407e-01 7.10777644e-03 9.91246669e-01 2.02496450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49275509600005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:185.32, Y:172.70, Z:20.26 [[ 9.37880663e-01 3.23710020e-01 -1.24866665e-01 1.85317429e+02] [-3.19921263e-01 9.46131874e-01 4.98483863e-02 1.72704317e+02] [ 1.34276754e-01 -6.80433651e-03 9.90920509e-01 2.02593207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.522755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:185.35, Y:172.70, Z:20.26 [[ 9.38894849e-01 3.19821996e-01 -1.27241315e-01 1.85345757e+02] [-3.17488054e-01 9.47469231e-01 3.87735929e-02 1.72700789e+02] [ 1.32957879e-01 3.99327072e-03 9.91113644e-01 2.02618425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.37, Y:172.69, Z:20.27 [[ 9.40631192e-01 3.16351206e-01 -1.23023883e-01 1.85370976e+02] [-3.13749624e-01 9.48642004e-01 4.04909978e-02 1.72688556e+02] [ 1.29514999e-01 5.11601595e-04 9.91577331e-01 2.02677578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.40, Y:172.68, Z:20.27 [[ 9.41538025e-01 3.15362346e-01 -1.18544251e-01 1.85395472e+02] [-3.11955912e-01 9.48945171e-01 4.67607794e-02 1.72675802e+02] [ 1.27238584e-01 -7.04647197e-03 9.91847110e-01 2.02738404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:185.42, Y:172.68, Z:20.27 [[ 9.41793785e-01 3.11579388e-01 -1.26264607e-01 1.85423566e+02] [-3.09898795e-01 9.50187986e-01 3.32494695e-02 1.72675973e+02] [ 1.30334962e-01 7.81510597e-03 9.91439217e-01 2.02726448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.45, Y:172.66, Z:20.28 [[ 9.42987963e-01 3.11150388e-01 -1.18148798e-01 1.85448827e+02] [-3.08625990e-01 9.50360312e-01 3.95635516e-02 1.72663867e+02] [ 1.24594143e-01 -8.44162939e-04 9.92207431e-01 2.02768132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.47, Y:172.65, Z:20.28 [[ 9.43277264e-01 3.11614044e-01 -1.14563044e-01 1.85474270e+02] [-3.08158626e-01 9.50164188e-01 4.71834424e-02 1.72650743e+02] [ 1.23556725e-01 -9.20347825e-03 9.92294831e-01 2.02836162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.51, Y:172.66, Z:20.28 [[ 9.44580678e-01 3.05816230e-01 -1.19347297e-01 1.85507797e+02] [-3.05132450e-01 9.51996895e-01 2.44151696e-02 1.72655962e+02] [ 1.21084811e-01 1.33546358e-02 9.92552327e-01 2.02752058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.53, Y:172.63, Z:20.29 [[ 9.44585005e-01 3.08511389e-01 -1.12160114e-01 1.85526690e+02] [-3.04169333e-01 9.51064052e-01 5.43892171e-02 1.72630129e+02] [ 1.23451145e-01 -1.72595719e-02 9.92200545e-01 2.02915394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76275509600003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:185.56, Y:172.63, Z:20.29 [[ 9.45311196e-01 3.04341105e-01 -1.17316816e-01 1.85556815e+02] [-3.01701828e-01 9.52559876e-01 4.00710608e-02 1.72629994e+02] [ 1.23946563e-01 -2.48492442e-03 9.92285783e-01 2.02897538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.58, Y:172.62, Z:20.29 [[ 9.46327641e-01 3.01719351e-01 -1.15885411e-01 1.85582989e+02] [-2.99126324e-01 9.53392730e-01 3.95694909e-02 1.72622396e+02] [ 1.22423189e-01 -2.78132600e-03 9.92474094e-01 2.02929787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.61, Y:172.61, Z:20.30 [[ 9.46751291e-01 3.00438961e-01 -1.15751562e-01 1.85609713e+02] [-2.97846152e-01 9.53796591e-01 3.94934466e-02 1.72613931e+02] [ 1.22268815e-01 -2.91431420e-03 9.92492742e-01 2.02965276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.64, Y:172.61, Z:20.30 [[ 9.47205059e-01 2.98963181e-01 -1.15860231e-01 1.85636287e+02] [-2.96356340e-01 9.54259633e-01 3.95154715e-02 1.72605423e+02] [ 1.22374413e-01 -3.09334039e-03 9.92479186e-01 2.03001473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:172.60, Z:20.30 [[ 9.48007587e-01 2.96312602e-01 -1.16105374e-01 1.85661664e+02] [-2.93676661e-01 9.55084857e-01 3.95845334e-02 1.72596835e+02] [ 1.22619880e-01 -3.42899953e-03 9.92447786e-01 2.03026439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.69, Y:172.59, Z:20.31 [[ 9.48350600e-01 2.95087448e-01 -1.16423954e-01 1.85688636e+02] [-2.92429962e-01 9.55463542e-01 3.96754065e-02 1.72588392e+02] [ 1.22946558e-01 -3.58034294e-03 9.92406834e-01 2.03059580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:172.58, Z:20.31 [[ 9.49041064e-01 2.92762336e-01 -1.16667364e-01 1.85714317e+02] [-2.90078125e-01 9.56177390e-01 3.97426829e-02 1.72580486e+02] [ 1.23189857e-01 -3.87478774e-03 9.92375557e-01 2.03084931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.74, Y:172.57, Z:20.31 [[ 9.49369006e-01 2.91155197e-01 -1.18013309e-01 1.85741459e+02] [-2.88398036e-01 9.56666980e-01 4.01853461e-02 1.72572696e+02] [ 1.24599609e-01 -4.11591539e-03 9.92198567e-01 2.03105311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.77, Y:172.57, Z:20.31 [[ 9.49644146e-01 2.90114897e-01 -1.18361064e-01 1.85766941e+02] [-2.87335297e-01 9.56982383e-01 4.02882782e-02 1.72565449e+02] [ 1.24957683e-01 -4.25021616e-03 9.92152969e-01 2.03133294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:172.56, Z:20.32 [[ 9.49926464e-01 2.88605034e-01 -1.19778326e-01 1.85793546e+02] [-2.85748601e-01 9.57437737e-01 4.07518859e-02 1.72558910e+02] [ 1.26441489e-01 -4.48480582e-03 9.91963929e-01 2.03154036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:172.55, Z:20.32 [[ 9.49853501e-01 2.88148825e-01 -1.21443735e-01 1.85819872e+02] [-2.85210153e-01 9.57574609e-01 4.13041961e-02 1.72550817e+02] [ 1.28193193e-01 -4.59594888e-03 9.91738566e-01 2.03187438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.85, Y:172.55, Z:20.32 [[ 9.49144716e-01 2.86558738e-01 -1.30416247e-01 1.85848448e+02] [-2.85432462e-01 9.57999781e-01 2.76537283e-02 1.72551696e+02] [ 1.32863154e-01 1.09776404e-02 9.91073597e-01 2.03172618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.87, Y:172.53, Z:20.33 [[ 9.49559182e-01 2.89062415e-01 -1.21574172e-01 1.85870979e+02] [-2.84135770e-01 9.57120366e-01 5.64576753e-02 1.72525822e+02] [ 1.32680908e-01 -1.90663329e-02 9.90975404e-01 2.03295544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.90, Y:172.53, Z:20.33 [[ 9.49247494e-01 2.86675284e-01 -1.29408176e-01 1.85900975e+02] [-2.83336372e-01 9.58014662e-01 4.39136386e-02 1.72526445e+02] [ 1.36563885e-01 -5.01886835e-03 9.90618552e-01 2.03277560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.93, Y:172.52, Z:20.33 [[ 9.49261454e-01 2.86041060e-01 -1.30702730e-01 1.85928160e+02] [-2.82635247e-01 9.58203702e-01 4.43055581e-02 1.72519111e+02] [ 1.37913048e-01 -5.11636028e-03 9.90431125e-01 2.03313648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.95, Y:172.52, Z:20.33 [[ 9.48996848e-01 2.85806052e-01 -1.33116053e-01 1.85954981e+02] [-2.82277270e-01 9.58273377e-01 4.50741382e-02 1.72515433e+02] [ 1.40444031e-01 -5.19957908e-03 9.90074966e-01 2.03330630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.98, Y:172.51, Z:20.34 [[ 9.48931670e-01 2.85491652e-01 -1.34250522e-01 1.85982620e+02] [-2.81901810e-01 9.58366693e-01 4.54384451e-02 1.72509708e+02] [ 1.41633526e-01 -5.27251437e-03 9.89905119e-01 2.03359070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.01, Y:172.50, Z:20.34 [[ 9.48598701e-01 2.86057428e-01 -1.35394435e-01 1.86008911e+02] [-2.82418562e-01 9.58198443e-01 4.57766275e-02 1.72504229e+02] [ 1.42829481e-01 -5.18574764e-03 9.89733725e-01 2.03383158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.04, Y:172.50, Z:20.34 [[ 9.47745564e-01 2.88062092e-01 -1.37107906e-01 1.86037363e+02] [-2.84353815e-01 9.57599059e-01 4.63351978e-02 1.72500449e+02] [ 1.44641815e-01 -4.92682208e-03 9.89471815e-01 2.03403773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.06, Y:172.49, Z:20.34 [[ 9.47366815e-01 2.88957474e-01 -1.37839385e-01 1.86064580e+02] [-2.85225966e-01 9.57330059e-01 4.65328569e-02 1.72494572e+02] [ 1.45403803e-01 -4.76831261e-03 9.89360903e-01 2.03436158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.09, Y:172.49, Z:20.35 [[ 9.46774890e-01 2.90444670e-01 -1.38777524e-01 1.86092416e+02] [-2.86685120e-01 9.56881097e-01 4.67996653e-02 1.72488544e+02] [ 1.46386303e-01 -4.52329673e-03 9.89217160e-01 2.03468873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.12, Y:172.49, Z:20.35 [[ 9.45443088e-01 2.93902228e-01 -1.40566170e-01 1.86120326e+02] [-2.90090102e-01 9.55827154e-01 4.73517061e-02 1.72487263e+02] [ 1.48273734e-01 -3.99148861e-03 9.88938303e-01 2.03486316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.15, Y:172.48, Z:20.35 [[ 9.44827944e-01 2.95236211e-01 -1.41900444e-01 1.86147577e+02] [-2.91369227e-01 9.55416747e-01 4.77788005e-02 1.72482645e+02] [ 1.49680093e-01 -3.79732315e-03 9.88727187e-01 2.03518765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.18, Y:172.48, Z:20.36 [[ 9.44353327e-01 2.96148126e-01 -1.43154050e-01 1.86175907e+02] [-2.92225997e-01 9.55134999e-01 4.81777998e-02 1.72477864e+02] [ 1.50999209e-01 -3.66353047e-03 9.88527095e-01 2.03551779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:172.48, Z:20.36 [[ 9.43674707e-01 2.97367348e-01 -1.45088621e-01 1.86204630e+02] [-2.93360206e-01 9.54756853e-01 4.87764483e-02 1.72476073e+02] [ 1.53028878e-01 -3.46587300e-03 9.88215640e-01 2.03580999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.23, Y:172.47, Z:20.36 [[ 9.43502434e-01 2.97695673e-01 -1.45535023e-01 1.86230456e+02] [-2.93675510e-01 9.54654861e-01 4.88752639e-02 1.72470375e+02] [ 1.53485671e-01 -3.37385853e-03 9.88145114e-01 2.03620854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.26, Y:172.47, Z:20.37 [[ 9.43457070e-01 2.97916890e-01 -1.45376351e-01 1.86258274e+02] [-2.93911850e-01 9.54586069e-01 4.87981678e-02 1.72466518e+02] [ 1.53312038e-01 -3.31114404e-03 9.88172280e-01 2.03665714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:172.46, Z:20.37 [[ 9.43338644e-01 2.98128607e-01 -1.45710457e-01 1.86284939e+02] [-2.94115586e-01 9.54520232e-01 4.88584667e-02 1.72460380e+02] [ 1.53649686e-01 -3.23436343e-03 9.88120090e-01 2.03708362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:172.45, Z:20.37 [[ 9.43349418e-01 2.98133764e-01 -1.45630126e-01 1.86311655e+02] [-2.94133509e-01 9.54518802e-01 4.87784250e-02 1.72454906e+02] [ 1.53549189e-01 -3.18039880e-03 9.88135887e-01 2.03748473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.34, Y:172.45, Z:20.38 [[ 9.43422513e-01 2.98148956e-01 -1.45124646e-01 1.86338742e+02] [-2.94185384e-01 9.54514279e-01 4.85535813e-02 1.72449668e+02] [ 1.52999747e-01 -3.11299187e-03 9.88221325e-01 2.03786723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.37, Y:172.46, Z:20.38 [[ 9.42980802e-01 2.95461614e-01 -1.53263306e-01 1.86371190e+02] [-2.94448733e-01 9.55202750e-01 2.97934561e-02 1.72458832e+02] [ 1.55200354e-01 1.70335291e-02 9.87736154e-01 2.03769100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.39, Y:172.43, Z:20.39 [[ 9.43882800e-01 3.00037853e-01 -1.38067185e-01 1.86390973e+02] [-2.93456100e-01 9.53672771e-01 6.62703808e-02 1.72427882e+02] [ 1.51554537e-01 -2.20348150e-02 9.88203263e-01 2.03915116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.42, Y:172.43, Z:20.39 [[ 9.44173231e-01 2.96468309e-01 -1.43678291e-01 1.86421824e+02] [-2.92582155e-01 9.55037196e-01 4.79545192e-02 1.72431474e+02] [ 1.51435107e-01 -3.23966938e-03 9.88461893e-01 2.03920782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.45, Y:172.43, Z:20.40 [[ 9.44126291e-01 2.94787432e-01 -1.47397137e-01 1.86449293e+02] [-2.92227198e-01 9.55543817e-01 3.92336433e-02 1.72429570e+02] [ 1.52410008e-01 6.03193827e-03 9.88298945e-01 2.03961918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.47, Y:172.41, Z:20.40 [[ 9.45082123e-01 2.96091982e-01 -1.38381067e-01 1.86472267e+02] [-2.91132578e-01 9.55084672e-01 5.52728721e-02 1.72410628e+02] [ 1.48531491e-01 -1.19501664e-02 9.88835472e-01 2.04038005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.50, Y:172.41, Z:20.41 [[ 9.45591348e-01 2.93700065e-01 -1.39990265e-01 1.86498830e+02] [-2.90000320e-01 9.55891338e-01 4.66000595e-02 1.72406062e+02] [ 1.47501922e-01 -3.46739155e-03 9.89055691e-01 2.04079966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.52, Y:172.37, Z:20.43 [[ 9.44194235e-01 3.00062652e-01 -1.35866300e-01 1.86518805e+02] [-2.91552512e-01 9.53271433e-01 7.91878001e-02 1.72374208e+02] [ 1.53278764e-01 -3.51565032e-02 9.87557411e-01 2.04305483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.55, Y:172.38, Z:20.43 [[ 9.44220443e-01 2.95650727e-01 -1.45046208e-01 1.86552036e+02] [-2.91407764e-01 9.55282476e-01 5.01687700e-02 1.72382607e+02] [ 1.53392534e-01 -5.10278708e-03 9.88152160e-01 2.04275907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.58, Y:172.40, Z:20.42 [[ 9.46224670e-01 2.87663523e-01 -1.48015443e-01 1.86584549e+02] [-2.88235178e-01 9.57389620e-01 1.80442962e-02 1.72395097e+02] [ 1.46899135e-01 2.55892994e-02 9.88820425e-01 2.04155273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.60, Y:172.37, Z:20.43 [[ 9.46825522e-01 2.90649218e-01 -1.38001677e-01 1.86603260e+02] [-2.87042949e-01 9.56822331e-01 4.57970721e-02 1.72366074e+02] [ 1.45353970e-01 -3.74942840e-03 9.89372612e-01 2.04268190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.63, Y:172.36, Z:20.43 [[ 9.46997542e-01 2.90241082e-01 -1.37679953e-01 1.86629268e+02] [-2.86654294e-01 9.56946182e-01 4.56434133e-02 1.72355351e+02] [ 1.44999899e-01 -3.75765059e-03 9.89424535e-01 2.04315777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.65, Y:172.35, Z:20.44 [[ 9.47035125e-01 2.90207565e-01 -1.37491970e-01 1.86653954e+02] [-2.86637519e-01 9.56956534e-01 4.55315819e-02 1.72345246e+02] [ 1.44787449e-01 -3.70964998e-03 9.89455827e-01 2.04359136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.68, Y:172.33, Z:20.44 [[ 9.46713019e-01 2.90922372e-01 -1.38197807e-01 1.86678779e+02] [-2.87326069e-01 9.56739894e-01 4.57439131e-02 1.72332722e+02] [ 1.45527283e-01 -3.59852531e-03 9.89347694e-01 2.04405197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.71, Y:172.33, Z:20.44 [[ 9.45960068e-01 2.90607859e-01 -1.43897961e-01 1.86706546e+02] [-2.88229752e-01 9.56823846e-01 3.75731062e-02 1.72326517e+02] [ 1.48604041e-01 5.93301558e-03 9.88878981e-01 2.04430256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.73, Y:172.30, Z:20.45 [[ 9.46289322e-01 2.93366972e-01 -1.35912986e-01 1.86728011e+02] [-2.88538354e-01 9.55921151e-01 5.44092985e-02 1.72304452e+02] [ 1.45883989e-01 -1.22708290e-02 9.89225600e-01 2.04514704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.75, Y:172.29, Z:20.45 [[ 9.45694653e-01 2.93948431e-01 -1.38765786e-01 1.86753521e+02] [-2.90370171e-01 9.55816430e-01 4.58270135e-02 1.72294743e+02] [ 1.46105397e-01 -3.04491658e-03 9.89264344e-01 2.04547125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.78, Y:172.27, Z:20.47 [[ 9.43850542e-01 2.98620260e-01 -1.41322661e-01 1.86777428e+02] [-2.93723106e-01 9.54317132e-01 5.48228901e-02 1.72274535e+02] [ 1.51237862e-01 -1.02348835e-02 9.88444412e-01 2.04662165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.80, Y:172.27, Z:20.46 [[ 9.43992166e-01 2.97866088e-01 -1.41966840e-01 1.86801697e+02] [-2.95160139e-01 9.54599664e-01 4.02488932e-02 1.72270002e+02] [ 1.47510278e-01 3.90831231e-03 9.89052801e-01 2.04637210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:172.26, Z:20.47 [[ 9.43696192e-01 2.98567436e-01 -1.42460462e-01 1.86826792e+02] [-2.95601720e-01 9.54385445e-01 4.20481422e-02 1.72256855e+02] [ 1.48516398e-01 2.43088606e-03 9.88906957e-01 2.04693599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.85, Y:172.24, Z:20.48 [[ 9.43116378e-01 3.01475031e-01 -1.40158137e-01 1.86849046e+02] [-2.97642741e-01 9.53467271e-01 4.80516635e-02 1.72241148e+02] [ 1.48122573e-01 -3.60125885e-03 9.88962453e-01 2.04755305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.87, Y:172.23, Z:20.48 [[ 9.42513271e-01 3.01539779e-01 -1.44022551e-01 1.86874790e+02] [-2.98765831e-01 9.53443674e-01 4.10382580e-02 1.72233741e+02] [ 1.49692058e-01 4.34991440e-03 9.88723099e-01 2.04786527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.89, Y:172.19, Z:20.50 [[ 9.41293962e-01 3.09786150e-01 -1.34157437e-01 1.86893459e+02] [-3.01642423e-01 9.50241536e-01 7.78002017e-02 1.72194379e+02] [ 1.51583394e-01 -3.27652857e-02 9.87901266e-01 2.05002030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.92, Y:172.20, Z:20.50 [[ 9.40968055e-01 3.06398367e-01 -1.43872024e-01 1.86924637e+02] [-3.02703411e-01 9.51902741e-01 4.74533200e-02 1.72200635e+02] [ 1.51491794e-01 -1.10150581e-03 9.88457902e-01 2.04956749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:172.20, Z:20.49 [[ 9.41552389e-01 3.03667802e-01 -1.45825121e-01 1.86953695e+02] [-3.03456831e-01 9.52536900e-01 2.42364474e-02 1.72201918e+02] [ 1.46263637e-01 2.14317441e-02 9.89013462e-01 2.04865405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:172.17, Z:20.51 [[ 9.41012670e-01 3.08569688e-01 -1.38852088e-01 1.86972618e+02] [-3.03357879e-01 9.51122755e-01 5.77884250e-02 1.72170671e+02] [ 1.49897137e-01 -1.22577651e-02 9.88625609e-01 2.05053886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:172.17, Z:20.50 [[ 9.41409848e-01 3.04896686e-01 -1.44171804e-01 1.87002716e+02] [-3.03196566e-01 9.52315400e-01 3.41646300e-02 1.72174019e+02] [ 1.47713712e-01 1.15494768e-02 9.88962724e-01 2.04982386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.02, Y:172.15, Z:20.51 [[ 9.41238412e-01 3.06866541e-01 -1.41078620e-01 1.87023320e+02] [-3.03351699e-01 9.51752218e-01 4.63191352e-02 1.72153282e+02] [ 1.48485682e-01 -8.00910088e-04 9.88914233e-01 2.05065006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:172.14, Z:20.51 [[ 9.41567359e-01 3.05949791e-01 -1.40874535e-01 1.87049165e+02] [-3.02438125e-01 9.52047201e-01 4.62310342e-02 1.72142673e+02] [ 1.48263582e-01 -9.23802489e-04 9.88947449e-01 2.05110639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:172.13, Z:20.52 [[ 9.41413172e-01 3.06791890e-01 -1.40071323e-01 1.87075718e+02] [-3.03260961e-01 9.51775826e-01 4.64280755e-02 1.72133370e+02] [ 1.47560256e-01 -1.22983797e-03 9.89052303e-01 2.05165678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.10, Y:172.12, Z:20.52 [[ 9.41757050e-01 3.06271510e-01 -1.38893560e-01 1.87100938e+02] [-3.02925044e-01 9.51944095e-01 4.51537110e-02 1.72123954e+02] [ 1.46048199e-01 -4.49488008e-04 9.89277373e-01 2.05209329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.13, Y:172.12, Z:20.53 [[ 9.42051479e-01 3.05399930e-01 -1.38816041e-01 1.87128023e+02] [-3.02080215e-01 9.52224104e-01 4.49087993e-02 1.72115826e+02] [ 1.45899124e-01 -3.72821446e-04 9.89299402e-01 2.05261841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.15, Y:172.11, Z:20.53 [[ 9.42429623e-01 3.04728888e-01 -1.37719679e-01 1.87153509e+02] [-3.01282952e-01 9.52437789e-01 4.57257068e-02 1.72107024e+02] [ 1.45103370e-01 -1.60066930e-03 9.89415206e-01 2.05307642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.18, Y:172.10, Z:20.53 [[ 9.43056345e-01 3.02929033e-01 -1.37399893e-01 1.87179548e+02] [-2.99583497e-01 9.53012371e-01 4.49126794e-02 1.72098691e+02] [ 1.44549152e-01 -1.19244679e-03 9.89496903e-01 2.05347537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.20, Y:172.09, Z:20.54 [[ 9.44260094e-01 3.00214317e-01 -1.35071233e-01 1.87204722e+02] [-2.96193547e-01 9.53848537e-01 4.94201461e-02 1.72086616e+02] [ 1.43674134e-01 -6.65824409e-03 9.89602653e-01 2.05417295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:172.08, Z:20.54 [[ 9.44853276e-01 2.97094458e-01 -1.37793943e-01 1.87234496e+02] [-2.94307237e-01 9.54845698e-01 4.06564184e-02 1.72082818e+02] [ 1.43650751e-01 2.13940464e-03 9.89626134e-01 2.05433848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:172.07, Z:20.55 [[ 9.45902347e-01 2.93992515e-01 -1.37248500e-01 1.87259107e+02] [-2.90634239e-01 9.55805482e-01 4.43578532e-02 1.72073000e+02] [ 1.44223745e-01 -2.06908417e-03 9.89542940e-01 2.05485127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.29, Y:172.06, Z:20.55 [[ 9.46327434e-01 2.92610970e-01 -1.37270566e-01 1.87285965e+02] [-2.89185854e-01 9.56227983e-01 4.47167277e-02 1.72064027e+02] [ 1.44346562e-01 -2.61996015e-03 9.89523727e-01 2.05519402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:172.05, Z:20.56 [[ 9.47549902e-01 2.90094687e-01 -1.34142671e-01 1.87311766e+02] [-2.85827862e-01 9.56950978e-01 5.04703807e-02 1.72053711e+02] [ 1.43009149e-01 -9.48149141e-03 9.89675949e-01 2.05580915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:172.05, Z:20.56 [[ 9.48514252e-01 2.84351588e-01 -1.39516627e-01 1.87339921e+02] [-2.81600095e-01 9.58718347e-01 3.95034006e-02 1.72052904e+02] [ 1.44990004e-01 1.81835679e-03 9.89431449e-01 2.05594503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:172.04, Z:20.56 [[ 9.49038269e-01 2.82324880e-01 -1.40067935e-01 1.87365278e+02] [-2.79321573e-01 9.59318842e-01 4.10708909e-02 1.72043970e+02] [ 1.45965144e-01 1.46148877e-04 9.89289723e-01 2.05644468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:172.04, Z:20.57 [[ 9.49296594e-01 2.79908215e-01 -1.43134089e-01 1.87390192e+02] [-2.77557920e-01 9.60013559e-01 3.65454123e-02 1.72038962e+02] [ 1.47640027e-01 5.03556452e-03 9.89028344e-01 2.05677411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.41, Y:172.02, Z:20.58 [[ 9.51153843e-01 2.78315561e-01 -1.33591973e-01 1.87413989e+02] [-2.73027982e-01 9.60329954e-01 5.67635599e-02 1.72019214e+02] [ 1.44090556e-01 -1.75165313e-02 9.89409462e-01 2.05769842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.44, Y:172.00, Z:20.59 [[ 9.49728109e-01 2.83812827e-01 -1.32162014e-01 1.87438435e+02] [-2.75682871e-01 9.58191875e-01 7.65982000e-02 1.71995424e+02] [ 1.48376120e-01 -3.63126602e-02 9.88264093e-01 2.05938505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:172.03, Z:20.57 [[ 9.51204649e-01 2.70553271e-01 -1.48359846e-01 1.87477709e+02] [-2.71172421e-01 9.62390563e-01 1.64292928e-02 1.72028711e+02] [ 1.47225115e-01 2.46034789e-02 9.88796963e-01 2.05721718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98275509600006 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:187.50, Y:172.01, Z:20.58 [[ 9.50657056e-01 2.75253876e-01 -1.43130938e-01 1.87497710e+02] [-2.72527311e-01 9.61369040e-01 3.87096112e-02 1.72008882e+02] [ 1.48256622e-01 2.20752451e-03 9.88946460e-01 2.05830399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.52, Y:171.99, Z:20.59 [[ 9.50948379e-01 2.76931362e-01 -1.37862978e-01 1.87524000e+02] [-2.72408744e-01 9.60826957e-01 5.10395521e-02 1.71994118e+02] [ 1.46596918e-01 -1.09808988e-02 9.89135362e-01 2.05900268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:187.55, Y:172.00, Z:20.58 [[ 9.50830916e-01 2.76764318e-01 -1.39003891e-01 1.87553572e+02] [-2.74965862e-01 9.60908990e-01 3.23680053e-02 1.71999898e+02] [ 1.42528397e-01 7.44482453e-03 9.89762714e-01 2.05813120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.57, Y:171.97, Z:20.60 [[ 9.49984748e-01 2.83211857e-01 -1.31605556e-01 1.87573408e+02] [-2.77065580e-01 9.58766071e-01 6.32636226e-02 1.71973517e+02] [ 1.44095950e-01 -2.36361069e-02 9.89281402e-01 2.05997784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.61, Y:171.99, Z:20.59 [[ 9.49112642e-01 2.79472287e-01 -1.45191028e-01 1.87611120e+02] [-2.79181027e-01 9.59967800e-01 2.27986121e-02 1.71989629e+02] [ 1.45750292e-01 1.88961294e-02 9.89140935e-01 2.05887980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.63, Y:171.96, Z:20.60 [[ 9.48627866e-01 2.84794576e-01 -1.37830411e-01 1.87633599e+02] [-2.80532634e-01 9.58549915e-01 4.98347398e-02 1.71964827e+02] [ 1.46309993e-01 -8.60869453e-03 9.89201333e-01 2.06027248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.66, Y:171.93, Z:20.63 [[ 9.45348883e-01 2.96971754e-01 -1.34622682e-01 1.87655428e+02] [-2.87359968e-01 9.53917954e-01 8.63989868e-02 1.71930733e+02] [ 1.54077052e-01 -4.29920161e-02 9.87123067e-01 2.06314444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:171.96, Z:20.61 [[ 9.46602661e-01 2.85492500e-01 -1.49791304e-01 1.87697427e+02] [-2.85433057e-01 9.58137759e-01 2.23607956e-02 1.71962754e+02] [ 1.49904543e-01 2.15886011e-02 9.88464749e-01 2.06095299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:171.95, Z:20.62 [[ 9.46782836e-01 2.88551350e-01 -1.42619702e-01 1.87717870e+02] [-2.85440468e-01 9.57464168e-01 4.22623415e-02 1.71945421e+02] [ 1.48748110e-01 6.96175042e-04 9.88874873e-01 2.06189440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:171.94, Z:20.62 [[ 9.47084453e-01 2.87967900e-01 -1.41793962e-01 1.87745842e+02] [-2.85072219e-01 9.57638363e-01 4.07749497e-02 1.71937414e+02] [ 1.47529214e-01 1.80419851e-03 9.89056053e-01 2.06203880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.77, Y:171.92, Z:20.63 [[ 9.47234068e-01 2.88041862e-01 -1.40639635e-01 1.87768744e+02] [-2.83727355e-01 9.57586806e-01 5.02622906e-02 1.71924938e+02] [ 1.49152302e-01 -7.70684242e-03 9.88784201e-01 2.06298830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.80, Y:171.92, Z:20.63 [[ 9.47640683e-01 2.85876117e-01 -1.42309459e-01 1.87795659e+02] [-2.82392294e-01 9.58264453e-01 4.45402223e-02 1.71920579e+02] [ 1.49103081e-01 -2.02103222e-03 9.88819593e-01 2.06328873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.83, Y:171.91, Z:20.64 [[ 9.48098562e-01 2.83081300e-01 -1.44824357e-01 1.87825449e+02] [-2.80150052e-01 9.59093826e-01 4.06814549e-02 1.71914840e+02] [ 1.50416305e-01 2.00252212e-03 9.88620718e-01 2.06367519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:171.90, Z:20.64 [[ 9.48965711e-01 2.84376737e-01 -1.36359639e-01 1.87848834e+02] [-2.79000868e-01 9.58571161e-01 5.74442839e-02 1.71896295e+02] [ 1.47046235e-01 -1.64681982e-02 9.88992519e-01 2.06444145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:171.90, Z:20.64 [[ 9.49290925e-01 2.80903194e-01 -1.41209547e-01 1.87879502e+02] [-2.77422758e-01 9.59732158e-01 4.41678492e-02 1.71895082e+02] [ 1.47930233e-01 -2.75339634e-03 9.88993966e-01 2.06447081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.90, Y:171.87, Z:20.66 [[ 9.48932698e-01 2.84586438e-01 -1.36151735e-01 1.87903035e+02] [-2.78508540e-01 9.58418310e-01 6.21879162e-02 1.71873635e+02] [ 1.48188153e-01 -2.10927262e-02 9.88734225e-01 2.06556698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.93, Y:171.87, Z:20.66 [[ 9.49164623e-01 2.81765250e-01 -1.40338387e-01 1.87934053e+02] [-2.77501447e-01 9.59449787e-01 4.94879072e-02 1.71871762e+02] [ 1.48591608e-01 -8.02806519e-03 9.88866060e-01 2.06568643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.96, Y:171.88, Z:20.65 [[ 9.50039843e-01 2.77048608e-01 -1.43764965e-01 1.87964186e+02] [-2.75316792e-01 9.60813913e-01 3.22069790e-02 1.71875715e+02] [ 1.47054278e-01 8.98299582e-03 9.89087633e-01 2.06518623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.99, Y:171.86, Z:20.66 [[ 9.50291522e-01 2.77542468e-01 -1.41124773e-01 1.87988140e+02] [-2.74550000e-01 9.60713362e-01 4.06464430e-02 1.71863469e+02] [ 1.46861569e-01 1.19836213e-04 9.89157048e-01 2.06568684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:171.85, Z:20.66 [[ 9.50087583e-01 2.79137408e-01 -1.39340919e-01 1.88009868e+02] [-2.75243102e-01 9.60231273e-01 4.68736350e-02 1.71853674e+02] [ 1.46883693e-01 -6.18143192e-03 9.89134455e-01 2.06627176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.04, Y:171.85, Z:20.66 [[ 9.50620616e-01 2.75795563e-01 -1.42327975e-01 1.88042404e+02] [-2.73683469e-01 9.61197215e-01 3.46016270e-02 1.71851856e+02] [ 1.46348228e-01 6.05979388e-03 9.89214575e-01 2.06592074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.07, Y:171.84, Z:20.66 [[ 9.49899397e-01 2.78404333e-01 -1.42063940e-01 1.88066171e+02] [-2.75530457e-01 9.60463184e-01 3.99179210e-02 1.71840719e+02] [ 1.47560507e-01 1.22493328e-03 9.89052272e-01 2.06637208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:171.83, Z:20.66 [[ 9.50532323e-01 2.78139868e-01 -1.38298650e-01 1.88092114e+02] [-2.74940877e-01 9.60538494e-01 4.21107472e-02 1.71831825e+02] [ 1.44553854e-01 -2.00367441e-03 9.89494906e-01 2.06642481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.12, Y:171.81, Z:20.68 [[ 9.49613089e-01 2.82587113e-01 -1.35571031e-01 1.88115011e+02] [-2.77288780e-01 9.59100918e-01 5.68890278e-02 1.71813365e+02] [ 1.46102407e-01 -1.64302395e-02 9.89133021e-01 2.06758982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.14, Y:171.80, Z:20.68 [[ 9.48789891e-01 2.82535240e-01 -1.41320846e-01 1.88144506e+02] [-2.77594147e-01 9.59182387e-01 5.39503219e-02 1.71804950e+02] [ 1.50795334e-01 -1.19576802e-02 9.88492681e-01 2.06845848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.18, Y:171.82, Z:20.67 [[ 9.49938241e-01 2.75973208e-01 -1.46479101e-01 1.88178648e+02] [-2.75132718e-01 9.61044399e-01 2.63752003e-02 1.71815313e+02] [ 1.48051768e-01 1.52463818e-02 9.88862084e-01 2.06744890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.20, Y:171.80, Z:20.68 [[ 9.50018688e-01 2.78564653e-01 -1.40947601e-01 1.88202318e+02] [-2.74950067e-01 9.60409554e-01 4.48993266e-02 1.71795787e+02] [ 1.47874788e-01 -3.90164702e-03 9.88998395e-01 2.06841743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.22, Y:171.77, Z:20.70 [[ 9.48120752e-01 2.84828992e-01 -1.41207239e-01 1.88223762e+02] [-2.78408506e-01 9.58345769e-01 6.37345365e-02 1.71770649e+02] [ 1.53478804e-01 -2.11147403e-02 9.87926325e-01 2.07020869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.25, Y:171.77, Z:20.70 [[ 9.47756497e-01 2.83610818e-01 -1.46022352e-01 1.88253337e+02] [-2.79485784e-01 9.58925780e-01 4.84669473e-02 1.71769637e+02] [ 1.53770349e-01 -5.12369256e-03 9.88093329e-01 2.07017339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.28, Y:171.76, Z:20.70 [[ 9.47018405e-01 2.84444147e-01 -1.49156522e-01 1.88278103e+02] [-2.81140607e-01 9.58692104e-01 4.32366525e-02 1.71763583e+02] [ 1.55293593e-01 9.88049394e-04 9.87867868e-01 2.07045233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.30, Y:171.74, Z:20.72 [[ 9.46880926e-01 2.86436801e-01 -1.46186427e-01 1.88304599e+02] [-2.79914239e-01 9.57900103e-01 6.38389497e-02 1.71741855e+02] [ 1.58317818e-01 -1.95282214e-02 9.87195076e-01 2.07207104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.34, Y:171.75, Z:20.71 [[ 9.46923449e-01 2.83374714e-01 -1.51772043e-01 1.88335575e+02] [-2.81526870e-01 9.58951282e-01 3.39861667e-02 1.71750736e+02] [ 1.55172816e-01 1.05456101e-02 9.87831052e-01 2.07123866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.36, Y:171.73, Z:20.72 [[ 9.46451198e-01 2.87663114e-01 -1.46560780e-01 1.88358607e+02] [-2.83699847e-01 9.57724944e-01 4.77213590e-02 1.71734212e+02] [ 1.54092590e-01 -3.58666648e-03 9.88049902e-01 2.07204146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.39, Y:171.73, Z:20.72 [[ 9.46243935e-01 2.88011709e-01 -1.47213009e-01 1.88385755e+02] [-2.84353723e-01 9.57625776e-01 4.57802684e-02 1.71727280e+02] [ 1.54160226e-01 -1.45873404e-03 9.88044785e-01 2.07242715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:171.72, Z:20.73 [[ 9.46449683e-01 2.88193902e-01 -1.45524131e-01 1.88411708e+02] [-2.84172910e-01 9.57562745e-01 4.81595979e-02 1.71717783e+02] [ 1.53227789e-01 -4.22662052e-03 9.88181856e-01 2.07288713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.44, Y:171.72, Z:20.73 [[ 9.46323472e-01 2.85121729e-01 -1.52241539e-01 1.88441102e+02] [-2.83121967e-01 9.58440550e-01 3.51235552e-02 1.71718105e+02] [ 1.55928953e-01 9.86467921e-03 9.87719014e-01 2.07310831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:171.69, Z:20.74 [[ 9.46898635e-01 2.91229905e-01 -1.36264882e-01 1.88458221e+02] [-2.84678631e-01 9.56365076e-01 6.57565161e-02 1.71691154e+02] [ 1.49469238e-01 -2.34730553e-02 9.88487715e-01 2.07419348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.49, Y:171.70, Z:20.74 [[ 9.47388685e-01 2.82786217e-01 -1.49955446e-01 1.88493988e+02] [-2.81070218e-01 9.59120840e-01 3.29658563e-02 1.71702473e+02] [ 1.53147683e-01 1.09165306e-02 9.88143014e-01 2.07373501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.52, Y:171.70, Z:20.74 [[ 9.47930456e-01 2.78797920e-01 -1.53946651e-01 1.88524056e+02] [-2.77273337e-01 9.60267022e-01 3.17292189e-02 1.71696189e+02] [ 1.56675932e-01 1.26082087e-02 9.87569585e-01 2.07431980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:171.67, Z:20.75 [[ 9.48406931e-01 2.83784688e-01 -1.41387922e-01 1.88540339e+02] [-2.77623768e-01 9.58689422e-01 6.19647882e-02 1.71670295e+02] [ 1.53131763e-01 -1.95151870e-02 9.88013067e-01 2.07544081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.57, Y:171.67, Z:20.75 [[ 9.48994994e-01 2.79061374e-01 -1.46742123e-01 1.88570438e+02] [-2.75298720e-01 9.60268457e-01 4.57723223e-02 1.71673385e+02] [ 1.53685119e-01 -3.03978604e-03 9.88115198e-01 2.07531147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.60, Y:171.67, Z:20.76 [[ 9.49297124e-01 2.77804059e-01 -1.47172943e-01 1.88597019e+02] [-2.74007616e-01 9.60632325e-01 4.58842310e-02 1.71666133e+02] [ 1.54125912e-01 -3.23126134e-03 9.88045931e-01 2.07572740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.62, Y:171.66, Z:20.76 [[ 9.49494822e-01 2.77105271e-01 -1.47214984e-01 1.88622827e+02] [-2.73305781e-01 9.60833901e-01 4.58493768e-02 1.71658652e+02] [ 1.54154251e-01 -3.29903983e-03 9.88041286e-01 2.07611198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:171.65, Z:20.77 [[ 9.49398021e-01 2.76962041e-01 -1.48106133e-01 1.88647846e+02] [-2.72972511e-01 9.60871589e-01 4.70297550e-02 1.71651055e+02] [ 1.55336432e-01 -4.22105344e-03 9.87852608e-01 2.07656687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.67, Y:171.64, Z:20.77 [[ 9.49758264e-01 2.77803802e-01 -1.44167565e-01 1.88671700e+02] [-2.73158522e-01 9.60590766e-01 5.14762383e-02 1.71640778e+02] [ 1.52786326e-01 -9.50938393e-03 9.88213494e-01 2.07692993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.70, Y:171.63, Z:20.78 [[ 9.49143845e-01 2.77433349e-01 -1.48851264e-01 1.88697818e+02] [-2.72311836e-01 9.60683323e-01 5.41647274e-02 1.71632735e+02] [ 1.58026028e-01 -1.08761567e-02 9.87375047e-01 2.07801716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.73, Y:171.64, Z:20.77 [[ 9.49979831e-01 2.72558711e-01 -1.52479738e-01 1.88732375e+02] [-2.71294938e-01 9.62045864e-01 2.94416860e-02 1.71639011e+02] [ 1.54717089e-01 1.33979733e-02 9.87867965e-01 2.07715042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.76, Y:171.62, Z:20.78 [[ 9.50073808e-01 2.74797084e-01 -1.47805013e-01 1.88755307e+02] [-2.70950661e-01 9.61495440e-01 4.59593110e-02 1.71622367e+02] [ 1.54743331e-01 -3.61687149e-03 9.87948086e-01 2.07805217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.78, Y:171.62, Z:20.78 [[ 9.50122833e-01 2.74642664e-01 -1.47776892e-01 1.88780803e+02] [-2.70803580e-01 9.61539648e-01 4.59012599e-02 1.71615566e+02] [ 1.54699785e-01 -3.59332360e-03 9.87954991e-01 2.07842339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.81, Y:171.61, Z:20.79 [[ 9.50394719e-01 2.73539363e-01 -1.48074630e-01 1.88807500e+02] [-2.69675152e-01 9.61853471e-01 4.59696946e-02 1.71609353e+02] [ 1.55000618e-01 -3.75730677e-03 9.87907228e-01 2.07883574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.83, Y:171.60, Z:20.79 [[ 9.50649240e-01 2.72702904e-01 -1.47983609e-01 1.88833438e+02] [-2.68840998e-01 9.62090614e-01 4.58930154e-02 1.71602324e+02] [ 1.54888800e-01 -3.84409907e-03 9.87924432e-01 2.07924028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.86, Y:171.60, Z:20.80 [[ 9.50079508e-01 2.72250120e-01 -1.52409977e-01 1.88859460e+02] [-2.69470171e-01 9.62218184e-01 3.90127257e-02 1.71599355e+02] [ 1.57272871e-01 4.00475143e-03 9.87547065e-01 2.07950340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:171.58, Z:20.80 [[ 9.51467465e-01 2.70826270e-01 -1.46160164e-01 1.88884988e+02] [-2.65932175e-01 9.62565276e-01 5.24229760e-02 1.71584405e+02] [ 1.54886218e-01 -1.10100657e-02 9.87870962e-01 2.08020948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:171.58, Z:20.80 [[ 9.51656769e-01 2.68883938e-01 -1.48495189e-01 1.88913315e+02] [-2.64960734e-01 9.63162497e-01 4.59762308e-02 1.71579987e+02] [ 1.55387267e-01 -4.40819690e-03 9.87843796e-01 2.08042364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.94, Y:171.57, Z:20.81 [[ 9.51992897e-01 2.67678296e-01 -1.48518867e-01 1.88939455e+02] [-2.63746665e-01 9.63497555e-01 4.59364690e-02 1.71572115e+02] [ 1.55393761e-01 -4.55983628e-03 9.87842086e-01 2.08083012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:171.56, Z:20.81 [[ 9.52742020e-01 2.65664855e-01 -1.47325583e-01 1.88964600e+02] [-2.61780426e-01 9.64053498e-01 4.55176935e-02 1.71564226e+02] [ 1.54122195e-01 -4.79966541e-03 9.88040137e-01 2.08119304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.99, Y:171.56, Z:20.81 [[ 9.52619210e-01 2.65223324e-01 -1.48906784e-01 1.88991447e+02] [-2.62147407e-01 9.64186781e-01 4.02813571e-02 1.71558514e+02] [ 1.54257508e-01 6.62732697e-04 9.88030456e-01 2.08124873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.02, Y:171.54, Z:20.82 [[ 9.54006745e-01 2.62178915e-01 -1.45373133e-01 1.89015984e+02] [-2.57615344e-01 9.64967684e-01 4.97162338e-02 1.71544565e+02] [ 1.53314924e-01 -9.97927265e-03 9.88126990e-01 2.08209530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.04, Y:171.54, Z:20.82 [[ 9.54476477e-01 2.59780264e-01 -1.46590822e-01 1.89043202e+02] [-2.55882281e-01 9.65651419e-01 4.51840168e-02 1.71539014e+02] [ 1.53293552e-01 -5.61708714e-03 9.88164731e-01 2.08240973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.07, Y:171.53, Z:20.83 [[ 9.54845126e-01 2.58916745e-01 -1.45715150e-01 1.89068704e+02] [-2.55063233e-01 9.65882990e-01 4.48642115e-02 1.71530840e+02] [ 1.52359880e-01 -5.67179647e-03 9.88308807e-01 2.08280584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.09, Y:171.52, Z:20.83 [[ 9.55279821e-01 2.57579033e-01 -1.45236034e-01 1.89094872e+02] [-2.53739259e-01 9.66239571e-01 4.46931830e-02 1.71522427e+02] [ 1.51844830e-01 -5.84241228e-03 9.88387077e-01 2.08325550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.12, Y:171.51, Z:20.84 [[ 9.55678560e-01 2.56428352e-01 -1.44647816e-01 1.89119755e+02] [-2.52614362e-01 9.66544918e-01 4.44624168e-02 1.71513530e+02] [ 1.51210035e-01 -5.95166287e-03 9.88483739e-01 2.08369743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:171.48, Z:20.86 [[ 9.54117923e-01 2.64910090e-01 -1.39576625e-01 1.89142160e+02] [-2.55298706e-01 9.63284526e-01 8.30992948e-02 1.71477431e+02] [ 1.56465845e-01 -4.36527948e-02 9.86718234e-01 2.08620838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.18, Y:171.49, Z:20.86 [[ 9.54224056e-01 2.59667994e-01 -1.48421640e-01 1.89176507e+02] [-2.54893920e-01 9.65640694e-01 5.06669495e-02 1.71487195e+02] [ 1.56478561e-01 -1.05158484e-02 9.87625373e-01 2.08560532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.21, Y:171.51, Z:20.84 [[ 9.55955019e-01 2.50223766e-01 -1.53421216e-01 1.89208878e+02] [-2.51874148e-01 9.67719043e-01 8.90324654e-03 1.71508874e+02] [ 1.50696436e-01 3.01317350e-02 9.88120773e-01 2.08384805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.23, Y:171.48, Z:20.85 [[ 9.55964591e-01 2.56226970e-01 -1.43106395e-01 1.89227998e+02] [-2.52528204e-01 9.66599926e-01 4.37503112e-02 1.71480475e+02] [ 1.49536640e-01 -5.68534760e-03 9.88739839e-01 2.08517924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:171.47, Z:20.86 [[ 9.55057774e-01 2.58937670e-01 -1.44277274e-01 1.89254380e+02] [-2.55215942e-01 9.65879728e-01 4.40587530e-02 1.71471885e+02] [ 1.50762965e-01 -5.25679413e-03 9.88555964e-01 2.08560147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.28, Y:171.46, Z:20.86 [[ 9.54638797e-01 2.60362237e-01 -1.44486239e-01 1.89279994e+02] [-2.56653364e-01 9.65498106e-01 4.40733169e-02 1.71463736e+02] [ 1.50976217e-01 -4.99121895e-03 9.88524795e-01 2.08600617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.022755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:189.31, Y:171.46, Z:20.86 [[ 9.54070288e-01 2.61806458e-01 -1.45627138e-01 1.89305615e+02] [-2.58058491e-01 9.65108561e-01 4.43991068e-02 1.71455227e+02] [ 1.52169971e-01 -4.77954908e-03 9.88342783e-01 2.08637590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.33, Y:171.43, Z:20.88 [[ 9.51643113e-01 2.70680653e-01 -1.45283755e-01 1.89332237e+02] [-2.64108890e-01 9.62424373e-01 6.31333551e-02 1.71431619e+02] [ 1.56913604e-01 -2.17096914e-02 9.87373693e-01 2.08802404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.36, Y:171.43, Z:20.88 [[ 9.50989008e-01 2.70733261e-01 -1.49410198e-01 1.89361176e+02] [-2.65911223e-01 9.62607730e-01 5.17453276e-02 1.71429478e+02] [ 1.57832593e-01 -9.47938931e-03 9.87420384e-01 2.08816778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.38, Y:171.42, Z:20.89 [[ 9.50421920e-01 2.74373391e-01 -1.46346905e-01 1.89382656e+02] [-2.69251298e-01 9.61547905e-01 5.41236137e-02 1.71420139e+02] [ 1.55569640e-01 -1.20361746e-02 9.87751597e-01 2.08857199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.42, Y:171.42, Z:20.88 [[ 9.51187396e-01 2.69447294e-01 -1.50468250e-01 1.89417637e+02] [-2.67876545e-01 9.62954360e-01 3.10009172e-02 1.71424348e+02] [ 1.53247171e-01 1.08192334e-02 9.88128660e-01 2.08805686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:171.42, Z:20.88 [[ 9.52240536e-01 2.68135393e-01 -1.46086870e-01 1.89438506e+02] [-2.65578406e-01 9.63375005e-01 3.71040293e-02 1.71417598e+02] [ 1.50685342e-01 3.46555727e-03 9.88575701e-01 2.08829738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:171.39, Z:20.90 [[ 9.50842040e-01 2.74614038e-01 -1.43131219e-01 1.89463082e+02] [-2.67996010e-01 9.61291093e-01 6.40122840e-02 1.71388031e+02] [ 1.55169438e-01 -2.25069750e-02 9.87631450e-01 2.09017703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.49, Y:171.39, Z:20.90 [[ 9.50983971e-01 2.72216409e-01 -1.46723257e-01 1.89492407e+02] [-2.67913506e-01 9.62210444e-01 4.87177133e-02 1.71389166e+02] [ 1.54440411e-01 -7.02062233e-03 9.87977161e-01 2.09000217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.52, Y:171.38, Z:20.90 [[ 9.50627161e-01 2.73700886e-01 -1.46273122e-01 1.89516973e+02] [-2.69864199e-01 9.61806060e-01 4.58521223e-02 1.71384580e+02] [ 1.53236142e-01 -4.11439387e-03 9.88181034e-01 2.09023870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.55, Y:171.38, Z:20.90 [[ 9.51947423e-01 2.68484794e-01 -1.47349988e-01 1.89548843e+02] [-2.66491225e-01 9.63255555e-01 3.34837766e-02 1.71384102e+02] [ 1.50925580e-01 7.39268405e-03 9.88517485e-01 2.09018088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.57, Y:171.37, Z:20.91 [[ 9.52465946e-01 2.68821250e-01 -1.43330938e-01 1.89574498e+02] [-2.65713115e-01 9.63189795e-01 4.07671281e-02 1.71372185e+02] [ 1.49013967e-01 -7.44391046e-04 9.88834811e-01 2.09072794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.60, Y:171.37, Z:20.91 [[ 9.53201831e-01 2.66963841e-01 -1.41903406e-01 1.89598072e+02] [-2.63762518e-01 9.63704667e-01 4.12631688e-02 1.71367642e+02] [ 1.47768748e-01 -1.90332838e-03 9.89020108e-01 2.09099620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:171.36, Z:20.91 [[ 9.54157087e-01 2.63074270e-01 -1.42745165e-01 1.89626579e+02] [-2.60590296e-01 9.64771835e-01 3.61663305e-02 1.71363358e+02] [ 1.47230946e-01 2.68964418e-03 9.89098486e-01 2.09105841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.65, Y:171.35, Z:20.92 [[ 9.54355811e-01 2.62740576e-01 -1.42029490e-01 1.89653124e+02] [-2.59280801e-01 9.64858618e-01 4.26768423e-02 1.71351276e+02] [ 1.48251316e-01 -3.90337249e-03 9.88942016e-01 2.09168690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:171.35, Z:20.92 [[ 9.54997271e-01 2.59866135e-01 -1.43002809e-01 1.89681507e+02] [-2.56624060e-01 9.65641540e-01 4.09940042e-02 1.71345356e+02] [ 1.48742406e-01 -2.45120070e-03 9.88872938e-01 2.09202641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.71, Y:171.34, Z:20.92 [[ 9.55454692e-01 2.58601223e-01 -1.42238318e-01 1.89707113e+02] [-2.55011242e-01 9.65971037e-01 4.32345062e-02 1.71337562e+02] [ 1.48578592e-01 -5.03624160e-03 9.88887778e-01 2.09248778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.73, Y:171.33, Z:20.93 [[ 9.55809869e-01 2.56877931e-01 -1.42972807e-01 1.89734470e+02] [-2.53894634e-01 9.66443315e-01 3.90491185e-02 1.71333364e+02] [ 1.48205971e-01 -1.02350418e-03 9.88955986e-01 2.09266521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.76, Y:171.32, Z:20.94 [[ 9.55426413e-01 2.58489254e-01 -1.42631256e-01 1.89757256e+02] [-2.53202523e-01 9.65884444e-01 5.43665632e-02 1.71318935e+02] [ 1.51818484e-01 -1.58286566e-02 9.88281641e-01 2.09386817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.79, Y:171.33, Z:20.93 [[ 9.56327835e-01 2.52064412e-01 -1.47988525e-01 1.89793015e+02] [-2.51676556e-01 9.67569141e-01 2.16533706e-02 1.71331107e+02] [ 1.48647174e-01 1.65375214e-02 9.88752005e-01 2.09265472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.81, Y:171.30, Z:20.95 [[ 9.55630950e-01 2.58657791e-01 -1.40945504e-01 1.89809858e+02] [-2.51893688e-01 9.65623151e-01 6.41989048e-02 1.71299577e+02] [ 1.52705788e-01 -2.58471776e-02 9.87933634e-01 2.09496213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.84, Y:171.31, Z:20.94 [[ 9.55755810e-01 2.54734761e-01 -1.47108914e-01 1.89842904e+02] [-2.53034377e-01 9.66977088e-01 3.04781050e-02 1.71312250e+02] [ 1.50014782e-01 8.09398647e-03 9.88650622e-01 2.09381240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:171.29, Z:20.96 [[ 9.55586889e-01 2.57209557e-01 -1.43864316e-01 1.89865208e+02] [-2.51810283e-01 9.66219688e-01 5.48734592e-02 1.71290992e+02] [ 1.53118513e-01 -1.62098440e-02 9.88074877e-01 2.09552346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.89, Y:171.29, Z:20.96 [[ 9.55567357e-01 2.55402843e-01 -1.47174775e-01 1.89894701e+02] [-2.51668568e-01 9.66822843e-01 4.37781131e-02 1.71289376e+02] [ 1.53472989e-01 -4.79367089e-03 9.88141216e-01 2.09560608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.92, Y:171.28, Z:20.96 [[ 9.55027421e-01 2.57421778e-01 -1.47161999e-01 1.89920599e+02] [-2.53719427e-01 9.66289023e-01 4.37261526e-02 1.71281297e+02] [ 1.53457088e-01 -4.42181660e-03 9.88145419e-01 2.09606956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.95, Y:171.28, Z:20.96 [[ 9.55921190e-01 2.53157310e-01 -1.48748296e-01 1.89953695e+02] [-2.52009023e-01 9.67352747e-01 2.68349604e-02 1.71283982e+02] [ 1.50685539e-01 1.18338054e-02 9.88510915e-01 2.09563312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.98, Y:171.27, Z:20.96 [[ 9.56191435e-01 2.54524007e-01 -1.44621818e-01 1.89975352e+02] [-2.51714866e-01 9.67066395e-01 3.77122560e-02 1.71271333e+02] [ 1.49457574e-01 3.43325299e-04 9.88768080e-01 2.09617246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:171.26, Z:20.97 [[ 9.56160324e-01 2.54926314e-01 -1.44118036e-01 1.90003673e+02] [-2.51943490e-01 9.66960083e-01 3.88931285e-02 1.71262997e+02] [ 1.49271270e-01 -8.78465524e-04 9.88795892e-01 2.09664944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:171.24, Z:20.98 [[ 9.55965173e-01 2.58893819e-01 -1.38219316e-01 1.90023892e+02] [-2.51912643e-01 9.65488455e-01 6.61215835e-02 1.71240617e+02] [ 1.50567624e-01 -2.83907376e-02 9.88191964e-01 2.09844804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:171.25, Z:20.98 [[ 9.55905353e-01 2.55827632e-01 -1.44212270e-01 1.90055543e+02] [-2.52282099e-01 9.66712359e-01 4.26726854e-02 1.71245384e+02] [ 1.50328636e-01 -4.40887426e-03 9.88626250e-01 2.09819665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.08, Y:171.24, Z:20.99 [[ 9.55937311e-01 2.56397618e-01 -1.42982934e-01 1.90081034e+02] [-2.52926048e-01 9.66562113e-01 4.22622257e-02 1.71236932e+02] [ 1.49037821e-01 -4.23592992e-03 9.88822423e-01 2.09863416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.11, Y:171.23, Z:20.99 [[ 9.56080326e-01 2.56385884e-01 -1.42044672e-01 1.90107478e+02] [-2.52963220e-01 9.66565436e-01 4.19626875e-02 1.71229784e+02] [ 1.48054111e-01 -4.18762238e-03 9.88970396e-01 2.09897965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:171.22, Z:20.99 [[ 9.55953773e-01 2.57734919e-01 -1.40446057e-01 1.90133763e+02] [-2.54410508e-01 9.66207839e-01 4.14451978e-02 1.71223311e+02] [ 1.46381956e-01 -3.88874045e-03 9.89220501e-01 2.09930817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:171.24, Z:20.98 [[ 9.57407504e-01 2.51089902e-01 -1.42564835e-01 1.90168926e+02] [-2.52484288e-01 9.67563458e-01 8.52287648e-03 1.71236387e+02] [ 1.40080533e-01 2.78355149e-02 9.89748770e-01 2.09787511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.18, Y:171.19, Z:21.01 [[ 9.55976009e-01 2.62662855e-01 -1.30836137e-01 1.90181259e+02] [-2.55174935e-01 9.64259396e-01 7.13412255e-02 1.71191323e+02] [ 1.44898664e-01 -3.48143973e-02 9.88833826e-01 2.10093605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:171.20, Z:21.00 [[ 9.55694333e-01 2.59274290e-01 -1.39374257e-01 1.90213991e+02] [-2.56025593e-01 9.65797140e-01 4.10704242e-02 1.71201514e+02] [ 1.45255764e-01 -3.56739494e-03 9.89387708e-01 2.10037780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.24, Y:171.19, Z:21.01 [[ 9.55737588e-01 2.59286675e-01 -1.39054246e-01 1.90240311e+02] [-2.56055980e-01 9.65793924e-01 4.09564641e-02 1.71194282e+02] [ 1.44917211e-01 -3.53796106e-03 9.89437459e-01 2.10073827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.27, Y:171.19, Z:21.01 [[ 9.55823588e-01 2.59200922e-01 -1.38622328e-01 1.90266922e+02] [-2.55992408e-01 9.65817007e-01 4.08092754e-02 1.71186925e+02] [ 1.44461604e-01 -3.52020444e-03 9.89504145e-01 2.10111715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.29, Y:171.18, Z:21.01 [[ 9.56130521e-01 2.58421611e-01 -1.37959042e-01 1.90292824e+02] [-2.55242283e-01 9.66025608e-01 4.05697060e-02 1.71181101e+02] [ 1.43756056e-01 -3.57695342e-03 9.89606690e-01 2.10140553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.32, Y:171.17, Z:21.02 [[ 9.56302083e-01 2.57714255e-01 -1.38093041e-01 1.90319777e+02] [-2.54524309e-01 9.66214217e-01 4.05889433e-02 1.71174284e+02] [ 1.43887809e-01 -3.66725524e-03 9.89587212e-01 2.10175628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:171.17, Z:21.02 [[ 9.56525984e-01 2.56784220e-01 -1.38274746e-01 1.90347178e+02] [-2.53582652e-01 9.66461412e-01 4.05977534e-02 1.71166983e+02] [ 1.44062069e-01 -3.76872920e-03 9.89561477e-01 2.10210565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:171.16, Z:21.02 [[ 9.57122865e-01 2.54473093e-01 -1.38417002e-01 1.90374547e+02] [-2.51247530e-01 9.67071264e-01 4.05937093e-02 1.71160124e+02] [ 1.44189112e-01 -4.07623733e-03 9.89541755e-01 2.10246607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.40, Y:171.15, Z:21.03 [[ 9.57503370e-01 2.53229656e-01 -1.38065337e-01 1.90400865e+02] [-2.50014359e-01 9.67397042e-01 4.04448235e-02 1.71153393e+02] [ 1.43805827e-01 -4.20773812e-03 9.89596978e-01 2.10281082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.43, Y:171.15, Z:21.03 [[ 9.57856145e-01 2.52179697e-01 -1.37539107e-01 1.90428210e+02] [-2.48981209e-01 9.67670742e-01 4.02702469e-02 1.71146228e+02] [ 1.43247908e-01 -4.32845041e-03 9.89677372e-01 2.10318302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:171.15, Z:21.03 [[ 9.58335337e-01 2.46467912e-01 -1.44384733e-01 1.90463130e+02] [-2.44978956e-01 9.69115713e-01 2.82850983e-02 1.71146176e+02] [ 1.46896882e-01 8.26461186e-03 9.89117284e-01 2.10340084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:171.12, Z:21.04 [[ 9.58547194e-01 2.51748471e-01 -1.33454052e-01 1.90481096e+02] [-2.46586243e-01 9.67605912e-01 5.41666401e-02 1.71124496e+02] [ 1.42767299e-01 -1.90133475e-02 9.89573641e-01 2.10439690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:171.13, Z:21.04 [[ 9.58509500e-01 2.49838655e-01 -1.37259554e-01 1.90509894e+02] [-2.46654711e-01 9.68277039e-01 4.00128724e-02 1.71126433e+02] [ 1.42902036e-01 -4.49700272e-03 9.89726621e-01 2.10433273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:171.13, Z:21.05 [[ 9.57999802e-01 2.49829396e-01 -1.40789392e-01 1.90540602e+02] [-2.47623392e-01 9.68285230e-01 3.32621184e-02 1.71125345e+02] [ 1.44634144e-01 2.99764406e-03 9.89480661e-01 2.10455930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:171.11, Z:21.05 [[ 9.57908167e-01 2.53628103e-01 -1.34479475e-01 1.90563507e+02] [-2.49470565e-01 9.67231493e-01 4.71982615e-02 1.71110707e+02] [ 1.42043589e-01 -1.16629295e-02 9.89791693e-01 2.10529387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:171.11, Z:21.05 [[ 9.57386298e-01 2.55081359e-01 -1.35443632e-01 1.90592515e+02] [-2.52048655e-01 9.66913033e-01 3.93784573e-02 1.71110059e+02] [ 1.41006923e-01 -3.56201014e-03 9.90002202e-01 2.10548479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.62, Y:171.10, Z:21.06 [[ 9.57268059e-01 2.56003045e-01 -1.34537370e-01 1.90619623e+02] [-2.53026576e-01 9.66670143e-01 3.90690022e-02 1.71103720e+02] [ 1.40055042e-01 -3.35797782e-03 9.90138025e-01 2.10584686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.65, Y:171.11, Z:21.05 [[ 9.56902282e-01 2.55739796e-01 -1.37605157e-01 1.90648374e+02] [-2.55405305e-01 9.66619153e-01 2.03848895e-02 1.71108607e+02] [ 1.38225008e-01 1.56387399e-02 9.90277374e-01 2.10545696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.67, Y:171.08, Z:21.07 [[ 9.56850971e-01 2.59946894e-01 -1.29860814e-01 1.90671102e+02] [-2.54804969e-01 9.65424296e-01 5.50486657e-02 1.71081295e+02] [ 1.39680514e-01 -1.95841887e-02 9.90002936e-01 2.10706346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:171.10, Z:21.06 [[ 9.56321727e-01 2.56961577e-01 -1.39353872e-01 1.90703679e+02] [-2.56819628e-01 9.66266392e-01 1.93115929e-02 1.71097032e+02] [ 1.39615300e-01 1.73207137e-02 9.90054322e-01 2.10640094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.73, Y:171.07, Z:21.08 [[ 9.57281173e-01 2.58874564e-01 -1.28828241e-01 1.90725217e+02] [-2.53914838e-01 9.65727660e-01 5.38269659e-02 1.71072265e+02] [ 1.38347428e-01 -1.88161391e-02 9.90205000e-01 2.10770226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:171.07, Z:21.08 [[ 9.57331362e-01 2.56092062e-01 -1.33916089e-01 1.90754882e+02] [-2.52839726e-01 9.66637117e-01 4.10457999e-02 1.71073953e+02] [ 1.39959766e-01 -5.43512422e-03 9.90142274e-01 2.10787643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.78, Y:171.07, Z:21.08 [[ 9.57039327e-01 2.56419305e-01 -1.35369373e-01 1.90783741e+02] [-2.53628543e-01 9.66563936e-01 3.77719326e-02 1.71065883e+02] [ 1.40528606e-01 -1.81568822e-03 9.90074954e-01 2.10819473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:171.06, Z:21.09 [[ 9.57677890e-01 2.54186276e-01 -1.35064414e-01 1.90808794e+02] [-2.50929133e-01 9.67140862e-01 4.09038264e-02 1.71059872e+02] [ 1.41023505e-01 -5.28109385e-03 9.89992162e-01 2.10866191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.84, Y:171.05, Z:21.09 [[ 9.58039853e-01 2.52409275e-01 -1.35827825e-01 1.90837506e+02] [-2.49739923e-01 9.67619856e-01 3.66303949e-02 1.71052901e+02] [ 1.40675552e-01 -1.17174764e-03 9.90055057e-01 2.10887330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.86, Y:171.05, Z:21.09 [[ 9.58084845e-01 2.50806852e-01 -1.38453430e-01 1.90863944e+02] [-2.48463151e-01 9.68035841e-01 3.42443174e-02 1.71047515e+02] [ 1.42616592e-01 1.59161404e-03 9.89776730e-01 2.10926857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:171.04, Z:21.10 [[ 9.59382357e-01 2.48399515e-01 -1.33727982e-01 1.90888541e+02] [-2.44609229e-01 9.68607924e-01 4.43284945e-02 1.71035674e+02] [ 1.40541160e-01 -9.81687696e-03 9.90026167e-01 2.10984156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:171.03, Z:21.10 [[ 9.59775665e-01 2.45867589e-01 -1.35572130e-01 1.90916480e+02] [-2.42771325e-01 9.69292081e-01 3.91783877e-02 1.71031921e+02] [ 1.41041687e-01 -4.68943758e-03 9.89992551e-01 2.11006633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:171.02, Z:21.10 [[ 9.59762577e-01 2.45763470e-01 -1.35853276e-01 1.90940254e+02] [-2.42522684e-01 9.69313598e-01 4.01733263e-02 1.71024601e+02] [ 1.41557564e-01 -5.60935410e-03 9.89914133e-01 2.11041957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.97, Y:171.02, Z:21.11 [[ 9.60292014e-01 2.42059554e-01 -1.38731468e-01 1.90967423e+02] [-2.39285168e-01 9.70259443e-01 3.65953856e-02 1.71018871e+02] [ 1.43463780e-01 -1.94587382e-03 9.89653655e-01 2.11077008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:190.99, Y:171.01, Z:21.11 [[ 9.60818855e-01 2.39208790e-01 -1.40022439e-01 1.90994573e+02] [-2.36309431e-01 9.70964454e-01 3.72274274e-02 1.71011268e+02] [ 1.44861939e-01 -2.68019114e-03 9.89448248e-01 2.11125056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.02, Y:171.00, Z:21.12 [[ 9.61712028e-01 2.36782907e-01 -1.37999382e-01 1.91021216e+02] [-2.33192587e-01 9.71528972e-01 4.18649592e-02 1.71001523e+02] [ 1.43983304e-01 -8.08160193e-03 9.89547117e-01 2.11173906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:170.99, Z:21.12 [[ 9.61762075e-01 2.37358153e-01 -1.36655843e-01 1.91045767e+02] [-2.33338762e-01 9.71355952e-01 4.49514852e-02 1.70992781e+02] [ 1.43411068e-01 -1.13455286e-02 9.89598173e-01 2.11214771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.08, Y:170.99, Z:21.12 [[ 9.61599692e-01 2.35517086e-01 -1.40917473e-01 1.91075458e+02] [-2.32737090e-01 9.71868256e-01 3.61322527e-02 1.70991047e+02] [ 1.45462981e-01 -1.94804050e-03 9.89361777e-01 2.11238751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.10, Y:170.98, Z:21.13 [[ 9.61301804e-01 2.36658233e-01 -1.41038017e-01 1.91102722e+02] [-2.33631311e-01 9.71586757e-01 3.78891024e-02 1.70983024e+02] [ 1.45997437e-01 -3.47196563e-03 9.89278876e-01 2.11291243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:170.97, Z:21.13 [[ 9.61633266e-01 2.40817114e-01 -1.31409969e-01 1.91125976e+02] [-2.35867734e-01 9.70379652e-01 5.22469352e-02 1.70966950e+02] [ 1.40099516e-01 -1.92470193e-02 9.89950341e-01 2.11315348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.15, Y:170.97, Z:21.14 [[ 9.60951596e-01 2.40755722e-01 -1.36413755e-01 1.91153731e+02] [-2.37046612e-01 9.70543645e-01 4.30573600e-02 1.70965342e+02] [ 1.42761809e-01 -9.03962030e-03 9.89715793e-01 2.11367619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:191.19, Y:170.98, Z:21.13 [[ 9.59699846e-01 2.39972387e-01 -1.46251355e-01 1.91188579e+02] [-2.40726061e-01 9.70508825e-01 1.27900072e-02 1.70975502e+02] [ 1.45007479e-01 2.29319446e-02 9.89164777e-01 2.11335838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.21, Y:170.95, Z:21.15 [[ 9.59247561e-01 2.47183856e-01 -1.36909670e-01 1.91207360e+02] [-2.43126569e-01 9.68909348e-01 4.58709742e-02 1.70949635e+02] [ 1.43991624e-01 -1.07152417e-02 9.89520892e-01 2.11466513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:191.24, Y:170.95, Z:21.15 [[ 9.58670994e-01 2.47927571e-01 -1.39577378e-01 1.91237936e+02] [-2.45233782e-01 9.68778304e-01 3.64553221e-02 1.70947655e+02] [ 1.44257815e-01 -7.19571637e-04 9.89539875e-01 2.11486087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.27, Y:170.94, Z:21.15 [[ 9.57858453e-01 2.51252232e-01 -1.39210274e-01 1.91265127e+02] [-2.48755704e-01 9.67921334e-01 3.53396470e-02 1.70941873e+02] [ 1.43623759e-01 7.78970143e-04 9.89632057e-01 2.11517751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:170.93, Z:21.16 [[ 9.57408301e-01 2.55255101e-01 -1.34959915e-01 1.91288093e+02] [-2.50632072e-01 9.66764765e-01 5.04921127e-02 1.70925752e+02] [ 1.43362859e-01 -1.45162848e-02 9.89563726e-01 2.11617633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:170.93, Z:21.16 [[ 9.56306929e-01 2.56506357e-01 -1.40290939e-01 1.91317883e+02] [-2.53999474e-01 9.66541535e-01 3.58012508e-02 1.70927715e+02] [ 1.44780268e-01 1.39684037e-03 9.89462846e-01 2.11626933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:170.92, Z:21.17 [[ 9.56277961e-01 2.58347451e-01 -1.37073175e-01 1.91343040e+02] [-2.54814737e-01 9.66032042e-01 4.30295607e-02 1.70916621e+02] [ 1.43533657e-01 -6.21995554e-03 9.89625890e-01 2.11677234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:170.91, Z:21.17 [[ 9.55707399e-01 2.59256867e-01 -1.39317065e-01 1.91374427e+02] [-2.57127752e-01 9.65800478e-01 3.33879460e-02 1.70911974e+02] [ 1.43208542e-01 3.91317673e-03 9.89684799e-01 2.11670107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:170.90, Z:21.18 [[ 9.55997464e-01 2.60247073e-01 -1.35426401e-01 1.91395846e+02] [-2.56317675e-01 9.65497664e-01 4.59946752e-02 1.70901214e+02] [ 1.42723853e-01 -9.25861273e-03 9.89719243e-01 2.11759966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.43, Y:170.90, Z:21.18 [[ 9.56331054e-01 2.57780690e-01 -1.37768030e-01 1.91427077e+02] [-2.55199934e-01 9.66203387e-01 3.63869169e-02 1.70899709e+02] [ 1.42491782e-01 3.60453591e-04 9.89795920e-01 2.11781876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:170.89, Z:21.18 [[ 9.56426317e-01 2.58904721e-01 -1.34970534e-01 1.91451051e+02] [-2.55540784e-01 9.65886259e-01 4.19838392e-02 1.70888425e+02] [ 1.41235998e-01 -5.66397259e-03 9.89959753e-01 2.11829286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:170.89, Z:21.18 [[ 9.57109578e-01 2.54243401e-01 -1.38930012e-01 1.91479098e+02] [-2.52035274e-01 9.67135935e-01 3.35604585e-02 1.70885353e+02] [ 1.42896732e-01 2.89422726e-03 9.89733372e-01 2.11846110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.51, Y:170.87, Z:21.19 [[ 9.57659964e-01 2.52847025e-01 -1.37679975e-01 1.91506065e+02] [-2.49836727e-01 9.67501731e-01 3.90129567e-02 1.70874186e+02] [ 1.43069925e-01 -2.96363225e-03 9.89708146e-01 2.11899046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:170.87, Z:21.19 [[ 9.57858697e-01 2.52542469e-01 -1.36854003e-01 1.91530513e+02] [-2.49268590e-01 9.67572862e-01 4.08402595e-02 1.70865487e+02] [ 1.42730120e-01 -5.00579330e-03 9.89748986e-01 2.11934366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:170.86, Z:21.20 [[ 9.58760971e-01 2.50005984e-01 -1.35182874e-01 1.91557911e+02] [-2.46437247e-01 9.68213567e-01 4.27921877e-02 1.70855810e+02] [ 1.41584195e-01 -7.71338410e-03 9.89896166e-01 2.11971019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.59, Y:170.85, Z:21.20 [[ 9.58794403e-01 2.49235545e-01 -1.36363249e-01 1.91585958e+02] [-2.46247880e-01 9.68436717e-01 3.86303765e-02 1.70850643e+02] [ 1.41687240e-01 -3.45942777e-03 9.89905429e-01 2.12001214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.61, Y:170.84, Z:21.20 [[ 9.59077145e-01 2.47869211e-01 -1.36864477e-01 1.91612535e+02] [-2.44849801e-01 9.68786643e-01 3.87429443e-02 1.70842609e+02] [ 1.42195660e-01 -3.64623250e-03 9.89831854e-01 2.12044652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:170.84, Z:21.21 [[ 9.59321847e-01 2.42212076e-01 -1.45034147e-01 1.91642153e+02] [-2.41058654e-01 9.70169031e-01 2.57444333e-02 1.70843056e+02] [ 1.46943251e-01 1.02645390e-02 9.89091664e-01 2.12067944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:170.82, Z:21.22 [[ 9.59999715e-01 2.46074331e-01 -1.33596294e-01 1.91662766e+02] [-2.40972840e-01 9.69064182e-01 5.33544927e-02 1.70818882e+02] [ 1.42592555e-01 -1.90272194e-02 9.89598569e-01 2.12159055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:170.82, Z:21.22 [[ 9.60138448e-01 2.43314922e-01 -1.37593641e-01 1.91692677e+02] [-2.40232443e-01 9.69938092e-01 3.88390523e-02 1.70819619e+02] [ 1.42907434e-01 -4.23641094e-03 9.89726992e-01 2.12161720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:170.83, Z:21.21 [[ 9.60644765e-01 2.35920749e-01 -1.46639133e-01 1.91727576e+02] [-2.36303377e-01 9.71562634e-01 1.50586178e-02 1.70827117e+02] [ 1.46021743e-01 2.01853399e-02 9.89075428e-01 2.12109766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:170.81, Z:21.22 [[ 9.60770560e-01 2.37165765e-01 -1.43778759e-01 1.91751425e+02] [-2.35648362e-01 9.71442318e-01 2.77429795e-02 1.70813070e+02] [ 1.46252456e-01 7.22659116e-03 9.89220903e-01 2.12166227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.77, Y:170.79, Z:21.23 [[ 9.60061016e-01 2.42880269e-01 -1.38895720e-01 1.91774544e+02] [-2.38180682e-01 9.69944924e-01 4.97675259e-02 1.70790437e+02] [ 1.46808749e-01 -1.46975842e-02 9.89055697e-01 2.12286216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.80, Y:170.77, Z:21.25 [[ 9.58726002e-01 2.47999678e-01 -1.39070534e-01 1.91797456e+02] [-2.40738280e-01 9.68269450e-01 6.70772113e-02 1.70771089e+02] [ 1.51292876e-01 -3.08290655e-02 9.88008115e-01 2.12471168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:170.79, Z:21.23 [[ 9.58813165e-01 2.41232722e-01 -1.49946954e-01 1.91835066e+02] [-2.40950576e-01 9.70324571e-01 2.03235448e-02 1.70791198e+02] [ 1.50399918e-01 1.66433226e-02 9.88485136e-01 2.12345151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:170.77, Z:21.25 [[ 9.58143993e-01 2.46688645e-01 -1.45274916e-01 1.91856575e+02] [-2.41795000e-01 9.69001274e-01 5.07120186e-02 1.70765648e+02] [ 1.53281658e-01 -1.34626675e-02 9.88090831e-01 2.12529284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.88, Y:170.76, Z:21.26 [[ 9.57133682e-01 2.53222413e-01 -1.40618366e-01 1.91879166e+02] [-2.48184749e-01 9.67285231e-01 5.25700699e-02 1.70755889e+02] [ 1.49329989e-01 -1.54172507e-02 9.88667215e-01 2.12563559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:170.77, Z:21.26 [[ 9.56291512e-01 2.48162494e-01 -1.54667127e-01 1.91916763e+02] [-2.47693792e-01 9.68574597e-01 2.26060768e-02 1.70765701e+02] [ 1.55416630e-01 1.66920877e-02 9.87707976e-01 2.12551343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:170.74, Z:21.26 [[ 9.54706836e-01 2.60707381e-01 -1.43410313e-01 1.91938086e+02] [-2.55960493e-01 9.65344227e-01 5.09386822e-02 1.70738962e+02] [ 1.51720408e-01 -1.19241337e-02 9.88351523e-01 2.12625417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:170.73, Z:21.27 [[ 9.54020938e-01 2.62561903e-01 -1.44586639e-01 1.91962805e+02] [-2.57940572e-01 9.64857261e-01 5.01709715e-02 1.70733539e+02] [ 1.52678454e-01 -1.05693970e-02 9.88219398e-01 2.12693809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:170.73, Z:21.27 [[ 9.53350275e-01 2.63660135e-01 -1.46991790e-01 1.91991047e+02] [-2.60462042e-01 9.64615347e-01 4.09482263e-02 1.70731024e+02] [ 1.52586951e-01 -7.52221102e-04 9.88289763e-01 2.12711545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:170.72, Z:21.27 [[ 9.52245775e-01 2.67226541e-01 -1.47709035e-01 1.92018185e+02] [-2.64460461e-01 9.63630571e-01 3.84289812e-02 1.70723658e+02] [ 1.52606186e-01 2.46936449e-03 9.88283995e-01 2.12746221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:170.71, Z:21.28 [[ 9.51689577e-01 2.70435762e-01 -1.45435371e-01 1.92043674e+02] [-2.66949022e-01 9.62734938e-01 4.33550311e-02 1.70712077e+02] [ 1.51740464e-01 -2.43670100e-03 9.88417368e-01 2.12796540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.07, Y:170.70, Z:21.28 [[ 9.50828207e-01 2.72957046e-01 -1.46356318e-01 1.92069934e+02] [-2.69913122e-01 9.62025852e-01 4.06591572e-02 1.70703566e+02] [ 1.51896765e-01 8.43617196e-04 9.88396004e-01 2.12831441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:170.70, Z:21.29 [[ 9.50516134e-01 2.74032055e-01 -1.46374560e-01 1.92095000e+02] [-2.71007863e-01 9.61719969e-01 4.06132934e-02 1.70695162e+02] [ 1.51900682e-01 1.06506613e-03 9.88395188e-01 2.12872825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:170.69, Z:21.29 [[ 9.50244356e-01 2.74754869e-01 -1.46783603e-01 1.92120281e+02] [-2.71725908e-01 9.61513549e-01 4.07029017e-02 1.70685778e+02] [ 1.52317743e-01 1.20720508e-03 9.88330839e-01 2.12911504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:170.68, Z:21.29 [[ 9.50339515e-01 2.74380246e-01 -1.46868261e-01 1.92146367e+02] [-2.71346662e-01 9.61620567e-01 4.07047229e-02 1.70677059e+02] [ 1.52400112e-01 1.16890581e-03 9.88318187e-01 2.12946310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:170.67, Z:21.30 [[ 9.50573538e-01 2.73591832e-01 -1.46824583e-01 1.92172862e+02] [-2.70558160e-01 9.61845270e-01 4.06442967e-02 1.70667892e+02] [ 1.52342478e-01 1.08919611e-03 9.88327164e-01 2.12983623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:170.66, Z:21.30 [[ 9.50808430e-01 2.72630992e-01 -1.47090691e-01 1.92197632e+02] [-2.69582364e-01 9.62118170e-01 4.06691071e-02 1.70658651e+02] [ 1.52606286e-01 9.84526464e-04 9.88286574e-01 2.13023360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.23, Y:170.65, Z:21.31 [[ 9.51409927e-01 2.68411748e-01 -1.50911513e-01 1.92225751e+02] [-2.66379236e-01 9.63271585e-01 3.39110034e-02 1.70650735e+02] [ 1.54470884e-01 7.93642820e-03 9.87965465e-01 2.13050243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:170.64, Z:21.31 [[ 9.51661130e-01 2.67558841e-01 -1.50842169e-01 1.92249879e+02] [-2.64887008e-01 9.63533739e-01 3.79157983e-02 1.70639480e+02] [ 1.55486226e-01 3.87313946e-03 9.87830467e-01 2.13107923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.27, Y:170.62, Z:21.32 [[ 9.52994259e-01 2.66535200e-01 -1.44086532e-01 1.92273190e+02] [-2.61714847e-01 9.63754854e-01 5.17872551e-02 1.70619745e+02] [ 1.52667221e-01 -1.16433721e-02 9.88209063e-01 2.13175399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:170.62, Z:21.32 [[ 9.53583028e-01 2.62597087e-01 -1.47384460e-01 1.92301704e+02] [-2.59431442e-01 9.64905429e-01 4.06551293e-02 1.70617183e+02] [ 1.52887984e-01 -5.31878280e-04 9.88243382e-01 2.13186109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.33, Y:170.61, Z:21.32 [[ 9.54164583e-01 2.60777690e-01 -1.46850076e-01 1.92327912e+02] [-2.57621381e-01 9.65398571e-01 4.04576664e-02 1.70607690e+02] [ 1.52319310e-01 -7.71553124e-04 9.88331034e-01 2.13225380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.35, Y:170.60, Z:21.33 [[ 9.55150625e-01 2.57545046e-01 -1.46143194e-01 1.92352968e+02] [-2.54389163e-01 9.66265507e-01 4.02134806e-02 1.70595508e+02] [ 1.51569910e-01 -1.23268642e-03 9.88445771e-01 2.13267387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:170.59, Z:21.33 [[ 9.55620396e-01 2.55967495e-01 -1.45843410e-01 1.92377907e+02] [-2.52813911e-01 9.66684329e-01 4.00815961e-02 1.70586499e+02] [ 1.51244125e-01 -1.43154778e-03 9.88495405e-01 2.13311016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.40, Y:170.58, Z:21.33 [[ 9.56046305e-01 2.54370741e-01 -1.45845769e-01 1.92403078e+02] [-2.51203717e-01 9.67105371e-01 4.00486351e-02 1.70575591e+02] [ 1.51235428e-01 -1.65135030e-03 9.88496393e-01 2.13347639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.43, Y:170.57, Z:21.34 [[ 9.55659323e-01 2.54055683e-01 -1.48899186e-01 1.92430042e+02] [-2.51748601e-01 9.67178886e-01 3.44622047e-02 1.70570028e+02] [ 1.52767468e-01 4.55103454e-03 9.88251683e-01 2.13369899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:170.55, Z:21.34 [[ 9.56103088e-01 2.54755452e-01 -1.44798288e-01 1.92456061e+02] [-2.50773857e-01 9.66979298e-01 4.54258790e-02 1.70554472e+02] [ 1.51589437e-01 -7.12019806e-03 9.88417900e-01 2.13442535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:170.55, Z:21.35 [[ 9.55892051e-01 2.54291870e-01 -1.46989905e-01 1.92482622e+02] [-2.51090636e-01 9.67126249e-01 4.02530999e-02 1.70548378e+02] [ 1.52393831e-01 -1.56982949e-03 9.88318600e-01 2.13463082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:170.54, Z:21.35 [[ 9.55931763e-01 2.54097853e-01 -1.47067147e-01 1.92509394e+02] [-2.50894198e-01 9.67177223e-01 4.02531985e-02 1.70539642e+02] [ 1.52468246e-01 -1.58101713e-03 9.88307105e-01 2.13501386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.54, Y:170.53, Z:21.35 [[ 9.55806261e-01 2.54310062e-01 -1.47515369e-01 1.92535700e+02] [-2.51096622e-01 9.67121568e-01 4.03281550e-02 1.70530511e+02] [ 1.52921151e-01 -1.50529216e-03 9.88237247e-01 2.13547374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.56, Y:170.52, Z:21.36 [[ 9.55335818e-01 2.56071801e-01 -1.47515107e-01 1.92560986e+02] [-2.52886587e-01 9.66657048e-01 4.02805970e-02 1.70519701e+02] [ 1.52911243e-01 -1.17690514e-03 9.88239225e-01 2.13591487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:170.51, Z:21.36 [[ 9.55163351e-01 2.57072109e-01 -1.46890791e-01 1.92587455e+02] [-2.53933246e-01 9.66391743e-01 4.00612798e-02 1.70512110e+02] [ 1.52252686e-01 -9.64610834e-04 9.88341130e-01 2.13638025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:170.51, Z:21.37 [[ 9.54608942e-01 2.59581989e-01 -1.46078608e-01 1.92614567e+02] [-2.56514656e-01 9.65720937e-01 3.97907454e-02 1.70505774e+02] [ 1.51400131e-01 -5.13297505e-04 9.88472426e-01 2.13693160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.64, Y:170.50, Z:21.37 [[ 9.54204542e-01 2.61401349e-01 -1.45475174e-01 1.92640230e+02] [-2.58388452e-01 9.65230182e-01 3.95740242e-02 1.70498827e+02] [ 1.50761732e-01 -1.72608799e-04 9.88570114e-01 2.13736548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.67, Y:170.49, Z:21.38 [[ 9.54000325e-01 2.63137915e-01 -1.43672606e-01 1.92666326e+02] [-2.60222543e-01 9.64758220e-01 3.90615585e-02 1.70491975e+02] [ 1.48887905e-01 1.22111469e-04 9.88854073e-01 2.13766474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.69, Y:170.49, Z:21.38 [[ 9.53794036e-01 2.64155573e-01 -1.43173913e-01 1.92692995e+02] [-2.61275074e-01 9.64480038e-01 3.89049226e-02 1.70485359e+02] [ 1.48365333e-01 3.00491496e-04 9.88932575e-01 2.13810484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.72, Y:170.48, Z:21.39 [[ 9.53380910e-01 2.65764056e-01 -1.42948615e-01 1.92718682e+02] [-2.62918162e-01 9.64037918e-01 3.87934537e-02 1.70478463e+02] [ 1.48117791e-01 5.98848881e-04 9.88969545e-01 2.13855500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.75, Y:170.47, Z:21.39 [[ 9.53364528e-01 2.65780019e-01 -1.43028170e-01 1.92745457e+02] [-2.62934253e-01 9.64033503e-01 3.87941252e-02 1.70470819e+02] [ 1.48194651e-01 6.22062282e-04 9.88958016e-01 2.13900433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:170.46, Z:21.40 [[ 9.52697089e-01 2.66653747e-01 -1.45821932e-01 1.92770137e+02] [-2.63369233e-01 9.63791426e-01 4.17460707e-02 1.70462141e+02] [ 1.51673674e-01 -1.36634961e-03 9.88429679e-01 2.13969541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.80, Y:170.46, Z:21.40 [[ 9.53773879e-01 2.63480645e-01 -1.44545275e-01 1.92797966e+02] [-2.60973073e-01 9.64659971e-01 3.63895051e-02 1.70458080e+02] [ 1.49024972e-01 3.01506527e-03 9.88828836e-01 2.13975859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.82, Y:170.45, Z:21.40 [[ 9.54070396e-01 2.62638249e-01 -1.44120885e-01 1.92824426e+02] [-2.59731489e-01 9.64894339e-01 3.89675332e-02 1.70449203e+02] [ 1.49295791e-01 2.54962313e-04 9.88792547e-01 2.14018411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.85, Y:170.44, Z:21.41 [[ 9.53745350e-01 2.61706432e-01 -1.47917379e-01 1.92849462e+02] [-2.58640274e-01 9.65147511e-01 3.99436071e-02 1.70441765e+02] [ 1.53215589e-01 1.61361796e-04 9.88192773e-01 2.14071241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.88, Y:170.44, Z:21.41 [[ 9.55072635e-01 2.57159508e-01 -1.47327015e-01 1.92878457e+02] [-2.54699712e-01 9.66362730e-01 3.56529246e-02 1.70438120e+02] [ 1.51539825e-01 3.47301570e-03 9.88445051e-01 2.14075076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:170.43, Z:21.42 [[ 9.55582001e-01 2.55730446e-01 -1.46509310e-01 1.92902777e+02] [-2.52028291e-01 9.66736433e-01 4.36166144e-02 1.70425449e+02] [ 1.52789985e-01 -4.75476048e-03 9.88247243e-01 2.14157056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.93, Y:170.42, Z:21.42 [[ 9.56312426e-01 2.53236990e-01 -1.46073854e-01 1.92929896e+02] [-2.50168187e-01 9.67403694e-01 3.93188379e-02 1.70421193e+02] [ 1.51269370e-01 -1.05806201e-03 9.88492012e-01 2.14185842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.96, Y:170.41, Z:21.42 [[ 9.57082132e-01 2.50678790e-01 -1.45443930e-01 1.92956572e+02] [-2.47610594e-01 9.68069258e-01 3.91267959e-02 1.70414896e+02] [ 1.50608055e-01 -1.43409940e-03 9.88592513e-01 2.14229797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:170.41, Z:21.42 [[ 9.56832441e-01 2.49611651e-01 -1.48881508e-01 1.92981278e+02] [-2.47876071e-01 9.68314515e-01 3.04048433e-02 1.70414078e+02] [ 1.51753528e-01 7.81182277e-03 9.88387496e-01 2.14239478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.01, Y:170.40, Z:21.44 [[ 9.58569643e-01 2.46706527e-01 -1.42408319e-01 1.93008024e+02] [-2.41658717e-01 9.68967511e-01 5.19906390e-02 1.70395262e+02] [ 1.50815464e-01 -1.54224365e-02 9.88441624e-01 2.14370218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:170.40, Z:21.43 [[ 9.58738693e-01 2.43110017e-01 -1.47369051e-01 1.93034653e+02] [-2.40722520e-01 9.69994735e-01 3.41010722e-02 1.70400258e+02] [ 1.51237516e-01 2.78103182e-03 9.88493541e-01 2.14341579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:170.39, Z:21.44 [[ 9.58849850e-01 2.42589308e-01 -1.47503875e-01 1.93063072e+02] [-2.39737726e-01 9.70129057e-01 3.70868535e-02 1.70391503e+02] [ 1.52094670e-01 -1.98480292e-04 9.88365910e-01 2.14407536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.09, Y:170.38, Z:21.44 [[ 9.59974632e-01 2.40043914e-01 -1.44317794e-01 1.93089577e+02] [-2.36925797e-01 9.70757591e-01 3.86764304e-02 1.70384335e+02] [ 1.49381636e-01 -2.93578363e-03 9.88775257e-01 2.14438304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.12, Y:170.38, Z:21.45 [[ 9.60392250e-01 2.37838848e-01 -1.45187492e-01 1.93116029e+02] [-2.34678221e-01 9.71299467e-01 3.87747019e-02 1.70380406e+02] [ 1.50242664e-01 -3.16658086e-03 9.88644079e-01 2.14484493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:170.37, Z:21.45 [[ 9.59801917e-01 2.40548783e-01 -1.44625594e-01 1.93144313e+02] [-2.37273820e-01 9.70629495e-01 3.97431506e-02 1.70373900e+02] [ 1.49938034e-01 -3.82968487e-03 9.88687979e-01 2.14513639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:170.37, Z:21.45 [[ 9.60154492e-01 2.37046298e-01 -1.48028390e-01 1.93175979e+02] [-2.35315772e-01 9.71475600e-01 2.93538253e-02 1.70374524e+02] [ 1.50764185e-01 6.64920760e-03 9.88547393e-01 2.14511447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.20, Y:170.36, Z:21.47 [[ 9.58899810e-01 2.42694025e-01 -1.47006000e-01 1.93198629e+02] [-2.38250540e-01 9.70046973e-01 4.73872313e-02 1.70358225e+02] [ 1.54103323e-01 -1.04153483e-02 9.87999841e-01 2.14674480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:170.35, Z:21.48 [[ 9.58800323e-01 2.44582346e-01 -1.44504034e-01 1.93225960e+02] [-2.38681286e-01 9.69416446e-01 5.71226591e-02 1.70346039e+02] [ 1.54055781e-01 -2.02788153e-02 9.87854031e-01 2.14763908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.26, Y:170.36, Z:21.47 [[ 9.58440577e-01 2.41067379e-01 -1.52571883e-01 1.93257679e+02] [-2.40344759e-01 9.70404471e-01 2.34426756e-02 1.70359999e+02] [ 1.53707702e-01 1.42014409e-02 9.88014302e-01 2.14669165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:170.34, Z:21.48 [[ 9.58561102e-01 2.43242174e-01 -1.48303268e-01 1.93281811e+02] [-2.40018715e-01 9.69962858e-01 3.95356786e-02 1.70343593e+02] [ 1.53465406e-01 -2.30180376e-03 9.88151340e-01 2.14758047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.31, Y:170.34, Z:21.48 [[ 9.58001343e-01 2.45382502e-01 -1.48394256e-01 1.93308345e+02] [-2.42654651e-01 9.69425782e-01 3.65017010e-02 1.70341922e+02] [ 1.52814096e-01 1.03987784e-03 9.88254406e-01 2.14803737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.33, Y:170.32, Z:21.49 [[ 9.57080483e-01 2.50449752e-01 -1.45848796e-01 1.93334164e+02] [-2.45367720e-01 9.68026612e-01 5.21455782e-02 1.70324481e+02] [ 1.54245363e-01 -1.41209286e-02 9.87931661e-01 2.14923270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:170.33, Z:21.49 [[ 9.56895900e-01 2.48443301e-01 -1.50419954e-01 1.93364803e+02] [-2.46798878e-01 9.68608241e-01 2.98058464e-02 1.70331672e+02] [ 1.53103070e-01 8.60238381e-03 9.88172783e-01 2.14864882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:170.32, Z:21.49 [[ 9.57106588e-01 2.49635630e-01 -1.47068121e-01 1.93393654e+02] [-2.46652859e-01 9.68339685e-01 3.84788429e-02 1.70320980e+02] [ 1.52017588e-01 -5.53581634e-04 9.88377634e-01 2.14931007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.42, Y:170.31, Z:21.50 [[ 9.56587508e-01 2.51916253e-01 -1.46555593e-01 1.93420364e+02] [-2.48375450e-01 9.67740581e-01 4.22824371e-02 1.70313556e+02] [ 1.52479428e-01 -4.04603976e-03 9.88298363e-01 2.14996700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:170.31, Z:21.50 [[ 9.56672001e-01 2.50461920e-01 -1.48484037e-01 1.93449512e+02] [-2.48662517e-01 9.68098226e-01 3.08671093e-02 1.70314216e+02] [ 1.51478169e-01 7.39271524e-03 9.88432958e-01 2.14986763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.47, Y:170.30, Z:21.51 [[ 9.56210443e-01 2.54763200e-01 -1.44073945e-01 1.93467807e+02] [-2.50574005e-01 9.66964617e-01 4.68198425e-02 1.70300207e+02] [ 1.51242380e-01 -8.66843687e-03 9.88458700e-01 2.15096569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:170.30, Z:21.51 [[ 9.56179727e-01 2.53935772e-01 -1.45729039e-01 1.93495412e+02] [-2.50889200e-01 9.67220619e-01 3.92286121e-02 1.70297725e+02] [ 1.50913679e-01 -9.47761641e-04 9.88546490e-01 2.15118930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:170.29, Z:21.52 [[ 9.56404682e-01 2.53243696e-01 -1.45456915e-01 1.93527197e+02] [-2.49388518e-01 9.67382345e-01 4.44608210e-02 1.70285392e+02] [ 1.51971874e-01 -6.24725286e-03 9.88365075e-01 2.15194700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:170.29, Z:21.52 [[ 9.57193831e-01 2.49881319e-01 -1.46079759e-01 1.93550935e+02] [-2.47720010e-01 9.68266006e-01 3.31019271e-02 1.70289389e+02] [ 1.49715618e-01 4.50191904e-03 9.88718851e-01 2.15185117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:193.58, Y:170.28, Z:21.52 [[ 9.56982539e-01 2.49071786e-01 -1.48820917e-01 1.93577448e+02] [-2.47168018e-01 9.68461972e-01 3.14544206e-02 1.70283879e+02] [ 1.51961808e-01 6.68243982e-03 9.88363776e-01 2.15231650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.60, Y:170.27, Z:21.53 [[ 9.57572095e-01 2.48601786e-01 -1.45783519e-01 1.93604977e+02] [-2.45239337e-01 9.68599794e-01 4.08914002e-02 1.70271906e+02] [ 1.51371562e-01 -3.40461010e-03 9.88471071e-01 2.15304252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:170.27, Z:21.53 [[ 9.57613063e-01 2.47049799e-01 -1.48133785e-01 1.93632802e+02] [-2.43991781e-01 9.69002293e-01 3.87629623e-02 1.70266872e+02] [ 1.53118359e-01 -9.76492946e-04 9.88207374e-01 2.15345239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:170.26, Z:21.54 [[ 9.57439658e-01 2.46622350e-01 -1.49955717e-01 1.93656899e+02] [-2.43855053e-01 9.69110828e-01 3.68634855e-02 1.70262166e+02] [ 1.54415069e-01 1.27289648e-03 9.88005246e-01 2.15379789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:170.26, Z:21.54 [[ 9.57612069e-01 2.43801662e-01 -1.53427104e-01 1.93687213e+02] [-2.41350402e-01 9.69817646e-01 3.46946244e-02 1.70257166e+02] [ 1.57254919e-01 3.80570208e-03 9.87550711e-01 2.15429018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:170.25, Z:21.54 [[ 9.58328166e-01 2.41308689e-01 -1.52896183e-01 1.93720064e+02] [-2.40050150e-01 9.70387148e-01 2.69204284e-02 1.70253379e+02] [ 1.54864625e-01 1.09041470e-02 9.87875522e-01 2.15418267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.74, Y:170.24, Z:21.55 [[ 9.59133967e-01 2.41385871e-01 -1.47630941e-01 1.93743211e+02] [-2.38239077e-01 9.70426839e-01 3.89087609e-02 1.70240862e+02] [ 1.52657053e-01 -2.14725501e-03 9.88276891e-01 2.15459417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.76, Y:170.22, Z:21.57 [[ 9.58357319e-01 2.43591454e-01 -1.49045136e-01 1.93764170e+02] [-2.36734545e-01 9.69567720e-01 6.24114770e-02 1.70222744e+02] [ 1.59712255e-01 -2.45283634e-02 9.86858832e-01 2.15681796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.81, Y:170.25, Z:21.54 [[ 9.60238289e-01 2.31213287e-01 -1.56469945e-01 1.93805959e+02] [-2.33697926e-01 9.72305817e-01 2.58405857e-03 1.70249508e+02] [ 1.52734107e-01 3.40853897e-02 9.87679340e-01 2.15424129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.83, Y:170.22, Z:21.56 [[ 9.60860262e-01 2.33377071e-01 -1.49273907e-01 1.93827668e+02] [-2.30997436e-01 9.72383217e-01 3.33326184e-02 1.70224783e+02] [ 1.52930511e-01 2.45390139e-03 9.88233898e-01 2.15554802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.85, Y:170.22, Z:21.56 [[ 9.61314649e-01 2.32173641e-01 -1.48221277e-01 1.93854918e+02] [-2.29093165e-01 9.72671514e-01 3.77683415e-02 1.70215043e+02] [ 1.52939427e-01 -2.35077849e-03 9.88232769e-01 2.15621860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.87, Y:170.19, Z:21.59 [[ 9.60807762e-01 2.35983605e-01 -1.45465398e-01 1.93871359e+02] [-2.27313527e-01 9.71018788e-01 7.38313905e-02 1.70188517e+02] [ 1.58672632e-01 -3.78715204e-02 9.86604654e-01 2.15891367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.90, Y:170.20, Z:21.58 [[ 9.61116588e-01 2.31100238e-01 -1.51154176e-01 1.93902449e+02] [-2.26941250e-01 9.72893517e-01 4.44507963e-02 1.70198730e+02] [ 1.57329507e-01 -8.41928005e-03 9.87510274e-01 2.15840578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.94, Y:170.22, Z:21.57 [[ 9.62042169e-01 2.22324577e-01 -1.58261325e-01 1.93943602e+02] [-2.25024958e-01 9.74352604e-01 8.78489146e-04 1.70217395e+02] [ 1.54397643e-01 3.47676044e-02 9.87396871e-01 2.15681511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.96, Y:170.17, Z:21.61 [[ 9.61035084e-01 2.35069759e-01 -1.45443378e-01 1.93955155e+02] [-2.25960222e-01 9.71127723e-01 7.65044051e-02 1.70167274e+02] [ 1.59227968e-01 -4.06589995e-02 9.86404227e-01 2.16057511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:170.21, Z:21.58 [[ 9.61964095e-01 2.22049809e-01 -1.59119331e-01 1.94001981e+02] [-2.25634381e-01 9.74201223e-01 -4.59389578e-03 1.70208240e+02] [ 1.53994173e-01 4.03219545e-02 9.87248669e-01 2.15762288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.02, Y:170.18, Z:21.59 [[ 9.61877925e-01 2.27724365e-01 -1.51434707e-01 1.94023330e+02] [-2.25388340e-01 9.73721815e-01 3.26484773e-02 1.70180013e+02] [ 1.54890132e-01 2.72776772e-03 9.87927936e-01 2.15914433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.03, Y:170.14, Z:21.62 [[ 9.60863068e-01 2.38940021e-01 -1.40177857e-01 1.94034626e+02] [-2.28672561e-01 9.69740515e-01 8.55113692e-02 1.70143711e+02] [ 1.56368236e-01 -5.01098869e-02 9.86426872e-01 2.16211210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:170.16, Z:21.61 [[ 9.60427910e-01 2.32355744e-01 -1.53587231e-01 1.94072115e+02] [-2.29153192e-01 9.72629264e-01 3.84854547e-02 1.70163551e+02] [ 1.58325752e-01 -1.76750055e-03 9.87385351e-01 2.16128669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.10, Y:170.16, Z:21.61 [[ 9.60068905e-01 2.36559447e-01 -1.49356372e-01 1.94100530e+02] [-2.33256834e-01 9.71612085e-01 3.95121027e-02 1.70155199e+02] [ 1.54463417e-01 -3.09594683e-03 9.87993658e-01 2.16125249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.12, Y:170.15, Z:21.62 [[ 9.59878990e-01 2.36355032e-01 -1.50892754e-01 1.94124285e+02] [-2.32304110e-01 9.71638860e-01 4.41896585e-02 1.70148728e+02] [ 1.57057712e-01 -7.36371774e-03 9.87561973e-01 2.16219500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.15, Y:170.15, Z:21.62 [[ 9.59470064e-01 2.36905969e-01 -1.52619652e-01 1.94152430e+02] [-2.33800251e-01 9.71532054e-01 3.82480260e-02 1.70145964e+02] [ 1.57336070e-01 -1.01532288e-03 9.87544597e-01 2.16247953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:170.14, Z:21.63 [[ 9.59469575e-01 2.37528348e-01 -1.51652296e-01 1.94181957e+02] [-2.34430795e-01 9.71379926e-01 3.82523315e-02 1.70140702e+02] [ 1.56398009e-01 -1.14998003e-03 9.87693445e-01 2.16299211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.21, Y:170.14, Z:21.63 [[ 9.59790711e-01 2.37605689e-01 -1.49483533e-01 1.94212066e+02] [-2.35339092e-01 9.71355136e-01 3.29349460e-02 1.70137214e+02] [ 1.53027128e-01 3.56866378e-03 9.88215545e-01 2.16280085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.23, Y:170.12, Z:21.64 [[ 9.59184743e-01 2.40849582e-01 -1.48175939e-01 1.94234346e+02] [-2.36267062e-01 9.70499159e-01 4.80547350e-02 1.70124693e+02] [ 1.55378587e-01 -1.10842749e-02 9.87792809e-01 2.16405416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.26, Y:170.12, Z:21.64 [[ 9.59382961e-01 2.39791682e-01 -1.48607818e-01 1.94262799e+02] [-2.36236491e-01 9.70813431e-01 4.13956820e-02 1.70122182e+02] [ 1.54196806e-01 -4.60772261e-03 9.88029409e-01 2.16424397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.30, Y:170.14, Z:21.63 [[ 9.60712809e-01 2.31977615e-01 -1.52372192e-01 1.94299350e+02] [-2.33955609e-01 9.72234065e-01 5.06910023e-03 1.70137197e+02] [ 1.49317354e-01 3.07783795e-02 9.88310184e-01 2.16279750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.32, Y:170.10, Z:21.66 [[ 9.59821655e-01 2.38738600e-01 -1.47466172e-01 1.94316735e+02] [-2.33105129e-01 9.70915956e-01 5.46278893e-02 1.70101974e+02] [ 1.56219045e-01 -1.80579101e-02 9.87557351e-01 2.16555823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.35, Y:170.10, Z:21.66 [[ 9.60913141e-01 2.34107564e-01 -1.47782216e-01 1.94346344e+02] [-2.30052873e-01 9.72173741e-01 4.42028652e-02 1.70101751e+02] [ 1.54018214e-01 -8.47739068e-03 9.88031641e-01 2.16563550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.37, Y:170.10, Z:21.66 [[ 9.61104223e-01 2.31508239e-01 -1.50607463e-01 1.94374683e+02] [-2.28545506e-01 9.72832346e-01 3.69347750e-02 1.70100153e+02] [ 1.55066516e-01 -1.07750945e-03 9.87903444e-01 2.16591611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.41, Y:170.10, Z:21.65 [[ 9.62780205e-01 2.24629391e-01 -1.50319371e-01 1.94405950e+02] [-2.24132823e-01 9.74343803e-01 2.04605023e-02 1.70104812e+02] [ 1.51058778e-01 1.39925385e-02 9.88425746e-01 2.16531557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:170.08, Z:21.67 [[ 9.62463286e-01 2.28551785e-01 -1.46384782e-01 1.94425268e+02] [-2.23373240e-01 9.73392015e-01 5.11114591e-02 1.70080647e+02] [ 1.54171393e-01 -1.64944599e-02 9.87906430e-01 2.16711457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.45, Y:170.07, Z:21.67 [[ 9.63538558e-01 2.25964533e-01 -1.43295070e-01 1.94454191e+02] [-2.20931931e-01 9.73990167e-01 5.03213331e-02 1.70074690e+02] [ 1.50938826e-01 -1.68280881e-02 9.88399862e-01 2.16744566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:170.09, Z:21.67 [[ 9.63624256e-01 2.18460249e-01 -1.53959129e-01 1.94485468e+02] [-2.17579522e-01 9.75777266e-01 2.27569447e-02 1.70086396e+02] [ 1.55201306e-01 1.15692098e-02 9.87815118e-01 2.16717408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.51, Y:170.07, Z:21.68 [[ 9.64008540e-01 2.19241268e-01 -1.50402136e-01 1.94509846e+02] [-2.16023924e-01 9.75663404e-01 3.76109962e-02 1.70071913e+02] [ 1.54987742e-01 -3.76686201e-03 9.87909212e-01 2.16794242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.54, Y:170.07, Z:21.68 [[ 9.64464727e-01 2.16832556e-01 -1.50968318e-01 1.94537571e+02] [-2.13414400e-01 9.76195530e-01 3.86856734e-02 1.70065237e+02] [ 1.55762911e-01 -5.09215440e-03 9.87781345e-01 2.16847420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.57, Y:170.08, Z:21.67 [[ 9.65886374e-01 2.06389573e-01 -1.56418850e-01 1.94572795e+02] [-2.09350642e-01 9.77837400e-01 -2.51560976e-03 1.70084485e+02] [ 1.52433006e-01 3.51761798e-02 9.87687610e-01 2.16677537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.59, Y:170.04, Z:21.70 [[ 9.65140177e-01 2.15883776e-01 -1.47981869e-01 1.94589057e+02] [-2.08588726e-01 9.75949684e-01 6.33479125e-02 1.70039271e+02] [ 1.58098645e-01 -3.02722659e-02 9.86959173e-01 2.17013880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9627550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.62, Y:170.03, Z:21.70 [[ 9.66878909e-01 2.13811540e-01 -1.39390817e-01 1.94617550e+02] [-2.06794038e-01 9.76341668e-01 6.31915531e-02 1.70033234e+02] [ 1.49604146e-01 -3.22733901e-02 9.88219119e-01 2.17031904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.65, Y:170.05, Z:21.70 [[ 9.65842680e-01 2.06892572e-01 -1.56023654e-01 1.94652319e+02] [-2.06303665e-01 9.78280750e-01 2.01388394e-02 1.70052467e+02] [ 1.56801514e-01 1.27373010e-02 9.87547997e-01 2.16983007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.022755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.67, Y:170.03, Z:21.71 [[ 9.67119388e-01 2.11776300e-01 -1.40822188e-01 1.94673475e+02] [-2.06068617e-01 9.77039928e-01 5.41175096e-02 1.70026177e+02] [ 1.49049706e-01 -2.33190594e-02 9.88554706e-01 2.17090395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:170.04, Z:21.71 [[ 9.66006046e-01 2.07130903e-01 -1.54690364e-01 1.94704166e+02] [-2.06317180e-01 9.78249469e-01 2.14754942e-02 1.70040103e+02] [ 1.55774005e-01 1.11698226e-02 9.87729565e-01 2.17074543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:170.02, Z:21.72 [[ 9.66920305e-01 2.12847467e-01 -1.40574110e-01 1.94728547e+02] [-2.07604506e-01 9.76875352e-01 5.11362483e-02 1.70016332e+02] [ 1.48207604e-01 -2.02608582e-02 9.88748706e-01 2.17170773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.76, Y:170.02, Z:21.72 [[ 9.66296710e-01 2.11646638e-01 -1.46548181e-01 1.94758230e+02] [-2.09040316e-01 9.77345265e-01 3.31418005e-02 1.70021178e+02] [ 1.50242522e-01 -1.39033472e-03 9.88648194e-01 2.17169272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:170.03, Z:21.72 [[ 9.64524934e-01 2.11102292e-01 -1.58516479e-01 1.94788412e+02] [-2.11435890e-01 9.77277477e-01 1.49531935e-02 1.70028619e+02] [ 1.58071238e-01 1.90933449e-02 9.87243095e-01 2.17193169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.81, Y:169.99, Z:21.73 [[ 9.65791046e-01 2.19398467e-01 -1.38246043e-01 1.94808523e+02] [-2.12546349e-01 9.75137201e-01 6.27015825e-02 1.69994285e+02] [ 1.48565491e-01 -3.11729351e-02 9.88411121e-01 2.17325613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:170.00, Z:21.73 [[ 9.65509634e-01 2.16628092e-01 -1.44441739e-01 1.94839346e+02] [-2.13613034e-01 9.76245383e-01 3.62549797e-02 1.70003193e+02] [ 1.48864428e-01 -4.14989411e-03 9.88848907e-01 2.17300334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.87, Y:170.02, Z:21.72 [[ 9.65960087e-01 2.11407230e-01 -1.49090893e-01 1.94874609e+02] [-2.14333455e-01 9.76753715e-01 -3.65391685e-03 1.70020226e+02] [ 1.44852619e-01 3.54847040e-02 9.88816745e-01 2.17152393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.89, Y:169.97, Z:21.75 [[ 9.64876804e-01 2.25283529e-01 -1.35129884e-01 1.94886501e+02] [-2.16972401e-01 9.73402381e-01 7.35580226e-02 1.69967948e+02] [ 1.48107162e-01 -4.16549744e-02 9.88093686e-01 2.17485926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.92, Y:169.98, Z:21.74 [[ 9.64365123e-01 2.21511069e-01 -1.44681566e-01 1.94919951e+02] [-2.18554257e-01 9.75152232e-01 3.62237608e-02 1.69983964e+02] [ 1.49110516e-01 -3.31215947e-03 9.88814990e-01 2.17432092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.95, Y:169.98, Z:21.75 [[ 9.64195961e-01 2.22245853e-01 -1.44682166e-01 1.94947204e+02] [-2.19305020e-01 9.74985576e-01 3.61722950e-02 1.69978710e+02] [ 1.49102168e-01 -3.14765534e-03 9.88816786e-01 2.17470553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35275509600007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.97, Y:169.97, Z:21.75 [[ 9.64002003e-01 2.23302620e-01 -1.44347078e-01 1.94973619e+02] [-2.20395640e-01 9.74744788e-01 3.60327773e-02 1.69972708e+02] [ 1.48747775e-01 -2.92220286e-03 9.88870851e-01 2.17488452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38275509600004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:195.00, Y:169.97, Z:21.75 [[ 9.64065646e-01 2.23024521e-01 -1.44351980e-01 1.95001030e+02] [-2.20117383e-01 9.74808387e-01 3.60131293e-02 1.69966055e+02] [ 1.48747332e-01 -2.94464066e-03 9.88870851e-01 2.17532769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:169.96, Z:21.76 [[ 9.64293730e-01 2.22648552e-01 -1.43405803e-01 1.95031137e+02] [-2.20910305e-01 9.74888170e-01 2.81370579e-02 1.69963182e+02] [ 1.46069296e-01 4.54743124e-03 9.89263909e-01 2.17550592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.06, Y:169.96, Z:21.75 [[ 9.65338701e-01 2.19643787e-01 -1.40988650e-01 1.95056307e+02] [-2.18477230e-01 9.75549462e-01 2.38944987e-02 1.69961504e+02] [ 1.42789680e-01 7.73652526e-03 9.89722817e-01 2.17532765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:169.93, Z:21.77 [[ 9.64713582e-01 2.24712471e-01 -1.37229768e-01 1.95078847e+02] [-2.19179841e-01 9.74168102e-01 5.43756062e-02 1.69934269e+02] [ 1.45903740e-01 -2.23788870e-02 9.89045643e-01 2.17730769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:169.94, Z:21.77 [[ 9.64846585e-01 2.20899661e-01 -1.42388230e-01 1.95109654e+02] [-2.18075481e-01 9.75291777e-01 3.53416834e-02 1.69938152e+02] [ 1.46677036e-01 -3.04792074e-03 9.89179740e-01 2.17724574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5327550960001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:195.14, Y:169.94, Z:21.77 [[ 9.65619049e-01 2.16714587e-01 -1.43577996e-01 1.95140620e+02] [-2.16108189e-01 9.76164650e-01 1.99956494e-02 1.69941074e+02] [ 1.44489114e-01 1.17202008e-02 9.89436978e-01 2.17679221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.16, Y:169.92, Z:21.79 [[ 9.65051403e-01 2.21507940e-01 -1.40035789e-01 1.95161616e+02] [-2.16550833e-01 9.74995678e-01 4.98915247e-02 1.69916228e+02] [ 1.47585658e-01 -1.78230190e-02 9.88888676e-01 2.17850138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:169.93, Z:21.78 [[ 9.64326306e-01 2.15246077e-01 -1.54090561e-01 1.95193160e+02] [-2.15038926e-01 9.76435658e-01 1.82117009e-02 1.69928555e+02] [ 1.54379516e-01 1.55734467e-02 9.87888877e-01 2.17826027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:169.90, Z:21.79 [[ 9.65503869e-01 2.19265175e-01 -1.40445939e-01 1.95215239e+02] [-2.13701197e-01 9.75420282e-01 5.37314716e-02 1.69900568e+02] [ 1.48775258e-01 -2.18644785e-02 9.88629287e-01 2.17942359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6527550960001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:195.25, Y:169.91, Z:21.78 [[ 9.66285611e-01 2.11001253e-01 -1.47548597e-01 1.95249514e+02] [-2.10509075e-01 9.77404826e-01 1.91242280e-02 1.69913387e+02] [ 1.48249947e-01 1.25808522e-02 9.88869898e-01 2.17846765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68275509600005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:195.28, Y:169.91, Z:21.79 [[ 9.65175516e-01 2.08785110e-01 -1.57622973e-01 1.95278188e+02] [-2.10381152e-01 9.77596620e-01 6.67974427e-03 1.69913906e+02] [ 1.55486317e-01 2.67137769e-02 9.87476774e-01 2.17869466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7127550960001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:195.30, Y:169.88, Z:21.80 [[ 9.66479651e-01 2.14571746e-01 -1.40982449e-01 1.95298626e+02] [-2.09107845e-01 9.76473302e-01 5.26668686e-02 1.69879433e+02] [ 1.48966420e-01 -2.14209205e-02 9.88610211e-01 2.18014409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74275509600005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:195.33, Y:169.89, Z:21.80 [[ 9.66724443e-01 2.05885466e-01 -1.51838815e-01 1.95334523e+02] [-2.04933449e-01 9.78527164e-01 2.20651503e-02 1.69891987e+02] [ 1.53121299e-01 9.78593196e-03 9.88158946e-01 2.17997786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.772755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:195.36, Y:169.87, Z:21.81 [[ 9.66192363e-01 2.10482251e-01 -1.48894394e-01 1.95355829e+02] [-2.06705297e-01 9.77561319e-01 4.05806243e-02 1.69873608e+02] [ 1.54094901e-01 -8.43142933e-03 9.88020077e-01 2.18090998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80275509600006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:195.38, Y:169.86, Z:21.81 [[ 9.66304219e-01 2.12893002e-01 -1.44681463e-01 1.95379690e+02] [-2.08100329e-01 9.76945277e-01 4.76673875e-02 1.69861603e+02] [ 1.51493925e-01 -1.59529377e-02 9.88329446e-01 2.18136647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:169.87, Z:21.81 [[ 9.66026571e-01 2.08697071e-01 -1.52440796e-01 1.95411636e+02] [-2.07715462e-01 9.77930098e-01 2.25168869e-02 1.69868893e+02] [ 1.53775651e-01 9.91239921e-03 9.88056068e-01 2.18119816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86275509600006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:195.44, Y:169.85, Z:21.82 [[ 9.65798443e-01 2.11766342e-01 -1.49627484e-01 1.95438596e+02] [-2.08520731e-01 9.77308705e-01 3.72397611e-02 1.69852549e+02] [ 1.54118371e-01 -4.76567085e-03 9.88040898e-01 2.18222063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:169.82, Z:21.85 [[ 9.64069995e-01 2.20513837e-01 -1.48130659e-01 1.95458722e+02] [-2.11463168e-01 9.74542925e-01 7.44944016e-02 1.69822205e+02] [ 1.60786732e-01 -4.04936390e-02 9.86158148e-01 2.18496146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:169.86, Z:21.83 [[ 9.62950821e-01 2.08870947e-01 -1.70583243e-01 1.95501053e+02] [-2.13191055e-01 9.76983967e-01 -7.20431216e-03 1.69864434e+02] [ 1.65152322e-01 4.33042200e-02 9.85316931e-01 2.18287314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:169.82, Z:21.85 [[ 9.63496855e-01 2.22915502e-01 -1.48264929e-01 1.95513898e+02] [-2.16540556e-01 9.74546784e-01 5.80409716e-02 1.69818692e+02] [ 1.57429342e-01 -2.38169235e-02 9.87243008e-01 2.18465974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:169.83, Z:21.85 [[ 9.62463507e-01 2.19235505e-01 -1.59999349e-01 1.95549038e+02] [-2.18020239e-01 9.75615442e-01 2.53314766e-02 1.69829920e+02] [ 1.61651395e-01 1.05024745e-02 9.86792037e-01 2.18454419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01275509600003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:195.57, Y:169.79, Z:21.88 [[ 9.60947354e-01 2.30965372e-01 -1.52430904e-01 1.95569595e+02] [-2.21554755e-01 9.72157412e-01 7.63115756e-02 1.69789065e+02] [ 1.65812164e-01 -3.95596151e-02 9.85363569e-01 2.18769516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04275509600006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:195.60, Y:169.80, Z:21.87 [[ 9.60625318e-01 2.26118575e-01 -1.61460176e-01 1.95601451e+02] [-2.22502713e-01 9.74095579e-01 4.03775409e-02 1.69802236e+02] [ 1.66407756e-01 -2.86236084e-03 9.86052872e-01 2.18725735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07275509600004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:195.63, Y:169.80, Z:21.88 [[ 9.60486843e-01 2.26568541e-01 -1.61653089e-01 1.95628470e+02] [-2.22954166e-01 9.73991299e-01 4.04028422e-02 1.69795391e+02] [ 1.66602715e-01 -2.76516875e-03 9.86020228e-01 2.18772567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10275509600007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:195.65, Y:169.79, Z:21.88 [[ 9.60000435e-01 2.28443652e-01 -1.61903253e-01 1.95653969e+02] [-2.24854015e-01 9.73554208e-01 4.04088618e-02 1.69788106e+02] [ 1.66852741e-01 -2.38792834e-03 9.85978935e-01 2.18813284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13275509600004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:195.68, Y:169.78, Z:21.89 [[ 9.59517213e-01 2.29377542e-01 -1.63440086e-01 1.95680446e+02] [-2.25736827e-01 9.73334993e-01 4.07661106e-02 1.69780961e+02] [ 1.68432786e-01 -2.22133828e-03 9.85710638e-01 2.18872367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16275509600007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:195.71, Y:169.77, Z:21.89 [[ 9.59420526e-01 2.31286234e-01 -1.61303850e-01 1.95706850e+02] [-2.27777431e-01 9.72884077e-01 4.01748073e-02 1.69773943e+02] [ 1.66221827e-01 -1.80315821e-03 9.86086737e-01 2.18906705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19275509600004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:195.74, Y:169.77, Z:21.89 [[ 9.59603590e-01 2.30407959e-01 -1.61471739e-01 1.95735326e+02] [-2.28157498e-01 9.73078259e-01 3.26015019e-02 1.69771557e+02] [ 1.64636284e-01 5.55646968e-03 9.86338694e-01 2.18913290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22275509600007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:195.76, Y:169.76, Z:21.90 [[ 9.58995708e-01 2.34191091e-01 -1.59630089e-01 1.95758824e+02] [-2.29552866e-01 9.72152640e-01 4.71670082e-02 1.69755721e+02] [ 1.66230906e-01 -8.58941388e-03 9.86049445e-01 2.19024193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25275509600004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:195.79, Y:169.76, Z:21.90 [[ 9.57719534e-01 2.32075937e-01 -1.70041329e-01 1.95789579e+02] [-2.31047622e-01 9.72592550e-01 2.60907503e-02 1.69760548e+02] [ 1.71435965e-01 1.43000235e-02 9.85091478e-01 2.19025979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2827550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:195.81, Y:169.74, Z:21.91 [[ 9.58392443e-01 2.37196541e-01 -1.58813492e-01 1.95812181e+02] [-2.31309624e-01 9.71332613e-01 5.48526488e-02 1.69736908e+02] [ 1.67271583e-01 -1.58352750e-02 9.85783679e-01 2.19137293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31275509600005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:195.84, Y:169.74, Z:21.91 [[ 9.58409342e-01 2.34682509e-01 -1.62405832e-01 1.95842244e+02] [-2.31201703e-01 9.72071498e-01 4.02836863e-02 1.69738388e+02] [ 1.67323957e-01 -1.05975634e-03 9.85901400e-01 2.19141864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3427550960001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:195.87, Y:169.74, Z:21.91 [[ 9.58779620e-01 2.32330689e-01 -1.63597344e-01 1.95872726e+02] [-2.30525517e-01 9.72597444e-01 3.02026064e-02 1.69735667e+02] [ 1.66131351e-01 8.75571881e-03 9.86064760e-01 2.19130858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:195.90, Y:169.72, Z:21.92 [[ 9.58611903e-01 2.34423828e-01 -1.61581829e-01 1.95897396e+02] [-2.29830116e-01 9.72103580e-01 4.68267859e-02 1.69718338e+02] [ 1.68051589e-01 -7.75234389e-03 9.85747719e-01 2.19239117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4027550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.92, Y:169.71, Z:21.93 [[ 9.59051380e-01 2.31032797e-01 -1.63842293e-01 1.95922456e+02] [-2.26791479e-01 9.72930856e-01 4.43979157e-02 1.69712299e+02] [ 1.69664597e-01 -5.42184647e-03 9.85486950e-01 2.19291289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.95, Y:169.71, Z:21.93 [[ 9.59421249e-01 2.28710846e-01 -1.64930943e-01 1.95948344e+02] [-2.25062261e-01 9.73492420e-01 4.07368018e-02 1.69707122e+02] [ 1.69875971e-01 -1.96402236e-03 9.85463494e-01 2.19328330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:169.70, Z:21.94 [[ 9.59848211e-01 2.26880280e-01 -1.64975001e-01 1.95974484e+02] [-2.23207049e-01 9.73920022e-01 4.07235030e-02 1.69699596e+02] [ 1.69911816e-01 -2.26479837e-03 9.85456669e-01 2.19376277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:169.69, Z:21.94 [[ 9.60498178e-01 2.24048636e-01 -1.65061987e-01 1.95999471e+02] [-2.20339528e-01 9.74574189e-01 4.06895790e-02 1.69691493e+02] [ 1.69981597e-01 -2.71258612e-03 9.85443504e-01 2.19420939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:169.68, Z:21.95 [[ 9.60933694e-01 2.22135233e-01 -1.65113217e-01 1.96026503e+02] [-2.18399894e-01 9.75011163e-01 4.06782379e-02 1.69684272e+02] [ 1.70023299e-01 -3.02838030e-03 9.85435389e-01 2.19468508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:169.68, Z:21.95 [[ 9.61346326e-01 2.20593192e-01 -1.64778293e-01 1.96053310e+02] [-2.16859962e-01 9.75360519e-01 4.05415231e-02 1.69676622e+02] [ 1.69661425e-01 -3.24062997e-03 9.85497082e-01 2.19517611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:169.67, Z:21.96 [[ 9.61590168e-01 2.19509613e-01 -1.64802544e-01 1.96079511e+02] [-2.15769156e-01 9.75604493e-01 4.04912782e-02 1.69665671e+02] [ 1.69670327e-01 -3.37670910e-03 9.85495093e-01 2.19562223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:169.66, Z:21.96 [[ 9.62251802e-01 2.16517311e-01 -1.64899131e-01 1.96105914e+02] [-2.12738657e-01 9.76271187e-01 4.04578012e-02 1.69660650e+02] [ 1.69746085e-01 -3.85017243e-03 9.85480311e-01 2.19620332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:169.65, Z:21.97 [[ 9.62681332e-01 2.14878234e-01 -1.64535704e-01 1.96131610e+02] [-2.11099226e-01 9.76632276e-01 4.03300578e-02 1.69653324e+02] [ 1.69356931e-01 -4.09163385e-03 9.85546289e-01 2.19665281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:196.16, Y:169.65, Z:21.96 [[ 9.63130894e-01 2.12928911e-01 -1.64438923e-01 1.96162738e+02] [-2.10921056e-01 9.77049278e-01 2.97828147e-02 1.69650728e+02] [ 1.67006553e-01 5.99888229e-03 9.85937536e-01 2.19646975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.19, Y:169.64, Z:21.97 [[ 9.62150737e-01 2.13066547e-01 -1.69907640e-01 1.96187511e+02] [-2.10423671e-01 9.77031780e-01 3.36270790e-02 1.69643280e+02] [ 1.73169969e-01 3.39827055e-03 9.84886092e-01 2.19748777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:169.64, Z:21.97 [[ 9.63581046e-01 2.10817814e-01 -1.64521784e-01 1.96217041e+02] [-2.09434957e-01 9.77479286e-01 2.59083719e-02 1.69640702e+02] [ 1.66278582e-01 9.49179656e-03 9.86033133e-01 2.19694922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.24, Y:169.63, Z:21.98 [[ 9.63284363e-01 2.13422111e-01 -1.62893337e-01 1.96243247e+02] [-2.10503706e-01 9.76959998e-01 3.51760076e-02 1.69626664e+02] [ 1.66647612e-01 4.05153003e-04 9.86016435e-01 2.19768690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.26, Y:169.59, Z:22.01 [[ 9.61520136e-01 2.23213239e-01 -1.60171401e-01 1.96260290e+02] [-2.12630235e-01 9.73799333e-01 8.06426801e-02 1.69592183e+02] [ 1.73975318e-01 -4.34822780e-02 9.83789551e-01 2.20094570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82275509600004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:196.30, Y:169.60, Z:22.00 [[ 9.60907698e-01 2.19108087e-01 -1.69257325e-01 1.96297237e+02] [-2.15341721e-01 9.75697401e-01 4.05280768e-02 1.69604726e+02] [ 1.74023962e-01 -2.49557729e-03 9.84738256e-01 2.20004155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.32, Y:169.60, Z:22.00 [[ 9.60159524e-01 2.18606390e-01 -1.74083126e-01 1.96323563e+02] [-2.15885723e-01 9.75803596e-01 3.46510786e-02 1.69601973e+02] [ 1.77445888e-01 4.31149853e-03 9.84121114e-01 2.20041347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.34, Y:169.58, Z:22.02 [[ 9.60178567e-01 2.22614530e-01 -1.68819108e-01 1.96343462e+02] [-2.16441445e-01 9.74780746e-01 5.43654167e-02 1.69583347e+02] [ 1.76664148e-01 -1.56610562e-02 9.84146590e-01 2.20169503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:169.59, Z:22.02 [[ 9.60479769e-01 2.18928444e-01 -1.71898077e-01 1.96372106e+02] [-2.15296536e-01 9.75740239e-01 3.97289212e-02 1.69586787e+02] [ 1.76425662e-01 -1.14976449e-03 9.84313296e-01 2.20169616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.41, Y:169.59, Z:22.02 [[ 9.60114979e-01 2.16257080e-01 -1.77234598e-01 1.96405850e+02] [-2.14762415e-01 9.76270327e-01 2.78092366e-02 1.69585331e+02] [ 1.79042823e-01 1.13632656e-02 9.83775657e-01 2.20179756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:169.58, Z:22.02 [[ 9.60644534e-01 2.15691785e-01 -1.75040377e-01 1.96432486e+02] [-2.14223590e-01 9.76398304e-01 2.74700780e-02 1.69578969e+02] [ 1.76834197e-01 1.11087977e-02 9.84177962e-01 2.20193115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.46, Y:169.56, Z:22.03 [[ 9.61067200e-01 2.19129556e-01 -1.68321346e-01 1.96457331e+02] [-2.13756526e-01 9.75625390e-01 4.96310981e-02 1.69558509e+02] [ 1.75094219e-01 -1.17190344e-02 9.84481934e-01 2.20314424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:169.54, Z:22.05 [[ 9.60027527e-01 2.22651715e-01 -1.69627124e-01 1.96483673e+02] [-2.15216759e-01 9.74642798e-01 6.12630658e-02 1.69542614e+02] [ 1.78966182e-01 -2.23076296e-02 9.83602295e-01 2.20461778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:169.55, Z:22.05 [[ 9.59363144e-01 2.18381153e-01 -1.78695358e-01 1.96514044e+02] [-2.15171224e-01 9.75860153e-01 3.73939354e-02 1.69549683e+02] [ 1.82547810e-01 2.57573556e-03 9.83193604e-01 2.20451461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.54, Y:169.53, Z:22.06 [[ 9.60204594e-01 2.19959205e-01 -1.72119395e-01 1.96535749e+02] [-2.13620969e-01 9.75381003e-01 5.47538157e-02 1.69533165e+02] [ 1.79925594e-01 -1.58065534e-02 9.83553219e-01 2.20569485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:169.54, Z:22.06 [[ 9.59743430e-01 2.16961961e-01 -1.78381772e-01 1.96563753e+02] [-2.13988959e-01 9.76173268e-01 3.59788402e-02 1.69537020e+02] [ 1.81937557e-01 3.64127418e-03 9.83303344e-01 2.20572047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:169.53, Z:22.06 [[ 9.60099054e-01 2.16062666e-01 -1.77557683e-01 1.96592883e+02] [-2.12805313e-01 9.76377734e-01 3.74221818e-02 1.69527514e+02] [ 1.81448905e-01 1.85621709e-03 9.83398622e-01 2.20611253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:196.61, Y:169.51, Z:22.07 [[ 9.59994106e-01 2.19450619e-01 -1.73933157e-01 1.96614890e+02] [-2.12889107e-01 9.75484079e-01 5.57587603e-02 1.69510885e+02] [ 1.81905320e-01 -1.64996067e-02 9.83177612e-01 2.20740962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:169.51, Z:22.07 [[ 9.60090754e-01 2.17786704e-01 -1.75484175e-01 1.96643541e+02] [-2.13646422e-01 9.75991136e-01 4.23852369e-02 1.69509903e+02] [ 1.80501941e-01 -3.20210796e-03 9.83569416e-01 2.20727987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.67, Y:169.51, Z:22.08 [[ 9.60166828e-01 2.13565218e-01 -1.80193117e-01 1.96674834e+02] [-2.10990354e-01 9.76911652e-01 3.35662702e-02 1.69506197e+02] [ 1.83201343e-01 5.78979036e-03 9.83058364e-01 2.20757665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.70, Y:169.49, Z:22.09 [[ 9.59987098e-01 2.15963768e-01 -1.78281866e-01 1.96695710e+02] [-2.11120832e-01 9.76380019e-01 4.59353097e-02 1.69491956e+02] [ 1.83991214e-01 -6.45828869e-03 9.82906671e-01 2.20857920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.72, Y:169.49, Z:22.09 [[ 9.59977737e-01 2.15296717e-01 -1.79137012e-01 1.96722697e+02] [-2.10999172e-01 9.76542682e-01 4.29387874e-02 1.69487435e+02] [ 1.84179518e-01 -3.42251874e-03 9.82886663e-01 2.20899933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:169.49, Z:22.09 [[ 9.60442151e-01 2.12510079e-01 -1.79973167e-01 1.96753253e+02] [-2.10948805e-01 9.77096100e-01 2.79966467e-02 1.69487658e+02] [ 1.81800649e-01 1.10759649e-02 9.83273028e-01 2.20860156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.78, Y:169.47, Z:22.10 [[ 9.60884979e-01 2.14666209e-01 -1.74981357e-01 1.96777163e+02] [-2.10205892e-01 9.76672744e-01 4.38615363e-02 1.69469640e+02] [ 1.80315112e-01 -5.36377922e-03 9.83594271e-01 2.20952816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:169.45, Z:22.11 [[ 9.60203411e-01 2.17684312e-01 -1.74994140e-01 1.96799686e+02] [-2.09923264e-01 9.75754517e-01 6.19301726e-02 1.69452175e+02] [ 1.84232550e-01 -2.27302220e-02 9.82619817e-01 2.21137065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:196.83, Y:169.45, Z:22.11 [[ 9.60299758e-01 2.13783355e-01 -1.79223469e-01 1.96829513e+02] [-2.09113911e-01 9.76865480e-01 4.47795234e-02 1.69453601e+02] [ 1.84650337e-01 -5.52364487e-03 9.82788758e-01 2.21136948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45275509600003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:196.86, Y:169.45, Z:22.12 [[ 9.60047967e-01 2.12890994e-01 -1.81618629e-01 1.96857392e+02] [-2.09343201e-01 9.77075583e-01 3.87134155e-02 1.69449756e+02] [ 1.85696865e-01 8.53889320e-04 9.82606709e-01 2.21173818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.88, Y:169.44, Z:22.12 [[ 9.60414760e-01 2.14409436e-01 -1.77854102e-01 1.96882543e+02] [-2.09182533e-01 9.76704548e-01 4.78632751e-02 1.69436433e+02] [ 1.83973249e-01 -8.76462432e-03 9.82892174e-01 2.21249239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:169.43, Z:22.13 [[ 9.60074120e-01 2.15162102e-01 -1.78781863e-01 1.96911262e+02] [-2.11050134e-01 9.76575061e-01 4.19403342e-02 1.69428173e+02] [ 1.83617879e-01 -2.53389327e-03 9.82994432e-01 2.21276776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.94, Y:169.42, Z:22.13 [[ 9.59936999e-01 2.14183436e-01 -1.80683186e-01 1.96939316e+02] [-2.10673785e-01 9.76792959e-01 3.86273430e-02 1.69423209e+02] [ 1.84763401e-01 9.85394971e-04 9.82782537e-01 2.21316029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:169.41, Z:22.14 [[ 9.59868654e-01 2.16636900e-01 -1.78102835e-01 1.96963605e+02] [-2.11416718e-01 9.76215793e-01 4.80176646e-02 1.69410711e+02] [ 1.84269199e-01 -8.43673414e-03 9.82839602e-01 2.21396123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:169.41, Z:22.14 [[ 9.59708679e-01 2.12879252e-01 -1.83416675e-01 1.96991439e+02] [-2.09724965e-01 9.77072989e-01 3.66580522e-02 1.69413095e+02] [ 1.87015217e-01 3.28600485e-03 9.82351521e-01 2.21423958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.02, Y:169.40, Z:22.15 [[ 9.59850641e-01 2.15038391e-01 -1.80125617e-01 1.97015726e+02] [-2.10170945e-01 9.76585815e-01 4.59164347e-02 1.69401035e+02] [ 1.85781919e-01 -6.21574802e-03 9.82571342e-01 2.21498779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:169.39, Z:22.16 [[ 9.59589063e-01 2.18223901e-01 -1.77671492e-01 1.97043488e+02] [-2.12646103e-01 9.75844525e-01 5.00908992e-02 1.69388774e+02] [ 1.84310784e-01 -1.02855287e-02 9.82814195e-01 2.21561673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:169.39, Z:22.16 [[ 9.60165822e-01 2.15558230e-01 -1.77809575e-01 1.97069177e+02] [-2.11505060e-01 9.76488022e-01 4.16743594e-02 1.69389631e+02] [ 1.82612171e-01 -2.40667086e-03 9.83182080e-01 2.21577321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.10, Y:169.38, Z:22.16 [[ 9.59653110e-01 2.17920636e-01 -1.77697791e-01 1.97096046e+02] [-2.13305410e-01 9.75952654e-01 4.49134663e-02 1.69378197e+02] [ 1.83212202e-01 -5.19744753e-03 9.83059650e-01 2.21647404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.12, Y:169.38, Z:22.17 [[ 9.59446722e-01 2.14812955e-01 -1.82530496e-01 1.97124064e+02] [-2.12310795e-01 9.76632021e-01 3.33769635e-02 1.69379863e+02] [ 1.85434932e-01 6.72977655e-03 9.82633500e-01 2.21662694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.15, Y:169.36, Z:22.18 [[ 9.59111009e-01 2.20750287e-01 -1.77130976e-01 1.97149423e+02] [-2.14623005e-01 9.75242563e-01 5.32814114e-02 1.69358974e+02] [ 1.84507554e-01 -1.30864058e-02 9.82743969e-01 2.21787162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:169.36, Z:22.18 [[ 9.59142418e-01 2.18288324e-01 -1.79988969e-01 1.97177396e+02] [-2.15048681e-01 9.75880648e-01 3.75636265e-02 1.69362897e+02] [ 1.83847453e-01 2.67752290e-03 9.82951141e-01 2.21782380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.20, Y:169.35, Z:22.19 [[ 9.59012191e-01 2.22653335e-01 -1.75274387e-01 1.97201363e+02] [-2.17462242e-01 9.74861224e-01 4.85362495e-02 1.69349731e+02] [ 1.81674961e-01 -8.43129387e-03 9.83322491e-01 2.21869237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.23, Y:169.35, Z:22.19 [[ 9.58263658e-01 2.20842432e-01 -1.81547190e-01 1.97233394e+02] [-2.18314279e-01 9.75284334e-01 3.40491349e-02 1.69350758e+02] [ 1.84579624e-01 7.00629532e-03 9.82792590e-01 2.21888240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.26, Y:169.34, Z:22.20 [[ 9.58153284e-01 2.26166491e-01 -1.75473651e-01 1.97255067e+02] [-2.20988843e-01 9.74056214e-01 4.87690915e-02 1.69336951e+02] [ 1.81951134e-01 -7.95054614e-03 9.83275431e-01 2.21973315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:169.33, Z:22.20 [[ 9.58144626e-01 2.26204942e-01 -1.75471367e-01 1.97280064e+02] [-2.21083129e-01 9.74049705e-01 4.84708404e-02 1.69331145e+02] [ 1.81882177e-01 -7.64831628e-03 9.83290586e-01 2.22017175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:169.34, Z:22.20 [[ 9.56918786e-01 2.21399079e-01 -1.87853359e-01 1.97315711e+02] [-2.20732845e-01 9.75020780e-01 2.47283152e-02 1.69337304e+02] [ 1.88635755e-01 1.78024169e-02 9.81885750e-01 2.22024131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.33, Y:169.32, Z:22.22 [[ 9.57831067e-01 2.26663799e-01 -1.76587566e-01 1.97332351e+02] [-2.20145646e-01 9.73862141e-01 5.59323279e-02 1.69315853e+02] [ 1.84649779e-01 -1.46987376e-02 9.82694462e-01 2.22163065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.36, Y:169.32, Z:22.22 [[ 9.58040188e-01 2.22179086e-01 -1.81095143e-01 1.97364072e+02] [-2.18748740e-01 9.75003184e-01 3.89587060e-02 1.69320645e+02] [ 1.85224151e-01 2.29032848e-03 9.82693629e-01 2.22166642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.39, Y:169.31, Z:22.22 [[ 9.58079867e-01 2.21761398e-01 -1.81396943e-01 1.97392295e+02] [-2.17722072e-01 9.75100561e-01 4.21425497e-02 1.69312355e+02] [ 1.86225852e-01 -8.81810208e-04 9.82506567e-01 2.22234280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.42, Y:169.30, Z:22.23 [[ 9.58278004e-01 2.21817724e-01 -1.80278023e-01 1.97415511e+02] [-2.16717278e-01 9.75065098e-01 4.77668855e-02 1.69303173e+02] [ 1.86378350e-01 -6.70459327e-03 9.82455169e-01 2.22307081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:197.44, Y:169.30, Z:22.23 [[ 9.58538607e-01 2.19258640e-01 -1.82014800e-01 1.97443318e+02] [-2.15181005e-01 9.75666041e-01 4.21059661e-02 1.69300842e+02] [ 1.86817756e-01 -1.19406662e-03 9.82393862e-01 2.22341089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:169.29, Z:22.24 [[ 9.59084054e-01 2.17151768e-01 -1.81666966e-01 1.97469345e+02] [-2.13064215e-01 9.76136640e-01 4.19630797e-02 1.69294722e+02] [ 1.86444139e-01 -1.53939098e-03 9.82464357e-01 2.22382875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:169.28, Z:22.25 [[ 9.59162251e-01 2.17019265e-01 -1.81412277e-01 1.97495142e+02] [-2.11506975e-01 9.76125385e-01 4.94371549e-02 1.69284856e+02] [ 1.87809944e-01 -9.04829087e-03 9.82163710e-01 2.22478824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.52, Y:169.29, Z:22.25 [[ 9.59673409e-01 2.13130075e-01 -1.83309899e-01 1.97524553e+02] [-2.10288541e-01 9.77011415e-01 3.50346278e-02 1.69287059e+02] [ 1.86562796e-01 4.92617051e-03 9.82430688e-01 2.22462390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:169.28, Z:22.25 [[ 9.59986459e-01 2.13010759e-01 -1.81803234e-01 1.97548845e+02] [-2.08865277e-01 9.77047307e-01 4.18790725e-02 1.69278094e+02] [ 1.86551053e-01 -2.23095972e-03 9.82442735e-01 2.22532995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:169.27, Z:22.26 [[ 9.59857727e-01 2.11372079e-01 -1.84377299e-01 1.97575191e+02] [-2.07082619e-01 9.77402321e-01 4.24439931e-02 1.69271794e+02] [ 1.89182275e-01 -2.55886088e-03 9.81938654e-01 2.22607268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.60, Y:169.25, Z:22.27 [[ 9.59672283e-01 2.14172107e-01 -1.82097278e-01 1.97600175e+02] [-2.06575554e-01 9.76593168e-01 5.99360022e-02 1.69254749e+02] [ 1.90671578e-01 -1.99020739e-02 9.81452116e-01 2.22747592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:169.26, Z:22.28 [[ 9.59864408e-01 2.10577341e-01 -1.85249833e-01 1.97630083e+02] [-2.05370030e-01 9.77551041e-01 4.70862304e-02 1.69256061e+02] [ 1.91006461e-01 -7.15163276e-03 9.81562727e-01 2.22761851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.66, Y:169.26, Z:22.28 [[ 9.60714831e-01 2.05065394e-01 -1.87016570e-01 1.97658416e+02] [-2.01749761e-01 9.78745397e-01 3.68032808e-02 1.69259123e+02] [ 1.90588686e-01 2.37309054e-03 9.81667113e-01 2.22765658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:169.25, Z:22.28 [[ 9.59679541e-01 2.05494512e-01 -1.91799853e-01 1.97686635e+02] [-2.01891046e-01 9.78656409e-01 3.83619416e-02 1.69250873e+02] [ 1.95589324e-01 1.90750230e-03 9.80684036e-01 2.22847451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.71, Y:169.24, Z:22.30 [[ 9.61115778e-01 2.06217459e-01 -1.83659526e-01 1.97711081e+02] [-1.99260352e-01 9.78358443e-01 5.57679962e-02 1.69235332e+02] [ 1.91185182e-01 -1.70034393e-02 9.81406699e-01 2.22950443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.74, Y:169.24, Z:22.29 [[ 9.61608071e-01 2.01378594e-01 -1.86431166e-01 1.97739861e+02] [-1.97375166e-01 9.79512081e-01 3.99890922e-02 1.69239971e+02] [ 1.90664526e-01 -1.65695156e-03 9.81653856e-01 2.22946215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.77, Y:169.23, Z:22.30 [[ 9.62019280e-01 2.00179162e-01 -1.85599590e-01 1.97767543e+02] [-1.96170072e-01 9.79757294e-01 3.99117419e-02 1.69234419e+02] [ 1.89832051e-01 -1.98678030e-03 9.81814568e-01 2.22983015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:169.23, Z:22.30 [[ 9.62803617e-01 1.97556825e-01 -1.84337994e-01 1.97795977e+02] [-1.94203116e-01 9.80291033e-01 3.62579724e-02 1.69232343e+02] [ 1.87867893e-01 8.89705847e-04 9.82193903e-01 2.22997198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.82, Y:169.22, Z:22.31 [[ 9.62705565e-01 1.99611974e-01 -1.82628185e-01 1.97821795e+02] [-1.93534155e-01 9.79782464e-01 5.07035871e-02 1.69220120e+02] [ 1.89056936e-01 -1.34678340e-02 9.81873766e-01 2.23109075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.85, Y:169.23, Z:22.31 [[ 9.62668025e-01 1.94717287e-01 -1.88030452e-01 1.97852830e+02] [-1.92486318e-01 9.80833796e-01 3.02337832e-02 1.69227883e+02] [ 1.90313663e-01 7.08819316e-03 9.81697747e-01 2.23084386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.88, Y:169.21, Z:22.32 [[ 9.63358052e-01 1.97482110e-01 -1.81499530e-01 1.97875350e+02] [-1.92031866e-01 9.80247890e-01 4.73057819e-02 1.69214935e+02] [ 1.87256577e-01 -1.07187124e-02 9.82252556e-01 2.23176926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62275509600005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:197.91, Y:169.22, Z:22.31 [[ 9.64003182e-01 1.92898182e-01 -1.82997694e-01 1.97907467e+02] [-1.91447309e-01 9.81165481e-01 2.57337791e-02 1.69222469e+02] [ 1.84515019e-01 1.02269710e-02 9.82776484e-01 2.23118680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:169.20, Z:22.33 [[ 9.63319686e-01 1.99539611e-01 -1.79441152e-01 1.97928187e+02] [-1.92568933e-01 9.79704644e-01 5.56418572e-02 1.69199283e+02] [ 1.86902084e-01 -1.90461052e-02 9.82193900e-01 2.23310522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:197.96, Y:169.21, Z:22.32 [[ 9.64060360e-01 1.94966656e-01 -1.80487188e-01 1.97962178e+02] [-1.92788902e-01 9.80790534e-01 2.97046710e-02 1.69210323e+02] [ 1.82811546e-01 6.15883084e-03 9.83128683e-01 2.23249259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:169.19, Z:22.34 [[ 9.62735790e-01 2.01104228e-01 -1.80822806e-01 1.97982749e+02] [-1.94853142e-01 9.79459333e-01 5.18812863e-02 1.69192653e+02] [ 1.87542131e-01 -1.47140792e-02 9.82146346e-01 2.23408992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:169.21, Z:22.33 [[ 9.63751895e-01 1.97010483e-01 -1.79914295e-01 1.98015586e+02] [-1.95560666e-01 9.80348482e-01 2.59399380e-02 1.69205347e+02] [ 1.81489146e-01 1.01844950e-02 9.83340209e-01 2.23313468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.04, Y:169.19, Z:22.34 [[ 9.62513457e-01 2.00513185e-01 -1.82653518e-01 1.98040394e+02] [-1.97362128e-01 9.79689126e-01 3.54599377e-02 1.69194500e+02] [ 1.86053850e-01 1.91821977e-03 9.82537676e-01 2.23422547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.07, Y:169.18, Z:22.35 [[ 9.62139169e-01 2.03756748e-01 -1.81028745e-01 1.98065497e+02] [-1.98692646e-01 9.78987436e-01 4.58784526e-02 1.69183008e+02] [ 1.86572912e-01 -8.17237588e-03 9.82407126e-01 2.23508843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.09, Y:169.18, Z:22.35 [[ 9.61761539e-01 2.04030188e-01 -1.82719524e-01 1.98093024e+02] [-1.99919548e-01 9.78960732e-01 4.08418843e-02 1.69180441e+02] [ 1.87208216e-01 -2.75094882e-03 9.82316403e-01 2.23544490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:169.17, Z:22.36 [[ 9.61516609e-01 2.04366019e-01 -1.83630991e-01 1.98121044e+02] [-2.00571501e-01 9.78894160e-01 3.92083762e-02 1.69174918e+02] [ 1.87768164e-01 -8.68361432e-04 9.82212992e-01 2.23597155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.15, Y:169.16, Z:22.37 [[ 9.60363821e-01 2.09065369e-01 -1.84371915e-01 1.98145751e+02] [-2.02376481e-01 9.77784785e-01 5.45955501e-02 1.69158097e+02] [ 1.91690092e-01 -1.51190519e-02 9.81339046e-01 2.23749016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.18, Y:169.17, Z:22.37 [[ 9.61498330e-01 2.03332838e-01 -1.84869465e-01 1.98175240e+02] [-2.00630399e-01 9.79097086e-01 3.34116616e-02 1.69165666e+02] [ 1.87798842e-01 4.96517755e-03 9.82194961e-01 2.23681722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:169.15, Z:22.39 [[ 9.60983515e-01 2.06694396e-01 -1.83815424e-01 1.98202052e+02] [-2.00215466e-01 9.78298721e-01 5.33421042e-02 1.69146246e+02] [ 1.90851908e-01 -1.44581922e-02 9.81512359e-01 2.23855933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.23, Y:169.14, Z:22.39 [[ 9.62181192e-01 2.06426453e-01 -1.77751154e-01 1.98225578e+02] [-2.00462145e-01 9.78368710e-01 5.10842112e-02 1.69140090e+02] [ 1.84451299e-01 -1.35198898e-02 9.82748661e-01 2.23862319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:169.15, Z:22.38 [[ 9.61566933e-01 1.98721416e-01 -1.89469872e-01 1.98259070e+02] [-1.98454306e-01 9.79894101e-01 2.05776534e-02 1.69151189e+02] [ 1.89749630e-01 1.78143208e-02 9.81670886e-01 2.23838060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.28, Y:169.12, Z:22.40 [[ 9.62857725e-01 2.02621490e-01 -1.78464376e-01 1.98279696e+02] [-1.96307465e-01 9.79133519e-01 5.25445636e-02 1.69124577e+02] [ 1.85387110e-01 -1.55590497e-02 9.82542384e-01 2.23982923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:169.13, Z:22.40 [[ 9.62001251e-01 1.98866932e-01 -1.87097664e-01 1.98309672e+02] [-1.95803494e-01 9.80021739e-01 3.49053545e-02 1.69128267e+02] [ 1.90301299e-01 3.05538160e-03 9.81720979e-01 2.24008171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.33, Y:169.12, Z:22.41 [[ 9.61381011e-01 2.00839669e-01 -1.88175393e-01 1.98334403e+02] [-1.96448897e-01 9.79618526e-01 4.18971960e-02 1.69117492e+02] [ 1.92754720e-01 -3.31232018e-03 9.81241380e-01 2.24103587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:169.11, Z:22.41 [[ 9.62021773e-01 1.99612636e-01 -1.86195874e-01 1.98361282e+02] [-1.95304853e-01 9.79868803e-01 4.13901397e-02 1.69112639e+02] [ 1.90709523e-01 -3.45325776e-03 9.81640440e-01 2.24129777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:169.09, Z:22.43 [[ 9.60940192e-01 2.05070968e-01 -1.85848986e-01 1.98386310e+02] [-1.97547456e-01 9.78555898e-01 5.83383041e-02 1.69094607e+02] [ 1.93827114e-01 -1.93456266e-02 9.80844940e-01 2.24280251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.42, Y:169.10, Z:22.43 [[ 9.60983535e-01 2.02078011e-01 -1.88878594e-01 1.98417177e+02] [-1.97390367e-01 9.79358956e-01 4.35095225e-02 1.69096724e+02] [ 1.93772261e-01 -4.52911978e-03 9.81036084e-01 2.24285914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.45, Y:169.09, Z:22.44 [[ 9.59658953e-01 2.01380698e-01 -1.96215464e-01 1.98450099e+02] [-1.97302632e-01 9.79513049e-01 4.03219202e-02 1.69090802e+02] [ 2.00315664e-01 1.85357109e-05 9.79731409e-01 2.24380940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:169.09, Z:22.43 [[ 9.61138399e-01 2.02010112e-01 -1.88161882e-01 1.98469464e+02] [-1.98499236e-01 9.79382590e-01 3.75206077e-02 1.69089078e+02] [ 1.91862013e-01 1.28749307e-03 9.81421067e-01 2.24324126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:169.06, Z:22.46 [[ 9.59371656e-01 2.12456880e-01 -1.85655865e-01 1.98490069e+02] [-2.01123644e-01 9.76447104e-01 7.81046262e-02 1.69057723e+02] [ 1.97876997e-01 -3.75915805e-02 9.79505777e-01 2.24603947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:198.53, Y:169.09, Z:22.44 [[ 9.59992244e-01 1.98420642e-01 -1.97595900e-01 1.98529647e+02] [-2.00384723e-01 9.79664067e-01 1.02117193e-02 1.69091171e+02] [ 1.95603819e-01 2.97920283e-02 9.80230371e-01 2.24396525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.55, Y:169.06, Z:22.46 [[ 9.58940374e-01 2.08685589e-01 -1.92051252e-01 1.98548777e+02] [-2.03527620e-01 9.77967677e-01 4.64298362e-02 1.69062653e+02] [ 1.97509155e-01 -5.43571025e-03 9.80285972e-01 2.24612177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.58, Y:169.06, Z:22.46 [[ 9.60086016e-01 2.06464694e-01 -1.88698628e-01 1.98577832e+02] [-2.02160956e-01 9.78451648e-01 4.19918993e-02 1.69061373e+02] [ 1.93302328e-01 -2.16834025e-03 9.81136845e-01 2.24603822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.60, Y:169.06, Z:22.47 [[ 9.60129277e-01 2.07109237e-01 -1.87769899e-01 1.98603658e+02] [-2.02873828e-01 9.78315860e-01 4.17167507e-02 1.69056411e+02] [ 1.92338195e-01 -1.95987548e-03 9.81326744e-01 2.24656602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:169.05, Z:22.47 [[ 9.60135354e-01 2.07232424e-01 -1.87602835e-01 1.98630332e+02] [-2.03012577e-01 9.78289883e-01 4.16509237e-02 1.69050232e+02] [ 1.92161377e-01 -1.90478941e-03 9.81361491e-01 2.24711142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.66, Y:169.04, Z:22.48 [[ 9.60530247e-01 2.06310985e-01 -1.86594273e-01 1.98657313e+02] [-2.01877164e-01 9.78480847e-01 4.26713276e-02 1.69043222e+02] [ 1.91382486e-01 -3.31797827e-03 9.81509926e-01 2.24767354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49275509600005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:198.69, Y:169.04, Z:22.48 [[ 9.60087873e-01 2.04154422e-01 -1.91186421e-01 1.98685249e+02] [-2.01382786e-01 9.78921334e-01 3.40293443e-02 1.69041535e+02] [ 1.94103708e-01 5.83049332e-03 9.80963687e-01 2.24809762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:169.02, Z:22.50 [[ 9.60411581e-01 2.09101762e-01 -1.84081633e-01 1.98710235e+02] [-2.00957283e-01 9.77632588e-01 6.20539597e-02 1.69017843e+02] [ 1.92939795e-01 -2.26047967e-02 9.80950181e-01 2.24968328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:169.02, Z:22.50 [[ 9.60513185e-01 2.06383365e-01 -1.86602060e-01 1.98739102e+02] [-1.99500810e-01 9.78344539e-01 5.51488050e-02 1.69015418e+02] [ 1.93942902e-01 -1.57438922e-02 9.80886477e-01 2.25022737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:169.04, Z:22.49 [[ 9.62842758e-01 1.93270165e-01 -1.88627851e-01 1.98769361e+02] [-1.93581307e-01 9.80937767e-01 1.69521357e-02 1.69037443e+02] [ 1.88308525e-01 2.01925847e-02 9.81902316e-01 2.24863314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:169.02, Z:22.50 [[ 9.63135241e-01 1.96286210e-01 -1.83962583e-01 1.98791822e+02] [-1.92212625e-01 9.80541842e-01 3.98999060e-02 1.69019110e+02] [ 1.88214811e-01 -3.06907467e-03 9.82123091e-01 2.24986145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:169.01, Z:22.50 [[ 9.63678038e-01 1.93830392e-01 -1.83723757e-01 1.98818865e+02] [-1.89734822e-01 9.81028870e-01 3.97876148e-02 1.69012857e+02] [ 1.87950358e-01 -3.48365629e-03 9.82172351e-01 2.25038637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:169.01, Z:22.51 [[ 9.64018313e-01 1.92398320e-01 -1.83443665e-01 1.98845720e+02] [-1.88301611e-01 9.81309960e-01 3.96644181e-02 1.69006829e+02] [ 1.87646463e-01 -3.69448780e-03 9.82229686e-01 2.25091534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:169.00, Z:22.51 [[ 9.64205642e-01 1.91533338e-01 -1.83364283e-01 1.98871957e+02] [-1.87436476e-01 9.81478754e-01 3.95856500e-02 1.69001182e+02] [ 1.87550120e-01 -3.79955202e-03 9.82247686e-01 2.25140350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:169.00, Z:22.52 [[ 9.64424218e-01 1.90323559e-01 -1.83474439e-01 1.98898868e+02] [-1.86205323e-01 9.81713230e-01 3.95817165e-02 1.68996310e+02] [ 1.87652617e-01 -4.00964892e-03 9.82227274e-01 2.25185608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:168.99, Z:22.52 [[ 9.64343588e-01 1.90295748e-01 -1.83926541e-01 1.98925682e+02] [-1.86168381e-01 9.81718810e-01 3.96170693e-02 1.68991135e+02] [ 1.88103104e-01 -3.96316047e-03 9.82141291e-01 2.25237469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:168.99, Z:22.53 [[ 9.64756336e-01 1.88915019e-01 -1.83183861e-01 1.98954304e+02] [-1.84875819e-01 9.81986090e-01 3.90416668e-02 1.68987188e+02] [ 1.87259561e-01 -3.79942909e-03 9.82303121e-01 2.25282308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:168.98, Z:22.53 [[ 9.64682277e-01 1.89862304e-01 -1.82593564e-01 1.98981306e+02] [-1.85482179e-01 9.81794636e-01 4.09347408e-02 1.68980873e+02] [ 1.87041346e-01 -5.62116677e-03 9.82335960e-01 2.25340859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:168.98, Z:22.54 [[ 9.64697544e-01 1.89750632e-01 -1.82628983e-01 1.99007480e+02] [-1.85736827e-01 9.81825344e-01 3.89977460e-02 1.68977034e+02] [ 1.86709611e-01 -3.70010202e-03 9.82408179e-01 2.25380791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:168.97, Z:22.54 [[ 9.64714416e-01 1.90114574e-01 -1.82160765e-01 1.99034911e+02] [-1.86101278e-01 9.81754708e-01 3.90385498e-02 1.68971147e+02] [ 1.86258986e-01 -3.76070066e-03 9.82493485e-01 2.25431533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:168.97, Z:22.55 [[ 9.64729398e-01 1.90224285e-01 -1.81966781e-01 1.99061878e+02] [-1.86232902e-01 9.81733779e-01 3.89370526e-02 1.68965718e+02] [ 1.86049709e-01 -3.67551745e-03 9.82533458e-01 2.25480462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:168.96, Z:22.55 [[ 9.64734721e-01 1.90473243e-01 -1.81677904e-01 1.99088472e+02] [-1.86510368e-01 9.81685927e-01 3.88152564e-02 1.68960519e+02] [ 1.85743909e-01 -3.56161279e-03 9.82591734e-01 2.25527773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:168.96, Z:22.56 [[ 9.64560279e-01 1.91523720e-01 -1.81499678e-01 1.99115777e+02] [-1.87592120e-01 9.81482338e-01 3.87507069e-02 1.68955767e+02] [ 1.85560408e-01 -3.32948319e-03 9.82627218e-01 2.25570503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.14, Y:168.95, Z:22.56 [[ 9.64591470e-01 1.91528664e-01 -1.81328618e-01 1.99143026e+02] [-1.87615764e-01 9.81481585e-01 3.86551843e-02 1.68950609e+02] [ 1.85374276e-01 -3.26635379e-03 9.82662561e-01 2.25615497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:168.95, Z:22.57 [[ 9.64559568e-01 1.92222745e-01 -1.80762980e-01 1.99169367e+02] [-1.88358271e-01 9.81346549e-01 3.84722328e-02 1.68945045e+02] [ 1.84786365e-01 -3.06055787e-03 9.82773948e-01 2.25652989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:168.94, Z:22.57 [[ 9.64776784e-01 1.92421207e-01 -1.79387392e-01 1.99196592e+02] [-1.88273510e-01 9.81300455e-01 4.00312774e-02 1.68938524e+02] [ 1.83735796e-01 -4.84735300e-03 9.82963713e-01 2.25703239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.22, Y:168.93, Z:22.58 [[ 9.65088633e-01 1.91512718e-01 -1.78680746e-01 1.99224852e+02] [-1.87454056e-01 9.81479276e-01 3.94893422e-02 1.68933244e+02] [ 1.82934160e-01 -4.61628478e-03 9.83114329e-01 2.25752087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.25, Y:168.93, Z:22.58 [[ 9.65140348e-01 1.91837442e-01 -1.78051973e-01 1.99250845e+02] [-1.87922072e-01 9.81418761e-01 3.87622276e-02 1.68927994e+02] [ 1.82179593e-01 -3.95109417e-03 9.83257334e-01 2.25792726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:168.91, Z:22.58 [[ 9.65266489e-01 1.97186344e-01 -1.71400556e-01 1.99271586e+02] [-1.91076889e-01 9.80217520e-01 5.16065521e-02 1.68914024e+02] [ 1.78185935e-01 -1.70633905e-02 9.83848877e-01 2.25843454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.31, Y:168.93, Z:22.58 [[ 9.64702331e-01 1.87470557e-01 -1.84943783e-01 1.99310207e+02] [-1.88564939e-01 9.81989648e-01 1.18149967e-02 1.68932365e+02] [ 1.83827844e-01 2.34759583e-02 9.82678077e-01 2.25799108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:168.91, Z:22.59 [[ 9.64905251e-01 1.94887067e-01 -1.76002525e-01 1.99329390e+02] [-1.89920633e-01 9.80776696e-01 4.48020694e-02 1.68908142e+02] [ 1.81350519e-01 -9.80324112e-03 9.83369659e-01 2.25936204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:168.91, Z:22.59 [[ 9.65749548e-01 1.91222091e-01 -1.75390772e-01 1.99361381e+02] [-1.89687205e-01 9.81509878e-01 2.56344122e-02 1.68912446e+02] [ 1.77049641e-01 8.51296323e-03 9.84165105e-01 2.25902113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:168.90, Z:22.60 [[ 9.65379124e-01 1.93625833e-01 -1.74791830e-01 1.99384624e+02] [-1.88601132e-01 9.81018725e-01 4.50763209e-02 1.68896208e+02] [ 1.80201999e-01 -1.05498022e-02 9.83573048e-01 2.26033138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:168.89, Z:22.61 [[ 9.65647416e-01 1.91867387e-01 -1.75248321e-01 1.99412698e+02] [-1.87039379e-01 9.81374513e-01 4.38216466e-02 1.68891983e+02] [ 1.80392180e-01 -9.53792264e-03 9.83548519e-01 2.26086034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:168.89, Z:22.61 [[ 9.66294191e-01 1.89344965e-01 -1.74424831e-01 1.99440080e+02] [-1.86132958e-01 9.81910004e-01 3.47457378e-02 1.68892421e+02] [ 1.77848417e-01 -1.10839496e-03 9.84057271e-01 2.26087888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:168.89, Z:22.61 [[ 9.66832810e-01 1.87528484e-01 -1.73399497e-01 1.99467144e+02] [-1.83971679e-01 9.82253290e-01 3.65088457e-02 1.68885525e+02] [ 1.77168675e-01 -3.39735328e-03 9.84174638e-01 2.26143456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:168.88, Z:22.62 [[ 9.67109463e-01 1.85595121e-01 -1.73936019e-01 1.99493506e+02] [-1.81995930e-01 9.82619324e-01 3.65615235e-02 1.68880101e+02] [ 1.77698534e-01 -3.70334773e-03 9.84078003e-01 2.26196839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.52, Y:168.87, Z:22.63 [[ 9.67508725e-01 1.83379239e-01 -1.74065856e-01 1.99521079e+02] [-1.79280036e-01 9.83019767e-01 3.91255223e-02 1.68873345e+02] [ 1.78284985e-01 -6.64775131e-03 9.83956438e-01 2.26256606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.55, Y:168.86, Z:22.63 [[ 9.67686161e-01 1.83146861e-01 -1.73322590e-01 1.99547680e+02] [-1.77693063e-01 9.82981450e-01 4.66116359e-02 1.68860779e+02] [ 1.78909666e-01 -1.43072131e-02 9.83761473e-01 2.26345113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.58, Y:168.87, Z:22.63 [[ 9.67836860e-01 1.75699044e-01 -1.80060154e-01 1.99579104e+02] [-1.74575350e-01 9.84393620e-01 2.21956887e-02 1.68870268e+02] [ 1.81149828e-01 9.95225870e-03 9.83405152e-01 2.26318762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:168.86, Z:22.63 [[ 9.68589327e-01 1.74691768e-01 -1.76967515e-01 1.99606700e+02] [-1.72900611e-01 9.84606157e-01 2.56143291e-02 1.68862687e+02] [ 1.78717917e-01 5.78802559e-03 9.83883329e-01 2.26330488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.63, Y:168.85, Z:22.64 [[ 9.68702469e-01 1.74964115e-01 -1.76076931e-01 1.99633284e+02] [-1.71457547e-01 9.84567595e-01 3.50565447e-02 1.68852523e+02] [ 1.79493277e-01 -3.76964278e-03 9.83751977e-01 2.26410657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.66, Y:168.83, Z:22.66 [[ 9.67622992e-01 1.79624374e-01 -1.77315620e-01 1.99655405e+02] [-1.71935167e-01 9.83402569e-01 5.79455464e-02 1.68833569e+02] [ 1.84781068e-01 -2.55826523e-02 9.82446683e-01 2.26608246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:168.82, Z:22.67 [[ 9.66973414e-01 1.81561702e-01 -1.78879191e-01 1.99684960e+02] [-1.73278476e-01 9.82980486e-01 6.10240385e-02 1.68823871e+02] [ 1.86914382e-01 -2.80127092e-02 9.81976732e-01 2.26703178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.72, Y:168.85, Z:22.66 [[ 9.67733686e-01 1.71370921e-01 -1.84725526e-01 1.99715876e+02] [-1.71027054e-01 9.85103438e-01 1.79154597e-02 1.68845768e+02] [ 1.85043940e-01 1.42556687e-02 9.82626845e-01 2.26580664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.74, Y:168.83, Z:22.67 [[ 9.67538999e-01 1.75377995e-01 -1.81963854e-01 1.99739948e+02] [-1.71870126e-01 9.84497774e-01 3.49970413e-02 1.68830019e+02] [ 1.85280720e-01 -2.58685183e-03 9.82682229e-01 2.26688941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:168.82, Z:22.67 [[ 9.67441039e-01 1.77312929e-01 -1.80604430e-01 1.99765899e+02] [-1.72865878e-01 9.84124621e-01 4.02009762e-02 1.68821877e+02] [ 1.84865419e-01 -7.67173072e-03 9.82733902e-01 2.26744881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:168.82, Z:22.68 [[ 9.66694910e-01 1.76306225e-01 -1.85518369e-01 1.99794995e+02] [-1.73614800e-01 9.84332323e-01 3.07860216e-02 1.68822001e+02] [ 1.88039495e-01 2.44804427e-03 9.82158417e-01 2.26779574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:199.82, Y:168.81, Z:22.69 [[ 9.66806988e-01 1.80253214e-01 -1.81088452e-01 1.99819307e+02] [-1.74827581e-01 9.83541442e-01 4.56239922e-02 1.68807870e+02] [ 1.86331868e-01 -1.24503384e-02 9.82407972e-01 2.26887015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.85, Y:168.81, Z:22.69 [[ 9.66674221e-01 1.79830877e-01 -1.82213627e-01 1.99851737e+02] [-1.78138047e-01 9.83668456e-01 2.57527565e-02 1.68812922e+02] [ 1.83868938e-01 7.56465375e-03 9.82921660e-01 2.26852420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.88, Y:168.80, Z:22.70 [[ 9.66781725e-01 1.83967859e-01 -1.77451187e-01 1.99875781e+02] [-1.78974368e-01 9.82874326e-01 4.38888945e-02 1.68796206e+02] [ 1.82486361e-01 -1.06717670e-02 9.83150467e-01 2.26973716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:168.80, Z:22.70 [[ 9.66803196e-01 1.80677777e-01 -1.80685142e-01 1.99906743e+02] [-1.79256967e-01 9.83502119e-01 2.43006557e-02 1.68802369e+02] [ 1.82094809e-01 8.89511895e-03 9.83240742e-01 2.26952609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.93, Y:168.78, Z:22.71 [[ 9.65910791e-01 1.89921834e-01 -1.75914870e-01 1.99928206e+02] [-1.83590654e-01 9.81639933e-01 5.17447013e-02 1.68778697e+02] [ 1.82512510e-01 -1.76844392e-02 9.83044477e-01 2.27139818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.96, Y:168.79, Z:22.71 [[ 9.66221834e-01 1.85390221e-01 -1.79013500e-01 1.99959319e+02] [-1.82934404e-01 9.82658774e-01 3.02776730e-02 1.68786983e+02] [ 1.81522371e-01 3.49277908e-03 9.83380613e-01 2.27117578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:168.77, Z:22.72 [[ 9.65633508e-01 1.91073122e-01 -1.76190212e-01 1.99981125e+02] [-1.85319566e-01 9.81470432e-01 4.87077990e-02 1.68771471e+02] [ 1.82232235e-01 -1.43823892e-02 9.83150324e-01 2.27247170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.01, Y:168.78, Z:22.73 [[ 9.65324870e-01 1.88641120e-01 -1.80450614e-01 2.00011405e+02] [-1.85871968e-01 9.82043234e-01 3.22908414e-02 1.68775292e+02] [ 1.83301685e-01 2.36955860e-03 9.83053853e-01 2.27254249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.04, Y:168.76, Z:22.74 [[ 9.65034926e-01 1.92008469e-01 -1.78438615e-01 2.00038326e+02] [-1.86927999e-01 9.81341363e-01 4.50227933e-02 1.68760583e+02] [ 1.83753952e-01 -1.00933946e-02 9.82920449e-01 2.27357636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.07, Y:168.76, Z:22.74 [[ 9.64681425e-01 1.91339979e-01 -1.81049056e-01 2.00065722e+02] [-1.88321467e-01 9.81522809e-01 3.38821530e-02 1.68761267e+02] [ 1.84186789e-01 1.40994031e-03 9.82890248e-01 2.27368338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:168.75, Z:22.75 [[ 9.65170812e-01 1.92763387e-01 -1.76882956e-01 2.00092154e+02] [-1.87014206e-01 9.81145378e-01 4.87794529e-02 1.68747479e+02] [ 1.82950787e-01 -1.40008787e-02 9.83022373e-01 2.27461830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:168.76, Z:22.74 [[ 9.65118666e-01 1.87380589e-01 -1.82850964e-01 2.00122807e+02] [-1.86304612e-01 9.82218027e-01 2.32021386e-02 1.68757350e+02] [ 1.83947143e-01 1.16731608e-02 9.82866820e-01 2.27413071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:168.74, Z:22.75 [[ 9.65166559e-01 1.89919450e-01 -1.79955871e-01 2.00146851e+02] [-1.86107056e-01 9.81794521e-01 3.79958093e-02 1.68743771e+02] [ 1.83895832e-01 -3.18122714e-03 9.82940590e-01 2.27510663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:168.73, Z:22.76 [[ 9.64741061e-01 1.92953687e-01 -1.79007151e-01 2.00171237e+02] [-1.86510498e-01 9.81059143e-01 5.23143500e-02 1.68728623e+02] [ 1.85710849e-01 -1.70830886e-02 9.82455927e-01 2.27638572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.20, Y:168.74, Z:22.76 [[ 9.65264371e-01 1.89035557e-01 -1.80361448e-01 2.00198828e+02] [-1.86067022e-01 9.81969351e-01 3.33954702e-02 1.68735113e+02] [ 1.83422346e-01 1.32386017e-03 9.83033311e-01 2.27596115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.23, Y:168.73, Z:22.77 [[ 9.65056571e-01 1.87001627e-01 -1.83565267e-01 2.00231544e+02] [-1.84383701e-01 9.82353155e-01 3.13835873e-02 1.68729298e+02] [ 1.86194701e-01 3.55950608e-03 9.82506419e-01 2.27652448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:168.71, Z:22.78 [[ 9.65130503e-01 1.88830751e-01 -1.81289989e-01 2.00255920e+02] [-1.81636784e-01 9.81789739e-01 5.56505820e-02 1.68708458e+02] [ 1.88497192e-01 -2.07811437e-02 9.81853835e-01 2.27819731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.29, Y:168.72, Z:22.77 [[ 9.65538744e-01 1.82362630e-01 -1.85684690e-01 2.00285925e+02] [-1.81418169e-01 9.83155156e-01 2.22123255e-02 1.68724112e+02] [ 1.86607558e-01 1.22397157e-02 9.82358289e-01 2.27729483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:168.71, Z:22.78 [[ 9.66574848e-01 1.81407061e-01 -1.81175443e-01 2.00313053e+02] [-1.76927051e-01 9.83380907e-01 4.07284928e-02 1.68708337e+02] [ 1.85552908e-01 -7.31229986e-03 9.82607067e-01 2.27837518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:168.71, Z:22.79 [[ 9.67264109e-01 1.77065770e-01 -1.81790697e-01 2.00337402e+02] [-1.73299359e-01 9.84191578e-01 3.65276657e-02 1.68708297e+02] [ 1.85384673e-01 -3.82768875e-03 9.82658573e-01 2.27875324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.36, Y:168.70, Z:22.80 [[ 9.66690322e-01 1.79315746e-01 -1.82635386e-01 2.00364629e+02] [-1.73863860e-01 9.83714679e-01 4.55717871e-02 1.68695931e+02] [ 1.87832849e-01 -1.23001125e-02 9.82123988e-01 2.27986628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:168.70, Z:22.79 [[ 9.66466685e-01 1.74854710e-01 -1.88063760e-01 2.00394397e+02] [-1.73753152e-01 9.84533118e-01 2.24584512e-02 1.68703987e+02] [ 1.89081966e-01 1.09713262e-02 9.81900015e-01 2.27935902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.42, Y:168.69, Z:22.81 [[ 9.67743662e-01 1.74657471e-01 -1.81568092e-01 2.00417937e+02] [-1.69417564e-01 9.84557118e-01 4.41018154e-02 1.68688815e+02] [ 1.86466869e-01 -1.19184284e-02 9.82388954e-01 2.28063116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.44, Y:168.68, Z:22.82 [[ 9.66801077e-01 1.77125962e-01 -1.84179454e-01 2.00444936e+02] [-1.71653899e-01 9.84111943e-01 4.53720550e-02 1.68680227e+02] [ 1.89289770e-01 -1.22506302e-02 9.81844848e-01 2.28156119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:168.69, Z:22.81 [[ 9.67960428e-01 1.70700353e-01 -1.84157538e-01 2.00474626e+02] [-1.68273241e-01 9.85318216e-01 2.88466551e-02 1.68689121e+02] [ 1.86377911e-01 3.06636503e-03 9.82473344e-01 2.28120756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.50, Y:168.69, Z:22.82 [[ 9.67336305e-01 1.71189761e-01 -1.86961332e-01 2.00500507e+02] [-1.69429278e-01 9.85212984e-01 2.54773726e-02 1.68686713e+02] [ 1.88558197e-01 7.03153597e-03 9.82036845e-01 2.28168106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.53, Y:168.67, Z:22.83 [[ 9.67401112e-01 1.76476077e-01 -1.81635028e-01 2.00528977e+02] [-1.69883095e-01 9.84124759e-01 5.13633411e-02 1.68665246e+02] [ 1.87815930e-01 -1.88322325e-02 9.82023688e-01 2.28313020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.55, Y:168.67, Z:22.83 [[ 9.67818238e-01 1.71905614e-01 -1.83783345e-01 2.00554892e+02] [-1.68795676e-01 9.85113306e-01 3.25544959e-02 1.68673881e+02] [ 1.86643719e-01 -4.85001094e-04 9.82427548e-01 2.28301253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.58, Y:168.66, Z:22.84 [[ 9.67281707e-01 1.76173617e-01 -1.82562199e-01 2.00581989e+02] [-1.69921940e-01 9.84215310e-01 4.94647131e-02 1.68657478e+02] [ 1.88394889e-01 -1.68249890e-02 9.81949228e-01 2.28438910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.61, Y:168.67, Z:22.83 [[ 9.68258270e-01 1.69040486e-01 -1.84122886e-01 2.00614084e+02] [-1.68611493e-01 9.85516383e-01 1.81003890e-02 1.68674031e+02] [ 1.84515819e-01 1.35193833e-02 9.82736556e-01 2.28334077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.64, Y:168.65, Z:22.85 [[ 9.67668958e-01 1.74456357e-01 -1.82158632e-01 2.00638555e+02] [-1.69415022e-01 9.84606212e-01 4.30018337e-02 1.68653424e+02] [ 1.86856464e-01 -1.07511310e-02 9.82328395e-01 2.28492242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.67, Y:168.65, Z:22.85 [[ 9.68202749e-01 1.72557748e-01 -1.81127747e-01 2.00665995e+02] [-1.68718299e-01 9.84987738e-01 3.65142603e-02 1.68654921e+02] [ 1.84709429e-01 -4.79364176e-03 9.82781485e-01 2.28515476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:168.65, Z:22.86 [[ 9.67810145e-01 1.73940831e-01 -1.81901375e-01 2.00693382e+02] [-1.69594305e-01 9.84729854e-01 3.93050336e-02 1.68647364e+02] [ 1.85960464e-01 -7.19037310e-03 9.82530918e-01 2.28585932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.72, Y:168.65, Z:22.86 [[ 9.68281958e-01 1.71039621e-01 -1.82141424e-01 2.00720358e+02] [-1.67718739e-01 9.85262152e-01 3.35993658e-02 1.68649139e+02] [ 1.85203874e-01 -1.98512969e-03 9.82698114e-01 2.28623175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.75, Y:168.64, Z:22.87 [[ 9.67665746e-01 1.73529070e-01 -1.83059189e-01 2.00747530e+02] [-1.69869196e-01 9.84823006e-01 3.56104420e-02 1.68642654e+02] [ 1.86460348e-01 -3.36288773e-03 9.82456732e-01 2.28671624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:168.63, Z:22.88 [[ 9.66919024e-01 1.77649078e-01 -1.83053016e-01 2.00774215e+02] [-1.70554069e-01 9.83871418e-01 5.39290560e-02 1.68626585e+02] [ 1.89681078e-01 -2.09245934e-02 9.81622764e-01 2.28833035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.80, Y:168.64, Z:22.87 [[ 9.67879546e-01 1.68051035e-01 -1.86997420e-01 2.00803614e+02] [-1.67150279e-01 9.85714314e-01 2.06899882e-02 1.68644352e+02] [ 1.87803007e-01 1.12312544e-02 9.82142500e-01 2.28734686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:168.62, Z:22.89 [[ 9.67007005e-01 1.73708709e-01 -1.86340381e-01 2.00829217e+02] [-1.67398320e-01 9.84660711e-01 4.92045444e-02 1.68620794e+02] [ 1.92029310e-01 -1.63880725e-02 9.81252350e-01 2.28927988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.86, Y:168.62, Z:22.90 [[ 9.67461603e-01 1.71595530e-01 -1.85938219e-01 2.00857502e+02] [-1.66561281e-01 9.85115369e-01 4.24858838e-02 1.68619696e+02] [ 1.90460985e-01 -1.01333533e-02 9.81642465e-01 2.28952815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:168.62, Z:22.89 [[ 9.67954608e-01 1.67243225e-01 -1.87332807e-01 2.00886228e+02] [-1.64650138e-01 9.85912851e-01 2.94309659e-02 1.68623368e+02] [ 1.89615952e-01 2.35653340e-03 9.81855508e-01 2.28942591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:168.63, Z:22.89 [[ 9.68911570e-01 1.59708389e-01 -1.88953965e-01 2.00916726e+02] [-1.60657752e-01 9.86955560e-01 1.03830987e-02 1.68633118e+02] [ 1.88147435e-01 2.02966148e-02 9.81931052e-01 2.28871144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:168.60, Z:22.91 [[ 9.69195939e-01 1.68218456e-01 -1.79893811e-01 2.00934614e+02] [-1.61032960e-01 9.85474235e-01 5.39343917e-02 1.68601959e+02] [ 1.86353475e-01 -2.33041606e-02 9.82206342e-01 2.29067180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.97, Y:168.62, Z:22.90 [[ 9.69375548e-01 1.60074689e-01 -1.86244844e-01 2.00968724e+02] [-1.58813276e-01 9.87068543e-01 2.17723285e-02 1.68616788e+02] [ 1.87321625e-01 8.47259086e-03 9.82262095e-01 2.28993874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.00, Y:168.61, Z:22.90 [[ 9.70051576e-01 1.59143556e-01 -1.83502774e-01 2.00995791e+02] [-1.57836778e-01 9.87224520e-01 2.18013389e-02 1.68612077e+02] [ 1.84627981e-01 7.81506337e-03 9.82777408e-01 2.29008752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:168.60, Z:22.91 [[ 9.70383936e-01 1.57533375e-01 -1.83134522e-01 2.01023796e+02] [-1.55809735e-01 9.87498981e-01 2.38555991e-02 1.68604789e+02] [ 1.84603207e-01 5.38505118e-03 9.82798381e-01 2.29062241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.05, Y:168.59, Z:22.92 [[ 9.70745057e-01 1.59155507e-01 -1.79787540e-01 2.01048233e+02] [-1.54792430e-01 9.87210763e-01 3.81341388e-02 1.68590712e+02] [ 1.83557453e-01 -9.18877657e-03 9.82966036e-01 2.29162789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:168.57, Z:22.94 [[ 9.69688078e-01 1.65154075e-01 -1.80080989e-01 2.01070397e+02] [-1.55701916e-01 9.85628961e-01 6.55168984e-02 1.68566794e+02] [ 1.88313421e-01 -3.54920003e-02 9.81467459e-01 2.29418143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:168.59, Z:22.93 [[ 9.69914194e-01 1.57318306e-01 -1.85788608e-01 2.01106440e+02] [-1.55658130e-01 9.87529440e-01 2.35828692e-02 1.68585652e+02] [ 1.87181737e-01 6.04614774e-03 9.82306694e-01 2.29301873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:168.59, Z:22.93 [[ 9.70288278e-01 1.54956510e-01 -1.85820178e-01 2.01135873e+02] [-1.55281090e-01 9.87786140e-01 1.28967222e-02 1.68588382e+02] [ 1.85549028e-01 1.63408215e-02 9.82499128e-01 2.29274715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.16, Y:168.57, Z:22.94 [[ 9.69975960e-01 1.61016772e-01 -1.82264193e-01 2.01157645e+02] [-1.56838170e-01 9.86923126e-01 3.72092900e-02 1.68570074e+02] [ 1.85872067e-01 -7.50613428e-03 9.82545283e-01 2.29414441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:168.55, Z:22.96 [[ 9.68853592e-01 1.66866420e-01 -1.82970806e-01 2.01179106e+02] [-1.59751253e-01 9.85729917e-01 5.30666447e-02 1.68554748e+02] [ 1.89214838e-01 -2.21839938e-02 9.81685090e-01 2.29580892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.21, Y:168.55, Z:22.96 [[ 9.69165252e-01 1.66508877e-01 -1.81641153e-01 2.01210989e+02] [-1.60791165e-01 9.85922057e-01 4.58682664e-02 1.68553221e+02] [ 1.86721493e-01 -1.52476373e-02 9.82294555e-01 2.29608966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:168.56, Z:22.95 [[ 9.69551063e-01 1.62082413e-01 -1.83575675e-01 2.01243659e+02] [-1.61217458e-01 9.86721702e-01 1.97285191e-02 1.68563543e+02] [ 1.84335749e-01 1.04677971e-02 9.82807589e-01 2.29541344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.27, Y:168.55, Z:22.96 [[ 9.69367187e-01 1.65377450e-01 -1.81597237e-01 2.01266654e+02] [-1.62279067e-01 9.86229284e-01 3.18952081e-02 1.68551894e+02] [ 1.84371261e-01 -1.44873806e-03 9.82855605e-01 2.29614992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.30, Y:168.56, Z:22.95 [[ 9.70386528e-01 1.60510246e-01 -1.80517167e-01 2.01298098e+02] [-1.61127736e-01 9.86868457e-01 1.13358446e-02 1.68561605e+02] [ 1.79966218e-01 1.80861715e-02 9.83506508e-01 2.29541271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:168.54, Z:22.97 [[ 9.70524823e-01 1.68982989e-01 -1.71832235e-01 2.01318068e+02] [-1.64179695e-01 9.85540336e-01 4.18959940e-02 1.68538704e+02] [ 1.76427309e-01 -1.24497382e-02 9.84234936e-01 2.29675402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.35, Y:168.53, Z:22.98 [[ 9.68805237e-01 1.70727087e-01 -1.79634834e-01 2.01350508e+02] [-1.66771667e-01 9.85300707e-01 3.70098323e-02 1.68533437e+02] [ 1.83312910e-01 -5.89731860e-03 9.83036926e-01 2.29795417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.38, Y:168.52, Z:22.99 [[ 9.68138470e-01 1.73164677e-01 -1.80891951e-01 2.01378627e+02] [-1.68221368e-01 9.84835214e-01 4.24402193e-02 1.68523117e+02] [ 1.85497910e-01 -1.06581175e-02 9.82586856e-01 2.29909357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.41, Y:168.53, Z:22.98 [[ 9.68787305e-01 1.67854199e-01 -1.82417450e-01 2.01407951e+02] [-1.66698647e-01 9.85767715e-01 2.17617188e-02 1.68532352e+02] [ 1.83474029e-01 9.32626520e-03 9.82980316e-01 2.29847195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:168.50, Z:23.01 [[ 9.67639579e-01 1.76734879e-01 -1.80106712e-01 2.01427587e+02] [-1.68110101e-01 9.83803973e-01 6.21991749e-02 1.68501846e+02] [ 1.88182463e-01 -2.99086258e-02 9.81678580e-01 2.30121710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:201.46, Y:168.51, Z:23.01 [[ 9.67203583e-01 1.73821412e-01 -1.85211627e-01 2.01461712e+02] [-1.69452058e-01 9.84754965e-01 3.92894380e-02 1.68505902e+02] [ 1.89217414e-01 -6.61639395e-03 9.81912926e-01 2.30108907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.49, Y:168.51, Z:23.01 [[ 9.66641766e-01 1.70849643e-01 -1.90824778e-01 2.01489937e+02] [-1.69011599e-01 9.85271326e-01 2.59902503e-02 1.68508929e+02] [ 1.92454608e-01 7.12833956e-03 9.81279986e-01 2.30133724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:168.49, Z:23.02 [[ 9.67530648e-01 1.74385932e-01 -1.82958991e-01 2.01514512e+02] [-1.68746411e-01 9.84581992e-01 4.60754787e-02 1.68493382e+02] [ 1.88173043e-01 -1.37057646e-02 9.82040253e-01 2.30206036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.54, Y:168.50, Z:23.02 [[ 9.67130977e-01 1.69729093e-01 -1.89340192e-01 2.01540541e+02] [-1.66775485e-01 9.85490178e-01 3.15443653e-02 1.68498077e+02] [ 1.91946896e-01 1.06976954e-03 9.81404730e-01 2.30247806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:168.50, Z:23.02 [[ 9.67414434e-01 1.64479131e-01 -1.92499162e-01 2.01572978e+02] [-1.65612401e-01 9.86137110e-01 1.03021106e-02 1.68504369e+02] [ 1.91525050e-01 2.19138380e-02 9.81243058e-01 2.30206620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.60, Y:168.48, Z:23.04 [[ 9.67722321e-01 1.72447101e-01 -1.83781139e-01 2.01595559e+02] [-1.66091389e-01 9.84864591e-01 4.95518698e-02 1.68475028e+02] [ 1.89544613e-01 -1.74279858e-02 9.81717426e-01 2.30384954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:168.48, Z:23.05 [[ 9.66998987e-01 1.67788297e-01 -1.91729099e-01 2.01623702e+02] [-1.63407981e-01 9.85805107e-01 3.85502698e-02 1.68477832e+02] [ 1.95475809e-01 -5.94800689e-03 9.80690486e-01 2.30460715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.65, Y:168.46, Z:23.05 [[ 9.67519041e-01 1.70395227e-01 -1.86741460e-01 2.01651078e+02] [-1.63335141e-01 9.85163240e-01 5.26784732e-02 1.68463411e+02] [ 1.92946982e-01 -2.04659833e-02 9.80995722e-01 2.30533692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.68, Y:168.47, Z:23.05 [[ 9.67589717e-01 1.65513937e-01 -1.90723036e-01 2.01677859e+02] [-1.61545787e-01 9.86198103e-01 3.62802942e-02 1.68469959e+02] [ 1.94095591e-01 -4.29393658e-03 9.80973223e-01 2.30541476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:168.47, Z:23.06 [[ 9.66796948e-01 1.63709335e-01 -1.96221596e-01 2.01704579e+02] [-1.62060758e-01 9.86475577e-01 2.45406979e-02 1.68471554e+02] [ 1.97585353e-01 8.07394870e-03 9.80252437e-01 2.30566458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:168.45, Z:23.07 [[ 9.67768506e-01 1.65873933e-01 -1.89499230e-01 2.01730854e+02] [-1.60048465e-01 9.86048326e-01 4.57513726e-02 1.68454203e+02] [ 1.94444358e-01 -1.39476767e-02 9.80814383e-01 2.30680803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.76, Y:168.47, Z:23.06 [[ 9.68570900e-01 1.59475080e-01 -1.90887690e-01 2.01764942e+02] [-1.59203253e-01 9.87101839e-01 1.68607314e-02 1.68465188e+02] [ 1.91114456e-01 1.40591275e-02 9.81467068e-01 2.30585994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:168.45, Z:23.08 [[ 9.67969224e-01 1.64546784e-01 -1.89631056e-01 2.01786360e+02] [-1.59549689e-01 9.86320113e-01 4.14310509e-02 1.68445693e+02] [ 1.93854271e-01 -9.84840605e-03 9.80980902e-01 2.30754473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.81, Y:168.44, Z:23.09 [[ 9.68406149e-01 1.65023907e-01 -1.86966952e-01 2.01810051e+02] [-1.58476866e-01 9.86118861e-01 4.95446697e-02 1.68437442e+02] [ 1.92547693e-01 -1.83494262e-02 9.81116040e-01 2.30857046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97275509600007 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:201.84, Y:168.44, Z:23.08 [[ 9.68530463e-01 1.61977532e-01 -1.88976248e-01 2.01840058e+02] [-1.58151650e-01 9.86785257e-01 3.52549577e-02 1.68439976e+02] [ 1.92189487e-01 -4.25859505e-03 9.81348595e-01 2.30835010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00275509600004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:201.87, Y:168.44, Z:23.09 [[ 9.68575772e-01 1.61693792e-01 -1.88987012e-01 2.01867665e+02] [-1.57873833e-01 9.86831806e-01 3.51971665e-02 1.68435041e+02] [ 1.92189557e-01 -4.25501882e-03 9.81348597e-01 2.30889461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.89, Y:168.43, Z:23.10 [[ 9.68508705e-01 1.62650316e-01 -1.88509317e-01 2.01894784e+02] [-1.58878705e-01 9.86675675e-01 3.50523892e-02 1.68430727e+02] [ 1.91698839e-01 -3.99842798e-03 9.81445652e-01 2.30973413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.92, Y:168.43, Z:23.10 [[ 9.68340449e-01 1.63011165e-01 -1.89061194e-01 2.01921468e+02] [-1.59235754e-01 9.86616601e-01 3.50949899e-02 1.68425886e+02] [ 1.92251788e-01 -3.87859657e-03 9.81337968e-01 2.31026980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:168.42, Z:23.11 [[ 9.68188046e-01 1.64139081e-01 -1.88865746e-01 2.01949099e+02] [-1.60404562e-01 9.86430672e-01 3.49986421e-02 1.68420763e+02] [ 1.92047609e-01 -3.59033960e-03 9.81379043e-01 2.31068463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.98, Y:168.42, Z:23.11 [[ 9.68308456e-01 1.64396593e-01 -1.88022591e-01 2.01979648e+02] [-1.61505933e-01 9.86394115e-01 3.06998840e-02 1.68416812e+02] [ 1.90511334e-01 6.39806769e-04 9.81684788e-01 2.31082954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1527550960001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:202.00, Y:168.41, Z:23.12 [[ 9.68006477e-01 1.66230730e-01 -1.87964904e-01 2.02003249e+02] [-1.61571590e-01 9.86051910e-01 3.99531133e-02 1.68407707e+02] [ 1.91984588e-01 -8.30508411e-03 9.81362799e-01 2.31154858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:168.41, Z:23.12 [[ 9.67749164e-01 1.66903204e-01 -1.88692543e-01 2.02029868e+02] [-1.63260895e-01 9.85969115e-01 3.47963389e-02 1.68406655e+02] [ 1.91852640e-01 -2.86801438e-03 9.81419553e-01 2.31213719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:168.40, Z:23.13 [[ 9.67810802e-01 1.67283390e-01 -1.88038612e-01 2.02056325e+02] [-1.63678848e-01 9.85905002e-01 3.46491270e-02 1.68401712e+02] [ 1.91184431e-01 -2.75585608e-03 9.81550263e-01 2.31263591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:168.41, Z:23.12 [[ 9.67697017e-01 1.63910091e-01 -1.91561910e-01 2.02089395e+02] [-1.63773000e-01 9.86357376e-01 1.66592814e-02 1.68405705e+02] [ 1.91679127e-01 1.52515317e-02 9.81339138e-01 2.31246849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.11, Y:168.38, Z:23.14 [[ 9.68025299e-01 1.69888543e-01 -1.84566800e-01 2.02113552e+02] [-1.63852818e-01 9.85336178e-01 4.75906563e-02 1.68381578e+02] [ 1.89945453e-01 -1.58271691e-02 9.81667065e-01 2.31412437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:168.39, Z:23.14 [[ 9.68088979e-01 1.64489509e-01 -1.89068587e-01 2.02141192e+02] [-1.61663613e-01 9.86378158e-01 3.03810215e-02 1.68388969e+02] [ 1.91490484e-01 1.15397890e-03 9.81493792e-01 2.31421483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.17, Y:168.38, Z:23.15 [[ 9.68704989e-01 1.64951716e-01 -1.85476620e-01 2.02168925e+02] [-1.60872978e-01 9.86283746e-01 3.69358686e-02 1.68379237e+02] [ 1.89025211e-01 -5.94178388e-03 9.81954258e-01 2.31472616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:168.38, Z:23.15 [[ 9.69199192e-01 1.61693781e-01 -1.85763419e-01 2.02197566e+02] [-1.59054605e-01 9.86840099e-01 2.91247455e-02 1.68379754e+02] [ 1.88028081e-01 1.31884740e-03 9.82162767e-01 2.31484798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.23, Y:168.37, Z:23.15 [[ 9.69674733e-01 1.60514235e-01 -1.84298922e-01 2.02225719e+02] [-1.57122526e-01 9.87028958e-01 3.29597970e-02 1.68371759e+02] [ 1.87198890e-01 -3.00277015e-03 9.82317443e-01 2.31529137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:168.36, Z:23.17 [[ 9.69356504e-01 1.62292004e-01 -1.84416033e-01 2.02247623e+02] [-1.55858099e-01 9.86565187e-01 4.89630941e-02 1.68359142e+02] [ 1.89884756e-01 -1.87199616e-02 9.81627904e-01 2.31692083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.28, Y:168.36, Z:23.17 [[ 9.69350331e-01 1.58613909e-01 -1.87620796e-01 2.02277580e+02] [-1.54943240e-01 9.87332383e-01 3.41666147e-02 1.68362209e+02] [ 1.90663388e-01 -4.04884519e-03 9.81647126e-01 2.31701528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:168.36, Z:23.17 [[ 9.69349595e-01 1.57127077e-01 -1.88871502e-01 2.02310114e+02] [-1.55673928e-01 9.87549946e-01 2.25993741e-02 1.68360975e+02] [ 1.90071015e-01 7.49567441e-03 9.81741730e-01 2.31672808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51275509600003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:202.33, Y:168.35, Z:23.18 [[ 9.69287249e-01 1.60620120e-01 -1.86234814e-01 2.02331309e+02] [-1.54427724e-01 9.86866847e-01 4.73909636e-02 1.68345017e+02] [ 1.91400906e-01 -1.71756382e-02 9.81361651e-01 2.31806889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:168.36, Z:23.18 [[ 9.68328547e-01 1.55914116e-01 -1.95014394e-01 2.02364133e+02] [-1.54975742e-01 9.87712618e-01 2.01569973e-02 1.68358081e+02] [ 1.95760938e-01 1.07039043e-02 9.80593230e-01 2.31814959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:168.34, Z:23.19 [[ 9.67985298e-01 1.61728496e-01 -1.91959257e-01 2.02394791e+02] [-1.57319339e-01 9.86812699e-01 3.80962433e-02 1.68339531e+02] [ 1.95589081e-01 -6.67770003e-03 9.80663204e-01 2.31926972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:168.33, Z:23.20 [[ 9.68692284e-01 1.62086812e-01 -1.88050854e-01 2.02415107e+02] [-1.55625297e-01 9.86613404e-01 4.87314833e-02 1.68332823e+02] [ 1.93432224e-01 -1.79403419e-02 9.80949601e-01 2.32002875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63275509600004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:202.44, Y:168.34, Z:23.20 [[ 9.67978814e-01 1.61534833e-01 -1.92154922e-01 2.02442679e+02] [-1.58234472e-01 9.86866445e-01 3.25034090e-02 1.68337000e+02] [ 1.94881677e-01 -1.05707875e-03 9.80826190e-01 2.31976322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:202.47, Y:168.33, Z:23.21 [[ 9.67875821e-01 1.62549731e-01 -1.91817570e-01 2.02471158e+02] [-1.58884754e-01 9.86696212e-01 3.44415386e-02 1.68333132e+02] [ 1.94864133e-01 -2.85824500e-03 9.80826080e-01 2.32059992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.49, Y:168.32, Z:23.21 [[ 9.67443323e-01 1.69207630e-01 -1.88207851e-01 2.02493412e+02] [-1.64362040e-01 9.85540216e-01 4.11777026e-02 1.68324441e+02] [ 1.92453987e-01 -8.90286720e-03 9.81265612e-01 2.32114595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.53, Y:168.33, Z:23.22 [[ 9.66295468e-01 1.65405411e-01 -1.97266618e-01 2.02526498e+02] [-1.63552816e-01 9.86198129e-01 2.57629114e-02 1.68328424e+02] [ 1.98805295e-01 7.36892633e-03 9.80011303e-01 2.32182013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:202.55, Y:168.33, Z:23.22 [[ 9.67104137e-01 1.63494159e-01 -1.94882652e-01 2.02554107e+02] [-1.62150978e-01 9.86499346e-01 2.29368732e-02 1.68326919e+02] [ 1.96001653e-01 9.41806767e-03 9.80558337e-01 2.32187824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7827550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.58, Y:168.32, Z:23.23 [[ 9.67277257e-01 1.65883576e-01 -1.91982675e-01 2.02576871e+02] [-1.62393350e-01 9.86144044e-01 3.38869424e-02 1.68315475e+02] [ 1.94943859e-01 -1.60135882e-03 9.80813095e-01 2.32268089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:168.31, Z:23.23 [[ 9.67395398e-01 1.63341412e-01 -1.93560653e-01 2.02604980e+02] [-1.60285778e-01 9.86569422e-01 3.14522497e-02 1.68311194e+02] [ 1.96098476e-01 5.98258243e-04 9.80584025e-01 2.32330459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.63, Y:168.30, Z:23.24 [[ 9.68073074e-01 1.63631877e-01 -1.89892421e-01 2.02632280e+02] [-1.59029255e-01 9.86489998e-01 3.93342172e-02 1.68301614e+02] [ 1.93763306e-01 -7.87994631e-03 9.81016660e-01 2.32406739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:168.30, Z:23.25 [[ 9.68781441e-01 1.59747527e-01 -1.89587046e-01 2.02661760e+02] [-1.55811347e-01 9.87145560e-01 3.55874609e-02 1.68298417e+02] [ 1.92835020e-01 -4.93665871e-03 9.81218775e-01 2.32451851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:168.29, Z:23.25 [[ 9.68896275e-01 1.58199501e-01 -1.90296943e-01 2.02688728e+02] [-1.54753272e-01 9.87404107e-01 3.29325739e-02 1.68294788e+02] [ 1.93109900e-01 -2.45917363e-03 9.81174051e-01 2.32499971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.71, Y:168.29, Z:23.26 [[ 9.69294261e-01 1.58271442e-01 -1.88198795e-01 2.02712708e+02] [-1.53486845e-01 9.87347834e-01 3.98251628e-02 1.68285112e+02] [ 1.92120859e-01 -9.71626239e-03 9.81323173e-01 2.32574017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:168.28, Z:23.26 [[ 9.69440755e-01 1.56053224e-01 -1.89293460e-01 2.02739528e+02] [-1.52463503e-01 9.87742129e-01 3.34718960e-02 1.68283675e+02] [ 1.92196523e-01 -3.58867611e-03 9.81349896e-01 2.32600712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:168.29, Z:23.26 [[ 9.70201427e-01 1.51456055e-01 -1.89130258e-01 2.02771993e+02] [-1.50767055e-01 9.88403410e-01 1.81106366e-02 1.68286534e+02] [ 1.89679958e-01 1.09436466e-02 9.81784982e-01 2.32560996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:168.27, Z:23.27 [[ 9.70333631e-01 1.53170766e-01 -1.87059777e-01 2.02797972e+02] [-1.49640317e-01 9.88191770e-01 3.29363113e-02 1.68271647e+02] [ 1.89895813e-01 -3.96752627e-03 9.81796231e-01 2.32658113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:168.26, Z:23.28 [[ 9.69554238e-01 1.57061640e-01 -1.87872886e-01 2.02823496e+02] [-1.50805836e-01 9.87434417e-01 4.72321031e-02 1.68256770e+02] [ 1.92930505e-01 -1.74617581e-02 9.81057036e-01 2.32802778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:168.26, Z:23.28 [[ 9.69587064e-01 1.52533279e-01 -1.91401474e-01 2.02850377e+02] [-1.49144073e-01 9.88295030e-01 3.20776980e-02 1.68263987e+02] [ 1.94054042e-01 -2.55572579e-03 9.80987511e-01 2.32817290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:168.26, Z:23.29 [[ 9.69591314e-01 1.52671655e-01 -1.91269571e-01 2.02877230e+02] [-1.49159231e-01 9.88271814e-01 3.27161229e-02 1.68259321e+02] [ 1.94021151e-01 -3.19164659e-03 9.80992154e-01 2.32870329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:168.25, Z:23.29 [[ 9.69748659e-01 1.55164972e-01 -1.88444608e-01 2.02902789e+02] [-1.50286489e-01 9.87833140e-01 3.99957331e-02 1.68249845e+02] [ 1.92357766e-01 -1.04651301e-02 9.81269062e-01 2.32945039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:168.25, Z:23.30 [[ 9.69339119e-01 1.53991345e-01 -1.91489784e-01 2.02932490e+02] [-1.51248515e-01 9.88071786e-01 2.89488044e-02 1.68252122e+02] [ 1.93663518e-01 9.01336999e-04 9.81067597e-01 2.32968088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:168.25, Z:23.30 [[ 9.69131985e-01 1.54270999e-01 -1.92311348e-01 2.02960345e+02] [-1.51372723e-01 9.88028536e-01 2.97642454e-02 1.68247592e+02] [ 1.94600859e-01 2.65210073e-04 9.80882478e-01 2.33027951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.98, Y:168.24, Z:23.31 [[ 9.69439206e-01 1.57576868e-01 -1.88034988e-01 2.02984043e+02] [-1.52416220e-01 9.87436757e-01 4.16886920e-02 1.68236111e+02] [ 1.92241833e-01 -1.17550703e-02 9.81277176e-01 2.33106756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:168.24, Z:23.31 [[ 9.69215966e-01 1.57030668e-01 -1.89635916e-01 2.03011958e+02] [-1.53536682e-01 9.87589358e-01 3.30718649e-02 1.68236655e+02] [ 1.92475710e-01 -2.93771007e-03 9.81297341e-01 2.33139843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:168.23, Z:23.32 [[ 9.69163873e-01 1.57537911e-01 -1.89481381e-01 2.03039347e+02] [-1.54064462e-01 9.87508948e-01 3.30184706e-02 1.68232447e+02] [ 1.92316220e-01 -2.80796172e-03 9.81328990e-01 2.33194247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:168.23, Z:23.32 [[ 9.68881166e-01 1.58467242e-01 -1.90151044e-01 2.03065963e+02] [-1.54998806e-01 9.87360888e-01 3.30733558e-02 1.68228837e+02] [ 1.92988747e-01 -2.57096670e-03 9.81197602e-01 2.33247884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.09, Y:168.22, Z:23.33 [[ 9.68838554e-01 1.58650381e-01 -1.90215436e-01 2.03093296e+02] [-1.55188254e-01 9.87331637e-01 3.30581842e-02 1.68224448e+02] [ 1.93050411e-01 -2.50884204e-03 9.81185632e-01 2.33302179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38275509600004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:203.12, Y:168.22, Z:23.33 [[ 9.68664365e-01 1.58489566e-01 -1.91233903e-01 2.03120287e+02] [-1.54998860e-01 9.87357504e-01 3.31739795e-02 1.68219608e+02] [ 1.94073959e-01 -2.49341480e-03 9.80983732e-01 2.33343603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:168.21, Z:23.34 [[ 9.68267009e-01 1.61463851e-01 -1.90757499e-01 2.03149800e+02] [-1.57232139e-01 9.86860123e-01 3.72176357e-02 1.68209980e+02] [ 1.94260272e-01 -6.04339919e-03 9.80931406e-01 2.33443497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.18, Y:168.21, Z:23.35 [[ 9.68506249e-01 1.59189722e-01 -1.91453068e-01 2.03177247e+02] [-1.56415819e-01 9.87247201e-01 2.96151379e-02 1.68210491e+02] [ 1.93725931e-01 1.26384231e-03 9.81054874e-01 2.33464490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.20, Y:168.20, Z:23.35 [[ 9.68825527e-01 1.58468995e-01 -1.90432864e-01 2.03199718e+02] [-1.54306532e-01 9.87345344e-01 3.65877909e-02 1.68204832e+02] [ 1.93821032e-01 -6.06215106e-03 9.81018174e-01 2.33544086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.23, Y:168.19, Z:23.36 [[ 9.68809809e-01 1.58764108e-01 -1.90266949e-01 2.03228366e+02] [-1.53946728e-01 9.87271814e-01 3.99345694e-02 1.68194996e+02] [ 1.94185372e-01 -9.39802838e-03 9.80919833e-01 2.33628827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:168.20, Z:23.36 [[ 9.69519298e-01 1.53474373e-01 -1.90992008e-01 2.03254646e+02] [-1.51026056e-01 9.88149996e-01 2.73991866e-02 1.68200119e+02] [ 1.92933825e-01 2.28072952e-03 9.81209120e-01 2.33631223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:168.19, Z:23.37 [[ 9.69754511e-01 1.53452132e-01 -1.89812095e-01 2.03280721e+02] [-1.49980861e-01 9.88151052e-01 3.26073482e-02 1.68192331e+02] [ 1.92566689e-01 -3.15294159e-03 9.81278823e-01 2.33704149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:168.19, Z:23.38 [[ 9.70258917e-01 1.51249790e-01 -1.89000356e-01 2.03307320e+02] [-1.47779053e-01 9.88489334e-01 3.24066043e-02 1.68188044e+02] [ 1.91726328e-01 -3.51250314e-03 9.81442142e-01 2.33757100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:168.18, Z:23.38 [[ 9.70430265e-01 1.49956651e-01 -1.89151006e-01 2.03333605e+02] [-1.46461166e-01 9.88685482e-01 3.24059380e-02 1.68183739e+02] [ 1.91870340e-01 -3.74442616e-03 9.81413140e-01 2.33813173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:168.18, Z:23.39 [[ 9.70665915e-01 1.48098251e-01 -1.89405887e-01 2.03359956e+02] [-1.44563317e-01 9.88964191e-01 3.24234023e-02 1.68179185e+02] [ 1.92117489e-01 -4.09114820e-03 9.81363405e-01 2.33872770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:168.17, Z:23.40 [[ 9.70634367e-01 1.48643842e-01 -1.89139986e-01 2.03387376e+02] [-1.44108749e-01 9.88847753e-01 3.75871094e-02 1.68170857e+02] [ 1.92617742e-01 -9.22661348e-03 9.81230490e-01 2.33954497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:168.17, Z:23.40 [[ 9.71015870e-01 1.45255135e-01 -1.89813399e-01 2.03414209e+02] [-1.42542072e-01 9.89394229e-01 2.79431169e-02 1.68172734e+02] [ 1.91859163e-01 -7.68147676e-05 9.81422466e-01 2.33967181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:168.17, Z:23.40 [[ 9.71121194e-01 1.45198978e-01 -1.89316885e-01 2.03441060e+02] [-1.41635832e-01 9.89392040e-01 3.22905981e-02 1.68165505e+02] [ 1.91997180e-01 -4.54402984e-03 9.81384957e-01 2.34039228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:168.16, Z:23.41 [[ 9.70744903e-01 1.47543548e-01 -1.89433986e-01 2.03469720e+02] [-1.42593740e-01 9.88989796e-01 3.95753560e-02 1.68155572e+02] [ 1.93187368e-01 -1.14054745e-02 9.81095590e-01 2.34137112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:168.16, Z:23.42 [[ 9.70410004e-01 1.45292678e-01 -1.92858658e-01 2.03496060e+02] [-1.42792233e-01 9.89387649e-01 2.68785954e-02 1.68159489e+02] [ 1.94717237e-01 1.45546058e-03 9.80858338e-01 2.34152476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:168.16, Z:23.42 [[ 9.70823851e-01 1.45511313e-01 -1.90597763e-01 2.03525634e+02] [-1.42709793e-01 9.89356511e-01 2.84184573e-02 1.68156559e+02] [ 1.92704345e-01 -3.89148927e-04 9.81256788e-01 2.34180152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:168.15, Z:23.43 [[ 9.70769416e-01 1.46274677e-01 -1.90290464e-01 2.03550509e+02] [-1.41879603e-01 9.89207267e-01 3.65945519e-02 1.68148745e+02] [ 1.93589566e-01 -8.52653635e-03 9.81045554e-01 2.34268883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.58, Y:168.15, Z:23.43 [[ 9.70538993e-01 1.45623805e-01 -1.91957733e-01 2.03580961e+02] [-1.43296186e-01 9.89337491e-01 2.60294473e-02 1.68150344e+02] [ 1.93701489e-01 2.24421737e-03 9.81057948e-01 2.34274489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.61, Y:168.14, Z:23.43 [[ 9.70589480e-01 1.46533683e-01 -1.91007698e-01 2.03607708e+02] [-1.42988692e-01 9.89197483e-01 3.22889105e-02 1.68142249e+02] [ 1.93675747e-01 -4.02733602e-03 9.81057330e-01 2.34348879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:168.13, Z:23.44 [[ 9.70336114e-01 1.47854902e-01 -1.91276644e-01 2.03631921e+02] [-1.43052862e-01 9.88956038e-01 3.87535059e-02 1.68134572e+02] [ 1.94894087e-01 -1.02412550e-02 9.80770825e-01 2.34441484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:168.14, Z:23.44 [[ 9.70774073e-01 1.43691510e-01 -1.92224999e-01 2.03663964e+02] [-1.42827471e-01 9.89576209e-01 1.84184898e-02 1.68142557e+02] [ 1.92867866e-01 9.57481811e-03 9.81178021e-01 2.34392080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:168.12, Z:23.46 [[ 9.69865372e-01 1.50488145e-01 -1.91610228e-01 2.03686163e+02] [-1.44358722e-01 9.88472389e-01 4.56387448e-02 1.68123162e+02] [ 1.96269510e-01 -1.66028305e-02 9.80409417e-01 2.34577152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:168.14, Z:23.44 [[ 9.70811295e-01 1.42000565e-01 -1.93290635e-01 2.03719905e+02] [-1.43437076e-01 9.89637327e-01 6.61555949e-03 1.68143595e+02] [ 1.92227040e-01 2.13025837e-02 9.81119241e-01 2.34435128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:168.11, Z:23.47 [[ 9.69813163e-01 1.53151138e-01 -1.89755524e-01 2.03738739e+02] [-1.44971970e-01 9.87830186e-01 5.63440397e-02 1.68109309e+02] [ 1.96075388e-01 -2.71339593e-02 9.80213339e-01 2.34717425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.77, Y:168.12, Z:23.47 [[ 9.69826461e-01 1.47806534e-01 -1.93881058e-01 2.03769977e+02] [-1.44237434e-01 9.89009983e-01 3.24779431e-02 1.68118578e+02] [ 1.96550754e-01 -3.53306231e-03 9.80487286e-01 2.34704798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:168.11, Z:23.48 [[ 9.69969573e-01 1.47156813e-01 -1.93659236e-01 2.03797143e+02] [-1.43596209e-01 9.89106643e-01 3.23755670e-02 1.68113686e+02] [ 1.96313922e-01 -3.59458274e-03 9.80534509e-01 2.34762660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:168.11, Z:23.48 [[ 9.70223925e-01 1.46247788e-01 -1.93072836e-01 2.03823690e+02] [-1.42704069e-01 9.89241065e-01 3.22127974e-02 1.68108081e+02] [ 1.95706628e-01 -3.70134747e-03 9.80655503e-01 2.34819888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:168.10, Z:23.49 [[ 9.70313327e-01 1.45828099e-01 -1.92940955e-01 2.03851043e+02] [-1.42293936e-01 9.89302957e-01 3.21262340e-02 1.68103611e+02] [ 1.95561965e-01 -3.71818494e-03 9.80684298e-01 2.34878777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:168.10, Z:23.49 [[ 9.70452711e-01 1.45448502e-01 -1.92526021e-01 2.03877073e+02] [-1.41935099e-01 9.89358825e-01 3.19928585e-02 1.68100144e+02] [ 1.95130632e-01 -3.72135638e-03 9.80770201e-01 2.34926542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:168.10, Z:23.50 [[ 9.70639153e-01 1.44688423e-01 -1.92158514e-01 2.03904457e+02] [-1.41179377e-01 9.89469821e-01 3.19038529e-02 1.68096902e+02] [ 1.94751169e-01 -3.83830934e-03 9.80845171e-01 2.34979122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:168.09, Z:23.50 [[ 9.70729464e-01 1.44129622e-01 -1.92122254e-01 2.03931384e+02] [-1.40623551e-01 9.89551186e-01 3.18350141e-02 1.68092898e+02] [ 1.94703172e-01 -3.88627259e-03 9.80854511e-01 2.35033337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:168.09, Z:23.51 [[ 9.70909713e-01 1.43695144e-01 -1.91535990e-01 2.03958955e+02] [-1.40214573e-01 9.89614323e-01 3.16759399e-02 1.68088678e+02] [ 1.94098438e-01 -3.89834073e-03 9.80974311e-01 2.35088112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.99, Y:168.08, Z:23.51 [[ 9.70949914e-01 1.43344962e-01 -1.91594588e-01 2.03986039e+02] [-1.39867771e-01 9.89665073e-01 3.16235556e-02 1.68084570e+02] [ 1.94147550e-01 -3.90698069e-03 9.80964558e-01 2.35145355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.02, Y:168.08, Z:23.52 [[ 9.71088855e-01 1.42583565e-01 -1.91458514e-01 2.04015214e+02] [-1.40287488e-01 9.89780681e-01 2.55660715e-02 1.68084277e+02] [ 1.93147240e-01 2.03230688e-03 9.81167679e-01 2.35161548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:168.07, Z:23.53 [[ 9.70867752e-01 1.45359121e-01 -1.90490246e-01 2.04039636e+02] [-1.40788314e-01 9.89333552e-01 3.73868037e-02 1.68073790e+02] [ 1.93892905e-01 -9.47884146e-03 9.80976907e-01 2.35260249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.07, Y:168.07, Z:23.53 [[ 9.70698405e-01 1.44779986e-01 -1.91789891e-01 2.04067741e+02] [-1.41348255e-01 9.89457693e-01 3.15300496e-02 1.68073863e+02] [ 1.94332903e-01 -3.49700244e-03 9.80929403e-01 2.35289969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:168.07, Z:23.53 [[ 9.70712373e-01 1.45003890e-01 -1.91549891e-01 2.04095200e+02] [-1.41597056e-01 9.89425288e-01 3.14304578e-02 1.68069916e+02] [ 1.94081845e-01 -3.38703354e-03 9.80979493e-01 2.35339854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:168.07, Z:23.54 [[ 9.70627391e-01 1.45344695e-01 -1.91722160e-01 2.04121539e+02] [-1.41950192e-01 9.89375705e-01 3.13983791e-02 1.68066116e+02] [ 1.94248835e-01 -3.26112927e-03 9.80946867e-01 2.35392157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:168.07, Z:23.54 [[ 9.71027002e-01 1.43130654e-01 -1.91363994e-01 2.04151113e+02] [-1.42328228e-01 9.89655745e-01 1.80050655e-02 1.68071066e+02] [ 1.91961553e-01 9.75309345e-03 9.81353983e-01 2.35350727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:168.05, Z:23.55 [[ 9.70618453e-01 1.48088695e-01 -1.89656419e-01 2.04174087e+02] [-1.42416548e-01 9.88860460e-01 4.32725937e-02 1.68051250e+02] [ 1.93951915e-01 -1.49909655e-02 9.80896491e-01 2.35519331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:168.05, Z:23.55 [[ 9.70637574e-01 1.45667353e-01 -1.91425499e-01 2.04203362e+02] [-1.42311869e-01 9.89328837e-01 3.12375586e-02 1.68053583e+02] [ 1.93933058e-01 -3.07822751e-03 9.81009935e-01 2.35536284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:168.05, Z:23.56 [[ 9.70753635e-01 1.45037274e-01 -1.91315366e-01 2.04230943e+02] [-1.41685011e-01 9.89421197e-01 3.11617095e-02 1.68049519e+02] [ 1.93811088e-01 -3.14382311e-03 9.81033832e-01 2.35590144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.26, Y:168.05, Z:23.56 [[ 9.70823441e-01 1.44798617e-01 -1.91141851e-01 2.04257239e+02] [-1.41460722e-01 9.89456218e-01 3.10685842e-02 1.68046187e+02] [ 1.93625181e-01 -3.12304555e-03 9.81070607e-01 2.35634637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:168.04, Z:23.57 [[ 9.70857900e-01 1.44494539e-01 -1.91196930e-01 2.04283252e+02] [-1.41154388e-01 9.89500564e-01 3.10495274e-02 1.68042426e+02] [ 1.93675958e-01 -3.15639325e-03 9.81060478e-01 2.35685394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:168.04, Z:23.57 [[ 9.71188937e-01 1.43103218e-01 -1.90561058e-01 2.04310517e+02] [-1.39764288e-01 9.89701947e-01 3.09192375e-02 1.68037971e+02] [ 1.93023293e-01 -3.39479071e-03 9.81188302e-01 2.35731060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:168.03, Z:23.58 [[ 9.71319775e-01 1.42209239e-01 -1.90563447e-01 2.04336666e+02] [-1.38865772e-01 9.89830403e-01 3.08556422e-02 1.68033657e+02] [ 1.93013451e-01 -3.50795529e-03 9.81189840e-01 2.35785399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:168.03, Z:23.58 [[ 9.71635069e-01 1.41003739e-01 -1.89850566e-01 2.04364435e+02] [-1.37668015e-01 9.90002128e-01 3.07132648e-02 1.68029239e+02] [ 1.92283150e-01 -3.70573458e-03 9.81332491e-01 2.35835534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:204.39, Y:168.03, Z:23.59 [[ 9.72275549e-01 1.38323500e-01 -1.88538764e-01 2.04391098e+02] [-1.34996679e-01 9.90378442e-01 3.04374630e-02 1.68025352e+02] [ 1.90934944e-01 -4.14149391e-03 9.81593956e-01 2.35868205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:168.02, Z:23.59 [[ 9.72401318e-01 1.37886242e-01 -1.88210154e-01 2.04417743e+02] [-1.34568195e-01 9.90439198e-01 3.03578086e-02 1.68021177e+02] [ 1.90596638e-01 -4.19287228e-03 9.81659483e-01 2.35937034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:168.02, Z:23.60 [[ 9.72630144e-01 1.36638688e-01 -1.87937417e-01 2.04445322e+02] [-1.33319218e-01 9.90611318e-01 3.02523062e-02 1.68017389e+02] [ 1.90306567e-01 -4.36863551e-03 9.81714992e-01 2.35988442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:168.02, Z:23.60 [[ 9.72841453e-01 1.34138557e-01 -1.88643459e-01 2.04475450e+02] [-1.31837389e-01 9.90962271e-01 2.47523680e-02 1.68015430e+02] [ 1.90258798e-01 7.90131452e-04 9.81733653e-01 2.36003520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:168.01, Z:23.61 [[ 9.73027139e-01 1.35055717e-01 -1.87024439e-01 2.04502003e+02] [-1.31701210e-01 9.90826102e-01 3.03055451e-02 1.68007421e+02] [ 1.89401633e-01 -4.85677286e-03 9.81887689e-01 2.36063573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:168.00, Z:23.61 [[ 9.73049801e-01 1.35379332e-01 -1.86672233e-01 2.04525895e+02] [-1.30800219e-01 9.90729568e-01 3.66909409e-02 1.68000846e+02] [ 1.89908895e-01 -1.12853438e-02 9.81736855e-01 2.36149048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:168.00, Z:23.62 [[ 9.72729258e-01 1.34270298e-01 -1.89127676e-01 2.04553009e+02] [-1.30897528e-01 9.90933650e-01 3.02710915e-02 1.68001721e+02] [ 1.91477487e-01 -4.68923119e-03 9.81485804e-01 2.36181042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:168.00, Z:23.62 [[ 9.72960799e-01 1.34819035e-01 -1.87539629e-01 2.04580360e+02] [-1.31526325e-01 9.90860137e-01 2.99501998e-02 1.67997752e+02] [ 1.89863399e-01 -4.47397224e-03 9.81800322e-01 2.36220898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.61, Y:167.98, Z:23.64 [[ 9.72081288e-01 1.40858291e-01 -1.87661695e-01 2.04605356e+02] [-1.33682747e-01 9.89740541e-01 5.04240562e-02 1.67979865e+02] [ 1.92839034e-01 -2.39291505e-02 9.80938583e-01 2.36382673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.64, Y:168.00, Z:23.63 [[ 9.72745858e-01 1.32065567e-01 -1.90589040e-01 2.04637041e+02] [-1.32326857e-01 9.91140432e-01 1.14126203e-02 1.68000418e+02] [ 1.90407718e-01 1.41184696e-02 9.81603571e-01 2.36266260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:167.98, Z:23.64 [[ 9.72725486e-01 1.37820813e-01 -1.86575862e-01 2.04660848e+02] [-1.34477934e-01 9.90446516e-01 3.05185808e-02 1.67984760e+02] [ 1.88999508e-01 -4.59586487e-03 9.81966427e-01 2.36364958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:167.98, Z:23.64 [[ 9.72560020e-01 1.37776790e-01 -1.87468833e-01 2.04689439e+02] [-1.34837328e-01 9.90460521e-01 2.84051281e-02 1.67981891e+02] [ 1.89594045e-01 -2.34789534e-03 9.81859759e-01 2.36420171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:167.97, Z:23.65 [[ 9.71745467e-01 1.44143363e-01 -1.86904891e-01 2.04716369e+02] [-1.38297094e-01 9.89412013e-01 4.40202567e-02 1.67966674e+02] [ 1.91271172e-01 -1.69280817e-02 9.81391247e-01 2.36549079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:167.98, Z:23.65 [[ 9.72275428e-01 1.38222920e-01 -1.88613141e-01 2.04746087e+02] [-1.37521325e-01 9.90355198e-01 1.68661746e-02 1.67979872e+02] [ 1.89125296e-01 9.53976179e-03 9.81906622e-01 2.36485785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.77, Y:167.97, Z:23.66 [[ 9.72341130e-01 1.41027718e-01 -1.86182465e-01 2.04771575e+02] [-1.37957902e-01 9.90001370e-01 2.94092760e-02 1.67968412e+02] [ 1.88468418e-01 -2.91050647e-03 9.82074938e-01 2.36573465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.80, Y:167.96, Z:23.66 [[ 9.72459272e-01 1.41324171e-01 -1.85338728e-01 2.04799026e+02] [-1.38298919e-01 9.89959467e-01 2.92175031e-02 1.67964256e+02] [ 1.87606968e-01 -2.78068612e-03 9.82240242e-01 2.36624056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:167.96, Z:23.67 [[ 9.72562683e-01 1.41026645e-01 -1.85022465e-01 2.04826173e+02] [-1.38017646e-01 9.90001914e-01 2.91090978e-02 1.67959780e+02] [ 1.87277753e-01 -2.77405725e-03 9.82303084e-01 2.36675662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:167.96, Z:23.67 [[ 9.72713987e-01 1.40376477e-01 -1.84721259e-01 2.04852475e+02] [-1.37377588e-01 9.90094150e-01 2.89995144e-02 1.67955291e+02] [ 1.86962287e-01 -2.83167225e-03 9.82363011e-01 2.36722793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.88, Y:167.95, Z:23.68 [[ 9.72855914e-01 1.38911781e-01 -1.85080760e-01 2.04879644e+02] [-1.35879622e-01 9.90299926e-01 2.90307418e-02 1.67950432e+02] [ 1.87318175e-01 -3.09402500e-03 9.82294420e-01 2.36774291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.91, Y:167.95, Z:23.68 [[ 9.73149710e-01 1.37892629e-01 -1.84296677e-01 2.04906887e+02] [-1.34879914e-01 9.90441969e-01 2.88464103e-02 1.67945886e+02] [ 1.86512871e-01 -3.21395593e-03 9.82447260e-01 2.36821896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:167.94, Z:23.69 [[ 9.73139344e-01 1.37203419e-01 -1.84864922e-01 2.04934253e+02] [-1.34171300e-01 9.90537413e-01 2.88737794e-02 1.67940280e+02] [ 1.87077203e-01 -3.29464389e-03 9.82339689e-01 2.36878155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.96, Y:167.94, Z:23.69 [[ 9.73130908e-01 1.37073566e-01 -1.85005604e-01 2.04960187e+02] [-1.34047298e-01 9.90555525e-01 2.88283687e-02 1.67935590e+02] [ 1.87209931e-01 -3.25427524e-03 9.82314538e-01 2.36929084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.99, Y:167.92, Z:23.70 [[ 9.72787016e-01 1.39897957e-01 -1.84699713e-01 2.04986377e+02] [-1.34413287e-01 9.90036891e-01 4.19526258e-02 1.67922877e+02] [ 1.88728616e-01 -1.59848741e-02 9.81899177e-01 2.37049936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:167.94, Z:23.70 [[ 9.73556758e-01 1.33841049e-01 -1.85131880e-01 2.05015292e+02] [-1.33028940e-01 9.90968762e-01 1.68586564e-02 1.67935230e+02] [ 1.85716290e-01 8.21503891e-03 9.82569068e-01 2.36980640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:167.93, Z:23.70 [[ 9.73123592e-01 1.34267218e-01 -1.87090325e-01 2.05042386e+02] [-1.33013100e-01 9.90926358e-01 1.92994509e-02 1.67929377e+02] [ 1.87984018e-01 6.10471305e-03 9.82153115e-01 2.37044030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.07, Y:167.91, Z:23.71 [[ 9.73527607e-01 1.38070174e-01 -1.82155499e-01 2.05067328e+02] [-1.33412060e-01 9.90345514e-01 3.76428609e-02 1.67913934e+02] [ 1.85594238e-01 -1.23446239e-02 9.82548925e-01 2.37144076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:167.92, Z:23.72 [[ 9.73081747e-01 1.35090230e-01 -1.86715143e-01 2.05097277e+02] [-1.33131576e-01 9.90830323e-01 2.30489566e-02 1.67917707e+02] [ 1.88116714e-01 2.42916232e-03 9.82143676e-01 2.37152832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.12, Y:167.91, Z:23.72 [[ 9.73179799e-01 1.38561976e-01 -1.83634578e-01 2.05121451e+02] [-1.34368119e-01 9.90307889e-01 3.51495838e-02 1.67905737e+02] [ 1.86725168e-01 -9.53223196e-03 9.82365944e-01 2.37231308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.15, Y:167.90, Z:23.73 [[ 9.73040546e-01 1.37563258e-01 -1.85117383e-01 2.05149964e+02] [-1.34583821e-01 9.90488616e-01 2.86268460e-02 1.67904669e+02] [ 1.87294662e-01 -2.94127726e-03 9.82299373e-01 2.37266357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.18, Y:167.90, Z:23.73 [[ 9.73015301e-01 1.37522755e-01 -1.85280102e-01 2.05177379e+02] [-1.34548925e-01 9.90494391e-01 2.85910647e-02 1.67900297e+02] [ 1.87450824e-01 -2.89030491e-03 9.82269736e-01 2.37317219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:167.90, Z:23.74 [[ 9.72813224e-01 1.38447565e-01 -1.85652102e-01 2.05205322e+02] [-1.35489941e-01 9.90366202e-01 2.85877916e-02 1.67897165e+02] [ 1.87821477e-01 -2.65658941e-03 9.82199590e-01 2.37364992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:167.90, Z:23.73 [[ 9.73277667e-01 1.35334635e-01 -1.85513127e-01 2.05234735e+02] [-1.34490872e-01 9.90765812e-01 1.71845913e-02 1.67901263e+02] [ 1.86125735e-01 8.22444338e-03 9.82491511e-01 2.37342443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:167.89, Z:23.74 [[ 9.73104546e-01 1.37550687e-01 -1.84790018e-01 2.05261186e+02] [-1.34986839e-01 9.90494414e-01 2.64455849e-02 1.67892609e+02] [ 1.86671089e-01 -7.90098323e-04 9.82422150e-01 2.37420255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:167.88, Z:23.76 [[ 9.72343051e-01 1.41648528e-01 -1.85700525e-01 2.05285562e+02] [-1.36623510e-01 9.89829244e-01 3.96495108e-02 1.67879184e+02] [ 1.89428105e-01 -1.31818687e-02 9.81806107e-01 2.37554479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:167.88, Z:23.76 [[ 9.72352670e-01 1.39339087e-01 -1.87389714e-01 2.05314883e+02] [-1.36371902e-01 9.90241937e-01 2.86986110e-02 1.67881544e+02] [ 1.89559992e-01 -2.35047930e-03 9.81866327e-01 2.37578503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.35, Y:167.89, Z:23.75 [[ 9.72593687e-01 1.32600305e-01 -1.90993924e-01 2.05348558e+02] [-1.33447798e-01 9.91019591e-01 8.47678200e-03 1.67891604e+02] [ 1.90402744e-01 1.72432539e-02 9.81554617e-01 2.37541485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.37, Y:167.86, Z:23.77 [[ 9.72419475e-01 1.42968368e-01 -1.84283508e-01 2.05365651e+02] [-1.36020100e-01 9.89449777e-01 4.98765557e-02 1.67861515e+02] [ 1.89470046e-01 -2.34346730e-02 9.81606804e-01 2.37749754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:167.87, Z:23.77 [[ 9.72300751e-01 1.38086694e-01 -1.88582382e-01 2.05396548e+02] [-1.35888511e-01 9.90418674e-01 2.46000622e-02 1.67873075e+02] [ 1.90172454e-01 1.70752028e-03 9.81749215e-01 2.37728608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:167.87, Z:23.78 [[ 9.72565581e-01 1.39349669e-01 -1.86273620e-01 2.05422476e+02] [-1.35668633e-01 9.90223401e-01 3.24289637e-02 1.67865580e+02] [ 1.88971463e-01 -6.26780665e-03 9.81962576e-01 2.37799209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:167.88, Z:23.77 [[ 9.73543359e-01 1.32706494e-01 -1.86016973e-01 2.05454781e+02] [-1.33611403e-01 9.91003727e-01 7.72045586e-03 1.67879197e+02] [ 1.85368068e-01 1.73377902e-02 9.82516199e-01 2.37713650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.47, Y:167.85, Z:23.79 [[ 9.72919799e-01 1.40117143e-01 -1.83832129e-01 2.05474170e+02] [-1.34701151e-01 9.90008897e-01 4.16891275e-02 1.67854819e+02] [ 1.87836805e-01 -1.57977780e-02 9.82073197e-01 2.37908077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:167.87, Z:23.78 [[ 9.73119121e-01 1.34038038e-01 -1.87277817e-01 2.05505596e+02] [-1.34131427e-01 9.90888052e-01 1.22322779e-02 1.67869279e+02] [ 1.87210942e-01 1.32163772e-02 9.82230824e-01 2.37845361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:167.84, Z:23.81 [[ 9.72934025e-01 1.39582132e-01 -1.84163545e-01 2.05531158e+02] [-1.33370295e-01 9.90009338e-01 4.57588709e-02 1.67844504e+02] [ 1.88710750e-01 -1.99584162e-02 9.81829881e-01 2.38059381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.56, Y:167.86, Z:23.80 [[ 9.72826073e-01 1.33355896e-01 -1.89276615e-01 2.05563856e+02] [-1.32912088e-01 9.91012880e-01 1.50946611e-02 1.67859515e+02] [ 1.89588525e-01 1.04726702e-02 9.81807779e-01 2.37994457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.59, Y:167.86, Z:23.80 [[ 9.73279114e-01 1.32415275e-01 -1.87600536e-01 2.05589721e+02] [-1.31732585e-01 9.91153589e-01 1.61582727e-02 1.67856780e+02] [ 1.88080546e-01 8.98659430e-03 9.82112493e-01 2.38019128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:167.83, Z:23.82 [[ 9.73173217e-01 1.39033505e-01 -1.83312779e-01 2.05612573e+02] [-1.31734436e-01 9.89947809e-01 5.14720740e-02 1.67832628e+02] [ 1.88626427e-01 -2.59426383e-02 9.81706194e-01 2.38213470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.65, Y:167.85, Z:23.82 [[ 9.72912357e-01 1.32312021e-01 -1.89565488e-01 2.05645016e+02] [-1.30439668e-01 9.91203707e-01 2.23764385e-02 1.67846400e+02] [ 1.90858686e-01 2.95654591e-03 9.81613071e-01 2.38190119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:167.84, Z:23.83 [[ 9.73042698e-01 1.30680725e-01 -1.90027512e-01 2.05672780e+02] [-1.28154329e-01 9.91424360e-01 2.55774526e-02 1.67841466e+02] [ 1.91740384e-01 -5.35105237e-04 9.81445535e-01 2.38254136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:167.83, Z:23.83 [[ 9.73174084e-01 1.32220013e-01 -1.88281891e-01 2.05697593e+02] [-1.27962878e-01 9.91173695e-01 3.46440266e-02 1.67832009e+02] [ 1.91200692e-01 -9.62157617e-03 9.81503806e-01 2.38327944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.72, Y:167.83, Z:23.84 [[ 9.73325890e-01 1.31039271e-01 -1.88322654e-01 2.05724858e+02] [-1.27498220e-01 9.91358926e-01 3.08493588e-02 1.67829969e+02] [ 1.90737821e-01 -6.01567647e-03 9.81622583e-01 2.38365545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:167.83, Z:23.84 [[ 9.73168040e-01 1.28203501e-01 -1.91070217e-01 2.05752939e+02] [-1.25835714e-01 9.91747867e-01 2.45263420e-02 1.67830016e+02] [ 1.92637843e-01 1.75204996e-04 9.81269907e-01 2.38410195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.78, Y:167.82, Z:23.85 [[ 9.73693993e-01 1.28263127e-01 -1.88331035e-01 2.05779499e+02] [-1.23994608e-01 9.91689053e-01 3.43243147e-02 1.67820307e+02] [ 1.91168370e-01 -1.00693461e-02 9.81505610e-01 2.38484876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.80, Y:167.82, Z:23.85 [[ 9.73480775e-01 1.29681581e-01 -1.88461850e-01 2.05804667e+02] [-1.25839361e-01 9.91525855e-01 3.22635171e-02 1.67816962e+02] [ 1.91048780e-01 -7.69199497e-03 9.81550405e-01 2.38529708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.83, Y:167.82, Z:23.86 [[ 9.72942340e-01 1.26412491e-01 -1.93398773e-01 2.05833693e+02] [-1.25345948e-01 9.91953547e-01 1.77919375e-02 1.67821972e+02] [ 1.94091722e-01 6.93122323e-03 9.80958899e-01 2.38556965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41275509600007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:205.86, Y:167.81, Z:23.86 [[ 9.73474801e-01 1.31442665e-01 -1.87268891e-01 2.05858041e+02] [-1.26360102e-01 9.91222312e-01 3.88773991e-02 1.67805508e+02] [ 1.90735252e-01 -1.41828522e-02 9.81539052e-01 2.38636566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:167.81, Z:23.87 [[ 9.73411578e-01 1.30207570e-01 -1.88456598e-01 2.05886700e+02] [-1.27203444e-01 9.91481316e-01 2.80015009e-02 1.67808389e+02] [ 1.90497203e-01 -3.28465681e-03 9.81682243e-01 2.38683444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:167.81, Z:23.87 [[ 9.73461169e-01 1.29132462e-01 -1.88939568e-01 2.05915704e+02] [-1.27625882e-01 9.91617243e-01 2.01711889e-02 1.67809279e+02] [ 1.89960489e-01 4.47770979e-03 9.81781525e-01 2.38687498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:167.80, Z:23.88 [[ 9.72849754e-01 1.32817352e-01 -1.89533396e-01 2.05942182e+02] [-1.29425529e-01 9.91128576e-01 3.02188413e-02 1.67799694e+02] [ 1.91865551e-01 -4.86793235e-03 9.81409147e-01 2.38800060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.97, Y:167.79, Z:23.89 [[ 9.72874613e-01 1.34858679e-01 -1.87957774e-01 2.05967046e+02] [-1.31012650e-01 9.90838089e-01 3.27958491e-02 1.67794431e+02] [ 1.90658526e-01 -7.28140302e-03 9.81629415e-01 2.38851813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.00, Y:167.80, Z:23.89 [[ 9.72084963e-01 1.34242091e-01 -1.92431512e-01 2.05995340e+02] [-1.32839135e-01 9.90931044e-01 2.02343675e-02 1.67797864e+02] [ 1.93402663e-01 5.89291120e-03 9.81101770e-01 2.38882683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:167.78, Z:23.90 [[ 9.72454601e-01 1.38467068e-01 -1.87507119e-01 2.06020910e+02] [-1.33742962e-01 9.90299540e-01 3.76781172e-02 1.67783703e+02] [ 1.90905392e-01 -1.15625010e-02 9.81540341e-01 2.38975614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.05, Y:167.79, Z:23.90 [[ 9.72343296e-01 1.36689028e-01 -1.89379575e-01 2.06049251e+02] [-1.33819662e-01 9.90612364e-01 2.79184794e-02 1.67785752e+02] [ 1.91417899e-01 -1.80363551e-03 9.81506971e-01 2.39003849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.08, Y:167.78, Z:23.91 [[ 9.72274658e-01 1.36395205e-01 -1.89942987e-01 2.06076889e+02] [-1.33515398e-01 9.90652864e-01 2.79381897e-02 1.67781910e+02] [ 1.91978199e-01 -1.80328038e-03 9.81397534e-01 2.39058101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:167.78, Z:23.91 [[ 9.72289794e-01 1.35265127e-01 -1.90672235e-01 2.06102893e+02] [-1.32354010e-01 9.90807482e-01 2.79812465e-02 1.67778700e+02] [ 1.92704364e-01 -1.96964545e-03 9.81254885e-01 2.39104322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:167.77, Z:23.92 [[ 9.72424032e-01 1.34077815e-01 -1.90826206e-01 2.06130453e+02] [-1.31144553e-01 9.90968409e-01 2.79771030e-02 1.67774878e+02] [ 1.92853851e-01 -2.17978976e-03 9.81225071e-01 2.39157495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:167.77, Z:23.92 [[ 9.72630528e-01 1.32809093e-01 -1.90660958e-01 2.06158154e+02] [-1.29869138e-01 9.91138814e-01 2.78901309e-02 1.67771144e+02] [ 1.92675539e-01 -2.36581848e-03 9.81259670e-01 2.39213777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:167.77, Z:23.93 [[ 9.73151676e-01 1.30087758e-01 -1.89876252e-01 2.06184584e+02] [-1.27133256e-01 9.91498449e-01 2.77120976e-02 1.67768296e+02] [ 1.91867014e-01 -2.82848810e-03 9.81416858e-01 2.39271062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:167.76, Z:23.93 [[ 9.73381306e-01 1.28765785e-01 -1.89600120e-01 2.06211884e+02] [-1.25800226e-01 9.91670319e-01 2.76456508e-02 1.67764718e+02] [ 1.91580625e-01 -3.05802185e-03 9.81472115e-01 2.39327352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:167.76, Z:23.94 [[ 9.73547620e-01 1.26497454e-01 -1.90271976e-01 2.06239062e+02] [-1.23479736e-01 9.91960915e-01 2.76820985e-02 1.67762320e+02] [ 1.92244078e-01 -3.45510779e-03 9.81341060e-01 2.39380781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:167.76, Z:23.94 [[ 9.73631197e-01 1.25516859e-01 -1.90493596e-01 2.06266696e+02] [-1.22485592e-01 9.92084990e-01 2.76523627e-02 1.67759107e+02] [ 1.92456675e-01 -3.59048215e-03 9.81298903e-01 2.39435667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.30, Y:167.76, Z:23.94 [[ 9.73973310e-01 1.22846266e-01 -1.90485659e-01 2.06296373e+02] [-1.21310909e-01 9.92418143e-01 1.97457152e-02 1.67759995e+02] [ 1.91467112e-01 3.87618894e-03 9.81491376e-01 2.39440609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:167.75, Z:23.96 [[ 9.73824359e-01 1.25447777e-01 -1.89549397e-01 2.06319439e+02] [-1.20867296e-01 9.92030757e-01 3.55819460e-02 1.67747458e+02] [ 1.92502508e-01 -1.17402427e-02 9.81226249e-01 2.39554350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:167.75, Z:23.96 [[ 9.73825021e-01 1.23034076e-01 -1.91121547e-01 2.06348125e+02] [-1.19963812e-01 9.92394594e-01 2.75980898e-02 1.67749070e+02] [ 1.93063495e-01 -3.94804101e-03 9.81178322e-01 2.39586397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:167.75, Z:23.96 [[ 9.73817668e-01 1.22683090e-01 -1.91384456e-01 2.06374573e+02] [-1.19609627e-01 9.92437991e-01 2.75748171e-02 1.67745933e+02] [ 1.93320168e-01 -3.96142068e-03 9.81127729e-01 2.39634604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:167.74, Z:23.97 [[ 9.73843198e-01 1.22239923e-01 -1.91538056e-01 2.06401673e+02] [-1.19158055e-01 9.92492411e-01 2.75712067e-02 1.67742594e+02] [ 1.93470369e-01 -4.02673000e-03 9.81097855e-01 2.39686780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:167.74, Z:23.97 [[ 9.73707360e-01 1.22317593e-01 -1.92178000e-01 2.06428198e+02] [-1.19228314e-01 9.92483095e-01 2.76028294e-02 1.67739830e+02] [ 1.94109728e-01 -3.96401909e-03 9.80971814e-01 2.39734402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:167.74, Z:23.98 [[ 9.73612395e-01 1.22486010e-01 -1.92551505e-01 2.06455460e+02] [-1.19392916e-01 9.92462529e-01 2.76308001e-02 1.67736734e+02] [ 1.94484540e-01 -3.91240376e-03 9.80897781e-01 2.39788050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.48, Y:167.74, Z:23.98 [[ 9.72986573e-01 1.22245092e-01 -1.95839899e-01 2.06484185e+02] [-1.20511310e-01 9.92494216e-01 2.07907598e-02 1.67738911e+02] [ 1.96911535e-01 3.37179265e-03 9.80415462e-01 2.39831254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.51, Y:167.73, Z:23.99 [[ 9.73401682e-01 1.24978665e-01 -1.92014320e-01 2.06509670e+02] [-1.20612488e-01 9.92106618e-01 3.43087016e-02 1.67727693e+02] [ 1.94786534e-01 -1.02368228e-02 9.80792238e-01 2.39912101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:167.73, Z:23.99 [[ 9.73296859e-01 1.23848750e-01 -1.93273669e-01 2.06538091e+02] [-1.20787231e-01 9.92294901e-01 2.75911912e-02 1.67728787e+02] [ 1.95201611e-01 -3.50942855e-03 9.80756858e-01 2.39948353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:167.73, Z:24.00 [[ 9.72914276e-01 1.25002414e-01 -1.94453613e-01 2.06564882e+02] [-1.22236317e-01 9.92154931e-01 2.62083272e-02 1.67726666e+02] [ 1.96204215e-01 -1.72916235e-03 9.80561531e-01 2.39996116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:167.73, Z:24.00 [[ 9.72486287e-01 1.21770539e-01 -1.98601000e-01 2.06593899e+02] [-1.20952107e-01 9.92524607e-01 1.62939307e-02 1.67730070e+02] [ 1.99100500e-01 8.17558528e-03 9.79944973e-01 2.40035412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:167.72, Z:24.01 [[ 9.72598218e-01 1.24381267e-01 -1.96423031e-01 2.06619323e+02] [-1.20832286e-01 9.92219577e-01 2.99978203e-02 1.67717932e+02] [ 1.98625944e-01 -5.44158273e-03 9.80060265e-01 2.40128660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.65, Y:167.72, Z:24.02 [[ 9.72657270e-01 1.21220812e-01 -1.98099341e-01 2.06647867e+02] [-1.19008476e-01 9.92624928e-01 2.30810479e-02 1.67719090e+02] [ 1.99436248e-01 1.12555168e-03 9.79910157e-01 2.40170162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.68, Y:167.72, Z:24.01 [[ 9.73313042e-01 1.18145688e-01 -1.96731592e-01 2.06677771e+02] [-1.18092677e-01 9.92929550e-01 1.20428152e-02 1.67722770e+02] [ 1.96763417e-01 1.15111312e-02 9.80383421e-01 2.40149335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.70, Y:167.69, Z:24.04 [[ 9.73653172e-01 1.26402411e-01 -1.89794446e-01 2.06699192e+02] [-1.17927326e-01 9.91478502e-01 5.53491372e-02 1.67691449e+02] [ 1.95173378e-01 -3.15089115e-02 9.80262486e-01 2.40368910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:167.70, Z:24.04 [[ 9.73491529e-01 1.20723059e-01 -1.94268334e-01 2.06729374e+02] [-1.17639676e-01 9.92678971e-01 2.73745813e-02 1.67704238e+02] [ 1.96150833e-01 -3.79525924e-03 9.80566391e-01 2.40353108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:167.70, Z:24.04 [[ 9.73521923e-01 1.20332430e-01 -1.94358362e-01 2.06757188e+02] [-1.17243875e-01 9.92726194e-01 2.73601423e-02 1.67700663e+02] [ 1.96236949e-01 -3.84837095e-03 9.80548953e-01 2.40405550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:167.71, Z:24.03 [[ 9.74252223e-01 1.16078463e-01 -1.93283201e-01 2.06789376e+02] [-1.16802704e-01 9.93125413e-01 7.68394555e-03 1.67709894e+02] [ 1.92846400e-01 1.50898995e-02 9.81112920e-01 2.40342821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.81, Y:167.68, Z:24.06 [[ 9.73508846e-01 1.25143270e-01 -1.91362717e-01 2.06809589e+02] [-1.18427086e-01 9.91888033e-01 4.61860953e-02 1.67682252e+02] [ 1.95590268e-01 -2.23000434e-02 9.80432127e-01 2.40568663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:167.69, Z:24.06 [[ 9.73393998e-01 1.21704202e-01 -1.94144823e-01 2.06838949e+02] [-1.18678082e-01 9.92560512e-01 2.71871908e-02 1.67689975e+02] [ 1.96009280e-01 -3.42311316e-03 9.80596066e-01 2.40570715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:167.69, Z:24.06 [[ 9.73456737e-01 1.21579843e-01 -1.93908028e-01 2.06866653e+02] [-1.18564010e-01 9.92575773e-01 2.71276640e-02 1.67686115e+02] [ 1.95766588e-01 -3.41709376e-03 9.80644567e-01 2.40626369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.90, Y:167.69, Z:24.07 [[ 9.72657023e-01 1.19554222e-01 -1.99110783e-01 2.06895212e+02] [-1.18911192e-01 9.92788102e-01 1.52287230e-02 1.67688302e+02] [ 1.99495474e-01 8.86417610e-03 9.79858654e-01 2.40663970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.92, Y:167.67, Z:24.08 [[ 9.73402593e-01 1.23643202e-01 -1.92872369e-01 2.06920775e+02] [-1.18461303e-01 9.92222934e-01 3.82174029e-02 1.67669908e+02] [ 1.96097710e-01 -1.43530068e-02 9.80479311e-01 2.40775601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.95, Y:167.68, Z:24.08 [[ 9.73745921e-01 1.18271434e-01 -1.94501284e-01 2.06949803e+02] [-1.16650317e-01 9.92975483e-01 1.98089391e-02 1.67679211e+02] [ 1.95477838e-01 3.39976272e-03 9.80702226e-01 2.40753188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64275509600003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:206.98, Y:167.67, Z:24.09 [[ 9.73257808e-01 1.20874966e-01 -1.95341962e-01 2.06976231e+02] [-1.17371714e-01 9.92651148e-01 2.94546863e-02 1.67668792e+02] [ 1.97466757e-01 -5.73938251e-03 9.80292783e-01 2.40851882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:167.66, Z:24.09 [[ 9.73298766e-01 1.22331201e-01 -1.94228187e-01 2.07003438e+02] [-1.18786095e-01 9.92471366e-01 2.98404412e-02 1.67664216e+02] [ 1.96416331e-01 -5.97205675e-03 9.80502402e-01 2.40900636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:167.66, Z:24.09 [[ 9.73140862e-01 1.24054803e-01 -1.93925938e-01 2.07031620e+02] [-1.21179211e-01 9.92272338e-01 2.66684653e-02 1.67664778e+02] [ 1.95735695e-01 -2.45238113e-03 9.80653621e-01 2.40945502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:167.66, Z:24.10 [[ 9.73177471e-01 1.23753821e-01 -1.93934530e-01 2.07059392e+02] [-1.20884789e-01 9.92309930e-01 2.66058435e-02 1.67661166e+02] [ 1.95735734e-01 -2.44847276e-03 9.80653623e-01 2.41001724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:167.67, Z:24.10 [[ 9.72422426e-01 1.22374791e-01 -1.98542277e-01 2.07087907e+02] [-1.21739381e-01 9.92441826e-01 1.54514014e-02 1.67665936e+02] [ 1.98932522e-01 9.14512468e-03 9.79970519e-01 2.41035393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:167.65, Z:24.11 [[ 9.72753746e-01 1.27515025e-01 -1.93623519e-01 2.07112401e+02] [-1.22639477e-01 9.91760892e-01 3.70120554e-02 1.67650934e+02] [ 1.96747827e-01 -1.22577284e-02 9.80377499e-01 2.41135776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:167.66, Z:24.11 [[ 9.72606093e-01 1.26432232e-01 -1.95069933e-01 2.07144163e+02] [-1.25294548e-01 9.91952427e-01 1.82115125e-02 1.67659312e+02] [ 1.95802615e-01 6.72857108e-03 9.80620244e-01 2.41114492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.17, Y:167.64, Z:24.13 [[ 9.71548316e-01 1.31875339e-01 -1.96730181e-01 2.07169006e+02] [-1.27473883e-01 9.91226749e-01 3.49276690e-02 1.67644468e+02] [ 1.99610316e-01 -8.85595792e-03 9.79835340e-01 2.41261808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:207.20, Y:167.65, Z:24.13 [[ 9.71772190e-01 1.29011634e-01 -1.97521669e-01 2.07198024e+02] [-1.26774175e-01 9.91641567e-01 2.39856293e-02 1.67648004e+02] [ 1.98965123e-01 1.73207905e-03 9.80005041e-01 2.41283086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:167.64, Z:24.14 [[ 9.71995042e-01 1.30339910e-01 -1.95543207e-01 2.07223995e+02] [-1.26876972e-01 9.91459011e-01 3.01871452e-02 1.67640963e+02] [ 1.97807664e-01 -4.53182555e-03 9.80230376e-01 2.41350984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:167.64, Z:24.14 [[ 9.71893967e-01 1.29292871e-01 -1.96737059e-01 2.07252172e+02] [-1.26504512e-01 9.91605852e-01 2.67290538e-02 1.67640580e+02] [ 1.98541495e-01 -1.08968040e-03 9.80091877e-01 2.41394043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:207.28, Y:167.64, Z:24.14 [[ 9.71916848e-01 1.28651428e-01 -1.97044288e-01 2.07279245e+02] [-1.25854609e-01 9.91689202e-01 2.67047407e-02 1.67637674e+02] [ 1.98842296e-01 -1.15585550e-03 9.80030819e-01 2.41447372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:167.63, Z:24.15 [[ 9.72197829e-01 1.26828488e-01 -1.96839823e-01 2.07306247e+02] [-1.24013814e-01 9.91923586e-01 2.66115237e-02 1.67634454e+02] [ 1.98625162e-01 -1.46080834e-03 9.80074442e-01 2.41498874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:167.63, Z:24.16 [[ 9.72354363e-01 1.25051917e-01 -1.97202969e-01 2.07332800e+02] [-1.22203841e-01 9.92148637e-01 2.65951902e-02 1.67631560e+02] [ 1.98980436e-01 -1.76098893e-03 9.80001880e-01 2.41556157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.36, Y:167.63, Z:24.16 [[ 9.72503614e-01 1.23159777e-01 -1.97657256e-01 2.07359817e+02] [-1.20265540e-01 9.92384581e-01 2.66278689e-02 1.67627892e+02] [ 1.99431495e-01 -2.12434218e-03 9.79909468e-01 2.41603674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:167.62, Z:24.17 [[ 9.72694144e-01 1.21000131e-01 -1.98053200e-01 2.07387527e+02] [-1.16747654e-01 9.92611430e-01 3.30535098e-02 1.67618940e+02] [ 2.00589349e-01 -9.02870895e-03 9.79633807e-01 2.41706370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:167.63, Z:24.17 [[ 9.73537728e-01 1.11797510e-01 -1.99312841e-01 2.07418609e+02] [-1.12355074e-01 9.93631360e-01 8.54740736e-03 1.67631280e+02] [ 1.98999068e-01 1.40725855e-02 9.79898634e-01 2.41655042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:167.61, Z:24.18 [[ 9.73891194e-01 1.14004648e-01 -1.96313227e-01 2.07443026e+02] [-1.10410798e-01 9.93457258e-01 2.91913156e-02 1.67614434e+02] [ 1.98356746e-01 -6.75406515e-03 9.80106619e-01 2.41769752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:167.63, Z:24.17 [[ 9.75459613e-01 1.03240651e-01 -1.94473423e-01 2.07472792e+02] [-1.04263245e-01 9.94537174e-01 4.99852615e-03 1.67626173e+02] [ 1.93927100e-01 1.54005698e-02 9.80895052e-01 2.41690125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:167.61, Z:24.18 [[ 9.75273257e-01 1.05718401e-01 -1.94076518e-01 2.07498072e+02] [-1.03150117e-01 9.94392374e-01 2.33208094e-02 1.67611446e+02] [ 1.95453648e-01 -2.72514624e-03 9.80709154e-01 2.41812917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:167.59, Z:24.21 [[ 9.74376699e-01 1.13818516e-01 -1.93998439e-01 2.07520547e+02] [-1.04193521e-01 9.92796584e-01 5.91494198e-02 1.67585186e+02] [ 1.99333286e-01 -3.74204361e-02 9.79217010e-01 2.42070177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:167.62, Z:24.19 [[ 9.75415100e-01 9.92840225e-02 -1.96743653e-01 2.07557287e+02] [-1.02231641e-01 9.94748762e-01 -4.85722360e-03 1.67622253e+02] [ 1.95228261e-01 2.48512358e-02 9.80442932e-01 2.41858300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:167.59, Z:24.21 [[ 9.74534852e-01 1.09575859e-01 -1.95639855e-01 2.07576506e+02] [-1.02439962e-01 9.93662987e-01 4.62593001e-02 1.67587656e+02] [ 1.99468986e-01 -2.50399609e-02 9.79584159e-01 2.42125631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:167.59, Z:24.21 [[ 9.74566242e-01 1.08642275e-01 -1.96003819e-01 2.07605653e+02] [-1.04115453e-01 9.94008105e-01 3.32845335e-02 1.67592331e+02] [ 1.98445492e-01 -1.20309563e-02 9.80038082e-01 2.42144141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:167.59, Z:24.22 [[ 9.74470462e-01 1.07625588e-01 -1.97038196e-01 2.07633111e+02] [-1.04575745e-01 9.94180928e-01 2.58494691e-02 1.67593693e+02] [ 1.98673681e-01 -4.58412796e-03 9.80054975e-01 2.42178109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:167.60, Z:24.21 [[ 9.75474180e-01 1.05237247e-01 -1.93326787e-01 2.07665397e+02] [-1.05292835e-01 9.94390810e-01 1.00167673e-02 1.67599654e+02] [ 1.93296518e-01 1.05848277e-02 9.81083288e-01 2.42133077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:167.59, Z:24.22 [[ 9.75051482e-01 1.07800842e-01 -1.94045321e-01 2.07692600e+02] [-1.05879520e-01 9.94172208e-01 2.02768022e-02 1.67590278e+02] [ 1.95100322e-01 7.74499438e-04 9.80782985e-01 2.42217667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:167.57, Z:24.24 [[ 9.74011730e-01 1.14163161e-01 -1.95621886e-01 2.07713781e+02] [-1.07068346e-01 9.93163584e-01 4.65023115e-02 1.67573747e+02] [ 1.99593384e-01 -2.43488852e-02 9.79576242e-01 2.42405395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.74, Y:167.58, Z:24.24 [[ 9.73927586e-01 1.10062731e-01 -1.98371499e-01 2.07743235e+02] [-1.07053463e-01 9.93916777e-01 2.58649731e-02 1.67583639e+02] [ 2.00011531e-01 -3.95425473e-03 9.79785564e-01 2.42405472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:167.58, Z:24.25 [[ 9.74132285e-01 1.09660920e-01 -1.97587381e-01 2.07770807e+02] [-1.06676623e-01 9.93961108e-01 2.57179700e-02 1.67581896e+02] [ 1.99214428e-01 -3.97475025e-03 9.79947862e-01 2.42460911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:167.58, Z:24.25 [[ 9.74425828e-01 1.09066478e-01 -1.96465795e-01 2.07801029e+02] [-1.07155621e-01 9.94033721e-01 2.03625896e-02 1.67580570e+02] [ 1.97514501e-01 1.21058100e-03 9.80299218e-01 2.42479312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:167.58, Z:24.26 [[ 9.74770099e-01 1.07210600e-01 -1.95778297e-01 2.07826642e+02] [-1.04464776e-01 9.94230981e-01 2.43283343e-02 1.67577509e+02] [ 1.97257103e-01 -3.26259683e-03 9.80346363e-01 2.42553381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:167.56, Z:24.27 [[ 9.74217873e-01 1.11089346e-01 -1.96363677e-01 2.07853468e+02] [-1.05422525e-01 9.93658034e-01 3.91126984e-02 1.67563237e+02] [ 1.99463350e-01 -1.74031351e-02 9.79750735e-01 2.42690403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:167.57, Z:24.27 [[ 9.74652382e-01 1.05543577e-01 -1.97264513e-01 2.07881498e+02] [-1.03810873e-01 9.94412996e-01 1.91336477e-02 1.67573205e+02] [ 1.98181829e-01 1.82954606e-03 9.80163566e-01 2.42672099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:167.56, Z:24.28 [[ 9.74017307e-01 1.07670676e-01 -1.99241841e-01 2.07907616e+02] [-1.04671983e-01 9.94178425e-01 2.55545708e-02 1.67564789e+02] [ 2.00833418e-01 -4.03555563e-03 9.79617095e-01 2.42772479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:167.55, Z:24.29 [[ 9.73977922e-01 1.11376565e-01 -1.97388621e-01 2.07934226e+02] [-1.04266904e-01 9.93481001e-01 4.60859328e-02 1.67548314e+02] [ 2.01234737e-01 -2.43055807e-02 9.79241451e-01 2.42903280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:167.55, Z:24.29 [[ 9.73715601e-01 1.08918344e-01 -2.00036802e-01 2.07964993e+02] [-1.05554208e-01 9.94034908e-01 2.74392329e-02 1.67554024e+02] [ 2.01832200e-01 -5.60328293e-03 9.79404087e-01 2.42913968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:167.57, Z:24.29 [[ 9.74381710e-01 1.03460389e-01 -1.99690337e-01 2.07992594e+02] [-1.04344239e-01 9.94522397e-01 6.12225607e-03 1.67565499e+02] [ 1.99229924e-01 1.48711220e-02 9.79839929e-01 2.42868096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:167.56, Z:24.29 [[ 9.74829871e-01 1.05572724e-01 -1.96369862e-01 2.08018582e+02] [-1.04412936e-01 9.94400787e-01 1.62792365e-02 1.67557228e+02] [ 1.96988988e-01 4.63406781e-03 9.80394749e-01 2.42918773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:167.55, Z:24.30 [[ 9.74716695e-01 1.08240635e-01 -1.95477184e-01 2.08045846e+02] [-1.05768255e-01 9.94123066e-01 2.30739363e-02 1.67548744e+02] [ 1.96825915e-01 -1.81527016e-03 9.80436772e-01 2.42992788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.07, Y:167.54, Z:24.31 [[ 9.73883062e-01 1.13395841e-01 -1.96705781e-01 2.08071616e+02] [-1.09248098e-01 9.93504232e-01 3.18464248e-02 1.67538447e+02] [ 1.99039278e-01 -9.52496123e-03 9.79945223e-01 2.43096741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:167.55, Z:24.31 [[ 9.73764024e-01 1.09076443e-01 -1.99714684e-01 2.08101928e+02] [-1.08616411e-01 9.93994864e-01 1.32923159e-02 1.67546988e+02] [ 1.99965248e-01 8.74871320e-03 9.79763931e-01 2.43091198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:167.53, Z:24.32 [[ 9.73541247e-01 1.16018743e-01 -1.96868207e-01 2.08125059e+02] [-1.10361614e-01 9.93106060e-01 3.95052818e-02 1.67526214e+02] [ 2.00094362e-01 -1.67333283e-02 9.79633728e-01 2.43236326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:167.53, Z:24.33 [[ 9.73239768e-01 1.15469060e-01 -1.98673728e-01 2.08152966e+02] [-1.12703982e-01 9.93308765e-01 2.52093293e-02 1.67529134e+02] [ 2.00255253e-01 -2.14340146e-03 9.79741415e-01 2.43258529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:167.53, Z:24.33 [[ 9.73058811e-01 1.16008058e-01 -1.99245278e-01 2.08179913e+02] [-1.13247263e-01 9.93246273e-01 2.52368545e-02 1.67525300e+02] [ 2.00827308e-01 -1.99296113e-03 9.79624632e-01 2.43313874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:167.51, Z:24.35 [[ 9.72125657e-01 1.22142474e-01 -2.00132263e-01 2.08207168e+02] [-1.16250522e-01 9.92374252e-01 4.09775549e-02 1.67508864e+02] [ 2.03611204e-01 -1.65698525e-02 9.78911598e-01 2.43466126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:167.52, Z:24.34 [[ 9.72439444e-01 1.15095227e-01 -2.02767397e-01 2.08235872e+02] [-1.15007852e-01 9.93289002e-01 1.22537057e-02 1.67524760e+02] [ 2.02816968e-01 1.14038560e-02 9.79150259e-01 2.43384064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.26, Y:167.51, Z:24.35 [[ 9.72345555e-01 1.17440053e-01 -2.01871138e-01 2.08261943e+02] [-1.14673366e-01 9.93078785e-01 2.53879183e-02 1.67513140e+02] [ 2.03455503e-01 -1.53658668e-03 9.79082988e-01 2.43471962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.082755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:208.29, Y:167.50, Z:24.36 [[ 9.71407814e-01 1.20699721e-01 -2.04446657e-01 2.08289587e+02] [-1.15267091e-01 9.92595084e-01 3.83209805e-02 1.67499797e+02] [ 2.07558078e-01 -1.36593286e-02 9.78127327e-01 2.43597363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:167.51, Z:24.36 [[ 9.72035141e-01 1.15572777e-01 -2.04427537e-01 2.08318004e+02] [-1.15026598e-01 9.93255206e-01 1.45937644e-02 1.67513257e+02] [ 2.04735358e-01 9.32895229e-03 9.78772907e-01 2.43562869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.34, Y:167.50, Z:24.36 [[ 9.72010733e-01 1.17864404e-01 -2.03231682e-01 2.08343425e+02] [-1.15102536e-01 9.93028854e-01 2.53988604e-02 1.67504003e+02] [ 2.04808545e-01 -1.29548287e-03 9.78801196e-01 2.43646009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:167.50, Z:24.37 [[ 9.71782984e-01 1.18207561e-01 -2.04119583e-01 2.08370380e+02] [-1.15434907e-01 9.92988185e-01 2.54803250e-02 1.67501482e+02] [ 2.05700302e-01 -1.19882117e-03 9.78614300e-01 2.43704012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.40, Y:167.51, Z:24.37 [[ 9.72196556e-01 1.14616014e-01 -2.04198496e-01 2.08400614e+02] [-1.14029868e-01 9.93368936e-01 1.46746590e-02 1.67505869e+02] [ 2.04526394e-01 9.01807452e-03 9.78819508e-01 2.43693039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.23275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.43, Y:167.50, Z:24.37 [[ 9.72990018e-01 1.13204032e-01 -2.01184672e-01 2.08428367e+02] [-1.12021946e-01 9.93555324e-01 1.72887576e-02 1.67501863e+02] [ 2.01845259e-01 5.71530998e-03 9.79400749e-01 2.43733614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:167.48, Z:24.39 [[ 9.72007803e-01 1.17570674e-01 -2.03415750e-01 2.08451760e+02] [-1.11183436e-01 9.92886924e-01 4.25887280e-02 1.67482039e+02] [ 2.06976023e-01 -1.87801140e-02 9.78165749e-01 2.43917506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:167.51, Z:24.38 [[ 9.73648884e-01 1.02960089e-01 -2.03487277e-01 2.08486679e+02] [-1.05511045e-01 9.94416682e-01 -1.69780363e-03 1.67507323e+02] [ 2.02176336e-01 2.31232198e-02 9.79076118e-01 2.43777038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:167.49, Z:24.39 [[ 9.74780486e-01 1.03589130e-01 -1.97667136e-01 2.08512898e+02] [-1.02307353e-01 9.94612410e-01 1.67140715e-02 1.67493533e+02] [ 1.98333582e-01 3.93025072e-03 9.80126698e-01 2.43857954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.54, Y:167.49, Z:24.39 [[ 9.75569304e-01 9.82288617e-02 -1.96508584e-01 2.08540340e+02] [-9.74408564e-02 9.95147041e-01 1.36983971e-02 1.67492916e+02] [ 1.96900514e-01 5.78422899e-03 9.80406411e-01 2.43886484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:167.49, Z:24.39 [[ 9.75764122e-01 9.77446681e-02 -1.95781405e-01 2.08568107e+02] [-9.63683259e-02 9.95207858e-01 1.65669816e-02 1.67487590e+02] [ 1.96462527e-01 2.70165998e-03 9.80507612e-01 2.43946011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:167.45, Z:24.43 [[ 9.74557332e-01 1.07899389e-01 -1.96457957e-01 2.08588579e+02] [-9.66360220e-02 9.93124414e-01 6.60709985e-02 1.67453153e+02] [ 2.02236214e-01 -4.54050605e-02 9.78283647e-01 2.44260446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:167.48, Z:24.42 [[ 9.74923139e-01 9.77163618e-02 -1.99940957e-01 2.08624650e+02] [-9.58592773e-02 9.95214079e-01 1.89719584e-02 1.67477477e+02] [ 2.00837927e-01 6.69994460e-04 9.79624254e-01 2.44155510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:167.47, Z:24.43 [[ 9.74674255e-01 9.90849572e-02 -2.00480096e-01 2.08647922e+02] [-9.46806726e-02 9.95010370e-01 3.14632027e-02 1.67468141e+02] [ 2.02597304e-01 -1.16847833e-02 9.79192421e-01 2.44271985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:167.47, Z:24.43 [[ 9.74622079e-01 9.73351697e-02 -2.01587865e-01 2.08675727e+02] [-9.42881898e-02 9.95238836e-01 2.46859574e-02 1.67469099e+02] [ 2.03030884e-01 -5.05212426e-03 9.79159301e-01 2.44309097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:167.47, Z:24.44 [[ 9.74054947e-01 9.97414530e-02 -2.03146754e-01 2.08701595e+02] [-9.67121398e-02 9.95003123e-01 2.48102368e-02 1.67465139e+02] [ 2.04606263e-01 -4.51977665e-03 9.78833923e-01 2.44361514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:167.46, Z:24.44 [[ 9.74978079e-01 1.00943242e-01 -1.98061119e-01 2.08726801e+02] [-9.60345718e-02 9.94788230e-01 3.42598610e-02 1.67456748e+02] [ 2.00487171e-01 -1.43818988e-02 9.79590759e-01 2.44421315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:167.47, Z:24.44 [[ 9.74344782e-01 9.81492912e-02 -2.02531388e-01 2.08756922e+02] [-9.73068776e-02 9.95154015e-01 1.41371309e-02 1.67465166e+02] [ 2.02937473e-01 5.93325718e-03 9.79173722e-01 2.44433665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:167.46, Z:24.45 [[ 9.74423402e-01 9.99130413e-02 -2.01286903e-01 2.08783445e+02] [-9.69678782e-02 9.94986793e-01 2.44645163e-02 1.67455753e+02] [ 2.02722135e-01 -4.32043323e-03 9.79226772e-01 2.44516550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:167.45, Z:24.46 [[ 9.74337860e-01 1.00430217e-01 -2.01443553e-01 2.08811191e+02] [-9.75040244e-02 9.94935433e-01 2.44223212e-02 1.67452533e+02] [ 2.02876068e-01 -4.15403505e-03 9.79195611e-01 2.44572139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:167.48, Z:24.44 [[ 9.76111609e-01 9.09274327e-02 -1.97327973e-01 2.08847467e+02] [-9.67715412e-02 9.95102472e-01 -2.01578707e-02 1.67478423e+02] [ 1.94528650e-01 3.87720637e-02 9.80130262e-01 2.44375757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:167.45, Z:24.45 [[ 9.76181113e-01 1.01029708e-01 -1.91998522e-01 2.08868639e+02] [-9.83128629e-02 9.94874499e-01 2.36497662e-02 1.67447446e+02] [ 1.93403763e-01 -4.21053073e-03 9.81110216e-01 2.44540255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:167.42, Z:24.49 [[ 9.75016202e-01 1.11173210e-01 -1.92312047e-01 2.08887883e+02] [-1.00106210e-01 9.92760860e-01 6.63673195e-02 1.67416762e+02] [ 1.98298141e-01 -4.54575815e-02 9.79087052e-01 2.44852868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:167.47, Z:24.46 [[ 9.76608737e-01 9.33475079e-02 -1.93704977e-01 2.08928753e+02] [-9.85499480e-02 9.94980395e-01 -1.73759086e-02 1.67465444e+02] [ 1.91110657e-01 3.60590795e-02 9.80905938e-01 2.44555191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:167.41, Z:24.50 [[ 9.75385486e-01 1.11158657e-01 -1.90438722e-01 2.08944435e+02] [-1.01028704e-01 9.92941569e-01 6.21308489e-02 1.67411069e+02] [ 1.96000905e-01 -4.13617510e-02 9.79731009e-01 2.44957811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:167.43, Z:24.49 [[ 9.75443071e-01 1.03327629e-01 -1.94510197e-01 2.08975925e+02] [-1.00709057e-01 9.94642327e-01 2.33308143e-02 1.67430657e+02] [ 1.95878793e-01 -3.16894261e-03 9.80622994e-01 2.44903655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:167.43, Z:24.50 [[ 9.75509431e-01 1.02955942e-01 -1.94374441e-01 2.09002808e+02] [-1.00339193e-01 9.94680726e-01 2.32873288e-02 1.67427158e+02] [ 1.95738079e-01 -3.21363429e-03 9.80650945e-01 2.44956630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:167.45, Z:24.48 [[ 9.76787442e-01 9.29911860e-02 -1.92973919e-01 2.09037228e+02] [-9.80120668e-02 9.95046508e-01 -1.66157222e-02 1.67449321e+02] [ 1.90472908e-01 3.51438013e-02 9.81063191e-01 2.44797287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:167.40, Z:24.52 [[ 9.75827946e-01 1.09590106e-01 -1.89076252e-01 2.09053333e+02] [-9.97739275e-02 9.93156593e-01 6.07054008e-02 1.67397086e+02] [ 1.94435037e-01 -4.03731464e-02 9.80084193e-01 2.45158233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:167.42, Z:24.51 [[ 9.74891265e-01 9.96358363e-02 -1.99147486e-01 2.09086737e+02] [-9.99037753e-02 9.94958819e-01 8.72838584e-03 1.67424549e+02] [ 1.99013208e-01 1.13863586e-02 9.79930658e-01 2.45083611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:167.41, Z:24.52 [[ 9.75350481e-01 1.04280429e-01 -1.94466017e-01 2.09112745e+02] [-1.00093878e-01 9.94486834e-01 3.12594528e-02 1.67407751e+02] [ 1.96653642e-01 -1.10240645e-02 9.80411044e-01 2.45189303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:167.41, Z:24.52 [[ 9.75550256e-01 1.04585492e-01 -1.93296594e-01 2.09140336e+02] [-1.00800252e-01 9.94473891e-01 2.93426269e-02 1.67405834e+02] [ 1.95297229e-01 -9.14086194e-03 9.80701503e-01 2.45231045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:167.41, Z:24.52 [[ 9.74978648e-01 1.03028079e-01 -1.96981856e-01 2.09168809e+02] [-1.02401019e-01 9.94653020e-01 1.33940421e-02 1.67413727e+02] [ 1.97308560e-01 7.11223762e-03 9.80315637e-01 2.45235147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:167.40, Z:24.53 [[ 9.75276855e-01 1.06172823e-01 -1.93810186e-01 2.09195469e+02] [-1.01832108e-01 9.94278631e-01 3.22525426e-02 1.67399659e+02] [ 1.96125670e-01 -1.17190586e-02 9.80508738e-01 2.45340952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:167.40, Z:24.54 [[ 9.75087008e-01 1.05926743e-01 -1.94897028e-01 2.09225707e+02] [-1.02579799e-01 9.94352394e-01 2.72158116e-02 1.67397888e+02] [ 1.96679209e-01 -6.54528632e-03 9.80446046e-01 2.45378049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:167.40, Z:24.54 [[ 9.75327212e-01 1.02357093e-01 -1.95601268e-01 2.09250542e+02] [-1.00296911e-01 9.94747670e-01 2.04353125e-02 1.67401015e+02] [ 1.96665604e-01 -3.12913324e-04 9.80470572e-01 2.45414927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:167.41, Z:24.55 [[ 9.74825405e-01 9.67827425e-02 -2.00869437e-01 2.09282357e+02] [-9.76574672e-02 9.95204477e-01 5.57396207e-03 1.67407603e+02] [ 2.00445626e-01 1.41827606e-02 9.79602164e-01 2.45453116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:167.38, Z:24.56 [[ 9.75513388e-01 1.04116039e-01 -1.93735593e-01 2.09305823e+02] [-9.73993641e-02 9.94276526e-01 4.39039095e-02 1.67379707e+02] [ 1.97197854e-01 -2.39591279e-02 9.80070899e-01 2.45591256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:167.40, Z:24.56 [[ 9.75222285e-01 9.22692177e-02 -2.01066869e-01 2.09335149e+02] [-9.24736511e-02 9.95679730e-01 8.39633344e-03 1.67399970e+02] [ 2.00972929e-01 1.04050960e-02 9.79541533e-01 2.45569037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:167.38, Z:24.57 [[ 9.76259783e-01 9.79263428e-02 -1.93202658e-01 2.09357874e+02] [-9.21906244e-02 9.94997570e-01 3.84801857e-02 1.67377984e+02] [ 1.96004399e-01 -1.97551840e-02 9.80404003e-01 2.45687034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:167.40, Z:24.56 [[ 9.77090830e-01 8.58890641e-02 -1.94721798e-01 2.09392400e+02] [-8.83396359e-02 9.96082700e-01 -3.91962930e-03 1.67402499e+02] [ 1.93622361e-01 2.10314866e-02 9.80850681e-01 2.45556669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:167.37, Z:24.58 [[ 9.76736843e-01 9.58745439e-02 -1.91815565e-01 2.09411424e+02] [-8.81622898e-02 9.94931257e-01 4.83653336e-02 1.67367738e+02] [ 1.95480306e-01 -3.03293038e-02 9.80238534e-01 2.45818709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:167.38, Z:24.58 [[ 9.76629157e-01 8.99637621e-02 -1.95197366e-01 2.09441455e+02] [-8.72341867e-02 9.95932496e-01 2.25535003e-02 1.67380543e+02] [ 1.96432397e-01 -4.99852252e-03 9.80504629e-01 2.45804173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:167.38, Z:24.59 [[ 9.76628069e-01 8.93658541e-02 -1.95477260e-01 2.09467536e+02] [-8.66220100e-02 9.95985818e-01 2.25583117e-02 1.67377961e+02] [ 1.96708522e-01 -5.09844718e-03 9.80448756e-01 2.45862157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:167.38, Z:24.59 [[ 9.76717889e-01 8.91101698e-02 -1.95144930e-01 2.09494762e+02] [-8.63761419e-02 9.96008650e-01 2.24929082e-02 1.67375652e+02] [ 1.96370385e-01 -5.11335965e-03 9.80516458e-01 2.45917528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:167.37, Z:24.60 [[ 9.76587634e-01 9.16834041e-02 -1.94604078e-01 2.09525440e+02] [-8.84714421e-02 9.95761110e-01 2.51518469e-02 1.67368711e+02] [ 1.96085179e-01 -7.34607921e-03 9.80559349e-01 2.45982385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:167.37, Z:24.60 [[ 9.76634543e-01 9.05868486e-02 -1.94881995e-01 2.09549243e+02] [-8.80360349e-02 9.95880264e-01 2.17291594e-02 1.67372834e+02] [ 1.96047508e-01 -4.06480959e-03 9.80585974e-01 2.46028292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:167.37, Z:24.60 [[ 9.76804625e-01 9.08105230e-02 -1.93923114e-01 2.09579654e+02] [-8.94728453e-02 9.95866078e-01 1.56640966e-02 1.67373149e+02] [ 1.94543916e-01 2.05009076e-03 9.80891667e-01 2.46040581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:167.36, Z:24.62 [[ 9.76247549e-01 9.56320447e-02 -1.94409964e-01 2.09602497e+02] [-9.15772953e-02 9.95353188e-01 2.97595368e-02 1.67364152e+02] [ 1.96352543e-01 -1.12491362e-02 9.80468835e-01 2.46155541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:167.37, Z:24.62 [[ 9.75959376e-01 9.59035828e-02 -1.95718672e-01 2.09629519e+02] [-9.33389808e-02 9.95384466e-01 2.23069319e-02 1.67365979e+02] [ 1.96954641e-01 -3.50247791e-03 9.80406345e-01 2.46192209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:167.36, Z:24.62 [[ 9.75785283e-01 9.74082711e-02 -1.95843586e-01 2.09656602e+02] [-9.48759298e-02 9.95239450e-01 2.22933934e-02 1.67363295e+02] [ 1.97082824e-01 -3.17272289e-03 9.80381709e-01 2.46242470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:167.36, Z:24.63 [[ 9.75367534e-01 1.00480258e-01 -1.96371820e-01 2.09682761e+02] [-9.80083952e-02 9.94935923e-01 2.22904261e-02 1.67361183e+02] [ 1.97617126e-01 -2.49527102e-03 9.80276107e-01 2.46291110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:167.36, Z:24.63 [[ 9.75152070e-01 1.01807643e-01 -1.96757831e-01 2.09710476e+02] [-9.93582708e-02 9.94801665e-01 2.23065544e-02 1.67358549e+02] [ 1.98005995e-01 -2.20276494e-03 9.80198334e-01 2.46344052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:167.37, Z:24.64 [[ 9.74144893e-01 9.87158086e-02 -2.03216427e-01 2.09740944e+02] [-9.96369455e-02 9.95007425e-01 5.71873475e-03 1.67366586e+02] [ 2.02766383e-01 1.46769878e-02 9.79117143e-01 2.46371571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:167.34, Z:24.65 [[ 9.74786922e-01 1.07268224e-01 -1.95662938e-01 2.09762843e+02] [-1.01376741e-01 9.94047246e-01 3.99102769e-02 1.67341788e+02] [ 1.98779309e-01 -1.90683450e-02 9.79858757e-01 2.46494019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:167.35, Z:24.65 [[ 9.74797875e-01 1.04002028e-01 -1.97364337e-01 2.09792259e+02] [-1.01613958e-01 9.94575795e-01 2.22169315e-02 1.67348353e+02] [ 1.98604399e-01 -1.60204618e-03 9.80078429e-01 2.46501828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:167.35, Z:24.65 [[ 9.74385307e-01 9.97202074e-02 -2.01566747e-01 2.09823156e+02] [-9.98678424e-02 9.94955710e-01 9.46302634e-03 1.67351799e+02] [ 2.01493641e-01 1.09094023e-02 9.79429067e-01 2.46543046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:167.33, Z:24.66 [[ 9.74680168e-01 1.06319847e-01 -1.96709581e-01 2.09846575e+02] [-1.02852857e-01 9.94308374e-01 2.77875335e-02 1.67334297e+02] [ 1.98544350e-01 -6.85181535e-03 9.80067954e-01 2.46626614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:167.33, Z:24.67 [[ 9.75333212e-01 1.04194189e-01 -1.94598808e-01 2.09871496e+02] [-1.00004605e-01 9.94495843e-01 3.12585405e-02 1.67330171e+02] [ 1.96784664e-01 -1.10267158e-02 9.80384724e-01 2.46708692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:167.33, Z:24.67 [[ 9.75530930e-01 1.01341935e-01 -1.95113344e-01 2.09899318e+02] [-9.89916665e-02 9.94849767e-01 2.17851223e-02 1.67331699e+02] [ 1.96316212e-01 -1.93746551e-03 9.80538725e-01 2.46740362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:167.33, Z:24.68 [[ 9.75066398e-01 9.64655355e-02 -1.99849742e-01 2.09929171e+02] [-9.66792394e-02 9.95277453e-01 8.71301978e-03 1.67334576e+02] [ 1.99746448e-01 1.08255482e-02 9.79787816e-01 2.46771521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:167.31, Z:24.69 [[ 9.75972912e-01 1.00481570e-01 -1.93339932e-01 2.09953697e+02] [-9.54953371e-02 9.94815670e-01 3.49631762e-02 1.67314569e+02] [ 1.95850749e-01 -1.56600510e-02 9.80508668e-01 2.46880474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:167.33, Z:24.69 [[ 9.75704359e-01 9.59500346e-02 -1.96963437e-01 2.09984559e+02] [-9.49616302e-02 9.95375630e-01 1.44790814e-02 1.67326054e+02] [ 1.97441874e-01 4.57666624e-03 9.80303912e-01 2.46887266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:167.32, Z:24.70 [[ 9.75496026e-01 9.87694144e-02 -1.96601388e-01 2.10009110e+02] [-9.63598556e-02 9.95107621e-01 2.18082934e-02 1.67318352e+02] [ 1.97793531e-01 -2.32942222e-03 9.80240936e-01 2.46958424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:167.31, Z:24.70 [[ 9.75504094e-01 9.99548373e-02 -1.95961202e-01 2.10036500e+02] [-9.69203755e-02 9.94977145e-01 2.50384031e-02 1.67312785e+02] [ 1.97479626e-01 -5.43243147e-03 9.80291939e-01 2.47019019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:167.31, Z:24.71 [[ 9.75720415e-01 9.97416887e-02 -1.94990428e-01 2.10063935e+02] [-9.66145443e-02 9.94994976e-01 2.55073846e-02 1.67309727e+02] [ 1.96558646e-01 -6.04916459e-03 9.80473409e-01 2.47069853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:167.32, Z:24.71 [[ 9.74817343e-01 9.46015604e-02 -2.01944775e-01 2.10094948e+02] [-9.54565881e-02 9.95418271e-01 5.52321336e-03 1.67319534e+02] [ 2.01542023e-01 1.38928350e-02 9.79381336e-01 2.47096368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:167.30, Z:24.72 [[ 9.75603420e-01 1.01045859e-01 -1.94904338e-01 2.10118628e+02] [-9.55277844e-02 9.94718980e-01 3.75312344e-02 1.67296708e+02] [ 1.97667420e-01 -1.79968211e-02 9.80103926e-01 2.47217163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:167.30, Z:24.72 [[ 9.75604830e-01 9.64735217e-02 -1.97200597e-01 2.10147891e+02] [-9.40844600e-02 9.95332674e-01 2.14704963e-02 1.67304734e+02] [ 1.98351532e-01 -2.39320823e-03 9.80128023e-01 2.47219793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:167.30, Z:24.73 [[ 9.75608633e-01 9.55642100e-02 -1.97624079e-01 2.10175144e+02] [-9.31594072e-02 9.95420083e-01 2.14518997e-02 1.67303067e+02] [ 1.98769011e-01 -2.51811642e-03 9.80043131e-01 2.47268886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:167.30, Z:24.73 [[ 9.75525088e-01 9.44632567e-02 -1.98563580e-01 2.10202519e+02] [-9.20260289e-02 9.95524716e-01 2.14883659e-02 1.67301736e+02] [ 1.99704812e-01 -2.68942233e-03 9.79852415e-01 2.47321186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:167.30, Z:24.74 [[ 9.75558419e-01 9.37494950e-02 -1.98738025e-01 2.10229554e+02] [-9.13065847e-02 9.95591959e-01 2.14419758e-02 1.67299438e+02] [ 1.99872154e-01 -2.77180974e-03 9.79818064e-01 2.47377105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:167.30, Z:24.74 [[ 9.75619804e-01 9.33813317e-02 -1.98609982e-01 2.10256994e+02] [-9.09471991e-02 9.95626536e-01 2.13636960e-02 1.67297467e+02] [ 1.99736339e-01 -2.77982327e-03 9.79845737e-01 2.47433058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:167.30, Z:24.75 [[ 9.75581898e-01 9.16629424e-02 -1.99594254e-01 2.10285513e+02] [-8.98681011e-02 9.95790038e-01 1.80533869e-02 1.67298316e+02] [ 2.00408796e-01 3.24599116e-04 9.79712309e-01 2.47484709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:167.29, Z:24.76 [[ 9.75714460e-01 9.31761156e-02 -1.98241026e-01 2.10310433e+02] [-8.99690182e-02 9.95627114e-01 2.51441143e-02 1.67291592e+02] [ 1.99716972e-01 -6.69792535e-03 9.79830735e-01 2.47555262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:167.29, Z:24.76 [[ 9.75863965e-01 9.15116858e-02 -1.98280440e-01 2.10338605e+02] [-8.90779723e-02 9.95799468e-01 2.11786137e-02 1.67291768e+02] [ 1.99385647e-01 -3.00502643e-03 9.79916493e-01 2.47603546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:167.29, Z:24.77 [[ 9.75793558e-01 9.00252196e-02 -1.99304774e-01 2.10366851e+02] [-8.82808566e-02 9.95939413e-01 1.76401859e-02 1.67292431e+02] [ 2.00083541e-01 3.81616420e-04 9.79778766e-01 2.47661598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:167.29, Z:24.77 [[ 9.76056872e-01 9.15420773e-02 -1.97314548e-01 2.10393502e+02] [-8.83640071e-02 9.95777722e-01 2.48702638e-02 1.67285764e+02] [ 1.98758107e-01 -6.83928775e-03 9.80024713e-01 2.47732511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:167.29, Z:24.78 [[ 9.76153119e-01 9.06573204e-02 -1.97246899e-01 2.10421261e+02] [-8.82671074e-02 9.95877671e-01 2.08945686e-02 1.67285767e+02] [ 1.98328028e-01 -2.98588499e-03 9.80131153e-01 2.47783367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:167.29, Z:24.78 [[ 9.75527745e-01 8.66852560e-02 -2.02067525e-01 2.10451233e+02] [-8.74483062e-02 9.96155667e-01 5.16540204e-03 1.67294113e+02] [ 2.01738474e-01 1.26314698e-02 9.79357970e-01 2.47826422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:167.27, Z:24.79 [[ 9.76565990e-01 9.39272070e-02 -1.93640250e-01 2.10474718e+02] [-8.83401513e-02 9.95391442e-01 3.73081045e-02 1.67271885e+02] [ 1.96252094e-01 -1.93276170e-02 9.80362973e-01 2.47941089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:167.28, Z:24.80 [[ 9.76404432e-01 8.89371551e-02 -1.96785588e-01 2.10503841e+02] [-8.77689806e-02 9.96032870e-01 1.46672742e-02 1.67283367e+02] [ 1.97309380e-01 2.95047891e-03 9.80336832e-01 2.47950792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:167.28, Z:24.80 [[ 9.76414952e-01 8.99670463e-02 -1.96264549e-01 2.10530060e+02] [-8.76330901e-02 9.95940585e-01 2.05619068e-02 1.67277163e+02] [ 1.97317724e-01 -2.87768431e-03 9.80335369e-01 2.48021271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.56, Y:167.27, Z:24.81 [[ 9.77088762e-01 9.12433453e-02 -1.92281574e-01 2.10556367e+02] [-8.72566361e-02 9.95760199e-01 2.91188230e-02 1.67269414e+02] [ 1.94123237e-01 -1.16738314e-02 9.80907687e-01 2.48089642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.58, Y:167.27, Z:24.81 [[ 9.76893466e-01 8.92636125e-02 -1.94193626e-01 2.10584813e+02] [-8.74592574e-02 9.96007927e-01 1.78630405e-02 1.67273733e+02] [ 1.95012910e-01 -4.66257198e-04 9.80800565e-01 2.48123144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:167.27, Z:24.82 [[ 9.76890228e-01 8.96106379e-02 -1.94050033e-01 2.10612341e+02] [-8.73432135e-02 9.95972909e-01 2.02269273e-02 1.67270144e+02] [ 1.95081124e-01 -2.81053413e-03 9.80783083e-01 2.48184888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:167.27, Z:24.82 [[ 9.76886335e-01 9.02231970e-02 -1.93785613e-01 2.10639377e+02] [-8.79855298e-02 9.95918111e-01 2.01410938e-02 1.67268840e+02] [ 1.94811795e-01 -2.62522946e-03 9.80837129e-01 2.48240463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:167.27, Z:24.83 [[ 9.76932526e-01 9.06008364e-02 -1.93376130e-01 2.10666452e+02] [-8.83920144e-02 9.95884192e-01 2.00381860e-02 1.67266920e+02] [ 1.94395708e-01 -2.48304992e-03 9.80920049e-01 2.48292567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:167.27, Z:24.83 [[ 9.76857093e-01 8.97583790e-02 -1.94148532e-01 2.10695757e+02] [-8.78347757e-02 9.95963038e-01 1.85116215e-02 1.67267080e+02] [ 1.95026335e-01 -1.03021604e-03 9.80797465e-01 2.48345250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:167.26, Z:24.84 [[ 9.76642165e-01 9.30578165e-02 -1.93675823e-01 2.10720765e+02] [-9.02591998e-02 9.95647023e-01 2.32439837e-02 1.67260778e+02] [ 1.94995791e-01 -5.22002977e-03 9.80790188e-01 2.48410503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:167.26, Z:24.85 [[ 9.76504442e-01 9.25672511e-02 -1.94603131e-01 2.10748234e+02] [-9.03926711e-02 9.95704460e-01 2.00447950e-02 1.67260606e+02] [ 1.95622697e-01 -1.98313448e-03 9.80677229e-01 2.48453174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:167.26, Z:24.85 [[ 9.76430813e-01 9.16796689e-02 -1.95391159e-01 2.10774531e+02] [-8.98039246e-02 9.95788438e-01 1.84564910e-02 1.67259795e+02] [ 1.96260342e-01 -4.74593620e-04 9.80551708e-01 2.48498445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8427550960001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:210.80, Y:167.26, Z:24.86 [[ 9.75942760e-01 8.99266324e-02 -1.98617547e-01 2.10803841e+02] [-8.91942825e-02 9.95933915e-01 1.26497832e-02 1.67261446e+02] [ 1.98947503e-01 5.37008528e-03 9.79995435e-01 2.48551404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:167.25, Z:24.86 [[ 9.76008120e-01 9.16972165e-02 -1.97483595e-01 2.10830478e+02] [-8.88108845e-02 9.95772612e-01 2.34421108e-02 1.67252406e+02] [ 1.98798331e-01 -5.34099780e-03 9.80025866e-01 2.48629447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:167.25, Z:24.87 [[ 9.75898725e-01 8.95262156e-02 -1.99014411e-01 2.10859600e+02] [-8.75196402e-02 9.95983962e-01 1.88748626e-02 1.67253089e+02] [ 1.99904956e-01 -1.00228473e-03 9.79814780e-01 2.48678685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:167.25, Z:24.87 [[ 9.75870570e-01 9.03812190e-02 -1.98765857e-01 2.10884290e+02] [-8.81110958e-02 9.95904694e-01 2.02552641e-02 1.67249722e+02] [ 1.99782545e-01 -2.25303871e-03 9.79837669e-01 2.48728633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:167.24, Z:24.88 [[ 9.76338047e-01 8.96826242e-02 -1.96776636e-01 2.10912906e+02] [-8.61738637e-02 9.95931878e-01 2.63393191e-02 1.67244018e+02] [ 1.98338304e-01 -8.75907638e-03 9.80094483e-01 2.48798064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:167.24, Z:24.89 [[ 9.75992544e-01 9.00096604e-02 -1.98335106e-01 2.10941593e+02] [-8.60813277e-02 9.95884431e-01 2.83584962e-02 1.67238941e+02] [ 2.00071383e-01 -1.06047316e-02 9.79723931e-01 2.48875636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:167.25, Z:24.89 [[ 9.76534178e-01 8.58878830e-02 -1.97494991e-01 2.10967938e+02] [-8.48764194e-02 9.96298713e-01 1.35966128e-02 1.67246812e+02] [ 1.97931789e-01 3.48511051e-03 9.80209600e-01 2.48870470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:167.24, Z:24.89 [[ 9.76407103e-01 8.67209016e-02 -1.97759080e-01 2.10994110e+02] [-8.48729366e-02 9.96232458e-01 1.78178354e-02 1.67241581e+02] [ 1.98559193e-01 -6.13067172e-04 9.80088706e-01 2.48938884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:167.24, Z:24.90 [[ 9.76425234e-01 8.43715568e-02 -1.98683677e-01 2.11021141e+02] [-8.24241131e-02 9.96433560e-01 1.80672459e-02 1.67239988e+02] [ 1.99499445e-01 -1.26498898e-03 9.79897123e-01 2.48997870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:167.23, Z:24.91 [[ 9.76743010e-01 8.45507206e-02 -1.97038748e-01 2.11048126e+02] [-8.16003608e-02 9.96398334e-01 2.30595009e-02 1.67234290e+02] [ 1.98278778e-01 -6.44477343e-03 9.80124477e-01 2.49057098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:167.24, Z:24.91 [[ 9.76519363e-01 8.25719548e-02 -1.98976898e-01 2.11076104e+02] [-8.10217084e-02 9.96584948e-01 1.59350166e-02 1.67236048e+02] [ 1.99613167e-01 5.60595957e-04 9.79874619e-01 2.49098045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:167.23, Z:24.92 [[ 9.77096867e-01 8.27231710e-02 -1.96057617e-01 2.11101942e+02] [-7.93073679e-02 9.96531046e-01 2.52233371e-02 1.67227725e+02] [ 1.97464057e-01 -9.09683014e-03 9.80267920e-01 2.49171298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:167.24, Z:24.92 [[ 9.76637025e-01 7.79033510e-02 -2.00277779e-01 2.11132464e+02] [-7.75496839e-02 9.96942049e-01 9.62280396e-03 1.67235093e+02] [ 2.00414988e-01 6.13349181e-03 9.79691897e-01 2.49206803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:167.22, Z:24.93 [[ 9.76927881e-01 8.11330163e-02 -1.97558471e-01 2.11158145e+02] [-7.73845346e-02 9.96645509e-01 2.66338714e-02 1.67221824e+02] [ 1.99056649e-01 -1.07314013e-02 9.79929226e-01 2.49296655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.19, Y:167.23, Z:24.93 [[ 9.76749687e-01 7.85318115e-02 -1.99481334e-01 2.11187166e+02] [-7.65920645e-02 9.96910071e-01 1.74346073e-02 1.67225557e+02] [ 2.00234122e-01 -1.75056005e-03 9.79746514e-01 2.49332827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:167.22, Z:24.94 [[ 9.76780505e-01 8.20365267e-02 -1.97913750e-01 2.11212237e+02] [-7.82233030e-02 9.96569568e-01 2.70224201e-02 1.67216525e+02] [ 1.99451646e-01 -1.09135059e-02 9.79846894e-01 2.49400820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:167.23, Z:24.94 [[ 9.76017251e-01 7.68168046e-02 -2.03689728e-01 2.11243151e+02] [-7.68022712e-02 9.97014343e-01 7.98820014e-03 1.67226883e+02] [ 2.03695208e-01 7.84721259e-03 9.79002903e-01 2.49423089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:167.21, Z:24.95 [[ 9.76006080e-01 8.27703740e-02 -2.01398107e-01 2.11265544e+02] [-7.87655640e-02 9.96504564e-01 2.78323674e-02 1.67211299e+02] [ 2.02997828e-01 -1.13013243e-02 9.79113968e-01 2.49516696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:167.21, Z:24.96 [[ 9.76273712e-01 8.08287710e-02 -2.00888900e-01 2.11293912e+02] [-7.74606766e-02 9.96692273e-01 2.45836839e-02 1.67210950e+02] [ 2.02211483e-01 -8.43941425e-03 9.79305515e-01 2.49561191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:167.21, Z:24.96 [[ 9.75907214e-01 7.96882435e-02 -2.03113005e-01 2.11321646e+02] [-7.73024561e-02 9.96813724e-01 1.96654576e-02 1.67209480e+02] [ 2.04032937e-01 -3.49052781e-03 9.78957801e-01 2.49622890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:167.21, Z:24.97 [[ 9.76523225e-01 7.89122955e-02 -2.00437623e-01 2.11346828e+02] [-7.60550342e-02 9.96862475e-01 2.19280136e-02 1.67206560e+02] [ 2.01539135e-01 -6.16892426e-03 9.79461036e-01 2.49662818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:167.23, Z:24.97 [[ 9.74478320e-01 7.05001052e-02 -2.13123765e-01 2.11368910e+02] [-7.53479033e-02 9.97048953e-01 -1.46996377e-02 1.67225670e+02] [ 2.11458500e-01 3.03829071e-02 9.76914624e-01 2.49653820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:167.19, Z:24.98 [[ 9.76416297e-01 8.08083272e-02 -2.00202971e-01 2.11399633e+02] [-7.44133095e-02 9.96453697e-01 3.92770810e-02 1.67189986e+02] [ 2.02666906e-01 -2.34530163e-02 9.78966844e-01 2.49832697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.43, Y:167.20, Z:24.98 [[ 9.76318149e-01 7.15870422e-02 -2.04152312e-01 2.11431420e+02] [-7.11393013e-02 9.97420759e-01 9.54096912e-03 1.67204892e+02] [ 2.04308764e-01 5.20823156e-03 9.78892641e-01 2.49826765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:167.20, Z:24.99 [[ 9.76352573e-01 7.26855046e-02 -2.03598798e-01 2.11458051e+02] [-7.04807677e-02 9.97349479e-01 1.80687278e-02 1.67196594e+02] [ 2.04372490e-01 -3.29164924e-03 9.78887660e-01 2.49911541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:167.19, Z:25.00 [[ 9.76755090e-01 7.47210724e-02 -2.00913551e-01 2.11482949e+02] [-7.12328098e-02 9.97157644e-01 2.45462734e-02 1.67188313e+02] [ 2.02176607e-01 -9.66406073e-03 9.79301397e-01 2.49979104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:167.20, Z:25.00 [[ 9.76718895e-01 6.85096292e-02 -2.03289525e-01 2.11516936e+02] [-6.91508233e-02 9.97598374e-01 3.95583077e-03 1.67199016e+02] [ 2.03072312e-01 1.01939033e-02 9.79110678e-01 2.49987157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:167.17, Z:25.02 [[ 9.77154951e-01 7.73801281e-02 -1.97940691e-01 2.11539845e+02] [-7.09969395e-02 9.96707742e-01 3.91549698e-02 1.67174084e+02] [ 2.00318836e-01 -2.42072893e-02 9.79431657e-01 2.50169026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:167.18, Z:25.02 [[ 9.77070845e-01 7.43670668e-02 -1.99504643e-01 2.11568585e+02] [-7.20258752e-02 9.97222205e-01 1.89775410e-02 1.67184316e+02] [ 2.00361764e-01 -4.17290551e-03 9.79713096e-01 2.50175088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:167.19, Z:25.02 [[ 9.75990543e-01 7.34021122e-02 -2.05072158e-01 2.11596603e+02] [-7.41209030e-02 9.97240481e-01 4.18514768e-03 1.67191079e+02] [ 2.04813456e-01 1.11154690e-02 9.78737909e-01 2.50211589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:167.18, Z:25.03 [[ 9.76204514e-01 7.91357158e-02 -2.01896721e-01 2.11621610e+02] [-7.59146618e-02 9.96833568e-01 2.36601288e-02 1.67177344e+02] [ 2.03129790e-01 -7.77020323e-03 9.79120990e-01 2.50312643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:167.17, Z:25.04 [[ 9.76533036e-01 8.24231230e-02 -1.98971502e-01 2.11649144e+02] [-7.85123330e-02 9.96534347e-01 2.74792424e-02 1.67174315e+02] [ 2.00546860e-01 -1.12126712e-02 9.79619943e-01 2.50372343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:167.18, Z:25.04 [[ 9.76339299e-01 8.26314362e-02 -1.99833980e-01 2.11677372e+02] [-8.04870867e-02 9.96577486e-01 1.88452590e-02 1.67177508e+02] [ 2.00707256e-01 -2.31531205e-03 9.79648527e-01 2.50409407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:167.18, Z:25.05 [[ 9.76204219e-01 8.43135801e-02 -1.99791247e-01 2.11703645e+02] [-8.22175709e-02 9.96437446e-01 1.87799459e-02 1.67175464e+02] [ 2.00662885e-01 -1.90671143e-03 9.79658497e-01 2.50462415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:167.18, Z:25.05 [[ 9.75149057e-01 8.45967371e-02 -2.04762569e-01 2.11733267e+02] [-8.49166335e-02 9.96361752e-01 7.24047448e-03 1.67181150e+02] [ 2.04630113e-01 1.03272062e-02 9.78784893e-01 2.50506283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.76, Y:167.17, Z:25.06 [[ 9.75673912e-01 8.73360888e-02 -2.01079152e-01 2.11760784e+02] [-8.54478785e-02 9.96178803e-01 1.80679820e-02 1.67173072e+02] [ 2.01888776e-01 -4.46671695e-04 9.79408353e-01 2.50557487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.79, Y:167.17, Z:25.06 [[ 9.74353805e-01 8.73457457e-02 -2.07377394e-01 2.11788362e+02] [-8.66347149e-02 9.96161396e-01 1.25259357e-02 1.67174117e+02] [ 2.07675442e-01 5.76138836e-03 9.78180820e-01 2.50636543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.81, Y:167.16, Z:25.07 [[ 9.74752355e-01 9.16314910e-02 -2.03621011e-01 2.11813326e+02] [-8.74928247e-02 9.95735488e-01 2.92547928e-02 1.67160843e+02] [ 2.05433327e-01 -1.07008008e-02 9.78612610e-01 2.50724111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.84, Y:167.16, Z:25.08 [[ 9.75324067e-01 9.10042241e-02 -2.01149685e-01 2.11840261e+02] [-8.74303733e-02 9.95815445e-01 2.65994187e-02 1.67159548e+02] [ 2.02728622e-01 -8.35646121e-03 9.79199303e-01 2.50767425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.87, Y:167.17, Z:25.08 [[ 9.75255772e-01 8.42003040e-02 -2.04417434e-01 2.11869749e+02] [-8.38665715e-02 9.96423642e-01 1.03113299e-02 1.67166684e+02] [ 2.04554582e-01 7.08760533e-03 9.78829499e-01 2.50803647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.89, Y:167.15, Z:25.09 [[ 9.75671753e-01 8.69974200e-02 -2.01236378e-01 2.11894529e+02] [-8.27249755e-02 9.96133903e-01 2.95605484e-02 1.67152109e+02] [ 2.03030070e-01 -1.21941177e-02 9.79096571e-01 2.50904220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:167.16, Z:25.09 [[ 9.76001003e-01 8.03128893e-02 -2.02415121e-01 2.11925241e+02] [-7.95688391e-02 9.96759246e-01 1.18239592e-02 1.67160183e+02] [ 2.02708760e-01 4.56574016e-03 9.79228427e-01 2.50919009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.95, Y:167.15, Z:25.10 [[ 9.77235974e-01 7.80382508e-02 -1.97281225e-01 2.11949927e+02] [-7.38890741e-02 9.96864349e-01 2.83173869e-02 1.67147241e+02] [ 1.98872459e-01 -1.30958422e-02 9.79937878e-01 2.51010181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:167.15, Z:25.10 [[ 9.77246122e-01 7.19232860e-02 -1.99542122e-01 2.11978673e+02] [-7.05218628e-02 9.97410132e-01 1.41313388e-02 1.67154317e+02] [ 2.00041706e-01 2.62286057e-04 9.79787348e-01 2.51033484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:167.15, Z:25.11 [[ 9.77853248e-01 6.91191956e-02 -1.97548888e-01 2.12005196e+02] [-6.61789516e-02 9.97577078e-01 2.14550559e-02 1.67147867e+02] [ 1.98553199e-01 -7.90631775e-03 9.80058221e-01 2.51101641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.03, Y:167.15, Z:25.11 [[ 9.77910289e-01 6.51314901e-02 -1.98618619e-01 2.12033905e+02] [-6.32277427e-02 9.97872153e-01 1.59191522e-02 1.67149311e+02] [ 1.99232827e-01 -3.00929583e-03 9.79947562e-01 2.51148806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:167.15, Z:25.12 [[ 9.78108181e-01 6.29584621e-02 -1.98344697e-01 2.12060046e+02] [-6.05635412e-02 9.97999785e-01 1.81241881e-02 1.67146721e+02] [ 1.99089036e-01 -5.71495942e-03 9.79964742e-01 2.51210347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.25275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.09, Y:167.15, Z:25.13 [[ 9.78251305e-01 5.95598419e-02 -1.98688223e-01 2.12087171e+02] [-5.71012931e-02 9.98204556e-01 1.80860797e-02 1.67145553e+02] [ 1.99408694e-01 -6.34737656e-03 9.79895853e-01 2.51266550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:167.15, Z:25.12 [[ 9.78936394e-01 5.65977278e-02 -1.96163796e-01 2.12115195e+02] [-5.66466172e-02 9.98379872e-01 5.36590900e-03 1.67151531e+02] [ 1.96149683e-01 5.85913183e-03 9.80556461e-01 2.51232690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:167.14, Z:25.13 [[ 9.79490594e-01 5.73000446e-02 -1.93170600e-01 2.12141885e+02] [-5.39518924e-02 9.98288808e-01 2.25532359e-02 1.67139133e+02] [ 1.94132350e-01 -1.16687630e-02 9.80905944e-01 2.51324022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:167.14, Z:25.15 [[ 9.78421811e-01 5.55785873e-02 -1.99001962e-01 2.12169057e+02] [-5.19220352e-02 9.98373423e-01 2.35501835e-02 1.67136661e+02] [ 1.99987156e-01 -1.27094263e-02 9.79716085e-01 2.51456297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:167.15, Z:25.14 [[ 9.78474272e-01 4.92380920e-02 -2.00408856e-01 2.12200025e+02] [-5.01677809e-02 9.98740707e-01 4.40120065e-04 1.67150265e+02] [ 2.00178153e-01 9.62342140e-03 9.79712252e-01 2.51421962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:167.14, Z:25.16 [[ 9.77798024e-01 5.53897136e-02 -2.02096524e-01 2.12223527e+02] [-5.21232389e-02 9.98410196e-01 2.14533865e-02 1.67135589e+02] [ 2.02963527e-01 -1.04431535e-02 9.79130608e-01 2.51559598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:167.14, Z:25.16 [[ 9.77737155e-01 5.42992763e-02 -2.02686073e-01 2.12251906e+02] [-5.18573973e-02 9.98503900e-01 1.73427556e-02 1.67135732e+02] [ 2.03324533e-01 -6.44588428e-03 9.79090182e-01 2.51609744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:167.13, Z:25.17 [[ 9.78340721e-01 5.65309469e-02 -1.99132334e-01 2.12278814e+02] [-5.17299295e-02 9.98233114e-01 2.92346626e-02 1.67126979e+02] [ 2.00433152e-01 -1.83003593e-02 9.79536446e-01 2.51690858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.31, Y:167.13, Z:25.17 [[ 9.78221432e-01 5.46762149e-02 -2.00233217e-01 2.12306167e+02] [-5.21510738e-02 9.98479343e-01 1.78680296e-02 1.67132480e+02] [ 2.00905688e-01 -7.03651220e-03 9.79585316e-01 2.51715364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:167.13, Z:25.18 [[ 9.78229695e-01 5.48887767e-02 -2.00134672e-01 2.12333508e+02] [-5.23797244e-02 9.98468331e-01 1.78145216e-02 1.67130973e+02] [ 2.00805949e-01 -6.94369505e-03 9.79606429e-01 2.51770967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:167.13, Z:25.18 [[ 9.78071638e-01 5.53189762e-02 -2.00787656e-01 2.12361119e+02] [-5.28151928e-02 9.98445479e-01 1.78095591e-02 1.67130011e+02] [ 2.01460734e-01 -6.81438585e-03 9.79472887e-01 2.51831596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:167.14, Z:25.19 [[ 9.77153078e-01 5.19724319e-02 -2.06084276e-01 2.12390243e+02] [-5.21926397e-02 9.98627467e-01 4.37151016e-03 1.67138062e+02] [ 2.06028616e-01 6.48444775e-03 9.78524482e-01 2.51871915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.41, Y:167.12, Z:25.20 [[ 9.78000676e-01 5.78700262e-02 -2.00413915e-01 2.12414421e+02] [-5.25514590e-02 9.98112993e-01 3.17615799e-02 1.67119716e+02] [ 2.01873776e-01 -2.05308030e-02 9.79196336e-01 2.51977785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:167.13, Z:25.20 [[ 9.77324835e-01 5.28192085e-02 -2.05051938e-01 2.12445327e+02] [-5.23745543e-02 9.98598597e-01 7.59922030e-03 1.67133272e+02] [ 2.05165962e-01 3.31259713e-03 9.78721592e-01 2.51991769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:167.13, Z:25.21 [[ 9.76946604e-01 5.42847443e-02 -2.06466705e-01 2.12472763e+02] [-5.27958555e-02 9.98524332e-01 1.27183040e-02 1.67128607e+02] [ 2.06852439e-01 -1.52451759e-03 9.78370965e-01 2.52067384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:167.11, Z:25.22 [[ 9.77873651e-01 5.98898863e-02 -2.00440326e-01 2.12499388e+02] [-5.41882982e-02 9.97957936e-01 3.38169390e-02 1.67114345e+02] [ 2.02056306e-01 -2.22071735e-02 9.79122102e-01 2.52163843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.73275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.53, Y:167.12, Z:25.22 [[ 9.77783447e-01 5.73188351e-02 -2.01628573e-01 2.12527909e+02] [-5.49036548e-02 9.98337318e-01 1.75552857e-02 1.67122310e+02] [ 2.02299578e-01 -6.09512215e-03 9.79304718e-01 2.52182280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:167.12, Z:25.22 [[ 9.77785669e-01 5.82438373e-02 -2.01352527e-01 2.12555366e+02] [-5.58605545e-02 9.98285148e-01 1.75031730e-02 1.67120626e+02] [ 2.02026689e-01 -5.86668789e-03 9.79362445e-01 2.52239385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:167.14, Z:25.22 [[ 9.77244709e-01 5.51389096e-02 -2.04823043e-01 2.12586931e+02] [-5.94717140e-02 9.98116475e-01 -1.50537932e-02 1.67140144e+02] [ 2.03607204e-01 2.68924172e-02 9.78683250e-01 2.52161427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:167.11, Z:25.24 [[ 9.77728670e-01 6.66631283e-02 -1.99004208e-01 2.12608289e+02] [-5.99916261e-02 9.97421995e-01 3.93747330e-02 1.67106327e+02] [ 2.01116017e-01 -2.65592193e-02 9.79207310e-01 2.52361837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.64, Y:167.12, Z:25.24 [[ 9.77200413e-01 6.51762062e-02 -2.02067849e-01 2.12637867e+02] [-6.33014068e-02 9.97870426e-01 1.57335656e-02 1.67118531e+02] [ 2.02662985e-01 -2.58366761e-03 9.79245137e-01 2.52363783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.67, Y:167.12, Z:25.24 [[ 9.76764787e-01 6.52444256e-02 -2.04141413e-01 2.12667497e+02] [-6.40043230e-02 9.97869080e-01 1.26785934e-02 1.67118145e+02] [ 2.04533611e-01 6.81929297e-04 9.78859304e-01 2.52425328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.70, Y:167.11, Z:25.25 [[ 9.76705044e-01 6.68109009e-02 -2.03920477e-01 2.12695580e+02] [-6.44723144e-02 9.97755377e-01 1.80977456e-02 1.67112585e+02] [ 2.04671879e-01 -4.52893426e-03 9.78820163e-01 2.52496288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.72, Y:167.10, Z:25.26 [[ 9.76645335e-01 7.37529331e-02 -2.01802861e-01 2.12719865e+02] [-6.86244158e-02 9.97119465e-01 3.23026619e-02 1.67100280e+02] [ 2.03603977e-01 -1.76996406e-02 9.78893326e-01 2.52572954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.75, Y:167.12, Z:25.25 [[ 9.76179728e-01 6.52398825e-02 -2.06922441e-01 2.12754126e+02] [-6.87744315e-02 9.97582850e-01 -9.92651122e-03 1.67123349e+02] [ 2.05774674e-01 2.39210323e-02 9.78306991e-01 2.52512525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.78, Y:167.10, Z:25.26 [[ 9.76553277e-01 7.42827675e-02 -2.02053875e-01 2.12775375e+02] [-7.07753859e-02 9.97190403e-01 2.45386429e-02 1.67097981e+02] [ 2.03308983e-01 -9.66285123e-03 9.79066947e-01 2.52627745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.80, Y:167.09, Z:25.27 [[ 9.76095089e-01 7.33777678e-02 -2.04582698e-01 2.12802081e+02] [-6.96327247e-02 9.97247875e-01 2.54550481e-02 1.67094633e+02] [ 2.05887495e-01 -1.06008967e-02 9.78518247e-01 2.52729347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.83, Y:167.09, Z:25.28 [[ 9.76381153e-01 7.33584832e-02 -2.03220021e-01 2.12830301e+02] [-6.98288653e-02 9.97258217e-01 2.44944477e-02 1.67090770e+02] [ 2.04459711e-01 -9.72529358e-03 9.78826668e-01 2.52779991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.86, Y:167.09, Z:25.28 [[ 9.76346270e-01 6.82169997e-02 -2.05169204e-01 2.12858745e+02] [-6.72088239e-02 9.97668118e-01 1.18869751e-02 1.67093197e+02] [ 2.05501667e-01 2.18337704e-03 9.78654330e-01 2.52819978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.88, Y:167.07, Z:25.29 [[ 9.77351218e-01 7.56995828e-02 -1.97621279e-01 2.12879585e+02] [-6.97224158e-02 9.96878520e-01 3.70405454e-02 1.67072230e+02] [ 1.99808362e-01 -2.24229892e-02 9.79578393e-01 2.52901317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:167.10, Z:25.28 [[ 9.77190705e-01 6.22512858e-02 -2.03034736e-01 2.12917282e+02] [-6.56167067e-02 9.97795989e-01 -9.87984898e-03 1.67098630e+02] [ 2.01972212e-01 2.29769673e-02 9.79121690e-01 2.52844767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:212.94, Y:167.07, Z:25.30 [[ 9.77317646e-01 6.76404120e-02 -2.00686308e-01 2.12938572e+02] [-6.33573336e-02 9.97606516e-01 2.76963374e-02 1.67070425e+02] [ 2.02079360e-01 -1.43531699e-02 9.79263968e-01 2.53004583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.97, Y:167.07, Z:25.30 [[ 9.78050043e-01 6.79061917e-02 -1.96994577e-01 2.12965049e+02] [-6.66766760e-02 9.97691563e-01 1.28750180e-02 1.67072549e+02] [ 1.97414121e-01 5.42531637e-04 9.80320035e-01 2.52967488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.00, Y:167.07, Z:25.30 [[ 9.78021327e-01 6.52619606e-02 -1.98028181e-01 2.12995320e+02] [-6.43148001e-02 9.97866606e-01 1.12180247e-02 1.67067590e+02] [ 1.98337819e-01 1.76467545e-03 9.80132132e-01 2.53034760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:167.06, Z:25.32 [[ 9.76995943e-01 6.52004631e-02 -2.03046366e-01 2.13021035e+02] [-6.27799939e-02 9.97858759e-01 1.83458285e-02 1.67059406e+02] [ 2.03807751e-01 -5.17655039e-03 9.78997244e-01 2.53156392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.05, Y:167.05, Z:25.32 [[ 9.77296794e-01 6.48349071e-02 -2.01711209e-01 2.13047841e+02] [-6.17704015e-02 9.97859716e-01 2.14570457e-02 1.67053732e+02] [ 2.02670656e-01 -8.51011955e-03 9.79209979e-01 2.53214329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.08, Y:167.05, Z:25.33 [[ 9.77136397e-01 6.32360651e-02 -2.02991780e-01 2.13075764e+02] [-6.10034495e-02 9.97988607e-01 1.72429723e-02 1.67050741e+02] [ 2.03673862e-01 -4.46553703e-03 9.79028609e-01 2.53257880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.11, Y:167.04, Z:25.33 [[ 9.76939969e-01 6.46027455e-02 -2.03506222e-01 2.13106433e+02] [-6.25763376e-02 9.97905700e-01 1.63833939e-02 1.67044864e+02] [ 2.04138431e-01 -3.27091831e-03 9.78936567e-01 2.53307893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.13, Y:167.04, Z:25.33 [[ 9.77020799e-01 6.30973919e-02 -2.03590465e-01 2.13134399e+02] [-6.22356223e-02 9.98004779e-01 1.06390111e-02 1.67044731e+02] [ 2.03855551e-01 2.27604414e-03 9.78998332e-01 2.53332591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:167.03, Z:25.34 [[ 9.76683127e-01 6.72380220e-02 -2.03885061e-01 2.13157599e+02] [-6.30042002e-02 9.97642709e-01 2.71936704e-02 1.67030060e+02] [ 2.05232894e-01 -1.37139838e-02 9.78617078e-01 2.53438252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:167.03, Z:25.35 [[ 9.76562422e-01 6.66190564e-02 -2.04664939e-01 2.13185507e+02] [-6.44527616e-02 9.97771825e-01 1.72402394e-02 1.67033710e+02] [ 2.05357438e-01 -3.64494947e-03 9.78680253e-01 2.53470911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.22, Y:167.03, Z:25.35 [[ 9.76146958e-01 6.86123353e-02 -2.05984133e-01 2.13215408e+02] [-6.75138560e-02 9.97641707e-01 1.23654289e-02 1.67034605e+02] [ 2.06346783e-01 1.83630731e-03 9.78477201e-01 2.53524262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:167.03, Z:25.36 [[ 9.75875540e-01 7.17712158e-02 -2.06193655e-01 2.13241781e+02] [-6.94502926e-02 9.97414201e-01 1.84815970e-02 1.67027522e+02] [ 2.06986926e-01 -3.71552878e-03 9.78336653e-01 2.53597982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:167.02, Z:25.37 [[ 9.75862119e-01 7.39605732e-02 -2.05482260e-01 2.13267066e+02] [-7.09280648e-02 9.97236686e-01 2.20952668e-02 1.67021984e+02] [ 2.06548627e-01 -6.98747479e-03 9.78411386e-01 2.53657914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.29, Y:167.00, Z:25.38 [[ 9.74531921e-01 8.11917758e-02 -2.09034518e-01 2.13294301e+02] [-7.41760006e-02 9.96393762e-01 4.11994088e-02 1.67003346e+02] [ 2.11625743e-01 -2.46447945e-02 9.77040009e-01 2.53841559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:167.03, Z:25.37 [[ 9.75637597e-01 6.95484039e-02 -2.08072823e-01 2.13324425e+02] [-7.19622095e-02 9.97399160e-01 -4.04434147e-03 1.67030024e+02] [ 2.07250381e-01 1.89191917e-02 9.78104976e-01 2.53711209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.35, Y:167.02, Z:25.38 [[ 9.75388243e-01 7.22418239e-02 -2.08324015e-01 2.13348784e+02] [-7.15342425e-02 9.97378163e-01 1.09385304e-02 1.67018108e+02] [ 2.08568043e-01 4.23298663e-03 9.77998698e-01 2.53818216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.37, Y:167.00, Z:25.40 [[ 9.75534700e-01 7.77336866e-02 -2.05644165e-01 2.13373906e+02] [-7.10947742e-02 9.96687571e-01 3.94894745e-02 1.66998946e+02] [ 2.08032646e-01 -2.39031271e-02 9.77829770e-01 2.53984349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.40, Y:167.02, Z:25.39 [[ 9.76430722e-01 6.77363985e-02 -2.04926389e-01 2.13404552e+02] [-6.93396903e-02 9.97592899e-01 -6.44396127e-04 1.67023176e+02] [ 2.04389461e-01 1.48387405e-02 9.78777176e-01 2.53873327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.43, Y:167.00, Z:25.41 [[ 9.75440582e-01 7.39746191e-02 -2.07469100e-01 2.13430294e+02] [-6.93491142e-02 9.97156468e-01 2.94903172e-02 1.67000067e+02] [ 2.09060690e-01 -1.43782538e-02 9.77796959e-01 2.54083602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.46, Y:167.00, Z:25.41 [[ 9.76207933e-01 7.26928135e-02 -2.04288587e-01 2.13458304e+02] [-6.80388893e-02 9.97239818e-01 2.97229751e-02 1.66997452e+02] [ 2.05885360e-01 -1.51162355e-02 9.78459359e-01 2.54137887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:167.03, Z:25.40 [[ 9.77613846e-01 5.99676198e-02 -2.01680572e-01 2.13488229e+02] [-6.47190917e-02 9.97757986e-01 -1.70423391e-02 1.67026836e+02] [ 2.00206412e-01 2.97134101e-02 9.79303071e-01 2.53965125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.51, Y:167.00, Z:25.41 [[ 9.77892211e-01 6.46738214e-02 -1.98857038e-01 2.13513636e+02] [-6.27739696e-02 9.97901897e-01 1.58503472e-02 1.67003576e+02] [ 1.99464917e-01 -3.01688546e-03 9.79900324e-01 2.54112598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.54, Y:167.00, Z:25.42 [[ 9.78310292e-01 6.40714463e-02 -1.96986861e-01 2.13542304e+02] [-6.21343152e-02 9.97939460e-01 1.60050495e-02 1.67001177e+02] [ 1.97606428e-01 -3.41826096e-03 9.80275479e-01 2.54172120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.57, Y:166.99, Z:25.43 [[ 9.77472979e-01 6.59490108e-02 -2.00492651e-01 2.13567881e+02] [-6.19956619e-02 9.97739265e-01 2.59402686e-02 1.66992546e+02] [ 2.01750125e-01 -1.29262371e-02 9.79351724e-01 2.54294127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.60, Y:167.00, Z:25.43 [[ 9.77402867e-01 6.30184101e-02 -2.01772933e-01 2.13595944e+02] [-6.10523134e-02 9.98006976e-01 1.59590624e-02 1.66997167e+02] [ 2.02376509e-01 -3.27972900e-03 9.79302299e-01 2.54321993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.62, Y:166.99, Z:25.44 [[ 9.76826072e-01 6.32796293e-02 -2.04466413e-01 2.13622385e+02] [-6.12792169e-02 9.97990692e-01 1.61070188e-02 1.66994158e+02] [ 2.05074824e-01 -3.20421424e-03 9.78741053e-01 2.54398219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.65, Y:167.00, Z:25.44 [[ 9.77849571e-01 5.73243540e-02 -2.01306075e-01 2.13652048e+02] [-5.79383627e-02 9.98316107e-01 2.84553198e-03 1.67002878e+02] [ 2.01130215e-01 8.88084213e-03 9.79524256e-01 2.54351861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.68, Y:166.99, Z:25.45 [[ 9.78280725e-01 6.19489599e-02 -1.97810892e-01 2.13675914e+02] [-5.84219438e-02 9.98012454e-01 2.36224195e-02 1.66987650e+02] [ 1.98881118e-01 -1.15528608e-02 9.79955526e-01 2.54457090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.71, Y:167.00, Z:25.45 [[ 9.77754819e-01 5.73565358e-02 -2.01756641e-01 2.13706440e+02] [-5.76166755e-02 9.98328237e-01 4.58803797e-03 1.66997135e+02] [ 2.01682505e-01 7.13857067e-03 9.79424937e-01 2.54472266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.73, Y:166.98, Z:25.46 [[ 9.77380229e-01 6.25776217e-02 -2.02019624e-01 2.13730973e+02] [-5.78179598e-02 9.97894674e-01 2.93820200e-02 1.66978524e+02] [ 2.03432964e-01 -1.70370429e-02 9.78940636e-01 2.54648803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.76, Y:166.99, Z:25.46 [[ 9.77845744e-01 5.62370955e-02 -2.01631074e-01 2.13761923e+02] [-5.71510625e-02 9.98364708e-01 1.29051630e-03 1.66994507e+02] [ 2.01373923e-01 1.02615042e-02 9.79460691e-01 2.54578751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.79, Y:166.98, Z:25.47 [[ 9.78568522e-01 5.92214924e-02 -1.97221860e-01 2.13787089e+02] [-5.59870106e-02 9.98190391e-01 2.19407645e-02 1.66980646e+02] [ 1.98164330e-01 -1.04286792e-02 9.80113331e-01 2.54667361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.82, Y:166.99, Z:25.46 [[ 9.78251169e-01 5.40232217e-02 -2.00265180e-01 2.13817007e+02] [-5.56984622e-02 9.98443887e-01 -2.73602381e-03 1.66993930e+02] [ 1.99805736e-01 1.38309811e-02 9.79737910e-01 2.54647321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:166.98, Z:25.47 [[ 9.78288917e-01 5.70268485e-02 -1.99245408e-01 2.13842386e+02] [-5.54159342e-02 9.98369952e-01 1.36570159e-02 1.66981788e+02] [ 1.99699445e-01 -2.31913684e-03 9.79854455e-01 2.54743975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.87, Y:166.99, Z:25.48 [[ 9.78243563e-01 5.52764219e-02 -1.99960119e-01 2.13871510e+02] [-5.55008516e-02 9.98448556e-01 4.48745894e-03 1.66985049e+02] [ 1.99897943e-01 6.70812909e-03 9.79793761e-01 2.54762112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:166.96, Z:25.50 [[ 9.77227011e-01 6.21587456e-02 -2.02888291e-01 2.13894346e+02] [-5.55311273e-02 9.97725840e-01 3.82026437e-02 1.66962256e+02] [ 2.04801519e-01 -2.60660398e-02 9.78456386e-01 2.54983851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.92, Y:166.96, Z:25.51 [[ 9.77090572e-01 6.36029492e-02 -2.03097706e-01 2.13922145e+02] [-5.63673214e-02 9.97558835e-01 4.12200889e-02 1.66958444e+02] [ 2.05223630e-01 -2.88276866e-02 9.78290461e-01 2.55068709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.96, Y:166.99, Z:25.50 [[ 9.76720255e-01 5.38508649e-02 -2.07647848e-01 2.13955139e+02] [-5.65152124e-02 9.98377786e-01 -6.91577322e-03 1.66986716e+02] [ 2.06938578e-01 1.84900380e-02 9.78179198e-01 2.54985437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:166.97, Z:25.51 [[ 9.77042137e-01 6.04171717e-02 -2.04299850e-01 2.13978344e+02] [-5.72912266e-02 9.98132679e-01 2.11865598e-02 1.66967793e+02] [ 2.05198389e-01 -8.99557270e-03 9.78679059e-01 2.55106528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.01, Y:166.97, Z:25.51 [[ 9.77036478e-01 5.90386522e-02 -2.04729476e-01 2.14006826e+02] [-5.70548023e-02 9.98249399e-01 1.55848393e-02 1.66969216e+02] [ 2.05291184e-01 -3.54615678e-03 9.78694515e-01 2.55148380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.04, Y:166.97, Z:25.52 [[ 9.76334096e-01 5.61459242e-02 -2.08852501e-01 2.14036851e+02] [-5.64747063e-02 9.98394363e-01 4.39349696e-03 1.66974953e+02] [ 2.08763837e-01 7.50536280e-03 9.77937283e-01 2.55190882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.06, Y:166.96, Z:25.53 [[ 9.76996534e-01 6.14904527e-02 -2.04197690e-01 2.14060490e+02] [-5.71252422e-02 9.97996173e-01 2.72092831e-02 1.66959666e+02] [ 2.05461624e-01 -1.49185328e-02 9.78551459e-01 2.55288826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:166.96, Z:25.53 [[ 9.77036179e-01 6.01250475e-02 -2.04414488e-01 2.14088761e+02] [-5.76574165e-02 9.98173931e-01 1.80118014e-02 1.66964454e+02] [ 2.05124173e-01 -5.81217033e-03 9.78718699e-01 2.55313726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:166.97, Z:25.54 [[ 9.76920957e-01 5.87878160e-02 -2.05351982e-01 2.14117946e+02] [-5.73818889e-02 9.98270240e-01 1.28002535e-02 1.66966247e+02] [ 2.05749271e-01 -7.21351309e-04 9.78604474e-01 2.55360213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:166.98, Z:25.53 [[ 9.77620881e-01 5.35445621e-02 -2.03446289e-01 2.14146479e+02] [-5.57938610e-02 9.98428070e-01 -5.33236447e-03 1.66979252e+02] [ 2.02840966e-01 1.65640848e-02 9.79071588e-01 2.55308283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.17, Y:166.95, Z:25.55 [[ 9.76768261e-01 6.14983906e-02 -2.05284467e-01 2.14170884e+02] [-5.62013943e-02 9.97921135e-01 3.15406500e-02 1.66953185e+02] [ 2.06797408e-01 -1.92706325e-02 9.78193986e-01 2.55536065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:166.97, Z:25.54 [[ 9.77402631e-01 4.95706928e-02 -2.05491710e-01 2.14204560e+02] [-5.17531536e-02 9.98646076e-01 -5.25612778e-03 1.66974504e+02] [ 2.04952940e-01 1.57721972e-02 9.78644742e-01 2.55446960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:166.94, Z:25.57 [[ 9.76580553e-01 6.12288435e-02 -2.06255795e-01 2.14226878e+02] [-5.43265067e-02 9.97762511e-01 3.89692554e-02 1.66941815e+02] [ 2.08180342e-01 -2.68514601e-02 9.77721813e-01 2.55699394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.26, Y:166.95, Z:25.57 [[ 9.76506603e-01 5.55956861e-02 -2.08192158e-01 2.14256853e+02] [-5.34941269e-02 9.98444491e-01 1.57154740e-02 1.66953639e+02] [ 2.08742026e-01 -4.20920645e-03 9.77961681e-01 2.55691513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:166.97, Z:25.56 [[ 9.77142273e-01 4.85474246e-02 -2.06968901e-01 2.14286825e+02] [-5.18921780e-02 9.98594732e-01 -1.07592895e-02 1.66969473e+02] [ 2.06155719e-01 2.12534236e-02 9.78288358e-01 2.55616657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:166.94, Z:25.58 [[ 9.76769155e-01 5.81137414e-02 -2.06263934e-01 2.14309719e+02] [-5.23781785e-02 9.98076483e-01 3.31641567e-02 1.66939639e+02] [ 2.07794475e-01 -2.15899961e-02 9.77934215e-01 2.55831310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:166.95, Z:25.59 [[ 9.76122554e-01 5.26747104e-02 -2.10737123e-01 2.14340979e+02] [-5.11950382e-02 9.98610759e-01 1.24747886e-02 1.66949679e+02] [ 2.11101465e-01 -1.38822738e-03 9.77463168e-01 2.55863208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:166.95, Z:25.59 [[ 9.76098623e-01 5.31805897e-02 -2.10720912e-01 2.14368524e+02] [-5.09885004e-02 9.98573833e-01 1.58263378e-02 1.66945875e+02] [ 2.11262043e-01 -4.70372319e-03 9.77418142e-01 2.55933829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.40, Y:166.95, Z:25.59 [[ 9.76934586e-01 5.09861472e-02 -2.07362551e-01 2.14397293e+02] [-5.05863047e-02 9.98693495e-01 7.23381806e-03 1.66950739e+02] [ 2.07460455e-01 3.42273813e-03 9.78237417e-01 2.55927539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.42, Y:166.93, Z:25.61 [[ 9.76150028e-01 5.81697236e-02 -2.09158808e-01 2.14423288e+02] [-5.24040642e-02 9.98080314e-01 3.30075858e-02 1.66930592e+02] [ 2.10677331e-01 -2.12595842e-02 9.77324456e-01 2.56121162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:166.95, Z:25.61 [[ 9.76494429e-01 5.28190919e-02 -2.08970751e-01 2.14453266e+02] [-5.29179337e-02 9.98585729e-01 5.12188423e-03 1.66947123e+02] [ 2.08945743e-01 6.05680893e-03 9.77908478e-01 2.56068400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.48, Y:166.94, Z:25.61 [[ 9.76507373e-01 5.52065598e-02 -2.08292071e-01 2.14481287e+02] [-5.34859765e-02 9.98472020e-01 1.38879739e-02 1.66939278e+02] [ 2.08740512e-01 -2.42100411e-03 9.77968066e-01 2.56149653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:166.94, Z:25.62 [[ 9.76441190e-01 5.56126177e-02 -2.08494218e-01 2.14508465e+02] [-5.38624467e-02 9.98449277e-01 1.40668959e-02 1.66936744e+02] [ 2.08953198e-01 -2.50548789e-03 9.77922432e-01 2.56207563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.53, Y:166.93, Z:25.63 [[ 9.76345764e-01 5.75931480e-02 -2.08403402e-01 2.14532953e+02] [-5.30985307e-02 9.98221427e-01 2.71021912e-02 1.66927549e+02] [ 2.09593642e-01 -1.53951951e-02 9.77667374e-01 2.56321071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.56, Y:166.94, Z:25.63 [[ 9.76739857e-01 5.19985208e-02 -2.08027413e-01 2.14563972e+02] [-5.33671376e-02 9.98574490e-01 -9.68208886e-04 1.66942723e+02] [ 2.07680523e-01 1.20475158e-02 9.78122517e-01 2.56263330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.59, Y:166.92, Z:25.64 [[ 9.76484660e-01 5.81426854e-02 -2.07598501e-01 2.14587029e+02] [-5.28075687e-02 9.98118626e-01 3.11539653e-02 1.66921249e+02] [ 2.09019306e-01 -1.94585971e-02 9.77717900e-01 2.56439543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.61, Y:166.93, Z:25.65 [[ 9.76419786e-01 5.44944465e-02 -2.08889342e-01 2.14614834e+02] [-5.24571151e-02 9.98506194e-01 1.52850177e-02 1.66929074e+02] [ 2.09410250e-01 -3.96686144e-03 9.77819826e-01 2.56450693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.64, Y:166.93, Z:25.65 [[ 9.76612006e-01 5.27516790e-02 -2.08437641e-01 2.14642352e+02] [-5.06903406e-02 9.98598400e-01 1.52225243e-02 1.66927784e+02] [ 2.08948508e-01 -4.30072502e-03 9.77917187e-01 2.56504708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.67, Y:166.93, Z:25.66 [[ 9.76410279e-01 5.12178202e-02 -2.09761061e-01 2.14670303e+02] [-4.99263596e-02 9.98687255e-01 1.14509987e-02 1.66928347e+02] [ 2.10072194e-01 -7.08266716e-04 9.77685620e-01 2.56555113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.70, Y:166.92, Z:25.66 [[ 9.76696080e-01 5.07689380e-02 -2.08536048e-01 2.14696836e+02] [-4.78894571e-02 9.98675003e-01 1.88371477e-02 1.66921926e+02] [ 2.09216080e-01 -8.41149016e-03 9.77833257e-01 2.56630362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:166.92, Z:25.67 [[ 9.76670503e-01 4.93212319e-02 -2.09002741e-01 2.14723451e+02] [-4.72102491e-02 9.98771138e-01 1.50800188e-02 1.66922378e+02] [ 2.09489670e-01 -4.86113811e-03 9.77798777e-01 2.56679475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:166.92, Z:25.67 [[ 9.76673651e-01 4.83719614e-02 -2.09209780e-01 2.14750956e+02] [-4.62416481e-02 9.98816679e-01 1.50648912e-02 1.66921112e+02] [ 2.09690936e-01 -5.03927730e-03 9.77754733e-01 2.56737517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:166.92, Z:25.68 [[ 9.76307942e-01 4.67054483e-02 -2.11285126e-01 2.14779014e+02] [-4.59922029e-02 9.98907388e-01 8.29147060e-03 1.66924020e+02] [ 2.11441530e-01 1.62243978e-03 9.77389302e-01 2.56779879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.81, Y:166.92, Z:25.68 [[ 9.77027094e-01 4.58056671e-02 -2.08134326e-01 2.14810300e+02] [-4.56872546e-02 9.98941312e-01 5.37867805e-03 1.66924329e+02] [ 2.08160351e-01 4.25397176e-03 9.78085463e-01 2.56791900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.84, Y:166.92, Z:25.68 [[ 9.77224046e-01 4.68154765e-02 -2.06981821e-01 2.14838050e+02] [-4.59265229e-02 9.98903367e-01 9.10048269e-03 1.66920656e+02] [ 2.07180881e-01 6.12744838e-04 9.78302462e-01 2.56848577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:166.90, Z:25.70 [[ 9.76742967e-01 5.36930627e-02 -2.07581868e-01 2.14861484e+02] [-4.71687632e-02 9.98228717e-01 3.62565355e-02 1.66903038e+02] [ 2.09160906e-01 -2.56219361e-02 9.77545514e-01 2.57027948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:166.92, Z:25.70 [[ 9.76194435e-01 4.66580620e-02 -2.11819381e-01 2.14893885e+02] [-4.61762887e-02 9.98907190e-01 7.22331207e-03 1.66919834e+02] [ 2.11924928e-01 2.72967584e-03 9.77282136e-01 2.57019098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:166.91, Z:25.71 [[ 9.76627649e-01 5.27260242e-02 -2.08370828e-01 2.14916392e+02] [-4.86933446e-02 9.98514735e-01 2.44393398e-02 1.66907609e+02] [ 2.09349931e-01 -1.37218625e-02 9.77744505e-01 2.57097644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:166.91, Z:25.71 [[ 9.76442135e-01 5.07354623e-02 -2.09729994e-01 2.14944828e+02] [-4.87134246e-02 9.98703153e-01 1.47991507e-02 1.66911867e+02] [ 2.10208848e-01 -4.23384810e-03 9.77647337e-01 2.57135052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.97, Y:166.91, Z:25.72 [[ 9.76012082e-01 4.91065168e-02 -2.12106024e-01 2.14974032e+02] [-4.86465747e-02 9.98788718e-01 7.38965500e-03 1.66914538e+02] [ 2.12211984e-01 3.10583896e-03 9.77218721e-01 2.57178013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:166.90, Z:25.73 [[ 9.76450937e-01 5.27730557e-02 -2.09185496e-01 2.14998717e+02] [-4.91149273e-02 9.98536340e-01 2.26473500e-02 1.66902650e+02] [ 2.10074490e-01 -1.18398957e-02 9.77613689e-01 2.57272787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.03, Y:166.91, Z:25.73 [[ 9.76102427e-01 5.10929805e-02 -2.11219220e-01 2.15026598e+02] [-5.02859824e-02 9.98692542e-01 9.19380880e-03 1.66908205e+02] [ 2.11412799e-01 1.64726691e-03 9.77395475e-01 2.57301333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.05, Y:166.90, Z:25.74 [[ 9.76600164e-01 5.36584201e-02 -2.08261600e-01 2.15053958e+02] [-5.02065872e-02 9.98500268e-01 2.18292069e-02 1.66898421e+02] [ 2.09120584e-01 -1.08623029e-02 9.77829531e-01 2.57386460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:166.90, Z:25.74 [[ 9.76600591e-01 5.09907098e-02 -2.08928776e-01 2.15083399e+02] [-4.97385257e-02 9.98698953e-01 1.12463920e-02 1.66903231e+02] [ 2.09230411e-01 -5.91423820e-04 9.77866190e-01 2.57420773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:166.90, Z:25.75 [[ 9.76751041e-01 5.19014629e-02 -2.07999141e-01 2.15110579e+02] [-4.99875785e-02 9.98645292e-01 1.44506952e-02 1.66899489e+02] [ 2.08467375e-01 -3.71735820e-03 9.78022257e-01 2.57482523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.14, Y:166.90, Z:25.75 [[ 9.76506108e-01 5.05369171e-02 -2.09479932e-01 2.15138153e+02] [-5.01130480e-02 9.98716623e-01 7.33417140e-03 1.66902013e+02] [ 2.09581736e-01 3.33581470e-03 9.77785441e-01 2.57529067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:166.89, Z:25.76 [[ 9.77014698e-01 5.31440790e-02 -2.06441244e-01 2.15164926e+02] [-4.97809019e-02 9.98529684e-01 2.14553423e-02 1.66891111e+02] [ 2.07277934e-01 -1.06853535e-02 9.78223738e-01 2.57617579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:166.90, Z:25.76 [[ 9.76549813e-01 4.88754408e-02 -2.09670345e-01 2.15192415e+02] [-4.90988653e-02 9.98785332e-01 4.14262554e-03 1.66898269e+02] [ 2.09618138e-01 6.24909583e-03 9.77763358e-01 2.57633478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:166.88, Z:25.77 [[ 9.77300506e-01 5.15423648e-02 -2.05492351e-01 2.15218919e+02] [-4.77027500e-02 9.98582765e-01 2.35989100e-02 1.66883962e+02] [ 2.06417464e-01 -1.32606765e-02 9.78374154e-01 2.57738309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.25, Y:166.89, Z:25.78 [[ 9.77218830e-01 4.89987620e-02 -2.06500557e-01 2.15247068e+02] [-4.70993919e-02 9.98790590e-01 1.41069337e-02 1.66887149e+02] [ 2.06942036e-01 -4.05951058e-03 9.78344783e-01 2.57773340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:166.89, Z:25.78 [[ 9.76925668e-01 4.73103902e-02 -2.08273776e-01 2.15275451e+02] [-4.67338878e-02 9.98877769e-01 7.69065846e-03 1.66888514e+02] [ 2.08403893e-01 2.22024162e-03 9.78040331e-01 2.57815039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.30, Y:166.88, Z:25.79 [[ 9.77328271e-01 4.91076909e-02 -2.05956030e-01 2.15302551e+02] [-4.59962781e-02 9.98743955e-01 1.98709717e-02 1.66878762e+02] [ 2.06673157e-01 -9.94725161e-03 9.78359473e-01 2.57901847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.33, Y:166.88, Z:25.79 [[ 9.77250803e-01 4.79268048e-02 -2.06600796e-01 2.15330711e+02] [-4.60327820e-02 9.98842273e-01 1.39677359e-02 1.66879944e+02] [ 2.07031037e-01 -4.13957171e-03 9.78325617e-01 2.57944096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:166.88, Z:25.80 [[ 9.77250029e-01 4.83755524e-02 -2.06499847e-01 2.15356801e+02] [-4.65077262e-02 9.98821316e-01 1.38927759e-02 1.66878110e+02] [ 2.06928520e-01 -3.97287732e-03 9.78347997e-01 2.57997390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.38, Y:166.88, Z:25.81 [[ 9.77246159e-01 4.87937861e-02 -2.06419745e-01 2.15384735e+02] [-4.69429946e-02 9.98801445e-01 1.38574094e-02 1.66876321e+02] [ 2.06848495e-01 -3.85213913e-03 9.78365403e-01 2.58052014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.41, Y:166.87, Z:25.81 [[ 9.77149305e-01 4.92891427e-02 -2.06760286e-01 2.15412574e+02] [-4.74574302e-02 9.98777755e-01 1.38126346e-02 1.66874877e+02] [ 2.07188387e-01 -3.68469445e-03 9.78294125e-01 2.58110768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.44, Y:166.87, Z:25.82 [[ 9.76848536e-01 5.10992999e-02 -2.07739737e-01 2.15440493e+02] [-4.93049768e-02 9.98688298e-01 1.38094835e-02 1.66872853e+02] [ 2.08172900e-01 -3.24717080e-03 9.78086653e-01 2.58166577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.47, Y:166.87, Z:25.82 [[ 9.76752217e-01 5.17536623e-02 -2.08030441e-01 2.15467513e+02] [-4.99834045e-02 9.98655246e-01 1.37607989e-02 1.66871111e+02] [ 2.08462863e-01 -3.04282119e-03 9.78025550e-01 2.58223739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.49, Y:166.87, Z:25.83 [[ 9.76616590e-01 5.27434907e-02 -2.08418233e-01 2.15494332e+02] [-5.10032662e-02 9.98604257e-01 1.37187540e-02 1.66869458e+02] [ 2.08850910e-01 -2.76795219e-03 9.77943575e-01 2.58280472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.52, Y:166.87, Z:25.83 [[ 9.76393936e-01 5.49172199e-02 -2.08899452e-01 2.15521162e+02] [-5.32243612e-02 9.98488312e-01 1.37207569e-02 1.66868465e+02] [ 2.09337167e-01 -2.27832388e-03 9.77840866e-01 2.58341093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.55, Y:166.87, Z:25.84 [[ 9.76306904e-01 5.57635437e-02 -2.09081936e-01 2.15548376e+02] [-5.40932203e-02 9.98441860e-01 1.37031053e-02 1.66867544e+02] [ 2.09520291e-01 -2.06852110e-03 9.77802111e-01 2.58397613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.58, Y:166.87, Z:25.85 [[ 9.76153280e-01 5.70822720e-02 -2.09443041e-01 2.15575570e+02] [-5.54503602e-02 9.98367995e-01 1.36603365e-02 1.66867341e+02] [ 2.09880992e-01 -1.72089022e-03 9.77725425e-01 2.58454632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.60, Y:166.87, Z:25.85 [[ 9.76118964e-01 5.72688621e-02 -2.09552014e-01 2.15602630e+02] [-5.56536829e-02 9.98357487e-01 1.36013101e-02 1.66866360e+02] [ 2.09986754e-01 -1.61415541e-03 9.77702899e-01 2.58516774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.63, Y:166.87, Z:25.86 [[ 9.76038237e-01 5.73611480e-02 -2.09902498e-01 2.15629857e+02] [-5.57571260e-02 9.98352324e-01 1.35565254e-02 1.66865071e+02] [ 2.10334265e-01 -1.52812707e-03 9.77628335e-01 2.58580089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.66, Y:166.86, Z:25.86 [[ 9.76063269e-01 5.69807455e-02 -2.09889708e-01 2.15656627e+02] [-5.53824038e-02 9.98374086e-01 1.34897970e-02 1.66864191e+02] [ 2.10317104e-01 -1.54269883e-03 9.77632004e-01 2.58635262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:166.86, Z:25.87 [[ 9.76152370e-01 5.58160463e-02 -2.09788272e-01 2.15684469e+02] [-5.41990949e-02 9.98439514e-01 1.34534271e-02 1.66863530e+02] [ 2.10211817e-01 -1.76226034e-03 9.77654278e-01 2.58698400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.71, Y:166.86, Z:25.88 [[ 9.76286327e-01 5.49118560e-02 -2.09403191e-01 2.15712001e+02] [-5.32944041e-02 9.98489424e-01 1.33632608e-02 1.66862345e+02] [ 2.09820673e-01 -1.88635049e-03 9.77738067e-01 2.58756320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.74, Y:166.86, Z:25.88 [[ 9.76301761e-01 5.46210116e-02 -2.09407298e-01 2.15739915e+02] [-5.30108136e-02 9.98505384e-01 1.32985977e-02 1.66860783e+02] [ 2.09820697e-01 -1.88259315e-03 9.77738069e-01 2.58814688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.77, Y:166.86, Z:25.89 [[ 9.76495992e-01 5.24958949e-02 -2.09044874e-01 2.15766747e+02] [-5.08562488e-02 9.98618554e-01 1.32146340e-02 1.66859625e+02] [ 2.09449803e-01 -2.27279904e-03 9.77816759e-01 2.58877972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.79, Y:166.86, Z:25.89 [[ 9.76571187e-01 5.15372771e-02 -2.08932108e-01 2.15792660e+02] [-4.98914154e-02 9.98668159e-01 1.31435945e-02 1.66858209e+02] [ 2.09331229e-01 -2.41173708e-03 9.77841818e-01 2.58934230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.82, Y:166.86, Z:25.90 [[ 9.76687435e-01 5.03354688e-02 -2.08681564e-01 2.15820187e+02] [-4.86725970e-02 9.98728886e-01 1.30992538e-02 1.66856844e+02] [ 2.09075663e-01 -2.63680288e-03 9.77895912e-01 2.58992804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:166.86, Z:25.90 [[ 9.76931288e-01 4.78954712e-02 -2.08113630e-01 2.15846474e+02] [-4.62003155e-02 9.98847585e-01 1.30012728e-02 1.66855995e+02] [ 2.08496499e-01 -3.08643477e-03 9.78018243e-01 2.59048493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.87, Y:166.85, Z:25.91 [[ 9.76985094e-01 4.66671555e-02 -2.08140103e-01 2.15873846e+02] [-4.49499615e-02 9.98904976e-01 1.29749693e-02 1.66854678e+02] [ 2.08517690e-01 -3.32046197e-03 9.78012959e-01 2.59106449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.90, Y:166.85, Z:25.92 [[ 9.76972902e-01 4.38783677e-02 -2.08802867e-01 2.15900368e+02] [-4.21002840e-02 9.99029402e-01 1.29545290e-02 1.66853536e+02] [ 2.09168627e-01 -3.86556384e-03 9.77871946e-01 2.59165812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.93, Y:166.85, Z:25.92 [[ 9.76950895e-01 4.24551529e-02 -2.09199685e-01 2.15927482e+02] [-4.06439347e-02 9.99089755e-01 1.29511662e-02 1.66851670e+02] [ 2.09559105e-01 -4.14995509e-03 9.77787175e-01 2.59224439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:166.85, Z:25.93 [[ 9.77025741e-01 4.10250965e-02 -2.09135465e-01 2.15955183e+02] [-3.91970071e-02 9.99148487e-01 1.28800642e-02 1.66849677e+02] [ 2.09485789e-01 -4.38667003e-03 9.77801852e-01 2.59285576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.98, Y:166.85, Z:25.93 [[ 9.77051189e-01 3.96952933e-02 -2.09273164e-01 2.15982502e+02] [-3.78493570e-02 9.99201221e-01 1.28197341e-02 1.66847852e+02] [ 2.09614884e-01 -4.60468180e-03 9.77773183e-01 2.59349830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.01, Y:166.85, Z:25.94 [[ 9.77306157e-01 3.76803071e-02 -2.08453522e-01 2.16009704e+02] [-3.58182064e-02 9.99277599e-01 1.27017914e-02 1.66846117e+02] [ 2.08781542e-01 -4.94710769e-03 9.77949791e-01 2.59411482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.04, Y:166.84, Z:25.95 [[ 9.77353201e-01 3.68678182e-02 -2.08378224e-01 2.16037198e+02] [-3.50032211e-02 9.99307392e-01 1.26297894e-02 1.66844567e+02] [ 2.08699533e-01 -5.04985606e-03 9.77966770e-01 2.59470173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:166.84, Z:25.96 [[ 9.77143745e-01 3.91700714e-02 -2.08939722e-01 2.16066898e+02] [-3.60689122e-02 9.99175574e-01 1.86334443e-02 1.66836754e+02] [ 2.09497340e-01 -1.06713251e-02 9.77750984e-01 2.59561833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.09, Y:166.84, Z:25.96 [[ 9.77168270e-01 3.50151725e-02 -2.09561708e-01 2.16092877e+02] [-3.43551880e-02 9.99386621e-01 6.78986334e-03 1.66843898e+02] [ 2.09670916e-01 5.64692864e-04 9.77771849e-01 2.59592325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.12, Y:166.84, Z:25.97 [[ 9.77027923e-01 3.56071470e-02 -2.10115607e-01 2.16119323e+02] [-3.44350195e-02 9.99364265e-01 9.23555697e-03 1.66840871e+02] [ 2.10310881e-01 -1.78806203e-03 9.77632925e-01 2.59658732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.15, Y:166.83, Z:25.97 [[ 9.77211097e-01 3.73205915e-02 -2.08963264e-01 2.16145887e+02] [-3.43121517e-02 9.99248969e-01 1.80048263e-02 1.66834751e+02] [ 2.09478277e-01 -1.04245369e-02 9.77757731e-01 2.59737960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.17, Y:166.84, Z:25.98 [[ 9.77124349e-01 3.65099039e-02 -2.09511414e-01 2.16172453e+02] [-3.46362086e-02 9.99320473e-01 1.26065284e-02 1.66836899e+02] [ 2.09829309e-01 -5.06146485e-03 9.77724932e-01 2.59781207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.20, Y:166.84, Z:25.98 [[ 9.77116254e-01 3.70470646e-02 -2.09454865e-01 2.16200040e+02] [-3.51929793e-02 9.99301438e-01 1.25733667e-02 1.66835699e+02] [ 2.09774354e-01 -4.91430027e-03 9.77737475e-01 2.59841074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.23, Y:166.83, Z:25.99 [[ 9.76919245e-01 3.89945022e-02 -2.10019566e-01 2.16227778e+02] [-3.71892464e-02 9.99229562e-01 1.25396356e-02 1.66834342e+02] [ 2.10346736e-01 -4.43974191e-03 9.77616765e-01 2.59900735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:166.83, Z:26.00 [[ 9.76824724e-01 4.01687013e-02 -2.10237803e-01 2.16253927e+02] [-3.84009572e-02 9.99184406e-01 1.24855545e-02 1.66832900e+02] [ 2.10567863e-01 -4.12286544e-03 9.77570549e-01 2.59959507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.28, Y:166.83, Z:26.00 [[ 9.76714745e-01 4.16245357e-02 -2.10465451e-01 2.16280285e+02] [-3.98926525e-02 9.99126161e-01 1.24696034e-02 1.66831540e+02] [ 2.10800579e-01 -3.78322040e-03 9.77521766e-01 2.60017456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.31, Y:166.83, Z:26.01 [[ 9.76594334e-01 4.50954115e-02 -2.10309082e-01 2.16307178e+02] [-4.34520024e-02 9.98978175e-01 1.24310017e-02 1.66831145e+02] [ 2.10654764e-01 -3.00169505e-03 9.77555912e-01 2.60079689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.34, Y:166.84, Z:26.01 [[ 9.76061676e-01 4.46832087e-02 -2.12854447e-01 2.16335620e+02] [-4.49471726e-02 9.98982874e-01 3.60127591e-03 1.66835721e+02] [ 2.12798863e-01 6.05213815e-03 9.77077282e-01 2.60128350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.36, Y:166.82, Z:26.02 [[ 9.76878546e-01 5.04440390e-02 -2.07758767e-01 2.16360129e+02] [-4.70665039e-02 9.98667369e-01 2.11714668e-02 1.66824867e+02] [ 2.08549876e-01 -1.09034729e-02 9.77950952e-01 2.60224453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.39, Y:166.83, Z:26.03 [[ 9.76996518e-01 4.85220525e-02 -2.07661780e-01 2.16388029e+02] [-4.70312872e-02 9.98819971e-01 1.21129233e-02 1.66828952e+02] [ 2.08004477e-01 -2.06768310e-03 9.78125688e-01 2.60259649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.42, Y:166.84, Z:26.03 [[ 9.76151799e-01 4.46039262e-02 -2.12457418e-01 2.16416722e+02] [-4.67981074e-02 9.98890268e-01 -5.30755279e-03 1.66837634e+02] [ 2.11984910e-01 1.51235823e-02 9.77155912e-01 2.60284632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.44, Y:166.82, Z:26.04 [[ 9.77090035e-01 5.08695286e-02 -2.06657580e-01 2.16441530e+02] [-4.57809472e-02 9.98520706e-01 2.93343718e-02 1.66815135e+02] [ 2.07844098e-01 -1.92013426e-02 9.77973486e-01 2.60432324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.47, Y:166.82, Z:26.04 [[ 9.77272674e-01 4.50952113e-02 -2.07134116e-01 2.16469292e+02] [-4.35684590e-02 9.98979223e-01 1.19290570e-02 1.66823275e+02] [ 2.07460622e-01 -2.63342720e-03 9.78239825e-01 2.60447451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.50, Y:166.82, Z:26.05 [[ 9.77479244e-01 4.34724425e-02 -2.06505388e-01 2.16496409e+02] [-4.19288169e-02 9.99050352e-01 1.18476847e-02 1.66822031e+02] [ 2.06824329e-01 -2.92233927e-03 9.78373731e-01 2.60501875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.52, Y:166.82, Z:26.06 [[ 9.77935361e-01 3.97002653e-02 -2.05100755e-01 2.16522608e+02] [-3.81096400e-02 9.99205052e-01 1.17012788e-02 1.66822206e+02] [ 2.05402254e-01 -3.62677842e-03 9.78670915e-01 2.60551866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.55, Y:166.82, Z:26.06 [[ 9.78195120e-01 3.75154361e-02 -2.04271630e-01 2.16550193e+02] [-3.58966320e-02 9.99287883e-01 1.16257477e-02 1.66821547e+02] [ 2.04562310e-01 -4.03958616e-03 9.78845209e-01 2.60609451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.58, Y:166.82, Z:26.07 [[ 9.78376991e-01 3.53224301e-02 -2.03791045e-01 2.16577179e+02] [-3.36767176e-02 9.99366166e-01 1.15388580e-02 1.66820620e+02] [ 2.04069455e-01 -4.42633968e-03 9.78946406e-01 2.60667906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.60, Y:166.82, Z:26.07 [[ 9.78722530e-01 3.13795991e-02 -2.02774579e-01 2.16604715e+02] [-2.96804253e-02 9.99494248e-01 1.14157696e-02 1.66819546e+02] [ 2.03030248e-01 -5.15443514e-03 9.79158899e-01 2.60723105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.63, Y:166.82, Z:26.08 [[ 9.78831171e-01 2.94754431e-02 -2.02535766e-01 2.16632356e+02] [-2.77535567e-02 9.99550505e-01 1.13369982e-02 1.66818450e+02] [ 2.02778890e-01 -5.47591933e-03 9.79209240e-01 2.60781807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.66, Y:166.81, Z:26.09 [[ 9.78723985e-01 3.13779859e-02 -2.02767807e-01 2.16663391e+02] [-2.76859484e-02 9.99395647e-01 2.10197115e-02 1.66808646e+02] [ 2.03304820e-01 -1.49586768e-02 9.79001220e-01 2.60893027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.69, Y:166.82, Z:26.09 [[ 9.79049381e-01 2.47823350e-02 -2.02109241e-01 2.16689267e+02] [-2.44573329e-02 9.99692444e-01 4.10558397e-03 1.66821500e+02] [ 2.02148827e-01 9.23483552e-04 9.79354379e-01 2.60877628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:166.81, Z:26.10 [[ 9.78608494e-01 3.09860529e-02 -2.03384560e-01 2.16719039e+02] [-2.64849567e-02 9.99341134e-01 2.48162085e-02 1.66805859e+02] [ 2.04019513e-01 -1.88987212e-02 9.78784387e-01 2.61021063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.75, Y:166.82, Z:26.10 [[ 9.78884782e-01 2.35226836e-02 -2.03054835e-01 2.16745585e+02] [-2.39943998e-02 9.99712083e-01 1.38672678e-04 1.66823918e+02] [ 2.02999635e-01 4.73643434e-03 9.79167358e-01 2.60973932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.77, Y:166.82, Z:26.11 [[ 9.78657668e-01 2.66474886e-02 -2.03762314e-01 2.16771715e+02] [-2.48941943e-02 9.99627760e-01 1.11633754e-02 1.66818231e+02] [ 2.03983941e-01 -5.85262433e-03 9.78956740e-01 2.61051826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.80, Y:166.82, Z:26.11 [[ 9.78665303e-01 2.69432163e-02 -2.03686742e-01 2.16798936e+02] [-2.52033527e-02 9.99620368e-01 1.11315103e-02 1.66817838e+02] [ 2.03909335e-01 -5.76043407e-03 9.78972829e-01 2.61101732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.83, Y:166.82, Z:26.12 [[ 9.78418046e-01 2.86145940e-02 -2.04644402e-01 2.16826234e+02] [-2.69074935e-02 9.99576074e-01 1.11201982e-02 1.66818908e+02] [ 2.04875848e-01 -5.37373466e-03 9.78773217e-01 2.61156313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.85, Y:166.82, Z:26.12 [[ 9.78319616e-01 2.96217259e-02 -2.04971420e-01 2.16852826e+02] [-2.79444531e-02 9.99548141e-01 1.10734193e-02 1.66819280e+02] [ 2.05206816e-01 -5.10552910e-03 9.78705316e-01 2.61211819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.88, Y:166.82, Z:26.13 [[ 9.78185325e-01 3.18713927e-02 -2.05274655e-01 2.16879587e+02] [-3.02439136e-02 9.99481337e-01 1.10618121e-02 1.66821050e+02] [ 2.05520742e-01 -4.61219335e-03 9.78641892e-01 2.61260271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:166.82, Z:26.13 [[ 9.78099529e-01 3.26023531e-02 -2.05568474e-01 2.16907497e+02] [-3.09919157e-02 9.99458553e-01 1.10499553e-02 1.66820966e+02] [ 2.05817424e-01 -4.43699531e-03 9.78580350e-01 2.61319971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:166.82, Z:26.14 [[ 9.78108243e-01 3.33486790e-02 -2.05407232e-01 2.16933865e+02] [-3.17702524e-02 9.99434901e-01 1.09786203e-02 1.66820963e+02] [ 2.05657279e-01 -4.21243946e-03 9.78615011e-01 2.61372582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:166.82, Z:26.14 [[ 9.78050830e-01 3.46815621e-02 -2.05459883e-01 2.16960672e+02] [-3.31371069e-02 9.99390783e-01 1.09542480e-02 1.66821950e+02] [ 2.05714623e-01 -3.90546525e-03 9.78604231e-01 2.61430580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.99, Y:166.82, Z:26.15 [[ 9.78126450e-01 3.43824551e-02 -2.05149933e-01 2.16988007e+02] [-3.28450544e-02 9.99401064e-01 1.08956688e-02 1.66821998e+02] [ 2.05401681e-01 -3.91918117e-03 9.78669908e-01 2.61490890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6527550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.02, Y:166.82, Z:26.15 [[ 9.78294564e-01 3.42555284e-02 -2.04368064e-01 2.17015947e+02] [-3.27400116e-02 9.99405622e-01 1.07932336e-02 1.66821563e+02] [ 2.04616320e-01 -3.86794894e-03 9.78834614e-01 2.61548478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.04, Y:166.83, Z:26.16 [[ 9.77452721e-01 3.04601210e-02 -2.08945828e-01 2.17043890e+02] [-3.24808941e-02 9.99452840e-01 -6.24603967e-03 1.66833247e+02] [ 2.08641246e-01 1.28919558e-02 9.77907270e-01 2.61583659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.07, Y:166.81, Z:26.17 [[ 9.78566363e-01 3.72185183e-02 -2.02540501e-01 2.17069762e+02] [-3.23149515e-02 9.99100313e-01 2.74646736e-02 1.66813001e+02] [ 2.03380473e-01 -2.03309193e-02 9.78888675e-01 2.61706779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.10, Y:166.82, Z:26.17 [[ 9.78727220e-01 3.31939332e-02 -2.02462817e-01 2.17099182e+02] [-3.17172664e-02 9.99441364e-01 1.05344674e-02 1.66823835e+02] [ 2.02699395e-01 -3.88880284e-03 9.79233288e-01 2.61722693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.13, Y:166.82, Z:26.18 [[ 9.78750794e-01 3.28578597e-02 -2.02403665e-01 2.17127012e+02] [-3.13884333e-02 9.99452462e-01 1.04662864e-02 1.66823021e+02] [ 2.02636741e-01 -3.89075225e-03 9.79246248e-01 2.61784811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:166.82, Z:26.18 [[ 9.78853553e-01 3.24627937e-02 -2.01970020e-01 2.17154292e+02] [-3.10047801e-02 9.99465344e-01 1.03792538e-02 1.66822520e+02] [ 2.02198975e-01 -3.89773335e-03 9.79336705e-01 2.61842378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:166.83, Z:26.19 [[ 9.78040316e-01 2.86003402e-02 -2.06444089e-01 2.17182707e+02] [-3.02678375e-02 9.99529702e-01 -4.92276517e-03 1.66832571e+02] [ 2.06206206e-01 1.10632789e-02 9.78446015e-01 2.61883031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.21, Y:166.82, Z:26.20 [[ 9.78288395e-01 3.08214383e-02 -2.04943543e-01 2.17209823e+02] [-2.88564455e-02 9.99504521e-01 1.25704920e-02 1.66822106e+02] [ 2.05229438e-01 -6.38362430e-03 9.78693071e-01 2.61981832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.24, Y:166.82, Z:26.20 [[ 9.78305754e-01 3.25253956e-02 -2.04597046e-01 2.17235013e+02] [-3.03582169e-02 9.99444872e-01 1.37231776e-02 1.66820084e+02] [ 2.04929820e-01 -7.21426208e-03 9.78750082e-01 2.62037860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:166.81, Z:26.21 [[ 9.78965981e-01 3.32692522e-02 -2.01292736e-01 2.17261634e+02] [-2.95629289e-02 9.99333993e-01 2.13916954e-02 1.66814975e+02] [ 2.01870359e-01 -1.49909392e-02 9.79297519e-01 2.62096034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:166.82, Z:26.21 [[ 9.78883032e-01 3.07764357e-02 -2.02091122e-01 2.17289729e+02] [-2.93580249e-02 9.99518807e-01 1.00130763e-02 1.66820462e+02] [ 2.02302044e-01 -3.86863429e-03 9.79315535e-01 2.62120922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:166.83, Z:26.22 [[ 9.77709983e-01 2.72703062e-02 -2.08181458e-01 2.17318280e+02] [-2.92834394e-02 9.99549400e-01 -6.59373224e-03 1.66829175e+02] [ 2.07907838e-01 1.25430269e-02 9.78067995e-01 2.62155095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.34, Y:166.81, Z:26.22 [[ 9.77558868e-01 3.12015552e-02 -2.08338959e-01 2.17343690e+02] [-2.90642475e-02 9.99488888e-01 1.33128954e-02 1.66814466e+02] [ 2.08647858e-01 -6.95892385e-03 9.77966076e-01 2.62247149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.37, Y:166.81, Z:26.23 [[ 9.77883922e-01 3.17784390e-02 -2.06720020e-01 2.17370039e+02] [-2.89400077e-02 9.99440951e-01 1.67410249e-02 1.66810369e+02] [ 2.07136457e-01 -1.03883001e-02 9.78256905e-01 2.62298463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.40, Y:166.81, Z:26.24 [[ 9.78039575e-01 3.08634720e-02 -2.06121412e-01 2.17398742e+02] [-2.80806923e-02 9.99470901e-01 1.64132090e-02 1.66808090e+02] [ 2.06518922e-01 -1.02647360e-02 9.78388762e-01 2.62351659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:166.81, Z:26.24 [[ 9.78008483e-01 2.89288295e-02 -2.06549100e-01 2.17426355e+02] [-2.74701357e-02 9.99573330e-01 9.92723128e-03 1.66810373e+02] [ 2.06748155e-01 -4.03498460e-03 9.78385875e-01 2.62390652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.45, Y:166.81, Z:26.25 [[ 9.77931863e-01 2.87026443e-02 -2.06943057e-01 2.17453832e+02] [-2.72471361e-02 9.99579894e-01 9.88070641e-03 1.66808521e+02] [ 2.07139721e-01 -4.02405201e-03 9.78303094e-01 2.62451554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.48, Y:166.81, Z:26.25 [[ 9.77939854e-01 2.84065557e-02 -2.06946149e-01 2.17481751e+02] [-2.69582833e-02 9.99588369e-01 9.81551497e-03 1.66807401e+02] [ 2.07139789e-01 -4.02007036e-03 9.78303096e-01 2.62510362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.51, Y:166.81, Z:26.26 [[ 9.77286846e-01 2.69001988e-02 -2.10206564e-01 2.17507994e+02] [-2.69536581e-02 9.99633274e-01 2.61113767e-03 1.66808651e+02] [ 2.10199716e-01 3.11400536e-03 9.77653508e-01 2.62558417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.54, Y:166.80, Z:26.26 [[ 9.77401755e-01 2.70147282e-02 -2.09656895e-01 2.17536040e+02] [-2.56094405e-02 9.99627686e-01 9.41518345e-03 1.66802601e+02] [ 2.09833185e-01 -3.83322106e-03 9.77729687e-01 2.62637252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.56, Y:166.80, Z:26.27 [[ 9.77568883e-01 2.79691541e-02 -2.08750581e-01 2.17561421e+02] [-2.66750036e-02 9.99603529e-01 9.01272520e-03 1.66799076e+02] [ 2.08919896e-01 -3.24213721e-03 9.77927383e-01 2.62698010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.59, Y:166.79, Z:26.28 [[ 9.78175954e-01 2.76494813e-02 -2.05930350e-01 2.17590717e+02] [-2.50121941e-02 9.99568530e-01 1.53995003e-02 1.66794018e+02] [ 2.06267285e-01 -9.91265102e-03 9.78445474e-01 2.62767191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.62, Y:166.80, Z:26.28 [[ 9.78155040e-01 2.65765204e-02 -2.06170820e-01 2.17617394e+02] [-2.51596335e-02 9.99638386e-01 9.49158386e-03 1.66796301e+02] [ 2.06348519e-01 -4.09705832e-03 9.78469981e-01 2.62809686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.64, Y:166.80, Z:26.29 [[ 9.78221860e-01 2.66731374e-02 -2.05841048e-01 2.17644664e+02] [-2.52686438e-02 9.99636035e-01 9.44947403e-03 1.66795062e+02] [ 2.06018176e-01 -4.04235796e-03 9.78539816e-01 2.62869012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.67, Y:166.79, Z:26.29 [[ 9.78264089e-01 2.79270318e-02 -2.05473728e-01 2.17671030e+02] [-2.65690906e-02 9.99603107e-01 9.36548213e-03 1.66793415e+02] [ 2.05653727e-01 -3.70266475e-03 9.78617819e-01 2.62926280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.70, Y:166.79, Z:26.30 [[ 9.78356643e-01 2.87239548e-02 -2.04922458e-01 2.17698839e+02] [-2.73967306e-02 9.99581269e-01 9.31158918e-03 1.66790838e+02] [ 2.05104116e-01 -3.49584976e-03 9.78733917e-01 2.62984987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.73, Y:166.79, Z:26.30 [[ 9.78335087e-01 2.93400293e-02 -2.04938089e-01 2.17725470e+02] [-2.80398936e-02 9.99564044e-01 9.24584865e-03 1.66788338e+02] [ 2.05120019e-01 -3.29909592e-03 9.78731267e-01 2.63041730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.75, Y:166.79, Z:26.31 [[ 9.78260013e-01 2.99644282e-02 -2.05205944e-01 2.17752968e+02] [-2.86804099e-02 9.99546023e-01 9.22939584e-03 1.66785881e+02] [ 2.05389339e-01 -3.14335829e-03 9.78675298e-01 2.63102849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.78, Y:166.78, Z:26.32 [[ 9.78218522e-01 3.22604057e-02 -2.05055575e-01 2.17780110e+02] [-3.10414650e-02 9.99476130e-01 9.15931933e-03 1.66782693e+02] [ 2.05243636e-01 -2.59459037e-03 9.78707473e-01 2.63160907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.81, Y:166.78, Z:26.32 [[ 9.78183907e-01 3.34936475e-02 -2.05022973e-01 2.17807908e+02] [-3.23156274e-02 9.99436356e-01 9.09235868e-03 1.66780668e+02] [ 2.05211949e-01 -2.26855295e-03 9.78714928e-01 2.63220729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:166.78, Z:26.33 [[ 9.78094213e-01 3.44253432e-02 -2.05296388e-01 2.17835222e+02] [-3.32782354e-02 9.99405253e-01 9.03873384e-03 1.66778938e+02] [ 2.05485450e-01 -2.00883174e-03 9.78658109e-01 2.63280134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.86, Y:166.78, Z:26.33 [[ 9.78124059e-01 3.68257665e-02 -2.04736878e-01 2.17861478e+02] [-3.57507600e-02 9.99320674e-01 8.94841876e-03 1.66775508e+02] [ 2.04927327e-01 -1.43316469e-03 9.78776142e-01 2.63334078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.89, Y:166.77, Z:26.34 [[ 9.78073947e-01 3.74061688e-02 -2.04871015e-01 2.17888367e+02] [-3.63482292e-02 9.99299320e-01 8.92611846e-03 1.66772937e+02] [ 2.05061358e-01 -1.28370528e-03 9.78748278e-01 2.63396555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.91, Y:166.77, Z:26.35 [[ 9.77908517e-01 3.73885420e-02 -2.05662415e-01 2.17914614e+02] [-3.63355418e-02 9.99300051e-01 8.89582145e-03 1.66770533e+02] [ 2.05851064e-01 -1.22644429e-03 9.78582564e-01 2.63461325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.94, Y:166.77, Z:26.35 [[ 9.78022159e-01 3.74281297e-02 -2.05114094e-01 2.17941583e+02] [-3.63960857e-02 9.99298667e-01 8.80340211e-03 1.66766003e+02] [ 2.05299736e-01 -1.14457220e-03 9.78698477e-01 2.63518174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.97, Y:166.77, Z:26.36 [[ 9.77391508e-01 3.54753230e-02 -2.08440260e-01 2.17968678e+02] [-3.65159771e-02 9.99332413e-01 -1.14548821e-03 1.66769277e+02] [ 2.08260471e-01 8.73099022e-03 9.78034430e-01 2.63553171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.00, Y:166.76, Z:26.37 [[ 9.78063450e-01 3.76362409e-02 -2.04878993e-01 2.17995413e+02] [-3.47076428e-02 9.99237723e-01 1.78704257e-02 1.66755549e+02] [ 2.05395395e-01 -1.03675433e-02 9.78624160e-01 2.63653449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.03, Y:166.77, Z:26.36 [[ 9.78655467e-01 3.04008191e-02 -2.03246812e-01 2.18026450e+02] [-3.21189341e-02 9.99470737e-01 -5.15944825e-03 1.66765840e+02] [ 2.02982390e-01 1.15773932e-02 9.79113943e-01 2.63602730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.05, Y:166.75, Z:26.38 [[ 9.78037401e-01 3.56018053e-02 -2.05366391e-01 2.18050807e+02] [-3.17258747e-02 9.99251445e-01 2.21363550e-02 1.66746288e+02] [ 2.06000758e-01 -1.51347547e-02 9.78434784e-01 2.63783975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.08, Y:166.75, Z:26.38 [[ 9.78024507e-01 3.10786921e-02 -2.06160565e-01 2.18078597e+02] [-2.99438769e-02 9.99514385e-01 8.62315438e-03 1.66750984e+02] [ 2.06328447e-01 -2.26040970e-03 9.78480180e-01 2.63803816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.85275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.10, Y:166.75, Z:26.39 [[ 9.77975656e-01 2.99431660e-02 -2.06559975e-01 2.18104846e+02] [-2.87845836e-02 9.99548533e-01 8.61263487e-03 1.66748730e+02] [ 2.06724610e-01 -2.47720436e-03 9.78396034e-01 2.63859831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.13, Y:166.75, Z:26.39 [[ 9.77113409e-01 2.82057674e-02 -2.10840746e-01 2.18131238e+02] [-2.96558944e-02 9.99553251e-01 -3.71847297e-03 1.66753104e+02] [ 2.10641671e-01 9.88604070e-03 9.77513352e-01 2.63897101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.16, Y:166.74, Z:26.40 [[ 9.77411748e-01 3.00281327e-02 -2.09199869e-01 2.18159909e+02] [-2.73043318e-02 9.99500761e-01 1.58966005e-02 1.66737999e+02] [ 2.09572774e-01 -9.82546146e-03 9.77743685e-01 2.64007669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.19, Y:166.74, Z:26.41 [[ 9.77509678e-01 2.86113010e-02 -2.08940716e-01 2.18187232e+02] [-2.68474823e-02 9.99575970e-01 1.12735095e-02 1.66739530e+02] [ 2.09174669e-01 -5.41043245e-03 9.77863326e-01 2.64057371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.21, Y:166.74, Z:26.41 [[ 9.77584799e-01 3.01097658e-02 -2.08377931e-01 2.18214043e+02] [-2.89415136e-02 9.99543647e-01 8.65370621e-03 1.66741753e+02] [ 2.08543398e-01 -2.42895894e-03 9.78010098e-01 2.64106205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.24, Y:166.74, Z:26.42 [[ 9.77420296e-01 3.10557453e-02 -2.09009820e-01 2.18240596e+02] [-2.99079311e-02 9.99515223e-01 8.65065237e-03 1.66741049e+02] [ 2.09177149e-01 -2.20427191e-03 9.77875279e-01 2.64160914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.27, Y:166.74, Z:26.42 [[ 9.77017201e-01 3.22383953e-02 -2.10708507e-01 2.18267747e+02] [-3.11050835e-02 9.99478330e-01 8.69151360e-03 1.66739204e+02] [ 2.10878787e-01 -1.93765258e-03 9.77510298e-01 2.64215912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:166.74, Z:26.43 [[ 9.76919608e-01 3.30050859e-02 -2.11042044e-01 2.18294867e+02] [-3.19002806e-02 9.99453727e-01 8.63830917e-03 1.66738544e+02] [ 2.11211866e-01 -1.70663317e-03 9.77438814e-01 2.64275034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.32, Y:166.75, Z:26.42 [[ 9.77837801e-01 2.65564650e-02 -2.07672792e-01 2.18324955e+02] [-3.03133382e-02 9.99428959e-01 -1.49284252e-02 1.66754640e+02] [ 2.07157756e-01 2.08928340e-02 9.78084431e-01 2.64192616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.35, Y:166.72, Z:26.45 [[ 9.76939428e-01 3.84945258e-02 -2.10017918e-01 2.18347695e+02] [-3.27874680e-02 9.98994113e-01 3.05899345e-02 1.66724092e+02] [ 2.10984209e-01 -2.29985573e-02 9.77218875e-01 2.64455839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.38, Y:166.74, Z:26.44 [[ 9.76819104e-01 3.33718502e-02 -2.11449183e-01 2.18377222e+02] [-3.22998366e-02 9.99441886e-01 8.52274477e-03 1.66738820e+02] [ 2.11615590e-01 -1.49540586e-03 9.77351833e-01 2.64448153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.40, Y:166.74, Z:26.45 [[ 9.76822791e-01 3.26790609e-02 -2.11540337e-01 2.18403899e+02] [-3.16044690e-02 9.99464651e-01 8.45985489e-03 1.66738847e+02] [ 2.11703549e-01 -1.57815903e-03 9.77332654e-01 2.64505237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:166.74, Z:26.46 [[ 9.76599642e-01 2.95332032e-02 -2.13028003e-01 2.18432850e+02] [-2.95033843e-02 9.99559168e-01 3.31970194e-03 1.66741821e+02] [ 2.13032135e-01 3.04302732e-03 9.77040454e-01 2.64556016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.46, Y:166.73, Z:26.46 [[ 9.77069838e-01 2.93080300e-02 -2.10892321e-01 2.18458323e+02] [-2.69191815e-02 9.99536895e-01 1.41898814e-02 1.66733257e+02] [ 2.11210533e-01 -8.18745647e-03 9.77406300e-01 2.64634285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:166.73, Z:26.47 [[ 9.77358664e-01 2.79078243e-02 -2.09740779e-01 2.18485107e+02] [-2.57746539e-02 9.99584574e-01 1.28975839e-02 1.66732658e+02] [ 2.10013591e-01 -7.19956935e-03 9.77671958e-01 2.64684261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.51, Y:166.74, Z:26.47 [[ 9.77179471e-01 2.30711504e-02 -2.11158715e-01 2.18513981e+02] [-2.29198579e-02 9.99732298e-01 3.16425330e-03 1.66738010e+02] [ 2.11175190e-01 1.74768436e-03 9.77446666e-01 2.64717698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.332755096 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:218.54, Y:166.73, Z:26.48 [[ 9.77831703e-01 2.43698285e-02 -2.07969402e-01 2.18538165e+02] [-2.15500085e-02 9.99642693e-01 1.58140548e-02 1.66729489e+02] [ 2.08280479e-01 -1.09817418e-02 9.78007486e-01 2.64795656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36275509600006 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:218.57, Y:166.74, Z:26.48 [[ 9.77356647e-01 1.82951010e-02 -2.10806249e-01 2.18568265e+02] [-1.92141226e-02 9.99812719e-01 -2.31196029e-03 1.66740236e+02] [ 2.10724471e-01 6.31006685e-03 9.77525130e-01 2.64816845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:166.73, Z:26.49 [[ 9.78104883e-01 1.99861857e-02 -2.07150645e-01 2.18594755e+02] [-1.73533552e-02 9.99743994e-01 1.45192289e-02 1.66730074e+02] [ 2.07387797e-01 -1.06065699e-02 9.78201310e-01 2.64893587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.62, Y:166.74, Z:26.49 [[ 9.77141265e-01 1.61569718e-02 -2.11976180e-01 2.18621349e+02] [-1.73910702e-02 9.99840927e-01 -3.95860802e-03 1.66740823e+02] [ 2.11878501e-01 7.55461187e-03 9.77266815e-01 2.64923706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.65, Y:166.73, Z:26.50 [[ 9.77939916e-01 1.82849983e-02 -2.08084550e-01 2.18651110e+02] [-1.52315001e-02 9.99751658e-01 1.62672602e-02 1.66728763e+02] [ 2.08330321e-01 -1.27389632e-02 9.77975560e-01 2.65026433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.68, Y:166.73, Z:26.51 [[ 9.77803710e-01 1.64922431e-02 -2.08872955e-01 2.18679594e+02] [-1.59201630e-02 9.99863497e-01 4.41989948e-03 1.66734449e+02] [ 2.08917338e-01 -9.96502609e-04 9.77932796e-01 2.65056516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.71, Y:166.73, Z:26.51 [[ 9.77823016e-01 1.66901373e-02 -2.08766830e-01 2.18707932e+02] [-1.56359975e-02 9.99855310e-01 6.69878543e-03 1.66732943e+02] [ 2.08848427e-01 -3.28594895e-03 9.77942502e-01 2.65122750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:166.73, Z:26.52 [[ 9.77661928e-01 1.66315484e-02 -2.09524573e-01 2.18734121e+02] [-1.60435918e-02 9.99861142e-01 4.50558179e-03 1.66733739e+02] [ 2.09570413e-01 -1.04340906e-03 9.77793001e-01 2.65170578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:166.73, Z:26.52 [[ 9.77904009e-01 1.82966342e-02 -2.08252210e-01 2.18761793e+02] [-1.63679430e-02 9.99805736e-01 1.09809290e-02 1.66729213e+02] [ 2.08412668e-01 -7.32963421e-03 9.78013515e-01 2.65237939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:166.74, Z:26.53 [[ 9.77347866e-01 1.57913841e-02 -2.11049240e-01 2.18790303e+02] [-1.63604335e-02 9.99865708e-01 -9.50353244e-04 1.66735749e+02] [ 2.11005890e-01 4.38168278e-03 9.77474969e-01 2.65272717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.82, Y:166.73, Z:26.54 [[ 9.77592532e-01 1.78575099e-02 -2.09747349e-01 2.18816280e+02] [-1.57422037e-02 9.99807038e-01 1.17503431e-02 1.66727548e+02] [ 2.09916708e-01 -8.18516213e-03 9.77685010e-01 2.65362817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:166.74, Z:26.53 [[ 9.79907412e-01 1.77573725e-02 -1.98660866e-01 2.18841236e+02] [-1.84568151e-02 9.99828265e-01 -1.66941279e-03 1.66735116e+02] [ 1.98597104e-01 5.30251683e-03 9.80066872e-01 2.65250959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.87, Y:166.72, Z:26.55 [[ 9.78065673e-01 1.92463797e-02 -2.07405681e-01 2.18870251e+02] [-1.64397911e-02 9.99748597e-01 1.52471511e-02 1.66724187e+02] [ 2.07646991e-01 -1.15030091e-02 9.78136191e-01 2.65478331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:166.73, Z:26.55 [[ 9.78229658e-01 1.72474408e-02 -2.06807308e-01 2.18900136e+02] [-1.57022582e-02 9.99835202e-01 9.11081800e-03 1.66727282e+02] [ 2.06930365e-01 -5.66513062e-03 9.78339272e-01 2.65521149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.93, Y:166.73, Z:26.56 [[ 9.78265267e-01 1.70715326e-02 -2.06653405e-01 2.18926434e+02] [-1.58712001e-02 9.99846178e-01 7.46497687e-03 1.66727437e+02] [ 2.06749055e-01 -4.02289006e-03 9.78385734e-01 2.65573030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:166.73, Z:26.56 [[ 9.77689833e-01 1.63833102e-02 -2.09413890e-01 2.18954435e+02] [-1.68363248e-02 9.99858187e-01 -3.80666165e-04 1.66730915e+02] [ 2.09377955e-01 3.89793370e-03 9.77827018e-01 2.65621830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.81275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.99, Y:166.74, Z:26.55 [[ 9.78642057e-01 1.27478715e-02 -2.05176061e-01 2.18985736e+02] [-1.76187851e-02 9.99604233e-01 -2.19307151e-02 1.66744064e+02] [ 2.04815289e-01 2.50772730e-02 9.78479345e-01 2.65533055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:166.70, Z:26.58 [[ 9.77872840e-01 2.84486451e-02 -2.07256805e-01 2.19006042e+02] [-2.03801038e-02 9.98952825e-01 4.09622467e-02 1.66702465e+02] [ 2.08205091e-01 -3.58319533e-02 9.77428622e-01 2.65839635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:166.72, Z:26.58 [[ 9.77684924e-01 2.23792481e-02 -2.08881207e-01 2.19037331e+02] [-2.09983888e-02 9.99740549e-01 8.82623062e-03 1.66719983e+02] [ 2.09024537e-01 -4.24310383e-03 9.77901191e-01 2.65813086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.06, Y:166.72, Z:26.59 [[ 9.77637344e-01 2.30794825e-02 -2.09027658e-01 2.19064256e+02] [-2.20254995e-02 9.99730252e-01 7.36890973e-03 1.66719509e+02] [ 2.09141344e-01 -2.60018274e-03 9.77881965e-01 2.65860183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.09, Y:166.72, Z:26.59 [[ 9.77444025e-01 2.65306047e-02 -2.09521609e-01 2.19090797e+02] [-2.55434520e-02 9.99646201e-01 7.41653150e-03 1.66717380e+02] [ 2.09644246e-01 -1.89733923e-03 9.77775890e-01 2.65911693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.12, Y:166.72, Z:26.60 [[ 9.77381104e-01 2.74500257e-02 -2.09696622e-01 2.19118517e+02] [-2.66986006e-02 9.99622952e-01 6.41387535e-03 1.66716680e+02] [ 2.09793617e-01 -6.70194226e-04 9.77745462e-01 2.65966874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.15, Y:166.73, Z:26.59 [[ 9.77861880e-01 2.42535680e-02 -2.07841063e-01 2.19151468e+02] [-2.74589539e-02 9.99544139e-01 -1.25507083e-02 1.66726893e+02] [ 2.07441917e-01 1.79799574e-02 9.78082089e-01 2.65946647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.17, Y:166.70, Z:26.62 [[ 9.77495687e-01 3.51762899e-02 -2.08001947e-01 2.19170897e+02] [-2.97746259e-02 9.99134575e-01 2.90443388e-02 1.66699173e+02] [ 2.08843609e-01 -2.21975358e-02 9.77697099e-01 2.66156925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.20, Y:166.71, Z:26.62 [[ 9.77490605e-01 3.02027140e-02 -2.08805921e-01 2.19200603e+02] [-2.97427344e-02 9.99543306e-01 5.34313016e-03 1.66712486e+02] [ 2.08871938e-01 9.87599512e-04 9.77942503e-01 2.66151065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.23, Y:166.71, Z:26.62 [[ 9.77437588e-01 2.82527438e-02 -2.09326404e-01 2.19231304e+02] [-2.82766774e-02 9.99595989e-01 2.87895810e-03 1.66712789e+02] [ 2.09323172e-01 3.10505333e-03 9.77841587e-01 2.66214596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.26, Y:166.72, Z:26.62 [[ 9.77940835e-01 2.31182652e-02 -2.07598820e-01 2.19262273e+02] [-2.76831457e-02 9.99434058e-01 -1.91104028e-02 1.66723261e+02] [ 2.07039532e-01 2.44358316e-02 9.78027363e-01 2.66164484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:166.70, Z:26.63 [[ 9.78435254e-01 3.03080483e-02 -2.04318075e-01 2.19285973e+02] [-2.75180152e-02 9.99485396e-01 1.64833945e-02 1.66699045e+02] [ 2.04712511e-01 -1.05055064e-02 9.78765765e-01 2.66317909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.31, Y:166.71, Z:26.64 [[ 9.78141554e-01 2.73029178e-02 -2.06139881e-01 2.19314634e+02] [-2.73527151e-02 9.99622440e-01 2.60882090e-03 1.66705666e+02] [ 2.06133279e-01 3.08668930e-03 9.78519056e-01 2.66351608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.34, Y:166.69, Z:26.65 [[ 9.78107662e-01 3.24134918e-02 -2.05559646e-01 2.19337951e+02] [-2.76099185e-02 9.99275507e-01 2.61945170e-02 1.66691789e+02] [ 2.06259775e-01 -1.99455727e-02 9.78293964e-01 2.66512649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.37, Y:166.70, Z:26.65 [[ 9.78028019e-01 2.76498621e-02 -2.06631748e-01 2.19368188e+02] [-2.71305619e-02 9.99617599e-01 5.34689894e-03 1.66704074e+02] [ 2.06700573e-01 3.76618450e-04 9.78404176e-01 2.66515472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.39, Y:166.70, Z:26.66 [[ 9.78169395e-01 2.95623037e-02 -2.05695662e-01 2.19393507e+02] [-2.79234603e-02 9.99551001e-01 1.08663255e-02 1.66699638e+02] [ 2.05924538e-01 -4.88537235e-03 9.78555679e-01 2.66578435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:166.71, Z:26.66 [[ 9.77675818e-01 2.54411911e-02 -2.08573109e-01 2.19423351e+02] [-2.65099781e-02 9.99645833e-01 -2.33004094e-03 1.66707654e+02] [ 2.08439960e-01 7.80729324e-03 9.78004003e-01 2.66611696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.45, Y:166.71, Z:26.67 [[ 9.77512528e-01 2.48391950e-02 -2.09409342e-01 2.19448823e+02] [-2.54734525e-02 9.99675444e-01 -3.31817155e-04 1.66705694e+02] [ 2.09333135e-01 5.65873435e-03 9.77828010e-01 2.66681235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.48, Y:166.69, Z:26.68 [[ 9.78032474e-01 2.79655832e-02 -2.06568164e-01 2.19477223e+02] [-2.49844735e-02 9.99542830e-01 1.70266882e-02 1.66694905e+02] [ 2.06949889e-01 -1.14916572e-02 9.78284052e-01 2.66784252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.50, Y:166.70, Z:26.68 [[ 9.78094465e-01 2.49834706e-02 -2.06656827e-01 2.19504066e+02] [-2.41464873e-02 9.99686830e-01 6.57176905e-03 1.66701287e+02] [ 2.06756294e-01 -1.43777448e-03 9.78391419e-01 2.66811981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.53, Y:166.70, Z:26.69 [[ 9.78105720e-01 2.35955967e-02 -2.06766653e-01 2.19531907e+02] [-2.27331884e-02 9.99720136e-01 6.54617937e-03 1.66701414e+02] [ 2.06863248e-01 -1.70239021e-03 9.78368386e-01 2.66867389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44275509600004 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:219.56, Y:166.71, Z:26.69 [[ 9.77212412e-01 1.64979829e-02 -2.11621641e-01 2.19561593e+02] [-1.87572239e-02 9.99786453e-01 -8.67270576e-03 1.66711598e+02] [ 2.11433368e-01 1.24445102e-02 9.77313187e-01 2.66908607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.59, Y:166.69, Z:26.70 [[ 9.77591798e-01 2.18822571e-02 -2.09369154e-01 2.19585896e+02] [-1.90123092e-02 9.99695808e-01 1.57106386e-02 1.66694976e+02] [ 2.09649250e-01 -1.13780004e-02 9.77710455e-01 2.67021396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.62, Y:166.70, Z:26.71 [[ 9.77980934e-01 1.64886235e-02 -2.08041867e-01 2.19615529e+02] [-1.40650910e-02 9.99814960e-01 1.31232312e-02 1.66696673e+02] [ 2.08219755e-01 -9.90814212e-03 9.78031882e-01 2.67065456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.64, Y:166.70, Z:26.71 [[ 9.77932229e-01 1.28161843e-02 -2.08528897e-01 2.19642248e+02] [-1.17201631e-02 9.99910250e-01 6.49074970e-03 1.66700170e+02] [ 2.08593368e-01 -3.90352064e-03 9.77994667e-01 2.67101047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.67, Y:166.71, Z:26.70 [[ 9.78471386e-01 5.42634552e-03 -2.06311176e-01 2.19672602e+02] [-9.02117751e-03 9.99823373e-01 -1.64876040e-02 1.66714656e+02] [ 2.06185269e-01 1.79938185e-02 9.78347514e-01 2.67029911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.70, Y:166.69, Z:26.72 [[ 9.77788217e-01 1.01484881e-02 -2.09349495e-01 2.19695916e+02] [-6.41361723e-03 9.99808076e-01 1.85115376e-02 1.66692177e+02] [ 2.09497180e-01 -1.67576758e-02 9.77665644e-01 2.67234640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.73, Y:166.71, Z:26.72 [[ 9.78621804e-01 1.45469861e-03 -2.05662950e-01 2.19729326e+02] [-4.01969372e-03 9.99919261e-01 -1.20545716e-02 1.66712231e+02] [ 2.05628810e-01 1.26235687e-02 9.78548639e-01 2.67153040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:166.68, Z:26.74 [[ 9.77655923e-01 1.17394296e-02 -2.09883498e-01 2.19752099e+02] [-4.91519886e-03 9.99443051e-01 3.30064925e-02 1.66682896e+02] [ 2.10154081e-01 -3.12373737e-02 9.77169120e-01 2.67424645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.78, Y:166.71, Z:26.73 [[ 9.77729426e-01 5.77241267e-04 -2.09868617e-01 2.19783996e+02] [-4.41278479e-03 9.99831685e-01 -1.78081196e-02 1.66714030e+02] [ 2.09823013e-01 1.83376276e-02 9.77567407e-01 2.67290884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.81, Y:166.70, Z:26.74 [[ 9.77521424e-01 5.28366236e-03 -2.10769896e-01 2.19810213e+02] [-4.55402129e-03 9.99981841e-01 3.94702021e-03 1.66700574e+02] [ 2.10786923e-01 -2.89844623e-03 9.77527735e-01 2.67411632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.84, Y:166.70, Z:26.75 [[ 9.77943767e-01 6.69839171e-03 -2.08760915e-01 2.19837385e+02] [-5.31009107e-03 9.99959909e-01 7.20993531e-03 1.66698161e+02] [ 2.08800841e-01 -5.94237182e-03 9.77940130e-01 2.67472922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.86, Y:166.68, Z:26.77 [[ 9.77473106e-01 1.41126356e-02 -2.10587655e-01 2.19862265e+02] [-7.92596670e-03 9.99512653e-01 3.01933113e-02 1.66681635e+02] [ 2.10911132e-01 -2.78440390e-02 9.77108594e-01 2.67666334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.89, Y:166.71, Z:26.76 [[ 9.78069306e-01 5.11378978e-03 -2.08216911e-01 2.19893468e+02] [-7.64416785e-03 9.99906370e-01 -1.13497744e-02 1.66707759e+02] [ 2.08139375e-01 1.26925110e-02 9.78016820e-01 2.67561501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.92, Y:166.69, Z:26.77 [[ 9.77423461e-01 1.00402182e-02 -2.11051110e-01 2.19919767e+02] [-7.60611500e-03 9.99894907e-01 1.23418817e-02 1.66692775e+02] [ 2.11152845e-01 -1.04579657e-02 9.77397108e-01 2.67729352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.95, Y:166.69, Z:26.78 [[ 9.77959344e-01 1.47266313e-02 -2.08275412e-01 2.19945060e+02] [-1.15235718e-02 9.99796068e-01 1.65840188e-02 1.66689364e+02] [ 2.08477165e-01 -1.38184195e-02 9.77929610e-01 2.67786743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.97, Y:166.70, Z:26.78 [[ 9.77738486e-01 1.28584110e-02 -2.09432840e-01 2.19972068e+02] [-1.28343038e-02 9.99916550e-01 1.47419658e-03 1.66697542e+02] [ 2.09434319e-01 1.24654596e-03 9.77821923e-01 2.67807929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.00, Y:166.69, Z:26.79 [[ 9.77875449e-01 1.58286687e-02 -2.08588256e-01 2.19999419e+02] [-1.40322279e-02 9.99850639e-01 1.00894144e-02 1.66691263e+02] [ 2.08716803e-01 -6.93923272e-03 9.77951504e-01 2.67892886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.03, Y:166.70, Z:26.78 [[ 9.78397476e-01 1.17582041e-02 -2.06397973e-01 2.20029754e+02] [-1.41321972e-02 9.99849814e-01 -1.00314351e-02 1.66703626e+02] [ 2.06249024e-01 1.27315877e-02 9.78416704e-01 2.67848419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.05, Y:166.68, Z:26.80 [[ 9.77696773e-01 1.96941485e-02 -2.09096058e-01 2.20054033e+02] [-1.55699420e-02 9.99650777e-01 2.13518554e-02 1.66682745e+02] [ 2.09443544e-01 -1.76200266e-02 9.77661975e-01 2.68046162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.09, Y:166.70, Z:26.80 [[ 9.78313397e-01 1.22855794e-02 -2.06765477e-01 2.20085073e+02] [-1.49246887e-02 9.99825794e-01 -1.12087558e-02 1.66702641e+02] [ 2.06591751e-01 1.40515863e-02 9.78326327e-01 2.67962007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.11, Y:166.69, Z:26.81 [[ 9.78192182e-01 1.58100753e-02 -2.07099244e-01 2.20112277e+02] [-1.48983793e-02 9.99871243e-01 5.96120696e-03 1.66690970e+02] [ 2.07166826e-01 -2.74576294e-03 9.78301777e-01 2.68073925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.14, Y:166.69, Z:26.81 [[ 9.78435043e-01 1.22588386e-02 -2.06190658e-01 2.20140279e+02] [-1.31317161e-02 9.99909670e-01 -2.86530901e-03 1.66694959e+02] [ 2.06136907e-01 5.51115592e-03 9.78507641e-01 2.68080260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.16, Y:166.67, Z:26.83 [[ 9.77464036e-01 1.87545365e-02 -2.10267272e-01 2.20163804e+02] [-1.27980129e-02 9.99478305e-01 2.96534733e-02 1.66672745e+02] [ 2.10713714e-01 -2.62942004e-02 9.77194119e-01 2.68305852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:166.69, Z:26.83 [[ 9.77290668e-01 1.11879233e-02 -2.11607608e-01 2.20192228e+02] [-1.01857752e-02 9.99931155e-01 5.82535771e-03 1.66685139e+02] [ 2.11658214e-01 -3.53768021e-03 9.77337345e-01 2.68295373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.22, Y:166.70, Z:26.82 [[ 9.77765650e-01 4.85037151e-03 -2.09644481e-01 2.20223192e+02] [-8.17473355e-03 9.99854173e-01 -1.49935235e-02 1.66697193e+02] [ 2.09541186e-01 1.63739400e-02 9.77662716e-01 2.68245057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.25, Y:166.67, Z:26.85 [[ 9.77293810e-01 1.28202273e-02 -2.11500475e-01 2.20246809e+02] [-7.46305688e-03 9.99631264e-01 2.61082192e-02 1.66670368e+02] [ 2.11757200e-01 -2.39369609e-02 9.77029125e-01 2.68468104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.28, Y:166.68, Z:26.85 [[ 9.77172951e-01 7.33219947e-03 -2.12318775e-01 2.20275352e+02] [-6.24926950e-03 9.99963820e-01 5.77111966e-03 1.66681615e+02] [ 2.12353408e-01 -4.31254479e-03 9.77183418e-01 2.68469234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.30, Y:166.68, Z:26.85 [[ 9.77044910e-01 5.87511182e-03 -2.12952404e-01 2.20301525e+02] [-4.76606188e-03 9.99972277e-01 5.72096118e-03 1.66680772e+02] [ 2.12980112e-01 -4.57469167e-03 9.77045825e-01 2.68529596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.33, Y:166.68, Z:26.86 [[ 9.77009625e-01 4.24922279e-03 -2.13152848e-01 2.20329074e+02] [-3.10627366e-03 9.99978949e-01 5.69672930e-03 1.66681010e+02] [ 2.13172568e-01 -4.90364828e-03 9.77002257e-01 2.68588035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.36, Y:166.68, Z:26.86 [[ 9.77145815e-01 5.23552463e-03 -2.12505639e-01 2.20355461e+02] [-4.13263245e-03 9.99975591e-01 5.63379087e-03 1.66680072e+02] [ 2.12529947e-01 -4.62682747e-03 9.77143599e-01 2.68642087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.38, Y:166.69, Z:26.86 [[ 9.77570397e-01 1.79061713e-03 -2.10601311e-01 2.20384367e+02] [-3.25668856e-03 9.99972819e-01 -6.61474451e-03 1.66688652e+02] [ 2.10583743e-01 7.15224130e-03 9.77549657e-01 2.68625045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:166.68, Z:26.87 [[ 9.77529129e-01 4.65639866e-03 -2.10748949e-01 2.20412337e+02] [-3.85065990e-03 9.99983625e-01 4.23342650e-03 1.66680785e+02] [ 2.10765210e-01 -3.32677519e-03 9.77531053e-01 2.68716940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.44, Y:166.68, Z:26.88 [[ 9.77167648e-01 7.82964590e-03 -2.12325419e-01 2.20439920e+02] [-5.99642623e-03 9.99938992e-01 9.27658366e-03 1.66675393e+02] [ 2.12385098e-01 -7.79158373e-03 9.77154983e-01 2.68815025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.47, Y:166.67, Z:26.89 [[ 9.76903275e-01 8.73938588e-03 -2.13503197e-01 2.20467521e+02] [-7.07904293e-03 9.99938476e-01 8.53995632e-03 1.66674614e+02] [ 2.13564695e-01 -6.83131300e-03 9.76905038e-01 2.68885602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.49, Y:166.67, Z:26.90 [[ 9.76196289e-01 1.19931267e-02 -2.16557083e-01 2.20494451e+02] [-9.99554617e-03 9.99896816e-01 1.03172525e-02 1.66672127e+02] [ 2.16658474e-01 -7.90705728e-03 9.76215439e-01 2.68985693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.52, Y:166.68, Z:26.90 [[ 9.76576268e-01 1.10933043e-02 -2.14885392e-01 2.20521632e+02] [-1.01899829e-02 9.99933976e-01 5.31109332e-03 1.66676559e+02] [ 2.14930122e-01 -2.99700922e-03 9.76624831e-01 2.69010802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.55, Y:166.67, Z:26.91 [[ 9.76171208e-01 1.55105718e-02 -2.16446750e-01 2.20550277e+02] [-1.24427552e-02 9.99801992e-01 1.55291829e-02 1.66668193e+02] [ 2.16644759e-01 -1.24659473e-02 9.76170912e-01 2.69131139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.58, Y:166.66, Z:26.93 [[ 9.75627516e-01 2.00146339e-02 -2.18518568e-01 2.20577493e+02] [-1.49576100e-02 9.99581215e-01 2.47722481e-02 1.66660351e+02] [ 2.18922863e-01 -2.08999714e-02 9.75518309e-01 2.69275299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.61, Y:166.67, Z:26.93 [[ 9.75650711e-01 1.60230994e-02 -2.18744029e-01 2.20605576e+02] [-1.49709483e-02 9.99867017e-01 6.46670102e-03 1.66670237e+02] [ 2.18818557e-01 -3.03443589e-03 9.75760847e-01 2.69283659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.63, Y:166.68, Z:26.92 [[ 9.76385408e-01 9.20238586e-03 -2.15839874e-01 2.20634484e+02] [-1.30587881e-02 9.99779448e-01 -1.64476279e-02 1.66684460e+02] [ 2.15640913e-01 1.88778310e-02 9.76290236e-01 2.69245962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.66, Y:166.65, Z:26.95 [[ 9.75672941e-01 1.91041875e-02 -2.18397213e-01 2.20658938e+02] [-1.26668137e-02 9.99444135e-01 3.08378513e-02 1.66653413e+02] [ 2.18864945e-01 -2.73212602e-02 9.75372588e-01 2.69504486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:166.67, Z:26.95 [[ 9.76503948e-01 1.14108678e-02 -2.15197192e-01 2.20689573e+02] [-1.13774685e-02 9.99934303e-01 1.39395523e-03 1.66670349e+02] [ 2.15198960e-01 1.08719647e-03 9.76569622e-01 2.69453114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.72, Y:166.68, Z:26.94 [[ 9.77130446e-01 6.65739317e-03 -2.12536515e-01 2.20716076e+02] [-9.08072399e-03 9.99904396e-01 -1.04278326e-02 1.66678087e+02] [ 2.12446773e-01 1.21193382e-02 9.77097482e-01 2.69436403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.74, Y:166.64, Z:26.98 [[ 9.75622458e-01 1.94023474e-02 -2.18596361e-01 2.20739352e+02] [-9.96325146e-03 9.98973001e-01 4.42004123e-02 1.66642240e+02] [ 2.19229455e-01 -4.09449844e-02 9.74813805e-01 2.69776064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.77, Y:166.69, Z:26.95 [[ 9.77085247e-01 -1.09700634e-04 -2.12848320e-01 2.20772679e+02] [-6.94939925e-03 9.99450287e-01 -3.24164918e-02 1.66689526e+02] [ 2.12734870e-01 3.31528439e-02 9.76547369e-01 2.69501455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.80, Y:166.67, Z:26.97 [[ 9.77142118e-01 7.09952095e-03 -2.12468535e-01 2.20796693e+02] [-6.22152419e-03 9.99969123e-01 4.80065629e-03 1.66666323e+02] [ 2.12496057e-01 -3.36904533e-03 9.77156116e-01 2.69663968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.83, Y:166.67, Z:26.97 [[ 9.76961309e-01 5.95745221e-03 -2.13333329e-01 2.20825011e+02] [-5.32468068e-03 9.99979556e-01 3.54057857e-03 1.66666460e+02] [ 2.13350061e-01 -2.32307642e-03 9.76973057e-01 2.69730367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.85, Y:166.66, Z:26.98 [[ 9.76878815e-01 6.13871425e-03 -2.13705633e-01 2.20852047e+02] [-4.89529696e-03 9.99967875e-01 6.34707254e-03 1.66664335e+02] [ 2.13737731e-01 -5.15416817e-03 9.76877483e-01 2.69803756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.88, Y:166.67, Z:26.98 [[ 9.76259855e-01 4.01721683e-03 -2.16565366e-01 2.20878483e+02] [-4.64974863e-03 9.99986283e-01 -2.41128678e-03 1.66668281e+02] [ 2.16552709e-01 3.36101700e-03 9.76265142e-01 2.69848496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.91, Y:166.66, Z:27.00 [[ 9.76271615e-01 6.73960616e-03 -2.16444706e-01 2.20906162e+02] [-3.60892670e-03 9.99883129e-01 1.48561074e-02 1.66657329e+02] [ 2.16519534e-01 -1.37224629e-02 9.76181840e-01 2.69985750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.93, Y:166.66, Z:27.00 [[ 9.75952053e-01 4.83393393e-03 -2.17931696e-01 2.20933705e+02] [-4.60007334e-03 9.99988171e-01 1.58042969e-03 1.66664602e+02] [ 2.17936758e-01 -5.39921813e-04 9.75962744e-01 2.69986809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.96, Y:166.66, Z:27.01 [[ 9.75963898e-01 5.15958234e-03 -2.17871175e-01 2.20961423e+02] [-4.27479075e-03 9.99980592e-01 4.53222306e-03 1.66662421e+02] [ 2.17890331e-01 -3.49193240e-03 9.75967013e-01 2.70054956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.99, Y:166.65, Z:27.02 [[ 9.75282520e-01 9.47804125e-03 -2.20758178e-01 2.20985409e+02] [-4.78003240e-03 9.99750799e-01 2.18057483e-02 1.66651254e+02] [ 2.20909841e-01 -2.02115339e-02 9.75084784e-01 2.70228026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.02, Y:166.67, Z:27.01 [[ 9.75572105e-01 2.63261545e-03 -2.19663693e-01 2.21017175e+02] [-5.54189116e-03 9.99904892e-01 -1.26290754e-02 1.66671742e+02] [ 2.19609554e-01 1.35379260e-02 9.75493910e-01 2.70129860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.04, Y:166.66, Z:27.02 [[ 9.75247717e-01 7.70393808e-03 -2.20980861e-01 2.21043715e+02] [-6.89645219e-03 9.99966427e-01 4.42540671e-03 1.66661302e+02] [ 2.21007535e-01 -2.79188385e-03 9.75268104e-01 2.70245092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.07, Y:166.66, Z:27.03 [[ 9.75101694e-01 8.14125493e-03 -2.21608678e-01 2.21071453e+02] [-7.35653766e-03 9.99963408e-01 4.36618595e-03 1.66660914e+02] [ 2.21636115e-01 -2.62720273e-03 9.75125905e-01 2.70311245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.10, Y:166.66, Z:27.04 [[ 9.74933816e-01 8.34007497e-03 -2.22338701e-01 2.21098491e+02] [-7.57173493e-03 9.99962055e-01 4.30792333e-03 1.66660524e+02] [ 2.22366193e-01 -2.51645042e-03 9.74959970e-01 2.70375029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.12, Y:166.66, Z:27.04 [[ 9.74824500e-01 8.58804576e-03 -2.22808080e-01 2.21124420e+02] [-7.83888961e-03 9.99960259e-01 4.24653727e-03 1.66659167e+02] [ 2.22835695e-01 -2.39306063e-03 9.74853079e-01 2.70437818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.15, Y:166.66, Z:27.05 [[ 9.74807908e-01 8.28379874e-03 -2.22892173e-01 2.21151384e+02] [-7.53396550e-03 9.99962739e-01 4.21423918e-03 1.66658075e+02] [ 2.22918777e-01 -2.42881174e-03 9.74833996e-01 2.70501570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.18, Y:166.66, Z:27.06 [[ 9.74924951e-01 7.11412087e-03 -2.22420165e-01 2.21178425e+02] [-6.35377438e-03 9.99971270e-01 4.13390263e-03 1.66657100e+02] [ 2.22443184e-01 -2.61703727e-03 9.74942143e-01 2.70560204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.21, Y:166.66, Z:27.06 [[ 9.75044378e-01 6.11820157e-03 -2.21925727e-01 2.21205240e+02] [-5.35159639e-03 9.99977456e-01 4.05549946e-03 1.66657001e+02] [ 2.21945536e-01 -2.76663503e-03 9.75055139e-01 2.70615833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.23, Y:166.66, Z:27.07 [[ 9.75056565e-01 5.29341337e-03 -2.21893385e-01 2.21232647e+02] [-4.51350376e-03 9.99981727e-01 4.02172950e-03 1.66657016e+02] [ 2.21910619e-01 -2.91989712e-03 9.75062640e-01 2.70678407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.26, Y:166.66, Z:27.07 [[ 9.76683237e-01 2.96459509e-03 -2.14665009e-01 2.21257355e+02] [-1.59722154e-03 9.99977319e-01 6.54297763e-03 1.66658731e+02] [ 2.14679537e-01 -6.04754899e-03 9.76665820e-01 2.70700945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.29, Y:166.66, Z:27.07 [[ 9.76761258e-01 6.15745849e-04 -2.14329340e-01 2.21286034e+02] [-7.69027436e-04 9.99999505e-01 -6.31787803e-04 1.66662859e+02] [ 2.14328845e-01 7.81930992e-04 9.76761248e-01 2.70735085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.31, Y:166.67, Z:27.08 [[ 9.76899211e-01 -2.26239405e-03 -2.13688591e-01 2.21313276e+02] [ 7.40818869e-04 9.99973803e-01 -7.20033485e-03 1.66667288e+02] [ 2.13699283e-01 6.87569689e-03 9.76875295e-01 2.70760722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.34, Y:166.67, Z:27.08 [[ 9.77116048e-01 -3.41153925e-03 -2.12679550e-01 2.21341369e+02] [ 1.70751916e-03 9.99964960e-01 -8.19531236e-03 1.66668479e+02] [ 2.12700056e-01 7.64461681e-03 9.77087635e-01 2.70797602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.37, Y:166.65, Z:27.10 [[ 9.75198706e-01 3.03856935e-03 -2.21310305e-01 2.21370283e+02] [ 9.49540090e-04 9.99839120e-01 1.79118220e-02 1.66649421e+02] [ 2.21329126e-01 -1.76777286e-02 9.75038930e-01 2.71019474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:166.66, Z:27.10 [[ 9.76310991e-01 -1.15994219e-03 -2.16368908e-01 2.21396028e+02] [ 1.17253356e-03 9.99999310e-01 -7.01764032e-05 1.66661626e+02] [ 2.16368840e-01 -1.85185812e-04 9.76311677e-01 2.70983163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.42, Y:166.67, Z:27.10 [[ 9.76487648e-01 -4.53343479e-03 -2.15525688e-01 2.21424385e+02] [ 2.54556753e-03 9.99951634e-01 -9.50002892e-03 1.66668907e+02] [ 2.15558332e-01 8.72802570e-03 9.76451958e-01 2.70975188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.45, Y:166.65, Z:27.12 [[ 9.74975581e-01 -1.42166937e-03 -2.22307432e-01 2.21454517e+02] [ 4.56278782e-03 9.99896879e-01 1.36166565e-02 1.66653560e+02] [ 2.22265149e-01 -1.42902492e-02 9.74881527e-01 2.71177614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.48, Y:166.66, Z:27.12 [[ 9.74959049e-01 -4.69130675e-03 -2.22334982e-01 2.21482366e+02] [ 5.76516013e-03 9.99974640e-01 4.18111108e-03 1.66660202e+02] [ 2.22309728e-01 -5.35820886e-03 9.74961371e-01 2.71205970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.51, Y:166.66, Z:27.13 [[ 9.74930986e-01 -5.03582413e-03 -2.22450474e-01 2.21509704e+02] [ 6.10320565e-03 9.99972925e-01 4.11110166e-03 1.66660966e+02] [ 2.22423748e-01 -5.36570138e-03 9.74935324e-01 2.71264748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.54, Y:166.66, Z:27.13 [[ 9.74842987e-01 -5.55217091e-03 -2.22823529e-01 2.21536615e+02] [ 6.62037519e-03 9.99969895e-01 4.04725017e-03 1.66661279e+02] [ 2.22794350e-01 -5.42060880e-03 9.74850396e-01 2.71317572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.57, Y:166.66, Z:27.13 [[ 9.74951045e-01 -7.06685069e-03 -2.22307264e-01 2.21566832e+02] [ 6.52166914e-03 9.99973657e-01 -3.18638433e-03 1.66664317e+02] [ 2.22323925e-01 1.65675431e-03 9.74971450e-01 2.71340976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.59, Y:166.66, Z:27.15 [[ 9.74814891e-01 -5.83544012e-03 -2.22939176e-01 2.21590966e+02] [ 8.83726554e-03 9.99883200e-01 1.24694974e-02 1.66656163e+02] [ 2.22840372e-01 -1.41256245e-02 9.74752602e-01 2.71453697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:166.67, Z:27.14 [[ 9.75853957e-01 -1.15698718e-02 -2.18117384e-01 2.21615989e+02] [ 7.98504457e-03 9.99818291e-01 -1.73096340e-02 1.66674649e+02] [ 2.18278020e-01 1.51499978e-02 9.75769022e-01 2.71368210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.65, Y:166.65, Z:27.16 [[ 9.75022762e-01 -6.49254390e-03 -2.22010045e-01 2.21646256e+02] [ 1.12037587e-02 9.99737845e-01 1.99679159e-02 1.66651451e+02] [ 2.21822201e-01 -2.19565195e-02 9.74839896e-01 2.71592686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.68, Y:166.66, Z:27.16 [[ 9.75173754e-01 -1.04890421e-02 -2.21192519e-01 2.21678291e+02] [ 1.06903500e-02 9.99942815e-01 -2.87050934e-04 1.66661763e+02] [ 2.21182881e-01 -2.08470091e-03 9.75230120e-01 2.71596159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:166.66, Z:27.16 [[ 9.75664236e-01 -1.07832979e-02 -2.19004610e-01 2.21703663e+02] [ 1.14807546e-02 9.99932265e-01 1.91226174e-03 1.66661376e+02] [ 2.18969156e-01 -4.38006357e-03 9.75721950e-01 2.71638575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.81275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:221.73, Y:166.66, Z:27.17 [[ 9.76145477e-01 -8.54281676e-03 -2.16949367e-01 2.21725527e+02] [ 8.67460764e-03 9.99962315e-01 -3.44853842e-04 1.66662032e+02] [ 2.16944137e-01 -1.54532312e-03 9.76182797e-01 2.71678072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.76, Y:166.66, Z:27.18 [[ 9.75707189e-01 -9.95489409e-03 -2.18852419e-01 2.21760082e+02] [ 1.09279854e-02 9.99935051e-01 3.23627385e-03 1.66660571e+02] [ 2.18805988e-01 -5.54927170e-03 9.75752604e-01 2.71774322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:166.66, Z:27.18 [[ 9.75510090e-01 -9.63620656e-03 -2.19743505e-01 2.21787172e+02] [ 9.59234174e-03 9.99953190e-01 -1.26661007e-03 1.66664972e+02] [ 2.19745424e-01 -8.72263889e-04 9.75556860e-01 2.71821300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.81, Y:166.66, Z:27.19 [[ 9.75884746e-01 -6.82572018e-03 -2.18179680e-01 2.21814916e+02] [ 8.33162093e-03 9.99947393e-01 5.98287004e-03 1.66662709e+02] [ 2.18127365e-01 -7.65638200e-03 9.75890277e-01 2.71881768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.84, Y:166.66, Z:27.19 [[ 9.76141798e-01 -4.47595299e-03 -2.17087900e-01 2.21837816e+02] [ 5.36636056e-03 9.99979433e-01 3.51225433e-03 1.66664688e+02] [ 2.17067714e-01 -4.59343020e-03 9.76145741e-01 2.71919868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.87, Y:166.66, Z:27.21 [[ 9.75350105e-01 -3.53759599e-03 -2.20634672e-01 2.21867218e+02] [ 7.22179143e-03 9.99847605e-01 1.58937764e-02 1.66657918e+02] [ 2.20544823e-01 -1.70953741e-02 9.75227014e-01 2.72063534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.89, Y:166.67, Z:27.20 [[ 9.75677712e-01 -6.27454166e-03 -2.19120133e-01 2.21893015e+02] [ 3.67231806e-03 9.99917841e-01 -1.22810590e-02 1.66674946e+02] [ 2.19179188e-01 1.11776767e-02 9.75620594e-01 2.72009447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.92, Y:166.67, Z:27.21 [[ 9.75763930e-01 -2.39885903e-03 -2.18812700e-01 2.21919541e+02] [ 2.48851730e-03 9.99996895e-01 1.34150517e-04 1.66668841e+02] [ 2.18811699e-01 -6.75418426e-04 9.75766870e-01 2.72098559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.05275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:221.95, Y:166.68, Z:27.21 [[ 9.75406743e-01 -8.17030839e-03 -2.20261053e-01 2.21953132e+02] [ 5.48579801e-03 9.99903070e-01 -1.27967792e-02 1.66678492e+02] [ 2.20344257e-01 1.12737571e-02 9.75357017e-01 2.72118929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.98, Y:166.66, Z:27.23 [[ 9.74809374e-01 1.32778453e-03 -2.23035697e-01 2.21981423e+02] [ 2.60809679e-03 9.99846052e-01 1.73513808e-02 1.66658940e+02] [ 2.23024400e-01 -1.74959873e-02 9.74655841e-01 2.72322311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.01, Y:166.66, Z:27.24 [[ 9.74382533e-01 4.28809211e-04 -2.24896631e-01 2.22005974e+02] [ 3.29435173e-03 9.99863677e-01 1.61794755e-02 1.66660391e+02] [ 2.24872910e-01 -1.65058870e-02 9.74248290e-01 2.72412841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.03, Y:166.67, Z:27.24 [[ 9.74446188e-01 -2.73323917e-03 -2.24604446e-01 2.22033978e+02] [ 3.60233595e-03 9.99987527e-01 3.45975988e-03 1.66667514e+02] [ 2.24592188e-01 -4.18045050e-03 9.74443879e-01 2.72441226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.06, Y:166.68, Z:27.24 [[ 9.75319747e-01 -4.70227665e-03 -2.20747095e-01 2.22062889e+02] [ 1.44777719e-03 9.99887902e-01 -1.49025918e-02 1.66675993e+02] [ 2.20792425e-01 1.42151995e-02 9.75217223e-01 2.72392812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:166.66, Z:27.26 [[ 9.74921389e-01 1.83764850e-03 -2.22541925e-01 2.22087451e+02] [ 7.03721030e-04 9.99935454e-01 1.13398973e-02 1.66658642e+02] [ 2.22548399e-01 -1.12121158e-02 9.74857168e-01 2.72552223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.23275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.12, Y:166.66, Z:27.26 [[ 9.74964428e-01 3.59622581e-05 -2.22360887e-01 2.22116390e+02] [ 2.52204528e-03 9.99933875e-01 1.12198883e-02 1.66657133e+02] [ 2.22346586e-01 -1.14997962e-02 9.74899867e-01 2.72624594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.14, Y:166.66, Z:27.27 [[ 9.74817584e-01 -4.50727030e-03 -2.22958207e-01 2.22142646e+02] [ 5.35671465e-03 9.99980516e-01 3.20525160e-03 1.66663853e+02] [ 2.22939416e-01 -4.31885912e-03 9.74822735e-01 2.72681658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.17, Y:166.67, Z:27.27 [[ 9.74476460e-01 -6.57979317e-03 -2.24393259e-01 2.22170762e+02] [ 6.37611045e-03 9.99978340e-01 -1.63231781e-03 1.66666852e+02] [ 2.24399139e-01 1.59899076e-04 9.74497307e-01 2.72738869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.20, Y:166.67, Z:27.28 [[ 9.74552050e-01 -5.51803002e-03 -2.24093405e-01 2.22195959e+02] [ 4.62931511e-03 9.99979200e-01 -4.49101446e-03 1.66667223e+02] [ 2.24113525e-01 3.33932837e-03 9.74557324e-01 2.72777401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.22, Y:166.65, Z:27.29 [[ 9.75011534e-01 -2.80675839e-03 -2.22136512e-01 2.22222323e+02] [ 6.32061629e-03 9.99865873e-01 1.51091409e-02 1.66653098e+02] [ 2.22064310e-01 -1.61356263e-02 9.74898499e-01 2.72894233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.26, Y:166.67, Z:27.29 [[ 9.75088229e-01 -1.21892054e-02 -2.21482210e-01 2.22255957e+02] [ 1.00813010e-02 9.99892517e-01 -1.06452673e-02 1.66665986e+02] [ 2.21588162e-01 8.14724600e-03 9.75106306e-01 2.72873490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:166.66, Z:27.30 [[ 9.74960499e-01 -1.01544219e-02 -2.22146154e-01 2.22281839e+02] [ 1.02295071e-02 9.99947347e-01 -8.12626877e-04 1.66659131e+02] [ 2.22142709e-01 -1.48016655e-03 9.75013039e-01 2.72957344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:166.66, Z:27.30 [[ 9.74605714e-01 -1.29894489e-02 -2.23550837e-01 2.22311972e+02] [ 1.19871340e-02 9.99911097e-01 -5.84012474e-03 1.66661449e+02] [ 2.23606822e-01 3.01208511e-03 9.74674775e-01 2.73016217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:166.66, Z:27.31 [[ 9.74356623e-01 -1.07883128e-02 -2.24750492e-01 2.22335717e+02] [ 1.17422662e-02 9.99926828e-01 2.90825347e-03 1.66655782e+02] [ 2.24702671e-01 -5.47275613e-03 9.74412007e-01 2.73089862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.37, Y:166.65, Z:27.31 [[ 9.75055271e-01 -1.09909052e-02 -2.21689916e-01 2.22365108e+02] [ 1.26493868e-02 9.99901614e-01 6.06264604e-03 1.66654029e+02] [ 2.21601471e-01 -8.71565648e-03 9.75098367e-01 2.73138365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.39, Y:166.66, Z:27.32 [[ 9.74645129e-01 -1.35826781e-02 -2.23343645e-01 2.22391130e+02] [ 1.32193309e-02 9.99907747e-01 -3.12195417e-03 1.66660234e+02] [ 2.23365446e-01 9.03438869e-05 9.74734769e-01 2.73172526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:166.65, Z:27.33 [[ 9.74230148e-01 -1.16425913e-02 -2.25255562e-01 2.22421278e+02] [ 1.37629572e-02 9.99874510e-01 7.84512305e-03 1.66653603e+02] [ 2.25135957e-01 -1.07431381e-02 9.74268128e-01 2.73299582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.44, Y:166.64, Z:27.35 [[ 9.73964411e-01 -7.92606476e-03 -2.26562360e-01 2.22444718e+02] [ 1.43852813e-02 9.99535350e-01 2.68728226e-02 1.66642419e+02] [ 2.26244092e-01 -2.94323362e-02 9.73625877e-01 2.73471797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.47, Y:166.66, Z:27.35 [[ 9.73435028e-01 -1.58962082e-02 -2.28410937e-01 2.22473754e+02] [ 1.47089683e-02 9.99868014e-01 -6.89934176e-03 1.66662862e+02] [ 2.28490464e-01 3.35637171e-03 9.73540365e-01 2.73451335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.50, Y:166.66, Z:27.35 [[ 9.73470528e-01 -1.45927615e-02 -2.28346627e-01 2.22500421e+02] [ 1.56316050e-02 9.99874061e-01 2.74137246e-03 1.66657160e+02] [ 2.28277865e-01 -6.23806958e-03 9.73576039e-01 2.73542946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:166.66, Z:27.36 [[ 9.74141213e-01 -1.69877971e-02 -2.25300491e-01 2.22530564e+02] [ 1.69033999e-02 9.99854473e-01 -2.30370781e-03 1.66660217e+02] [ 2.25306838e-01 -1.56420756e-03 9.74286602e-01 2.73556537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.56, Y:166.66, Z:27.36 [[ 9.73880597e-01 -1.89187004e-02 -2.26271221e-01 2.22557381e+02] [ 1.79716993e-02 9.99818995e-01 -6.24465961e-03 1.66662256e+02] [ 2.26348406e-01 2.01507447e-03 9.74044321e-01 2.73605736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.59, Y:166.66, Z:27.37 [[ 9.74133634e-01 -2.23263663e-02 -2.24867063e-01 2.22587047e+02] [ 2.22873892e-02 9.99747927e-01 -2.71201542e-03 1.66662573e+02] [ 2.24870930e-01 -2.36983432e-03 9.74385678e-01 2.73663699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:166.66, Z:27.37 [[ 9.74497619e-01 -2.16704567e-02 -2.23349014e-01 2.22614146e+02] [ 2.32582435e-02 9.99719450e-01 4.48054732e-03 1.66658926e+02] [ 2.23189258e-01 -9.56098843e-03 9.74728240e-01 2.73740115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.64, Y:166.67, Z:27.38 [[ 9.74494894e-01 -2.69253529e-02 -2.22788524e-01 2.22640977e+02] [ 2.61432884e-02 9.99637336e-01 -6.45943087e-03 1.66666902e+02] [ 2.22881649e-01 4.70257778e-04 9.74845398e-01 2.73764519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.67, Y:166.66, Z:27.39 [[ 9.75187533e-01 -2.46637133e-02 -2.20002222e-01 2.22667157e+02] [ 2.76246279e-02 9.99564350e-01 1.03918233e-02 1.66658057e+02] [ 2.19650077e-01 -1.62114561e-02 9.75444018e-01 2.73870823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:166.66, Z:27.39 [[ 9.75010414e-01 -2.69146086e-02 -2.20522780e-01 2.22695741e+02] [ 2.77421902e-02 9.99614896e-01 6.56080389e-04 1.66663736e+02] [ 2.20420198e-01 -6.75747012e-03 9.75381604e-01 2.73913478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.89275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.72, Y:166.65, Z:27.41 [[ 9.74186112e-01 -2.03072829e-02 -2.24831124e-01 2.22720471e+02] [ 2.73221265e-02 9.99230722e-01 2.81330051e-02 1.66645305e+02] [ 2.24086861e-01 -3.35496472e-02 9.73991530e-01 2.74141150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.75, Y:166.66, Z:27.41 [[ 9.74027588e-01 -2.63582414e-02 -2.24889976e-01 2.22748947e+02] [ 2.75034327e-02 9.99619787e-01 1.96043692e-03 1.66661400e+02] [ 2.24752796e-01 -8.09476598e-03 9.74382192e-01 2.74145361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.78, Y:166.67, Z:27.42 [[ 9.73459634e-01 -2.90664184e-02 -2.27005473e-01 2.22778631e+02] [ 2.81159816e-02 9.99577129e-01 -7.41988232e-03 1.66667925e+02] [ 2.27125149e-01 8.40474208e-04 9.73865217e-01 2.74195673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:166.66, Z:27.42 [[ 9.74326735e-01 -2.56279748e-02 -2.23675255e-01 2.22803630e+02] [ 2.73090152e-02 9.99617246e-01 4.42488830e-03 1.66662407e+02] [ 2.23476241e-01 -1.04196379e-02 9.74653682e-01 2.74248635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.83, Y:166.68, Z:27.43 [[ 9.72760791e-01 -3.05436980e-02 -2.29790177e-01 2.22834778e+02] [ 2.66318130e-02 9.99443080e-01 -2.01066216e-02 1.66679625e+02] [ 2.30276332e-01 1.34392041e-02 9.73032476e-01 2.74271386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.86, Y:166.66, Z:27.44 [[ 9.73496063e-01 -2.30932925e-02 -2.27534864e-01 2.22860908e+02] [ 2.61275343e-02 9.99605224e-01 1.03319374e-02 1.66662612e+02] [ 2.27206441e-01 -1.60030254e-02 9.73715121e-01 2.74412347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.89, Y:166.67, Z:27.44 [[ 9.74480614e-01 -2.30286729e-02 -2.23287287e-01 2.22889016e+02] [ 2.43469090e-02 9.99698600e-01 3.15225666e-03 1.66669679e+02] [ 2.23147396e-01 -8.50816827e-03 9.74747583e-01 2.74418715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.92, Y:166.67, Z:27.45 [[ 9.74044355e-01 -2.09442964e-02 -2.25386181e-01 2.22916815e+02] [ 2.36553283e-02 9.99676596e-01 9.33427222e-03 1.66666077e+02] [ 2.25117791e-01 -1.44235793e-02 9.74224790e-01 2.74524915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.94, Y:166.66, Z:27.46 [[ 9.74025178e-01 -1.67410793e-02 -2.25820038e-01 2.22942056e+02] [ 2.07342657e-02 9.99667597e-01 1.53227426e-02 1.66661825e+02] [ 2.25488455e-01 -1.96069497e-02 9.74048522e-01 2.74630103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.97, Y:166.68, Z:27.47 [[ 9.73574447e-01 -2.28020999e-02 -2.27228650e-01 2.22972330e+02] [ 2.22412496e-02 9.99739986e-01 -5.02867355e-03 1.66675497e+02] [ 2.27284232e-01 -1.58061064e-04 9.73828451e-01 2.74657511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.00, Y:166.66, Z:27.47 [[ 9.74165277e-01 -1.60465549e-02 -2.25265448e-01 2.22995914e+02] [ 1.89777353e-02 9.99761004e-01 1.08526674e-02 1.66664341e+02] [ 2.25037462e-01 -1.48473198e-02 9.74236982e-01 2.74746962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.02, Y:166.68, Z:27.47 [[ 9.74500195e-01 -2.00378428e-02 -2.23490165e-01 2.23024359e+02] [ 1.90552252e-02 9.99796960e-01 -6.55265370e-03 1.66675614e+02] [ 2.23576089e-01 2.12690688e-03 9.74684158e-01 2.74735749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.05, Y:166.67, Z:27.49 [[ 9.74135201e-01 -1.57075915e-02 -2.25419346e-01 2.23050976e+02] [ 1.81224989e-02 9.99798377e-01 8.64761444e-03 1.66665178e+02] [ 2.25238063e-01 -1.25091075e-02 9.74223453e-01 2.74863625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.08, Y:166.67, Z:27.49 [[ 9.73945452e-01 -1.70785766e-02 -2.26138407e-01 2.23077975e+02] [ 1.78521879e-02 9.99839690e-01 1.37623010e-03 1.66669484e+02] [ 2.26078650e-01 -5.37743838e-03 9.74094209e-01 2.74899238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.11, Y:166.67, Z:27.50 [[ 9.73940305e-01 -1.73671605e-02 -2.26138595e-01 2.23105795e+02] [ 1.81410818e-02 9.99834533e-01 1.34450282e-03 1.66669501e+02] [ 2.26077827e-01 -5.41186426e-03 9.74094209e-01 2.74963811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:166.67, Z:27.50 [[ 9.73727943e-01 -1.77486278e-02 -2.27021759e-01 2.23133466e+02] [ 1.85232854e-02 9.99827607e-01 1.28213502e-03 1.66668509e+02] [ 2.26959866e-01 -5.45363954e-03 9.73888842e-01 2.75018537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:166.67, Z:27.51 [[ 9.73637304e-01 -1.83534538e-02 -2.27362158e-01 2.23161276e+02] [ 1.91300158e-02 9.99816270e-01 1.21223036e-03 1.66667836e+02] [ 2.27298136e-01 -5.52971438e-03 9.73809519e-01 2.75078080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:166.67, Z:27.51 [[ 9.73538768e-01 -1.96458369e-02 -2.27675885e-01 2.23187654e+02] [ 2.04419335e-02 9.99790393e-01 1.13888093e-03 1.66666447e+02] [ 2.27605788e-01 -5.76288004e-03 9.73736306e-01 2.75135443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.21, Y:166.67, Z:27.52 [[ 9.73474539e-01 -2.03773988e-02 -2.27886119e-01 2.23214928e+02] [ 2.11870923e-02 9.99774915e-01 1.10705596e-03 1.66665512e+02] [ 2.27812267e-01 -5.90593503e-03 9.73687163e-01 2.75201270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.24, Y:166.66, Z:27.53 [[ 9.73497083e-01 -2.07741059e-02 -2.27753958e-01 2.23242620e+02] [ 2.15763596e-02 9.99766670e-01 1.03297677e-03 1.66664632e+02] [ 2.27679357e-01 -5.91970119e-03 9.73718166e-01 2.75262621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.27, Y:166.66, Z:27.53 [[ 9.73459156e-01 -2.09548891e-02 -2.27899461e-01 2.23268920e+02] [ 2.17457245e-02 9.99763073e-01 9.59415446e-04 1.66663584e+02] [ 2.27825361e-01 -5.88979064e-03 9.73684197e-01 2.75320448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.30, Y:166.66, Z:27.54 [[ 9.73475081e-01 -2.08944541e-02 -2.27836979e-01 2.23295363e+02] [ 2.16756798e-02 9.99764625e-01 9.26970338e-04 1.66663130e+02] [ 2.27763983e-01 -5.84090393e-03 9.73698851e-01 2.75377826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:166.66, Z:27.54 [[ 9.73488258e-01 -2.06437903e-02 -2.27803522e-01 2.23322313e+02] [ 2.14106284e-02 9.99770365e-01 8.95269629e-04 1.66662382e+02] [ 2.27732729e-01 -5.74895104e-03 9.73706708e-01 2.75438515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:166.66, Z:27.55 [[ 9.73465301e-01 -1.95228231e-02 -2.28000366e-01 2.23351265e+02] [ 1.95381118e-02 9.99806714e-01 -2.19024054e-03 1.66662771e+02] [ 2.27999057e-01 -2.32257349e-03 9.73658583e-01 2.75479051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:166.66, Z:27.56 [[ 9.73343007e-01 -1.76230655e-02 -2.28676229e-01 2.23376972e+02] [ 1.90795032e-02 9.99809317e-01 4.15957488e-03 1.66658922e+02] [ 2.28559320e-01 -8.41172196e-03 9.73493647e-01 2.75570689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.40, Y:166.66, Z:27.56 [[ 9.73508326e-01 -1.77224543e-02 -2.27963714e-01 2.23403878e+02] [ 1.66097335e-02 9.99838933e-01 -6.79882739e-03 1.66664851e+02] [ 2.28047488e-01 2.83229854e-03 9.73645891e-01 2.75571083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.43, Y:166.66, Z:27.56 [[ 9.73618564e-01 -1.68438592e-02 -2.27559170e-01 2.23433698e+02] [ 1.57523608e-02 9.99854062e-01 -6.61195103e-03 1.66664959e+02] [ 2.27637331e-01 2.85292412e-03 9.73741807e-01 2.75615271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.46, Y:166.66, Z:27.57 [[ 9.73522380e-01 -1.39591689e-02 -2.28165108e-01 2.23461908e+02] [ 1.38303591e-02 9.99902015e-01 -2.16350777e-03 1.66661380e+02] [ 2.28172952e-01 -1.04938216e-03 9.73620050e-01 2.75695388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.49, Y:166.65, Z:27.59 [[ 9.72978546e-01 -8.34528574e-03 -2.30744675e-01 2.23485945e+02] [ 1.23060369e-02 9.99800526e-01 1.57311920e-02 1.66649391e+02] [ 2.30567366e-01 -1.81456648e-02 9.72887159e-01 2.75860179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.52, Y:166.66, Z:27.58 [[ 9.73384534e-01 -1.23777039e-02 -2.28843489e-01 2.23515671e+02] [ 1.02574845e-02 9.99892763e-01 -1.04521208e-02 1.66664038e+02] [ 2.28948321e-01 7.82657416e-03 9.73407115e-01 2.75817536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.54, Y:166.65, Z:27.60 [[ 9.73034907e-01 -6.81594059e-03 -2.30557177e-01 2.23541299e+02] [ 9.72100392e-03 9.99887003e-01 1.14665949e-02 1.66650156e+02] [ 2.30452969e-01 -1.33986443e-02 9.72991215e-01 2.75984794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.57, Y:166.66, Z:27.60 [[ 9.73187261e-01 -8.23050234e-03 -2.29866948e-01 2.23568474e+02] [ 8.55453012e-03 9.99963324e-01 4.13105300e-04 1.66655562e+02] [ 2.29855117e-01 -2.36843254e-03 9.73221977e-01 2.76017807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.60, Y:166.66, Z:27.61 [[ 9.73384481e-01 -8.62044732e-03 -2.29016026e-01 2.23596115e+02] [ 8.94501880e-03 9.99959921e-01 3.79190335e-04 1.66655424e+02] [ 2.29003578e-01 -2.41765064e-03 9.73422578e-01 2.76079668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.62, Y:166.66, Z:27.61 [[ 9.73455797e-01 -9.11413139e-03 -2.28693561e-01 2.23623830e+02] [ 9.43378824e-03 9.99955454e-01 3.04557962e-04 1.66655167e+02] [ 2.28680598e-01 -2.45392034e-03 9.73498414e-01 2.76142577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.65, Y:166.66, Z:27.62 [[ 9.73539438e-01 -1.03810018e-02 -2.28283154e-01 2.23651507e+02] [ 1.07165441e-02 9.99942550e-01 2.30296792e-04 1.66655284e+02] [ 2.28267648e-01 -2.67060950e-03 9.73594756e-01 2.76211014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.68, Y:166.66, Z:27.63 [[ 9.73910406e-01 -1.18693211e-02 -2.26622244e-01 2.23679621e+02] [ 1.14591563e-02 9.99929457e-01 -3.12543126e-03 1.66658662e+02] [ 2.26643354e-01 4.46990318e-04 9.73977716e-01 2.76252812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.71, Y:166.66, Z:27.63 [[ 9.73937383e-01 -1.08843788e-02 -2.26555741e-01 2.23705673e+02] [ 1.19091980e-02 9.99924099e-01 3.15710610e-03 1.66655679e+02] [ 2.26504182e-01 -5.77292084e-03 9.73993085e-01 2.76346288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.73, Y:166.66, Z:27.64 [[ 9.73868815e-01 -1.21784822e-02 -2.26784516e-01 2.23733025e+02] [ 1.25184494e-02 9.99921639e-01 6.08488832e-05 1.66657613e+02] [ 2.26766004e-01 -2.89824931e-03 9.73944957e-01 2.76405995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.76, Y:166.66, Z:27.65 [[ 9.73938823e-01 -1.28350675e-02 -2.26447410e-01 2.23759224e+02] [ 1.31747962e-02 9.99913209e-01 -1.10754265e-05 1.66658235e+02] [ 2.26427898e-01 -2.97261169e-03 9.74023393e-01 2.76466560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.79, Y:166.67, Z:27.65 [[ 9.73179367e-01 -1.60950965e-02 -2.29483916e-01 2.23786967e+02] [ 1.40513593e-02 9.99845751e-01 -1.05372132e-02 1.66665323e+02] [ 2.29618115e-01 7.03003751e-03 9.73255413e-01 2.76510333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.81, Y:166.66, Z:27.66 [[ 9.73512787e-01 -1.36184835e-02 -2.28226623e-01 2.23812288e+02] [ 1.54324552e-02 9.99861905e-01 6.16531782e-03 1.66656310e+02] [ 2.28111143e-01 -9.52411287e-03 9.73588516e-01 2.76606381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.84, Y:166.66, Z:27.67 [[ 9.73870965e-01 -1.44921859e-02 -2.26639184e-01 2.23839609e+02] [ 1.57786378e-02 9.99868037e-01 3.86554410e-03 1.66658893e+02] [ 2.26553256e-01 -7.34059876e-03 9.73971118e-01 2.76651742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.87, Y:166.66, Z:27.67 [[ 9.73600180e-01 -1.57861292e-02 -2.27713609e-01 2.23867801e+02] [ 1.61598102e-02 9.99869397e-01 -2.23409178e-04 1.66663344e+02] [ 2.27687395e-01 -3.46229749e-03 9.73728126e-01 2.76697435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.89, Y:166.66, Z:27.68 [[ 9.73450425e-01 -1.60948511e-02 -2.28331394e-01 2.23893788e+02] [ 1.64624103e-02 9.99864442e-01 -2.94874256e-04 1.66664550e+02] [ 2.28305188e-01 -3.47183962e-03 9.73583426e-01 2.76753594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.92, Y:166.67, Z:27.68 [[ 9.73091480e-01 -1.68927288e-02 -2.29799059e-01 2.23921481e+02] [ 1.72797946e-02 9.99850639e-01 -3.28046304e-04 1.66667017e+02] [ 2.29770277e-01 -3.65166148e-03 9.73238041e-01 2.76819120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.95, Y:166.67, Z:27.69 [[ 9.73085960e-01 -1.72094225e-02 -2.29798934e-01 2.23949297e+02] [ 1.75881637e-02 9.99845236e-01 -4.00193237e-04 1.66667341e+02] [ 2.29770256e-01 -3.65231885e-03 9.73238044e-01 2.76884121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.98, Y:166.67, Z:27.69 [[ 9.73026507e-01 -1.82562754e-02 -2.29969834e-01 2.23975873e+02] [ 1.86472786e-02 9.99826012e-01 -4.73117252e-04 1.66668764e+02] [ 2.29938460e-01 -3.82795594e-03 9.73197643e-01 2.76944378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.00, Y:166.67, Z:27.70 [[ 9.72859110e-01 -1.91862631e-02 -2.30601471e-01 2.24002706e+02] [ 1.95971798e-02 9.99807828e-01 -5.08588086e-04 1.66669576e+02] [ 2.30566914e-01 -4.02435393e-03 9.73048150e-01 2.77010912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.03, Y:166.67, Z:27.71 [[ 9.72761804e-01 -2.04829664e-02 -2.30900240e-01 2.24029197e+02] [ 2.09147720e-02 9.99781095e-01 -5.77700405e-04 1.66670924e+02] [ 2.30861528e-01 -4.26726099e-03 9.72977258e-01 2.77079116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.06, Y:166.67, Z:27.71 [[ 9.72833382e-01 -2.13392334e-02 -2.30520820e-01 2.24056177e+02] [ 2.17821938e-02 9.99762545e-01 -6.23462066e-04 1.66671591e+02] [ 2.30479386e-01 -4.41472448e-03 9.73067193e-01 2.77142160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.08, Y:166.67, Z:27.72 [[ 9.72787900e-01 -2.16811496e-02 -2.30680797e-01 2.24082417e+02] [ 2.21182683e-02 9.99755122e-01 -6.91243583e-04 1.66672264e+02] [ 2.30639296e-01 -4.42982638e-03 9.73029235e-01 2.77205047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:224.11, Y:166.65, Z:27.75 [[ 9.71656727e-01 -1.03152417e-02 -2.36171126e-01 2.24110637e+02] [ 1.93908108e-02 9.99158683e-01 3.61375611e-02 1.66647341e+02] [ 2.35599663e-01 -3.96928539e-02 9.71039276e-01 2.77461638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.14, Y:166.69, Z:27.72 [[ 9.72785307e-01 -2.98146510e-02 -2.29782141e-01 2.24139867e+02] [ 2.24997831e-02 9.99155217e-01 -3.43891204e-02 1.66694558e+02] [ 2.30613325e-01 2.82831827e-02 9.72634338e-01 2.77249795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.16, Y:166.68, Z:27.74 [[ 9.73003541e-01 -2.20694955e-02 -2.29732557e-01 2.24164671e+02] [ 2.24759551e-02 9.99747025e-01 -8.47631827e-04 1.66675556e+02] [ 2.29693147e-01 -4.33870985e-03 9.73253427e-01 2.77396498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.19, Y:166.68, Z:27.75 [[ 9.73046560e-01 -2.24707314e-02 -2.29511346e-01 2.24191182e+02] [ 2.24835820e-02 9.99743936e-01 -2.55937367e-03 1.66677144e+02] [ 2.29510087e-01 -2.66984743e-03 9.73302621e-01 2.77454724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.22, Y:166.68, Z:27.75 [[ 9.73216160e-01 -2.18823050e-02 -2.28848138e-01 2.24217997e+02] [ 2.26357179e-02 9.99743557e-01 6.67486521e-04 1.66675736e+02] [ 2.28774845e-01 -5.82975056e-03 9.73461907e-01 2.77526658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.25, Y:166.68, Z:27.76 [[ 9.73158955e-01 -2.25270035e-02 -2.29028782e-01 2.24245633e+02] [ 2.28947427e-02 9.99737328e-01 -1.05166914e-03 1.66677081e+02] [ 2.28992314e-01 -4.22011378e-03 9.73419083e-01 2.77589309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.28, Y:166.69, Z:27.76 [[ 9.72265870e-01 -2.85561590e-02 -2.32128465e-01 2.24275297e+02] [ 2.57159374e-02 9.99552918e-01 -1.52530360e-02 1.66686935e+02] [ 2.32460253e-01 8.86060527e-03 9.72565535e-01 2.77637936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.30, Y:166.67, Z:27.77 [[ 9.72768233e-01 -1.98292010e-02 -2.30930224e-01 2.24296972e+02] [ 2.24133304e-02 9.99712042e-01 8.57178732e-03 1.66670753e+02] [ 2.30693754e-01 -1.35142778e-02 9.72932555e-01 2.77747757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.32, Y:166.67, Z:27.78 [[ 9.73367232e-01 -2.11622408e-02 -2.28272626e-01 2.24324987e+02] [ 2.34431655e-02 9.99698629e-01 7.28491204e-03 1.66672331e+02] [ 2.28049666e-01 -1.24423276e-02 9.73569997e-01 2.77797769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.35, Y:166.68, Z:27.78 [[ 9.73285047e-01 -2.35044660e-02 -2.28393863e-01 2.24353054e+02] [ 2.38969624e-02 9.99713878e-01 -1.04724654e-03 1.66677621e+02] [ 2.28353130e-01 -4.43865016e-03 9.73568255e-01 2.77841542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.38, Y:166.68, Z:27.79 [[ 9.73207092e-01 -2.40317118e-02 -2.28671015e-01 2.24379447e+02] [ 2.44220319e-02 9.99701107e-01 -1.12316062e-03 1.66677747e+02] [ 2.28629658e-01 -4.49154293e-03 9.73503110e-01 2.77904064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.41, Y:166.68, Z:27.80 [[ 9.73101023e-01 -2.47539329e-02 -2.29045063e-01 2.24407201e+02] [ 2.51576167e-02 9.99682827e-01 -1.15775949e-03 1.66677988e+02] [ 2.29001075e-01 -4.63561096e-03 9.73415132e-01 2.77967546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.44, Y:166.68, Z:27.80 [[ 9.73093438e-01 -2.50539207e-02 -2.29044671e-01 2.24435018e+02] [ 2.54485973e-02 9.99675374e-01 -1.23087136e-03 1.66678342e+02] [ 2.29001155e-01 -4.63111276e-03 9.73415134e-01 2.78032210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:166.68, Z:27.81 [[ 9.72991828e-01 -2.62115217e-02 -2.29346590e-01 2.24462888e+02] [ 2.66228146e-02 9.99644703e-01 -1.30120910e-03 1.66678734e+02] [ 2.29299211e-01 -4.83978593e-03 9.73343952e-01 2.78092735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.49, Y:166.68, Z:27.82 [[ 9.72764562e-01 -2.79823826e-02 -2.30100181e-01 2.24489361e+02] [ 2.84282058e-02 9.99594887e-01 -1.37807528e-03 1.66678576e+02] [ 2.30045527e-01 -5.20079252e-03 9.73165971e-01 2.78150997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.52, Y:166.68, Z:27.82 [[ 9.72600694e-01 -2.93027085e-02 -2.30627929e-01 2.24516428e+02] [ 2.97796142e-02 9.99555489e-01 -1.41357436e-03 1.66678819e+02] [ 2.30566834e-01 -5.49316736e-03 9.73040986e-01 2.78212413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.55, Y:166.66, Z:27.84 [[ 9.71273249e-01 -2.49063989e-02 -2.36659983e-01 2.24545139e+02] [ 3.00625088e-02 9.99382259e-01 1.82028971e-02 1.66663975e+02] [ 2.36060420e-01 -2.47945798e-02 9.71422003e-01 2.78391871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.57, Y:166.69, Z:27.83 [[ 9.72065091e-01 -3.67631316e-02 -2.31814432e-01 2.24571827e+02] [ 3.33100713e-02 9.99268348e-01 -1.87938095e-02 1.66689174e+02] [ 2.32335744e-01 1.05470509e-02 9.72578460e-01 2.78293772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.60, Y:166.68, Z:27.84 [[ 9.72101456e-01 -3.33484793e-02 -2.32178030e-01 2.24598385e+02] [ 3.38973951e-02 9.99423995e-01 -1.62618000e-03 1.66678852e+02] [ 2.32098525e-01 -6.28941849e-03 9.72671948e-01 2.78402503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.63, Y:166.69, Z:27.84 [[ 9.72723739e-01 -3.60751862e-02 -2.29144297e-01 2.24626665e+02] [ 3.33565376e-02 9.99319757e-01 -1.57278639e-02 1.66690549e+02] [ 2.29555808e-01 7.65540622e-03 9.73265393e-01 2.78380502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.65, Y:166.67, Z:27.86 [[ 9.72320111e-01 -2.81195064e-02 -2.31954513e-01 2.24652293e+02] [ 3.17610565e-02 9.99423702e-01 1.19791276e-02 1.66674825e+02] [ 2.31483990e-01 -1.90146671e-02 9.72652870e-01 2.78568763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.68, Y:166.69, Z:27.85 [[ 9.72695699e-01 -3.32244319e-02 -2.29693740e-01 2.24682811e+02] [ 3.03895613e-02 9.99412145e-01 -1.58694148e-02 1.66692999e+02] [ 2.30085965e-01 8.45581951e-03 9.73133571e-01 2.78515364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.71, Y:166.68, Z:27.87 [[ 9.72119984e-01 -2.58463183e-02 -2.33055152e-01 2.24707193e+02] [ 2.94120952e-02 9.99497276e-01 1.18373732e-02 1.66676420e+02] [ 2.32632037e-01 -1.83619873e-02 9.72391471e-01 2.78699187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:166.70, Z:27.87 [[ 9.72588957e-01 -3.03695552e-02 -2.30539391e-01 2.24737691e+02] [ 2.76225950e-02 9.99503849e-01 -1.51343181e-02 1.66695173e+02] [ 2.30884631e-01 8.35137443e-03 9.72945292e-01 2.78654035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.76, Y:166.68, Z:27.88 [[ 9.72097823e-01 -2.38724471e-02 -2.33357941e-01 2.24762400e+02] [ 2.71736430e-02 9.99570849e-01 1.09412903e-02 1.66679356e+02] [ 2.32996599e-01 -1.69771899e-02 9.72329347e-01 2.78831487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.79, Y:166.69, Z:27.89 [[ 9.72066558e-01 -2.69402656e-02 -2.33154089e-01 2.24790068e+02] [ 2.72260968e-02 9.99627315e-01 -1.99287583e-03 1.66689339e+02] [ 2.33120884e-01 -4.41066785e-03 9.72437761e-01 2.78862588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.82, Y:166.70, Z:27.88 [[ 9.72592624e-01 -3.10844745e-02 -2.30428606e-01 2.24817423e+02] [ 2.79095857e-02 9.99465448e-01 -1.70256685e-02 1.66701361e+02] [ 2.30834664e-01 1.01278727e-02 9.72940278e-01 2.78834139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.84, Y:166.68, Z:27.90 [[ 9.72076842e-01 -2.48117683e-02 -2.33347359e-01 2.24843961e+02] [ 2.83632925e-02 9.99527129e-01 1.18761326e-02 1.66684614e+02] [ 2.32942348e-01 -1.81630129e-02 9.72320918e-01 2.79024610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.87, Y:166.70, Z:27.90 [[ 9.72627087e-01 -3.33099509e-02 -2.29971730e-01 2.24872167e+02] [ 3.05348620e-02 9.99411703e-01 -1.56163580e-02 1.66702902e+02] [ 2.30356619e-01 8.16673778e-03 9.73072008e-01 2.78965709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.90, Y:166.69, Z:27.92 [[ 9.71954350e-01 -2.74983453e-02 -2.33556382e-01 2.24899092e+02] [ 3.08039584e-02 9.99470116e-01 1.05168052e-02 1.66685478e+02] [ 2.33143429e-01 -1.74163157e-02 9.72286384e-01 2.79159589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.93, Y:166.70, Z:27.92 [[ 9.71149775e-01 -3.43661958e-02 -2.35981100e-01 2.24927587e+02] [ 3.25056743e-02 9.99402232e-01 -1.17711739e-02 1.66699215e+02] [ 2.36244568e-01 3.76084811e-03 9.71686349e-01 2.79182088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:166.70, Z:27.92 [[ 9.71531334e-01 -3.73862794e-02 -2.33942586e-01 2.24955258e+02] [ 3.41976502e-02 9.99258817e-01 -1.76730568e-02 1.66704632e+02] [ 2.34429922e-01 9.16964173e-03 9.72089774e-01 2.79193715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.98, Y:166.68, Z:27.94 [[ 9.71412662e-01 -2.74713764e-02 -2.35802384e-01 2.24980963e+02] [ 3.42518369e-02 9.99107808e-01 2.47062871e-02 1.66677495e+02] [ 2.34913287e-01 -3.20766649e-02 9.71486920e-01 2.79439325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.01, Y:166.69, Z:27.94 [[ 9.71321258e-01 -3.48502754e-02 -2.35203046e-01 2.25009457e+02] [ 3.53255147e-02 9.99373451e-01 -2.19392003e-03 1.66694989e+02] [ 2.35132139e-01 -6.17766749e-03 9.71943781e-01 2.79436476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:166.70, Z:27.95 [[ 9.71517295e-01 -3.65746356e-02 -2.34129115e-01 2.25035643e+02] [ 3.70773069e-02 9.99309854e-01 -2.25580195e-03 1.66697030e+02] [ 2.34050037e-01 -6.48932644e-03 9.72202895e-01 2.79500007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.06, Y:166.70, Z:27.96 [[ 9.70958293e-01 -3.92341663e-02 -2.36009901e-01 2.25063638e+02] [ 3.79050535e-02 9.99229614e-01 -1.01678566e-02 1.66701992e+02] [ 2.36227010e-01 9.26596779e-04 9.71697454e-01 2.79562964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.09, Y:166.70, Z:27.97 [[ 9.71463499e-01 -3.79695233e-02 -2.34130273e-01 2.25090640e+02] [ 3.88909441e-02 9.99243228e-01 -6.81912454e-04 1.66696084e+02] [ 2.33978982e-01 -8.44309432e-03 9.72204994e-01 2.79663457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.12, Y:166.69, Z:27.97 [[ 9.71935223e-01 -3.64932633e-02 -2.32400869e-01 2.25117391e+02] [ 3.84975010e-02 9.99250315e-01 4.09280910e-03 1.66693552e+02] [ 2.32077282e-01 -1.29247980e-02 9.72611477e-01 2.79733268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.15, Y:166.72, Z:27.96 [[ 9.73399465e-01 -4.71949800e-02 -2.24201062e-01 2.25146087e+02] [ 4.01022626e-02 9.98543710e-01 -3.60869366e-02 1.66722981e+02] [ 2.25577683e-01 2.61360349e-02 9.73874538e-01 2.79578755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:166.68, Z:27.99 [[ 9.71930732e-01 -2.91144388e-02 -2.33458780e-01 2.25171459e+02] [ 3.64533234e-02 9.98965623e-01 2.71815937e-02 1.66681815e+02] [ 2.32425919e-01 -3.49289747e-02 9.71986707e-01 2.79931330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62275509600005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.20, Y:166.70, Z:27.99 [[ 9.71860638e-01 -3.33370740e-02 -2.33185635e-01 2.25200131e+02] [ 3.36933514e-02 9.99429199e-01 -2.45642580e-03 1.66700775e+02] [ 2.33134423e-01 -5.46950202e-03 9.72429136e-01 2.79904989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:166.71, Z:28.00 [[ 9.72004423e-01 -2.85489724e-02 -2.33221691e-01 2.25226313e+02] [ 2.75655533e-02 9.99592044e-01 -7.47565926e-03 1.66705109e+02] [ 2.33339970e-01 8.37488907e-04 9.72394857e-01 2.79974189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.25, Y:166.70, Z:28.01 [[ 9.72321620e-01 -2.57581654e-02 -2.32222273e-01 2.25253645e+02] [ 2.68163503e-02 9.99639396e-01 1.40055573e-03 1.66701141e+02] [ 2.32102457e-01 -7.58914443e-03 9.72661737e-01 2.80053607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.28, Y:166.72, Z:28.00 [[ 9.73228135e-01 -3.20724340e-02 -2.27592523e-01 2.25283668e+02] [ 2.63600106e-02 9.99257622e-01 -2.80954756e-02 1.66721475e+02] [ 2.28324653e-01 2.13439660e-02 9.73351061e-01 2.79960852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.31, Y:166.69, Z:28.02 [[ 9.72201142e-01 -1.85530768e-02 -2.33411061e-01 2.25308928e+02] [ 2.42333791e-02 9.99475290e-01 2.14915993e-02 1.66690221e+02] [ 2.32889853e-01 -2.65504961e-02 9.72140621e-01 2.80237942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.34, Y:166.71, Z:28.02 [[ 9.72078207e-01 -2.28540135e-02 -2.33541547e-01 2.25336748e+02] [ 2.28601672e-02 9.99735078e-01 -2.68084489e-03 1.66705099e+02] [ 2.33540944e-01 -2.73280789e-03 9.72343128e-01 2.80240452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:166.72, Z:28.02 [[ 9.72705407e-01 -3.02685566e-02 -2.30060875e-01 2.25366442e+02] [ 2.40706656e-02 9.99268995e-01 -2.96998068e-02 1.66723418e+02] [ 2.30791670e-01 2.33514443e-02 9.72722939e-01 2.80182276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.39, Y:166.69, Z:28.04 [[ 9.72017617e-01 -1.87043859e-02 -2.34162121e-01 2.25389424e+02] [ 2.47609398e-02 9.99429902e-01 2.29513942e-02 1.66691002e+02] [ 2.33599334e-01 -2.81072337e-02 9.71926610e-01 2.80434085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.42, Y:166.71, Z:28.04 [[ 9.71887010e-01 -2.59108854e-02 -2.34017662e-01 2.25418302e+02] [ 2.59656953e-02 9.99658780e-01 -2.84731558e-03 1.66706749e+02] [ 2.34011587e-01 -3.30916230e-03 9.72228176e-01 2.80441652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:166.71, Z:28.05 [[ 9.71978404e-01 -2.76235760e-02 -2.33441470e-01 2.25444606e+02] [ 2.77088664e-02 9.99611786e-01 -2.91478775e-03 1.66707394e+02] [ 2.33431361e-01 -3.63528775e-03 9.72366487e-01 2.80501773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.47, Y:166.71, Z:28.06 [[ 9.72243817e-01 -3.12686958e-02 -2.31871149e-01 2.25472199e+02] [ 3.14472188e-02 9.99501128e-01 -2.92719777e-03 1.66708002e+02] [ 2.31847004e-01 -4.44575281e-03 9.72742105e-01 2.80566145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:166.73, Z:28.04 [[ 9.73745153e-01 -4.27037306e-02 -2.23599570e-01 2.25503354e+02] [ 3.52167305e-02 9.98680869e-01 -3.73671478e-02 1.66731556e+02] [ 2.24900329e-01 2.85116332e-02 9.73964542e-01 2.80435211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.53, Y:166.69, Z:28.08 [[ 9.72792413e-01 -2.95655305e-02 -2.29784249e-01 2.25525261e+02] [ 3.74961983e-02 9.98839626e-01 3.02231062e-02 1.66689215e+02] [ 2.28624051e-01 -3.80168442e-02 9.72772205e-01 2.80780274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.56, Y:166.73, Z:28.06 [[ 9.73280536e-01 -4.61784721e-02 -2.24927871e-01 2.25558199e+02] [ 4.00389875e-02 9.98692499e-01 -3.17831955e-02 1.66727396e+02] [ 2.26101477e-01 2.19280813e-02 9.73856910e-01 2.80629092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.58, Y:166.69, Z:28.09 [[ 9.72828783e-01 -3.42380794e-02 -2.28980157e-01 2.25580872e+02] [ 4.10160990e-02 9.98848019e-01 2.49061048e-02 1.66692684e+02] [ 2.27863639e-01 -3.36212485e-02 9.73112416e-01 2.80899316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.61, Y:166.72, Z:28.08 [[ 9.73199963e-01 -4.52470984e-02 -2.25465145e-01 2.25612678e+02] [ 4.11355427e-02 9.98891047e-01 -2.29029319e-02 1.66722255e+02] [ 2.26251406e-01 1.30145013e-02 9.73981994e-01 2.80792956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.64, Y:166.72, Z:28.09 [[ 9.73031906e-01 -4.29330237e-02 -2.26639945e-01 2.25641783e+02] [ 4.13214788e-02 9.99075601e-01 -1.18523641e-02 1.66716775e+02] [ 2.26939297e-01 2.16763072e-03 9.73906493e-01 2.80887083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.67, Y:166.70, Z:28.11 [[ 9.72522668e-01 -3.19946186e-02 -2.30599229e-01 2.25666206e+02] [ 3.84104275e-02 9.98988359e-01 2.33858538e-02 1.66695943e+02] [ 2.29617724e-01 -3.16006879e-02 9.72767751e-01 2.81103716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.70, Y:166.72, Z:28.11 [[ 9.71829993e-01 -3.97275838e-02 -2.32310532e-01 2.25697190e+02] [ 3.83865926e-02 9.99209959e-01 -1.02920663e-02 1.66717453e+02] [ 2.32535876e-01 1.08452896e-03 9.72587215e-01 2.81096317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:166.71, Z:28.12 [[ 9.72307405e-01 -3.35474742e-02 -2.31285271e-01 2.25721793e+02] [ 3.57900401e-02 9.99344164e-01 5.50596423e-03 1.66708241e+02] [ 2.30948875e-01 -1.36311989e-02 9.72870396e-01 2.81189612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.75, Y:166.71, Z:28.12 [[ 9.72238623e-01 -3.42746040e-02 -2.31467733e-01 2.25749088e+02] [ 3.44384833e-02 9.99401259e-01 -3.33376410e-03 1.66714199e+02] [ 2.31443408e-01 -4.73018345e-03 9.72836869e-01 2.81229863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.78, Y:166.72, Z:28.13 [[ 9.72180552e-01 -3.30854625e-02 -2.31884295e-01 2.25776152e+02] [ 3.31983829e-02 9.99442943e-01 -3.41640090e-03 1.66715292e+02] [ 2.31868155e-01 -4.37682510e-03 9.72737376e-01 2.81292458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.80, Y:166.72, Z:28.14 [[ 9.72040073e-01 -3.05225626e-02 -2.32822828e-01 2.25802353e+02] [ 3.05454907e-02 9.99527223e-01 -3.50778005e-03 1.66716543e+02] [ 2.32819821e-01 -3.70198475e-03 9.72512841e-01 2.81350679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.31275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.83, Y:166.72, Z:28.14 [[ 9.72046825e-01 -3.00381684e-02 -2.32857636e-01 2.25830228e+02] [ 2.96853032e-02 9.99546686e-01 -5.02043656e-03 1.66717895e+02] [ 2.32902884e-01 -2.03235013e-03 9.72497875e-01 2.81411676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.86, Y:166.72, Z:28.15 [[ 9.71946829e-01 -2.84827620e-02 -2.33469684e-01 2.25855305e+02] [ 2.79992133e-02 9.99593436e-01 -5.38586128e-03 1.66717900e+02] [ 2.33528167e-01 -1.30219669e-03 9.72349165e-01 2.81469904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.88, Y:166.72, Z:28.15 [[ 9.71704653e-01 -2.88410546e-02 -2.34431781e-01 2.25884164e+02] [ 2.92242670e-02 9.99571187e-01 -1.83989973e-03 1.66716332e+02] [ 2.34384319e-01 -5.06325784e-03 9.72130832e-01 2.81543794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.91, Y:166.72, Z:28.16 [[ 9.71641281e-01 -2.96446027e-02 -2.34594155e-01 2.25910234e+02] [ 2.96018326e-02 9.99554905e-01 -3.70446324e-03 1.66717617e+02] [ 2.34599556e-01 -3.34500751e-03 9.72086344e-01 2.81598532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.94, Y:166.72, Z:28.17 [[ 9.71573388e-01 -3.04959603e-02 -2.34766158e-01 2.25937454e+02] [ 3.04694440e-02 9.99528697e-01 -3.74111235e-03 1.66717828e+02] [ 2.34769601e-01 -3.51842911e-03 9.72044678e-01 2.81663339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.96, Y:166.72, Z:28.17 [[ 9.71747471e-01 -3.17901418e-02 -2.33872270e-01 2.25963666e+02] [ 3.17830005e-02 9.99487568e-01 -3.80036994e-03 1.66717028e+02] [ 2.33873241e-01 -3.74016261e-03 9.72259903e-01 2.81727575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:166.72, Z:28.18 [[ 9.71828063e-01 -3.31062704e-02 -2.33354217e-01 2.25991255e+02] [ 3.31288690e-02 9.99443774e-01 -3.82376280e-03 1.66717244e+02] [ 2.33351010e-01 -4.01472129e-03 9.72384280e-01 2.81793243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.02, Y:166.72, Z:28.19 [[ 9.71930803e-01 -3.47053460e-02 -2.32693045e-01 2.26017071e+02] [ 3.47553673e-02 9.99388294e-01 -3.88625463e-03 1.66717212e+02] [ 2.32685579e-01 -4.31016169e-03 9.72542464e-01 2.81856417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.04, Y:166.72, Z:28.19 [[ 9.71849686e-01 -3.59122397e-02 -2.32848661e-01 2.26044258e+02] [ 3.59888962e-02 9.99344499e-01 -3.92057934e-03 1.66717418e+02] [ 2.32836825e-01 -4.56975249e-03 9.72505080e-01 2.81919557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.07, Y:166.72, Z:28.20 [[ 9.71824009e-01 -3.66169012e-02 -2.32846083e-01 2.26070754e+02] [ 3.66957772e-02 9.99318500e-01 -3.99452481e-03 1.66717262e+02] [ 2.32833665e-01 -4.66249288e-03 9.72505396e-01 2.81980346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.10, Y:166.72, Z:28.20 [[ 9.71758051e-01 -3.78179846e-02 -2.32929370e-01 2.26098567e+02] [ 3.79232996e-02 9.99272535e-01 -4.02783768e-03 1.66716914e+02] [ 2.32912247e-01 -4.91936657e-03 9.72485314e-01 2.82044286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.13, Y:166.72, Z:28.21 [[ 9.71706394e-01 -3.80801801e-02 -2.33102088e-01 2.26126103e+02] [ 3.81757553e-02 9.99262616e-01 -4.10324410e-03 1.66716982e+02] [ 2.33086454e-01 -4.91169974e-03 9.72443613e-01 2.82105976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.15, Y:166.72, Z:28.22 [[ 9.71694901e-01 -3.83804048e-02 -2.33100758e-01 2.26153867e+02] [ 3.84666984e-02 9.99251151e-01 -4.17745933e-03 1.66717690e+02] [ 2.33086534e-01 -4.90740064e-03 9.72443616e-01 2.82172435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.18, Y:166.72, Z:28.22 [[ 9.71651523e-01 -3.87804257e-02 -2.33215344e-01 2.26180919e+02] [ 3.88614186e-02 9.99235574e-01 -4.24939613e-03 1.66717989e+02] [ 2.33201861e-01 -4.93414688e-03 9.72415830e-01 2.82236503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.21, Y:166.72, Z:28.23 [[ 9.71603374e-01 -3.85956300e-02 -2.33446486e-01 2.26207288e+02] [ 3.86533317e-02 9.99243301e-01 -4.32954581e-03 1.66718269e+02] [ 2.33436939e-01 -4.81688315e-03 9.72360012e-01 2.82297539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:166.72, Z:28.24 [[ 9.71495775e-01 -3.75455585e-02 -2.34064715e-01 2.26234343e+02] [ 3.75656642e-02 9.99284588e-01 -4.37406325e-03 1.66718454e+02] [ 2.34061489e-01 -4.54341252e-03 9.72211179e-01 2.82355377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.26, Y:166.72, Z:28.24 [[ 9.71487228e-01 -3.66619886e-02 -2.34240187e-01 2.26261338e+02] [ 3.66389389e-02 9.99318654e-01 -4.45161840e-03 1.66718735e+02] [ 2.34243794e-01 -4.25762149e-03 9.72168564e-01 2.82417897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:166.72, Z:28.25 [[ 9.71538408e-01 -3.58717389e-02 -2.34150251e-01 2.26289169e+02] [ 3.58083109e-02 9.99348438e-01 -4.52366335e-03 1.66719177e+02] [ 2.34159960e-01 -3.98961230e-03 9.72189897e-01 2.82479994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:166.72, Z:28.25 [[ 9.71604906e-01 -3.41386323e-02 -2.34133424e-01 2.26316715e+02] [ 3.40077167e-02 9.99410995e-01 -4.59763548e-03 1.66718406e+02] [ 2.34152475e-01 -3.49525796e-03 9.72193603e-01 2.82543731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.34, Y:166.72, Z:28.26 [[ 9.71582578e-01 -3.24022939e-02 -2.34472570e-01 2.26343239e+02] [ 3.21719028e-02 9.99470783e-01 -4.80860445e-03 1.66717575e+02] [ 2.34504293e-01 -2.87147243e-03 9.72110843e-01 2.82610142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.37, Y:166.72, Z:28.27 [[ 9.71652690e-01 -3.34578655e-02 -2.34033377e-01 2.26371192e+02] [ 3.30251258e-02 9.99437873e-01 -5.76885921e-03 1.66718343e+02] [ 2.34094834e-01 -2.12365416e-03 9.72211448e-01 2.82671953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.40, Y:166.72, Z:28.27 [[ 9.71773797e-01 -3.27087200e-02 -2.33636099e-01 2.26398618e+02] [ 3.24940474e-02 9.99460551e-01 -4.76900404e-03 1.66716566e+02] [ 2.33666052e-01 -2.95738929e-03 9.72312414e-01 2.82736375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.43, Y:166.72, Z:28.28 [[ 9.71888416e-01 -3.30313268e-02 -2.33113359e-01 2.26426439e+02] [ 3.28089698e-02 9.99449958e-01 -4.83241478e-03 1.66716640e+02] [ 2.33144758e-01 -2.95164120e-03 9.72437561e-01 2.82800800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.45, Y:166.72, Z:28.29 [[ 9.71949095e-01 -3.34039060e-02 -2.32807081e-01 2.26454151e+02] [ 3.31749859e-02 9.99437548e-01 -4.89985266e-03 1.66716222e+02] [ 2.32839812e-01 -2.96096426e-03 9.72510594e-01 2.82867321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.48, Y:166.72, Z:28.29 [[ 9.71943403e-01 -3.35402462e-02 -2.32811241e-01 2.26479948e+02] [ 3.32976226e-02 9.99433107e-01 -4.97324722e-03 1.66715841e+02] [ 2.32846066e-01 -2.91834602e-03 9.72509225e-01 2.82931485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:166.72, Z:28.30 [[ 9.72042410e-01 -3.39135530e-02 -2.32343332e-01 2.26506813e+02] [ 3.36748879e-02 9.99420360e-01 -4.99466114e-03 1.66715151e+02] [ 2.32378043e-01 -2.96911319e-03 9.72621010e-01 2.82996187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.53, Y:166.71, Z:28.31 [[ 9.72032387e-01 -3.43481065e-02 -2.32321427e-01 2.26532980e+02] [ 3.41039152e-02 9.99405439e-01 -5.06872890e-03 1.66714632e+02] [ 2.32357399e-01 -2.99610160e-03 9.72625859e-01 2.83057594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.56, Y:166.71, Z:28.31 [[ 9.72023175e-01 -3.47670719e-02 -2.32297651e-01 2.26559868e+02] [ 3.45270774e-02 9.99390749e-01 -5.10022640e-03 1.66713097e+02] [ 2.32333443e-01 -3.06302071e-03 9.72631374e-01 2.83121011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:166.71, Z:28.32 [[ 9.72020939e-01 -3.52100731e-02 -2.32240276e-01 2.26587677e+02] [ 3.49648678e-02 9.99375151e-01 -5.17347158e-03 1.66712551e+02] [ 2.32277319e-01 -3.09152784e-03 9.72644688e-01 2.83181142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.62, Y:166.72, Z:28.31 [[ 9.72476836e-01 -4.00226773e-02 -2.29536467e-01 2.26618402e+02] [ 3.59793268e-02 9.99115273e-01 -2.17752166e-02 1.66723303e+02] [ 2.30204893e-01 1.29173261e-02 9.73056448e-01 2.83148547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:166.71, Z:28.33 [[ 9.71495674e-01 -3.50033374e-02 -2.34458785e-01 2.26641668e+02] [ 3.61438386e-02 9.99346437e-01 5.67785637e-04 1.66708901e+02] [ 2.34285677e-01 -9.02584177e-03 9.72125895e-01 2.83318697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:166.71, Z:28.34 [[ 9.72053905e-01 -3.40488996e-02 -2.32275437e-01 2.26668614e+02] [ 3.60743439e-02 9.99339082e-01 4.47662823e-03 1.66706029e+02] [ 2.31969498e-01 -1.27307079e-02 9.72639749e-01 2.83380260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.70, Y:166.71, Z:28.34 [[ 9.71744678e-01 -3.65439311e-02 -2.33188385e-01 2.26695158e+02] [ 3.62751059e-02 9.99327020e-01 -5.44279545e-03 1.66709769e+02] [ 2.33230355e-01 -3.16992584e-03 9.72416348e-01 2.83413657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:166.71, Z:28.35 [[ 9.71624516e-01 -3.69980539e-02 -2.33617089e-01 2.26722793e+02] [ 3.67289431e-02 9.99310108e-01 -5.50382558e-03 1.66709219e+02] [ 2.33659549e-01 -3.23285690e-03 9.72313100e-01 2.83476334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:166.71, Z:28.35 [[ 9.71393416e-01 -3.69875074e-02 -2.34577825e-01 2.26750064e+02] [ 3.66976539e-02 9.99310711e-01 -5.60220419e-03 1.66708474e+02] [ 2.34623345e-01 -3.16651159e-03 9.72081200e-01 2.83540550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:166.71, Z:28.36 [[ 9.71482630e-01 -3.63999154e-02 -2.34300120e-01 2.26776541e+02] [ 3.60753325e-02 9.99332974e-01 -5.67254010e-03 1.66709772e+02] [ 2.34350315e-01 -2.94168055e-03 9.72147765e-01 2.83603188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.81, Y:166.72, Z:28.36 [[ 9.71937378e-01 -3.94645542e-02 -2.31905761e-01 2.26806871e+02] [ 3.57628616e-02 9.99157218e-01 -2.01462533e-02 1.66719384e+02] [ 2.32505378e-01 1.12872830e-02 9.72529612e-01 2.83586722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.83, Y:166.71, Z:28.37 [[ 9.72103237e-01 -3.60212748e-02 -2.31770929e-01 2.26833652e+02] [ 3.57594597e-02 9.99346201e-01 -5.33215118e-03 1.66710280e+02] [ 2.31811469e-01 -3.10460178e-03 9.72755778e-01 2.83694147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:166.70, Z:28.38 [[ 9.71709991e-01 -3.20013039e-02 -2.33999166e-01 2.26857432e+02] [ 3.51355003e-02 9.99339874e-01 9.23651873e-03 1.66701404e+02] [ 2.33549117e-01 -1.71968953e-02 9.72192922e-01 2.83846229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.89, Y:166.71, Z:28.39 [[ 9.71676390e-01 -3.54995952e-02 -2.33633842e-01 2.26885551e+02] [ 3.51105808e-02 9.99366456e-01 -5.82527890e-03 1.66711011e+02] [ 2.33692620e-01 -2.54273390e-03 9.72307202e-01 2.83873706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.91, Y:166.72, Z:28.39 [[ 9.71613732e-01 -3.80837006e-02 -2.33487445e-01 2.26914804e+02] [ 3.54978557e-02 9.99253105e-01 -1.52687096e-02 1.66718100e+02] [ 2.33894544e-01 6.54698427e-03 9.72239929e-01 2.83896165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.94, Y:166.71, Z:28.40 [[ 9.71754476e-01 -3.32692457e-02 -2.33637318e-01 2.26940618e+02] [ 3.50771316e-02 9.99378175e-01 3.58590646e-03 1.66707275e+02] [ 2.33372736e-01 -1.16799476e-02 9.72317204e-01 2.84031181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:166.71, Z:28.41 [[ 9.71766906e-01 -3.54034809e-02 -2.33271676e-01 2.26968058e+02] [ 3.49708012e-02 9.99370372e-01 -5.99182311e-03 1.66714901e+02] [ 2.33336933e-01 -2.33504201e-03 9.72393142e-01 2.84073635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.99, Y:166.72, Z:28.41 [[ 9.71931191e-01 -3.44636447e-02 -2.32727344e-01 2.26994302e+02] [ 3.39886560e-02 9.99403895e-01 -6.05199978e-03 1.66717743e+02] [ 2.32797188e-01 -2.02796228e-03 9.72523191e-01 2.84132172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.02, Y:166.72, Z:28.42 [[ 9.72090067e-01 -3.40510352e-02 -2.32123735e-01 2.27021985e+02] [ 3.35592833e-02 9.99418306e-01 -6.06823734e-03 1.66720560e+02] [ 2.32195339e-01 -1.89103294e-03 9.72667337e-01 2.84199087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.05, Y:166.72, Z:28.43 [[ 9.71977718e-01 -3.27531249e-02 -2.32780043e-01 2.27049018e+02] [ 3.22043897e-02 9.99462331e-01 -6.15845463e-03 1.66722529e+02] [ 2.32856593e-01 -1.51065854e-03 9.72509910e-01 2.84264924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.08, Y:166.74, Z:28.43 [[ 9.70829451e-01 -3.74383337e-02 -2.36830210e-01 2.27078635e+02] [ 3.26725230e-02 9.99177492e-01 -2.40175982e-02 1.66735147e+02] [ 2.37534594e-01 1.55791512e-02 9.71254141e-01 2.84300504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.10, Y:166.72, Z:28.44 [[ 9.71836289e-01 -2.83179469e-02 -2.33949400e-01 2.27104308e+02] [ 3.19339373e-02 9.99421711e-01 1.16819628e-02 1.66715194e+02] [ 2.33483301e-01 -1.88238808e-02 9.72178590e-01 2.84441758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:166.73, Z:28.45 [[ 9.71790643e-01 -3.29524831e-02 -2.33531753e-01 2.27132085e+02] [ 3.23623375e-02 9.99455970e-01 -6.35947441e-03 1.66728875e+02] [ 2.33614265e-01 -1.37755566e-03 9.72328380e-01 2.84464441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.16, Y:166.73, Z:28.45 [[ 9.71496462e-01 -3.57121344e-02 -2.34348602e-01 2.27160805e+02] [ 3.44622742e-02 9.99361532e-01 -9.42764687e-03 1.66733232e+02] [ 2.34535660e-01 1.08273980e-03 9.72106914e-01 2.84525983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.19, Y:166.74, Z:28.46 [[ 9.71198656e-01 -3.65216985e-02 -2.35455591e-01 2.27187190e+02] [ 3.47400540e-02 9.99327753e-01 -1.17119883e-02 1.66735763e+02] [ 2.35725049e-01 3.19492734e-03 9.71814537e-01 2.84590941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:166.73, Z:28.47 [[ 9.71747367e-01 -3.36771719e-02 -2.33608439e-01 2.27212135e+02] [ 3.54930218e-02 9.99363540e-01 3.57227169e-03 1.66728082e+02] [ 2.33339452e-01 -1.17628150e-02 9.72324193e-01 2.84685765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:166.74, Z:28.47 [[ 9.70801642e-01 -4.26821915e-02 -2.36055933e-01 2.27240914e+02] [ 3.95267101e-02 9.99054825e-01 -1.80857740e-02 1.66742455e+02] [ 2.36604759e-01 8.22718460e-03 9.71571151e-01 2.84701660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:166.73, Z:28.48 [[ 9.71499287e-01 -3.89153782e-02 -2.33826280e-01 2.27267684e+02] [ 4.11770969e-02 9.99140350e-01 4.79670475e-03 1.66729079e+02] [ 2.33438606e-01 -1.42882826e-02 9.72266559e-01 2.84813574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:166.74, Z:28.48 [[ 9.71352579e-01 -4.53192541e-02 -2.33281661e-01 2.27295168e+02] [ 4.49827481e-02 9.98964855e-01 -6.76535749e-03 1.66735661e+02] [ 2.33346781e-01 -3.92210272e-03 9.72385673e-01 2.84846515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.32, Y:166.74, Z:28.49 [[ 9.70440881e-01 -4.99156925e-02 -2.36120563e-01 2.27321832e+02] [ 4.68795437e-02 9.98729986e-01 -1.84586771e-02 1.66742918e+02] [ 2.36742065e-01 6.84383062e-03 9.71548433e-01 2.84892750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:166.73, Z:28.50 [[ 9.71286367e-01 -4.53663527e-02 -2.33548040e-01 2.27348399e+02] [ 4.79135325e-02 9.98837735e-01 5.24147399e-03 1.66728663e+02] [ 2.33038809e-01 -1.62810839e-02 9.72331137e-01 2.85004520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:166.74, Z:28.50 [[ 9.71118423e-01 -4.90748027e-02 -2.33496623e-01 2.27376056e+02] [ 4.88019171e-02 9.98784299e-01 -6.94957208e-03 1.66737156e+02] [ 2.33553810e-01 -4.64622535e-03 9.72332778e-01 2.85040493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.40, Y:166.74, Z:28.51 [[ 9.71140710e-01 -4.91649581e-02 -2.33384936e-01 2.27403438e+02] [ 4.88771541e-02 9.98780127e-01 -7.02011451e-03 1.66737760e+02] [ 2.33445380e-01 -4.58967250e-03 9.72359085e-01 2.85105316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:166.74, Z:28.52 [[ 9.71217189e-01 -4.90131217e-02 -2.33098448e-01 2.27430653e+02] [ 4.87041051e-02 9.98788123e-01 -7.08481701e-03 1.66738896e+02] [ 2.33163210e-01 -4.47195524e-03 9.72427334e-01 2.85171132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.46, Y:166.75, Z:28.52 [[ 9.70363293e-01 -5.03172124e-02 -2.36354094e-01 2.27457872e+02] [ 4.66196232e-02 9.98687500e-01 -2.12105483e-02 1.66748231e+02] [ 2.37111135e-01 9.56319868e-03 9.71435461e-01 2.85219270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:166.73, Z:28.53 [[ 9.71162217e-01 -4.40237454e-02 -2.34319992e-01 2.27486099e+02] [ 4.65769055e-02 9.98900270e-01 5.37043200e-03 1.66732883e+02] [ 2.33825877e-01 -1.61294608e-02 9.72144691e-01 2.85348531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.51, Y:166.75, Z:28.54 [[ 9.70604230e-01 -4.52954176e-02 -2.36380528e-01 2.27510306e+02] [ 4.26336138e-02 9.98956776e-01 -1.63625932e-02 1.66745952e+02] [ 2.36875080e-01 5.80384603e-03 9.71522780e-01 2.85356680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.54, Y:166.74, Z:28.54 [[ 9.70643960e-01 -4.37857861e-02 -2.36501813e-01 2.27539959e+02] [ 4.26864119e-02 9.99040755e-01 -9.76938322e-03 1.66743864e+02] [ 2.36702709e-01 -6.12820972e-04 9.71581933e-01 2.85443353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.57, Y:166.74, Z:28.55 [[ 9.71025637e-01 -4.13511174e-02 -2.35370554e-01 2.27567406e+02] [ 4.25671856e-02 9.99093603e-01 8.57866704e-05 1.66739347e+02] [ 2.35153667e-01 -1.01023631e-02 9.71905703e-01 2.85529729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.59, Y:166.75, Z:28.56 [[ 9.70852912e-01 -4.17609707e-02 -2.36009841e-01 2.27594176e+02] [ 4.11527484e-02 9.99124683e-01 -7.50456439e-03 1.66745825e+02] [ 2.36116656e-01 -2.42662543e-03 9.71721687e-01 2.85569783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:166.75, Z:28.56 [[ 9.70069480e-01 -4.39404623e-02 -2.38818843e-01 2.27621255e+02] [ 4.07701223e-02 9.99002759e-01 -1.82012094e-02 1.66753761e+02] [ 2.39380453e-01 7.91976433e-03 9.70893545e-01 2.85618474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.65, Y:166.75, Z:28.57 [[ 9.69938321e-01 -4.18308289e-02 -2.39728669e-01 2.27647947e+02] [ 4.07896837e-02 9.99124424e-01 -9.30520988e-03 1.66749523e+02] [ 2.39908013e-01 -7.52976920e-04 9.70795333e-01 2.85710340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:166.74, Z:28.58 [[ 9.70503609e-01 -3.93598482e-02 -2.37851943e-01 2.27675633e+02] [ 4.13917002e-02 9.99136681e-01 3.55232045e-03 1.66743850e+02] [ 2.37506783e-01 -1.32926361e-02 9.71294926e-01 2.85808999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.70, Y:166.75, Z:28.58 [[ 9.70562287e-01 -4.21993704e-02 -2.37124568e-01 2.27702137e+02] [ 4.15619646e-02 9.99106344e-01 -7.68871525e-03 1.66751808e+02] [ 2.37237119e-01 -2.39298582e-03 9.71448827e-01 2.85842732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.73, Y:166.75, Z:28.59 [[ 9.70459256e-01 -4.30035855e-02 -2.37401608e-01 2.27729214e+02] [ 4.23800627e-02 9.99071644e-01 -7.73178714e-03 1.66753099e+02] [ 2.37513709e-01 -2.55771064e-03 9.71380819e-01 2.85919899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:166.77, Z:28.59 [[ 9.71250522e-01 -4.82812482e-02 -2.33112299e-01 2.27759265e+02] [ 4.34737323e-02 9.98723434e-01 -2.57203456e-02 1.66765752e+02] [ 2.34056526e-01 1.48466374e-02 9.72109623e-01 2.85887200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:166.74, Z:28.61 [[ 9.70478094e-01 -4.01617595e-02 -2.37821997e-01 2.27782840e+02] [ 4.38149611e-02 9.98988680e-01 1.00929134e-02 1.66744610e+02] [ 2.37176134e-01 -2.02151129e-02 9.71256316e-01 2.86105482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.81, Y:166.76, Z:28.61 [[ 9.70355544e-01 -4.61766291e-02 -2.37229505e-01 2.27810288e+02] [ 4.56005215e-02 9.98928373e-01 -7.91818077e-03 1.66756611e+02] [ 2.37340919e-01 -3.13433855e-03 9.71421363e-01 2.86127620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.84, Y:166.76, Z:28.62 [[ 9.70335973e-01 -4.71553649e-02 -2.37116999e-01 2.27837113e+02] [ 4.65898242e-02 9.98882139e-01 -7.99128454e-03 1.66757669e+02] [ 2.37228767e-01 -3.29300844e-03 9.71448232e-01 2.86193905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:166.76, Z:28.63 [[ 9.70172372e-01 -4.81749262e-02 -2.37581027e-01 2.27863838e+02] [ 4.76181521e-02 9.98832890e-01 -8.08517944e-03 1.66758731e+02] [ 2.37693247e-01 -3.46915176e-03 9.71334075e-01 2.86259534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:166.76, Z:28.63 [[ 9.70156862e-01 -4.85000492e-02 -2.37578217e-01 2.27891591e+02] [ 4.79328593e-02 9.98817171e-01 -8.16695056e-03 1.66759943e+02] [ 2.37693300e-01 -3.46458014e-03 9.71334078e-01 2.86326212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:166.78, Z:28.63 [[ 9.70859563e-01 -5.58623615e-02 -2.33047430e-01 2.27921403e+02] [ 4.98409432e-02 9.98255503e-01 -3.16517262e-02 1.66776423e+02] [ 2.34409020e-01 1.91140773e-02 9.71950134e-01 2.86271073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:166.75, Z:28.65 [[ 9.69876177e-01 -4.40349403e-02 -2.39585318e-01 2.27945021e+02] [ 4.92847866e-02 9.98657206e-01 1.59622888e-02 1.66746558e+02] [ 2.38560706e-01 -2.72893549e-02 9.70744086e-01 2.86545380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.97, Y:166.76, Z:28.65 [[ 9.69719529e-01 -5.07450118e-02 -2.38891145e-01 2.27972158e+02] [ 5.02044501e-02 9.98704046e-01 -8.35113773e-03 1.66761046e+02] [ 2.39005332e-01 -3.89513722e-03 9.71010442e-01 2.86546591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:166.76, Z:28.66 [[ 9.69576923e-01 -5.16726339e-02 -2.39270829e-01 2.27999604e+02] [ 5.11497693e-02 9.98655679e-01 -8.39857252e-03 1.66761802e+02] [ 2.39383148e-01 -4.09558557e-03 9.70916544e-01 2.86614818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:166.76, Z:28.67 [[ 9.69418574e-01 -5.21987843e-02 -2.39797654e-01 2.28027324e+02] [ 5.16703431e-02 9.98628068e-01 -8.49458186e-03 1.66762659e+02] [ 2.39912075e-01 -4.15562162e-03 9.70785727e-01 2.86682415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.06, Y:166.78, Z:28.66 [[ 9.70197738e-01 -5.91419351e-02 -2.34986343e-01 2.28058289e+02] [ 5.26970926e-02 9.98044524e-01 -3.36176323e-02 1.66780165e+02] [ 2.36515045e-01 2.02326537e-02 9.71417147e-01 2.86608115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:166.75, Z:28.69 [[ 9.69425874e-01 -4.71895263e-02 -2.40804120e-01 2.28081588e+02] [ 5.25249392e-02 9.98494886e-01 1.57826800e-02 1.66750007e+02] [ 2.39696905e-01 -2.79483601e-02 9.70445404e-01 2.86884181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.11, Y:166.77, Z:28.69 [[ 9.69306882e-01 -5.28157979e-02 -2.40113848e-01 2.28110274e+02] [ 5.22587839e-02 9.98595757e-01 -8.69101389e-03 1.66765143e+02] [ 2.40235692e-01 -4.12379809e-03 9.70705829e-01 2.86888223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:166.77, Z:28.70 [[ 9.69006863e-01 -5.30927376e-02 -2.41260980e-01 2.28137344e+02] [ 5.20137696e-02 9.98587499e-01 -1.08432136e-02 1.66766487e+02] [ 2.41495895e-01 -2.04174467e-03 9.70399693e-01 2.86950404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:166.76, Z:28.70 [[ 9.69085740e-01 -5.19878078e-02 -2.41184778e-01 2.28164252e+02] [ 5.18306948e-02 9.98631354e-01 -6.99989318e-03 1.66764578e+02] [ 2.41218591e-01 -5.71727798e-03 9.70453968e-01 2.87024430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.19, Y:166.77, Z:28.71 [[ 9.68795313e-01 -5.28805267e-02 -2.42155511e-01 2.28191791e+02] [ 5.22682911e-02 9.98592914e-01 -8.95640927e-03 1.66766710e+02] [ 2.42288397e-01 -3.98012743e-03 9.70196110e-01 2.87089290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:166.77, Z:28.72 [[ 9.68748605e-01 -5.33543861e-02 -2.42238415e-01 2.28217961e+02] [ 5.27369671e-02 9.98567547e-01 -9.03694449e-03 1.66768325e+02] [ 2.42373581e-01 -4.02039198e-03 9.70174667e-01 2.87150652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:166.77, Z:28.72 [[ 9.68740298e-01 -5.39581643e-02 -2.42137877e-01 2.28244878e+02] [ 5.33464352e-02 9.98534720e-01 -9.08680236e-03 1.66769959e+02] [ 2.42273385e-01 -4.11444094e-03 9.70199298e-01 2.87214714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.27, Y:166.77, Z:28.73 [[ 9.68762617e-01 -5.47647126e-02 -2.41867358e-01 2.28272201e+02] [ 5.41596843e-02 9.98490323e-01 -9.15443084e-03 1.66771586e+02] [ 2.42003556e-01 -4.23098937e-03 9.70266138e-01 2.87282734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.30, Y:166.77, Z:28.74 [[ 9.68719625e-01 -5.52357158e-02 -2.41932439e-01 2.28299764e+02] [ 5.46252467e-02 9.98464216e-01 -9.23537647e-03 1.66772927e+02] [ 2.42071005e-01 -4.26912872e-03 9.70249145e-01 2.87355038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.33, Y:166.77, Z:28.74 [[ 9.68715367e-01 -5.55859202e-02 -2.41869269e-01 2.28326990e+02] [ 5.49669102e-02 9.98444757e-01 -9.31155957e-03 1.66774267e+02] [ 2.42010696e-01 -4.27455555e-03 9.70264166e-01 2.87426718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:166.78, Z:28.75 [[ 9.68845873e-01 -5.56949938e-02 -2.41320826e-01 2.28352756e+02] [ 5.50625485e-02 9.98438951e-01 -9.36897277e-03 1.66775693e+02] [ 2.41465917e-01 -4.21064909e-03 9.70400165e-01 2.87489427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:166.78, Z:28.76 [[ 9.68911855e-01 -5.56139933e-02 -2.41074471e-01 2.28379974e+02] [ 5.49715257e-02 9.98443722e-01 -9.39493693e-03 1.66777615e+02] [ 2.41221782e-01 -4.14936571e-03 9.70461145e-01 2.87561674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.41, Y:166.78, Z:28.76 [[ 9.68889816e-01 -5.59828731e-02 -2.41077670e-01 2.28406461e+02] [ 5.53313399e-02 9.98423074e-01 -9.47669937e-03 1.66779364e+02] [ 2.41228041e-01 -4.15727298e-03 9.70459556e-01 2.87625606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:166.78, Z:28.77 [[ 9.68800937e-01 -5.62804905e-02 -2.41365390e-01 2.28432325e+02] [ 5.56227158e-02 9.98406248e-01 -9.54343219e-03 1.66780858e+02] [ 2.41517822e-01 -4.17971243e-03 9.70387382e-01 2.87686496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.46, Y:166.78, Z:28.77 [[ 9.68734975e-01 -5.72616905e-02 -2.41399351e-01 2.28459146e+02] [ 5.66249498e-02 9.98349557e-01 -9.58003418e-03 1.66782274e+02] [ 2.41549504e-01 -4.38871194e-03 9.70378574e-01 2.87749870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.49, Y:166.78, Z:28.78 [[ 9.68614034e-01 -5.84141098e-02 -2.41608453e-01 2.28486566e+02] [ 5.77923028e-02 9.98281836e-01 -9.66567687e-03 1.66783542e+02] [ 2.41757942e-01 -4.60079864e-03 9.70325682e-01 2.87814656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.51, Y:166.78, Z:28.79 [[ 9.68538520e-01 -5.96159332e-02 -2.41617623e-01 2.28513010e+02] [ 5.90117938e-02 9.98209741e-01 -9.74270766e-03 1.66784337e+02] [ 2.41765885e-01 -4.82210166e-03 9.70322629e-01 2.87882598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.54, Y:166.79, Z:28.79 [[ 9.68565675e-01 -6.01062744e-02 -2.41387178e-01 2.28540110e+02] [ 5.95096503e-02 9.98179937e-01 -9.76801115e-03 1.66785559e+02] [ 2.41534957e-01 -4.90390626e-03 9.70379728e-01 2.87946711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.57, Y:166.79, Z:28.80 [[ 9.68538739e-01 -6.03252015e-02 -2.41440637e-01 2.28567694e+02] [ 5.97159619e-02 9.98166843e-01 -9.84670006e-03 1.66786898e+02] [ 2.41592043e-01 -4.88094943e-03 9.70365633e-01 2.88016344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.59, Y:166.79, Z:28.81 [[ 9.68862212e-01 -6.02601952e-02 -2.40155624e-01 2.28594698e+02] [ 5.96364849e-02 9.98171359e-01 -9.87053399e-03 1.66788032e+02] [ 2.40311266e-01 -4.75884987e-03 9.70684217e-01 2.88081009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:166.79, Z:28.81 [[ 9.68864571e-01 -6.01939787e-02 -2.40162713e-01 2.28621124e+02] [ 5.95489687e-02 9.98175809e-01 -9.94861953e-03 1.66789322e+02] [ 2.40323458e-01 -4.66257690e-03 9.70681666e-01 2.88149773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.65, Y:166.79, Z:28.82 [[ 9.68943069e-01 -6.01925049e-02 -2.39846182e-01 2.28648001e+02] [ 5.95405430e-02 9.98176096e-01 -9.97023631e-03 1.66790746e+02] [ 2.40008859e-01 -4.61998053e-03 9.70759704e-01 2.88212299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.67, Y:166.79, Z:28.83 [[ 9.69002104e-01 -5.96043449e-02 -2.39754552e-01 2.28674803e+02] [ 5.89157243e-02 9.98212420e-01 -1.00450087e-02 1.66792205e+02] [ 2.39924697e-01 -4.39167845e-03 9.70781568e-01 2.88270159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.70, Y:166.79, Z:28.83 [[ 9.69037315e-01 -5.95472729e-02 -2.39626384e-01 2.28702400e+02] [ 5.88443337e-02 9.98216141e-01 -1.00936037e-02 1.66793464e+02] [ 2.39799971e-01 -4.31957633e-03 9.70812709e-01 2.88335625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.73, Y:166.80, Z:28.84 [[ 9.68675198e-01 -6.14666466e-02 -2.40603849e-01 2.28730816e+02] [ 5.93671733e-02 9.98108432e-01 -1.59717725e-02 1.66798431e+02] [ 2.41130462e-01 1.18748947e-03 9.70491984e-01 2.88392610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.76, Y:166.79, Z:28.85 [[ 9.69186387e-01 -5.71302441e-02 -2.39611940e-01 2.28756816e+02] [ 5.79468718e-02 9.98313027e-01 -3.64150300e-03 1.66791774e+02] [ 2.39415761e-01 -1.03554672e-02 9.70861915e-01 2.88483785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.78, Y:166.80, Z:28.85 [[ 9.69144123e-01 -5.83282583e-02 -2.39494223e-01 2.28782794e+02] [ 5.75263256e-02 9.98290404e-01 -1.03436324e-02 1.66797147e+02] [ 2.39688111e-01 -3.75275213e-03 9.70842689e-01 2.88530214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.81, Y:166.80, Z:28.86 [[ 9.69141820e-01 -5.81457759e-02 -2.39547909e-01 2.28809556e+02] [ 5.73295050e-02 9.98301346e-01 -1.03803266e-02 1.66798788e+02] [ 2.39744572e-01 -3.67315441e-03 9.70829052e-01 2.88595686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.84, Y:166.80, Z:28.87 [[ 9.69075924e-01 -5.80269799e-02 -2.39843123e-01 2.28836453e+02] [ 5.71860812e-02 9.98308634e-01 -1.04700963e-02 1.66801622e+02] [ 2.40045008e-01 -3.56936999e-03 9.70755198e-01 2.88653611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:166.80, Z:28.87 [[ 9.69001019e-01 -5.80190949e-02 -2.40147476e-01 2.28863241e+02] [ 5.71566319e-02 9.98309364e-01 -1.05608904e-02 1.66803236e+02] [ 2.40354208e-01 -3.49250732e-03 9.70678967e-01 2.88715038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:166.80, Z:28.88 [[ 9.68868247e-01 -5.87974752e-02 -2.40493611e-01 2.28890905e+02] [ 5.79474880e-02 9.98263240e-01 -1.06109969e-02 1.66804602e+02] [ 2.40699831e-01 -3.65534261e-03 9.70592721e-01 2.88775809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.92, Y:166.81, Z:28.88 [[ 9.68775285e-01 -5.96724793e-02 -2.40652534e-01 2.28916695e+02] [ 5.88284946e-02 9.98210797e-01 -1.06964241e-02 1.66805613e+02] [ 2.40860240e-01 -3.79479500e-03 9.70552391e-01 2.88839585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.95, Y:166.82, Z:28.88 [[ 9.69421071e-01 -6.76605916e-02 -2.35891565e-01 2.28946632e+02] [ 6.06196109e-02 9.97475592e-01 -3.69825032e-02 1.66824126e+02] [ 2.37798337e-01 2.15519630e-02 9.71075416e-01 2.88777288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.97, Y:166.79, Z:28.90 [[ 9.68972475e-01 -5.64947027e-02 -2.40625624e-01 2.28970210e+02] [ 6.18366006e-02 9.97978010e-01 1.47012311e-02 1.66792266e+02] [ 2.39308540e-01 -2.91245589e-02 9.70506663e-01 2.89042156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.00, Y:166.81, Z:28.90 [[ 9.68957770e-01 -6.33093485e-02 -2.38982775e-01 2.28998909e+02] [ 6.25559712e-02 9.97983627e-01 -1.07438659e-02 1.66808700e+02] [ 2.39181084e-01 -4.53944729e-03 9.70964367e-01 2.89041214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.03, Y:166.82, Z:28.91 [[ 9.68458223e-01 -6.58064672e-02 -2.40329315e-01 2.29025522e+02] [ 6.29351392e-02 9.97824908e-01 -1.96117526e-02 1.66815596e+02] [ 2.41097157e-01 3.86800419e-03 9.70493276e-01 2.89089810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.05, Y:166.81, Z:28.92 [[ 9.69150564e-01 -6.20844486e-02 -2.38521919e-01 2.29053440e+02] [ 6.34142077e-02 9.97985079e-01 -2.10227285e-03 1.66807260e+02] [ 2.38171834e-01 -1.30882596e-02 9.71134839e-01 2.89190750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.08, Y:166.82, Z:28.92 [[ 9.68543438e-01 -6.61831674e-02 -2.39882048e-01 2.29081031e+02] [ 6.32923312e-02 9.97799712e-01 -1.97437591e-02 1.66819021e+02] [ 2.40660942e-01 3.93999432e-03 9.70601250e-01 2.89220205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:166.81, Z:28.93 [[ 9.69053496e-01 -6.16725962e-02 -2.39022621e-01 2.29108186e+02] [ 6.28996074e-02 9.98016732e-01 -2.49850178e-03 1.66809602e+02] [ 2.38702664e-01 -1.26132472e-02 9.71010785e-01 2.89328707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:166.82, Z:28.94 [[ 9.69242869e-01 -6.21871683e-02 -2.38119754e-01 2.29135092e+02] [ 6.13323442e-02 9.98056734e-01 -1.10044835e-02 1.66815497e+02] [ 2.38341362e-01 -3.93842558e-03 9.71173457e-01 2.89366669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.16, Y:166.82, Z:28.94 [[ 9.69276847e-01 -6.13655571e-02 -2.38194587e-01 2.29161303e+02] [ 6.04728168e-02 9.98108561e-01 -1.10606489e-02 1.66817127e+02] [ 2.38422800e-01 -3.68346673e-03 9.71154468e-01 2.89431216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.19, Y:166.82, Z:28.95 [[ 9.69411389e-01 -5.93073995e-02 -2.38168411e-01 2.29188326e+02] [ 5.83453730e-02 9.98234822e-01 -1.10931684e-02 1.66819066e+02] [ 2.38405908e-01 -3.14218103e-03 9.71160517e-01 2.89492654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.21, Y:166.83, Z:28.95 [[ 9.68756629e-01 -6.17164785e-02 -2.40211720e-01 2.29214983e+02] [ 5.81201099e-02 9.98066401e-01 -2.20343199e-02 1.66827457e+02] [ 2.41107128e-01 7.38476189e-03 9.70470411e-01 2.89534815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.24, Y:166.83, Z:28.96 [[ 9.68248207e-01 -6.04692216e-02 -2.42567274e-01 2.29243034e+02] [ 5.80917761e-02 9.98167368e-01 -1.69484764e-02 1.66825909e+02] [ 2.43147599e-01 2.31916814e-03 9.69986529e-01 2.89629786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.27, Y:166.82, Z:28.97 [[ 9.68378120e-01 -5.97272832e-02 -2.42232263e-01 2.29270727e+02] [ 5.87114037e-02 9.98209711e-01 -1.14167920e-02 1.66824103e+02] [ 2.42480491e-01 -3.16602460e-03 9.70151116e-01 2.89708509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:229.30, Y:166.81, Z:28.98 [[ 9.69562645e-01 -5.38624385e-02 -2.38845381e-01 2.29295177e+02] [ 5.71660425e-02 9.98340697e-01 6.92077424e-03 1.66812334e+02] [ 2.38076294e-01 -2.03639694e-02 9.71032948e-01 2.89800894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:166.82, Z:28.98 [[ 9.69580052e-01 -5.86994238e-02 -2.37631861e-01 2.29321648e+02] [ 5.76516773e-02 9.98272097e-01 -1.13624519e-02 1.66824427e+02] [ 2.37888225e-01 -2.68306865e-03 9.71288831e-01 2.89820109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.35, Y:166.83, Z:28.99 [[ 9.69667896e-01 -5.87537661e-02 -2.37259701e-01 2.29347745e+02] [ 5.76988837e-02 9.98269011e-01 -1.13938808e-02 1.66825818e+02] [ 2.37518441e-01 -2.64133949e-03 9.71379439e-01 2.89883822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:166.83, Z:28.99 [[ 9.69732291e-01 -5.91795561e-02 -2.36890407e-01 2.29374037e+02] [ 5.81329213e-02 9.98243678e-01 -1.14071604e-02 1.66828002e+02] [ 2.37149421e-01 -2.70923959e-03 9.71469409e-01 2.89949593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2727550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:229.40, Y:166.83, Z:29.00 [[ 9.69111251e-01 -5.84531662e-02 -2.39596767e-01 2.29400725e+02] [ 5.73525515e-02 9.98286948e-01 -1.15695633e-02 1.66827738e+02] [ 2.39862603e-01 -2.52929202e-03 9.70803551e-01 2.90044935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:166.83, Z:29.01 [[ 9.69283603e-01 -6.08638388e-02 -2.38295804e-01 2.29433514e+02] [ 6.04053985e-02 9.98131226e-01 -9.23279243e-03 1.66830061e+02] [ 2.38412426e-01 -5.44515873e-03 9.71148735e-01 2.90120979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.46, Y:166.84, Z:29.01 [[ 9.69313673e-01 -6.25533546e-02 -2.37735319e-01 2.29456929e+02] [ 5.95384553e-02 9.98028669e-01 -1.98481342e-02 1.66837511e+02] [ 2.38508231e-01 5.08467417e-03 9.71127165e-01 2.90147453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.49, Y:166.83, Z:29.02 [[ 9.69965297e-01 -5.96912159e-02 -2.35805600e-01 2.29485713e+02] [ 5.97648098e-02 9.98189039e-01 -6.84176260e-03 1.66831479e+02] [ 2.35786959e-01 -7.45660455e-03 9.71776162e-01 2.90228614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.51, Y:166.83, Z:29.03 [[ 9.69799187e-01 -6.11418925e-02 -2.36116932e-01 2.29510358e+02] [ 6.16499812e-02 9.98084089e-01 -5.23744093e-03 1.66832763e+02] [ 2.35984780e-01 -9.47733847e-03 9.71710535e-01 2.90325760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.54, Y:166.84, Z:29.04 [[ 9.69866500e-01 -6.37565557e-02 -2.35146919e-01 2.29537848e+02] [ 6.27827980e-02 9.97959412e-01 -1.16332475e-02 1.66838726e+02] [ 2.35408776e-01 -3.48048443e-03 9.71890217e-01 2.90374114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.57, Y:166.86, Z:29.03 [[ 9.70726704e-01 -7.17590883e-02 -2.29216707e-01 2.29567058e+02] [ 6.52744999e-02 9.97226452e-01 -3.57581300e-02 1.66858798e+02] [ 2.31146934e-01 1.97493658e-02 9.72718386e-01 2.90305651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.60, Y:166.85, Z:29.04 [[ 9.70724532e-01 -6.63480966e-02 -2.30850195e-01 2.29595039e+02] [ 6.51438494e-02 9.97793225e-01 -1.28436043e-02 1.66846226e+02] [ 2.31192909e-01 -2.57086853e-03 9.72904532e-01 2.90435535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:166.85, Z:29.05 [[ 9.70608253e-01 -6.78198057e-02 -2.30911441e-01 2.29620227e+02] [ 6.55393923e-02 9.97695793e-01 -1.75411829e-02 1.66851422e+02] [ 2.31569013e-01 1.89182137e-03 9.72816639e-01 2.90482648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.65, Y:166.85, Z:29.06 [[ 9.70751328e-01 -6.76702281e-02 -2.30353206e-01 2.29649294e+02] [ 6.58474799e-02 9.97707743e-01 -1.56003126e-02 1.66852713e+02] [ 2.30880854e-01 -2.41539439e-05 9.72982030e-01 2.90550668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:166.83, Z:29.08 [[ 9.70003658e-01 -5.80834838e-02 -2.36049172e-01 2.29675044e+02] [ 6.37933820e-02 9.97824757e-01 1.66180454e-02 1.66833779e+02] [ 2.34570474e-01 -3.11779398e-02 9.71599006e-01 2.90776792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.70, Y:166.85, Z:29.08 [[ 9.69918667e-01 -6.46357306e-02 -2.34691293e-01 2.29703068e+02] [ 6.36089700e-02 9.97903344e-01 -1.19505258e-02 1.66852915e+02] [ 2.34971657e-01 -3.33743334e-03 9.71996493e-01 2.90769821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:166.86, Z:29.08 [[ 9.69843996e-01 -6.43545376e-02 -2.35076831e-01 2.29729969e+02] [ 6.32981827e-02 9.97921973e-01 -1.20447630e-02 1.66855074e+02] [ 2.35363470e-01 -3.19839511e-03 9.71902159e-01 2.90835486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:166.86, Z:29.09 [[ 9.69865084e-01 -6.42015802e-02 -2.35031649e-01 2.29756347e+02] [ 6.31230505e-02 9.97932186e-01 -1.21174345e-02 1.66857408e+02] [ 2.35323606e-01 -3.08363800e-03 9.71912183e-01 2.90896248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.78, Y:166.86, Z:29.10 [[ 9.69738780e-01 -6.38850269e-02 -2.35638287e-01 2.29782442e+02] [ 6.27838199e-02 9.97952811e-01 -1.21811160e-02 1.66859913e+02] [ 2.35934081e-01 -2.98177122e-03 9.71764487e-01 2.90964214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.81, Y:166.86, Z:29.10 [[ 9.69746834e-01 -6.41609484e-02 -2.35530146e-01 2.29809774e+02] [ 6.30611483e-02 9.97935009e-01 -1.22069625e-02 1.66861714e+02] [ 2.35826989e-01 -3.01513828e-03 9.71790379e-01 2.91031648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:166.86, Z:29.11 [[ 9.69808119e-01 -6.46600821e-02 -2.35140991e-01 2.29836612e+02] [ 6.35605949e-02 9.97902669e-01 -1.22602505e-02 1.66863697e+02] [ 2.35440572e-01 -3.05561084e-03 9.71883944e-01 2.91104660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.87, Y:166.87, Z:29.12 [[ 9.69347695e-01 -6.77581367e-02 -2.36164944e-01 2.29865889e+02] [ 6.47842459e-02 9.97692006e-01 -2.03387165e-02 1.66870942e+02] [ 2.36997990e-01 4.41552013e-03 9.71500106e-01 2.91167331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.89, Y:166.86, Z:29.13 [[ 9.69986581e-01 -6.36347809e-02 -2.34684144e-01 2.29890402e+02] [ 6.46178094e-02 9.97903924e-01 -3.50679622e-03 1.66862743e+02] [ 2.34415383e-01 -1.17632300e-02 9.72065355e-01 2.91262500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:166.87, Z:29.13 [[ 9.69969613e-01 -6.73904113e-02 -2.33703834e-01 2.29918815e+02] [ 6.61287478e-02 9.97723261e-01 -1.32394277e-02 1.66871885e+02] [ 2.34063962e-01 -2.61269934e-03 9.72217689e-01 2.91307607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:166.87, Z:29.14 [[ 9.70088840e-01 -6.78904361e-02 -2.33063365e-01 2.29944765e+02] [ 6.71040123e-02 9.97681868e-01 -1.13111026e-02 1.66873270e+02] [ 2.33291009e-01 -4.66671248e-03 9.72395767e-01 2.91378398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.97, Y:166.88, Z:29.14 [[ 9.70090611e-01 -6.95333817e-02 -2.32571098e-01 2.29972166e+02] [ 6.85320595e-02 9.97571938e-01 -1.23929535e-02 1.66876425e+02] [ 2.32868125e-01 -3.91628853e-03 9.72500436e-01 2.91443386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.00, Y:166.88, Z:29.15 [[ 9.69893101e-01 -7.23055012e-02 -2.32549539e-01 2.29999577e+02] [ 7.13647840e-02 9.97372363e-01 -1.24674381e-02 1.66879535e+02] [ 2.32839947e-01 -4.50376543e-03 9.72504640e-01 2.91516096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.03, Y:166.89, Z:29.15 [[ 9.70198312e-01 -7.69347039e-02 -2.29774425e-01 2.30027821e+02] [ 7.34502730e-02 9.97017416e-01 -2.36924050e-02 1.66889383e+02] [ 2.30911871e-01 6.10933715e-03 9.72955489e-01 2.91516249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.05, Y:166.88, Z:29.17 [[ 9.69605423e-01 -7.31265705e-02 -2.33490530e-01 2.30054053e+02] [ 7.48283354e-02 9.97195188e-01 -1.57395830e-03 1.66879055e+02] [ 2.32950731e-01 -1.59455892e-02 9.72357802e-01 2.91681168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:166.89, Z:29.17 [[ 9.68947351e-01 -7.92465405e-02 -2.34224286e-01 2.30083031e+02] [ 7.66818827e-02 9.96853967e-01 -2.00513840e-02 1.66893695e+02] [ 2.35076411e-01 1.46797619e-03 9.71975785e-01 2.91715860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.11, Y:166.90, Z:29.18 [[ 9.68455466e-01 -7.98074469e-02 -2.36060970e-01 2.30110383e+02] [ 7.83490908e-02 9.96804435e-01 -1.55672143e-02 1.66896063e+02] [ 2.36549002e-01 -3.41900856e-03 9.71613545e-01 2.91799800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:166.89, Z:29.19 [[ 9.68641068e-01 -7.84247027e-02 -2.35762694e-01 2.30137773e+02] [ 7.87059322e-02 9.96863882e-01 -8.23266529e-03 1.66894960e+02] [ 2.35668958e-01 -1.05814249e-02 9.71775785e-01 2.91879436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.17, Y:166.90, Z:29.19 [[ 9.68335943e-01 -8.06715623e-02 -2.36257487e-01 2.30165420e+02] [ 7.94136321e-02 9.96731111e-01 -1.48515148e-02 1.66902313e+02] [ 2.36683283e-01 -4.38080955e-03 9.71576982e-01 2.91930962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.19, Y:166.91, Z:29.20 [[ 9.68021636e-01 -8.19134406e-02 -2.37116639e-01 2.30192900e+02] [ 8.06507829e-02 9.96628983e-01 -1.50373513e-02 1.66906008e+02] [ 2.37549076e-01 -4.56716120e-03 9.71364802e-01 2.91996148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.22, Y:166.91, Z:29.21 [[ 9.68018933e-01 -8.14526912e-02 -2.37286337e-01 2.30220708e+02] [ 8.24065813e-02 9.96581252e-01 -5.91308433e-03 1.66905497e+02] [ 2.36956751e-01 -1.38299782e-02 9.71421757e-01 2.92078328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.25, Y:166.91, Z:29.21 [[ 9.67879290e-01 -8.36727958e-02 -2.37083409e-01 2.30247065e+02] [ 8.29018995e-02 9.96469791e-01 -1.32374581e-02 1.66912988e+02] [ 2.37354070e-01 -6.84240342e-03 9.71399108e-01 2.92123293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.27, Y:166.92, Z:29.22 [[ 9.67757972e-01 -8.37369332e-02 -2.37555539e-01 2.30273798e+02] [ 8.29565320e-02 9.96464437e-01 -1.32980730e-02 1.66917825e+02] [ 2.37829186e-01 -6.83746750e-03 9.71282929e-01 2.92183319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.30, Y:166.92, Z:29.23 [[ 9.67701900e-01 -8.38281760e-02 -2.37751698e-01 2.30300385e+02] [ 8.30299282e-02 9.96457123e-01 -1.33877652e-02 1.66921277e+02] [ 2.38031645e-01 -6.78514061e-03 9.71233699e-01 2.92250267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.33, Y:166.92, Z:29.23 [[ 9.67666245e-01 -8.38347017e-02 -2.37894473e-01 2.30326008e+02] [ 8.30146758e-02 9.96457130e-01 -1.34815516e-02 1.66924566e+02] [ 2.38181866e-01 -6.70309019e-03 9.71197440e-01 2.92316922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.35, Y:166.93, Z:29.24 [[ 9.67758447e-01 -8.40189172e-02 -2.37454016e-01 2.30352595e+02] [ 8.31983550e-02 9.96441651e-01 -1.34932978e-02 1.66928931e+02] [ 2.37742764e-01 -6.69753058e-03 9.71305061e-01 2.92386875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.38, Y:166.93, Z:29.25 [[ 9.67797244e-01 -8.43154638e-02 -2.37190635e-01 2.30378616e+02] [ 8.34844502e-02 9.96416759e-01 -1.35642803e-02 1.66931717e+02] [ 2.37484402e-01 -6.67425660e-03 9.71368423e-01 2.92455680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.41, Y:166.93, Z:29.25 [[ 9.67870318e-01 -8.44462436e-02 -2.36845688e-01 2.30405931e+02] [ 8.36125065e-02 9.96405790e-01 -1.35812599e-02 1.66934507e+02] [ 2.37141301e-01 -6.65836327e-03 9.71452351e-01 2.92526883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.43, Y:166.94, Z:29.26 [[ 9.67923435e-01 -8.48582525e-02 -2.36481078e-01 2.30432802e+02] [ 8.40204266e-02 9.96370712e-01 -1.36371903e-02 1.66939797e+02] [ 2.36780049e-01 -6.66948499e-03 9.71540389e-01 2.92596968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.46, Y:166.94, Z:29.27 [[ 9.67945510e-01 -8.51457596e-02 -2.36287303e-01 2.30460226e+02] [ 8.42976809e-02 9.96346317e-01 -1.37083214e-02 1.66943465e+02] [ 2.36591189e-01 -6.64956353e-03 9.71586534e-01 2.92660832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:166.95, Z:29.27 [[ 9.67961976e-01 -8.50427033e-02 -2.36256962e-01 2.30488134e+02] [ 8.45433357e-02 9.96344347e-01 -1.22624212e-02 1.66947589e+02] [ 2.36436118e-01 -8.10439419e-03 9.71613236e-01 2.92731396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.52, Y:166.96, Z:29.28 [[ 9.66928418e-01 -8.86291801e-02 -2.39153306e-01 2.30515984e+02] [ 8.51321979e-02 9.96057633e-01 -2.49339222e-02 1.66958658e+02] [ 2.40420349e-01 3.74967139e-03 9.70661628e-01 2.92790457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.54, Y:166.95, Z:29.29 [[ 9.67708341e-01 -8.26086880e-02 -2.38151994e-01 2.30541225e+02] [ 8.42722287e-02 9.96437612e-01 -3.20578970e-03 1.66948478e+02] [ 2.37568431e-01 -1.69673299e-02 9.71222606e-01 2.92887566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.57, Y:166.96, Z:29.29 [[ 9.67830623e-01 -8.48826687e-02 -2.36851890e-01 2.30568705e+02] [ 8.39657617e-02 9.96370641e-01 -1.39748244e-02 1.66958150e+02] [ 2.37178490e-01 -6.36218638e-03 9.71445257e-01 2.92928540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:166.97, Z:29.30 [[ 9.66929542e-01 -8.70704635e-02 -2.39720659e-01 2.30594280e+02] [ 8.34560230e-02 9.96192579e-01 -2.52079040e-02 1.66969316e+02] [ 2.41002805e-01 4.36813420e-03 9.70514589e-01 2.92988060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.62, Y:166.96, Z:29.31 [[ 9.67376932e-01 -8.28018284e-02 -2.39427921e-01 2.30621984e+02] [ 8.34601301e-02 9.96483595e-01 -7.40623317e-03 1.66961972e+02] [ 2.39199245e-01 -1.28180663e-02 9.70885894e-01 2.93085603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:166.97, Z:29.31 [[ 9.66945984e-01 -8.33089999e-02 -2.40987708e-01 2.30647001e+02] [ 8.06490297e-02 9.96523464e-01 -2.08978205e-02 1.66972919e+02] [ 2.41890882e-01 7.71638775e-04 9.70303151e-01 2.93125880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.67, Y:166.97, Z:29.32 [[ 9.67193958e-01 -8.00103644e-02 -2.41110324e-01 2.30674948e+02] [ 7.99707770e-02 9.96747389e-01 -9.96585056e-03 1.66969017e+02] [ 2.41123457e-01 -9.64286951e-03 9.70446543e-01 2.93212726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.70, Y:166.99, Z:29.33 [[ 9.66112828e-01 -8.53968532e-02 -2.43584443e-01 2.30704550e+02] [ 7.98342768e-02 9.96273734e-01 -3.26364143e-02 1.66987186e+02] [ 2.45463829e-01 1.20840707e-02 9.69330431e-01 2.93263559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.73, Y:166.96, Z:29.34 [[ 9.67542105e-01 -7.26593340e-02 -2.42039038e-01 2.30730941e+02] [ 7.74007756e-02 9.96948637e-01 1.01259920e-02 1.66963220e+02] [ 2.40564741e-01 -2.85313328e-02 9.70213672e-01 2.93394600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.76, Y:166.99, Z:29.34 [[ 9.67057257e-01 -7.96646186e-02 -2.41772227e-01 2.30758293e+02] [ 7.63762730e-02 9.96814722e-01 -2.29581189e-02 1.66985518e+02] [ 2.42831065e-01 3.73615388e-03 9.70061398e-01 2.93399596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.79, Y:166.98, Z:29.35 [[ 9.67596303e-01 -7.59586528e-02 -2.40806307e-01 2.30786174e+02] [ 7.64620234e-02 9.97046013e-01 -7.26683929e-03 1.66978378e+02] [ 2.40646948e-01 -1.13811707e-02 9.70545988e-01 2.93486728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.81, Y:166.98, Z:29.35 [[ 9.67600901e-01 -7.70927916e-02 -2.40427117e-01 2.30812317e+02] [ 7.57530073e-02 9.97016414e-01 -1.48240374e-02 1.66983653e+02] [ 2.40852608e-01 -3.86932520e-03 9.70553991e-01 2.93534120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.84, Y:166.99, Z:29.36 [[ 9.67149000e-01 -7.92019666e-02 -2.41557156e-01 2.30839000e+02] [ 7.59172226e-02 9.96851347e-01 -2.28903223e-02 1.66989325e+02] [ 2.42609535e-01 3.80000396e-03 9.70116577e-01 2.93592860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.87, Y:166.98, Z:29.37 [[ 9.67747953e-01 -7.60578780e-02 -2.40164734e-01 2.30867417e+02] [ 7.65021473e-02 9.97041308e-01 -7.48673506e-03 1.66979947e+02] [ 2.40023585e-01 -1.11278453e-02 9.70703276e-01 2.93686962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.89, Y:166.99, Z:29.37 [[ 9.67721071e-01 -7.86162843e-02 -2.39448134e-01 2.30893828e+02] [ 7.72943008e-02 9.96896651e-01 -1.49217575e-02 1.66985512e+02] [ 2.39878136e-01 -4.06787691e-03 9.70794485e-01 2.93738455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.92, Y:166.99, Z:29.38 [[ 9.67752512e-01 -7.97549870e-02 -2.38943964e-01 2.30921460e+02] [ 7.84637811e-02 9.96805210e-01 -1.49267855e-02 1.66986565e+02] [ 2.39371074e-01 -4.30301273e-03 9.70918623e-01 2.93800824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.95, Y:166.99, Z:29.39 [[ 9.66937880e-01 -8.46017657e-02 -2.40569487e-01 2.30948340e+02] [ 8.09072852e-02 9.96402726e-01 -2.52114733e-02 1.66993080e+02] [ 2.41837028e-01 4.91410445e-03 9.70304439e-01 2.93858354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.97, Y:166.99, Z:29.39 [[ 9.67025970e-01 -8.20902545e-02 -2.41084971e-01 2.30974461e+02] [ 8.07826563e-02 9.96614001e-01 -1.53197872e-02 1.66987596e+02] [ 2.41526262e-01 -4.66085226e-03 9.70383090e-01 2.93941679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:166.98, Z:29.40 [[ 9.67726258e-01 -8.02398274e-02 -2.38887964e-01 2.31002268e+02] [ 8.15411776e-02 9.96660053e-01 -4.44682079e-03 1.66982515e+02] [ 2.38446903e-01 -1.51759007e-02 9.71036954e-01 2.94020447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:166.99, Z:29.41 [[ 9.67686300e-01 -8.29572665e-02 -2.38120383e-01 2.31030087e+02] [ 8.17013534e-02 9.96541603e-01 -1.51565647e-02 1.66989691e+02] [ 2.38554216e-01 -4.78795754e-03 9.71117378e-01 2.94061885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.06, Y:166.99, Z:29.41 [[ 9.67624980e-01 -8.29269748e-02 -2.38379981e-01 2.31057672e+02] [ 8.16550097e-02 9.96544381e-01 -1.52235253e-02 1.66991097e+02] [ 2.38818671e-01 -4.73425626e-03 9.71052640e-01 2.94128677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:167.00, Z:29.42 [[ 9.67227086e-01 -8.48130912e-02 -2.39329279e-01 2.31085673e+02] [ 8.21595964e-02 9.96396627e-01 -2.10609042e-02 1.66996013e+02] [ 2.40253127e-01 7.07480072e-04 9.70710016e-01 2.94183518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.12, Y:167.00, Z:29.43 [[ 9.66721722e-01 -8.59180054e-02 -2.40971386e-01 2.31115195e+02] [ 8.33252102e-02 9.96302196e-01 -2.09485735e-02 1.66998486e+02] [ 2.41880181e-01 1.72449647e-04 9.70306111e-01 2.94263290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.14, Y:166.99, Z:29.43 [[ 9.67893417e-01 -7.78557224e-02 -2.38999622e-01 2.31138054e+02] [ 8.02933689e-02 9.96771167e-01 4.64786981e-04 1.66985042e+02] [ 2.38191745e-01 -1.96399490e-02 9.71019549e-01 2.94349854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.17, Y:167.00, Z:29.44 [[ 9.67284287e-01 -8.33931014e-02 -2.39596949e-01 2.31165631e+02] [ 7.95781091e-02 9.96500613e-01 -2.55705346e-02 1.67001408e+02] [ 2.40890913e-01 5.66730417e-03 9.70535651e-01 2.94366148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:167.00, Z:29.44 [[ 9.67073109e-01 -8.16819410e-02 -2.41034565e-01 2.31192411e+02] [ 7.94488711e-02 9.96658134e-01 -1.89852611e-02 1.66999025e+02] [ 2.41779813e-01 -7.89788591e-04 9.70330819e-01 2.94446016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:167.00, Z:29.45 [[ 9.67208201e-01 -8.04592863e-02 -2.40903713e-01 2.31218513e+02] [ 7.82952187e-02 9.96757478e-01 -1.85576951e-02 1.66999595e+02] [ 2.41615716e-01 -9.12453987e-04 9.70371585e-01 2.94509104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.31275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.25, Y:166.99, Z:29.46 [[ 9.68252517e-01 -7.75804798e-02 -2.37630665e-01 2.31246464e+02] [ 7.96040962e-02 9.96825970e-01 -1.08306986e-03 1.66989479e+02] [ 2.36960443e-01 -1.78676892e-02 9.71354978e-01 2.94595635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.27, Y:167.01, Z:29.46 [[ 9.66974416e-01 -8.55413882e-02 -2.40089878e-01 2.31273924e+02] [ 8.03575172e-02 9.96274003e-01 -3.13174296e-02 1.67008274e+02] [ 2.41874240e-01 1.09901267e-02 9.70245365e-01 2.94620240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.30, Y:166.99, Z:29.47 [[ 9.68418872e-01 -7.84315231e-02 -2.36671471e-01 2.31302025e+02] [ 8.06403921e-02 9.96743200e-01 -3.48203396e-04 1.66989121e+02] [ 2.35927989e-01 -1.87480735e-02 9.71589674e-01 2.94732670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.33, Y:167.00, Z:29.48 [[ 9.68328339e-01 -8.23902675e-02 -2.35694872e-01 2.31329884e+02] [ 8.10072023e-02 9.96592020e-01 -1.55621268e-02 1.67000339e+02] [ 2.36173796e-01 -4.02373376e-03 9.71702499e-01 2.94768054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.36, Y:167.00, Z:29.48 [[ 9.68305124e-01 -8.23507257e-02 -2.35804038e-01 2.31357224e+02] [ 8.09472354e-02 9.96595621e-01 -1.56432851e-02 1.67001475e+02] [ 2.36289508e-01 -3.94021189e-03 9.71674711e-01 2.94833476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.39, Y:167.01, Z:29.49 [[ 9.66986194e-01 -8.70564557e-02 -2.39497127e-01 2.31385397e+02] [ 8.10178911e-02 9.96099215e-01 -3.49636138e-02 1.67014335e+02] [ 2.41606709e-01 1.44057796e-02 9.70267320e-01 2.94880811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.41, Y:167.00, Z:29.50 [[ 9.66787036e-01 -8.33549589e-02 -2.41608728e-01 2.31413293e+02] [ 8.12901820e-02 9.96518408e-01 -1.85194335e-02 1.67004809e+02] [ 2.42311232e-01 -1.73606929e-03 9.70197018e-01 2.94986589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.44, Y:166.99, Z:29.51 [[ 9.68206494e-01 -7.69875728e-02 -2.38010712e-01 2.31440105e+02] [ 8.05393784e-02 9.96737761e-01 5.21963175e-03 1.66991157e+02] [ 2.36832417e-01 -2.42229162e-02 9.71248504e-01 2.95093486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.47, Y:167.00, Z:29.51 [[ 9.68342925e-01 -8.12524321e-02 -2.36029704e-01 2.31466953e+02] [ 7.97440610e-02 9.96687821e-01 -1.59459259e-02 1.67002785e+02] [ 2.36543577e-01 -3.38084266e-03 9.71614999e-01 2.95112620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.49, Y:167.01, Z:29.52 [[ 9.67297404e-01 -8.42749636e-02 -2.39235164e-01 2.31494372e+02] [ 7.94184135e-02 9.96393267e-01 -2.98859961e-02 1.67011712e+02] [ 2.40890948e-01 9.90896920e-03 9.70501604e-01 2.95167015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.52, Y:167.00, Z:29.53 [[ 9.68152103e-01 -7.76216742e-02 -2.38026011e-01 2.31522633e+02] [ 7.90500136e-02 9.96864318e-01 -3.55356279e-03 1.66997038e+02] [ 2.37555470e-01 -1.53755701e-02 9.71252280e-01 2.95289738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:167.01, Z:29.53 [[ 9.68225059e-01 -8.02602291e-02 -2.36851285e-01 2.31549479e+02] [ 7.86805543e-02 9.96769375e-01 -1.61301812e-02 1.67005812e+02] [ 2.37380719e-01 -3.01794477e-03 9.71412006e-01 2.95325333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.58, Y:167.01, Z:29.54 [[ 9.68394319e-01 -7.91344947e-02 -2.36537893e-01 2.31576754e+02] [ 7.75177567e-02 9.96860282e-01 -1.61423588e-02 1.67006360e+02] [ 2.37072648e-01 -2.70371822e-03 9.71488162e-01 2.95389886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:167.01, Z:29.55 [[ 9.68314788e-01 -7.87767098e-02 -2.36982494e-01 2.31603678e+02] [ 7.71242646e-02 9.96889046e-01 -1.62504541e-02 1.67007485e+02] [ 2.37525410e-01 -2.54154553e-03 9.71378001e-01 2.95455146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.63, Y:167.01, Z:29.55 [[ 9.68242629e-01 -7.77133057e-02 -2.37627554e-01 2.31630148e+02] [ 7.60006903e-02 9.96973308e-01 -1.63742935e-02 1.67007006e+02] [ 2.38180829e-01 -2.20556915e-03 9.71218322e-01 2.95515534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.66, Y:167.01, Z:29.56 [[ 9.68177429e-01 -7.74847429e-02 -2.37967604e-01 2.31657399e+02] [ 7.57521607e-02 9.96991288e-01 -1.64311503e-02 1.67007537e+02] [ 2.38524791e-01 -2.11829135e-03 9.71134098e-01 2.95580454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:167.01, Z:29.56 [[ 9.68087165e-01 -7.73237644e-02 -2.38386822e-01 2.31684484e+02] [ 7.55607798e-02 9.97004027e-01 -1.65390160e-02 1.67007043e+02] [ 2.38951481e-01 -2.00148513e-03 9.71029445e-01 2.95642939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:167.01, Z:29.57 [[ 9.67879965e-01 -7.77321153e-02 -2.39094315e-01 2.31710624e+02] [ 7.59511313e-02 9.96972221e-01 -1.66678215e-02 1.67007819e+02] [ 2.39666015e-01 -2.02703319e-03 9.70853281e-01 2.95707545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.85275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.74, Y:167.01, Z:29.58 [[ 9.67777574e-01 -7.84847449e-02 -2.39262852e-01 2.31737824e+02] [ 7.67106508e-02 9.96912975e-01 -1.67331158e-02 1.67008679e+02] [ 2.39837536e-01 -2.16007487e-03 9.70810636e-01 2.95772560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:167.01, Z:29.58 [[ 9.67603225e-01 -8.01434107e-02 -2.39418113e-01 2.31763937e+02] [ 7.83975725e-02 9.96780228e-01 -1.68225499e-02 1.67007357e+02] [ 2.39995458e-01 -2.49224539e-03 9.70770812e-01 2.95836630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:167.01, Z:29.59 [[ 9.67564682e-01 -8.12361731e-02 -2.39205499e-01 2.31790230e+02] [ 7.95180404e-02 9.96691152e-01 -1.68412831e-02 1.67007462e+02] [ 2.39782126e-01 -2.72612187e-03 9.70822899e-01 2.95903052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:167.01, Z:29.60 [[ 9.66948083e-01 -8.40932049e-02 -2.40706746e-01 2.31818243e+02] [ 8.07314903e-02 9.96451419e-01 -2.38116865e-02 1.67011693e+02] [ 2.41854980e-01 3.59205028e-03 9.70305759e-01 2.95964090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.84, Y:167.00, Z:29.61 [[ 9.67328311e-01 -8.22092476e-02 -2.39828228e-01 2.31844654e+02] [ 8.22192564e-02 9.96564282e-01 -9.98124955e-03 1.67001457e+02] [ 2.39824797e-01 -1.00633533e-02 9.70764027e-01 2.96057744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.87, Y:167.01, Z:29.61 [[ 9.67256744e-01 -8.43773375e-02 -2.39363439e-01 2.31871162e+02] [ 8.27178662e-02 9.96428185e-01 -1.69889912e-02 1.67006042e+02] [ 2.39941963e-01 -3.36691663e-03 9.70781396e-01 2.96104345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.90, Y:167.01, Z:29.62 [[ 9.67196987e-01 -8.46440894e-02 -2.39510682e-01 2.31897788e+02] [ 8.29825858e-02 9.96405442e-01 -1.70319097e-02 1.67005556e+02] [ 2.40091398e-01 -3.40200396e-03 9.70744326e-01 2.96167768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.93, Y:167.01, Z:29.62 [[ 9.66896671e-01 -8.57581883e-02 -2.40325529e-01 2.31925027e+02] [ 8.25369808e-02 9.96311921e-01 -2.34564063e-02 1.67009851e+02] [ 2.41450769e-01 2.84417755e-03 9.70408902e-01 2.96224830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:167.00, Z:29.63 [[ 9.67187891e-01 -8.32061928e-02 -2.40050646e-01 2.31952833e+02] [ 8.29784567e-02 9.96489808e-01 -1.10741819e-02 1.67002876e+02] [ 2.40129463e-01 -9.20821751e-03 9.70697198e-01 2.96318131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.98, Y:167.00, Z:29.64 [[ 9.67913167e-01 -7.97939677e-02 -2.38279300e-01 2.31975826e+02] [ 7.95877524e-02 9.96772541e-01 -1.05019721e-02 1.67000829e+02] [ 2.38348257e-01 -8.79911682e-03 9.71139889e-01 2.96368144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.01, Y:167.02, Z:29.64 [[ 9.66349905e-01 -8.98753882e-02 -2.41019245e-01 2.32007178e+02] [ 8.26053234e-02 9.95774400e-01 -4.01211294e-02 1.67018478e+02] [ 2.43606696e-01 1.88615769e-02 9.69690682e-01 2.96394783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.04, Y:167.00, Z:29.65 [[ 9.66973172e-01 -8.26720441e-02 -2.41097942e-01 2.32035956e+02] [ 8.34986851e-02 9.96484659e-01 -6.80401994e-03 1.66998884e+02] [ 2.40812903e-01 -1.35520564e-02 9.70476938e-01 2.96540174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.06, Y:167.00, Z:29.66 [[ 9.67088300e-01 -8.46073155e-02 -2.39962128e-01 2.32062482e+02] [ 8.28628222e-02 9.96409592e-01 -1.73688859e-02 1.67003834e+02] [ 2.40570101e-01 -3.08669279e-03 9.70626859e-01 2.96575315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:167.00, Z:29.66 [[ 9.67003371e-01 -8.41718130e-02 -2.40457035e-01 2.32089528e+02] [ 8.23987824e-02 9.96446884e-01 -1.74369626e-02 1.67004578e+02] [ 2.41070364e-01 -2.95176528e-03 9.70503151e-01 2.96641790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.12, Y:167.00, Z:29.67 [[ 9.66986527e-01 -8.32934090e-02 -2.40830363e-01 2.32116673e+02] [ 8.15590688e-02 9.96520458e-01 -1.71783378e-02 1.67004959e+02] [ 2.41423226e-01 -3.03067893e-03 9.70415190e-01 2.96709121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:167.00, Z:29.68 [[ 9.66908475e-01 -8.17825069e-02 -2.41660139e-01 2.32143740e+02] [ 7.97566491e-02 9.96648742e-01 -1.81703639e-02 1.67004664e+02] [ 2.42336292e-01 -1.70492407e-03 9.70190814e-01 2.96773963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:167.01, Z:29.68 [[ 9.66978377e-01 -8.12013326e-02 -2.41576412e-01 2.32170846e+02] [ 7.92748191e-02 9.96695642e-01 -1.77003142e-02 1.67005316e+02] [ 2.42215446e-01 -2.03510520e-03 9.70220354e-01 2.96840825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.20, Y:167.00, Z:29.69 [[ 9.67557091e-01 -7.80923338e-02 -2.40280803e-01 2.32196703e+02] [ 7.70106221e-02 9.96933330e-01 -1.39032203e-02 1.67004767e+02] [ 2.40629676e-01 -5.05201468e-03 9.70603851e-01 2.96912997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:167.02, Z:29.69 [[ 9.68183346e-01 -8.19351920e-02 -2.36447949e-01 2.32226567e+02] [ 7.49466604e-02 9.96447518e-01 -3.84101883e-02 1.67023855e+02] [ 2.38755118e-01 1.94671205e-02 9.70884661e-01 2.96873901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.25, Y:167.00, Z:29.71 [[ 9.67474277e-01 -7.08239926e-02 -2.42852806e-01 2.32250542e+02] [ 7.30458181e-02 9.97328576e-01 1.44772308e-04 1.67001001e+02] [ 2.42193790e-01 -1.78794454e-02 9.70063139e-01 2.97102060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:167.01, Z:29.71 [[ 9.67267772e-01 -7.30253676e-02 -2.43023360e-01 2.32280432e+02] [ 7.11920396e-02 9.97328947e-01 -1.63299011e-02 1.67012097e+02] [ 2.43566729e-01 -1.50594166e-03 9.69882973e-01 2.97132331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:167.02, Z:29.72 [[ 9.67321346e-01 -7.45493499e-02 -2.42346465e-01 2.32307612e+02] [ 7.14112588e-02 9.97210447e-01 -2.17199602e-02 1.67017557e+02] [ 2.43289635e-01 3.70391505e-03 9.69946614e-01 2.97165337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.33, Y:167.01, Z:29.73 [[ 9.66849607e-01 -7.16278061e-02 -2.45094461e-01 2.32334423e+02] [ 7.16519303e-02 9.97390609e-01 -8.83031201e-03 1.67011202e+02] [ 2.45087410e-01 -9.02390754e-03 9.69458989e-01 2.97299160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.36, Y:167.02, Z:29.73 [[ 9.66100570e-01 -7.57214764e-02 -2.46811563e-01 2.32361907e+02] [ 7.31929794e-02 9.97128766e-01 -1.94167696e-02 1.67020007e+02] [ 2.47573176e-01 6.93678570e-04 9.68868950e-01 2.97347728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.39, Y:167.02, Z:29.74 [[ 9.66323216e-01 -7.73166075e-02 -2.45441612e-01 2.32387923e+02] [ 7.51252016e-02 9.97006300e-01 -1.82932238e-02 1.67022336e+02] [ 2.46121203e-01 -7.61683693e-04 9.69238760e-01 2.97398519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.42, Y:167.03, Z:29.74 [[ 9.66653488e-01 -8.39163934e-02 -2.41948491e-01 2.32416696e+02] [ 7.87438358e-02 9.96413157e-01 -3.09875660e-02 1.67034478e+02] [ 2.43681024e-01 1.09022865e-02 9.69794153e-01 2.97390211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.44, Y:167.02, Z:29.76 [[ 9.65833859e-01 -8.19370396e-02 -2.45868417e-01 2.32442156e+02] [ 8.30593397e-02 9.96527607e-01 -5.82018402e-03 1.67019857e+02] [ 2.45491554e-01 -1.48003376e-02 9.69285741e-01 2.97570819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.47, Y:167.03, Z:29.76 [[ 9.65518158e-01 -8.71774967e-02 -2.45305466e-01 2.32469354e+02] [ 8.52330717e-02 9.96188293e-01 -1.85528815e-02 1.67029472e+02] [ 2.45987827e-01 -2.99499435e-03 9.69268291e-01 2.97606574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:167.04, Z:29.76 [[ 9.65789809e-01 -9.47681518e-02 -2.41389814e-01 2.32498931e+02] [ 8.86290338e-02 9.95407046e-01 -3.61898798e-02 1.67044725e+02] [ 2.43710770e-01 1.35576711e-02 9.69753190e-01 2.97571333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.52, Y:167.03, Z:29.78 [[ 9.65156708e-01 -8.76428468e-02 -2.46558838e-01 2.32522762e+02] [ 9.01919957e-02 9.95923936e-01 -9.57983444e-04 1.67025250e+02] [ 2.45637808e-01 -2.13130295e-02 9.69127351e-01 2.97793445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.55, Y:167.04, Z:29.78 [[ 9.64931529e-01 -9.34807269e-02 -2.45292680e-01 2.32550509e+02] [ 9.16880872e-02 9.95611350e-01 -1.87439208e-02 1.67038470e+02] [ 2.45968372e-01 -4.40381644e-03 9.69267851e-01 2.97815389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.58, Y:167.04, Z:29.79 [[ 9.64709720e-01 -9.56532732e-02 -2.45327552e-01 2.32576932e+02] [ 9.39092206e-02 9.95402764e-01 -1.88254215e-02 1.67041104e+02] [ 2.46000436e-01 -4.87745209e-03 9.69257446e-01 2.97882042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.60, Y:167.04, Z:29.80 [[ 9.63867675e-01 -9.89352605e-02 -2.47327555e-01 2.32603253e+02] [ 9.72596151e-02 9.95077390e-01 -1.90146289e-02 1.67044582e+02] [ 2.47991275e-01 -5.72739668e-03 9.68745335e-01 2.97962940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.63, Y:167.05, Z:29.80 [[ 9.64531084e-01 -9.67373037e-02 -2.45604728e-01 2.32630682e+02] [ 9.49954851e-02 9.95297161e-01 -1.89583706e-02 1.67045451e+02] [ 2.46283670e-01 -5.04540249e-03 9.69184656e-01 2.98024642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.66, Y:167.04, Z:29.82 [[ 9.64461396e-01 -9.11566670e-02 -2.48001367e-01 2.32662005e+02] [ 9.18741408e-02 9.95732586e-01 -8.70399136e-03 1.67040092e+02] [ 2.47736470e-01 -1.43902489e-02 9.68720580e-01 2.98154511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.69, Y:167.06, Z:29.81 [[ 9.64605173e-01 -9.69864176e-02 -2.45215200e-01 2.32685772e+02] [ 9.34160288e-02 9.95282943e-01 -2.61784037e-02 1.67057347e+02] [ 2.46597455e-01 2.34479348e-03 9.69115162e-01 2.98142814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:167.06, Z:29.82 [[ 9.64916139e-01 -9.28616270e-02 -2.45588197e-01 2.32712460e+02] [ 9.09237191e-02 9.95671918e-01 -1.92433937e-02 1.67057430e+02] [ 2.46312244e-01 -3.76153111e-03 9.69183228e-01 2.98230555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.74, Y:167.06, Z:29.83 [[ 9.65146781e-01 -9.13860654e-02 -2.45235147e-01 2.32738716e+02] [ 8.93866015e-02 9.95810079e-01 -1.92956609e-02 1.67060354e+02] [ 2.45970986e-01 -3.29759140e-03 9.69271582e-01 2.98296721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.77, Y:167.06, Z:29.84 [[ 9.65314352e-01 -8.99769532e-02 -2.45096614e-01 2.32765478e+02] [ 8.79260799e-02 9.95939625e-01 -1.93201616e-02 1.67062980e+02] [ 2.45839799e-01 -2.90035517e-03 9.69306134e-01 2.98364580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.79, Y:167.07, Z:29.84 [[ 9.65442184e-01 -8.86373837e-02 -2.45081218e-01 2.32792015e+02] [ 8.65240538e-02 9.96060881e-01 -1.93987080e-02 1.67065369e+02] [ 2.45835264e-01 -2.47708944e-03 9.69308458e-01 2.98432044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.05275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.82, Y:167.07, Z:29.85 [[ 9.65414248e-01 -8.75191190e-02 -2.45592617e-01 2.32818958e+02] [ 8.48785581e-02 9.96162810e-01 -2.13374579e-02 1.67068927e+02] [ 2.46517667e-01 -2.46061403e-04 9.69138266e-01 2.98498981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.85, Y:167.07, Z:29.86 [[ 9.65624703e-01 -8.63345374e-02 -2.45184177e-01 2.32846243e+02] [ 8.45817175e-02 9.96259496e-01 -1.76904027e-02 1.67068890e+02] [ 2.45794357e-01 -3.65580892e-03 9.69315103e-01 2.98574521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.88, Y:167.07, Z:29.87 [[ 9.65511884e-01 -8.49797588e-02 -2.46100067e-01 2.32875451e+02] [ 8.42186062e-02 9.96353994e-01 -1.36361484e-02 1.67067644e+02] [ 2.46361582e-01 -7.56034135e-03 9.69148499e-01 2.98668235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.90, Y:167.08, Z:29.87 [[ 9.65392614e-01 -8.97628310e-02 -2.44866769e-01 2.32900949e+02] [ 8.58929146e-02 9.95952949e-01 -2.64599842e-02 1.67078582e+02] [ 2.46250903e-01 4.51195285e-03 9.69195612e-01 2.98691979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.93, Y:167.07, Z:29.88 [[ 9.65587792e-01 -8.88656525e-02 -2.44424040e-01 2.32927698e+02] [ 8.76353688e-02 9.96025297e-01 -1.59264023e-02 1.67074073e+02] [ 2.44867837e-01 -6.04185129e-03 9.69537642e-01 2.98781750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:167.09, Z:29.87 [[ 9.66255633e-01 -9.68741586e-02 -2.38674359e-01 2.32957107e+02] [ 9.01293225e-02 9.95164614e-01 -3.90396739e-02 1.67091647e+02] [ 2.41302212e-01 1.62107466e-02 9.70314616e-01 2.98724014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:167.07, Z:29.90 [[ 9.65447728e-01 -8.79131163e-02 -2.45320134e-01 2.32981964e+02] [ 9.06000816e-02 9.95887300e-01 -3.33902593e-04 1.67067944e+02] [ 2.44340560e-01 -2.19036587e-02 9.69442067e-01 2.98965192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.01, Y:167.09, Z:29.90 [[ 9.64736777e-01 -9.63879185e-02 -2.44933297e-01 2.33008868e+02] [ 9.21176342e-02 9.95329848e-01 -2.88588887e-02 1.67087033e+02] [ 2.46571069e-01 5.27855540e-03 9.69110337e-01 2.98965218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.04, Y:167.08, Z:29.91 [[ 9.64699122e-01 -9.45471802e-02 -2.45797550e-01 2.33036372e+02] [ 9.24463000e-02 9.95514800e-01 -2.00988693e-02 1.67084150e+02] [ 2.46595391e-01 -3.33371250e-03 9.69112790e-01 2.99059610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:167.08, Z:29.91 [[ 9.65082478e-01 -9.47619494e-02 -2.44204798e-01 2.33063991e+02] [ 9.50131753e-02 9.95417661e-01 -1.07785243e-02 1.67080499e+02] [ 2.44107162e-01 -1.28005083e-02 9.69663777e-01 2.99141817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.09, Y:167.09, Z:29.92 [[ 9.64833302e-01 -9.84769032e-02 -2.43719100e-01 2.33091047e+02] [ 9.65808168e-02 9.95129228e-01 -1.97475548e-02 1.67088133e+02] [ 2.44476678e-01 -4.48549120e-03 9.69644798e-01 2.99182718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:167.09, Z:29.92 [[ 9.64701395e-01 -9.97303018e-02 -2.43731586e-01 2.33117743e+02] [ 9.78532637e-02 9.95003304e-01 -1.98283692e-02 1.67090551e+02] [ 2.44491223e-01 -4.72147574e-03 9.69640010e-01 2.99245084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.14, Y:167.09, Z:29.93 [[ 9.64325859e-01 -1.00880161e-01 -2.44742377e-01 2.33144307e+02] [ 9.90150342e-02 9.94886024e-01 -1.99454799e-02 1.67092732e+02] [ 2.45502874e-01 -4.99923281e-03 9.69382972e-01 2.99306429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.17, Y:167.10, Z:29.94 [[ 9.64088146e-01 -1.01586373e-01 -2.45385933e-01 2.33171830e+02] [ 9.97254259e-02 9.94813344e-01 -2.00312163e-02 1.67095444e+02] [ 2.46148099e-01 -5.15935849e-03 9.69218497e-01 2.99376615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.20, Y:167.10, Z:29.94 [[ 9.63932655e-01 -1.01677168e-01 -2.45958514e-01 2.33198576e+02] [ 9.97898129e-02 9.94804311e-01 -2.01587885e-02 1.67097938e+02] [ 2.46730278e-01 -5.11243952e-03 9.69070706e-01 2.99439024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:167.10, Z:29.95 [[ 9.63802792e-01 -1.02047030e-01 -2.46313990e-01 2.33224549e+02] [ 1.00145251e-01 9.94766341e-01 -2.02695677e-02 1.67100140e+02] [ 2.47093316e-01 -5.13131030e-03 9.68978102e-01 2.99502733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.25, Y:167.10, Z:29.96 [[ 9.63773180e-01 -1.02769064e-01 -2.46129594e-01 2.33251368e+02] [ 1.00884104e-01 9.94691255e-01 -2.02905112e-02 1.67102114e+02] [ 2.46908192e-01 -5.27511317e-03 9.69024519e-01 2.99570431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.28, Y:167.10, Z:29.96 [[ 9.63602081e-01 -1.03859078e-01 -2.46341880e-01 2.33278206e+02] [ 1.01985078e-01 9.94576949e-01 -2.03895949e-02 1.67104170e+02] [ 2.47123600e-01 -5.47573982e-03 9.68968494e-01 2.99639470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.30, Y:167.11, Z:29.97 [[ 9.63424507e-01 -1.05344260e-01 -2.46405776e-01 2.33303948e+02] [ 1.03496200e-01 9.94419048e-01 -2.04766469e-02 1.67105922e+02] [ 2.47187695e-01 -5.77435798e-03 9.68950412e-01 2.99712603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.33, Y:167.11, Z:29.98 [[ 9.63480424e-01 -1.06173879e-01 -2.45830388e-01 2.33331465e+02] [ 1.04351861e-01 9.94329864e-01 -2.04648550e-02 1.67108437e+02] [ 2.46609329e-01 -5.93537138e-03 9.69096801e-01 2.99779779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.36, Y:167.11, Z:29.98 [[ 9.63483597e-01 -1.06571923e-01 -2.45645647e-01 2.33357232e+02] [ 1.04744809e-01 9.94287197e-01 -2.05303568e-02 1.67110648e+02] [ 2.46430281e-01 -5.94944436e-03 9.69142260e-01 2.99846427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:167.11, Z:29.99 [[ 9.63633625e-01 -1.06413469e-01 -2.45125295e-01 2.33384159e+02] [ 1.04575085e-01 9.94304822e-01 -2.05419745e-02 1.67113033e+02] [ 2.45915205e-01 -5.83906115e-03 9.69273758e-01 2.99918040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.41, Y:167.12, Z:30.00 [[ 9.63676046e-01 -1.05618599e-01 -2.45302243e-01 2.33413587e+02] [ 1.03060263e-01 9.94402640e-01 -2.32802864e-02 1.67116031e+02] [ 2.46388029e-01 -2.84625942e-03 9.69167085e-01 2.99976374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.44, Y:167.12, Z:30.01 [[ 9.64269079e-01 -1.02577296e-01 -2.44260193e-01 2.33437843e+02] [ 1.01586405e-01 9.94686780e-01 -1.66856972e-02 1.67115154e+02] [ 2.44673958e-01 -8.72401296e-03 9.69566164e-01 3.00071663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:167.12, Z:30.01 [[ 9.64341120e-01 -1.02491206e-01 -2.44011796e-01 2.33465262e+02] [ 1.00505322e-01 9.94723042e-01 -2.06094537e-02 1.67120266e+02] [ 2.44836444e-01 -4.64994039e-03 9.69553244e-01 3.00132153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.49, Y:167.13, Z:30.02 [[ 9.63903036e-01 -1.02390430e-01 -2.45778635e-01 2.33490218e+02] [ 9.71058580e-02 9.94708138e-01 -3.35585010e-02 1.67130571e+02] [ 2.47914077e-01 8.48059582e-03 9.68744904e-01 3.00175364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.52, Y:167.12, Z:30.03 [[ 9.64888131e-01 -9.61038560e-02 -2.44448244e-01 2.33519068e+02] [ 9.68040361e-02 9.95261150e-01 -9.17727491e-03 1.67119343e+02] [ 2.44171812e-01 -1.48085330e-02 9.69618912e-01 3.00300080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.55, Y:167.13, Z:30.03 [[ 9.64983756e-01 -9.78221686e-02 -2.43386882e-01 2.33545142e+02] [ 9.56471255e-02 9.95198640e-01 -2.07676222e-02 1.67129127e+02] [ 2.44249827e-01 -3.23883757e-03 9.69706931e-01 3.00335676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.57, Y:167.13, Z:30.04 [[ 9.64139831e-01 -9.60138509e-02 -2.47418121e-01 2.33571309e+02] [ 9.36976334e-02 9.95376078e-01 -2.11474808e-02 1.67130848e+02] [ 2.48304530e-01 -2.79336382e-03 9.68677995e-01 3.00448863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.60, Y:167.13, Z:30.05 [[ 9.65250835e-01 -9.57840906e-02 -2.43138301e-01 2.33597923e+02] [ 9.35202864e-02 9.95398740e-01 -2.08639630e-02 1.67134438e+02] [ 2.44017995e-01 -2.59940593e-03 9.69767220e-01 3.00473961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.62, Y:167.11, Z:30.08 [[ 9.63658609e-01 -8.33858584e-02 -2.53789056e-01 2.33623727e+02] [ 9.07723952e-02 9.95717649e-01 1.75138726e-02 1.67112117e+02] [ 2.51241833e-01 -3.99144346e-02 9.67101018e-01 3.00761869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.65, Y:167.15, Z:30.07 [[ 9.63739550e-01 -9.52564546e-02 -2.49263490e-01 2.33652504e+02] [ 8.89985861e-02 9.95370683e-01 -3.62829912e-02 1.67146663e+02] [ 2.51565759e-01 1.27832554e-02 9.67755784e-01 3.00666914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.68, Y:167.16, Z:30.06 [[ 9.64895150e-01 -1.01102533e-01 -2.42395601e-01 2.33683579e+02] [ 9.22715739e-02 9.94598261e-01 -4.75421571e-02 1.67159168e+02] [ 2.45892875e-01 2.35069732e-02 9.69011928e-01 3.00621257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.71, Y:167.15, Z:30.07 [[ 9.64886052e-01 -9.53824714e-02 -2.44738823e-01 2.33709169e+02] [ 9.30184879e-02 9.95438079e-01 -2.12271291e-02 1.67145398e+02] [ 2.45647040e-01 -2.28347446e-03 9.69356651e-01 3.00749360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.74, Y:167.15, Z:30.08 [[ 9.64390086e-01 -9.79121827e-02 -2.45692831e-01 2.33736621e+02] [ 9.56014711e-02 9.95190821e-01 -2.13445158e-02 1.67146643e+02] [ 2.46601139e-01 -2.90415667e-03 9.69112710e-01 3.00822814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.76, Y:167.15, Z:30.09 [[ 9.64219454e-01 -9.94885708e-02 -2.45729258e-01 2.33762426e+02] [ 9.72073857e-02 9.95033474e-01 -2.14268572e-02 1.67148407e+02] [ 2.46640564e-01 -3.22650614e-03 9.69101657e-01 3.00886994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.79, Y:167.16, Z:30.09 [[ 9.63173133e-01 -1.04213683e-01 -2.47864933e-01 2.33790349e+02] [ 9.89737815e-02 9.94524533e-01 -3.35431771e-02 1.67157510e+02] [ 2.50003415e-01 7.77575720e-03 9.68213732e-01 3.00933459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.82, Y:167.15, Z:30.11 [[ 9.63707166e-01 -1.00034807e-01 -2.47510679e-01 2.33816721e+02] [ 1.00796602e-01 9.94860496e-01 -9.62491943e-03 1.67145180e+02] [ 2.47201424e-01 -1.56726315e-02 9.68837357e-01 3.01065082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.84, Y:167.15, Z:30.11 [[ 9.63151222e-01 -1.06347260e-01 -2.47042475e-01 2.33844436e+02] [ 1.04241685e-01 9.94316860e-01 -2.16252985e-02 1.67154966e+02] [ 2.47938289e-01 -4.92369123e-03 9.68763316e-01 3.01101149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.87, Y:167.14, Z:30.14 [[ 9.61602453e-01 -9.82401150e-02 -2.56260811e-01 2.33869720e+02] [ 1.04132672e-01 9.94518110e-01 9.49290206e-03 1.67137046e+02] [ 2.53923433e-01 -3.58135207e-02 9.66561060e-01 3.01355187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.90, Y:167.18, Z:30.12 [[ 9.62714888e-01 -1.16500437e-01 -2.44146867e-01 2.33899559e+02] [ 1.06731796e-01 9.92878915e-01 -5.29129842e-02 1.67178981e+02] [ 2.48572662e-01 2.48818842e-02 9.68293614e-01 3.01156168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.93, Y:167.15, Z:30.14 [[ 9.61975215e-01 -1.04160812e-01 -2.52495964e-01 2.33925161e+02] [ 1.06761454e-01 9.94278789e-01 -3.41792711e-03 1.67148446e+02] [ 2.51407396e-01 -2.36688752e-02 9.67591911e-01 3.01424542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.95, Y:167.15, Z:30.15 [[ 9.61325266e-01 -1.03955749e-01 -2.55043009e-01 2.33953922e+02] [ 1.05957876e-01 9.94353023e-01 -5.91559097e-03 1.67149535e+02] [ 2.54217746e-01 -2.13370084e-02 9.66911614e-01 3.01540323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.98, Y:167.17, Z:30.15 [[ 9.62054869e-01 -1.12501822e-01 -2.48583526e-01 2.33982569e+02] [ 1.06167567e-01 9.93591471e-01 -3.87870673e-02 1.67172261e+02] [ 2.51354087e-01 1.09237788e-02 9.67833557e-01 3.01474004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.01, Y:167.17, Z:30.15 [[ 9.61968468e-01 -1.09938867e-01 -2.50060219e-01 2.34007671e+02] [ 1.05393874e-01 9.93930374e-01 -3.15363883e-02 1.67170709e+02] [ 2.52009521e-01 3.98219590e-03 9.67716561e-01 3.01542999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.04, Y:167.16, Z:30.17 [[ 9.62094583e-01 -1.05127977e-01 -2.51638871e-01 2.34036711e+02] [ 1.05312008e-01 9.94357172e-01 -1.27748340e-02 1.67162106e+02] [ 2.51561908e-01 -1.42099962e-02 9.67736887e-01 3.01675282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.06, Y:167.18, Z:30.17 [[ 9.62296654e-01 -1.10425353e-01 -2.48578744e-01 2.34061607e+02] [ 1.05361627e-01 9.93865282e-01 -3.36262993e-02 1.67180000e+02] [ 2.50766980e-01 6.16781431e-03 9.68027830e-01 3.01656432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:234.09, Y:167.18, Z:30.18 [[ 9.62349732e-01 -1.07196240e-01 -2.49783826e-01 2.34088568e+02] [ 1.04902670e-01 9.94227545e-01 -2.25170653e-02 1.67176206e+02] [ 2.50755705e-01 -4.53369847e-03 9.68039783e-01 3.01761919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.12, Y:167.18, Z:30.19 [[ 9.62231168e-01 -1.04922862e-01 -2.51201856e-01 2.34115821e+02] [ 1.02505064e-01 9.94472796e-01 -2.27281944e-02 1.67176804e+02] [ 2.52198119e-01 -3.87968515e-03 9.67667844e-01 3.01850975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.14, Y:167.19, Z:30.19 [[ 9.61331571e-01 -1.09400401e-01 -2.52731406e-01 2.34140483e+02] [ 1.02319127e-01 9.93904863e-01 -4.10355958e-02 1.67191765e+02] [ 2.55680284e-01 1.35895569e-02 9.66665876e-01 3.01892962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.17, Y:167.18, Z:30.20 [[ 9.62268155e-01 -1.02292368e-01 -2.52143351e-01 2.34168160e+02] [ 1.02450501e-01 9.94659094e-01 -1.25372317e-02 1.67177997e+02] [ 2.52079140e-01 -1.37680339e-02 9.67608675e-01 3.02026929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.19, Y:167.18, Z:30.21 [[ 9.62905651e-01 -1.02964538e-01 -2.49421352e-01 2.34194841e+02] [ 1.02186178e-01 9.94634944e-01 -1.61031913e-02 1.67184184e+02] [ 2.49741250e-01 -9.98156075e-03 9.68261161e-01 3.02084764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:167.19, Z:30.21 [[ 9.63073400e-01 -1.04517636e-01 -2.48124343e-01 2.34220746e+02] [ 1.02070756e-01 9.94517140e-01 -2.27424295e-02 1.67191195e+02] [ 2.49140897e-01 -3.42361044e-03 9.68461198e-01 3.02133505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.25, Y:167.19, Z:30.22 [[ 9.63068256e-01 -1.05014511e-01 -2.47934440e-01 2.34248000e+02] [ 1.02578366e-01 9.94464487e-01 -2.27609913e-02 1.67194393e+02] [ 2.48952230e-01 -3.51232166e-03 9.68509396e-01 3.02208683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:167.20, Z:30.23 [[ 9.63120065e-01 -1.06016132e-01 -2.47306127e-01 2.34275283e+02] [ 1.03604469e-01 9.94357604e-01 -2.27831174e-02 1.67197462e+02] [ 2.48326105e-01 -3.67914238e-03 9.68669505e-01 3.02287255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.31, Y:167.21, Z:30.23 [[ 9.63641483e-01 -1.09409692e-01 -2.43771638e-01 2.34305720e+02] [ 1.04057370e-01 9.93963436e-01 -3.47671119e-02 1.67207009e+02] [ 2.46103954e-01 8.13679581e-03 9.69209284e-01 3.02292173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.33, Y:167.20, Z:30.25 [[ 9.63451988e-01 -1.04017737e-01 -2.46861455e-01 2.34328809e+02] [ 1.04711366e-01 9.94448757e-01 -1.03537237e-02 1.67195118e+02] [ 2.46568037e-01 -1.58738845e-02 9.68995471e-01 3.02451394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.36, Y:167.21, Z:30.25 [[ 9.63323734e-01 -1.08902763e-01 -2.45250020e-01 2.34355656e+02] [ 1.06592462e-01 9.94043282e-01 -2.27156429e-02 1.67205786e+02] [ 2.46262931e-01 -4.25928548e-03 9.69193700e-01 3.02487497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.38, Y:167.21, Z:30.25 [[ 9.62897227e-01 -1.10743964e-01 -2.46098973e-01 2.34382164e+02] [ 1.07382441e-01 9.93848908e-01 -2.70806234e-02 1.67211511e+02] [ 2.47584211e-01 -3.50851194e-04 9.68866315e-01 3.02548385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.41, Y:167.21, Z:30.26 [[ 9.63121441e-01 -1.10767244e-01 -2.45209516e-01 2.34409252e+02] [ 1.09426577e-01 9.93810801e-01 -1.91289518e-02 1.67210978e+02] [ 2.45810727e-01 -8.40893449e-03 9.69281371e-01 3.02628052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.44, Y:167.22, Z:30.27 [[ 9.62909749e-01 -1.12730821e-01 -2.45146034e-01 2.34436792e+02] [ 1.10497745e-01 9.93612747e-01 -2.28901303e-02 1.67216235e+02] [ 2.46160647e-01 -5.04695439e-03 9.69215902e-01 3.02686891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.46, Y:167.22, Z:30.28 [[ 9.62796046e-01 -1.13899035e-01 -2.45052615e-01 2.34463588e+02] [ 1.11684301e-01 9.93478404e-01 -2.29625292e-02 1.67219182e+02] [ 2.46069891e-01 -5.26029786e-03 9.69237813e-01 3.02750911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.49, Y:167.22, Z:30.28 [[ 9.62079198e-01 -1.16841864e-01 -2.46478389e-01 2.34489129e+02] [ 1.14675139e-01 9.93132614e-01 -2.31780985e-02 1.67223000e+02] [ 2.47493899e-01 -5.96577719e-03 9.68871085e-01 3.02821470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.51, Y:167.22, Z:30.29 [[ 9.62764654e-01 -1.14053578e-01 -2.45104064e-01 2.34514047e+02] [ 1.13817442e-01 9.93385760e-01 -1.51763695e-02 1.67218931e+02] [ 2.45213806e-01 -1.32858455e-02 9.69377984e-01 3.02888166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.54, Y:167.24, Z:30.29 [[ 9.60702968e-01 -1.25448475e-01 -2.47613585e-01 2.34543853e+02] [ 1.17179368e-01 9.91954174e-01 -4.79156717e-02 1.67242468e+02] [ 2.51632278e-01 1.70175245e-02 9.67673292e-01 3.02909713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.57, Y:167.22, Z:30.31 [[ 9.61349117e-01 -1.17995335e-01 -2.48766911e-01 2.34571563e+02] [ 1.19046241e-01 9.92829202e-01 -1.08704826e-02 1.67223659e+02] [ 2.48265720e-01 -1.91644367e-02 9.68502378e-01 3.03056397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.60, Y:167.23, Z:30.31 [[ 9.61131319e-01 -1.21495927e-01 -2.47922018e-01 2.34598531e+02] [ 1.19344068e-01 9.92568892e-01 -2.37484186e-02 1.67234101e+02] [ 2.48965019e-01 -6.76267332e-03 9.68488867e-01 3.03089328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.63, Y:167.23, Z:30.32 [[ 9.61263345e-01 -1.19929141e-01 -2.48172891e-01 2.34629088e+02] [ 1.18066508e-01 9.92752296e-01 -2.24316327e-02 1.67234612e+02] [ 2.49064413e-01 -7.73820032e-03 9.68456007e-01 3.03162005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.66, Y:167.24, Z:30.32 [[ 9.61224253e-01 -1.19023978e-01 -2.48759376e-01 2.34655908e+02] [ 1.17160378e-01 9.92861737e-01 -2.23386851e-02 1.67238151e+02] [ 2.49642506e-01 -7.67225655e-03 9.68307676e-01 3.03221930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.68, Y:167.24, Z:30.33 [[ 9.61083318e-01 -1.19289150e-01 -2.49176553e-01 2.34680990e+02] [ 1.17027301e-01 9.92840420e-01 -2.39272260e-02 1.67243239e+02] [ 2.50246811e-01 -6.16440160e-03 9.68162452e-01 3.03284402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.71, Y:167.26, Z:30.33 [[ 9.61423387e-01 -1.21937694e-01 -2.46568995e-01 2.34710458e+02] [ 1.15354036e-01 9.92476771e-01 -4.10281119e-02 1.67257239e+02] [ 2.49716873e-01 1.10026575e-02 9.68256384e-01 3.03264618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.74, Y:167.24, Z:30.35 [[ 9.61319232e-01 -1.12785489e-01 -2.51286227e-01 2.34735679e+02] [ 1.14636978e-01 9.93380576e-01 -7.30713693e-03 1.67240039e+02] [ 2.50446996e-01 -2.17822024e-02 9.67885240e-01 3.03456768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.76, Y:167.25, Z:30.35 [[ 9.61224192e-01 -1.17129922e-01 -2.49657033e-01 2.34763380e+02] [ 1.14685563e-01 9.93102937e-01 -2.43675564e-02 1.67253019e+02] [ 2.50789303e-01 -5.20937271e-03 9.68027679e-01 3.03480443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.79, Y:167.26, Z:30.36 [[ 9.61389946e-01 -1.14372491e-01 -2.50296435e-01 2.34790070e+02] [ 1.11810333e-01 9.93427970e-01 -2.44809811e-02 1.67255855e+02] [ 2.51451430e-01 -4.44995851e-03 9.67859688e-01 3.03550310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.82, Y:167.26, Z:30.36 [[ 9.61850799e-01 -1.13826752e-01 -2.48769997e-01 2.34818736e+02] [ 1.10790509e-01 9.93497854e-01 -2.62197759e-02 1.67259825e+02] [ 2.50136970e-01 -2.34184226e-03 9.68207629e-01 3.03600047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.84, Y:167.26, Z:30.37 [[ 9.61629162e-01 -1.10975487e-01 -2.50905950e-01 2.34843665e+02] [ 1.08877288e-01 9.93805634e-01 -2.22732437e-02 1.67259431e+02] [ 2.51823531e-01 -5.89935854e-03 9.67755190e-01 3.03700187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.87, Y:167.26, Z:30.38 [[ 9.61657761e-01 -1.11582481e-01 -2.50526847e-01 2.34871017e+02] [ 1.08873568e-01 9.93748903e-01 -2.46913897e-02 1.67263805e+02] [ 2.51715906e-01 -3.53108524e-03 9.67794727e-01 3.03766513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.90, Y:167.27, Z:30.38 [[ 9.62031010e-01 -1.13948207e-01 -2.48016416e-01 2.34898936e+02] [ 1.09273303e-01 9.93477633e-01 -3.25812658e-02 1.67272178e+02] [ 2.50111339e-01 4.24261504e-03 9.68207787e-01 3.03785829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.93, Y:167.26, Z:30.39 [[ 9.61780607e-01 -1.10456979e-01 -2.50554027e-01 2.34925749e+02] [ 1.09815983e-01 9.93813603e-01 -1.65823114e-02 1.67264807e+02] [ 2.50835632e-01 -1.15662914e-02 9.67960591e-01 3.03916954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.95, Y:167.28, Z:30.39 [[ 9.61866194e-01 -1.16392427e-01 -2.47520157e-01 2.34953196e+02] [ 1.10775961e-01 9.93173189e-01 -3.65472673e-02 1.67280369e+02] [ 2.50084209e-01 7.73429744e-03 9.68193198e-01 3.03908088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.98, Y:167.28, Z:30.40 [[ 9.62019571e-01 -1.18511401e-01 -2.45913384e-01 2.34979562e+02] [ 1.13728358e-01 9.92943075e-01 -3.36141478e-02 1.67281860e+02] [ 2.48161651e-01 4.37014281e-03 9.68708778e-01 3.03956898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.01, Y:167.26, Z:30.42 [[ 9.61411963e-01 -1.10720419e-01 -2.51849212e-01 2.35006274e+02] [ 1.13231364e-01 9.93558243e-01 -4.54715240e-03 1.67263587e+02] [ 2.50730323e-01 -2.41455431e-02 9.67755805e-01 3.04183976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.03, Y:167.27, Z:30.42 [[ 9.61960234e-01 -1.14657109e-01 -2.47964223e-01 2.35033207e+02] [ 1.13786073e-01 9.93344173e-01 -1.78908629e-02 1.67273836e+02] [ 2.48365131e-01 -1.10045765e-02 9.68603975e-01 3.04206871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.06, Y:167.29, Z:30.42 [[ 9.61384939e-01 -1.19530411e-01 -2.47894091e-01 2.35059900e+02] [ 1.15177650e-01 9.92827983e-01 -3.20422280e-02 1.67285037e+02] [ 2.49946211e-01 2.25305665e-03 9.68257102e-01 3.04246652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.08, Y:167.30, Z:30.41 [[ 9.62932695e-01 -1.27041783e-01 -2.37951699e-01 2.35084113e+02] [ 1.18645021e-01 9.91709915e-01 -4.93437385e-02 1.67302269e+02] [ 2.42247775e-01 1.92829149e-02 9.70022775e-01 3.04143105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.11, Y:167.30, Z:30.42 [[ 9.63004317e-01 -1.25878288e-01 -2.38279965e-01 2.35114947e+02] [ 1.20799859e-01 9.92029048e-01 -3.58575391e-02 1.67297577e+02] [ 2.40894332e-01 5.74677893e-03 9.70534335e-01 3.04236272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.14, Y:167.27, Z:30.45 [[ 9.61232784e-01 -1.16720672e-01 -2.49815573e-01 2.35143213e+02] [ 1.21428546e-01 9.92594138e-01 3.46193437e-03 1.67272621e+02] [ 2.47561394e-01 -3.36624668e-02 9.68287248e-01 3.04549254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.17, Y:167.29, Z:30.45 [[ 9.61539455e-01 -1.22425057e-01 -2.45873916e-01 2.35170595e+02] [ 1.21875739e-01 9.92390908e-01 -1.75097122e-02 1.67287713e+02] [ 2.46146666e-01 -1.31297862e-02 9.69143657e-01 3.04549806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.20, Y:167.30, Z:30.46 [[ 9.60585833e-01 -1.27217632e-01 -2.47164988e-01 2.35197589e+02] [ 1.22039081e-01 9.91864005e-01 -3.62251038e-02 1.67301313e+02] [ 2.49762527e-01 4.63353351e-03 9.68296035e-01 3.04582804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.23, Y:167.30, Z:30.47 [[ 9.60917117e-01 -1.23516546e-01 -2.47753825e-01 2.35225407e+02] [ 1.22100034e-01 9.92292722e-01 -2.11361295e-02 1.67295564e+02] [ 2.48454979e-01 -9.94068188e-03 9.68592436e-01 3.04685416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.25, Y:167.30, Z:30.48 [[ 9.61658385e-01 -1.20688549e-01 -2.46266977e-01 2.35250527e+02] [ 1.20143052e-01 9.92605900e-01 -1.72966424e-02 1.67295973e+02] [ 2.46533562e-01 -1.29538052e-02 9.69047678e-01 3.04755477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:167.31, Z:30.48 [[ 9.61322531e-01 -1.23373368e-01 -2.46247851e-01 2.35278667e+02] [ 1.19346337e-01 9.92360096e-01 -3.12712756e-02 1.67308303e+02] [ 2.48224583e-01 6.73002800e-04 9.68702278e-01 3.04790804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.31, Y:167.31, Z:30.49 [[ 9.61572471e-01 -1.19550104e-01 -2.47156135e-01 2.35305903e+02] [ 1.16344224e-01 9.92825674e-01 -2.75898876e-02 1.67310881e+02] [ 2.48681330e-01 -2.22551234e-03 9.68582801e-01 3.04862566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:167.31, Z:30.49 [[ 9.61737944e-01 -1.16848851e-01 -2.47803297e-01 2.35331212e+02] [ 1.14467277e-01 9.93135901e-01 -2.40483715e-02 1.67312115e+02] [ 2.48912375e-01 -5.23713712e-03 9.68511849e-01 3.04933950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.36, Y:167.33, Z:30.50 [[ 9.60851438e-01 -1.19204319e-01 -2.50109665e-01 2.35361113e+02] [ 1.13042271e-01 9.92827888e-01 -3.89131060e-02 1.67325461e+02] [ 2.52954461e-01 9.11674932e-03 9.67435231e-01 3.04981602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.39, Y:167.31, Z:30.51 [[ 9.62053739e-01 -1.09975465e-01 -2.49715840e-01 2.35386155e+02] [ 1.10304674e-01 9.93816421e-01 -1.27200556e-02 1.67311837e+02] [ 2.49570597e-01 -1.53074472e-02 9.68235611e-01 3.05100231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.41, Y:167.33, Z:30.51 [[ 9.61352488e-01 -1.16485918e-01 -2.49464274e-01 2.35414841e+02] [ 1.10325439e-01 9.93146209e-01 -3.85863379e-02 1.67330785e+02] [ 2.52249263e-01 9.57281642e-03 9.67614939e-01 3.05114740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.44, Y:167.33, Z:30.52 [[ 9.61348335e-01 -1.13749352e-01 -2.50739835e-01 2.35440685e+02] [ 1.10083521e-01 9.93509477e-01 -2.86450274e-02 1.67327801e+02] [ 2.52370755e-01 -6.44745418e-05 9.67630610e-01 3.05208311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.47, Y:167.33, Z:30.53 [[ 9.62183472e-01 -1.11921697e-01 -2.48347538e-01 2.35469975e+02] [ 1.11355192e-01 9.93645772e-01 -1.63738113e-02 1.67325176e+02] [ 2.48602066e-01 -1.19001772e-02 9.68532601e-01 3.05302185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:167.33, Z:30.53 [[ 9.62299090e-01 -1.14984894e-01 -2.46493278e-01 2.35497103e+02] [ 1.12183840e-01 9.93362133e-01 -2.54255714e-02 1.67333850e+02] [ 2.47780645e-01 -3.18555827e-03 9.68810923e-01 3.05340979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.52, Y:167.34, Z:30.54 [[ 9.61475106e-01 -1.19629912e-01 -2.47496071e-01 2.35523822e+02] [ 1.13922445e-01 9.92788884e-01 -3.73082777e-02 1.67343428e+02] [ 2.50174534e-01 7.67562278e-03 9.68170330e-01 3.05384901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.55, Y:167.34, Z:30.55 [[ 9.61158967e-01 -1.19447646e-01 -2.48808561e-01 2.35551984e+02] [ 1.15714257e-01 9.92840452e-01 -2.96318536e-02 1.67341091e+02] [ 2.50566660e-01 -3.09776131e-04 9.68099299e-01 3.05480840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.58, Y:167.33, Z:30.56 [[ 9.62091354e-01 -1.16454759e-01 -2.46614104e-01 2.35578529e+02] [ 1.17291500e-01 9.93032707e-01 -1.13466623e-02 1.67332704e+02] [ 2.46217244e-01 -1.80092125e-02 9.69047335e-01 3.05586000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.60, Y:167.34, Z:30.56 [[ 9.62258666e-01 -1.21876688e-01 -2.43319403e-01 2.35604624e+02] [ 1.19300951e-01 9.92534433e-01 -2.53511871e-02 1.67342728e+02] [ 2.44592605e-01 -4.63383666e-03 9.69614864e-01 3.05615325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.63, Y:167.35, Z:30.57 [[ 9.62266211e-01 -1.23023790e-01 -2.42711530e-01 2.35631725e+02] [ 1.20488397e-01 9.92391735e-01 -2.53217422e-02 1.67345695e+02] [ 2.43980093e-01 -4.87766628e-03 9.69767974e-01 3.05685715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.66, Y:167.35, Z:30.58 [[ 9.62312141e-01 -1.23561852e-01 -2.42255675e-01 2.35657721e+02] [ 1.21032678e-01 9.92324666e-01 -2.53544421e-02 1.67348614e+02] [ 2.43529124e-01 -4.92196577e-03 9.69881096e-01 3.05753065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.68, Y:167.35, Z:30.58 [[ 9.62518209e-01 -1.24143418e-01 -2.41137119e-01 2.35684295e+02] [ 1.21642164e-01 9.92251744e-01 -2.52915227e-02 1.67352259e+02] [ 2.42408503e-01 -4.98888986e-03 9.70161445e-01 3.05815760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.71, Y:167.36, Z:30.59 [[ 9.62648225e-01 -1.24735882e-01 -2.40310955e-01 2.35711691e+02] [ 1.22261692e-01 9.92176951e-01 -2.52384076e-02 1.67355374e+02] [ 2.41579126e-01 -5.08511577e-03 9.70367800e-01 3.05881928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.74, Y:167.36, Z:30.59 [[ 9.62667727e-01 -1.25276664e-01 -2.39951256e-01 2.35738550e+02] [ 1.22807677e-01 9.92108556e-01 -2.52762295e-02 1.67358053e+02] [ 2.41224216e-01 -5.13524605e-03 9.70455824e-01 3.05949117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.77, Y:167.37, Z:30.60 [[ 9.61792303e-01 -1.28571310e-01 -2.41712606e-01 2.35766059e+02] [ 1.23452689e-01 9.91687442e-01 -3.62691353e-02 1.67366277e+02] [ 2.44366526e-01 5.04330403e-03 9.69669823e-01 3.06001337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.35275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.79, Y:167.37, Z:30.61 [[ 9.61175401e-01 -1.27916369e-01 -2.44497958e-01 2.35793662e+02] [ 1.23468988e-01 9.91782924e-01 -3.34968704e-02 1.67367248e+02] [ 2.46773698e-01 2.00845243e-03 9.69071054e-01 3.06084101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:167.37, Z:30.62 [[ 9.60694845e-01 -1.27826819e-01 -2.46425888e-01 2.35822534e+02] [ 1.24574895e-01 9.91791898e-01 -2.88084366e-02 1.67367274e+02] [ 2.48085690e-01 -3.02236252e-03 9.68733377e-01 3.06163256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.85, Y:167.36, Z:30.63 [[ 9.61935206e-01 -1.21993725e-01 -2.44536687e-01 2.35848764e+02] [ 1.24351965e-01 9.92221030e-01 -5.83227943e-03 1.67356041e+02] [ 2.43345945e-01 -2.47983427e-02 9.69622500e-01 3.06270913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.88, Y:167.37, Z:30.63 [[ 9.61664569e-01 -1.27148755e-01 -2.42970060e-01 2.35876426e+02] [ 1.24606025e-01 9.91868977e-01 -2.58702905e-02 1.67370571e+02] [ 2.44283840e-01 -5.39699176e-03 9.69688753e-01 3.06283573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.90, Y:167.37, Z:30.63 [[ 9.61551341e-01 -1.27548781e-01 -2.43208402e-01 2.35903111e+02] [ 1.24993613e-01 9.91817472e-01 -2.59749783e-02 1.67373230e+02] [ 2.44531420e-01 -5.42322170e-03 9.69626203e-01 3.06348463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.93, Y:167.38, Z:30.64 [[ 9.60837247e-01 -1.29324250e-01 -2.45085746e-01 2.35929344e+02] [ 1.24690610e-01 9.91599230e-01 -3.43979367e-02 1.67381089e+02] [ 2.47475324e-01 2.49092759e-03 9.68890994e-01 3.06400819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.96, Y:167.38, Z:30.65 [[ 9.61598232e-01 -1.28843003e-01 -2.42339268e-01 2.35959058e+02] [ 1.25467397e-01 9.91662662e-01 -2.93785142e-02 1.67382195e+02] [ 2.44104020e-01 -2.15534987e-03 9.69746659e-01 3.06452414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.98, Y:167.38, Z:30.66 [[ 9.61278559e-01 -1.23908638e-01 -2.46150731e-01 2.35984323e+02] [ 1.23851499e-01 9.92175347e-01 -1.57761264e-02 1.67377426e+02] [ 2.46179486e-01 -1.53208851e-02 9.69103158e-01 3.06592503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.01, Y:167.40, Z:30.66 [[ 9.60189876e-01 -1.30200662e-01 -2.47150136e-01 2.36011877e+02] [ 1.23922989e-01 9.91450338e-01 -4.08573147e-02 1.67396470e+02] [ 2.50356736e-01 8.60319637e-03 9.68115432e-01 3.06607026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.04, Y:167.39, Z:30.67 [[ 9.60969101e-01 -1.21931462e-01 -2.48336677e-01 2.36035992e+02] [ 1.19933959e-01 9.92510382e-01 -2.32161156e-02 1.67388839e+02] [ 2.49307505e-01 -7.47403112e-03 9.68395532e-01 3.06706286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:167.40, Z:30.68 [[ 9.60191528e-01 -1.26304095e-01 -2.49157590e-01 2.36063879e+02] [ 1.20700942e-01 9.91972634e-01 -3.77037820e-02 1.67401928e+02] [ 2.51919653e-01 6.12929611e-03 9.67728743e-01 3.06751916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:167.39, Z:30.68 [[ 9.61235794e-01 -1.20181836e-01 -2.48157357e-01 2.36090216e+02] [ 1.19291339e-01 9.92683563e-01 -1.86793876e-02 1.67393874e+02] [ 2.48586653e-01 -1.16477275e-02 9.68539626e-01 3.06838028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:167.40, Z:30.69 [[ 9.61043801e-01 -1.20884810e-01 -2.48559198e-01 2.36119621e+02] [ 1.19171154e-01 9.92630234e-01 -2.19875957e-02 1.67399946e+02] [ 2.49385342e-01 -8.49004380e-03 9.68367116e-01 3.06916146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:167.40, Z:30.70 [[ 9.60747197e-01 -1.20193670e-01 -2.50036609e-01 2.36146122e+02] [ 1.18661194e-01 9.92707350e-01 -2.12518073e-02 1.67402063e+02] [ 2.50767512e-01 -9.25202822e-03 9.68003128e-01 3.07006814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.17, Y:167.41, Z:30.71 [[ 9.60770914e-01 -1.21664968e-01 -2.49232593e-01 2.36173076e+02] [ 1.18727417e-01 9.92563951e-01 -2.68440507e-02 1.67409206e+02] [ 2.50645268e-01 -3.79975886e-03 9.68071542e-01 3.07063112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.20, Y:167.41, Z:30.71 [[ 9.61659873e-01 -1.17260131e-01 -2.47911983e-01 2.36196499e+02] [ 1.15902550e-01 9.93056857e-01 -2.01165993e-02 1.67407774e+02] [ 2.48549570e-01 -9.38830472e-03 9.68573679e-01 3.07138353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:167.43, Z:30.71 [[ 9.61481818e-01 -1.25591467e-01 -2.44498462e-01 2.36227531e+02] [ 1.17890641e-01 9.91963332e-01 -4.59406664e-02 1.67429377e+02] [ 2.48303264e-01 1.53470350e-02 9.68560766e-01 3.07119291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.25, Y:167.43, Z:30.72 [[ 9.61891784e-01 -1.25201306e-01 -2.43081940e-01 2.36253578e+02] [ 1.19740732e-01 9.92109084e-01 -3.71715263e-02 1.67429781e+02] [ 2.45817725e-01 6.64817612e-03 9.69293272e-01 3.07172756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.28, Y:167.42, Z:30.73 [[ 9.62489212e-01 -1.17097907e-01 -2.44750071e-01 2.36278534e+02] [ 1.18453592e-01 9.92916724e-01 -9.22641734e-03 1.67415713e+02] [ 2.44096833e-01 -2.01111979e-02 9.69542302e-01 3.07322978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.31, Y:167.43, Z:30.74 [[ 9.61025953e-01 -1.21303445e-01 -2.48424220e-01 2.36308819e+02] [ 1.17909569e-01 9.92613745e-01 -2.85532198e-02 1.67428031e+02] [ 2.50052899e-01 -1.85120731e-03 9.68230407e-01 3.07414698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.34, Y:167.43, Z:30.75 [[ 9.60929817e-01 -1.20723499e-01 -2.49077747e-01 2.36336136e+02] [ 1.18338895e-01 9.92668917e-01 -2.45830564e-02 1.67428637e+02] [ 2.50219490e-01 -5.85299339e-03 9.68171446e-01 3.07499045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.36, Y:167.43, Z:30.76 [[ 9.60770624e-01 -1.21673872e-01 -2.49229366e-01 2.36362135e+02] [ 1.19209565e-01 9.92553907e-01 -2.50164318e-02 1.67431917e+02] [ 2.50417427e-01 -5.67547151e-03 9.68121326e-01 3.07569218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.39, Y:167.43, Z:30.76 [[ 9.61509166e-01 -1.18270188e-01 -2.48016706e-01 2.36386417e+02] [ 1.17149337e-01 9.92926232e-01 -1.93269654e-02 1.67430519e+02] [ 2.48548097e-01 -1.04719384e-02 9.68562947e-01 3.07638447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.42, Y:167.45, Z:30.77 [[ 9.60451891e-01 -1.25464427e-01 -2.48577640e-01 2.36417154e+02] [ 1.20107668e-01 9.92083657e-01 -3.66628718e-02 1.67445490e+02] [ 2.51209700e-01 5.35684385e-03 9.67917864e-01 3.07681062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.44, Y:167.44, Z:30.78 [[ 9.60476387e-01 -1.23425416e-01 -2.49502058e-01 2.36444657e+02] [ 1.20511597e-01 9.92345164e-01 -2.69820273e-02 1.67442573e+02] [ 2.50922428e-01 -4.15229129e-03 9.67998292e-01 3.07776865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.47, Y:167.45, Z:30.78 [[ 9.60441113e-01 -1.23716595e-01 -2.49493631e-01 2.36472150e+02] [ 1.20792258e-01 9.92308924e-01 -2.70597301e-02 1.67445771e+02] [ 2.50922494e-01 -4.14762169e-03 9.67998295e-01 3.07847252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:167.45, Z:30.79 [[ 9.60435946e-01 -1.23839388e-01 -2.49452602e-01 2.36498267e+02] [ 1.20901137e-01 9.92293789e-01 -2.71284325e-02 1.67448643e+02] [ 2.50889836e-01 -4.10398129e-03 9.68006946e-01 3.07914476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.52, Y:167.45, Z:30.80 [[ 9.60737353e-01 -1.22695722e-01 -2.48856380e-01 2.36523780e+02] [ 1.20831101e-01 9.92410867e-01 -2.28148274e-02 1.67448963e+02] [ 2.49767057e-01 -8.15053345e-03 9.68271649e-01 3.07989363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.19275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:236.55, Y:167.46, Z:30.80 [[ 9.60486872e-01 -1.25289652e-01 -2.48530626e-01 2.36551554e+02] [ 1.21029325e-01 9.92119649e-01 -3.24114880e-02 1.67458016e+02] [ 2.50632942e-01 1.05131462e-03 9.68081620e-01 3.08044655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:167.46, Z:30.81 [[ 9.59583965e-01 -1.28703937e-01 -2.50267679e-01 2.36584491e+02] [ 1.24126419e-01 9.91681745e-01 -3.40580288e-02 1.67463603e+02] [ 2.52569291e-01 1.61670761e-03 9.67577459e-01 3.08130701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.61, Y:167.46, Z:30.82 [[ 9.60602187e-01 -1.21959402e-01 -2.49738550e-01 2.36606771e+02] [ 1.21629323e-01 9.92433166e-01 -1.68142330e-02 1.67455177e+02] [ 2.49899474e-01 -1.42237417e-02 9.68167309e-01 3.08227208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:167.46, Z:30.83 [[ 9.60445688e-01 -1.24909114e-01 -2.48881084e-01 2.36632704e+02] [ 1.21922014e-01 9.92160184e-01 -2.74443375e-02 1.67464511e+02] [ 2.50357950e-01 -3.98528739e-03 9.68145141e-01 3.08264514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.66, Y:167.47, Z:30.83 [[ 9.59717219e-01 -1.26921811e-01 -2.50666538e-01 2.36659421e+02] [ 1.22981715e-01 9.91912475e-01 -3.13869525e-02 1.67469599e+02] [ 2.52622955e-01 -7.04801904e-04 9.67564544e-01 3.08321041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.69, Y:167.47, Z:30.84 [[ 9.59748270e-01 -1.25615130e-01 -2.51205288e-01 2.36686895e+02] [ 1.23552988e-01 9.92046995e-01 -2.40295294e-02 1.67468303e+02] [ 2.52225923e-01 -7.97486471e-03 9.67635513e-01 3.08403004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:167.48, Z:30.84 [[ 9.59626626e-01 -1.26309885e-01 -2.51321609e-01 2.36710145e+02] [ 1.21667549e-01 9.91988734e-01 -3.39905637e-02 1.67475866e+02] [ 2.53601549e-01 2.04056586e-03 9.67306617e-01 3.08435960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:167.48, Z:30.85 [[ 9.59440873e-01 -1.25551194e-01 -2.52408614e-01 2.36739958e+02] [ 1.22398631e-01 9.92079785e-01 -2.82183409e-02 1.67475960e+02] [ 2.53952330e-01 -3.82063915e-03 9.67209190e-01 3.08526486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:167.48, Z:30.86 [[ 9.59606094e-01 -1.24806121e-01 -2.52149910e-01 2.36767752e+02] [ 1.22347919e-01 9.92160441e-01 -2.54685319e-02 1.67477850e+02] [ 2.53351794e-01 -6.41025817e-03 9.67352974e-01 3.08602214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:167.49, Z:30.87 [[ 9.59393480e-01 -1.25137271e-01 -2.52794016e-01 2.36793398e+02] [ 1.20577891e-01 9.92138031e-01 -3.35126716e-02 1.67486141e+02] [ 2.55000242e-01 1.67046928e-03 9.66939546e-01 3.08658115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.82, Y:167.49, Z:30.87 [[ 9.60213824e-01 -1.24398228e-01 -2.50028984e-01 2.36822320e+02] [ 1.20183910e-01 9.92232060e-01 -3.21149128e-02 1.67489301e+02] [ 2.52081812e-01 7.87722419e-04 9.67705606e-01 3.08705677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:167.48, Z:30.89 [[ 9.59733056e-01 -1.19874233e-01 -2.54052414e-01 2.36849018e+02] [ 1.19099156e-01 9.92710218e-01 -1.84882267e-02 1.67483277e+02] [ 2.54416690e-01 -1.25136659e-02 9.67013731e-01 3.08857679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:167.49, Z:30.89 [[ 9.60010108e-01 -1.20107288e-01 -2.52892925e-01 2.36874906e+02] [ 1.16761839e-01 9.92758004e-01 -2.82527684e-02 1.67491182e+02] [ 2.54454838e-01 -2.40529981e-03 9.67081667e-01 3.08902491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.90, Y:167.49, Z:30.90 [[ 9.60117977e-01 -1.19349052e-01 -2.52842391e-01 2.36902147e+02] [ 1.15969569e-01 9.92849993e-01 -2.82833817e-02 1.67494027e+02] [ 2.54410161e-01 -2.16663980e-03 9.67093985e-01 3.08973159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.93, Y:167.50, Z:30.90 [[ 9.60142542e-01 -1.18764905e-01 -2.53024104e-01 2.36929515e+02] [ 1.15339453e-01 9.92920525e-01 -2.83838420e-02 1.67496971e+02] [ 2.54603831e-01 -1.93112761e-03 9.67043515e-01 3.09045410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:167.50, Z:30.91 [[ 9.60587109e-01 -1.16946267e-01 -2.52182428e-01 2.36956450e+02] [ 1.13461420e-01 9.93137309e-01 -2.83688427e-02 1.67499100e+02] [ 2.53769408e-01 -1.36223174e-03 9.67263786e-01 3.09118013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.98, Y:167.50, Z:30.92 [[ 9.60803721e-01 -1.16424478e-01 -2.51597993e-01 2.36983186e+02] [ 1.12917717e-01 9.93198893e-01 -2.83821816e-02 1.67502067e+02] [ 2.53191228e-01 -1.14016534e-03 9.67415579e-01 3.09188365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.01, Y:167.50, Z:30.93 [[ 9.61119883e-01 -1.16276498e-01 -2.50456276e-01 2.37009093e+02] [ 1.12776883e-01 9.93216363e-01 -2.83307548e-02 1.67504311e+02] [ 2.52051472e-01 -1.01642649e-03 9.67713296e-01 3.09259853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.04, Y:167.51, Z:30.93 [[ 9.61259606e-01 -1.16845303e-01 -2.49654052e-01 2.37035715e+02] [ 1.13378409e-01 9.93149488e-01 -2.82741987e-02 1.67506869e+02] [ 2.51247501e-01 -1.12653409e-03 9.67922220e-01 3.09328863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.06, Y:167.51, Z:30.94 [[ 9.61327364e-01 -1.17513493e-01 -2.49078860e-01 2.37062487e+02] [ 1.14064559e-01 9.93070540e-01 -2.82874518e-02 1.67509346e+02] [ 2.50677035e-01 -1.21756890e-03 9.68070009e-01 3.09398481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.09, Y:167.51, Z:30.95 [[ 9.61235332e-01 -1.19274988e-01 -2.48596286e-01 2.37088407e+02] [ 1.15877084e-01 9.92859981e-01 -2.83118285e-02 1.67511526e+02] [ 2.50198197e-01 -1.59228285e-03 9.68193331e-01 3.09465368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:167.51, Z:30.95 [[ 9.61070625e-01 -1.20305058e-01 -2.48736703e-01 2.37114258e+02] [ 1.16923261e-01 9.92735327e-01 -2.83816969e-02 1.67513996e+02] [ 2.50344174e-01 -1.80629127e-03 9.68155221e-01 3.09529200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.14, Y:167.52, Z:30.96 [[ 9.60674596e-01 -1.22617707e-01 -2.49136946e-01 2.37140956e+02] [ 1.19292631e-01 9.92451128e-01 -2.84609817e-02 1.67515704e+02] [ 2.50746064e-01 -2.37845970e-03 9.68049975e-01 3.09597939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:167.52, Z:30.97 [[ 9.60628939e-01 -1.23770265e-01 -2.48742765e-01 2.37166905e+02] [ 1.20472882e-01 9.92307515e-01 -2.84970163e-02 1.67517985e+02] [ 2.50356398e-01 -2.59169929e-03 9.68150276e-01 3.09661079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:167.52, Z:30.97 [[ 9.60436401e-01 -1.25459326e-01 -2.48640055e-01 2.37193569e+02] [ 1.22211167e-01 9.92094246e-01 -2.85208333e-02 1.67520613e+02] [ 2.50252573e-01 -2.99414484e-03 9.68175958e-01 3.09727074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:167.52, Z:30.98 [[ 9.60208512e-01 -1.28275632e-01 -2.48082600e-01 2.37219720e+02] [ 1.25113724e-01 9.91731889e-01 -2.85379648e-02 1.67522689e+02] [ 2.49692151e-01 -3.63614130e-03 9.68318444e-01 3.09789627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:167.53, Z:30.99 [[ 9.59977489e-01 -1.29612248e-01 -2.48281869e-01 2.37246768e+02] [ 1.26474851e-01 9.91556966e-01 -2.86163350e-02 1.67525371e+02] [ 2.49894644e-01 -3.93037499e-03 9.68265056e-01 3.09857460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:167.53, Z:30.99 [[ 9.59958229e-01 -1.30806248e-01 -2.47729540e-01 2.37274430e+02] [ 1.27701607e-01 9.91399266e-01 -2.86320710e-02 1.67528142e+02] [ 2.49344138e-01 -4.14986816e-03 9.68406051e-01 3.09923494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:167.53, Z:31.00 [[ 9.59775845e-01 -1.32351018e-01 -2.47615702e-01 2.37301000e+02] [ 1.29279401e-01 9.91192841e-01 -2.86982402e-02 1.67530483e+02] [ 2.49233153e-01 -4.46773194e-03 9.68433206e-01 3.09987885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.33, Y:167.53, Z:31.01 [[ 9.59762384e-01 -1.32974004e-01 -2.47333944e-01 2.37327602e+02] [ 1.29915974e-01 9.91108995e-01 -2.87193341e-02 1.67533557e+02] [ 2.48953822e-01 -4.56889376e-03 9.68504579e-01 3.10053518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.35, Y:167.54, Z:31.01 [[ 9.59721195e-01 -1.33290119e-01 -2.47323618e-01 2.37354321e+02] [ 1.30222745e-01 9.91066520e-01 -2.87956570e-02 1.67537424e+02] [ 2.48952334e-01 -4.57135809e-03 9.68504950e-01 3.10122401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.38, Y:167.54, Z:31.02 [[ 9.59658838e-01 -1.32965763e-01 -2.47739826e-01 2.37380753e+02] [ 1.29857447e-01 9.91110792e-01 -2.89212912e-02 1.67541902e+02] [ 2.49383156e-01 -4.41628863e-03 9.68394825e-01 3.10186539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.41, Y:167.55, Z:31.03 [[ 9.59632959e-01 -1.32664553e-01 -2.48001410e-01 2.37407408e+02] [ 1.29531032e-01 9.91151630e-01 -2.89854838e-02 1.67545830e+02] [ 2.49652348e-01 -4.30845295e-03 9.68325948e-01 3.10254667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.43, Y:167.55, Z:31.03 [[ 9.59835396e-01 -1.31318437e-01 -2.47934429e-01 2.37433729e+02] [ 1.28122879e-01 9.91332648e-01 -2.90535649e-02 1.67550535e+02] [ 2.49600763e-01 -3.87943292e-03 9.68341060e-01 3.10317245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.46, Y:167.55, Z:31.04 [[ 9.59861088e-01 -1.30795396e-01 -2.48111380e-01 2.37460457e+02] [ 1.27569475e-01 9.91402433e-01 -2.91074857e-02 1.67554198e+02] [ 2.49785351e-01 -3.71229565e-03 9.68294117e-01 3.10381861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.49, Y:167.56, Z:31.04 [[ 9.59587416e-01 -1.31391285e-01 -2.48854014e-01 2.37486964e+02] [ 1.26702528e-01 9.91328764e-01 -3.48389327e-02 1.67561368e+02] [ 2.51273675e-01 1.90056857e-03 9.67914215e-01 3.10434091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:167.56, Z:31.05 [[ 9.59825004e-01 -1.28804080e-01 -2.49289934e-01 2.37513066e+02] [ 1.26216364e-01 9.91651188e-01 -2.64073902e-02 1.67559933e+02] [ 2.50610039e-01 -6.11799568e-03 9.68068788e-01 3.10517899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:167.57, Z:31.06 [[ 9.58840037e-01 -1.33168108e-01 -2.50782851e-01 2.37540520e+02] [ 1.26286692e-01 9.91043483e-01 -4.34106620e-02 1.67574656e+02] [ 2.54317626e-01 9.95334404e-03 9.67069530e-01 3.10550204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:167.57, Z:31.07 [[ 9.59179034e-01 -1.28639571e-01 -2.51848052e-01 2.37566602e+02] [ 1.26277659e-01 9.91664849e-01 -2.55886742e-02 1.67567336e+02] [ 2.53040577e-01 -7.25866262e-03 9.67428436e-01 3.10655842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.60, Y:167.57, Z:31.07 [[ 9.59585716e-01 -1.29073398e-01 -2.50070614e-01 2.37595931e+02] [ 1.27310999e-01 9.91589573e-01 -2.32815042e-02 1.67570730e+02] [ 2.50972436e-01 -9.49614077e-03 9.67947653e-01 3.10728499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:167.58, Z:31.08 [[ 9.59660440e-01 -1.31005324e-01 -2.48775893e-01 2.37623670e+02] [ 1.27596893e-01 9.91376827e-01 -2.98499654e-02 1.67578624e+02] [ 2.50541160e-01 -3.09720014e-03 9.68100994e-01 3.10780751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:167.58, Z:31.09 [[ 9.59230323e-01 -1.32037646e-01 -2.49886469e-01 2.37650101e+02] [ 1.27886782e-01 9.91244602e-01 -3.28498163e-02 1.67584002e+02] [ 2.52036026e-01 -4.46636414e-04 9.67717749e-01 3.10850825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.68, Y:167.58, Z:31.09 [[ 9.59542964e-01 -1.30317506e-01 -2.49588957e-01 2.37677260e+02] [ 1.28012860e-01 9.91444201e-01 -2.55167407e-02 1.67582991e+02] [ 2.50778802e-01 -7.46618722e-03 9.68015624e-01 3.10940184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.70, Y:167.59, Z:31.10 [[ 9.59262516e-01 -1.33226646e-01 -2.49130662e-01 2.37704751e+02] [ 1.29363445e-01 9.91084248e-01 -3.18922065e-02 1.67590166e+02] [ 2.51158366e-01 -1.63540239e-03 9.67944627e-01 3.10997609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.73, Y:167.59, Z:31.11 [[ 9.59393848e-01 -1.33055104e-01 -2.48716271e-01 2.37731699e+02] [ 1.30376175e-01 9.91088965e-01 -2.72895063e-02 1.67590720e+02] [ 2.50130959e-01 -6.24529164e-03 9.68191871e-01 3.11071058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.76, Y:167.60, Z:31.11 [[ 9.58942808e-01 -1.36519082e-01 -2.48578422e-01 2.37758746e+02] [ 1.33300578e-01 9.90627025e-01 -2.98169960e-02 1.67595355e+02] [ 2.50319092e-01 -4.54285356e-03 9.68152733e-01 3.11136055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.79, Y:167.60, Z:31.12 [[ 9.58984129e-01 -1.38070277e-01 -2.47560173e-01 2.37785864e+02] [ 1.34908457e-01 9.90410589e-01 -2.97753687e-02 1.67598450e+02] [ 2.49297310e-01 -4.84385498e-03 9.68414884e-01 3.11201802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.81, Y:167.60, Z:31.13 [[ 9.59257569e-01 -1.38626355e-01 -2.46186209e-01 2.37813029e+02] [ 1.36797568e-01 9.90293475e-01 -2.46019990e-02 1.67598451e+02] [ 2.47207082e-01 -1.00780209e-02 9.68910260e-01 3.11275543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.84, Y:167.61, Z:31.13 [[ 9.58853587e-01 -1.42720786e-01 -2.45419185e-01 2.37839694e+02] [ 1.38567993e-01 9.89762245e-01 -3.41995590e-02 1.67606798e+02] [ 2.47787631e-01 -1.21487414e-03 9.68813612e-01 3.11323546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.87, Y:167.61, Z:31.14 [[ 9.58838829e-01 -1.42696988e-01 -2.45490673e-01 2.37866536e+02] [ 1.39684767e-01 9.89749530e-01 -2.97326904e-02 1.67607226e+02] [ 2.47217044e-01 -5.78244946e-03 9.68942876e-01 3.11398773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:167.62, Z:31.14 [[ 9.59002116e-01 -1.48203761e-01 -2.41558662e-01 2.37895340e+02] [ 1.41331537e-01 9.88910039e-01 -4.56325761e-02 1.67620210e+02] [ 2.45642705e-01 9.62188012e-03 9.69312685e-01 3.11386065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.72275509600007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.92, Y:167.61, Z:31.16 [[ 9.58522785e-01 -1.41876739e-01 -2.47194381e-01 2.37922058e+02] [ 1.41659033e-01 9.89737734e-01 -1.87599363e-02 1.67607175e+02] [ 2.47319205e-01 -1.70354907e-02 9.68784291e-01 3.11565951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.95, Y:167.61, Z:31.16 [[ 9.58921531e-01 -1.42432599e-01 -2.45321122e-01 2.37948250e+02] [ 1.40704425e-01 9.89744711e-01 -2.46509905e-02 1.67613588e+02] [ 2.46316388e-01 -1.08794019e-02 9.69128410e-01 3.11609485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.98, Y:167.62, Z:31.17 [[ 9.59217495e-01 -1.42282079e-01 -2.44249070e-01 2.37975038e+02] [ 1.39232835e-01 9.89811280e-01 -2.97967781e-02 1.67619766e+02] [ 2.46000032e-01 -5.42589958e-03 9.69254633e-01 3.11661273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.00, Y:167.62, Z:31.17 [[ 9.59366905e-01 -1.41448866e-01 -2.44146186e-01 2.38000997e+02] [ 1.38354864e-01 9.89932291e-01 -2.98662144e-02 1.67623119e+02] [ 2.45912736e-01 -5.12615473e-03 9.69278417e-01 3.11721688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:167.63, Z:31.18 [[ 9.59553000e-01 -1.39852129e-01 -2.44334651e-01 2.38027857e+02] [ 1.36693498e-01 9.90161316e-01 -2.99241732e-02 1.67627156e+02] [ 2.46115679e-01 -4.68512786e-03 9.69229138e-01 3.11778014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.05, Y:167.63, Z:31.18 [[ 9.59617976e-01 -1.39132467e-01 -2.44490281e-01 2.38054016e+02] [ 1.35926351e-01 9.90263908e-01 -3.00236506e-02 1.67630654e+02] [ 2.46287165e-01 -4.42143694e-03 9.69186815e-01 3.11839484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.08, Y:167.63, Z:31.19 [[ 9.59605750e-01 -1.39023909e-01 -2.44599997e-01 2.38081025e+02] [ 1.35802698e-01 9.90279424e-01 -3.00714097e-02 1.67634392e+02] [ 2.46402989e-01 -4.36064179e-03 9.69157651e-01 3.11904512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:167.64, Z:31.20 [[ 9.59645708e-01 -1.38873339e-01 -2.44528752e-01 2.38107837e+02] [ 1.35629987e-01 9.90301060e-01 -3.01382960e-02 1.67638002e+02] [ 2.46342488e-01 -4.24334515e-03 9.69173551e-01 3.11967271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.14, Y:167.64, Z:31.20 [[ 9.59589012e-01 -1.39103643e-01 -2.44620327e-01 2.38135294e+02] [ 1.35845356e-01 9.90268817e-01 -3.02276144e-02 1.67640635e+02] [ 2.46444653e-01 -4.22444871e-03 9.69147660e-01 3.12036585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:167.66, Z:31.20 [[ 9.60257103e-01 -1.46842573e-01 -2.37367974e-01 2.38160893e+02] [ 1.38855968e-01 9.89043609e-01 -5.01174547e-02 1.67659366e+02] [ 2.42126653e-01 1.51656821e-02 9.70126119e-01 3.11972513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.19, Y:167.65, Z:31.21 [[ 9.60276371e-01 -1.42556447e-01 -2.39889457e-01 2.38189423e+02] [ 1.38659419e-01 9.89785621e-01 -3.31359168e-02 1.67652226e+02] [ 2.42162874e-01 -1.44329488e-03 9.70234538e-01 3.12092292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.22, Y:167.65, Z:31.22 [[ 9.60238017e-01 -1.43023214e-01 -2.39765117e-01 2.38215798e+02] [ 1.39093509e-01 9.89718412e-01 -3.33235816e-02 1.67654390e+02] [ 2.42065997e-01 -1.35120166e-03 9.70258846e-01 3.12164212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:167.64, Z:31.24 [[ 9.59692779e-01 -1.36854998e-01 -2.45480099e-01 2.38244286e+02] [ 1.38170213e-01 9.90336498e-01 -1.19420834e-02 1.67641874e+02] [ 2.44742235e-01 -2.24573063e-02 9.69328070e-01 3.12367046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:167.66, Z:31.24 [[ 9.59573037e-01 -1.42093561e-01 -2.42958858e-01 2.38270970e+02] [ 1.38907088e-01 9.89842143e-01 -3.02878409e-02 1.67656759e+02] [ 2.44794624e-01 -4.68531199e-03 9.69563634e-01 3.12386292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:167.66, Z:31.25 [[ 9.59589090e-01 -1.43340307e-01 -2.42161796e-01 2.38298196e+02] [ 1.40194567e-01 9.89661294e-01 -3.02656172e-02 1.67660283e+02] [ 2.43996439e-01 -4.90721202e-03 9.69763712e-01 3.12458951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:167.66, Z:31.25 [[ 9.59620807e-01 -1.44367710e-01 -2.41424671e-01 2.38324489e+02] [ 1.41253596e-01 9.89511113e-01 -3.02519381e-02 1.67663764e+02] [ 2.43259798e-01 -5.07171353e-03 9.69947910e-01 3.12525883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:167.67, Z:31.26 [[ 9.59632314e-01 -1.45412894e-01 -2.40750725e-01 2.38351452e+02] [ 1.42340573e-01 9.89356927e-01 -3.01998690e-02 1.67666973e+02] [ 2.42579848e-01 -5.28782585e-03 9.70117032e-01 3.12597441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.38, Y:167.67, Z:31.27 [[ 9.59828948e-01 -1.47400454e-01 -2.38749863e-01 2.38378923e+02] [ 1.44420765e-01 9.89060699e-01 -3.00262581e-02 1.67669896e+02] [ 2.40563991e-01 -5.66036609e-03 9.70616776e-01 3.12670137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.41, Y:167.69, Z:31.26 [[ 9.60257479e-01 -1.53709245e-01 -2.32978632e-01 2.38405165e+02] [ 1.46413692e-01 9.88038765e-01 -4.83986460e-02 1.67686931e+02] [ 2.37631239e-01 1.23639001e-02 9.71276752e-01 3.12632386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.43, Y:167.67, Z:31.29 [[ 9.60281543e-01 -1.45938519e-01 -2.37826210e-01 2.38433311e+02] [ 1.46913869e-01 9.89054165e-01 -1.37176757e-02 1.67667732e+02] [ 2.37224941e-01 -2.17671380e-02 9.71210852e-01 3.12852856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.46, Y:167.68, Z:31.29 [[ 9.60130822e-01 -1.50517646e-01 -2.35570038e-01 2.38459981e+02] [ 1.47665279e-01 9.88588096e-01 -2.98084044e-02 1.67680948e+02] [ 2.37368426e-01 -6.16554766e-03 9.71400132e-01 3.12878148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:167.70, Z:31.28 [[ 9.60795249e-01 -1.58673990e-01 -2.27365466e-01 2.38485721e+02] [ 1.50325250e-01 9.87177558e-01 -5.36916006e-02 1.67702604e+02] [ 2.32969546e-01 1.74078643e-02 9.72328215e-01 3.12794562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.51, Y:167.67, Z:31.31 [[ 9.60465519e-01 -1.44878641e-01 -2.37731291e-01 2.38513557e+02] [ 1.47239644e-01 9.89069354e-01 -7.89304049e-03 1.67674342e+02] [ 2.36276267e-01 -2.74224774e-02 9.71298890e-01 3.13080211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.54, Y:167.71, Z:31.30 [[ 9.60676312e-01 -1.55567658e-01 -2.29999407e-01 2.38540136e+02] [ 1.48202582e-01 9.87739013e-01 -4.90676736e-02 1.67705470e+02] [ 2.34812730e-01 1.30516458e-02 9.71953001e-01 3.12976962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.57, Y:167.69, Z:31.32 [[ 9.60717262e-01 -1.44520913e-01 -2.36930474e-01 2.38567095e+02] [ 1.45743995e-01 9.89244108e-01 -1.24411603e-02 1.67685495e+02] [ 2.36180083e-01 -2.25787563e-02 9.71446946e-01 3.13200666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.59, Y:167.71, Z:31.31 [[ 9.60603338e-01 -1.50325460e-01 -2.33759454e-01 2.38591653e+02] [ 1.43953621e-01 9.88597440e-01 -4.41866019e-02 1.67708742e+02] [ 2.37736369e-01 8.79527738e-03 9.71289896e-01 3.13149439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.62, Y:167.70, Z:31.33 [[ 9.60727389e-01 -1.44284566e-01 -2.37033432e-01 2.38620945e+02] [ 1.44025059e-01 9.89400991e-01 -1.85057188e-02 1.67697753e+02] [ 2.37191202e-01 -1.63598031e-02 9.71325224e-01 3.13315217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.65, Y:167.71, Z:31.33 [[ 9.60538696e-01 -1.47269476e-01 -2.35959987e-01 2.38647342e+02] [ 1.44215019e-01 9.89083906e-01 -3.02498851e-02 1.67708900e+02] [ 2.37839111e-01 -4.97278886e-03 9.71291835e-01 3.13349756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.67, Y:167.71, Z:31.34 [[ 9.60551184e-01 -1.47249105e-01 -2.35921858e-01 2.38674495e+02] [ 1.44175520e-01 9.89087373e-01 -3.03247179e-02 1.67712789e+02] [ 2.37812619e-01 -4.88571299e-03 9.71298764e-01 3.13418503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.70, Y:167.72, Z:31.35 [[ 9.60478276e-01 -1.47368846e-01 -2.36143823e-01 2.38700763e+02] [ 1.44273122e-01 9.89069775e-01 -3.04342989e-02 1.67717058e+02] [ 2.38047785e-01 -4.83772376e-03 9.71241395e-01 3.13485613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:167.72, Z:31.36 [[ 9.60468778e-01 -1.47385992e-01 -2.36171752e-01 2.38727346e+02] [ 1.44277007e-01 9.89067460e-01 -3.04910642e-02 1.67722479e+02] [ 2.38083751e-01 -4.78843837e-03 9.71232824e-01 3.13551632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.75, Y:167.73, Z:31.36 [[ 9.60450822e-01 -1.47673795e-01 -2.36064966e-01 2.38753270e+02] [ 1.44556578e-01 9.89024591e-01 -3.05573959e-02 1.67727282e+02] [ 2.37986583e-01 -4.77586767e-03 9.71256700e-01 3.13613093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.78, Y:167.73, Z:31.37 [[ 9.60085604e-01 -1.48461075e-01 -2.37054723e-01 2.38779316e+02] [ 1.45332642e-01 9.88905822e-01 -3.07196746e-02 1.67733374e+02] [ 2.38985472e-01 -4.95827191e-03 9.71010484e-01 3.13673746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.80, Y:167.74, Z:31.37 [[ 9.59790605e-01 -1.48755605e-01 -2.38062524e-01 2.38804553e+02] [ 1.44563717e-01 9.88873705e-01 -3.50731762e-02 1.67740036e+02] [ 2.40631101e-01 -7.52298258e-04 9.70616354e-01 3.13730050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.83, Y:167.74, Z:31.38 [[ 9.59600614e-01 -1.49715022e-01 -2.38226938e-01 2.38833350e+02] [ 1.47150155e-01 9.88700042e-01 -2.86192200e-02 1.67741807e+02] [ 2.39819710e-01 -7.59210975e-03 9.70787756e-01 3.13814769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:167.75, Z:31.39 [[ 9.59590713e-01 -1.49451758e-01 -2.38432035e-01 2.38857979e+02] [ 1.46180327e-01 9.88757960e-01 -3.14485067e-02 1.67747277e+02] [ 2.40451607e-01 -4.67637790e-03 9.70649863e-01 3.13866763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.89, Y:167.75, Z:31.39 [[ 9.58978463e-01 -1.52659611e-01 -2.38862618e-01 2.38887383e+02] [ 1.49139461e-01 9.88270248e-01 -3.28532796e-02 1.67754741e+02] [ 2.41076188e-01 -4.11825449e-03 9.70497456e-01 3.13934461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.91, Y:167.76, Z:31.40 [[ 9.58783420e-01 -1.52752740e-01 -2.39584962e-01 2.38913646e+02] [ 1.49632350e-01 9.88247029e-01 -3.12725194e-02 1.67758146e+02] [ 2.41546090e-01 -5.86608772e-03 9.70371617e-01 3.14006064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.94, Y:167.76, Z:31.41 [[ 9.58513485e-01 -1.53675553e-01 -2.40074413e-01 2.38940615e+02] [ 1.50562593e-01 9.88102665e-01 -3.13692249e-02 1.67764558e+02] [ 2.42038850e-01 -6.07840092e-03 9.70247519e-01 3.14068918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.97, Y:167.77, Z:31.41 [[ 9.58420775e-01 -1.53720679e-01 -2.40415413e-01 2.38966548e+02] [ 1.50580985e-01 9.88096000e-01 -3.14906772e-02 1.67769656e+02] [ 2.42394276e-01 -6.02067045e-03 9.70159145e-01 3.14136771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.99, Y:167.78, Z:31.42 [[ 9.58379936e-01 -1.53652512e-01 -2.40621701e-01 2.38993117e+02] [ 1.50497346e-01 9.88106869e-01 -3.15493833e-02 1.67776177e+02] [ 2.42607598e-01 -5.97663136e-03 9.70106094e-01 3.14207223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.02, Y:167.78, Z:31.43 [[ 9.58419555e-01 -1.53044268e-01 -2.40851423e-01 2.39019014e+02] [ 1.49844000e-01 9.88202625e-01 -3.16598817e-02 1.67780953e+02] [ 2.42855372e-01 -5.74669090e-03 9.70045486e-01 3.14275817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.05, Y:167.81, Z:31.42 [[ 9.59155206e-01 -1.61775833e-01 -2.32055751e-01 2.39047000e+02] [ 1.51485158e-01 9.86536781e-01 -6.16232594e-02 1.67807662e+02] [ 2.38900688e-01 2.39532680e-02 9.70748527e-01 3.14174589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.07, Y:167.79, Z:31.43 [[ 9.59249421e-01 -1.51518415e-01 -2.38500981e-01 2.39074785e+02] [ 1.49159352e-01 9.88416158e-01 -2.80176110e-02 1.67791255e+02] [ 2.39983408e-01 -8.69877466e-03 9.70738016e-01 3.14342989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.10, Y:167.78, Z:31.46 [[ 9.58671825e-01 -1.44515789e-01 -2.45078597e-01 2.39100114e+02] [ 1.47353276e-01 9.89060413e-01 -6.81990048e-03 1.67780771e+02] [ 2.43383122e-01 -2.95750878e-02 9.69479226e-01 3.14556518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.13, Y:167.81, Z:31.44 [[ 9.59072974e-01 -1.55851373e-01 -2.36409350e-01 2.39129380e+02] [ 1.47316156e-01 9.87643599e-01 -5.34609418e-02 1.67814729e+02] [ 2.41820143e-01 1.64460276e-02 9.70181708e-01 3.14446008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.15, Y:167.79, Z:31.47 [[ 9.59070399e-01 -1.42247130e-01 -2.44846327e-01 2.39150305e+02] [ 1.44031600e-01 9.89515265e-01 -1.06975744e-02 1.67791323e+02] [ 2.43800878e-01 -2.50058814e-02 9.69502882e-01 3.14682887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:167.82, Z:31.46 [[ 9.59051499e-01 -1.53754580e-01 -2.37864987e-01 2.39183904e+02] [ 1.46029695e-01 9.88022291e-01 -4.98726383e-02 1.67820006e+02] [ 2.42684056e-01 1.30950770e-02 9.70016994e-01 3.14621552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.21, Y:167.80, Z:31.48 [[ 9.59102173e-01 -1.40453568e-01 -2.45755604e-01 2.39209271e+02] [ 1.40661447e-01 9.89915226e-01 -1.67989100e-02 1.67799775e+02] [ 2.45636681e-01 -1.84564678e-02 9.69186246e-01 3.14833805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.23, Y:167.82, Z:31.49 [[ 9.58747684e-01 -1.49315173e-01 -2.41883978e-01 2.39233706e+02] [ 1.46586973e-01 9.88762517e-01 -2.93418588e-02 1.67816652e+02] [ 2.43546995e-01 -7.32560084e-03 9.69861432e-01 3.14864020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.27, Y:167.81, Z:31.50 [[ 9.58530158e-01 -1.43936643e-01 -2.45971906e-01 2.39267864e+02] [ 1.43145816e-01 9.89474744e-01 -2.11897812e-02 1.67810738e+02] [ 2.46432975e-01 -1.48988050e-02 9.69045311e-01 3.14991561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.29, Y:167.82, Z:31.50 [[ 9.59044060e-01 -1.47607619e-01 -2.41757070e-01 2.39285284e+02] [ 1.43283557e-01 9.89045805e-01 -3.54713619e-02 1.67824447e+02] [ 2.44344659e-01 -6.21214005e-04 9.69688250e-01 3.14998253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.32, Y:167.83, Z:31.51 [[ 9.58437567e-01 -1.51622129e-01 -2.41677801e-01 2.39316321e+02] [ 1.46925792e-01 9.88438458e-01 -3.74463218e-02 1.67831466e+02] [ 2.44561324e-01 3.81259151e-04 9.69633752e-01 3.15075469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.34, Y:167.83, Z:31.52 [[ 9.58394809e-01 -1.51078583e-01 -2.42187225e-01 2.39342931e+02] [ 1.47739983e-01 9.88508522e-01 -3.19968749e-02 1.67832092e+02] [ 2.44238178e-01 -5.11509766e-03 9.69701783e-01 3.15154771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.37, Y:167.84, Z:31.52 [[ 9.58147866e-01 -1.51775871e-01 -2.42727731e-01 2.39368443e+02] [ 1.48423696e-01 9.88401139e-01 -3.21495857e-02 1.67835809e+02] [ 2.44791897e-01 -5.22248988e-03 9.69561578e-01 3.15224037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.39, Y:167.84, Z:31.53 [[ 9.57508584e-01 -1.53757266e-01 -2.44000030e-01 2.39392904e+02] [ 1.48361682e-01 9.88105398e-01 -4.04540938e-02 1.67843850e+02] [ 2.47317857e-01 2.53488732e-03 9.68931087e-01 3.15277251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.43, Y:167.83, Z:31.54 [[ 9.57672995e-01 -1.47056234e-01 -2.47460903e-01 2.39425230e+02] [ 1.48528263e-01 9.88825117e-01 -1.28157290e-02 1.67830081e+02] [ 2.46580190e-01 -2.44816604e-02 9.68813118e-01 3.15435273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.45, Y:167.86, Z:31.54 [[ 9.57393523e-01 -1.58740360e-01 -2.41244978e-01 2.39447822e+02] [ 1.52497301e-01 9.87303482e-01 -4.44568100e-02 1.67856576e+02] [ 2.45239097e-01 5.77345397e-03 9.69445436e-01 3.15380738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4627550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.48, Y:167.85, Z:31.55 [[ 9.57256901e-01 -1.56329277e-01 -2.43352384e-01 2.39475418e+02] [ 1.52977746e-01 9.87687407e-01 -3.27321839e-02 1.67852927e+02] [ 2.45473083e-01 -5.89439025e-03 9.69385487e-01 3.15475079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.50, Y:167.86, Z:31.55 [[ 9.57090933e-01 -1.56380681e-01 -2.43971370e-01 2.39501301e+02] [ 1.52992719e-01 9.87679593e-01 -3.28975624e-02 1.67856225e+02] [ 2.46110086e-01 -5.83988439e-03 9.69224288e-01 3.15540775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.53, Y:167.87, Z:31.56 [[ 9.55887005e-01 -1.60054576e-01 -2.46297717e-01 2.39529430e+02] [ 1.54227033e-01 9.87103534e-01 -4.29026347e-02 1.67865398e+02] [ 2.49988110e-01 3.02430489e-03 9.68244183e-01 3.15600331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:167.86, Z:31.57 [[ 9.56706579e-01 -1.54289767e-01 -2.46793820e-01 2.39555405e+02] [ 1.53431220e-01 9.87895640e-01 -2.28268702e-02 1.67855965e+02] [ 2.47328491e-01 -1.60272601e-02 9.68799125e-01 3.15700787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.58, Y:167.86, Z:31.57 [[ 9.56643284e-01 -1.56483035e-01 -2.45655627e-01 2.39581103e+02] [ 1.53016652e-01 9.87663779e-01 -3.32590541e-02 1.67864491e+02] [ 2.47829642e-01 -5.77235069e-03 9.68786431e-01 3.15743033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.61, Y:167.87, Z:31.58 [[ 9.55756898e-01 -1.59506019e-01 -2.47157000e-01 2.39608802e+02] [ 1.53823613e-01 9.87194102e-01 -4.22622953e-02 1.67873317e+02] [ 2.50733023e-01 2.37389766e-03 9.68053364e-01 3.15808737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.64, Y:167.86, Z:31.59 [[ 9.56348544e-01 -1.54676281e-01 -2.47936907e-01 2.39636713e+02] [ 1.53466626e-01 9.87854485e-01 -2.43209972e-02 1.67863990e+02] [ 2.48687467e-01 -1.47906904e-02 9.68470846e-01 3.15915017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.67275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.66, Y:167.87, Z:31.60 [[ 9.56161349e-01 -1.57458360e-01 -2.46905527e-01 2.39664039e+02] [ 1.53948913e-01 9.87507992e-01 -3.35812196e-02 1.67872147e+02] [ 2.49108825e-01 -5.90177311e-03 9.68457517e-01 3.15963047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.69, Y:167.87, Z:31.60 [[ 9.56026403e-01 -1.58073877e-01 -2.47034746e-01 2.39689923e+02] [ 1.54559440e-01 9.87409178e-01 -3.36822712e-02 1.67874595e+02] [ 2.49248663e-01 -5.98041156e-03 9.68421055e-01 3.16030336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.73275509600006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:239.72, Y:167.88, Z:31.61 [[ 9.55075718e-01 -1.61812742e-01 -2.48288159e-01 2.39718353e+02] [ 1.56914028e-01 9.86820748e-01 -3.95322665e-02 1.67881709e+02] [ 2.51412731e-01 -1.20358728e-03 9.67879223e-01 3.16100192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.74, Y:167.87, Z:31.62 [[ 9.55811299e-01 -1.57567288e-01 -2.48188053e-01 2.39744931e+02] [ 1.55775725e-01 9.87424204e-01 -2.69696946e-02 1.67874793e+02] [ 2.49316432e-01 -1.28837350e-02 9.68336370e-01 3.16194386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.77, Y:167.89, Z:31.62 [[ 9.54847476e-01 -1.63077056e-01 -2.48338824e-01 2.39773116e+02] [ 1.57573086e-01 9.86612836e-01 -4.20218387e-02 1.67886921e+02] [ 2.51867069e-01 9.92931899e-04 9.67761331e-01 3.16239926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.80, Y:167.88, Z:31.63 [[ 9.56010574e-01 -1.56632000e-01 -2.48012498e-01 2.39798959e+02] [ 1.55447961e-01 9.87540789e-01 -2.44769697e-02 1.67878048e+02] [ 2.48756335e-01 -1.51527954e-02 9.68447561e-01 3.16339308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.85275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.83, Y:167.89, Z:31.64 [[ 9.55045831e-01 -1.62624435e-01 -2.47872453e-01 2.39827492e+02] [ 1.56576810e-01 9.86682637e-01 -4.40576478e-02 1.67893821e+02] [ 2.51736296e-01 3.26599503e-03 9.67790355e-01 3.16378222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.85, Y:167.88, Z:31.65 [[ 9.56221340e-01 -1.55136527e-01 -2.48139893e-01 2.39854094e+02] [ 1.54220520e-01 9.87762870e-01 -2.32495814e-02 1.67883576e+02] [ 2.48710232e-01 -1.60365174e-02 9.68445172e-01 3.16492370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.88, Y:167.89, Z:31.65 [[ 9.56115007e-01 -1.58137891e-01 -2.46650565e-01 2.39881276e+02] [ 1.54509577e-01 9.87401813e-01 -3.41240463e-02 1.67894186e+02] [ 2.48939520e-01 -5.48336170e-03 9.68503510e-01 3.16535612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.91, Y:167.90, Z:31.66 [[ 9.56561989e-01 -1.55832639e-01 -2.46384558e-01 2.39908539e+02] [ 1.52117221e-01 9.87771814e-01 -3.41642239e-02 1.67896970e+02] [ 2.48695623e-01 -4.79913638e-03 9.68569799e-01 3.16613102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.97275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.94, Y:167.88, Z:31.68 [[ 9.56621519e-01 -1.45753767e-01 -2.52252073e-01 2.39941345e+02] [ 1.47412216e-01 9.88997190e-01 -1.24176121e-02 1.67883167e+02] [ 2.51286505e-01 -2.53060820e-02 9.67581880e-01 3.16793701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.96, Y:167.91, Z:31.67 [[ 9.56602012e-01 -1.56605028e-01 -2.45738593e-01 2.39964520e+02] [ 1.47807395e-01 9.87542779e-01 -5.39651199e-02 1.67914649e+02] [ 2.51128583e-01 1.53011609e-02 9.67832790e-01 3.16734835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:167.90, Z:31.69 [[ 9.57235482e-01 -1.48056069e-01 -2.48555090e-01 2.39991351e+02] [ 1.45649362e-01 9.88935669e-01 -2.81514662e-02 1.67901522e+02] [ 2.49972990e-01 -9.25430809e-03 9.68208584e-01 3.16865194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.02, Y:167.91, Z:31.69 [[ 9.57284998e-01 -1.48597292e-01 -2.48040878e-01 2.40017571e+02] [ 1.44642093e-01 9.88892815e-01 -3.42003654e-02 1.67908276e+02] [ 2.50367924e-01 -3.13765506e-03 9.68145680e-01 3.16920780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.05, Y:167.91, Z:31.70 [[ 9.57273271e-01 -1.46259307e-01 -2.49471642e-01 2.40047858e+02] [ 1.41316267e-01 9.89245924e-01 -3.77122582e-02 1.67911347e+02] [ 2.52304573e-01 8.46535697e-04 9.67647501e-01 3.16984130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.07, Y:167.91, Z:31.71 [[ 9.57354318e-01 -1.44479732e-01 -2.50196556e-01 2.40073143e+02] [ 1.41627845e-01 9.89481371e-01 -2.94647342e-02 1.67910123e+02] [ 2.51821888e-01 -7.22660850e-03 9.67746616e-01 3.17069242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.10, Y:167.92, Z:31.71 [[ 9.57488251e-01 -1.45063525e-01 -2.49344786e-01 2.40100132e+02] [ 1.40919603e-01 9.89420085e-01 -3.44900001e-02 1.67916332e+02] [ 2.51709981e-01 -2.11379829e-03 9.67800402e-01 3.17138139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.13, Y:167.92, Z:31.72 [[ 9.57801016e-01 -1.44801077e-01 -2.48293902e-01 2.40126208e+02] [ 1.40663081e-01 9.89458858e-01 -3.44247946e-02 1.67918487e+02] [ 2.50661348e-01 -1.95368194e-03 9.68072865e-01 3.17195462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.16, Y:167.91, Z:31.73 [[ 9.57541761e-01 -1.40762970e-01 -2.51594044e-01 2.40155163e+02] [ 1.39446406e-01 9.89959032e-01 -2.31476710e-02 1.67913141e+02] [ 2.52326131e-01 -1.29190235e-02 9.67556005e-01 3.17320404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:167.93, Z:31.73 [[ 9.57597637e-01 -1.49529371e-01 -2.46267603e-01 2.40180827e+02] [ 1.41209939e-01 9.88654448e-01 -5.12067921e-02 1.67934286e+02] [ 2.51130480e-01 1.42600701e-02 9.67848197e-01 3.17268175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.21, Y:167.92, Z:31.74 [[ 9.58180126e-01 -1.43342488e-01 -2.47676759e-01 2.40205652e+02] [ 1.41084799e-01 9.89630997e-01 -2.69363918e-02 1.67922286e+02] [ 2.48969727e-01 -9.13351051e-03 9.68468200e-01 3.17397307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.23, Y:167.93, Z:31.74 [[ 9.58295556e-01 -1.46047037e-01 -2.45641793e-01 2.40232338e+02] [ 1.41916923e-01 9.89276065e-01 -3.45319186e-02 1.67929828e+02] [ 2.48050831e-01 -1.76894315e-03 9.68745403e-01 3.17444818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.26, Y:167.94, Z:31.75 [[ 9.57034159e-01 -1.51849256e-01 -2.47037288e-01 2.40258706e+02] [ 1.44323328e-01 9.88346073e-01 -4.84026593e-02 1.67940235e+02] [ 2.51508241e-01 1.06697549e-02 9.67796343e-01 3.17498667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.29, Y:167.92, Z:31.77 [[ 9.57640937e-01 -1.40713362e-01 -2.51244076e-01 2.40288511e+02] [ 1.43725509e-01 9.89596791e-01 -6.41631091e-03 1.67916464e+02] [ 2.49533192e-01 -2.99656608e-02 9.67902498e-01 3.17687554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.31, Y:167.95, Z:31.76 [[ 9.57753263e-01 -1.56315107e-01 -2.41400651e-01 2.40311883e+02] [ 1.48362650e-01 9.87622630e-01 -5.08926762e-02 1.67949275e+02] [ 2.46368040e-01 1.29277864e-02 9.69090120e-01 3.17572869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.34, Y:167.94, Z:31.77 [[ 9.57561710e-01 -1.53023204e-01 -2.44252883e-01 2.40338218e+02] [ 1.48964497e-01 9.88218749e-01 -3.51181144e-02 1.67942975e+02] [ 2.46749165e-01 -2.75724609e-03 9.69075460e-01 3.17679163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.37, Y:167.95, Z:31.77 [[ 9.57416351e-01 -1.53642041e-01 -2.44434153e-01 2.40365237e+02] [ 1.49588155e-01 9.88122366e-01 -3.51791715e-02 1.67946889e+02] [ 2.46935853e-01 -2.88334004e-03 9.69027539e-01 3.17743290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.39, Y:167.95, Z:31.78 [[ 9.57144919e-01 -1.54157105e-01 -2.45171759e-01 2.40392347e+02] [ 1.50074324e-01 9.88041965e-01 -3.53662765e-02 1.67951456e+02] [ 2.47691949e-01 -2.94333403e-03 9.68834369e-01 3.17808492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.42, Y:167.96, Z:31.79 [[ 9.57117658e-01 -1.54097578e-01 -2.45315563e-01 2.40419199e+02] [ 1.49987346e-01 9.88051532e-01 -3.54678293e-02 1.67955868e+02] [ 2.47849924e-01 -2.84734456e-03 9.68794255e-01 3.17877265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.44, Y:167.96, Z:31.79 [[ 9.57101216e-01 -1.53778413e-01 -2.45579848e-01 2.40444983e+02] [ 1.49627798e-01 9.88101713e-01 -3.55882858e-02 1.67960671e+02] [ 2.48130578e-01 -2.68398024e-03 9.68722877e-01 3.17945021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.47, Y:167.96, Z:31.80 [[ 9.56992409e-01 -1.53858911e-01 -2.45953176e-01 2.40471594e+02] [ 1.49688892e-01 9.88089213e-01 -3.56783218e-02 1.67964816e+02] [ 2.48513108e-01 -2.67257540e-03 9.68624846e-01 3.18015207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.50, Y:167.97, Z:31.81 [[ 9.56770193e-01 -1.54364209e-01 -2.46500485e-01 2.40498477e+02] [ 1.50171771e-01 9.88010240e-01 -3.58358105e-02 1.67969358e+02] [ 2.49076770e-01 -2.73077912e-03 9.68479894e-01 3.18083251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.53, Y:167.97, Z:31.82 [[ 9.56526927e-01 -1.54700049e-01 -2.47232954e-01 2.40525463e+02] [ 1.50472737e-01 9.87957669e-01 -3.60222008e-02 1.67973720e+02] [ 2.49828330e-01 -2.74561429e-03 9.68286253e-01 3.18150874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.55, Y:167.99, Z:31.82 [[ 9.55286729e-01 -1.59520217e-01 -2.48958966e-01 2.40554209e+02] [ 1.52011537e-01 9.87151946e-01 -4.92293520e-02 1.67986553e+02] [ 2.53613404e-01 9.18351159e-03 9.67262066e-01 3.18202143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.58, Y:167.97, Z:31.83 [[ 9.56160694e-01 -1.51811786e-01 -2.50419465e-01 2.40580835e+02] [ 1.51013517e-01 9.88275221e-01 -2.25167684e-02 1.67973344e+02] [ 2.50901663e-01 -1.62870750e-02 9.67875553e-01 3.18333339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:167.99, Z:31.83 [[ 9.55012731e-01 -1.59921423e-01 -2.49751521e-01 2.40607839e+02] [ 1.52621217e-01 9.87096011e-01 -4.84585399e-02 1.67993761e+02] [ 2.54278289e-01 8.16114155e-03 9.67096659e-01 3.18344938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.63, Y:167.98, Z:31.85 [[ 9.56010739e-01 -1.52653747e-01 -2.50480141e-01 2.40633151e+02] [ 1.51682965e-01 9.88154652e-01 -2.32951277e-02 1.67981682e+02] [ 2.51069205e-01 -1.57231782e-02 9.67841431e-01 3.18464055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.66, Y:167.99, Z:31.85 [[ 9.55786774e-01 -1.56759195e-01 -2.48793486e-01 2.40658522e+02] [ 1.52467012e-01 9.87632314e-01 -3.65543847e-02 1.67994182e+02] [ 2.51446722e-01 -2.99460193e-03 9.67866509e-01 3.18496332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.68, Y:168.00, Z:31.86 [[ 9.55686897e-01 -1.57423008e-01 -2.48758019e-01 2.40684966e+02] [ 1.53145072e-01 9.87526294e-01 -3.65842309e-02 1.67998203e+02] [ 2.51414284e-01 -3.13299475e-03 9.67874497e-01 3.18567876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.71, Y:168.00, Z:31.86 [[ 9.55589570e-01 -1.58814105e-01 -2.48247161e-01 2.40711469e+02] [ 1.54580087e-01 9.87302606e-01 -3.65863605e-02 1.68002449e+02] [ 2.50905499e-01 -3.41252333e-03 9.68005571e-01 3.18636052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.74, Y:168.01, Z:31.87 [[ 9.55352716e-01 -1.61101842e-01 -2.47684041e-01 2.40737173e+02] [ 1.56942692e-01 9.86929986e-01 -3.65813292e-02 1.68006120e+02] [ 2.50340127e-01 -3.92412791e-03 9.68150000e-01 3.18704466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.76, Y:168.01, Z:31.88 [[ 9.55172877e-01 -1.62312389e-01 -2.47587284e-01 2.40763776e+02] [ 1.58182680e-01 9.86730548e-01 -3.66205705e-02 1.68009955e+02] [ 2.50245909e-01 -4.18504429e-03 9.68173265e-01 3.18775465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.79, Y:168.02, Z:31.88 [[ 9.53904601e-01 -1.68887197e-01 -2.48078873e-01 2.40793545e+02] [ 1.62057779e-01 9.85620358e-01 -4.78517112e-02 1.68022054e+02] [ 2.52593129e-01 5.44285629e-03 9.67557278e-01 3.18835741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.82, Y:168.01, Z:31.90 [[ 9.54919762e-01 -1.62006828e-01 -2.48761000e-01 2.40818358e+02] [ 1.61499456e-01 9.86614246e-01 -2.25888402e-02 1.68009847e+02] [ 2.49090693e-01 -1.86042362e-02 9.68301456e-01 3.18957577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.84, Y:168.03, Z:31.90 [[ 9.54105147e-01 -1.68911651e-01 -2.47289755e-01 2.40844439e+02] [ 1.62252183e-01 9.85618871e-01 -4.72193756e-02 1.68029022e+02] [ 2.51709352e-01 4.92894670e-03 9.67790322e-01 3.18966408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:168.02, Z:31.91 [[ 9.54891611e-01 -1.65292706e-01 -2.46698872e-01 2.40872356e+02] [ 1.63945814e-01 9.86122976e-01 -2.61389641e-02 1.68021058e+02] [ 2.47596006e-01 -1.54853699e-02 9.68739604e-01 3.19087330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.90, Y:168.03, Z:31.91 [[ 9.54738693e-01 -1.68399063e-01 -2.45185202e-01 2.40899060e+02] [ 1.64455359e-01 9.85704356e-01 -3.66245393e-02 1.68031647e+02] [ 2.47847659e-01 -5.35515566e-03 9.68784218e-01 3.19127869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.93, Y:168.03, Z:31.92 [[ 9.54522402e-01 -1.67029599e-01 -2.46957684e-01 2.40925616e+02] [ 1.62962077e-01 9.85939427e-01 -3.69703600e-02 1.68034182e+02] [ 2.49660462e-01 -4.95570020e-03 9.68320760e-01 3.19208979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.95, Y:168.04, Z:31.93 [[ 9.54792525e-01 -1.67973795e-01 -2.45267281e-01 2.40951871e+02] [ 1.63972121e-01 9.85778363e-01 -3.67989445e-02 1.68040035e+02] [ 2.47960437e-01 -5.08163915e-03 9.68756832e-01 3.19260000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.98, Y:168.04, Z:31.93 [[ 9.54822117e-01 -1.67450073e-01 -2.45510076e-01 2.40977514e+02] [ 1.63414187e-01 9.85868308e-01 -3.68711517e-02 1.68044232e+02] [ 2.48214681e-01 -4.91443854e-03 9.68692583e-01 3.19324611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.00, Y:168.05, Z:31.94 [[ 9.54870680e-01 -1.66740272e-01 -2.45804122e-01 2.41004402e+02] [ 1.62657502e-01 9.85989743e-01 -3.69697578e-02 1.68048707e+02] [ 2.48524690e-01 -4.68054656e-03 9.68614253e-01 3.19393629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.03, Y:168.05, Z:31.95 [[ 9.55133395e-01 -1.64498230e-01 -2.46293587e-01 2.41031196e+02] [ 1.60305256e-01 9.86369166e-01 -3.71226831e-02 1.68053401e+02] [ 2.49043016e-01 -4.02504217e-03 9.68484060e-01 3.19459020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.06, Y:168.06, Z:31.95 [[ 9.55155308e-01 -1.63680279e-01 -2.46753125e-01 2.41058330e+02] [ 1.59423734e-01 9.86506362e-01 -3.72729263e-02 1.68058141e+02] [ 2.49524371e-01 -3.73687112e-03 9.68361309e-01 3.19524018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.08, Y:168.06, Z:31.96 [[ 9.55406650e-01 -1.62303281e-01 -2.46689637e-01 2.41084168e+02] [ 1.57983544e-01 9.86735415e-01 -3.73419301e-02 1.68063066e+02] [ 2.49478120e-01 -3.29617478e-03 9.68374826e-01 3.19593285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.11, Y:168.07, Z:31.97 [[ 9.55423304e-01 -1.62172802e-01 -2.46710949e-01 2.41111184e+02] [ 1.57838454e-01 9.86757105e-01 -3.73823195e-02 1.68067562e+02] [ 2.49506178e-01 -3.22453565e-03 9.68367838e-01 3.19662405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.14, Y:168.07, Z:31.97 [[ 9.55498150e-01 -1.61931285e-01 -2.46579694e-01 2.41137692e+02] [ 1.57572545e-01 9.86797242e-01 -3.74445694e-02 1.68071580e+02] [ 2.49387609e-01 -3.07597296e-03 9.68398864e-01 3.19734995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.16, Y:168.08, Z:31.98 [[ 9.55455179e-01 -1.61773733e-01 -2.46849471e-01 2.41163597e+02] [ 1.57378984e-01 9.86823454e-01 -3.75676238e-02 1.68075328e+02] [ 2.49674302e-01 -2.95473836e-03 9.68325365e-01 3.19804322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.19, Y:168.08, Z:31.99 [[ 9.55383370e-01 -1.62277978e-01 -2.46796422e-01 2.41190417e+02] [ 1.57892397e-01 9.86740372e-01 -3.75956115e-02 1.68079417e+02] [ 2.49624933e-01 -3.04905649e-03 9.68337801e-01 3.19872320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.22, Y:168.08, Z:31.99 [[ 9.55317454e-01 -1.62497460e-01 -2.46907145e-01 2.41217000e+02] [ 1.58094547e-01 9.86704320e-01 -3.76921705e-02 1.68083821e+02] [ 2.49749228e-01 -3.02668473e-03 9.68305821e-01 3.19947880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.24, Y:168.09, Z:32.00 [[ 9.55288724e-01 -1.62877825e-01 -2.46767640e-01 2.41242807e+02] [ 1.58471436e-01 9.86641558e-01 -3.77523384e-02 1.68088281e+02] [ 2.49620227e-01 -3.04123909e-03 9.68339038e-01 3.20016214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:168.10, Z:32.01 [[ 9.54754392e-01 -1.64705801e-01 -2.47620777e-01 2.41269533e+02] [ 1.58767768e-01 9.86339303e-01 -4.39041557e-02 1.68096909e+02] [ 2.51469374e-01 2.60348728e-03 9.67861755e-01 3.20076311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:168.10, Z:32.02 [[ 9.55023255e-01 -1.62391135e-01 -2.48112275e-01 2.41296353e+02] [ 1.58482258e-01 9.86713058e-01 -3.57870717e-02 1.68096726e+02] [ 2.50627125e-01 -5.14390779e-03 9.68070031e-01 3.20162004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:168.11, Z:32.02 [[ 9.54305820e-01 -1.66051370e-01 -2.48449883e-01 2.41323678e+02] [ 1.60202211e-01 9.86115222e-01 -4.37266518e-02 1.68107139e+02] [ 2.52261082e-01 1.92637762e-03 9.67657292e-01 3.20224549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.35, Y:168.10, Z:32.03 [[ 9.54940815e-01 -1.62036538e-01 -2.48660812e-01 2.41350227e+02] [ 1.59859071e-01 9.86711853e-01 -2.90653773e-02 1.68103240e+02] [ 2.50066224e-01 -1.19949715e-02 9.68154432e-01 3.20326401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.38, Y:168.11, Z:32.04 [[ 9.54920218e-01 -1.64542404e-01 -2.47089407e-01 2.41376603e+02] [ 1.60085456e-01 9.86365103e-01 -3.81645135e-02 1.68113604e+02] [ 2.50000049e-01 -3.11135485e-03 9.68240825e-01 3.20370441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.40, Y:168.12, Z:32.04 [[ 9.54912256e-01 -1.64913645e-01 -2.46872585e-01 2.41403295e+02] [ 1.60455529e-01 9.86303070e-01 -3.82135730e-02 1.68118305e+02] [ 2.49793128e-01 -3.12146207e-03 9.68294196e-01 3.20439375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.43, Y:168.12, Z:32.05 [[ 9.54722778e-01 -1.65796635e-01 -2.47013952e-01 2.41429107e+02] [ 1.61340551e-01 9.86154549e-01 -3.83201300e-02 1.68124186e+02] [ 2.49947281e-01 -3.26826617e-03 9.68253931e-01 3.20510363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.45, Y:168.14, Z:32.06 [[ 9.53938207e-01 -1.69206797e-01 -2.47731623e-01 2.41454119e+02] [ 1.61923887e-01 9.85553988e-01 -4.96386008e-02 1.68136647e+02] [ 2.52552078e-01 7.23849044e-03 9.67556227e-01 3.20565571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.48, Y:168.15, Z:32.05 [[ 9.54851867e-01 -1.73936061e-01 -2.40840526e-01 2.41483937e+02] [ 1.64325948e-01 9.84604592e-01 -5.95884208e-02 1.68151197e+02] [ 2.47497263e-01 1.73217672e-02 9.68733741e-01 3.20544176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.51, Y:168.12, Z:32.09 [[ 9.53691962e-01 -1.59634281e-01 -2.54928497e-01 2.41512108e+02] [ 1.63201311e-01 9.86566215e-01 -7.24128500e-03 1.68120385e+02] [ 2.52659800e-01 -3.46987097e-02 9.66932792e-01 3.20865654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.54, Y:168.14, Z:32.09 [[ 9.53317999e-01 -1.69005337e-01 -2.50243859e-01 2.41538285e+02] [ 1.64580292e-01 9.85605639e-01 -3.86633222e-02 1.68144808e+02] [ 2.53176066e-01 -4.32676625e-03 9.67410543e-01 3.20853791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.57, Y:168.17, Z:32.08 [[ 9.53490268e-01 -1.78475714e-01 -2.42904774e-01 2.41565222e+02] [ 1.67635069e-01 9.83719487e-01 -6.47646041e-02 1.68169264e+02] [ 2.50509068e-01 2.10330613e-02 9.67885746e-01 3.20790572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:168.16, Z:32.09 [[ 9.53494803e-01 -1.72365753e-01 -2.47260404e-01 2.41594243e+02] [ 1.67608562e-01 9.85028476e-01 -4.03270485e-02 1.68158369e+02] [ 2.50509541e-01 -2.99132953e-03 9.68109509e-01 3.20930354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.62, Y:168.15, Z:32.11 [[ 9.52769199e-01 -1.66307431e-01 -2.54111576e-01 2.41621401e+02] [ 1.68370730e-01 9.85627579e-01 -1.37685356e-02 1.68146096e+02] [ 2.52749187e-01 -2.96667150e-02 9.67076902e-01 3.21149020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.65, Y:168.17, Z:32.12 [[ 9.52191258e-01 -1.74524206e-01 -2.50745111e-01 2.41647420e+02] [ 1.70219996e-01 9.84636874e-01 -3.89278805e-02 1.68168149e+02] [ 2.53686739e-01 -5.61504430e-03 9.67270133e-01 3.21155126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.67, Y:168.17, Z:32.12 [[ 9.52175297e-01 -1.75106432e-01 -2.50399562e-01 2.41673318e+02] [ 1.70812557e-01 9.84533135e-01 -3.89560860e-02 1.68173633e+02] [ 2.53348127e-01 -5.67836678e-03 9.67358508e-01 3.21222021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.70, Y:168.18, Z:32.13 [[ 9.52098067e-01 -1.75389142e-01 -2.50495350e-01 2.41699479e+02] [ 1.71092149e-01 9.84482573e-01 -3.90069095e-02 1.68179156e+02] [ 2.53449696e-01 -5.71938475e-03 9.67331660e-01 3.21295072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.72, Y:168.19, Z:32.14 [[ 9.52145272e-01 -1.75424384e-01 -2.50291163e-01 2.41724424e+02] [ 1.71114023e-01 9.84476754e-01 -3.90577953e-02 1.68186379e+02] [ 2.53257521e-01 -5.63963247e-03 9.67382459e-01 3.21358757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.75, Y:168.19, Z:32.14 [[ 9.52496181e-01 -1.74042276e-01 -2.49920610e-01 2.41750137e+02] [ 1.70253063e-01 9.84710177e-01 -3.68749422e-02 1.68190587e+02] [ 2.52517167e-01 -7.42650765e-03 9.67563914e-01 3.21430442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.78, Y:168.21, Z:32.15 [[ 9.51813804e-01 -1.77152734e-01 -2.50334558e-01 2.41775757e+02] [ 1.69927428e-01 9.84168544e-01 -5.03681051e-02 1.68205817e+02] [ 2.55294245e-01 5.40235027e-03 9.66848314e-01 3.21477678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.80, Y:168.20, Z:32.16 [[ 9.52357551e-01 -1.73211963e-01 -2.51023328e-01 2.41803721e+02] [ 1.70438991e-01 9.84818202e-01 -3.29189888e-02 1.68201234e+02] [ 2.52914305e-01 -1.14335151e-02 9.67421123e-01 3.21582553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.83, Y:168.21, Z:32.16 [[ 9.52128658e-01 -1.75903763e-01 -2.50017771e-01 2.41831220e+02] [ 1.71387425e-01 9.84395376e-01 -3.99010522e-02 1.68211735e+02] [ 2.53135083e-01 -4.85896664e-03 9.67418741e-01 3.21641116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.86, Y:168.22, Z:32.17 [[ 9.52234071e-01 -1.76064451e-01 -2.49502671e-01 2.41856356e+02] [ 1.71748389e-01 9.84362842e-01 -3.91444145e-02 1.68218859e+02] [ 2.52493098e-01 -5.57703660e-03 9.67582623e-01 3.21709474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.88, Y:168.22, Z:32.18 [[ 9.52942593e-01 -1.73441823e-01 -2.48632962e-01 2.41882348e+02] [ 1.71050383e-01 9.84762979e-01 -3.13630597e-02 1.68220308e+02] [ 2.50284202e-01 -1.26415679e-02 9.68089876e-01 3.21788988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.91, Y:168.24, Z:32.18 [[ 9.51934276e-01 -1.79311571e-01 -2.48331423e-01 2.41909116e+02] [ 1.72761005e-01 9.83788072e-01 -4.81109545e-02 1.68240428e+02] [ 2.52932343e-01 2.89648031e-03 9.67479633e-01 3.21832656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.94, Y:168.24, Z:32.19 [[ 9.51918032e-01 -1.77757365e-01 -2.49508276e-01 2.41935320e+02] [ 1.73454898e-01 9.84056915e-01 -3.93113992e-02 1.68242047e+02] [ 2.52518235e-01 -5.85720272e-03 9.67574408e-01 3.21915016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.96, Y:168.25, Z:32.20 [[ 9.51692685e-01 -1.78555370e-01 -2.49797945e-01 2.41961912e+02] [ 1.74260431e-01 9.83911327e-01 -3.93929310e-02 1.68248808e+02] [ 2.52812847e-01 -6.03993321e-03 9.67496348e-01 3.21987886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.99, Y:168.26, Z:32.21 [[ 9.51305310e-01 -1.81052395e-01 -2.49475927e-01 2.41987515e+02] [ 1.76839040e-01 9.83451037e-01 -3.93955751e-02 1.68257289e+02] [ 2.52480023e-01 -6.63986387e-03 9.67579325e-01 3.22054058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.01, Y:168.26, Z:32.21 [[ 9.51070712e-01 -1.82755907e-01 -2.49128037e-01 2.42013958e+02] [ 1.78596548e-01 9.83133242e-01 -3.93992639e-02 1.68263653e+02] [ 2.52126503e-01 -7.02192142e-03 9.67668807e-01 3.22124727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.04, Y:168.27, Z:32.22 [[ 9.50705981e-01 -1.84631015e-01 -2.49137564e-01 2.42039968e+02] [ 1.80513843e-01 9.82779760e-01 -3.94803328e-02 1.68270570e+02] [ 2.52136649e-01 -7.43859055e-03 9.67663050e-01 3.22197543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.07, Y:168.28, Z:32.23 [[ 9.50116989e-01 -1.87427200e-01 -2.49296513e-01 2.42065097e+02] [ 1.83376444e-01 9.82245122e-01 -3.95929254e-02 1.68280242e+02] [ 2.52291075e-01 -8.09719689e-03 9.67617512e-01 3.22269779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.09, Y:168.29, Z:32.23 [[ 9.50002942e-01 -1.88569559e-01 -2.48869306e-01 2.42091957e+02] [ 1.84561508e-01 9.82024362e-01 -3.95626349e-02 1.68287515e+02] [ 2.51856030e-01 -8.34707479e-03 9.67728715e-01 3.22337685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.12, Y:168.30, Z:32.24 [[ 9.49961956e-01 -1.89372246e-01 -2.48415850e-01 2.42118011e+02] [ 1.85383445e-01 9.81868959e-01 -3.95768191e-02 1.68297810e+02] [ 2.51406563e-01 -8.45571372e-03 9.67844637e-01 3.22412486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.14, Y:168.31, Z:32.25 [[ 9.49957248e-01 -1.89161500e-01 -2.48594356e-01 2.42143217e+02] [ 1.85136516e-01 9.81910781e-01 -3.96949528e-02 1.68305016e+02] [ 2.51606235e-01 -8.31538480e-03 9.67793964e-01 3.22483603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.17, Y:168.31, Z:32.26 [[ 9.49951505e-01 -1.89066330e-01 -2.48688684e-01 2.42169072e+02] [ 1.85024982e-01 9.81929626e-01 -3.97487752e-02 1.68312386e+02] [ 2.51709942e-01 -8.25421059e-03 9.67767520e-01 3.22552903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5227550960001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.20, Y:168.32, Z:32.26 [[ 9.50101285e-01 -1.88626904e-01 -2.48450075e-01 2.42195716e+02] [ 1.84555720e-01 9.82015910e-01 -3.97987160e-02 1.68319767e+02] [ 2.51489035e-01 -8.04007127e-03 9.67826752e-01 3.22624017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.22, Y:168.33, Z:32.27 [[ 9.50153282e-01 -1.86883874e-01 -2.49565940e-01 2.42220410e+02] [ 1.82693475e-01 9.82353191e-01 -4.00662247e-02 1.68329173e+02] [ 2.52649629e-01 -7.52501401e-03 9.67528573e-01 3.22695073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.25, Y:168.34, Z:32.28 [[ 9.50223378e-01 -1.85957759e-01 -2.49990489e-01 2.42247214e+02] [ 1.81711346e-01 9.82530972e-01 -4.01730853e-02 1.68336260e+02] [ 2.53093895e-01 -7.25270327e-03 9.67414533e-01 3.22765468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.27, Y:168.35, Z:32.28 [[ 9.50424063e-01 -1.84025141e-01 -2.50656834e-01 2.42272285e+02] [ 1.79667132e-01 9.82898909e-01 -4.03665218e-02 1.68345532e+02] [ 2.53798783e-01 -6.66948078e-03 9.67234044e-01 3.22837179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.30, Y:168.35, Z:32.29 [[ 9.50643425e-01 -1.83131488e-01 -2.50479413e-01 2.42297978e+02] [ 1.78739392e-01 9.83067675e-01 -4.03754475e-02 1.68351854e+02] [ 2.53632230e-01 -6.38788438e-03 9.67279632e-01 3.22906782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.32, Y:168.36, Z:32.30 [[ 9.50633762e-01 -1.82796265e-01 -2.50760794e-01 2.42324481e+02] [ 1.78372855e-01 9.83130836e-01 -4.04584225e-02 1.68358667e+02] [ 2.53926318e-01 -6.26777648e-03 9.67203257e-01 3.22983756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.35, Y:168.37, Z:32.31 [[ 9.50915904e-01 -1.82199389e-01 -2.50124621e-01 2.42350678e+02] [ 1.77756405e-01 9.83243257e-01 -4.04395569e-02 1.68367407e+02] [ 2.53301410e-01 -6.00663558e-03 9.67368759e-01 3.23059060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.38, Y:168.37, Z:32.31 [[ 9.50885750e-01 -1.82499131e-01 -2.50020716e-01 2.42376997e+02] [ 1.78048145e-01 9.83187715e-01 -4.05064815e-02 1.68374230e+02] [ 2.53209694e-01 -5.99868873e-03 9.67392819e-01 3.23133566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.40, Y:168.38, Z:32.32 [[ 9.50998451e-01 -1.82658333e-01 -2.49475207e-01 2.42402398e+02] [ 1.78209406e-01 9.83158521e-01 -4.05059385e-02 1.68380404e+02] [ 2.52672423e-01 -5.93774371e-03 9.67533664e-01 3.23200230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:168.39, Z:32.33 [[ 9.50933899e-01 -1.83672798e-01 -2.48975949e-01 2.42428767e+02] [ 1.79266076e-01 9.82968166e-01 -4.04630449e-02 1.68388258e+02] [ 2.52167393e-01 -6.15526035e-03 9.67664053e-01 3.23275043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.45, Y:168.39, Z:32.33 [[ 9.50804543e-01 -1.84080815e-01 -2.49168567e-01 2.42454733e+02] [ 1.79658349e-01 9.82891680e-01 -4.05810694e-02 1.68393866e+02] [ 2.52375908e-01 -6.18054841e-03 9.67609530e-01 3.23349527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.48, Y:168.40, Z:32.34 [[ 9.50851472e-01 -1.84547915e-01 -2.48643409e-01 2.42479899e+02] [ 1.80137631e-01 9.82803941e-01 -4.05813589e-02 1.68400908e+02] [ 2.51856927e-01 -6.20318963e-03 9.67744599e-01 3.23415666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.51, Y:168.41, Z:32.35 [[ 9.50807201e-01 -1.85300260e-01 -2.48252854e-01 2.42505955e+02] [ 1.80919484e-01 9.82661407e-01 -4.05548863e-02 1.68407280e+02] [ 2.51463330e-01 -6.35390015e-03 9.67845970e-01 3.23489469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.53, Y:168.42, Z:32.36 [[ 9.49597304e-01 -1.89880693e-01 -2.49419894e-01 2.42531689e+02] [ 1.82151574e-01 9.81790135e-01 -5.39345420e-02 1.68421742e+02] [ 2.55119120e-01 5.78386931e-03 9.66892332e-01 3.23556143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.56, Y:168.44, Z:32.35 [[ 9.51139051e-01 -1.93905316e-01 -2.40281574e-01 2.42560121e+02] [ 1.82443215e-01 9.80772131e-01 -6.92856441e-02 1.68441158e+02] [ 2.49096326e-01 2.20625389e-02 9.68227383e-01 3.23497373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.59, Y:168.40, Z:32.38 [[ 9.50550347e-01 -1.73817750e-01 -2.57374100e-01 2.42589331e+02] [ 1.80361485e-01 9.83598657e-01 1.84853938e-03 1.68400871e+02] [ 2.52831510e-01 -4.81775046e-02 9.66310072e-01 3.23814089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.61, Y:168.44, Z:32.38 [[ 9.49367308e-01 -1.86778037e-01 -2.52617654e-01 2.42608880e+02] [ 1.76989821e-01 9.82311609e-01 -6.11433257e-02 1.68443339e+02] [ 2.59569484e-01 1.33367212e-02 9.65632339e-01 3.23799652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.64, Y:168.43, Z:32.39 [[ 9.50750594e-01 -1.77788449e-01 -2.53898752e-01 2.42640419e+02] [ 1.77638084e-01 9.83810159e-01 -2.37124794e-02 1.68427655e+02] [ 2.54003977e-01 -2.25574340e-02 9.66940092e-01 3.23919941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.66, Y:168.46, Z:32.40 [[ 9.49097470e-01 -1.86556689e-01 -2.53792424e-01 2.42660301e+02] [ 1.73214169e-01 9.82089075e-01 -7.41478262e-02 1.68460918e+02] [ 2.63079540e-01 2.64130704e-02 9.64412518e-01 3.23960409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.69, Y:168.44, Z:32.41 [[ 9.50244424e-01 -1.75038795e-01 -2.57676065e-01 2.42694986e+02] [ 1.74034598e-01 9.84372432e-01 -2.68863069e-02 1.68442243e+02] [ 2.58355361e-01 -1.92959871e-02 9.65857221e-01 3.24105903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:168.45, Z:32.42 [[ 9.51605635e-01 -1.73622964e-01 -2.53577961e-01 2.42720450e+02] [ 1.72116130e-01 9.84670248e-01 -2.82938148e-02 1.68447872e+02] [ 2.54603130e-01 -1.67203039e-02 9.66901069e-01 3.24155535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:168.46, Z:32.42 [[ 9.51789360e-01 -1.75899260e-01 -2.51309501e-01 2.42746460e+02] [ 1.70932718e-01 9.84402549e-01 -4.16368568e-02 1.68460509e+02] [ 2.54713606e-01 -3.32749870e-03 9.67010810e-01 3.24205838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.77, Y:168.49, Z:32.41 [[ 9.52916343e-01 -1.84993204e-01 -2.40266431e-01 2.42770943e+02] [ 1.70236315e-01 9.82070642e-01 -8.09743880e-02 1.68491558e+02] [ 2.50938319e-01 3.62597459e-02 9.67323726e-01 3.24106721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:168.45, Z:32.44 [[ 9.52440147e-01 -1.62770004e-01 -2.57611513e-01 2.42802716e+02] [ 1.67644577e-01 9.85842681e-01 -3.08290275e-03 1.68445390e+02] [ 2.54466229e-01 -4.02508928e-02 9.66243657e-01 3.24425809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.83, Y:168.49, Z:32.44 [[ 9.50889405e-01 -1.78541078e-01 -2.52848616e-01 2.42827916e+02] [ 1.67697375e-01 9.83759546e-01 -6.39901957e-02 1.68486835e+02] [ 2.60167118e-01 1.84455499e-02 9.65387400e-01 3.24426935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:168.47, Z:32.45 [[ 9.51666682e-01 -1.69085032e-01 -2.56399645e-01 2.42853153e+02] [ 1.64663244e-01 9.85587148e-01 -3.87812999e-02 1.68473919e+02] [ 2.59261532e-01 -5.31272617e-03 9.65792541e-01 3.24536319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.88, Y:168.50, Z:32.45 [[ 9.52979221e-01 -1.78715424e-01 -2.44727197e-01 2.42883499e+02] [ 1.67406120e-01 9.83647108e-01 -6.64346102e-02 1.68498485e+02] [ 2.52598089e-01 2.23419727e-02 9.67313311e-01 3.24484528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.91, Y:168.49, Z:32.46 [[ 9.52745364e-01 -1.72602138e-01 -2.49969545e-01 2.42912854e+02] [ 1.67209695e-01 9.84991115e-01 -4.28184619e-02 1.68487195e+02] [ 2.53608339e-01 -1.00224023e-03 9.67306470e-01 3.24614896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.94, Y:168.48, Z:32.48 [[ 9.52156442e-01 -1.67523518e-01 -2.55605127e-01 2.42938502e+02] [ 1.66230971e-01 9.85722213e-01 -2.68138736e-02 1.68479601e+02] [ 2.56447606e-01 -1.69584860e-02 9.66409352e-01 3.24771301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:168.49, Z:32.49 [[ 9.51111684e-01 -1.69349810e-01 -2.58277382e-01 2.42964864e+02] [ 1.64920394e-01 9.85540037e-01 -3.88857260e-02 1.68488834e+02] [ 2.61127990e-01 -5.61053923e-03 9.65287882e-01 3.24884373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:168.49, Z:32.50 [[ 9.51722324e-01 -1.68395633e-01 -2.56646702e-01 2.42991246e+02] [ 1.65014992e-01 9.85676402e-01 -3.48149782e-02 1.68489135e+02] [ 2.58833288e-01 -9.21636164e-03 9.65878040e-01 3.24955938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:168.51, Z:32.49 [[ 9.51449083e-01 -1.78817697e-01 -2.50537170e-01 2.43021236e+02] [ 1.70563263e-01 9.83840239e-01 -5.44661113e-02 1.68510217e+02] [ 2.56228053e-01 9.08929440e-03 9.66573623e-01 3.24904656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.05, Y:168.51, Z:32.50 [[ 9.52073440e-01 -1.80139565e-01 -2.47196081e-01 2.43046943e+02] [ 1.70886918e-01 9.83548097e-01 -5.85730589e-02 1.68514056e+02] [ 2.53680560e-01 1.35232773e-02 9.67193514e-01 3.24969115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51275509600003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.07, Y:168.49, Z:32.52 [[ 9.50609639e-01 -1.70168112e-01 -2.59584529e-01 2.43073767e+02] [ 1.71479807e-01 9.85027563e-01 -1.77588508e-02 1.68490347e+02] [ 2.58719906e-01 -2.76317704e-02 9.65557091e-01 3.25195236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.10, Y:168.53, Z:32.51 [[ 9.50635770e-01 -1.88300138e-01 -2.46646893e-01 2.43100907e+02] [ 1.75176379e-01 9.81728017e-01 -7.43191577e-02 1.68530881e+02] [ 2.56134473e-01 2.74437401e-02 9.66251506e-01 3.25107160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57275509600004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:243.13, Y:168.51, Z:32.52 [[ 9.49926117e-01 -1.82519941e-01 -2.53627373e-01 2.43129205e+02] [ 1.77533095e-01 9.83191649e-01 -4.26166876e-02 1.68512535e+02] [ 2.57142710e-01 -4.54454799e-03 9.66362755e-01 3.25237706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.16, Y:168.52, Z:32.53 [[ 9.49334036e-01 -1.84648087e-01 -2.54302912e-01 2.43156388e+02] [ 1.79962305e-01 9.82785770e-01 -4.17815553e-02 1.68515455e+02] [ 2.57640168e-01 -6.10028576e-03 9.66221678e-01 3.25322102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.63275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.18, Y:168.52, Z:32.54 [[ 9.48256839e-01 -1.88047421e-01 -2.55826374e-01 2.43184749e+02] [ 1.81368644e-01 9.82159695e-01 -4.96764317e-02 1.68523332e+02] [ 2.60603879e-01 7.07133610e-04 9.65445554e-01 3.25401426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66275509600007 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:243.21, Y:168.52, Z:32.55 [[ 9.46739430e-01 -1.88030218e-01 -2.61398335e-01 2.43214817e+02] [ 1.83290896e-01 9.82134171e-01 -4.26253063e-02 1.68519188e+02] [ 2.64743082e-01 -7.55687683e-03 9.64289373e-01 3.25485740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.24, Y:168.50, Z:32.58 [[ 9.45985882e-01 -1.78683778e-01 -2.70523232e-01 2.43241205e+02] [ 1.83266697e-01 9.83026999e-01 -8.44019672e-03 1.68500185e+02] [ 2.67439767e-01 -4.15935923e-02 9.62676448e-01 3.25753529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.27, Y:168.53, Z:32.58 [[ 9.45698259e-01 -1.88789293e-01 -2.64600464e-01 2.43266506e+02] [ 1.83546998e-01 9.81997053e-01 -4.46350412e-02 1.68526644e+02] [ 2.68263493e-01 -6.35534014e-03 9.63324612e-01 3.25763439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.29, Y:168.54, Z:32.58 [[ 9.44607123e-01 -1.92302399e-01 -2.65964603e-01 2.43292501e+02] [ 1.84047127e-01 9.81328259e-01 -5.58704070e-02 1.68535027e+02] [ 2.71742594e-01 3.82556327e-03 9.62362368e-01 3.25817654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.32, Y:168.53, Z:32.59 [[ 9.44222525e-01 -1.90063505e-01 -2.68923200e-01 2.43318778e+02] [ 1.84474489e-01 9.81753252e-01 -4.61488491e-02 1.68532827e+02] [ 2.72787438e-01 -6.03468692e-03 9.62055402e-01 3.25912587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.35, Y:168.54, Z:32.60 [[ 9.44285436e-01 -1.93012267e-01 -2.66591973e-01 2.43347827e+02] [ 1.84469672e-01 9.81185459e-01 -5.69739810e-02 1.68544148e+02] [ 2.72572845e-01 4.62156668e-03 9.62124049e-01 3.25955238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.37, Y:168.53, Z:32.61 [[ 9.44860393e-01 -1.83130919e-01 -2.71480948e-01 2.43373297e+02] [ 1.82593799e-01 9.82804744e-01 -2.74652328e-02 1.68528700e+02] [ 2.71842497e-01 -2.36199269e-02 9.62051847e-01 3.26089879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.40, Y:168.55, Z:32.61 [[ 9.44409102e-01 -1.88524641e-01 -2.69350900e-01 2.43399563e+02] [ 1.80779828e-01 9.82066728e-01 -5.35125806e-02 1.68547527e+02] [ 2.74608997e-01 1.84455875e-03 9.61554209e-01 3.26133345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9027550960001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.43, Y:168.54, Z:32.62 [[ 9.45186287e-01 -1.83152661e-01 -2.70329401e-01 2.43427371e+02] [ 1.79894227e-01 9.82989662e-01 -3.70052798e-02 1.68540821e+02] [ 2.72508622e-01 -1.36538158e-02 9.62056456e-01 3.26210956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:168.55, Z:32.63 [[ 9.45260381e-01 -1.84409863e-01 -2.69213327e-01 2.43453093e+02] [ 1.76808103e-01 9.82847459e-01 -5.24382303e-02 1.68552482e+02] [ 2.74265761e-01 1.96868399e-03 9.61651921e-01 3.26290826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.48, Y:168.57, Z:32.63 [[ 9.46497151e-01 -1.87704648e-01 -2.62507348e-01 2.43480774e+02] [ 1.76441396e-01 9.82091734e-01 -6.60625509e-02 1.68566180e+02] [ 2.70206544e-01 1.62108533e-02 9.62665898e-01 3.26278180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.51, Y:168.56, Z:32.64 [[ 9.46238459e-01 -1.84013331e-01 -2.66029834e-01 2.43509486e+02] [ 1.76162646e-01 9.82917283e-01 -5.32948226e-02 1.68562009e+02] [ 2.71292280e-01 3.56509143e-03 9.62490410e-01 3.26392258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.54, Y:168.54, Z:32.66 [[ 9.45334874e-01 -1.73503887e-01 -2.76112979e-01 2.43536841e+02] [ 1.74492698e-01 9.84430617e-01 -2.11815671e-02 1.68540853e+02] [ 2.75489155e-01 -2.81560246e-02 9.60891755e-01 3.26635867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.56, Y:168.55, Z:32.67 [[ 9.46017670e-01 -1.78028370e-01 -2.70843991e-01 2.43561738e+02] [ 1.73815510e-01 9.83979003e-01 -3.96672446e-02 1.68554434e+02] [ 2.73566695e-01 -9.55097211e-03 9.61805616e-01 3.26667050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.59, Y:168.56, Z:32.67 [[ 9.45585306e-01 -1.81760528e-01 -2.69873190e-01 2.43588595e+02] [ 1.74480888e-01 9.83342235e-01 -5.09359243e-02 1.68564205e+02] [ 2.74635847e-01 1.07654772e-03 9.61547707e-01 3.26732420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.11275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.62, Y:168.56, Z:32.68 [[ 9.45937595e-01 -1.80020906e-01 -2.69804632e-01 2.43616228e+02] [ 1.74384389e-01 9.83652249e-01 -4.49259118e-02 1.68561466e+02] [ 2.73481536e-01 -4.55260685e-03 9.61866479e-01 3.26822128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.64, Y:168.57, Z:32.69 [[ 9.45292032e-01 -1.83260346e-01 -2.69886309e-01 2.43644138e+02] [ 1.75727969e-01 9.83062846e-01 -5.20300141e-02 1.68569349e+02] [ 2.74850241e-01 1.75698467e-03 9.61485443e-01 3.26896693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.17275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.67, Y:168.57, Z:32.70 [[ 9.44793815e-01 -1.82780846e-01 -2.71948176e-01 2.43670630e+02] [ 1.76118358e-01 9.83152267e-01 -4.89279544e-02 1.68567832e+02] [ 2.76309558e-01 -1.66823743e-03 9.61067243e-01 3.26988209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.70, Y:168.57, Z:32.71 [[ 9.45192536e-01 -1.80489767e-01 -2.72092841e-01 2.43698710e+02] [ 1.76056419e-01 9.83532813e-01 -4.08331045e-02 1.68565182e+02] [ 2.74982195e-01 -9.30854558e-03 9.61404256e-01 3.27073256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.23275509600006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.72, Y:168.57, Z:32.71 [[ 9.44896553e-01 -1.82902036e-01 -2.71509393e-01 2.43724584e+02] [ 1.75758525e-01 9.83131138e-01 -5.06172629e-02 1.68572449e+02] [ 2.76187338e-01 1.07986752e-04 9.61103815e-01 3.27128177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.76, Y:168.57, Z:32.72 [[ 9.44410535e-01 -1.83492591e-01 -2.72798846e-01 2.43755013e+02] [ 1.78013768e-01 9.83001953e-01 -4.49250370e-02 1.68569032e+02] [ 2.76405210e-01 -6.13427206e-03 9.61021608e-01 3.27222676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.29275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.78, Y:168.56, Z:32.73 [[ 9.45268582e-01 -1.80871615e-01 -2.71574606e-01 2.43781122e+02] [ 1.78336711e-01 9.83374908e-01 -3.42024530e-02 1.68564702e+02] [ 2.73245906e-01 -1.61012176e-02 9.61809454e-01 3.27305154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.81, Y:168.58, Z:32.73 [[ 9.45318173e-01 -1.87422674e-01 -2.66920014e-01 2.43808647e+02] [ 1.79228677e-01 9.82270715e-01 -5.49665749e-02 1.68578585e+02] [ 2.72489695e-01 4.12118123e-03 9.62149875e-01 3.27311590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.83, Y:168.58, Z:32.74 [[ 9.43870451e-01 -1.86291595e-01 -2.72770991e-01 2.43834656e+02] [ 1.77719462e-01 9.82484592e-01 -5.60340838e-02 1.68579993e+02] [ 2.78431975e-01 4.41220203e-03 9.60445817e-01 3.27429277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.86, Y:168.58, Z:32.75 [[ 9.44045265e-01 -1.84988638e-01 -2.73052633e-01 2.43862446e+02] [ 1.78127137e-01 9.82739523e-01 -4.99375006e-02 1.68580121e+02] [ 2.77577485e-01 -1.49482279e-03 9.60702090e-01 3.27510468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.89, Y:168.57, Z:32.77 [[ 9.44727540e-01 -1.77869103e-01 -2.75413248e-01 2.43891836e+02] [ 1.75498634e-01 9.83911669e-01 -3.34373656e-02 1.68569164e+02] [ 2.76929783e-01 -1.67454486e-02 9.60744235e-01 3.27654593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.92, Y:168.59, Z:32.77 [[ 9.44791043e-01 -1.83135997e-01 -2.71718774e-01 2.43917809e+02] [ 1.75136827e-01 9.83082783e-01 -5.36221314e-02 1.68585333e+02] [ 2.76942192e-01 3.07374539e-03 9.60881665e-01 3.27668865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.47275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.94, Y:168.58, Z:32.78 [[ 9.44595639e-01 -1.77183452e-01 -2.76306176e-01 2.43944957e+02] [ 1.72285931e-01 9.84146685e-01 -4.21053482e-02 1.68578913e+02] [ 2.79386178e-01 -7.83113851e-03 9.60146883e-01 3.27803110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.97, Y:168.58, Z:32.79 [[ 9.45081875e-01 -1.72520317e-01 -2.77591406e-01 2.43972984e+02] [ 1.69039435e-01 9.84928919e-01 -3.66154841e-02 1.68575794e+02] [ 2.79724719e-01 -1.23192640e-02 9.60001207e-01 3.27898220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.00, Y:168.59, Z:32.79 [[ 9.45371296e-01 -1.75733478e-01 -2.74573955e-01 2.43998252e+02] [ 1.68521713e-01 9.84437423e-01 -4.98336461e-02 1.68586901e+02] [ 2.79058317e-01 8.39625225e-04 9.60273790e-01 3.27932470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.03, Y:168.60, Z:32.80 [[ 9.43430880e-01 -1.80181743e-01 -2.78339208e-01 2.44026143e+02] [ 1.66618558e-01 9.83400393e-01 -7.18465234e-02 1.68600798e+02] [ 2.86664318e-01 2.14057515e-02 9.57791920e-01 3.28001427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:168.59, Z:32.81 [[ 9.43332678e-01 -1.76882106e-01 -2.80777812e-01 2.44055617e+02] [ 1.69222371e-01 9.84231467e-01 -5.14995925e-02 1.68592280e+02] [ 2.85459714e-01 1.06736157e-03 9.58390115e-01 3.28122770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.08, Y:168.58, Z:32.83 [[ 9.43883105e-01 -1.70206366e-01 -2.83045009e-01 2.44081020e+02] [ 1.69028367e-01 9.85191241e-01 -2.87685715e-02 1.68579614e+02] [ 2.83750058e-01 -2.06884671e-02 9.58675071e-01 3.28269940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.11, Y:168.59, Z:32.83 [[ 9.44334819e-01 -1.73979822e-01 -2.79218143e-01 2.44105062e+02] [ 1.67800705e-01 9.84743550e-01 -4.60767303e-02 1.68587730e+02] [ 2.82974687e-01 -3.34114042e-03 9.59121558e-01 3.28300167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.14, Y:168.60, Z:32.83 [[ 9.43787021e-01 -1.80303696e-01 -2.77049880e-01 2.44135601e+02] [ 1.70172507e-01 9.83561604e-01 -6.03977486e-02 1.68600346e+02] [ 2.83385562e-01 9.85633843e-03 9.58955409e-01 3.28347950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.16, Y:168.59, Z:32.85 [[ 9.44432421e-01 -1.72455991e-01 -2.79832687e-01 2.44159312e+02] [ 1.69364608e-01 9.84918069e-01 -3.53839819e-02 1.68586485e+02] [ 2.81714450e-01 -1.39759738e-02 9.59396498e-01 3.28495410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.19, Y:168.60, Z:32.85 [[ 9.44229180e-01 -1.81389197e-01 -2.74825790e-01 2.44189249e+02] [ 1.70956258e-01 9.83347140e-01 -6.16632840e-02 1.68603746e+02] [ 2.81434208e-01 1.12410836e-02 9.59514682e-01 3.28484588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:168.59, Z:32.87 [[ 9.43614512e-01 -1.75723215e-01 -2.80558381e-01 2.44217340e+02] [ 1.70879290e-01 9.84403247e-01 -4.18391552e-02 1.68593420e+02] [ 2.83534692e-01 -8.46158300e-03 9.58924648e-01 3.28658656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:168.60, Z:32.87 [[ 9.43118982e-01 -1.78853287e-01 -2.80246476e-01 2.44241715e+02] [ 1.72577350e-01 9.83867953e-01 -4.71265279e-02 1.68596206e+02] [ 2.84154262e-01 -3.91827115e-03 9.58770568e-01 3.28741485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.27, Y:168.60, Z:32.88 [[ 9.44140983e-01 -1.82062253e-01 -2.74683710e-01 2.44269039e+02] [ 1.74461487e-01 9.83286223e-01 -5.20710384e-02 1.68603264e+02] [ 2.79572878e-01 1.24067304e-03 9.60123673e-01 3.28758257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.29, Y:168.61, Z:32.89 [[ 9.42594469e-01 -1.83163627e-01 -2.79225273e-01 2.44294121e+02] [ 1.75194007e-01 9.83081336e-01 -5.34616422e-02 1.68606034e+02] [ 2.84293383e-01 1.47405384e-03 9.58736199e-01 3.28872713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.32, Y:168.61, Z:32.89 [[ 9.44070762e-01 -1.80803863e-01 -2.75754164e-01 2.44321685e+02] [ 1.74693644e-01 9.83510998e-01 -4.67787182e-02 1.68606542e+02] [ 2.79665026e-01 -4.01007968e-03 9.60089263e-01 3.28932802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.35, Y:168.61, Z:32.90 [[ 9.43859405e-01 -1.82670587e-01 -2.75246945e-01 2.44349531e+02] [ 1.75024891e-01 9.83173445e-01 -5.23093223e-02 1.68614545e+02] [ 2.80170862e-01 1.19757934e-03 9.59949402e-01 3.29011071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.38, Y:168.62, Z:32.91 [[ 9.43488396e-01 -1.81982842e-01 -2.76969118e-01 2.44376142e+02] [ 1.75541141e-01 9.83296374e-01 -4.80993664e-02 1.68616734e+02] [ 2.81095988e-01 -3.23828074e-03 9.59674194e-01 3.29110491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.40, Y:168.62, Z:32.92 [[ 9.44896020e-01 -1.81150049e-01 -2.72683281e-01 2.44402288e+02] [ 1.76913495e-01 9.83402587e-01 -4.02612495e-02 1.68619042e+02] [ 2.75450771e-01 -1.01986578e-02 9.61261078e-01 3.29158782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.43, Y:168.63, Z:32.92 [[ 9.43643584e-01 -1.85890623e-01 -2.73827431e-01 2.44425315e+02] [ 1.76094487e-01 9.82533247e-01 -6.01593676e-02 1.68634657e+02] [ 2.80227618e-01 8.54950034e-03 9.59895509e-01 3.29224378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.45, Y:168.62, Z:32.94 [[ 9.44589859e-01 -1.76973444e-01 -2.76460484e-01 2.44451833e+02] [ 1.76001232e-01 9.83976291e-01 -2.85346201e-02 1.68620845e+02] [ 2.77080431e-01 -2.17038728e-02 9.60601570e-01 3.29397488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:168.65, Z:32.94 [[ 9.43784358e-01 -1.86556238e-01 -2.72887991e-01 2.44478776e+02] [ 1.76459160e-01 9.82396231e-01 -6.13172834e-02 1.68646305e+02] [ 2.79523256e-01 9.71670721e-03 9.60089754e-01 3.29383934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.50, Y:168.64, Z:32.94 [[ 9.45507666e-01 -1.81968238e-01 -2.70005211e-01 2.44503124e+02] [ 1.77386186e-01 9.83266242e-01 -4.14926298e-02 1.68641758e+02] [ 2.73037350e-01 -8.66359504e-03 9.61964421e-01 3.29446084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.53, Y:168.65, Z:32.96 [[ 9.43451422e-01 -1.83486931e-01 -2.76101360e-01 2.44530445e+02] [ 1.75756420e-01 9.83021411e-01 -5.27122999e-02 1.68650562e+02] [ 2.81085566e-01 1.20490781e-03 9.59681954e-01 3.29556838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.56, Y:168.65, Z:32.96 [[ 9.43278028e-01 -1.82013165e-01 -2.77664850e-01 2.44556268e+02] [ 1.75243715e-01 9.83293580e-01 -4.92278045e-02 1.68652849e+02] [ 2.81986173e-01 -2.22351335e-03 9.59415892e-01 3.29635613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.58, Y:168.65, Z:32.98 [[ 9.42667762e-01 -1.77114269e-01 -2.82856901e-01 2.44584794e+02] [ 1.74382990e-01 9.84055050e-01 -3.50175948e-02 1.68648896e+02] [ 2.84548877e-01 -1.63154744e-02 9.58522687e-01 3.29814985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.61, Y:168.67, Z:32.98 [[ 9.42830679e-01 -1.86720848e-01 -2.76053684e-01 2.44607170e+02] [ 1.76839821e-01 9.82378608e-01 -6.04975017e-02 1.68672682e+02] [ 2.82485379e-01 8.22161663e-03 9.59236371e-01 3.29772722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.64, Y:168.66, Z:33.00 [[ 9.42038010e-01 -1.75999714e-01 -2.85636985e-01 2.44637202e+02] [ 1.74141023e-01 9.84197156e-01 -3.21070300e-02 1.68658670e+02] [ 2.86773937e-01 -1.94950743e-02 9.57799901e-01 3.29990910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.66, Y:168.68, Z:33.00 [[ 9.41341286e-01 -1.84522646e-01 -2.82538451e-01 2.44657718e+02] [ 1.73089595e-01 9.82749908e-01 -6.51353183e-02 1.68682149e+02] [ 2.89683579e-01 1.24100982e-02 9.57042013e-01 3.29976895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.69, Y:168.67, Z:33.01 [[ 9.41972084e-01 -1.77873911e-01 -2.84691877e-01 2.44688731e+02] [ 1.75629968e-01 9.83882354e-01 -3.36099354e-02 1.68672577e+02] [ 2.86081645e-01 -1.83408042e-02 9.58029701e-01 3.30126880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.71, Y:168.70, Z:33.01 [[ 9.41515880e-01 -1.90654337e-01 -2.77846669e-01 2.44712481e+02] [ 1.77210981e-01 9.81464300e-01 -7.29664031e-02 1.68703050e+02] [ 2.86607948e-01 1.94615463e-02 9.57850266e-01 3.30064162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.37275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.74, Y:168.69, Z:33.02 [[ 9.42280669e-01 -1.85356734e-01 -2.78836908e-01 2.44740450e+02] [ 1.80131039e-01 9.82636168e-01 -4.44856290e-02 1.68692903e+02] [ 2.82240941e-01 -8.30923352e-03 9.59307567e-01 3.30192558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.77, Y:168.70, Z:33.03 [[ 9.42063589e-01 -1.87131356e-01 -2.78384716e-01 2.44765236e+02] [ 1.82949421e-01 9.82259835e-01 -4.11718977e-02 1.68695881e+02] [ 2.81150678e-01 -1.21437769e-02 9.59586799e-01 3.30296412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.79, Y:168.71, Z:33.04 [[ 9.41651555e-01 -1.91097137e-01 -2.77081636e-01 2.44790961e+02] [ 1.84560785e-01 9.81561704e-01 -4.97387053e-02 1.68705213e+02] [ 2.81477647e-01 -4.30187489e-03 9.59558142e-01 3.30350065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:168.70, Z:33.05 [[ 9.41445486e-01 -1.85532204e-01 -2.81528325e-01 2.44823128e+02] [ 1.83901641e-01 9.82408923e-01 -3.24483248e-02 1.68695827e+02] [ 2.82596148e-01 -2.12251920e-02 9.59004123e-01 3.30523497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.85, Y:168.71, Z:33.06 [[ 9.39916695e-01 -1.95925951e-01 -2.79588319e-01 2.44851088e+02] [ 1.89007806e-01 9.80609778e-01 -5.17736607e-02 1.68711361e+02] [ 2.84310843e-01 -4.18144681e-03 9.58723036e-01 3.30565193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.87, Y:168.72, Z:33.06 [[ 9.39844831e-01 -2.01772399e-01 -2.75643959e-01 2.44871220e+02] [ 1.94581694e-01 9.79426669e-01 -5.34917213e-02 1.68719903e+02] [ 2.80766198e-01 -3.36135074e-03 9.59770308e-01 3.30574181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:168.70, Z:33.08 [[ 9.38835863e-01 -1.93586311e-01 -2.84800919e-01 2.44901728e+02] [ 1.94152933e-01 9.80612494e-01 -2.65287729e-02 1.68704886e+02] [ 2.84414946e-01 -3.03887702e-02 9.58219527e-01 3.30801012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5827550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.93, Y:168.72, Z:33.08 [[ 9.38774186e-01 -1.97331500e-01 -2.82423986e-01 2.44928117e+02] [ 1.94584933e-01 9.80147868e-01 -3.80376227e-02 1.68717477e+02] [ 2.84323289e-01 -1.92467139e-02 9.58535253e-01 3.30849023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.61275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.95, Y:168.73, Z:33.09 [[ 9.38874436e-01 -1.99436435e-01 -2.80606310e-01 2.44953458e+02] [ 1.93970898e-01 9.79860648e-01 -4.74173117e-02 1.68728637e+02] [ 2.84411821e-01 -9.91055615e-03 9.58650978e-01 3.30893592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.98, Y:168.73, Z:33.10 [[ 9.38947038e-01 -1.99528131e-01 -2.80298030e-01 2.44980139e+02] [ 1.94397933e-01 9.79830042e-01 -4.62874935e-02 1.68733211e+02] [ 2.83880087e-01 -1.10278527e-02 9.58796372e-01 3.30970276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.01, Y:168.75, Z:33.09 [[ 9.40375723e-01 -2.04917666e-01 -2.71481584e-01 2.45005195e+02] [ 1.94198579e-01 9.78733871e-01 -6.60826840e-02 1.68754308e+02] [ 2.79249731e-01 9.42121401e-03 9.60172291e-01 3.30934062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.03, Y:168.75, Z:33.10 [[ 9.40075621e-01 -2.00319361e-01 -2.75916619e-01 2.45031307e+02] [ 1.91792177e-01 9.79729570e-01 -5.78422979e-02 1.68753855e+02] [ 2.81910603e-01 1.45748517e-03 9.59439570e-01 3.31037316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.06, Y:168.76, Z:33.11 [[ 9.40611458e-01 -1.99094515e-01 -2.74975379e-01 2.45059956e+02] [ 1.90016898e-01 9.79973061e-01 -5.95514757e-02 1.68760553e+02] [ 2.81324836e-01 3.76483189e-03 9.59605212e-01 3.31080670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:168.76, Z:33.12 [[ 9.40786687e-01 -1.92596775e-01 -2.78974715e-01 2.45085982e+02] [ 1.88188930e-01 9.81201313e-01 -4.27657688e-02 1.68755780e+02] [ 2.81966906e-01 -1.22664873e-02 9.59345713e-01 3.31220209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.11, Y:168.77, Z:33.13 [[ 9.40832793e-01 -1.93371476e-01 -2.78282462e-01 2.45110306e+02] [ 1.85587331e-01 9.81125464e-01 -5.43154325e-02 1.68767348e+02] [ 2.83533065e-01 -5.43959502e-04 9.58962306e-01 3.31266302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.14, Y:168.77, Z:33.14 [[ 9.40907303e-01 -1.91189486e-01 -2.79535378e-01 2.45136512e+02] [ 1.83857667e-01 9.81551071e-01 -5.24771644e-02 1.68771549e+02] [ 2.84411332e-01 -2.01857520e-03 9.58700224e-01 3.31361555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.16, Y:168.77, Z:33.14 [[ 9.42601835e-01 -1.86536039e-01 -2.76958639e-01 2.45163008e+02] [ 1.82262997e-01 9.82380607e-01 -4.13345179e-02 1.68772037e+02] [ 2.79789173e-01 -1.15173193e-02 9.59992380e-01 3.31442837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.19, Y:168.78, Z:33.15 [[ 9.42516691e-01 -1.90120519e-01 -2.74802613e-01 2.45190247e+02] [ 1.82924760e-01 9.81759736e-01 -5.18300406e-02 1.68784382e+02] [ 2.79644095e-01 -1.41752366e-03 9.60102688e-01 3.31496173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.22, Y:168.79, Z:33.16 [[ 9.42468056e-01 -1.90118147e-01 -2.74971007e-01 2.45216435e+02] [ 1.82022499e-01 9.81759739e-01 -5.49147047e-02 1.68790336e+02] [ 2.80395746e-01 1.70444516e-03 9.59882972e-01 3.31572423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:168.79, Z:33.17 [[ 9.42561195e-01 -1.89064545e-01 -2.75377908e-01 2.45243317e+02] [ 1.82168816e-01 9.81961677e-01 -5.06535939e-02 1.68792832e+02] [ 2.79987351e-01 -2.42115550e-03 9.60000636e-01 3.31663637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.27, Y:168.80, Z:33.17 [[ 9.42033950e-01 -1.92055199e-01 -2.75112408e-01 2.45269111e+02] [ 1.83546359e-01 9.81380055e-01 -5.66031903e-02 1.68801730e+02] [ 2.80860767e-01 2.82624612e-03 9.59744363e-01 3.31732239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.30, Y:168.79, Z:33.19 [[ 9.42202425e-01 -1.86124589e-01 -2.78589714e-01 2.45298139e+02] [ 1.82876458e-01 9.82407189e-01 -3.78459509e-02 1.68794615e+02] [ 2.80732600e-01 -1.52889534e-02 9.59664241e-01 3.31876010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.32, Y:168.81, Z:33.19 [[ 9.42269772e-01 -1.94675194e-01 -2.72450445e-01 2.45322785e+02] [ 1.86029873e-01 9.80861614e-01 -5.74750383e-02 1.68813509e+02] [ 2.78425147e-01 3.47306972e-03 9.60451652e-01 3.31870523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.35, Y:168.82, Z:33.20 [[ 9.42095438e-01 -1.94116797e-01 -2.73449914e-01 2.45349408e+02] [ 1.87377466e-01 9.80972656e-01 -5.08166696e-02 1.68815010e+02] [ 2.78111257e-01 -3.36419948e-03 9.60542977e-01 3.31958537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.38, Y:168.82, Z:33.20 [[ 9.41729512e-01 -1.96176242e-01 -2.73240569e-01 2.45375631e+02] [ 1.89796465e-01 9.80556402e-01 -4.98642584e-02 1.68819830e+02] [ 2.77709972e-01 -4.90145029e-03 9.60652459e-01 3.32030079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:168.83, Z:33.21 [[ 9.40882221e-01 -2.00212057e-01 -2.73232097e-01 2.45401418e+02] [ 1.91062102e-01 9.79743441e-01 -5.99838575e-02 1.68830378e+02] [ 2.79706846e-01 4.23344626e-03 9.60076121e-01 3.32096053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:168.82, Z:33.22 [[ 9.41918165e-01 -1.93995176e-01 -2.74146025e-01 2.45429259e+02] [ 1.92013800e-01 9.80792078e-01 -3.43161845e-02 1.68819853e+02] [ 2.75537423e-01 -2.03167826e-02 9.61075625e-01 3.32223689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:168.84, Z:33.22 [[ 9.41139374e-01 -2.02038009e-01 -2.70993215e-01 2.45455169e+02] [ 1.93159274e-01 9.79371423e-01 -5.93389542e-02 1.68839628e+02] [ 2.77391734e-01 3.50137362e-03 9.60750522e-01 3.32242847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:168.84, Z:33.23 [[ 9.41208905e-01 -2.00991185e-01 -2.71529631e-01 2.45480985e+02] [ 1.93258735e-01 9.79592919e-01 -5.52157037e-02 1.68841273e+02] [ 2.77086374e-01 -5.05960915e-04 9.60844881e-01 3.32339062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.51, Y:168.84, Z:33.24 [[ 9.41350587e-01 -2.00213911e-01 -2.71612705e-01 2.45508024e+02] [ 1.94597924e-01 9.79720291e-01 -4.77472544e-02 1.68842552e+02] [ 2.75664143e-01 -7.90836254e-03 9.61221482e-01 3.32435160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2727550960001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:245.54, Y:168.85, Z:33.25 [[ 9.41829624e-01 -2.01010797e-01 -2.69354076e-01 2.45535732e+02] [ 1.95428318e-01 9.79558471e-01 -4.76757180e-02 1.68849162e+02] [ 2.73431401e-01 -7.73701054e-03 9.61860389e-01 3.32503786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:168.86, Z:33.26 [[ 9.41331900e-01 -2.02947877e-01 -2.69641266e-01 2.45562039e+02] [ 1.95364548e-01 9.79189095e-01 -5.49673537e-02 1.68858865e+02] [ 2.75185295e-01 -9.35820599e-04 9.61390752e-01 3.32569022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:168.86, Z:33.27 [[ 9.41319202e-01 -2.00364132e-01 -2.71610703e-01 2.45588198e+02] [ 1.94545906e-01 9.79694956e-01 -4.84735425e-02 1.68859601e+02] [ 2.75807995e-01 -7.21167389e-03 9.61185696e-01 3.32659436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:168.87, Z:33.27 [[ 9.41409469e-01 -2.00552979e-01 -2.71158099e-01 2.45614645e+02] [ 1.93816486e-01 9.79675120e-01 -5.16897318e-02 1.68866650e+02] [ 2.76013373e-01 -3.89370687e-03 9.61145908e-01 3.32726148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:168.86, Z:33.29 [[ 9.41876425e-01 -1.93586229e-01 -2.74578170e-01 2.45641147e+02] [ 1.91413800e-01 9.80886776e-01 -3.49555353e-02 1.68859530e+02] [ 2.76097006e-01 -1.96342563e-02 9.60929206e-01 3.32859409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:168.89, Z:33.28 [[ 9.41297955e-01 -2.06730894e-01 -2.66871689e-01 2.45668559e+02] [ 1.93862236e-01 9.78233694e-01 -7.40018547e-02 1.68890885e+02] [ 2.76361348e-01 1.79214522e-02 9.60886688e-01 3.32793863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:168.88, Z:33.30 [[ 9.41654727e-01 -1.98495358e-01 -2.71819736e-01 2.45695725e+02] [ 1.93431831e-01 9.80054265e-01 -4.55825054e-02 1.68878425e+02] [ 2.75446007e-01 -9.65560752e-03 9.61268051e-01 3.32955784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:168.89, Z:33.30 [[ 9.41493671e-01 -2.01077066e-01 -2.70476768e-01 2.45722810e+02] [ 1.93282506e-01 9.79575422e-01 -5.54424542e-02 1.68890099e+02] [ 2.76100600e-01 -7.97078210e-05 9.61128739e-01 3.33011909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.75, Y:168.89, Z:33.31 [[ 9.42386851e-01 -1.95207092e-01 -2.71663789e-01 2.45748190e+02] [ 1.91616975e-01 9.80656263e-01 -3.99528368e-02 1.68886198e+02] [ 2.74207874e-01 -1.44043656e-02 9.61562560e-01 3.33117562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:168.90, Z:33.31 [[ 9.41893465e-01 -2.01318338e-01 -2.68900776e-01 2.45774457e+02] [ 1.92689886e-01 9.79520686e-01 -5.83937775e-02 1.68903233e+02] [ 2.75149610e-01 3.18625770e-03 9.61396141e-01 3.33148041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.80, Y:168.90, Z:33.33 [[ 9.42012146e-01 -1.96955231e-01 -2.71701591e-01 2.45802205e+02] [ 1.91643943e-01 9.80375407e-01 -4.62240315e-02 1.68900295e+02] [ 2.75473623e-01 -8.52636503e-03 9.61270817e-01 3.33285057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:168.91, Z:33.33 [[ 9.42176801e-01 -2.00544614e-01 -2.68486002e-01 2.45827112e+02] [ 1.92860067e-01 9.79684570e-01 -5.49830634e-02 1.68911882e+02] [ 2.74058151e-01 2.35384054e-05 9.61713122e-01 3.33315157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:168.91, Z:33.34 [[ 9.42400351e-01 -1.99679478e-01 -2.68346204e-01 2.45854043e+02] [ 1.93086157e-01 9.79854176e-01 -5.10247885e-02 1.68914641e+02] [ 2.73128752e-01 -3.72815879e-03 9.61970262e-01 3.33401457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.88, Y:168.92, Z:33.35 [[ 9.41275578e-01 -2.02097786e-01 -2.70475085e-01 2.45878796e+02] [ 1.95468937e-01 9.79355585e-01 -5.15221559e-02 1.68921320e+02] [ 2.75303798e-01 -4.37293013e-03 9.61347334e-01 3.33488189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.91, Y:168.92, Z:33.36 [[ 9.42414793e-01 -1.95225144e-01 -2.71553864e-01 2.45907189e+02] [ 1.92043805e-01 9.80630311e-01 -3.85145341e-02 1.68916465e+02] [ 2.73812955e-01 -1.58535705e-02 9.61652292e-01 3.33611404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.93, Y:168.93, Z:33.37 [[ 9.42528072e-01 -1.96518079e-01 -2.70224865e-01 2.45933590e+02] [ 1.90451675e-01 9.80484751e-01 -4.87628281e-02 1.68927423e+02] [ 2.74534137e-01 -5.50444397e-03 9.61561599e-01 3.33661709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.96, Y:168.94, Z:33.37 [[ 9.42623428e-01 -2.01340635e-01 -2.66313764e-01 2.45957797e+02] [ 1.90931464e-01 9.79468803e-01 -6.46996200e-02 1.68943421e+02] [ 2.73872686e-01 1.01397008e-02 9.61712503e-01 3.33666385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.99, Y:168.94, Z:33.38 [[ 9.42463016e-01 -1.98253763e-01 -2.69181927e-01 2.45985547e+02] [ 1.90681202e-01 9.80150709e-01 -5.42703068e-02 1.68943162e+02] [ 2.74598149e-01 -1.80176411e-04 9.61559059e-01 3.33766972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:168.95, Z:33.38 [[ 9.43299868e-01 -1.96616055e-01 -2.67446231e-01 2.46011441e+02] [ 1.90822070e-01 9.80462284e-01 -4.77561174e-02 1.68945552e+02] [ 2.71610562e-01 -5.98630416e-03 9.62388626e-01 3.33832253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.04, Y:168.95, Z:33.39 [[ 9.43453454e-01 -1.96722163e-01 -2.66825730e-01 2.46037480e+02] [ 1.89899939e-01 9.80456867e-01 -5.14037431e-02 1.68953486e+02] [ 2.71723375e-01 -2.17315110e-03 9.62372945e-01 3.33890056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.06, Y:168.96, Z:33.40 [[ 9.43547906e-01 -1.96527106e-01 -2.66635418e-01 2.46064419e+02] [ 1.89681701e-01 9.80496304e-01 -5.14572637e-02 1.68958522e+02] [ 2.71547789e-01 -2.02346613e-03 9.62422830e-01 3.33964775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.09, Y:168.96, Z:33.40 [[ 9.43540814e-01 -1.96051733e-01 -2.67010205e-01 2.46089968e+02] [ 1.89142479e-01 9.80591907e-01 -5.16201018e-02 1.68962519e+02] [ 2.71948257e-01 -1.79729921e-03 9.62310197e-01 3.34033097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.12, Y:168.97, Z:33.41 [[ 9.43498833e-01 -1.96108504e-01 -2.67116842e-01 2.46116421e+02] [ 1.89178709e-01 9.80580636e-01 -5.17013826e-02 1.68967630e+02] [ 2.72068684e-01 -1.75262533e-03 9.62276239e-01 3.34106558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:168.98, Z:33.42 [[ 9.42752120e-01 -1.98472162e-01 -2.68006047e-01 2.46143607e+02] [ 1.89331041e-01 9.80090295e-01 -5.98061130e-02 1.68977731e+02] [ 2.74539974e-01 5.64047604e-03 9.61559144e-01 3.34171825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:168.97, Z:33.43 [[ 9.43099542e-01 -1.92512202e-01 -2.71113088e-01 2.46170340e+02] [ 1.88492917e-01 9.81216345e-01 -4.10475785e-02 1.68971543e+02] [ 2.73922753e-01 -1.23909444e-02 9.61671872e-01 3.34298121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:168.99, Z:33.43 [[ 9.43380131e-01 -1.96191460e-01 -2.67474933e-01 2.46196090e+02] [ 1.88201830e-01 9.80563620e-01 -5.54532022e-02 1.68985887e+02] [ 2.73155634e-01 1.97417728e-03 9.61967828e-01 3.34316487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.22, Y:168.99, Z:33.44 [[ 9.43089581e-01 -1.95816756e-01 -2.68770983e-01 2.46222548e+02] [ 1.88695885e-01 9.80639574e-01 -5.23439575e-02 1.68989186e+02] [ 2.73817286e-01 -1.35093741e-03 9.61780780e-01 3.34395033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.25, Y:169.00, Z:33.45 [[ 9.41642812e-01 -2.02116869e-01 -2.69179466e-01 2.46251793e+02] [ 1.91895892e-01 9.79323159e-01 -6.40477662e-02 1.69002710e+02] [ 2.76558819e-01 8.65568490e-03 9.60958011e-01 3.34460690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.28, Y:168.99, Z:33.46 [[ 9.42761520e-01 -1.92859843e-01 -2.72040067e-01 2.46275662e+02] [ 1.90027098e-01 9.81082004e-01 -3.69838374e-02 1.68989639e+02] [ 2.74026311e-01 -1.68280456e-02 9.61574957e-01 3.34596914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.30, Y:169.00, Z:33.46 [[ 9.43138519e-01 -1.97569069e-01 -2.67312920e-01 2.46301891e+02] [ 1.91736405e-01 9.80270844e-01 -4.80231493e-02 1.69003342e+02] [ 2.71526950e-01 -5.96113646e-03 9.62412375e-01 3.34636937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.17275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.33, Y:169.02, Z:33.47 [[ 9.41967467e-01 -2.03060730e-01 -2.67326825e-01 2.46327746e+02] [ 1.92727170e-01 9.79121389e-01 -6.46339197e-02 1.69020045e+02] [ 2.74870023e-01 9.36190735e-03 9.61435814e-01 3.34688993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.36, Y:169.02, Z:33.48 [[ 9.42611216e-01 -1.97520313e-01 -2.69202195e-01 2.46355040e+02] [ 1.92866498e-01 9.80242198e-01 -4.39061113e-02 1.69015197e+02] [ 2.72555700e-01 -1.05336917e-02 9.62082341e-01 3.34815308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.38, Y:169.03, Z:33.49 [[ 9.42525681e-01 -1.99850435e-01 -2.67778164e-01 2.46380119e+02] [ 1.92810056e-01 9.79824298e-01 -5.26177428e-02 1.69026641e+02] [ 2.72891231e-01 -2.03674911e-03 9.62042737e-01 3.34867801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.41, Y:169.04, Z:33.49 [[ 9.41632158e-01 -2.03574211e-01 -2.68116428e-01 2.46407894e+02] [ 1.93787539e-01 9.79033428e-01 -6.27689213e-02 1.69039974e+02] [ 2.75273079e-01 7.14761203e-03 9.61339505e-01 3.34932639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.43, Y:169.03, Z:33.51 [[ 9.42481229e-01 -1.96590057e-01 -2.70335869e-01 2.46434436e+02] [ 1.92560325e-01 9.80401891e-01 -4.16251529e-02 1.69033024e+02] [ 2.73220888e-01 -1.28250375e-02 9.61865825e-01 3.35055375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.46, Y:169.05, Z:33.51 [[ 9.42343320e-01 -1.99672356e-01 -2.68551703e-01 2.46460201e+02] [ 1.92529953e-01 9.79861067e-01 -5.29575969e-02 1.69047372e+02] [ 2.73717527e-01 -1.80000899e-03 9.61808440e-01 3.35101756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.49, Y:169.05, Z:33.52 [[ 9.42238830e-01 -2.00029836e-01 -2.68652287e-01 2.46486089e+02] [ 1.92870505e-01 9.79788130e-01 -5.30677760e-02 1.69054079e+02] [ 2.73837460e-01 -1.81258316e-03 9.61774277e-01 3.35173221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.51, Y:169.07, Z:33.52 [[ 9.42515799e-01 -2.04715733e-01 -2.64112547e-01 2.46512647e+02] [ 1.93778231e-01 9.78746956e-01 -6.71147805e-02 1.69072737e+02] [ 2.72238803e-01 1.20774786e-02 9.62153921e-01 3.35161184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.54, Y:169.06, Z:33.54 [[ 9.42119205e-01 -1.96836273e-01 -2.71416444e-01 2.46539581e+02] [ 1.93393556e-01 9.80319598e-01 -3.96537239e-02 1.69060870e+02] [ 2.73880151e-01 -1.51316565e-02 9.61644787e-01 3.35357727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.57, Y:169.08, Z:33.54 [[ 9.41865454e-01 -2.01108528e-01 -2.69155765e-01 2.46565498e+02] [ 1.93916383e-01 9.79567012e-01 -5.33376579e-02 1.69075508e+02] [ 2.74382766e-01 -1.95681484e-03 9.61618567e-01 3.35404558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.59, Y:169.08, Z:33.55 [[ 9.41805642e-01 -2.01883345e-01 -2.68784761e-01 2.46592284e+02] [ 1.94717061e-01 9.79407347e-01 -5.33527462e-02 1.69081541e+02] [ 2.74020801e-01 -2.08906127e-03 9.61721496e-01 3.35479267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.62, Y:169.09, Z:33.56 [[ 9.41484654e-01 -2.03167173e-01 -2.68941900e-01 2.46618539e+02] [ 1.96018509e-01 9.79141186e-01 -5.34722494e-02 1.69087682e+02] [ 2.74195896e-01 -2.37428799e-03 9.61670928e-01 3.35563340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:169.09, Z:33.56 [[ 9.41427232e-01 -2.03455207e-01 -2.68925167e-01 2.46645417e+02] [ 1.96294063e-01 9.79081389e-01 -5.35562747e-02 1.69093264e+02] [ 2.74195929e-01 -2.36907816e-03 9.61670931e-01 3.35642033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:169.10, Z:33.57 [[ 9.41574511e-01 -2.03740600e-01 -2.68192484e-01 2.46674194e+02] [ 1.96004284e-01 9.79024885e-01 -5.56111016e-02 1.69099764e+02] [ 2.73897355e-01 -2.04880039e-04 9.61758908e-01 3.35709417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.70, Y:169.09, Z:33.58 [[ 9.42222301e-01 -1.98926814e-01 -2.69527844e-01 2.46696271e+02] [ 1.95714712e-01 9.79884057e-01 -3.90254570e-02 1.69094388e+02] [ 2.71869247e-01 -1.59799084e-02 9.62201515e-01 3.35822565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.73, Y:169.12, Z:33.59 [[ 9.40605500e-01 -2.10971558e-01 -2.65993037e-01 2.46725753e+02] [ 1.99183094e-01 9.77396517e-01 -7.08670859e-02 1.69121918e+02] [ 2.74931608e-01 1.36766545e-02 9.61366507e-01 3.35856610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.75, Y:169.12, Z:33.60 [[ 9.39649186e-01 -2.10532799e-01 -2.69694916e-01 2.46754042e+02] [ 2.00856235e-01 9.77572280e-01 -6.33183262e-02 1.69123774e+02] [ 2.76976858e-01 5.32710830e-03 9.60861823e-01 3.35969160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.78, Y:169.12, Z:33.61 [[ 9.40770377e-01 -2.03181382e-01 -2.71419276e-01 2.46778272e+02] [ 1.98839250e-01 9.79056837e-01 -4.37111361e-02 1.69116617e+02] [ 2.74616187e-01 -1.28466633e-02 9.61468103e-01 3.36078677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7127550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.80, Y:169.13, Z:33.61 [[ 9.40728424e-01 -2.06027101e-01 -2.69412074e-01 2.46803754e+02] [ 1.98694823e-01 9.78543719e-01 -5.45211579e-02 1.69128822e+02] [ 2.74864329e-01 -2.24118126e-03 9.61480409e-01 3.36127778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.83, Y:169.13, Z:33.62 [[ 9.40657157e-01 -2.05845119e-01 -2.69799741e-01 2.46830251e+02] [ 1.98458436e-01 9.78582329e-01 -5.46888890e-02 1.69134476e+02] [ 2.75278700e-01 -2.10053960e-03 9.61362172e-01 3.36209358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.86, Y:169.14, Z:33.63 [[ 9.40590264e-01 -2.04976677e-01 -2.70692664e-01 2.46858102e+02] [ 1.97623206e-01 9.78764220e-01 -5.44579740e-02 1.69139578e+02] [ 2.76106908e-01 -2.27251186e-03 9.61124243e-01 3.36297614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.89, Y:169.15, Z:33.64 [[ 9.40674687e-01 -2.05009036e-01 -2.70374608e-01 2.46885123e+02] [ 1.97577343e-01 9.78758169e-01 -5.47324448e-02 1.69145450e+02] [ 2.75852002e-01 -1.93447126e-03 9.61198175e-01 3.36380977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.91, Y:169.15, Z:33.65 [[ 9.40894984e-01 -2.04690924e-01 -2.69848578e-01 2.46909466e+02] [ 1.97663540e-01 9.78821373e-01 -5.32714263e-02 1.69150298e+02] [ 2.75037733e-01 -3.21640742e-03 9.61428052e-01 3.36460782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.93, Y:169.16, Z:33.65 [[ 9.40747663e-01 -2.05342992e-01 -2.69866800e-01 2.46934778e+02] [ 1.97851371e-01 9.78688653e-01 -5.49850553e-02 1.69157524e+02] [ 2.75406371e-01 -1.66645411e-03 9.61326455e-01 3.36541378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.96, Y:169.16, Z:33.66 [[ 9.40549011e-01 -2.05840267e-01 -2.70180202e-01 2.46959560e+02] [ 1.98332466e-01 9.78584042e-01 -5.51135694e-02 1.69163697e+02] [ 2.75738626e-01 -1.74849270e-03 9.61231061e-01 3.36616872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.99, Y:169.17, Z:33.67 [[ 9.40346020e-01 -2.06357215e-01 -2.70492258e-01 2.46985641e+02] [ 1.98841136e-01 9.78474954e-01 -5.52174584e-02 1.69169627e+02] [ 2.76064421e-01 -1.86147069e-03 9.61137332e-01 3.36696762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.01, Y:169.17, Z:33.68 [[ 9.40449955e-01 -2.05757130e-01 -2.70588036e-01 2.47011480e+02] [ 2.00349944e-01 9.78559033e-01 -4.77715232e-02 1.69171673e+02] [ 2.74615699e-01 -9.28557109e-03 9.61509228e-01 3.36783533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.04, Y:169.19, Z:33.68 [[ 9.39738747e-01 -2.12508874e-01 -2.67826558e-01 2.47037404e+02] [ 2.02453246e-01 9.77135346e-01 -6.49553671e-02 1.69189115e+02] [ 2.75506389e-01 6.81871934e-03 9.61275057e-01 3.36815595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:169.19, Z:33.69 [[ 9.39169919e-01 -2.12698612e-01 -2.69664912e-01 2.47063990e+02] [ 2.04436894e-01 9.77117854e-01 -5.87048225e-02 1.69190400e+02] [ 2.75980834e-01 4.34654467e-06 9.61163139e-01 3.36918245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.09, Y:169.20, Z:33.70 [[ 9.38969435e-01 -2.13913467e-01 -2.69401986e-01 2.47091553e+02] [ 2.05940958e-01 9.76851942e-01 -5.78671321e-02 1.69195707e+02] [ 2.75544412e-01 -1.14543480e-03 9.61287660e-01 3.36997994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.12, Y:169.20, Z:33.71 [[ 9.38288752e-01 -2.13753681e-01 -2.71888916e-01 2.47120127e+02] [ 2.08368446e-01 9.76828038e-01 -4.88832710e-02 1.69196120e+02] [ 2.76037695e-01 -1.07864476e-02 9.61086283e-01 3.37123568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.14, Y:169.20, Z:33.72 [[ 9.37839152e-01 -2.16372220e-01 -2.71368359e-01 2.47144136e+02] [ 2.09727018e-01 9.76288475e-01 -5.36226725e-02 1.69203773e+02] [ 2.76536259e-01 -6.62383496e-03 9.60980657e-01 3.37182987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.17, Y:169.23, Z:33.71 [[ 9.38229390e-01 -2.25699969e-01 -2.62269205e-01 2.47170520e+02] [ 2.12809475e-01 9.74059125e-01 -7.69476945e-02 1.69226511e+02] [ 2.72832805e-01 1.63812167e-02 9.61921991e-01 3.37134088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.20, Y:169.21, Z:33.73 [[ 9.38947710e-01 -2.17028668e-01 -2.66975194e-01 2.47197069e+02] [ 2.12922732e-01 9.76050497e-01 -4.46020017e-02 1.69211134e+02] [ 2.70261184e-01 -1.49661402e-02 9.62670716e-01 3.37273247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.22, Y:169.22, Z:33.74 [[ 9.36254231e-01 -2.21696462e-01 -2.72541179e-01 2.47223816e+02] [ 2.14655167e-01 9.75095539e-01 -5.57839466e-02 1.69223241e+02] [ 2.78120791e-01 -6.27441615e-03 9.60525615e-01 3.37413420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.25, Y:169.22, Z:33.75 [[ 9.36842458e-01 -2.18968582e-01 -2.72725079e-01 2.47249883e+02] [ 2.14243295e-01 9.75630794e-01 -4.73747279e-02 1.69223450e+02] [ 2.76452562e-01 -1.40468632e-02 9.60924902e-01 3.37498975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:169.25, Z:33.74 [[ 9.37820115e-01 -2.25455919e-01 -2.63937609e-01 2.47277890e+02] [ 2.13637890e-01 9.74177986e-01 -7.30486356e-02 1.69245359e+02] [ 2.73591456e-01 1.21194059e-02 9.61769637e-01 3.37449908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.30, Y:169.23, Z:33.77 [[ 9.36772833e-01 -2.15477557e-01 -2.75728275e-01 2.47303942e+02] [ 2.13173802e-01 9.76248461e-01 -3.86765104e-02 1.69229320e+02] [ 2.77513224e-01 -2.25469403e-02 9.60457207e-01 3.37678702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.33, Y:169.25, Z:33.77 [[ 9.36629085e-01 -2.20251736e-01 -2.72424541e-01 2.47327989e+02] [ 2.12899266e-01 9.75430557e-01 -5.66491871e-02 1.69245516e+02] [ 2.78208303e-01 -4.93970854e-03 9.60508063e-01 3.37707962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.36, Y:169.27, Z:33.76 [[ 9.37480487e-01 -2.28996752e-01 -2.62089343e-01 2.47355407e+02] [ 2.13526926e-01 9.73103747e-01 -8.64601013e-02 1.69270911e+02] [ 2.74839205e-01 2.50915261e-02 9.61162747e-01 3.37639385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.38, Y:169.24, Z:33.79 [[ 9.36510067e-01 -2.11928895e-01 -2.79347523e-01 2.47382928e+02] [ 2.12255255e-01 9.76770405e-01 -2.94496610e-02 1.69239042e+02] [ 2.79099628e-01 -3.17130759e-02 9.59738339e-01 3.37934209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.41, Y:169.26, Z:33.79 [[ 9.36498798e-01 -2.18982109e-01 -2.73892019e-01 2.47408473e+02] [ 2.12162210e-01 9.75704361e-01 -5.46644039e-02 1.69259828e+02] [ 2.79208164e-01 -6.91638764e-03 9.60205689e-01 3.37946514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.43, Y:169.27, Z:33.80 [[ 9.36359752e-01 -2.19780600e-01 -2.73727790e-01 2.47434758e+02] [ 2.12251820e-01 9.75538816e-01 -5.72117478e-02 1.69267084e+02] [ 2.79606116e-01 -4.52844349e-03 9.60104116e-01 3.38014208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.46, Y:169.27, Z:33.81 [[ 9.36263709e-01 -2.19825289e-01 -2.74020273e-01 2.47460682e+02] [ 2.12255379e-01 9.75529088e-01 -5.73642077e-02 1.69272952e+02] [ 2.79924851e-01 -4.45425103e-03 9.60011582e-01 3.38091892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.49, Y:169.28, Z:33.82 [[ 9.36291914e-01 -2.19838812e-01 -2.73913032e-01 2.47485640e+02] [ 2.12248591e-01 9.75526455e-01 -5.74340591e-02 1.69278910e+02] [ 2.79835644e-01 -4.36261012e-03 9.60038010e-01 3.38162931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.51, Y:169.29, Z:33.82 [[ 9.36337191e-01 -2.19344928e-01 -2.74154094e-01 2.47511419e+02] [ 2.11701773e-01 9.75638532e-01 -5.75483642e-02 1.69285334e+02] [ 2.80098240e-01 -4.15423413e-03 9.59962353e-01 3.38237311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.54, Y:169.29, Z:33.83 [[ 9.36438767e-01 -2.19362389e-01 -2.73792948e-01 2.47537009e+02] [ 2.11713938e-01 9.75634998e-01 -5.75635144e-02 1.69291031e+02] [ 2.79749253e-01 -4.06107688e-03 9.60064510e-01 3.38313672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.56, Y:169.30, Z:33.84 [[ 9.35787774e-01 -2.21784728e-01 -2.74067102e-01 2.47564728e+02] [ 2.12409759e-01 9.75094491e-01 -6.38187187e-02 1.69300819e+02] [ 2.81395338e-01 1.50624977e-03 9.59590744e-01 3.38387045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.59, Y:169.30, Z:33.85 [[ 9.36380019e-01 -2.18074726e-01 -2.75019771e-01 2.47591884e+02] [ 2.12208965e-01 9.75877359e-01 -5.12906894e-02 1.69298327e+02] [ 2.79570771e-01 -1.03340842e-02 9.60069472e-01 3.38491018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.62, Y:169.31, Z:33.85 [[ 9.36278168e-01 -2.20295914e-01 -2.73592586e-01 2.47617321e+02] [ 2.12631219e-01 9.75424455e-01 -5.77502980e-02 1.69307998e+02] [ 2.79591053e-01 -4.10398177e-03 9.60110410e-01 3.38549584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.64, Y:169.31, Z:33.86 [[ 9.36217715e-01 -2.20901936e-01 -2.73310674e-01 2.47643527e+02] [ 2.13266611e-01 9.75286815e-01 -5.77319809e-02 1.69313589e+02] [ 2.79309403e-01 -4.23833778e-03 9.60191801e-01 3.38622085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:169.33, Z:33.87 [[ 9.35363790e-01 -2.24721975e-01 -2.73120146e-01 2.47668977e+02] [ 2.13916371e-01 9.74402978e-01 -6.91275747e-02 1.69325946e+02] [ 2.81663569e-01 6.23455959e-03 9.59492972e-01 3.38681780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.70, Y:169.32, Z:33.88 [[ 9.35859357e-01 -2.18902382e-01 -2.76132234e-01 2.47696902e+02] [ 2.14471777e-01 9.75620919e-01 -4.65368483e-02 1.69317477e+02] [ 2.79587411e-01 -1.56706261e-02 9.59992349e-01 3.38803601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.72, Y:169.33, Z:33.88 [[ 9.35732060e-01 -2.22910908e-01 -2.73342714e-01 2.47723081e+02] [ 2.13944586e-01 9.74838818e-01 -6.25858920e-02 1.69332384e+02] [ 2.80416166e-01 8.34317053e-05 9.59878517e-01 3.38845772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.75, Y:169.33, Z:33.89 [[ 9.36212305e-01 -2.20544267e-01 -2.73617885e-01 2.47749260e+02] [ 2.14174592e-01 9.75338410e-01 -5.33313330e-02 1.69331126e+02] [ 2.78631952e-01 -8.67254854e-03 9.60358799e-01 3.38935124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.78, Y:169.34, Z:33.90 [[ 9.36133990e-01 -2.21617496e-01 -2.73018019e-01 2.47775482e+02] [ 2.13889182e-01 9.75125637e-01 -5.81498923e-02 1.69339131e+02] [ 2.79113903e-01 -3.95951001e-03 9.60249838e-01 3.39001180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.80, Y:169.34, Z:33.91 [[ 9.36054829e-01 -2.21637011e-01 -2.73273475e-01 2.47803177e+02] [ 2.13844610e-01 9.75121859e-01 -5.83767404e-02 1.69343966e+02] [ 2.79413385e-01 -3.79422988e-03 9.60163405e-01 3.39082921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.83, Y:169.35, Z:33.92 [[ 9.36653642e-01 -2.18971145e-01 -2.73370799e-01 2.47827617e+02] [ 2.12025838e-01 9.75710546e-01 -5.50815286e-02 1.69345928e+02] [ 2.78792036e-01 -6.36935837e-03 9.60330376e-01 3.39157762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.86, Y:169.36, Z:33.92 [[ 9.36029494e-01 -2.22555555e-01 -2.72612934e-01 2.47856601e+02] [ 2.13376999e-01 9.74919447e-01 -6.32639610e-02 1.69356875e+02] [ 2.79855397e-01 1.04760358e-03 9.60041593e-01 3.39229041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:169.36, Z:33.93 [[ 9.36040120e-01 -2.21007963e-01 -2.73832749e-01 2.47883186e+02] [ 2.13175404e-01 9.75265062e-01 -5.84320674e-02 1.69357981e+02] [ 2.79973465e-01 -3.67964737e-03 9.60000687e-01 3.39317116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.91, Y:169.36, Z:33.94 [[ 9.35971141e-01 -2.21068421e-01 -2.74019666e-01 2.47908577e+02] [ 2.13200124e-01 9.75251637e-01 -5.85657833e-02 1.69362696e+02] [ 2.80185173e-01 -3.60514355e-03 9.59939202e-01 3.39392111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.94, Y:169.37, Z:33.95 [[ 9.35772741e-01 -2.21657581e-01 -2.74221251e-01 2.47935064e+02] [ 2.13783428e-01 9.75117473e-01 -5.86733373e-02 1.69367520e+02] [ 2.80403324e-01 -3.71904962e-03 9.59875067e-01 3.39471012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0327550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.96, Y:169.37, Z:33.95 [[ 9.35621688e-01 -2.22010845e-01 -2.74450798e-01 2.47961596e+02] [ 2.14111185e-01 9.75037044e-01 -5.88146592e-02 1.69371084e+02] [ 2.80657187e-01 -3.73471487e-03 9.59800810e-01 3.39537438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.99, Y:169.38, Z:33.96 [[ 9.35837659e-01 -2.22320688e-01 -2.73461857e-01 2.47987864e+02] [ 2.14473545e-01 9.74966388e-01 -5.86655032e-02 1.69376319e+02] [ 2.79658674e-01 -3.74894686e-03 9.60092168e-01 3.39623327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.01, Y:169.38, Z:33.97 [[ 9.35842072e-01 -2.22580136e-01 -2.73235612e-01 2.48013536e+02] [ 2.14730707e-01 9.74907258e-01 -5.87074260e-02 1.69380983e+02] [ 2.79446489e-01 -3.73119720e-03 9.60154018e-01 3.39695733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.04, Y:169.39, Z:33.98 [[ 9.35787408e-01 -2.22347156e-01 -2.73612263e-01 2.48036944e+02] [ 2.12641124e-01 9.74963890e-01 -6.50320348e-02 1.69386393e+02] [ 2.81221764e-01 2.67494025e-03 9.59639080e-01 3.39762329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.06, Y:169.39, Z:33.99 [[ 9.35709392e-01 -2.21416238e-01 -2.74632088e-01 2.48064978e+02] [ 2.13042831e-01 9.75177262e-01 -6.03494767e-02 1.69388484e+02] [ 2.81177322e-01 -2.03882536e-03 9.59653665e-01 3.39857619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.09, Y:169.39, Z:33.99 [[ 9.35649977e-01 -2.22471400e-01 -2.73981014e-01 2.48093785e+02] [ 2.15251834e-01 9.74920313e-01 -5.65422907e-02 1.69392430e+02] [ 2.79688698e-01 -6.07112249e-03 9.60071546e-01 3.39941034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.12, Y:169.40, Z:34.00 [[ 9.35580780e-01 -2.23681785e-01 -2.73230788e-01 2.48119275e+02] [ 2.15850943e-01 9.74654169e-01 -5.88015408e-02 1.69397172e+02] [ 2.79458360e-01 -3.96353171e-03 9.60149632e-01 3.40002283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.14, Y:169.40, Z:34.01 [[ 9.35470967e-01 -2.23941070e-01 -2.73394343e-01 2.48144784e+02] [ 2.16100451e-01 9.74594458e-01 -5.88747654e-02 1.69401442e+02] [ 2.79633089e-01 -4.00500716e-03 9.60098586e-01 3.40077117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:169.41, Z:34.01 [[ 9.35454595e-01 -2.24938492e-01 -2.72630473e-01 2.48171728e+02] [ 2.17172929e-01 9.74363688e-01 -5.87479626e-02 1.69405280e+02] [ 2.78855911e-01 -4.25190657e-03 9.60323540e-01 3.40144740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:169.41, Z:34.02 [[ 9.35279516e-01 -2.25592077e-01 -2.72691110e-01 2.48198111e+02] [ 2.17825518e-01 9.74212087e-01 -5.88460061e-02 1.69410075e+02] [ 2.78934168e-01 -4.36161832e-03 9.60300321e-01 3.40219754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.22, Y:169.41, Z:34.03 [[ 9.35280787e-01 -2.26331419e-01 -2.72073407e-01 2.48223527e+02] [ 2.18605126e-01 9.74040052e-01 -5.88028529e-02 1.69414430e+02] [ 2.78319328e-01 -4.47946277e-03 9.60478155e-01 3.40288482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.25, Y:169.42, Z:34.04 [[ 9.35076881e-01 -2.26950441e-01 -2.72258560e-01 2.48249244e+02] [ 2.19221305e-01 9.73895422e-01 -5.89043788e-02 1.69418993e+02] [ 2.78519740e-01 -4.60475392e-03 9.60419466e-01 3.40362887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.28, Y:169.42, Z:34.04 [[ 9.34946884e-01 -2.27173515e-01 -2.72518840e-01 2.48276255e+02] [ 2.19420865e-01 9.73843368e-01 -5.90218548e-02 1.69422037e+02] [ 2.78798867e-01 -4.61402016e-03 9.60338431e-01 3.40438241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.30, Y:169.43, Z:34.05 [[ 9.34890787e-01 -2.27133260e-01 -2.72744750e-01 2.48302139e+02] [ 2.19339812e-01 9.73853220e-01 -5.91603950e-02 1.69426666e+02] [ 2.79050647e-01 -4.51527399e-03 9.60265770e-01 3.40513251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.33, Y:169.43, Z:34.06 [[ 9.34831345e-01 -2.27387541e-01 -2.72736618e-01 2.48328913e+02] [ 2.19593763e-01 9.73793712e-01 -5.91978604e-02 1.69432694e+02] [ 2.79050060e-01 -4.55124489e-03 9.60265771e-01 3.40592208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.36, Y:169.43, Z:34.07 [[ 9.35424640e-01 -2.21958463e-01 -2.75163923e-01 2.48359389e+02] [ 2.15966467e-01 9.74999473e-01 -5.22925755e-02 1.69432737e+02] [ 2.79891459e-01 -1.05104167e-02 9.59974115e-01 3.40712286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.38, Y:169.45, Z:34.07 [[ 9.35535157e-01 -2.25285733e-01 -2.72066737e-01 2.48381298e+02] [ 2.16254495e-01 9.74292708e-01 -6.31483445e-02 1.69446433e+02] [ 2.79299059e-01 2.41841568e-04 9.60204133e-01 3.40739529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:169.45, Z:34.08 [[ 9.36312456e-01 -2.21598785e-01 -2.72420564e-01 2.48407491e+02] [ 2.13526457e-01 9.75134400e-01 -5.93241419e-02 1.69449755e+02] [ 2.78792821e-01 -2.62306503e-03 9.60347688e-01 3.40827190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.43, Y:169.46, Z:34.09 [[ 9.36664999e-01 -2.20352251e-01 -2.72219699e-01 2.48432565e+02] [ 2.12213196e-01 9.75417984e-01 -5.93743776e-02 1.69455763e+02] [ 2.78611267e-01 -2.15471096e-03 9.60401541e-01 3.40900676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.46, Y:169.46, Z:34.10 [[ 9.37024558e-01 -2.19226581e-01 -2.71890940e-01 2.48458541e+02] [ 2.11049214e-01 9.75672359e-01 -5.93437181e-02 1.69461574e+02] [ 2.78286195e-01 -1.77584789e-03 9.60496559e-01 3.40978904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.49, Y:169.46, Z:34.11 [[ 9.37140169e-01 -2.14262439e-01 -2.75426778e-01 2.48487756e+02] [ 2.06809192e-01 9.76766637e-01 -5.61862609e-02 1.69462329e+02] [ 2.81066293e-01 -4.30638745e-03 9.59678693e-01 3.41099008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.51, Y:169.47, Z:34.11 [[ 9.37609943e-01 -2.18227599e-01 -2.70673806e-01 2.48511168e+02] [ 2.09581649e-01 9.75897857e-01 -6.08186245e-02 1.69474071e+02] [ 2.77422289e-01 2.95884677e-04 9.60748035e-01 3.41131830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.54, Y:169.48, Z:34.12 [[ 9.37500679e-01 -2.16351957e-01 -2.72551477e-01 2.48540667e+02] [ 2.08701829e-01 9.76309754e-01 -5.71210221e-02 1.69476611e+02] [ 2.78452910e-01 -3.33099470e-03 9.60444106e-01 3.41234328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.56, Y:169.49, Z:34.13 [[ 9.37306919e-01 -2.18618817e-01 -2.71406616e-01 2.48561464e+02] [ 2.08897157e-01 9.75802791e-01 -6.45824399e-02 1.69486840e+02] [ 2.78958270e-01 3.83749730e-03 9.60295557e-01 3.41278321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:169.49, Z:34.14 [[ 9.36323374e-01 -2.19242031e-01 -2.74283559e-01 2.48589745e+02] [ 2.09588234e-01 9.75666441e-01 -6.44031664e-02 1.69491949e+02] [ 2.81729145e-01 2.81558332e-03 9.59489844e-01 3.41386915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.62, Y:169.48, Z:34.16 [[ 9.36192798e-01 -2.14085296e-01 -2.78766087e-01 2.48620357e+02] [ 2.11466324e-01 9.76574301e-01 -3.98073871e-02 1.69482705e+02] [ 2.80757973e-01 -2.16822504e-02 9.59533658e-01 3.41558544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.65, Y:169.50, Z:34.16 [[ 9.35676059e-01 -2.20608640e-01 -2.75394519e-01 2.48646778e+02] [ 2.13498612e-01 9.75340996e-01 -5.59310740e-02 1.69497308e+02] [ 2.80942442e-01 -6.46298047e-03 9.59702857e-01 3.41601055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.67, Y:169.52, Z:34.16 [[ 9.35440698e-01 -2.28781911e-01 -2.69461571e-01 2.48667845e+02] [ 2.17821522e-01 9.73451901e-01 -7.03219766e-02 1.69515063e+02] [ 2.78396274e-01 7.08750948e-03 9.60440150e-01 3.41592079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.69, Y:169.51, Z:34.17 [[ 9.35145496e-01 -2.27284743e-01 -2.71743531e-01 2.48694303e+02] [ 2.19283775e-01 9.73821726e-01 -5.98821466e-02 1.69514240e+02] [ 2.78240053e-01 -3.59042772e-03 9.60504858e-01 3.41695594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.72, Y:169.53, Z:34.17 [[ 9.33741931e-01 -2.32716764e-01 -2.71972267e-01 2.48718576e+02] [ 2.21237590e-01 9.72514802e-01 -7.25871163e-02 1.69526743e+02] [ 2.81389294e-01 7.60714533e-03 9.59563545e-01 3.41748331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.75, Y:169.53, Z:34.18 [[ 9.33876374e-01 -2.32207670e-01 -2.71945798e-01 2.48748367e+02] [ 2.24286271e-01 9.72655034e-01 -6.03146251e-02 1.69527915e+02] [ 2.78514968e-01 -4.66730569e-03 9.60420548e-01 3.41833553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.77, Y:169.53, Z:34.20 [[ 9.33440682e-01 -2.30546402e-01 -2.74839680e-01 2.48774049e+02] [ 2.25853734e-01 9.72925135e-01 -4.90588776e-02 1.69526246e+02] [ 2.78708781e-01 -1.62800158e-02 9.60237667e-01 3.41978591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.80, Y:169.53, Z:34.21 [[ 9.32609794e-01 -2.30714674e-01 -2.77506236e-01 2.48802294e+02] [ 2.24451593e-01 9.72954957e-01 -5.45905977e-02 1.69532906e+02] [ 2.82595920e-01 -1.13749908e-02 9.59171599e-01 3.42079265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.83, Y:169.56, Z:34.20 [[ 9.32868088e-01 -2.42351168e-01 -2.66501486e-01 2.48827684e+02] [ 2.30253345e-01 9.70139499e-01 -7.62413856e-02 1.69557291e+02] [ 2.77020807e-01 9.76029705e-03 9.60814347e-01 3.42023827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.85, Y:169.55, Z:34.21 [[ 9.32529006e-01 -2.39209822e-01 -2.70496423e-01 2.48854749e+02] [ 2.31685070e-01 9.70944093e-01 -5.99132338e-02 1.69552834e+02] [ 2.76968738e-01 -6.79915444e-03 9.60854874e-01 3.42147586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.88, Y:169.56, Z:34.22 [[ 9.32095937e-01 -2.38445262e-01 -2.72655501e-01 2.48881172e+02] [ 2.31237282e-01 9.71120731e-01 -5.87694199e-02 1.69556709e+02] [ 2.78794699e-01 -8.26937943e-03 9.60315122e-01 3.42246850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.91, Y:169.57, Z:34.22 [[ 9.32347429e-01 -2.44518991e-01 -2.66343266e-01 2.48906401e+02] [ 2.33920122e-01 9.69635384e-01 -7.13344157e-02 1.69573741e+02] [ 2.75698475e-01 4.20540962e-03 9.61234969e-01 3.42245148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.93, Y:169.57, Z:34.24 [[ 9.32188637e-01 -2.37808404e-01 -2.72894683e-01 2.48933913e+02] [ 2.32073562e-01 9.71220150e-01 -5.36030073e-02 1.69568152e+02] [ 2.77788060e-01 -1.33635269e-02 9.60549431e-01 3.42402045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.17275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:248.96, Y:169.57, Z:34.25 [[ 9.31894555e-01 -2.36319726e-01 -2.75182713e-01 2.48958854e+02] [ 2.29960817e-01 9.71608105e-01 -5.56391365e-02 1.69573717e+02] [ 2.80518380e-01 -1.14314330e-02 9.59780580e-01 3.42501777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.98, Y:169.58, Z:34.26 [[ 9.31256399e-01 -2.33988609e-01 -2.79304225e-01 2.48984349e+02] [ 2.28053891e-01 9.72147439e-01 -5.40442280e-02 1.69576187e+02] [ 2.84170621e-01 -1.33673822e-02 9.58680537e-01 3.42634117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.23275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.01, Y:169.59, Z:34.27 [[ 9.32242425e-01 -2.36191078e-01 -2.74112818e-01 2.49010442e+02] [ 2.28194699e-01 9.71691005e-01 -6.11863614e-02 1.69591208e+02] [ 2.80804632e-01 -5.51057005e-03 9.59749130e-01 3.42658014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.04, Y:169.57, Z:34.30 [[ 9.30457070e-01 -2.21977194e-01 -2.91506030e-01 2.49042101e+02] [ 2.22659053e-01 9.74394394e-01 -3.12811502e-02 1.69572756e+02] [ 2.90985543e-01 -3.58006891e-02 9.56057385e-01 3.42966356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.06, Y:169.62, Z:34.27 [[ 9.32455362e-01 -2.40139860e-01 -2.69925630e-01 2.49061221e+02] [ 2.24532044e-01 9.70506043e-01 -8.77689068e-02 1.69619738e+02] [ 2.83041268e-01 2.12336342e-02 9.58872657e-01 3.42748766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.09, Y:169.61, Z:34.29 [[ 9.32204599e-01 -2.34285292e-01 -2.75871323e-01 2.49088616e+02] [ 2.24018197e-01 9.72165449e-01 -6.86308098e-02 1.69614411e+02] [ 2.84271758e-01 2.17776005e-03 9.58741271e-01 3.42884893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.11, Y:169.62, Z:34.30 [[ 9.31935646e-01 -2.31761452e-01 -2.78895287e-01 2.49114108e+02] [ 2.22125912e-01 9.72772598e-01 -6.61328301e-02 1.69618177e+02] [ 2.86628734e-01 -3.18328369e-04 9.58041684e-01 3.42986564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.14, Y:169.61, Z:34.31 [[ 9.33560277e-01 -2.25362547e-01 -2.78705817e-01 2.49141543e+02] [ 2.21093384e-01 9.74114976e-01 -4.70927774e-02 1.69613287e+02] [ 2.82104458e-01 -1.76560660e-02 9.59221214e-01 3.43102371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.17, Y:169.64, Z:34.31 [[ 9.32489868e-01 -2.33482336e-01 -2.75587817e-01 2.49167530e+02] [ 2.20727145e-01 9.72300321e-01 -7.68870115e-02 1.69638134e+02] [ 2.85905882e-01 1.08666472e-02 9.58196088e-01 3.43120231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.19, Y:169.63, Z:34.32 [[ 9.32631060e-01 -2.29036089e-01 -2.78822122e-01 2.49194230e+02] [ 2.20414309e-01 9.73412278e-01 -6.23383505e-02 1.69634829e+02] [ 2.85686609e-01 -3.31770336e-03 9.58317356e-01 3.43237330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.22, Y:169.64, Z:34.33 [[ 9.32528782e-01 -2.29976621e-01 -2.78389700e-01 2.49221679e+02] [ 2.21002031e-01 9.73193748e-01 -6.36555713e-02 1.69641972e+02] [ 2.85566409e-01 -2.16403679e-03 9.58356480e-01 3.43320246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.25, Y:169.65, Z:34.34 [[ 9.32266795e-01 -2.30068417e-01 -2.79190162e-01 2.49247160e+02] [ 2.21517275e-01 9.73167020e-01 -6.22579102e-02 1.69645989e+02] [ 2.86022237e-01 -3.80446141e-03 9.58215428e-01 3.43402056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.28, Y:169.65, Z:34.35 [[ 9.32576095e-01 -2.27959688e-01 -2.79886062e-01 2.49277099e+02] [ 2.21198738e-01 9.73622001e-01 -5.59581699e-02 1.69647193e+02] [ 2.85259435e-01 -9.72519228e-03 9.58400999e-01 3.43513823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.31, Y:169.65, Z:34.36 [[ 9.31490073e-01 -2.25895258e-01 -2.85127297e-01 2.49305164e+02] [ 2.19249058e-01 9.74091173e-01 -5.54638455e-02 1.69648102e+02] [ 2.90269003e-01 -1.08498697e-02 9.56883580e-01 3.43648173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.33, Y:169.65, Z:34.37 [[ 9.31646304e-01 -2.27072649e-01 -2.83677946e-01 2.49331672e+02] [ 2.20052218e-01 9.73831640e-01 -5.68239275e-02 1.69654984e+02] [ 2.89157719e-01 -9.48415912e-03 9.57234488e-01 3.43720835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.36, Y:169.66, Z:34.38 [[ 9.31936762e-01 -2.26408197e-01 -2.83254657e-01 2.49358443e+02] [ 2.21757916e-01 9.73878637e-01 -4.88244493e-02 1.69656805e+02] [ 2.86909915e-01 -1.73126631e-02 9.57801113e-01 3.43824335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.38, Y:169.67, Z:34.39 [[ 9.31168343e-01 -2.32901014e-01 -2.80504250e-01 2.49383718e+02] [ 2.22631364e-01 9.72499642e-01 -6.84084992e-02 1.69674263e+02] [ 2.88722692e-01 1.25078512e-03 9.57411950e-01 3.43860036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.41, Y:169.68, Z:34.39 [[ 9.31586587e-01 -2.32986309e-01 -2.79040877e-01 2.49409538e+02] [ 2.23237656e-01 9.72480001e-01 -6.66903016e-02 1.69679770e+02] [ 2.86899600e-01 -1.64640813e-04 9.57960643e-01 3.43916914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.44, Y:169.68, Z:34.40 [[ 9.31637715e-01 -2.31447698e-01 -2.80148411e-01 2.49439513e+02] [ 2.25528385e-01 9.72757889e-01 -5.36566486e-02 1.69679707e+02] [ 2.84935285e-01 -1.31928612e-02 9.58455963e-01 3.44038983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.46, Y:169.70, Z:34.40 [[ 9.31183922e-01 -2.39423112e-01 -2.74905578e-01 2.49461885e+02] [ 2.26175005e-01 9.70843932e-01 -7.94161670e-02 1.69702270e+02] [ 2.85904478e-01 1.17742873e-02 9.58185783e-01 3.43987138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:169.69, Z:34.42 [[ 9.32004417e-01 -2.27514981e-01 -2.82143049e-01 2.49490989e+02] [ 2.24445501e-01 9.73510383e-01 -4.36090771e-02 1.69686004e+02] [ 2.84590906e-01 -2.26818856e-02 9.58380691e-01 3.44177582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.51, Y:169.72, Z:34.41 [[ 9.31442782e-01 -2.39749803e-01 -2.73741439e-01 2.49513163e+02] [ 2.26504773e-01 9.70759939e-01 -7.95030123e-02 1.69717885e+02] [ 2.84798054e-01 1.20487646e-02 9.58511813e-01 3.44127370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.54, Y:169.70, Z:34.43 [[ 9.31701533e-01 -2.29255716e-01 -2.81734042e-01 2.49540321e+02] [ 2.24928459e-01 9.73188820e-01 -4.80698375e-02 1.69703086e+02] [ 2.85200704e-01 -1.85832625e-02 9.58287650e-01 3.44325517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.57, Y:169.73, Z:34.43 [[ 9.31713576e-01 -2.39107145e-01 -2.73381757e-01 2.49565412e+02] [ 2.24987868e-01 9.70873614e-01 -8.23704085e-02 1.69732737e+02] [ 2.85114487e-01 1.52380493e-02 9.58372334e-01 3.44266250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.59, Y:169.73, Z:34.44 [[ 9.31013784e-01 -2.33407217e-01 -2.80596516e-01 2.49594696e+02] [ 2.24497561e-01 9.72372992e-01 -6.39656932e-02 1.69727238e+02] [ 2.87774528e-01 -3.44029127e-03 9.57692010e-01 3.44421675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.62, Y:169.73, Z:34.45 [[ 9.31109509e-01 -2.32711733e-01 -2.80856425e-01 2.49622199e+02] [ 2.24594806e-01 9.72526816e-01 -6.12271584e-02 1.69732191e+02] [ 2.87388683e-01 -6.06970481e-03 9.57794813e-01 3.44513419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.65, Y:169.73, Z:34.47 [[ 9.30023527e-01 -2.25499054e-01 -2.90183419e-01 2.49651339e+02] [ 2.22094284e-01 9.73982852e-01 -4.50725351e-02 1.69725167e+02] [ 2.92797488e-01 -2.25295607e-02 9.55909018e-01 3.44732142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.68, Y:169.74, Z:34.47 [[ 9.30800950e-01 -2.30453627e-01 -2.83726483e-01 2.49675282e+02] [ 2.22811206e-01 9.73050930e-01 -5.93890061e-02 1.69741903e+02] [ 2.89766730e-01 -7.93809675e-03 9.57064381e-01 3.44723959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.70, Y:169.75, Z:34.48 [[ 9.29924935e-01 -2.32280234e-01 -2.85106134e-01 2.49702453e+02] [ 2.23421187e-01 9.72638646e-01 -6.36948765e-02 1.69750957e+02] [ 2.92100305e-01 -4.46729695e-03 9.56377256e-01 3.44827287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.73, Y:169.76, Z:34.49 [[ 9.30232409e-01 -2.34165699e-01 -2.82549273e-01 2.49725915e+02] [ 2.25830369e-01 9.72178539e-01 -6.22055700e-02 1.69758427e+02] [ 2.89254750e-01 -5.94256940e-03 9.57233710e-01 3.44882527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.75, Y:169.77, Z:34.50 [[ 9.29151183e-01 -2.37956418e-01 -2.82939608e-01 2.49750977e+02] [ 2.26869449e-01 9.71272476e-01 -7.18333604e-02 1.69770673e+02] [ 2.91904663e-01 2.55369896e-03 9.56444011e-01 3.44951768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:169.77, Z:34.51 [[ 9.29656751e-01 -2.34965736e-01 -2.83777073e-01 2.49777937e+02] [ 2.28249795e-01 9.71932310e-01 -5.70054068e-02 1.69768038e+02] [ 2.89206424e-01 -1.17765976e-02 9.57194315e-01 3.45056912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.80, Y:169.78, Z:34.51 [[ 9.28095423e-01 -2.41344211e-01 -2.83534578e-01 2.49803982e+02] [ 2.30271631e-01 9.70437911e-01 -7.22858044e-02 1.69783633e+02] [ 2.92598464e-01 1.79815449e-03 9.56233709e-01 3.45121865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.83, Y:169.78, Z:34.52 [[ 9.27697366e-01 -2.41216714e-01 -2.84942263e-01 2.49829363e+02] [ 2.33064205e-01 9.70436447e-01 -6.27230302e-02 1.69782940e+02] [ 2.91648201e-01 -8.22185206e-03 9.56490318e-01 3.45227651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.86, Y:169.78, Z:34.54 [[ 9.27405238e-01 -2.35702639e-01 -2.90454457e-01 2.49862543e+02] [ 2.31061056e-01 9.71617448e-01 -5.06983548e-02 1.69776857e+02] [ 2.94160354e-01 -2.00947937e-02 9.55544811e-01 3.45399296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.88, Y:169.80, Z:34.54 [[ 9.27052409e-01 -2.46466965e-01 -2.82538256e-01 2.49883072e+02] [ 2.35902677e-01 9.69151078e-01 -7.13870746e-02 1.69798604e+02] [ 2.91416811e-01 -4.71971358e-04 9.56596059e-01 3.45385261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.91, Y:169.80, Z:34.55 [[ 9.27573737e-01 -2.43038060e-01 -2.83794755e-01 2.49908966e+02] [ 2.36627631e-01 9.69914488e-01 -5.72123295e-02 1.69796055e+02] [ 2.89161418e-01 -1.40850264e-02 9.57176727e-01 3.45491121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.94, Y:169.82, Z:34.55 [[ 9.26215215e-01 -2.50020743e-01 -2.82161306e-01 2.49935598e+02] [ 2.37725299e-01 9.68228648e-01 -7.75884459e-02 1.69815340e+02] [ 2.92595381e-01 4.78671825e-03 9.56224362e-01 3.45545723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.96, Y:169.81, Z:34.57 [[ 9.27292469e-01 -2.43275851e-01 -2.84509292e-01 2.49962390e+02] [ 2.36683979e-01 9.69860900e-01 -5.78837471e-02 1.69808717e+02] [ 2.90016155e-01 -1.36636285e-02 9.56924205e-01 3.45668277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.99, Y:169.82, Z:34.57 [[ 9.27162617e-01 -2.45498739e-01 -2.83019170e-01 2.49988608e+02] [ 2.36882183e-01 9.69372184e-01 -6.48413463e-02 1.69819372e+02] [ 2.90269379e-01 -6.92372633e-03 9.56919928e-01 3.45732860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.02, Y:169.82, Z:34.58 [[ 9.27012914e-01 -2.45916130e-01 -2.83147162e-01 2.50016372e+02] [ 2.38907728e-01 9.69211787e-01 -5.95953788e-02 1.69824155e+02] [ 2.89085032e-01 -1.24003595e-02 9.57223106e-01 3.45827892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.04, Y:169.83, Z:34.59 [[ 9.28422556e-01 -2.42307784e-01 -2.81635393e-01 2.50039850e+02] [ 2.35797598e-01 9.70109834e-01 -5.73271551e-02 1.69827003e+02] [ 2.87108081e-01 -1.31851253e-02 9.57807445e-01 3.45896008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.07, Y:169.84, Z:34.60 [[ 9.27505437e-01 -2.47041427e-01 -2.80542684e-01 2.50066415e+02] [ 2.35925516e-01 9.69003262e-01 -7.32927653e-02 1.69843610e+02] [ 2.89953125e-01 1.79226068e-03 9.57039170e-01 3.45951221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.09, Y:169.84, Z:34.61 [[ 9.27910443e-01 -2.43204602e-01 -2.82548637e-01 2.50093480e+02] [ 2.35181322e-01 9.69938353e-01 -6.25246919e-02 1.69843298e+02] [ 2.89261052e-01 -8.43284726e-03 9.57213106e-01 3.46061924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.12, Y:169.86, Z:34.61 [[ 9.27658978e-01 -2.44478172e-01 -2.82275121e-01 2.50119208e+02] [ 2.34033077e-01 9.69654678e-01 -7.06988230e-02 1.69855074e+02] [ 2.90993710e-01 -4.77317093e-04 9.56724847e-01 3.46131402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5227550960001 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:250.15, Y:169.86, Z:34.62 [[ 9.28288289e-01 -2.41745013e-01 -2.82560083e-01 2.50146917e+02] [ 2.33467132e-01 9.70311986e-01 -6.31486207e-02 1.69857667e+02] [ 2.89437300e-01 -7.34836715e-03 9.57168768e-01 3.46224223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.17, Y:169.86, Z:34.63 [[ 9.28762877e-01 -2.40601310e-01 -2.81976113e-01 2.50172289e+02] [ 2.32821080e-01 9.70584987e-01 -6.13117273e-02 1.69863220e+02] [ 2.88433464e-01 -8.70592708e-03 9.57460361e-01 3.46301109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.20, Y:169.87, Z:34.64 [[ 9.28748086e-01 -2.41499408e-01 -2.81256161e-01 2.50198120e+02] [ 2.32126514e-01 9.70395255e-01 -6.67108013e-02 1.69873009e+02] [ 2.89040263e-01 -3.32948333e-03 9.57311152e-01 3.46369960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.22, Y:169.88, Z:34.64 [[ 9.28850270e-01 -2.41013635e-01 -2.81335392e-01 2.50224088e+02] [ 2.31549789e-01 9.70517200e-01 -6.69407226e-02 1.69880076e+02] [ 2.89174464e-01 -2.96524230e-03 9.57271820e-01 3.46442827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.25, Y:169.89, Z:34.65 [[ 9.29272531e-01 -2.40095846e-01 -2.80725041e-01 2.50252949e+02] [ 2.31356946e-01 9.70735729e-01 -6.43902724e-02 1.69885098e+02] [ 2.87969664e-01 -5.11157682e-03 9.57625890e-01 3.46520907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.28, Y:169.89, Z:34.66 [[ 9.29179390e-01 -2.41109591e-01 -2.80163927e-01 2.50277793e+02] [ 2.31038019e-01 9.70497677e-01 -6.89615299e-02 1.69894315e+02] [ 2.88525726e-01 -6.50886279e-04 9.57471922e-01 3.46576910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:250.30, Y:169.89, Z:34.67 [[ 9.30037251e-01 -2.36918573e-01 -2.80891974e-01 2.50302885e+02] [ 2.31198005e-01 9.71415752e-01 -5.38416118e-02 1.69892029e+02] [ 2.85618966e-01 -1.48669595e-02 9.58227937e-01 3.46685478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.33, Y:169.91, Z:34.67 [[ 9.28848756e-01 -2.43744605e-01 -2.78977698e-01 2.50328728e+02] [ 2.32194635e-01 9.69830359e-01 -7.42612045e-02 1.69912143e+02] [ 2.88661809e-01 4.20030264e-03 9.57421912e-01 3.46728363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.36, Y:169.91, Z:34.68 [[ 9.29940750e-01 -2.38113622e-01 -2.80200114e-01 2.50355794e+02] [ 2.32127643e-01 9.71136221e-01 -5.48743824e-02 1.69908276e+02] [ 2.85178818e-01 -1.40122678e-02 9.58371900e-01 3.46837971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.38, Y:169.93, Z:34.69 [[ 9.29322608e-01 -2.43059736e-01 -2.77995422e-01 2.50379801e+02] [ 2.32450876e-01 9.70010314e-01 -7.10392874e-02 1.69925117e+02] [ 2.86925217e-01 1.39813650e-03 9.57951964e-01 3.46876374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.40, Y:169.93, Z:34.69 [[ 9.31485898e-01 -2.42087145e-01 -2.71528701e-01 2.50401923e+02] [ 2.33488801e-01 9.70247332e-01 -6.40554031e-02 1.69931544e+02] [ 2.78956988e-01 -3.73220635e-03 9.60296345e-01 3.46878023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.43, Y:169.94, Z:34.70 [[ 9.29315382e-01 -2.43929127e-01 -2.77257104e-01 2.50431991e+02] [ 2.33281628e-01 9.69791773e-01 -7.12993642e-02 1.69939751e+02] [ 2.86273650e-01 1.58060727e-03 9.58146596e-01 3.47031678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.46, Y:169.94, Z:34.71 [[ 9.29157408e-01 -2.43082795e-01 -2.78526957e-01 2.50458276e+02] [ 2.33964087e-01 9.69998170e-01 -6.60632734e-02 1.69943359e+02] [ 2.86229484e-01 -3.78212527e-03 9.58153630e-01 3.47129377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.48, Y:169.98, Z:34.70 [[ 9.29964320e-01 -2.57185512e-01 -2.62720339e-01 2.50480877e+02] [ 2.39012237e-01 9.65904047e-01 -9.95114235e-02 1.69977191e+02] [ 2.79355535e-01 2.97486972e-02 9.59726784e-01 3.46999136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.51, Y:169.97, Z:34.72 [[ 9.29832996e-01 -2.49348641e-01 -2.70621238e-01 2.50509399e+02] [ 2.39396072e-01 9.68413781e-01 -6.97443162e-02 1.69965589e+02] [ 2.79463987e-01 6.49049668e-05 9.60156173e-01 3.47153318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.53, Y:169.97, Z:34.72 [[ 9.29244667e-01 -2.48924113e-01 -2.73022226e-01 2.50533128e+02] [ 2.39930457e-01 9.68515575e-01 -6.64150411e-02 1.69972055e+02] [ 2.80958584e-01 -3.79052478e-03 9.59712408e-01 3.47239806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.56, Y:169.98, Z:34.73 [[ 9.29146552e-01 -2.49445537e-01 -2.72880209e-01 2.50558064e+02] [ 2.39594825e-01 9.68388424e-01 -6.94131145e-02 1.69980868e+02] [ 2.81568827e-01 -8.85729832e-04 9.59540625e-01 3.47306361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.59, Y:169.97, Z:34.75 [[ 9.28277439e-01 -2.40131610e-01 -2.83967967e-01 2.50587795e+02] [ 2.38284766e-01 9.70304966e-01 -4.15769481e-02 1.69968270e+02] [ 2.85519468e-01 -2.90702976e-02 9.57931914e-01 3.47544929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.61, Y:170.01, Z:34.74 [[ 9.28758272e-01 -2.56308043e-01 -2.67795181e-01 2.50607868e+02] [ 2.39385776e-01 9.66302697e-01 -9.46231882e-02 1.70011905e+02] [ 2.83023890e-01 2.37757116e-02 9.58818123e-01 3.47405944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.64, Y:169.99, Z:34.77 [[ 9.27779996e-01 -2.42098956e-01 -2.83923186e-01 2.50639314e+02] [ 2.38497844e-01 9.69968829e-01 -4.77414755e-02 1.69987005e+02] [ 2.86954802e-01 -2.34214818e-02 9.57657755e-01 3.47694031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.66, Y:170.00, Z:34.77 [[ 9.28116754e-01 -2.46073688e-01 -2.79368987e-01 2.50663768e+02] [ 2.38393755e-01 9.69206228e-01 -6.17066079e-02 1.70002518e+02] [ 2.85950534e-01 -9.32888514e-03 9.58198969e-01 3.47731898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.69, Y:170.04, Z:34.76 [[ 9.28652065e-01 -2.60060290e-01 -2.64525969e-01 2.50686435e+02] [ 2.40927181e-01 9.65065632e-01 -1.02968053e-01 1.70040660e+02] [ 2.82062823e-01 3.18899987e-02 9.58865784e-01 3.47610002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.72, Y:170.00, Z:34.80 [[ 9.28153787e-01 -2.38373970e-01 -2.85846808e-01 2.50717767e+02] [ 2.38988869e-01 9.70451945e-01 -3.32767739e-02 1.70000058e+02] [ 2.85332907e-01 -3.74282414e-02 9.57697373e-01 3.47969601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.74, Y:170.03, Z:34.80 [[ 9.27657590e-01 -2.50899528e-01 -2.76587821e-01 2.50744433e+02] [ 2.40618907e-01 9.68012943e-01 -7.10878558e-02 1.70031935e+02] [ 2.85576500e-01 -6.07070215e-04 9.58355724e-01 3.47958996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.77, Y:170.03, Z:34.80 [[ 9.28359739e-01 -2.47417579e-01 -2.77367513e-01 2.50768184e+02] [ 2.38136456e-01 9.68902111e-01 -6.72289138e-02 1.70034767e+02] [ 2.85375584e-01 -3.63869973e-03 9.58408856e-01 3.48042422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.80, Y:170.04, Z:34.81 [[ 9.28918145e-01 -2.46109407e-01 -2.76660877e-01 2.50795041e+02] [ 2.38020830e-01 9.69214375e-01 -6.30045964e-02 1.70039207e+02] [ 2.83649722e-01 -7.32493871e-03 9.58899985e-01 3.48129823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.82, Y:170.05, Z:34.82 [[ 9.28379426e-01 -2.49504077e-01 -2.75425775e-01 2.50818613e+02] [ 2.37721976e-01 9.68360739e-01 -7.59324761e-02 1.70053084e+02] [ 2.85656970e-01 5.01938909e-03 9.58318789e-01 3.48183839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.85, Y:170.05, Z:34.83 [[ 9.28776991e-01 -2.44895481e-01 -2.78207663e-01 2.50846768e+02] [ 2.38995770e-01 9.69434100e-01 -5.54846628e-02 1.70048368e+02] [ 2.83291938e-01 -1.49575764e-02 9.58917071e-01 3.48306120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.87, Y:170.06, Z:34.84 [[ 9.28655968e-01 -2.48590821e-01 -2.75319263e-01 2.50872118e+02] [ 2.39514491e-01 9.68600253e-01 -6.66810265e-02 1.70062207e+02] [ 2.83250599e-01 -4.01921984e-03 9.59037509e-01 3.48352494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.90, Y:170.08, Z:34.84 [[ 9.28903597e-01 -2.52958897e-01 -2.70462390e-01 2.50897185e+02] [ 2.41019504e-01 9.67455874e-01 -7.70631620e-02 1.70077394e+02] [ 2.81154240e-01 6.39753739e-03 9.59641269e-01 3.48367645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.92, Y:170.07, Z:34.85 [[ 9.28960840e-01 -2.45964783e-01 -2.76646134e-01 2.50924903e+02] [ 2.39713013e-01 9.69183452e-01 -5.67548001e-02 1.70069650e+02] [ 2.82080537e-01 -1.35926914e-02 9.59294433e-01 3.48532918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.45275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.95, Y:170.08, Z:34.86 [[ 9.28870281e-01 -2.48875304e-01 -2.74337536e-01 2.50949397e+02] [ 2.39817330e-01 9.68527741e-01 -6.66458007e-02 1.70082539e+02] [ 2.82290008e-01 -3.88559168e-03 9.59321246e-01 3.48587504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.97, Y:170.09, Z:34.87 [[ 9.29039251e-01 -2.48906044e-01 -2.73736829e-01 2.50974934e+02] [ 2.39877851e-01 9.68520004e-01 -6.65403474e-02 1.70089968e+02] [ 2.81681890e-01 -3.84480784e-03 9.59500146e-01 3.48666535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.00, Y:170.10, Z:34.87 [[ 9.29025851e-01 -2.49234234e-01 -2.73483574e-01 2.50999800e+02] [ 2.40208765e-01 9.68435607e-01 -6.65749463e-02 1.70096826e+02] [ 2.81443987e-01 -3.84330549e-03 9.59569962e-01 3.48741861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.03, Y:170.10, Z:34.88 [[ 9.29024120e-01 -2.49231441e-01 -2.73491998e-01 2.51025334e+02] [ 2.40193282e-01 9.68436492e-01 -6.66179278e-02 1.70103712e+02] [ 2.81462913e-01 -3.80127878e-03 9.59564578e-01 3.48823483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.05, Y:170.11, Z:34.89 [[ 9.29084033e-01 -2.49544331e-01 -2.73002724e-01 2.51050541e+02] [ 2.40525357e-01 9.68355937e-01 -6.65907839e-02 1.70111143e+02] [ 2.80981161e-01 -3.79564383e-03 9.59705778e-01 3.48909171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.08, Y:170.12, Z:34.90 [[ 9.29178262e-01 -2.49505910e-01 -2.72716994e-01 2.51075094e+02] [ 2.40476899e-01 9.68366266e-01 -6.66155757e-02 1.70117890e+02] [ 2.80710917e-01 -3.68439233e-03 9.59785292e-01 3.48988156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.10, Y:170.13, Z:34.91 [[ 9.29249883e-01 -2.49657167e-01 -2.72334270e-01 2.51100548e+02] [ 2.40648683e-01 9.68327282e-01 -6.65618977e-02 1.70125466e+02] [ 2.80326358e-01 -3.68424770e-03 9.59897682e-01 3.49069147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.13, Y:170.13, Z:34.91 [[ 9.29339358e-01 -2.49527155e-01 -2.72148042e-01 2.51125167e+02] [ 2.40498313e-01 9.68361304e-01 -6.66104148e-02 1.70134359e+02] [ 2.80158740e-01 -3.54746472e-03 9.59947132e-01 3.49147654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.15, Y:170.14, Z:34.92 [[ 9.29199322e-01 -2.49629081e-01 -2.72532462e-01 2.51147445e+02] [ 2.38821945e-01 9.68338399e-01 -7.26967890e-02 1.70143805e+02] [ 2.82050881e-01 2.46307423e-03 9.59396286e-01 3.49217257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.18, Y:170.15, Z:34.93 [[ 9.29180365e-01 -2.49400205e-01 -2.72806500e-01 2.51176227e+02] [ 2.41145426e-01 9.68379599e-01 -6.39518301e-02 1.70147452e+02] [ 2.80129849e-01 -6.36325495e-03 9.59941028e-01 3.49321922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:170.16, Z:34.94 [[ 9.29143349e-01 -2.50652161e-01 -2.71783243e-01 2.51200793e+02] [ 2.41655337e-01 9.68069977e-01 -6.66574668e-02 1.70157217e+02] [ 2.79813036e-01 -3.74352914e-03 9.60047213e-01 3.49400809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.23, Y:170.16, Z:34.95 [[ 9.28988576e-01 -2.51420622e-01 -2.71602461e-01 2.51226570e+02] [ 2.42449623e-01 9.67870032e-01 -6.66767017e-02 1.70164773e+02] [ 2.79639780e-01 -3.90801998e-03 9.60097037e-01 3.49483022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.25, Y:170.18, Z:34.95 [[ 9.29846584e-01 -2.51710668e-01 -2.68378594e-01 2.51251612e+02] [ 2.40588855e-01 9.67792737e-01 -7.41230144e-02 1.70175826e+02] [ 2.78392407e-01 4.35413301e-03 9.60457552e-01 3.49509877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.28, Y:170.17, Z:34.97 [[ 9.28634856e-01 -2.47757983e-01 -2.76139975e-01 2.51282519e+02] [ 2.42746658e-01 9.68654010e-01 -5.27585898e-02 1.70171594e+02] [ 2.80555456e-01 -1.80385908e-02 9.59668300e-01 3.49713565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.30, Y:170.19, Z:34.97 [[ 9.29240477e-01 -2.52114643e-01 -2.70093212e-01 2.51301450e+02] [ 2.42753862e-01 9.67694675e-01 -6.80997621e-02 1.70189339e+02] [ 2.78536711e-01 -2.28511509e-03 9.60422865e-01 3.49718116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:170.19, Z:34.98 [[ 9.29069536e-01 -2.48069364e-01 -2.74392763e-01 2.51328520e+02] [ 2.39061228e-01 9.68734247e-01 -6.63602938e-02 1.70191881e+02] [ 2.82275623e-01 -3.94334356e-03 9.59325244e-01 3.49834325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.35, Y:170.21, Z:34.99 [[ 9.27811308e-01 -2.57999701e-01 -2.69448198e-01 2.51353147e+02] [ 2.46333315e-01 9.66132358e-01 -7.68645865e-02 1.70213284e+02] [ 2.80153664e-01 4.94176459e-03 9.59942448e-01 3.49860433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.38, Y:170.22, Z:34.99 [[ 9.27342597e-01 -2.57440019e-01 -2.71588558e-01 2.51377551e+02] [ 2.45725250e-01 9.66283389e-01 -7.69123796e-02 1.70220424e+02] [ 2.82231837e-01 4.58795935e-03 9.59335260e-01 3.49946812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.99275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:251.40, Y:170.22, Z:35.00 [[ 9.27715281e-01 -2.54353577e-01 -2.73218989e-01 2.51403578e+02] [ 2.46424769e-01 9.67075177e-01 -6.35644194e-02 1.70220756e+02] [ 2.80391139e-01 -8.35824290e-03 9.59849441e-01 3.50044257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.43, Y:170.23, Z:35.01 [[ 9.27358061e-01 -2.57506128e-01 -2.71473058e-01 2.51430558e+02] [ 2.49032744e-01 9.66254479e-01 -6.58405189e-02 1.70233240e+02] [ 2.79266396e-01 -6.54794487e-03 9.60191338e-01 3.50126226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.46, Y:170.24, Z:35.02 [[ 9.27448212e-01 -2.58192795e-01 -2.70511174e-01 2.51455963e+02] [ 2.48491721e-01 9.66090985e-01 -7.01432352e-02 1.70243534e+02] [ 2.79448884e-01 -2.16556896e-03 9.60158128e-01 3.50197191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.48, Y:170.25, Z:35.03 [[ 9.26928970e-01 -2.59557256e-01 -2.70984715e-01 2.51480698e+02] [ 2.50742472e-01 9.65711681e-01 -6.72990456e-02 1.70253953e+02] [ 2.79161060e-01 -5.56594229e-03 9.60228162e-01 3.50285215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.51, Y:170.26, Z:35.04 [[ 9.26667056e-01 -2.59934799e-01 -2.71518079e-01 2.51506549e+02] [ 2.51544398e-01 9.65599139e-01 -6.59068884e-02 1.70262203e+02] [ 2.79309118e-01 -7.22510951e-03 9.60174054e-01 3.50368163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.53, Y:170.27, Z:35.04 [[ 9.26858539e-01 -2.59843864e-01 -2.70950946e-01 2.51530307e+02] [ 2.50169165e-01 9.65647058e-01 -7.02933011e-02 1.70272431e+02] [ 2.79908267e-01 -2.63162550e-03 9.60023144e-01 3.50438310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.56, Y:170.30, Z:35.04 [[ 9.25618690e-01 -2.69519218e-01 -2.65686717e-01 2.51555537e+02] [ 2.53940201e-01 9.62832112e-01 -9.20255353e-02 1.70297404e+02] [ 2.80614353e-01 1.77120174e-02 9.59657163e-01 3.50448604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.58, Y:170.29, Z:35.06 [[ 9.26140501e-01 -2.63950338e-01 -2.69432722e-01 2.51583726e+02] [ 2.54704000e-01 9.64526405e-01 -6.93879360e-02 1.70294480e+02] [ 2.78189944e-01 -4.36261442e-03 9.60516175e-01 3.50561900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.61, Y:170.30, Z:35.06 [[ 9.26044317e-01 -2.63717919e-01 -2.69990337e-01 2.51610147e+02] [ 2.55769912e-01 9.64558103e-01 -6.48800355e-02 1.70300455e+02] [ 2.77531396e-01 -8.97361663e-03 9.60674658e-01 3.50647825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.64, Y:170.31, Z:35.07 [[ 9.25901716e-01 -2.64997209e-01 -2.69225725e-01 2.51635381e+02] [ 2.55790992e-01 9.64238150e-01 -6.93956713e-02 1.70309654e+02] [ 2.77987374e-01 -4.61194414e-03 9.60573657e-01 3.50721904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.66, Y:170.30, Z:35.09 [[ 9.25868288e-01 -2.55514178e-01 -2.78353047e-01 2.51660857e+02] [ 2.54131383e-01 9.66270888e-01 -4.16870685e-02 1.70299517e+02] [ 2.79616082e-01 -3.21415100e-02 9.59573744e-01 3.50931374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.69, Y:170.33, Z:35.10 [[ 9.24215348e-01 -2.68473979e-01 -2.71565302e-01 2.51686155e+02] [ 2.57211605e-01 9.63286095e-01 -7.69551092e-02 1.70331044e+02] [ 2.82255524e-01 1.27334576e-03 9.59338417e-01 3.50960049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.71, Y:170.33, Z:35.10 [[ 9.24438083e-01 -2.65432881e-01 -2.73787539e-01 2.51709887e+02] [ 2.55951765e-01 9.64116780e-01 -7.04806934e-02 1.70334614e+02] [ 2.82671054e-01 -4.92136694e-03 9.59204282e-01 3.51044513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.74, Y:170.35, Z:35.11 [[ 9.23536720e-01 -2.68029070e-01 -2.74299735e-01 2.51735393e+02] [ 2.58301323e-01 9.63399696e-01 -7.17039257e-02 1.70346657e+02] [ 2.83479018e-01 -4.63077606e-03 9.58967258e-01 3.51122972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.76, Y:170.35, Z:35.12 [[ 9.24134197e-01 -2.65267418e-01 -2.74971240e-01 2.51759650e+02] [ 2.57089667e-01 9.64126695e-01 -6.60652573e-02 1.70350041e+02] [ 2.82632073e-01 -9.63910112e-03 9.59179962e-01 3.51202912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.79, Y:170.36, Z:35.13 [[ 9.23020276e-01 -2.70083708e-01 -2.74022557e-01 2.51787188e+02] [ 2.60246881e-01 9.62826254e-01 -7.23682667e-02 1.70363596e+02] [ 2.83381601e-01 -4.51613811e-03 9.58996597e-01 3.51282717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.81, Y:170.37, Z:35.14 [[ 9.22569135e-01 -2.70167617e-01 -2.75455350e-01 2.51812406e+02] [ 2.61309401e-01 9.62778177e-01 -6.91055629e-02 1.70371425e+02] [ 2.83872485e-01 -8.22441324e-03 9.58826768e-01 3.51369276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.84, Y:170.38, Z:35.15 [[ 9.22310415e-01 -2.70599144e-01 -2.75897810e-01 2.51838249e+02] [ 2.61700791e-01 9.62656590e-01 -6.93179965e-02 1.70380024e+02] [ 2.84352236e-01 -8.26996517e-03 9.58684210e-01 3.51450878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.86, Y:170.39, Z:35.15 [[ 9.22117424e-01 -2.70779949e-01 -2.76365114e-01 2.51862872e+02] [ 2.61828842e-01 9.62606009e-01 -6.95365230e-02 1.70390781e+02] [ 2.84859816e-01 -8.23951848e-03 9.58533774e-01 3.51529985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.89, Y:170.40, Z:35.16 [[ 9.22165083e-01 -2.70565355e-01 -2.76416261e-01 2.51887871e+02] [ 2.61569688e-01 9.62667805e-01 -6.96562612e-02 1.70399234e+02] [ 2.84943606e-01 -8.06754317e-03 9.58510332e-01 3.51607967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.91, Y:170.41, Z:35.17 [[ 9.22163042e-01 -2.70677712e-01 -2.76313049e-01 2.51912960e+02] [ 2.61680180e-01 9.62636342e-01 -6.96760854e-02 1.70407748e+02] [ 2.84848746e-01 -8.05293762e-03 9.58538649e-01 3.51687910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.94, Y:170.43, Z:35.17 [[ 9.22837805e-01 -2.76940471e-01 -2.67720677e-01 2.51938163e+02] [ 2.61759855e-01 9.60778711e-01 -9.15753655e-02 1.70431954e+02] [ 2.82581252e-01 1.44306837e-02 9.59134814e-01 3.51674457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6527550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:251.97, Y:170.41, Z:35.19 [[ 9.22584014e-01 -2.63536361e-01 -2.81757561e-01 2.51968136e+02] [ 2.60879370e-01 9.64196134e-01 -4.76210964e-02 1.70411811e+02] [ 2.84219441e-01 -2.95702727e-02 9.58303140e-01 3.51896030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.99, Y:170.45, Z:35.18 [[ 9.22738348e-01 -2.77510012e-01 -2.67473614e-01 2.51990866e+02] [ 2.61258096e-01 9.60553033e-01 -9.52999410e-02 1.70450795e+02] [ 2.83369279e-01 1.80572631e-02 9.58840856e-01 3.51832128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.02, Y:170.45, Z:35.19 [[ 9.23300680e-01 -2.69670797e-01 -2.73484031e-01 2.52018887e+02] [ 2.59719630e-01 9.62944607e-01 -7.26869808e-02 1.70446648e+02] [ 2.82951529e-01 -3.91723258e-03 9.59126210e-01 3.51937891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.05, Y:170.46, Z:35.20 [[ 9.23405883e-01 -2.68801817e-01 -2.73983864e-01 2.52045069e+02] [ 2.58308373e-01 9.63193282e-01 -7.44008533e-02 1.70455608e+02] [ 2.83898502e-01 -2.07014052e-03 9.58852103e-01 3.52019745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.07, Y:170.46, Z:35.21 [[ 9.24353447e-01 -2.60957402e-01 -2.78337814e-01 2.52070889e+02] [ 2.54557122e-01 9.65221201e-01 -5.95710068e-02 1.70455266e+02] [ 2.84203055e-01 -1.57882074e-02 9.58634110e-01 3.52145297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.10, Y:170.46, Z:35.23 [[ 9.24326371e-01 -2.55030414e-01 -2.83866603e-01 2.52097417e+02] [ 2.51412092e-01 9.66600105e-01 -4.97613965e-02 1.70455255e+02] [ 2.87076158e-01 -2.53717255e-02 9.57571697e-01 3.52311744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.12, Y:170.50, Z:35.22 [[ 9.25511601e-01 -2.69037976e-01 -2.66546138e-01 2.52119357e+02] [ 2.50159463e-01 9.62700973e-01 -1.03087728e-01 1.70498093e+02] [ 2.84338740e-01 2.87298493e-02 9.58293315e-01 3.52215941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.15, Y:170.46, Z:35.25 [[ 9.25529916e-01 -2.47261893e-01 -2.86802947e-01 2.52150405e+02] [ 2.46456423e-01 9.68348008e-01 -3.95141300e-02 1.70463689e+02] [ 2.87495401e-01 -3.41129191e-02 9.57174333e-01 3.52495131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.17, Y:170.49, Z:35.25 [[ 9.26699885e-01 -2.52193485e-01 -2.78614016e-01 2.52172566e+02] [ 2.42029335e-01 9.67675278e-01 -7.08968061e-02 1.70489356e+02] [ 2.87487608e-01 -1.73270272e-03 9.57782790e-01 3.52518089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.20, Y:170.50, Z:35.26 [[ 9.27200501e-01 -2.50669927e-01 -2.78323226e-01 2.52198761e+02] [ 2.40447395e-01 9.68071852e-01 -7.08656475e-02 1.70495900e+02] [ 2.87200768e-01 -1.21543074e-03 9.57869637e-01 3.52601765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.22, Y:170.52, Z:35.25 [[ 9.28358832e-01 -2.58420822e-01 -2.67148941e-01 2.52222281e+02] [ 2.39012700e-01 9.65498538e-01 -1.03370706e-01 1.70523545e+02] [ 2.84645055e-01 3.21131180e-02 9.58094954e-01 3.52541811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.25, Y:170.49, Z:35.28 [[ 9.28190688e-01 -2.38666809e-01 -2.85482400e-01 2.52254732e+02] [ 2.37414725e-01 9.70603793e-01 -3.95287862e-02 1.70488432e+02] [ 2.86524509e-01 -3.10874741e-02 9.57568418e-01 3.52814483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.28, Y:170.51, Z:35.28 [[ 9.28244081e-01 -2.47592983e-01 -2.77597985e-01 2.52277297e+02] [ 2.37217757e-01 9.68864136e-01 -7.09226405e-02 1.70513378e+02] [ 2.86514680e-01 -1.76503152e-05 9.58075852e-01 3.52842456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.30, Y:170.52, Z:35.29 [[ 9.28322936e-01 -2.47744382e-01 -2.77198931e-01 2.52303207e+02] [ 2.37378096e-01 9.68825433e-01 -7.09148736e-02 1.70518617e+02] [ 2.86126136e-01 3.09490749e-05 9.58191961e-01 3.52919063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.33, Y:170.52, Z:35.30 [[ 9.28069376e-01 -2.48962743e-01 -2.76956289e-01 2.52329680e+02] [ 2.38656047e-01 9.68513015e-01 -7.08930932e-02 1.70524465e+02] [ 2.85885510e-01 -3.03584603e-04 9.58263734e-01 3.53000026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.36, Y:170.53, Z:35.31 [[ 9.27505063e-01 -2.51972679e-01 -2.76123393e-01 2.52356827e+02] [ 2.41832471e-01 9.67733683e-01 -7.07712839e-02 1.70527921e+02] [ 2.85046338e-01 -1.13487823e-03 9.58513066e-01 3.53082716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.38, Y:170.53, Z:35.32 [[ 9.26961471e-01 -2.54212867e-01 -2.75895358e-01 2.52382993e+02] [ 2.44156011e-01 9.67146767e-01 -7.08164797e-02 1.70532994e+02] [ 2.84833764e-01 -1.71736167e-03 9.58575390e-01 3.53158905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.41, Y:170.54, Z:35.32 [[ 9.26422449e-01 -2.56341812e-01 -2.75735963e-01 2.52408588e+02] [ 2.46358433e-01 9.66583540e-01 -7.08786498e-02 1.70537833e+02] [ 2.84691005e-01 -2.26630756e-03 9.58616657e-01 3.53239870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.44, Y:170.54, Z:35.33 [[ 9.25922611e-01 -2.58625256e-01 -2.75282210e-01 2.52435472e+02] [ 2.48753612e-01 9.65973398e-01 -7.08310358e-02 1.70543273e+02] [ 2.84233987e-01 -2.89338638e-03 9.58750577e-01 3.53316434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.46, Y:170.55, Z:35.34 [[ 9.24641797e-01 -2.62897836e-01 -2.75539970e-01 2.52460725e+02] [ 2.53162019e-01 9.64814941e-01 -7.10008647e-02 1.70547225e+02] [ 2.84511053e-01 -4.10588785e-03 9.58663967e-01 3.53395462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.49, Y:170.55, Z:35.35 [[ 9.24139007e-01 -2.65034205e-01 -2.75179879e-01 2.52487399e+02] [ 2.55403954e-01 9.64227494e-01 -7.09518116e-02 1.70552874e+02] [ 2.84140662e-01 -4.71269246e-03 9.58771023e-01 3.53474802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.51, Y:170.56, Z:35.36 [[ 9.22994425e-01 -2.68549265e-01 -2.75613105e-01 2.52514435e+02] [ 2.59011303e-01 9.63249071e-01 -7.11644024e-02 1.70557211e+02] [ 2.84595215e-01 -5.70256265e-03 9.58630818e-01 3.53555788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.54, Y:170.56, Z:35.36 [[ 9.22404061e-01 -2.70364192e-01 -2.75815070e-01 2.52540239e+02] [ 2.60860086e-01 9.62738405e-01 -7.13216570e-02 1.70562704e+02] [ 2.84820583e-01 -6.16175696e-03 9.58561040e-01 3.53631103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.57, Y:170.57, Z:35.37 [[ 9.21720804e-01 -2.72143239e-01 -2.76349086e-01 2.52566601e+02] [ 2.62666387e-01 9.62233565e-01 -7.15047964e-02 1.70568215e+02] [ 2.85371913e-01 -6.68015767e-03 9.58393576e-01 3.53707092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.37275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.59, Y:170.58, Z:35.38 [[ 9.18851853e-01 -2.80390339e-01 -2.77655415e-01 2.52594858e+02] [ 2.67260143e-01 9.59878588e-01 -8.48829287e-02 1.70581585e+02] [ 2.90315841e-01 3.78861027e-03 9.56923382e-01 3.53783608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4027550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.62, Y:170.57, Z:35.39 [[ 9.20379213e-01 -2.71637468e-01 -2.81274228e-01 2.52621399e+02] [ 2.66686102e-01 9.62124904e-01 -5.65171845e-02 1.70568477e+02] [ 2.85973124e-01 -2.29946857e-02 9.57961699e-01 3.53888646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.65, Y:170.58, Z:35.39 [[ 9.19710634e-01 -2.77280626e-01 -2.77934893e-01 2.52646459e+02] [ 2.67837050e-01 9.60755332e-01 -7.21976897e-02 1.70583795e+02] [ 2.87046451e-01 -8.04027902e-03 9.57882920e-01 3.53942599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.67, Y:170.59, Z:35.40 [[ 9.19383530e-01 -2.78244111e-01 -2.78054203e-01 2.52673228e+02] [ 2.68804668e-01 9.60475027e-01 -7.23309921e-02 1.70588157e+02] [ 2.87189791e-01 -8.24234471e-03 9.57838237e-01 3.54020350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.49275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.70, Y:170.61, Z:35.41 [[ 9.17454831e-01 -2.84480933e-01 -2.78113705e-01 2.52698871e+02] [ 2.69654666e-01 9.58643733e-01 -9.10414952e-02 1.70605429e+02] [ 2.92511530e-01 8.53180131e-03 9.56223935e-01 3.54091644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.73, Y:170.59, Z:35.42 [[ 9.19950396e-01 -2.72111232e-01 -2.82217551e-01 2.52727487e+02] [ 2.68174920e-01 9.61896046e-01 -5.32748387e-02 1.70586620e+02] [ 2.85960628e-01 -2.66734602e-02 9.57870057e-01 3.54220313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.55275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:252.75, Y:170.60, Z:35.43 [[ 9.20130327e-01 -2.76530926e-01 -2.77291956e-01 2.52750921e+02] [ 2.66997719e-01 9.60976151e-01 -7.23675036e-02 1.70603808e+02] [ 2.86482810e-01 -7.44878520e-03 9.58056426e-01 3.54261729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.78, Y:170.61, Z:35.43 [[ 9.20610213e-01 -2.75407524e-01 -2.76816782e-01 2.52776983e+02] [ 2.65845118e-01 9.61301769e-01 -7.22861131e-02 1.70610260e+02] [ 2.86012602e-01 -7.04305612e-03 9.58199972e-01 3.54342514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.80, Y:170.62, Z:35.44 [[ 9.21201479e-01 -2.74091723e-01 -2.76154960e-01 2.52802646e+02] [ 2.64488999e-01 9.61681456e-01 -7.22104378e-02 1.70616806e+02] [ 2.85365387e-01 -6.51958679e-03 9.58396625e-01 3.54420887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.83, Y:170.62, Z:35.45 [[ 9.22556232e-01 -2.70041707e-01 -2.75621980e-01 2.52829294e+02] [ 2.60270993e-01 9.62834811e-01 -7.21674289e-02 1.70622807e+02] [ 2.84866652e-01 -5.15789513e-03 9.58553278e-01 3.54503129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.85, Y:170.65, Z:35.46 [[ 9.20785441e-01 -2.76348104e-01 -2.75292386e-01 2.52853716e+02] [ 2.58547807e-01 9.60835430e-01 -9.97412010e-02 1.70645718e+02] [ 2.92073970e-01 2.06640031e-02 9.56172472e-01 3.54575711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.88, Y:170.62, Z:35.47 [[ 9.25009323e-01 -2.55519723e-01 -2.81189300e-01 2.52884723e+02] [ 2.53473818e-01 9.66328381e-01 -4.42773462e-02 1.70617006e+02] [ 2.83034937e-01 -3.03171674e-02 9.58630322e-01 3.54724029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.91, Y:170.64, Z:35.47 [[ 9.25236516e-01 -2.62743675e-01 -2.73684400e-01 2.52907177e+02] [ 2.50787814e-01 9.64857570e-01 -7.84559874e-02 1.70642939e+02] [ 2.84680280e-01 3.95363177e-03 9.58614368e-01 3.54743859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.93, Y:170.65, Z:35.48 [[ 9.26444583e-01 -2.57246905e-01 -2.74817148e-01 2.52932893e+02] [ 2.45476833e-01 9.66337861e-01 -7.70211852e-02 1.70645568e+02] [ 2.85379677e-01 3.89461663e-03 9.58406632e-01 3.54831720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.96, Y:170.65, Z:35.49 [[ 9.27302807e-01 -2.53932907e-01 -2.75004697e-01 2.52962162e+02] [ 2.45855028e-01 9.67187056e-01 -6.40664081e-02 1.70645349e+02] [ 2.82249553e-01 -8.20232739e-03 9.59305953e-01 3.54934396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.99, Y:170.66, Z:35.50 [[ 9.27727416e-01 -2.55001655e-01 -2.72572922e-01 2.52988073e+02] [ 2.44715732e-01 9.66940598e-01 -7.16944252e-02 1.70656116e+02] [ 2.81844021e-01 -1.89998307e-04 9.59460219e-01 3.55000718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.01, Y:170.66, Z:35.51 [[ 9.28075880e-01 -2.54198581e-01 -2.72136441e-01 2.53012902e+02] [ 2.43883965e-01 9.67152035e-01 -7.16767264e-02 1.70661683e+02] [ 2.81417435e-01 1.51726450e-04 9.59585433e-01 3.55078591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.04, Y:170.68, Z:35.51 [[ 9.27411346e-01 -2.58337868e-01 -2.70499059e-01 2.53035559e+02] [ 2.43554472e-01 9.65934330e-01 -8.74762190e-02 1.70675947e+02] [ 2.83882747e-01 1.52451826e-02 9.58737801e-01 3.55117992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:170.66, Z:35.53 [[ 9.28112470e-01 -2.50482195e-01 -2.75437677e-01 2.53065986e+02] [ 2.43913962e-01 9.68034635e-01 -5.84373593e-02 1.70662778e+02] [ 2.81270729e-01 -1.29466531e-02 9.59541120e-01 3.55265876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.09, Y:170.69, Z:35.52 [[ 9.28017410e-01 -2.64579465e-01 -2.62262070e-01 2.53087659e+02] [ 2.48501644e-01 9.64125770e-01 -9.33189814e-02 1.70692977e+02] [ 2.77543907e-01 2.14290839e-02 9.60473932e-01 3.55203028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.12, Y:170.69, Z:35.53 [[ 9.26803101e-01 -2.64628351e-01 -2.66472978e-01 2.53117350e+02] [ 2.52627042e-01 9.64332371e-01 -7.90104829e-02 1.70687454e+02] [ 2.77876932e-01 5.90888036e-03 9.60598509e-01 3.55282637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.15, Y:170.67, Z:35.55 [[ 9.25441231e-01 -2.54423429e-01 -2.80761905e-01 2.53148336e+02] [ 2.51066392e-01 9.66753936e-01 -4.85025221e-02 1.70668286e+02] [ 2.83767854e-01 -2.56036445e-02 9.58551124e-01 3.55534823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.17, Y:170.71, Z:35.54 [[ 9.23995464e-01 -2.81327510e-01 -2.59011999e-01 2.53165344e+02] [ 2.61739995e-01 9.59078743e-01 -1.07982126e-01 1.70713347e+02] [ 2.78791245e-01 3.19811958e-02 9.59819069e-01 3.55367715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.20, Y:170.69, Z:35.55 [[ 9.23940553e-01 -2.70702711e-01 -2.70284844e-01 2.53197632e+02] [ 2.60765205e-01 9.62657452e-01 -7.27470875e-02 1.70693770e+02] [ 2.79884553e-01 -3.26689844e-03 9.60028106e-01 3.55526084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.23, Y:170.68, Z:35.58 [[ 9.22761832e-01 -2.61879321e-01 -2.82718630e-01 2.53230273e+02] [ 2.59513855e-01 9.64619592e-01 -4.64930232e-02 1.70677345e+02] [ 2.84891491e-01 -3.04674142e-02 9.58075454e-01 3.55797579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.25, Y:170.69, Z:35.58 [[ 9.21689759e-01 -2.72502053e-01 -2.76098930e-01 2.53254403e+02] [ 2.62569339e-01 9.62141496e-01 -7.30827257e-02 1.70694909e+02] [ 2.85561430e-01 -5.13551345e-03 9.58346647e-01 3.55810943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.28, Y:170.70, Z:35.59 [[ 9.21609093e-01 -2.72785460e-01 -2.76088341e-01 2.53280793e+02] [ 2.62853213e-01 9.62060943e-01 -7.31227046e-02 1.70702090e+02] [ 2.85560621e-01 -5.18015808e-03 9.58346648e-01 3.55893079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.31, Y:170.71, Z:35.60 [[ 9.21013796e-01 -2.73992327e-01 -2.76878659e-01 2.53307831e+02] [ 2.64028041e-01 9.61716267e-01 -7.34235336e-02 1.70706424e+02] [ 2.86396195e-01 -5.47964263e-03 9.58095607e-01 3.55974409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.33, Y:170.71, Z:35.61 [[ 9.20108618e-01 -2.75424576e-01 -2.78462625e-01 2.53334075e+02] [ 2.65377605e-01 9.61304818e-01 -7.39443950e-02 1.70708343e+02] [ 2.88053567e-01 -5.86086943e-03 9.57596362e-01 3.56050960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.35, Y:170.71, Z:35.62 [[ 9.18087742e-01 -2.76071930e-01 -2.84427826e-01 2.53353350e+02] [ 2.69258252e-01 9.60964948e-01 -6.36110286e-02 1.70710091e+02] [ 2.90886391e-01 -1.81840339e-02 9.56584784e-01 3.56179536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.39, Y:170.73, Z:35.62 [[ 9.19743178e-01 -2.79901058e-01 -2.75186998e-01 2.53386351e+02] [ 2.64945034e-01 9.59969256e-01 -9.09019065e-02 1.70727252e+02] [ 2.89614597e-01 1.06969798e-02 9.57083570e-01 3.56171985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.41, Y:170.73, Z:35.62 [[ 9.19498502e-01 -2.80193513e-01 -2.75706547e-01 2.53409518e+02] [ 2.67225835e-01 9.59935706e-01 -8.43433082e-02 1.70729602e+02] [ 2.88293007e-01 3.87763313e-03 9.57534389e-01 3.56211744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.44, Y:170.72, Z:35.64 [[ 9.18906787e-01 -2.71361591e-01 -2.86309628e-01 2.53438848e+02] [ 2.64473198e-01 9.62316562e-01 -6.32515810e-02 1.70718409e+02] [ 2.92684546e-01 -1.75989158e-02 9.56047088e-01 3.56430509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.46, Y:170.74, Z:35.64 [[ 9.20214118e-01 -2.78182456e-01 -2.75355221e-01 2.53462116e+02] [ 2.63552149e-01 9.60477711e-01 -8.95702625e-02 1.70741187e+02] [ 2.89389428e-01 9.85335966e-03 9.57160734e-01 3.56375864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:253.49, Y:170.74, Z:35.65 [[ 9.20709360e-01 -2.73683925e-01 -2.78193070e-01 2.53488887e+02] [ 2.60700102e-01 9.61810218e-01 -8.34059992e-02 1.70740421e+02] [ 2.90395819e-01 4.26772220e-03 9.56897097e-01 3.56472324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.52, Y:170.74, Z:35.66 [[ 9.21652552e-01 -2.66716609e-01 -2.81813457e-01 2.53518526e+02] [ 2.56157595e-01 9.63768182e-01 -7.43920511e-02 1.70735418e+02] [ 2.91444438e-01 -3.62503339e-03 9.56580890e-01 3.56619442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.54, Y:170.75, Z:35.66 [[ 9.22376163e-01 -2.69602008e-01 -2.76653160e-01 2.53544218e+02] [ 2.55708006e-01 9.62934832e-01 -8.58482691e-02 1.70748778e+02] [ 2.89543830e-01 8.44196918e-03 9.57127527e-01 3.56649888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:170.74, Z:35.68 [[ 9.22915000e-01 -2.60877071e-01 -2.83144938e-01 2.53575070e+02] [ 2.52451371e-01 9.65319446e-01 -6.65332465e-02 1.70736199e+02] [ 2.90682313e-01 -1.00757967e-02 9.56766571e-01 3.56842219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.60, Y:170.76, Z:35.68 [[ 9.23394821e-01 -2.68487884e-01 -2.74328744e-01 2.53599911e+02] [ 2.53974763e-01 9.63215321e-01 -8.78240531e-02 1.70756701e+02] [ 2.87817344e-01 1.14236980e-02 9.57617186e-01 3.56820434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:253.63, Y:170.74, Z:35.70 [[ 9.23623350e-01 -2.59830929e-01 -2.81793889e-01 2.53628894e+02] [ 2.52681379e-01 9.65554800e-01 -6.20970842e-02 1.70741223e+02] [ 2.88222185e-01 -1.38497516e-02 9.57463397e-01 3.57037496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.65, Y:170.75, Z:35.71 [[ 9.24147256e-01 -2.63103771e-01 -2.76998656e-01 2.53654399e+02] [ 2.52572632e-01 9.64765789e-01 -7.37159290e-02 1.70754696e+02] [ 2.86633766e-01 -1.83790595e-03 9.58038468e-01 3.57092303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.68, Y:170.78, Z:35.71 [[ 9.24918769e-01 -2.70262838e-01 -2.67363551e-01 2.53678934e+02] [ 2.54449888e-01 9.62621728e-01 -9.28152066e-02 1.70775754e+02] [ 2.82454465e-01 1.78159010e-02 9.59115253e-01 3.57070484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.71, Y:170.76, Z:35.73 [[ 9.25013614e-01 -2.57018743e-01 -2.79805611e-01 2.53706802e+02] [ 2.52022268e-01 9.66194290e-01 -5.43449194e-02 1.70756272e+02] [ 2.84314247e-01 -2.02474545e-02 9.58517318e-01 3.57318896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.73, Y:170.78, Z:35.73 [[ 9.25323744e-01 -2.61654567e-01 -2.74431880e-01 2.53731600e+02] [ 2.51190661e-01 9.65160911e-01 -7.32643663e-02 1.70775370e+02] [ 2.84040880e-01 -1.14146773e-03 9.58811491e-01 3.57349726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.76, Y:170.79, Z:35.73 [[ 9.25443782e-01 -2.65916230e-01 -2.69893248e-01 2.53755113e+02] [ 2.50321312e-01 9.63847227e-01 -9.13113587e-02 1.70793146e+02] [ 2.84417031e-01 1.69434972e-02 9.58550922e-01 3.57335288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.78, Y:170.78, Z:35.76 [[ 9.24872961e-01 -2.56931728e-01 -2.80349949e-01 2.53784528e+02] [ 2.50805679e-01 9.66288394e-01 -5.81657205e-02 1.70781522e+02] [ 2.85843521e-01 -1.65174571e-02 9.58133944e-01 3.57565715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.75275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.81, Y:170.80, Z:35.76 [[ 9.24579976e-01 -2.61960723e-01 -2.76637755e-01 2.53809320e+02] [ 2.51298048e-01 9.65077894e-01 -7.39861401e-02 1.70798719e+02] [ 2.86358445e-01 -1.11242432e-03 9.58121915e-01 3.57601303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.84, Y:170.81, Z:35.76 [[ 9.24904614e-01 -2.64668775e-01 -2.72950350e-01 2.53838781e+02] [ 2.51344978e-01 9.64302038e-01 -8.33503596e-02 1.70812401e+02] [ 2.85266817e-01 8.48643251e-03 9.58410572e-01 3.57622493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.86, Y:170.82, Z:35.77 [[ 9.24333113e-01 -2.67499434e-01 -2.72125613e-01 2.53863117e+02] [ 2.54281971e-01 9.63525524e-01 -8.34220852e-02 1.70822030e+02] [ 2.84515334e-01 7.91315842e-03 9.58638830e-01 3.57658973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.89, Y:170.82, Z:35.78 [[ 9.23864438e-01 -2.65503702e-01 -2.75648844e-01 2.53889141e+02] [ 2.55671798e-01 9.64100573e-01 -7.17078617e-02 1.70822332e+02] [ 2.84791911e-01 -4.22729228e-03 9.58580042e-01 3.57771526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.91, Y:170.82, Z:35.80 [[ 9.21797366e-01 -2.62591968e-01 -2.85193048e-01 2.53912904e+02] [ 2.58593682e-01 9.64569055e-01 -5.23053134e-02 1.70816427e+02] [ 2.88823344e-01 -2.55342201e-02 9.57041838e-01 3.57975040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.94, Y:170.86, Z:35.78 [[ 9.21018718e-01 -2.80624442e-01 -2.70137824e-01 2.53939356e+02] [ 2.61655811e-01 9.59474201e-01 -1.04620717e-01 1.70857609e+02] [ 2.88549403e-01 2.56745071e-02 9.57120714e-01 3.57836355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.97, Y:170.83, Z:35.81 [[ 9.20279567e-01 -2.67537148e-01 -2.85498499e-01 2.53968204e+02] [ 2.61972125e-01 9.63314926e-01 -5.82662731e-02 1.70833631e+02] [ 2.90613358e-01 -2.11713878e-02 9.56606319e-01 3.58086791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.00, Y:170.85, Z:35.81 [[ 9.18441114e-01 -2.75963685e-01 -2.83390128e-01 2.53995499e+02] [ 2.67602658e-01 9.61082680e-01 -6.86214263e-02 1.70848766e+02] [ 2.91298365e-01 -1.28112121e-02 9.56546463e-01 3.58130199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.02, Y:170.85, Z:35.83 [[ 9.16802840e-01 -2.78581522e-01 -2.86120409e-01 2.54015216e+02] [ 2.71502942e-01 9.60241780e-01 -6.49759603e-02 1.70854638e+02] [ 2.92845872e-01 -1.81123879e-02 9.55988094e-01 3.58252286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:170.89, Z:35.81 [[ 9.15991018e-01 -2.92956765e-01 -2.74110906e-01 2.54040520e+02] [ 2.73793815e-01 9.55857721e-01 -1.06644099e-01 1.70888673e+02] [ 2.93253137e-01 2.26351664e-02 9.55766837e-01 3.58135799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.07, Y:170.88, Z:35.83 [[ 9.15553873e-01 -2.85272201e-01 -2.83515214e-01 2.54073009e+02] [ 2.75829399e-01 9.58385400e-01 -7.35905412e-02 1.70876750e+02] [ 2.92710177e-01 -1.08257260e-02 9.56139925e-01 3.58320954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.10, Y:170.87, Z:35.85 [[ 9.14058664e-01 -2.78680786e-01 -2.94675717e-01 2.54095174e+02] [ 2.75966862e-01 9.59778066e-01 -5.16561214e-02 1.70868346e+02] [ 2.97218859e-01 -3.41040077e-02 9.54200119e-01 3.58549994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.12, Y:170.92, Z:35.84 [[ 9.15044670e-01 -2.96782663e-01 -2.73154357e-01 2.54120545e+02] [ 2.76548243e-01 9.54596281e-01 -1.10756537e-01 1.70916578e+02] [ 2.93622754e-01 2.58068218e-02 9.55572962e-01 3.58351808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.15, Y:170.90, Z:35.86 [[ 9.15105736e-01 -2.84142821e-01 -2.86084514e-01 2.54148140e+02] [ 2.75718900e-01 9.58670417e-01 -7.02148103e-02 1.70898144e+02] [ 2.94211795e-01 -1.46249318e-02 9.55628344e-01 3.58558932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.17, Y:170.92, Z:35.86 [[ 9.15711823e-01 -2.88677123e-01 -2.79530637e-01 2.54173435e+02] [ 2.74394176e-01 9.57410264e-01 -8.98522235e-02 1.70922217e+02] [ 2.93563782e-01 5.57716452e-03 9.55923219e-01 3.58554005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.20, Y:170.90, Z:35.89 [[ 9.14085743e-01 -2.71736227e-01 -3.01009431e-01 2.54199312e+02] [ 2.70427130e-01 9.61598962e-01 -4.68679318e-02 1.70899017e+02] [ 3.02186071e-01 -3.85598083e-02 9.52468750e-01 3.58905960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.22, Y:170.96, Z:35.87 [[ 9.16103824e-01 -2.93649320e-01 -2.72990586e-01 2.54222980e+02] [ 2.72069807e-01 9.55416610e-01 -1.14704498e-01 1.70955364e+02] [ 2.94502638e-01 3.08087330e-02 9.55153924e-01 3.58659598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.25, Y:170.94, Z:35.88 [[ 9.17199888e-01 -2.81765483e-01 -2.81695895e-01 2.54252274e+02] [ 2.69372744e-01 9.59483302e-01 -8.26445338e-02 1.70944150e+02] [ 2.93568885e-01 -7.96389618e-05 9.55937918e-01 3.58818595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.28, Y:170.95, Z:35.89 [[ 9.16843067e-01 -2.80359597e-01 -2.84248635e-01 2.54277437e+02] [ 2.69714777e-01 9.59874547e-01 -7.67775607e-02 1.70948765e+02] [ 2.94368355e-01 -6.27308300e-03 9.55671450e-01 3.58935734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.30, Y:170.93, Z:35.92 [[ 9.17605734e-01 -2.63358664e-01 -2.97727949e-01 2.54303363e+02] [ 2.64758511e-01 9.63627699e-01 -3.63948885e-02 1.70927582e+02] [ 2.96483808e-01 -4.54298502e-02 9.53956750e-01 3.59216877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.33, Y:170.96, Z:35.92 [[ 9.17608786e-01 -2.75546964e-01 -2.86475106e-01 2.54325153e+02] [ 2.64200874e-01 9.61280123e-01 -7.83480849e-02 1.70960947e+02] [ 2.96971403e-01 -3.79408245e-03 9.54878836e-01 3.59177852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.35, Y:170.97, Z:35.93 [[ 9.17829183e-01 -2.75356292e-01 -2.85951926e-01 2.54350492e+02] [ 2.64029453e-01 9.61335204e-01 -7.82500748e-02 1.70969492e+02] [ 2.96442303e-01 -3.67952845e-03 9.55043675e-01 3.59253373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.38, Y:170.97, Z:35.93 [[ 9.18691524e-01 -2.71890067e-01 -2.86498998e-01 2.54376144e+02] [ 2.63065870e-01 9.62260944e-01 -6.96435498e-02 1.70971568e+02] [ 2.94622186e-01 -1.13871692e-02 9.55545970e-01 3.59340959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:170.99, Z:35.94 [[ 9.17837235e-01 -2.77754068e-01 -2.83597403e-01 2.54399219e+02] [ 2.62014931e-01 9.60590619e-01 -9.28107657e-02 1.70993182e+02] [ 2.98199573e-01 1.08784224e-02 9.54441551e-01 3.59369303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:170.99, Z:35.95 [[ 9.17594316e-01 -2.75425670e-01 -2.86638050e-01 2.54429079e+02] [ 2.64391358e-01 9.61310248e-01 -7.73292728e-02 1.70993094e+02] [ 2.96846562e-01 -4.82772214e-03 9.54912987e-01 3.59493600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.45, Y:171.01, Z:35.95 [[ 9.16095025e-01 -2.80821990e-01 -2.86197336e-01 2.54451302e+02] [ 2.62979608e-01 9.59623423e-01 -9.98229007e-02 1.71012383e+02] [ 3.02674133e-01 1.61831994e-02 9.52956701e-01 3.59538313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.48, Y:171.01, Z:35.97 [[ 9.16123409e-01 -2.75482597e-01 -2.91251161e-01 2.54479130e+02] [ 2.63888766e-01 9.61296419e-01 -7.91954202e-02 1.71006975e+02] [ 3.01795658e-01 -4.30513111e-03 9.53362914e-01 3.59659506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.51, Y:171.01, Z:35.98 [[ 9.16347409e-01 -2.75303471e-01 -2.90715366e-01 2.54509506e+02] [ 2.67378708e-01 9.61225922e-01 -6.74785351e-02 1.71009902e+02] [ 2.98020221e-01 -1.58973182e-02 9.54427170e-01 3.59758710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.53, Y:171.03, Z:35.98 [[ 9.15872168e-01 -2.80623875e-01 -2.87103488e-01 2.54532997e+02] [ 2.68308897e-01 9.59816288e-01 -8.22376424e-02 1.71025771e+02] [ 2.98644450e-01 -1.71325262e-03 9.54362906e-01 3.59791641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.56, Y:171.05, Z:35.99 [[ 9.13025299e-01 -2.89549180e-01 -2.87308329e-01 2.54558094e+02] [ 2.70254055e-01 9.56978852e-01 -1.05613552e-01 1.71047622e+02] [ 3.05528312e-01 1.87816038e-02 9.51997743e-01 3.59853061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.59, Y:171.03, Z:36.00 [[ 9.13667650e-01 -2.80197656e-01 -2.94449823e-01 2.54585058e+02] [ 2.70414159e-01 9.59870837e-01 -7.43246810e-02 1.71034419e+02] [ 3.03459400e-01 -1.17153447e-02 9.52772346e-01 3.59996594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.61, Y:171.03, Z:36.01 [[ 9.15011732e-01 -2.78712748e-01 -2.91672308e-01 2.54611789e+02] [ 2.72864878e-01 9.60089721e-01 -6.14205727e-02 1.71034240e+02] [ 2.97150281e-01 -2.33865840e-02 9.54544278e-01 3.60075880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.63, Y:171.06, Z:36.01 [[ 9.14348957e-01 -2.86292400e-01 -2.86361041e-01 2.54634229e+02] [ 2.72690031e-01 9.58140866e-01 -8.72136906e-02 1.71056653e+02] [ 2.99342833e-01 1.65594591e-03 9.54144185e-01 3.60101187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.66, Y:171.06, Z:36.02 [[ 9.13794171e-01 -2.86747867e-01 -2.87673208e-01 2.54663918e+02] [ 2.77012928e-01 9.57940367e-01 -7.49272358e-02 1.71059187e+02] [ 2.97059003e-01 -1.12211262e-02 9.54793190e-01 3.60212447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7727550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.69, Y:171.07, Z:36.03 [[ 9.14803442e-01 -2.84965593e-01 -2.86232902e-01 2.54685845e+02] [ 2.74561030e-01 9.58501198e-01 -7.67573774e-02 1.71065297e+02] [ 2.96227791e-01 -8.37048732e-03 9.55080641e-01 3.60273581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.71, Y:171.08, Z:36.04 [[ 9.13726376e-01 -2.90552044e-01 -2.84048621e-01 2.54714929e+02] [ 2.77759507e-01 9.56858685e-01 -8.52708220e-02 1.71080270e+02] [ 2.96570001e-01 -9.83005575e-04 9.55010611e-01 3.60352518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.74, Y:171.10, Z:36.04 [[ 9.12343866e-01 -2.94731408e-01 -2.84186677e-01 2.54741478e+02] [ 2.77748897e-01 9.55509102e-01 -9.92869904e-02 1.71096540e+02] [ 3.00805951e-01 1.16513405e-02 9.53614192e-01 3.60431827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.77, Y:171.09, Z:36.06 [[ 9.13029992e-01 -2.86780679e-01 -2.90057021e-01 2.54768055e+02] [ 2.77162538e-01 9.57918208e-01 -7.46567822e-02 1.71087818e+02] [ 2.99261024e-01 -1.22290588e-02 9.54092914e-01 3.60570101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.79, Y:171.10, Z:36.06 [[ 9.12107599e-01 -2.91670646e-01 -2.88076315e-01 2.54793779e+02] [ 2.77812872e-01 9.56518286e-01 -8.88413000e-02 1.71104639e+02] [ 3.01462662e-01 1.00151642e-03 9.53477457e-01 3.60638479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.82, Y:171.10, Z:36.08 [[ 9.13728893e-01 -2.83189346e-01 -2.91381718e-01 2.54821773e+02] [ 2.75742198e-01 9.58877496e-01 -6.72323489e-02 1.71099687e+02] [ 2.98438857e-01 -1.89140956e-02 9.54241325e-01 3.60768296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.85, Y:171.11, Z:36.08 [[ 9.14779394e-01 -2.83040633e-01 -2.88212875e-01 2.54846876e+02] [ 2.74609970e-01 9.58991405e-01 -7.01772698e-02 1.71109295e+02] [ 2.96256689e-01 -1.49494087e-02 9.54991356e-01 3.60832591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.87, Y:171.13, Z:36.09 [[ 9.15109635e-01 -2.85234476e-01 -2.84983597e-01 2.54871705e+02] [ 2.72810614e-01 9.58456536e-01 -8.32792711e-02 1.71125547e+02] [ 2.96898510e-01 -1.53688666e-03 9.54907803e-01 3.60889949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:171.13, Z:36.10 [[ 9.14611576e-01 -2.80417021e-01 -2.91293596e-01 2.54898158e+02] [ 2.67405309e-01 9.59878035e-01 -8.44307887e-02 1.71130176e+02] [ 3.03282155e-01 -6.72077419e-04 9.52900563e-01 3.61019381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.92, Y:171.13, Z:36.11 [[ 9.16340542e-01 -2.77923529e-01 -2.88233455e-01 2.54922972e+02] [ 2.69862918e-01 9.60481346e-01 -6.81878959e-02 1.71131658e+02] [ 2.95793877e-01 -1.53001876e-02 9.55129251e-01 3.61105979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.95, Y:171.15, Z:36.12 [[ 9.16219862e-01 -2.81587243e-01 -2.85043486e-01 2.54948206e+02] [ 2.70108829e-01 9.59527331e-01 -7.96776042e-02 1.71146226e+02] [ 2.95943212e-01 -3.99055871e-03 9.55197200e-01 3.61159842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:171.16, Z:36.12 [[ 9.17076590e-01 -2.82982202e-01 -2.80876488e-01 2.54976378e+02] [ 2.66555448e-01 9.59035887e-01 -9.59080837e-02 1.71163226e+02] [ 2.96510913e-01 1.30859003e-02 9.54939809e-01 3.61168243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.13275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:255.00, Y:171.17, Z:36.13 [[ 9.15577444e-01 -2.81344684e-01 -2.87337976e-01 2.55000262e+02] [ 2.66561274e-01 9.59588078e-01 -9.01987093e-02 1.71166975e+02] [ 3.01103024e-01 5.99072665e-03 9.53572798e-01 3.61320257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.03, Y:171.15, Z:36.15 [[ 9.18793474e-01 -2.67359733e-01 -2.90408893e-01 2.55029172e+02] [ 2.64249794e-01 9.63123333e-01 -5.06506925e-02 1.71150066e+02] [ 2.93241536e-01 -3.02029643e-02 9.55561187e-01 3.61470440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.05, Y:171.19, Z:36.14 [[ 9.17664093e-01 -2.79756130e-01 -2.82186324e-01 2.55049839e+02] [ 2.61684625e-01 9.59892767e-01 -1.00633161e-01 1.71185707e+02] [ 2.99021355e-01 1.85036166e-02 9.54067003e-01 3.61447348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.08, Y:171.17, Z:36.16 [[ 9.18007927e-01 -2.68337077e-01 -2.91987430e-01 2.55082936e+02] [ 2.59986449e-01 9.63228214e-01 -6.78119008e-02 1.71171206e+02] [ 2.99446978e-01 -1.36609125e-02 9.54015140e-01 3.61639453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.11, Y:171.19, Z:36.17 [[ 9.18247272e-01 -2.72568529e-01 -2.87277468e-01 2.55108384e+02] [ 2.60416964e-01 9.62135942e-01 -8.04825107e-02 1.71185940e+02] [ 2.98336977e-01 -9.09080142e-04 9.54460173e-01 3.61682435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:171.20, Z:36.18 [[ 9.16924752e-01 -2.75323981e-01 -2.88869701e-01 2.55133824e+02] [ 2.60888623e-01 9.61335976e-01 -8.81491248e-02 1.71196998e+02] [ 3.01970404e-01 5.46329583e-03 9.53301646e-01 3.61762398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:171.19, Z:36.19 [[ 9.18531917e-01 -2.70691362e-01 -2.88141118e-01 2.55158031e+02] [ 2.64319950e-01 9.62466763e-01 -6.15848534e-02 1.71190940e+02] [ 2.93996737e-01 -1.95937923e-02 9.55605568e-01 3.61880998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.18, Y:171.22, Z:36.18 [[ 9.18161600e-01 -2.82064441e-01 -2.78242570e-01 2.55182297e+02] [ 2.64205040e-01 9.59211142e-01 -1.00546917e-01 1.71221763e+02] [ 2.95254083e-01 1.88052289e-02 9.55233683e-01 3.61817496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.21, Y:171.22, Z:36.19 [[ 9.19075850e-01 -2.79388304e-01 -2.77924014e-01 2.55209227e+02] [ 2.66926904e-01 9.60176760e-01 -8.25264613e-02 1.71219876e+02] [ 2.89913107e-01 1.66268120e-03 9.57051527e-01 3.61911199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.24, Y:171.21, Z:36.21 [[ 9.18131043e-01 -2.74013261e-01 -2.86272809e-01 2.55237270e+02] [ 2.68557274e-01 9.61457046e-01 -5.89689623e-02 1.71210560e+02] [ 2.91397287e-01 -2.27394104e-02 9.56331815e-01 3.62124075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.26, Y:171.24, Z:36.21 [[ 9.17380016e-01 -2.83595552e-01 -2.79262366e-01 2.55260133e+02] [ 2.69002318e-01 9.58914262e-01 -9.01176522e-02 1.71235831e+02] [ 2.93345631e-01 7.54990951e-03 9.55976642e-01 3.62125403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4627550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:255.29, Y:171.24, Z:36.21 [[ 9.18028209e-01 -2.86076361e-01 -2.74562421e-01 2.55287324e+02] [ 2.71457899e-01 9.58167023e-01 -9.07004166e-02 1.71244376e+02] [ 2.89023903e-01 8.73340307e-03 9.57282044e-01 3.62137827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.31, Y:171.24, Z:36.23 [[ 9.16481478e-01 -2.80798003e-01 -2.84981020e-01 2.55313797e+02] [ 2.73007313e-01 9.59635664e-01 -6.75751395e-02 1.71235676e+02] [ 2.92452914e-01 -1.58705387e-02 9.56148220e-01 3.62346969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.34, Y:171.25, Z:36.24 [[ 9.15854384e-01 -2.86156019e-01 -2.81647795e-01 2.55337848e+02] [ 2.73244044e-01 9.58182631e-01 -8.49925758e-02 1.71252233e+02] [ 2.94191162e-01 8.82240816e-04 9.55746191e-01 3.62388660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.36, Y:171.26, Z:36.25 [[ 9.15318197e-01 -2.87051559e-01 -2.82478321e-01 2.55362937e+02] [ 2.75058074e-01 9.57911849e-01 -8.21458780e-02 1.71257101e+02] [ 2.94169433e-01 -2.50832585e-03 9.55749995e-01 3.62479063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.39, Y:171.26, Z:36.26 [[ 9.14973829e-01 -2.84582734e-01 -2.86069152e-01 2.55392823e+02] [ 2.75139467e-01 9.58583954e-01 -7.35872085e-02 1.71257887e+02] [ 2.95162947e-01 -1.13785441e-02 9.55379173e-01 3.62614141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.42, Y:171.27, Z:36.27 [[ 9.14560609e-01 -2.88968737e-01 -2.82976961e-01 2.55421967e+02] [ 2.78184310e-01 9.57313559e-01 -7.85126728e-02 1.71268501e+02] [ 2.93585390e-01 -6.91515297e-03 9.55907841e-01 3.62662076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.44, Y:171.28, Z:36.26 [[ 9.15519956e-01 -2.94874936e-01 -2.73627453e-01 2.55441490e+02] [ 2.82060411e-01 9.55534594e-01 -8.59974657e-02 1.71283439e+02] [ 2.86818994e-01 1.55292431e-03 9.57983535e-01 3.62627977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:171.28, Z:36.28 [[ 9.13314793e-01 -2.93016481e-01 -2.82838171e-01 2.55467773e+02] [ 2.82887233e-01 9.56058234e-01 -7.69900462e-02 1.71282196e+02] [ 2.92969115e-01 -9.69515974e-03 9.56072749e-01 3.62827565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.50, Y:171.29, Z:36.29 [[ 9.12946628e-01 -2.94434686e-01 -2.82553835e-01 2.55497723e+02] [ 2.84554775e-01 9.55612044e-01 -7.63819399e-02 1.71287402e+02] [ 2.92501341e-01 -1.06694086e-02 9.56205590e-01 3.62919259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.52, Y:171.32, Z:36.28 [[ 9.12788999e-01 -3.06572090e-01 -2.69869963e-01 2.55517963e+02] [ 2.89142221e-01 9.51710590e-01 -1.03168450e-01 1.71315694e+02] [ 2.88466669e-01 1.61402260e-02 9.57353892e-01 3.62822854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.55, Y:171.30, Z:36.31 [[ 9.11931907e-01 -2.95747149e-01 -2.84453549e-01 2.55545523e+02] [ 2.88719607e-01 9.55041787e-01 -6.73511181e-02 1.71298003e+02] [ 2.91583927e-01 -2.07076834e-02 9.56321079e-01 3.63088590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.57, Y:171.33, Z:36.30 [[ 9.12885195e-01 -3.06638021e-01 -2.69469376e-01 2.55571283e+02] [ 2.89485586e-01 9.51702241e-01 -1.02278732e-01 1.71330404e+02] [ 2.87817157e-01 1.53612396e-02 9.57562174e-01 3.63002892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.60, Y:171.30, Z:36.34 [[ 9.13205521e-01 -2.85568617e-01 -2.90699572e-01 2.55603592e+02] [ 2.84583554e-01 9.57516807e-01 -4.66236563e-02 1.71298301e+02] [ 2.91663979e-01 -4.01513371e-02 9.55677767e-01 3.63374925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.62, Y:171.36, Z:36.31 [[ 9.11711784e-01 -3.14509632e-01 -2.64320476e-01 2.55623117e+02] [ 2.90700247e-01 9.48495762e-01 -1.25893433e-01 1.71362379e+02] [ 2.90301549e-01 3.79404985e-02 9.56182791e-01 3.63132024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.65, Y:171.32, Z:36.35 [[ 9.12406176e-01 -2.88381758e-01 -2.90432320e-01 2.55653878e+02] [ 2.85809109e-01 9.56862454e-01 -5.22244899e-02 1.71320492e+02] [ 2.92964373e-01 -3.53582556e-02 9.55469346e-01 3.63501320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.68, Y:171.34, Z:36.35 [[ 9.13137497e-01 -2.92724355e-01 -2.83711760e-01 2.55680238e+02] [ 2.83582998e-01 9.56107045e-01 -7.37563695e-02 1.71341544e+02] [ 2.92849098e-01 -1.31061247e-02 9.56068844e-01 3.63524850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:255.71, Y:171.35, Z:36.36 [[ 9.14605336e-01 -2.89781717e-01 -2.81999356e-01 2.55706887e+02] [ 2.80035579e-01 9.57038634e-01 -7.52138740e-02 1.71351439e+02] [ 2.91679884e-01 -1.01788424e-02 9.56461832e-01 3.63599442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.73, Y:171.36, Z:36.37 [[ 9.14826954e-01 -2.90503929e-01 -2.80533621e-01 2.55731497e+02] [ 2.78707997e-01 9.56868552e-01 -8.20025973e-02 1.71364241e+02] [ 2.92255876e-01 -3.16877740e-03 9.56334911e-01 3.63664217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.75, Y:171.37, Z:36.38 [[ 9.14783982e-01 -2.89408001e-01 -2.81803613e-01 2.55752057e+02] [ 2.76094164e-01 9.57204523e-01 -8.67842981e-02 1.71374151e+02] [ 2.94859763e-01 1.58455277e-03 9.55539224e-01 3.63750019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.78, Y:171.38, Z:36.38 [[ 9.16603870e-01 -2.83984610e-01 -2.81407333e-01 2.55782805e+02] [ 2.73282217e-01 9.58810627e-01 -7.74532912e-02 1.71377081e+02] [ 2.91811884e-01 -5.90963336e-03 9.56457475e-01 3.63835757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.81, Y:171.39, Z:36.39 [[ 9.18127680e-01 -2.82869080e-01 -2.77536750e-01 2.55806080e+02] [ 2.70128711e-01 9.59156189e-01 -8.39635917e-02 1.71390712e+02] [ 2.89951796e-01 2.11865301e-03 9.57038906e-01 3.63852862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.83, Y:171.39, Z:36.40 [[ 9.17780333e-01 -2.79636638e-01 -2.81926607e-01 2.55834064e+02] [ 2.68295097e-01 9.60100476e-01 -7.88975050e-02 1.71394227e+02] [ 2.92740503e-01 -3.22894782e-03 9.56186473e-01 3.64007970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.86, Y:171.40, Z:36.41 [[ 9.18393439e-01 -2.77673529e-01 -2.81870364e-01 2.55857272e+02] [ 2.66411062e-01 9.60670354e-01 -7.83429520e-02 1.71401121e+02] [ 2.92538266e-01 -3.14372971e-03 9.56248650e-01 3.64088575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.88, Y:171.41, Z:36.42 [[ 9.17973130e-01 -2.79874120e-01 -2.81061932e-01 2.55883901e+02] [ 2.66865015e-01 9.60033592e-01 -8.43715932e-02 1.71414399e+02] [ 2.93442321e-01 2.44525876e-03 9.55973653e-01 3.64166392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.91, Y:171.42, Z:36.43 [[ 9.17714754e-01 -2.78816455e-01 -2.82950553e-01 2.55911199e+02] [ 2.68241296e-01 9.60326358e-01 -7.62882248e-02 1.71418318e+02] [ 2.92995287e-01 -5.88819379e-03 9.56095754e-01 3.64276304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.93, Y:171.42, Z:36.44 [[ 9.15979863e-01 -2.82431259e-01 -2.84979777e-01 2.55932254e+02] [ 2.73826082e-01 9.59192940e-01 -7.04853282e-02 1.71424712e+02] [ 2.93257850e-01 -1.34717544e-02 9.55938463e-01 3.64392899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.96, Y:171.45, Z:36.43 [[ 9.15744342e-01 -2.94115864e-01 -2.73693550e-01 2.55956847e+02] [ 2.74961954e-01 9.55503538e-01 -1.06812509e-01 1.71454793e+02] [ 2.92930409e-01 2.25576376e-02 9.55867631e-01 3.64323914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.98, Y:171.44, Z:36.46 [[ 9.13090637e-01 -2.87213154e-01 -2.89437546e-01 2.55983686e+02] [ 2.79618070e-01 9.57685152e-01 -6.82120605e-02 1.71438165e+02] [ 2.96781441e-01 -1.86481742e-02 9.54763333e-01 3.64579224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.01, Y:171.47, Z:36.45 [[ 9.13435167e-01 -3.01415762e-01 -2.73467977e-01 2.56010931e+02] [ 2.82732126e-01 9.53287024e-01 -1.06331529e-01 1.71472359e+02] [ 2.92743473e-01 1.98087750e-02 9.55985811e-01 3.64468116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.04, Y:171.45, Z:36.47 [[ 9.13691629e-01 -2.87795074e-01 -2.86952265e-01 2.56041234e+02] [ 2.83513440e-01 9.57253466e-01 -5.73230367e-02 1.71448338e+02] [ 2.91183338e-01 -2.89792447e-02 9.56228251e-01 3.64720465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:171.49, Z:36.47 [[ 9.11520759e-01 -3.05084363e-01 -2.75777878e-01 2.56061147e+02] [ 2.87973961e-01 9.52234003e-01 -1.01594301e-01 1.71486813e+02] [ 2.93599906e-01 1.31884668e-02 9.55837413e-01 3.64652239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.09, Y:171.49, Z:36.47 [[ 9.11661060e-01 -3.06704210e-01 -2.73508024e-01 2.56089419e+02] [ 2.91588712e-01 9.51777705e-01 -9.53688851e-02 1.71494703e+02] [ 2.89568878e-01 7.19224645e-03 9.57130157e-01 3.64697766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.11, Y:171.48, Z:36.50 [[ 9.09731784e-01 -2.95720884e-01 -2.91439944e-01 2.56112851e+02] [ 2.91104521e-01 9.54799149e-01 -6.01393647e-02 1.71476552e+02] [ 2.96051076e-01 -3.01287938e-02 9.54696819e-01 3.64966110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.14, Y:171.49, Z:36.50 [[ 9.09989211e-01 -3.01744629e-01 -2.84376185e-01 2.56139363e+02] [ 2.92877635e-01 9.53259724e-01 -7.42872120e-02 1.71494742e+02] [ 2.93500130e-01 -1.56868628e-02 9.55830318e-01 3.65002131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.17, Y:171.51, Z:36.50 [[ 9.10485877e-01 -3.03754417e-01 -2.80622028e-01 2.56166927e+02] [ 2.93644951e-01 9.52687465e-01 -7.84808095e-02 1.71507613e+02] [ 2.91183981e-01 -1.09475731e-02 9.56604432e-01 3.65042916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.18, Y:171.55, Z:36.48 [[ 9.10426392e-01 -3.21480240e-01 -2.60334863e-01 2.56183490e+02] [ 2.97262358e-01 9.46079395e-01 -1.28720122e-01 1.71553384e+02] [ 2.87678425e-01 3.98024411e-02 9.56899623e-01 3.64839169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.22, Y:171.50, Z:36.53 [[ 9.11092069e-01 -2.89539692e-01 -2.93390538e-01 2.56220931e+02] [ 2.92533064e-01 9.55627246e-01 -3.46550514e-02 1.71497789e+02] [ 2.90406005e-01 -5.42524907e-02 9.55364339e-01 3.65320630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.24, Y:171.57, Z:36.50 [[ 9.09813558e-01 -3.23053906e-01 -2.60529198e-01 2.56237525e+02] [ 2.97909450e-01 9.45427847e-01 -1.31970246e-01 1.71573249e+02] [ 2.88945062e-01 4.24542094e-02 9.56403885e-01 3.65031131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.27, Y:171.54, Z:36.53 [[ 9.11473949e-01 -3.02580910e-01 -2.78675498e-01 2.56270771e+02] [ 2.95615262e-01 9.52900709e-01 -6.77632373e-02 1.71540759e+02] [ 2.86053941e-01 -2.06163048e-02 9.57991707e-01 3.65303678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.63275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.29, Y:171.56, Z:36.53 [[ 9.11386708e-01 -3.07241639e-01 -2.73818997e-01 2.56293634e+02] [ 2.94720961e-01 9.51630247e-01 -8.68298763e-02 1.71560908e+02] [ 2.87252193e-01 -1.56460297e-03 9.57853710e-01 3.65340242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.32, Y:171.57, Z:36.54 [[ 9.11718036e-01 -3.07152160e-01 -2.72814542e-01 2.56318693e+02] [ 2.96259067e-01 9.51637126e-01 -8.13470722e-02 1.71566489e+02] [ 2.84606376e-01 -6.65818877e-03 9.58621343e-01 3.65427540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.35, Y:171.58, Z:36.55 [[ 9.11280166e-01 -3.08779141e-01 -2.72440636e-01 2.56346398e+02] [ 2.94606117e-01 9.51124968e-01 -9.25663641e-02 1.71583453e+02] [ 2.87707654e-01 4.09121358e-03 9.57709543e-01 3.65508963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.37, Y:171.57, Z:36.58 [[ 9.10694347e-01 -2.96566899e-01 -2.87548050e-01 2.56374598e+02] [ 2.91972215e-01 9.54556158e-01 -5.97893610e-02 1.71567461e+02] [ 2.92212307e-01 -2.95062081e-02 9.55898191e-01 3.65784433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.75275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.40, Y:171.61, Z:36.56 [[ 9.11270007e-01 -3.14215399e-01 -2.66187260e-01 2.56396572e+02] [ 2.93914182e-01 9.49004145e-01 -1.14042036e-01 1.71614378e+02] [ 2.88446577e-01 2.56868759e-02 9.57151376e-01 3.65636705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.43, Y:171.60, Z:36.58 [[ 9.12067515e-01 -3.03845529e-01 -2.75337508e-01 2.56425585e+02] [ 2.93823864e-01 9.52671370e-01 -7.80051164e-02 1.71600576e+02] [ 2.86007667e-01 -9.75479814e-03 9.58177676e-01 3.65803536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.45, Y:171.58, Z:36.61 [[ 9.10334478e-01 -2.91578633e-01 -2.93722726e-01 2.56452684e+02] [ 2.91187544e-01 9.55554507e-01 -4.61020359e-02 1.71584626e+02] [ 2.94110443e-01 -4.35601266e-02 9.54778279e-01 3.66122836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.47, Y:171.62, Z:36.61 [[ 9.10046745e-01 -3.02313291e-01 -2.83587016e-01 2.56472462e+02] [ 2.90134816e-01 9.53196274e-01 -8.50802650e-02 1.71616410e+02] [ 2.96034982e-01 -4.85144823e-03 9.55164778e-01 3.66107708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.50, Y:171.64, Z:36.61 [[ 9.10565070e-01 -3.08846354e-01 -2.74745670e-01 2.56498555e+02] [ 2.90699695e-01 9.50973023e-01 -1.05565131e-01 1.71639765e+02] [ 2.93879126e-01 1.62554380e-02 9.55704358e-01 3.66088769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.53, Y:171.63, Z:36.63 [[ 9.09022960e-01 -2.99270000e-01 -2.90025388e-01 2.56527997e+02] [ 2.90493466e-01 9.54016280e-01 -7.39356708e-02 1.71627157e+02] [ 2.98815670e-01 -1.70412579e-02 9.54158682e-01 3.66336517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.55, Y:171.63, Z:36.64 [[ 9.10257951e-01 -2.97356318e-01 -2.88114011e-01 2.56551844e+02] [ 2.88707210e-01 9.54621752e-01 -7.31126380e-02 1.71634117e+02] [ 2.96780407e-01 -1.66292324e-02 9.54800952e-01 3.66403300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.58, Y:171.65, Z:36.65 [[ 9.10037322e-01 -3.00798325e-01 -2.85223492e-01 2.56576939e+02] [ 2.89004390e-01 9.53666874e-01 -8.36418349e-02 1.71648412e+02] [ 2.97167520e-01 -6.31365013e-03 9.54804484e-01 3.66465017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:171.69, Z:36.64 [[ 9.10300055e-01 -3.15150096e-01 -2.68391928e-01 2.56602448e+02] [ 2.90627401e-01 9.48268902e-01 -1.27756810e-01 1.71688167e+02] [ 2.94770290e-01 3.82949821e-02 9.54800487e-01 3.66375366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.64, Y:171.65, Z:36.67 [[ 9.09996564e-01 -2.91118341e-01 -2.95222569e-01 2.56639893e+02] [ 2.86418444e-01 9.56219824e-01 -6.00676626e-02 1.71650102e+02] [ 2.99784471e-01 -2.98958223e-02 9.53538416e-01 3.66733966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.66, Y:171.69, Z:36.66 [[ 9.10201304e-01 -3.09243075e-01 -2.75503732e-01 2.56657751e+02] [ 2.90667678e-01 9.50825968e-01 -1.06968594e-01 1.71689907e+02] [ 2.95035399e-01 1.72829239e-02 9.55330003e-01 3.66607508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:171.68, Z:36.68 [[ 9.09623726e-01 -3.02113737e-01 -2.85152532e-01 2.56689695e+02] [ 2.89800653e-01 9.53259519e-01 -8.55094837e-02 1.71683580e+02] [ 2.97657955e-01 -4.85593477e-03 9.54660234e-01 3.66776750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.72, Y:171.65, Z:36.72 [[ 9.07248474e-01 -2.84049419e-01 -3.10187256e-01 2.56717870e+02] [ 2.86882790e-01 9.57232037e-01 -3.74845541e-02 1.71654880e+02] [ 3.07568644e-01 -5.49795808e-02 9.49936195e-01 3.67176609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:256.74, Y:171.71, Z:36.70 [[ 9.07131683e-01 -3.09620021e-01 -2.85039562e-01 2.56738754e+02] [ 2.90741392e-01 9.50748179e-01 -1.07458566e-01 1.71708326e+02] [ 3.04272168e-01 1.46062705e-02 9.52473152e-01 3.67007541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.76, Y:171.73, Z:36.70 [[ 9.07622451e-01 -3.15169877e-01 -2.77289444e-01 2.56760254e+02] [ 2.93870105e-01 9.48726815e-01 -1.16437928e-01 1.71725141e+02] [ 2.99769659e-01 2.41945998e-02 9.53704762e-01 3.66964208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.80, Y:171.68, Z:36.74 [[ 9.06595756e-01 -2.87304261e-01 -3.09096097e-01 2.56795611e+02] [ 2.91221851e-01 9.56034596e-01 -3.44628052e-02 1.71677223e+02] [ 3.05407873e-01 -5.87717047e-02 9.50406186e-01 3.67446914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.82, Y:171.73, Z:36.73 [[ 9.06861175e-01 -3.11517272e-01 -2.83830581e-01 2.56815804e+02] [ 2.93059067e-01 9.50146202e-01 -1.06482758e-01 1.71731665e+02] [ 3.02851767e-01 1.33859534e-02 9.52943662e-01 3.67274148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.84, Y:171.72, Z:36.75 [[ 9.06495913e-01 -2.99226300e-01 -2.97873767e-01 2.56840252e+02] [ 2.89813021e-01 9.54029384e-01 -7.63959966e-02 1.71717818e+02] [ 3.07040017e-01 -1.70750374e-02 9.51543415e-01 3.67476199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.87, Y:171.75, Z:36.75 [[ 9.04520438e-01 -3.12988079e-01 -2.89622581e-01 2.56869285e+02] [ 2.94698296e-01 9.49699258e-01 -1.05944482e-01 1.71750396e+02] [ 3.08213711e-01 1.04776679e-02 9.51259443e-01 3.67490020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:171.76, Z:36.74 [[ 9.06281861e-01 -3.12257483e-01 -2.84865676e-01 2.56887191e+02] [ 2.93318298e-01 9.49888804e-01 -1.08053855e-01 1.71762051e+02] [ 3.04331341e-01 1.43709330e-02 9.52457826e-01 3.67448979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.92, Y:171.74, Z:36.78 [[ 9.05341334e-01 -2.94624850e-01 -3.05864784e-01 2.56917467e+02] [ 2.89301304e-01 9.55116059e-01 -6.37029760e-02 1.71739277e+02] [ 3.10904847e-01 -3.08141436e-02 9.49941401e-01 3.67757228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.94, Y:171.79, Z:36.76 [[ 9.06834730e-01 -3.11698809e-01 -2.83715746e-01 2.56940546e+02] [ 2.88852958e-01 9.49795358e-01 -1.20219579e-01 1.71785826e+02] [ 3.06944198e-01 2.70671566e-02 9.51342540e-01 3.67630122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.97, Y:171.77, Z:36.78 [[ 9.07382846e-01 -2.98557246e-01 -2.95837694e-01 2.56970449e+02] [ 2.85575690e-01 9.54376892e-01 -8.72426176e-02 1.71772248e+02] [ 3.08387574e-01 -5.32159869e-03 9.51245912e-01 3.67801960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.00, Y:171.76, Z:36.80 [[ 9.07457358e-01 -2.87599308e-01 -3.06280559e-01 2.56997889e+02] [ 2.82375822e-01 9.57281270e-01 -6.22612584e-02 1.71760877e+02] [ 3.11102938e-01 -2.99867877e-02 9.49903024e-01 3.68042915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.02, Y:171.78, Z:36.82 [[ 9.06884149e-01 -2.90455535e-01 -3.05281384e-01 2.57024732e+02] [ 2.79432925e-01 9.56806379e-01 -8.02420965e-02 1.71776588e+02] [ 3.15401936e-01 -1.25353847e-02 9.48875378e-01 3.68155730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.05, Y:171.82, Z:36.80 [[ 9.07961493e-01 -3.07949429e-01 -2.84206045e-01 2.57047137e+02] [ 2.83815371e-01 9.50878921e-01 -1.23604662e-01 1.71818174e+02] [ 3.08309523e-01 3.15662294e-02 9.50762227e-01 3.68014479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.07, Y:171.80, Z:36.82 [[ 9.08593346e-01 -2.94128816e-01 -2.96557535e-01 2.57073454e+02] [ 2.80742692e-01 9.55759419e-01 -8.77922212e-02 1.71801053e+02] [ 3.09259880e-01 -3.48893273e-03 9.50971164e-01 3.68190266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.10, Y:171.78, Z:36.85 [[ 9.08583549e-01 -2.80554711e-01 -3.09459189e-01 2.57102921e+02] [ 2.79973432e-01 9.58843182e-01 -4.72718783e-02 1.71781790e+02] [ 3.09985181e-01 -4.36899002e-02 9.49737006e-01 3.68498241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.12, Y:171.82, Z:36.85 [[ 9.07939195e-01 -2.95872859e-01 -2.96825993e-01 2.57123645e+02] [ 2.80143975e-01 9.55221559e-01 -9.52424613e-02 1.71818710e+02] [ 3.11714247e-01 3.32035007e-03 9.50170092e-01 3.68475485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.15, Y:171.85, Z:36.85 [[ 9.08155216e-01 -3.04626769e-01 -2.87152636e-01 2.57148968e+02] [ 2.80149880e-01 9.51933026e-01 -1.23852971e-01 1.71845916e+02] [ 3.11079008e-01 3.20319456e-02 9.49844095e-01 3.68453733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.18, Y:171.81, Z:36.88 [[ 9.07942819e-01 -2.81718892e-01 -3.10281008e-01 2.57182252e+02] [ 2.78219427e-01 9.58856318e-01 -5.64669077e-02 1.71806575e+02] [ 3.13422700e-01 -3.50574810e-02 9.48966377e-01 3.68796898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.20, Y:171.85, Z:36.87 [[ 9.07712305e-01 -3.00276522e-01 -2.93074022e-01 2.57202074e+02] [ 2.80204612e-01 9.53699302e-01 -1.09284114e-01 1.71848386e+02] [ 3.12319944e-01 1.70778420e-02 9.49823457e-01 3.68665081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.24, Y:171.84, Z:36.89 [[ 9.07196147e-01 -2.92369515e-01 -3.02514824e-01 2.57235035e+02] [ 2.80422703e-01 9.56260084e-01 -8.32451789e-02 1.71838159e+02] [ 3.13621203e-01 -9.31231921e-03 9.49502513e-01 3.68883002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.26, Y:171.86, Z:36.89 [[ 9.06748068e-01 -3.01878574e-01 -2.94410033e-01 2.57255492e+02] [ 2.82984858e-01 9.53261833e-01 -1.05884126e-01 1.71859824e+02] [ 3.12613997e-01 1.26966454e-02 9.49795391e-01 3.68888232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.28, Y:171.84, Z:36.91 [[ 9.05942513e-01 -2.90815397e-01 -3.07724826e-01 2.57284272e+02] [ 2.84763267e-01 9.56359915e-01 -6.54644574e-02 1.71841279e+02] [ 3.13333761e-01 -2.83216918e-02 9.49220647e-01 3.69113828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.31, Y:171.86, Z:36.92 [[ 9.06430794e-01 -2.95900368e-01 -3.01373835e-01 2.57309452e+02] [ 2.85910250e-01 9.55091017e-01 -7.78233716e-02 1.71855136e+02] [ 3.10867407e-01 -1.56243680e-02 9.50324857e-01 3.69164734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.33, Y:171.88, Z:36.92 [[ 9.04373637e-01 -3.05984717e-01 -2.97458701e-01 2.57331949e+02] [ 2.85964955e-01 9.51930144e-01 -1.09786364e-01 1.71880717e+02] [ 3.16752853e-01 1.42251295e-02 9.48401432e-01 3.69198796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.36, Y:171.86, Z:36.94 [[ 9.05179940e-01 -2.95256253e-01 -3.05733579e-01 2.57362110e+02] [ 2.87921017e-01 9.55097919e-01 -6.99246200e-02 1.71864620e+02] [ 3.12651186e-01 -2.47327595e-02 9.49545958e-01 3.69369806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.39, Y:171.89, Z:36.94 [[ 9.04385660e-01 -3.01869792e-01 -3.01597758e-01 2.57390148e+02] [ 2.86441909e-01 9.53349137e-01 -9.52704387e-02 1.71886487e+02] [ 3.16287230e-01 -2.29018987e-04 9.48663447e-01 3.69420296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.41, Y:171.89, Z:36.95 [[ 9.04830328e-01 -2.99903568e-01 -3.02224961e-01 2.57413161e+02] [ 2.86740262e-01 9.53944551e-01 -8.81465561e-02 1.71889829e+02] [ 3.14741321e-01 -6.90238698e-03 9.49152389e-01 3.69499154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.44, Y:171.91, Z:36.95 [[ 9.05120284e-01 -3.09355261e-01 -2.91644636e-01 2.57437304e+02] [ 2.87245715e-01 9.50690078e-01 -1.16954160e-01 1.71914665e+02] [ 3.13444047e-01 2.20839098e-02 9.49349846e-01 3.69466556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.47, Y:171.89, Z:36.97 [[ 9.03591118e-01 -2.94808221e-01 -3.10823431e-01 2.57468533e+02] [ 2.86223948e-01 9.55300872e-01 -7.40006414e-02 1.71893228e+02] [ 3.18745892e-01 -2.20987871e-02 9.47582556e-01 3.69744204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.49, Y:171.91, Z:36.98 [[ 9.04205519e-01 -2.97743079e-01 -3.06204895e-01 2.57491598e+02] [ 2.83877632e-01 9.54629794e-01 -8.99746991e-02 1.71908603e+02] [ 3.19101660e-01 -5.56910080e-03 9.47704129e-01 3.69788130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.52, Y:171.92, Z:36.98 [[ 9.06595951e-01 -2.98986989e-01 -2.97809607e-01 2.57519606e+02] [ 2.83603832e-01 9.54256197e-01 -9.46782788e-02 1.71919113e+02] [ 3.12494236e-01 1.37499853e-03 9.49918661e-01 3.69797009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.54, Y:171.93, Z:36.99 [[ 9.06735353e-01 -2.99986790e-01 -2.96376323e-01 2.57543700e+02] [ 2.82750329e-01 9.53915305e-01 -1.00488026e-01 1.71928221e+02] [ 3.12862991e-01 7.31554268e-03 9.49770094e-01 3.69879413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.57, Y:171.92, Z:37.01 [[ 9.05579153e-01 -2.90521083e-01 -3.09069406e-01 2.57570439e+02] [ 2.80284250e-01 9.56736167e-01 -7.80810178e-02 1.71916118e+02] [ 3.18382061e-01 -1.59187449e-02 9.47828812e-01 3.70093938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.60, Y:171.94, Z:37.01 [[ 9.07595794e-01 -2.99944094e-01 -2.93774429e-01 2.57597382e+02] [ 2.82385070e-01 9.53912448e-01 -1.01536761e-01 1.71939821e+02] [ 3.10690437e-01 9.19682467e-03 9.50466659e-01 3.70058551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:171.93, Z:37.02 [[ 9.07868001e-01 -2.94184020e-01 -2.98716345e-01 2.57625236e+02] [ 2.82383698e-01 9.55706221e-01 -8.29762925e-02 1.71934227e+02] [ 3.09895369e-01 -9.02110554e-03 9.50727869e-01 3.70200370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.65, Y:171.93, Z:37.04 [[ 9.05739021e-01 -2.93898026e-01 -3.05386272e-01 2.57651102e+02] [ 2.83284971e-01 9.55727885e-01 -7.95853944e-02 1.71933845e+02] [ 3.15256166e-01 -1.44277439e-02 9.48896933e-01 3.70368091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:171.95, Z:37.04 [[ 9.04832431e-01 -3.00947153e-01 -3.01179487e-01 2.57675810e+02] [ 2.84863766e-01 9.53638609e-01 -9.70877876e-02 1.71950779e+02] [ 3.16434680e-01 2.05305575e-03 9.48612080e-01 3.70417881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.70, Y:171.95, Z:37.05 [[ 9.05407475e-01 -2.97402504e-01 -3.02967086e-01 2.57702291e+02] [ 2.85084696e-01 9.54707624e-01 -8.52060323e-02 1.71949371e+02] [ 3.14585475e-01 -9.22510115e-03 9.49184322e-01 3.70528871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.73, Y:171.95, Z:37.07 [[ 9.04558250e-01 -2.95965503e-01 -3.06885635e-01 2.57731615e+02] [ 2.85675711e-01 9.55061631e-01 -7.90358768e-02 1.71947705e+02] [ 3.16486589e-01 -1.61772176e-02 9.48459033e-01 3.70671022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.76, Y:171.96, Z:37.08 [[ 9.04345272e-01 -2.98409869e-01 -3.05141244e-01 2.57758785e+02] [ 2.86124014e-01 9.54384107e-01 -8.53464991e-02 1.71957196e+02] [ 3.16690192e-01 -1.01255347e-02 9.48474984e-01 3.70750765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.78, Y:171.98, Z:37.07 [[ 9.04302427e-01 -3.08402045e-01 -2.95169948e-01 2.57779713e+02] [ 2.89398776e-01 9.51186297e-01 -1.07205303e-01 1.71977413e+02] [ 3.13823945e-01 1.15241941e-02 9.49411252e-01 3.70718136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.81, Y:171.97, Z:37.09 [[ 9.04102545e-01 -3.03985893e-01 -3.00318441e-01 2.57807374e+02] [ 2.89674883e-01 9.52669742e-01 -9.22432967e-02 1.71973932e+02] [ 3.14144952e-01 -3.59730995e-03 9.49368215e-01 3.70853191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.84, Y:171.97, Z:37.10 [[ 9.03724828e-01 -2.96131641e-01 -3.09172261e-01 2.57838476e+02] [ 2.87125103e-01 9.54923645e-01 -7.53658209e-02 1.71966440e+02] [ 3.17554107e-01 -2.06611540e-02 9.48015035e-01 3.71048610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.86, Y:172.00, Z:37.10 [[ 9.04476075e-01 -3.07192190e-01 -2.95898610e-01 2.57858113e+02] [ 2.88560186e-01 9.51591011e-01 -1.05865799e-01 1.71995154e+02] [ 3.14095604e-01 1.03685245e-02 9.49334738e-01 3.70984184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.88, Y:172.00, Z:37.11 [[ 9.04986075e-01 -3.02009255e-01 -2.99650819e-01 2.57884608e+02] [ 2.87564992e-01 9.53301389e-01 -9.23192185e-02 1.71995813e+02] [ 3.13538800e-01 -2.62147806e-03 9.49571771e-01 3.71108152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.91, Y:172.00, Z:37.12 [[ 9.05447749e-01 -2.99901785e-01 -3.00371926e-01 2.57910290e+02] [ 2.85238709e-01 9.53968400e-01 -9.26454051e-02 1.72004853e+02] [ 3.14329848e-01 -1.79212693e-03 9.49312138e-01 3.71195571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.93, Y:172.02, Z:37.12 [[ 9.04672210e-01 -3.02705914e-01 -2.99895519e-01 2.57932606e+02] [ 2.84009542e-01 9.53031447e-01 -1.05212361e-01 1.72019895e+02] [ 3.17658265e-01 1.00095104e-02 9.48152433e-01 3.71249607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.55275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:257.96, Y:172.01, Z:37.15 [[ 9.05035380e-01 -2.91402746e-01 -3.09831247e-01 2.57964533e+02] [ 2.83061739e-01 9.56348069e-01 -7.26252296e-02 1.72007915e+02] [ 3.17469706e-01 -2.19729691e-02 9.48013805e-01 3.71451624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:172.03, Z:37.14 [[ 9.05031344e-01 -3.01591108e-01 -2.99935109e-01 2.57987010e+02] [ 2.84190469e-01 9.53416469e-01 -1.01157370e-01 1.72034150e+02] [ 3.16471236e-01 6.31189184e-03 9.48581107e-01 3.71415700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.01, Y:172.04, Z:37.15 [[ 9.04801882e-01 -3.00658701e-01 -3.01559117e-01 2.58013134e+02] [ 2.86055757e-01 9.53728570e-01 -9.25954605e-02 1.72037428e+02] [ 3.15445176e-01 -2.48217465e-03 9.48940556e-01 3.71520363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.04, Y:172.05, Z:37.16 [[ 9.04173504e-01 -3.05851842e-01 -2.98202826e-01 2.58038497e+02] [ 2.88780007e-01 9.52065454e-01 -1.00883490e-01 1.72052333e+02] [ 3.14764010e-01 5.10116448e-03 9.49156255e-01 3.71564058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.06, Y:172.05, Z:37.17 [[ 9.03206859e-01 -3.00818443e-01 -3.06146426e-01 2.58064336e+02] [ 2.89762175e-01 9.53570410e-01 -8.21057523e-02 1.72047978e+02] [ 3.16631097e-01 -1.45511754e-02 9.48437142e-01 3.71725800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.08, Y:172.06, Z:37.18 [[ 9.02662438e-01 -3.06783275e-01 -3.01802163e-01 2.58084984e+02] [ 2.92630929e-01 9.51765985e-01 -9.22423428e-02 1.72064230e+02] [ 3.15543441e-01 -5.05294931e-03 9.48897679e-01 3.71775579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.11, Y:172.07, Z:37.19 [[ 9.01741097e-01 -3.09772030e-01 -3.01503371e-01 2.58109818e+02] [ 2.95169553e-01 9.50801762e-01 -9.40794628e-02 1.72074854e+02] [ 3.15813123e-01 -4.15929717e-03 9.48812295e-01 3.71859312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.14, Y:172.08, Z:37.20 [[ 9.00680117e-01 -3.07610008e-01 -3.06841016e-01 2.58138249e+02] [ 2.93803719e-01 9.51480715e-01 -9.14539473e-02 1.72078705e+02] [ 3.20085459e-01 -7.78027976e-03 9.47356726e-01 3.71997399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.16, Y:172.10, Z:37.20 [[ 9.00152828e-01 -3.15013700e-01 -3.00817644e-01 2.58164292e+02] [ 2.99159710e-01 9.49086412e-01 -9.86835830e-02 1.72095702e+02] [ 3.16588619e-01 -1.16221287e-03 9.48562226e-01 3.72023392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.19, Y:172.10, Z:37.21 [[ 8.99392723e-01 -3.14477639e-01 -3.03638840e-01 2.58187138e+02] [ 3.01345979e-01 9.49211027e-01 -9.04932399e-02 1.72099457e+02] [ 3.16675436e-01 -1.01113821e-02 9.48480062e-01 3.72141341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.21, Y:172.11, Z:37.22 [[ 8.98949860e-01 -3.17069688e-01 -3.02251489e-01 2.58212077e+02] [ 3.02628424e-01 9.48381688e-01 -9.48061736e-02 1.72110728e+02] [ 3.16709941e-01 -6.24389519e-03 9.48501886e-01 3.72218299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.24, Y:172.12, Z:37.23 [[ 8.98857131e-01 -3.17361986e-01 -3.02220497e-01 2.58237874e+02] [ 3.02903623e-01 9.48283956e-01 -9.49048723e-02 1.72119064e+02] [ 3.16710047e-01 -6.23776211e-03 9.48501891e-01 3.72308399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.26, Y:172.13, Z:37.24 [[ 8.98581657e-01 -3.18056759e-01 -3.02309286e-01 2.58261213e+02] [ 3.03480061e-01 9.48052419e-01 -9.53753830e-02 1.72127562e+02] [ 3.16939835e-01 -6.04227093e-03 9.48426398e-01 3.72394579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.29, Y:172.14, Z:37.25 [[ 8.98241229e-01 -3.19436405e-01 -3.01865993e-01 2.58287112e+02] [ 3.04797852e-01 9.47588875e-01 -9.57788800e-02 1.72137380e+02] [ 3.16640118e-01 -5.97556735e-03 9.48526926e-01 3.72485249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.31, Y:172.15, Z:37.26 [[ 8.98030283e-01 -3.19857476e-01 -3.02047688e-01 2.58312407e+02] [ 3.05464930e-01 9.47440916e-01 -9.51151231e-02 1.72146352e+02] [ 3.16595621e-01 -6.84871487e-03 9.48535876e-01 3.72577454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.34, Y:172.16, Z:37.26 [[ 8.97686453e-01 -3.21475475e-01 -3.01351208e-01 2.58336069e+02] [ 3.05457918e-01 9.46915634e-01 -1.00230948e-01 1.72157727e+02] [ 3.17575962e-01 -2.07414817e-03 9.48230566e-01 3.72649832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.36, Y:172.16, Z:37.28 [[ 8.97811110e-01 -3.19404506e-01 -3.03176470e-01 2.58363141e+02] [ 3.06405154e-01 9.47551265e-01 -9.08981903e-02 1.72161261e+02] [ 3.16308539e-01 -1.12854277e-02 9.48589241e-01 3.72756657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.39, Y:172.17, Z:37.28 [[ 8.97571025e-01 -3.21055073e-01 -3.02142177e-01 2.58387084e+02] [ 3.06636916e-01 9.47034454e-01 -9.53915296e-02 1.72171696e+02] [ 3.16764986e-01 -7.02727240e-03 9.48478024e-01 3.72836137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:172.19, Z:37.28 [[ 8.97880523e-01 -3.26827442e-01 -2.94948113e-01 2.58411735e+02] [ 3.07727203e-01 9.45046958e-01 -1.10409309e-01 1.72191415e+02] [ 3.14824609e-01 8.37081053e-03 9.49112952e-01 3.72826205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.44, Y:172.19, Z:37.30 [[ 8.97750828e-01 -3.21991794e-01 -3.00607276e-01 2.58439732e+02] [ 3.07475152e-01 9.46720701e-01 -9.58068122e-02 1.72189534e+02] [ 3.15440138e-01 -6.41862286e-03 9.48923770e-01 3.72972238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.47, Y:172.19, Z:37.32 [[ 8.97256578e-01 -3.16705833e-01 -3.07616724e-01 2.58466156e+02] [ 3.06429120e-01 9.48308539e-01 -8.25355064e-02 1.72186859e+02] [ 3.17855042e-01 -2.02071959e-02 9.47923964e-01 3.73158053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.49, Y:172.20, Z:37.32 [[ 8.96904211e-01 -3.21443562e-01 -3.03705241e-01 2.58490486e+02] [ 3.06844939e-01 9.46902423e-01 -9.60311702e-02 1.72203585e+02] [ 3.18447830e-01 -7.05965519e-03 9.47914100e-01 3.73207372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.52, Y:172.22, Z:37.32 [[ 8.96682446e-01 -3.25426493e-01 -3.00096965e-01 2.58515831e+02] [ 3.07587774e-01 9.45562526e-01 -1.06307438e-01 1.72219619e+02] [ 3.18355701e-01 3.01785557e-03 9.47966529e-01 3.73248506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:172.23, Z:37.33 [[ 8.96733236e-01 -3.26869197e-01 -2.98372304e-01 2.58541088e+02] [ 3.08962112e-01 9.45062910e-01 -1.06763798e-01 1.72228819e+02] [ 3.16878395e-01 3.55290893e-03 9.48459519e-01 3.73278623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:172.23, Z:37.34 [[ 8.96645056e-01 -3.24755083e-01 -3.00934841e-01 2.58566773e+02] [ 3.09646413e-01 9.45783453e-01 -9.80446741e-02 1.72231260e+02] [ 3.16459700e-01 -5.27212183e-03 9.48591305e-01 3.73384163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.59, Y:172.22, Z:37.36 [[ 8.95764582e-01 -3.16290009e-01 -3.12356278e-01 2.58594945e+02] [ 3.08481166e-01 9.48228026e-01 -7.55180862e-02 1.72222131e+02] [ 3.20070593e-01 -2.87096017e-02 9.46958592e-01 3.73630321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.62, Y:172.24, Z:37.36 [[ 8.95501693e-01 -3.23173052e-01 -3.05999831e-01 2.58616891e+02] [ 3.08240003e-01 9.46313013e-01 -9.73641725e-02 1.72243394e+02] [ 3.21037098e-01 -7.13160730e-03 9.47039768e-01 3.73649206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.64, Y:172.25, Z:37.37 [[ 8.95515222e-01 -3.23142357e-01 -3.05992654e-01 2.58641914e+02] [ 3.08191607e-01 9.46323948e-01 -9.74110837e-02 1.72251825e+02] [ 3.21045823e-01 -7.07125952e-03 9.47037263e-01 3.73733420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.67, Y:172.27, Z:37.37 [[ 8.96234214e-01 -3.27906067e-01 -2.98733737e-01 2.58667865e+02] [ 3.07601399e-01 9.44653774e-01 -1.14064134e-01 1.72271985e+02] [ 3.19602274e-01 1.03372638e-02 9.47495397e-01 3.73712157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.69, Y:172.26, Z:37.40 [[ 8.95406467e-01 -3.16888012e-01 -3.12776673e-01 2.58694638e+02] [ 3.07155778e-01 9.48177923e-01 -8.13262272e-02 1.72257571e+02] [ 3.22339242e-01 -2.32511326e-02 9.46338627e-01 3.73957786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.72, Y:172.28, Z:37.40 [[ 8.95479300e-01 -3.21131055e-01 -3.08207184e-01 2.58718287e+02] [ 3.05749656e-01 9.47014918e-01 -9.83864528e-02 1.72276072e+02] [ 3.23471746e-01 -6.13120852e-03 9.46217965e-01 3.74000536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.74, Y:172.28, Z:37.41 [[ 8.95557706e-01 -3.20775780e-01 -3.08349307e-01 2.58743407e+02] [ 3.05321251e-01 9.47136820e-01 -9.85432811e-02 1.72284448e+02] [ 3.23659280e-01 -5.89440154e-03 9.46155340e-01 3.74088428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.77, Y:172.29, Z:37.42 [[ 8.95819630e-01 -3.20236545e-01 -3.08148903e-01 2.58768936e+02] [ 3.04732436e-01 9.47321176e-01 -9.85937705e-02 1.72293054e+02] [ 3.23489310e-01 -5.58073095e-03 9.46215368e-01 3.74175082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.79, Y:172.31, Z:37.42 [[ 8.95357619e-01 -3.23094782e-01 -3.06503665e-01 2.58793498e+02] [ 3.03833676e-01 9.46351315e-01 -1.10019483e-01 1.72308453e+02] [ 3.25606867e-01 5.38064664e-03 9.45489935e-01 3.74245703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.82, Y:172.30, Z:37.44 [[ 8.96681802e-01 -3.14490433e-01 -3.11540549e-01 2.58820590e+02] [ 3.02974315e-01 9.49104516e-01 -8.60649923e-02 1.72302161e+02] [ 3.22751158e-01 -1.72158720e-02 9.46327271e-01 3.74393369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.84, Y:172.32, Z:37.45 [[ 8.96771682e-01 -3.18754353e-01 -3.06914015e-01 2.58844926e+02] [ 3.03221580e-01 9.47825140e-01 -9.84082227e-02 1.72318991e+02] [ 3.22268869e-01 -4.81324518e-03 9.46635943e-01 3.74451781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.87, Y:172.33, Z:37.45 [[ 8.97254872e-01 -3.18013320e-01 -3.06269853e-01 2.58869618e+02] [ 3.02638342e-01 9.48073435e-01 -9.78099984e-02 1.72327790e+02] [ 3.21471194e-01 -4.92850295e-03 9.46906533e-01 3.74543881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.89, Y:172.33, Z:37.46 [[ 8.98170406e-01 -3.13001065e-01 -3.08739786e-01 2.58894412e+02] [ 2.96884934e-01 9.49749259e-01 -9.91749980e-02 1.72333254e+02] [ 3.24267263e-01 -2.58414273e-03 9.45961978e-01 3.74634093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.92, Y:172.35, Z:37.47 [[ 8.97155128e-01 -3.19367713e-01 -3.05150683e-01 2.58918508e+02] [ 3.03952054e-01 9.47619182e-01 -9.81378348e-02 1.72345325e+02] [ 3.20508697e-01 -4.70631516e-03 9.47233881e-01 3.74715692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.94, Y:172.35, Z:37.48 [[ 8.96612415e-01 -3.21157811e-01 -3.04866916e-01 2.58943671e+02] [ 3.05831117e-01 9.47011309e-01 -9.81677614e-02 1.72354091e+02] [ 3.20239761e-01 -5.21935588e-03 9.47322149e-01 3.74802551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.97, Y:172.36, Z:37.49 [[ 8.96201397e-01 -3.22299686e-01 -3.04870413e-01 2.58968152e+02] [ 3.06998944e-01 9.46621621e-01 -9.82809969e-02 1.72362434e+02] [ 3.20272859e-01 -5.51532838e-03 9.47309282e-01 3.74888372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.99, Y:172.38, Z:37.50 [[ 8.93825795e-01 -3.29654154e-01 -3.03979583e-01 2.58994625e+02] [ 3.10037782e-01 9.44082533e-01 -1.12181749e-01 1.72380654e+02] [ 3.23962994e-01 6.02578542e-03 9.46050563e-01 3.74961439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.02, Y:172.37, Z:37.51 [[ 8.94427663e-01 -3.22679651e-01 -3.09640113e-01 2.59021543e+02] [ 3.12505921e-01 9.46248388e-01 -8.33908717e-02 1.72370440e+02] [ 3.19904995e-01 -2.21772662e-02 9.47190035e-01 3.75116048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:172.42, Z:37.49 [[ 8.94967596e-01 -3.42930115e-01 -2.85362820e-01 2.59044311e+02] [ 3.17281536e-01 9.38921647e-01 -1.33261279e-01 1.72415696e+02] [ 3.13632635e-01 2.87241726e-02 9.49109842e-01 3.74945223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.08, Y:172.37, Z:37.54 [[ 8.93337379e-01 -3.20434524e-01 -3.15071489e-01 2.59075093e+02] [ 3.17137930e-01 9.46272390e-01 -6.31830431e-02 1.72374746e+02] [ 3.18389479e-01 -4.34773455e-02 9.46962439e-01 3.75364481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:172.41, Z:37.54 [[ 8.92661876e-01 -3.33208712e-01 -3.03523855e-01 2.59097048e+02] [ 3.18509280e-01 9.42810703e-01 -9.82843635e-02 1.72405214e+02] [ 3.18914745e-01 -8.94046010e-03 9.47741238e-01 3.75350849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:172.41, Z:37.54 [[ 8.92285044e-01 -3.34162857e-01 -3.03582914e-01 2.59120907e+02] [ 3.19474090e-01 9.42470704e-01 -9.84138069e-02 1.72413223e+02] [ 3.19004242e-01 -9.17370740e-03 9.47708888e-01 3.75436529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.15, Y:172.42, Z:37.55 [[ 8.91559367e-01 -3.36137818e-01 -3.03534616e-01 2.59146520e+02] [ 3.21548830e-01 9.41761501e-01 -9.84460526e-02 1.72421805e+02] [ 3.18948657e-01 -9.83070039e-03 9.47721009e-01 3.75520310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.17, Y:172.43, Z:37.56 [[ 8.91154690e-01 -3.36997158e-01 -3.03770036e-01 2.59172339e+02] [ 3.22395776e-01 9.41452178e-01 -9.86344813e-02 1.72430164e+02] [ 3.19224502e-01 -1.00355962e-02 9.47625983e-01 3.75609549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.20, Y:172.44, Z:37.57 [[ 8.90843138e-01 -3.37718340e-01 -3.03882914e-01 2.59196422e+02] [ 3.23108554e-01 9.41192099e-01 -9.87840844e-02 1.72438105e+02] [ 3.19373395e-01 -1.01860451e-02 9.47574208e-01 3.75692836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.22, Y:172.45, Z:37.58 [[ 8.90560390e-01 -3.38448038e-01 -3.03899848e-01 2.59221996e+02] [ 3.23861273e-01 9.40927614e-01 -9.88387605e-02 1.72446168e+02] [ 3.19399544e-01 -1.03995066e-02 9.47563075e-01 3.75779040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:172.45, Z:37.59 [[ 8.90630041e-01 -3.37959768e-01 -3.04238929e-01 2.59246445e+02] [ 3.23274026e-01 9.41106092e-01 -9.90617386e-02 1.72454177e+02] [ 3.19799992e-01 -1.01251833e-02 9.47430972e-01 3.75861999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.27, Y:172.46, Z:37.59 [[ 8.90697685e-01 -3.37698126e-01 -3.04331415e-01 2.59270874e+02] [ 3.22971934e-01 9.41201494e-01 -9.91406941e-02 1.72462326e+02] [ 3.19916809e-01 -9.98611898e-03 9.47393009e-01 3.75946747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.30, Y:172.48, Z:37.60 [[ 8.90439241e-01 -3.38418193e-01 -3.04287831e-01 2.59295362e+02] [ 3.20421230e-01 9.40995662e-01 -1.08891686e-01 1.72475900e+02] [ 3.23184457e-01 -5.38850369e-04 9.46335837e-01 3.76021214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.32, Y:172.48, Z:37.61 [[ 8.91211886e-01 -3.32965839e-01 -3.08018058e-01 2.59320936e+02] [ 3.18391251e-01 9.42878030e-01 -9.80205742e-02 1.72476579e+02] [ 3.23060962e-01 -1.07131538e-02 9.46317517e-01 3.76134523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.35, Y:172.49, Z:37.62 [[ 8.92086576e-01 -3.31978651e-01 -3.06548067e-01 2.59347966e+02] [ 3.18082236e-01 9.43210039e-01 -9.58045635e-02 1.72485030e+02] [ 3.20944283e-01 -1.20415294e-02 9.47021525e-01 3.76223792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.37, Y:172.50, Z:37.63 [[ 8.92883064e-01 -3.30977330e-01 -3.05309419e-01 2.59372572e+02] [ 3.15567500e-01 9.43612720e-01 -1.00060923e-01 1.72495896e+02] [ 3.21211748e-01 -7.00302656e-03 9.46981505e-01 3.76303785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.40, Y:172.50, Z:37.64 [[ 8.93188047e-01 -3.30063462e-01 -3.05406653e-01 2.59397928e+02] [ 3.14688254e-01 9.43933081e-01 -9.98080213e-02 1.72503924e+02] [ 3.21226424e-01 -6.96055483e-03 9.46976840e-01 3.76394715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.42, Y:172.51, Z:37.65 [[ 8.93652059e-01 -3.28845724e-01 -3.05362878e-01 2.59421955e+02] [ 3.13367527e-01 9.44361910e-01 -9.99068404e-02 1.72511240e+02] [ 3.21227008e-01 -6.40885633e-03 9.46980536e-01 3.76486378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.45, Y:172.52, Z:37.66 [[ 8.93876877e-01 -3.28977284e-01 -3.04562104e-01 2.59447125e+02] [ 3.12934401e-01 9.44327074e-01 -1.01579711e-01 1.72520254e+02] [ 3.21023658e-01 -4.50820452e-03 9.47060445e-01 3.76571840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.47, Y:172.53, Z:37.67 [[ 8.93123249e-01 -3.31603090e-01 -3.03924749e-01 2.59472133e+02] [ 3.13627435e-01 9.43418589e-01 -1.07699574e-01 1.72532388e+02] [ 3.22441770e-01 8.69853754e-04 9.46588902e-01 3.76655060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.50, Y:172.53, Z:37.68 [[ 8.93884573e-01 -3.26370110e-01 -3.07331941e-01 2.59498327e+02] [ 3.14202479e-01 9.45101300e-01 -8.97793655e-02 1.72529365e+02] [ 3.19761118e-01 -1.63120677e-02 9.47357770e-01 3.76800424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.52, Y:172.55, Z:37.69 [[ 8.93840162e-01 -3.30844201e-01 -3.02641504e-01 2.59520561e+02] [ 3.13912362e-01 9.43684034e-01 -1.04496286e-01 1.72545745e+02] [ 3.20169946e-01 -1.59993204e-03 9.47358774e-01 3.76852848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.55, Y:172.56, Z:37.69 [[ 8.93915888e-01 -3.34912858e-01 -2.97905629e-01 2.59546954e+02] [ 3.16789279e-01 9.42244918e-01 -1.08715533e-01 1.72559928e+02] [ 3.17110295e-01 2.80923276e-03 9.48384505e-01 3.76889443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.57, Y:172.57, Z:37.70 [[ 8.93914524e-01 -3.36832594e-01 -2.95737429e-01 2.59571504e+02] [ 3.19435175e-01 9.41563963e-01 -1.06857253e-01 1.72568555e+02] [ 3.14448712e-01 1.05231300e-03 9.49273881e-01 3.76951580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.60, Y:172.56, Z:37.72 [[ 8.93594673e-01 -3.27227745e-01 -3.07263022e-01 2.59600630e+02] [ 3.18754741e-01 9.44547221e-01 -7.89047702e-02 1.72556168e+02] [ 3.16044263e-01 -2.74326626e-02 9.48347759e-01 3.77206116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:172.59, Z:37.71 [[ 8.93527578e-01 -3.41857139e-01 -2.91105073e-01 2.59619529e+02] [ 3.19903604e-01 9.39624841e-01 -1.21518895e-01 1.72592347e+02] [ 3.15071660e-01 1.54549215e-02 9.48942040e-01 3.77106488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.65, Y:172.59, Z:37.73 [[ 8.93000066e-01 -3.38775325e-01 -2.96280544e-01 2.59650331e+02] [ 3.20981171e-01 9.40865823e-01 -1.08363235e-01 1.72594208e+02] [ 3.15471029e-01 1.66790031e-03 9.48933743e-01 3.77255145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5927550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:259.68, Y:172.58, Z:37.75 [[ 8.93247568e-01 -3.26088674e-01 -3.09475298e-01 2.59678482e+02] [ 3.18915350e-01 9.44808443e-01 -7.50333617e-02 1.72577771e+02] [ 3.16862404e-01 -3.16730550e-02 9.47942527e-01 3.77499863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:172.62, Z:37.74 [[ 8.91615924e-01 -3.45256076e-01 -2.92949289e-01 2.59698535e+02] [ 3.21675465e-01 9.38319536e-01 -1.26812236e-01 1.72622080e+02] [ 3.18662736e-01 1.88332103e-02 9.47681049e-01 3.77400638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.73, Y:172.61, Z:37.76 [[ 8.91666802e-01 -3.37150406e-01 -3.02092565e-01 2.59727234e+02] [ 3.21575481e-01 9.41427414e-01 -1.01506814e-01 1.72614604e+02] [ 3.18621286e-01 -6.63530610e-03 9.47858876e-01 3.77568101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.75, Y:172.61, Z:37.78 [[ 8.90353475e-01 -3.32363192e-01 -3.11135658e-01 2.59752191e+02] [ 3.20690707e-01 9.42938876e-01 -8.95753639e-02 1.72613761e+02] [ 3.23153462e-01 -2.00245778e-02 9.46134692e-01 3.77761387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.78, Y:172.63, Z:37.78 [[ 8.89663139e-01 -3.37395400e-01 -3.07674898e-01 2.59775335e+02] [ 3.21542688e-01 9.41331191e-01 -1.02498242e-01 1.72630764e+02] [ 3.24206413e-01 -7.74170626e-03 9.45954686e-01 3.77822919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.80, Y:172.63, Z:37.79 [[ 8.90751624e-01 -3.32892655e-01 -3.09425314e-01 2.59799860e+02] [ 3.20424474e-01 9.42806169e-01 -9.18949632e-02 1.72633082e+02] [ 3.22319253e-01 -1.72918559e-02 9.46473080e-01 3.77931770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:172.65, Z:37.80 [[ 8.90609243e-01 -3.36013029e-01 -3.06448073e-01 2.59823615e+02] [ 3.20506916e-01 9.41822744e-01 -1.01218752e-01 1.72647151e+02] [ 3.22630584e-01 -8.07237063e-03 9.46490540e-01 3.77995355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.85, Y:172.65, Z:37.81 [[ 8.90885324e-01 -3.34702139e-01 -3.07079497e-01 2.59849685e+02] [ 3.20450534e-01 9.42251446e-01 -9.73327657e-02 1.72654063e+02] [ 3.21923585e-01 -1.16914563e-02 9.46693464e-01 3.78100954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:172.67, Z:37.82 [[ 8.90411041e-01 -3.37622545e-01 -3.05252674e-01 2.59873328e+02] [ 3.19508546e-01 9.41281504e-01 -1.09102796e-01 1.72670122e+02] [ 3.24164260e-01 -3.84503853e-04 9.46000732e-01 3.78167054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.90, Y:172.67, Z:37.83 [[ 8.91421921e-01 -3.32080299e-01 -3.08366072e-01 2.59899541e+02] [ 3.19139074e-01 9.43124913e-01 -9.30894793e-02 1.72669733e+02] [ 3.21740907e-01 -1.54296602e-02 9.46702020e-01 3.78294750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:172.69, Z:37.84 [[ 8.91415969e-01 -3.34940187e-01 -3.05274699e-01 2.59922514e+02] [ 3.17019468e-01 9.42239296e-01 -1.08091466e-01 1.72689139e+02] [ 3.23845994e-01 -4.23563585e-04 9.46109715e-01 3.78355959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:172.69, Z:37.85 [[ 8.93852558e-01 -3.27089203e-01 -3.06659840e-01 2.59949412e+02] [ 3.13537108e-01 9.44915261e-01 -9.39661154e-02 1.72690077e+02] [ 3.20502865e-01 -1.21573867e-02 9.47169526e-01 3.78476363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:172.71, Z:37.86 [[ 8.91955191e-01 -3.32836692e-01 -3.05999469e-01 2.59973173e+02] [ 3.14764781e-01 9.42984467e-01 -1.08182379e-01 1.72708105e+02] [ 3.24559811e-01 1.75978420e-04 9.45865159e-01 3.78555187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.00, Y:172.70, Z:37.87 [[ 8.92436668e-01 -3.23675733e-01 -3.14310061e-01 2.60001177e+02] [ 3.13317990e-01 9.45885756e-01 -8.44510108e-02 1.72701397e+02] [ 3.24636153e-01 -2.31118179e-02 9.45556562e-01 3.78740096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.02, Y:172.73, Z:37.87 [[ 8.91937213e-01 -3.33870907e-01 -3.04923312e-01 2.60019815e+02] [ 3.13389865e-01 9.42590199e-01 -1.15371180e-01 1.72729536e+02] [ 3.25936806e-01 7.34397316e-03 9.45363033e-01 3.78732629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:172.73, Z:37.89 [[ 8.92483699e-01 -3.27963208e-01 -3.09698210e-01 2.60046700e+02] [ 3.13881766e-01 9.44617807e-01 -9.57884994e-02 1.72726624e+02] [ 3.23961547e-01 -1.17189465e-02 9.45997665e-01 3.78872285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.07, Y:172.74, Z:37.90 [[ 8.92529736e-01 -3.29646420e-01 -3.07772494e-01 2.60070284e+02] [ 3.13452128e-01 9.44089773e-01 -1.02187395e-01 1.72739785e+02] [ 3.24250573e-01 -5.26665392e-03 9.45956568e-01 3.78951800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:172.75, Z:37.90 [[ 8.92523083e-01 -3.29679100e-01 -3.07756781e-01 2.60094443e+02] [ 3.13448579e-01 9.44078938e-01 -1.02298323e-01 1.72748777e+02] [ 3.24272314e-01 -5.16231140e-03 9.45949690e-01 3.79043551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:172.77, Z:37.91 [[ 8.92396117e-01 -3.35688629e-01 -3.01566436e-01 2.60119298e+02] [ 3.14380386e-01 9.41912774e-01 -1.18174865e-01 1.72768762e+02] [ 3.23719237e-01 1.06522178e-02 9.46093223e-01 3.79068825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:172.76, Z:37.93 [[ 8.92117213e-01 -3.25473488e-01 -3.13359038e-01 2.60146279e+02] [ 3.14639627e-01 9.45299834e-01 -8.60821103e-02 1.72756193e+02] [ 3.24235692e-01 -2.17998385e-02 9.45725110e-01 3.79274774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:172.77, Z:37.93 [[ 8.91418073e-01 -3.31955629e-01 -3.08511392e-01 2.60169369e+02] [ 3.15719709e-01 9.43276900e-01 -1.02712000e-01 1.72774956e+02] [ 3.25107496e-01 -5.84379399e-03 9.45659012e-01 3.79324539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:172.78, Z:37.94 [[ 8.90595384e-01 -3.33911298e-01 -3.08776793e-01 2.60194334e+02] [ 3.17721554e-01 9.42582433e-01 -1.02914389e-01 1.72783812e+02] [ 3.25411858e-01 -6.44996226e-03 9.45550380e-01 3.79418881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.22, Y:172.79, Z:37.95 [[ 8.90068058e-01 -3.35453794e-01 -3.08625346e-01 2.60218898e+02] [ 3.19330865e-01 9.42031423e-01 -1.02978621e-01 1.72792729e+02] [ 3.25279343e-01 -6.89561776e-03 9.45592830e-01 3.79509526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:172.80, Z:37.96 [[ 8.89633487e-01 -3.36706478e-01 -3.08514191e-01 2.60243827e+02] [ 3.20628483e-01 9.41581865e-01 -1.03058074e-01 1.72801793e+02] [ 3.25191688e-01 -7.23452332e-03 9.45620446e-01 3.79601296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:172.83, Z:37.95 [[ 8.89439358e-01 -3.50177530e-01 -2.93723211e-01 2.60266290e+02] [ 3.26110284e-01 9.36492048e-01 -1.28975680e-01 1.72832483e+02] [ 3.20233837e-01 1.89298861e-02 9.47149381e-01 3.79519075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:172.80, Z:37.99 [[ 8.88135293e-01 -3.32309144e-01 -3.17468635e-01 2.60296437e+02] [ 3.24677992e-01 9.42575241e-01 -7.83333698e-02 1.72804964e+02] [ 3.25268970e-01 -3.35044486e-02 9.45027803e-01 3.79861657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:172.86, Z:37.97 [[ 8.88208526e-01 -3.56165965e-01 -2.90226498e-01 2.60315158e+02] [ 3.28263032e-01 9.33927700e-01 -1.41500648e-01 1.72856966e+02] [ 3.21448281e-01 3.04114515e-02 9.46438665e-01 3.79684812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:172.82, Z:38.01 [[ 8.85165945e-01 -3.37430553e-01 -3.20346487e-01 2.60346013e+02] [ 3.30359828e-01 9.40629958e-01 -7.79593937e-02 1.72823833e+02] [ 3.27633383e-01 -3.68226097e-02 9.44087105e-01 3.80058888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:172.84, Z:38.01 [[ 8.85414875e-01 -3.44048933e-01 -3.12523328e-01 2.60368270e+02] [ 3.31783078e-01 9.38717626e-01 -9.34302263e-02 1.72842903e+02] [ 3.25515726e-01 -2.09654396e-02 9.45304164e-01 3.80087906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.39, Y:172.86, Z:38.01 [[ 8.84209936e-01 -3.49634136e-01 -3.09723682e-01 2.60390303e+02] [ 3.34031967e-01 9.36814923e-01 -1.03925190e-01 1.72860066e+02] [ 3.26489561e-01 -1.15659251e-02 9.45130042e-01 3.80147335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.41, Y:172.87, Z:38.02 [[ 8.83786755e-01 -3.50516168e-01 -3.09934489e-01 2.60414535e+02] [ 3.34294890e-01 9.36502869e-01 -1.05873993e-01 1.72870803e+02] [ 3.27365085e-01 -1.00394836e-02 9.44844596e-01 3.80233533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.44, Y:172.89, Z:38.03 [[ 8.82204308e-01 -3.54711404e-01 -3.09669790e-01 2.60437420e+02] [ 3.34484839e-01 9.34975658e-01 -1.18069517e-01 1.72887445e+02] [ 3.31414319e-01 5.81586912e-04 9.43485141e-01 3.80311096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.46, Y:172.88, Z:38.04 [[ 8.83079551e-01 -3.47002048e-01 -3.15848200e-01 2.60464738e+02] [ 3.35636149e-01 9.37527823e-01 -9.15967066e-02 1.72883050e+02] [ 3.27900720e-01 -2.51228949e-02 9.44378080e-01 3.80449849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.49, Y:172.90, Z:38.05 [[ 8.82639595e-01 -3.51426608e-01 -3.12164514e-01 2.60488001e+02] [ 3.35595988e-01 9.36137298e-01 -1.04987105e-01 1.72900961e+02] [ 3.29124107e-01 -1.20953823e-02 9.44209206e-01 3.80505330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.61275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:260.51, Y:172.91, Z:38.06 [[ 8.83236665e-01 -3.49044726e-01 -3.13146568e-01 2.60512180e+02] [ 3.34041946e-01 9.36996907e-01 -1.02238815e-01 1.72907773e+02] [ 3.29103285e-01 -1.43030185e-02 9.44185602e-01 3.80595010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.54, Y:172.92, Z:38.07 [[ 8.84000936e-01 -3.46901083e-01 -3.13371956e-01 2.60536008e+02] [ 3.32769554e-01 9.37757710e-01 -9.93725415e-02 1.72916017e+02] [ 3.28339410e-01 -1.64352265e-02 9.44416812e-01 3.80677613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.56, Y:172.94, Z:38.07 [[ 8.82490216e-01 -3.54262829e-01 -3.09368496e-01 2.60559058e+02] [ 3.33317200e-01 9.35141655e-01 -1.20040536e-01 1.72939191e+02] [ 3.31829268e-01 2.81675763e-03 9.43335255e-01 3.80735070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.58, Y:172.94, Z:38.09 [[ 8.82656189e-01 -3.49844608e-01 -3.13889792e-01 2.60584078e+02] [ 3.32535638e-01 9.36772020e-01 -1.08987301e-01 1.72941932e+02] [ 3.32171794e-01 -8.18122690e-03 9.43183421e-01 3.80857702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.61, Y:172.92, Z:38.12 [[ 8.82334850e-01 -3.28509025e-01 -3.36997082e-01 2.60614586e+02] [ 3.31232315e-01 9.42159730e-01 -5.11878576e-02 1.72916273e+02] [ 3.34320753e-01 -6.64594929e-02 9.40113169e-01 3.81188654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.64, Y:172.96, Z:38.11 [[ 8.83190904e-01 -3.44343227e-01 -3.18436131e-01 2.60635830e+02] [ 3.27493837e-01 9.38791515e-01 -1.06856347e-01 1.72958535e+02] [ 3.35740397e-01 -9.91131672e-03 9.41902411e-01 3.81132798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.65, Y:173.01, Z:38.09 [[ 8.83851226e-01 -3.65859690e-01 -2.91468176e-01 2.60651626e+02] [ 3.33104784e-01 9.29739359e-01 -1.56926504e-01 1.73007905e+02] [ 3.28402518e-01 4.16102392e-02 9.43620885e-01 3.80942381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.68, Y:172.99, Z:38.11 [[ 8.83686045e-01 -3.51789900e-01 -3.08776360e-01 2.60680881e+02] [ 3.32730194e-01 9.36077274e-01 -1.14236404e-01 1.72990001e+02] [ 3.29225747e-01 -1.79010283e-03 9.44249545e-01 3.81136811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.71, Y:172.99, Z:38.13 [[ 8.84218318e-01 -3.47796166e-01 -3.11762398e-01 2.60708256e+02] [ 3.34368869e-01 9.37395135e-01 -9.74054439e-02 1.72990352e+02] [ 3.26121795e-01 -1.81159625e-02 9.45154160e-01 3.81258265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.73, Y:173.01, Z:38.13 [[ 8.83797082e-01 -3.51365230e-01 -3.08942055e-01 2.60729940e+02] [ 3.33508774e-01 9.36224080e-01 -1.10708489e-01 1.73007297e+02] [ 3.28138105e-01 -5.19104658e-03 9.44615497e-01 3.81323538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.76, Y:173.01, Z:38.14 [[ 8.84294646e-01 -3.48158256e-01 -3.11141139e-01 2.60756511e+02] [ 3.33665673e-01 9.37316907e-01 -1.00519822e-01 1.73012946e+02] [ 3.26634656e-01 -1.49279774e-02 9.45032781e-01 3.81439720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.78, Y:173.03, Z:38.15 [[ 8.84575618e-01 -3.49035980e-01 -3.09353941e-01 2.60779717e+02] [ 3.33089726e-01 9.37052338e-01 -1.04805296e-01 1.73025251e+02] [ 3.26461653e-01 -1.03344104e-02 9.45153950e-01 3.81515428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.80, Y:173.04, Z:38.15 [[ 8.87132917e-01 -3.49877714e-01 -3.00966400e-01 2.60802836e+02] [ 3.30381143e-01 9.36791311e-01 -1.15196963e-01 1.73043372e+02] [ 3.22247558e-01 2.76139425e-03 9.46651407e-01 3.81516409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.83, Y:173.04, Z:38.17 [[ 8.85332086e-01 -3.45528627e-01 -3.11122268e-01 2.60826833e+02] [ 3.30442206e-01 9.38322287e-01 -1.01780321e-01 1.73043807e+02] [ 3.27100973e-01 -1.26985450e-02 9.44904070e-01 3.81698831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.85, Y:173.05, Z:38.18 [[ 8.85607028e-01 -3.46486764e-01 -3.09268675e-01 2.60853142e+02] [ 3.31653352e-01 9.37964717e-01 -1.01134782e-01 1.73054295e+02] [ 3.25124969e-01 -1.30043190e-02 9.45581642e-01 3.81785965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.88, Y:173.07, Z:38.19 [[ 8.85678487e-01 -3.47393117e-01 -3.08044868e-01 2.60876767e+02] [ 3.31303792e-01 9.37674935e-01 -1.04897632e-01 1.73065806e+02] [ 3.25286667e-01 -9.15085676e-03 9.45571175e-01 3.81870016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.90, Y:173.08, Z:38.20 [[ 8.85602810e-01 -3.47698618e-01 -3.07917738e-01 2.60901328e+02] [ 3.31612851e-01 9.37561428e-01 -1.04935622e-01 1.73075245e+02] [ 3.25177765e-01 -9.17819696e-03 9.45608366e-01 3.81959330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.93, Y:173.12, Z:38.19 [[ 8.85541899e-01 -3.64136626e-01 -2.88478879e-01 2.60925623e+02] [ 3.33602320e-01 9.30604863e-01 -1.50612352e-01 1.73117913e+02] [ 3.23303321e-01 3.71363254e-02 9.45566421e-01 3.81862441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.96, Y:173.09, Z:38.21 [[ 8.86028435e-01 -3.47190468e-01 -3.07265995e-01 2.60956837e+02] [ 3.33209231e-01 9.37675367e-01 -9.86737759e-02 1.73093834e+02] [ 3.22374349e-01 -1.49560946e-02 9.46494107e-01 3.82073201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.98, Y:173.08, Z:38.23 [[ 8.85012723e-01 -3.35950062e-01 -3.22319772e-01 2.60983843e+02] [ 3.32095539e-01 9.40742758e-01 -6.86703465e-02 1.73082178e+02] [ 3.26289799e-01 -4.62668283e-02 9.44136827e-01 3.82337218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.00, Y:173.14, Z:38.21 [[ 8.86219038e-01 -3.62194300e-01 -2.88844431e-01 2.61000102e+02] [ 3.33237471e-01 9.31524356e-01 -1.45654256e-01 1.73141386e+02] [ 3.21820764e-01 3.28277872e-02 9.46231331e-01 3.82110428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:261.03, Y:173.10, Z:38.25 [[ 8.84617930e-01 -3.35749215e-01 -3.23610233e-01 2.61034987e+02] [ 3.32479260e-01 9.40717496e-01 -6.71426420e-02 1.73097401e+02] [ 3.26968897e-01 -4.81981060e-02 9.43805214e-01 3.82525896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.05, Y:173.14, Z:38.25 [[ 8.82418880e-01 -3.53353296e-01 -3.10609673e-01 2.61053904e+02] [ 3.33041836e-01 9.35489652e-01 -1.18077288e-01 1.73136381e+02] [ 3.32295134e-01 7.47612583e-04 9.43175162e-01 3.82519441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.08, Y:173.14, Z:38.26 [[ 8.82254963e-01 -3.50794367e-01 -3.13957787e-01 2.61081777e+02] [ 3.35198988e-01 9.36358917e-01 -1.04276639e-01 1.73138076e+02] [ 3.30556831e-01 -1.32397500e-02 9.43693219e-01 3.82638577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.10, Y:173.15, Z:38.27 [[ 8.82238874e-01 -3.51467968e-01 -3.13248840e-01 2.61104940e+02] [ 3.35382057e-01 9.36126212e-01 -1.05766680e-01 1.73147850e+02] [ 3.30414051e-01 -1.17465636e-02 9.43762986e-01 3.82719045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.13, Y:173.16, Z:38.28 [[ 8.81775245e-01 -3.53174361e-01 -3.12634431e-01 2.61129477e+02] [ 3.35579436e-01 9.35526550e-01 -1.10347257e-01 1.73159551e+02] [ 3.31449632e-01 -7.61220652e-03 9.43442206e-01 3.82803622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.15, Y:173.19, Z:38.28 [[ 8.82153194e-01 -3.61893788e-01 -3.01394472e-01 2.61153839e+02] [ 3.37147318e-01 9.32095714e-01 -1.32398133e-01 1.73185252e+02] [ 3.28842557e-01 1.51810978e-02 9.44262732e-01 3.82778952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.18, Y:173.16, Z:38.30 [[ 8.82186638e-01 -3.45924450e-01 -3.19504319e-01 2.61182139e+02] [ 3.35759671e-01 9.37801727e-01 -8.82800326e-02 1.73163744e+02] [ 3.30169924e-01 -2.93971999e-02 9.43463632e-01 3.83006450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.45275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.21, Y:173.18, Z:38.30 [[ 8.83119185e-01 -3.50117998e-01 -3.12278551e-01 2.61205964e+02] [ 3.35567820e-01 9.36576985e-01 -1.01083084e-01 1.73180322e+02] [ 3.27863911e-01 -1.55222217e-02 9.44597436e-01 3.83048405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.23, Y:173.20, Z:38.31 [[ 8.82597570e-01 -3.53545765e-01 -3.09882110e-01 2.61228763e+02] [ 3.35167214e-01 9.35406472e-01 -1.12595166e-01 1.73195396e+02] [ 3.29673275e-01 -4.48610353e-03 9.44084428e-01 3.83117234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.26, Y:173.20, Z:38.32 [[ 8.83716220e-01 -3.49538969e-01 -3.11236490e-01 2.61255447e+02] [ 3.34863467e-01 9.36806383e-01 -1.01292943e-01 1.73198792e+02] [ 3.26974161e-01 -1.47075132e-02 9.44918826e-01 3.83222692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.28, Y:173.22, Z:38.33 [[ 8.83132219e-01 -3.53619148e-01 -3.08270954e-01 2.61279695e+02] [ 3.35366947e-01 9.35379712e-01 -1.12222124e-01 1.73215340e+02] [ 3.28034288e-01 -4.27691491e-03 9.44656135e-01 3.83296348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.30, Y:173.23, Z:38.34 [[ 8.82921129e-01 -3.53786036e-01 -3.08683851e-01 2.61304069e+02] [ 3.33956608e-01 9.35326382e-01 -1.16779896e-01 1.73226891e+02] [ 3.30035246e-01 2.04258431e-05 9.43968610e-01 3.83395215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.33, Y:173.23, Z:38.35 [[ 8.83699300e-01 -3.49368404e-01 -3.11475947e-01 2.61330464e+02] [ 3.33615302e-01 9.36912741e-01 -1.04380773e-01 1.73228583e+02] [ 3.28293128e-01 -1.16719266e-02 9.44503779e-01 3.83507612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.35, Y:173.24, Z:38.36 [[ 8.83913957e-01 -3.50160489e-01 -3.09973787e-01 2.61354896e+02] [ 3.32943138e-01 9.36662534e-01 -1.08683785e-01 1.73240293e+02] [ 3.28397600e-01 -7.13653068e-03 9.44512618e-01 3.83591633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.38, Y:173.25, Z:38.37 [[ 8.84541126e-01 -3.48165715e-01 -3.10431363e-01 2.61378179e+02] [ 3.29935623e-01 9.37424419e-01 -1.11256208e-01 1.73250242e+02] [ 3.29741538e-01 -4.01167409e-03 9.44062723e-01 3.83687656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.40, Y:173.26, Z:38.38 [[ 8.84413002e-01 -3.47511175e-01 -3.11527889e-01 2.61404040e+02] [ 3.30090903e-01 9.37652832e-01 -1.08844672e-01 1.73257712e+02] [ 3.29929747e-01 -6.56887864e-03 9.43982633e-01 3.83788025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.43, Y:173.26, Z:38.39 [[ 8.85729514e-01 -3.42989510e-01 -3.12796138e-01 2.61430525e+02] [ 3.28808639e-01 9.39214005e-01 -9.88024864e-02 1.73261127e+02] [ 3.27670730e-01 -1.53377942e-02 9.44667478e-01 3.83891491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.45, Y:173.28, Z:38.40 [[ 8.85277771e-01 -3.48302139e-01 -3.08170226e-01 2.61453690e+02] [ 3.28127846e-01 9.37379458e-01 -1.16841211e-01 1.73281601e+02] [ 3.29568483e-01 2.31769423e-03 9.44128828e-01 3.83954382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.48, Y:173.28, Z:38.41 [[ 8.87584771e-01 -3.37819872e-01 -3.13162910e-01 2.61480923e+02] [ 3.25025459e-01 9.41030378e-01 -9.39163394e-02 1.73276182e+02] [ 3.26422617e-01 -1.84272057e-02 9.45044292e-01 3.84078206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.50, Y:173.29, Z:38.41 [[ 8.87823387e-01 -3.40587384e-01 -3.09467072e-01 2.61504735e+02] [ 3.23308321e-01 9.40200280e-01 -1.07215496e-01 1.73292286e+02] [ 3.27477273e-01 -4.86485435e-03 9.44846532e-01 3.84145225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:261.53, Y:173.30, Z:38.42 [[ 8.88313287e-01 -3.38952162e-01 -3.09856314e-01 2.61529029e+02] [ 3.21491960e-01 9.40794440e-01 -1.07465068e-01 1.73299472e+02] [ 3.27936614e-01 -4.15366636e-03 9.44690597e-01 3.84233339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.55, Y:173.31, Z:38.43 [[ 8.87702645e-01 -3.41372502e-01 -3.08947938e-01 2.61553919e+02] [ 3.21203231e-01 9.39921833e-01 -1.15652205e-01 1.73312670e+02] [ 3.29867395e-01 3.42969202e-03 9.44021048e-01 3.84312907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.58, Y:173.31, Z:38.44 [[ 8.88475655e-01 -3.35399230e-01 -3.13238514e-01 2.61580721e+02] [ 3.20513743e-01 9.42000105e-01 -9.95326254e-02 1.73310951e+02] [ 3.28453879e-01 -1.19649339e-02 9.44444223e-01 3.84436341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.60, Y:173.33, Z:38.45 [[ 8.86767112e-01 -3.44005123e-01 -3.08714373e-01 2.61604325e+02] [ 3.21454209e-01 9.38917298e-01 -1.22888157e-01 1.73334315e+02] [ 3.32131420e-01 9.73564167e-03 9.43182876e-01 3.84496516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.64, Y:173.32, Z:38.47 [[ 8.88317690e-01 -3.32000248e-01 -3.17281449e-01 2.61637111e+02] [ 3.19145727e-01 9.43100475e-01 -9.33139856e-02 1.73322572e+02] [ 3.30208551e-01 -1.83665545e-02 9.43729295e-01 3.84660581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.66, Y:173.34, Z:38.47 [[ 8.88172527e-01 -3.36223499e-01 -3.13214496e-01 2.61661396e+02] [ 3.19334388e-01 9.41760532e-01 -1.05416549e-01 1.73338079e+02] [ 3.30416571e-01 -6.39207681e-03 9.43813557e-01 3.84722457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.68, Y:173.36, Z:38.48 [[ 8.86578255e-01 -3.41906996e-01 -3.11574397e-01 2.61679846e+02] [ 3.20100592e-01 9.39707976e-01 -1.20351696e-01 1.73355165e+02] [ 3.33938033e-01 6.96604823e-03 9.42569289e-01 3.84780136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.71, Y:173.35, Z:38.49 [[ 8.86993266e-01 -3.37806793e-01 -3.14848404e-01 2.61706476e+02] [ 3.20492225e-01 9.41195987e-01 -1.06933851e-01 1.73353945e+02] [ 3.32457036e-01 -6.05685997e-03 9.43098952e-01 3.84892711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.73, Y:173.36, Z:38.50 [[ 8.87831714e-01 -3.35985124e-01 -3.14434166e-01 2.61733358e+02] [ 3.21717637e-01 9.41759765e-01 -9.79096874e-02 1.73357801e+02] [ 3.29017645e-01 -1.42316914e-02 9.44216526e-01 3.84989344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.76, Y:173.37, Z:38.51 [[ 8.87551618e-01 -3.40315404e-01 -3.10543960e-01 2.61757676e+02] [ 3.22499608e-01 9.40304268e-01 -1.08728498e-01 1.73372763e+02] [ 3.29007794e-01 -3.64815053e-03 9.44320159e-01 3.85054056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.78, Y:173.39, Z:38.51 [[ 8.85306552e-01 -3.48617119e-01 -3.07731072e-01 2.61781381e+02] [ 3.24625915e-01 9.37171936e-01 -1.27776279e-01 1.73392017e+02] [ 3.32941923e-01 1.32236965e-02 9.42854607e-01 3.85127502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.81, Y:173.39, Z:38.53 [[ 8.84533968e-01 -3.43604536e-01 -3.15492602e-01 2.61809903e+02] [ 3.26575405e-01 9.39078145e-01 -1.07148223e-01 1.73387868e+02] [ 3.33088823e-01 -8.25588170e-03 9.42859309e-01 3.85266213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.83, Y:173.38, Z:38.54 [[ 8.87306297e-01 -3.34238496e-01 -3.17761173e-01 2.61834281e+02] [ 3.23814917e-01 9.42132615e-01 -8.67757790e-02 1.73380283e+02] [ 3.28376971e-01 -2.58991127e-02 9.44191613e-01 3.85358840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.86, Y:173.41, Z:38.54 [[ 8.84781530e-01 -3.50978730e-01 -3.06554359e-01 2.61857608e+02] [ 3.27894380e-01 9.36322936e-01 -1.25636917e-01 1.73412284e+02] [ 3.31129763e-01 1.06437725e-02 9.43525193e-01 3.85385489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.89, Y:173.41, Z:38.55 [[ 8.84518823e-01 -3.45419859e-01 -3.13546763e-01 2.61886021e+02] [ 3.28955956e-01 9.38399571e-01 -1.05802757e-01 1.73408444e+02] [ 3.30778522e-01 -9.55854502e-03 9.43660004e-01 3.85529332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.91, Y:173.41, Z:38.56 [[ 8.84761692e-01 -3.45129885e-01 -3.13180638e-01 2.61911381e+02] [ 3.30913449e-01 9.38422249e-01 -9.92973887e-02 1.73412422e+02] [ 3.28166175e-01 -1.57811595e-02 9.44488177e-01 3.85626246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.93, Y:173.44, Z:38.57 [[ 8.82899821e-01 -3.53753467e-01 -3.08782107e-01 2.61932851e+02] [ 3.31349933e-01 9.35310564e-01 -1.24102264e-01 1.73435116e+02] [ 3.32708773e-01 7.25493662e-03 9.43001717e-01 3.85676848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.96, Y:173.43, Z:38.58 [[ 8.82748378e-01 -3.48513327e-01 -3.15109126e-01 2.61960461e+02] [ 3.31993883e-01 9.37244373e-01 -1.06550682e-01 1.73432241e+02] [ 3.32468588e-01 -1.05568608e-02 9.43055243e-01 3.85819278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.98, Y:173.44, Z:38.59 [[ 8.82019988e-01 -3.51547103e-01 -3.13775995e-01 2.61984578e+02] [ 3.32828788e-01 9.36159262e-01 -1.13273271e-01 1.73444072e+02] [ 3.33565195e-01 -4.52439489e-03 9.42716177e-01 3.85897109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.01, Y:173.44, Z:38.60 [[ 8.83286699e-01 -3.45948278e-01 -3.16424392e-01 2.62012570e+02] [ 3.33444619e-01 9.37999264e-01 -9.47209935e-02 1.73440003e+02] [ 3.29574411e-01 -2.18442172e-02 9.43876866e-01 3.86016084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.03, Y:173.47, Z:38.60 [[ 8.80682253e-01 -3.58739432e-01 -3.09361907e-01 2.62033249e+02] [ 3.33490467e-01 9.33334196e-01 -1.32933767e-01 1.73470375e+02] [ 3.36426631e-01 1.39031630e-02 9.41607043e-01 3.86045059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.06, Y:173.45, Z:38.62 [[ 8.83347900e-01 -3.43399310e-01 -3.19019436e-01 2.62064520e+02] [ 3.33442371e-01 9.38730484e-01 -8.71852294e-02 1.73449833e+02] [ 3.29412617e-01 -2.93597078e-02 9.43729482e-01 3.86215742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.09, Y:173.49, Z:38.62 [[ 8.81072693e-01 -3.58249613e-01 -3.08817300e-01 2.62085183e+02] [ 3.33369512e-01 9.33532364e-01 -1.31841171e-01 1.73485069e+02] [ 3.35522993e-01 1.32113827e-02 9.41939372e-01 3.86225362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.11, Y:173.47, Z:38.64 [[ 8.84052121e-01 -3.42167888e-01 -3.18391243e-01 2.62113195e+02] [ 3.30419213e-01 9.39336372e-01 -9.20343662e-02 1.73466960e+02] [ 3.30567680e-01 -2.38394073e-02 9.43481156e-01 3.86386904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.14, Y:173.49, Z:38.64 [[ 8.85068354e-01 -3.46671750e-01 -3.10600558e-01 2.62137401e+02] [ 3.28747482e-01 9.37975039e-01 -1.10126832e-01 1.73485425e+02] [ 3.29513432e-01 -4.63937718e-03 9.44139489e-01 3.86434647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.16, Y:173.49, Z:38.65 [[ 8.85695605e-01 -3.46014685e-01 -3.09543428e-01 2.62163488e+02] [ 3.28346226e-01 9.38216494e-01 -1.09263748e-01 1.73493051e+02] [ 3.28225611e-01 -4.86299527e-03 9.44586841e-01 3.86528299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.19, Y:173.50, Z:38.66 [[ 8.86083478e-01 -3.45529697e-01 -3.08974593e-01 2.62187062e+02] [ 3.26266811e-01 9.38407816e-01 -1.13757370e-01 1.73502258e+02] [ 3.29250723e-01 -9.62906072e-06 9.44242533e-01 3.86609820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.21, Y:173.51, Z:38.67 [[ 8.85662163e-01 -3.47206882e-01 -3.08301662e-01 2.62212026e+02] [ 3.25547990e-01 9.37764574e-01 -1.20897104e-01 1.73514147e+02] [ 3.31090683e-01 6.70700412e-03 9.43575103e-01 3.86704220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:262.24, Y:173.51, Z:38.68 [[ 8.87992177e-01 -3.38206919e-01 -3.11586221e-01 2.62242536e+02] [ 3.24367041e-01 9.40952256e-01 -9.69271637e-02 1.73507645e+02] [ 3.25969195e-01 -1.49977373e-02 9.45261420e-01 3.86845652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.27, Y:173.53, Z:38.68 [[ 8.89049307e-01 -3.46372015e-01 -2.99362252e-01 2.62267635e+02] [ 3.24728133e-01 9.38040358e-01 -1.20962502e-01 1.73532235e+02] [ 3.22711899e-01 1.03302831e-02 9.46440867e-01 3.86830753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.29, Y:173.52, Z:38.70 [[ 8.88930693e-01 -3.36397000e-01 -3.10868591e-01 2.62294283e+02] [ 3.23230575e-01 9.41577948e-01 -9.46201029e-02 1.73519720e+02] [ 3.24536929e-01 -1.63715197e-02 9.45731334e-01 3.87028139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.32, Y:173.54, Z:38.71 [[ 8.88889693e-01 -3.41166502e-01 -3.05745862e-01 2.62318070e+02] [ 3.23498961e-01 9.39999404e-01 -1.08395306e-01 1.73535384e+02] [ 3.24381775e-01 -2.55699877e-03 9.45922791e-01 3.87078821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.35, Y:173.54, Z:38.72 [[ 8.89084713e-01 -3.39421755e-01 -3.07117641e-01 2.62347223e+02] [ 3.22707438e-01 9.40618493e-01 -1.05341164e-01 1.73540036e+02] [ 3.24635615e-01 -5.45192831e-03 9.45823447e-01 3.87191775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.37, Y:173.55, Z:38.73 [[ 8.89044094e-01 -3.41234848e-01 -3.05220211e-01 2.62374189e+02] [ 3.23528513e-01 9.39975327e-01 -1.08515829e-01 1.73547859e+02] [ 3.23928850e-01 -2.27208396e-03 9.46078716e-01 3.87269341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.40, Y:173.55, Z:38.74 [[ 8.88573939e-01 -3.41634849e-01 -3.06140467e-01 2.62396496e+02] [ 3.24802608e-01 9.39818328e-01 -1.06041385e-01 1.73554011e+02] [ 3.23943854e-01 -5.20961080e-03 9.46061964e-01 3.87362282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.42, Y:173.58, Z:38.74 [[ 8.85441969e-01 -3.52407869e-01 -3.02987150e-01 2.62419221e+02] [ 3.24651897e-01 9.35511961e-01 -1.39350336e-01 1.73578833e+02] [ 3.32556258e-01 2.50212834e-02 9.42751436e-01 3.87397865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.45, Y:173.56, Z:38.76 [[ 8.85922590e-01 -3.41620640e-01 -3.13745919e-01 2.62449901e+02] [ 3.26298505e-01 9.39759881e-01 -1.01885485e-01 1.73564738e+02] [ 3.29652013e-01 -1.21121716e-02 9.44024812e-01 3.87581464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.48, Y:173.56, Z:38.77 [[ 8.87792729e-01 -3.37480884e-01 -3.12938850e-01 2.62476550e+02] [ 3.26343568e-01 9.41049246e-01 -8.90291661e-02 1.73564554e+02] [ 3.24536511e-01 -2.30861346e-02 9.45591394e-01 3.87680305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.50, Y:173.58, Z:38.77 [[ 8.86928896e-01 -3.45911907e-01 -3.06107966e-01 2.62499891e+02] [ 3.28260031e-01 9.38259801e-01 -1.09150804e-01 1.73581850e+02] [ 3.24965362e-01 -3.67400811e-03 9.45718782e-01 3.87706727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.53, Y:173.59, Z:38.78 [[ 8.86145864e-01 -3.47308156e-01 -3.06793989e-01 2.62525273e+02] [ 3.29639941e-01 9.37741877e-01 -1.09442597e-01 1.73588904e+02] [ 3.25703878e-01 -4.14944799e-03 9.45462726e-01 3.87799906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.55, Y:173.59, Z:38.79 [[ 8.85288746e-01 -3.49058108e-01 -3.07282076e-01 2.62549908e+02] [ 3.31396626e-01 9.37089331e-01 -1.09726301e-01 1.73594679e+02] [ 3.26251611e-01 -4.69278398e-03 9.45271318e-01 3.87886124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.57, Y:173.63, Z:38.79 [[ 8.83953271e-01 -3.59479734e-01 -2.98999892e-01 2.62574122e+02] [ 3.31209194e-01 9.32770039e-01 -1.42269197e-01 1.73625013e+02] [ 3.30041034e-01 2.67278091e-02 9.43588120e-01 3.87870097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.61, Y:173.60, Z:38.81 [[ 8.85539947e-01 -3.43319833e-01 -3.12970439e-01 2.62606100e+02] [ 3.31823445e-01 9.38932485e-01 -9.10987876e-02 1.73603915e+02] [ 3.25134132e-01 -2.31793138e-02 9.45383793e-01 3.88099057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.63, Y:173.63, Z:38.81 [[ 8.84822275e-01 -3.50776435e-01 -3.06668282e-01 2.62628167e+02] [ 3.31605447e-01 9.36459104e-01 -1.14377331e-01 1.73626837e+02] [ 3.27303177e-01 -4.89263013e-04 9.44919251e-01 3.88128768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.65, Y:173.63, Z:38.82 [[ 8.84153393e-01 -3.48493950e-01 -3.11166746e-01 2.62652973e+02] [ 3.30065413e-01 9.37303414e-01 -1.11888930e-01 1.73633006e+02] [ 3.30650269e-01 -3.77840292e-03 9.43745794e-01 3.88248014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.68, Y:173.64, Z:38.84 [[ 8.83699728e-01 -3.48708585e-01 -3.12213251e-01 2.62675642e+02] [ 3.30268761e-01 9.37221945e-01 -1.11971301e-01 1.73640971e+02] [ 3.31658464e-01 -4.16527525e-03 9.43390329e-01 3.88350238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.71, Y:173.64, Z:38.85 [[ 8.85015771e-01 -3.43509555e-01 -3.14242377e-01 2.62705642e+02] [ 3.30757834e-01 9.38936429e-01 -9.48558747e-02 1.73641772e+02] [ 3.27637515e-01 -1.99891830e-02 9.44592024e-01 3.88480559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.73, Y:173.67, Z:38.85 [[ 8.83833297e-01 -3.52446275e-01 -3.07604170e-01 2.62725893e+02] [ 3.29836485e-01 9.35792746e-01 -1.24498312e-01 1.73668125e+02] [ 3.31732718e-01 8.57667539e-03 9.43334429e-01 3.88493312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.75, Y:173.67, Z:38.87 [[ 8.82157319e-01 -3.48859921e-01 -3.16378286e-01 2.62752415e+02] [ 3.30463045e-01 9.37156928e-01 -1.11942253e-01 1.73669155e+02] [ 3.35548268e-01 -5.80065404e-03 9.42005155e-01 3.88652854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.78, Y:173.68, Z:38.88 [[ 8.81932234e-01 -3.47985027e-01 -3.17965338e-01 2.62777872e+02] [ 3.31911155e-01 9.37414538e-01 -1.05304173e-01 1.73675804e+02] [ 3.34709606e-01 -1.26650977e-02 9.42236210e-01 3.88756907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.80, Y:173.68, Z:38.88 [[ 8.82636157e-01 -3.48808069e-01 -3.15097357e-01 2.62803598e+02] [ 3.34575064e-01 9.37038540e-01 -1.00091461e-01 1.73683400e+02] [ 3.30171077e-01 -1.70793758e-02 9.43766579e-01 3.88827379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.82, Y:173.70, Z:38.89 [[ 8.81700771e-01 -3.55944051e-01 -3.09689496e-01 2.62824779e+02] [ 3.37898503e-01 9.34488958e-01 -1.12049053e-01 1.73702779e+02] [ 3.29284608e-01 -5.84988020e-03 9.44212596e-01 3.88898964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.85, Y:173.73, Z:38.90 [[ 8.78492673e-01 -3.65837818e-01 -3.07267495e-01 2.62845879e+02] [ 3.40153662e-01 9.30566312e-01 -1.35431994e-01 1.73727028e+02] [ 3.35478925e-01 1.44578505e-02 9.41936761e-01 3.88961509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.88, Y:173.71, Z:38.92 [[ 8.79824669e-01 -3.51877929e-01 -3.19516000e-01 2.62879681e+02] [ 3.41139554e-01 9.35598340e-01 -9.09920355e-02 1.73710114e+02] [ 3.30956728e-01 -2.89425083e-02 9.43201980e-01 3.89186723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.90, Y:173.75, Z:38.91 [[ 8.77798467e-01 -3.70651106e-01 -3.03459403e-01 2.62895092e+02] [ 3.44596262e-01 9.28632816e-01 -1.37457298e-01 1.73748984e+02] [ 3.32751060e-01 1.60888296e-02 9.42877448e-01 3.89114211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:173.74, Z:38.93 [[ 8.78630075e-01 -3.59631131e-01 -3.14125201e-01 2.62927619e+02] [ 3.45992668e-01 9.32866920e-01 -1.00241627e-01 1.73737267e+02] [ 3.29087018e-01 -2.06097086e-02 9.44074666e-01 3.89309542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.95, Y:173.76, Z:38.93 [[ 8.77693287e-01 -3.68026147e-01 -3.06938509e-01 2.62947958e+02] [ 3.46867281e-01 9.29814251e-01 -1.22998162e-01 1.73760935e+02] [ 3.30662340e-01 1.48773546e-03 9.43747956e-01 3.89331003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.97, Y:173.77, Z:38.94 [[ 8.77746273e-01 -3.66526895e-01 -3.08576596e-01 2.62974717e+02] [ 3.48797036e-01 9.30368626e-01 -1.12937356e-01 1.73766278e+02] [ 3.28484562e-01 -8.50025860e-03 9.44471089e-01 3.89437802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.00, Y:173.78, Z:38.95 [[ 8.77513567e-01 -3.67038197e-01 -3.08630688e-01 2.62999981e+02] [ 3.48978465e-01 9.30174074e-01 -1.13974658e-01 1.73776196e+02] [ 3.28913317e-01 -7.69115479e-03 9.44328797e-01 3.89534617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.61275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.03, Y:173.78, Z:38.97 [[ 8.76794189e-01 -3.66010413e-01 -3.11878708e-01 2.63025184e+02] [ 3.48735445e-01 9.30547264e-01 -1.11648459e-01 1.73783027e+02] [ 3.31082377e-01 -1.08704400e-02 9.43539238e-01 3.89658840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.05, Y:173.78, Z:38.98 [[ 8.76124507e-01 -3.61518312e-01 -3.18920616e-01 2.63047613e+02] [ 3.48043383e-01 9.32081462e-01 -1.00448758e-01 1.73782284e+02] [ 3.33574059e-01 -2.29925918e-02 9.42443467e-01 3.89811971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.07, Y:173.81, Z:38.98 [[ 8.75786454e-01 -3.72516038e-01 -3.06968872e-01 2.63073019e+02] [ 3.49077141e-01 9.28000091e-01 -1.30234332e-01 1.73812667e+02] [ 3.33381518e-01 6.90164735e-03 9.42766742e-01 3.89789512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.10, Y:173.79, Z:39.01 [[ 8.75417234e-01 -3.54768882e-01 -3.28304291e-01 2.63103953e+02] [ 3.45696689e-01 9.34234378e-01 -8.77492235e-02 1.73789690e+02] [ 3.37843849e-01 -3.66765238e-02 9.40487303e-01 3.90119515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.12, Y:173.84, Z:38.99 [[ 8.75276424e-01 -3.76689914e-01 -3.03308244e-01 2.63121187e+02] [ 3.48324524e-01 9.26095887e-01 -1.44970463e-01 1.73838941e+02] [ 3.35501428e-01 2.12395292e-02 9.41800230e-01 3.89937471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.15, Y:173.82, Z:39.02 [[ 8.74448443e-01 -3.63831766e-01 -3.20883728e-01 2.63147562e+02] [ 3.47936216e-01 9.31302173e-01 -1.07780575e-01 1.73822053e+02] [ 3.38053710e-01 -1.73985142e-02 9.40965983e-01 3.90186169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.79275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.17, Y:173.84, Z:39.03 [[ 8.74239683e-01 -3.66853817e-01 -3.17998826e-01 2.63171215e+02] [ 3.47781067e-01 9.30241820e-01 -1.17040533e-01 1.73836367e+02] [ 3.38752573e-01 -8.27249221e-03 9.40839126e-01 3.90259260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.20, Y:173.84, Z:39.04 [[ 8.75891686e-01 -3.61889090e-01 -3.19139532e-01 2.63197889e+02] [ 3.48743407e-01 9.31910685e-01 -9.96017595e-02 1.73835163e+02] [ 3.33454330e-01 -2.40574549e-02 9.42459256e-01 3.90378198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.22, Y:173.86, Z:39.04 [[ 8.74560955e-01 -3.70933266e-01 -3.12332592e-01 2.63218499e+02] [ 3.47572008e-01 9.28646981e-01 -1.29647536e-01 1.73861276e+02] [ 3.38137303e-01 4.82660632e-03 9.41084411e-01 3.90404446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.25, Y:173.86, Z:39.05 [[ 8.75474131e-01 -3.65921697e-01 -3.15668114e-01 2.63250253e+02] [ 3.48736641e-01 9.30562323e-01 -1.11519142e-01 1.73861375e+02] [ 3.34556127e-01 -1.24529139e-02 9.42293544e-01 3.90528201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.91275509600007 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:263.28, Y:173.87, Z:39.06 [[ 8.75170421e-01 -3.66781595e-01 -3.15512275e-01 2.63276356e+02] [ 3.48971497e-01 9.30243934e-01 -1.13424498e-01 1.73870852e+02] [ 3.35105398e-01 -1.08390257e-02 9.42118298e-01 3.90630830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.30, Y:173.88, Z:39.07 [[ 8.74738878e-01 -3.68565235e-01 -3.14629247e-01 2.63299825e+02] [ 3.50100845e-01 9.29557591e-01 -1.15551216e-01 1.73881350e+02] [ 3.35054167e-01 -9.07482396e-03 9.42155164e-01 3.90709909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.97275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:263.32, Y:173.88, Z:39.09 [[ 8.73936731e-01 -3.66038706e-01 -3.19765939e-01 2.63322620e+02] [ 3.50669036e-01 9.30407109e-01 -1.06648205e-01 1.73883268e+02] [ 3.36549873e-01 -1.89282304e-02 9.41475387e-01 3.90861756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.35, Y:173.90, Z:39.09 [[ 8.73744605e-01 -3.69652581e-01 -3.16112850e-01 2.63346411e+02] [ 3.50837348e-01 9.29127630e-01 -1.16769016e-01 1.73898583e+02] [ 3.36873151e-01 -8.87789630e-03 9.41508185e-01 3.90925021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.37, Y:173.91, Z:39.10 [[ 8.73657276e-01 -3.69813412e-01 -3.16166102e-01 2.63370311e+02] [ 3.50960009e-01 9.29064120e-01 -1.16905660e-01 1.73907088e+02] [ 3.36971862e-01 -8.82617784e-03 9.41473347e-01 3.91014175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.40, Y:173.93, Z:39.10 [[ 8.73918864e-01 -3.75256761e-01 -3.08946893e-01 2.63395148e+02] [ 3.52180940e-01 9.26910034e-01 -1.29639400e-01 1.73926549e+02] [ 3.35014037e-01 4.48910976e-03 9.42202443e-01 3.91028852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.42, Y:173.92, Z:39.13 [[ 8.73519002e-01 -3.66035224e-01 -3.20909282e-01 2.63422796e+02] [ 3.51544361e-01 9.30347079e-01 -1.04263491e-01 1.73917260e+02] [ 3.36721123e-01 -2.17377081e-02 9.41353471e-01 3.91251125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.44, Y:173.95, Z:39.11 [[ 8.73700043e-01 -3.81969102e-01 -3.01243821e-01 2.63442276e+02] [ 3.55266245e-01 9.24029574e-01 -1.41263025e-01 1.73954261e+02] [ 3.32316310e-01 1.63997497e-02 9.43025407e-01 3.91142244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.47, Y:173.94, Z:39.14 [[ 8.73713527e-01 -3.69435231e-01 -3.16452654e-01 2.63473663e+02] [ 3.53913680e-01 9.29080574e-01 -1.07491362e-01 1.73939544e+02] [ 3.33721110e-01 -1.80802660e-02 9.42498448e-01 3.91389770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.50, Y:173.94, Z:39.16 [[ 8.72696266e-01 -3.68470850e-01 -3.20359892e-01 2.63497109e+02] [ 3.54346625e-01 9.29352978e-01 -1.03641265e-01 1.73943743e+02] [ 3.35916204e-01 -2.30711017e-02 9.41609276e-01 3.91552828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.52, Y:173.97, Z:39.15 [[ 8.72870494e-01 -3.79644631e-01 -3.06540463e-01 2.63518790e+02] [ 3.56394163e-01 9.25118769e-01 -1.30913954e-01 1.73972399e+02] [ 3.33287116e-01 5.02169610e-03 9.42812007e-01 3.91503989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.54, Y:174.00, Z:39.14 [[ 8.72754701e-01 -3.91888913e-01 -2.91070975e-01 2.63539999e+02] [ 3.61779902e-01 9.19571008e-01 -1.53311655e-01 1.74001938e+02] [ 3.27741567e-01 2.84998384e-02 9.44337453e-01 3.91412720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.57, Y:173.98, Z:39.16 [[ 8.73794461e-01 -3.77172212e-01 -3.06959871e-01 2.63570226e+02] [ 3.60333125e-01 9.26057286e-01 -1.12151421e-01 1.73982902e+02] [ 3.26562825e-01 -1.26105197e-02 9.45091369e-01 3.91636715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.59, Y:174.00, Z:39.17 [[ 8.74200171e-01 -3.79278780e-01 -3.03185864e-01 2.63593443e+02] [ 3.60818555e-01 9.25255751e-01 -1.17097246e-01 1.73995194e+02] [ 3.24936965e-01 -7.02865256e-03 9.45709557e-01 3.91698881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.62, Y:174.01, Z:39.18 [[ 8.73842635e-01 -3.82168643e-01 -3.00576409e-01 2.63617762e+02] [ 3.59923616e-01 9.24083289e-01 -1.28549861e-01 1.74011671e+02] [ 3.26885362e-01 4.14780127e-03 9.45054896e-01 3.91779201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.65, Y:174.01, Z:39.19 [[ 8.74238615e-01 -3.76741879e-01 -3.06222796e-01 2.63645003e+02] [ 3.58468384e-01 9.26282103e-01 -1.16197608e-01 1.74012007e+02] [ 3.27425200e-01 -8.18675498e-03 9.44841635e-01 3.91932060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.67, Y:174.02, Z:39.20 [[ 8.75894753e-01 -3.73304118e-01 -3.05699882e-01 2.63669002e+02] [ 3.56674272e-01 9.27631891e-01 -1.10826612e-01 1.74018034e+02] [ 3.24948990e-01 -1.19628349e-02 9.45655881e-01 3.92034001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.69, Y:174.03, Z:39.22 [[ 8.75799533e-01 -3.74097767e-01 -3.05001705e-01 2.63694811e+02] [ 3.55485271e-01 9.27368406e-01 -1.16696449e-01 1.74030208e+02] [ 3.26504826e-01 -6.22091785e-03 9.45175063e-01 3.92154355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.72, Y:174.04, Z:39.22 [[ 8.76473972e-01 -3.72505288e-01 -3.05013419e-01 2.63717825e+02] [ 3.53491522e-01 9.28017872e-01 -1.17586454e-01 1.74038934e+02] [ 3.26859480e-01 -4.75819178e-03 9.45060972e-01 3.92233750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.74, Y:174.03, Z:39.25 [[ 8.73653331e-01 -3.65651870e-01 -3.20980633e-01 2.63743662e+02] [ 3.52014641e-01 9.30441076e-01 -1.01809121e-01 1.74033223e+02] [ 3.35880261e-01 -2.40440040e-02 9.41597757e-01 3.92528784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.77, Y:174.05, Z:39.26 [[ 8.73959145e-01 -3.70733915e-01 -3.14247955e-01 2.63766560e+02] [ 3.50822195e-01 9.28723525e-01 -1.19985008e-01 1.74053264e+02] [ 3.36331980e-01 -5.38316236e-03 9.41728103e-01 3.92564745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.79, Y:174.07, Z:39.26 [[ 8.73738579e-01 -3.76888252e-01 -3.07467302e-01 2.63792572e+02] [ 3.51462950e-01 9.26190504e-01 -1.36546493e-01 1.74074760e+02] [ 3.36236064e-01 1.12425737e-02 9.41710632e-01 3.92587082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.82, Y:174.07, Z:39.28 [[ 8.73707356e-01 -3.70273203e-01 -3.15488845e-01 2.63823240e+02] [ 3.52355894e-01 9.28854632e-01 -1.14343325e-01 1.74072189e+02] [ 3.35381544e-01 -1.12617502e-02 9.42015070e-01 3.92761467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.85, Y:174.09, Z:39.28 [[ 8.74014427e-01 -3.72640089e-01 -3.11830315e-01 2.63846079e+02] [ 3.52587847e-01 9.27965156e-01 -1.20675096e-01 1.74086272e+02] [ 3.34336045e-01 -4.47580404e-03 9.42443301e-01 3.92810423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.87, Y:174.10, Z:39.29 [[ 8.74358713e-01 -3.73007023e-01 -3.10423262e-01 2.63871415e+02] [ 3.53668508e-01 9.27809096e-01 -1.18696540e-01 1.74095301e+02] [ 3.32288169e-01 -6.00357822e-03 9.43158804e-01 3.92897930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.90, Y:174.09, Z:39.31 [[ 8.72757359e-01 -3.67582688e-01 -3.21212638e-01 2.63896045e+02] [ 3.53767671e-01 9.29680527e-01 -1.02676933e-01 1.74091899e+02] [ 3.36367398e-01 -2.40225982e-02 9.41424393e-01 3.93127323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.69275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.92, Y:174.12, Z:39.31 [[ 8.73352819e-01 -3.77805959e-01 -3.07437001e-01 2.63920614e+02] [ 3.54175219e-01 9.25864706e-01 -1.31660397e-01 1.74121104e+02] [ 3.34387152e-01 6.09941164e-03 9.42416060e-01 3.93085064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.95, Y:174.12, Z:39.33 [[ 8.73309684e-01 -3.70957713e-01 -3.15785641e-01 2.63948587e+02] [ 3.53993850e-01 9.28541892e-01 -1.11795834e-01 1.74117260e+02] [ 3.34691724e-01 -1.41537905e-02 9.42221375e-01 3.93273583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.97, Y:174.13, Z:39.34 [[ 8.73343558e-01 -3.71067027e-01 -3.15563451e-01 2.63972375e+02] [ 3.53310229e-01 9.28529844e-01 -1.14036007e-01 1.74127996e+02] [ 3.35325084e-01 -1.18991827e-02 9.42027334e-01 3.93373907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.99, Y:174.14, Z:39.35 [[ 8.73840276e-01 -3.69641879e-01 -3.15860813e-01 2.63994807e+02] [ 3.53914569e-01 9.29012372e-01 -1.08076319e-01 1.74135031e+02] [ 3.33388136e-01 -1.73463033e-02 9.42630074e-01 3.93470168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.02, Y:174.16, Z:39.35 [[ 8.73728588e-01 -3.75749921e-01 -3.08885661e-01 2.64017757e+02] [ 3.54914389e-01 9.26719329e-01 -1.23397980e-01 1.74156045e+02] [ 3.32617094e-01 -1.81162304e-03 9.43060224e-01 3.93490752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.04, Y:174.15, Z:39.37 [[ 8.73611454e-01 -3.68741117e-01 -3.17542148e-01 2.64043052e+02] [ 3.53399676e-01 9.29341791e-01 -1.06922894e-01 1.74152676e+02] [ 3.34532056e-01 -1.88102277e-02 9.42196624e-01 3.93669419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.06, Y:174.17, Z:39.37 [[ 8.73085918e-01 -3.74508658e-01 -3.12192640e-01 2.64064728e+02] [ 3.53238290e-01 9.27221962e-01 -1.24427263e-01 1.74172797e+02] [ 3.36070960e-01 -1.64270296e-03 9.41835236e-01 3.93707164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.09, Y:174.19, Z:39.38 [[ 8.72421633e-01 -3.78079106e-01 -3.09736474e-01 2.64089535e+02] [ 3.53705866e-01 9.25745889e-01 -1.33741203e-01 1.74189708e+02] [ 3.37302022e-01 7.12311102e-03 9.41369538e-01 3.93754539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.11, Y:174.19, Z:39.39 [[ 8.71283457e-01 -3.70942996e-01 -3.21350949e-01 2.64112572e+02] [ 3.51939161e-01 9.28595579e-01 -1.17682108e-01 1.74186038e+02] [ 3.42058424e-01 -1.05615096e-02 9.39619332e-01 3.93945392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.15, Y:174.19, Z:39.41 [[ 8.72549490e-01 -3.63850936e-01 -3.25990621e-01 2.64146125e+02] [ 3.51426305e-01 9.31017930e-01 -9.85148034e-02 1.74185422e+02] [ 3.39347817e-01 -2.86026380e-02 9.40226009e-01 3.94111551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.17, Y:174.20, Z:39.42 [[ 8.72394754e-01 -3.67777418e-01 -3.21973858e-01 2.64166778e+02] [ 3.48387774e-01 9.29869664e-01 -1.18187850e-01 1.74204208e+02] [ 3.42860545e-01 -9.06529521e-03 9.39342572e-01 3.94170996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.19, Y:174.23, Z:39.41 [[ 8.72948238e-01 -3.76022291e-01 -3.10754904e-01 2.64189975e+02] [ 3.52429663e-01 9.26597107e-01 -1.31191213e-01 1.74227134e+02] [ 3.37275415e-01 5.00389260e-03 9.41392721e-01 3.94147442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.22, Y:174.22, Z:39.44 [[ 8.72302470e-01 -3.64140487e-01 -3.26328219e-01 2.64216574e+02] [ 3.47976872e-01 9.31158762e-01 -1.08882769e-01 1.74217176e+02] [ 3.43512005e-01 -1.85759645e-02 9.38964555e-01 3.94386998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.24, Y:174.24, Z:39.44 [[ 8.73076165e-01 -3.71121522e-01 -3.16238559e-01 2.64238491e+02] [ 3.48699868e-01 9.28584083e-01 -1.27043315e-01 1.74240343e+02] [ 3.40802600e-01 6.46146756e-04 9.40134655e-01 3.94377306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.26, Y:174.24, Z:39.45 [[ 8.73186747e-01 -3.67134028e-01 -3.20558124e-01 2.64263272e+02] [ 3.51156891e-01 9.29998699e-01 -1.08587563e-01 1.74240806e+02] [ 3.37984828e-01 -1.77489734e-02 9.40984182e-01 3.94523201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.29, Y:174.26, Z:39.46 [[ 8.73065527e-01 -3.70348545e-01 -3.17172731e-01 2.64285902e+02] [ 3.50452157e-01 9.28870484e-01 -1.19928770e-01 1.74255993e+02] [ 3.39027833e-01 -6.44819287e-03 9.40754245e-01 3.94580966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.32, Y:174.26, Z:39.48 [[ 8.73594549e-01 -3.63613311e-01 -3.23446943e-01 2.64318389e+02] [ 3.46974455e-01 9.31409277e-01 -1.09934008e-01 1.74255652e+02] [ 3.41234952e-01 -1.61900767e-02 9.39838597e-01 3.94750881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.35, Y:174.26, Z:39.49 [[ 8.73010246e-01 -3.59891393e-01 -3.29137199e-01 2.64345781e+02] [ 3.45927874e-01 9.32670543e-01 -1.02272011e-01 1.74258597e+02] [ 3.43783387e-01 -2.45732177e-02 9.38727405e-01 3.94918810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.36, Y:174.29, Z:39.48 [[ 8.72372595e-01 -3.76854331e-01 -3.11362923e-01 2.64358962e+02] [ 3.51433111e-01 9.26223096e-01 -1.36402143e-01 1.74293825e+02] [ 3.39795268e-01 9.57025075e-03 9.40450736e-01 3.94809580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.39, Y:174.29, Z:39.50 [[ 8.72093848e-01 -3.72219789e-01 -3.17655078e-01 2.64385261e+02] [ 3.52200923e-01 9.28120471e-01 -1.20610532e-01 1.74293214e+02] [ 3.39715808e-01 -6.69470878e-03 9.40504307e-01 3.94950771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.41, Y:174.30, Z:39.50 [[ 8.72051796e-01 -3.72882919e-01 -3.16992102e-01 2.64410017e+02] [ 3.52948958e-01 9.27853352e-01 -1.20479007e-01 1.74302294e+02] [ 3.39046749e-01 -6.81809778e-03 9.40744820e-01 3.95045965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.44, Y:174.32, Z:39.51 [[ 8.72592068e-01 -3.76864720e-01 -3.10734720e-01 2.64437053e+02] [ 3.53794466e-01 9.26262095e-01 -1.29876893e-01 1.74316665e+02] [ 3.36767811e-01 3.39332219e-03 9.41581609e-01 3.95088020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.46, Y:174.32, Z:39.52 [[ 8.72117032e-01 -3.74339211e-01 -3.15090523e-01 2.64464073e+02] [ 3.55177789e-01 9.27252572e-01 -1.18538625e-01 1.74319650e+02] [ 3.36542154e-01 -8.53360121e-03 9.41629734e-01 3.95223727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.49, Y:174.33, Z:39.53 [[ 8.71445962e-01 -3.77208348e-01 -3.13521606e-01 2.64486290e+02] [ 3.57105230e-01 9.26109291e-01 -1.21644711e-01 1.74331414e+02] [ 3.36240673e-01 -5.95341302e-03 9.41757276e-01 3.95295569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.51, Y:174.33, Z:39.55 [[ 8.71392532e-01 -3.70812004e-01 -3.21206341e-01 2.64513085e+02] [ 3.56534423e-01 9.28412889e-01 -1.04559612e-01 1.74329284e+02] [ 3.36984067e-01 -2.34086525e-02 9.41219302e-01 3.95471864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.54, Y:174.35, Z:39.55 [[ 8.70988390e-01 -3.75976329e-01 -3.16261006e-01 2.64535600e+02] [ 3.55915546e-01 9.26603910e-01 -1.21364404e-01 1.74348451e+02] [ 3.38678828e-01 -6.85522180e-03 9.40877068e-01 3.95520554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.56, Y:174.35, Z:39.56 [[ 8.72360210e-01 -3.70718647e-01 -3.18677500e-01 2.64560951e+02] [ 3.55279182e-01 9.28543976e-01 -1.07623364e-01 1.74349600e+02] [ 3.35804060e-01 -1.93331412e-02 9.41733435e-01 3.95630714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.58, Y:174.37, Z:39.57 [[ 8.72303978e-01 -3.75255076e-01 -3.13479503e-01 2.64584238e+02] [ 3.55355996e-01 9.26901618e-01 -1.20729068e-01 1.74367287e+02] [ 3.35868854e-01 -6.08437499e-03 9.41889109e-01 3.95684066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.60, Y:174.40, Z:39.56 [[ 8.71132511e-01 -3.89741080e-01 -2.98713976e-01 2.64604991e+02] [ 3.57643705e-01 9.20411968e-01 -1.57901201e-01 1.74403498e+02] [ 3.36480504e-01 3.07196968e-02 9.41189232e-01 3.95620533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.64, Y:174.38, Z:39.59 [[ 8.71169622e-01 -3.72268329e-01 -3.20124635e-01 2.64637565e+02] [ 3.55238134e-01 9.27990958e-01 -1.12421752e-01 1.74381022e+02] [ 3.38923825e-01 -1.57820631e-02 9.40681438e-01 3.95904607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.66, Y:174.41, Z:39.59 [[ 8.70774152e-01 -3.81900969e-01 -3.09683752e-01 2.64659453e+02] [ 3.57603626e-01 9.24183124e-01 -1.34183456e-01 1.74406538e+02] [ 3.37449290e-01 6.09945185e-03 9.41323947e-01 3.95885161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.69, Y:174.41, Z:39.60 [[ 8.70583960e-01 -3.78238788e-01 -3.14672828e-01 2.64687648e+02] [ 3.57642434e-01 9.25693100e-01 -1.23224080e-01 1.74408450e+02] [ 3.37898592e-01 -5.26344841e-03 9.41167805e-01 3.96029018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.71, Y:174.40, Z:39.62 [[ 8.70674058e-01 -3.72706195e-01 -3.20962267e-01 2.64713265e+02] [ 3.58928646e-01 9.27609951e-01 -1.03489159e-01 1.74404897e+02] [ 3.36298844e-01 -2.50972261e-02 9.41420850e-01 3.96196472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.74, Y:174.43, Z:39.62 [[ 8.69869601e-01 -3.80316433e-01 -3.14143738e-01 2.64735933e+02] [ 3.59377822e-01 9.24845152e-01 -1.24535241e-01 1.74426628e+02] [ 3.37897111e-01 -4.56687169e-03 9.41171975e-01 3.96236844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7127550960001 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:264.76, Y:174.43, Z:39.64 [[ 8.68338781e-01 -3.76360509e-01 -3.23017846e-01 2.64760463e+02] [ 3.60040369e-01 9.26266017e-01 -1.11365162e-01 1.74425460e+02] [ 3.41113902e-01 -1.95967758e-02 9.39817680e-01 3.96423961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.78, Y:174.44, Z:39.65 [[ 8.68130202e-01 -3.80776570e-01 -3.18369528e-01 2.64783830e+02] [ 3.60869812e-01 9.24622194e-01 -1.21847355e-01 1.74441444e+02] [ 3.40768149e-01 -9.11058255e-03 9.40103221e-01 3.96481433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.81, Y:174.45, Z:39.66 [[ 8.67732699e-01 -3.82086355e-01 -3.17883594e-01 2.64809542e+02] [ 3.62834248e-01 9.24061307e-01 -1.20258095e-01 1.74450484e+02] [ 3.39692907e-01 -1.09871735e-02 9.40472228e-01 3.96584175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.83, Y:174.47, Z:39.66 [[ 8.67470371e-01 -3.87984519e-01 -3.11389094e-01 2.64832753e+02] [ 3.64418739e-01 9.21663615e-01 -1.33173436e-01 1.74469403e+02] [ 3.38665230e-01 2.04798916e-03 9.40904707e-01 3.96612126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.86, Y:174.47, Z:39.67 [[ 8.67621039e-01 -3.83741473e-01 -3.16190154e-01 2.64858699e+02] [ 3.66564685e-01 9.23295159e-01 -1.14701269e-01 1.74468450e+02] [ 3.35952473e-01 -1.63869100e-02 9.41736378e-01 3.96749082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.88, Y:174.48, Z:39.69 [[ 8.66748494e-01 -3.83064281e-01 -3.19388172e-01 2.64884008e+02] [ 3.65080235e-01 9.23596547e-01 -1.16986498e-01 1.74476934e+02] [ 3.39799162e-01 -1.52044381e-02 9.40375114e-01 3.96896866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.91, Y:174.49, Z:39.70 [[ 8.66502146e-01 -3.85123990e-01 -3.17574468e-01 2.64906676e+02] [ 3.65406132e-01 9.22807815e-01 -1.22082328e-01 1.74489383e+02] [ 3.40077034e-01 -1.02590583e-02 9.40341620e-01 3.96974255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.93, Y:174.50, Z:39.71 [[ 8.66347743e-01 -3.85664994e-01 -3.17339093e-01 2.64931479e+02] [ 3.65992922e-01 9.22580153e-01 -1.22045246e-01 1.74499680e+02] [ 3.39839328e-01 -1.04102389e-02 9.40425892e-01 3.97063711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.95275509600003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:264.96, Y:174.51, Z:39.72 [[ 8.66230663e-01 -3.85742326e-01 -3.17564633e-01 2.64956225e+02] [ 3.66001985e-01 9.22548747e-01 -1.22255293e-01 1.74509707e+02] [ 3.40127895e-01 -1.03280029e-02 9.40322470e-01 3.97159568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.98, Y:174.52, Z:39.73 [[ 8.65887627e-01 -3.86921903e-01 -3.17064753e-01 2.64980973e+02] [ 3.66253791e-01 9.22078842e-01 -1.25015076e-01 1.74521773e+02] [ 3.40729772e-01 -7.87716026e-03 9.40128275e-01 3.97251614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.01, Y:174.54, Z:39.73 [[ 8.66088053e-01 -3.89929963e-01 -3.12803625e-01 2.65005493e+02] [ 3.65867554e-01 9.20841464e-01 -1.34877468e-01 1.74540303e+02] [ 3.40635314e-01 2.37106621e-03 9.40192513e-01 3.97306004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.03, Y:174.53, Z:39.75 [[ 8.66843333e-01 -3.78403715e-01 -3.24643289e-01 2.65031435e+02] [ 3.64983219e-01 9.25203028e-01 -1.03858588e-01 1.74529392e+02] [ 3.39661430e-01 -2.84602281e-02 9.40117082e-01 3.97528243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.05, Y:174.55, Z:39.76 [[ 8.68725705e-01 -3.81064489e-01 -3.16394538e-01 2.65053945e+02] [ 3.60991990e-01 9.24514135e-01 -1.22304530e-01 1.74550431e+02] [ 3.39117136e-01 -7.96680529e-03 9.40710422e-01 3.97553629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.08, Y:174.56, Z:39.77 [[ 8.67788533e-01 -3.82715466e-01 -3.16973080e-01 2.65076907e+02] [ 3.62629805e-01 9.23827076e-01 -1.22650551e-01 1.74562327e+02] [ 3.39768577e-01 -8.50914455e-03 9.40470578e-01 3.97656149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.10, Y:174.57, Z:39.77 [[ 8.68132976e-01 -3.82363786e-01 -3.16453900e-01 2.65101126e+02] [ 3.62279350e-01 9.23975155e-01 -1.22570737e-01 1.74572423e+02] [ 3.39262153e-01 -8.23701480e-03 9.40655805e-01 3.97743901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.12, Y:174.58, Z:39.78 [[ 8.68321773e-01 -3.81567295e-01 -3.16896984e-01 2.65124608e+02] [ 3.61328247e-01 9.24308027e-01 -1.22868099e-01 1.74582561e+02] [ 3.39792874e-01 -7.81478621e-03 9.40467826e-01 3.97836334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.15, Y:174.59, Z:39.79 [[ 8.68688658e-01 -3.80527799e-01 -3.17141309e-01 2.65151120e+02] [ 3.60197646e-01 9.24739581e-01 -1.22940488e-01 1.74592220e+02] [ 3.40055395e-01 -7.43654508e-03 9.40376003e-01 3.97927962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.17, Y:174.60, Z:39.80 [[ 8.68607554e-01 -3.80515736e-01 -3.17377837e-01 2.65173225e+02] [ 3.60823607e-01 9.24728077e-01 -1.21178829e-01 1.74601490e+02] [ 3.39598648e-01 -9.26056978e-03 9.40524854e-01 3.98028726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.20, Y:174.61, Z:39.81 [[ 8.68509973e-01 -3.81161261e-01 -3.16869879e-01 2.65196349e+02] [ 3.60816588e-01 9.24478717e-01 -1.23087335e-01 1.74612152e+02] [ 3.39855583e-01 -7.42933058e-03 9.40448291e-01 3.98116527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.22, Y:174.62, Z:39.82 [[ 8.68206934e-01 -3.81695468e-01 -3.17057233e-01 2.65221015e+02] [ 3.61341228e-01 9.24256970e-01 -1.23213516e-01 1.74622626e+02] [ 3.40072399e-01 -7.59102072e-03 9.40368619e-01 3.98211292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.24, Y:174.65, Z:39.82 [[ 8.68163304e-01 -3.90696775e-01 -3.06020436e-01 2.65241939e+02] [ 3.64910171e-01 9.20467124e-01 -1.39931559e-01 1.74647390e+02] [ 3.36352560e-01 9.81347476e-03 9.41685006e-01 3.98182933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.27, Y:174.65, Z:39.83 [[ 8.68031949e-01 -3.87504202e-01 -3.10420730e-01 2.65268688e+02] [ 3.65386482e-01 9.21866869e-01 -1.29051128e-01 1.74650597e+02] [ 3.36174441e-01 -1.40303608e-03 9.41798692e-01 3.98313024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.29, Y:174.66, Z:39.84 [[ 8.67886928e-01 -3.86021703e-01 -3.12665195e-01 2.65294153e+02] [ 3.66121049e-01 9.22454470e-01 -1.22609660e-01 1.74656401e+02] [ 3.35749397e-01 -8.06198755e-03 9.41916847e-01 3.98417085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.32, Y:174.65, Z:39.85 [[ 8.69832157e-01 -3.80215299e-01 -3.14369758e-01 2.65316069e+02] [ 3.66633887e-01 9.24560164e-01 -1.03769441e-01 1.74654076e+02] [ 3.30108484e-01 -2.49966094e-02 9.43611975e-01 3.98507735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.35, Y:174.66, Z:39.88 [[ 8.65583799e-01 -3.82068112e-01 -3.23710743e-01 2.65346960e+02] [ 3.65421701e-01 9.23914012e-01 -1.13357309e-01 1.74664280e+02] [ 3.42391104e-01 -2.01706802e-02 9.39340979e-01 3.98771521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.38, Y:174.67, Z:39.89 [[ 8.64653633e-01 -3.83312058e-01 -3.24724440e-01 2.65375032e+02] [ 3.67015070e-01 9.23363115e-01 -1.12696480e-01 1.74673226e+02] [ 3.43036490e-01 -2.17353418e-02 9.39070573e-01 3.98902016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.39, Y:174.71, Z:39.88 [[ 8.63029672e-01 -4.00905825e-01 -3.07334192e-01 2.65391866e+02] [ 3.69782742e-01 9.15872339e-01 -1.56328446e-01 1.74711382e+02] [ 3.44151870e-01 2.12692075e-02 9.38673059e-01 3.98836590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.42, Y:174.69, Z:39.90 [[ 8.64474052e-01 -3.86302701e-01 -3.21643960e-01 2.65422352e+02] [ 3.71007830e-01 9.22059578e-01 -1.10269329e-01 1.74692985e+02] [ 3.39172234e-01 -2.40074535e-02 9.40417906e-01 3.99045834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.44, Y:174.72, Z:39.91 [[ 8.62714229e-01 -3.95817610e-01 -3.14726196e-01 2.65444173e+02] [ 3.72518909e-01 9.18327374e-01 -1.33807683e-01 1.74717525e+02] [ 3.41985119e-01 -1.80366705e-03 9.39703637e-01 3.99086282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.47, Y:174.71, Z:39.92 [[ 8.63822784e-01 -3.88582684e-01 -3.20645749e-01 2.65470705e+02] [ 3.72440046e-01 9.21155060e-01 -1.12967997e-01 1.74714877e+02] [ 3.39261862e-01 -2.18369883e-02 9.40438480e-01 3.99228116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.49, Y:174.73, Z:39.93 [[ 8.63642997e-01 -3.92539122e-01 -3.16281222e-01 2.65493616e+02] [ 3.72646331e-01 9.19670793e-01 -1.23856142e-01 1.74732004e+02] [ 3.39492984e-01 -1.08935476e-02 9.40545504e-01 3.99289423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:174.72, Z:39.96 [[ 8.63904012e-01 -3.78721153e-01 -3.32024315e-01 2.65525684e+02] [ 3.67679022e-01 9.24759268e-01 -9.81449626e-02 1.74722424e+02] [ 3.44212135e-01 -3.72905483e-02 9.38151065e-01 3.99571483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.55, Y:174.74, Z:39.96 [[ 8.64036174e-01 -3.83988000e-01 -3.25568283e-01 2.65549576e+02] [ 3.66416081e-01 9.23147477e-01 -1.16352872e-01 1.74743639e+02] [ 3.45225646e-01 -1.87603641e-02 9.38332192e-01 3.99620130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.57, Y:174.76, Z:39.97 [[ 8.64605181e-01 -3.87718551e-01 -3.19581298e-01 2.65572689e+02] [ 3.67272605e-01 9.21727507e-01 -1.24616355e-01 1.74760825e+02] [ 3.42882946e-01 -9.62951002e-03 9.39328781e-01 3.99659575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.59, Y:174.79, Z:39.96 [[ 8.65735230e-01 -3.94255837e-01 -3.08325878e-01 2.65590130e+02] [ 3.68095633e-01 9.18956507e-01 -1.41508101e-01 1.74785919e+02] [ 3.39128467e-01 9.01513904e-03 9.40696875e-01 3.99611596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.62, Y:174.79, Z:39.98 [[ 8.66628858e-01 -3.87199411e-01 -3.14691974e-01 2.65617012e+02] [ 3.66484943e-01 9.21970314e-01 -1.25138032e-01 1.74786020e+02] [ 3.38590030e-01 -6.88164053e-03 9.40908834e-01 3.99752681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.65, Y:174.77, Z:40.00 [[ 8.67714886e-01 -3.71662804e-01 -3.30057021e-01 2.65648755e+02] [ 3.61733724e-01 9.27579526e-01 -9.35143576e-02 1.74774644e+02] [ 3.40909944e-01 -3.82489553e-02 9.39317533e-01 4.00011162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:174.83, Z:39.98 [[ 8.68500912e-01 -3.94421445e-01 -3.00229727e-01 2.65660881e+02] [ 3.64825439e-01 9.18664809e-01 -1.51516890e-01 1.74826403e+02] [ 3.35571996e-01 2.20611154e-02 9.41756201e-01 3.99813899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.69, Y:174.82, Z:40.00 [[ 8.69612875e-01 -3.84370238e-01 -3.09891865e-01 2.65687627e+02] [ 3.61446188e-01 9.23177450e-01 -1.30767158e-01 1.74822886e+02] [ 3.36348186e-01 1.70757047e-03 9.41736153e-01 3.99965093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.72, Y:174.82, Z:40.02 [[ 8.69809663e-01 -3.75389733e-01 -3.20177606e-01 2.65716918e+02] [ 3.60052735e-01 9.26626913e-01 -1.08280158e-01 1.74818459e+02] [ 3.37332446e-01 -2.10976948e-02 9.41149142e-01 4.00163407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.74, Y:174.84, Z:40.01 [[ 8.71119855e-01 -3.82078728e-01 -3.08489941e-01 2.65736875e+02] [ 3.59285190e-01 9.24126599e-01 -1.30016080e-01 1.74842543e+02] [ 3.34760139e-01 2.42372132e-03 9.42300257e-01 4.00149055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.76, Y:174.85, Z:40.03 [[ 8.71254059e-01 -3.80770626e-01 -3.09725840e-01 2.65763937e+02] [ 3.57873269e-01 9.24666187e-01 -1.30073696e-01 1.74853411e+02] [ 3.35921254e-01 2.48463661e-03 9.41886797e-01 4.00257807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:174.86, Z:40.04 [[ 8.70783550e-01 -3.79385935e-01 -3.12733626e-01 2.65788465e+02] [ 3.58256913e-01 9.25232666e-01 -1.24885942e-01 1.74859432e+02] [ 3.36731336e-01 -3.29035971e-03 9.41595019e-01 4.00365975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:174.85, Z:40.06 [[ 8.71885051e-01 -3.70161601e-01 -3.20619474e-01 2.65817649e+02] [ 3.55154056e-01 9.28728456e-01 -1.06438014e-01 1.74854985e+02] [ 3.37167695e-01 -2.10675937e-02 9.41208852e-01 4.00551593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.84, Y:174.88, Z:40.06 [[ 8.71264634e-01 -3.81602155e-01 -3.08670914e-01 2.65839199e+02] [ 3.57892255e-01 9.24313268e-01 -1.32507043e-01 1.74883041e+02] [ 3.35873594e-01 4.97777070e-03 9.41893917e-01 4.00556585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.87, Y:174.89, Z:40.07 [[ 8.71470308e-01 -3.77878936e-01 -3.12645184e-01 2.65866736e+02] [ 3.57533954e-01 9.25841016e-01 -1.22425022e-01 1.74886215e+02] [ 3.35721572e-01 -5.09149722e-03 9.41947505e-01 4.00671378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.89, Y:174.89, Z:40.08 [[ 8.72460810e-01 -3.75315605e-01 -3.12970178e-01 2.65890459e+02] [ 3.57711003e-01 9.26815910e-01 -1.14258946e-01 1.74890800e+02] [ 3.32948906e-01 -1.22664239e-02 9.42865081e-01 4.00763707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.91, Y:174.92, Z:40.08 [[ 8.70802203e-01 -3.84998790e-01 -3.05744101e-01 2.65909388e+02] [ 3.60353548e-01 9.22881923e-01 -1.35772890e-01 1.74915098e+02] [ 3.34438102e-01 8.05536027e-03 9.42383291e-01 4.00784425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.94, Y:174.92, Z:40.09 [[ 8.70297478e-01 -3.81090503e-01 -3.12013346e-01 2.65938069e+02] [ 3.60533089e-01 9.24524509e-01 -1.23573152e-01 1.74916595e+02] [ 3.35556541e-01 -4.94573254e-03 9.42007085e-01 4.00931422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.96, Y:174.92, Z:40.10 [[ 8.69684227e-01 -3.80885522e-01 -3.13967458e-01 2.65963860e+02] [ 3.61052531e-01 9.24590538e-01 -1.21545902e-01 1.74924519e+02] [ 3.36586415e-01 -7.65219188e-03 9.41621489e-01 4.01045569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.99, Y:174.94, Z:40.11 [[ 8.68347289e-01 -3.85092189e-01 -3.12533186e-01 2.65987101e+02] [ 3.64247293e-01 9.22863352e-01 -1.25088539e-01 1.74936362e+02] [ 3.36596043e-01 -5.21907342e-03 9.41634677e-01 4.01114418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.01, Y:174.95, Z:40.12 [[ 8.67716624e-01 -3.87374476e-01 -3.11462478e-01 2.66009892e+02] [ 3.66475017e-01 9.21908144e-01 -1.25624184e-01 1.74946633e+02] [ 3.35803398e-01 -5.13702431e-03 9.41918090e-01 4.01188775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.04, Y:174.94, Z:40.14 [[ 8.66618382e-01 -3.81922805e-01 -3.21103645e-01 2.66039841e+02] [ 3.66935172e-01 9.23889347e-01 -1.08568204e-01 1.74941362e+02] [ 3.38128910e-01 -2.37370197e-02 9.40800401e-01 4.01381644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.06, Y:174.97, Z:40.14 [[ 8.64775311e-01 -3.96793183e-01 -3.07764246e-01 2.66062813e+02] [ 3.71641658e-01 9.17888719e-01 -1.39150198e-01 1.74972141e+02] [ 3.37707180e-01 5.95564074e-03 9.41232379e-01 4.01357990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.09, Y:174.97, Z:40.15 [[ 8.63677330e-01 -3.95488650e-01 -3.12490315e-01 2.66085533e+02] [ 3.75401107e-01 9.18421532e-01 -1.24803437e-01 1.74973080e+02] [ 3.36356177e-01 -9.51931119e-03 9.41686734e-01 4.01479118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.11, Y:174.98, Z:40.16 [[ 8.62551007e-01 -3.97798424e-01 -3.12669434e-01 2.66109001e+02] [ 3.78034600e-01 9.17407218e-01 -1.24313465e-01 1.74979283e+02] [ 3.36296896e-01 -1.09731605e-02 9.41692087e-01 4.01566324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.13, Y:174.99, Z:40.16 [[ 8.62453612e-01 -3.99312740e-01 -3.11003381e-01 2.66133336e+02] [ 3.78185801e-01 9.16788661e-01 -1.28351280e-01 1.74991980e+02] [ 3.36376675e-01 -6.92003756e-03 9.41702100e-01 4.01649296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.16, Y:175.00, Z:40.17 [[ 8.61105634e-01 -4.02336493e-01 -3.10841494e-01 2.66162809e+02] [ 3.80137621e-01 9.15480286e-01 -1.31875830e-01 1.75004547e+02] [ 3.37627719e-01 -4.60352536e-03 9.41268469e-01 4.01747802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.19, Y:175.00, Z:40.20 [[ 8.59618136e-01 -3.95770600e-01 -3.23144384e-01 2.66191336e+02] [ 3.81568610e-01 9.17875758e-01 -1.09130606e-01 1.74999902e+02] [ 3.39797082e-01 -2.94911057e-02 9.40036285e-01 4.01969925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.21, Y:175.04, Z:40.18 [[ 8.59938851e-01 -4.12172786e-01 -3.01029513e-01 2.66208392e+02] [ 3.85166148e-01 9.11044379e-01 -1.47123002e-01 1.75038624e+02] [ 3.34891343e-01 1.05704076e-02 9.42197461e-01 4.01844600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.23, Y:175.04, Z:40.20 [[ 8.60394772e-01 -4.04666131e-01 -3.09784052e-01 2.66234807e+02] [ 3.84494708e-01 9.14407598e-01 -1.26580267e-01 1.75035782e+02] [ 3.34491637e-01 -1.02013288e-02 9.42343503e-01 4.01994774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.26, Y:175.06, Z:40.20 [[ 8.61025654e-01 -4.09797756e-01 -3.01165439e-01 2.66258271e+02] [ 3.84102661e-01 9.12145849e-01 -1.43021314e-01 1.75058759e+02] [ 3.33316619e-01 7.46657419e-03 9.42785385e-01 4.01994910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.28, Y:175.06, Z:40.21 [[ 8.61260217e-01 -4.04968288e-01 -3.06971537e-01 2.66282962e+02] [ 3.84058672e-01 9.14303155e-01 -1.28641663e-01 1.75059441e+02] [ 3.32760839e-01 -7.10113446e-03 9.42984516e-01 4.02120268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.31, Y:175.07, Z:40.22 [[ 8.62914000e-01 -4.03233884e-01 -3.04601154e-01 2.66308022e+02] [ 3.84447260e-01 9.15022766e-01 -1.22203284e-01 1.75067881e+02] [ 3.27993495e-01 -1.16521548e-02 9.44608117e-01 4.02191274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.33, Y:175.08, Z:40.23 [[ 8.61722573e-01 -4.03345833e-01 -3.07808944e-01 2.66333356e+02] [ 3.81240613e-01 9.15039653e-01 -1.31749873e-01 1.75082132e+02] [ 3.34798152e-01 -3.81743096e-03 9.42282137e-01 4.02325076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.36, Y:175.07, Z:40.26 [[ 8.61247547e-01 -3.88635888e-01 -3.27436726e-01 2.66362249e+02] [ 3.76181752e-01 9.20759106e-01 -1.03392256e-01 1.75069189e+02] [ 3.41672288e-01 -3.41293945e-02 9.39199250e-01 4.02635579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.38, Y:175.10, Z:40.26 [[ 8.62517390e-01 -3.99350884e-01 -3.10777449e-01 2.66383003e+02] [ 3.75115765e-01 9.16796773e-01 -1.37010362e-01 1.75103001e+02] [ 3.39634972e-01 1.59629967e-03 9.40555973e-01 4.02584643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.41, Y:175.12, Z:40.26 [[ 8.62965311e-01 -4.03508660e-01 -3.04091487e-01 2.66405135e+02] [ 3.77337916e-01 9.14932986e-01 -1.43226146e-01 1.75121681e+02] [ 3.36016322e-01 8.85394811e-03 9.41814546e-01 4.02601478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.43, Y:175.10, Z:40.29 [[ 8.62396925e-01 -3.87788230e-01 -3.25410254e-01 2.66433796e+02] [ 3.74671839e-01 9.21210041e-01 -1.04847860e-01 1.75103073e+02] [ 3.40429960e-01 -3.15015864e-02 9.39742035e-01 4.02923001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.46, Y:175.13, Z:40.29 [[ 8.63523906e-01 -3.97658809e-01 -3.10151472e-01 2.66455395e+02] [ 3.74534152e-01 9.17533041e-01 -1.33631164e-01 1.75132714e+02] [ 3.37713833e-01 -7.68613252e-04 9.41248520e-01 4.02887747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.48, Y:175.13, Z:40.31 [[ 8.62993613e-01 -3.93101890e-01 -3.17353002e-01 2.66480402e+02] [ 3.73620351e-01 9.19409360e-01 -1.22858709e-01 1.75133784e+02] [ 3.40073311e-01 -1.25432590e-02 9.40315271e-01 4.03066729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.50, Y:175.15, Z:40.31 [[ 8.62563948e-01 -3.96422751e-01 -3.14376269e-01 2.66503055e+02] [ 3.75095905e-01 9.18040568e-01 -1.28470141e-01 1.75148489e+02] [ 3.39538655e-01 -7.10753864e-03 9.40565247e-01 4.03138503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.53, Y:175.18, Z:40.31 [[ 8.62449413e-01 -4.07151541e-01 -3.00680284e-01 2.66526423e+02] [ 3.78696246e-01 9.13223567e-01 -1.50372441e-01 1.75176866e+02] [ 3.35812692e-01 1.58221283e-02 9.41795889e-01 4.03090031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.56, Y:175.15, Z:40.34 [[ 8.61858633e-01 -3.91388324e-01 -3.22513375e-01 2.66555859e+02] [ 3.78140492e-01 9.19705304e-01 -1.05602658e-01 1.75154913e+02] [ 3.37948909e-01 -3.09408041e-02 9.40655730e-01 4.03400080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.58, Y:175.18, Z:40.34 [[ 8.60619708e-01 -4.01693632e-01 -3.13011093e-01 2.66576549e+02] [ 3.80843459e-01 9.15729840e-01 -1.28051239e-01 1.75178416e+02] [ 3.38070965e-01 -9.00480792e-03 9.41077540e-01 4.03419971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.60, Y:175.18, Z:40.36 [[ 8.59916674e-01 -4.00098458e-01 -3.16961415e-01 2.66600198e+02] [ 3.78568268e-01 9.16433525e-01 -1.29752305e-01 1.75183572e+02] [ 3.42387764e-01 -8.41536324e-03 9.39521049e-01 4.03556715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:175.21, Z:40.35 [[ 8.59217375e-01 -4.12411438e-01 -3.02757838e-01 2.66625206e+02] [ 3.84869162e-01 9.10929314e-01 -1.48605227e-01 1.75214746e+02] [ 3.37077484e-01 1.11620376e-02 9.41410738e-01 4.03488250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.65, Y:175.20, Z:40.37 [[ 8.59030513e-01 -3.99626274e-01 -3.19945962e-01 2.66651821e+02] [ 3.83310699e-01 9.16377482e-01 -1.15434908e-01 1.75199238e+02] [ 3.39322098e-01 -2.34766024e-02 9.40377245e-01 4.03731195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:175.21, Z:40.38 [[ 8.59617010e-01 -3.97847902e-01 -3.20586405e-01 2.66680475e+02] [ 3.82405902e-01 9.17091702e-01 -1.12732140e-01 1.75207439e+02] [ 3.38857377e-01 -2.56876686e-02 9.40487013e-01 4.03849544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.70, Y:175.23, Z:40.38 [[ 8.59579882e-01 -4.06136393e-01 -3.10122004e-01 2.66698918e+02] [ 3.83054733e-01 9.13808316e-01 -1.34994199e-01 1.75232480e+02] [ 3.38218124e-01 -2.75540376e-03 9.41063711e-01 4.03842810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.72, Y:175.24, Z:40.40 [[ 8.59523044e-01 -4.03393723e-01 -3.13836966e-01 2.66723363e+02] [ 3.81486334e-01 9.15000772e-01 -1.31307901e-01 1.75240578e+02] [ 3.40129849e-01 -6.86234665e-03 9.40353441e-01 4.03955216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.75, Y:175.25, Z:40.41 [[ 8.60126108e-01 -4.00718991e-01 -3.15606352e-01 2.66748063e+02] [ 3.80331884e-01 9.16134009e-01 -1.26673344e-01 1.75248067e+02] [ 3.39898127e-01 -1.10801079e-02 9.40396988e-01 4.04056400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.77, Y:175.26, Z:40.41 [[ 8.61105119e-01 -3.99308387e-01 -3.14723349e-01 2.66771593e+02] [ 3.77825218e-01 9.16786311e-01 -1.29425522e-01 1.75259584e+02] [ 3.40214754e-01 -7.46143841e-03 9.40318163e-01 4.04138054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.80, Y:175.27, Z:40.42 [[ 8.61406500e-01 -3.98399658e-01 -3.15050083e-01 2.66795923e+02] [ 3.76792207e-01 9.17184765e-01 -1.29613806e-01 1.75269602e+02] [ 3.40597232e-01 -7.05824072e-03 9.40182805e-01 4.04234494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.82, Y:175.28, Z:40.43 [[ 8.61713397e-01 -3.97567936e-01 -3.15261411e-01 2.66819353e+02] [ 3.75833022e-01 9.17548884e-01 -1.29821359e-01 1.75279197e+02] [ 3.40880565e-01 -6.61684490e-03 9.40083325e-01 4.04328815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.84, Y:175.29, Z:40.44 [[ 8.62415025e-01 -3.95414744e-01 -3.16049844e-01 2.66843838e+02] [ 3.73397491e-01 9.18484993e-01 -1.30229148e-01 1.75289121e+02] [ 3.41781564e-01 -5.70064465e-03 9.39762132e-01 4.04430406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.87, Y:175.30, Z:40.45 [[ 8.63069026e-01 -3.94116275e-01 -3.15886401e-01 2.66867501e+02] [ 3.71994175e-01 9.19046631e-01 -1.30282862e-01 1.75299199e+02] [ 3.41660929e-01 -5.06479854e-03 9.39809639e-01 4.04521079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.89, Y:175.31, Z:40.46 [[ 8.63308653e-01 -3.93472720e-01 -3.16033840e-01 2.66891841e+02] [ 3.71267983e-01 9.19323970e-01 -1.30397557e-01 1.75310001e+02] [ 3.41845366e-01 -4.75990726e-03 9.39744162e-01 4.04619746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.92, Y:175.33, Z:40.47 [[ 8.63260329e-01 -3.94816246e-01 -3.14486463e-01 2.66915574e+02] [ 3.69109603e-01 9.18746666e-01 -1.40223627e-01 1.75326601e+02] [ 3.44295955e-01 4.96952129e-03 9.38848017e-01 4.04704877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:175.33, Z:40.48 [[ 8.63985142e-01 -3.88568094e-01 -3.20225718e-01 2.66942258e+02] [ 3.69122012e-01 9.21331777e-01 -1.22052029e-01 1.75325675e+02] [ 3.42459654e-01 -1.27512213e-02 9.39446003e-01 4.04842823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.96, Y:175.34, Z:40.49 [[ 8.64661774e-01 -3.91201154e-01 -3.15153412e-01 2.66964170e+02] [ 3.68872925e-01 9.20298285e-01 -1.30322034e-01 1.75341276e+02] [ 3.41017275e-01 -3.56707953e-03 9.40050261e-01 4.04904748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.98, Y:175.36, Z:40.50 [[ 8.64130909e-01 -3.93413293e-01 -3.13853074e-01 2.66984787e+02] [ 3.67550780e-01 9.19342279e-01 -1.40414376e-01 1.75355807e+02] [ 3.43779283e-01 5.97946036e-03 9.39031443e-01 4.04973319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.02, Y:175.34, Z:40.53 [[ 8.64033611e-01 -3.78582754e-01 -3.31844870e-01 2.67021529e+02] [ 3.65845548e-01 9.24990980e-01 -1.02706974e-01 1.75340538e+02] [ 3.45836600e-01 -3.26616901e-02 9.37726111e-01 4.05260894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.04, Y:175.38, Z:40.52 [[ 8.62484726e-01 -4.00052588e-01 -3.09964552e-01 2.67036202e+02] [ 3.72386201e-01 9.16425993e-01 -1.46601215e-01 1.75381155e+02] [ 3.42707768e-01 1.10147863e-02 9.39377485e-01 4.05171947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.07, Y:175.38, Z:40.54 [[ 8.61715637e-01 -3.92275132e-01 -3.21817311e-01 2.67065645e+02] [ 3.70895074e-01 9.19803765e-01 -1.28054200e-01 1.75376131e+02] [ 3.46241252e-01 -9.01414900e-03 9.38102201e-01 4.05377300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.08, Y:175.38, Z:40.54 [[ 8.62825426e-01 -3.94157997e-01 -3.16499222e-01 2.67084022e+02] [ 3.73227748e-01 9.19003114e-01 -1.27020962e-01 1.75384544e+02] [ 3.40930099e-01 -8.52937616e-03 9.40049955e-01 4.05404189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.11, Y:175.41, Z:40.55 [[ 8.59566864e-01 -4.05952057e-01 -3.10399312e-01 2.67108614e+02] [ 3.76502708e-01 9.13784311e-01 -1.52459645e-01 1.75412069e+02] [ 3.45529328e-01 1.41830780e-02 9.38300764e-01 4.05465884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.14, Y:175.40, Z:40.56 [[ 8.59537340e-01 -3.97355403e-01 -3.21409778e-01 2.67139686e+02] [ 3.78808797e-01 9.17497338e-01 -1.21253993e-01 1.75403240e+02] [ 3.43073545e-01 -1.75305171e-02 9.39144943e-01 4.05647121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.16, Y:175.42, Z:40.57 [[ 8.58653547e-01 -4.02095906e-01 -3.17856838e-01 2.67160459e+02] [ 3.80164972e-01 9.15561246e-01 -1.31233378e-01 1.75418228e+02] [ 3.43785806e-01 -8.15403069e-03 9.39012690e-01 4.05703032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.19, Y:175.43, Z:40.58 [[ 8.57680459e-01 -4.05183416e-01 -3.16560626e-01 2.67186418e+02] [ 3.83789660e-01 9.14183428e-01 -1.30284909e-01 1.75427935e+02] [ 3.42183762e-01 -9.74987414e-03 9.39582467e-01 4.05800223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.21, Y:175.44, Z:40.59 [[ 8.57103150e-01 -4.06733377e-01 -3.16136284e-01 2.67210695e+02] [ 3.85146518e-01 9.13498474e-01 -1.31082788e-01 1.75438193e+02] [ 3.42105758e-01 -9.40731856e-03 9.39614364e-01 4.05890407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.23, Y:175.45, Z:40.60 [[ 8.56621092e-01 -4.07784253e-01 -3.16089083e-01 2.67233818e+02] [ 3.86228609e-01 9.13026720e-01 -1.31185632e-01 1.75447859e+02] [ 3.42093214e-01 -9.70626707e-03 9.39615890e-01 4.05983027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.26, Y:175.47, Z:40.61 [[ 8.55577573e-01 -4.11606504e-01 -3.13953983e-01 2.67255777e+02] [ 3.85618054e-01 9.11359250e-01 -1.43954969e-01 1.75465873e+02] [ 3.45377668e-01 2.09831937e-03 9.38461434e-01 4.06056459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.28, Y:175.47, Z:40.62 [[ 8.56686579e-01 -4.05075630e-01 -3.19377267e-01 2.67282123e+02] [ 3.85194009e-01 9.14162009e-01 -1.26227560e-01 1.75465972e+02] [ 3.43094273e-01 -1.48847537e-02 9.39183030e-01 4.06193530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.30, Y:175.48, Z:40.63 [[ 8.57074754e-01 -4.06790651e-01 -3.16139577e-01 2.67302005e+02] [ 3.81423344e-01 9.13521205e-01 -1.41404527e-01 1.75483124e+02] [ 3.46322247e-01 6.11235364e-04 9.38115413e-01 4.06252227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.33, Y:175.48, Z:40.64 [[ 8.57875764e-01 -4.01183638e-01 -3.21093230e-01 2.67331171e+02] [ 3.82623725e-01 9.15816540e-01 -1.21980121e-01 1.75484305e+02] [ 3.42998920e-01 -1.82140981e-02 9.39159192e-01 4.06398069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.35, Y:175.50, Z:40.65 [[ 8.58452820e-01 -4.02789400e-01 -3.17520796e-01 2.67353100e+02] [ 3.77443191e-01 9.15292264e-01 -1.40629687e-01 1.75503687e+02] [ 3.47268475e-01 8.77888647e-04 9.37765341e-01 4.06457080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.38, Y:175.51, Z:40.66 [[ 8.58682005e-01 -4.01611760e-01 -3.18391597e-01 2.67377865e+02] [ 3.78830402e-01 9.15790341e-01 -1.33475008e-01 1.75512700e+02] [ 3.45185082e-01 -6.00382932e-03 9.38515430e-01 4.06553000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.40, Y:175.52, Z:40.67 [[ 8.60310243e-01 -3.96781945e-01 -3.20047456e-01 2.67402210e+02] [ 3.76771084e-01 9.17821289e-01 -1.25090492e-01 1.75520337e+02] [ 3.43380017e-01 -1.29679958e-02 9.39107020e-01 4.06661508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.42, Y:175.54, Z:40.67 [[ 8.60573218e-01 -3.98463526e-01 -3.17238956e-01 2.67424433e+02] [ 3.75867770e-01 9.17168774e-01 -1.32381496e-01 1.75536080e+02] [ 3.43710862e-01 -5.31592860e-03 9.39060480e-01 4.06733158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.45, Y:175.55, Z:40.68 [[ 8.60816767e-01 -3.97976415e-01 -3.17189638e-01 2.67447829e+02] [ 3.75330899e-01 9.17381727e-01 -1.32429165e-01 1.75547419e+02] [ 3.43687662e-01 -5.05382614e-03 9.39070418e-01 4.06826686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:175.56, Z:40.69 [[ 8.61618797e-01 -3.96772280e-01 -3.16519836e-01 2.67471745e+02] [ 3.74102244e-01 9.17906318e-01 -1.32270564e-01 1.75558705e+02] [ 3.43016850e-01 -4.44397687e-03 9.39318738e-01 4.06927882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.49, Y:175.57, Z:40.70 [[ 8.62524029e-01 -3.94853891e-01 -3.16453319e-01 2.67494366e+02] [ 3.72664300e-01 9.18728771e-01 -1.30609207e-01 1.75566897e+02] [ 3.42306322e-01 -5.27727548e-03 9.39573591e-01 4.07024247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.52, Y:175.58, Z:40.71 [[ 8.62525173e-01 -3.95929808e-01 -3.15103019e-01 2.67518753e+02] [ 3.72037481e-01 9.18280693e-01 -1.35457305e-01 1.75580905e+02] [ 3.42984604e-01 -3.94797864e-04 9.39340942e-01 4.07118105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.54, Y:175.59, Z:40.72 [[ 8.61599084e-01 -3.96837039e-01 -3.16492312e-01 2.67541677e+02] [ 3.74093946e-01 9.17879234e-01 -1.32481815e-01 1.75589836e+02] [ 3.43075411e-01 -4.25164773e-03 9.39298241e-01 4.07221089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.57, Y:175.57, Z:40.74 [[ 8.65606734e-01 -3.78077204e-01 -3.28302619e-01 2.67565857e+02] [ 3.68996955e-01 9.24849558e-01 -9.21658389e-02 1.75571215e+02] [ 3.38476335e-01 -4.13632960e-02 9.40065343e-01 4.07432323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.58, Y:175.64, Z:40.73 [[ 8.59900305e-01 -4.15142689e-01 -2.97032006e-01 2.67583546e+02] [ 3.76399138e-01 9.08724191e-01 -1.80399652e-01 1.75641850e+02] [ 3.44811766e-01 4.33231249e-02 9.37671559e-01 4.07284880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.22275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.61, Y:175.62, Z:40.75 [[ 8.59016361e-01 -4.02252417e-01 -3.16676309e-01 2.67614491e+02] [ 3.79663065e-01 9.15509465e-01 -1.33035247e-01 1.75623120e+02] [ 3.43433907e-01 -5.95084418e-03 9.39157995e-01 4.07508508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.64, Y:175.63, Z:40.76 [[ 8.58238963e-01 -4.03938732e-01 -3.16637620e-01 2.67639094e+02] [ 3.81419120e-01 9.14762952e-01 -1.33147276e-01 1.75633441e+02] [ 3.43431706e-01 -6.49946214e-03 9.39155163e-01 4.07610513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.67, Y:175.64, Z:40.77 [[ 8.57620820e-01 -4.03972290e-01 -3.18265482e-01 2.67665293e+02] [ 3.82444712e-01 9.14718581e-01 -1.30483559e-01 1.75640796e+02] [ 3.43835092e-01 -9.81353395e-03 9.38978767e-01 4.07734608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.69, Y:175.65, Z:40.78 [[ 8.57530698e-01 -4.04582046e-01 -3.17733331e-01 2.67688915e+02] [ 3.82671943e-01 9.14460166e-01 -1.31623666e-01 1.75651739e+02] [ 3.43807047e-01 -8.71629732e-03 9.38999862e-01 4.07824848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.71, Y:175.66, Z:40.79 [[ 8.56348070e-01 -4.09141933e-01 -3.15072787e-01 2.67710359e+02] [ 3.87162257e-01 9.12431531e-01 -1.32567299e-01 1.75663057e+02] [ 3.41721186e-01 -8.46054049e-03 9.39763295e-01 4.07896917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.73, Y:175.67, Z:40.80 [[ 8.55710737e-01 -4.11427079e-01 -3.13826214e-01 2.67734320e+02] [ 3.88948906e-01 9.11414841e-01 -1.34319534e-01 1.75674637e+02] [ 3.41288562e-01 -7.12369501e-03 9.39931577e-01 4.07987934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.76, Y:175.68, Z:40.81 [[ 8.55041479e-01 -4.12731601e-01 -3.13937407e-01 2.67759061e+02] [ 3.90978774e-01 9.10804175e-01 -1.32556985e-01 1.75684205e+02] [ 3.40645958e-01 -9.40114213e-03 9.40144643e-01 4.08093785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.78, Y:175.71, Z:40.81 [[ 8.55424929e-01 -4.19986737e-01 -3.03083044e-01 2.67781574e+02] [ 3.92932812e-01 9.07495423e-01 -1.48512166e-01 1.75707836e+02] [ 3.37419615e-01 7.94973612e-03 9.41320777e-01 4.08076261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.81, Y:175.72, Z:40.81 [[ 8.55153056e-01 -4.25220125e-01 -2.96481190e-01 2.67805736e+02] [ 3.98108127e-01 9.05034497e-01 -1.49741373e-01 1.75724635e+02] [ 3.31998750e-01 1.00202216e-02 9.43226603e-01 4.08095904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:175.72, Z:40.83 [[ 8.56575571e-01 -4.12231804e-01 -3.10392059e-01 2.67833492e+02] [ 3.93758352e-01 9.10925538e-01 -1.23162596e-01 1.75715908e+02] [ 3.33515592e-01 -1.67213950e-02 9.42596279e-01 4.08288673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.86, Y:175.73, Z:40.84 [[ 8.57228426e-01 -4.10999962e-01 -3.10223238e-01 2.67857820e+02] [ 3.92028602e-01 9.11511475e-01 -1.24339879e-01 1.75726198e+02] [ 3.33875726e-01 -1.50287037e-02 9.42497288e-01 4.08396024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.88, Y:175.74, Z:40.85 [[ 8.56966993e-01 -4.10379329e-01 -3.11763339e-01 2.67879813e+02] [ 3.89458645e-01 9.11857651e-01 -1.29759733e-01 1.75736625e+02] [ 3.37534498e-01 -1.02191192e-02 9.41257686e-01 4.08519372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.91, Y:175.75, Z:40.86 [[ 8.57693495e-01 -4.09470426e-01 -3.10959547e-01 2.67905695e+02] [ 3.86451807e-01 9.12314507e-01 -1.35415071e-01 1.75753328e+02] [ 3.39141372e-01 -4.02625336e-03 9.40726804e-01 4.08612366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.93, Y:175.75, Z:40.88 [[ 8.57534833e-01 -4.00519068e-01 -3.22828881e-01 2.67931865e+02] [ 3.83556437e-01 9.16000148e-01 -1.17593321e-01 1.75749597e+02] [ 3.42809670e-01 -2.29827259e-02 9.39123700e-01 4.08827491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.96, Y:175.75, Z:40.90 [[ 8.58518381e-01 -3.92896495e-01 -3.29512570e-01 2.67960164e+02] [ 3.77376491e-01 9.19169964e-01 -1.12754433e-01 1.75754744e+02] [ 3.47178879e-01 -2.75485442e-02 9.37394210e-01 4.09013583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.98, Y:175.77, Z:40.91 [[ 8.58894504e-01 -3.95825882e-01 -3.24995542e-01 2.67982720e+02] [ 3.75167979e-01 9.18234086e-01 -1.26866669e-01 1.75773091e+02] [ 3.48639096e-01 -1.29628361e-02 9.37167405e-01 4.09083069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.01, Y:175.78, Z:40.92 [[ 8.59466437e-01 -3.95074782e-01 -3.24396917e-01 2.68007295e+02] [ 3.74284090e-01 9.18567796e-01 -1.27061500e-01 1.75784438e+02] [ 3.48179355e-01 -1.22115101e-02 9.37348396e-01 4.09179687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.03, Y:175.80, Z:40.92 [[ 8.60179105e-01 -3.97613868e-01 -3.19366748e-01 2.68027840e+02] [ 3.72909281e-01 9.17552744e-01 -1.37969669e-01 1.75802297e+02] [ 3.47894490e-01 -4.16198218e-04 9.37533600e-01 4.09224303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.05, Y:175.83, Z:40.92 [[ 8.60660105e-01 -4.05093950e-01 -3.08485131e-01 2.68047005e+02] [ 3.75413644e-01 9.14136830e-01 -1.53030888e-01 1.75825933e+02] [ 3.43989506e-01 1.58980526e-02 9.38838895e-01 4.09197150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.08, Y:175.82, Z:40.94 [[ 8.59500848e-01 -3.97624403e-01 -3.21174603e-01 2.68078524e+02] [ 3.74432683e-01 9.17533752e-01 -1.33910345e-01 1.75823464e+02] [ 3.47934560e-01 -5.16221365e-03 9.37504610e-01 4.09404287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.10, Y:175.83, Z:40.95 [[ 8.60654188e-01 -3.98053773e-01 -3.17533560e-01 2.68099698e+02] [ 3.75367969e-01 9.17347880e-01 -1.32558494e-01 1.75834218e+02] [ 3.44054147e-01 -5.10490459e-03 9.38935932e-01 4.09453528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.12, Y:175.85, Z:40.96 [[ 8.60509644e-01 -3.98811064e-01 -3.16974585e-01 2.68124366e+02] [ 3.75228976e-01 9.17029269e-01 -1.35131549e-01 1.75845972e+02] [ 3.44566929e-01 -2.65604791e-03 9.38757997e-01 4.09551388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.15, Y:175.85, Z:40.97 [[ 8.59500611e-01 -3.98026158e-01 -3.20677216e-01 2.68149714e+02] [ 3.76694983e-01 9.17319838e-01 -1.28938759e-01 1.75850995e+02] [ 3.45484571e-01 -9.97455642e-03 9.38371419e-01 4.09697035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.17, Y:175.88, Z:40.97 [[ 8.59507200e-01 -4.07778281e-01 -3.08162695e-01 2.68169845e+02] [ 3.79428937e-01 9.13003695e-01 -1.49859716e-01 1.75877114e+02] [ 3.42463217e-01 1.18796611e-02 9.39456129e-01 4.09669368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.20, Y:175.87, Z:40.99 [[ 8.59072326e-01 -3.99605063e-01 -3.19860177e-01 2.68197711e+02] [ 3.80075375e-01 9.16567863e-01 -1.24282186e-01 1.75869465e+02] [ 3.42837350e-01 -1.48035898e-02 9.39278130e-01 4.09875147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.22, Y:175.89, Z:40.99 [[ 8.58788099e-01 -4.06953654e-01 -3.11242228e-01 2.68218282e+02] [ 3.81672529e-01 9.13445422e-01 -1.41221603e-01 1.75892106e+02] [ 3.41773436e-01 2.48682359e-03 9.39779088e-01 4.09894788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:175.89, Z:41.01 [[ 8.58567452e-01 -4.02629981e-01 -3.17413025e-01 2.68245195e+02] [ 3.81596407e-01 9.15302736e-01 -1.28860711e-01 1.75893377e+02] [ 3.42412196e-01 -1.04880579e-02 9.39491292e-01 4.10056023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.27, Y:175.91, Z:41.01 [[ 8.58539258e-01 -4.06729911e-01 -3.12219670e-01 2.68269055e+02] [ 3.82480783e-01 9.13548225e-01 -1.38340489e-01 1.75910887e+02] [ 3.41494940e-01 -6.47283160e-04 9.39883390e-01 4.10119337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.29, Y:175.92, Z:41.02 [[ 8.58587349e-01 -4.05241223e-01 -3.14018017e-01 2.68293319e+02] [ 3.82890145e-01 9.14189063e-01 -1.32866450e-01 1.75918170e+02] [ 3.40914800e-01 -6.15695042e-03 9.40074035e-01 4.10231209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.32, Y:175.94, Z:41.03 [[ 8.58680156e-01 -4.08414861e-01 -3.09621851e-01 2.68316088e+02] [ 3.83156391e-01 9.12792101e-01 -1.41427582e-01 1.75936096e+02] [ 3.40381506e-01 2.80746693e-03 9.40283228e-01 4.10273286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.34, Y:175.94, Z:41.04 [[ 8.58473224e-01 -4.04777218e-01 -3.14927179e-01 2.68341437e+02] [ 3.82578591e-01 9.14389767e-01 -1.32381936e-01 1.75942356e+02] [ 3.41551382e-01 -6.83804927e-03 9.39838228e-01 4.10411060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.37, Y:175.96, Z:41.05 [[ 8.58398759e-01 -4.06707232e-01 -3.12635248e-01 2.68365948e+02] [ 3.83987746e-01 9.13545309e-01 -1.34120765e-01 1.75956272e+02] [ 3.40154349e-01 -4.91900623e-03 9.40356753e-01 4.10490682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.39, Y:175.96, Z:41.06 [[ 8.57314778e-01 -4.04918294e-01 -3.17887631e-01 2.68389929e+02] [ 3.82097620e-01 9.14330208e-01 -1.34170339e-01 1.75964885e+02] [ 3.44982289e-01 -6.43789272e-03 9.38587116e-01 4.10634843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.41, Y:175.97, Z:41.07 [[ 8.58252065e-01 -4.03492892e-01 -3.17170110e-01 2.68414652e+02] [ 3.81828603e-01 9.14939514e-01 -1.30738686e-01 1.75974341e+02] [ 3.42943596e-01 -8.89787293e-03 9.39313855e-01 4.10718566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.44, Y:175.98, Z:41.08 [[ 8.57654749e-01 -4.03281356e-01 -3.19049337e-01 2.68437468e+02] [ 3.81860758e-01 9.15018515e-01 -1.30090270e-01 1.75983442e+02] [ 3.44399031e-01 -1.02598835e-02 9.38767299e-01 4.10833891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.46, Y:176.00, Z:41.09 [[ 8.57119075e-01 -4.07270296e-01 -3.15401010e-01 2.68463037e+02] [ 3.84554196e-01 9.13286547e-01 -1.34260020e-01 1.76000771e+02] [ 3.42731618e-01 -6.21195768e-03 9.39412822e-01 4.10887752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.48, Y:176.02, Z:41.10 [[ 8.52856410e-01 -4.15760730e-01 -3.15878076e-01 2.68483113e+02] [ 3.85182029e-01 9.09392127e-01 -1.56973769e-01 1.76023832e+02] [ 3.52520564e-01 1.22055269e-02 9.35724466e-01 4.11023623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.51, Y:176.01, Z:41.12 [[ 8.55563952e-01 -3.99600321e-01 -3.29135090e-01 2.68511352e+02] [ 3.84767571e-01 9.16175468e-01 -1.12144676e-01 1.76006442e+02] [ 3.46358544e-01 -3.06935674e-02 9.37599949e-01 4.11198266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.53, Y:176.03, Z:41.12 [[ 8.54302278e-01 -4.10447300e-01 -3.18905365e-01 2.68531948e+02] [ 3.86713387e-01 9.11866411e-01 -1.37667733e-01 1.76032776e+02] [ 3.47304439e-01 -5.71511624e-03 9.37735018e-01 4.11219517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.55, Y:176.07, Z:41.12 [[ 8.52759943e-01 -4.26170460e-01 -3.01958969e-01 2.68550312e+02] [ 3.90768895e-01 9.04173469e-01 -1.72539876e-01 1.76070094e+02] [ 3.46554687e-01 2.91389216e-02 9.37577075e-01 4.11165567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.59, Y:176.03, Z:41.16 [[ 8.52778113e-01 -4.00638352e-01 -3.35049849e-01 2.68587831e+02] [ 3.89044029e-01 9.15299120e-01 -1.04270150e-01 1.76030914e+02] [ 3.48445453e-01 -4.14298412e-02 9.36413015e-01 4.11565860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:176.10, Z:41.13 [[ 8.52192702e-01 -4.33443541e-01 -2.93077286e-01 2.68596412e+02] [ 3.96771950e-01 9.00483267e-01 -1.78050289e-01 1.76095915e+02] [ 3.41085939e-01 3.54483103e-02 9.39363508e-01 4.11301411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:176.06, Z:41.17 [[ 8.52121023e-01 -4.06734606e-01 -3.29327682e-01 2.68633409e+02] [ 3.93191773e-01 9.12847764e-01 -1.10041767e-01 1.76057968e+02] [ 3.45383833e-01 -3.57200316e-02 9.37781471e-01 4.11685804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.65, Y:176.09, Z:41.17 [[ 8.51597193e-01 -4.17959907e-01 -3.16372780e-01 2.68652665e+02] [ 3.93411699e-01 9.08455649e-01 -1.41193372e-01 1.76088080e+02] [ 3.46423808e-01 -4.22487337e-03 9.38068599e-01 4.11698479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:176.10, Z:41.18 [[ 8.52994058e-01 -4.14399133e-01 -3.17292445e-01 2.68678195e+02] [ 3.93466211e-01 9.09997522e-01 -1.30724333e-01 1.76095140e+02] [ 3.42907389e-01 -1.33367770e-02 9.39274535e-01 4.11818634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.69, Y:176.14, Z:41.17 [[ 8.53448024e-01 -4.33083090e-01 -2.89940525e-01 2.68691261e+02] [ 3.98879355e-01 9.00831781e-01 -1.71456591e-01 1.76139440e+02] [ 3.35442590e-01 3.06779987e-02 9.41561007e-01 4.11670462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.73, Y:176.10, Z:41.21 [[ 8.54248313e-01 -4.04707699e-01 -3.26299706e-01 2.68729443e+02] [ 3.92629259e-01 9.13649297e-01 -1.05295904e-01 1.76102348e+02] [ 3.40737560e-01 -3.81659632e-02 9.39383454e-01 4.12085999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.76, Y:176.09, Z:41.24 [[ 8.54486119e-01 -3.86728559e-01 -3.46834967e-01 2.68762904e+02] [ 3.85789035e-01 9.19545140e-01 -7.48569031e-02 1.76089771e+02] [ 3.47879710e-01 -6.98409426e-02 9.34934196e-01 4.12433534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.76, Y:176.18, Z:41.22 [[ 8.52587428e-01 -4.31592153e-01 -2.94657244e-01 2.68764861e+02] [ 3.87000113e-01 9.00352308e-01 -1.98989031e-01 1.76177132e+02] [ 3.51177434e-01 5.56231592e-02 9.34655270e-01 4.12171241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.80, Y:176.14, Z:41.24 [[ 8.54203883e-01 -4.07472666e-01 -3.22957819e-01 2.68801077e+02] [ 3.87745600e-01 9.13054853e-01 -1.26428581e-01 1.76144128e+02] [ 3.46394394e-01 -1.72296884e-02 9.37930734e-01 4.12435973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.82, Y:176.16, Z:41.25 [[ 8.54280188e-01 -4.11604745e-01 -3.17469517e-01 2.68821671e+02] [ 3.86414649e-01 9.11361149e-01 -1.41790603e-01 1.76163553e+02] [ 3.47691068e-01 -1.54596889e-03 9.37607877e-01 4.12486852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:176.17, Z:41.26 [[ 8.54205479e-01 -4.10306289e-01 -3.19345815e-01 2.68846442e+02] [ 3.87207496e-01 9.11916636e-01 -1.35935290e-01 1.76172494e+02] [ 3.46991866e-01 -7.53642359e-03 9.37837858e-01 4.12597857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.87, Y:176.19, Z:41.27 [[ 8.55386540e-01 -4.09296366e-01 -3.17474962e-01 2.68870000e+02] [ 3.85419966e-01 9.12390544e-01 -1.37822154e-01 1.76186161e+02] [ 3.46071260e-01 -4.46997357e-03 9.38197582e-01 4.12678358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.89, Y:176.19, Z:41.28 [[ 8.57118267e-01 -4.05128858e-01 -3.18149156e-01 2.68893064e+02] [ 3.82513253e-01 9.14231737e-01 -1.33656062e-01 1.76194043e+02] [ 3.45009983e-01 -7.13721665e-03 9.38571879e-01 4.12771637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.92, Y:176.21, Z:41.29 [[ 8.56347475e-01 -4.09259083e-01 -3.14922221e-01 2.68917284e+02] [ 3.82802884e-01 9.12411712e-01 -1.44799238e-01 1.76213764e+02] [ 3.46599127e-01 3.44532745e-03 9.38007023e-01 4.12855254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.94, Y:176.22, Z:41.30 [[ 8.57707401e-01 -4.04150874e-01 -3.17805106e-01 2.68942481e+02] [ 3.79776808e-01 9.14689879e-01 -1.38246160e-01 1.76220939e+02] [ 3.46565420e-01 -2.12025427e-03 9.38023408e-01 4.12966144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.96, Y:176.23, Z:41.31 [[ 8.58422446e-01 -4.03676845e-01 -3.16474184e-01 2.68963651e+02] [ 3.76192190e-01 9.14876692e-01 -1.46560821e-01 1.76234792e+02] [ 3.48698065e-01 6.75598222e-03 9.37210764e-01 4.13051294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.93275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:268.99, Y:176.24, Z:41.32 [[ 8.59509138e-01 -3.99029700e-01 -3.19404666e-01 2.68990825e+02] [ 3.76008014e-01 9.16923248e-01 -1.33677712e-01 1.76240490e+02] [ 3.46210941e-01 -5.20149929e-03 9.38142275e-01 4.13177456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:176.25, Z:41.33 [[ 8.59706726e-01 -4.00221625e-01 -3.17375167e-01 2.69013578e+02] [ 3.75535192e-01 9.16418357e-01 -1.38386109e-01 1.76254447e+02] [ 3.46233542e-01 -2.14075820e-04 9.38148330e-01 4.13261148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.03, Y:176.29, Z:41.32 [[ 8.59107317e-01 -4.15840130e-01 -2.98348126e-01 2.69029545e+02] [ 3.78460028e-01 9.08608247e-01 -1.76632557e-01 1.76293606e+02] [ 3.44532473e-01 3.88334818e-02 9.37970861e-01 4.13174841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:176.26, Z:41.36 [[ 8.59622985e-01 -3.88199902e-01 -3.32188439e-01 2.69066383e+02] [ 3.76054461e-01 9.20856437e-01 -1.02987691e-01 1.76255072e+02] [ 3.45877674e-01 -3.63903581e-02 9.37573664e-01 4.13552118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.05275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:269.08, Y:176.29, Z:41.35 [[ 8.59029938e-01 -4.02142459e-01 -3.16779117e-01 2.69084740e+02] [ 3.77563560e-01 9.15576855e-01 -1.38436923e-01 1.76287521e+02] [ 3.45706992e-01 -6.82789783e-04 9.38342267e-01 4.13547784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.11, Y:176.30, Z:41.36 [[ 8.59207488e-01 -4.04898983e-01 -3.12760781e-01 2.69106505e+02] [ 3.77962325e-01 9.14336941e-01 -1.45370007e-01 1.76299573e+02] [ 3.44828904e-01 6.69120693e-03 9.38641707e-01 4.13588947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.13, Y:176.32, Z:41.37 [[ 8.55060883e-01 -4.12991079e-01 -3.13543067e-01 2.69129438e+02] [ 3.83790769e-01 9.10675776e-01 -1.52886484e-01 1.76316884e+02] [ 3.48676829e-01 1.03923174e-02 9.37185397e-01 4.13711557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.16, Y:176.32, Z:41.39 [[ 8.54729841e-01 -4.08394042e-01 -3.20392269e-01 2.69157718e+02] [ 3.86222885e-01 9.12751244e-01 -1.33105410e-01 1.76315855e+02] [ 3.46797898e-01 -9.97366054e-03 9.37886850e-01 4.13859404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.18, Y:176.33, Z:41.39 [[ 8.52489339e-01 -4.14877979e-01 -3.18022310e-01 2.69181453e+02] [ 3.91776113e-01 9.09841723e-01 -1.36746179e-01 1.76328684e+02] [ 3.46082945e-01 -8.01888413e-03 9.38169650e-01 4.13935567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.20, Y:176.34, Z:41.40 [[ 8.52343843e-01 -4.16044960e-01 -3.16885729e-01 2.69204564e+02] [ 3.91953652e-01 9.09329159e-01 -1.39616673e-01 1.76341014e+02] [ 3.46240247e-01 -5.20310710e-03 9.38131451e-01 4.14025518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:176.35, Z:41.41 [[ 8.51798182e-01 -4.16308808e-01 -3.18004455e-01 2.69231090e+02] [ 3.94718346e-01 9.09139825e-01 -1.32899232e-01 1.76348123e+02] [ 3.44437636e-01 -1.23188688e-02 9.38728374e-01 4.14132356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.25, Y:176.36, Z:41.42 [[ 8.50443611e-01 -4.20850554e-01 -3.15642958e-01 2.69254213e+02] [ 3.97327049e-01 9.07100866e-01 -1.38921686e-01 1.76362173e+02] [ 3.44785269e-01 -7.26842486e-03 9.38653444e-01 4.14209749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.29275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:269.28, Y:176.37, Z:41.43 [[ 8.48283769e-01 -4.25564815e-01 -3.15133677e-01 2.69278690e+02] [ 4.01911507e-01 9.04894371e-01 -1.40118943e-01 1.76374025e+02] [ 3.44792383e-01 -7.79522584e-03 9.38646604e-01 4.14296973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.30, Y:176.39, Z:41.44 [[ 8.46499508e-01 -4.29608615e-01 -3.14443985e-01 2.69301000e+02] [ 4.04068856e-01 9.03008400e-01 -1.45959542e-01 1.76388315e+02] [ 3.46651037e-01 -3.50234066e-03 9.37987629e-01 4.14387350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.33, Y:176.39, Z:41.45 [[ 8.46233587e-01 -4.27251645e-01 -3.18346899e-01 2.69326547e+02] [ 4.07088381e-01 9.03939330e-01 -1.31044797e-01 1.76390285e+02] [ 3.43755388e-01 -1.87008146e-02 9.38873002e-01 4.14504243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:269.35, Y:176.41, Z:41.46 [[ 8.45847556e-01 -4.30628141e-01 -3.14803615e-01 2.69346535e+02] [ 4.07060833e-01 9.02484064e-01 -1.40797697e-01 1.76405227e+02] [ 3.44736697e-01 -9.05083373e-03 9.38655790e-01 4.14567205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.37, Y:176.42, Z:41.47 [[ 8.43907968e-01 -4.35694497e-01 -3.13032980e-01 2.69371428e+02] [ 4.10249898e-01 9.00083109e-01 -1.46783575e-01 1.76421202e+02] [ 3.45708494e-01 -4.54991974e-03 9.38330931e-01 4.14661714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.40, Y:176.42, Z:41.48 [[ 8.43958513e-01 -4.32198535e-01 -3.17708128e-01 2.69397901e+02] [ 4.11606109e-01 9.01589954e-01 -1.33101340e-01 1.76423657e+02] [ 3.43968660e-01 -1.84385978e-02 9.38800074e-01 4.14789063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:176.44, Z:41.49 [[ 8.43151067e-01 -4.35822730e-01 -3.14888593e-01 2.69420712e+02] [ 4.14203708e-01 8.99900850e-01 -1.36432211e-01 1.76436454e+02] [ 3.42828771e-01 -1.53950583e-02 9.39271753e-01 4.14862010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.45, Y:176.45, Z:41.49 [[ 8.42077235e-01 -4.38901812e-01 -3.13482263e-01 2.69445032e+02] [ 4.15480188e-01 8.98470364e-01 -1.41870428e-01 1.76451110e+02] [ 3.43921711e-01 -1.07798121e-02 9.38936447e-01 4.14947942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5327550960001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:269.47, Y:176.46, Z:41.50 [[ 8.41653073e-01 -4.38956447e-01 -3.14543068e-01 2.69467338e+02] [ 4.15489830e-01 8.98439256e-01 -1.42039093e-01 1.76460734e+02] [ 3.44946816e-01 -1.11418063e-02 9.38556101e-01 4.15038576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56275509600005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:269.49, Y:176.47, Z:41.51 [[ 8.41101949e-01 -4.39897083e-01 -3.14703142e-01 2.69491225e+02] [ 4.15937208e-01 8.97990828e-01 -1.43557350e-01 1.76472934e+02] [ 3.45750994e-01 -1.01503791e-02 9.38271400e-01 4.15137845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.52, Y:176.48, Z:41.52 [[ 8.41660959e-01 -4.37556529e-01 -3.16466608e-01 2.69516048e+02] [ 4.16167900e-01 8.99028931e-01 -1.36203011e-01 1.76480756e+02] [ 3.44109153e-01 -1.70664867e-02 9.38774534e-01 4.15241507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.54, Y:176.50, Z:41.53 [[ 8.41792046e-01 -4.39100100e-01 -3.13970147e-01 2.69538147e+02] [ 4.13487443e-01 8.98422237e-01 -1.47870278e-01 1.76497611e+02] [ 3.47007616e-01 -5.34668911e-03 9.37847070e-01 4.15320001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6527550960001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:269.56, Y:176.51, Z:41.54 [[ 8.41972148e-01 -4.37360911e-01 -3.15908744e-01 2.69561926e+02] [ 4.12524618e-01 8.99252098e-01 -1.45496063e-01 1.76506928e+02] [ 3.47715892e-01 -7.81650108e-03 9.37567363e-01 4.15425707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.59, Y:176.51, Z:41.55 [[ 8.44010875e-01 -4.30395381e-01 -3.20008529e-01 2.69588740e+02] [ 4.10606021e-01 9.02394496e-01 -1.30716753e-01 1.76509993e+02] [ 3.45033822e-01 -2.10710673e-02 9.38353703e-01 4.15541704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.61, Y:176.53, Z:41.56 [[ 8.44414918e-01 -4.33574238e-01 -3.14605827e-01 2.69609603e+02] [ 4.07818195e-01 9.01109191e-01 -1.47263525e-01 1.76530292e+02] [ 3.47343873e-01 -3.95046304e-03 9.37729507e-01 4.15598906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.63, Y:176.54, Z:41.57 [[ 8.45487991e-01 -4.29101274e-01 -3.17839824e-01 2.69634475e+02] [ 4.04545682e-01 9.03225677e-01 -1.43269561e-01 1.76538459e+02] [ 3.48558241e-01 -7.44803523e-03 9.37257531e-01 4.15706621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.66, Y:176.55, Z:41.58 [[ 8.46924913e-01 -4.25602147e-01 -3.18717750e-01 2.69658299e+02] [ 4.01764467e-01 9.04866888e-01 -1.40716838e-01 1.76546281e+02] [ 3.48286527e-01 -8.87287089e-03 9.37346130e-01 4.15804350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.68, Y:176.58, Z:41.58 [[ 8.47358847e-01 -4.36501226e-01 -3.02406456e-01 2.69680692e+02] [ 4.03197806e-01 8.99461552e-01 -1.68524320e-01 1.76578894e+02] [ 3.45564052e-01 2.08709537e-02 9.38163040e-01 4.15766963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.71, Y:176.55, Z:41.61 [[ 8.47041577e-01 -4.16211461e-01 -3.30588242e-01 2.69711973e+02] [ 4.00228347e-01 9.08709573e-01 -1.18592508e-01 1.76554156e+02] [ 3.49768261e-01 -3.18580011e-02 9.36294415e-01 4.16094245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86275509600006 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:269.73, Y:176.57, Z:41.61 [[ 8.49136150e-01 -4.18996970e-01 -3.21573223e-01 2.69734015e+02] [ 3.96068575e-01 9.07922026e-01 -1.37139631e-01 1.76574705e+02] [ 3.49424502e-01 -1.09148300e-02 9.36900947e-01 4.16136319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.76, Y:176.59, Z:41.62 [[ 8.49184618e-01 -4.21869882e-01 -3.17665369e-01 2.69756880e+02] [ 3.97370436e-01 9.06637683e-01 -1.41791566e-01 1.76588931e+02] [ 3.47824986e-01 -5.82360916e-03 9.37541394e-01 4.16211681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.78, Y:176.60, Z:41.63 [[ 8.49302867e-01 -4.22341677e-01 -3.16720930e-01 2.69781074e+02] [ 3.97552008e-01 9.06424189e-01 -1.42644983e-01 1.76599582e+02] [ 3.47328433e-01 -4.76424885e-03 9.37731444e-01 4.16304311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.81, Y:176.61, Z:41.64 [[ 8.49380925e-01 -4.21481153e-01 -3.17656547e-01 2.69806365e+02] [ 3.97424621e-01 9.06811026e-01 -1.40525563e-01 1.76607275e+02] [ 3.47283336e-01 -6.88479994e-03 9.37734975e-01 4.16413813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.83, Y:176.62, Z:41.65 [[ 8.49141203e-01 -4.22248654e-01 -3.17277941e-01 2.69830473e+02] [ 3.97864022e-01 9.06459905e-01 -1.41543849e-01 1.76617289e+02] [ 3.47366432e-01 -6.04276386e-03 9.37710001e-01 4.16512648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.86, Y:176.63, Z:41.66 [[ 8.48886965e-01 -4.23326693e-01 -3.16520823e-01 2.69855373e+02] [ 3.99087203e-01 9.05954896e-01 -1.41333403e-01 1.76626085e+02] [ 3.46583792e-01 -6.34332630e-03 9.37997568e-01 4.16611863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.88, Y:176.65, Z:41.66 [[ 8.48751454e-01 -4.29170276e-01 -3.08923686e-01 2.69876633e+02] [ 4.01583075e-01 9.03212450e-01 -1.51453966e-01 1.76645166e+02] [ 3.44023259e-01 4.48825040e-03 9.38950399e-01 4.16634410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.90, Y:176.65, Z:41.68 [[ 8.47425258e-01 -4.25295295e-01 -3.17796074e-01 2.69903419e+02] [ 4.01539989e-01 9.05013617e-01 -1.40413643e-01 1.76645084e+02] [ 3.47327036e-01 -8.61776450e-03 9.37704465e-01 4.16807254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.93, Y:176.67, Z:41.69 [[ 8.46594862e-01 -4.30949512e-01 -3.12345413e-01 2.69927019e+02] [ 4.03094982e-01 9.02370504e-01 -1.52452975e-01 1.76665268e+02] [ 3.47550823e-01 3.16103629e-03 9.37655818e-01 4.16854139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.95, Y:176.67, Z:41.70 [[ 8.47037594e-01 -4.25532451e-01 -3.18511299e-01 2.69954236e+02] [ 4.02839777e-01 9.04866885e-01 -1.37608265e-01 1.76665763e+02] [ 3.46767109e-01 -1.17496471e-02 9.37877667e-01 4.16992050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.98, Y:176.68, Z:41.70 [[ 8.46631114e-01 -4.30986623e-01 -3.12195914e-01 2.69977799e+02] [ 4.03721935e-01 9.02356736e-01 -1.50867226e-01 1.76683441e+02] [ 3.46733842e-01 1.68854908e-03 9.37962042e-01 4.17032010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.00, Y:176.68, Z:41.73 [[ 8.44834183e-01 -4.24920555e-01 -3.25111866e-01 2.70004827e+02] [ 4.01783690e-01 9.05133701e-01 -1.38934699e-01 1.76681027e+02] [ 3.53305916e-01 -1.32478628e-02 9.35414039e-01 4.17253183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.03, Y:176.70, Z:41.73 [[ 8.45500128e-01 -4.28804878e-01 -3.18207339e-01 2.70028104e+02] [ 4.03207582e-01 9.03384129e-01 -1.46016305e-01 1.76698628e+02] [ 3.50075963e-01 -4.84680717e-03 9.36708775e-01 4.17271676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.05, Y:176.71, Z:41.74 [[ 8.46144311e-01 -4.25456888e-01 -3.20977011e-01 2.70053359e+02] [ 4.00469838e-01 9.04952780e-01 -1.43820637e-01 1.76705704e+02] [ 3.51658519e-01 -6.84859805e-03 9.36103297e-01 4.17377000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.08, Y:176.72, Z:41.74 [[ 8.46169420e-01 -4.28257043e-01 -3.17164339e-01 2.70076470e+02] [ 4.00928953e-01 9.03656936e-01 -1.50532777e-01 1.76720779e+02] [ 3.51074477e-01 2.15866337e-04 9.36347513e-01 4.17433786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.10, Y:176.71, Z:41.77 [[ 8.46451116e-01 -4.16029820e-01 -3.32324685e-01 2.70104891e+02] [ 3.96552730e-01 9.09048274e-01 -1.27973306e-01 1.76710514e+02] [ 3.55339893e-01 -2.34611133e-02 9.34442688e-01 4.17682119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.13, Y:176.73, Z:41.77 [[ 8.46419092e-01 -4.21820569e-01 -3.25026350e-01 2.70126518e+02] [ 3.95711075e-01 9.06666169e-01 -1.46182087e-01 1.76731948e+02] [ 3.56353006e-01 -4.88521717e-03 9.34338627e-01 4.17732745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.15, Y:176.75, Z:41.78 [[ 8.45767071e-01 -4.24099912e-01 -3.23755041e-01 2.70151362e+02] [ 3.95539980e-01 9.05614402e-01 -1.53005489e-01 1.76747203e+02] [ 3.58086842e-01 1.34894182e-03 9.33687311e-01 4.17826005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.18, Y:176.75, Z:41.79 [[ 8.46755622e-01 -4.19603214e-01 -3.27013853e-01 2.70176597e+02] [ 3.93079268e-01 9.07698038e-01 -1.46877368e-01 1.76751989e+02] [ 3.58460048e-01 -4.17312916e-03 9.33535740e-01 4.17949371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.20, Y:176.76, Z:41.81 [[ 8.48153867e-01 -4.15800309e-01 -3.28245518e-01 2.70201313e+02] [ 3.92228379e-01 9.09385715e-01 -1.38472095e-01 1.76757832e+02] [ 3.56078525e-01 -1.13015643e-02 9.34387692e-01 4.18068710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.23, Y:176.77, Z:41.81 [[ 8.48610981e-01 -4.18184389e-01 -3.24008056e-01 2.70225040e+02] [ 3.91972165e-01 9.08356146e-01 -1.45763280e-01 1.76773008e+02] [ 3.55270637e-01 -3.30581872e-03 9.34757640e-01 4.18149497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.25, Y:176.78, Z:41.83 [[ 8.48744672e-01 -4.17660551e-01 -3.24333385e-01 2.70249152e+02] [ 3.91504082e-01 9.08596528e-01 -1.45522862e-01 1.76783420e+02] [ 3.55467347e-01 -3.46609021e-03 9.34682273e-01 4.18256380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.27, Y:176.78, Z:41.84 [[ 8.48780438e-01 -4.11273698e-01 -3.32303647e-01 2.70274695e+02] [ 3.89369645e-01 9.11368764e-01 -1.33410102e-01 1.76783321e+02] [ 3.57719230e-01 -1.61530684e-02 9.33689473e-01 4.18447221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.30, Y:176.80, Z:41.85 [[ 8.48350838e-01 -4.15949380e-01 -3.27546895e-01 2.70297747e+02] [ 3.91068707e-01 9.09355137e-01 -1.41910186e-01 1.76799687e+02] [ 3.56883906e-01 -7.70371522e-03 9.34116979e-01 4.18529928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.32, Y:176.83, Z:41.85 [[ 8.48918401e-01 -4.24406366e-01 -3.14986959e-01 2.70316907e+02] [ 3.93834670e-01 9.05410840e-01 -1.58510137e-01 1.76825263e+02] [ 3.52465318e-01 1.05093869e-02 9.35765864e-01 4.18513365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.34, Y:176.83, Z:41.87 [[ 8.48247497e-01 -4.21442210e-01 -3.20722072e-01 2.70342263e+02] [ 3.95666938e-01 9.06847482e-01 -1.45173411e-01 1.76829682e+02] [ 3.52028206e-01 -3.75613794e-03 9.35981855e-01 4.18654967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.36, Y:176.84, Z:41.88 [[ 8.47611629e-01 -4.22520658e-01 -3.20984144e-01 2.70364889e+02] [ 3.96727056e-01 9.06344109e-01 -1.45423519e-01 1.76841239e+02] [ 3.52366529e-01 -4.08042835e-03 9.35853183e-01 4.18750960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.39, Y:176.84, Z:41.89 [[ 8.46181885e-01 -4.17790189e-01 -3.30798390e-01 2.70390985e+02] [ 3.96539910e-01 9.08350287e-01 -1.32875343e-01 1.76842509e+02] [ 3.55994827e-01 -1.87380556e-02 9.34300042e-01 4.18943075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.41, Y:176.87, Z:41.89 [[ 8.44717500e-01 -4.31991330e-01 -3.15968094e-01 2.70409494e+02] [ 4.01948306e-01 9.01851916e-01 -1.58431947e-01 1.76871611e+02] [ 3.53397659e-01 6.82739806e-03 9.35448278e-01 4.18910381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:176.87, Z:41.91 [[ 8.44509272e-01 -4.26025015e-01 -3.24510057e-01 2.70433922e+02] [ 4.02844280e-01 9.04615935e-01 -1.39235400e-01 1.76869636e+02] [ 3.52874732e-01 -1.31414340e-02 9.35578285e-01 4.19058888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.46, Y:176.89, Z:41.91 [[ 8.42857944e-01 -4.34328762e-01 -3.17724744e-01 2.70456902e+02] [ 4.06088106e-01 9.00754041e-01 -1.54060402e-01 1.76890562e+02] [ 3.53104710e-01 8.26794112e-04 9.35583444e-01 4.19114361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.48, Y:176.90, Z:41.92 [[ 8.40917286e-01 -4.35345941e-01 -3.21452998e-01 2.70481237e+02] [ 4.10257008e-01 9.00216713e-01 -1.45941964e-01 1.76896773e+02] [ 3.52912603e-01 -9.15322511e-03 9.35611518e-01 4.19233703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.50, Y:176.91, Z:41.93 [[ 8.39830242e-01 -4.38161200e-01 -3.20468293e-01 2.70504098e+02] [ 4.12682879e-01 8.98857178e-01 -1.47474115e-01 1.76910347e+02] [ 3.52672660e-01 -8.39855605e-03 9.35709068e-01 4.19312353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.53, Y:176.92, Z:41.94 [[ 8.38647694e-01 -4.39237222e-01 -3.22088043e-01 2.70528553e+02] [ 4.14303052e-01 8.98306632e-01 -1.46281153e-01 1.76919769e+02] [ 3.53585953e-01 -1.07637079e-02 9.35340107e-01 4.19423964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.55, Y:176.94, Z:41.94 [[ 8.38707057e-01 -4.46782901e-01 -3.11376800e-01 2.70547519e+02] [ 4.16277549e-01 8.94618208e-01 -1.62392318e-01 1.76944806e+02] [ 3.51117466e-01 6.58041275e-03 9.36308295e-01 4.19403953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.57, Y:176.95, Z:41.96 [[ 8.38368941e-01 -4.40784550e-01 -3.20696895e-01 2.70573718e+02] [ 4.16174437e-01 8.97541248e-01 -1.45665873e-01 1.76945158e+02] [ 3.52045958e-01 -1.13441057e-02 9.35913968e-01 4.19566335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.60, Y:176.96, Z:41.96 [[ 8.38266120e-01 -4.42378771e-01 -3.18764702e-01 2.70595729e+02] [ 4.14938699e-01 8.96820847e-01 -1.53421788e-01 1.76960569e+02] [ 3.53745372e-01 -3.65952405e-03 9.35334603e-01 4.19639777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.62, Y:176.96, Z:41.98 [[ 8.38263460e-01 -4.34484779e-01 -3.29450069e-01 2.70622013e+02] [ 4.13340898e-01 9.00401005e-01 -1.35747308e-01 1.76958142e+02] [ 3.55617312e-01 -2.23831793e-02 9.34363591e-01 4.19826910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.65, Y:176.98, Z:41.99 [[ 8.38172201e-01 -4.38213223e-01 -3.24709919e-01 2.70645213e+02] [ 4.12630439e-01 8.98814998e-01 -1.47877386e-01 1.76979195e+02] [ 3.56655971e-01 -1.00384825e-02 9.34181860e-01 4.19895827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.67, Y:176.99, Z:42.00 [[ 8.38522751e-01 -4.37615653e-01 -3.24610744e-01 2.70668937e+02] [ 4.11798326e-01 8.99114471e-01 -1.48375561e-01 1.76991302e+02] [ 3.56793686e-01 -9.25787727e-03 9.34137333e-01 4.19994365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.69, Y:177.00, Z:42.01 [[ 8.38701892e-01 -4.37031339e-01 -3.24934986e-01 2.70692420e+02] [ 4.11068371e-01 8.99402311e-01 -1.48654893e-01 1.77003426e+02] [ 3.57214124e-01 -8.89335576e-03 9.33980181e-01 4.20095249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.72, Y:177.02, Z:42.02 [[ 8.39465410e-01 -4.35790677e-01 -3.24629498e-01 2.70715709e+02] [ 4.09737203e-01 9.00010447e-01 -1.48649317e-01 1.77016410e+02] [ 3.56949926e-01 -8.22682232e-03 9.34087292e-01 4.20197401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.74, Y:177.03, Z:42.03 [[ 8.39333532e-01 -4.36082587e-01 -3.24578497e-01 2.70739933e+02] [ 4.10007158e-01 8.99869109e-01 -1.48760603e-01 1.77027757e+02] [ 3.56950071e-01 -8.21974454e-03 9.34087299e-01 4.20297736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.76, Y:177.04, Z:42.04 [[ 8.39734847e-01 -4.35489570e-01 -3.24336588e-01 2.70762704e+02] [ 4.09363587e-01 9.00159637e-01 -1.48775272e-01 1.77039174e+02] [ 3.56744784e-01 -7.83980909e-03 9.34168987e-01 4.20395405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.79, Y:177.05, Z:42.05 [[ 8.40409040e-01 -4.34705371e-01 -3.23641601e-01 2.70786386e+02] [ 4.08609888e-01 9.00542197e-01 -1.48531853e-01 1.77050507e+02] [ 3.56020512e-01 -7.41564609e-03 9.34448716e-01 4.20504390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.81, Y:177.06, Z:42.06 [[ 8.40701268e-01 -4.34419057e-01 -3.23266856e-01 2.70808984e+02] [ 4.08314926e-01 9.00682443e-01 -1.48492618e-01 1.77060680e+02] [ 3.55668805e-01 -7.15675045e-03 9.34584658e-01 4.20603016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.83, Y:177.07, Z:42.07 [[ 8.40772079e-01 -4.34397934e-01 -3.23111043e-01 2.70832459e+02] [ 4.08289913e-01 9.00693300e-01 -1.48495542e-01 1.77071383e+02] [ 3.55530109e-01 -7.07207403e-03 9.34638073e-01 4.20704001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.86, Y:177.07, Z:42.09 [[ 8.40746444e-01 -4.24316566e-01 -3.36304727e-01 2.70862941e+02] [ 4.05102407e-01 9.05093328e-01 -1.29221156e-01 1.77066309e+02] [ 3.59217841e-01 -2.75956267e-02 9.32845659e-01 4.20941809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:177.10, Z:42.09 [[ 8.40677065e-01 -4.40405667e-01 -3.15126834e-01 2.70876882e+02] [ 4.08668978e-01 8.97749187e-01 -1.64426467e-01 1.77103042e+02] [ 3.55319207e-01 9.44699816e-03 9.34697285e-01 4.20858184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3327550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.90, Y:177.10, Z:42.10 [[ 8.40295424e-01 -4.35626431e-01 -3.22696781e-01 2.70902903e+02] [ 4.09541405e-01 9.00098416e-01 -1.48656245e-01 1.77103927e+02] [ 3.55217451e-01 -7.24253035e-03 9.34755641e-01 4.20988037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.93, Y:177.11, Z:42.12 [[ 8.40551187e-01 -4.30739749e-01 -3.28537623e-01 2.70929805e+02] [ 4.07664554e-01 9.02330291e-01 -1.40034489e-01 1.77107176e+02] [ 3.56767870e-01 -1.62269877e-02 9.34052125e-01 4.21163650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.95, Y:177.13, Z:42.12 [[ 8.40796439e-01 -4.35260053e-01 -3.21885126e-01 2.70951425e+02] [ 4.08206327e-01 9.00294346e-01 -1.51121423e-01 1.77125521e+02] [ 3.55568478e-01 -4.33319053e-03 9.34640188e-01 4.21209619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.97, Y:177.14, Z:42.13 [[ 8.40573857e-01 -4.36814391e-01 -3.20357267e-01 2.70973198e+02] [ 4.10224485e-01 8.99536668e-01 -1.50165423e-01 1.77135796e+02] [ 3.53767526e-01 -5.19326579e-03 9.35318966e-01 4.21289997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.00, Y:177.15, Z:42.14 [[ 8.40560872e-01 -4.36927122e-01 -3.20237586e-01 2.70999694e+02] [ 4.10005322e-01 8.99486523e-01 -1.51061679e-01 1.77146839e+02] [ 3.54052337e-01 -4.32257758e-03 9.35215621e-01 4.21384750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:177.15, Z:42.15 [[ 8.40235773e-01 -4.35348433e-01 -3.23226837e-01 2.71022600e+02] [ 4.10846258e-01 9.00189491e-01 -1.44444568e-01 1.77153060e+02] [ 3.53849117e-01 -1.14290435e-02 9.35232687e-01 4.21505198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:177.17, Z:42.16 [[ 8.40399934e-01 -4.37184906e-01 -3.20308147e-01 2.71048342e+02] [ 4.10187015e-01 8.99361726e-01 -1.51311265e-01 1.77167892e+02] [ 3.54223889e-01 -4.22426600e-03 9.35151107e-01 4.21577092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.07, Y:177.17, Z:42.17 [[ 8.40373850e-01 -4.34794366e-01 -3.23613431e-01 2.71071097e+02] [ 4.10266636e-01 9.00457602e-01 -1.44420891e-01 1.77173759e+02] [ 3.54193563e-01 -1.14002538e-02 9.35102644e-01 4.21695607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.10, Y:177.18, Z:42.18 [[ 8.40991209e-01 -4.29927586e-01 -3.28475353e-01 2.71097998e+02] [ 4.07158846e-01 9.02707371e-01 -1.39072200e-01 1.77178466e+02] [ 3.56308098e-01 -1.67831478e-02 9.34217783e-01 4.21837703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.12, Y:177.20, Z:42.18 [[ 8.40862927e-01 -4.37951507e-01 -3.18037759e-01 2.71117207e+02] [ 4.08619277e-01 8.98994937e-01 -1.57601997e-01 1.77202939e+02] [ 3.54936368e-01 2.56531739e-03 9.34886942e-01 4.21848670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.15, Y:177.20, Z:42.21 [[ 8.40704652e-01 -4.29061103e-01 -3.30336584e-01 2.71147305e+02] [ 4.06278722e-01 9.03109391e-01 -1.39036068e-01 1.77199528e+02] [ 3.57985040e-01 -1.73204561e-02 9.33566663e-01 4.22050732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.17, Y:177.22, Z:42.20 [[ 8.41167079e-01 -4.36823037e-01 -3.18784536e-01 2.71165595e+02] [ 4.07428622e-01 8.99543565e-01 -1.57554093e-01 1.77223213e+02] [ 3.55583835e-01 2.64737244e-03 9.34640641e-01 4.22044994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.19, Y:177.23, Z:42.22 [[ 8.41161027e-01 -4.34233786e-01 -3.22318392e-01 2.71190798e+02] [ 4.07752842e-01 9.00781978e-01 -1.49430410e-01 1.77228760e+02] [ 3.55226332e-01 -5.73120307e-03 9.34762754e-01 4.22165608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:177.24, Z:42.23 [[ 8.41470061e-01 -4.33884841e-01 -3.21981491e-01 2.71212839e+02] [ 4.07066767e-01 9.00956392e-01 -1.50247218e-01 1.77238735e+02] [ 3.55281273e-01 -4.63942930e-03 9.34747930e-01 4.22250421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:177.25, Z:42.24 [[ 8.40975084e-01 -4.34745823e-01 -3.22113298e-01 2.71237391e+02] [ 4.08082097e-01 9.00537608e-01 -1.50003395e-01 1.77249153e+02] [ 3.55288489e-01 -5.29955235e-03 9.34741678e-01 4.22352634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.26, Y:177.26, Z:42.25 [[ 8.41788192e-01 -4.32976684e-01 -3.22372192e-01 2.71260770e+02] [ 4.07107782e-01 9.01377898e-01 -1.47584347e-01 1.77257792e+02] [ 3.54479750e-01 -7.00546758e-03 9.35037449e-01 4.22453894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.28, Y:177.27, Z:42.25 [[ 8.40896676e-01 -4.36494457e-01 -3.19945884e-01 2.71284895e+02] [ 4.08813797e-01 8.99704361e-01 -1.52981508e-01 1.77272615e+02] [ 3.54632288e-01 -2.15665054e-03 9.35003363e-01 4.22542851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.31, Y:177.28, Z:42.27 [[ 8.42166275e-01 -4.32083180e-01 -3.22583462e-01 2.71307711e+02] [ 4.07575331e-01 9.01774328e-01 -1.43824239e-01 1.77276255e+02] [ 3.53041519e-01 -1.03531377e-02 9.35550372e-01 4.22653935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.34, Y:177.29, Z:42.28 [[ 8.40862782e-01 -4.32132868e-01 -3.25900240e-01 2.71335444e+02] [ 4.07857259e-01 9.01724754e-01 -1.43335010e-01 1.77285886e+02] [ 3.55812082e-01 -1.23957031e-02 9.34475312e-01 4.22812563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.36, Y:177.30, Z:42.29 [[ 8.40305660e-01 -4.35694582e-01 -3.22578098e-01 2.71358203e+02] [ 4.10377758e-01 9.00048005e-01 -1.46641347e-01 1.77299535e+02] [ 3.54226614e-01 -9.15532226e-03 9.35114798e-01 4.22892207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.38, Y:177.32, Z:42.29 [[ 8.40178470e-01 -4.42233422e-01 -3.13894472e-01 2.71377973e+02] [ 4.13141962e-01 8.96895388e-01 -1.57773199e-01 1.77319667e+02] [ 3.51303086e-01 2.87466726e-03 9.36257378e-01 4.22909492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:177.33, Z:42.30 [[ 8.40126205e-01 -4.41870121e-01 -3.14545316e-01 2.71404005e+02] [ 4.14209207e-01 8.97078474e-01 -1.53886141e-01 1.77328334e+02] [ 3.50169520e-01 -1.00378625e-03 9.36685806e-01 4.23004739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.43, Y:177.33, Z:42.32 [[ 8.39682474e-01 -4.38377655e-01 -3.20559471e-01 2.71428437e+02] [ 4.15094967e-01 8.98680178e-01 -1.41669000e-01 1.77330527e+02] [ 3.50184966e-01 -1.41056463e-02 9.36574354e-01 4.23159844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.45, Y:177.35, Z:42.32 [[ 8.39625553e-01 -4.41007483e-01 -3.17082530e-01 2.71450757e+02] [ 4.15357937e-01 8.97475179e-01 -1.48378190e-01 1.77345863e+02] [ 3.50009592e-01 -7.12062596e-03 9.36719052e-01 4.23236168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:177.36, Z:42.33 [[ 8.39785002e-01 -4.41232696e-01 -3.16346106e-01 2.71473761e+02] [ 4.15673068e-01 8.97364864e-01 -1.48162754e-01 1.77357260e+02] [ 3.49252132e-01 -7.07169812e-03 9.37002102e-01 4.23331878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.50, Y:177.37, Z:42.34 [[ 8.39938603e-01 -4.41372947e-01 -3.15742087e-01 2.71497659e+02] [ 4.15896740e-01 8.97296092e-01 -1.47951430e-01 1.77368729e+02] [ 3.48615899e-01 -7.04598791e-03 9.37239195e-01 4.23429276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.52, Y:177.38, Z:42.35 [[ 8.39931121e-01 -4.41619252e-01 -3.15417418e-01 2.71520803e+02] [ 4.16165389e-01 8.97175135e-01 -1.47929531e-01 1.77380005e+02] [ 3.48313193e-01 -7.01519545e-03 9.37351965e-01 4.23527088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.54, Y:177.39, Z:42.36 [[ 8.40002838e-01 -4.41878712e-01 -3.14862566e-01 2.71544079e+02] [ 4.16502069e-01 8.97047301e-01 -1.47757121e-01 1.77391149e+02] [ 3.47737341e-01 -7.02450870e-03 9.37565677e-01 4.23624706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.57, Y:177.40, Z:42.37 [[ 8.40055054e-01 -4.41950802e-01 -3.14621986e-01 2.71567028e+02] [ 4.16570945e-01 8.97012566e-01 -1.47773829e-01 1.77402288e+02] [ 3.47528638e-01 -6.92422583e-03 9.37643803e-01 4.23719601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:177.41, Z:42.38 [[ 8.40328019e-01 -4.41496953e-01 -3.14530224e-01 2.71590342e+02] [ 4.16069172e-01 8.97238102e-01 -1.47818245e-01 1.77414410e+02] [ 3.47469805e-01 -6.65051701e-03 9.37667588e-01 4.23815597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.61, Y:177.43, Z:42.39 [[ 8.40435855e-01 -4.41706810e-01 -3.13946918e-01 2.71612395e+02] [ 4.15361513e-01 8.97150242e-01 -1.50320517e-01 1.77427332e+02] [ 3.48055150e-01 -4.06671422e-03 9.37465239e-01 4.23902176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.64, Y:177.44, Z:42.40 [[ 8.40469147e-01 -4.40506165e-01 -3.15540697e-01 2.71636712e+02] [ 4.15466626e-01 8.97715058e-01 -1.46612266e-01 1.77437584e+02] [ 3.47849242e-01 -7.87354217e-03 9.37517420e-01 4.24011029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.66, Y:177.45, Z:42.41 [[ 8.40552229e-01 -4.40956874e-01 -3.14688711e-01 2.71660291e+02] [ 4.15325695e-01 8.97507776e-01 -1.48271236e-01 1.77451039e+02] [ 3.47816786e-01 -6.06858988e-03 9.37542882e-01 4.24099045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.68, Y:177.46, Z:42.42 [[ 8.40493926e-01 -4.40760971e-01 -3.15118592e-01 2.71683557e+02] [ 4.14997409e-01 8.97605280e-01 -1.48599842e-01 1.77463464e+02] [ 3.48349122e-01 -5.87613433e-03 9.37346446e-01 4.24193782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.71, Y:177.47, Z:42.43 [[ 8.40251261e-01 -4.41125421e-01 -3.15255740e-01 2.71706008e+02] [ 4.15317028e-01 8.97426002e-01 -1.48789572e-01 1.77474799e+02] [ 3.48553561e-01 -5.91045177e-03 9.37270229e-01 4.24286580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.73, Y:177.49, Z:42.44 [[ 8.39992850e-01 -4.41455015e-01 -3.15482934e-01 2.71728312e+02] [ 4.15605003e-01 8.97263416e-01 -1.48965916e-01 1.77486223e+02] [ 3.48833046e-01 -5.98598086e-03 9.37165767e-01 4.24378040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.41275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.75, Y:177.50, Z:42.45 [[ 8.39584529e-01 -4.41938686e-01 -3.15892413e-01 2.71752338e+02] [ 4.16021304e-01 8.97024411e-01 -1.49243024e-01 1.77497824e+02] [ 3.49319472e-01 -6.11583924e-03 9.36983726e-01 4.24472470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.77, Y:177.51, Z:42.46 [[ 8.39100035e-01 -4.43086904e-01 -3.15571112e-01 2.71774170e+02] [ 4.17254168e-01 8.96455371e-01 -1.49220399e-01 1.77509323e+02] [ 3.49013022e-01 -6.46251987e-03 9.37095591e-01 4.24571619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:177.52, Z:42.47 [[ 8.38139094e-01 -4.44962316e-01 -3.15485968e-01 2.71797852e+02] [ 4.19245617e-01 8.95520570e-01 -1.49251536e-01 1.77521196e+02] [ 3.48935484e-01 -7.17256217e-03 9.37119300e-01 4.24672405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.82, Y:177.53, Z:42.48 [[ 8.37318106e-01 -4.46373543e-01 -3.15672378e-01 2.71820719e+02] [ 4.20677185e-01 8.94814026e-01 -1.49460917e-01 1.77532495e+02] [ 3.49183470e-01 -7.64983472e-03 9.37023150e-01 4.24769045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.84, Y:177.54, Z:42.49 [[ 8.38164428e-01 -4.43839675e-01 -3.16996427e-01 2.71844674e+02] [ 4.21350108e-01 8.95965254e-01 -1.40393555e-01 1.77537904e+02] [ 3.46330014e-01 -1.58935950e-02 9.37978100e-01 4.24880216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.87, Y:177.56, Z:42.49 [[ 8.36555214e-01 -4.51113719e-01 -3.10920869e-01 2.71866301e+02] [ 4.22287493e-01 8.92465306e-01 -1.58678764e-01 1.77561193e+02] [ 3.49068256e-01 1.44555261e-03 9.37096187e-01 4.24943260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.90, Y:177.57, Z:42.51 [[ 8.37313524e-01 -4.47903862e-01 -3.13509479e-01 2.71895622e+02] [ 4.21273827e-01 8.94069755e-01 -1.52209186e-01 1.77568705e+02] [ 3.48474425e-01 -4.62652827e-03 9.37306871e-01 4.25052622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.92, Y:177.58, Z:42.51 [[ 8.37018614e-01 -4.48448983e-01 -3.13517704e-01 2.71919552e+02] [ 4.22493008e-01 8.93784845e-01 -1.50493550e-01 1.77581991e+02] [ 3.47706052e-01 -6.49313516e-03 9.37581112e-01 4.25139568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6527550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:271.94, Y:177.59, Z:42.52 [[ 8.36589662e-01 -4.48597036e-01 -3.14449419e-01 2.71943126e+02] [ 4.23099588e-01 8.93697102e-01 -1.49305825e-01 1.77593557e+02] [ 3.48000685e-01 -8.13570967e-03 9.37458977e-01 4.25239030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.96, Y:177.61, Z:42.53 [[ 8.34733726e-01 -4.51321049e-01 -3.15482039e-01 2.71960285e+02] [ 4.23209702e-01 8.92357814e-01 -1.56815435e-01 1.77607128e+02] [ 3.52296969e-01 -2.61592733e-03 9.35884610e-01 4.25341532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.99, Y:177.61, Z:42.55 [[ 8.33902021e-01 -4.48588147e-01 -3.21521530e-01 2.71985400e+02] [ 4.23921180e-01 8.93637387e-01 -1.47319563e-01 1.77612607e+02] [ 3.53409470e-01 -1.34497053e-02 9.35372039e-01 4.25484794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.01, Y:177.63, Z:42.55 [[ 8.35797093e-01 -4.51598334e-01 -3.12253364e-01 2.72010586e+02] [ 4.24220211e-01 8.92216253e-01 -1.54878570e-01 1.77631226e+02] [ 3.48540431e-01 -3.01712958e-03 9.37288891e-01 4.25471839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.04, Y:177.64, Z:42.56 [[ 8.35541932e-01 -4.50457154e-01 -3.14575957e-01 2.72036182e+02] [ 4.24614754e-01 8.92764338e-01 -1.50579375e-01 1.77640806e+02] [ 3.48671753e-01 -7.75821068e-03 9.37212793e-01 4.25606445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:177.65, Z:42.57 [[ 8.35509047e-01 -4.49546941e-01 -3.15962307e-01 2.72060980e+02] [ 4.23908292e-01 8.93214372e-01 -1.49899450e-01 1.77651853e+02] [ 3.49608913e-01 -8.69669560e-03 9.36855365e-01 4.25720174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:177.66, Z:42.58 [[ 8.35292262e-01 -4.48027586e-01 -3.18681847e-01 2.72083704e+02] [ 4.21849641e-01 8.93982108e-01 -1.51125349e-01 1.77663301e+02] [ 3.52604194e-01 -8.20198791e-03 9.35736613e-01 4.25836841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.10, Y:177.68, Z:42.58 [[ 8.36049466e-01 -4.52321035e-01 -3.10526925e-01 2.72104462e+02] [ 4.24108078e-01 8.91855161e-01 -1.57247291e-01 1.77683093e+02] [ 3.48071298e-01 -2.30463942e-04 9.37468036e-01 4.25841177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.13, Y:177.70, Z:42.59 [[ 8.36058811e-01 -4.53832695e-01 -3.08288095e-01 2.72127840e+02] [ 4.24125729e-01 8.91076456e-01 -1.61555303e-01 1.77699109e+02] [ 3.48027342e-01 4.31682121e-03 9.37474445e-01 4.25917886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.16, Y:177.68, Z:42.63 [[ 8.35456733e-01 -4.33565355e-01 -3.37687919e-01 2.72156355e+02] [ 4.19957756e-01 9.00026294e-01 -1.16568236e-01 1.77676431e+02] [ 3.54467954e-01 -4.44269430e-02 9.34012161e-01 4.26303272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.17, Y:177.74, Z:42.60 [[ 8.36483390e-01 -4.62918914e-01 -2.93260324e-01 2.72167069e+02] [ 4.23624079e-01 8.85727211e-01 -1.89815560e-01 1.77742204e+02] [ 3.47617861e-01 3.45454286e-02 9.36999699e-01 4.26033711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.20, Y:177.70, Z:42.65 [[ 8.36479579e-01 -4.32721378e-01 -3.36235219e-01 2.72202257e+02] [ 4.18894533e-01 9.00493928e-01 -1.16782085e-01 1.77701135e+02] [ 3.53311878e-01 -4.31612657e-02 9.34509402e-01 4.26507276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.22, Y:177.74, Z:42.65 [[ 8.36139921e-01 -4.46108356e-01 -3.19151011e-01 2.72220086e+02] [ 4.19067586e-01 8.94960397e-01 -1.53062881e-01 1.77735369e+02] [ 3.53910146e-01 -5.76385891e-03 9.35261667e-01 4.26498394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.24, Y:177.76, Z:42.66 [[ 8.34318383e-01 -4.52807428e-01 -3.14449154e-01 2.72239633e+02] [ 4.17896038e-01 8.91489422e-01 -1.74955744e-01 1.77760057e+02] [ 3.59549355e-01 1.45617382e-02 9.33012442e-01 4.26567543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.27, Y:177.78, Z:42.66 [[ 8.36205819e-01 -4.54087105e-01 -3.07513787e-01 2.72267562e+02] [ 4.20397782e-01 8.90834683e-01 -1.72276733e-01 1.77778326e+02] [ 3.52172590e-01 1.47806929e-02 9.35818358e-01 4.26565543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.30, Y:177.76, Z:42.69 [[ 8.35801795e-01 -4.33801343e-01 -3.36528979e-01 2.72296710e+02] [ 4.17433236e-01 9.00245612e-01 -1.23722799e-01 1.77755337e+02] [ 3.56629853e-01 -3.70706437e-02 9.33509997e-01 4.26909431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.32, Y:177.80, Z:42.69 [[ 8.36415703e-01 -4.48840653e-01 -3.14564524e-01 2.72315380e+02] [ 4.17613754e-01 8.93589488e-01 -1.64610385e-01 1.77795796e+02] [ 3.54975385e-01 6.31623937e-03 9.34854310e-01 4.26857327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.34, Y:177.80, Z:42.70 [[ 8.36059961e-01 -4.40887755e-01 -3.26529831e-01 2.72337234e+02] [ 4.15226026e-01 8.97491081e-01 -1.48650958e-01 1.77795574e+02] [ 3.58595998e-01 -1.13025704e-02 9.33424428e-01 4.27029124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:177.81, Z:42.71 [[ 8.36904188e-01 -4.41117209e-01 -3.24047819e-01 2.72362331e+02] [ 4.15710026e-01 8.97383394e-01 -1.47946672e-01 1.77808702e+02] [ 3.56056955e-01 -1.08927383e-02 9.34400767e-01 4.27123837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.38, Y:177.83, Z:42.72 [[ 8.36870965e-01 -4.43742309e-01 -3.20530421e-01 2.72384804e+02] [ 4.16058881e-01 8.96144591e-01 -1.54336905e-01 1.77825190e+02] [ 3.55727417e-01 -4.19945402e-03 9.34580317e-01 4.27201665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.25275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.41, Y:177.85, Z:42.73 [[ 8.36012651e-01 -4.49219003e-01 -3.15095437e-01 2.72409974e+02] [ 4.15232658e-01 8.93329095e-01 -1.71886494e-01 1.77847782e+02] [ 3.58698602e-01 1.28613678e-02 9.33364826e-01 4.27257632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.43, Y:177.84, Z:42.75 [[ 8.36571609e-01 -4.37368961e-01 -3.29933835e-01 2.72434235e+02] [ 4.17112814e-01 8.98920287e-01 -1.34012005e-01 1.77835807e+02] [ 3.55196909e-01 -2.55089918e-02 9.34443389e-01 4.27464406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.46, Y:177.86, Z:42.75 [[ 8.37227547e-01 -4.43558144e-01 -3.19853416e-01 2.72460501e+02] [ 4.16429352e-01 8.96230278e-01 -1.52832863e-01 1.77857831e+02] [ 3.54452577e-01 -5.24046750e-03 9.35059307e-01 4.27514234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.48, Y:177.87, Z:42.76 [[ 8.36121312e-01 -4.47482878e-01 -3.17269956e-01 2.72481995e+02] [ 4.17437190e-01 8.94289382e-01 -1.61222499e-01 1.77874665e+02] [ 3.55875461e-01 2.36128871e-03 9.34530407e-01 4.27582249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.50, Y:177.87, Z:42.77 [[ 8.35348828e-01 -4.42536806e-01 -3.26118859e-01 2.72503460e+02] [ 4.20187390e-01 8.96530472e-01 -1.40269986e-01 1.77873397e+02] [ 3.54450126e-01 -1.98566637e-02 9.34864065e-01 4.27749874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.53, Y:177.89, Z:42.78 [[ 8.36088457e-01 -4.44814112e-01 -3.21086434e-01 2.72531269e+02] [ 4.18753186e-01 8.95579568e-01 -1.50276437e-01 1.77890060e+02] [ 3.54403530e-01 -8.81157316e-03 9.35051065e-01 4.27823777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.55, Y:177.91, Z:42.79 [[ 8.35375538e-01 -4.50933206e-01 -3.14335736e-01 2.72551298e+02] [ 4.21725076e-01 8.92557332e-01 -1.59653902e-01 1.77909176e+02] [ 3.52555912e-01 8.07701769e-04 9.35790402e-01 4.27854266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.57, Y:177.91, Z:42.80 [[ 8.35144549e-01 -4.47357135e-01 -3.20008088e-01 2.72574037e+02] [ 4.20711467e-01 8.94324260e-01 -1.52269433e-01 1.77913430e+02] [ 3.54309814e-01 -7.46408547e-03 9.35098307e-01 4.27980141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.59, Y:177.93, Z:42.81 [[ 8.34142633e-01 -4.49523644e-01 -3.19584983e-01 2.72592348e+02] [ 4.21621901e-01 8.93256386e-01 -1.55974359e-01 1.77925697e+02] [ 3.55585489e-01 -4.63916524e-03 9.34632247e-01 4.28078703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:177.94, Z:42.82 [[ 8.34276805e-01 -4.49196670e-01 -3.19694487e-01 2.72622952e+02] [ 4.23414403e-01 8.93377469e-01 -1.50322793e-01 1.77937140e+02] [ 3.53132349e-01 -9.95243053e-03 9.35520440e-01 4.28187579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.64, Y:177.95, Z:42.83 [[ 8.33478056e-01 -4.50643454e-01 -3.19741783e-01 2.72641421e+02] [ 4.23485743e-01 8.92677667e-01 -1.54228430e-01 1.77949799e+02] [ 3.54928382e-01 -6.86007512e-03 9.34868324e-01 4.28289280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.66, Y:177.96, Z:42.84 [[ 8.33195810e-01 -4.52069238e-01 -3.18462158e-01 2.72663888e+02] [ 4.23196029e-01 8.91979874e-01 -1.58987503e-01 1.77964268e+02] [ 3.55935195e-01 -2.30419868e-03 9.34507800e-01 4.28378334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.69, Y:177.97, Z:42.85 [[ 8.33512182e-01 -4.48371705e-01 -3.22831623e-01 2.72691688e+02] [ 4.24810007e-01 8.93689821e-01 -1.44412472e-01 1.77968518e+02] [ 3.53261801e-01 -1.67725497e-02 9.35374140e-01 4.28521062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.72, Y:177.99, Z:42.86 [[ 8.33969463e-01 -4.53703189e-01 -3.14083351e-01 2.72717884e+02] [ 4.24846718e-01 8.91152621e-01 -1.59223966e-01 1.77989870e+02] [ 3.52136623e-01 -6.49355092e-04 9.35948384e-01 4.28555777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:178.00, Z:42.87 [[ 8.33417762e-01 -4.52392288e-01 -3.17420939e-01 2.72741132e+02] [ 4.25858154e-01 8.91785067e-01 -1.52853612e-01 1.77997486e+02] [ 3.52221048e-01 -7.78537946e-03 9.35884459e-01 4.28669403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:178.01, Z:42.87 [[ 8.33156552e-01 -4.53377973e-01 -3.16699501e-01 2.72762909e+02] [ 4.26348191e-01 8.91295117e-01 -1.54338057e-01 1.78010125e+02] [ 3.52246194e-01 -6.43649591e-03 9.35885244e-01 4.28744616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:178.03, Z:42.88 [[ 8.31899272e-01 -4.61823380e-01 -3.07673149e-01 2.72780738e+02] [ 4.29370729e-01 8.86920010e-01 -1.70334006e-01 1.78034253e+02] [ 3.51545699e-01 9.59489107e-03 9.36121552e-01 4.28758276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.81, Y:178.03, Z:42.89 [[ 8.32309016e-01 -4.53433302e-01 -3.18841564e-01 2.72810018e+02] [ 4.30901122e-01 8.91090706e-01 -1.42413404e-01 1.78029407e+02] [ 3.48691734e-01 -1.88572274e-02 9.37047747e-01 4.28932974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.83, Y:178.06, Z:42.89 [[ 8.30381133e-01 -4.65310187e-01 -3.06518522e-01 2.72826549e+02] [ 4.33776498e-01 8.85120180e-01 -1.68523638e-01 1.78059107e+02] [ 3.49721494e-01 6.97831818e-03 9.36827721e-01 4.28931274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.85, Y:178.06, Z:42.91 [[ 8.29743198e-01 -4.62183627e-01 -3.12909764e-01 2.72852056e+02] [ 4.35488035e-01 8.86751120e-01 -1.54992332e-01 1.78062326e+02] [ 3.49108002e-01 -7.66462515e-03 9.37051149e-01 4.29062207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.85275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.88, Y:178.08, Z:42.92 [[ 8.27879666e-01 -4.65936118e-01 -3.12279990e-01 2.72875157e+02] [ 4.37985703e-01 8.84803578e-01 -1.59031923e-01 1.78077368e+02] [ 3.50405169e-01 -5.11487517e-03 9.36584249e-01 4.29157542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.90, Y:178.09, Z:42.92 [[ 8.25434038e-01 -4.70669755e-01 -3.11654666e-01 2.72897306e+02] [ 4.41020476e-01 8.82307767e-01 -1.64420024e-01 1.78092611e+02] [ 3.52362865e-01 -1.72820532e-03 9.35861862e-01 4.29243505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:178.07, Z:42.95 [[ 8.27153901e-01 -4.51349459e-01 -3.34813514e-01 2.72925520e+02] [ 4.40037569e-01 8.90754223e-01 -1.13683122e-01 1.78068451e+02] [ 3.49547368e-01 -5.32970867e-02 9.35401549e-01 4.29536559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:178.11, Z:42.96 [[ 8.25856742e-01 -4.65345260e-01 -3.18456326e-01 2.72942920e+02] [ 4.37354688e-01 8.85094496e-01 -1.59149644e-01 1.78105408e+02] [ 3.55923474e-01 -7.84356024e-03 9.34482188e-01 4.29578842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:178.13, Z:42.96 [[ 8.24963833e-01 -4.73464531e-01 -3.08651929e-01 2.72963341e+02] [ 4.43913802e-01 8.80812092e-01 -1.64652955e-01 1.78131102e+02] [ 3.49821685e-01 -1.18211871e-03 9.36815559e-01 4.29561874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:178.12, Z:42.98 [[ 8.24468599e-01 -4.61030218e-01 -3.28180845e-01 2.72989990e+02] [ 4.37085984e-01 8.87129400e-01 -1.48179859e-01 1.78122439e+02] [ 3.59454269e-01 -2.12736068e-02 9.32920180e-01 4.29844406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0327550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.01, Y:178.16, Z:42.98 [[ 8.24015978e-01 -4.70823437e-01 -3.15155452e-01 2.73010419e+02] [ 4.41101647e-01 8.82221184e-01 -1.64666690e-01 1.78156129e+02] [ 3.55565753e-01 -3.32760563e-03 9.34645346e-01 4.29828294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.05, Y:178.11, Z:43.03 [[ 8.26258858e-01 -4.32874751e-01 -3.60438274e-01 2.73052092e+02] [ 4.32646154e-01 8.97450483e-01 -8.60228751e-02 1.78112945e+02] [ 3.60712634e-01 -8.48650705e-02 9.28808008e-01 4.30335002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:178.22, Z:43.00 [[ 8.24579984e-01 -4.83094647e-01 -2.94427261e-01 2.73047775e+02] [ 4.31108338e-01 8.73552164e-01 -2.25947380e-01 1.78215092e+02] [ 3.66351540e-01 5.93816395e-02 9.28579759e-01 4.30035783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:178.14, Z:43.05 [[ 8.28038276e-01 -4.30162995e-01 -3.59600349e-01 2.73096780e+02] [ 4.27698023e-01 8.99333365e-01 -9.09609796e-02 1.78141142e+02] [ 3.62528640e-01 -7.84811856e-02 9.28662312e-01 4.30536247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:178.23, Z:43.02 [[ 8.26922350e-01 -4.77059471e-01 -2.97680514e-01 2.73095868e+02] [ 4.29088577e-01 8.77478195e-01 -2.14277880e-01 1.78234697e+02] [ 3.63431452e-01 4.94598600e-02 9.30307101e-01 4.30232000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.13, Y:178.21, Z:43.05 [[ 8.29006588e-01 -4.53873116e-01 -3.26722010e-01 2.73131299e+02] [ 4.27228230e-01 8.90983301e-01 -1.53703600e-01 1.78212058e+02] [ 3.60865787e-01 -1.21635687e-02 9.32538434e-01 4.30479005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:178.24, Z:43.05 [[ 8.28900798e-01 -4.59246066e-01 -3.19400246e-01 2.73148953e+02] [ 4.27071947e-01 8.88301802e-01 -1.68906664e-01 1.78235011e+02] [ 3.61293535e-01 3.59998315e-03 9.32445184e-01 4.30542419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:178.24, Z:43.07 [[ 8.30603640e-01 -4.52187923e-01 -3.24997962e-01 2.73175075e+02] [ 4.23935077e-01 8.91895451e-01 -1.57485091e-01 1.78241680e+02] [ 3.61077061e-01 -6.97034611e-03 9.32509930e-01 4.30664729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2727550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.20, Y:178.24, Z:43.09 [[ 8.28624881e-01 -4.46431697e-01 -3.37756638e-01 2.73201352e+02] [ 4.22589113e-01 8.94545647e-01 -1.45624608e-01 1.78243614e+02] [ 3.67150171e-01 -2.20641048e-02 9.29899955e-01 4.30905800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.22, Y:178.27, Z:43.10 [[ 8.28396990e-01 -4.52778181e-01 -3.29773173e-01 2.73222604e+02] [ 4.21583559e-01 8.91620472e-01 -1.65167299e-01 1.78266712e+02] [ 3.68816661e-01 -2.20285414e-03 9.29499552e-01 4.30965885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.25, Y:178.28, Z:43.10 [[ 8.29807844e-01 -4.53559955e-01 -3.25118917e-01 2.73245052e+02] [ 4.21362723e-01 8.91222813e-01 -1.67855154e-01 1.78280973e+02] [ 3.65885771e-01 2.29453094e-03 9.30656939e-01 4.31020704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.27, Y:178.29, Z:43.12 [[ 8.28066963e-01 -4.53238463e-01 -3.29969697e-01 2.73268994e+02] [ 4.23276348e-01 8.91372947e-01 -1.62146238e-01 1.78290555e+02] [ 3.67616973e-01 -5.40042597e-03 9.29961610e-01 4.31157924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3927550960001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:273.29, Y:178.30, Z:43.12 [[ 8.30072553e-01 -4.49909988e-01 -3.29485296e-01 2.73293291e+02] [ 4.22535424e-01 8.93010572e-01 -1.54906207e-01 1.78296694e+02] [ 3.63927703e-01 -1.06358184e-02 9.31366473e-01 4.31239420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.31, Y:178.32, Z:43.13 [[ 8.28471351e-01 -4.57778022e-01 -3.22605803e-01 2.73314990e+02] [ 4.25202197e-01 8.89060164e-01 -1.69632299e-01 1.78319412e+02] [ 3.64469906e-01 3.36280343e-03 9.31209095e-01 4.31314786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.34, Y:178.33, Z:43.14 [[ 8.27930252e-01 -4.57651588e-01 -3.24170515e-01 2.73337424e+02] [ 4.26709080e-01 8.89130566e-01 -1.65427318e-01 1.78328108e+02] [ 3.63937989e-01 -1.36422137e-03 9.31422181e-01 4.31400076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48275509600006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.36, Y:178.34, Z:43.15 [[ 8.28347775e-01 -4.57963035e-01 -3.22660538e-01 2.73361703e+02] [ 4.29338286e-01 8.88948126e-01 -1.59498796e-01 1.78336910e+02] [ 3.59873033e-01 -6.41004938e-03 9.32979266e-01 4.31469866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51275509600003 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:273.39, Y:178.34, Z:43.16 [[ 8.26061584e-01 -4.55386339e-01 -3.32032440e-01 2.73386248e+02] [ 4.30645978e-01 8.90077807e-01 -1.49350392e-01 1.78340604e+02] [ 3.63546835e-01 -1.96158135e-02 9.31369378e-01 4.31649853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:178.36, Z:43.17 [[ 8.24733104e-01 -4.63121629e-01 -3.24551482e-01 2.73405264e+02] [ 4.31023590e-01 8.86294719e-01 -1.69411736e-01 1.78363222e+02] [ 3.66106504e-01 -1.69877964e-04 9.30572941e-01 4.31708100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.43, Y:178.38, Z:43.18 [[ 8.22298800e-01 -4.66321483e-01 -3.26142544e-01 2.73430084e+02] [ 4.33157489e-01 8.84615005e-01 -1.72716190e-01 1.78376562e+02] [ 3.69051858e-01 7.53230394e-04 9.29408499e-01 4.31828112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.46, Y:178.38, Z:43.19 [[ 8.22320323e-01 -4.64332488e-01 -3.28914314e-01 2.73457572e+02] [ 4.35470632e-01 8.85599471e-01 -1.61489644e-01 1.78383159e+02] [ 3.66271231e-01 -1.04363083e-02 9.30449606e-01 4.31934480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.63275509600004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:273.48, Y:178.39, Z:43.21 [[ 8.21938188e-01 -4.64348302e-01 -3.29845827e-01 2.73484073e+02] [ 4.35365699e-01 8.85589342e-01 -1.61827766e-01 1.78392988e+02] [ 3.67252397e-01 -1.05911383e-02 9.30061022e-01 4.32050143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.51, Y:178.40, Z:43.22 [[ 8.21079873e-01 -4.61701991e-01 -3.35647304e-01 2.73507205e+02] [ 4.35598558e-01 8.86820144e-01 -1.54285217e-01 1.78398063e+02] [ 3.68892583e-01 -1.95269958e-02 9.29266893e-01 4.32190247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.53, Y:178.40, Z:43.23 [[ 8.26140343e-01 -4.51930909e-01 -3.36527246e-01 2.73529658e+02] [ 4.32081694e-01 8.91453781e-01 -1.36438875e-01 1.78395283e+02] [ 3.61659431e-01 -3.26896037e-02 9.31737005e-01 4.32275759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.72275509600007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:273.55, Y:178.44, Z:43.22 [[ 8.24888405e-01 -4.72349297e-01 -3.10556373e-01 2.73548429e+02] [ 4.31774233e-01 8.81049058e-01 -1.93193088e-01 1.78443272e+02] [ 3.64870020e-01 2.52724984e-02 9.30715407e-01 4.32246517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.58, Y:178.42, Z:43.25 [[ 8.24299471e-01 -4.56395101e-01 -3.35013274e-01 2.73577126e+02] [ 4.32431438e-01 8.89477977e-01 -1.47756489e-01 1.78424681e+02] [ 3.65422267e-01 -2.30746765e-02 9.30555816e-01 4.32487512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.60, Y:178.44, Z:43.26 [[ 8.25878579e-01 -4.58405161e-01 -3.28312780e-01 2.73598754e+02] [ 4.29874976e-01 8.88693323e-01 -1.59473142e-01 1.78442139e+02] [ 3.64872687e-01 -9.42799674e-03 9.31009686e-01 4.32558448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.62, Y:178.45, Z:43.27 [[ 8.26873808e-01 -4.56769820e-01 -3.28086937e-01 2.73622720e+02] [ 4.28108597e-01 8.89543513e-01 -1.59484694e-01 1.78453194e+02] [ 3.64695401e-01 -8.58312209e-03 9.31087318e-01 4.32660048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.65, Y:178.46, Z:43.28 [[ 8.27806232e-01 -4.55035804e-01 -3.28145182e-01 2.73645819e+02] [ 4.26185317e-01 8.90439811e-01 -1.59634016e-01 1.78464104e+02] [ 3.64832726e-01 -7.70462536e-03 9.31041202e-01 4.32757749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.67, Y:178.49, Z:43.28 [[ 8.30482910e-01 -4.59275515e-01 -3.15220776e-01 2.73670675e+02] [ 4.24185781e-01 8.88200161e-01 -1.76541487e-01 1.78488168e+02] [ 3.61060326e-01 1.29025168e-02 9.32453198e-01 4.32750511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.70, Y:178.48, Z:43.30 [[ 8.32816080e-01 -4.44372065e-01 -3.30077029e-01 2.73702531e+02] [ 4.18531607e-01 8.95743652e-01 -1.49915323e-01 1.78479932e+02] [ 3.62282585e-01 -1.32957774e-02 9.31973471e-01 4.32951100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.73, Y:178.50, Z:43.30 [[ 8.32497461e-01 -4.46667181e-01 -3.27774932e-01 2.73725454e+02] [ 4.18945873e-01 8.94662784e-01 -1.55122078e-01 1.78495130e+02] [ 3.62535974e-01 -8.18121840e-03 9.31933868e-01 4.33042878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.74, Y:178.50, Z:43.32 [[ 8.31602446e-01 -4.42500167e-01 -3.35605386e-01 2.73744951e+02] [ 4.18554509e-01 8.96547261e-01 -1.44965968e-01 1.78498521e+02] [ 3.65033555e-01 -1.99150937e-02 9.30781335e-01 4.33205470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.77, Y:178.53, Z:43.32 [[ 8.34543833e-01 -4.51630670e-01 -3.15541327e-01 2.73768804e+02] [ 4.15269248e-01 8.92025749e-01 -1.78441909e-01 1.78531380e+02] [ 3.62060827e-01 1.78829850e-02 9.31982916e-01 4.33160816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.80, Y:178.53, Z:43.33 [[ 8.35279616e-01 -4.42199185e-01 -3.26753490e-01 2.73797983e+02] [ 4.13761735e-01 8.96903934e-01 -1.56091508e-01 1.78527828e+02] [ 3.62090029e-01 -4.81803617e-03 9.32130676e-01 4.33329212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.82, Y:178.54, Z:43.34 [[ 8.36523097e-01 -4.40794541e-01 -3.25467789e-01 2.73821619e+02] [ 4.12309225e-01 8.97600186e-01 -1.55932706e-01 1.78537753e+02] [ 3.60874233e-01 -3.75206155e-03 9.32606943e-01 4.33417234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.84, Y:178.54, Z:43.36 [[ 8.35319614e-01 -4.34008867e-01 -3.37457325e-01 2.73842868e+02] [ 4.11895331e-01 9.00611663e-01 -1.38711461e-01 1.78535328e+02] [ 3.64120006e-01 -2.31286927e-02 9.31064812e-01 4.33630803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.87, Y:178.57, Z:43.36 [[ 8.37246640e-01 -4.49023507e-01 -3.12083249e-01 2.73865067e+02] [ 4.11949161e-01 8.93244896e-01 -1.80031790e-01 1.78574594e+02] [ 3.59605275e-01 2.21685782e-02 9.32841144e-01 4.33550312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.89, Y:178.56, Z:43.38 [[ 8.33775548e-01 -4.41550424e-01 -3.31438620e-01 2.73893367e+02] [ 4.14827354e-01 8.97168717e-01 -1.51679133e-01 1.78564298e+02] [ 3.64330347e-01 -1.10234538e-02 9.31204533e-01 4.33806690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.92, Y:178.56, Z:43.39 [[ 8.35760349e-01 -4.35507420e-01 -3.34421779e-01 2.73917016e+02] [ 4.14070920e-01 8.99867072e-01 -1.37056655e-01 1.78563055e+02] [ 3.60624338e-01 -2.39278156e-02 9.32404176e-01 4.33917614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.94, Y:178.58, Z:43.40 [[ 8.34102862e-01 -4.46655087e-01 -3.23684490e-01 2.73937934e+02] [ 4.17744561e-01 8.94700028e-01 -1.58118126e-01 1.78584666e+02] [ 3.60224788e-01 -3.33065365e-03 9.32859587e-01 4.33953383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.96, Y:178.61, Z:43.40 [[ 8.34053345e-01 -4.54451913e-01 -3.12775443e-01 2.73962631e+02] [ 4.20398481e-01 8.90678307e-01 -1.73081688e-01 1.78606964e+02] [ 3.57239606e-01 1.28690399e-02 9.33924115e-01 4.33951545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.99, Y:178.61, Z:43.41 [[ 8.32635480e-01 -4.51587038e-01 -3.20604592e-01 2.73990680e+02] [ 4.23075766e-01 8.92217613e-01 -1.57970337e-01 1.78608323e+02] [ 3.57386420e-01 -4.10832609e-03 9.33947573e-01 4.34101177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.02, Y:178.60, Z:43.43 [[ 8.30066979e-01 -4.47936531e-01 -3.32177174e-01 2.74015526e+02] [ 4.25951120e-01 8.93725959e-01 -1.40781937e-01 1.78603006e+02] [ 3.59936736e-01 -2.46328025e-02 9.32651474e-01 4.34311927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.04, Y:178.62, Z:43.44 [[ 8.29096961e-01 -4.54752164e-01 -3.25267117e-01 2.74038605e+02] [ 4.28702857e-01 8.90520308e-01 -1.52274235e-01 1.78621833e+02] [ 3.58904011e-01 -1.31928371e-02 9.33281233e-01 4.34375473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.06, Y:178.64, Z:43.44 [[ 8.25930174e-01 -4.63207236e-01 -3.21369575e-01 2.74060652e+02] [ 4.30344060e-01 8.86244004e-01 -1.71392985e-01 1.78642874e+02] [ 3.64202330e-01 3.25914979e-03 9.31314147e-01 4.34442640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.09, Y:178.64, Z:43.46 [[ 8.26508246e-01 -4.57005643e-01 -3.28679117e-01 2.74086881e+02] [ 4.29902981e-01 8.89372740e-01 -1.55562063e-01 1.78642647e+02] [ 3.63410987e-01 -1.27268039e-02 9.31541992e-01 4.34575026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:178.66, Z:43.46 [[ 8.25733749e-01 -4.61056905e-01 -3.24946621e-01 2.74107335e+02] [ 4.29102169e-01 8.87370555e-01 -1.68655946e-01 1.78661843e+02] [ 3.66108051e-01 -1.70393269e-04 9.30572332e-01 4.34648807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.13, Y:178.66, Z:43.48 [[ 8.28214217e-01 -4.51622006e-01 -3.31811355e-01 2.74134900e+02] [ 4.28157653e-01 8.91944975e-01 -1.45310652e-01 1.78660466e+02] [ 3.61582958e-01 -2.17192232e-02 9.32086927e-01 4.34796876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.16, Y:178.68, Z:43.48 [[ 8.29907914e-01 -4.53461382e-01 -3.25000967e-01 2.74155568e+02] [ 4.24439708e-01 8.91259574e-01 -1.59710065e-01 1.78682263e+02] [ 3.62082571e-01 -5.39866873e-03 9.32130391e-01 4.34847367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.18, Y:178.69, Z:43.49 [[ 8.30860543e-01 -4.51571573e-01 -3.25198207e-01 2.74178118e+02] [ 4.22321040e-01 8.92223811e-01 -1.59942523e-01 1.78693475e+02] [ 3.62375080e-01 -4.44811344e-03 9.32021736e-01 4.34944291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.20, Y:178.71, Z:43.50 [[ 8.32182003e-01 -4.50120546e-01 -3.23828053e-01 2.74198300e+02] [ 4.15979887e-01 8.92926664e-01 -1.72170576e-01 1.78710252e+02] [ 3.66652216e-01 8.57129786e-03 9.30318593e-01 4.35022058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.22, Y:178.71, Z:43.51 [[ 8.33667395e-01 -4.43767505e-01 -3.28738615e-01 2.74223211e+02] [ 4.12850624e-01 8.96141952e-01 -1.62738942e-01 1.78714585e+02] [ 3.66814718e-01 -4.97927756e-05 9.30294018e-01 4.35145271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.25, Y:178.73, Z:43.53 [[ 8.34611052e-01 -4.42143874e-01 -3.28531867e-01 2.74250873e+02] [ 4.13676259e-01 8.96926962e-01 -1.56185714e-01 1.78725734e+02] [ 3.63725646e-01 -5.55151027e-03 9.31489579e-01 4.35267025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.27, Y:178.74, Z:43.53 [[ 8.35964172e-01 -4.41655849e-01 -3.25736113e-01 2.74272576e+02] [ 4.11640943e-01 8.97184496e-01 -1.60036601e-01 1.78741632e+02] [ 3.62926491e-01 -3.01456299e-04 9.31817724e-01 4.35344056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.30, Y:178.75, Z:43.54 [[ 8.36247429e-01 -4.41349835e-01 -3.25423663e-01 2.74295552e+02] [ 4.11336417e-01 8.97335119e-01 -1.59975110e-01 1.78754281e+02] [ 3.62619070e-01 -7.98292358e-05 9.31937446e-01 4.35443596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.32, Y:178.77, Z:43.55 [[ 8.36579698e-01 -4.41513662e-01 -3.24345640e-01 2.74318142e+02] [ 4.11669552e-01 8.97254526e-01 -1.59569717e-01 1.78767521e+02] [ 3.61472804e-01 -3.04384353e-05 9.32382653e-01 4.35540244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.34, Y:178.78, Z:43.56 [[ 8.36323223e-01 -4.41973490e-01 -3.24380796e-01 2.74340309e+02] [ 4.12103061e-01 8.97028107e-01 -1.59723643e-01 1.78779366e+02] [ 3.61572307e-01 -9.77268003e-05 9.32344066e-01 4.35643268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.36, Y:178.79, Z:43.57 [[ 8.36054387e-01 -4.44068655e-01 -3.22205045e-01 2.74359532e+02] [ 4.11038662e-01 8.95954897e-01 -1.68261825e-01 1.78794474e+02] [ 3.63400990e-01 8.23730636e-03 9.31596408e-01 4.35712946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.39, Y:178.80, Z:43.59 [[ 8.35447974e-01 -4.43177203e-01 -3.24993308e-01 2.74388664e+02] [ 4.15228581e-01 8.96417384e-01 -1.54987415e-01 1.78800878e+02] [ 3.60016540e-01 -5.46258833e-03 9.32929928e-01 4.35853144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.41, Y:178.81, Z:43.59 [[ 8.34918697e-01 -4.45839421e-01 -3.22704169e-01 2.74410687e+02] [ 4.16455076e-01 8.95111729e-01 -1.59185939e-01 1.78814202e+02] [ 3.59827653e-01 -1.48447260e-03 9.33017608e-01 4.35937929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.43, Y:178.82, Z:43.60 [[ 8.33379895e-01 -4.48789614e-01 -3.22592365e-01 2.74434672e+02] [ 4.19611145e-01 8.93633408e-01 -1.59203705e-01 1.78824957e+02] [ 3.59728283e-01 -2.68618509e-03 9.33053239e-01 4.36034628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.46, Y:178.84, Z:43.61 [[ 8.32635510e-01 -4.50402148e-01 -3.22266991e-01 2.74458427e+02] [ 4.21349390e-01 8.92819881e-01 -1.59177108e-01 1.78836094e+02] [ 3.59420087e-01 -3.25048791e-03 9.33170207e-01 4.36132618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.48, Y:178.85, Z:43.62 [[ 8.31680040e-01 -4.51886753e-01 -3.22655659e-01 2.74481330e+02] [ 4.22816824e-01 8.92067357e-01 -1.59504746e-01 1.78846572e+02] [ 3.59908662e-01 -3.76732745e-03 9.32979937e-01 4.36229252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.51, Y:178.86, Z:43.63 [[ 8.30411803e-01 -4.54289529e-01 -3.22548075e-01 2.74505124e+02] [ 4.25378876e-01 8.90841602e-01 -1.59543263e-01 1.78857076e+02] [ 3.59818077e-01 -4.71852910e-03 9.33010550e-01 4.36321099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.53, Y:178.87, Z:43.64 [[ 8.29541506e-01 -4.55800621e-01 -3.22655673e-01 2.74528645e+02] [ 4.26945385e-01 8.90066185e-01 -1.59686645e-01 1.78868977e+02] [ 3.59970175e-01 -5.28965042e-03 9.32948816e-01 4.36419603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.55, Y:178.88, Z:43.65 [[ 8.28695042e-01 -4.56926186e-01 -3.23238282e-01 2.74551591e+02] [ 4.27993896e-01 8.89486591e-01 -1.60108807e-01 1.78880747e+02] [ 3.60674024e-01 -5.66263749e-03 9.32674747e-01 4.36520920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.57, Y:178.89, Z:43.66 [[ 8.28251706e-01 -4.58064374e-01 -3.22763291e-01 2.74573800e+02] [ 4.29249925e-01 8.88898663e-01 -1.60011465e-01 1.78894147e+02] [ 3.60199409e-01 -6.01634921e-03 9.32855932e-01 4.36612056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.60, Y:178.91, Z:43.67 [[ 8.27880288e-01 -4.58588503e-01 -3.22971848e-01 2.74597256e+02] [ 4.29738004e-01 8.88627389e-01 -1.60208023e-01 1.78906472e+02] [ 3.60471188e-01 -6.16021289e-03 9.32750007e-01 4.36712257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.62, Y:178.92, Z:43.68 [[ 8.27451181e-01 -4.59310454e-01 -3.23045584e-01 2.74620395e+02] [ 4.30447387e-01 8.88253120e-01 -1.60379054e-01 1.78919359e+02] [ 3.60610024e-01 -6.34828973e-03 9.32695079e-01 4.36811810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.64, Y:178.93, Z:43.69 [[ 8.26672717e-01 -4.60156734e-01 -3.23833288e-01 2.74642240e+02] [ 4.31156971e-01 8.87813134e-01 -1.60908373e-01 1.78931927e+02] [ 3.61546518e-01 -6.60441764e-03 9.32330680e-01 4.36904566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.67, Y:178.94, Z:43.70 [[ 8.26122090e-01 -4.60847948e-01 -3.24255241e-01 2.74665357e+02] [ 4.31791551e-01 8.87452718e-01 -1.61194698e-01 1.78944866e+02] [ 3.62047441e-01 -6.84417244e-03 9.32134544e-01 4.37003999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.69, Y:178.96, Z:43.71 [[ 8.25646561e-01 -4.61459065e-01 -3.24597116e-01 2.74687361e+02] [ 4.32331131e-01 8.87133970e-01 -1.61502670e-01 1.78957052e+02] [ 3.62487999e-01 -6.98931393e-03 9.31962231e-01 4.37098018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.71, Y:178.97, Z:43.72 [[ 8.24833826e-01 -4.62439003e-01 -3.25268087e-01 2.74710156e+02] [ 4.33230072e-01 8.86620511e-01 -1.61912863e-01 1.78970825e+02] [ 3.63264181e-01 -7.36471085e-03 9.31657070e-01 4.37194664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.73, Y:178.98, Z:43.73 [[ 8.24348591e-01 -4.63223606e-01 -3.25381763e-01 2.74732156e+02] [ 4.33997894e-01 8.86209020e-01 -1.62109224e-01 1.78983366e+02] [ 3.63449073e-01 -7.58048966e-03 9.31583226e-01 4.37289360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.75, Y:179.00, Z:43.74 [[ 8.23619772e-01 -4.64404628e-01 -3.25543873e-01 2.74754755e+02] [ 4.35207275e-01 8.85586713e-01 -1.62267685e-01 1.78997528e+02] [ 3.63655192e-01 -8.03218836e-03 9.31498999e-01 4.37388567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.78, Y:179.01, Z:43.75 [[ 8.23134707e-01 -4.65049195e-01 -3.25850427e-01 2.74777624e+02] [ 4.35789953e-01 8.85246905e-01 -1.62557791e-01 1.79011016e+02] [ 3.64055452e-01 -8.19538259e-03 9.31341218e-01 4.37490397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.80, Y:179.02, Z:43.76 [[ 8.23044952e-01 -4.65329790e-01 -3.25676518e-01 2.74799287e+02] [ 4.36069582e-01 8.85099565e-01 -1.62610210e-01 1.79023989e+02] [ 3.63923519e-01 -8.18211032e-03 9.31392895e-01 4.37585897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.82, Y:179.04, Z:43.77 [[ 8.22973939e-01 -4.65415868e-01 -3.25732967e-01 2.74820754e+02] [ 4.36121451e-01 8.85054617e-01 -1.62715720e-01 1.79036655e+02] [ 3.64021944e-01 -8.14833720e-03 9.31354728e-01 4.37686100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.84, Y:179.05, Z:43.78 [[ 8.22892169e-01 -4.65644419e-01 -3.25612889e-01 2.74843119e+02] [ 4.36359712e-01 8.84934162e-01 -1.62732085e-01 1.79050435e+02] [ 3.63921256e-01 -8.17338847e-03 9.31393856e-01 4.37792694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.87, Y:179.06, Z:43.79 [[ 8.22982112e-01 -4.65619320e-01 -3.25421408e-01 2.74865526e+02] [ 4.36315643e-01 8.84948693e-01 -1.62771220e-01 1.79062241e+02] [ 3.63770674e-01 -8.02864842e-03 9.31453937e-01 4.37892794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.89, Y:179.07, Z:43.80 [[ 8.22836241e-01 -4.65861390e-01 -3.25443828e-01 2.74888606e+02] [ 4.36535969e-01 8.84821098e-01 -1.62874102e-01 1.79074623e+02] [ 3.63836320e-01 -8.04922294e-03 9.31428120e-01 4.37995303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.92, Y:179.07, Z:43.82 [[ 8.22948624e-01 -4.57786707e-01 -3.36432598e-01 2.74918873e+02] [ 4.34044694e-01 8.88722177e-01 -1.47574033e-01 1.79074305e+02] [ 3.66552541e-01 -2.45809371e-02 9.30072584e-01 4.38204130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.93, Y:179.11, Z:43.82 [[ 8.23183370e-01 -4.70031433e-01 -3.18495827e-01 2.74931834e+02] [ 4.36335261e-01 8.82635818e-01 -1.74830071e-01 1.79108042e+02] [ 3.63291453e-01 4.94624709e-03 9.31662414e-01 4.38160829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.96, Y:179.11, Z:43.83 [[ 8.23340172e-01 -4.65582530e-01 -3.24567202e-01 2.74956988e+02] [ 4.36269104e-01 8.84971971e-01 -1.62769405e-01 1.79113104e+02] [ 3.63015467e-01 -7.58405281e-03 9.31752249e-01 4.38298284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.98, Y:179.13, Z:43.84 [[ 8.23594782e-01 -4.65590012e-01 -3.23909826e-01 2.74980028e+02] [ 4.36347105e-01 8.84969248e-01 -1.62575013e-01 1.79126401e+02] [ 3.62343537e-01 -7.44118204e-03 9.32014909e-01 4.38400890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.00, Y:179.14, Z:43.85 [[ 8.23721216e-01 -4.65652083e-01 -3.23498836e-01 2.75002885e+02] [ 4.36437639e-01 8.84937529e-01 -1.62504637e-01 1.79139112e+02] [ 3.61946883e-01 -7.32855070e-03 9.32169913e-01 4.38503977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.03, Y:179.15, Z:43.86 [[ 8.24002775e-01 -4.65711072e-01 -3.22695870e-01 2.75025303e+02] [ 4.36598338e-01 8.84907499e-01 -1.62236279e-01 1.79150749e+02] [ 3.61111226e-01 -7.20533679e-03 9.32494915e-01 4.38609049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.05, Y:179.16, Z:43.87 [[ 8.23605061e-01 -4.66499948e-01 -3.22571701e-01 2.75048283e+02] [ 4.37439801e-01 8.84489622e-01 -1.62248358e-01 1.79161050e+02] [ 3.61000172e-01 -7.47713213e-03 9.32535773e-01 4.38717695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.07, Y:179.17, Z:43.88 [[ 8.23790860e-01 -4.65772647e-01 -3.23147738e-01 2.75072409e+02] [ 4.36522709e-01 8.84875914e-01 -1.62611627e-01 1.79170795e+02] [ 3.61685698e-01 -7.10335415e-03 9.32273028e-01 4.38821892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.09, Y:179.18, Z:43.89 [[ 8.23066826e-01 -4.67938108e-01 -3.21861658e-01 2.75094109e+02] [ 4.39031779e-01 8.83726098e-01 -1.62108856e-01 1.79184185e+02] [ 3.60294458e-01 -7.88107513e-03 9.32805334e-01 4.38920216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.12, Y:179.20, Z:43.90 [[ 8.22835796e-01 -4.68473462e-01 -3.21673543e-01 2.75115906e+02] [ 4.39610325e-01 8.83441042e-01 -1.62094687e-01 1.79195636e+02] [ 3.60116670e-01 -8.03369993e-03 9.32872684e-01 4.39019729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.14, Y:179.21, Z:43.91 [[ 8.22533557e-01 -4.69135322e-01 -3.21481875e-01 2.75138801e+02] [ 4.40328622e-01 8.83087761e-01 -1.62070082e-01 1.79208324e+02] [ 3.59929510e-01 -8.24959036e-03 9.32943027e-01 4.39125446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.16, Y:179.23, Z:43.92 [[ 8.22983900e-01 -4.71595339e-01 -3.16694391e-01 2.75162911e+02] [ 4.40513569e-01 8.81814583e-01 -1.68377066e-01 1.79225676e+02] [ 3.58671572e-01 -9.36562552e-04 9.33463350e-01 4.39188154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.19, Y:179.23, Z:43.93 [[ 8.22853736e-01 -4.69152306e-01 -3.20636622e-01 2.75188201e+02] [ 4.40805116e-01 8.83071657e-01 -1.60858009e-01 1.79232977e+02] [ 3.58612019e-01 -8.97565001e-03 9.33443548e-01 4.39313610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.21, Y:179.24, Z:43.95 [[ 8.23241686e-01 -4.65279547e-01 -3.25250780e-01 2.75210957e+02] [ 4.39109581e-01 8.85027603e-01 -1.54625087e-01 1.79238225e+02] [ 3.59799809e-01 -1.55269163e-02 9.32900323e-01 4.39457633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.23, Y:179.26, Z:43.95 [[ 8.22057892e-01 -4.69787468e-01 -3.21746106e-01 2.75232355e+02] [ 4.40789340e-01 8.82742608e-01 -1.62696791e-01 1.79256187e+02] [ 3.60451910e-01 -8.07607237e-03 9.32742836e-01 4.39541783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.26, Y:179.27, Z:43.96 [[ 8.22131034e-01 -4.69654693e-01 -3.21753062e-01 2.75257318e+02] [ 4.39940513e-01 8.82827764e-01 -1.64521987e-01 1.79268916e+02] [ 3.61321060e-01 -6.29357567e-03 9.32420229e-01 4.39641794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.28, Y:179.28, Z:43.98 [[ 8.22509617e-01 -4.67551416e-01 -3.23841942e-01 2.75278962e+02] [ 4.39175696e-01 8.83908940e-01 -1.60716191e-01 1.79277796e+02] [ 3.61389870e-01 -1.00328977e-02 9.32360822e-01 4.39763193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.30, Y:179.29, Z:43.99 [[ 8.22826937e-01 -4.68038185e-01 -3.22329163e-01 2.75301404e+02] [ 4.38671791e-01 8.83680467e-01 -1.63327561e-01 1.79291378e+02] [ 3.61279520e-01 -7.00639443e-03 9.32431241e-01 4.39854228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.33, Y:179.29, Z:44.00 [[ 8.23292789e-01 -4.61297845e-01 -3.30746552e-01 2.75328996e+02] [ 4.35645210e-01 8.87056602e-01 -1.52786896e-01 1.79293845e+02] [ 3.63871178e-01 -1.82998010e-02 9.31269501e-01 4.40034005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.35, Y:179.32, Z:44.01 [[ 8.23378648e-01 -4.68151690e-01 -3.20751613e-01 2.75345104e+02] [ 4.35132714e-01 8.83644158e-01 -1.72720940e-01 1.79319459e+02] [ 3.64289889e-01 2.64521420e-03 9.31281848e-01 4.40052488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.37, Y:179.33, Z:44.02 [[ 8.23621491e-01 -4.65136015e-01 -3.24493649e-01 2.75370972e+02] [ 4.35174090e-01 8.85219876e-01 -1.64345012e-01 1.79327269e+02] [ 3.63691011e-01 -5.85314493e-03 9.31501256e-01 4.40175602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.39, Y:179.34, Z:44.03 [[ 8.23500943e-01 -4.65142855e-01 -3.24789657e-01 2.75393084e+02] [ 4.35082086e-01 8.85216904e-01 -1.64604408e-01 1.79339061e+02] [ 3.64073859e-01 -5.75827616e-03 9.31352279e-01 4.40272494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.42, Y:179.35, Z:44.04 [[ 8.23245345e-01 -4.65758052e-01 -3.24555909e-01 2.75416581e+02] [ 4.35758907e-01 8.84892074e-01 -1.64560607e-01 1.79351062e+02] [ 3.63842379e-01 -5.95437420e-03 9.31441501e-01 4.40376354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.44, Y:179.36, Z:44.05 [[ 8.22600115e-01 -4.66779767e-01 -3.24724036e-01 2.75439424e+02] [ 4.36772459e-01 8.84351279e-01 -1.64780563e-01 1.79362277e+02] [ 3.64086350e-01 -6.28200548e-03 9.31344011e-01 4.40482930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.46, Y:179.37, Z:44.06 [[ 8.22495918e-01 -4.67261639e-01 -3.24294660e-01 2.75460857e+02] [ 4.36932899e-01 8.84102489e-01 -1.65687750e-01 1.79373885e+02] [ 3.64129246e-01 -5.41750798e-03 9.31332671e-01 4.40579274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.48, Y:179.39, Z:44.07 [[ 8.21824478e-01 -4.68465691e-01 -3.24259809e-01 2.75484768e+02] [ 4.38375853e-01 8.83459267e-01 -1.65306794e-01 1.79386728e+02] [ 3.63910895e-01 -6.29450090e-03 9.31412497e-01 4.40686681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:275.51, Y:179.40, Z:44.08 [[ 8.21351933e-01 -4.69185897e-01 -3.24415778e-01 2.75506816e+02] [ 4.39292117e-01 8.83071409e-01 -1.64946423e-01 1.79398285e+02] [ 3.63872834e-01 -7.03423043e-03 9.31422074e-01 4.40788130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.53, Y:179.41, Z:44.09 [[ 8.20603365e-01 -4.70974007e-01 -3.23718400e-01 2.75528506e+02] [ 4.41316675e-01 8.82113182e-01 -1.64669141e-01 1.79410744e+02] [ 3.63111153e-01 -7.73427709e-03 9.31713728e-01 4.40887557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.55, Y:179.42, Z:44.10 [[ 8.20008270e-01 -4.72054987e-01 -3.23651859e-01 2.75551222e+02] [ 4.42461966e-01 8.81531529e-01 -1.64710572e-01 1.79423167e+02] [ 3.63061765e-01 -8.13960650e-03 9.31729522e-01 4.40990222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.57, Y:179.43, Z:44.11 [[ 8.19277312e-01 -4.73316800e-01 -3.23660151e-01 2.75574763e+02] [ 4.45201439e-01 8.80809644e-01 -1.61152257e-01 1.79433562e+02] [ 3.61359053e-01 -1.20655774e-02 9.32348678e-01 4.41099509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:179.45, Z:44.12 [[ 8.18957772e-01 -4.75324156e-01 -3.21520007e-01 2.75596400e+02] [ 4.45421711e-01 8.79781323e-01 -1.66085287e-01 1.79447764e+02] [ 3.61811646e-01 -7.19515504e-03 9.32223451e-01 4.41191621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.62, Y:179.47, Z:44.12 [[ 8.19224211e-01 -4.82562771e-01 -3.09846518e-01 2.75618711e+02] [ 4.47840233e-01 8.75818624e-01 -1.79946835e-01 1.79472183e+02] [ 3.58204994e-01 8.65506706e-03 9.33602845e-01 4.41193720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.65, Y:179.46, Z:44.15 [[ 8.18233765e-01 -4.70233639e-01 -3.30717147e-01 2.75646838e+02] [ 4.47210627e-01 8.82130261e-01 -1.47813587e-01 1.79460331e+02] [ 3.61242524e-01 -2.69541548e-02 9.32082245e-01 4.41450267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.67, Y:179.48, Z:44.15 [[ 8.17756495e-01 -4.76791422e-01 -3.22403870e-01 2.75666608e+02] [ 4.47593148e-01 8.78962682e-01 -1.64575144e-01 1.79483141e+02] [ 3.61848988e-01 -9.72336983e-03 9.32186015e-01 4.41504178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.69, Y:179.50, Z:44.16 [[ 8.17678249e-01 -4.76402263e-01 -3.23176679e-01 2.75689329e+02] [ 4.46975887e-01 8.79176689e-01 -1.65108768e-01 1.79495455e+02] [ 3.62787593e-01 -9.44633409e-03 9.31823980e-01 4.41599513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.71, Y:179.51, Z:44.17 [[ 8.17692437e-01 -4.76124636e-01 -3.23549703e-01 2.75711494e+02] [ 4.46553148e-01 8.79329632e-01 -1.65437856e-01 1.79507031e+02] [ 3.63275880e-01 -9.20485499e-03 9.31636144e-01 4.41695792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.73, Y:179.53, Z:44.18 [[ 8.16095247e-01 -4.81417807e-01 -3.19727139e-01 2.75732754e+02] [ 4.46209140e-01 8.76477684e-01 -1.80787924e-01 1.79528313e+02] [ 3.67268228e-01 4.87499329e-03 9.30102297e-01 4.41782371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.76, Y:179.52, Z:44.19 [[ 8.18066105e-01 -4.69911489e-01 -3.31588661e-01 2.75762031e+02] [ 4.45279864e-01 8.82404720e-01 -1.51946547e-01 1.79521718e+02] [ 3.63996827e-01 -2.33474342e-02 9.31107516e-01 4.41947148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.78, Y:179.54, Z:44.20 [[ 8.17965877e-01 -4.74776228e-01 -3.24837433e-01 2.75781796e+02] [ 4.44736161e-01 8.80066934e-01 -1.66408948e-01 1.79542353e+02] [ 3.64885696e-01 -8.35011158e-03 9.31014879e-01 4.42010833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.80, Y:179.55, Z:44.21 [[ 8.18303273e-01 -4.74099369e-01 -3.24976217e-01 2.75804270e+02] [ 4.43950751e-01 8.80435195e-01 -1.66558090e-01 1.79553781e+02] [ 3.65085584e-01 -7.97840486e-03 9.30939773e-01 4.42109271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.82, Y:179.58, Z:44.21 [[ 8.17609648e-01 -4.82280199e-01 -3.14515936e-01 2.75823458e+02] [ 4.43278128e-01 8.75861414e-01 -1.90712572e-01 1.79582811e+02] [ 3.67449269e-01 1.65104033e-02 9.29897006e-01 4.42119021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.86, Y:179.56, Z:44.24 [[ 8.18587556e-01 -4.64332833e-01 -3.38096781e-01 2.75855530e+02] [ 4.41900256e-01 8.85148618e-01 -1.45726072e-01 1.79564941e+02] [ 3.66931299e-01 -3.01155054e-02 9.29760441e-01 4.42389432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.87, Y:179.59, Z:44.24 [[ 8.18737825e-01 -4.71604359e-01 -3.27502218e-01 2.75873618e+02] [ 4.40657325e-01 8.81785243e-01 -1.68154416e-01 1.79591173e+02] [ 3.68088978e-01 -6.64187054e-03 9.29766847e-01 4.42431365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.89, Y:179.63, Z:44.24 [[ 8.18488211e-01 -4.84042565e-01 -3.09483189e-01 2.75890267e+02] [ 4.43072010e-01 8.74727288e-01 -1.96314456e-01 1.79625915e+02] [ 3.65737944e-01 2.35577288e-02 9.30419685e-01 4.42366939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.92, Y:179.60, Z:44.27 [[ 8.19290995e-01 -4.63155019e-01 -3.38008423e-01 2.75923639e+02] [ 4.40727482e-01 8.85776384e-01 -1.45463003e-01 1.79601346e+02] [ 3.66771799e-01 -2.97930726e-02 9.29833760e-01 4.42663599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.94, Y:179.64, Z:44.26 [[ 8.19934536e-01 -4.77481209e-01 -3.15783234e-01 2.75939743e+02] [ 4.41859581e-01 8.78595532e-01 -1.81190512e-01 1.79639490e+02] [ 3.63960804e-01 9.03251089e-03 9.31370467e-01 4.42605378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.97, Y:179.64, Z:44.28 [[ 8.19073730e-01 -4.67844469e-01 -3.32023761e-01 2.75969396e+02] [ 4.40076317e-01 8.83675784e-01 -1.59530383e-01 1.79635538e+02] [ 3.68036765e-01 -1.54486481e-02 9.29682892e-01 4.42830042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.99, Y:179.65, Z:44.29 [[ 8.18188374e-01 -4.69316063e-01 -3.32129821e-01 2.75989949e+02] [ 4.40362013e-01 8.82933918e-01 -1.62815827e-01 1.79647969e+02] [ 3.69660767e-01 -1.30433399e-02 9.29075233e-01 4.42948966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.01, Y:179.66, Z:44.30 [[ 8.17528431e-01 -4.72721597e-01 -3.28909648e-01 2.76011347e+02] [ 4.41297035e-01 8.81187914e-01 -1.69601850e-01 1.79664496e+02] [ 3.70005663e-01 -6.49251847e-03 9.29006812e-01 4.43028241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.03, Y:179.68, Z:44.31 [[ 8.16941940e-01 -4.73281734e-01 -3.29560719e-01 2.76033872e+02] [ 4.41716354e-01 8.80886175e-01 -1.70077070e-01 1.79676350e+02] [ 3.70799851e-01 -6.62926815e-03 9.28689142e-01 4.43131150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.06, Y:179.69, Z:44.32 [[ 8.16277450e-01 -4.74202586e-01 -3.29883361e-01 2.76056662e+02] [ 4.42614336e-01 8.80388076e-01 -1.70321416e-01 1.79687330e+02] [ 3.71192234e-01 -6.98157336e-03 9.28529797e-01 4.43228547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.99275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:276.08, Y:179.70, Z:44.33 [[ 8.15718971e-01 -4.74913591e-01 -3.30241792e-01 2.76079893e+02] [ 4.43279203e-01 8.80002644e-01 -1.70583984e-01 1.79698837e+02] [ 3.71626302e-01 -7.24072621e-03 9.28354169e-01 4.43332200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.10, Y:179.71, Z:44.34 [[ 8.15379323e-01 -4.75535420e-01 -3.30185743e-01 2.76102543e+02] [ 4.43906234e-01 8.79665513e-01 -1.70692240e-01 1.79710235e+02] [ 3.71623217e-01 -7.39258687e-03 9.28354208e-01 4.43429743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.13, Y:179.72, Z:44.35 [[ 8.14680129e-01 -4.76468280e-01 -3.30566582e-01 2.76126668e+02] [ 4.44806466e-01 8.79157454e-01 -1.70966016e-01 1.79721035e+02] [ 3.72079959e-01 -7.75553736e-03 9.28168280e-01 4.43535965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.15, Y:179.73, Z:44.36 [[ 8.14386270e-01 -4.76866247e-01 -3.30716776e-01 2.76149779e+02] [ 4.45150046e-01 8.78941183e-01 -1.71183626e-01 1.79732148e+02] [ 3.72312287e-01 -7.80899287e-03 9.28074663e-01 4.43638444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.17, Y:179.74, Z:44.37 [[ 8.13991673e-01 -4.77427134e-01 -3.30878962e-01 2.76172575e+02] [ 4.45667174e-01 8.78635489e-01 -1.71407256e-01 1.79742927e+02] [ 3.72556474e-01 -7.93781338e-03 9.27975574e-01 4.43742704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.20, Y:179.75, Z:44.38 [[ 8.13987497e-01 -4.77674121e-01 -3.30532583e-01 2.76196311e+02] [ 4.45970980e-01 8.78500978e-01 -1.71306501e-01 1.79754596e+02] [ 3.72201880e-01 -7.96658983e-03 9.28117608e-01 4.43845050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.22, Y:179.77, Z:44.39 [[ 8.14052636e-01 -4.77713209e-01 -3.30315600e-01 2.76217683e+02] [ 4.45549559e-01 8.78489661e-01 -1.72457258e-01 1.79765205e+02] [ 3.72563949e-01 -6.78268466e-03 9.27981734e-01 4.43941520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.24, Y:179.78, Z:44.41 [[ 8.14078318e-01 -4.77728873e-01 -3.30229641e-01 2.76241999e+02] [ 4.45853480e-01 8.78475957e-01 -1.71740118e-01 1.79776828e+02] [ 3.72144013e-01 -7.42412776e-03 9.28145310e-01 4.44050123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.27, Y:179.79, Z:44.42 [[ 8.14358691e-01 -4.78094111e-01 -3.29007514e-01 2.76265771e+02] [ 4.44592877e-01 8.78303229e-01 -1.75842575e-01 1.79790363e+02] [ 3.73037662e-01 -3.07546843e-03 9.27811104e-01 4.44156234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.29, Y:179.80, Z:44.43 [[ 8.15109880e-01 -4.74517147e-01 -3.32309134e-01 2.76290212e+02] [ 4.44099261e-01 8.80177169e-01 -1.67523124e-01 1.79796698e+02] [ 3.71983508e-01 -1.10284876e-02 9.28173821e-01 4.44275999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.31, Y:179.82, Z:44.43 [[ 8.16822867e-01 -4.79974743e-01 -3.20038514e-01 2.76311919e+02] [ 4.42684902e-01 8.77224657e-01 -1.85760545e-01 1.79822439e+02] [ 3.69906045e-01 1.00572428e-02 9.29014731e-01 4.44274892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.34, Y:179.83, Z:44.44 [[ 8.17847692e-01 -4.76335191e-01 -3.22846617e-01 2.76338529e+02] [ 4.41690420e-01 8.79257655e-01 -1.78369137e-01 1.79830586e+02] [ 3.68828856e-01 3.28052894e-03 9.29491535e-01 4.44381465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.36, Y:179.83, Z:44.45 [[ 8.18379118e-01 -4.70707225e-01 -3.29682162e-01 2.76363716e+02] [ 4.40269714e-01 8.82246676e-01 -1.66743459e-01 1.79833427e+02] [ 3.69348342e-01 -8.68970665e-03 9.29250392e-01 4.44529560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.39, Y:179.83, Z:44.47 [[ 8.18598452e-01 -4.63178635e-01 -3.39650007e-01 2.76387694e+02] [ 4.37011229e-01 8.86002661e-01 -1.54985387e-01 1.79833522e+02] [ 3.72716730e-01 -2.15600693e-02 9.27694671e-01 4.44736691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.41, Y:179.86, Z:44.48 [[ 8.18928607e-01 -4.68896696e-01 -3.30895490e-01 2.76407512e+02] [ 4.36066448e-01 8.83247527e-01 -1.72394487e-01 1.79856149e+02] [ 3.73097828e-01 -3.11364377e-03 9.27786784e-01 4.44789658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.43, Y:179.87, Z:44.49 [[ 8.19383213e-01 -4.68196834e-01 -3.30761053e-01 2.76430291e+02] [ 4.35281772e-01 8.83620204e-01 -1.72467723e-01 1.79867672e+02] [ 3.73015991e-01 -2.65710061e-03 9.27821109e-01 4.44891894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.45, Y:179.88, Z:44.50 [[ 8.20186195e-01 -4.66781195e-01 -3.30771705e-01 2.76454150e+02] [ 4.33720523e-01 8.84370719e-01 -1.72554166e-01 1.79879072e+02] [ 3.73069850e-01 -1.93593166e-03 9.27801239e-01 4.44990794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.48, Y:179.89, Z:44.51 [[ 8.20595578e-01 -4.65041775e-01 -3.32203320e-01 2.76477799e+02] [ 4.32975095e-01 8.85277121e-01 -1.69755665e-01 1.79888431e+02] [ 3.73035475e-01 -4.53501631e-03 9.27805997e-01 4.45097632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.50, Y:179.90, Z:44.52 [[ 8.20833371e-01 -4.66304238e-01 -3.29837739e-01 2.76501430e+02] [ 4.31675775e-01 8.84621226e-01 -1.76355640e-01 1.79903671e+02] [ 3.74016848e-01 2.37563318e-03 9.27418867e-01 4.45185635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.53, Y:179.91, Z:44.53 [[ 8.20925270e-01 -4.64967115e-01 -3.31492509e-01 2.76525815e+02] [ 4.31475240e-01 8.85327604e-01 -1.73274787e-01 1.79913188e+02] [ 3.74046547e-01 -7.85158979e-04 9.27409599e-01 4.45301136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.55, Y:179.92, Z:44.54 [[ 8.20823948e-01 -4.65539613e-01 -3.30939444e-01 2.76549987e+02] [ 4.32152087e-01 8.85026576e-01 -1.73125775e-01 1.79923832e+02] [ 3.73487109e-01 -9.10389239e-04 9.27634923e-01 4.45408819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.57, Y:179.93, Z:44.55 [[ 8.20462034e-01 -4.66305510e-01 -3.30758555e-01 2.76572914e+02] [ 4.32959584e-01 8.84623030e-01 -1.73170707e-01 1.79934848e+02] [ 3.73347090e-01 -1.12509537e-03 9.27691050e-01 4.45516010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.60, Y:179.95, Z:44.56 [[ 8.19981722e-01 -4.67315906e-01 -3.30523555e-01 2.76596623e+02] [ 4.34040833e-01 8.84089219e-01 -1.73190092e-01 1.79946414e+02] [ 3.73146796e-01 -1.44800921e-03 9.27771185e-01 4.45619753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.62, Y:179.96, Z:44.57 [[ 8.19328679e-01 -4.68552298e-01 -3.30392583e-01 2.76620329e+02] [ 4.35344019e-01 8.83433772e-01 -1.73263830e-01 1.79957910e+02] [ 3.73063132e-01 -1.87441058e-03 9.27804067e-01 4.45726774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.64, Y:179.97, Z:44.58 [[ 8.18034669e-01 -4.70909322e-01 -3.30247924e-01 2.76643536e+02] [ 4.37858096e-01 8.82177143e-01 -1.73331406e-01 1.79967201e+02] [ 3.72960545e-01 -2.81062771e-03 9.27842946e-01 4.45820976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.67, Y:179.98, Z:44.59 [[ 8.17898947e-01 -4.71168267e-01 -3.30214744e-01 2.76666956e+02] [ 4.38111838e-01 8.82038736e-01 -1.73394596e-01 1.79979734e+02] [ 3.72960227e-01 -2.85173107e-03 9.27842948e-01 4.45926115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.69, Y:179.99, Z:44.60 [[ 8.17268979e-01 -4.72439787e-01 -3.29957671e-01 2.76690073e+02] [ 4.39483956e-01 8.81356753e-01 -1.73390098e-01 1.79990703e+02] [ 3.72726803e-01 -3.30475408e-03 9.27935240e-01 4.46030314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.71, Y:180.00, Z:44.61 [[ 8.16207389e-01 -4.74457080e-01 -3.29690731e-01 2.76713949e+02] [ 4.41658908e-01 8.80269137e-01 -1.73388740e-01 1.80001274e+02] [ 3.72482090e-01 -4.08967727e-03 9.28030370e-01 4.46135175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.74, Y:180.01, Z:44.62 [[ 8.15795009e-01 -4.75357202e-01 -3.29414685e-01 2.76736662e+02] [ 4.42630394e-01 8.79782070e-01 -1.73383518e-01 1.80012688e+02] [ 3.72232237e-01 -4.36354366e-03 9.28129367e-01 4.46235754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.76, Y:180.02, Z:44.63 [[ 8.15374021e-01 -4.76019059e-01 -3.29501232e-01 2.76759895e+02] [ 4.43294725e-01 8.79422974e-01 -1.73507983e-01 1.80024233e+02] [ 3.72364060e-01 -4.59225577e-03 9.28075384e-01 4.46337721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.78, Y:180.04, Z:44.64 [[ 8.14912906e-01 -4.76856020e-01 -3.29431772e-01 2.76783616e+02] [ 4.44153755e-01 8.78968114e-01 -1.73615948e-01 1.80036175e+02] [ 3.72349833e-01 -4.83648224e-03 9.28079851e-01 4.46437754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.81, Y:180.04, Z:44.66 [[ 8.15106999e-01 -4.72441511e-01 -3.35260494e-01 2.76810679e+02] [ 4.42610514e-01 8.81261895e-01 -1.65751033e-01 1.80042305e+02] [ 3.73759967e-01 -1.32849928e-02 9.27430319e-01 4.46595768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.83, Y:180.07, Z:44.66 [[ 8.15634033e-01 -4.77992089e-01 -3.25982648e-01 2.76826775e+02] [ 4.43225397e-01 8.78362877e-01 -1.78969000e-01 1.80066410e+02] [ 3.71876823e-01 1.48941826e-03 9.28280890e-01 4.46622123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.85, Y:180.08, Z:44.67 [[ 8.16164523e-01 -4.75309339e-01 -3.28567349e-01 2.76850448e+02] [ 4.42501881e-01 8.79810827e-01 -1.73565531e-01 1.80077335e+02] [ 3.71574429e-01 -3.73364129e-03 9.28395661e-01 4.46740649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.88, Y:180.08, Z:44.69 [[ 8.16598303e-01 -4.69671836e-01 -3.35522843e-01 2.76876898e+02] [ 4.40088967e-01 8.82741522e-01 -1.64587684e-01 1.80083550e+02] [ 3.73482145e-01 -1.32578779e-02 9.27542622e-01 4.46908093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.89, Y:180.11, Z:44.69 [[ 8.17272441e-01 -4.75818610e-01 -3.25057544e-01 2.76892762e+02] [ 4.40261873e-01 8.79532252e-01 -1.80533934e-01 1.80109933e+02] [ 3.71799999e-01 4.43496596e-03 9.28302263e-01 4.46925203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.92, Y:180.12, Z:44.70 [[ 8.16693357e-01 -4.75741855e-01 -3.26621566e-01 2.76915421e+02] [ 4.39850441e-01 8.79573803e-01 -1.81332605e-01 1.80123287e+02] [ 3.73555283e-01 4.42849424e-03 9.27597347e-01 4.47035768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.94, Y:180.13, Z:44.72 [[ 8.17971609e-01 -4.69732601e-01 -3.32074887e-01 2.76940692e+02] [ 4.39252864e-01 8.82757715e-01 -1.66720542e-01 1.80128666e+02] [ 3.71455742e-01 -9.49217471e-03 9.28402138e-01 4.47173621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.96, Y:180.15, Z:44.73 [[ 8.17960393e-01 -4.72450272e-01 -3.28224826e-01 2.76961577e+02] [ 4.39249876e-01 8.81355374e-01 -1.73989230e-01 1.80146186e+02] [ 3.71483973e-01 -1.85641498e-03 9.28437511e-01 4.47252007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.98, Y:180.16, Z:44.74 [[ 8.17883175e-01 -4.72522260e-01 -3.28313607e-01 2.76982977e+02] [ 4.39250651e-01 8.81316994e-01 -1.74181573e-01 1.80158912e+02] [ 3.71653033e-01 -1.75178757e-03 9.28370053e-01 4.47351059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.01, Y:180.17, Z:44.74 [[ 8.17845875e-01 -4.72939468e-01 -3.27805406e-01 2.77005532e+02] [ 4.39774405e-01 8.81092956e-01 -1.73993321e-01 1.80173104e+02] [ 3.71115343e-01 -1.86070771e-03 9.28584913e-01 4.47445472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.03, Y:180.19, Z:44.75 [[ 8.17403748e-01 -4.73430687e-01 -3.28198869e-01 2.77027334e+02] [ 4.40161708e-01 8.80828927e-01 -1.74350431e-01 1.80185751e+02] [ 3.71629902e-01 -1.94587936e-03 9.28378926e-01 4.47547603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.05, Y:180.20, Z:44.76 [[ 8.17329264e-01 -4.73747537e-01 -3.27927042e-01 2.77049525e+02] [ 4.40527481e-01 8.80658407e-01 -1.74288006e-01 1.80198144e+02] [ 3.71360220e-01 -2.01018632e-03 9.28486697e-01 4.47646052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.07, Y:180.21, Z:44.78 [[ 8.16934784e-01 -4.74485160e-01 -3.27843548e-01 2.77072489e+02] [ 4.41307455e-01 8.80260580e-01 -1.74324529e-01 1.80210697e+02] [ 3.71302153e-01 -2.26803072e-03 9.28509325e-01 4.47750023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.10, Y:180.22, Z:44.79 [[ 8.16724838e-01 -4.75220544e-01 -3.27301044e-01 2.77095682e+02] [ 4.42156664e-01 8.79863268e-01 -1.74178397e-01 1.80223201e+02] [ 3.70753318e-01 -2.46251436e-03 9.28728116e-01 4.47852033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.12, Y:180.23, Z:44.80 [[ 8.16667225e-01 -4.75959083e-01 -3.26370335e-01 2.77118998e+02] [ 4.43090069e-01 8.79463421e-01 -1.73825437e-01 1.80234871e+02] [ 3.69764567e-01 -2.65391695e-03 9.29121694e-01 4.47951650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.14, Y:180.25, Z:44.81 [[ 8.16259477e-01 -4.76532369e-01 -3.26553774e-01 2.77141706e+02] [ 4.43612757e-01 8.79152527e-01 -1.74064806e-01 1.80246745e+02] [ 3.70038090e-01 -2.78137261e-03 9.29012420e-01 4.48058902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.16, Y:180.26, Z:44.82 [[ 8.16202187e-01 -4.76918344e-01 -3.26133229e-01 2.77164486e+02] [ 4.44059782e-01 8.78943089e-01 -1.73982630e-01 1.80258725e+02] [ 3.69628056e-01 -2.81764719e-03 9.29175528e-01 4.48159664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.19, Y:180.27, Z:44.83 [[ 8.16030850e-01 -4.77536231e-01 -3.25657490e-01 2.77187880e+02] [ 4.44768031e-01 8.78607078e-01 -1.73870646e-01 1.80270446e+02] [ 3.69154509e-01 -2.95822930e-03 9.29363329e-01 4.48259883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:180.28, Z:44.84 [[ 8.15691748e-01 -4.77958986e-01 -3.25886761e-01 2.77210763e+02] [ 4.45119216e-01 8.78376967e-01 -1.74134393e-01 1.80282298e+02] [ 3.69480523e-01 -3.01847265e-03 9.29233572e-01 4.48364894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.23, Y:180.29, Z:44.84 [[ 8.16559913e-01 -4.76403458e-01 -3.25990266e-01 2.77230764e+02] [ 4.42986784e-01 8.79225858e-01 -1.75284342e-01 1.80291693e+02] [ 3.70125138e-01 -1.27921302e-03 9.28981026e-01 4.48448673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.26, Y:180.31, Z:44.86 [[ 8.14808214e-01 -4.80668001e-01 -3.24107772e-01 2.77256726e+02] [ 4.46566858e-01 8.76902645e-01 -1.77819550e-01 1.80306742e+02] [ 3.69683130e-01 1.53040942e-04 9.29157877e-01 4.48551959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.28, Y:180.32, Z:44.87 [[ 8.12842480e-01 -4.84212634e-01 -3.23767242e-01 2.77278954e+02] [ 4.47451283e-01 8.74932251e-01 -1.85151034e-01 1.80322354e+02] [ 3.72926872e-01 5.62855777e-03 9.27843666e-01 4.48650080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.31, Y:180.32, Z:44.88 [[ 8.13939028e-01 -4.76855215e-01 -3.31831829e-01 2.77306353e+02] [ 4.47855144e-01 8.78857557e-01 -1.64423735e-01 1.80320340e+02] [ 3.70039226e-01 -1.47816966e-02 9.28898526e-01 4.48800072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.32, Y:180.35, Z:44.89 [[ 8.12105990e-01 -4.85911917e-01 -3.23068832e-01 2.77324020e+02] [ 4.48186902e-01 8.73973117e-01 -1.87881587e-01 1.80346037e+02] [ 3.73647376e-01 7.78454328e-03 9.27538160e-01 4.48850012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.35, Y:180.35, Z:44.90 [[ 8.13430069e-01 -4.78856377e-01 -3.30194023e-01 2.77346833e+02] [ 4.46023890e-01 8.77876292e-01 -1.74344214e-01 1.80346195e+02] [ 3.73355343e-01 -5.45759660e-03 9.27672357e-01 4.48978942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.37, Y:180.36, Z:44.91 [[ 8.13409001e-01 -4.78000360e-01 -3.31483714e-01 2.77374358e+02] [ 4.48311474e-01 8.78259177e-01 -1.66365985e-01 1.80356172e+02] [ 3.70651615e-01 -1.32843633e-02 9.28676966e-01 4.49102651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.39, Y:180.38, Z:44.92 [[ 8.12565941e-01 -4.83842954e-01 -3.25011674e-01 2.77394549e+02] [ 4.47716903e-01 8.75147520e-01 -1.83484041e-01 1.80377749e+02] [ 3.73210621e-01 3.57966259e-03 9.27739737e-01 4.49164871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.42, Y:180.39, Z:44.93 [[ 8.11610563e-01 -4.82627591e-01 -3.29179134e-01 2.77422198e+02] [ 4.47870307e-01 8.75824445e-01 -1.79843629e-01 1.80386761e+02] [ 3.75100629e-01 -1.46657102e-03 9.26982938e-01 4.49316637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.45, Y:180.39, Z:44.94 [[ 8.12173960e-01 -4.78874119e-01 -3.33246211e-01 2.77449086e+02] [ 4.49097890e-01 8.77769286e-01 -1.66829750e-01 1.80391970e+02] [ 3.72403738e-01 -1.41653912e-02 9.27962713e-01 4.49446319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.47, Y:180.41, Z:44.95 [[ 8.11982651e-01 -4.80145145e-01 -3.31880724e-01 2.77467768e+02] [ 4.49102720e-01 8.77121844e-01 -1.70188185e-01 1.80406410e+02] [ 3.72814863e-01 -1.08586821e-02 9.27842210e-01 4.49531049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.49, Y:180.42, Z:44.96 [[ 8.12014846e-01 -4.82420009e-01 -3.28485653e-01 2.77488664e+02] [ 4.48833716e-01 8.75931811e-01 -1.76894764e-01 1.80423470e+02] [ 3.73068607e-01 -3.79426185e-03 9.27796000e-01 4.49614772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.51, Y:180.44, Z:44.97 [[ 8.12113498e-01 -4.81729700e-01 -3.29253947e-01 2.77510522e+02] [ 4.47866904e-01 8.76313460e-01 -1.77454097e-01 1.80436808e+02] [ 3.74014574e-01 -3.34907854e-03 9.27416779e-01 4.49716110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.53, Y:180.45, Z:44.98 [[ 8.11985008e-01 -4.81755406e-01 -3.29533117e-01 2.77532756e+02] [ 4.47802005e-01 8.76299563e-01 -1.77686350e-01 1.80450075e+02] [ 3.74371086e-01 -3.28693790e-03 9.27273145e-01 4.49819125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.55, Y:180.47, Z:44.99 [[ 8.11500982e-01 -4.83881950e-01 -3.27604052e-01 2.77551996e+02] [ 4.47059578e-01 8.75124941e-01 -1.85186586e-01 1.80466751e+02] [ 3.76302923e-01 3.82056751e-03 9.26488809e-01 4.49899086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.58, Y:180.47, Z:45.00 [[ 8.11495837e-01 -4.80992780e-01 -3.31844019e-01 2.77577106e+02] [ 4.49041438e-01 8.76679015e-01 -1.72614289e-01 1.80474124e+02] [ 3.73946914e-01 -8.93593853e-03 9.27407060e-01 4.50038059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.59, Y:180.51, Z:44.99 [[ 8.12095666e-01 -4.95797051e-01 -3.07710763e-01 2.77592580e+02] [ 4.51956881e-01 8.67986265e-01 -2.05754277e-01 1.80513820e+02] [ 3.69101079e-01 2.80201602e-02 9.28966772e-01 4.49948010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.62, Y:180.49, Z:45.03 [[ 8.10412522e-01 -4.76499469e-01 -3.40851581e-01 2.77624126e+02] [ 4.51151314e-01 8.78743972e-01 -1.55793209e-01 1.80489096e+02] [ 3.73756654e-01 -2.75188714e-02 9.27118480e-01 4.50297060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.64, Y:180.51, Z:45.03 [[ 8.10029646e-01 -4.85517012e-01 -3.28823969e-01 2.77643156e+02] [ 4.53560679e-01 8.74184488e-01 -1.73447951e-01 1.80514657e+02] [ 3.71664744e-01 -8.64364010e-03 9.28326777e-01 4.50341807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.67, Y:180.53, Z:45.04 [[ 8.09334820e-01 -4.88048157e-01 -3.26781496e-01 2.77665451e+02] [ 4.54850290e-01 8.72800125e-01 -1.77006090e-01 1.80530034e+02] [ 3.71602426e-01 -5.37946607e-03 9.28376377e-01 4.50435884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.69, Y:180.55, Z:45.05 [[ 8.06869874e-01 -4.94418307e-01 -3.23282453e-01 2.77685251e+02] [ 4.56092579e-01 8.69198670e-01 -1.90979663e-01 1.80551070e+02] [ 3.75420520e-01 6.64900872e-03 9.26830742e-01 4.50520358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.12275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.71, Y:180.55, Z:45.07 [[ 8.07602823e-01 -4.87127699e-01 -3.32391765e-01 2.77714264e+02] [ 4.58491616e-01 8.73131560e-01 -1.65610133e-01 1.80549541e+02] [ 3.70895023e-01 -1.86516266e-02 9.28487479e-01 4.50681490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.73, Y:180.58, Z:45.07 [[ 8.05193698e-01 -4.98748533e-01 -3.20800577e-01 2.77729902e+02] [ 4.57889832e-01 8.66654809e-01 -1.98106899e-01 1.80580915e+02] [ 3.76828888e-01 1.26231043e-02 9.26196872e-01 4.50722986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.76, Y:180.58, Z:45.09 [[ 8.04935105e-01 -4.92114138e-01 -3.31516443e-01 2.77757934e+02] [ 4.59177451e-01 8.70478444e-01 -1.77266320e-01 1.80580446e+02] [ 3.75813180e-01 -9.53699174e-03 9.26646373e-01 4.50888439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.78, Y:180.59, Z:45.10 [[ 8.06364976e-01 -4.87974075e-01 -3.34150905e-01 2.77783561e+02] [ 4.60428966e-01 8.72573528e-01 -1.63158225e-01 1.80585584e+02] [ 3.71188218e-01 -2.22876776e-02 9.28290131e-01 4.51008359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.24275509600005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:277.80, Y:180.61, Z:45.11 [[ 8.05910003e-01 -4.94384006e-01 -3.25720005e-01 2.77800238e+02] [ 4.59602157e-01 8.69238838e-01 -1.82180408e-01 1.80609164e+02] [ 3.73195558e-01 -2.88060365e-03 9.27748230e-01 4.51061478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.83, Y:180.62, Z:45.12 [[ 8.06668773e-01 -4.92072541e-01 -3.27337907e-01 2.77825456e+02] [ 4.60132945e-01 8.70499903e-01 -1.74664224e-01 1.80618762e+02] [ 3.70895085e-01 -9.72278007e-03 9.28623876e-01 4.51176596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.30275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.85, Y:180.63, Z:45.13 [[ 8.06974787e-01 -4.92859802e-01 -3.25393466e-01 2.77847424e+02] [ 4.59986626e-01 8.70082542e-01 -1.77112039e-01 1.80633329e+02] [ 3.70410579e-01 -6.75169230e-03 9.28843592e-01 4.51267658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.87, Y:180.65, Z:45.14 [[ 8.07535862e-01 -4.92041887e-01 -3.25239317e-01 2.77868888e+02] [ 4.59079425e-01 8.70549182e-01 -1.77172809e-01 1.80645597e+02] [ 3.70313265e-01 -6.23728184e-03 9.28885990e-01 4.51367366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:180.66, Z:45.15 [[ 8.07737206e-01 -4.91597394e-01 -3.25411445e-01 2.77891521e+02] [ 4.58531978e-01 8.70802193e-01 -1.77347018e-01 1.80657931e+02] [ 3.70552332e-01 -5.96176854e-03 9.28792456e-01 4.51470886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.91, Y:180.67, Z:45.16 [[ 8.08049068e-01 -4.91101583e-01 -3.25385830e-01 2.77914035e+02] [ 4.57950041e-01 8.71084248e-01 -1.77465470e-01 1.80670328e+02] [ 3.70592044e-01 -5.60964635e-03 9.28778805e-01 4.51571872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.94, Y:180.68, Z:45.17 [[ 8.08519942e-01 -4.89911483e-01 -3.26009575e-01 2.77936743e+02] [ 4.56481873e-01 8.71758125e-01 -1.77938391e-01 1.80683061e+02] [ 3.71375557e-01 -4.95072337e-03 9.28469540e-01 4.51678616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.4527550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:277.96, Y:180.70, Z:45.18 [[ 8.08759827e-01 -4.89565339e-01 -3.25934535e-01 2.77959435e+02] [ 4.56069559e-01 8.71954157e-01 -1.78035124e-01 1.80696195e+02] [ 3.71359799e-01 -4.66116367e-03 9.28477341e-01 4.51781278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.48275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.98, Y:180.71, Z:45.19 [[ 8.08790585e-01 -4.89167222e-01 -3.26455538e-01 2.77982297e+02] [ 4.55472866e-01 8.72179147e-01 -1.78460090e-01 1.80709124e+02] [ 3.72024539e-01 -4.35479890e-03 9.28212679e-01 4.51880313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.00, Y:180.72, Z:45.20 [[ 8.08336869e-01 -4.89614386e-01 -3.26908641e-01 2.78004820e+02] [ 4.55799592e-01 8.71927818e-01 -1.78853605e-01 1.80721593e+02] [ 3.72610036e-01 -4.43086184e-03 9.27977440e-01 4.51983828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.03, Y:180.73, Z:45.21 [[ 8.08020267e-01 -4.89939315e-01 -3.27204393e-01 2.78026851e+02] [ 4.56028562e-01 8.71745185e-01 -1.79159937e-01 1.80733040e+02] [ 3.73016351e-01 -4.44968845e-03 9.27814099e-01 4.52080480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.05, Y:180.74, Z:45.22 [[ 8.07038018e-01 -4.91363478e-01 -3.27492856e-01 2.78049940e+02] [ 4.57470846e-01 8.70940045e-01 -1.79398617e-01 1.80744938e+02] [ 3.73376571e-01 -5.03692927e-03 9.27666193e-01 4.52185161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.07, Y:180.76, Z:45.23 [[ 8.06354934e-01 -4.92422554e-01 -3.27584722e-01 2.78073201e+02] [ 4.58535647e-01 8.70339560e-01 -1.79594296e-01 1.80757773e+02] [ 3.73546225e-01 -5.39252554e-03 9.27595892e-01 4.52288881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.10, Y:180.77, Z:45.24 [[ 8.06209393e-01 -4.92701238e-01 -3.27523899e-01 2.78096358e+02] [ 4.58791420e-01 8.70181872e-01 -1.79705156e-01 1.80770746e+02] [ 3.73546313e-01 -5.38516984e-03 9.27595899e-01 4.52394502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.13, Y:180.76, Z:45.27 [[ 8.04894275e-01 -4.77349983e-01 -3.52536807e-01 2.78130185e+02] [ 4.56081958e-01 8.77691518e-01 -1.47128677e-01 1.80757599e+02] [ 3.79650437e-01 -4.23626472e-02 9.24159592e-01 4.52720402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.13, Y:180.82, Z:45.25 [[ 8.03339118e-01 -5.07482189e-01 -3.11621709e-01 2.78134481e+02] [ 4.63116724e-01 8.61343213e-01 -2.08831918e-01 1.80815231e+02] [ 3.74391723e-01 2.34456236e-02 9.26974185e-01 4.52512887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.16, Y:180.81, Z:45.27 [[ 8.02415533e-01 -4.98654415e-01 -3.27830883e-01 2.78162623e+02] [ 4.65003078e-01 8.66765713e-01 -1.80247987e-01 1.80808468e+02] [ 3.74034024e-01 -7.80858506e-03 9.27382108e-01 4.52699587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.18, Y:180.82, Z:45.28 [[ 8.00547388e-01 -5.01845379e-01 -3.27528770e-01 2.78184789e+02] [ 4.68462704e-01 8.64908754e-01 -1.80209718e-01 1.80820186e+02] [ 3.73719915e-01 -9.16859454e-03 9.27496287e-01 4.52807802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.21, Y:180.83, Z:45.29 [[ 7.99752884e-01 -5.03442230e-01 -3.27018724e-01 2.78207654e+02] [ 4.70244507e-01 8.63973546e-01 -1.80055035e-01 1.80832060e+02] [ 3.73182835e-01 -9.77922572e-03 9.27706278e-01 4.52911535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.23, Y:180.85, Z:45.30 [[ 7.97307346e-01 -5.09927344e-01 -3.22916554e-01 2.78228272e+02] [ 4.71011960e-01 8.60209479e-01 -1.95415931e-01 1.80852478e+02] [ 3.77423808e-01 3.70899852e-03 9.26033214e-01 4.52991300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.26, Y:180.86, Z:45.31 [[ 7.97310649e-01 -5.05145085e-01 -3.30339480e-01 2.78256520e+02] [ 4.73898027e-01 8.62877169e-01 -1.75680536e-01 1.80855124e+02] [ 3.73786555e-01 -1.64752661e-02 9.27368415e-01 4.53134310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.27, Y:180.87, Z:45.32 [[ 7.95207347e-01 -5.10401401e-01 -3.27315881e-01 2.78272904e+02] [ 4.75476118e-01 8.59899642e-01 -1.85728474e-01 1.80871822e+02] [ 3.76254882e-01 -7.93823732e-03 9.26482190e-01 4.53231934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:180.87, Z:45.34 [[ 7.96268503e-01 -5.04953833e-01 -3.33133754e-01 2.78300483e+02] [ 4.77756765e-01 8.62717934e-01 -1.65729417e-01 1.80874161e+02] [ 3.71086168e-01 -2.71917899e-02 9.28200228e-01 4.53371218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.32, Y:180.90, Z:45.34 [[ 7.96692863e-01 -5.11420433e-01 -3.22070836e-01 2.78321934e+02] [ 4.77323816e-01 8.59299337e-01 -1.83756970e-01 1.80899363e+02] [ 3.70732325e-01 -7.33421445e-03 9.28710801e-01 4.53411475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.34, Y:180.91, Z:45.36 [[ 7.96299200e-01 -5.08064082e-01 -3.28296319e-01 2.78343900e+02] [ 4.77551229e-01 8.61132258e-01 -1.74344655e-01 1.80905360e+02] [ 3.71284808e-01 -1.79478014e-02 9.28345554e-01 4.53560312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.36, Y:180.93, Z:45.36 [[ 7.96988730e-01 -5.14386590e-01 -3.16568162e-01 2.78364570e+02] [ 4.77276699e-01 8.57556514e-01 -1.91843109e-01 1.80931576e+02] [ 3.70156611e-01 1.80618836e-03 9.28967610e-01 4.53566602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.39, Y:180.93, Z:45.38 [[ 7.98173421e-01 -5.02163110e-01 -3.32793332e-01 2.78389549e+02] [ 4.73832844e-01 8.64449973e-01 -1.67954400e-01 1.80926544e+02] [ 3.72023690e-01 -2.36316728e-02 9.27922366e-01 4.53798172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.41, Y:180.95, Z:45.39 [[ 7.98836922e-01 -5.05775388e-01 -3.25654463e-01 2.78409178e+02] [ 4.72457485e-01 8.62613519e-01 -1.80781198e-01 1.80948249e+02] [ 3.72348623e-01 -9.44319264e-03 9.28044896e-01 4.53864825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.43, Y:180.97, Z:45.39 [[ 7.99961031e-01 -5.07487527e-01 -3.20185507e-01 2.78432920e+02] [ 4.71143850e-01 8.61659103e-01 -1.88592317e-01 1.80968474e+02] [ 3.71599005e-01 1.30721036e-05 9.28393332e-01 4.53923962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.46, Y:180.98, Z:45.40 [[ 8.02029919e-01 -5.03868650e-01 -3.20724792e-01 2.78455524e+02] [ 4.68751837e-01 8.63777719e-01 -1.84823614e-01 1.80980739e+02] [ 3.70161754e-01 -2.10626727e-03 9.28964929e-01 4.54018296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.48, Y:180.98, Z:45.42 [[ 8.02331986e-01 -4.94720365e-01 -3.33938835e-01 2.78479692e+02] [ 4.66710266e-01 8.68750172e-01 -1.65694497e-01 1.80978901e+02] [ 3.72081863e-01 -2.29106873e-02 9.27917123e-01 4.54234929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.50, Y:181.00, Z:45.43 [[ 8.03508315e-01 -4.98324965e-01 -3.25647995e-01 2.78498032e+02] [ 4.64254658e-01 8.66972225e-01 -1.81181604e-01 1.81000649e+02] [ 3.72615083e-01 -5.60267290e-03 9.27969078e-01 4.54297374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.52, Y:181.01, Z:45.44 [[ 8.04022662e-01 -4.97544946e-01 -3.25571169e-01 2.78520357e+02] [ 4.63397418e-01 8.67422825e-01 -1.81219414e-01 1.81013348e+02] [ 3.72572667e-01 -5.16432348e-03 9.27988652e-01 4.54401219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:181.03, Z:45.45 [[ 8.04204225e-01 -4.97112714e-01 -3.25782925e-01 2.78542435e+02] [ 4.62828510e-01 8.67672495e-01 -1.81477853e-01 1.81026403e+02] [ 3.72887831e-01 -4.83636910e-03 9.27863823e-01 4.54508387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.56, Y:181.04, Z:45.46 [[ 8.04806774e-01 -4.94740535e-01 -3.27899160e-01 2.78564995e+02] [ 4.59744429e-01 8.69033157e-01 -1.82801620e-01 1.81037213e+02] [ 3.75394614e-01 -3.62982976e-03 9.26857976e-01 4.54629191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.59, Y:181.05, Z:45.47 [[ 8.04662258e-01 -4.95531231e-01 -3.27058785e-01 2.78587204e+02] [ 4.62270964e-01 8.68558213e-01 -1.78639822e-01 1.81050597e+02] [ 3.72591205e-01 -7.44505680e-03 9.27965713e-01 4.54716553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.61, Y:181.07, Z:45.48 [[ 8.04011381e-01 -4.98116228e-01 -3.24724379e-01 2.78608532e+02] [ 4.62467087e-01 8.67109163e-01 -1.85056460e-01 1.81066882e+02] [ 3.73751111e-01 -1.38683739e-03 9.27527996e-01 4.54806443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:181.08, Z:45.49 [[ 8.03317481e-01 -4.98039594e-01 -3.26554112e-01 2.78631734e+02] [ 4.63419736e-01 8.67141430e-01 -1.82504487e-01 1.81076809e+02] [ 3.74063060e-01 -4.72257563e-03 9.27391247e-01 4.54913525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.65, Y:181.10, Z:45.50 [[ 8.02666773e-01 -5.02782183e-01 -3.20836607e-01 2.78652736e+02] [ 4.64559394e-01 8.64396553e-01 -1.92362078e-01 1.81096405e+02] [ 3.74046282e-01 5.35498872e-03 9.27394578e-01 4.54957678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.68, Y:181.11, Z:45.50 [[ 8.01480615e-01 -5.04794197e-01 -3.20642547e-01 2.78677267e+02] [ 4.68097410e-01 8.63238665e-01 -1.88954550e-01 1.81109238e+02] [ 3.72174205e-01 1.35146363e-03 9.28161912e-01 4.55049333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.70, Y:181.12, Z:45.51 [[ 8.00400702e-01 -5.05623141e-01 -3.22030985e-01 2.78698425e+02] [ 4.69439307e-01 8.62754050e-01 -1.87835531e-01 1.81120555e+02] [ 3.72807528e-01 -8.30311864e-04 9.27908324e-01 4.55149058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.72, Y:181.14, Z:45.52 [[ 8.00641767e-01 -5.09023721e-01 -3.16018374e-01 2.78721081e+02] [ 4.71192123e-01 8.60735969e-01 -1.92643647e-01 1.81138971e+02] [ 3.70068567e-01 5.33318131e-03 9.28989135e-01 4.55198610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.74, Y:181.14, Z:45.53 [[ 7.99422699e-01 -5.06888280e-01 -3.22471115e-01 2.78743736e+02] [ 4.71895160e-01 8.62001594e-01 -1.85116746e-01 1.81144743e+02] [ 3.71804124e-01 -4.18602904e-03 9.28301767e-01 4.55333172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.77, Y:181.16, Z:45.55 [[ 7.98584595e-01 -5.07499112e-01 -3.23585067e-01 2.78769230e+02] [ 4.72706469e-01 8.61635229e-01 -1.84752066e-01 1.81158035e+02] [ 3.72573803e-01 -5.42060031e-03 9.27986734e-01 4.55457937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.80, Y:181.15, Z:45.57 [[ 7.97650589e-01 -4.96814417e-01 -3.41948787e-01 2.78797176e+02] [ 4.72609048e-01 8.67106580e-01 -1.57374926e-01 1.81149176e+02] [ 3.74692175e-01 -3.60778882e-02 9.26447063e-01 4.55713540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.81, Y:181.18, Z:45.57 [[ 7.97141394e-01 -5.07364005e-01 -3.27333721e-01 2.78813603e+02] [ 4.73008457e-01 8.61691055e-01 -1.83715885e-01 1.81178252e+02] [ 3.75271367e-01 -8.38408204e-03 9.26877073e-01 4.55733665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.84, Y:181.19, Z:45.58 [[ 7.96724209e-01 -5.07877206e-01 -3.27553474e-01 2.78836145e+02] [ 4.73481854e-01 8.61386992e-01 -1.83922223e-01 1.81191250e+02] [ 3.75560206e-01 -8.55533817e-03 9.26758511e-01 4.55838819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.86, Y:181.20, Z:45.59 [[ 7.96312375e-01 -5.08335581e-01 -3.27843771e-01 2.78857411e+02] [ 4.73854424e-01 8.61115689e-01 -1.84232881e-01 1.81203658e+02] [ 3.75963543e-01 -8.64329797e-03 9.26594144e-01 4.55938473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.88, Y:181.22, Z:45.60 [[ 7.96120507e-01 -5.12431510e-01 -3.21878992e-01 2.78878647e+02] [ 4.73573336e-01 8.58721274e-01 -1.95770450e-01 1.81224263e+02] [ 3.76723285e-01 3.42356251e-03 9.26319516e-01 4.55983628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.91, Y:181.22, Z:45.62 [[ 7.95977619e-01 -5.04885950e-01 -3.33930844e-01 2.78905435e+02] [ 4.74647041e-01 8.62941741e-01 -1.73325526e-01 1.81222383e+02] [ 3.75672487e-01 -2.05360478e-02 9.26524934e-01 4.56180419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.93, Y:181.24, Z:45.63 [[ 7.95704926e-01 -5.09446115e-01 -3.27594761e-01 2.78925235e+02] [ 4.75000394e-01 8.60456431e-01 -1.84362024e-01 1.81241961e+02] [ 3.75803536e-01 -8.90986953e-03 9.26656526e-01 4.56256232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.95, Y:181.26, Z:45.64 [[ 7.95762136e-01 -5.09916433e-01 -3.26722903e-01 2.78947938e+02] [ 4.75640443e-01 8.60177167e-01 -1.84014703e-01 1.81255061e+02] [ 3.74871702e-01 -8.97069350e-03 9.27033297e-01 4.56360660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.97, Y:181.27, Z:45.65 [[ 7.95366695e-01 -5.10968360e-01 -3.26041648e-01 2.78969558e+02] [ 4.76867683e-01 8.59549084e-01 -1.83773189e-01 1.81267711e+02] [ 3.74151085e-01 -9.31165089e-03 9.27321012e-01 4.56465939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.99, Y:181.28, Z:45.66 [[ 7.94989819e-01 -5.11673504e-01 -3.25854896e-01 2.78992456e+02] [ 4.77618489e-01 8.59127246e-01 -1.83795957e-01 1.81281022e+02] [ 3.73994341e-01 -9.51840872e-03 9.27382140e-01 4.56572330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.01, Y:181.29, Z:45.67 [[ 7.94688118e-01 -5.12184758e-01 -3.25787611e-01 2.79013760e+02] [ 4.78129272e-01 8.58821336e-01 -1.83897561e-01 1.81293789e+02] [ 3.73982880e-01 -9.62738648e-03 9.27385637e-01 4.56671728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.04, Y:181.31, Z:45.68 [[ 7.94392548e-01 -5.12890073e-01 -3.25398607e-01 2.79035819e+02] [ 4.78937261e-01 8.58397693e-01 -1.83772960e-01 1.81307392e+02] [ 3.73576740e-01 -9.85764798e-03 9.27546897e-01 4.56778813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.06, Y:181.32, Z:45.69 [[ 7.94509680e-01 -5.13100102e-01 -3.24780933e-01 2.79057829e+02] [ 4.79242590e-01 8.58272733e-01 -1.83560498e-01 1.81320698e+02] [ 3.72935529e-01 -9.80826337e-03 9.27805416e-01 4.56882249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.08, Y:181.33, Z:45.70 [[ 7.94514065e-01 -5.13302804e-01 -3.24449737e-01 2.79080198e+02] [ 4.79478376e-01 8.58152001e-01 -1.83509210e-01 1.81334584e+02] [ 3.72622983e-01 -9.76598453e-03 9.27931430e-01 4.56984897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.10, Y:181.35, Z:45.71 [[ 7.94732403e-01 -5.13377899e-01 -3.23795522e-01 2.79101152e+02] [ 4.79643407e-01 8.58108429e-01 -1.83281549e-01 1.81349156e+02] [ 3.71944363e-01 -9.64660097e-03 9.28204899e-01 4.57089094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.12, Y:181.36, Z:45.72 [[ 7.94943799e-01 -5.13219988e-01 -3.23526815e-01 2.79122283e+02] [ 4.79479574e-01 8.58205123e-01 -1.83257480e-01 1.81362314e+02] [ 3.71703772e-01 -9.44510205e-03 9.28303343e-01 4.57187334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.14, Y:181.41, Z:45.70 [[ 7.96428440e-01 -5.28257558e-01 -2.94356405e-01 2.79136091e+02] [ 4.82886545e-01 8.48549652e-01 -2.16296259e-01 1.81406501e+02] [ 3.64036159e-01 3.01237449e-02 9.30897543e-01 4.57044676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.17, Y:181.38, Z:45.74 [[ 7.95466277e-01 -5.04609329e-01 -3.35563448e-01 2.79170525e+02] [ 4.80089551e-01 8.62658655e-01 -1.59166790e-01 1.81377273e+02] [ 3.69793760e-01 -3.44886914e-02 9.28473535e-01 4.57429214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.19, Y:181.40, Z:45.75 [[ 7.96922480e-01 -5.09292210e-01 -3.24863057e-01 2.79188865e+02] [ 4.78819360e-01 8.60432931e-01 -1.74319227e-01 1.81401006e+02] [ 3.68302296e-01 -1.66318105e-02 9.29557315e-01 4.57475022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.21, Y:181.42, Z:45.75 [[ 7.97373954e-01 -5.11670879e-01 -3.19980764e-01 2.79208114e+02] [ 4.78245573e-01 8.59145668e-01 -1.82071121e-01 1.81419756e+02] [ 3.68070578e-01 -7.85061400e-03 9.29764711e-01 4.57545638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.16275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.23, Y:181.43, Z:45.76 [[ 7.98749892e-01 -5.09570621e-01 -3.19900597e-01 2.79228326e+02] [ 4.75968024e-01 8.60401930e-01 -1.82107002e-01 1.81434266e+02] [ 3.68039469e-01 -6.80450670e-03 9.29785270e-01 4.57647787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:181.45, Z:45.78 [[ 7.98537219e-01 -5.09116377e-01 -3.21152338e-01 2.79251934e+02] [ 4.76051662e-01 8.60654736e-01 -1.80688239e-01 1.81451001e+02] [ 3.68392623e-01 -8.59882025e-03 9.29630537e-01 4.57761307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.26, Y:181.49, Z:45.77 [[ 7.95571238e-01 -5.24762500e-01 -3.02804764e-01 2.79263680e+02] [ 4.75637042e-01 8.50550867e-01 -2.24349341e-01 1.81494504e+02] [ 3.75280976e-01 3.44607207e-02 9.26270289e-01 4.57742525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.31, Y:181.45, Z:45.82 [[ 7.96990179e-01 -4.91360196e-01 -3.51243238e-01 2.79305497e+02] [ 4.72324535e-01 8.69482259e-01 -1.44603374e-01 1.81454275e+02] [ 3.76452106e-01 -5.06533298e-02 9.25050297e-01 4.58178878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.2827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.32, Y:181.49, Z:45.82 [[ 7.98799487e-01 -5.02551134e-01 -3.30698862e-01 2.79318612e+02] [ 4.69824025e-01 8.64456803e-01 -1.78829030e-01 1.81488685e+02] [ 3.75745612e-01 -1.25217331e-02 9.26638247e-01 4.58168420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.34, Y:181.51, Z:45.82 [[ 7.99871490e-01 -5.03537365e-01 -3.26581876e-01 2.79337295e+02] [ 4.67460665e-01 8.63968453e-01 -1.87187179e-01 1.81507724e+02] [ 3.76412177e-01 -2.93849336e-03 9.26447645e-01 4.58245076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.36, Y:181.52, Z:45.83 [[ 8.00314689e-01 -5.03168830e-01 -3.26063686e-01 2.79359167e+02] [ 4.67147958e-01 8.64183968e-01 -1.86972871e-01 1.81521337e+02] [ 3.75857930e-01 -2.68285012e-03 9.26673415e-01 4.58345803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.38, Y:181.54, Z:45.84 [[ 8.00482205e-01 -5.03152098e-01 -3.25678072e-01 2.79380330e+02] [ 4.67160039e-01 8.64194150e-01 -1.86895609e-01 1.81535007e+02] [ 3.75486002e-01 -2.53717127e-03 9.26824592e-01 4.58446016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.40, Y:181.55, Z:45.85 [[ 8.00332157e-01 -5.03496953e-01 -3.25513836e-01 2.79401999e+02] [ 4.67537772e-01 8.63993019e-01 -1.86880963e-01 1.81548106e+02] [ 3.75335677e-01 -2.62316944e-03 9.26885240e-01 4.58545751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.42, Y:181.57, Z:45.86 [[ 7.97340061e-01 -5.09905323e-01 -3.22870543e-01 2.79423977e+02] [ 4.69782226e-01 8.60206056e-01 -1.98368849e-01 1.81569458e+02] [ 3.78884529e-01 6.48858773e-03 9.25421208e-01 4.58649100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.45, Y:181.58, Z:45.88 [[ 7.96578749e-01 -5.07489415e-01 -3.28506911e-01 2.79448584e+02] [ 4.70150943e-01 8.61655070e-01 -1.91072320e-01 1.81577395e+02] [ 3.80026825e-01 -2.24368447e-03 9.24972745e-01 4.58784123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.47, Y:181.60, Z:45.88 [[ 7.97556261e-01 -5.15565228e-01 -3.13203617e-01 2.79470364e+02] [ 4.73458505e-01 8.56720745e-01 -2.04613318e-01 1.81604881e+02] [ 3.73819548e-01 1.49017167e-02 9.27381736e-01 4.58750653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.50, Y:181.59, Z:45.91 [[ 7.94113898e-01 -5.03558053e-01 -3.40312216e-01 2.79499616e+02] [ 4.74087732e-01 8.63597243e-01 -1.71582702e-01 1.81593140e+02] [ 3.80294543e-01 -2.50816382e-02 9.24525269e-01 4.59070444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.52, Y:181.61, Z:45.91 [[ 7.93675335e-01 -5.08923828e-01 -3.33280662e-01 2.79519410e+02] [ 4.74404100e-01 8.60733475e-01 -1.84603996e-01 1.81614952e+02] [ 3.80815195e-01 -1.15940746e-02 9.24578480e-01 4.59145973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.54, Y:181.65, Z:45.91 [[ 7.94555739e-01 -5.19679644e-01 -3.14029050e-01 2.79539262e+02] [ 4.77962982e-01 8.54272751e-01 -2.04375769e-01 1.81646126e+02] [ 3.74476387e-01 1.22936791e-02 9.27154950e-01 4.59089044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.61275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.57, Y:181.64, Z:45.93 [[ 7.93496536e-01 -5.12938812e-01 -3.27501180e-01 2.79568034e+02] [ 4.80749472e-01 8.58293559e-01 -1.79477330e-01 1.81643216e+02] [ 3.73153042e-01 -1.50313792e-02 9.27648029e-01 4.59272919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.59, Y:181.63, Z:45.96 [[ 7.91153181e-01 -5.01132050e-01 -3.50632731e-01 2.79592324e+02] [ 4.79607775e-01 8.64078056e-01 -1.52792326e-01 1.81631893e+02] [ 3.79543180e-01 -4.72840495e-02 9.23964931e-01 4.59604070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.60, Y:181.70, Z:45.94 [[ 7.90867174e-01 -5.32178790e-01 -3.02183469e-01 2.79600392e+02] [ 4.83206817e-01 8.46020767e-01 -2.25299877e-01 1.81697413e+02] [ 3.75553306e-01 3.21651648e-02 9.26242472e-01 4.59397738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.64, Y:181.66, Z:45.98 [[ 7.89649515e-01 -5.03861284e-01 -3.50110626e-01 2.79636448e+02] [ 4.82215094e-01 8.62476786e-01 -1.53630714e-01 1.81657887e+02] [ 3.79370857e-01 -4.75142096e-02 9.24023892e-01 4.59813454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.65, Y:181.69, Z:45.98 [[ 7.88269626e-01 -5.19784948e-01 -3.29324467e-01 2.79648274e+02] [ 4.83321967e-01 8.54257086e-01 -1.91428075e-01 1.81693762e+02] [ 3.80829192e-01 -8.27281235e-03 9.24608397e-01 4.59802235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.67, Y:181.72, Z:45.99 [[ 7.84128090e-01 -5.29828357e-01 -3.23148652e-01 2.79667214e+02] [ 4.85040312e-01 8.48038103e-01 -2.13464919e-01 1.81721175e+02] [ 3.87142137e-01 1.06437165e-02 9.21958609e-01 4.59892486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.79275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.70, Y:181.71, Z:46.01 [[ 7.86418146e-01 -5.15125236e-01 -3.40870198e-01 2.79699028e+02] [ 4.86782106e-01 8.56548333e-01 -1.71371335e-01 1.81708481e+02] [ 3.80249500e-01 -3.11599851e-02 9.24358899e-01 4.60071992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.71, Y:181.77, Z:45.99 [[ 7.85353057e-01 -5.40208294e-01 -3.02317012e-01 2.79711693e+02] [ 4.89538841e-01 8.40872569e-01 -2.30835538e-01 1.81767127e+02] [ 3.78909355e-01 3.32914761e-02 9.24834785e-01 4.59897080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.75, Y:181.73, Z:46.03 [[ 7.86033360e-01 -5.10369002e-01 -3.48819494e-01 2.79750120e+02] [ 4.90138929e-01 8.58386357e-01 -1.51448643e-01 1.81725798e+02] [ 3.76716587e-01 -5.19263279e-02 9.24872029e-01 4.60288702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.76, Y:181.78, Z:46.01 [[ 7.85645778e-01 -5.35563666e-01 -3.09729352e-01 2.79761278e+02] [ 4.91499080e-01 8.44355553e-01 -2.13289369e-01 1.81784341e+02] [ 3.75751735e-01 1.53382006e-02 9.26593424e-01 4.60140669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.79, Y:181.79, Z:46.03 [[ 7.85550936e-01 -5.30770402e-01 -3.18107697e-01 2.79787389e+02] [ 4.90458839e-01 8.47508873e-01 -2.02925694e-01 1.81791213e+02] [ 3.77306048e-01 3.38973744e-03 9.26082424e-01 4.60284844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.82, Y:181.77, Z:46.07 [[ 7.84349438e-01 -5.08206631e-01 -3.55699282e-01 2.79817662e+02] [ 4.86507144e-01 8.59720502e-01 -1.55536032e-01 1.81765778e+02] [ 3.84846408e-01 -5.10556428e-02 9.21567449e-01 4.60681129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.83, Y:181.80, Z:46.07 [[ 7.85046814e-01 -5.22170103e-01 -3.33226474e-01 2.79829994e+02] [ 4.84626476e-01 8.52796889e-01 -1.94614095e-01 1.81803479e+02] [ 3.85796162e-01 -8.70919628e-03 9.22542937e-01 4.60670218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.85, Y:181.82, Z:46.08 [[ 7.85557755e-01 -5.21536590e-01 -3.33014414e-01 2.79852340e+02] [ 4.83936082e-01 8.53188772e-01 -1.94614461e-01 1.81817058e+02] [ 3.85622721e-01 -8.27679187e-03 9.22619430e-01 4.60776387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.87, Y:181.83, Z:46.09 [[ 7.86611330e-01 -5.20099735e-01 -3.32774522e-01 2.79874663e+02] [ 4.82375645e-01 8.54073128e-01 -1.94609428e-01 1.81830990e+02] [ 3.85430088e-01 -7.44034365e-03 9.22707044e-01 4.60884420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.90, Y:181.84, Z:46.10 [[ 7.86974968e-01 -5.19583453e-01 -3.32721257e-01 2.79896254e+02] [ 4.81763890e-01 8.54390665e-01 -1.94730959e-01 1.81844251e+02] [ 3.85452920e-01 -7.04469669e-03 9.22700612e-01 4.60989664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.92, Y:181.86, Z:46.11 [[ 7.87546956e-01 -5.19008166e-01 -3.32265430e-01 2.79918034e+02] [ 4.81189962e-01 8.54743604e-01 -1.94601110e-01 1.81857562e+02] [ 3.85001316e-01 -6.62527803e-03 9.22892243e-01 4.61095539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.94, Y:181.87, Z:46.12 [[ 7.89332037e-01 -5.16781301e-01 -3.31499657e-01 2.79939570e+02] [ 4.78890004e-01 8.56100563e-01 -1.94309524e-01 1.81870731e+02] [ 3.84212572e-01 -5.37713986e-03 9.23229000e-01 4.61204390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:181.88, Z:46.13 [[ 7.90165722e-01 -5.15806755e-01 -3.31031001e-01 2.79960949e+02] [ 4.77908758e-01 8.56691432e-01 -1.94121119e-01 1.81883993e+02] [ 3.83720407e-01 -4.81476072e-03 9.23436770e-01 4.61308331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.98, Y:181.90, Z:46.14 [[ 7.92125765e-01 -5.13121579e-01 -3.30519316e-01 2.79982992e+02] [ 4.75064135e-01 8.58309282e-01 -1.93956810e-01 1.81897681e+02] [ 3.83211221e-01 -3.37968640e-03 9.23654555e-01 4.61418752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:181.91, Z:46.15 [[ 7.92742354e-01 -5.12323020e-01 -3.30279706e-01 2.80004699e+02] [ 4.74193594e-01 8.58788100e-01 -1.93967614e-01 1.81911027e+02] [ 3.83014355e-01 -2.85017802e-03 9.23737993e-01 4.61524777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.24275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.03, Y:181.92, Z:46.16 [[ 7.93141411e-01 -5.11812155e-01 -3.30113648e-01 2.80026615e+02] [ 4.73617675e-01 8.59093859e-01 -1.94020721e-01 1.81924513e+02] [ 3.82900771e-01 -2.46179018e-03 9.23786198e-01 4.61630305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.05, Y:181.94, Z:46.17 [[ 7.94077413e-01 -5.10837826e-01 -3.29371792e-01 2.80048208e+02] [ 4.72679433e-01 8.59675114e-01 -1.93733971e-01 1.81937108e+02] [ 3.82119374e-01 -1.84750174e-03 9.24111125e-01 4.61730102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.07, Y:181.95, Z:46.18 [[ 7.93987888e-01 -5.10961100e-01 -3.29396400e-01 2.80069479e+02] [ 4.72751290e-01 8.59601989e-01 -1.93883053e-01 1.81949427e+02] [ 3.82216499e-01 -1.78177717e-03 9.24071087e-01 4.61831897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:181.96, Z:46.19 [[ 7.93996839e-01 -5.11263336e-01 -3.28905488e-01 2.80091003e+02] [ 4.73155721e-01 8.59422159e-01 -1.93693615e-01 1.81961845e+02] [ 3.81697108e-01 -1.83139487e-03 9.24285650e-01 4.61932186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.11, Y:181.97, Z:46.20 [[ 7.93434515e-01 -5.12420145e-01 -3.28461969e-01 2.80114102e+02] [ 4.74460394e-01 8.58731901e-01 -1.93563574e-01 1.81974660e+02] [ 3.81246645e-01 -2.26217450e-03 9.24470593e-01 4.62040769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.14, Y:181.99, Z:46.21 [[ 7.92824435e-01 -5.13404771e-01 -3.28397560e-01 2.80136626e+02] [ 4.75482010e-01 8.58142632e-01 -1.93670032e-01 1.81987621e+02] [ 3.81243065e-01 -2.60079755e-03 9.24471179e-01 4.62147459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.42275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.16, Y:182.01, Z:46.22 [[ 7.89474152e-01 -5.20828488e-01 -3.24758757e-01 2.80158480e+02] [ 4.77675609e-01 8.53614966e-01 -2.07767904e-01 1.82009509e+02] [ 3.85430378e-01 8.89805286e-03 9.22694017e-01 4.62243053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:182.00, Z:46.24 [[ 7.90917484e-01 -5.10785896e-01 -3.36967807e-01 2.80186657e+02] [ 4.78364723e-01 8.59502814e-01 -1.80061390e-01 1.82004899e+02] [ 3.81597597e-01 -1.87798107e-02 9.24137757e-01 4.62400577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.21, Y:182.03, Z:46.25 [[ 7.88219417e-01 -5.20845689e-01 -3.27765036e-01 2.80206600e+02] [ 4.81516328e-01 8.53649827e-01 -1.98554777e-01 1.82031993e+02] [ 3.83212966e-01 -1.31948586e-03 9.23659072e-01 4.62473328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.23, Y:182.04, Z:46.26 [[ 7.86455435e-01 -5.21763028e-01 -3.30531680e-01 2.80229441e+02] [ 4.82219324e-01 8.53086281e-01 -1.99269470e-01 1.82042995e+02] [ 3.85943483e-01 -2.67220529e-03 9.22518557e-01 4.62591130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.25, Y:182.05, Z:46.27 [[ 7.84987676e-01 -5.22263941e-01 -3.33218733e-01 2.80253481e+02] [ 4.84306237e-01 8.52748056e-01 -1.95622652e-01 1.82054451e+02] [ 3.86318284e-01 -7.81853948e-03 9.22332399e-01 4.62716645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.28, Y:182.07, Z:46.28 [[ 7.86304366e-01 -5.23578546e-01 -3.28010596e-01 2.80276258e+02] [ 4.87152946e-01 8.51932363e-01 -1.92076172e-01 1.82067156e+02] [ 3.80009805e-01 -8.76099559e-03 9.24940968e-01 4.62752070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.30, Y:182.07, Z:46.30 [[ 7.84584127e-01 -5.20060691e-01 -3.37586472e-01 2.80300378e+02] [ 4.86669504e-01 8.53903915e-01 -1.84393324e-01 1.82072451e+02] [ 3.84162130e-01 -1.96209661e-02 9.23057136e-01 4.62960672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.32, Y:182.09, Z:46.30 [[ 7.83745280e-01 -5.25502315e-01 -3.31044790e-01 2.80319039e+02] [ 4.87467524e-01 8.50759766e-01 -1.96426155e-01 1.82092812e+02] [ 3.84861987e-01 -7.42551217e-03 9.22944263e-01 4.63036505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:182.11, Z:46.31 [[ 7.82623307e-01 -5.26894346e-01 -3.31486211e-01 2.80341015e+02] [ 4.88828747e-01 8.49892921e-01 -1.96795528e-01 1.82106014e+02] [ 3.85418235e-01 -8.02322269e-03 9.22707111e-01 4.63141693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.36, Y:182.13, Z:46.32 [[ 7.81566688e-01 -5.31185049e-01 -3.27102364e-01 2.80363493e+02] [ 4.88143963e-01 8.47246085e-01 -2.09498310e-01 1.82126913e+02] [ 3.88418567e-01 4.06385629e-03 9.21474092e-01 4.63214639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.39, Y:182.13, Z:46.34 [[ 7.80447721e-01 -5.28788450e-01 -3.33592759e-01 2.80386318e+02] [ 4.88651209e-01 8.48737467e-01 -2.02150212e-01 1.82134434e+02] [ 3.90027371e-01 -5.24283289e-03 9.20788338e-01 4.63352067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.41, Y:182.13, Z:46.35 [[ 7.82709724e-01 -5.20219471e-01 -3.41668247e-01 2.80412822e+02] [ 4.88352266e-01 8.53661996e-01 -1.81033869e-01 1.82134480e+02] [ 3.85846541e-01 -2.51574923e-02 9.22219902e-01 4.63493658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.43, Y:182.18, Z:46.34 [[ 7.82395876e-01 -5.35949328e-01 -3.17198693e-01 2.80426960e+02] [ 4.88275781e-01 8.44044805e-01 -2.21754661e-01 1.82177904e+02] [ 3.86579171e-01 1.86194922e-02 9.22068251e-01 4.63435111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.46, Y:182.17, Z:46.37 [[ 7.83122578e-01 -5.20820063e-01 -3.39802133e-01 2.80456785e+02] [ 4.86614185e-01 8.53450488e-01 -1.86625025e-01 1.82165896e+02] [ 3.87202353e-01 -1.92022676e-02 9.21794777e-01 4.63671578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.48, Y:182.18, Z:46.38 [[ 7.85253860e-01 -5.19729121e-01 -3.36538285e-01 2.80478737e+02] [ 4.85587193e-01 8.54155834e-01 -1.86072271e-01 1.82179326e+02] [ 3.84163317e-01 -1.73047121e-02 9.23102970e-01 4.63765257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.50, Y:182.21, Z:46.38 [[ 7.86430356e-01 -5.27525771e-01 -3.21315820e-01 2.80496920e+02] [ 4.85336070e-01 8.49512539e-01 -2.06826851e-01 1.82208774e+02] [ 3.82068312e-01 6.70875694e-03 9.24109732e-01 4.63774953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.52, Y:182.22, Z:46.39 [[ 7.88862190e-01 -5.23054397e-01 -3.22661654e-01 2.80521416e+02] [ 4.82550360e-01 8.52291984e-01 -2.01850252e-01 1.82219064e+02] [ 3.80580603e-01 3.53153419e-03 9.24741008e-01 4.63881367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.55, Y:182.21, Z:46.41 [[ 7.89247079e-01 -5.11463416e-01 -3.39844409e-01 2.80548226e+02] [ 4.78949606e-01 8.59066646e-01 -1.80587299e-01 1.82213116e+02] [ 3.84312793e-01 -2.02403479e-02 9.22981043e-01 4.64128323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.57, Y:182.24, Z:46.42 [[ 7.89322463e-01 -5.19021825e-01 -3.28003650e-01 2.80565873e+02] [ 4.78790148e-01 8.54760273e-01 -2.00361848e-01 1.82241209e+02] [ 3.84356661e-01 1.10519118e-03 9.23184020e-01 4.64184211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.59, Y:182.26, Z:46.42 [[ 7.91022015e-01 -5.20090782e-01 -3.22164167e-01 2.80587174e+02] [ 4.78114318e-01 8.54073398e-01 -2.04854412e-01 1.82259150e+02] [ 3.81694736e-01 8.01304862e-03 9.24253709e-01 4.64227103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.61, Y:182.25, Z:46.45 [[ 7.90960003e-01 -5.09092796e-01 -3.39421270e-01 2.80614039e+02] [ 4.76182073e-01 8.60513861e-01 -1.81015270e-01 1.82252895e+02] [ 3.84230278e-01 -1.84504856e-02 9.23052909e-01 4.64474770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.63, Y:182.28, Z:46.45 [[ 7.91605714e-01 -5.15960734e-01 -3.27329979e-01 2.80634680e+02] [ 4.75958495e-01 8.56610136e-01 -1.99204886e-01 1.82277656e+02] [ 3.83176077e-01 1.89624200e-03 9.23673372e-01 4.64523565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.66, Y:182.28, Z:46.47 [[ 7.91398330e-01 -5.13315437e-01 -3.31957745e-01 2.80658079e+02] [ 4.75604012e-01 8.58185459e-01 -1.93180077e-01 1.82284651e+02] [ 3.84043625e-01 -4.99804481e-03 9.23301421e-01 4.64667765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.68, Y:182.30, Z:46.48 [[ 7.91167756e-01 -5.15816079e-01 -3.28614295e-01 2.80678177e+02] [ 4.76849734e-01 8.56698648e-01 -1.96676787e-01 1.82300059e+02] [ 3.82972471e-01 -1.09530754e-03 9.23759106e-01 4.64755937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.71, Y:182.31, Z:46.49 [[ 7.90165218e-01 -5.12856984e-01 -3.35584032e-01 2.80706445e+02] [ 4.77012996e-01 8.58403757e-01 -1.88683841e-01 1.82305932e+02] [ 3.84834419e-01 -1.09865367e-02 9.22920238e-01 4.64922381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.72, Y:182.34, Z:46.49 [[ 7.89460244e-01 -5.27480023e-01 -3.13874734e-01 2.80720764e+02] [ 4.81998068e-01 8.49365925e-01 -2.15070656e-01 1.82341044e+02] [ 3.80039979e-01 1.85027172e-02 9.24784983e-01 4.64861291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.75, Y:182.33, Z:46.51 [[ 7.87941145e-01 -5.17410419e-01 -3.33819128e-01 2.80748855e+02] [ 4.81791219e-01 8.55654810e-01 -1.89029277e-01 1.82331057e+02] [ 3.83439660e-01 -1.18871796e-02 9.23489427e-01 4.65095408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.77, Y:182.36, Z:46.51 [[ 7.87476782e-01 -5.25500112e-01 -3.22071344e-01 2.80770064e+02] [ 4.83881172e-01 8.50774975e-01 -2.05038906e-01 1.82356890e+02] [ 3.81758207e-01 5.61911882e-03 9.24245150e-01 4.65121355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.79, Y:182.37, Z:46.52 [[ 7.86599539e-01 -5.25919583e-01 -3.23527058e-01 2.80790838e+02] [ 4.84395790e-01 8.50522732e-01 -2.04870206e-01 1.82367636e+02] [ 3.82912371e-01 4.43566486e-03 9.23774021e-01 4.65213018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.82, Y:182.37, Z:46.54 [[ 7.85690454e-01 -5.21259387e-01 -3.33135350e-01 2.80820008e+02] [ 4.85861014e-01 8.53296984e-01 -1.89270524e-01 1.82370793e+02] [ 3.82922427e-01 -1.31494357e-02 9.23686910e-01 4.65399438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.84, Y:182.38, Z:46.55 [[ 7.82905149e-01 -5.26238280e-01 -3.31862623e-01 2.80838410e+02] [ 4.87591956e-01 8.50310329e-01 -1.98056630e-01 1.82384829e+02] [ 3.86411196e-01 -6.75398980e-03 9.22301887e-01 4.65508680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.86, Y:182.41, Z:46.56 [[ 7.80849000e-01 -5.33662162e-01 -3.24776131e-01 2.80862428e+02] [ 4.91387061e-01 8.45692528e-01 -2.08189587e-01 1.82409014e+02] [ 3.85763652e-01 2.97384226e-03 9.22592847e-01 4.65562913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.89, Y:182.40, Z:46.58 [[ 7.78801495e-01 -5.26172033e-01 -3.41483855e-01 2.80885698e+02] [ 4.91394503e-01 8.50132586e-01 -1.89224809e-01 1.82402413e+02] [ 3.89871356e-01 -2.04347251e-02 9.20642573e-01 4.65774598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:182.42, Z:46.59 [[ 7.78202087e-01 -5.30513258e-01 -3.36091053e-01 2.80908607e+02] [ 4.93821012e-01 8.47549715e-01 -1.94422964e-01 1.82419915e+02] [ 3.87997837e-01 -1.46684676e-02 9.21543550e-01 4.65863099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.93, Y:182.44, Z:46.60 [[ 7.77994555e-01 -5.33195102e-01 -3.32306268e-01 2.80929506e+02] [ 4.94041547e-01 8.45954270e-01 -2.00709546e-01 1.82437786e+02] [ 3.88133254e-01 -8.02216905e-03 9.21568349e-01 4.65955019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.95, Y:182.46, Z:46.60 [[ 7.75983679e-01 -5.37472302e-01 -3.30110366e-01 2.80949553e+02] [ 4.94504173e-01 8.43281387e-01 -2.10575699e-01 1.82455007e+02] [ 3.91554533e-01 1.62351508e-04 9.20154890e-01 4.66047948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.98, Y:182.46, Z:46.62 [[ 7.74588893e-01 -5.36237481e-01 -3.35352665e-01 2.80977459e+02] [ 4.94339379e-01 8.44053627e-01 -2.07851035e-01 1.82463496e+02] [ 3.94513149e-01 -4.77892548e-03 9.18877869e-01 4.66184745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.00, Y:182.48, Z:46.63 [[ 7.74368235e-01 -5.36683111e-01 -3.35149334e-01 2.80999965e+02] [ 4.96137098e-01 8.43748724e-01 -2.04782987e-01 1.82475736e+02] [ 3.92685393e-01 -7.70257743e-03 9.19640611e-01 4.66279420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.03, Y:182.48, Z:46.64 [[ 7.74720815e-01 -5.34203204e-01 -3.38281829e-01 2.81025444e+02] [ 4.96464544e-01 8.45227786e-01 -1.97769935e-01 1.82483096e+02] [ 3.91574534e-01 -1.47284482e-02 9.20028509e-01 4.66413525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.05, Y:182.49, Z:46.66 [[ 7.73888350e-01 -5.32656544e-01 -3.42598640e-01 2.81046385e+02] [ 4.95860676e-01 8.46126192e-01 -1.95429419e-01 1.82491379e+02] [ 3.93978441e-01 -1.86406427e-02 9.18930636e-01 4.66572895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.07, Y:182.52, Z:46.66 [[ 7.74505250e-01 -5.38833685e-01 -3.31360647e-01 2.81067061e+02] [ 4.95445869e-01 8.42412161e-01 -2.11837535e-01 1.82515727e+02] [ 3.93287439e-01 -1.01980885e-04 9.19415564e-01 4.66605176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.09, Y:182.51, Z:46.68 [[ 7.75026054e-01 -5.31031361e-01 -3.42549717e-01 2.81092187e+02] [ 4.93743300e-01 8.47180510e-01 -1.96221146e-01 1.82514686e+02] [ 3.94401026e-01 -1.70551278e-02 9.18780144e-01 4.66806354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.11, Y:182.55, Z:46.68 [[ 7.76967894e-01 -5.41536149e-01 -3.21028802e-01 2.81109458e+02] [ 4.93925283e-01 8.40555714e-01 -2.22494734e-01 1.82550150e+02] [ 3.90331535e-01 1.43070232e-02 9.20563198e-01 4.66754173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.14, Y:182.55, Z:46.69 [[ 7.77958514e-01 -5.31658648e-01 -3.34842698e-01 2.81136963e+02] [ 4.91943904e-01 8.46923239e-01 -2.01772701e-01 1.82549049e+02] [ 3.90860264e-01 -7.75303361e-03 9.20417375e-01 4.66947792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.15, Y:182.56, Z:46.70 [[ 7.81232262e-01 -5.29433976e-01 -3.30720150e-01 2.81154587e+02] [ 4.87496254e-01 8.48351138e-01 -2.06513314e-01 1.82563694e+02] [ 3.89901981e-01 1.10029310e-04 9.20856359e-01 4.67011500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7727550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.18, Y:182.56, Z:46.73 [[ 7.81346551e-01 -5.18928850e-01 -3.46713739e-01 2.81184563e+02] [ 4.84401289e-01 8.54545780e-01 -1.87368355e-01 1.82562940e+02] [ 3.93513608e-01 -2.15489639e-02 9.19066202e-01 4.67286976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.20, Y:182.60, Z:46.72 [[ 7.83473095e-01 -5.31903992e-01 -3.21322351e-01 2.81198547e+02] [ 4.84010858e-01 8.46616298e-01 -2.21301455e-01 1.82603466e+02] [ 3.89747866e-01 1.78602292e-02 9.20748398e-01 4.67215104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.22, Y:182.60, Z:46.74 [[ 7.84613707e-01 -5.23486199e-01 -3.32179968e-01 2.81223568e+02] [ 4.83429270e-01 8.52028902e-01 -2.00855398e-01 1.82602742e+02] [ 3.88171962e-01 -2.99162141e-03 9.21582106e-01 4.67367905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.25, Y:182.60, Z:46.76 [[ 7.83612370e-01 -5.15831383e-01 -3.46221947e-01 2.81250436e+02] [ 4.80467784e-01 8.56489379e-01 -1.88617743e-01 1.82603540e+02] [ 3.93830372e-01 -1.85452946e-02 9.18996034e-01 4.67628095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.27, Y:182.64, Z:46.76 [[ 7.84085569e-01 -5.28082781e-01 -3.26095686e-01 2.81265192e+02] [ 4.82794944e-01 8.49127588e-01 -2.14222736e-01 1.82637864e+02] [ 3.90024181e-01 1.05316077e-02 9.20744385e-01 4.67585134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.29, Y:182.65, Z:46.77 [[ 7.82718655e-01 -5.26953896e-01 -3.31166270e-01 2.81289048e+02] [ 4.84052462e-01 8.49889506e-01 -2.08281160e-01 1.82648353e+02] [ 3.91209306e-01 2.72370095e-03 9.20297702e-01 4.67722202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.32, Y:182.65, Z:46.79 [[ 7.81828447e-01 -5.22533436e-01 -3.40151565e-01 2.81315343e+02] [ 4.82927820e-01 8.52580106e-01 -1.99719514e-01 1.82652803e+02] [ 3.94366582e-01 -8.12225627e-03 9.18917313e-01 4.67896724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.33, Y:182.66, Z:46.81 [[ 7.79897393e-01 -5.23353638e-01 -3.43308937e-01 2.81334117e+02] [ 4.86126507e-01 8.51979333e-01 -1.94453684e-01 1.82662270e+02] [ 3.94260162e-01 -1.52376536e-02 9.18872537e-01 4.68054485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.35, Y:182.70, Z:46.80 [[ 7.79522256e-01 -5.40156095e-01 -3.17137895e-01 2.81349072e+02] [ 4.90355620e-01 8.41279702e-01 -2.27595758e-01 1.82703241e+02] [ 3.89738910e-01 2.19056099e-02 9.20664828e-01 4.67956034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.38, Y:182.70, Z:46.82 [[ 7.76802610e-01 -5.34064517e-01 -3.33695666e-01 2.81378242e+02] [ 4.93851153e-01 8.45416581e-01 -2.03425278e-01 1.82699958e+02] [ 3.90754072e-01 -6.77470245e-03 9.20470184e-01 4.68165862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.41, Y:182.68, Z:46.85 [[ 7.77788189e-01 -5.17502524e-01 -3.56702497e-01 2.81405135e+02] [ 4.90238641e-01 8.54655567e-01 -1.70967652e-01 1.82683675e+02] [ 3.93333966e-01 -4.18927269e-02 9.18440739e-01 4.68460579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.41, Y:182.75, Z:46.83 [[ 7.72791196e-01 -5.55085032e-01 -3.07692013e-01 2.81412038e+02] [ 5.00052846e-01 8.31089147e-01 -2.43388538e-01 1.82754228e+02] [ 3.90820828e-01 3.42262523e-02 9.19830226e-01 4.68257002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.44, Y:182.75, Z:46.84 [[ 7.71669459e-01 -5.45346361e-01 -3.27297406e-01 2.81441615e+02] [ 5.03109268e-01 8.38207729e-01 -2.10449205e-01 1.82746536e+02] [ 3.89110924e-01 -2.26913438e-03 9.21188113e-01 4.68442488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.46, Y:182.76, Z:46.86 [[ 7.70200043e-01 -5.45798168e-01 -3.29994324e-01 2.81464489e+02] [ 5.05114551e-01 8.37884629e-01 -2.06902487e-01 1.82757840e+02] [ 3.89424170e-01 -7.32863084e-03 9.21029374e-01 4.68568401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.49, Y:182.77, Z:46.87 [[ 7.68233593e-01 -5.44737358e-01 -3.36271257e-01 2.81488368e+02] [ 5.06993112e-01 8.38436888e-01 -1.99953918e-01 1.82766766e+02] [ 3.90864595e-01 -1.68758943e-02 9.20293471e-01 4.68724987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:182.77, Z:46.90 [[ 7.66557687e-01 -5.38230632e-01 -3.50281457e-01 2.81511407e+02] [ 5.05488019e-01 8.42147298e-01 -1.87802534e-01 1.82767718e+02] [ 3.96069660e-01 -3.31016036e-02 9.17623620e-01 4.68976638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.52, Y:182.81, Z:46.89 [[ 7.66963332e-01 -5.54103127e-01 -3.23630918e-01 2.81524533e+02] [ 5.06323027e-01 8.32400322e-01 -2.25270273e-01 1.82811191e+02] [ 3.94213443e-01 8.91225351e-03 9.18975698e-01 4.68875328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.55, Y:182.80, Z:46.91 [[ 7.67017031e-01 -5.39352676e-01 -3.47539302e-01 2.81550587e+02] [ 5.03395013e-01 8.41703503e-01 -1.95265652e-01 1.82799785e+02] [ 3.97842099e-01 -2.51774708e-02 9.17108368e-01 4.69140055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.57, Y:182.83, Z:46.92 [[ 7.66207513e-01 -5.47518946e-01 -3.36376354e-01 2.81568528e+02] [ 5.02949632e-01 8.36786496e-01 -2.16402467e-01 1.82829245e+02] [ 3.99959641e-01 -3.37116778e-03 9.16526552e-01 4.69197796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.59, Y:182.86, Z:46.92 [[ 7.68586239e-01 -5.50645133e-01 -3.25676421e-01 2.81589113e+02] [ 5.02531877e-01 8.34685347e-01 -2.25304423e-01 1.82855921e+02] [ 3.95900121e-01 9.50309636e-03 9.18244404e-01 4.69203716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.62, Y:182.85, Z:46.94 [[ 7.70822805e-01 -5.38844775e-01 -3.39821294e-01 2.81615690e+02] [ 5.01393903e-01 8.42220462e-01 -1.98163686e-01 1.82851886e+02] [ 3.92983915e-01 -1.76352365e-02 9.19376224e-01 4.69383465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.63, Y:182.86, Z:46.96 [[ 7.70335317e-01 -5.34823551e-01 -3.47199177e-01 2.81632854e+02] [ 4.96645447e-01 8.44752873e-01 -1.99338616e-01 1.82862010e+02] [ 3.99908488e-01 -1.88773142e-02 9.16360654e-01 4.69581624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.65, Y:182.89, Z:46.97 [[ 7.70053175e-01 -5.40302104e-01 -3.39251741e-01 2.81654235e+02] [ 4.98250063e-01 8.41433200e-01 -2.09134036e-01 1.82886540e+02] [ 3.98453238e-01 -7.98787302e-03 9.17153864e-01 4.69670644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:182.92, Z:46.96 [[ 7.71474279e-01 -5.51736569e-01 -3.16881989e-01 2.81669732e+02] [ 5.00786718e-01 8.33762200e-01 -2.32493564e-01 1.82923325e+02] [ 3.92479426e-01 2.06725130e-02 9.19528438e-01 4.69591678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.70, Y:182.93, Z:46.97 [[ 7.72778161e-01 -5.44917926e-01 -3.25389563e-01 2.81697001e+02] [ 5.00335298e-01 8.38479629e-01 -2.15908550e-01 1.82928889e+02] [ 3.90484959e-01 4.04552779e-03 9.20600418e-01 4.69742522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.72, Y:182.93, Z:46.99 [[ 7.73535989e-01 -5.39065195e-01 -3.33242839e-01 2.81721641e+02] [ 5.00375109e-01 8.42187257e-01 -2.00861580e-01 1.82932500e+02] [ 3.88930359e-01 -1.13727609e-02 9.21196958e-01 4.69898950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.74, Y:182.95, Z:47.00 [[ 7.73746596e-01 -5.41798548e-01 -3.28284234e-01 2.81742272e+02] [ 4.98831052e-01 8.40508365e-01 -2.11455125e-01 1.82953661e+02] [ 3.90491725e-01 -1.45686295e-04 9.20606426e-01 4.70007891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.77, Y:182.94, Z:47.03 [[ 7.72887288e-01 -5.26034811e-01 -3.54869860e-01 2.81770240e+02] [ 4.96032214e-01 8.49631487e-01 -1.79104380e-01 1.82940567e+02] [ 3.95723745e-01 -3.75993841e-02 9.17599588e-01 4.70348966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.78, Y:182.97, Z:47.04 [[ 7.73114566e-01 -5.36985174e-01 -3.37551169e-01 2.81783646e+02] [ 4.94955601e-01 8.43570360e-01 -2.08345870e-01 1.82973178e+02] [ 3.96626804e-01 -5.99761475e-03 9.17960351e-01 4.70366915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.80, Y:183.00, Z:47.04 [[ 7.71801278e-01 -5.43179535e-01 -3.30573410e-01 2.81799583e+02] [ 4.94439402e-01 8.39553386e-01 -2.25121724e-01 1.82996821e+02] [ 3.99815539e-01 1.03007149e-02 9.16537741e-01 4.70441334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.83, Y:182.99, Z:47.06 [[ 7.73723088e-01 -5.31127029e-01 -3.45335578e-01 2.81830161e+02] [ 4.94991746e-01 8.47030382e-01 -1.93707780e-01 1.82993387e+02] [ 3.95393164e-01 -2.10620791e-02 9.18270458e-01 4.70632576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.85, Y:183.02, Z:47.07 [[ 7.73557578e-01 -5.36751252e-01 -3.36907653e-01 2.81847278e+02] [ 4.94699525e-01 8.43722566e-01 -2.08337734e-01 1.83016070e+02] [ 3.96082129e-01 -5.50682349e-03 9.18198574e-01 4.70693027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.87, Y:183.03, Z:47.08 [[ 7.73710718e-01 -5.36649470e-01 -3.36718089e-01 2.81868846e+02] [ 4.94576094e-01 8.43788510e-01 -2.08363716e-01 1.83030344e+02] [ 3.95937132e-01 -5.31947678e-03 9.18262212e-01 4.70797652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.89, Y:183.04, Z:47.09 [[ 7.74110039e-01 -5.35517216e-01 -3.37601775e-01 2.81891463e+02] [ 4.94865786e-01 8.44481534e-01 -2.04838457e-01 1.83042194e+02] [ 3.94792985e-01 -8.50006173e-03 9.18730781e-01 4.70917806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.91, Y:183.06, Z:47.10 [[ 7.73416290e-01 -5.38350830e-01 -3.34672418e-01 2.81912239e+02] [ 4.94873757e-01 8.42719124e-01 -2.11953871e-01 1.83060934e+02] [ 3.96140389e-01 -1.69202027e-03 9.18188395e-01 4.71013288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.93, Y:183.08, Z:47.11 [[ 7.73673341e-01 -5.41849759e-01 -3.28372350e-01 2.81933729e+02] [ 4.95600402e-01 8.40447768e-01 -2.19152439e-01 1.83081665e+02] [ 3.94727504e-01 6.81093083e-03 9.18772991e-01 4.71064122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.96, Y:183.08, Z:47.13 [[ 7.73343913e-01 -5.32742823e-01 -3.43692125e-01 2.81959404e+02] [ 4.95705964e-01 8.46069591e-01 -1.96065919e-01 1.83078980e+02] [ 3.95240167e-01 -1.87438508e-02 9.18386563e-01 4.71275230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.88275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.98, Y:183.11, Z:47.13 [[ 7.71385044e-01 -5.42421673e-01 -3.32781974e-01 2.81976438e+02] [ 4.96523785e-01 8.40100164e-01 -2.18393785e-01 1.83106780e+02] [ 3.98031713e-01 3.23153376e-03 9.17365964e-01 4.71348142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.00, Y:183.11, Z:47.15 [[ 7.71826777e-01 -5.37312738e-01 -3.39968303e-01 2.82000802e+02] [ 4.96120078e-01 8.43332266e-01 -2.06532219e-01 1.83111462e+02] [ 3.97678632e-01 -9.25800431e-03 9.17478063e-01 4.71490820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:183.12, Z:47.16 [[ 7.72651834e-01 -5.35429753e-01 -3.41063223e-01 2.82024182e+02] [ 4.96538242e-01 8.44460829e-01 -2.00837456e-01 1.83121927e+02] [ 3.95548881e-01 -1.41735045e-02 9.18335557e-01 4.71610246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.04, Y:183.15, Z:47.16 [[ 7.72355872e-01 -5.43650248e-01 -3.28497815e-01 2.82042781e+02] [ 4.98122190e-01 8.39299192e-01 -2.17832848e-01 1.83149126e+02] [ 3.94132833e-01 4.61242823e-03 9.19041912e-01 4.71630394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.07, Y:183.15, Z:47.18 [[ 7.72003556e-01 -5.35642221e-01 -3.42195734e-01 2.82069267e+02] [ 4.96990939e-01 8.44304962e-01 -2.00372495e-01 1.83149855e+02] [ 3.96245524e-01 -1.53799001e-02 9.18015764e-01 4.71838119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.09, Y:183.18, Z:47.19 [[ 7.70359520e-01 -5.43199424e-01 -3.33887099e-01 2.82087050e+02] [ 4.97609866e-01 8.39602053e-01 -2.17836669e-01 1.83175633e+02] [ 3.98661047e-01 1.66703714e-03 9.17096827e-01 4.71909137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:183.19, Z:47.21 [[ 7.67680742e-01 -5.44547761e-01 -3.37837260e-01 2.82112156e+02] [ 5.00242826e-01 8.38721188e-01 -2.15183371e-01 1.83190796e+02] [ 4.00528891e-01 -3.80853561e-03 9.16276215e-01 4.72050893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:183.19, Z:47.22 [[ 7.69483517e-01 -5.36350409e-01 -3.46732398e-01 2.82135779e+02] [ 4.98992657e-01 8.43738133e-01 -1.97768275e-01 1.83189886e+02] [ 3.98624442e-01 -2.08374931e-02 9.16877502e-01 4.72187328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.15, Y:183.22, Z:47.23 [[ 7.67151245e-01 -5.45665053e-01 -3.37236737e-01 2.82153695e+02] [ 5.00136979e-01 8.38002415e-01 -2.18208512e-01 1.83215438e+02] [ 4.01673959e-01 -1.26563104e-03 9.15781867e-01 4.72259590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:183.23, Z:47.23 [[ 7.67477583e-01 -5.49076189e-01 -3.30898017e-01 2.82175903e+02] [ 5.04061506e-01 8.35772243e-01 -2.17730926e-01 1.83233602e+02] [ 3.96106245e-01 3.10652058e-04 9.18204632e-01 4.72292818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.20, Y:183.23, Z:47.25 [[ 7.66382578e-01 -5.39838164e-01 -3.48184578e-01 2.82202058e+02] [ 5.03237579e-01 8.41417413e-01 -1.96897630e-01 1.83229023e+02] [ 3.99261422e-01 -2.43206501e-02 9.16514497e-01 4.72542868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.21, Y:183.27, Z:47.25 [[ 7.64862205e-01 -5.55576240e-01 -3.26068779e-01 2.82214339e+02] [ 5.06604884e-01 8.31412426e-01 -2.28264911e-01 1.83266333e+02] [ 3.97916196e-01 9.40316748e-03 9.17373578e-01 4.72488172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.25, Y:183.26, Z:47.28 [[ 7.63253454e-01 -5.44748111e-01 -3.47409932e-01 2.82245777e+02] [ 5.07826783e-01 8.38233648e-01 -1.98686462e-01 1.83258504e+02] [ 3.99444770e-01 -2.47759403e-02 9.16422407e-01 4.72771869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.26, Y:183.28, Z:47.28 [[ 7.61874463e-01 -5.52034334e-01 -3.38829450e-01 2.82264100e+02] [ 5.09745135e-01 8.33748085e-01 -2.12188662e-01 1.83281152e+02] [ 3.99633832e-01 -1.10555412e-02 9.16608191e-01 4.72843519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.28, Y:183.31, Z:47.28 [[ 7.60834449e-01 -5.61733302e-01 -3.24940976e-01 2.82282142e+02] [ 5.13729590e-01 8.27296614e-01 -2.27293247e-01 1.83307703e+02] [ 3.96500755e-01 6.00073779e-03 9.18014783e-01 4.72837889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.31, Y:183.31, Z:47.30 [[ 7.59656164e-01 -5.58461528e-01 -3.33231502e-01 2.82308603e+02] [ 5.15484452e-01 8.29487413e-01 -2.15003282e-01 1.83313819e+02] [ 3.96482398e-01 -8.44708973e-03 9.18003461e-01 4.73002285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:183.33, Z:47.31 [[ 7.59456965e-01 -5.57770112e-01 -3.34839693e-01 2.82331373e+02] [ 5.15588774e-01 8.29924793e-01 -2.13056460e-01 1.83326382e+02] [ 3.96728288e-01 -1.08323741e-02 9.17872173e-01 4.73126225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.36, Y:183.32, Z:47.34 [[ 7.58787241e-01 -5.50152225e-01 -3.48675283e-01 2.82356139e+02] [ 5.14716698e-01 8.34514818e-01 -1.96600458e-01 1.83324937e+02] [ 3.99134869e-01 -3.02910712e-02 9.16391732e-01 4.73363087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.37, Y:183.35, Z:47.34 [[ 7.57936581e-01 -5.58326565e-01 -3.37347871e-01 2.82374390e+02] [ 5.15485394e-01 8.29546812e-01 -2.14771726e-01 1.83351706e+02] [ 3.99758611e-01 -1.11145529e-02 9.16553064e-01 4.73427829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.39, Y:183.38, Z:47.34 [[ 7.58288610e-01 -5.67077176e-01 -3.21592695e-01 2.82390503e+02] [ 5.17363549e-01 8.23605840e-01 -2.32397030e-01 1.83382083e+02] [ 3.96652673e-01 9.84368322e-03 9.17915987e-01 4.73399114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.42, Y:183.38, Z:47.36 [[ 7.59678448e-01 -5.56502697e-01 -3.36442273e-01 2.82417399e+02] [ 5.14294615e-01 8.30768966e-01 -2.12894280e-01 1.83382351e+02] [ 3.97982040e-01 -1.12992531e-02 9.17323620e-01 4.73589508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.51275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:282.44, Y:183.38, Z:47.38 [[ 7.60818220e-01 -5.46086505e-01 -3.50635373e-01 2.82443760e+02] [ 5.09674662e-01 8.37259965e-01 -1.98059308e-01 1.83382107e+02] [ 4.01730476e-01 -2.80228349e-02 9.15329091e-01 4.73835295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.46, Y:183.41, Z:47.39 [[ 7.61970033e-01 -5.50701164e-01 -3.40778368e-01 2.82461438e+02] [ 5.07529136e-01 8.34643597e-01 -2.13972526e-01 1.83406875e+02] [ 4.02263402e-01 -9.91429760e-03 9.15470295e-01 4.73902739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.48, Y:183.42, Z:47.40 [[ 7.63993140e-01 -5.48651182e-01 -3.39553182e-01 2.82480152e+02] [ 5.03037124e-01 8.36044229e-01 -2.19051818e-01 1.83423468e+02] [ 4.04064517e-01 -3.45376959e-03 9.14723968e-01 4.74009184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.50, Y:183.44, Z:47.41 [[ 7.65764315e-01 -5.46414503e-01 -3.39169876e-01 2.82502330e+02] [ 5.01711970e-01 8.37503457e-01 -2.16501869e-01 1.83437323e+02] [ 4.02355705e-01 -4.37618087e-03 9.15472957e-01 4.74109814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.53, Y:183.45, Z:47.43 [[ 7.66166654e-01 -5.42116351e-01 -3.45106535e-01 2.82525060e+02] [ 4.96368745e-01 8.40292578e-01 -2.18005624e-01 1.83447228e+02] [ 4.08174874e-01 -4.27145818e-03 9.12893765e-01 4.74302728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.54, Y:183.47, Z:47.44 [[ 7.65878915e-01 -5.45950369e-01 -3.39658184e-01 2.82544793e+02] [ 4.96878614e-01 8.37805329e-01 -2.26260631e-01 1.83467474e+02] [ 4.08094512e-01 4.51935915e-03 9.12928499e-01 4.74379807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.57, Y:183.47, Z:47.45 [[ 7.68364213e-01 -5.35563790e-01 -3.50410992e-01 2.82574183e+02] [ 4.96013416e-01 8.44303064e-01 -2.02788133e-01 1.83467042e+02] [ 4.04459055e-01 -1.79934083e-02 9.14379084e-01 4.74540196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.59, Y:183.48, Z:47.47 [[ 7.67639073e-01 -5.38451470e-01 -3.47563330e-01 2.82592920e+02] [ 4.96195514e-01 8.42575291e-01 -2.09420367e-01 1.83483948e+02] [ 4.05610978e-01 -1.17001090e-02 9.13970920e-01 4.74663576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.61, Y:183.50, Z:47.48 [[ 7.67401251e-01 -5.41460815e-01 -3.43388271e-01 2.82613039e+02] [ 4.96528912e-01 8.40712658e-01 -2.16012190e-01 1.83502333e+02] [ 4.05653003e-01 -4.73417938e-03 9.14014895e-01 4.74760068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.63, Y:183.52, Z:47.48 [[ 7.68099924e-01 -5.44929831e-01 -3.36264757e-01 2.82634537e+02] [ 4.96684240e-01 8.38465427e-01 -2.24233122e-01 1.83523034e+02] [ 4.04137690e-01 5.21603819e-03 9.14683290e-01 4.74820431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.66, Y:183.53, Z:47.50 [[ 7.67357598e-01 -5.42190457e-01 -3.42332915e-01 2.82657847e+02] [ 4.97711320e-01 8.40238909e-01 -2.15132558e-01 1.83529217e+02] [ 4.04284255e-01 -5.29936390e-03 9.14618039e-01 4.74967992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.68, Y:183.55, Z:47.51 [[ 7.65871890e-01 -5.45422737e-01 -3.40520610e-01 2.82678636e+02] [ 4.98678690e-01 8.38160880e-01 -2.20920581e-01 1.83545971e+02] [ 4.05906163e-01 -6.13508991e-04 9.13914553e-01 4.75074538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.71, Y:183.55, Z:47.53 [[ 7.62086258e-01 -5.41998785e-01 -3.54205946e-01 2.82707587e+02] [ 5.00971787e-01 8.40161479e-01 -2.07740120e-01 1.83549612e+02] [ 4.10185084e-01 -1.91312951e-02 9.11801618e-01 4.75326289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.72, Y:183.56, Z:47.54 [[ 7.63091580e-01 -5.41853243e-01 -3.52258858e-01 2.82724951e+02] [ 5.02582371e-01 8.40195077e-01 -2.03674232e-01 1.83560635e+02] [ 4.06327702e-01 -2.16170000e-02 9.13471677e-01 4.75389233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.74, Y:183.58, Z:47.55 [[ 7.62234774e-01 -5.48458732e-01 -3.43789425e-01 2.82742861e+02] [ 5.03399330e-01 8.36148044e-01 -2.17820024e-01 1.83583326e+02] [ 4.06924150e-01 -7.03336921e-03 9.13434874e-01 4.75462092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.76, Y:183.60, Z:47.55 [[ 7.61846487e-01 -5.51591246e-01 -3.39613056e-01 2.82764894e+02] [ 5.04295984e-01 8.34113942e-01 -2.23471458e-01 1.83602286e+02] [ 4.06540885e-01 -1.01455549e-03 9.13632026e-01 4.75536476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.79, Y:183.61, Z:47.57 [[ 7.60205619e-01 -5.48297988e-01 -3.48506433e-01 2.82787383e+02] [ 5.06004784e-01 8.36141365e-01 -2.11723348e-01 1.83606955e+02] [ 4.07488130e-01 -1.53926437e-02 9.13080769e-01 4.75709906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.81, Y:183.64, Z:47.57 [[ 7.59780327e-01 -5.58561831e-01 -3.32780011e-01 2.82805309e+02] [ 5.08235106e-01 8.29433378e-01 -2.31813176e-01 1.83637351e+02] [ 4.05500841e-01 6.99660604e-03 9.14067895e-01 4.75707425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:183.65, Z:47.58 [[ 7.58231240e-01 -5.58515925e-01 -3.36370849e-01 2.82829564e+02] [ 5.11352717e-01 8.29492100e-01 -2.24635826e-01 1.83647280e+02] [ 4.04479648e-01 -1.67824680e-03 9.14545460e-01 4.75834959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.86, Y:183.64, Z:47.61 [[ 7.56733239e-01 -5.47707530e-01 -3.56891113e-01 2.82856722e+02] [ 5.10828487e-01 8.36096501e-01 -1.99992242e-01 1.83639896e+02] [ 4.07932668e-01 -3.09693704e-02 9.12486623e-01 4.76114321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.88, Y:183.67, Z:47.62 [[ 7.56371501e-01 -5.57123599e-01 -3.42805261e-01 2.82875927e+02] [ 5.10762522e-01 8.30402401e-01 -2.22606150e-01 1.83668562e+02] [ 4.08685451e-01 -6.71913198e-03 9.12650566e-01 4.76151517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.90, Y:183.68, Z:47.63 [[ 7.54383240e-01 -5.56010254e-01 -3.48939141e-01 2.82897748e+02] [ 5.13288694e-01 8.30994546e-01 -2.14435961e-01 1.83676212e+02] [ 4.09195116e-01 -1.73396213e-02 9.12282135e-01 4.76311732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.92, Y:183.69, Z:47.64 [[ 7.53840020e-01 -5.58346232e-01 -3.46373656e-01 2.82916802e+02] [ 5.13163498e-01 8.29526287e-01 -2.20339203e-01 1.83693026e+02] [ 4.10351617e-01 -1.16458078e-02 9.11853018e-01 4.76404356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.94, Y:183.71, Z:47.65 [[ 7.53342735e-01 -5.58786167e-01 -3.46745934e-01 2.82937750e+02] [ 5.13476845e-01 8.29228382e-01 -2.20730197e-01 1.83707367e+02] [ 4.10872551e-01 -1.17605177e-02 9.11616936e-01 4.76516193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:183.73, Z:47.66 [[ 7.52129995e-01 -5.61814000e-01 -3.44478592e-01 2.82956335e+02] [ 5.11808721e-01 8.27261091e-01 -2.31713013e-01 1.83728623e+02] [ 4.15153350e-01 -2.02884078e-03 9.09749185e-01 4.76619231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.98, Y:183.73, Z:47.68 [[ 7.54049767e-01 -5.52640099e-01 -3.54961787e-01 2.82982360e+02] [ 5.11020293e-01 8.33132683e-01 -2.11537687e-01 1.83729960e+02] [ 4.12634474e-01 -2.18827334e-02 9.10633810e-01 4.76783617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.00, Y:183.76, Z:47.68 [[ 7.55954759e-01 -5.59099117e-01 -3.40500484e-01 2.83000180e+02] [ 5.08754941e-01 8.29098282e-01 -2.31871620e-01 1.83759918e+02] [ 4.11947584e-01 2.05315077e-03 9.11205231e-01 4.76808917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:183.76, Z:47.70 [[ 7.56073505e-01 -5.49034274e-01 -3.56250222e-01 2.83024812e+02] [ 5.06874529e-01 8.35552971e-01 -2.11965669e-01 1.83758552e+02] [ 4.14042348e-01 -2.03125369e-02 9.10030953e-01 4.77022029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.04, Y:183.79, Z:47.70 [[ 7.57670396e-01 -5.55805642e-01 -3.42075516e-01 2.83042903e+02] [ 5.05481334e-01 8.31309371e-01 -2.31113284e-01 1.83786576e+02] [ 4.12824649e-01 2.19490510e-03 9.10807878e-01 4.77048470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.07, Y:183.79, Z:47.72 [[ 7.58309819e-01 -5.47238234e-01 -3.54254898e-01 2.83069680e+02] [ 5.03500727e-01 8.36835448e-01 -2.14926618e-01 1.83789203e+02] [ 4.14069119e-01 -1.53866342e-02 9.10115386e-01 4.77242179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.09, Y:183.81, Z:47.73 [[ 7.60137067e-01 -5.47130069e-01 -3.50485844e-01 2.83089214e+02] [ 5.01030516e-01 8.37005543e-01 -2.19977595e-01 1.83806223e+02] [ 4.13714951e-01 -8.39097966e-03 9.10367800e-01 4.77342871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.11, Y:183.83, Z:47.74 [[ 7.60688916e-01 -5.51244195e-01 -3.42756782e-01 2.83105548e+02] [ 5.00686119e-01 8.34335131e-01 -2.30647565e-01 1.83827896e+02] [ 4.13117156e-01 3.83748384e-03 9.10669803e-01 4.77390726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.13, Y:183.83, Z:47.76 [[ 7.59948390e-01 -5.42806332e-01 -3.57546823e-01 2.83130684e+02] [ 5.01484863e-01 8.39603710e-01 -2.08754743e-01 1.83827119e+02] [ 4.13511035e-01 -2.06614889e-02 9.10264646e-01 4.77613385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.15, Y:183.85, Z:47.77 [[ 7.60084463e-01 -5.48899528e-01 -3.47823112e-01 2.83148840e+02] [ 5.01709631e-01 8.35872047e-01 -2.22722624e-01 1.83850419e+02] [ 4.12987960e-01 -5.21819892e-03 9.10721535e-01 4.77685330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:183.86, Z:47.78 [[ 7.59659507e-01 -5.49611942e-01 -3.47626449e-01 2.83169373e+02] [ 5.02473017e-01 8.35402318e-01 -2.22764078e-01 1.83863629e+02] [ 4.12841739e-01 -5.44806089e-03 9.10786483e-01 4.77798985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:183.88, Z:47.79 [[ 7.60186813e-01 -5.50372405e-01 -3.45262546e-01 2.83193402e+02] [ 5.00612969e-01 8.34918686e-01 -2.28686342e-01 1.83880511e+02] [ 4.14128803e-01 1.00143325e-03 9.10217739e-01 4.77902353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.21, Y:183.89, Z:47.80 [[ 7.59040684e-01 -5.47740067e-01 -3.51906322e-01 2.83214851e+02] [ 5.03962096e-01 8.36529310e-01 -2.15037017e-01 1.83887595e+02] [ 4.12164343e-01 -1.41256032e-02 9.11000012e-01 4.78049451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:183.91, Z:47.81 [[ 7.59098505e-01 -5.51714597e-01 -3.45514780e-01 2.83237813e+02] [ 5.04719543e-01 8.34016750e-01 -2.22877193e-01 1.83908044e+02] [ 4.11129715e-01 -5.20231845e-03 9.11562008e-01 4.78139360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.26, Y:183.92, Z:47.83 [[ 7.58323980e-01 -5.49096427e-01 -3.51337238e-01 2.83262043e+02] [ 5.05240625e-01 8.35640126e-01 -2.15493600e-01 1.83916830e+02] [ 4.11918260e-01 -1.40958816e-02 9.11111768e-01 4.78295475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:183.93, Z:47.84 [[ 7.57081841e-01 -5.52647502e-01 -3.48436255e-01 2.83283264e+02] [ 5.06850611e-01 8.33358923e-01 -2.20488919e-01 1.83933587e+02] [ 4.12225112e-01 -9.67697185e-03 9.11030632e-01 4.78387937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.30, Y:183.96, Z:47.84 [[ 7.56241965e-01 -5.61580884e-01 -3.35745440e-01 2.83300068e+02] [ 5.10101186e-01 8.27396857e-01 -2.34970682e-01 1.83960374e+02] [ 4.09749765e-01 6.43054304e-03 9.12175300e-01 4.78390170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:183.95, Z:47.86 [[ 7.54445848e-01 -5.51238836e-01 -3.56296516e-01 2.83326219e+02] [ 5.10386663e-01 8.34010340e-01 -2.09600114e-01 1.83954523e+02] [ 4.12694701e-01 -2.37170537e-02 9.10560588e-01 4.78643338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.34, Y:183.98, Z:47.87 [[ 7.53725947e-01 -5.58298129e-01 -3.46699288e-01 2.83343002e+02] [ 5.10534961e-01 8.29613922e-01 -2.26041576e-01 1.83978833e+02] [ 4.13825145e-01 -6.62870654e-03 9.10332252e-01 4.78700624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.36, Y:184.01, Z:47.87 [[ 7.54338872e-01 -5.67269598e-01 -3.30421049e-01 2.83363577e+02] [ 5.13648436e-01 8.23443021e-01 -2.41053679e-01 1.84008987e+02] [ 4.08825330e-01 1.21159057e-02 9.12532221e-01 4.78689425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.39, Y:183.99, Z:47.90 [[ 7.54601984e-01 -5.46891977e-01 -3.62608619e-01 2.83391052e+02] [ 5.10635963e-01 8.36469034e-01 -1.98923272e-01 1.83986972e+02] [ 4.12100423e-01 -3.50531059e-02 9.10463904e-01 4.78983749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.40, Y:184.05, Z:47.89 [[ 7.52866158e-01 -5.75318792e-01 -3.19688654e-01 2.83400209e+02] [ 5.12994010e-01 8.17234152e-01 -2.62612808e-01 1.84048447e+02] [ 4.12346569e-01 3.37139309e-02 9.10403030e-01 4.78853843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.43, Y:184.04, Z:47.91 [[ 7.51694880e-01 -5.63943479e-01 -3.41939411e-01 2.83429968e+02] [ 5.13586379e-01 8.25813228e-01 -2.32941075e-01 1.84041672e+02] [ 4.13743689e-01 -5.14810444e-04 9.10393264e-01 4.79064924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:184.03, Z:47.94 [[ 7.50310326e-01 -5.46821064e-01 -3.71511962e-01 2.83461835e+02] [ 5.11547345e-01 8.36208858e-01 -1.97671595e-01 1.84027410e+02] [ 4.18752585e-01 -4.17309186e-02 9.07141005e-01 4.79431763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.47, Y:184.08, Z:47.93 [[ 7.51899625e-01 -5.68042205e-01 -3.34626670e-01 2.83472616e+02] [ 5.11723963e-01 8.22871669e-01 -2.47023890e-01 1.84077319e+02] [ 4.15674801e-01 1.45006850e-02 9.09397707e-01 4.79300523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.50, Y:184.06, Z:47.96 [[ 7.50442965e-01 -5.51228597e-01 -3.64667506e-01 2.83502949e+02] [ 5.11701014e-01 8.33777201e-01 -2.07310521e-01 1.84061212e+02] [ 4.18326940e-01 -3.10260105e-02 9.07766467e-01 4.79629347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.01275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.52, Y:184.09, Z:47.97 [[ 7.50449497e-01 -5.59695819e-01 -3.51519763e-01 2.83519369e+02] [ 5.11731540e-01 8.28642424e-01 -2.26897694e-01 1.84087852e+02] [ 4.18277879e-01 -9.60848898e-03 9.08268293e-01 4.79678634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.54, Y:184.10, Z:47.98 [[ 7.50921421e-01 -5.59589005e-01 -3.50681003e-01 2.83540116e+02] [ 5.11775024e-01 8.28717328e-01 -2.26525748e-01 1.84100297e+02] [ 4.17376742e-01 -9.36674239e-03 9.08685270e-01 4.79790761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:184.11, Z:47.99 [[ 7.51097948e-01 -5.59595245e-01 -3.50292783e-01 2.83561866e+02] [ 5.11822602e-01 8.28714777e-01 -2.26427566e-01 1.84113722e+02] [ 4.17000594e-01 -9.21848355e-03 9.08859463e-01 4.79909991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.58, Y:184.14, Z:48.00 [[ 7.49387225e-01 -5.66189516e-01 -3.43290284e-01 2.83579336e+02] [ 5.10697663e-01 8.24236547e-01 -2.44585388e-01 1.84136902e+02] [ 4.21434081e-01 7.97161927e-03 9.06824001e-01 4.80003945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:184.13, Z:48.02 [[ 7.51485943e-01 -5.53072804e-01 -3.59693412e-01 2.83609296e+02] [ 5.11904834e-01 8.32739364e-01 -2.10946894e-01 1.84130123e+02] [ 4.16199853e-01 -2.56051711e-02 9.08912569e-01 4.80198585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:184.15, Z:48.03 [[ 7.51598846e-01 -5.59326211e-01 -3.49647488e-01 2.83627028e+02] [ 5.11509625e-01 8.28902505e-01 -2.26447655e-01 1.84154070e+02] [ 4.16481787e-01 -8.65025932e-03 9.09102906e-01 4.80265214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.64, Y:184.19, Z:48.02 [[ 7.53681326e-01 -5.67771782e-01 -3.31058396e-01 2.83644948e+02] [ 5.12841275e-01 8.23064329e-01 -2.44046999e-01 1.84185049e+02] [ 4.11045356e-01 1.41532561e-02 9.11505019e-01 4.80241516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:184.19, Z:48.04 [[ 7.54266497e-01 -5.59819162e-01 -3.43051829e-01 2.83671350e+02] [ 5.12427835e-01 8.28595162e-01 -2.25494503e-01 1.84186848e+02] [ 4.10487229e-01 -5.70635678e-03 9.11848492e-01 4.80412247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.69, Y:184.20, Z:48.05 [[ 7.54037364e-01 -5.59738045e-01 -3.43687320e-01 2.83693347e+02] [ 5.12447481e-01 8.28645927e-01 -2.25263195e-01 1.84200833e+02] [ 4.10883478e-01 -6.26483619e-03 9.11666342e-01 4.80534678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.71, Y:184.21, Z:48.07 [[ 7.54525901e-01 -5.57921028e-01 -3.45564452e-01 2.83714703e+02] [ 5.11459425e-01 8.29851160e-01 -2.23061222e-01 1.84212410e+02] [ 4.11217608e-01 -8.43672628e-03 9.11498163e-01 4.80668597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:184.21, Z:48.09 [[ 7.54529197e-01 -5.48740179e-01 -3.59958200e-01 2.83738122e+02] [ 5.08436046e-01 8.35587511e-01 -2.08053598e-01 1.84211415e+02] [ 4.14943945e-01 -2.60332095e-02 9.09474460e-01 4.80905972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.75, Y:184.26, Z:48.08 [[ 7.56079933e-01 -5.68233639e-01 -3.24736304e-01 2.83749097e+02] [ 5.11052764e-01 8.22555470e-01 -2.49454549e-01 1.84259244e+02] [ 4.08862089e-01 2.26501929e-02 9.12315056e-01 4.80765012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:184.25, Z:48.11 [[ 7.54071124e-01 -5.52804174e-01 -3.54660802e-01 2.83777699e+02] [ 5.08158619e-01 8.33163617e-01 -2.18204503e-01 1.84245472e+02] [ 4.16114837e-01 -1.56822288e-02 9.09176831e-01 4.81085223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.80, Y:184.27, Z:48.11 [[ 7.57343919e-01 -5.59110074e-01 -3.37381259e-01 2.83797288e+02] [ 5.08956591e-01 8.29085651e-01 -2.31473913e-01 1.84272367e+02] [ 4.09137357e-01 3.59294513e-03 9.12465733e-01 4.81055197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.83, Y:184.27, Z:48.13 [[ 7.56615386e-01 -5.51054295e-01 -3.51955000e-01 2.83826499e+02] [ 5.06941818e-01 8.34341776e-01 -2.16526658e-01 1.84273869e+02] [ 4.12968705e-01 -1.45933071e-02 9.10628291e-01 4.81310656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.84, Y:184.29, Z:48.14 [[ 7.55300950e-01 -5.54635805e-01 -3.49141232e-01 2.83843648e+02] [ 5.06018226e-01 8.32077511e-01 -2.27139981e-01 1.84292123e+02] [ 4.16492533e-01 -5.11278371e-03 9.09124760e-01 4.81423430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.87, Y:184.31, Z:48.15 [[ 7.55009912e-01 -5.56641069e-01 -3.46569982e-01 2.83867429e+02] [ 5.06073475e-01 8.30753024e-01 -2.31816849e-01 1.84310826e+02] [ 4.16952839e-01 -3.65856795e-04 9.08928048e-01 4.81524347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.89, Y:184.32, Z:48.17 [[ 7.55840223e-01 -5.52025259e-01 -3.52098949e-01 2.83893068e+02] [ 5.06509084e-01 8.33738441e-01 -2.19838032e-01 1.84318472e+02] [ 4.14914575e-01 -1.21788891e-02 9.09778858e-01 4.81658547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.91, Y:184.35, Z:48.17 [[ 7.54975558e-01 -5.62015913e-01 -3.37860949e-01 2.83907168e+02] [ 5.08365324e-01 8.27074128e-01 -2.39818858e-01 1.84346280e+02] [ 4.14218064e-01 9.30058525e-03 9.10130153e-01 4.81674954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.94, Y:184.33, Z:48.20 [[ 7.54577890e-01 -5.44305861e-01 -3.66528768e-01 2.83936441e+02] [ 5.07669439e-01 8.38134014e-01 -1.99507182e-01 1.84330028e+02] [ 4.15793156e-01 -3.55317457e-02 9.08764847e-01 4.81978939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.95, Y:184.37, Z:48.20 [[ 7.53239312e-01 -5.60036150e-01 -3.44949344e-01 2.83947854e+02] [ 5.06609633e-01 8.28452476e-01 -2.38774317e-01 1.84367526e+02] [ 4.19496388e-01 5.09954150e-03 9.07742681e-01 4.81979867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.97, Y:184.37, Z:48.21 [[ 7.54256368e-01 -5.53468283e-01 -3.53228242e-01 2.83974336e+02] [ 5.08494225e-01 8.32745428e-01 -2.19017525e-01 1.84369606e+02] [ 4.15368457e-01 -1.44191585e-02 9.09538967e-01 4.82133045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.99, Y:184.39, Z:48.22 [[ 7.53711326e-01 -5.57406703e-01 -3.48162326e-01 2.83993286e+02] [ 5.08737151e-01 8.30222111e-01 -2.27854684e-01 1.84389185e+02] [ 4.16059789e-01 -5.38645372e-03 9.09321306e-01 4.82226594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.01, Y:184.40, Z:48.23 [[ 7.53552455e-01 -5.57692224e-01 -3.48048962e-01 2.84014530e+02] [ 5.09012731e-01 8.30030267e-01 -2.27938139e-01 1.84403543e+02] [ 4.16010501e-01 -5.39800845e-03 9.09343788e-01 4.82338489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.04, Y:184.42, Z:48.24 [[ 7.53627718e-01 -5.58012920e-01 -3.47371334e-01 2.84035662e+02] [ 5.09492847e-01 8.29814564e-01 -2.27650671e-01 1.84417852e+02] [ 4.15285808e-01 -5.41935365e-03 9.09674848e-01 4.82448874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.05, Y:184.43, Z:48.25 [[ 7.53523146e-01 -5.60262355e-01 -3.43960698e-01 2.84052454e+02] [ 5.07881196e-01 8.28307535e-01 -2.36565673e-01 1.84434906e+02] [ 4.17444079e-01 3.56653933e-03 9.08695615e-01 4.82528209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.07, Y:184.45, Z:48.27 [[ 7.52502630e-01 -5.60652165e-01 -3.45555988e-01 2.84074940e+02] [ 5.08248298e-01 8.28047706e-01 -2.36686851e-01 1.84448222e+02] [ 4.18835838e-01 2.47923503e-03 9.08058585e-01 4.82656212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.10, Y:184.46, Z:48.28 [[ 7.51973000e-01 -5.60466693e-01 -3.47006763e-01 2.84097211e+02] [ 5.09905937e-01 8.28174552e-01 -2.32643175e-01 1.84461096e+02] [ 4.17770921e-01 -1.99942306e-03 9.08550197e-01 4.82785815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.12, Y:184.47, Z:48.29 [[ 7.52791349e-01 -5.55940504e-01 -3.52470339e-01 2.84123557e+02] [ 5.11729932e-01 8.31061176e-01 -2.17875648e-01 1.84467996e+02] [ 4.14050312e-01 -1.63547197e-02 9.10107061e-01 4.82932784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.14, Y:184.49, Z:48.30 [[ 7.52842129e-01 -5.59988805e-01 -3.45891989e-01 2.84142810e+02] [ 5.11881189e-01 8.28478157e-01 -2.27159839e-01 1.84488583e+02] [ 4.13770924e-01 -6.04010631e-03 9.10360994e-01 4.83020275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.16, Y:184.51, Z:48.31 [[ 7.50934041e-01 -5.66120014e-01 -3.40009112e-01 2.84160074e+02] [ 5.11475508e-01 8.24279762e-01 -2.42807904e-01 1.84511948e+02] [ 4.17721044e-01 8.42638728e-03 9.08536254e-01 4.83105520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.19, Y:184.51, Z:48.33 [[ 7.52462623e-01 -5.55063233e-01 -3.54548738e-01 2.84188573e+02] [ 5.12740007e-01 8.31541860e-01 -2.13625419e-01 1.84508369e+02] [ 4.13397733e-01 -2.10461789e-02 9.10307296e-01 4.83300164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.21, Y:184.53, Z:48.34 [[ 7.52380773e-01 -5.60872019e-01 -3.45464545e-01 2.84205565e+02] [ 5.12792870e-01 8.27879700e-01 -2.27285447e-01 1.84530487e+02] [ 4.13481131e-01 -6.14655491e-03 9.10491941e-01 4.83371882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:184.54, Z:48.35 [[ 7.52083999e-01 -5.61229308e-01 -3.45530494e-01 2.84226847e+02] [ 5.13113820e-01 8.27636845e-01 -2.27445512e-01 1.84544372e+02] [ 4.13622855e-01 -6.23834106e-03 9.10426942e-01 4.83490562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0327550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.25, Y:184.56, Z:48.36 [[ 7.52247366e-01 -5.60997672e-01 -3.45551028e-01 2.84247819e+02] [ 5.12776613e-01 8.27795933e-01 -2.27626972e-01 1.84557907e+02] [ 4.13743937e-01 -5.95869572e-03 9.10373796e-01 4.83606668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.27, Y:184.59, Z:48.36 [[ 7.52993257e-01 -5.70104422e-01 -3.28606304e-01 2.84266497e+02] [ 5.13467249e-01 8.21367954e-01 -2.48407063e-01 1.84589700e+02] [ 4.11524653e-01 1.83202683e-02 9.11214480e-01 4.83580289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.30, Y:184.57, Z:48.39 [[ 7.52369498e-01 -5.51682280e-01 -3.59981668e-01 2.84295148e+02] [ 5.12684375e-01 8.33526911e-01 -2.05882540e-01 1.84571777e+02] [ 4.13636157e-01 -2.96572334e-02 9.09959108e-01 4.83911829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.31, Y:184.61, Z:48.39 [[ 7.51474506e-01 -5.64637916e-01 -3.41277147e-01 2.84307222e+02] [ 5.10816001e-01 8.25312875e-01 -2.40677526e-01 1.84608368e+02] [ 4.17556080e-01 6.53319697e-03 9.08627667e-01 4.83936815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.33, Y:184.61, Z:48.41 [[ 7.52382929e-01 -5.56540777e-01 -3.52395078e-01 2.84333609e+02] [ 5.12198055e-01 8.30661346e-01 -2.18299980e-01 1.84609285e+02] [ 4.14213810e-01 -1.62508947e-02 9.10034520e-01 4.84100171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.35, Y:184.64, Z:48.42 [[ 7.51117098e-01 -5.64319907e-01 -3.42587432e-01 2.84349772e+02] [ 5.11212874e-01 8.25544433e-01 -2.39035116e-01 1.84635869e+02] [ 4.17713422e-01 4.40825664e-03 9.08568140e-01 4.84165725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.38, Y:184.65, Z:48.43 [[ 7.51259215e-01 -5.61859306e-01 -3.46300032e-01 2.84377245e+02] [ 5.12666826e-01 8.27219015e-01 -2.29959621e-01 1.84647189e+02] [ 4.15670924e-01 -4.77725439e-03 9.09502535e-01 4.84284420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.24275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.40, Y:184.65, Z:48.45 [[ 7.50397959e-01 -5.57041653e-01 -3.55819477e-01 2.84400383e+02] [ 5.10918751e-01 8.30351283e-01 -2.22438254e-01 1.84651986e+02] [ 4.19362532e-01 -1.48776315e-02 9.07696933e-01 4.84469793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.42, Y:184.67, Z:48.46 [[ 7.49030579e-01 -5.63273635e-01 -3.48820878e-01 2.84416943e+02] [ 5.13702880e-01 8.26248177e-01 -2.31134813e-01 1.84673299e+02] [ 4.18404760e-01 -6.06324625e-03 9.08240438e-01 4.84552891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.43, Y:184.70, Z:48.46 [[ 7.46352552e-01 -5.72259320e-01 -3.39819275e-01 2.84431320e+02] [ 5.13430376e-01 8.19945285e-01 -2.53138259e-01 1.84700139e+02] [ 4.23493940e-01 1.44568472e-02 9.05783574e-01 4.84627174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3327550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.47, Y:184.69, Z:48.49 [[ 7.48146607e-01 -5.53220003e-01 -3.66366324e-01 2.84465268e+02] [ 5.12778122e-01 8.32464747e-01 -2.09907225e-01 1.84685590e+02] [ 4.21111925e-01 -3.08232572e-02 9.06484790e-01 4.84894031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.48, Y:184.72, Z:48.49 [[ 7.46978895e-01 -5.67268684e-01 -3.46740206e-01 2.84476662e+02] [ 5.15441096e-01 8.23530875e-01 -2.36891062e-01 1.84719921e+02] [ 4.19932146e-01 -1.77152864e-03 9.07553775e-01 4.84896835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.50, Y:184.74, Z:48.50 [[ 7.46264723e-01 -5.67652927e-01 -3.47647981e-01 2.84499697e+02] [ 5.15573959e-01 8.23265584e-01 -2.37523200e-01 1.84735757e+02] [ 4.21037358e-01 -1.98306069e-03 9.07041129e-01 4.85009454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.52, Y:184.73, Z:48.52 [[ 7.46741746e-01 -5.59564844e-01 -3.59532962e-01 2.84522794e+02] [ 5.15013090e-01 8.28519894e-01 -2.19809696e-01 1.84734682e+02] [ 4.20877990e-01 -2.10231054e-02 9.06873611e-01 4.85212410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.54, Y:184.77, Z:48.52 [[ 7.45519810e-01 -5.73952325e-01 -3.38790408e-01 2.84536488e+02] [ 5.17698800e-01 8.18833719e-01 -2.47990509e-01 1.84773431e+02] [ 4.19747740e-01 9.49044970e-03 9.07591189e-01 4.85183521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.56, Y:184.78, Z:48.54 [[ 7.44646982e-01 -5.68607765e-01 -3.49551259e-01 2.84562040e+02] [ 5.19835248e-01 8.22548261e-01 -2.30620195e-01 1.84777420e+02] [ 4.18655213e-01 -9.97843298e-03 9.08090438e-01 4.85362975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:184.79, Z:48.55 [[ 7.43505701e-01 -5.67462139e-01 -3.53816328e-01 2.84583258e+02] [ 5.18657209e-01 8.23310687e-01 -2.30551971e-01 1.84789944e+02] [ 4.22130279e-01 -1.20926842e-02 9.06454519e-01 4.85519140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.60, Y:184.80, Z:48.57 [[ 7.44258106e-01 -5.62675692e-01 -3.59827650e-01 2.84604003e+02] [ 5.18963857e-01 8.26331343e-01 -2.18753347e-01 1.84795796e+02] [ 4.20424056e-01 -2.39285935e-02 9.07012147e-01 4.85683707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.63, Y:184.82, Z:48.58 [[ 7.42945017e-01 -5.68528238e-01 -3.53282246e-01 2.84626906e+02] [ 5.18433736e-01 8.22607248e-01 -2.33546093e-01 1.84820088e+02] [ 4.23390085e-01 -9.64152830e-03 9.05896173e-01 4.85797687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.65, Y:184.83, Z:48.59 [[ 7.43878082e-01 -5.66434140e-01 -3.54679806e-01 2.84645571e+02] [ 5.17698579e-01 8.24013999e-01 -2.30193638e-01 1.84828675e+02] [ 4.22650661e-01 -1.23812300e-02 9.06208102e-01 4.85901162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.66, Y:184.85, Z:48.60 [[ 7.42401070e-01 -5.71235827e-01 -3.50043255e-01 2.84663573e+02] [ 5.21087768e-01 8.20741645e-01 -2.34202243e-01 1.84849721e+02] [ 4.21079789e-01 -8.53126262e-03 9.06983478e-01 4.85998807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.68, Y:184.86, Z:48.61 [[ 7.42050695e-01 -5.71656736e-01 -3.50099046e-01 2.84684279e+02] [ 5.21453337e-01 8.20447709e-01 -2.34418373e-01 1.84863739e+02] [ 4.21244803e-01 -8.60999949e-03 9.06906106e-01 4.86116431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.70, Y:184.88, Z:48.62 [[ 7.41441852e-01 -5.72613251e-01 -3.49825734e-01 2.84704168e+02] [ 5.22510621e-01 8.19776401e-01 -2.34412680e-01 1.84877386e+02] [ 4.21006687e-01 -8.98428980e-03 9.07013038e-01 4.86230564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.73, Y:184.89, Z:48.64 [[ 7.40869249e-01 -5.72229855e-01 -3.51661411e-01 2.84727630e+02] [ 5.24428381e-01 8.19965875e-01 -2.29414119e-01 1.84890606e+02] [ 4.19627965e-01 -1.44553589e-02 9.07581078e-01 4.86366917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.75, Y:184.91, Z:48.65 [[ 7.40855205e-01 -5.72833413e-01 -3.50707066e-01 2.84748755e+02] [ 5.23242869e-01 8.19603241e-01 -2.33382576e-01 1.84905834e+02] [ 4.21129986e-01 -1.06022749e-02 9.06938326e-01 4.86486487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.77, Y:184.92, Z:48.66 [[ 7.40746745e-01 -5.73629602e-01 -3.49633149e-01 2.84768036e+02] [ 5.24611956e-01 8.19036199e-01 -2.32297224e-01 1.84920841e+02] [ 4.19614770e-01 -1.13483177e-02 9.07631346e-01 4.86587193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.79, Y:184.94, Z:48.67 [[ 7.40433172e-01 -5.75608869e-01 -3.47034794e-01 2.84787598e+02] [ 5.24075212e-01 8.17706256e-01 -2.38121087e-01 1.84938447e+02] [ 4.20837131e-01 -5.55958167e-03 9.07119176e-01 4.86697160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.81, Y:184.95, Z:48.68 [[ 7.40549484e-01 -5.74110617e-01 -3.49261308e-01 2.84808737e+02] [ 5.23859923e-01 8.18729473e-01 -2.35059209e-01 1.84950062e+02] [ 4.20900514e-01 -8.89102589e-03 9.07063232e-01 4.86826003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.83, Y:184.97, Z:48.69 [[ 7.41363665e-01 -5.73130594e-01 -3.49143578e-01 2.84829707e+02] [ 5.22738484e-01 8.19423143e-01 -2.35138664e-01 1.84965021e+02] [ 4.20861490e-01 -8.18752243e-03 9.07087962e-01 4.86945563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.85, Y:184.98, Z:48.71 [[ 7.41690676e-01 -5.72667083e-01 -3.49209612e-01 2.84849237e+02] [ 5.22123067e-01 8.19751258e-01 -2.35362225e-01 1.84979364e+02] [ 4.21049218e-01 -7.76442583e-03 9.07004559e-01 4.87057300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:184.99, Z:48.72 [[ 7.42221005e-01 -5.71798813e-01 -3.49505504e-01 2.84869772e+02] [ 5.20998361e-01 8.20362870e-01 -2.35723291e-01 1.84993893e+02] [ 4.21507636e-01 -7.13301663e-03 9.06796798e-01 4.87175598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.89, Y:185.01, Z:48.73 [[ 7.43764763e-01 -5.69678108e-01 -3.49686761e-01 2.84889007e+02] [ 5.18516869e-01 8.21847629e-01 -2.36022736e-01 1.85008885e+02] [ 4.21846221e-01 -5.77309063e-03 9.06649015e-01 4.87283588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.91, Y:185.02, Z:48.74 [[ 7.44586553e-01 -5.68672057e-01 -3.49575395e-01 2.84909307e+02] [ 5.17365377e-01 8.22548800e-01 -2.36107050e-01 1.85023747e+02] [ 4.21810303e-01 -5.05607085e-03 9.06670009e-01 4.87398496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.93, Y:185.04, Z:48.76 [[ 7.45372196e-01 -5.63409893e-01 -3.56355977e-01 2.84934708e+02] [ 5.13327097e-01 8.26120732e-01 -2.32421659e-01 1.85035340e+02] [ 4.25341723e-01 -9.68653668e-03 9.04980989e-01 4.87589150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:185.05, Z:48.77 [[ 7.47039949e-01 -5.63271504e-01 -3.53067313e-01 2.84953565e+02] [ 5.12904340e-01 8.26241496e-01 -2.32925156e-01 1.85051677e+02] [ 4.22918968e-01 -7.08536004e-03 9.06139804e-01 4.87675654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.97, Y:185.08, Z:48.77 [[ 7.45731075e-01 -5.69965828e-01 -3.44998722e-01 2.84969433e+02] [ 5.13692779e-01 8.21638548e-01 -2.47042153e-01 1.85076852e+02] [ 4.24269835e-01 7.00365846e-03 9.05508728e-01 4.87742627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.00, Y:185.07, Z:48.80 [[ 7.47624267e-01 -5.56048278e-01 -3.63136708e-01 2.84999346e+02] [ 5.11255858e-01 8.30874263e-01 -2.19693894e-01 1.85073150e+02] [ 4.23881356e-01 -2.14072824e-02 9.05464701e-01 4.87959313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.01, Y:185.11, Z:48.80 [[ 7.46874935e-01 -5.68458360e-01 -3.45011485e-01 2.85009852e+02] [ 5.13671634e-01 8.22698805e-01 -2.43532604e-01 1.85105637e+02] [ 4.22278680e-01 4.66578479e-03 9.06454051e-01 4.87957518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.03, Y:185.12, Z:48.81 [[ 7.46684573e-01 -5.66240230e-01 -3.49047491e-01 2.85032883e+02] [ 5.13972030e-01 8.24237900e-01 -2.37622887e-01 1.85116542e+02] [ 4.22249809e-01 -1.97130326e-03 9.06477365e-01 4.88093959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.05, Y:185.13, Z:48.82 [[ 7.46237264e-01 -5.66884975e-01 -3.48957548e-01 2.85053704e+02] [ 5.14956652e-01 8.23792154e-01 -2.37036143e-01 1.85131693e+02] [ 4.21840718e-01 -2.81280762e-03 9.06665592e-01 4.88211670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.23275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.08, Y:185.14, Z:48.84 [[ 7.45960923e-01 -5.60675426e-01 -3.59423660e-01 2.85080960e+02] [ 5.14037607e-01 8.27855840e-01 -2.24544088e-01 1.85136453e+02] [ 4.23447328e-01 -1.72561632e-02 9.05756361e-01 4.88397991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.10, Y:185.15, Z:48.85 [[ 7.45787905e-01 -5.63401898e-01 -3.55497824e-01 2.85101580e+02] [ 5.15587312e-01 8.26071178e-01 -2.27543695e-01 1.85153709e+02] [ 4.21865056e-01 -1.35908315e-02 9.06556763e-01 4.88509338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.29275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:285.11, Y:185.18, Z:48.85 [[ 7.41433943e-01 -5.78746479e-01 -3.39600090e-01 2.85111742e+02] [ 5.22341918e-01 8.15473310e-01 -2.49323487e-01 1.85184634e+02] [ 4.21229900e-01 7.46953398e-03 9.06923138e-01 4.88509985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.14, Y:185.18, Z:48.87 [[ 7.42327794e-01 -5.66091767e-01 -3.58454402e-01 2.85143937e+02] [ 5.21458131e-01 8.24034653e-01 -2.21468528e-01 1.85179804e+02] [ 4.20750359e-01 -2.25167190e-02 9.06896980e-01 4.88749402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:185.21, Z:48.88 [[ 7.40139556e-01 -5.80430758e-01 -3.39549073e-01 2.85155711e+02] [ 5.26485952e-01 8.14306898e-01 -2.44370248e-01 1.85212541e+02] [ 4.18337160e-01 2.10026973e-03 9.08289386e-01 4.88755053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.18, Y:185.22, Z:48.89 [[ 7.38024835e-01 -5.79855328e-01 -3.45090049e-01 2.85177145e+02] [ 5.29243864e-01 8.14683179e-01 -2.37049045e-01 1.85220461e+02] [ 4.18593210e-01 -7.68870903e-03 9.08141293e-01 4.88886598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.20, Y:185.24, Z:48.90 [[ 7.36492068e-01 -5.82385555e-01 -3.44102454e-01 2.85197154e+02] [ 5.30879082e-01 8.12888621e-01 -2.39540164e-01 1.85236233e+02] [ 4.19221701e-01 -6.25736442e-03 9.07862331e-01 4.88995014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.22, Y:185.25, Z:48.91 [[ 7.35427181e-01 -5.82586156e-01 -3.46035017e-01 2.85218308e+02] [ 5.32577665e-01 8.12701794e-01 -2.36382793e-01 1.85248796e+02] [ 4.18936622e-01 -1.04481901e-02 9.07955364e-01 4.89115426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.24, Y:185.27, Z:48.92 [[ 7.31948480e-01 -5.89679475e-01 -3.41364233e-01 2.85236364e+02] [ 5.35151668e-01 8.07636144e-01 -2.47662172e-01 1.85271509e+02] [ 4.21739392e-01 -1.40568780e-03 9.06716002e-01 4.89216915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.26, Y:185.27, Z:48.94 [[ 7.32474371e-01 -5.81863427e-01 -3.53434927e-01 2.85262685e+02] [ 5.36558635e-01 8.12937115e-01 -2.26358295e-01 1.85273269e+02] [ 4.19029984e-01 -2.38369121e-02 9.07659449e-01 4.89380198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.28, Y:185.30, Z:48.95 [[ 7.31511457e-01 -5.87489058e-01 -3.46045655e-01 2.85278486e+02] [ 5.37173456e-01 8.09148048e-01 -2.38168248e-01 1.85295842e+02] [ 4.19923406e-01 -1.16637382e-02 9.07484595e-01 4.89455947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.30, Y:185.31, Z:48.96 [[ 7.31071681e-01 -5.88050158e-01 -3.46021976e-01 2.85298596e+02] [ 5.37727162e-01 8.08737767e-01 -2.38312239e-01 1.85311463e+02] [ 4.19980590e-01 -1.18420861e-02 9.07455822e-01 4.89569734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.32, Y:185.33, Z:48.97 [[ 7.30934818e-01 -5.88248139e-01 -3.45974594e-01 2.85318797e+02] [ 5.37877883e-01 8.08594469e-01 -2.38458315e-01 1.85326937e+02] [ 4.20025803e-01 -1.17945970e-02 9.07435514e-01 4.89688031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.34, Y:185.34, Z:48.98 [[ 7.31316193e-01 -5.88022682e-01 -3.45551662e-01 2.85338400e+02] [ 5.37675262e-01 8.08762830e-01 -2.38344283e-01 1.85342837e+02] [ 4.19621185e-01 -1.14895465e-02 9.07626604e-01 4.89799510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:185.34, Z:49.01 [[ 7.30930245e-01 -5.75485526e-01 -3.66820645e-01 2.85368957e+02] [ 5.34026955e-01 8.16982129e-01 -2.17612989e-01 1.85339896e+02] [ 4.24919037e-01 -3.68321963e-02 9.04481731e-01 4.90090393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.37, Y:185.39, Z:49.00 [[ 7.31938414e-01 -5.94567729e-01 -3.32799301e-01 2.85374899e+02] [ 5.37114232e-01 8.04005971e-01 -2.55113112e-01 1.85385053e+02] [ 4.19254649e-01 7.97584553e-03 9.07833644e-01 4.89987677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.40, Y:185.39, Z:49.01 [[ 7.32436312e-01 -5.87306163e-01 -3.44395877e-01 2.85399543e+02] [ 5.36879062e-01 8.09298745e-01 -2.38319983e-01 1.85388508e+02] [ 4.18685946e-01 -1.03447265e-02 9.08072170e-01 4.90149529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:185.40, Z:49.03 [[ 7.33055343e-01 -5.86623387e-01 -3.44242452e-01 2.85420155e+02] [ 5.36115549e-01 8.09800079e-01 -2.38335793e-01 1.85403614e+02] [ 4.18580915e-01 -9.84040484e-03 9.08126194e-01 4.90266375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.46, Y:185.39, Z:49.07 [[ 7.34586137e-01 -5.64875934e-01 -3.75896777e-01 2.85456314e+02] [ 5.27902512e-01 8.23846150e-01 -2.06389096e-01 1.85391471e+02] [ 4.26265346e-01 -4.68262839e-02 9.03385385e-01 4.90654129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:185.45, Z:49.04 [[ 7.35296769e-01 -5.94377395e-01 -3.25659600e-01 2.85453048e+02] [ 5.32881436e-01 8.03920985e-01 -2.64099270e-01 1.85451514e+02] [ 4.18779222e-01 2.06533842e-02 9.07853183e-01 4.90426954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:185.45, Z:49.06 [[ 7.36296010e-01 -5.83070403e-01 -3.43361457e-01 2.85480242e+02] [ 5.32269312e-01 8.12387819e-01 -2.38149976e-01 1.85449298e+02] [ 4.17800867e-01 -7.41188927e-03 9.08508393e-01 4.90611098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.50, Y:185.47, Z:49.07 [[ 7.37205417e-01 -5.83048073e-01 -3.41442701e-01 2.85500043e+02] [ 5.30630529e-01 8.12431938e-01 -2.41631099e-01 1.85467922e+02] [ 4.18281502e-01 -3.04816610e-03 9.08312333e-01 4.90725561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:185.48, Z:49.09 [[ 7.36866620e-01 -5.82418244e-01 -3.43244190e-01 2.85521485e+02] [ 5.30362568e-01 8.12875916e-01 -2.40724514e-01 1.85483392e+02] [ 4.19217284e-01 -4.66201076e-03 9.07873964e-01 4.90856139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.54, Y:185.51, Z:49.10 [[ 7.33364197e-01 -5.89390918e-01 -3.38814552e-01 2.85542414e+02] [ 5.31637901e-01 8.07821527e-01 -2.54530006e-01 1.85514040e+02] [ 4.23719362e-01 6.53653612e-03 9.05769935e-01 4.91007850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.9527550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.58, Y:185.48, Z:49.13 [[ 7.37555074e-01 -5.59615464e-01 -3.77945824e-01 2.85578759e+02] [ 5.29245821e-01 8.26648341e-01 -1.91184157e-01 1.85482247e+02] [ 4.19417899e-01 -5.90174024e-02 9.05872824e-01 4.91283205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.98275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.59, Y:185.53, Z:49.12 [[ 7.37113580e-01 -5.83916138e-01 -3.40155131e-01 2.85585018e+02] [ 5.30482986e-01 8.11813779e-01 -2.44020879e-01 1.85533440e+02] [ 4.18630351e-01 -5.75405854e-04 9.08156538e-01 4.91203701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:185.55, Z:49.12 [[ 7.36849243e-01 -5.87144044e-01 -3.35134398e-01 2.85599585e+02] [ 5.33362609e-01 8.09479634e-01 -2.45493482e-01 1.85552429e+02] [ 4.15424506e-01 2.14352933e-03 9.09625135e-01 4.91246932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:185.56, Z:49.14 [[ 7.36344567e-01 -5.84828314e-01 -3.40253613e-01 2.85621727e+02] [ 5.33206938e-01 8.11144640e-01 -2.40280535e-01 1.85562799e+02] [ 4.16517754e-01 -4.49632093e-03 9.09116463e-01 4.91379517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.64, Y:185.58, Z:49.15 [[ 7.35805932e-01 -5.85498867e-01 -3.40265643e-01 2.85642743e+02] [ 5.33887073e-01 8.10659194e-01 -2.40408536e-01 1.85577725e+02] [ 4.16598397e-01 -4.76940141e-03 9.09078120e-01 4.91497579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.66, Y:185.60, Z:49.16 [[ 7.35616887e-01 -5.90149575e-01 -3.32552664e-01 2.85664651e+02] [ 5.35539501e-01 8.07282359e-01 -2.47977088e-01 1.85600056e+02] [ 4.14807472e-01 4.32104564e-03 9.09898945e-01 4.91581102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.69, Y:185.60, Z:49.18 [[ 7.34490616e-01 -5.82335771e-01 -3.48437348e-01 2.85687310e+02] [ 5.35739727e-01 8.12738384e-01 -2.28996208e-01 1.85600482e+02] [ 4.16541091e-01 -1.84761634e-02 9.08929123e-01 4.91765497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.16275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.71, Y:185.63, Z:49.18 [[ 7.34359744e-01 -5.90733985e-01 -3.34288985e-01 2.85706201e+02] [ 5.36957894e-01 8.06865261e-01 -2.46261387e-01 1.85628268e+02] [ 4.15201140e-01 1.34534026e-03 9.09728643e-01 4.91810999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:185.64, Z:49.20 [[ 7.32623746e-01 -5.88692759e-01 -3.41618622e-01 2.85729299e+02] [ 5.38722072e-01 8.08295127e-01 -2.37565815e-01 1.85636570e+02] [ 4.15981942e-01 -9.99113495e-03 9.09317987e-01 4.91968618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.75, Y:185.65, Z:49.21 [[ 7.30694405e-01 -5.90827064e-01 -3.42065881e-01 2.85748719e+02] [ 5.40386554e-01 8.06734389e-01 -2.39085754e-01 1.85651936e+02] [ 4.17214644e-01 -1.01491806e-02 9.08751305e-01 4.92088883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.77, Y:185.66, Z:49.22 [[ 7.30595107e-01 -5.87483009e-01 -3.47986356e-01 2.85771434e+02] [ 5.41237061e-01 8.08970746e-01 -2.29409625e-01 1.85660162e+02] [ 4.16285039e-01 -2.07375628e-02 9.08997646e-01 4.92233318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:185.68, Z:49.23 [[ 7.28261465e-01 -5.94303480e-01 -3.41231024e-01 2.85786279e+02] [ 5.44659904e-01 8.04144538e-01 -2.38111636e-01 1.85680104e+02] [ 4.15909638e-01 -1.24473279e-02 9.09320756e-01 4.92311631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.81, Y:185.70, Z:49.24 [[ 7.27160929e-01 -5.97450924e-01 -3.38067119e-01 2.85806216e+02] [ 5.46497684e-01 8.01854166e-01 -2.41599209e-01 1.85697899e+02] [ 4.15424198e-01 -9.07139212e-03 9.09582567e-01 4.92412594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.83, Y:185.72, Z:49.26 [[ 7.22851496e-01 -6.04248154e-01 -3.35216174e-01 2.85827980e+02] [ 5.50311919e-01 7.96785818e-01 -2.49577950e-01 1.85720768e+02] [ 4.17902508e-01 -4.06566143e-03 9.08482781e-01 4.92550187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:185.73, Z:49.26 [[ 7.25108144e-01 -6.01004113e-01 -3.36172926e-01 2.85847694e+02] [ 5.50888785e-01 7.99172964e-01 -2.40508047e-01 1.85729626e+02] [ 4.13206639e-01 -1.07995509e-02 9.10573250e-01 4.92603412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.87, Y:185.74, Z:49.28 [[ 7.22641232e-01 -5.99145754e-01 -3.44694090e-01 2.85870250e+02] [ 5.49997863e-01 8.00451188e-01 -2.38286060e-01 1.85740054e+02] [ 4.18678875e-01 -1.73856807e-02 9.07967917e-01 4.92806641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:185.76, Z:49.29 [[ 7.22494720e-01 -6.00327060e-01 -3.42941395e-01 2.85889598e+02] [ 5.48727650e-01 7.99663944e-01 -2.43794058e-01 1.85759384e+02] [ 4.20594039e-01 -1.20415060e-02 9.07169034e-01 4.92920349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:185.76, Z:49.31 [[ 7.25159759e-01 -5.92563876e-01 -3.50729778e-01 2.85913654e+02] [ 5.48657503e-01 8.05009481e-01 -2.25687128e-01 1.85763095e+02] [ 4.16074836e-01 -2.87713008e-02 9.08875098e-01 4.93056712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.93, Y:185.79, Z:49.31 [[ 7.25546908e-01 -5.98974266e-01 -3.38838475e-01 2.85929193e+02] [ 5.47841170e-01 8.00708432e-01 -2.42355234e-01 1.85788901e+02] [ 4.16475372e-01 -9.78957634e-03 9.09094290e-01 4.93122926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.95, Y:185.80, Z:49.32 [[ 7.26779721e-01 -5.97691005e-01 -3.38462257e-01 2.85949015e+02] [ 5.46463135e-01 8.01677315e-01 -2.42263336e-01 1.85803823e+02] [ 4.16136131e-01 -8.88506640e-03 9.09258916e-01 4.93242558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:185.82, Z:49.34 [[ 7.27690739e-01 -5.97042727e-01 -3.37647998e-01 2.85969737e+02] [ 5.45933179e-01 8.02165997e-01 -2.41840188e-01 1.85819189e+02] [ 4.15238669e-01 -8.34837976e-03 9.09674201e-01 4.93355049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.99, Y:185.83, Z:49.35 [[ 7.29184062e-01 -5.95431200e-01 -3.37271834e-01 2.85989529e+02] [ 5.44195306e-01 8.03373478e-01 -2.41748885e-01 1.85834516e+02] [ 4.14900075e-01 -7.26231475e-03 9.09838000e-01 4.93471824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.01, Y:185.85, Z:49.36 [[ 7.29612314e-01 -5.94757492e-01 -3.37534290e-01 2.86009275e+02] [ 5.43286952e-01 8.03877036e-01 -2.42117740e-01 1.85849421e+02] [ 4.15337404e-01 -6.72589126e-03 9.09642569e-01 4.93584706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.03, Y:185.86, Z:49.37 [[ 7.30491666e-01 -5.94483617e-01 -3.36111820e-01 2.86028326e+02] [ 5.42045233e-01 8.04098584e-01 -2.44156573e-01 1.85864947e+02] [ 4.15414121e-01 -3.83346821e-03 9.09624325e-01 4.93690560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.05, Y:185.88, Z:49.38 [[ 7.31475112e-01 -5.92926191e-01 -3.36723467e-01 2.86050120e+02] [ 5.41803894e-01 8.05232928e-01 -2.40932508e-01 1.85878968e+02] [ 4.13996017e-01 -6.20195228e-03 9.10257565e-01 4.93813005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.07, Y:185.89, Z:49.39 [[ 7.31825849e-01 -5.92891761e-01 -3.36021259e-01 2.86070368e+02] [ 5.41486578e-01 8.05265447e-01 -2.41536428e-01 1.85894080e+02] [ 4.13791268e-01 -5.18839968e-03 9.10357000e-01 4.93925619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.73275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.09, Y:185.91, Z:49.40 [[ 7.31755510e-01 -5.95393572e-01 -3.31723330e-01 2.86089238e+02] [ 5.39938918e-01 8.03421419e-01 -2.50958143e-01 1.85913393e+02] [ 4.15932493e-01 4.52966797e-03 9.09384211e-01 4.94022520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.11, Y:185.92, Z:49.42 [[ 7.32231193e-01 -5.91858158e-01 -3.36959048e-01 2.86112334e+02] [ 5.40052743e-01 8.06028837e-01 -2.42199398e-01 1.85923482e+02] [ 4.14946399e-01 -4.62970384e-03 9.09834079e-01 4.94177584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.13, Y:185.94, Z:49.43 [[ 7.33349398e-01 -5.90251273e-01 -3.37345661e-01 2.86131929e+02] [ 5.38643952e-01 8.07206074e-01 -2.41414680e-01 1.85935675e+02] [ 4.14802789e-01 -4.66788981e-03 9.09899367e-01 4.94287905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.82275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:286.16, Y:185.95, Z:49.44 [[ 7.33644849e-01 -5.88572675e-01 -3.39628388e-01 2.86155624e+02] [ 5.39409188e-01 8.08379097e-01 -2.35713732e-01 1.85947099e+02] [ 4.13283152e-01 -1.02685073e-02 9.10544669e-01 4.94399601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.17, Y:185.97, Z:49.45 [[ 7.33500009e-01 -5.95023872e-01 -3.28518385e-01 2.86169366e+02] [ 5.37426406e-01 8.03633438e-01 -2.55628940e-01 1.85972936e+02] [ 4.16113681e-01 1.09493745e-02 9.09246675e-01 4.94482099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.20, Y:185.98, Z:49.46 [[ 7.34608510e-01 -5.88825330e-01 -3.37098010e-01 2.86195850e+02] [ 5.37364945e-01 8.08249035e-01 -2.40774613e-01 1.85977963e+02] [ 4.14233332e-01 -4.26957367e-03 9.10160710e-01 4.94626030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.22, Y:185.99, Z:49.48 [[ 7.34599047e-01 -5.87976559e-01 -3.38596820e-01 2.86219899e+02] [ 5.39093096e-01 8.08816735e-01 -2.34934297e-01 1.85990718e+02] [ 4.11998634e-01 -9.95269785e-03 9.11130106e-01 4.94751746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.24, Y:186.01, Z:49.48 [[ 7.34417597e-01 -5.90897397e-01 -3.33872819e-01 2.86239613e+02] [ 5.39442366e-01 8.06741235e-01 -2.41185640e-01 1.86008991e+02] [ 4.11864938e-01 -2.97416519e-03 9.11240049e-01 4.94846288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.26, Y:186.03, Z:49.49 [[ 7.33690654e-01 -5.94084562e-01 -3.29790171e-01 2.86257861e+02] [ 5.38284347e-01 8.04372333e-01 -2.51465926e-01 1.86025861e+02] [ 4.14666113e-01 6.97731255e-03 9.09946884e-01 4.94926371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.29, Y:186.03, Z:49.51 [[ 7.33594623e-01 -5.89059029e-01 -3.38892890e-01 2.86285920e+02] [ 5.40417544e-01 8.08015058e-01 -2.34649835e-01 1.86031020e+02] [ 4.12053162e-01 -1.10058063e-02 9.11093335e-01 4.95088907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.30, Y:186.05, Z:49.52 [[ 7.31904112e-01 -5.95340260e-01 -3.31491094e-01 2.86303851e+02] [ 5.40742296e-01 8.03467919e-01 -2.49072424e-01 1.86051099e+02] [ 4.14625301e-01 3.04587613e-03 9.09987133e-01 4.95166096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.33, Y:186.06, Z:49.53 [[ 7.31676599e-01 -5.93259394e-01 -3.35697253e-01 2.86325778e+02] [ 5.41010785e-01 8.05003853e-01 -2.43466893e-01 1.86062341e+02] [ 4.14676604e-01 -3.47680603e-03 9.09962211e-01 4.95298445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.35, Y:186.08, Z:49.54 [[ 7.30647676e-01 -5.94194622e-01 -3.36283696e-01 2.86347853e+02] [ 5.42064458e-01 8.04309079e-01 -2.43419449e-01 1.86076336e+02] [ 4.15114558e-01 -4.43358469e-03 9.09758346e-01 4.95416461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.37, Y:186.09, Z:49.55 [[ 7.29917363e-01 -5.93854752e-01 -3.38462961e-01 2.86371251e+02] [ 5.44277165e-01 8.04501675e-01 -2.37780198e-01 1.86087250e+02] [ 4.13500920e-01 -1.06577653e-02 9.10441322e-01 4.95538662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:186.10, Z:49.56 [[ 7.27507835e-01 -5.98721974e-01 -3.35058725e-01 2.86391864e+02] [ 5.47208498e-01 8.00930340e-01 -2.43050304e-01 1.86102271e+02] [ 4.13878256e-01 -6.52598063e-03 9.10308849e-01 4.95636723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.41, Y:186.12, Z:49.57 [[ 7.25748213e-01 -6.01819582e-01 -3.33320749e-01 2.86412084e+02] [ 5.48246973e-01 7.98627879e-01 -2.48231279e-01 1.86118823e+02] [ 4.15589687e-01 -2.58868420e-03 9.09548520e-01 4.95748505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.44, Y:186.13, Z:49.59 [[ 7.24309954e-01 -6.01086271e-01 -3.37743075e-01 2.86437627e+02] [ 5.51145248e-01 7.99091435e-01 -2.40191163e-01 1.86127110e+02] [ 4.14263209e-01 -1.21726407e-02 9.10075722e-01 4.95885912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.46, Y:186.14, Z:49.60 [[ 7.23754921e-01 -6.03174758e-01 -3.35199978e-01 2.86458362e+02] [ 5.51857554e-01 7.97561988e-01 -2.43614688e-01 1.86143348e+02] [ 4.14284992e-01 -8.66531044e-03 9.10105960e-01 4.95988007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.48, Y:186.16, Z:49.61 [[ 7.23420557e-01 -6.03252064e-01 -3.35782139e-01 2.86481868e+02] [ 5.51545200e-01 7.97507165e-01 -2.44499925e-01 1.86157899e+02] [ 4.15283746e-01 -8.32275497e-03 9.09653858e-01 4.96117737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:186.18, Z:49.61 [[ 7.23245710e-01 -6.09386830e-01 -3.24905117e-01 2.86499234e+02] [ 5.53581583e-01 7.92860763e-01 -2.54792545e-01 1.86180234e+02] [ 4.12871740e-01 4.41612630e-03 9.10778471e-01 4.96121560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.52, Y:186.19, Z:49.62 [[ 7.23631749e-01 -6.08766238e-01 -3.25208792e-01 2.86519283e+02] [ 5.52577473e-01 7.93332697e-01 -2.55502188e-01 1.86193155e+02] [ 4.13539874e-01 5.18644231e-03 9.10471237e-01 4.96209570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:186.20, Z:49.64 [[ 7.22923700e-01 -6.06452705e-01 -3.31053531e-01 2.86544224e+02] [ 5.52930810e-01 7.95114072e-01 -2.49120717e-01 1.86203496e+02] [ 4.14305254e-01 -2.95442601e-03 9.10133192e-01 4.96366222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.57, Y:186.21, Z:49.65 [[ 7.24199490e-01 -6.03030462e-01 -3.34498670e-01 2.86569760e+02] [ 5.51675101e-01 7.97677208e-01 -2.43650680e-01 1.86212502e+02] [ 4.13750748e-01 -8.08288930e-03 9.10354319e-01 4.96504168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.42275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.59, Y:186.21, Z:49.68 [[ 7.23801482e-01 -5.95827171e-01 -3.47996260e-01 2.86594815e+02] [ 5.48719023e-01 8.02807908e-01 -2.33252861e-01 1.86214915e+02] [ 4.18352542e-01 -2.21234020e-02 9.08015256e-01 4.96755376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.62, Y:186.23, Z:49.69 [[ 7.28151550e-01 -5.92257111e-01 -3.45002659e-01 2.86615388e+02] [ 5.41215353e-01 8.05668633e-01 -2.40798663e-01 1.86228986e+02] [ 4.20572541e-01 -1.13828161e-02 9.07187505e-01 4.96855782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.64, Y:186.25, Z:49.70 [[ 7.28728562e-01 -5.91352510e-01 -3.45335911e-01 2.86641319e+02] [ 5.41761068e-01 8.06290916e-01 -2.37465584e-01 1.86245573e+02] [ 4.18867077e-01 -1.40415988e-02 9.07938988e-01 4.97016229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.65, Y:186.27, Z:49.70 [[ 7.28555119e-01 -5.97658287e-01 -3.34681954e-01 2.86652083e+02] [ 5.43694114e-01 8.01750114e-01 -2.48180307e-01 1.86269049e+02] [ 4.16658312e-01 -1.15157546e-03 9.09062443e-01 4.97034791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.68, Y:186.27, Z:49.72 [[ 7.30935258e-01 -5.88459552e-01 -3.45613953e-01 2.86683118e+02] [ 5.38487997e-01 8.08431341e-01 -2.37633003e-01 1.86274209e+02] [ 4.19242562e-01 -1.24146244e-02 9.07789376e-01 4.97247997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.70, Y:186.29, Z:49.73 [[ 7.31367025e-01 -5.90822446e-01 -3.40633398e-01 2.86700504e+02] [ 5.35669377e-01 8.06801592e-01 -2.49257916e-01 1.86294174e+02] [ 4.22090739e-01 -1.67859094e-04 9.06553572e-01 4.97334295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:186.31, Z:49.74 [[ 7.30929782e-01 -5.92586591e-01 -3.38500792e-01 2.86715611e+02] [ 5.39539067e-01 8.05499188e-01 -2.45089073e-01 1.86310242e+02] [ 4.17898611e-01 -3.49149909e-03 9.08486962e-01 4.97405244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.73, Y:186.33, Z:49.75 [[ 7.29817943e-01 -5.97883172e-01 -3.31513926e-01 2.86731971e+02] [ 5.39656068e-01 8.01532273e-01 -2.57521539e-01 1.86332777e+02] [ 4.19686905e-01 9.04033842e-03 9.07623917e-01 4.97490424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.77, Y:186.33, Z:49.78 [[ 7.30742002e-01 -5.82249228e-01 -3.56373347e-01 2.86767581e+02] [ 5.39616558e-01 8.12422694e-01 -2.20869500e-01 1.86325385e+02] [ 4.18126891e-01 -3.09063376e-02 9.07862711e-01 4.97757262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.69275509600004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:286.77, Y:186.37, Z:49.77 [[ 7.27949931e-01 -6.02412704e-01 -3.27395529e-01 2.86771760e+02] [ 5.45980976e-01 7.98157279e-01 -2.54656106e-01 1.86365948e+02] [ 4.14721198e-01 6.62516448e-03 9.09924412e-01 4.97669826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.72275509600007 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:286.79, Y:186.37, Z:49.78 [[ 7.26827540e-01 -6.00186471e-01 -3.33913054e-01 2.86793971e+02] [ 5.47516280e-01 7.99849623e-01 -2.45899376e-01 1.86374826e+02] [ 4.14665709e-01 -4.09639457e-03 9.09964598e-01 4.97805887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.81, Y:186.39, Z:49.79 [[ 7.26830365e-01 -6.00563852e-01 -3.33227670e-01 2.86813883e+02] [ 5.48084667e-01 7.99565979e-01 -2.45555376e-01 1.86390712e+02] [ 4.13909191e-01 -4.15987270e-03 9.10308671e-01 4.97932352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.83, Y:186.40, Z:49.81 [[ 7.28131590e-01 -5.97451380e-01 -3.35970589e-01 2.86834906e+02] [ 5.43664237e-01 8.01901961e-01 -2.47754805e-01 1.86401074e+02] [ 4.17436924e-01 -2.25709336e-03 9.08703098e-01 4.98069681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.86, Y:186.42, Z:49.82 [[ 7.26605265e-01 -6.00133613e-01 -3.34491309e-01 2.86858546e+02] [ 5.47863338e-01 7.99882709e-01 -2.45017173e-01 1.86422222e+02] [ 4.14596855e-01 -5.22475761e-03 9.09990192e-01 4.98170283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:186.42, Z:49.84 [[ 7.25735960e-01 -5.92532704e-01 -3.49588774e-01 2.86883725e+02] [ 5.47073668e-01 8.05156233e-01 -2.28984372e-01 1.86424402e+02] [ 4.17154310e-01 -2.50686196e-02 9.08489871e-01 4.98386871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.90, Y:186.46, Z:49.84 [[ 7.24542936e-01 -6.03932510e-01 -3.32119041e-01 2.86895286e+02] [ 5.49034446e-01 7.97035457e-01 -2.51586281e-01 1.86456590e+02] [ 4.16651786e-01 -5.97302751e-05 9.09066161e-01 4.98375931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:186.47, Z:49.85 [[ 7.23287025e-01 -6.04181647e-01 -3.34395600e-01 2.86911639e+02] [ 5.52191313e-01 7.96813843e-01 -2.45300740e-01 1.86469507e+02] [ 4.14657249e-01 -7.22750296e-03 9.09948971e-01 4.98474495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.93, Y:186.49, Z:49.86 [[ 7.22722624e-01 -6.05283350e-01 -3.33622652e-01 2.86930120e+02] [ 5.52788969e-01 7.95986164e-01 -2.46638162e-01 1.86486166e+02] [ 4.14844988e-01 -6.17194181e-03 9.09871168e-01 4.98574621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.95, Y:186.50, Z:49.87 [[ 7.22440990e-01 -6.05908879e-01 -3.33096752e-01 2.86950545e+02] [ 5.53596867e-01 7.95508189e-01 -2.46368079e-01 1.86502576e+02] [ 4.14257801e-01 -6.41491928e-03 9.10136980e-01 4.98687744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.99275509600005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:286.97, Y:186.52, Z:49.88 [[ 7.21818082e-01 -6.09196618e-01 -3.28417627e-01 2.86967212e+02] [ 5.52849759e-01 7.93012956e-01 -2.55905441e-01 1.86523027e+02] [ 4.16336163e-01 3.15156865e-03 9.09205294e-01 4.98784022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.99, Y:186.53, Z:49.89 [[ 7.21909482e-01 -6.05217250e-01 -3.35497809e-01 2.86991378e+02] [ 5.53428744e-01 7.96012542e-01 -2.45113563e-01 1.86531256e+02] [ 4.15407420e-01 -8.72432538e-03 9.09593624e-01 4.98946326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.05275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.01, Y:186.55, Z:49.91 [[ 7.21118502e-01 -6.08089687e-01 -3.31986505e-01 2.87010903e+02] [ 5.53942559e-01 7.93862654e-01 -2.50857983e-01 1.86550606e+02] [ 4.16095840e-01 -3.00312089e-03 9.09315805e-01 4.99055594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.03, Y:186.57, Z:49.92 [[ 7.19244504e-01 -6.09665194e-01 -3.33160163e-01 2.87031265e+02] [ 5.56988114e-01 7.92626443e-01 -2.48007185e-01 1.86566922e+02] [ 4.15272903e-01 -7.18844602e-03 9.09668479e-01 4.99184725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:186.58, Z:49.93 [[ 7.20187540e-01 -6.07780281e-01 -3.34563951e-01 2.87054169e+02] [ 5.56725284e-01 7.94035908e-01 -2.44057239e-01 1.86580214e+02] [ 4.13988967e-01 -1.04932281e-02 9.10221417e-01 4.99311999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:186.60, Z:49.94 [[ 7.19661164e-01 -6.12899497e-01 -3.26254524e-01 2.87069232e+02] [ 5.58598095e-01 7.90160534e-01 -2.52219150e-01 1.86602209e+02] [ 4.12378439e-01 -7.32828719e-04 9.11012341e-01 4.99355019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.09, Y:186.62, Z:49.95 [[ 7.18436182e-01 -6.13396803e-01 -3.28014962e-01 2.87089592e+02] [ 5.60203289e-01 7.89763585e-01 -2.49891485e-01 1.86616744e+02] [ 4.12336910e-01 -4.22397581e-03 9.11021641e-01 4.99474248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.11, Y:186.64, Z:49.96 [[ 7.16292060e-01 -6.16074497e-01 -3.27685672e-01 2.87108610e+02] [ 5.61845724e-01 7.87681946e-01 -2.52757856e-01 1.86635097e+02] [ 4.13829757e-01 -3.06034873e-03 9.10349145e-01 4.99597616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.13, Y:186.64, Z:49.98 [[ 7.15000540e-01 -6.12466902e-01 -3.37132794e-01 2.87131234e+02] [ 5.62693329e-01 7.90326457e-01 -2.42405259e-01 1.86641564e+02] [ 4.14910164e-01 -1.63824833e-02 9.09714884e-01 4.99781834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.15, Y:186.67, Z:49.98 [[ 7.14330657e-01 -6.18580827e-01 -3.27245278e-01 2.87150573e+02] [ 5.63747995e-01 7.85716894e-01 -2.54631421e-01 1.86667741e+02] [ 4.14632258e-01 -2.59283883e-03 9.09985367e-01 4.99845688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.19, Y:186.65, Z:50.02 [[ 7.14380931e-01 -6.00490747e-01 -3.59264177e-01 2.87185144e+02] [ 5.59756669e-01 7.98484757e-01 -2.21572934e-01 1.86653709e+02] [ 4.19919466e-01 -4.28130404e-02 9.06550984e-01 5.00219584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.32275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.19, Y:186.70, Z:50.01 [[ 7.12234695e-01 -6.20155340e-01 -3.28829885e-01 2.87190099e+02] [ 5.65431699e-01 7.84466207e-01 -2.54754321e-01 1.86696584e+02] [ 4.15943185e-01 -4.48597458e-03 9.09379537e-01 5.00149179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.22, Y:186.71, Z:50.03 [[ 7.13159659e-01 -6.14615109e-01 -3.37122484e-01 2.87218387e+02] [ 5.66510052e-01 7.88564069e-01 -2.39234341e-01 1.86706535e+02] [ 4.12879718e-01 -2.03709952e-02 9.10557720e-01 5.00283480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.24, Y:186.70, Z:50.06 [[ 7.12945146e-01 -6.04222543e-01 -3.55843137e-01 2.87243062e+02] [ 5.61983127e-01 7.95846678e-01 -2.25395273e-01 1.86703770e+02] [ 4.19385484e-01 -3.92833732e-02 9.06957900e-01 5.00586046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:186.74, Z:50.06 [[ 7.11774931e-01 -6.14889803e-01 -3.39539361e-01 2.87257873e+02] [ 5.62514203e-01 7.88489432e-01 -2.48721102e-01 1.86735859e+02] [ 4.20659268e-01 -1.39622673e-02 9.07111259e-01 5.00623608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.27, Y:186.77, Z:50.06 [[ 7.10806372e-01 -6.26217397e-01 -3.20321827e-01 2.87270312e+02] [ 5.68091695e-01 7.79630153e-01 -2.63531117e-01 1.86769048e+02] [ 4.14760325e-01 5.34742736e-03 9.09914984e-01 5.00578121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.30, Y:186.77, Z:50.08 [[ 7.10394542e-01 -6.17792315e-01 -3.37153155e-01 2.87295899e+02] [ 5.68086959e-01 7.86122335e-01 -2.43493085e-01 1.86770035e+02] [ 4.15471782e-01 -1.85561519e-02 9.09416773e-01 5.00764850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.31, Y:186.80, Z:50.08 [[ 7.09324771e-01 -6.26461559e-01 -3.23116518e-01 2.87309208e+02] [ 5.69913530e-01 7.79452240e-01 -2.60101468e-01 1.86799740e+02] [ 4.14797465e-01 3.47938676e-04 9.09913700e-01 5.00784424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.33, Y:186.80, Z:50.10 [[ 7.09875722e-01 -6.18084804e-01 -3.37709394e-01 2.87333997e+02] [ 5.70653807e-01 7.85764808e-01 -2.38595682e-01 1.86801081e+02] [ 4.12832522e-01 -2.33418695e-02 9.10507807e-01 5.00964296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.35, Y:186.82, Z:50.11 [[ 7.11152227e-01 -6.18925898e-01 -3.33456509e-01 2.87353599e+02] [ 5.69932572e-01 7.85244412e-01 -2.42008424e-01 1.86819104e+02] [ 4.11630141e-01 -1.79428963e-02 9.11174341e-01 5.01069691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:186.84, Z:50.12 [[ 7.09634590e-01 -6.23575745e-01 -3.27981767e-01 2.87370701e+02] [ 5.70024877e-01 7.81727256e-01 -2.52931091e-01 1.86841783e+02] [ 4.14113980e-01 -7.46911564e-03 9.10194388e-01 5.01167814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:186.86, Z:50.13 [[ 7.12361096e-01 -6.20381350e-01 -3.28129013e-01 2.87391022e+02] [ 5.68719364e-01 7.84237687e-01 -2.48051476e-01 1.86856246e+02] [ 4.11217647e-01 -9.91110253e-03 9.11483306e-01 5.01264500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:186.85, Z:50.16 [[ 7.12830519e-01 -6.05638868e-01 -3.53658327e-01 2.87418533e+02] [ 5.62441226e-01 7.94894258e-01 -2.27602694e-01 1.86848379e+02] [ 4.18966012e-01 -3.66698766e-02 9.07261154e-01 5.01592390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.68275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.43, Y:186.89, Z:50.14 [[ 7.15668074e-01 -6.23075386e-01 -3.15588771e-01 2.87426276e+02] [ 5.67586603e-01 7.82146673e-01 -2.57083701e-01 1.86894751e+02] [ 4.07019234e-01 4.86263894e-03 9.13406645e-01 5.01432950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:186.89, Z:50.18 [[ 7.17512358e-01 -6.04669924e-01 -3.45760465e-01 2.87459332e+02] [ 5.59180275e-01 7.96014801e-01 -2.31684823e-01 1.86886540e+02] [ 4.15323292e-01 -2.71057080e-02 9.09269951e-01 5.01764908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.47, Y:186.92, Z:50.18 [[ 7.17781881e-01 -6.14043759e-01 -3.28236856e-01 2.87471751e+02] [ 5.58726748e-01 7.89271775e-01 -2.54704704e-01 1.86917067e+02] [ 4.15467920e-01 -5.72289933e-04 9.09607652e-01 5.01786655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.49, Y:186.93, Z:50.19 [[ 7.19651029e-01 -6.09065754e-01 -3.33378618e-01 2.87493066e+02] [ 5.57503944e-01 7.93065950e-01 -2.45429729e-01 1.86926996e+02] [ 4.13874073e-01 -9.23613761e-03 9.10287287e-01 5.01890688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:186.96, Z:50.20 [[ 7.21358745e-01 -6.14533156e-01 -3.19359611e-01 2.87510220e+02] [ 5.57074232e-01 7.88835242e-01 -2.59629083e-01 1.86955289e+02] [ 4.11472796e-01 9.37869910e-03 9.11373786e-01 5.01958188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.55, Y:186.93, Z:50.24 [[ 7.23157883e-01 -5.89519261e-01 -3.59874584e-01 2.87549880e+02] [ 5.50012412e-01 8.06683463e-01 -2.16213178e-01 1.86933642e+02] [ 4.17766708e-01 -4.15792241e-02 9.07602416e-01 5.02360194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:186.98, Z:50.23 [[ 7.22741536e-01 -6.07095403e-01 -3.30272378e-01 2.87558440e+02] [ 5.51401540e-01 7.94627585e-01 -2.54014453e-01 1.86976470e+02] [ 4.16654549e-01 1.47409800e-03 9.09063702e-01 5.02331676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8927550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:287.59, Y:186.98, Z:50.25 [[ 7.22748602e-01 -6.01555483e-01 -3.40243235e-01 2.87586372e+02] [ 5.51370599e-01 7.98717320e-01 -2.40917218e-01 1.86982440e+02] [ 4.16683238e-01 -1.34775330e-02 9.08951833e-01 5.02489560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.59, Y:187.02, Z:50.25 [[ 7.21584770e-01 -6.14386935e-01 -3.19130246e-01 2.87594699e+02] [ 5.54734232e-01 7.88884406e-01 -2.64445317e-01 1.87015804e+02] [ 4.14228622e-01 1.37872416e-02 9.10068437e-01 5.02477538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:187.01, Z:50.27 [[ 7.20824858e-01 -6.01240185e-01 -3.44850350e-01 2.87626986e+02] [ 5.53390663e-01 7.98798943e-01 -2.35964027e-01 1.87009639e+02] [ 4.17337150e-01 -2.07482276e-02 9.08514840e-01 5.02740040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.64, Y:187.03, Z:50.28 [[ 7.20438501e-01 -6.05469117e-01 -3.38194491e-01 2.87644820e+02] [ 5.53928870e-01 7.95792156e-01 -2.44699105e-01 1.87031571e+02] [ 4.17290274e-01 -1.10450358e-02 9.08706132e-01 5.02827930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.67, Y:187.04, Z:50.30 [[ 7.20573470e-01 -6.02217991e-01 -3.43667523e-01 2.87666318e+02] [ 5.55430748e-01 7.98017124e-01 -2.33806230e-01 1.87039766e+02] [ 4.15054887e-01 -2.24089433e-02 9.09520357e-01 5.02965881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.68, Y:187.07, Z:50.30 [[ 7.19105365e-01 -6.13340253e-01 -3.26651509e-01 2.87681884e+02] [ 5.58712007e-01 7.89818611e-01 -2.53036470e-01 1.87070431e+02] [ 4.13192894e-01 -5.44236883e-04 9.10643364e-01 5.02964308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:187.08, Z:50.31 [[ 7.16591590e-01 -6.12861545e-01 -3.33012343e-01 2.87705191e+02] [ 5.60933370e-01 7.90130242e-01 -2.47078844e-01 1.87080011e+02] [ 4.14548245e-01 -9.74311393e-03 9.09975178e-01 5.03118782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.72, Y:187.10, Z:50.32 [[ 7.14822663e-01 -6.17429770e-01 -3.28342869e-01 2.87719685e+02] [ 5.64544367e-01 7.86598460e-01 -2.50105019e-01 1.87097554e+02] [ 4.12696280e-01 -6.58338183e-03 9.10844904e-01 5.03186004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.74, Y:187.12, Z:50.33 [[ 7.14285138e-01 -6.19488925e-01 -3.25622809e-01 2.87742995e+02] [ 5.64853225e-01 7.85002243e-01 -2.54386148e-01 1.87115597e+02] [ 4.13204037e-01 -2.22484905e-03 9.10635753e-01 5.03296040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.77, Y:187.12, Z:50.35 [[ 7.14086504e-01 -6.13318200e-01 -3.37522222e-01 2.87768828e+02] [ 5.64456668e-01 7.89614663e-01 -2.40618690e-01 1.87118939e+02] [ 4.14088318e-01 -1.86941099e-02 9.10044722e-01 5.03483964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:187.14, Z:50.36 [[ 7.13712258e-01 -6.15703033e-01 -3.33952972e-01 2.87786637e+02] [ 5.65087057e-01 7.87854867e-01 -2.44870021e-01 1.87135489e+02] [ 4.13873689e-01 -1.39457669e-02 9.10227491e-01 5.03578501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.80, Y:187.16, Z:50.36 [[ 7.10732370e-01 -6.24677408e-01 -3.23477409e-01 2.87801104e+02] [ 5.68407664e-01 7.80882868e-01 -2.59103597e-01 1.87160918e+02] [ 4.14454130e-01 2.86274941e-04 9.10070158e-01 5.03621113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.82, Y:187.17, Z:50.38 [[ 7.10170367e-01 -6.22307821e-01 -3.29227924e-01 2.87823717e+02] [ 5.68678624e-01 7.82735119e-01 -2.52844530e-01 1.87170272e+02] [ 4.15045386e-01 -7.66219032e-03 9.09768442e-01 5.03751800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:187.18, Z:50.40 [[ 7.10707398e-01 -6.15322183e-01 -3.40989158e-01 2.87849981e+02] [ 5.65797725e-01 7.88010933e-01 -2.42717333e-01 1.87176243e+02] [ 4.18052544e-01 -2.04298861e-02 9.08193091e-01 5.03966865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.86, Y:187.21, Z:50.40 [[ 7.11035379e-01 -6.24014124e-01 -3.24091134e-01 2.87861059e+02] [ 5.67212503e-01 7.81412246e-01 -2.60124736e-01 1.87205694e+02] [ 4.15570290e-01 1.12934733e-03 9.09560366e-01 5.03970079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.89, Y:187.21, Z:50.41 [[ 7.12601012e-01 -6.15657966e-01 -3.36400158e-01 2.87888159e+02] [ 5.66333636e-01 7.87808418e-01 -2.42124162e-01 1.87209737e+02] [ 4.14084545e-01 -1.79768015e-02 9.10060890e-01 5.04141030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:187.24, Z:50.42 [[ 7.12347972e-01 -6.21989975e-01 -3.25098196e-01 2.87902448e+02] [ 5.65730821e-01 7.83025173e-01 -2.58496066e-01 1.87237188e+02] [ 4.15342033e-01 2.21079153e-04 9.09665294e-01 5.04191386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:187.25, Z:50.43 [[ 7.11812801e-01 -6.20510613e-01 -3.29073115e-01 2.87921155e+02] [ 5.67073494e-01 7.84164822e-01 -2.52018224e-01 1.87248061e+02] [ 4.14427544e-01 -7.21884331e-03 9.10053679e-01 5.04310564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:187.26, Z:50.44 [[ 7.12064923e-01 -6.20570034e-01 -3.28414949e-01 2.87944474e+02] [ 5.66382744e-01 7.84132561e-01 -2.53666543e-01 1.87264363e+02] [ 4.14938710e-01 -5.38151241e-03 9.09833450e-01 5.04439363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.97, Y:187.26, Z:50.47 [[ 7.11746095e-01 -6.08862238e-01 -3.50291694e-01 2.87972479e+02] [ 5.63727521e-01 7.92624649e-01 -2.32287426e-01 1.87260791e+02] [ 4.19080873e-01 -3.21393995e-02 9.07379899e-01 5.04722562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:187.31, Z:50.46 [[ 7.11233879e-01 -6.28781195e-01 -3.14293778e-01 2.87975947e+02] [ 5.68133165e-01 7.77468574e-01 -2.69754192e-01 1.87306532e+02] [ 4.13969898e-01 1.32976009e-02 9.10193439e-01 5.04601156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:187.30, Z:50.49 [[ 7.11125209e-01 -6.13178900e-01 -3.43965947e-01 2.88009715e+02] [ 5.65365557e-01 7.89556449e-01 -2.38667973e-01 1.87297715e+02] [ 4.17926697e-01 -2.47436873e-02 9.08143725e-01 5.04907901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.02, Y:187.34, Z:50.48 [[ 7.10664587e-01 -6.27765003e-01 -3.17595570e-01 2.88016843e+02] [ 5.69180071e-01 7.78366828e-01 -2.64913435e-01 1.87335195e+02] [ 4.13509240e-01 7.49552755e-03 9.10469069e-01 5.04847085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:187.34, Z:50.50 [[ 7.10457762e-01 -6.23137837e-01 -3.27030586e-01 2.88040397e+02] [ 5.69298341e-01 7.82088156e-01 -2.53451209e-01 1.87344274e+02] [ 4.13701786e-01 -6.11159163e-03 9.10391938e-01 5.05003555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.06, Y:187.36, Z:50.51 [[ 7.10372666e-01 -6.23260402e-01 -3.26981877e-01 2.88060420e+02] [ 5.69366855e-01 7.81991161e-01 -2.53596546e-01 1.87360571e+02] [ 4.13753623e-01 -6.02458824e-03 9.10368960e-01 5.05118518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.08, Y:187.38, Z:50.52 [[ 7.10593319e-01 -6.23420994e-01 -3.26195339e-01 2.88079637e+02] [ 5.69164600e-01 7.81871182e-01 -2.54419170e-01 1.87377577e+02] [ 4.13652987e-01 -4.87027677e-03 9.10421598e-01 5.05227415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.10, Y:187.39, Z:50.53 [[ 7.10934130e-01 -6.22431362e-01 -3.27340590e-01 2.88099413e+02] [ 5.68732949e-01 7.82648946e-01 -2.52989051e-01 1.87391829e+02] [ 4.13661087e-01 -6.31082848e-03 9.10409072e-01 5.05345484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.12, Y:187.41, Z:50.55 [[ 7.11254104e-01 -6.22501162e-01 -3.26511720e-01 2.88119465e+02] [ 5.68453911e-01 7.82602133e-01 -2.53759833e-01 1.87408665e+02] [ 4.13494559e-01 -5.11914115e-03 9.10492199e-01 5.05458736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:187.43, Z:50.56 [[ 7.12055514e-01 -6.21851075e-01 -3.26003352e-01 2.88139813e+02] [ 5.67833116e-01 7.83122143e-01 -2.53545384e-01 1.87425016e+02] [ 4.12967913e-01 -4.57711029e-03 9.10734074e-01 5.05575142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.16, Y:187.44, Z:50.57 [[ 7.12325818e-01 -6.21739992e-01 -3.25624493e-01 2.88158936e+02] [ 5.67761091e-01 7.83211620e-01 -2.53430269e-01 1.87440519e+02] [ 4.12600621e-01 -4.35199379e-03 9.10901635e-01 5.05684620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.18, Y:187.46, Z:50.58 [[ 7.13285910e-01 -6.23360265e-01 -3.20382881e-01 2.88179166e+02] [ 5.67522164e-01 7.81931903e-01 -2.57878058e-01 1.87460683e+02] [ 4.11268530e-01 2.11639930e-03 9.11511776e-01 5.05761545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:187.47, Z:50.59 [[ 7.12969671e-01 -6.18771734e-01 -3.29842068e-01 2.88200781e+02] [ 5.67072456e-01 7.85502568e-01 -2.47819583e-01 1.87468491e+02] [ 4.12435545e-01 -1.03565053e-02 9.10927914e-01 5.05929083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:187.49, Z:50.60 [[ 7.13016981e-01 -6.21136505e-01 -3.25263320e-01 2.88218085e+02] [ 5.67026434e-01 7.83694018e-01 -2.53583733e-01 1.87487770e+02] [ 4.12417031e-01 -3.62339242e-03 9.10987960e-01 5.06011368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.24, Y:187.50, Z:50.61 [[ 7.12605245e-01 -6.21519318e-01 -3.25434330e-01 2.88238086e+02] [ 5.67303052e-01 7.83390162e-01 -2.53903726e-01 1.87503288e+02] [ 4.12748123e-01 -3.68676163e-03 9.10837744e-01 5.06126131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:187.53, Z:50.62 [[ 7.10226968e-01 -6.25973329e-01 -3.22079254e-01 2.88256981e+02] [ 5.68592457e-01 7.79839351e-01 -2.61826669e-01 1.87525363e+02] [ 4.15066588e-01 2.82452707e-03 9.09786650e-01 5.06235213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:187.54, Z:50.64 [[ 7.10188013e-01 -6.22617552e-01 -3.28603668e-01 2.88279810e+02] [ 5.69731451e-01 7.82477156e-01 -2.51267933e-01 1.87535851e+02] [ 4.13568689e-01 -8.76836989e-03 9.10430698e-01 5.06370074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.30, Y:187.55, Z:50.65 [[ 7.10911427e-01 -6.20249595e-01 -3.31504725e-01 2.88300619e+02] [ 5.68926832e-01 7.84301038e-01 -2.47374496e-01 1.87547434e+02] [ 4.13433431e-01 -1.27405773e-02 9.10445208e-01 5.06503125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.32, Y:187.57, Z:50.66 [[ 7.08702382e-01 -6.27084267e-01 -3.23274273e-01 2.88316596e+02] [ 5.69538299e-01 7.78949203e-01 -2.62420018e-01 1.87573319e+02] [ 4.16373702e-01 1.86061224e-03 9.09191662e-01 5.06578488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.34, Y:187.58, Z:50.67 [[ 7.08928668e-01 -6.22413228e-01 -3.31695519e-01 2.88339769e+02] [ 5.70385460e-01 7.82591032e-01 -2.49422740e-01 1.87580420e+02] [ 4.14825951e-01 -1.23713705e-02 9.09816673e-01 5.06722170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:187.60, Z:50.68 [[ 7.07827871e-01 -6.26062098e-01 -3.27148215e-01 2.88357432e+02] [ 5.71246599e-01 7.79753771e-01 -2.56244766e-01 1.87601000e+02] [ 4.15520190e-01 -5.50511818e-03 9.09567296e-01 5.06810248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.37, Y:187.63, Z:50.68 [[ 7.07561733e-01 -6.33935357e-01 -3.12221647e-01 2.88371928e+02] [ 5.73182255e-01 7.73278968e-01 -2.71112044e-01 1.87630680e+02] [ 4.13301943e-01 1.28686002e-02 9.10503104e-01 5.06806089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.12275509600005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.40, Y:187.64, Z:50.70 [[ 7.06045947e-01 -6.28627713e-01 -3.26077169e-01 2.88396930e+02] [ 5.73624008e-01 7.77687328e-01 -2.57211814e-01 1.87636891e+02] [ 4.15276557e-01 -5.44233351e-03 9.09678934e-01 5.06979999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1527550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:288.42, Y:187.64, Z:50.72 [[ 7.04572017e-01 -6.24066298e-01 -3.37815822e-01 2.88420318e+02] [ 5.73801567e-01 7.81106130e-01 -2.46221395e-01 1.87643091e+02] [ 4.17528484e-01 -2.03585433e-02 9.08435741e-01 5.07176376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.18275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.44, Y:187.67, Z:50.72 [[ 7.02280620e-01 -6.31083292e-01 -3.29447732e-01 2.88435984e+02] [ 5.75726893e-01 7.75673119e-01 -2.58591873e-01 1.87668404e+02] [ 4.18736761e-01 -8.06785854e-03 9.08071823e-01 5.07239108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.46, Y:187.68, Z:50.73 [[ 7.01091562e-01 -6.32253175e-01 -3.29737084e-01 2.88455699e+02] [ 5.76841309e-01 7.74713734e-01 -2.58984045e-01 1.87684721e+02] [ 4.19195332e-01 -8.63444206e-03 9.07855010e-01 5.07348981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.24275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.48, Y:187.70, Z:50.75 [[ 6.99768559e-01 -6.33699138e-01 -3.29771688e-01 2.88475132e+02] [ 5.78351224e-01 7.73522965e-01 -2.59175777e-01 1.87700899e+02] [ 4.19325441e-01 -9.36079983e-03 9.07787723e-01 5.07459085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.49, Y:187.73, Z:50.76 [[ 6.94495236e-01 -6.43751870e-01 -3.21340780e-01 2.88489149e+02] [ 5.79429827e-01 7.65184819e-01 -2.80630126e-01 1.87730385e+02] [ 4.26541255e-01 8.70185289e-03 9.04426247e-01 5.07553309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:187.72, Z:50.77 [[ 6.96799799e-01 -6.28583626e-01 -3.45474551e-01 2.88518771e+02] [ 5.81810447e-01 7.77017393e-01 -2.40292687e-01 1.87719747e+02] [ 4.19483784e-01 -3.35648071e-02 9.07142083e-01 5.07745728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.53, Y:187.75, Z:50.78 [[ 6.95824385e-01 -6.37863321e-01 -3.30089092e-01 2.88531620e+02] [ 5.82633979e-01 7.70063898e-01 -2.59883128e-01 1.87749964e+02] [ 4.19959608e-01 -1.14881036e-02 9.07470083e-01 5.07792827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:187.77, Z:50.79 [[ 6.95137404e-01 -6.38683550e-01 -3.29950471e-01 2.88548445e+02] [ 5.83516278e-01 7.69378384e-01 -2.59933944e-01 1.87766783e+02] [ 4.19872294e-01 -1.18416635e-02 9.07505940e-01 5.07900546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.57, Y:187.78, Z:50.80 [[ 6.94765440e-01 -6.39247157e-01 -3.29642315e-01 2.88566856e+02] [ 5.84160940e-01 7.68907571e-01 -2.59879095e-01 1.87783298e+02] [ 4.19591444e-01 -1.20091507e-02 9.07633627e-01 5.08007884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.42275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.59, Y:187.79, Z:50.82 [[ 6.94187162e-01 -6.32218854e-01 -3.44098104e-01 2.88591611e+02] [ 5.82640710e-01 7.74249237e-01 -2.47119246e-01 1.87789763e+02] [ 4.22651141e-01 -2.89385553e-02 9.05830322e-01 5.08231878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.60, Y:187.83, Z:50.82 [[ 6.94251723e-01 -6.44524837e-01 -3.20315906e-01 2.88600226e+02] [ 5.84314611e-01 7.64581526e-01 -2.72013833e-01 1.87825754e+02] [ 4.20227296e-01 1.68080810e-03 9.07417321e-01 5.08204028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.62, Y:187.83, Z:50.84 [[ 6.94400331e-01 -6.39675305e-01 -3.29581075e-01 2.88622131e+02] [ 5.84434914e-01 7.68553740e-01 -2.60309395e-01 1.87833547e+02] [ 4.19814259e-01 -1.18597573e-02 9.07532553e-01 5.08352754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:187.85, Z:50.85 [[ 6.95315536e-01 -6.38857384e-01 -3.29237829e-01 2.88640258e+02] [ 5.83566004e-01 7.69243708e-01 -2.60220747e-01 1.87851458e+02] [ 4.19508074e-01 -1.11964760e-02 9.07682552e-01 5.08470089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.66, Y:187.87, Z:50.86 [[ 6.95909888e-01 -6.38288215e-01 -3.29085981e-01 2.88659065e+02] [ 5.82905236e-01 7.69723222e-01 -2.60283783e-01 1.87868235e+02] [ 4.19441193e-01 -1.06918826e-02 9.07719543e-01 5.08585357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.68, Y:187.89, Z:50.87 [[ 6.97310044e-01 -6.36944651e-01 -3.28725134e-01 2.88676275e+02] [ 5.81461996e-01 7.70848337e-01 -2.60182220e-01 1.87885512e+02] [ 4.19118896e-01 -9.71349705e-03 9.07879397e-01 5.08697285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.70, Y:187.90, Z:50.88 [[ 6.97883191e-01 -6.36585295e-01 -3.28204532e-01 2.88695296e+02] [ 5.81159730e-01 7.71150044e-01 -2.59963416e-01 1.87902367e+02] [ 4.18583827e-01 -9.31515858e-03 9.08130391e-01 5.08811868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:187.92, Z:50.89 [[ 6.98289324e-01 -6.36172298e-01 -3.28141474e-01 2.88714719e+02] [ 5.80641334e-01 7.71495575e-01 -2.60096558e-01 1.87919166e+02] [ 4.18625920e-01 -8.90985306e-03 9.08115055e-01 5.08930485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.73, Y:187.94, Z:50.90 [[ 6.99340118e-01 -6.35041140e-01 -3.28094727e-01 2.88732792e+02] [ 5.79324084e-01 7.72436108e-01 -2.60242319e-01 1.87935360e+02] [ 4.18696792e-01 -8.07528329e-03 9.08090186e-01 5.09044397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.75, Y:187.95, Z:50.92 [[ 6.99598457e-01 -6.34904328e-01 -3.27808623e-01 2.88752400e+02] [ 5.79186235e-01 7.72551176e-01 -2.60207582e-01 1.87952282e+02] [ 4.18455857e-01 -7.82141873e-03 9.08203458e-01 5.09163158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:187.97, Z:50.93 [[ 6.99805972e-01 -6.34595607e-01 -3.27963439e-01 2.88771818e+02] [ 5.78706875e-01 7.72808096e-01 -2.60511036e-01 1.87968520e+02] [ 4.18771959e-01 -7.48751784e-03 9.08060561e-01 5.09283985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.79, Y:187.99, Z:50.94 [[ 7.00253455e-01 -6.34258823e-01 -3.27659649e-01 2.88791131e+02] [ 5.78360147e-01 7.73087962e-01 -2.60450655e-01 1.87985033e+02] [ 4.18502856e-01 -7.12381164e-03 9.08187542e-01 5.09405027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.81, Y:188.00, Z:50.95 [[ 7.00093375e-01 -6.34463220e-01 -3.27605997e-01 2.88810033e+02] [ 5.78521904e-01 7.72920525e-01 -2.60588312e-01 1.88000469e+02] [ 4.18547099e-01 -7.09109436e-03 9.08167409e-01 5.09518286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.83, Y:188.02, Z:50.96 [[ 6.99428657e-01 -6.35036851e-01 -3.27914245e-01 2.88829080e+02] [ 5.78957112e-01 7.72447532e-01 -2.61023893e-01 1.88015663e+02] [ 4.19056340e-01 -7.28069341e-03 9.07931041e-01 5.09636637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.85, Y:188.03, Z:50.98 [[ 6.99080332e-01 -6.35413988e-01 -3.27926445e-01 2.88849152e+02] [ 5.79283832e-01 7.72136676e-01 -2.61218675e-01 1.88031369e+02] [ 4.19186036e-01 -7.34964987e-03 9.07870613e-01 5.09755558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:188.05, Z:50.99 [[ 6.98954765e-01 -6.35598797e-01 -3.27835945e-01 2.88869332e+02] [ 5.79434721e-01 7.71985024e-01 -2.61332214e-01 1.88047739e+02] [ 4.19186880e-01 -7.30013300e-03 9.07870623e-01 5.09873720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:188.06, Z:51.00 [[ 6.98498182e-01 -6.36122190e-01 -3.27793913e-01 2.88889501e+02] [ 5.79974004e-01 7.71551750e-01 -2.61415476e-01 1.88063615e+02] [ 4.19202152e-01 -7.51371370e-03 9.07861829e-01 5.09995643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.91, Y:188.08, Z:51.01 [[ 6.97459455e-01 -6.37212417e-01 -3.27888157e-01 2.88908929e+02] [ 5.81057917e-01 7.70646575e-01 -2.61678340e-01 1.88078103e+02] [ 4.19430573e-01 -8.01197706e-03 9.07752060e-01 5.10111410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:188.09, Z:51.02 [[ 6.96712423e-01 -6.37971659e-01 -3.27999943e-01 2.88929317e+02] [ 5.81778702e-01 7.70014799e-01 -2.61936541e-01 1.88093691e+02] [ 4.19672899e-01 -8.32893880e-03 9.07637200e-01 5.10230873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.95, Y:188.11, Z:51.03 [[ 6.95247803e-01 -6.39620373e-01 -3.27896738e-01 2.88949977e+02] [ 5.83557002e-01 7.68636243e-01 -2.62029678e-01 1.88107898e+02] [ 4.19632837e-01 -9.17087967e-03 9.07647606e-01 5.10348619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:188.12, Z:51.05 [[ 6.94480698e-01 -6.40417860e-01 -3.27965737e-01 2.88970158e+02] [ 5.84329296e-01 7.67967914e-01 -2.62268099e-01 1.88122821e+02] [ 4.19828338e-01 -9.49985557e-03 9.07553811e-01 5.10466811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.99, Y:188.14, Z:51.06 [[ 6.93618430e-01 -6.41420502e-01 -3.27831075e-01 2.88990655e+02] [ 5.85401757e-01 7.67125024e-01 -2.62343251e-01 1.88138113e+02] [ 4.19759761e-01 -9.94677335e-03 9.07580743e-01 5.10587694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:188.15, Z:51.07 [[ 6.92426267e-01 -6.42512740e-01 -3.28212193e-01 2.89011350e+02] [ 5.86388342e-01 7.66203502e-01 -2.62832469e-01 1.88151745e+02] [ 4.20350541e-01 -1.04676982e-02 9.07301411e-01 5.10715127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:188.17, Z:51.08 [[ 6.91992834e-01 -6.42938785e-01 -3.28291997e-01 2.89031418e+02] [ 5.86746226e-01 7.65844562e-01 -2.63079787e-01 1.88166729e+02] [ 4.20564839e-01 -1.05747631e-02 9.07200855e-01 5.10829707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.07, Y:188.14, Z:51.13 [[ 6.91362242e-01 -6.15799422e-01 -3.77901207e-01 2.89074383e+02] [ 5.79188319e-01 7.85046993e-01 -2.19640868e-01 1.88142000e+02] [ 4.31924926e-01 -6.70245612e-02 8.99415681e-01 5.11334878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:188.19, Z:51.13 [[ 6.91975308e-01 -6.37336975e-01 -3.39074850e-01 2.89079335e+02] [ 5.78157173e-01 7.70516222e-01 -2.68400886e-01 1.88189698e+02] [ 4.32324480e-01 -1.03117711e-02 9.01659144e-01 5.11252297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:188.20, Z:51.13 [[ 6.92171503e-01 -6.36918183e-01 -3.39461100e-01 2.89100223e+02] [ 5.79514209e-01 7.70811875e-01 -2.64598441e-01 1.88204589e+02] [ 4.30188205e-01 -1.35750300e-02 9.02637151e-01 5.11348182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.10, Y:188.24, Z:51.12 [[ 6.92658048e-01 -6.51956373e-01 -3.08508858e-01 2.89104322e+02] [ 5.84195900e-01 7.57972450e-01 -2.90160155e-01 1.88243928e+02] [ 4.23012977e-01 2.07521566e-02 9.05885958e-01 5.11215178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.13, Y:188.24, Z:51.14 [[ 6.93011912e-01 -6.41360309e-01 -3.29228560e-01 2.89133269e+02] [ 5.84037594e-01 7.67192574e-01 -2.65170971e-01 1.88241772e+02] [ 4.22651842e-01 -8.51521426e-03 9.06252124e-01 5.11415657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.15, Y:188.26, Z:51.15 [[ 6.92901296e-01 -6.41510312e-01 -3.29169125e-01 2.89153210e+02] [ 5.84136421e-01 7.67067943e-01 -2.65313802e-01 1.88257024e+02] [ 4.22696623e-01 -8.44339727e-03 9.06231910e-01 5.11537300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.32275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.17, Y:188.27, Z:51.17 [[ 6.92599945e-01 -6.41741834e-01 -3.29351991e-01 2.89173201e+02] [ 5.84237113e-01 7.66874410e-01 -2.65651342e-01 1.88270639e+02] [ 4.23051194e-01 -8.42955136e-03 9.06066571e-01 5.11662340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:188.27, Z:51.20 [[ 6.92825414e-01 -6.28075611e-01 -3.54279511e-01 2.89207970e+02] [ 5.80055128e-01 7.77286411e-01 -2.43642945e-01 1.88265335e+02] [ 4.28402841e-01 -3.66996224e-02 9.02842258e-01 5.11997829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.21, Y:188.31, Z:51.18 [[ 6.91640445e-01 -6.49869691e-01 -3.15123594e-01 2.89207964e+02] [ 5.85494548e-01 7.59970568e-01 -2.82207141e-01 1.88311284e+02] [ 4.22882524e-01 1.06827261e-02 9.06121543e-01 5.11848263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.23, Y:188.32, Z:51.20 [[ 6.91211335e-01 -6.43712485e-01 -3.28422178e-01 2.89233456e+02] [ 5.86528628e-01 7.65212303e-01 -2.65394612e-01 1.88315316e+02] [ 4.22150516e-01 -9.18524578e-03 9.06479218e-01 5.12024530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:188.33, Z:51.21 [[ 6.90798247e-01 -6.44437128e-01 -3.27869745e-01 2.89253448e+02] [ 5.87445898e-01 7.64598882e-01 -2.65133677e-01 1.88330883e+02] [ 4.21550825e-01 -9.45185732e-03 9.06755515e-01 5.12141359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.27, Y:188.35, Z:51.23 [[ 6.90551034e-01 -6.44901006e-01 -3.27478187e-01 2.89273276e+02] [ 5.88013281e-01 7.64206318e-01 -2.65007709e-01 1.88345894e+02] [ 4.21164637e-01 -9.56017518e-03 9.06933819e-01 5.12258106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.29, Y:188.36, Z:51.24 [[ 6.89794371e-01 -6.46020801e-01 -3.26865187e-01 2.89293923e+02] [ 5.89395613e-01 7.63253300e-01 -2.64683228e-01 1.88360143e+02] [ 4.20471804e-01 -1.00759061e-02 9.07249656e-01 5.12380927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.31, Y:188.37, Z:51.25 [[ 6.89249002e-01 -6.46699385e-01 -3.26673719e-01 2.89313304e+02] [ 5.90127606e-01 7.62675135e-01 -2.64718807e-01 1.88374801e+02] [ 4.20339413e-01 -1.03220064e-02 9.07308236e-01 5.12497573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.33, Y:188.39, Z:51.26 [[ 6.88490924e-01 -6.47599185e-01 -3.26489729e-01 2.89332537e+02] [ 5.91097049e-01 7.61906104e-01 -2.64770407e-01 1.88389771e+02] [ 4.20219617e-01 -1.06950935e-02 9.07359404e-01 5.12610633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:188.41, Z:51.27 [[ 6.88165031e-01 -6.47955883e-01 -3.26469086e-01 2.89352481e+02] [ 5.91407385e-01 7.61602067e-01 -2.64952066e-01 1.88406099e+02] [ 4.20316781e-01 -1.07454819e-02 9.07313804e-01 5.12729030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.36, Y:188.44, Z:51.27 [[ 6.88281860e-01 -6.55133517e-01 -3.11557627e-01 2.89363971e+02] [ 5.93241812e-01 7.55484799e-01 -2.78041133e-01 1.88435057e+02] [ 4.17531117e-01 6.54165667e-03 9.08639078e-01 5.12744268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.39, Y:188.43, Z:51.30 [[ 6.89494504e-01 -6.41743537e-01 -3.35801373e-01 2.89394469e+02] [ 5.90054685e-01 7.66561819e-01 -2.53413587e-01 1.88431515e+02] [ 4.20039043e-01 -2.34138980e-02 9.07203942e-01 5.13019952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:188.46, Z:51.31 [[ 6.89757037e-01 -6.46252502e-01 -3.26485733e-01 2.89410719e+02] [ 5.89262300e-01 7.63067640e-01 -2.65514064e-01 1.88455617e+02] [ 4.20719827e-01 -9.24553979e-03 9.07143510e-01 5.13096234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:188.47, Z:51.32 [[ 6.89696990e-01 -6.45188409e-01 -3.28709566e-01 2.89432114e+02] [ 5.89055598e-01 7.63930752e-01 -2.63483035e-01 1.88471741e+02] [ 4.21107546e-01 -1.19047535e-02 9.06932584e-01 5.13237931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.45, Y:188.49, Z:51.33 [[ 6.91025384e-01 -6.44545167e-01 -3.27178004e-01 2.89449552e+02] [ 5.86887335e-01 7.64526385e-01 -2.66575809e-01 1.88488660e+02] [ 4.21956366e-01 -7.80597650e-03 9.06582534e-01 5.13340831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:188.51, Z:51.35 [[ 6.91555668e-01 -6.43968897e-01 -3.27192326e-01 2.89469102e+02] [ 5.86242016e-01 7.65015396e-01 -2.66592842e-01 1.88505584e+02] [ 4.21984665e-01 -7.45009818e-03 9.06572357e-01 5.13459267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.49, Y:188.52, Z:51.36 [[ 6.93519830e-01 -6.41198891e-01 -3.28472568e-01 2.89491051e+02] [ 5.83051036e-01 7.67347839e-01 -2.66887211e-01 1.88522127e+02] [ 4.23180499e-01 -6.42469733e-03 9.06022621e-01 5.13587162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.52, Y:188.52, Z:51.38 [[ 6.94132946e-01 -6.30707995e-01 -3.46968124e-01 2.89518645e+02] [ 5.79861758e-01 7.75518725e-01 -2.49661868e-01 1.88524311e+02] [ 4.26544013e-01 -2.78950188e-02 9.04036544e-01 5.13838319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.53, Y:188.55, Z:51.39 [[ 6.94786212e-01 -6.36739229e-01 -3.34417813e-01 2.89531704e+02] [ 5.78798429e-01 7.71025903e-01 -2.65539895e-01 1.88550766e+02] [ 4.26924465e-01 -9.06704689e-03 9.04241832e-01 5.13891077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.54, Y:188.58, Z:51.39 [[ 6.96144029e-01 -6.43144393e-01 -3.18980849e-01 2.89540847e+02] [ 5.79831764e-01 7.65693743e-01 -2.78402976e-01 1.88579327e+02] [ 4.23294953e-01 8.85334112e-03 9.05948675e-01 5.13879818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.56, Y:188.59, Z:51.40 [[ 6.96887805e-01 -6.38040132e-01 -3.27493782e-01 2.89563680e+02] [ 5.79113525e-01 7.69997227e-01 -2.67827923e-01 1.88588953e+02] [ 4.23054267e-01 -3.01006548e-03 9.06099347e-01 5.14028952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.9527550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.58, Y:188.61, Z:51.41 [[ 6.98628755e-01 -6.36112284e-01 -3.27534768e-01 2.89582600e+02] [ 5.76880750e-01 7.71594669e-01 -2.68049002e-01 1.88606668e+02] [ 4.23233344e-01 -1.68176240e-03 9.06019155e-01 5.14134989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.60, Y:188.62, Z:51.43 [[ 6.99797866e-01 -6.35133148e-01 -3.26938574e-01 2.89600904e+02] [ 5.75938366e-01 7.72402115e-01 -2.67749830e-01 1.88623722e+02] [ 4.22584839e-01 -9.25709078e-04 9.06322899e-01 5.14258553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.62, Y:188.65, Z:51.43 [[ 7.01268189e-01 -6.36164664e-01 -3.21741274e-01 2.89620365e+02] [ 5.75614360e-01 7.71538465e-01 -2.70917893e-01 1.88645227e+02] [ 4.20584159e-01 4.78720260e-03 9.07240899e-01 5.14339270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.64, Y:188.66, Z:51.45 [[ 7.01631072e-01 -6.31633987e-01 -3.29776205e-01 2.89640309e+02] [ 5.74408696e-01 7.75250173e-01 -2.62758101e-01 1.88656393e+02] [ 4.21626007e-01 -5.06707175e-03 9.06755664e-01 5.14502036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.66, Y:188.68, Z:51.46 [[ 7.01843566e-01 -6.33494895e-01 -3.25729686e-01 2.89658360e+02] [ 5.74384607e-01 7.73746744e-01 -2.67204602e-01 1.88676545e+02] [ 4.21305035e-01 4.41713260e-04 9.06918890e-01 5.14603680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.68, Y:188.69, Z:51.47 [[ 7.01539201e-01 -6.33817302e-01 -3.25758157e-01 2.89677222e+02] [ 5.74640790e-01 7.73482682e-01 -2.67418217e-01 1.88692922e+02] [ 4.21462586e-01 4.10437372e-04 9.06845698e-01 5.14720522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.70, Y:188.71, Z:51.48 [[ 7.00989955e-01 -6.34746582e-01 -3.25130527e-01 2.89695962e+02] [ 5.75811897e-01 7.72720374e-01 -2.67102758e-01 1.88709883e+02] [ 4.20777545e-01 2.23251857e-05 9.07163854e-01 5.14835587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.71, Y:188.73, Z:51.49 [[ 7.00376866e-01 -6.39726803e-01 -3.16578366e-01 2.89712451e+02] [ 5.78508594e-01 7.68558539e-01 -2.73213429e-01 1.88733824e+02] [ 4.18090961e-01 8.20905979e-03 9.08368075e-01 5.14889637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.74, Y:188.74, Z:51.51 [[ 6.98537337e-01 -6.35258956e-01 -3.29380704e-01 2.89735833e+02] [ 5.79512517e-01 7.72246854e-01 -2.60384408e-01 1.88740374e+02] [ 4.19774740e-01 -8.99201006e-03 9.07583777e-01 5.15088485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.75, Y:188.76, Z:51.52 [[ 6.97553257e-01 -6.39090277e-01 -3.24010913e-01 2.89752598e+02] [ 5.80823808e-01 7.69128545e-01 -2.66617676e-01 1.88760997e+02] [ 4.19598807e-01 -2.21322407e-03 9.07706970e-01 5.15183409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:188.78, Z:51.53 [[ 6.93549017e-01 -6.43964485e-01 -3.22954336e-01 2.89772128e+02] [ 5.85227229e-01 7.65050842e-01 -2.68712298e-01 1.88781279e+02] [ 4.20117663e-01 -2.63652119e-03 9.07465811e-01 5.15305755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.79, Y:188.79, Z:51.54 [[ 6.93763976e-01 -6.41238070e-01 -3.27879982e-01 2.89792345e+02] [ 5.85353758e-01 7.67274845e-01 -2.62012004e-01 1.88792050e+02] [ 4.19586134e-01 -1.01512896e-02 9.07658762e-01 5.15431942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.31275509600005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:289.81, Y:188.81, Z:51.55 [[ 6.90718474e-01 -6.45445473e-01 -3.26049277e-01 2.89810595e+02] [ 5.88977358e-01 7.63746594e-01 -2.64190864e-01 1.88812128e+02] [ 4.19539822e-01 -9.55413113e-03 9.07686651e-01 5.15537827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:188.83, Z:51.56 [[ 6.89867043e-01 -6.47482975e-01 -3.23804355e-01 2.89828102e+02] [ 5.88982504e-01 7.62062569e-01 -2.68998608e-01 1.88830309e+02] [ 4.20931198e-01 -5.14182536e-03 9.07077995e-01 5.15637675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.85, Y:188.85, Z:51.57 [[ 6.87174974e-01 -6.49423570e-01 -3.25637193e-01 2.89846538e+02] [ 5.91211889e-01 7.60387132e-01 -2.68849237e-01 1.88846039e+02] [ 4.22207362e-01 -7.77411255e-03 9.06465943e-01 5.15749767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4027550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:289.87, Y:188.86, Z:51.59 [[ 6.85238630e-01 -6.51024551e-01 -3.26519607e-01 2.89866008e+02] [ 5.92561397e-01 7.59007693e-01 -2.69774558e-01 1.88863150e+02] [ 4.23460754e-01 -8.62296592e-03 9.05873410e-01 5.15852889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:188.88, Z:51.60 [[ 6.84305181e-01 -6.51940687e-01 -3.26649291e-01 2.89885151e+02] [ 5.93437358e-01 7.58216168e-01 -2.70074704e-01 1.88879617e+02] [ 4.23743462e-01 -9.03237321e-03 9.05737211e-01 5.15976561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4627550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.90, Y:188.90, Z:51.61 [[ 6.83096913e-01 -6.53072950e-01 -3.26916395e-01 2.89903953e+02] [ 5.94501122e-01 7.57234385e-01 -2.70489376e-01 1.88895800e+02] [ 4.24201630e-01 -9.58170607e-03 9.05517072e-01 5.16088292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.49275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.92, Y:188.91, Z:51.62 [[ 6.81820466e-01 -6.54127284e-01 -3.27472670e-01 2.89923394e+02] [ 5.95365262e-01 7.56317221e-01 -2.71153955e-01 1.88912541e+02] [ 4.25042419e-01 -1.00875360e-02 9.05117221e-01 5.16207319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5227550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:289.94, Y:188.93, Z:51.63 [[ 6.81461201e-01 -6.54410657e-01 -3.27654275e-01 2.89941762e+02] [ 5.95520241e-01 7.56071751e-01 -2.71497975e-01 1.88928546e+02] [ 4.25401309e-01 -1.01094171e-02 9.04948355e-01 5.16319434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.55275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:289.96, Y:188.95, Z:51.64 [[ 6.80951004e-01 -6.55806957e-01 -3.25918650e-01 2.89960508e+02] [ 5.94996595e-01 7.54904199e-01 -2.75859933e-01 1.88947573e+02] [ 4.26948220e-01 -6.07338911e-03 9.04255678e-01 5.16434172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5827550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:289.98, Y:188.96, Z:51.66 [[ 6.81179047e-01 -6.52628126e-01 -3.31770455e-01 2.89982680e+02] [ 5.94605583e-01 7.57552944e-01 -2.69365436e-01 1.88959116e+02] [ 4.27129145e-01 -1.37864740e-02 9.04085520e-01 5.16576715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.61275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.00, Y:188.98, Z:51.67 [[ 6.81679890e-01 -6.53413374e-01 -3.29186103e-01 2.90000469e+02] [ 5.93621120e-01 7.56945803e-01 -2.73216063e-01 1.88977269e+02] [ 4.27699069e-01 -9.16592742e-03 9.03874711e-01 5.16700348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:189.00, Z:51.68 [[ 6.81980636e-01 -6.56106464e-01 -3.23151233e-01 2.90015449e+02] [ 5.92499394e-01 7.54667993e-01 -2.81816764e-01 1.88998083e+02] [ 4.28773693e-01 7.26665799e-04 9.03411640e-01 5.16782168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:189.01, Z:51.70 [[ 6.81946555e-01 -6.50501793e-01 -3.34359556e-01 2.90040613e+02] [ 5.92217551e-01 7.59371492e-01 -2.69505676e-01 1.89005589e+02] [ 4.29217041e-01 -1.42251299e-02 9.03089352e-01 5.16972044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.7027550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:290.06, Y:189.02, Z:51.71 [[ 6.82094236e-01 -6.51840569e-01 -3.31438268e-01 2.90059881e+02] [ 5.92062662e-01 7.58288684e-01 -2.72873735e-01 1.89024293e+02] [ 4.29196059e-01 -1.01066219e-02 9.03154804e-01 5.17071799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:189.04, Z:51.72 [[ 6.83687504e-01 -6.51241802e-01 -3.29325844e-01 2.90078466e+02] [ 5.90778106e-01 7.58836716e-01 -2.74131480e-01 1.89040390e+02] [ 4.28430421e-01 -7.13823095e-03 9.03546579e-01 5.17212039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.10, Y:189.06, Z:51.73 [[ 6.82931676e-01 -6.51914336e-01 -3.29563384e-01 2.90097442e+02] [ 5.91369450e-01 7.58255982e-01 -2.74463184e-01 1.89056605e+02] [ 4.28819892e-01 -7.45411542e-03 9.03359251e-01 5.17336606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.12, Y:189.07, Z:51.75 [[ 6.82737265e-01 -6.52171372e-01 -3.29457627e-01 2.90117272e+02] [ 5.91593629e-01 7.58035134e-01 -2.74590083e-01 1.89073450e+02] [ 4.28820248e-01 -7.43215129e-03 9.03359263e-01 5.17454633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.14, Y:189.09, Z:51.76 [[ 6.82748861e-01 -6.52334976e-01 -3.29109514e-01 2.90136296e+02] [ 5.91822882e-01 7.57894940e-01 -2.74483036e-01 1.89089078e+02] [ 4.28485319e-01 -7.37156049e-03 9.03518672e-01 5.17578780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.15, Y:189.11, Z:51.77 [[ 6.82526963e-01 -6.54056463e-01 -3.26139676e-01 2.90154300e+02] [ 5.91661283e-01 7.56441018e-01 -2.78808021e-01 1.89107752e+02] [ 4.29061617e-01 -2.67022775e-03 9.03271277e-01 5.17700152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.18, Y:189.12, Z:51.78 [[ 6.82435088e-01 -6.51350601e-01 -3.31699783e-01 2.90176434e+02] [ 5.92447921e-01 7.58687794e-01 -2.70921194e-01 1.89119588e+02] [ 4.28121259e-01 -1.16287175e-02 9.03646480e-01 5.17847155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.91275509600007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.20, Y:189.14, Z:51.80 [[ 6.81140561e-01 -6.54392210e-01 -3.28357080e-01 2.90195256e+02] [ 5.94211024e-01 7.56109607e-01 -2.74247190e-01 1.89138367e+02] [ 4.27739168e-01 -8.31251201e-03 9.03863987e-01 5.17950226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.94275509600004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:290.22, Y:189.15, Z:51.81 [[ 6.80045335e-01 -6.55549688e-01 -3.28318366e-01 2.90215161e+02] [ 5.95420441e-01 7.55099843e-01 -2.74406134e-01 1.89154965e+02] [ 4.27800002e-01 -8.87885500e-03 9.03829810e-01 5.18060906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.23, Y:189.17, Z:51.82 [[ 6.79502173e-01 -6.58007367e-01 -3.24504396e-01 2.90230643e+02] [ 5.95582785e-01 7.53004807e-01 -2.79758657e-01 1.89172818e+02] [ 4.28436627e-01 -3.17261696e-03 9.03566263e-01 5.18177396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.00275509600004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:290.25, Y:189.20, Z:51.82 [[ 6.79034360e-01 -6.60818285e-01 -3.19736659e-01 2.90250991e+02] [ 5.97761311e-01 7.50545912e-01 -2.81713062e-01 1.89195040e+02] [ 4.26138185e-01 1.66644720e-04 9.04658068e-01 5.18223178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:189.20, Z:51.84 [[ 6.78424664e-01 -6.54652617e-01 -3.33421545e-01 2.90272811e+02] [ 5.97182749e-01 7.55743389e-01 -2.68746525e-01 1.89198865e+02] [ 4.27916744e-01 -1.67893240e-02 9.03662204e-01 5.18446775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.29, Y:189.22, Z:51.85 [[ 6.78176420e-01 -6.57032210e-01 -3.29219408e-01 2.90291972e+02] [ 5.98751016e-01 7.53742956e-01 -2.70866716e-01 1.89219085e+02] [ 4.26114966e-01 -1.34250355e-02 9.04569402e-01 5.18540232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0927550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.31, Y:189.24, Z:51.86 [[ 6.77114419e-01 -6.61288761e-01 -3.22820753e-01 2.90307221e+02] [ 5.98039185e-01 7.50128890e-01 -2.82233557e-01 1.89241556e+02] [ 4.28795053e-01 -1.95504901e-03 9.03399679e-01 5.18618340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.33, Y:189.25, Z:51.88 [[ 6.78386817e-01 -6.55097981e-01 -3.32622852e-01 2.90330423e+02] [ 5.98327529e-01 7.55337534e-01 -2.67337572e-01 1.89248979e+02] [ 4.26374828e-01 -1.76591240e-02 9.04374182e-01 5.18764258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.34, Y:189.28, Z:51.88 [[ 6.77134936e-01 -6.62039273e-01 -3.21235552e-01 2.90344077e+02] [ 5.97286369e-01 7.49467653e-01 -2.85564758e-01 1.89277353e+02] [ 4.29810740e-01 1.49625747e-03 9.02917765e-01 5.18839529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:189.28, Z:51.90 [[ 6.79196795e-01 -6.52618549e-01 -3.35828444e-01 2.90368675e+02] [ 5.97326359e-01 7.57382935e-01 -2.63765637e-01 1.89279561e+02] [ 4.26489079e-01 -2.14504069e-02 9.04238323e-01 5.18989583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2127550960001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:290.38, Y:189.30, Z:51.90 [[ 6.80321161e-01 -6.55957487e-01 -3.26929493e-01 2.90384345e+02] [ 5.95710727e-01 7.54756932e-01 -2.74719316e-01 1.89304557e+02] [ 4.26956494e-01 -7.85804159e-03 9.04238024e-01 5.19039285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.40, Y:189.32, Z:51.92 [[ 6.81789400e-01 -6.54517315e-01 -3.26757248e-01 2.90402656e+02] [ 5.94091869e-01 7.56016483e-01 -2.74761586e-01 1.89320308e+02] [ 4.26870080e-01 -6.79428719e-03 9.04287439e-01 5.19171611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.42, Y:189.34, Z:51.93 [[ 6.83316031e-01 -6.53225051e-01 -3.26153698e-01 2.90421998e+02] [ 5.92801527e-01 7.57141533e-01 -2.74450450e-01 1.89336468e+02] [ 4.26222420e-01 -5.80801800e-03 9.04599755e-01 5.19287008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:189.35, Z:51.94 [[ 6.83431655e-01 -6.53343753e-01 -3.25673324e-01 2.90440670e+02] [ 5.93028876e-01 7.57039854e-01 -2.74239697e-01 1.89352285e+02] [ 4.25720479e-01 -5.70959502e-03 9.04836712e-01 5.19399412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.46, Y:189.37, Z:51.95 [[ 6.85154996e-01 -6.53274445e-01 -3.22172519e-01 2.90459004e+02] [ 5.90506441e-01 7.57120248e-01 -2.79412012e-01 1.89369319e+02] [ 4.26456064e-01 1.19558868e-03 9.04507488e-01 5.19505925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.48, Y:189.38, Z:51.96 [[ 6.84630981e-01 -6.51547331e-01 -3.26751428e-01 2.90482284e+02] [ 5.92719903e-01 7.58561951e-01 -2.70678559e-01 1.89382819e+02] [ 4.24221093e-01 -8.35714656e-03 9.05520084e-01 5.19648750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:189.40, Z:51.98 [[ 6.84721835e-01 -6.52821983e-01 -3.24005352e-01 2.90500515e+02] [ 5.92920763e-01 7.57494641e-01 -2.73215735e-01 1.89400657e+02] [ 4.23793556e-01 -5.03272169e-03 9.05744828e-01 5.19756226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.52, Y:189.42, Z:51.99 [[ 6.84638001e-01 -6.53357325e-01 -3.23102171e-01 2.90518841e+02] [ 5.93776117e-01 7.57031878e-01 -2.72640164e-01 1.89416198e+02] [ 4.22730091e-01 -5.19053562e-03 9.06240767e-01 5.19869835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.4527550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:290.54, Y:189.44, Z:52.00 [[ 6.83857318e-01 -6.56156412e-01 -3.19057881e-01 2.90535662e+02] [ 5.93139334e-01 7.54620292e-01 -2.80595698e-01 1.89436596e+02] [ 4.24882217e-01 2.64164282e-03 9.05244786e-01 5.19959950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:189.45, Z:52.01 [[ 6.84236320e-01 -6.52140249e-01 -3.26395089e-01 2.90560313e+02] [ 5.94757038e-01 7.58019312e-01 -2.67714005e-01 1.89446989e+02] [ 4.22000858e-01 -1.09461306e-02 9.06529348e-01 5.20127776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.58, Y:189.47, Z:52.02 [[ 6.83923658e-01 -6.56053818e-01 -3.19126649e-01 2.90576623e+02] [ 5.94843649e-01 7.54713885e-01 -2.76709207e-01 1.89467171e+02] [ 4.22385445e-01 -5.82487464e-04 9.06416128e-01 5.20218593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.60, Y:189.48, Z:52.04 [[ 6.83430962e-01 -6.55126759e-01 -3.22073051e-01 2.90597645e+02] [ 5.95420113e-01 7.55502504e-01 -2.73296277e-01 1.89481017e+02] [ 4.22370700e-01 -4.98963496e-03 9.06409452e-01 5.20353718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.57275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.62, Y:189.50, Z:52.05 [[ 6.82298872e-01 -6.56344485e-01 -3.21994048e-01 2.90616550e+02] [ 5.96502364e-01 7.54443320e-01 -2.73861654e-01 1.89497149e+02] [ 4.22673845e-01 -5.21471336e-03 9.06266863e-01 5.20458678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.64, Y:189.51, Z:52.06 [[ 6.81205489e-01 -6.56734510e-01 -3.23510225e-01 2.90637710e+02] [ 5.98170804e-01 7.54071126e-01 -2.71235002e-01 1.89513357e+02] [ 4.22079105e-01 -8.74759931e-03 9.06516800e-01 5.20580513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.66, Y:189.53, Z:52.07 [[ 6.80287391e-01 -6.57998391e-01 -3.22873324e-01 2.90657042e+02] [ 5.98532844e-01 7.52984638e-01 -2.73445736e-01 1.89530683e+02] [ 4.23045507e-01 -7.22860276e-03 9.06079603e-01 5.20692588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.68, Y:189.55, Z:52.08 [[ 6.79081879e-01 -6.58958952e-01 -3.23451543e-01 2.90676588e+02] [ 5.99284055e-01 7.52139632e-01 -2.74125146e-01 1.89546974e+02] [ 4.23917943e-01 -7.68593318e-03 9.05667988e-01 5.20805457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.69275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:290.69, Y:189.56, Z:52.09 [[ 6.77558965e-01 -6.61115999e-01 -3.22241346e-01 2.90694596e+02] [ 5.99088596e-01 7.50275064e-01 -2.79607195e-01 1.89562607e+02] [ 4.26622436e-01 -3.60075326e-03 9.04422651e-01 5.20899443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.72, Y:189.57, Z:52.10 [[ 6.77367256e-01 -6.59416180e-01 -3.26104127e-01 2.90716150e+02] [ 5.99864250e-01 7.51711593e-01 -2.74030222e-01 1.89574395e+02] [ 4.25836215e-01 -9.99910829e-03 9.04745011e-01 5.21032852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:189.59, Z:52.11 [[ 6.73927498e-01 -6.64010284e-01 -3.23901328e-01 2.90735899e+02] [ 6.02916037e-01 7.47683602e-01 -2.78319033e-01 1.89593663e+02] [ 4.26982411e-01 -7.71845575e-03 9.04226988e-01 5.21141169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.75, Y:189.61, Z:52.13 [[ 6.73535764e-01 -6.64260238e-01 -3.24203503e-01 2.90754759e+02] [ 6.02671408e-01 7.47466883e-01 -2.79428761e-01 1.89608460e+02] [ 4.27944797e-01 -7.18291717e-03 9.03776331e-01 5.21252594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:189.63, Z:52.14 [[ 6.70697193e-01 -6.68396050e-01 -3.21577355e-01 2.90771575e+02] [ 6.04153627e-01 7.43801340e-01 -2.85933493e-01 1.89625294e+02] [ 4.30306485e-01 -2.50733398e-03 9.02679369e-01 5.21353598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:189.64, Z:52.15 [[ 6.69175656e-01 -6.65841688e-01 -3.29937551e-01 2.90797346e+02] [ 6.07283081e-01 7.45892780e-01 -2.73589511e-01 1.89636359e+02] [ 4.28265339e-01 -1.72860522e-02 9.03487682e-01 5.21516821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.82, Y:189.65, Z:52.17 [[ 6.68178337e-01 -6.63236721e-01 -3.37127219e-01 2.90822286e+02] [ 6.06626086e-01 7.48005076e-01 -2.69245610e-01 1.89647005e+02] [ 4.30746447e-01 -2.46060814e-02 9.02137484e-01 5.21704133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9027550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:290.83, Y:189.67, Z:52.17 [[ 6.65777747e-01 -6.73437366e-01 -3.21281971e-01 2.90833839e+02] [ 6.10323001e-01 7.39215492e-01 -2.84721427e-01 1.89674682e+02] [ 4.29238658e-01 -6.52458653e-03 9.03167539e-01 5.21711312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:189.69, Z:52.19 [[ 6.65762615e-01 -6.70854018e-01 -3.26672661e-01 2.90854533e+02] [ 6.10640037e-01 7.41451613e-01 -2.78151488e-01 1.89686811e+02] [ 4.28811014e-01 -1.42965438e-02 9.03281087e-01 5.21862319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.87, Y:189.70, Z:52.20 [[ 6.65528000e-01 -6.70894849e-01 -3.27066632e-01 2.90872526e+02] [ 6.10440761e-01 7.41416816e-01 -2.78681146e-01 1.89704141e+02] [ 4.29458447e-01 -1.41846981e-02 9.02975214e-01 5.21981657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:189.72, Z:52.21 [[ 6.65487733e-01 -6.70995139e-01 -3.26942809e-01 2.90891800e+02] [ 6.10508386e-01 7.41327978e-01 -2.78769332e-01 1.89721194e+02] [ 4.29424718e-01 -1.40837560e-02 9.02992835e-01 5.22101858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.91, Y:189.74, Z:52.22 [[ 6.65521279e-01 -6.70923191e-01 -3.27022168e-01 2.90910397e+02] [ 6.10305678e-01 7.41396877e-01 -2.79029838e-01 1.89737665e+02] [ 4.29660803e-01 -1.38831910e-02 9.02883631e-01 5.22217310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.93, Y:189.76, Z:52.23 [[ 6.65110476e-01 -6.72457040e-01 -3.24699222e-01 2.90927861e+02] [ 6.09998746e-01 7.40072380e-01 -2.83186161e-01 1.89756904e+02] [ 4.30731453e-01 -9.71603596e-03 9.02427844e-01 5.22330425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:189.77, Z:52.25 [[ 6.66963025e-01 -6.67848740e-01 -3.30360990e-01 2.90948339e+02] [ 6.08927474e-01 7.44083076e-01 -2.74859433e-01 1.89768250e+02] [ 4.29380548e-01 -1.78448041e-02 9.02947345e-01 5.22473036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.96, Y:189.79, Z:52.26 [[ 6.68761595e-01 -6.68019287e-01 -3.26355882e-01 2.90963727e+02] [ 6.07056259e-01 7.44055042e-01 -2.79042637e-01 1.89788463e+02] [ 4.29232603e-01 -1.15033818e-02 9.03120726e-01 5.22572079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.98, Y:189.81, Z:52.27 [[ 6.69633460e-01 -6.67265696e-01 -3.26109674e-01 2.90981770e+02] [ 6.06247088e-01 7.44740118e-01 -2.78974238e-01 1.89805840e+02] [ 4.29016896e-01 -1.08925557e-02 9.03230787e-01 5.22688990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.17275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.00, Y:189.82, Z:52.28 [[ 6.70439879e-01 -6.66738930e-01 -3.25529674e-01 2.91000845e+02] [ 6.05799546e-01 7.45219119e-01 -2.78667140e-01 1.89823774e+02] [ 4.28389168e-01 -1.03761649e-02 9.03534756e-01 5.22801782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.2027550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:291.02, Y:189.84, Z:52.29 [[ 6.71193622e-01 -6.66195896e-01 -3.25087911e-01 2.91018848e+02] [ 6.05277365e-01 7.45711722e-01 -2.78484000e-01 1.89840320e+02] [ 4.27946764e-01 -9.85166960e-03 9.03750248e-01 5.22915386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:189.86, Z:52.30 [[ 6.72459574e-01 -6.65408099e-01 -3.24083605e-01 2.91037481e+02] [ 6.04701160e-01 7.46423749e-01 -2.77827454e-01 1.89856556e+02] [ 4.26772337e-01 -9.14600082e-03 9.04312846e-01 5.23042389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.06, Y:189.87, Z:52.32 [[ 6.73093256e-01 -6.64822369e-01 -3.23970194e-01 2.91056830e+02] [ 6.04006570e-01 7.46951810e-01 -2.77919155e-01 1.89872626e+02] [ 4.26756994e-01 -8.61461647e-03 9.04325305e-01 5.23160321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.29275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.07, Y:189.90, Z:52.32 [[ 6.70066327e-01 -6.71901004e-01 -3.15531550e-01 2.91070951e+02] [ 6.03846826e-01 7.40608274e-01 -2.94734450e-01 1.89897977e+02] [ 4.31717650e-01 6.95890526e-03 9.01981954e-01 5.23249436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:189.90, Z:52.34 [[ 6.71202097e-01 -6.63223587e-01 -3.31092462e-01 2.91095806e+02] [ 6.04173415e-01 7.48248141e-01 -2.74042341e-01 1.89900669e+02] [ 4.29490664e-01 -1.60994695e-02 9.02927781e-01 5.23428914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:189.92, Z:52.35 [[ 6.71371692e-01 -6.63839884e-01 -3.29509726e-01 2.91115365e+02] [ 6.06336014e-01 7.47659296e-01 -2.70854601e-01 1.89917732e+02] [ 4.26165097e-01 -1.79495021e-02 9.04467316e-01 5.23540769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.13, Y:189.95, Z:52.36 [[ 6.70104928e-01 -6.71263544e-01 -3.16803788e-01 2.91129582e+02] [ 6.06264223e-01 7.41218041e-01 -2.88165765e-01 1.89945963e+02] [ 4.28255856e-01 1.03449705e-03 9.03656933e-01 5.23611833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.15, Y:189.95, Z:52.38 [[ 6.70626032e-01 -6.64081189e-01 -3.30540314e-01 2.91154454e+02] [ 6.07598584e-01 7.47377324e-01 -2.68795639e-01 1.89950638e+02] [ 4.25540463e-01 -2.05744735e-02 9.04705480e-01 5.23781679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:189.98, Z:52.38 [[ 6.70164118e-01 -6.70845347e-01 -3.17563499e-01 2.91169152e+02] [ 6.07381808e-01 7.41594571e-01 -2.84824212e-01 1.89978432e+02] [ 4.26576364e-01 -2.00332559e-03 9.04449331e-01 5.23849334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.20, Y:189.99, Z:52.40 [[ 6.71687616e-01 -6.64743036e-01 -3.27035843e-01 2.91196648e+02] [ 6.06993528e-01 7.46897355e-01 -2.71483329e-01 1.89987382e+02] [ 4.24728859e-01 -1.61566500e-02 9.05176424e-01 5.24013091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.21, Y:190.00, Z:52.41 [[ 6.71453124e-01 -6.65934766e-01 -3.25087049e-01 2.91211528e+02] [ 6.07799460e-01 7.45866917e-01 -2.72511208e-01 1.90004715e+02] [ 4.23946362e-01 -1.46092308e-02 9.05569463e-01 5.24106110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:190.02, Z:52.42 [[ 6.71772389e-01 -6.67542302e-01 -3.21106109e-01 2.91229159e+02] [ 6.07416510e-01 7.44518043e-01 -2.77016367e-01 1.90024816e+02] [ 4.23989435e-01 -8.95320555e-03 9.05622879e-01 5.24201219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.25, Y:190.04, Z:52.43 [[ 6.71899851e-01 -6.67342894e-01 -3.21253875e-01 2.91248030e+02] [ 6.07051482e-01 7.44700003e-01 -2.77327251e-01 1.90041988e+02] [ 4.24310132e-01 -8.68150253e-03 9.05475314e-01 5.24310231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:190.06, Z:52.44 [[ 6.72722812e-01 -6.66505034e-01 -3.21271005e-01 2.91267449e+02] [ 6.06030479e-01 7.45457575e-01 -2.77524885e-01 1.90059154e+02] [ 4.24465637e-01 -8.00269987e-03 9.05408681e-01 5.24416238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:190.08, Z:52.45 [[ 6.72861667e-01 -6.66374912e-01 -3.21250141e-01 2.91286351e+02] [ 6.05802353e-01 7.45576481e-01 -2.77703475e-01 1.90075602e+02] [ 4.24571178e-01 -7.75806813e-03 9.05361324e-01 5.24526721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.31, Y:190.09, Z:52.46 [[ 6.72849186e-01 -6.66302427e-01 -3.21426585e-01 2.91305413e+02] [ 6.05554957e-01 7.45643427e-01 -2.78063077e-01 1.90091923e+02] [ 4.24943724e-01 -7.54694719e-03 9.05188309e-01 5.24636856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.32, Y:190.11, Z:52.48 [[ 6.72668122e-01 -6.66533192e-01 -3.21327095e-01 2.91324887e+02] [ 6.05755815e-01 7.45437381e-01 -2.78178008e-01 1.90109129e+02] [ 4.24944104e-01 -7.52427811e-03 9.05188320e-01 5.24755465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.34, Y:190.13, Z:52.49 [[ 6.72608372e-01 -6.66790039e-01 -3.20919027e-01 2.91343525e+02] [ 6.06123515e-01 7.45207521e-01 -2.77992870e-01 1.90125661e+02] [ 4.24514149e-01 -7.53623671e-03 9.05389940e-01 5.24866469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.36, Y:190.14, Z:52.50 [[ 6.72398889e-01 -6.67036318e-01 -3.20846201e-01 2.91362757e+02] [ 6.06336633e-01 7.44987107e-01 -2.78118856e-01 1.90142276e+02] [ 4.24541660e-01 -7.53399567e-03 9.05377058e-01 5.24983038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7727550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.38, Y:190.16, Z:52.51 [[ 6.72109699e-01 -6.67529510e-01 -3.20426130e-01 2.91382461e+02] [ 6.06960174e-01 7.44543777e-01 -2.77945879e-01 1.90159534e+02] [ 4.24108358e-01 -7.67577849e-03 9.05578922e-01 5.25095339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.40, Y:190.18, Z:52.52 [[ 6.72044413e-01 -6.67928996e-01 -3.19729827e-01 2.91400645e+02] [ 6.07587413e-01 7.44184684e-01 -2.77536830e-01 1.90176111e+02] [ 4.23312936e-01 -7.74674279e-03 9.05950410e-01 5.25209767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.42, Y:190.19, Z:52.53 [[ 6.71913696e-01 -6.68290461e-01 -3.19248876e-01 2.91419749e+02] [ 6.08082411e-01 7.43859629e-01 -2.77324059e-01 1.90193009e+02] [ 4.22809374e-01 -7.79179262e-03 9.06185148e-01 5.25322232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.44, Y:190.21, Z:52.54 [[ 6.71489415e-01 -6.69278593e-01 -3.18069379e-01 2.91439052e+02] [ 6.09553020e-01 7.42966077e-01 -2.76489644e-01 1.90209996e+02] [ 4.21363359e-01 -8.22028110e-03 9.06854645e-01 5.25435670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.46, Y:190.23, Z:52.56 [[ 6.71182934e-01 -6.69904534e-01 -3.17397833e-01 2.91458049e+02] [ 6.10419149e-01 7.42399370e-01 -2.76100776e-01 1.90226910e+02] [ 4.20597113e-01 -8.43158605e-03 9.07208343e-01 5.25550647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.48, Y:190.24, Z:52.57 [[ 6.70643867e-01 -6.70716402e-01 -3.16822208e-01 2.91476859e+02] [ 6.11453289e-01 7.41662136e-01 -2.75793675e-01 1.90243486e+02] [ 4.19954377e-01 -8.76264416e-03 9.07502913e-01 5.25665424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.49, Y:190.27, Z:52.58 [[ 6.67833496e-01 -6.76153790e-01 -3.11150245e-01 2.91494423e+02] [ 6.13586118e-01 7.36759529e-01 -2.84073006e-01 1.90266596e+02] [ 4.21319947e-01 -1.20400200e-03 9.06911271e-01 5.25775647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.52, Y:190.27, Z:52.59 [[ 6.67836577e-01 -6.71523753e-01 -3.21014261e-01 2.91517598e+02] [ 6.14230731e-01 7.40818422e-01 -2.71861501e-01 1.90274936e+02] [ 4.20374734e-01 -1.56177700e-02 9.07216164e-01 5.25931636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:190.29, Z:52.60 [[ 6.66867910e-01 -6.74273292e-01 -3.17242365e-01 2.91534230e+02] [ 6.15314737e-01 7.38397407e-01 -2.75965656e-01 1.90293754e+02] [ 4.20327211e-01 -1.11712622e-02 9.07303829e-01 5.26021303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:190.31, Z:52.61 [[ 6.67402803e-01 -6.72126390e-01 -3.20654977e-01 2.91553993e+02] [ 6.16112939e-01 7.40220459e-01 -2.69218346e-01 1.90306194e+02] [ 4.18304130e-01 -1.78826017e-02 9.08130975e-01 5.26134407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.57, Y:190.33, Z:52.62 [[ 6.66994185e-01 -6.75032978e-01 -3.15355729e-01 2.91570582e+02] [ 6.16334888e-01 7.37711515e-01 -2.75523185e-01 1.90327424e+02] [ 4.18628789e-01 -1.05923761e-02 9.08095666e-01 5.26223147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.59, Y:190.35, Z:52.63 [[ 6.66667464e-01 -6.75438048e-01 -3.15179212e-01 2.91589973e+02] [ 6.16766916e-01 7.37339249e-01 -2.75552905e-01 1.90345216e+02] [ 4.18512920e-01 -1.06899536e-02 9.08147929e-01 5.26327640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.61, Y:190.36, Z:52.64 [[ 6.66210636e-01 -6.75848873e-01 -3.15264476e-01 2.91609152e+02] [ 6.17102219e-01 7.36961093e-01 -2.75813703e-01 1.90362221e+02] [ 4.18746033e-01 -1.08003852e-02 9.08039157e-01 5.26435864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.63, Y:190.38, Z:52.65 [[ 6.66161943e-01 -6.76031451e-01 -3.14975782e-01 2.91628490e+02] [ 6.17329564e-01 7.36794358e-01 -2.75750399e-01 1.90379374e+02] [ 4.18488321e-01 -1.07494410e-02 9.08158562e-01 5.26545209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.65, Y:190.40, Z:52.67 [[ 6.65826685e-01 -6.76233084e-01 -3.15251712e-01 2.91647100e+02] [ 6.17356245e-01 7.36609559e-01 -2.76184040e-01 1.90396114e+02] [ 4.18982210e-01 -1.07319098e-02 9.07931018e-01 5.26655906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.67, Y:190.41, Z:52.68 [[ 6.65930583e-01 -6.76310907e-01 -3.14865076e-01 2.91666095e+02] [ 6.17500563e-01 7.36539999e-01 -2.76046888e-01 1.90412958e+02] [ 4.18604243e-01 -1.06012964e-02 9.08106877e-01 5.26766623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.69, Y:190.43, Z:52.69 [[ 6.66525410e-01 -6.75802386e-01 -3.14698288e-01 2.91685226e+02] [ 6.16914063e-01 7.37013410e-01 -2.76094679e-01 1.90429291e+02] [ 4.18522302e-01 -1.01176801e-02 9.08150161e-01 5.26878600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.70, Y:190.45, Z:52.70 [[ 6.66669403e-01 -6.75760897e-01 -3.14482300e-01 2.91704253e+02] [ 6.16858701e-01 7.37054175e-01 -2.76109555e-01 1.90446092e+02] [ 4.18374533e-01 -9.91735070e-03 9.08220456e-01 5.26995482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.72, Y:190.46, Z:52.71 [[ 6.67400702e-01 -6.75192698e-01 -3.14151435e-01 2.91723614e+02] [ 6.16275071e-01 7.37581520e-01 -2.76004599e-01 1.90462564e+02] [ 4.18068583e-01 -9.39803485e-03 9.08366851e-01 5.27113582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:190.48, Z:52.72 [[ 6.67721647e-01 -6.74997473e-01 -3.13888856e-01 2.91743081e+02] [ 6.16075829e-01 7.37763756e-01 -2.75962340e-01 1.90479567e+02] [ 4.17849703e-01 -9.11330863e-03 9.08470458e-01 5.27233016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.76, Y:190.50, Z:52.73 [[ 6.68167368e-01 -6.74643635e-01 -3.13701028e-01 2.91761380e+02] [ 6.15670289e-01 7.38091979e-01 -2.75989721e-01 1.90495668e+02] [ 4.17734921e-01 -8.72907701e-03 9.08527016e-01 5.27347055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.78, Y:190.51, Z:52.75 [[ 6.69418562e-01 -6.73851971e-01 -3.12733610e-01 2.91780559e+02] [ 6.15084501e-01 7.38822633e-01 -2.75340105e-01 1.90513234e+02] [ 4.16593141e-01 -8.03981985e-03 9.09057488e-01 5.27461850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.80, Y:190.53, Z:52.76 [[ 6.69934422e-01 -6.73574211e-01 -3.12226925e-01 2.91798604e+02] [ 6.14890287e-01 7.39079523e-01 -2.75084341e-01 1.90529634e+02] [ 4.16050245e-01 -7.69683478e-03 9.09309052e-01 5.27573573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.82, Y:190.55, Z:52.77 [[ 6.71116891e-01 -6.72628844e-01 -3.11725131e-01 2.91817267e+02] [ 6.13953705e-01 7.39947545e-01 -2.74842645e-01 1.90546495e+02] [ 4.15527336e-01 -6.93325820e-03 9.09554266e-01 5.27682067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.84, Y:190.56, Z:52.78 [[ 6.71627603e-01 -6.72212449e-01 -3.11523333e-01 2.91836880e+02] [ 6.13484484e-01 7.40329683e-01 -2.74861324e-01 1.90563613e+02] [ 4.15395174e-01 -6.51027888e-03 9.09617758e-01 5.27797205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.86, Y:190.58, Z:52.79 [[ 6.72563902e-01 -6.71403684e-01 -3.11247314e-01 2.91856560e+02] [ 6.12618275e-01 7.41068704e-01 -2.74801793e-01 1.90580710e+02] [ 4.15158580e-01 -5.85402626e-03 9.09730226e-01 5.27911119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:190.60, Z:52.80 [[ 6.72791583e-01 -6.71254298e-01 -3.11077407e-01 2.91875419e+02] [ 6.12437158e-01 7.41205918e-01 -2.74835431e-01 1.90598259e+02] [ 4.15056880e-01 -5.60839853e-03 9.09778178e-01 5.28022342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.89, Y:190.62, Z:52.81 [[ 6.73009799e-01 -6.71170808e-01 -3.10785388e-01 2.91894518e+02] [ 6.12372506e-01 7.41283121e-01 -2.74771266e-01 1.90615886e+02] [ 4.14798415e-01 -5.39267272e-03 9.09897354e-01 5.28132020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:190.63, Z:52.82 [[ 6.73040051e-01 -6.71276491e-01 -3.10491486e-01 2.91912642e+02] [ 6.12516778e-01 7.41188138e-01 -2.74705919e-01 1.90632809e+02] [ 4.14536231e-01 -5.29315884e-03 9.10017415e-01 5.28231416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:190.65, Z:52.83 [[ 6.72712808e-01 -6.71851129e-01 -3.09957318e-01 2.91932119e+02] [ 6.13267995e-01 7.40666019e-01 -2.74437998e-01 1.90650454e+02] [ 4.13956331e-01 -5.46894709e-03 9.10280312e-01 5.28338802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.95, Y:190.67, Z:52.84 [[ 6.71830366e-01 -6.73161534e-01 -3.09026712e-01 2.91951187e+02] [ 6.14993374e-01 7.39470296e-01 -2.73800716e-01 1.90667643e+02] [ 4.12828184e-01 -6.10174503e-03 9.10788482e-01 5.28441126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.97, Y:190.68, Z:52.85 [[ 6.71177274e-01 -6.74084128e-01 -3.08434200e-01 2.91969477e+02] [ 6.16154920e-01 7.38626000e-01 -2.73468000e-01 1.90684349e+02] [ 4.12157958e-01 -6.49774310e-03 9.11089237e-01 5.28548112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:190.70, Z:52.87 [[ 6.70459183e-01 -6.75118923e-01 -3.07731902e-01 2.91987493e+02] [ 6.17477886e-01 7.37676169e-01 -2.73047487e-01 1.90701277e+02] [ 4.11346016e-01 -6.95044870e-03 9.11452767e-01 5.28653590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:292.01, Y:190.72, Z:52.88 [[ 6.69444171e-01 -6.76478094e-01 -3.06955845e-01 2.92006300e+02] [ 6.19186675e-01 7.36423538e-01 -2.72558682e-01 1.90719258e+02] [ 4.10429487e-01 -7.60014821e-03 9.11860666e-01 5.28753730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.03, Y:190.74, Z:52.89 [[ 6.69126490e-01 -6.77127987e-01 -3.06214679e-01 2.92025229e+02] [ 6.20106000e-01 7.35823670e-01 -2.72088358e-01 1.90736916e+02] [ 4.09558651e-01 -7.82403206e-03 9.12250238e-01 5.28871055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:190.75, Z:52.90 [[ 6.68817312e-01 -6.77573411e-01 -3.05904683e-01 2.92043356e+02] [ 6.20632546e-01 7.35412326e-01 -2.71999915e-01 1.90753420e+02] [ 4.09265985e-01 -7.93615004e-03 9.12380607e-01 5.28981681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:190.77, Z:52.91 [[ 6.69819446e-01 -6.77072629e-01 -3.04818905e-01 2.92061654e+02] [ 6.20416527e-01 7.35878600e-01 -2.71230565e-01 1.90770887e+02] [ 4.07952500e-01 -7.43917946e-03 9.12972845e-01 5.29092247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.88275509600004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:292.08, Y:190.79, Z:52.92 [[ 6.69999265e-01 -6.76889893e-01 -3.04829554e-01 2.92080113e+02] [ 6.20129627e-01 7.36049262e-01 -2.71423525e-01 1.90788808e+02] [ 4.08093409e-01 -7.18027579e-03 9.12911942e-01 5.29198546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:190.81, Z:52.93 [[ 6.72024846e-01 -6.74968136e-01 -3.04631945e-01 2.92097699e+02] [ 6.18014743e-01 7.37823611e-01 -2.71429727e-01 1.90807462e+02] [ 4.07971059e-01 -5.85951287e-03 9.12976057e-01 5.29315340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.12, Y:190.83, Z:52.94 [[ 6.72790768e-01 -6.74226363e-01 -3.04583970e-01 2.92115751e+02] [ 6.17137658e-01 7.38506016e-01 -2.71569466e-01 1.90825190e+02] [ 4.08036388e-01 -5.26080847e-03 9.12950508e-01 5.29420515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.13, Y:190.84, Z:52.95 [[ 6.73553885e-01 -6.73384468e-01 -3.04759779e-01 2.92133999e+02] [ 6.16058084e-01 7.39278177e-01 -2.71919500e-01 1.90842655e+02] [ 4.08408622e-01 -4.59728998e-03 9.12787633e-01 5.29532905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:190.86, Z:52.96 [[ 6.75198574e-01 -6.71562187e-01 -3.05141141e-01 2.92151640e+02] [ 6.13826332e-01 7.40940615e-01 -2.72441257e-01 1.90859541e+02] [ 4.09052711e-01 -3.35171902e-03 9.12504600e-01 5.29647177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.17, Y:190.88, Z:52.98 [[ 6.75921187e-01 -6.70998541e-01 -3.04781079e-01 2.92170267e+02] [ 6.13265093e-01 7.41453187e-01 -2.72310662e-01 1.90876784e+02] [ 4.08700959e-01 -2.85105080e-03 9.12663902e-01 5.29764640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:190.89, Z:52.99 [[ 6.77269544e-01 -6.69893572e-01 -3.04217960e-01 2.92188594e+02] [ 6.12193498e-01 7.42454371e-01 -2.71993803e-01 1.90894786e+02] [ 4.08074854e-01 -2.02713777e-03 9.12946222e-01 5.29884541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:190.91, Z:53.00 [[ 6.77423673e-01 -6.69831152e-01 -3.04012161e-01 2.92207012e+02] [ 6.12122922e-01 7.42511185e-01 -2.71997555e-01 1.90912216e+02] [ 4.07924866e-01 -1.83522983e-03 9.13013656e-01 5.30003860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.23, Y:190.93, Z:53.01 [[ 6.77217875e-01 -6.70045460e-01 -3.03998406e-01 2.92225821e+02] [ 6.12278914e-01 7.42317858e-01 -2.72174078e-01 1.90929389e+02] [ 4.08032451e-01 -1.81066311e-03 9.12965629e-01 5.30123975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.24, Y:190.95, Z:53.02 [[ 6.76421559e-01 -6.70737936e-01 -3.04244137e-01 2.92243850e+02] [ 6.12854923e-01 7.41691522e-01 -2.72584902e-01 1.90945212e+02] [ 4.08488332e-01 -2.07521266e-03 9.12761182e-01 5.30239178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:190.96, Z:53.04 [[ 6.75921542e-01 -6.71326659e-01 -3.04056880e-01 2.92262260e+02] [ 6.13513696e-01 7.41157976e-01 -2.72554215e-01 1.90961762e+02] [ 4.08327092e-01 -2.31779511e-03 9.12832741e-01 5.30358056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.28, Y:190.98, Z:53.05 [[ 6.74983687e-01 -6.72468785e-01 -3.03616132e-01 2.92281296e+02] [ 6.14855422e-01 7.40120008e-01 -2.72351215e-01 1.90979407e+02] [ 4.07860065e-01 -2.84739763e-03 9.13040010e-01 5.30476278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.30, Y:191.00, Z:53.06 [[ 6.73222986e-01 -6.74351377e-01 -3.03349686e-01 2.92299230e+02] [ 6.16941538e-01 7.38400671e-01 -2.72300545e-01 1.90996467e+02] [ 4.07619859e-01 -3.83003582e-03 9.13143681e-01 5.30595839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2727550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:292.32, Y:191.01, Z:53.07 [[ 6.71321147e-01 -6.74650473e-01 -3.06878897e-01 2.92318873e+02] [ 6.17905265e-01 7.38096793e-01 -2.70935799e-01 1.91012393e+02] [ 4.09293294e-01 -7.73715442e-03 9.12370065e-01 5.30734010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:191.03, Z:53.09 [[ 6.69920533e-01 -6.75210145e-01 -3.08703320e-01 2.92337197e+02] [ 6.18947735e-01 7.37555267e-01 -2.70029498e-01 1.91027594e+02] [ 4.10012416e-01 -1.01729153e-02 9.12023207e-01 5.30870766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.35, Y:191.05, Z:53.09 [[ 6.69339068e-01 -6.80532587e-01 -2.98094969e-01 2.92352273e+02] [ 6.20832558e-01 7.32716277e-01 -2.78736062e-01 1.91052365e+02] [ 4.08108009e-01 1.50187385e-03 9.12932417e-01 5.30923842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:191.06, Z:53.11 [[ 6.66887442e-01 -6.78878337e-01 -3.07221976e-01 2.92372410e+02] [ 6.22566335e-01 7.34174388e-01 -2.70922732e-01 1.91063759e+02] [ 4.09478080e-01 -1.05910915e-02 9.12258478e-01 5.31074899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3927550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.39, Y:191.09, Z:53.11 [[ 6.65559305e-01 -6.84026045e-01 -2.98561855e-01 2.92387888e+02] [ 6.24525746e-01 7.29457205e-01 -2.79033653e-01 1.91088011e+02] [ 4.08654383e-01 -7.46120994e-04 9.12688906e-01 5.31136110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.41, Y:191.10, Z:53.13 [[ 6.65871110e-01 -6.81643857e-01 -3.03277626e-01 2.92410069e+02] [ 6.24415203e-01 7.31648081e-01 -2.73489926e-01 1.91100934e+02] [ 4.08315221e-01 -7.26211996e-03 9.12812107e-01 5.31285074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:191.12, Z:53.14 [[ 6.64291497e-01 -6.83046154e-01 -3.03586493e-01 2.92428476e+02] [ 6.25989852e-01 7.30326789e-01 -2.73421810e-01 1.91118718e+02] [ 4.08477065e-01 -8.41028051e-03 9.12729837e-01 5.31403485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:191.14, Z:53.15 [[ 6.63589756e-01 -6.83782088e-01 -3.03464482e-01 2.92446251e+02] [ 6.26758385e-01 7.29634398e-01 -2.73509728e-01 1.91135759e+02] [ 4.08439178e-01 -8.70065527e-03 9.12744070e-01 5.31515159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:191.15, Z:53.16 [[ 6.62001084e-01 -6.85232049e-01 -3.03663636e-01 2.92463545e+02] [ 6.28195574e-01 7.28263374e-01 -2.73866354e-01 1.91153884e+02] [ 4.08809107e-01 -9.46032886e-03 9.12570883e-01 5.31626728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.48, Y:191.17, Z:53.17 [[ 6.61214578e-01 -6.86028124e-01 -3.03579802e-01 2.92481968e+02] [ 6.29014574e-01 7.27509164e-01 -2.73991024e-01 1.91171625e+02] [ 4.08822636e-01 -9.78926082e-03 9.12561353e-01 5.31740461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.50, Y:191.19, Z:53.18 [[ 6.60596575e-01 -6.87274915e-01 -3.02101566e-01 2.92497303e+02] [ 6.29419575e-01 7.26356062e-01 -2.76112059e-01 1.91190154e+02] [ 4.09198196e-01 -7.74995860e-03 9.12412612e-01 5.31826042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:191.21, Z:53.19 [[ 6.60536668e-01 -6.87936345e-01 -3.00723953e-01 2.92515892e+02] [ 6.29425738e-01 7.25747400e-01 -2.77693988e-01 1.91208589e+02] [ 4.09285415e-01 -5.85633460e-03 9.12387611e-01 5.31940049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:191.23, Z:53.21 [[ 6.59983715e-01 -6.87650253e-01 -3.02586559e-01 2.92538098e+02] [ 6.29825388e-01 7.25994311e-01 -2.76138084e-01 1.91225612e+02] [ 4.09562543e-01 -8.33005872e-03 9.12244010e-01 5.32086587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:191.24, Z:53.22 [[ 6.59596192e-01 -6.87046986e-01 -3.04793868e-01 2.92556463e+02] [ 6.29446396e-01 7.26542878e-01 -2.75558852e-01 1.91241667e+02] [ 4.10767693e-01 -1.00938322e-02 9.11684165e-01 5.32201223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.58, Y:191.26, Z:53.23 [[ 6.59778105e-01 -6.86843921e-01 -3.04857804e-01 2.92575215e+02] [ 6.29103699e-01 7.26738817e-01 -2.75824634e-01 1.91258779e+02] [ 4.11000473e-01 -9.80411808e-03 9.11582410e-01 5.32312633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.59, Y:191.28, Z:53.24 [[ 6.59699392e-01 -6.86741629e-01 -3.05258329e-01 2.92593586e+02] [ 6.28745558e-01 7.26838167e-01 -2.76378911e-01 1.91276147e+02] [ 4.11674308e-01 -9.60281865e-03 9.11280445e-01 5.32429224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.61, Y:191.29, Z:53.25 [[ 6.60597254e-01 -6.85733249e-01 -3.05583343e-01 2.92611438e+02] [ 6.27417642e-01 7.27799372e-01 -2.76866714e-01 1.91293316e+02] [ 4.12260077e-01 -8.83098973e-03 9.11023404e-01 5.32534070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:191.31, Z:53.26 [[ 6.61083788e-01 -6.85192719e-01 -3.05743623e-01 2.92629811e+02] [ 6.26665664e-01 7.28314113e-01 -2.77215978e-01 1.91310059e+02] [ 4.12623765e-01 -8.33604171e-03 9.10863403e-01 5.32648618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:191.33, Z:53.28 [[ 6.61455166e-01 -6.84805725e-01 -3.05807427e-01 2.92647774e+02] [ 6.26122129e-01 7.28682480e-01 -2.77475985e-01 1.91326633e+02] [ 4.12853658e-01 -7.93487358e-03 9.10762810e-01 5.32764694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:191.34, Z:53.29 [[ 6.62787606e-01 -6.83639784e-01 -3.05531072e-01 2.92666804e+02] [ 6.24858530e-01 7.29785646e-01 -2.77425178e-01 1.91343640e+02] [ 4.12631079e-01 -7.03972738e-03 9.10871031e-01 5.32889722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:191.36, Z:53.30 [[ 6.63179296e-01 -6.83179178e-01 -3.05711354e-01 2.92685848e+02] [ 6.24192627e-01 7.30220909e-01 -2.77778669e-01 1.91360729e+02] [ 4.13009425e-01 -6.60571050e-03 9.10702794e-01 5.33006350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.70, Y:191.38, Z:53.31 [[ 6.63996171e-01 -6.82261163e-01 -3.05988220e-01 2.92704503e+02] [ 6.22983903e-01 7.31084827e-01 -2.78219396e-01 1.91376289e+02] [ 4.13521634e-01 -5.88912179e-03 9.10475248e-01 5.33122355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:191.39, Z:53.32 [[ 6.64314280e-01 -6.81935057e-01 -3.06024698e-01 2.92723722e+02] [ 6.22547582e-01 7.31391470e-01 -2.78390063e-01 1.91392872e+02] [ 4.13667797e-01 -5.57644175e-03 9.10410818e-01 5.33242198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9627550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:292.74, Y:191.41, Z:53.34 [[ 6.64572349e-01 -6.81621005e-01 -3.06164007e-01 2.92742957e+02] [ 6.22059659e-01 7.31686698e-01 -2.78704786e-01 1.91409398e+02] [ 4.13987167e-01 -5.23278388e-03 9.10267677e-01 5.33363783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:191.43, Z:53.35 [[ 6.64534968e-01 -6.81523379e-01 -3.06462331e-01 2.92761405e+02] [ 6.21743281e-01 7.31779093e-01 -2.79167784e-01 1.91425446e+02] [ 4.14522098e-01 -5.02414067e-03 9.10025378e-01 5.33480732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:191.43, Z:53.36 [[ 6.66457620e-01 -6.75141154e-01 -3.16257274e-01 2.92780922e+02] [ 6.19669785e-01 7.37492564e-01 -2.68540640e-01 1.91431129e+02] [ 4.14540226e-01 -1.70041210e-02 9.09872113e-01 5.33639414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:191.46, Z:53.37 [[ 6.66532278e-01 -6.81151130e-01 -3.02932106e-01 2.92794641e+02] [ 6.19369501e-01 7.32141670e-01 -2.83460747e-01 1.91456992e+02] [ 4.14868826e-01 1.30883018e-03 9.09880291e-01 5.33706014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0827550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:292.82, Y:191.48, Z:53.38 [[ 6.64696236e-01 -6.87549582e-01 -2.92325993e-01 2.92815188e+02] [ 6.20709298e-01 7.25974679e-01 -2.96109325e-01 1.91483866e+02] [ 4.15811112e-01 1.53732916e-02 9.09321055e-01 5.33773155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:191.49, Z:53.39 [[ 6.64635198e-01 -6.82231111e-01 -3.04665005e-01 2.92839222e+02] [ 6.19857974e-01 7.31136374e-01 -2.84983675e-01 1.91490441e+02] [ 4.17176396e-01 5.61148825e-04 9.08825363e-01 5.33932125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.86, Y:191.50, Z:53.41 [[ 6.64229027e-01 -6.80860230e-01 -3.08592203e-01 2.92860696e+02] [ 6.20004178e-01 7.32400062e-01 -2.81398240e-01 1.91504252e+02] [ 4.17605818e-01 -4.41557593e-03 9.08617567e-01 5.34067693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.88, Y:191.51, Z:53.42 [[ 6.66207821e-01 -6.73764337e-01 -3.19701044e-01 2.92883631e+02] [ 6.19314243e-01 7.38656750e-01 -2.66150472e-01 1.91506522e+02] [ 4.15472030e-01 -2.06838838e-02 9.09370754e-01 5.34220753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:191.53, Z:53.43 [[ 6.65869757e-01 -6.81313846e-01 -3.04021233e-01 2.92896460e+02] [ 6.19927643e-01 7.31991371e-01 -2.82627584e-01 1.91533253e+02] [ 4.15099005e-01 -2.78004957e-04 9.09776203e-01 5.34265262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:191.55, Z:53.44 [[ 6.62823578e-01 -6.86984841e-01 -2.97853541e-01 2.92913571e+02] [ 6.21462052e-01 7.26615210e-01 -2.92942408e-01 1.91553613e+02] [ 4.17671907e-01 9.06446219e-03 9.08552703e-01 5.34360788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:191.56, Z:53.45 [[ 6.63522934e-01 -6.80935226e-01 -3.09942792e-01 2.92938725e+02] [ 6.22164271e-01 7.32286943e-01 -2.76888881e-01 1.91558708e+02] [ 4.15510452e-01 -9.11320819e-03 9.09542750e-01 5.34518642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.96, Y:191.58, Z:53.46 [[ 6.62995707e-01 -6.84530257e-01 -3.03075932e-01 2.92956061e+02] [ 6.22801395e-01 7.28984332e-01 -2.84077922e-01 1.91579480e+02] [ 4.15397538e-01 -4.13670552e-04 9.09639882e-01 5.34608399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:191.61, Z:53.47 [[ 6.59425582e-01 -6.92707246e-01 -2.92086584e-01 2.92974192e+02] [ 6.25559527e-01 7.21089077e-01 -2.97835225e-01 1.91605248e+02] [ 4.16933063e-01 1.36826212e-02 9.08834202e-01 5.34684779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:191.60, Z:53.49 [[ 6.60853562e-01 -6.80464232e-01 -3.16608587e-01 2.93003927e+02] [ 6.25485213e-01 7.32496151e-01 -2.68733393e-01 1.91600563e+02] [ 4.14778034e-01 -2.04405694e-02 9.09693006e-01 5.34900009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:191.64, Z:53.49 [[ 6.58096429e-01 -6.92858320e-01 -2.94714165e-01 2.93014940e+02] [ 6.26587237e-01 7.21003704e-01 -2.95875130e-01 1.91635691e+02] [ 4.17489550e-01 1.00502321e-02 9.08626143e-01 5.34926245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.04, Y:191.64, Z:53.51 [[ 6.59074624e-01 -6.86129280e-01 -3.07972808e-01 2.93038818e+02] [ 6.25577724e-01 7.27447270e-01 -2.81909527e-01 1.91642351e+02] [ 4.17460359e-01 -6.86151263e-03 9.08669229e-01 5.35097276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.44275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.06, Y:191.66, Z:53.52 [[ 6.60338760e-01 -6.84367097e-01 -3.09183438e-01 2.93057490e+02] [ 6.24172733e-01 7.29098127e-01 -2.80756694e-01 1.91658172e+02] [ 4.17565709e-01 -7.58934401e-03 9.08615034e-01 5.35214830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.08, Y:191.68, Z:53.53 [[ 6.61656197e-01 -6.83110719e-01 -3.09145310e-01 2.93075803e+02] [ 6.22522576e-01 7.30287591e-01 -2.81328416e-01 1.91675282e+02] [ 4.17943440e-01 -6.30724463e-03 9.08451154e-01 5.35324111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:191.70, Z:53.54 [[ 6.61538948e-01 -6.85023532e-01 -3.05137644e-01 2.93092402e+02] [ 6.21717598e-01 7.28520724e-01 -2.87619162e-01 1.91696403e+02] [ 4.19324992e-01 5.61835073e-04 9.07836018e-01 5.35419456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:191.71, Z:53.55 [[ 6.61728872e-01 -6.83026159e-01 -3.09176594e-01 2.93113571e+02] [ 6.21338930e-01 7.30380806e-01 -2.83693166e-01 1.91710857e+02] [ 4.19586503e-01 -4.37549510e-03 9.07704810e-01 5.35548732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:191.72, Z:53.57 [[ 6.63829623e-01 -6.78664281e-01 -3.14237212e-01 2.93134647e+02] [ 6.19517471e-01 7.34372205e-01 -2.77300500e-01 1.91722236e+02] [ 4.18961018e-01 -1.05951566e-02 9.07942403e-01 5.35692489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.15, Y:191.75, Z:53.58 [[ 6.63882192e-01 -6.82456609e-01 -3.05799628e-01 2.93150815e+02] [ 6.19770864e-01 7.30926093e-01 -2.85711608e-01 1.91746590e+02] [ 4.18502702e-01 1.53148476e-04 9.08215539e-01 5.35773789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:191.76, Z:53.59 [[ 6.63948626e-01 -6.81911859e-01 -3.06868764e-01 2.93171451e+02] [ 6.20204471e-01 7.31431305e-01 -2.83468977e-01 1.91763518e+02] [ 4.17754277e-01 -2.11254155e-03 9.08557594e-01 5.35894188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.19, Y:191.78, Z:53.60 [[ 6.61849772e-01 -6.84953642e-01 -3.04620071e-01 2.93186691e+02] [ 6.22214249e-01 7.28586651e-01 -2.86375486e-01 1.91784174e+02] [ 4.18096050e-01 -1.39861178e-06 9.08402825e-01 5.35996918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:191.80, Z:53.61 [[ 6.60901468e-01 -6.84698217e-01 -3.07241926e-01 2.93207004e+02] [ 6.23595110e-01 7.28811497e-01 -2.82777192e-01 1.91799621e+02] [ 4.17538487e-01 -4.70670173e-03 9.08647049e-01 5.36123446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.23, Y:191.82, Z:53.62 [[ 6.59030604e-01 -6.86907367e-01 -3.06328145e-01 2.93226190e+02] [ 6.26322157e-01 7.26720807e-01 -2.82130156e-01 1.91817180e+02] [ 4.16412319e-01 -5.92769731e-03 9.09156556e-01 5.36241598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.25, Y:191.85, Z:53.63 [[ 6.58733781e-01 -6.92743591e-01 -2.93557700e-01 2.93245815e+02] [ 6.28238663e-01 7.21140304e-01 -2.92015144e-01 1.91845425e+02] [ 4.13987908e-01 7.93594318e-03 9.10247786e-01 5.36279583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.27, Y:191.86, Z:53.64 [[ 6.56882680e-01 -6.89425211e-01 -3.05283513e-01 2.93269876e+02] [ 6.30994304e-01 7.24287098e-01 -2.77946737e-01 1.91855312e+02] [ 4.12736397e-01 -1.00537604e-02 9.10795031e-01 5.36434844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:191.86, Z:53.66 [[ 6.55692388e-01 -6.84161485e-01 -3.19359601e-01 2.93288182e+02] [ 6.31111809e-01 7.28814922e-01 -2.65568626e-01 1.91860759e+02] [ 4.14445868e-01 -2.74202895e-02 9.09660788e-01 5.36638652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:191.89, Z:53.67 [[ 6.54931556e-01 -6.91441889e-01 -3.04914368e-01 2.93300415e+02] [ 6.31566907e-01 7.22385945e-01 -2.81570220e-01 1.91889729e+02] [ 4.14955299e-01 -8.16460173e-03 9.09805166e-01 5.36693184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.86275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.32, Y:191.91, Z:53.68 [[ 6.54519331e-01 -6.91959313e-01 -3.04625597e-01 2.93317848e+02] [ 6.32168546e-01 7.21888439e-01 -2.81496023e-01 1.91907773e+02] [ 4.14689492e-01 -8.33013200e-03 9.09924851e-01 5.36793477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8927550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:293.33, Y:191.93, Z:53.69 [[ 6.53861919e-01 -6.94143907e-01 -3.01046221e-01 2.93334499e+02] [ 6.32303181e-01 7.19829703e-01 -2.86422567e-01 1.91928965e+02] [ 4.15520491e-01 -3.07167391e-03 9.09578631e-01 5.36881693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:191.94, Z:53.70 [[ 6.53922012e-01 -6.92752692e-01 -3.04104768e-01 2.93351187e+02] [ 6.31347507e-01 7.21154256e-01 -2.85196187e-01 1.91943642e+02] [ 4.16876874e-01 -5.49972276e-03 9.08946327e-01 5.36992656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.37, Y:191.97, Z:53.71 [[ 6.52417764e-01 -6.95132798e-01 -3.01896429e-01 2.93371000e+02] [ 6.33456373e-01 7.18867532e-01 -2.86290928e-01 1.91966320e+02] [ 4.16033755e-01 -4.45692988e-03 9.09338249e-01 5.37104746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:191.97, Z:53.73 [[ 6.52988913e-01 -6.88594346e-01 -3.15346326e-01 2.93391863e+02] [ 6.33622988e-01 7.24778134e-01 -2.70589293e-01 1.91971687e+02] [ 4.14882379e-01 -2.31188732e-02 9.09581293e-01 5.37276399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.01275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.40, Y:192.00, Z:53.73 [[ 6.50768022e-01 -6.98497455e-01 -2.97661362e-01 2.93400314e+02] [ 6.33562394e-01 7.15607000e-01 -2.94117858e-01 1.92004665e+02] [ 4.18449130e-01 2.81545174e-03 9.08235872e-01 5.37302451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:192.01, Z:53.75 [[ 6.51119663e-01 -6.91284488e-01 -3.13319234e-01 2.93425554e+02] [ 6.35146214e-01 7.22282977e-01 -2.73672408e-01 1.92010092e+02] [ 4.15490639e-01 -2.08100391e-02 9.09359374e-01 5.37485720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:192.03, Z:53.76 [[ 6.50564785e-01 -6.95860343e-01 -3.04210196e-01 2.93439694e+02] [ 6.35914422e-01 7.18113891e-01 -2.82710607e-01 1.92034614e+02] [ 4.15184668e-01 -9.53008603e-03 9.09687237e-01 5.37561958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.45, Y:192.06, Z:53.76 [[ 6.49070451e-01 -7.00402881e-01 -2.96889465e-01 2.93454071e+02] [ 6.36129124e-01 7.13746383e-01 -2.93096980e-01 1.92059976e+02] [ 4.17189750e-01 1.38055366e-03 9.08818357e-01 5.37629631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:192.08, Z:53.77 [[ 6.49618441e-01 -6.98637946e-01 -2.99834790e-01 2.93475764e+02] [ 6.38609964e-01 7.15437492e-01 -2.83419317e-01 1.92075463e+02] [ 4.12520540e-01 -7.36306996e-03 9.10918542e-01 5.37727080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:192.08, Z:53.79 [[ 6.48922777e-01 -6.92867183e-01 -3.14379223e-01 2.93497438e+02] [ 6.38275330e-01 7.20632437e-01 -2.70727712e-01 1.92081112e+02] [ 4.14130212e-01 -2.49791235e-02 9.09874832e-01 5.37936203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:192.11, Z:53.80 [[ 6.47187987e-01 -7.02458345e-01 -2.96141830e-01 2.93506389e+02] [ 6.37842027e-01 7.11723126e-01 -2.94291933e-01 1.92113753e+02] [ 4.17498813e-01 1.57049829e-03 9.08676111e-01 5.37977778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.22275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.53, Y:192.13, Z:53.81 [[ 6.47733967e-01 -6.98804049e-01 -3.03502240e-01 2.93531065e+02] [ 6.39636738e-01 7.15217545e-01 -2.81653523e-01 1.92127425e+02] [ 4.13890750e-01 -1.16946290e-02 9.10251440e-01 5.38117911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:192.14, Z:53.83 [[ 6.47482776e-01 -6.94901706e-01 -3.12854076e-01 2.93550592e+02] [ 6.38961582e-01 7.18754540e-01 -2.74080294e-01 1.92137840e+02] [ 4.15324151e-01 -2.24394658e-02 9.09396679e-01 5.38295810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.56, Y:192.16, Z:53.84 [[ 6.47386906e-01 -6.98972873e-01 -3.03853774e-01 2.93564907e+02] [ 6.38864531e-01 7.15072347e-01 -2.83766892e-01 1.92162381e+02] [ 4.15622791e-01 -1.04144291e-02 9.09477452e-01 5.38377588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:192.19, Z:53.85 [[ 6.45203949e-01 -7.04584369e-01 -2.95419585e-01 2.93576724e+02] [ 6.37740905e-01 7.09603375e-01 -2.99582358e-01 1.92188078e+02] [ 4.20711781e-01 4.89056661e-03 9.07181173e-01 5.38458213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:192.20, Z:53.86 [[ 6.47723923e-01 -6.99391338e-01 -3.02167960e-01 2.93600558e+02] [ 6.38691757e-01 7.14690554e-01 -2.85114454e-01 1.92201314e+02] [ 4.15363166e-01 -8.31673261e-03 9.09617652e-01 5.38579448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:192.21, Z:53.87 [[ 6.48489503e-01 -6.95706017e-01 -3.08957122e-01 2.93621855e+02] [ 6.37035748e-01 7.18165529e-01 -2.80042370e-01 1.92213891e+02] [ 4.16709516e-01 -1.52121938e-02 9.08912410e-01 5.38740718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.64, Y:192.23, Z:53.89 [[ 6.48725334e-01 -6.96747093e-01 -3.06102810e-01 2.93637914e+02] [ 6.36426766e-01 7.17236830e-01 -2.83782137e-01 1.92233843e+02] [ 4.17272588e-01 -1.07153599e-02 9.08718201e-01 5.38851244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:192.25, Z:53.90 [[ 6.49950267e-01 -6.92852178e-01 -3.12282739e-01 2.93658025e+02] [ 6.34192612e-01 7.20893237e-01 -2.79486444e-01 1.92245126e+02] [ 4.18765306e-01 -1.63951167e-02 9.07946485e-01 5.39018486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:192.28, Z:53.91 [[ 6.49054272e-01 -7.01385855e-01 -2.94595376e-01 2.93671033e+02] [ 6.34152928e-01 7.12739792e-01 -2.99753320e-01 1.92278234e+02] [ 4.20212585e-01 7.73765248e-03 9.07392700e-01 5.39052664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:192.29, Z:53.92 [[ 6.48840178e-01 -6.95936877e-01 -3.07698370e-01 2.93695677e+02] [ 6.34424285e-01 7.18040150e-01 -2.86223985e-01 1.92286598e+02] [ 4.20133610e-01 -9.49769684e-03 9.07412554e-01 5.39225230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.72, Y:192.30, Z:53.94 [[ 6.49766176e-01 -6.92272996e-01 -3.13945879e-01 2.93717660e+02] [ 6.34550496e-01 7.21386248e-01 -2.77394213e-01 1.92297895e+02] [ 4.18508763e-01 -1.89731359e-02 9.08014557e-01 5.39384580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:192.33, Z:53.94 [[ 6.46787588e-01 -7.04002504e-01 -2.93336482e-01 2.93725389e+02] [ 6.35229850e-01 7.10126216e-01 -3.03650779e-01 1.92334534e+02] [ 4.22076834e-01 1.00614652e-02 9.06504227e-01 5.39392249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.76, Y:192.33, Z:53.97 [[ 6.48823647e-01 -6.90581570e-01 -3.19569977e-01 2.93758497e+02] [ 6.34637258e-01 7.22809034e-01 -2.73464167e-01 1.92330232e+02] [ 4.19837380e-01 -2.53809955e-02 9.07244388e-01 5.39659702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:192.35, Z:53.98 [[ 6.48363587e-01 -6.90108807e-01 -3.21519040e-01 2.93778784e+02] [ 6.33278592e-01 7.23271547e-01 -2.75384267e-01 1.92346144e+02] [ 4.22590681e-01 -2.50619937e-02 9.05974069e-01 5.39828433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:192.37, Z:53.98 [[ 6.47118476e-01 -6.99200295e-01 -3.03902327e-01 2.93787749e+02] [ 6.34607942e-01 7.14919921e-01 -2.93534098e-01 1.92373467e+02] [ 4.22504956e-01 -2.90749191e-03 9.06355950e-01 5.39827927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:192.39, Z:54.00 [[ 6.46288516e-01 -6.98500741e-01 -3.07258635e-01 2.93808501e+02] [ 6.35880089e-01 7.15559102e-01 -2.89191431e-01 1.92386574e+02] [ 4.21862142e-01 -8.47854778e-03 9.06620344e-01 5.39959221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.83, Y:192.40, Z:54.01 [[ 6.45496037e-01 -6.98576158e-01 -3.08749442e-01 2.93829826e+02] [ 6.36967368e-01 7.15445534e-01 -2.87071873e-01 1.92404580e+02] [ 4.21434975e-01 -1.13595631e-02 9.06787474e-01 5.40101952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.85, Y:192.42, Z:54.02 [[ 6.44751860e-01 -6.99510180e-01 -3.08189143e-01 2.93847747e+02] [ 6.37594756e-01 7.14540192e-01 -2.87932704e-01 1.92421974e+02] [ 4.21625387e-01 -1.08546347e-02 9.06705140e-01 5.40207344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:192.44, Z:54.03 [[ 6.44696254e-01 -6.99002891e-01 -3.09453871e-01 2.93866816e+02] [ 6.36557768e-01 7.15039136e-01 -2.88986576e-01 1.92438473e+02] [ 4.23274081e-01 -1.06767025e-02 9.05938773e-01 5.40334994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:192.47, Z:54.04 [[ 6.42447371e-01 -7.07025695e-01 -2.95594388e-01 2.93873128e+02] [ 6.36369103e-01 7.07118174e-01 -3.08250309e-01 1.92467216e+02] [ 4.26961053e-01 9.92746482e-03 9.04215519e-01 5.40392979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:192.48, Z:54.06 [[ 6.42957926e-01 -7.00679994e-01 -3.09277628e-01 2.93899683e+02] [ 6.35710097e-01 7.13440340e-01 -2.94746593e-01 1.92475984e+02] [ 4.27174177e-01 -7.10125271e-03 9.04141468e-01 5.40577060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:192.48, Z:54.08 [[ 6.44152893e-01 -6.92418269e-01 -3.24998446e-01 2.93923893e+02] [ 6.38225956e-01 7.20735118e-01 -2.70570729e-01 1.92477670e+02] [ 4.21585909e-01 -3.31335265e-02 9.06182923e-01 5.40774043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:192.53, Z:54.08 [[ 6.38833228e-01 -7.12196806e-01 -2.90977346e-01 2.93924114e+02] [ 6.37015060e-01 7.01737448e-01 -3.19024086e-01 1.92527053e+02] [ 4.31397635e-01 1.84462353e-02 9.01973290e-01 5.40795732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:192.52, Z:54.10 [[ 6.40640950e-01 -6.98427376e-01 -3.19027229e-01 2.93952582e+02] [ 6.34854333e-01 7.15507634e-01 -2.91562688e-01 1.92521558e+02] [ 4.31901781e-01 -1.57488214e-02 9.01783137e-01 5.41005201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:192.54, Z:54.12 [[ 6.43247030e-01 -6.95103786e-01 -3.21035801e-01 2.93977873e+02] [ 6.35965398e-01 7.18538677e-01 -2.81514089e-01 1.92537758e+02] [ 4.26358149e-01 -2.30845591e-02 9.04259826e-01 5.41157180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:192.56, Z:54.13 [[ 6.42142098e-01 -6.97043956e-01 -3.19034873e-01 2.93991338e+02] [ 6.36146575e-01 7.16761721e-01 -2.85604921e-01 1.92556117e+02] [ 4.27751169e-01 -1.95539990e-02 9.03685000e-01 5.41280875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.00, Y:192.59, Z:54.13 [[ 6.41227238e-01 -7.07899731e-01 -2.96151312e-01 2.93999591e+02] [ 6.35276969e-01 7.06206072e-01 -3.12563844e-01 1.92594200e+02] [ 4.30407716e-01 1.22863418e-02 9.02550965e-01 5.41270252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.03, Y:192.60, Z:54.15 [[ 6.42174433e-01 -6.98863219e-01 -3.14963805e-01 2.94027801e+02] [ 6.35971429e-01 7.15117812e-01 -2.90080774e-01 1.92597546e+02] [ 4.27963011e-01 -1.40255244e-02 9.03687416e-01 5.41472110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:192.62, Z:54.16 [[ 6.42334264e-01 -7.01994034e-01 -3.07589126e-01 2.94041496e+02] [ 6.33617262e-01 7.12182398e-01 -3.02200921e-01 1.92622309e+02] [ 4.31202805e-01 -7.79773342e-04 9.02254694e-01 5.41570358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.07, Y:192.63, Z:54.18 [[ 6.43016057e-01 -6.94940086e-01 -3.21851872e-01 2.94067236e+02] [ 6.32901049e-01 7.18823112e-01 -2.87627529e-01 1.92629788e+02] [ 4.31238464e-01 -1.87512678e-02 9.02043113e-01 5.41791177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:192.66, Z:54.18 [[ 6.42828987e-01 -7.01229306e-01 -3.08299129e-01 2.94077413e+02] [ 6.32876176e-01 7.12935110e-01 -3.01978931e-01 1.92657462e+02] [ 4.31553750e-01 -9.94363250e-04 9.02086677e-01 5.41819038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1527550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.10, Y:192.67, Z:54.20 [[ 6.44163806e-01 -6.95863388e-01 -3.17532892e-01 2.94100167e+02] [ 6.32778424e-01 7.18033577e-01 -2.89860742e-01 1.92668370e+02] [ 4.29702756e-01 -1.42101645e-02 9.02858579e-01 5.41975444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:192.69, Z:54.21 [[ 6.44131406e-01 -6.99602004e-01 -3.09276199e-01 2.94115315e+02] [ 6.32323130e-01 7.14527510e-01 -2.99362485e-01 1.92693016e+02] [ 4.30420947e-01 -2.73371617e-03 9.02624139e-01 5.42074867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:192.71, Z:54.22 [[ 6.44159969e-01 -6.98049299e-01 -3.12706108e-01 2.94134554e+02] [ 6.32058945e-01 7.16017834e-01 -2.96344313e-01 1.92707726e+02] [ 4.30766090e-01 -6.75554901e-03 9.02438329e-01 5.42208804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:192.71, Z:54.24 [[ 6.43815376e-01 -6.92211486e-01 -3.26105842e-01 2.94155837e+02] [ 6.30882144e-01 7.21365336e-01 -2.85691743e-01 1.92712325e+02] [ 4.33000556e-01 -2.18016158e-02 9.01129962e-01 5.42426163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.17, Y:192.74, Z:54.25 [[ 6.43991387e-01 -6.99965418e-01 -3.08745053e-01 2.94169541e+02] [ 6.31973296e-01 7.14175523e-01 -3.00936996e-01 1.92742969e+02] [ 4.31143649e-01 -1.31779539e-03 9.02282338e-01 5.42464674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.19, Y:192.76, Z:54.26 [[ 6.43874682e-01 -6.98239960e-01 -3.12867947e-01 2.94188547e+02] [ 6.31161463e-01 7.15845135e-01 -2.98665280e-01 1.92756106e+02] [ 4.32505031e-01 -5.16717890e-03 9.01616714e-01 5.42607546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3327550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:294.21, Y:192.77, Z:54.27 [[ 6.42899587e-01 -6.98418701e-01 -3.14470092e-01 2.94206847e+02] [ 6.31485362e-01 7.15657822e-01 -2.98429421e-01 1.92772634e+02] [ 4.33481670e-01 -6.72310853e-03 9.01137305e-01 5.42741046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.23, Y:192.79, Z:54.29 [[ 6.42726556e-01 -6.97338066e-01 -3.17210018e-01 2.94225773e+02] [ 6.33474629e-01 7.16617603e-01 -2.91837464e-01 1.92787238e+02] [ 4.30827656e-01 -1.33728102e-02 9.02335137e-01 5.42892947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:192.81, Z:54.30 [[ 6.42294129e-01 -7.00126312e-01 -3.11899660e-01 2.94241608e+02] [ 6.33949755e-01 7.13986293e-01 -2.97205789e-01 1.92808837e+02] [ 4.30773675e-01 -6.83517992e-03 9.02434109e-01 5.42994414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.42275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.26, Y:192.84, Z:54.30 [[ 6.41848330e-01 -7.06811048e-01 -2.97403536e-01 2.94256530e+02] [ 6.35735478e-01 7.07341390e-01 -3.09044593e-01 1.92839600e+02] [ 4.28801963e-01 9.28977721e-03 9.03350749e-01 5.43017247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:192.85, Z:54.31 [[ 6.42105390e-01 -7.02414168e-01 -3.07107482e-01 2.94277626e+02] [ 6.37393009e-01 7.11741570e-01 -2.95218714e-01 1.92847948e+02] [ 4.25946969e-01 -6.18663496e-03 9.04726978e-01 5.43132316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:192.87, Z:54.32 [[ 6.40250122e-01 -7.06235160e-01 -3.02178225e-01 2.94294327e+02] [ 6.38582217e-01 7.07977313e-01 -3.01630365e-01 1.92871252e+02] [ 4.26957296e-01 1.53237221e-04 9.04271775e-01 5.43233555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.51275509600003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:294.32, Y:192.88, Z:54.34 [[ 6.39120818e-01 -6.99597069e-01 -3.19512945e-01 2.94318577e+02] [ 6.37335044e-01 7.14288926e-01 -2.89128643e-01 1.92876023e+02] [ 4.30498109e-01 -1.88486627e-02 9.02394651e-01 5.43448424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.33, Y:192.91, Z:54.35 [[ 6.38445598e-01 -7.07644930e-01 -3.02697657e-01 2.94329201e+02] [ 6.38322271e-01 7.06565918e-01 -3.05465682e-01 1.92906034e+02] [ 4.30037089e-01 1.80456443e-03 9.02809418e-01 5.43488808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:192.90, Z:54.38 [[ 6.37536040e-01 -6.97307524e-01 -3.27582073e-01 2.94356526e+02] [ 6.36478879e-01 7.16295211e-01 -2.86034628e-01 1.92903727e+02] [ 4.34099568e-01 -2.61416865e-02 9.00485523e-01 5.43773494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.60275509600007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:294.37, Y:192.93, Z:54.38 [[ 6.36265814e-01 -7.04552268e-01 -3.14279997e-01 2.94369331e+02] [ 6.37316915e-01 7.09593824e-01 -3.00505832e-01 1.92931345e+02] [ 4.34733210e-01 -9.09437025e-03 9.00513369e-01 5.43823414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.63275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.38, Y:192.96, Z:54.39 [[ 6.35316694e-01 -7.10586271e-01 -3.02390228e-01 2.94382413e+02] [ 6.39530149e-01 7.03601859e-01 -3.09750887e-01 1.92959369e+02] [ 4.32867054e-01 3.40224170e-03 9.01451351e-01 5.43878549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.41, Y:192.96, Z:54.41 [[ 6.35122138e-01 -7.01185917e-01 -3.23972498e-01 2.94407494e+02] [ 6.38174696e-01 7.12647326e-01 -2.91319149e-01 1.92959750e+02] [ 4.35147019e-01 -2.17278097e-02 9.00097203e-01 5.44123680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.69275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.42, Y:193.00, Z:54.41 [[ 6.33882160e-01 -7.11508704e-01 -3.03230557e-01 2.94417006e+02] [ 6.40368026e-01 7.02673166e-01 -3.10127736e-01 1.92995058e+02] [ 4.33730560e-01 2.40528596e-03 9.01039409e-01 5.44130386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.45, Y:192.99, Z:54.44 [[ 6.34080491e-01 -6.98953672e-01 -3.30765318e-01 2.94445249e+02] [ 6.40845450e-01 7.14369819e-01 -2.81056705e-01 1.92990159e+02] [ 4.32734376e-01 -3.37568758e-02 9.00889246e-01 5.44368439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.75275509600004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:294.44, Y:193.04, Z:54.43 [[ 6.31781448e-01 -7.18865601e-01 -2.89973189e-01 2.94444835e+02] [ 6.41564286e-01 6.94883830e-01 -3.24856477e-01 1.93040714e+02] [ 4.35025827e-01 1.92018531e-02 9.00213208e-01 5.44289706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.47, Y:193.05, Z:54.45 [[ 6.31518421e-01 -7.12566021e-01 -3.05670001e-01 2.94469031e+02] [ 6.42995809e-01 7.01600239e-01 -3.07105022e-01 1.93047450e+02] [ 4.33290749e-01 -2.60205072e-03 9.01250440e-01 5.44457851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:193.06, Z:54.46 [[ 6.32168960e-01 -7.08252867e-01 -3.14229666e-01 2.94490990e+02] [ 6.47093097e-01 7.05650847e-01 -2.88664868e-01 1.93057292e+02] [ 4.26184151e-01 -2.08508785e-02 9.04396103e-01 5.44578127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:193.09, Z:54.46 [[ 6.29887029e-01 -7.18938622e-01 -2.93887035e-01 2.94496903e+02] [ 6.45366968e-01 6.95001705e-01 -3.16976507e-01 1.93093017e+02] [ 4.32138644e-01 9.99440518e-03 9.01751798e-01 5.44629925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.52, Y:193.10, Z:54.48 [[ 6.30141472e-01 -7.10331469e-01 -3.13609517e-01 2.94524534e+02] [ 6.47214788e-01 7.03632906e-01 -2.93281012e-01 1.93096443e+02] [ 4.28992708e-01 -1.81641883e-02 9.03125306e-01 5.44828832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.54, Y:193.11, Z:54.50 [[ 6.29813937e-01 -7.11072530e-01 -3.12586407e-01 2.94537689e+02] [ 6.43801017e-01 7.03032987e-01 -3.02100761e-01 1.93114172e+02] [ 4.34574108e-01 -1.09761770e-02 9.00569191e-01 5.44977232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.55, Y:193.14, Z:54.50 [[ 6.30541106e-01 -7.13578475e-01 -3.05325523e-01 2.94550562e+02] [ 6.43337785e-01 7.00573094e-01 -3.08729386e-01 1.93140637e+02] [ 4.34205491e-01 -1.76087708e-03 9.00812129e-01 5.45045640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:193.15, Z:54.52 [[ 6.30434749e-01 -7.08521842e-01 -3.17094349e-01 2.94574005e+02] [ 6.43703722e-01 7.05480261e-01 -2.96552052e-01 1.93151505e+02] [ 4.33817411e-01 -1.71580942e-02 9.00837418e-01 5.45235634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.59, Y:193.16, Z:54.55 [[ 6.29773477e-01 -7.04817124e-01 -3.26524409e-01 2.94591074e+02] [ 6.39143809e-01 7.09074454e-01 -2.97839905e-01 1.93164845e+02] [ 4.41452782e-01 -2.11243824e-02 8.97035786e-01 5.45475900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:193.19, Z:54.55 [[ 6.31109820e-01 -7.08842661e-01 -3.15027740e-01 2.94605147e+02] [ 6.40035526e-01 7.05305693e-01 -3.04792395e-01 1.93193061e+02] [ 4.38240711e-01 -9.27147168e-03 8.98809835e-01 5.45515569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.05275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.63, Y:193.20, Z:54.57 [[ 6.35984326e-01 -6.98850449e-01 -3.27310231e-01 2.94628066e+02] [ 6.38493307e-01 7.14740724e-01 -2.85432995e-01 1.93196429e+02] [ 4.33416928e-01 -2.74544810e-02 9.00775232e-01 5.45669411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:193.23, Z:54.57 [[ 6.38425523e-01 -7.03462631e-01 -3.12335042e-01 2.94637429e+02] [ 6.35477375e-01 7.10708357e-01 -3.01765037e-01 1.93226143e+02] [ 4.34259551e-01 -5.82735102e-03 9.00768941e-01 5.45715606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.66, Y:193.24, Z:54.59 [[ 6.37098509e-01 -7.02023274e-01 -3.18227612e-01 2.94656950e+02] [ 6.37025058e-01 7.12005652e-01 -2.95376079e-01 1.93242305e+02] [ 4.33940740e-01 -1.45353035e-02 9.00824156e-01 5.45900921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1427550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:294.66, Y:193.27, Z:54.60 [[ 6.37198640e-01 -7.09403495e-01 -3.01205203e-01 2.94664617e+02] [ 6.35772803e-01 7.04743538e-01 -3.14848359e-01 1.93272385e+02] [ 4.35626946e-01 9.12287016e-03 9.00081072e-01 5.45962739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.69, Y:193.28, Z:54.61 [[ 6.37983704e-01 -7.04088825e-01 -3.11826425e-01 2.94687625e+02] [ 6.35658976e-01 7.10094189e-01 -3.02826531e-01 1.93282551e+02] [ 4.34642909e-01 -5.01687411e-03 9.00588903e-01 5.46104706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2027550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:294.71, Y:193.30, Z:54.62 [[ 6.38138144e-01 -7.04739412e-01 -3.10035596e-01 2.94705002e+02] [ 6.35380959e-01 7.09462082e-01 -3.04884554e-01 1.93301802e+02] [ 4.34822661e-01 -2.43225164e-03 9.00512819e-01 5.46241499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.23275509600006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:294.73, Y:193.31, Z:54.64 [[ 6.37193702e-01 -6.98862620e-01 -3.24923412e-01 2.94728784e+02] [ 6.33598630e-01 7.15038574e-01 -2.95419385e-01 1.93308379e+02] [ 4.38790339e-01 -1.76316571e-02 8.98416475e-01 5.46434634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2627550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.74, Y:193.34, Z:54.65 [[ 6.37156001e-01 -7.06852892e-01 -3.07231540e-01 2.94739280e+02] [ 6.35326620e-01 7.07357066e-01 -3.09848457e-01 1.93339364e+02] [ 4.36339679e-01 2.22942818e-03 8.99779259e-01 5.46499711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.29275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.76, Y:193.36, Z:54.66 [[ 6.35617624e-01 -7.09108754e-01 -3.05213057e-01 2.94755265e+02] [ 6.37024713e-01 7.05090024e-01 -3.11524594e-01 1.93358430e+02] [ 4.36107499e-01 3.58226219e-03 8.99887447e-01 5.46597301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:193.37, Z:54.67 [[ 6.33654063e-01 -7.07725853e-01 -3.12420623e-01 2.94778785e+02] [ 6.38772848e-01 7.06457768e-01 -3.04773146e-01 1.93371084e+02] [ 4.36407811e-01 -6.44506878e-03 8.99725894e-01 5.46748837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.35275509600007 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:294.80, Y:193.39, Z:54.69 [[ 6.30895279e-01 -7.08492984e-01 -3.16241740e-01 2.94798634e+02] [ 6.40387042e-01 7.05629515e-01 -3.03300881e-01 1.93386266e+02] [ 4.38036052e-01 -1.11660188e-02 8.98888056e-01 5.46868802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:193.40, Z:54.71 [[ 6.30188282e-01 -7.05965897e-01 -3.23225743e-01 2.94817779e+02] [ 6.40311664e-01 7.07985053e-01 -2.97923040e-01 1.93396212e+02] [ 4.39162501e-01 -1.92176045e-02 8.98202083e-01 5.47083108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.83, Y:193.42, Z:54.72 [[ 6.29900849e-01 -7.10147080e-01 -3.14509214e-01 2.94832033e+02] [ 6.40456070e-01 7.04006647e-01 -3.06904975e-01 1.93420493e+02] [ 4.39364249e-01 -8.10963089e-03 8.98272392e-01 5.47178012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.44275509600004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:294.85, Y:193.45, Z:54.72 [[ 6.28244838e-01 -7.16438897e-01 -3.03354134e-01 2.94846537e+02] [ 6.43126571e-01 6.97642234e-01 -3.15726982e-01 1.93447539e+02] [ 4.37831746e-01 3.25874256e-03 8.99051023e-01 5.47198085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.47275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.87, Y:193.46, Z:54.73 [[ 6.27021476e-01 -7.16644037e-01 -3.05393832e-01 2.94865167e+02] [ 6.44940231e-01 6.97438341e-01 -3.12460972e-01 1.93463809e+02] [ 4.36916660e-01 -1.04102844e-03 8.99501389e-01 5.47308450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:193.49, Z:54.74 [[ 6.25160671e-01 -7.21207293e-01 -2.98385950e-01 2.94878549e+02] [ 6.45459942e-01 6.92665676e-01 -3.21862898e-01 1.93488148e+02] [ 4.38811575e-01 8.61984692e-03 8.98537756e-01 5.47403445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:193.48, Z:54.77 [[ 6.25714344e-01 -7.06920168e-01 -3.29765728e-01 2.94910128e+02] [ 6.45630242e-01 7.06584178e-01 -2.89655641e-01 1.93479739e+02] [ 4.37770660e-01 -3.16650370e-02 8.98528895e-01 5.47659942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.91, Y:193.52, Z:54.76 [[ 6.24170291e-01 -7.22006897e-01 -2.98525523e-01 2.94914035e+02] [ 6.46475290e-01 6.91842553e-01 -3.21595369e-01 1.93523312e+02] [ 4.38726735e-01 7.74090104e-03 8.98587186e-01 5.47644659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:193.53, Z:54.78 [[ 6.25399782e-01 -7.12499070e-01 -3.18151204e-01 2.94942341e+02] [ 6.45781618e-01 7.01469653e-01 -3.01506929e-01 1.93526648e+02] [ 4.37996821e-01 -1.68938314e-02 8.98817770e-01 5.47844942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.62275509600005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:294.97, Y:193.53, Z:54.81 [[ 6.25338036e-01 -7.05345511e-01 -3.33826378e-01 2.94966289e+02] [ 6.42176348e-01 7.08189523e-01 -2.93389053e-01 1.93531053e+02] [ 4.43352995e-01 -3.09080699e-02 8.95814050e-01 5.48081855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.97, Y:193.57, Z:54.81 [[ 6.24959462e-01 -7.18404050e-01 -3.05485336e-01 2.94969433e+02] [ 6.43597032e-01 6.95620084e-01 -3.19210840e-01 1.93570193e+02] [ 4.41824096e-01 2.88437922e-03 8.97097068e-01 5.48071715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:193.57, Z:54.83 [[ 6.25703859e-01 -7.09222579e-01 -3.24804579e-01 2.94996378e+02] [ 6.41029117e-01 7.04754575e-01 -3.03978059e-01 1.93572274e+02] [ 4.44495616e-01 -1.80089483e-02 8.95599981e-01 5.48313318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:193.60, Z:54.84 [[ 6.24851849e-01 -7.12856726e-01 -3.18426530e-01 2.95009521e+02] [ 6.40881334e-01 7.01252612e-01 -3.12275343e-01 1.93595771e+02] [ 4.45905015e-01 -8.94779380e-03 8.95035561e-01 5.48416991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.74275509600005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:295.03, Y:193.61, Z:54.85 [[ 6.25231992e-01 -7.12743025e-01 -3.17934486e-01 2.95029034e+02] [ 6.40872424e-01 7.01371705e-01 -3.12026069e-01 1.93612362e+02] [ 4.45384657e-01 -8.66676451e-03 8.95297378e-01 5.48512836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:193.62, Z:54.88 [[ 6.24276089e-01 -7.06282678e-01 -3.33832508e-01 2.95047891e+02] [ 6.40049857e-01 7.07433119e-01 -2.99790865e-01 1.93617445e+02] [ 4.47901267e-01 -2.65171800e-02 8.93689708e-01 5.48755948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.05, Y:193.66, Z:54.87 [[ 6.23667996e-01 -7.23521740e-01 -2.95896135e-01 2.95050048e+02] [ 6.39357619e-01 6.89934561e-01 -3.39429133e-01 1.93663114e+02] [ 4.49733327e-01 2.25076392e-02 8.92879242e-01 5.48742587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:193.64, Z:54.91 [[ 6.23570448e-01 -7.00624428e-01 -3.46821722e-01 2.95088470e+02] [ 6.40261106e-01 7.12253443e-01 -2.87681681e-01 1.93643176e+02] [ 4.48581779e-01 -4.26666645e-02 8.92722769e-01 5.49062958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.09, Y:193.68, Z:54.91 [[ 6.22831591e-01 -7.14334995e-01 -3.19071033e-01 2.95093446e+02] [ 6.39871750e-01 6.99775153e-01 -3.17614356e-01 1.93681026e+02] [ 4.50161030e-01 -6.34428516e-03 8.92924855e-01 5.49098461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.10, Y:193.71, Z:54.92 [[ 6.22333147e-01 -7.20250702e-01 -3.06496951e-01 2.95104714e+02] [ 6.38881939e-01 6.93622451e-01 -3.32742788e-01 1.93707917e+02] [ 4.52251393e-01 1.12614999e-02 8.91819408e-01 5.49170034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:193.69, Z:54.96 [[ 6.25164277e-01 -6.92562642e-01 -3.59898060e-01 2.95149894e+02] [ 6.35482016e-01 7.19380100e-01 -2.80454771e-01 1.93685645e+02] [ 4.53136000e-01 -5.33784406e-02 8.89841844e-01 5.49611826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.13, Y:193.76, Z:54.93 [[ 6.25822025e-01 -7.28692955e-01 -2.78124738e-01 2.95132429e+02] [ 6.40737905e-01 6.83644222e-01 -3.49407376e-01 1.93761361e+02] [ 4.44749063e-01 4.04617696e-02 8.94740809e-01 5.49292569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:193.73, Z:54.97 [[ 6.25790154e-01 -6.99744726e-01 -3.44592516e-01 2.95176744e+02] [ 6.38024542e-01 7.13358099e-01 -2.89904995e-01 1.93731045e+02] [ 4.48677354e-01 -3.84387902e-02 8.92866783e-01 5.49726996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.0127550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:295.19, Y:193.76, Z:54.98 [[ 6.27403015e-01 -7.04577307e-01 -3.31566396e-01 2.95189776e+02] [ 6.35791643e-01 7.09348350e-01 -3.04292468e-01 1.93757173e+02] [ 4.49593643e-01 -1.98931318e-02 8.93011657e-01 5.49832461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:193.78, Z:54.99 [[ 6.27890005e-01 -7.05878128e-01 -3.27856997e-01 2.95206480e+02] [ 6.35909690e-01 7.08156103e-01 -3.06812319e-01 1.93777347e+02] [ 4.48746039e-01 -1.58430529e-02 8.93518881e-01 5.49948993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.21, Y:193.82, Z:55.00 [[ 6.26727531e-01 -7.20866183e-01 -2.95913074e-01 2.95209326e+02] [ 6.34367502e-01 6.92526217e-01 -3.43489901e-01 1.93820506e+02] [ 4.52537816e-01 2.75569405e-02 8.91319326e-01 5.49952635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.25, Y:193.81, Z:55.02 [[ 6.28253904e-01 -7.01275109e-01 -3.36912828e-01 2.95245648e+02] [ 6.36064993e-01 7.12343014e-01 -2.96628986e-01 1.93808515e+02] [ 4.48016024e-01 -2.79401369e-02 8.93588827e-01 5.50206497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:193.82, Z:55.03 [[ 6.33163405e-01 -6.99800670e-01 -3.30731197e-01 2.95260884e+02] [ 6.36223469e-01 7.13893618e-01 -2.92533075e-01 1.93824112e+02] [ 4.40821733e-01 -2.51977118e-02 8.97240924e-01 5.50270489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.16275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.26, Y:193.87, Z:55.02 [[ 6.32803505e-01 -7.18289298e-01 -2.89171590e-01 2.95258656e+02] [ 6.36615697e-01 6.95216072e-01 -3.33758998e-01 1.93872105e+02] [ 4.40772253e-01 2.71126907e-02 8.97209409e-01 5.50222136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:193.87, Z:55.04 [[ 6.33148695e-01 -7.07938059e-01 -3.12963951e-01 2.95287440e+02] [ 6.36857279e-01 7.06265619e-01 -3.09195216e-01 1.93873992e+02] [ 4.39926740e-01 -3.54682294e-03 8.98026661e-01 5.50423978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.22275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.31, Y:193.89, Z:55.05 [[ 6.33348281e-01 -7.08530064e-01 -3.11215524e-01 2.95305288e+02] [ 6.38228323e-01 7.05670765e-01 -3.07722893e-01 1.93894453e+02] [ 4.37646619e-01 -3.73079652e-03 8.99139321e-01 5.50514432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.31, Y:193.92, Z:55.06 [[ 6.31748831e-01 -7.16387685e-01 -2.96111634e-01 2.95313621e+02] [ 6.41241326e-01 6.97598375e-01 -3.19634273e-01 1.93923887e+02] [ 4.35549051e-01 1.20495609e-02 9.00084347e-01 5.50556304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.36, Y:193.91, Z:55.10 [[ 6.32311061e-01 -6.93115028e-01 -3.46084210e-01 2.95355903e+02] [ 6.36157758e-01 7.19484592e-01 -2.78648935e-01 1.93905129e+02] [ 4.42138021e-01 -4.39713511e-02 8.95868568e-01 5.50957775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.31275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:295.35, Y:193.96, Z:55.08 [[ 6.32092299e-01 -7.17001818e-01 -2.93883852e-01 2.95351538e+02] [ 6.39709160e-01 6.96864724e-01 -3.24271102e-01 1.93959757e+02] [ 4.37300259e-01 1.69690744e-02 8.99155456e-01 5.50833528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.38, Y:193.97, Z:55.10 [[ 6.30824337e-01 -7.11266875e-01 -3.10096902e-01 2.95376551e+02] [ 6.41588917e-01 7.02902479e-01 -3.07069645e-01 1.93965849e+02] [ 4.36376348e-01 -5.24772994e-03 8.99748934e-01 5.50996169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:193.99, Z:55.11 [[ 6.29978889e-01 -7.13810110e-01 -3.05943994e-01 2.95391971e+02] [ 6.41485731e-01 7.00338612e-01 -3.13084471e-01 1.93987491e+02] [ 4.37747252e-01 9.77900450e-04 8.99097540e-01 5.51104423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.41, Y:194.00, Z:55.12 [[ 6.28921662e-01 -7.13020684e-01 -3.09933941e-01 2.95410928e+02] [ 6.42731527e-01 7.01124945e-01 -3.08739365e-01 1.94003059e+02] [ 4.37439970e-01 -5.03144063e-03 8.99233539e-01 5.51236896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.43, Y:194.02, Z:55.14 [[ 6.28836482e-01 -7.11548781e-01 -3.13469314e-01 2.95429506e+02] [ 6.43581044e-01 7.02554029e-01 -3.03679561e-01 1.94017305e+02] [ 4.36311951e-01 -1.07781210e-02 8.99730912e-01 5.51359873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:194.06, Z:55.13 [[ 6.25989016e-01 -7.24779947e-01 -2.87805107e-01 2.95437704e+02] [ 6.47919833e-01 6.88767197e-01 -3.25268564e-01 1.94058590e+02] [ 4.33978850e-01 1.71399114e-02 9.00760002e-01 5.51344447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.47, Y:194.04, Z:55.17 [[ 6.25810576e-01 -7.05672566e-01 -3.32245922e-01 2.95471929e+02] [ 6.46750177e-01 7.07585401e-01 -2.84670176e-01 1.94041408e+02] [ 4.35976298e-01 -3.67305019e-02 8.99208284e-01 5.51686772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:194.07, Z:55.17 [[ 6.23936615e-01 -7.17753590e-01 -3.09083943e-01 2.95479788e+02] [ 6.48902359e-01 6.96237880e-01 -3.06885228e-01 1.94074824e+02] [ 4.35463924e-01 -9.08836908e-03 9.00160304e-01 5.51725644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.50, Y:194.09, Z:55.18 [[ 6.23282793e-01 -7.18514364e-01 -3.08635170e-01 2.95497129e+02] [ 6.49672456e-01 6.95452055e-01 -3.07037685e-01 1.94092528e+02] [ 4.35251951e-01 -9.14046310e-03 9.00262290e-01 5.51843051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.52, Y:194.11, Z:55.20 [[ 6.22877045e-01 -7.16013595e-01 -3.15196316e-01 2.95522191e+02] [ 6.50437928e-01 6.97848601e-01 -2.99896369e-01 1.94107625e+02] [ 4.34689186e-01 -1.82170746e-02 9.00396274e-01 5.51997298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.53, Y:194.13, Z:55.20 [[ 6.20062967e-01 -7.23010683e-01 -3.04593942e-01 2.95529988e+02] [ 6.53934647e-01 6.90791780e-01 -3.08506392e-01 1.94132339e+02] [ 4.33464409e-01 -7.89114320e-03 9.01136136e-01 5.52048267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.56, Y:194.14, Z:55.23 [[ 6.21259443e-01 -7.14213532e-01 -3.22390656e-01 2.95562071e+02] [ 6.51839088e-01 6.99368818e-01 -2.93238912e-01 1.94138825e+02] [ 4.34905171e-01 -2.79693881e-02 9.00041780e-01 5.52270425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.57, Y:194.16, Z:55.23 [[ 6.20578182e-01 -7.19083241e-01 -3.12733134e-01 2.95574565e+02] [ 6.51954016e-01 6.94753782e-01 -3.03764947e-01 1.94163114e+02] [ 4.35704810e-01 -1.53777240e-02 8.99958246e-01 5.52346968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.58, Y:194.19, Z:55.24 [[ 6.18934506e-01 -7.25869131e-01 -3.00056798e-01 2.95580740e+02] [ 6.55298293e-01 6.87824514e-01 -3.12220411e-01 1.94188758e+02] [ 4.33017580e-01 -3.38272211e-03 9.01379128e-01 5.52377259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.60, Y:194.20, Z:55.25 [[ 6.18997660e-01 -7.23331067e-01 -3.05996839e-01 2.95601781e+02] [ 6.55487776e-01 6.90411650e-01 -3.06051514e-01 1.94202720e+02] [ 4.32640351e-01 -1.11320163e-02 9.01497868e-01 5.52517085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:194.22, Z:55.26 [[ 6.19564826e-01 -7.23030542e-01 -3.05558932e-01 2.95619746e+02] [ 6.55257052e-01 6.90732520e-01 -3.05821487e-01 1.94220178e+02] [ 4.32177767e-01 -1.07434084e-02 9.01724435e-01 5.52625193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:194.24, Z:55.27 [[ 6.19645824e-01 -7.22926002e-01 -3.05642026e-01 2.95637461e+02] [ 6.54996239e-01 6.90845590e-01 -3.06124643e-01 1.94237852e+02] [ 4.32456910e-01 -1.05055209e-02 9.01593398e-01 5.52744106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.66, Y:194.26, Z:55.29 [[ 6.19996252e-01 -7.22607751e-01 -3.05683963e-01 2.95655116e+02] [ 6.54521141e-01 6.91184154e-01 -3.06376469e-01 1.94255225e+02] [ 4.32673923e-01 -1.01243539e-02 9.01493635e-01 5.52856371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:194.28, Z:55.30 [[ 6.19316044e-01 -7.24348737e-01 -3.02929934e-01 2.95670755e+02] [ 6.54275179e-01 6.89410397e-01 -3.10865397e-01 1.94275247e+02] [ 4.34018004e-01 -5.67560891e-03 9.00886319e-01 5.52964775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:194.29, Z:55.31 [[ 6.19430478e-01 -7.25017954e-01 -3.01089437e-01 2.95685884e+02] [ 6.52703002e-01 6.88729236e-01 -3.15643517e-01 1.94292703e+02] [ 4.36216315e-01 -1.00276486e-03 8.99841275e-01 5.53077331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.71, Y:194.30, Z:55.32 [[ 6.19177570e-01 -7.22768898e-01 -3.06959699e-01 2.95706794e+02] [ 6.53695335e-01 6.91022516e-01 -3.08496826e-01 1.94304712e+02] [ 4.35087974e-01 -9.64380832e-03 9.00336299e-01 5.53215320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:194.32, Z:55.33 [[ 6.19921846e-01 -7.20228679e-01 -3.11396140e-01 2.95730229e+02] [ 6.55380256e-01 6.93488121e-01 -2.99250642e-01 1.94319222e+02] [ 4.31478418e-01 -1.85708710e-02 9.01932091e-01 5.53347651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:194.34, Z:55.35 [[ 6.20173691e-01 -7.19507058e-01 -3.12560693e-01 2.95750753e+02] [ 6.54181684e-01 6.94242827e-01 -3.00122012e-01 1.94336451e+02] [ 4.32932925e-01 -1.83437042e-02 9.01239475e-01 5.53506612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.76, Y:194.37, Z:55.36 [[ 6.18740859e-01 -7.27917483e-01 -2.95458773e-01 2.95758011e+02] [ 6.53985170e-01 6.85649535e-01 -3.19668754e-01 1.94365827e+02] [ 4.35273645e-01 4.56646339e-03 9.00286622e-01 5.53563051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.79, Y:194.37, Z:55.37 [[ 6.21208051e-01 -7.18064008e-01 -3.13822621e-01 2.95785877e+02] [ 6.54464016e-01 6.95648965e-01 -2.96225199e-01 1.94368106e+02] [ 4.31019036e-01 -2.13681340e-02 9.02089793e-01 5.53739784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:194.40, Z:55.38 [[ 6.22135678e-01 -7.24190248e-01 -2.97482238e-01 2.95799959e+02] [ 6.54077078e-01 6.89599231e-01 -3.10863438e-01 1.94398958e+02] [ 4.30267793e-01 -1.17707710e-03 9.02700526e-01 5.53783807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0927550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:295.82, Y:194.42, Z:55.39 [[ 6.22162161e-01 -7.24511659e-01 -2.96643054e-01 2.95817388e+02] [ 6.54758850e-01 6.89261413e-01 -3.10176648e-01 1.94418081e+02] [ 4.29191209e-01 -1.24949146e-03 9.03212791e-01 5.53876481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:194.42, Z:55.41 [[ 6.22884290e-01 -7.17860962e-01 -3.10951444e-01 2.95841030e+02] [ 6.52765350e-01 6.95987741e-01 -2.99162937e-01 1.94424783e+02] [ 4.31175787e-01 -1.66344348e-02 9.02114592e-01 5.54068157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.85, Y:194.45, Z:55.41 [[ 6.25461727e-01 -7.19689607e-01 -3.01404211e-01 2.95854670e+02] [ 6.50689970e-01 6.94285678e-01 -3.07522294e-01 1.94448055e+02] [ 4.30581226e-01 -3.77727194e-03 9.02543927e-01 5.54127787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:194.45, Z:55.44 [[ 6.25470972e-01 -7.12759207e-01 -3.17427749e-01 2.95878041e+02] [ 6.46580774e-01 7.01194653e-01 -3.00431956e-01 1.94453906e+02] [ 4.36714283e-01 -1.73312121e-02 8.99433302e-01 5.54365980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.89, Y:194.48, Z:55.44 [[ 6.27005353e-01 -7.17619055e-01 -3.03128982e-01 2.95887789e+02] [ 6.45469602e-01 6.96435173e-01 -3.13603320e-01 1.94479627e+02] [ 4.36157403e-01 9.70416854e-04 8.99869867e-01 5.54402504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.91, Y:194.50, Z:55.45 [[ 6.26941210e-01 -7.18216583e-01 -3.01843766e-01 2.95907989e+02] [ 6.46296164e-01 6.95818363e-01 -3.13269972e-01 1.94500976e+02] [ 4.35024124e-01 1.32138690e-03 9.00417828e-01 5.54511522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.93, Y:194.51, Z:55.47 [[ 6.26890827e-01 -7.12241276e-01 -3.15785142e-01 2.95930125e+02] [ 6.45382547e-01 7.01780615e-01 -3.01637758e-01 1.94506867e+02] [ 4.36450753e-01 -1.47082758e-02 8.99607918e-01 5.54712922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:194.53, Z:55.48 [[ 6.26604865e-01 -7.16382143e-01 -3.06859852e-01 2.95943852e+02] [ 6.45601414e-01 6.97699123e-01 -3.10507242e-01 1.94531579e+02] [ 4.36537693e-01 -3.54380597e-03 8.99678989e-01 5.54806617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:194.55, Z:55.49 [[ 6.26186029e-01 -7.19758519e-01 -2.99731100e-01 2.95961794e+02] [ 6.46422384e-01 6.94210105e-01 -3.16560314e-01 1.94554889e+02] [ 4.35923341e-01 4.47275324e-03 8.99972686e-01 5.54879532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:194.57, Z:55.50 [[ 6.25243718e-01 -7.19448106e-01 -3.02431340e-01 2.95981886e+02] [ 6.47775925e-01 6.94546175e-01 -3.13036680e-01 1.94570618e+02] [ 4.35266177e-01 -1.83523598e-04 9.00301795e-01 5.55006298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:194.58, Z:55.52 [[ 6.24544573e-01 -7.15339054e-01 -3.13423220e-01 2.96002526e+02] [ 6.46694797e-01 6.98681497e-01 -3.05990205e-01 1.94577184e+02] [ 4.37869748e-01 -1.15846436e-02 8.98963781e-01 5.55197881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.02, Y:194.60, Z:55.53 [[ 6.21476576e-01 -7.21687937e-01 -3.04849777e-01 2.96017615e+02] [ 6.49732141e-01 6.92212748e-01 -3.14149101e-01 1.94599140e+02] [ 4.37738518e-01 -2.83439080e-03 8.99097857e-01 5.55293601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:194.62, Z:55.54 [[ 6.19951376e-01 -7.24503799e-01 -3.01254936e-01 2.96032639e+02] [ 6.50649853e-01 6.89269041e-01 -3.18689439e-01 1.94617728e+02] [ 4.38537410e-01 1.56047630e-03 8.98711580e-01 5.55399273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:194.63, Z:55.56 [[ 6.19161632e-01 -7.19637539e-01 -3.14262129e-01 2.96059019e+02] [ 6.53693081e-01 6.94096961e-01 -3.01520754e-01 1.94625323e+02] [ 4.35114042e-01 -1.87408971e-02 9.00180287e-01 5.55575658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:194.65, Z:55.56 [[ 6.16559018e-01 -7.27322843e-01 -3.01424051e-01 2.96070665e+02] [ 6.55475493e-01 6.86287889e-01 -3.15215499e-01 1.94649927e+02] [ 4.36127109e-01 -3.22712053e-03 8.99879287e-01 5.55644538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:194.66, Z:55.58 [[ 6.16670677e-01 -7.24594062e-01 -3.07702325e-01 2.96090404e+02] [ 6.57582126e-01 6.89024391e-01 -3.04682024e-01 1.94661450e+02] [ 4.32785193e-01 -1.44510790e-02 9.01381242e-01 5.55779124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.10, Y:194.69, Z:55.59 [[ 6.15791270e-01 -7.28244801e-01 -3.00766723e-01 2.96103878e+02] [ 6.58234778e-01 6.85290074e-01 -3.11615935e-01 1.94685620e+02] [ 4.33045135e-01 -6.08474449e-03 9.01351700e-01 5.55883589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.12, Y:194.70, Z:55.60 [[ 6.15883836e-01 -7.26879359e-01 -3.03864275e-01 2.96121677e+02] [ 6.57881487e-01 6.86700212e-01 -3.09248715e-01 1.94701721e+02] [ 4.33450170e-01 -9.44539642e-03 9.01128034e-01 5.56006296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:194.72, Z:55.61 [[ 6.17792126e-01 -7.24620022e-01 -3.05382895e-01 2.96139570e+02] [ 6.54127907e-01 6.89111945e-01 -3.11835548e-01 1.94717143e+02] [ 4.36405282e-01 -7.10992779e-03 8.99722112e-01 5.56147314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.15, Y:194.74, Z:55.63 [[ 6.17170746e-01 -7.24933116e-01 -3.05895810e-01 2.96154640e+02] [ 6.54117053e-01 6.88781920e-01 -3.12586544e-01 1.94738154e+02] [ 4.37299841e-01 -7.17239514e-03 8.99287165e-01 5.56263149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:194.76, Z:55.64 [[ 6.16506432e-01 -7.25582212e-01 -3.05696373e-01 2.96171911e+02] [ 6.54832625e-01 6.88095059e-01 -3.12601059e-01 1.94758334e+02] [ 4.37165932e-01 -7.45939453e-03 8.99349935e-01 5.56371560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:194.77, Z:55.65 [[ 6.18377275e-01 -7.24141730e-01 -3.05333099e-01 2.96186521e+02] [ 6.52459645e-01 6.89633472e-01 -3.14168880e-01 1.94774923e+02] [ 4.38070722e-01 -4.94262968e-03 8.98926923e-01 5.56468287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.20, Y:194.80, Z:55.66 [[ 6.17992298e-01 -7.25137841e-01 -3.03744352e-01 2.96203361e+02] [ 6.52645762e-01 6.88597542e-01 -3.16048943e-01 1.94798918e+02] [ 4.38336662e-01 -2.92165184e-03 8.98806116e-01 5.56587721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:194.82, Z:55.67 [[ 6.17302747e-01 -7.24322523e-01 -3.07073608e-01 2.96219691e+02] [ 6.52394332e-01 6.89434814e-01 -3.14740010e-01 1.94815630e+02] [ 4.39680514e-01 -6.04320818e-03 8.98133913e-01 5.56720149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:194.84, Z:55.68 [[ 6.16877054e-01 -7.24540399e-01 -3.07414884e-01 2.96235722e+02] [ 6.52355249e-01 6.89205964e-01 -3.15321690e-01 1.94835078e+02] [ 4.40335475e-01 -6.02899768e-03 8.97813077e-01 5.56840837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.25, Y:194.86, Z:55.69 [[ 6.16345556e-01 -7.30201310e-01 -2.94829108e-01 2.96247698e+02] [ 6.54320444e-01 6.83197144e-01 -3.24201202e-01 1.94863658e+02] [ 4.38158546e-01 6.90725701e-03 8.98871169e-01 5.56875919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.27, Y:194.87, Z:55.71 [[ 6.15467321e-01 -7.21611460e-01 -3.16980879e-01 2.96274309e+02] [ 6.53443531e-01 6.92054816e-01 -3.06711076e-01 1.94865396e+02] [ 4.40694371e-01 -1.83584608e-02 8.97469464e-01 5.57126432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.28, Y:194.90, Z:55.71 [[ 6.14706237e-01 -7.31889813e-01 -2.94063842e-01 2.96281439e+02] [ 6.55676850e-01 6.81385637e-01 -3.25271398e-01 1.94900657e+02] [ 4.38433701e-01 7.13550360e-03 8.98735208e-01 5.57122832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:194.90, Z:55.74 [[ 6.12788885e-01 -7.23907917e-01 -3.16933920e-01 2.96308391e+02] [ 6.56536326e-01 6.89583958e-01 -3.05669786e-01 1.94900939e+02] [ 4.39829326e-01 -2.07675841e-02 8.97841229e-01 5.57386138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.31, Y:194.94, Z:55.73 [[ 6.11646917e-01 -7.37808041e-01 -2.85529933e-01 2.96312389e+02] [ 6.60676927e-01 6.74896990e-01 -3.28664039e-01 1.94942665e+02] [ 4.35194264e-01 1.23833080e-02 9.00251413e-01 5.57332999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.34, Y:194.95, Z:55.75 [[ 6.09512745e-01 -7.32051816e-01 -3.04293200e-01 2.96337068e+02] [ 6.62862637e-01 6.81139633e-01 -3.10905009e-01 1.94946796e+02] [ 4.34864735e-01 -1.22040276e-02 9.00413085e-01 5.57541719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.35, Y:194.97, Z:55.77 [[ 6.09444031e-01 -7.33262659e-01 -3.01502646e-01 2.96354159e+02] [ 6.63366578e-01 6.79879069e-01 -3.12584763e-01 1.94967399e+02] [ 4.34192073e-01 -9.50386064e-03 9.00770182e-01 5.57664632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:194.98, Z:55.79 [[ 6.08436370e-01 -7.28551032e-01 -3.14672175e-01 2.96375782e+02] [ 6.63050909e-01 6.84558470e-01 -3.02891389e-01 1.94975149e+02] [ 4.36083337e-01 -2.43535351e-02 8.99576694e-01 5.57894546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.38, Y:195.01, Z:55.79 [[ 6.07664455e-01 -7.40440647e-01 -2.87213438e-01 2.96380607e+02] [ 6.65763489e-01 6.72097318e-01 -3.24105188e-01 1.95014664e+02] [ 4.33016036e-01 5.73098154e-03 9.01367998e-01 5.57859610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:195.01, Z:55.81 [[ 6.07951961e-01 -7.28817040e-01 -3.14992278e-01 2.96410078e+02] [ 6.63599538e-01 6.84245138e-01 -3.02397496e-01 1.95011699e+02] [ 4.35924382e-01 -2.51855795e-02 8.99630824e-01 5.58147438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:195.04, Z:55.82 [[ 6.07908403e-01 -7.33614606e-01 -3.03738347e-01 2.96421707e+02] [ 6.63499178e-01 6.79474375e-01 -3.13182717e-01 1.95037459e+02] [ 4.36137840e-01 -1.11437387e-02 8.99810870e-01 5.58232171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:195.06, Z:55.84 [[ 6.08916533e-01 -7.32620085e-01 -3.04119164e-01 2.96437848e+02] [ 6.62093983e-01 6.80560184e-01 -3.13798333e-01 1.95055962e+02] [ 4.36866356e-01 -1.02784758e-02 8.99467698e-01 5.58351325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:195.08, Z:55.85 [[ 6.09467082e-01 -7.31971858e-01 -3.04576877e-01 2.96455145e+02] [ 6.61030883e-01 6.81266473e-01 -3.14506223e-01 1.95075065e+02] [ 4.37707719e-01 -9.65353210e-03 8.99065494e-01 5.58473189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.47, Y:195.09, Z:55.86 [[ 6.11322029e-01 -7.30038827e-01 -3.05497442e-01 2.96471931e+02] [ 6.58309257e-01 6.83357290e-01 -3.15676633e-01 1.95093794e+02] [ 4.39220103e-01 -8.13171379e-03 8.98342683e-01 5.58593329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:195.11, Z:55.87 [[ 6.12068428e-01 -7.29273235e-01 -3.05831308e-01 2.96489110e+02] [ 6.57179942e-01 6.84182306e-01 -3.16242148e-01 1.95112487e+02] [ 4.39871303e-01 -7.42436705e-03 8.98030130e-01 5.58717837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:195.12, Z:55.90 [[ 6.13233673e-01 -7.19182854e-01 -3.26681014e-01 2.96517301e+02] [ 6.53294207e-01 6.94248358e-01 -3.02036252e-01 1.95116639e+02] [ 4.44017051e-01 -2.82000132e-02 8.95574462e-01 5.58973162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:195.16, Z:55.90 [[ 6.13513156e-01 -7.32476945e-01 -2.95091736e-01 2.96517510e+02] [ 6.52829563e-01 6.80698674e-01 -3.32359560e-01 1.95155259e+02] [ 4.44314268e-01 1.12623537e-02 8.95800196e-01 5.58953857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:195.16, Z:55.92 [[ 6.13674627e-01 -7.21025934e-01 -3.21753096e-01 2.96549152e+02] [ 6.52445258e-01 6.92585600e-01 -3.07636754e-01 1.95155896e+02] [ 4.44655639e-01 -2.11374115e-02 8.95452161e-01 5.59178925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.55, Y:195.19, Z:55.92 [[ 6.12728799e-01 -7.32692135e-01 -2.96185167e-01 2.96554331e+02] [ 6.53474648e-01 6.80492839e-01 -3.31512263e-01 1.95190988e+02] [ 4.44448313e-01 9.57761297e-03 8.95753296e-01 5.59175208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.58, Y:195.20, Z:55.93 [[ 6.13409395e-01 -7.25684766e-01 -3.11625632e-01 2.96578900e+02] [ 6.53701367e-01 6.87949992e-01 -3.15276595e-01 1.95195831e+02] [ 4.43174273e-01 -1.03164759e-02 8.96376112e-01 5.59342942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:195.22, Z:55.94 [[ 6.13100069e-01 -7.27787128e-01 -3.07301483e-01 2.96594727e+02] [ 6.54182828e-01 6.85781335e-01 -3.18980859e-01 1.95215622e+02] [ 4.42891784e-01 -5.46416720e-03 8.96558425e-01 5.59448850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:195.21, Z:55.97 [[ 6.12471467e-01 -7.17923260e-01 -3.30854795e-01 2.96622461e+02] [ 6.51978446e-01 6.95446365e-01 -3.02123252e-01 1.95214982e+02] [ 4.46993074e-01 -3.06683236e-02 8.94011547e-01 5.59729838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.62, Y:195.26, Z:55.96 [[ 6.11392238e-01 -7.36856983e-01 -2.88515717e-01 2.96621951e+02] [ 6.55831180e-01 6.75849528e-01 -3.36322582e-01 1.95262184e+02] [ 4.42814854e-01 1.64074126e-02 8.96462940e-01 5.59629584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.65, Y:195.27, Z:55.98 [[ 6.11078349e-01 -7.29774901e-01 -3.06613511e-01 2.96647543e+02] [ 6.56467490e-01 6.83657153e-01 -3.18846879e-01 1.95267279e+02] [ 4.42304970e-01 -6.44137777e-03 8.96841582e-01 5.59819663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.66, Y:195.29, Z:55.99 [[ 6.11054831e-01 -7.30047300e-01 -3.06011330e-01 2.96664193e+02] [ 6.56967078e-01 6.83366142e-01 -3.18441476e-01 1.95285964e+02] [ 4.41595122e-01 -6.45416706e-03 8.97191224e-01 5.59942779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:195.30, Z:56.01 [[ 6.10790511e-01 -7.30320207e-01 -3.05887802e-01 2.96681075e+02] [ 6.57225499e-01 6.83074236e-01 -3.18534506e-01 1.95304101e+02] [ 4.41576263e-01 -6.47940961e-03 8.97200324e-01 5.60062944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.70, Y:195.32, Z:56.02 [[ 6.10179776e-01 -7.30571369e-01 -3.06506307e-01 2.96698710e+02] [ 6.57078535e-01 6.82805413e-01 -3.19412847e-01 1.95321741e+02] [ 4.42638046e-01 -6.49945620e-03 8.96676819e-01 5.60184065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.72, Y:195.34, Z:56.03 [[ 6.09863979e-01 -7.30687700e-01 -3.06857317e-01 2.96716504e+02] [ 6.56922456e-01 6.82681616e-01 -3.19997965e-01 1.95339505e+02] [ 4.43304426e-01 -6.42623014e-03 8.96348085e-01 5.60306403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:195.36, Z:56.04 [[ 6.09566527e-01 -7.30871552e-01 -3.07010462e-01 2.96733940e+02] [ 6.56941918e-01 6.82485058e-01 -3.20377062e-01 1.95357360e+02] [ 4.43684533e-01 -6.39690922e-03 8.96160206e-01 5.60426483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:195.38, Z:56.05 [[ 6.09351945e-01 -7.30865256e-01 -3.07451109e-01 2.96750455e+02] [ 6.56601390e-01 6.82493287e-01 -3.21056892e-01 1.95375341e+02] [ 4.44482645e-01 -6.23618390e-03 8.95765755e-01 5.60538844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:195.39, Z:56.07 [[ 6.09219311e-01 -7.30817403e-01 -3.07827475e-01 2.96765864e+02] [ 6.56239973e-01 6.82546350e-01 -3.21682419e-01 1.95393008e+02] [ 4.45197630e-01 -6.03355292e-03 8.95412010e-01 5.60652386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.78, Y:195.41, Z:56.08 [[ 6.09287861e-01 -7.30703073e-01 -3.07963182e-01 2.96782342e+02] [ 6.55915303e-01 6.82671119e-01 -3.22079583e-01 1.95411798e+02] [ 4.45582112e-01 -5.75858384e-03 8.95222554e-01 5.60770321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.80, Y:195.43, Z:56.09 [[ 6.09534566e-01 -7.30470202e-01 -3.08027428e-01 2.96798465e+02] [ 6.55501037e-01 6.82923177e-01 -3.22388469e-01 1.95430817e+02] [ 4.45854239e-01 -5.40538300e-03 8.95089258e-01 5.60898469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:195.45, Z:56.10 [[ 6.09426975e-01 -7.30678990e-01 -3.07744986e-01 2.96814585e+02] [ 6.55770596e-01 6.82699955e-01 -3.22313042e-01 1.95448446e+02] [ 4.45604856e-01 -5.38385088e-03 8.95213565e-01 5.61016740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:195.47, Z:56.11 [[ 6.08866801e-01 -7.31178441e-01 -3.07667527e-01 2.96829723e+02] [ 6.56241427e-01 6.82163674e-01 -3.22490172e-01 1.95465893e+02] [ 4.45677471e-01 -5.55061777e-03 8.95176397e-01 5.61135861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:195.48, Z:56.13 [[ 6.08343013e-01 -7.31738509e-01 -3.07371978e-01 2.96845710e+02] [ 6.56928029e-01 6.81560695e-01 -3.22367156e-01 1.95483538e+02] [ 4.45381121e-01 -5.81146122e-03 8.95322224e-01 5.61254334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.86, Y:195.50, Z:56.14 [[ 6.07579240e-01 -7.32536223e-01 -3.06982327e-01 2.96861583e+02] [ 6.57898621e-01 6.80699843e-01 -3.22206654e-01 1.95500696e+02] [ 4.44990867e-01 -6.19717531e-03 8.95513664e-01 5.61368800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.88, Y:195.52, Z:56.15 [[ 6.04924617e-01 -7.34959037e-01 -3.06433388e-01 2.96878196e+02] [ 6.60773449e-01 6.78066956e-01 -3.21875213e-01 1.95519117e+02] [ 4.44347451e-01 -7.77280668e-03 8.95820812e-01 5.61489630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:195.54, Z:56.16 [[ 6.03732353e-01 -7.34906251e-01 -3.08901355e-01 2.96898056e+02] [ 6.61583158e-01 6.78078535e-01 -3.20183113e-01 1.95535532e+02] [ 4.44763950e-01 -1.10590297e-02 8.95579548e-01 5.61630756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:195.55, Z:56.17 [[ 6.01685377e-01 -7.37895761e-01 -3.05752439e-01 2.96911478e+02] [ 6.64137134e-01 6.74847988e-01 -3.21717361e-01 1.95554939e+02] [ 4.43730295e-01 -9.48891691e-03 8.96110141e-01 5.61728933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:195.57, Z:56.18 [[ 5.98939400e-01 -7.40312282e-01 -3.05302014e-01 2.96927708e+02] [ 6.67025195e-01 6.72170231e-01 -3.21348051e-01 1.95572401e+02] [ 4.43112834e-01 -1.11761268e-02 8.96396180e-01 5.61845369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.94, Y:195.59, Z:56.20 [[ 5.97667383e-01 -7.41371136e-01 -3.05225389e-01 2.96943846e+02] [ 6.68129481e-01 6.70992026e-01 -3.21516248e-01 1.95590377e+02] [ 4.43166668e-01 -1.17703060e-02 8.96361961e-01 5.61964102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:195.63, Z:56.19 [[ 5.96613260e-01 -7.54904039e-01 -2.72346304e-01 2.96947241e+02] [ 6.73172002e-01 6.55503034e-01 -3.42279459e-01 1.95633936e+02] [ 4.36911975e-01 2.08725568e-02 8.99262066e-01 5.61871353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:195.61, Z:56.23 [[ 5.96288596e-01 -7.32560266e-01 -3.28322046e-01 2.96987925e+02] [ 6.70227178e-01 6.79407700e-01 -2.98664873e-01 1.95611592e+02] [ 4.41854545e-01 -4.19599008e-02 8.96104864e-01 5.62302784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:195.65, Z:56.23 [[ 5.95891584e-01 -7.43060276e-01 -3.04589308e-01 2.96993157e+02] [ 6.70093382e-01 6.69105731e-01 -3.21360204e-01 1.95645863e+02] [ 4.42592453e-01 -1.26074390e-02 8.96634247e-01 5.62336934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:195.66, Z:56.24 [[ 5.96415081e-01 -7.42616128e-01 -3.04647892e-01 2.97008828e+02] [ 6.69450657e-01 6.69607865e-01 -3.21653736e-01 1.95664813e+02] [ 4.42859876e-01 -1.21075924e-02 8.96509083e-01 5.62449726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:195.68, Z:56.26 [[ 5.96247553e-01 -7.42797607e-01 -3.04533365e-01 2.97025729e+02] [ 6.69599123e-01 6.69407306e-01 -3.21762138e-01 1.95683100e+02] [ 4.42861006e-01 -1.20653865e-02 8.96509094e-01 5.62571504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:195.70, Z:56.27 [[ 5.96788843e-01 -7.42341660e-01 -3.04584861e-01 2.97041480e+02] [ 6.68981486e-01 6.69920961e-01 -3.21977760e-01 1.95700732e+02] [ 4.43065287e-01 -1.16088983e-02 8.96414181e-01 5.62680659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:195.72, Z:56.28 [[ 5.97629532e-01 -7.41363237e-01 -3.05318677e-01 2.97057667e+02] [ 6.67420606e-01 6.71017363e-01 -3.22932553e-01 1.95718917e+02] [ 4.44284456e-01 -1.07819463e-02 8.95820893e-01 5.62798435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:195.74, Z:56.29 [[ 5.98137789e-01 -7.40937367e-01 -3.05357174e-01 2.97074174e+02] [ 6.66803478e-01 6.71495345e-01 -3.23213743e-01 1.95736846e+02] [ 4.44527060e-01 -1.02868717e-02 8.95706354e-01 5.62918909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:195.75, Z:56.30 [[ 5.98466015e-01 -7.40640505e-01 -3.05434235e-01 2.97090661e+02] [ 6.66309932e-01 6.71828765e-01 -3.23538537e-01 1.95754704e+02] [ 4.44825250e-01 -9.88704579e-03 8.95562808e-01 5.63038593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:195.77, Z:56.32 [[ 5.98875265e-01 -7.40435263e-01 -3.05129545e-01 2.97107567e+02] [ 6.66114765e-01 6.72059989e-01 -3.23460184e-01 1.95773375e+02] [ 4.44566685e-01 -9.53899159e-03 8.95694965e-01 5.63158893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:195.79, Z:56.33 [[ 5.99868013e-01 -7.39823144e-01 -3.04663885e-01 2.97123423e+02] [ 6.65558302e-01 6.72742496e-01 -3.23186758e-01 1.95790332e+02] [ 4.44061386e-01 -8.90217942e-03 8.95952140e-01 5.63278969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.14, Y:195.81, Z:56.34 [[ 6.00540791e-01 -7.41250481e-01 -2.99830757e-01 2.97139816e+02] [ 6.65704083e-01 6.71217786e-01 -3.26044104e-01 1.95812706e+02] [ 4.42932086e-01 -3.79577488e-03 8.96547132e-01 5.63384870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:195.83, Z:56.35 [[ 5.99599843e-01 -7.42729005e-01 -2.98049749e-01 2.97153830e+02] [ 6.64825374e-01 6.69592013e-01 -3.31140088e-01 1.95831550e+02] [ 4.45519079e-01 4.00508640e-04 8.95272355e-01 5.63512690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:195.84, Z:56.37 [[ 6.00571893e-01 -7.37484028e-01 -3.08918614e-01 2.97176708e+02] [ 6.65539685e-01 6.75206986e-01 -3.18044736e-01 1.95840993e+02] [ 4.43136919e-01 -1.45888676e-02 8.96335225e-01 5.63667973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.19, Y:195.86, Z:56.38 [[ 6.01356611e-01 -7.36429734e-01 -3.09905587e-01 2.97194793e+02] [ 6.66655746e-01 6.76271127e-01 -3.13412634e-01 1.95855731e+02] [ 4.40386583e-01 -1.81275810e-02 8.97625227e-01 5.63783637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.21, Y:195.88, Z:56.39 [[ 6.00584998e-01 -7.40821211e-01 -3.00801584e-01 2.97207412e+02] [ 6.66818228e-01 6.71668873e-01 -3.22822515e-01 1.95879656e+02] [ 4.41192828e-01 -6.69761953e-03 8.97387336e-01 5.63870104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:195.90, Z:56.40 [[ 6.01617737e-01 -7.40612328e-01 -2.99248188e-01 2.97221749e+02] [ 6.65666812e-01 6.71921405e-01 -3.24668016e-01 1.95896090e+02] [ 4.41524398e-01 -3.87355062e-03 8.97240883e-01 5.63969547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:195.92, Z:56.41 [[ 6.01122749e-01 -7.40610280e-01 -3.00246322e-01 2.97242536e+02] [ 6.66909696e-01 6.71902536e-01 -3.22146613e-01 1.95916348e+02] [ 4.40321358e-01 -6.58752608e-03 8.97816076e-01 5.64106379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:195.94, Z:56.42 [[ 6.00988031e-01 -7.43644170e-01 -2.92927865e-01 2.97257511e+02] [ 6.68337515e-01 6.68575582e-01 -3.26085352e-01 1.95939607e+02] [ 4.38335889e-01 1.98712074e-04 8.98811220e-01 5.64161038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:195.94, Z:56.44 [[ 6.00365943e-01 -7.36296463e-01 -3.12134993e-01 2.97282225e+02] [ 6.67372624e-01 6.76328740e-01 -3.11758266e-01 1.95943045e+02] [ 4.40652375e-01 -2.11413038e-02 8.97428844e-01 5.64400879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.29, Y:195.97, Z:56.45 [[ 5.99952333e-01 -7.40844749e-01 -3.02003734e-01 2.97294313e+02] [ 6.67126294e-01 6.71627141e-01 -3.22272387e-01 1.95967469e+02] [ 4.41587711e-01 -8.12656127e-03 8.97181282e-01 5.64476104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:195.99, Z:56.46 [[ 5.98576091e-01 -7.46495876e-01 -2.90603804e-01 2.97303174e+02] [ 6.64691934e-01 6.65310206e-01 -3.39921996e-01 1.95993904e+02] [ 4.47092044e-01 1.03071751e-02 8.94428570e-01 5.64560355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.33, Y:195.99, Z:56.48 [[ 5.99919596e-01 -7.35029838e-01 -3.15955085e-01 2.97334134e+02] [ 6.66645286e-01 6.77598394e-01 -3.10555114e-01 1.95993664e+02] [ 4.42357933e-01 -2.43218700e-02 8.96508731e-01 5.64766604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:196.02, Z:56.48 [[ 6.00297224e-01 -7.40443906e-01 -3.02301281e-01 2.97344704e+02] [ 6.66163871e-01 6.72078583e-01 -3.23320391e-01 1.96020042e+02] [ 4.42570829e-01 -7.29385847e-03 8.96703887e-01 5.64831164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:196.05, Z:56.49 [[ 5.97547339e-01 -7.46608806e-01 -2.92425150e-01 2.97355345e+02] [ 6.65299602e-01 6.65215599e-01 -3.38916872e-01 1.96048161e+02] [ 4.47564092e-01 7.96853871e-03 8.94216353e-01 5.64935055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:196.05, Z:56.52 [[ 6.00002016e-01 -7.32757305e-01 -3.21036312e-01 2.97389079e+02] [ 6.64446006e-01 6.79945147e-01 -3.10138845e-01 1.96047802e+02] [ 4.45543586e-01 -2.72273629e-02 8.94846123e-01 5.65161614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.39, Y:196.08, Z:56.52 [[ 5.98018222e-01 -7.44376209e-01 -2.97116586e-01 2.97391670e+02] [ 6.65514430e-01 6.67758382e-01 -3.33450575e-01 1.96082633e+02] [ 4.46614766e-01 1.67414476e-03 8.94724789e-01 5.65186279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:196.09, Z:56.53 [[ 5.99537268e-01 -7.36580941e-01 -3.13055238e-01 2.97415952e+02] [ 6.65617754e-01 6.76084851e-01 -3.16009937e-01 1.96087419e+02] [ 4.44418800e-01 -1.89153902e-02 8.95619416e-01 5.65349824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:196.11, Z:56.54 [[ 5.98146375e-01 -7.41900989e-01 -3.02991481e-01 2.97427753e+02] [ 6.66654011e-01 6.70470685e-01 -3.25640125e-01 1.96111501e+02] [ 4.44739636e-01 -7.21002636e-03 8.95630879e-01 5.65432621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.44, Y:196.13, Z:56.55 [[ 5.96166711e-01 -7.45516090e-01 -2.97978207e-01 2.97442128e+02] [ 6.67090654e-01 6.66487537e-01 -3.32842938e-01 1.96134264e+02] [ 4.46738527e-01 -3.48597544e-04 8.94664500e-01 5.65544027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.46, Y:196.16, Z:56.57 [[ 5.91863747e-01 -7.50107038e-01 -2.95019891e-01 2.97455953e+02] [ 6.68594378e-01 6.61304123e-01 -3.40085894e-01 1.96157260e+02] [ 4.50198693e-01 4.03587080e-03 8.92919285e-01 5.65674997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:196.15, Z:56.59 [[ 5.95700251e-01 -7.34844685e-01 -3.24259927e-01 2.97486056e+02] [ 6.69074466e-01 6.77344148e-01 -3.05850067e-01 1.96149334e+02] [ 4.44387861e-01 -3.47590760e-02 8.95159894e-01 5.65863159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:196.18, Z:56.59 [[ 5.95492023e-01 -7.42916529e-01 -3.05719284e-01 2.97493914e+02] [ 6.69589293e-01 6.69259667e-01 -3.22089548e-01 1.96180187e+02] [ 4.43891235e-01 -1.29046028e-02 8.95987747e-01 5.65911691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:196.21, Z:56.60 [[ 5.94937977e-01 -7.48574130e-01 -2.92720985e-01 2.97504363e+02] [ 6.70887423e-01 6.63050054e-01 -3.32076334e-01 1.96210138e+02] [ 4.42672418e-01 1.18199511e-03 8.96682627e-01 5.65953133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.52, Y:196.23, Z:56.60 [[ 5.94324747e-01 -7.49809712e-01 -2.90798026e-01 2.97518493e+02] [ 6.72406348e-01 6.61651453e-01 -3.31793700e-01 1.96230813e+02] [ 4.41189075e-01 1.65876802e-03 8.97412641e-01 5.66032699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:196.23, Z:56.63 [[ 5.95277104e-01 -7.37667920e-01 -3.18576850e-01 2.97546509e+02] [ 6.70157650e-01 6.74533730e-01 -3.09665904e-01 1.96229814e+02] [ 4.43321434e-01 -2.91596907e-02 8.95888285e-01 5.66315998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.54, Y:196.28, Z:56.62 [[ 5.94612465e-01 -7.54814486e-01 -2.76931596e-01 2.97542434e+02] [ 6.72594220e-01 6.55699135e-01 -3.43038859e-01 1.96278250e+02] [ 4.40514508e-01 1.77125909e-02 8.97570740e-01 5.66201771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.57, Y:196.29, Z:56.64 [[ 5.94547242e-01 -7.48178917e-01 -2.94519754e-01 2.97568545e+02] [ 6.71892775e-01 6.63493404e-01 -3.29145258e-01 1.96287520e+02] [ 4.41671457e-01 -2.19328919e-03 8.97174182e-01 5.66394994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.59, Y:196.30, Z:56.65 [[ 5.95237805e-01 -7.44181760e-01 -3.03126151e-01 2.97588813e+02] [ 6.72936507e-01 6.67816529e-01 -3.18084172e-01 1.96298640e+02] [ 4.39145093e-01 -1.46489288e-02 8.98296720e-01 5.66525959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:196.31, Z:56.68 [[ 5.93707286e-01 -7.39962240e-01 -3.16176443e-01 2.97610576e+02] [ 6.69711856e-01 6.72207371e-01 -3.15631558e-01 1.96308125e+02] [ 4.46091570e-01 -2.43543566e-02 8.94655898e-01 5.66799994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:196.33, Z:56.69 [[ 5.94536695e-01 -7.44344388e-01 -3.04101218e-01 2.97620768e+02] [ 6.69138768e-01 6.67727518e-01 -3.26179814e-01 1.96333369e+02] [ 4.45846866e-01 -9.56004567e-03 8.95058198e-01 5.66870470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.63, Y:196.36, Z:56.70 [[ 5.91209663e-01 -7.51735571e-01 -2.92172493e-01 2.97629842e+02] [ 6.70525044e-01 6.59445398e-01 -3.39894001e-01 1.96363510e+02] [ 4.48182217e-01 5.03964364e-03 8.93928019e-01 5.66969378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.65, Y:196.37, Z:56.71 [[ 5.90631506e-01 -7.46639711e-01 -3.06077714e-01 2.97652793e+02] [ 6.71133796e-01 6.65119633e-01 -3.27406935e-01 1.96373300e+02] [ 4.48033316e-01 -1.20422471e-02 8.93935754e-01 5.67143336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:196.39, Z:56.73 [[ 5.91482021e-01 -7.44670661e-01 -3.09216148e-01 2.97670593e+02] [ 6.72116574e-01 6.67192122e-01 -3.21113661e-01 1.96387247e+02] [ 4.45430500e-01 -1.78963412e-02 8.95137638e-01 5.67267418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:196.41, Z:56.73 [[ 5.92547585e-01 -7.47578102e-01 -3.00023901e-01 2.97681112e+02] [ 6.70809249e-01 6.64149452e-01 -3.30030994e-01 1.96408541e+02] [ 4.45984653e-01 -5.69973869e-03 8.95022459e-01 5.67341766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.70, Y:196.43, Z:56.75 [[ 5.90475897e-01 -7.51146941e-01 -2.95155023e-01 2.97695468e+02] [ 6.72349928e-01 6.60134682e-01 -3.34914579e-01 1.96432722e+02] [ 4.46412129e-01 -6.88472234e-04 8.94827211e-01 5.67457764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:196.45, Z:56.76 [[ 5.89424924e-01 -7.49364167e-01 -3.01714443e-01 2.97715842e+02] [ 6.74598104e-01 6.62065017e-01 -3.26477124e-01 1.96446090e+02] [ 4.44404836e-01 -1.11022377e-02 8.95757268e-01 5.67599074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:196.46, Z:56.77 [[ 5.89183489e-01 -7.48761413e-01 -3.03676082e-01 2.97733542e+02] [ 6.75482178e-01 6.62678965e-01 -3.23388957e-01 1.96462065e+02] [ 4.43380924e-01 -1.45923473e-02 8.96214494e-01 5.67728401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:196.48, Z:56.78 [[ 5.88737845e-01 -7.50764893e-01 -2.99566062e-01 2.97747908e+02] [ 6.76180278e-01 6.60487678e-01 -3.26398925e-01 1.96482036e+02] [ 4.42908547e-01 -1.03972632e-02 8.96506506e-01 5.67833902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.76, Y:196.51, Z:56.79 [[ 5.88603420e-01 -7.52831950e-01 -2.94601543e-01 2.97764070e+02] [ 6.75250304e-01 6.58205929e-01 -3.32869316e-01 1.96505349e+02] [ 4.44503139e-01 -3.00176413e-03 8.95772264e-01 5.67940862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:196.51, Z:56.81 [[ 5.89330943e-01 -7.47696663e-01 -3.06004475e-01 2.97785404e+02] [ 6.76721732e-01 6.63758446e-01 -3.18547364e-01 1.96514082e+02] [ 4.41289856e-01 -1.93500599e-02 8.97155972e-01 5.68116708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.80, Y:196.54, Z:56.82 [[ 5.90441251e-01 -7.51107893e-01 -2.95323656e-01 2.97799531e+02] [ 6.76094573e-01 6.60148083e-01 -3.27262336e-01 1.96540132e+02] [ 4.40766669e-01 -6.43753794e-03 8.97598630e-01 5.68187054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.82, Y:196.55, Z:56.83 [[ 5.91245159e-01 -7.48140160e-01 -3.01190078e-01 2.97817497e+02] [ 6.75410025e-01 6.63412844e-01 -3.22032135e-01 1.96553774e+02] [ 4.40738539e-01 -1.30268572e-02 8.97540997e-01 5.68343208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.84, Y:196.57, Z:56.85 [[ 5.92148075e-01 -7.45369913e-01 -3.06242305e-01 2.97836953e+02] [ 6.73228277e-01 6.66447184e-01 -3.20330826e-01 1.96569167e+02] [ 4.42859282e-01 -1.64876975e-02 8.96439520e-01 5.68513179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.85, Y:196.60, Z:56.86 [[ 5.93090648e-01 -7.50011483e-01 -2.92790469e-01 2.97846261e+02] [ 6.73355127e-01 6.61423641e-01 -3.30320512e-01 1.96595490e+02] [ 4.41402715e-01 -1.24195681e-03 8.97308253e-01 5.68552981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:196.61, Z:56.87 [[ 5.94750878e-01 -7.46774318e-01 -2.97656699e-01 2.97864527e+02] [ 6.71950435e-01 6.65048651e-01 -3.25872530e-01 1.96609913e+02] [ 4.41309422e-01 -6.19757513e-03 8.97333597e-01 5.68684664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.88, Y:196.63, Z:56.88 [[ 5.95322002e-01 -7.46298409e-01 -2.97708580e-01 2.97881381e+02] [ 6.71260301e-01 6.65587538e-01 -3.26194477e-01 1.96628334e+02] [ 4.41589541e-01 -5.64920184e-03 8.97199400e-01 5.68806013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:196.66, Z:56.89 [[ 5.96317334e-01 -7.50044171e-01 -2.86075826e-01 2.97894328e+02] [ 6.71208691e-01 6.61343593e-01 -3.34818675e-01 1.96656216e+02] [ 4.40323210e-01 7.64159906e-03 8.97806815e-01 5.68850434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:196.67, Z:56.90 [[ 5.96411404e-01 -7.45207720e-01 -2.98259770e-01 2.97917217e+02] [ 6.70704828e-01 6.66802657e-01 -3.24852659e-01 1.96666637e+02] [ 4.40963117e-01 -6.29843750e-03 8.97503125e-01 5.69027675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.93, Y:196.69, Z:56.91 [[ 5.96556573e-01 -7.45594542e-01 -2.97000058e-01 2.97933444e+02] [ 6.70656456e-01 6.66382441e-01 -3.25813383e-01 1.96685178e+02] [ 4.40840303e-01 -4.81889124e-03 8.97572618e-01 5.69148393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.95, Y:196.70, Z:56.93 [[ 5.96231685e-01 -7.46189511e-01 -2.96157040e-01 2.97949979e+02] [ 6.70681164e-01 6.65723880e-01 -3.27106240e-01 1.96704759e+02] [ 4.41242059e-01 -3.59584365e-03 8.97380920e-01 5.69268205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:196.72, Z:56.94 [[ 5.96251195e-01 -7.44554030e-01 -3.00206277e-01 2.97965174e+02] [ 6.68728943e-01 6.67539200e-01 -3.27403447e-01 1.96716849e+02] [ 4.44169014e-01 -5.54192962e-03 8.95925875e-01 5.69426431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:196.74, Z:56.96 [[ 5.95545039e-01 -7.45413916e-01 -2.99473204e-01 2.97984268e+02] [ 6.70980966e-01 6.66559495e-01 -3.24781438e-01 1.96736018e+02] [ 4.41713312e-01 -7.51884569e-03 8.97124750e-01 5.69559261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:196.76, Z:56.97 [[ 5.94146392e-01 -7.50198244e-01 -2.90159712e-01 2.97995767e+02] [ 6.70999423e-01 6.61196582e-01 -3.35527725e-01 1.96760831e+02] [ 4.43564920e-01 4.65558807e-03 8.96230153e-01 5.69656109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.02, Y:196.77, Z:56.98 [[ 5.94326955e-01 -7.46085919e-01 -3.00218707e-01 2.98017787e+02] [ 6.72267379e-01 6.65782818e-01 -3.23712542e-01 1.96770873e+02] [ 4.41397826e-01 -9.43615358e-03 8.97261901e-01 5.69805453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.03, Y:196.79, Z:56.99 [[ 5.92504112e-01 -7.50997841e-01 -2.91446598e-01 2.98028565e+02] [ 6.72096869e-01 6.60299274e-01 -3.35097997e-01 1.96794689e+02] [ 4.44099849e-01 2.66659508e-03 8.95973333e-01 5.69902383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:196.81, Z:57.01 [[ 5.91979578e-01 -7.47693510e-01 -3.00856435e-01 2.98050598e+02] [ 6.74110079e-01 6.63949220e-01 -3.23646466e-01 1.96806193e+02] [ 4.41741757e-01 -1.12182572e-02 8.97072110e-01 5.70060096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.06, Y:196.83, Z:57.02 [[ 5.91650199e-01 -7.49774425e-01 -2.96290995e-01 2.98064903e+02] [ 6.74258035e-01 6.61668730e-01 -3.27979563e-01 1.96827878e+02] [ 4.41957174e-01 -5.72741038e-03 8.97017867e-01 5.70168821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:196.84, Z:57.03 [[ 5.90922417e-01 -7.46755153e-01 -3.05233415e-01 2.98088223e+02] [ 6.76281877e-01 6.64828867e-01 -3.17246593e-01 1.96839890e+02] [ 4.39833514e-01 -1.89557038e-02 8.97879258e-01 5.70332345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.09, Y:196.87, Z:57.04 [[ 5.88318899e-01 -7.56420022e-01 -2.85848953e-01 2.98093107e+02] [ 6.77228672e-01 6.54069555e-01 -3.36978253e-01 1.96871366e+02] [ 4.41862195e-01 4.66556812e-03 8.97070807e-01 5.70377856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.12, Y:196.88, Z:57.05 [[ 5.87871810e-01 -7.52130577e-01 -2.97836081e-01 2.98115986e+02] [ 6.78373494e-01 6.58922617e-01 -3.25008288e-01 1.96880701e+02] [ 4.40699601e-01 -1.09808920e-02 8.97587479e-01 5.70545353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:196.90, Z:57.07 [[ 5.87816236e-01 -7.52125008e-01 -2.97959806e-01 2.98131962e+02] [ 6.79349026e-01 6.58900973e-01 -3.23008372e-01 1.96897673e+02] [ 4.39268680e-01 -1.25491385e-02 8.98268081e-01 5.70661791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:196.91, Z:57.08 [[ 5.88064332e-01 -7.51836657e-01 -2.98197893e-01 2.98148602e+02] [ 6.80442807e-01 6.59186392e-01 -3.20110741e-01 1.96914439e+02] [ 4.37238983e-01 -1.46609021e-02 8.99225850e-01 5.70778782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:196.94, Z:57.09 [[ 5.87554586e-01 -7.54273931e-01 -2.93002466e-01 2.98161767e+02] [ 6.80835085e-01 6.56502562e-01 -3.24758330e-01 1.96935912e+02] [ 4.37313612e-01 -8.67311229e-03 8.99267247e-01 5.70877090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:196.96, Z:57.10 [[ 5.86628757e-01 -7.55826725e-01 -2.90848177e-01 2.98176958e+02] [ 6.80957453e-01 6.54747530e-01 -3.28028382e-01 1.96956798e+02] [ 4.38364744e-01 -5.62435170e-03 8.98779572e-01 5.70997380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:196.99, Z:57.10 [[ 5.85752482e-01 -7.61258384e-01 -2.78172073e-01 2.98188362e+02] [ 6.81841750e-01 6.48390382e-01 -3.38646925e-01 1.96985473e+02] [ 4.38161908e-01 8.69394412e-03 8.98854025e-01 5.71044322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:196.98, Z:57.13 [[ 5.85416803e-01 -7.49865593e-01 -3.08202466e-01 2.98216723e+02] [ 6.80348449e-01 6.61135083e-01 -3.16269491e-01 1.96982956e+02] [ 4.40923072e-01 -2.45355957e-02 8.97209479e-01 5.71326202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:197.02, Z:57.13 [[ 5.85476239e-01 -7.59226153e-01 -2.84241485e-01 2.98222817e+02] [ 6.80720443e-01 6.50818171e-01 -3.36237099e-01 1.97018958e+02] [ 4.40269523e-01 3.36984278e-03 8.97859338e-01 5.71313912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.24, Y:197.03, Z:57.15 [[ 5.84992228e-01 -7.56665187e-01 -2.91962135e-01 2.98240075e+02] [ 6.79778834e-01 6.53790052e-01 -3.32354184e-01 1.97032188e+02] [ 4.42362780e-01 -4.04506515e-03 8.96827078e-01 5.71453700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:197.03, Z:57.17 [[ 5.86481307e-01 -7.45315446e-01 -3.17087626e-01 2.98270718e+02] [ 6.77530411e-01 6.65955600e-01 -3.12178924e-01 1.97034192e+02] [ 4.43838055e-01 -3.17494059e-02 8.95544391e-01 5.71743327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.27, Y:197.07, Z:57.18 [[ 5.85467878e-01 -7.56641296e-01 -2.91069258e-01 2.98270172e+02] [ 6.76110761e-01 6.53826911e-01 -3.39683102e-01 1.97070771e+02] [ 4.47327176e-01 2.07848713e-03 8.94367976e-01 5.71754287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.29, Y:197.09, Z:57.19 [[ 5.85959028e-01 -7.54192022e-01 -2.96388953e-01 2.98289926e+02] [ 6.77971580e-01 6.56613374e-01 -3.30474529e-01 1.97087048e+02] [ 4.43854204e-01 -7.29875243e-03 8.96069291e-01 5.71860536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.31, Y:197.10, Z:57.20 [[ 5.86542646e-01 -7.52736087e-01 -2.98924922e-01 2.98306978e+02] [ 6.77075313e-01 6.58255327e-01 -3.29042467e-01 1.97104733e+02] [ 4.44451062e-01 -9.39724568e-03 8.95753842e-01 5.72002569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.33, Y:197.12, Z:57.22 [[ 5.87427581e-01 -7.48369859e-01 -3.08011997e-01 2.98325427e+02] [ 6.75303803e-01 6.63030837e-01 -3.23040064e-01 1.97116407e+02] [ 4.45974899e-01 -1.82390294e-02 8.94859613e-01 5.72200834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.34, Y:197.14, Z:57.23 [[ 5.86917317e-01 -7.50198796e-01 -3.04515729e-01 2.98341185e+02] [ 6.73644431e-01 6.61116635e-01 -3.30345238e-01 1.97139084e+02] [ 4.49145014e-01 -1.12499838e-02 8.93388043e-01 5.72347310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.35, Y:197.16, Z:57.24 [[ 5.87003283e-01 -7.53586643e-01 -2.95861989e-01 2.98350692e+02] [ 6.74415188e-01 6.57345056e-01 -3.36246386e-01 1.97161910e+02] [ 4.47874201e-01 -2.15608604e-03 8.94093984e-01 5.72415714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:197.19, Z:57.25 [[ 5.86050661e-01 -7.59740236e-01 -2.81672498e-01 2.98361525e+02] [ 6.77030888e-01 6.50126141e-01 -3.44913290e-01 1.97193034e+02] [ 4.45167159e-01 1.14356802e-02 8.95374461e-01 5.72456048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:197.21, Z:57.26 [[ 5.85919249e-01 -7.56003600e-01 -2.91817050e-01 2.98383074e+02] [ 6.77252412e-01 6.54566985e-01 -3.35963141e-01 1.97205961e+02] [ 4.45003151e-01 -7.86529696e-04 8.95528658e-01 5.72610156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:197.20, Z:57.29 [[ 5.84673368e-01 -7.46367511e-01 -3.17950612e-01 2.98409622e+02] [ 6.75506064e-01 6.64925821e-01 -3.18692971e-01 1.97204864e+02] [ 4.49275651e-01 -2.84462740e-02 8.92940199e-01 5.72901313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:197.25, Z:57.28 [[ 5.83559235e-01 -7.62612309e-01 -2.79071828e-01 2.98408824e+02] [ 6.78657726e-01 6.46709529e-01 -3.48124225e-01 1.97251248e+02] [ 4.45962230e-01 1.37568547e-02 8.94946054e-01 5.72828445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:197.26, Z:57.30 [[ 5.82761419e-01 -7.58119130e-01 -2.92650838e-01 2.98432613e+02] [ 6.79418348e-01 6.52110027e-01 -3.36367688e-01 1.97261909e+02] [ 4.45847325e-01 -2.81023774e-03 8.95104612e-01 5.72997931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:197.26, Z:57.33 [[ 5.81229533e-01 -7.49002586e-01 -3.18068163e-01 2.98459182e+02] [ 6.78281127e-01 6.61876511e-01 -3.19146043e-01 1.97261412e+02] [ 4.49563058e-01 -3.02425267e-02 8.92736493e-01 5.73292254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.46, Y:197.31, Z:57.32 [[ 5.79810132e-01 -7.67885647e-01 -2.72345083e-01 2.98455245e+02] [ 6.82096184e-01 6.40304293e-01 -3.53207031e-01 1.97313123e+02] [ 4.45606336e-01 1.90274736e-02 8.95026787e-01 5.73178998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:197.30, Z:57.36 [[ 5.79146799e-01 -7.49340653e-01 -3.21056959e-01 2.98493504e+02] [ 6.79973085e-01 6.61267702e-01 -3.16799039e-01 1.97297696e+02] [ 4.49694996e-01 -3.48369412e-02 8.92502548e-01 5.73565502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:197.34, Z:57.35 [[ 5.77046988e-01 -7.66159102e-01 -2.82872771e-01 2.98493382e+02] [ 6.83258868e-01 6.42615082e-01 -3.46703298e-01 1.97342883e+02] [ 4.47408196e-01 6.78876465e-03 8.94304098e-01 5.73503613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:197.36, Z:57.36 [[ 5.75471426e-01 -7.67420469e-01 -2.82663159e-01 2.98509441e+02] [ 6.85856561e-01 6.41129883e-01 -3.44315626e-01 1.97362911e+02] [ 4.45458657e-01 4.27742263e-03 8.95292292e-01 5.73575294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.53, Y:197.37, Z:57.37 [[ 5.74107780e-01 -7.65095522e-01 -2.91597497e-01 2.98529078e+02] [ 6.87169683e-01 6.43876550e-01 -3.36483011e-01 1.97374124e+02] [ 4.45194434e-01 -7.19944514e-03 8.95404983e-01 5.73714847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.55, Y:197.40, Z:57.39 [[ 5.72408602e-01 -7.66637424e-01 -2.90887354e-01 2.98545943e+02] [ 6.87063865e-01 6.42059584e-01 -3.40151049e-01 1.97395381e+02] [ 4.47539537e-01 -5.15280317e-03 8.94249301e-01 5.73861956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.56, Y:197.41, Z:57.40 [[ 5.71485679e-01 -7.66075305e-01 -2.94164488e-01 2.98563492e+02] [ 6.88005401e-01 6.42676768e-01 -3.37068450e-01 1.97411113e+02] [ 4.47272498e-01 -9.75696424e-03 8.94344517e-01 5.73994398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:197.42, Z:57.41 [[ 5.72251327e-01 -7.62263853e-01 -3.02460307e-01 2.98582644e+02] [ 6.88948026e-01 6.46915162e-01 -3.26881312e-01 1.97420871e+02] [ 4.44835967e-01 -2.13211669e-02 8.95358236e-01 5.74132391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.59, Y:197.45, Z:57.42 [[ 5.69773782e-01 -7.71248250e-01 -2.83785083e-01 2.98589065e+02] [ 6.88147773e-01 6.36526707e-01 -3.48261961e-01 1.97454788e+02] [ 4.49233213e-01 3.14446212e-03 8.93408995e-01 5.74222777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:197.45, Z:57.45 [[ 5.71771076e-01 -7.57279747e-01 -3.15602949e-01 2.98619531e+02] [ 6.84226719e-01 6.52418284e-01 -3.25859141e-01 1.97451508e+02] [ 4.52671662e-01 -2.96271389e-02 8.91184941e-01 5.74517030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:197.48, Z:57.46 [[ 5.71166584e-01 -7.63629778e-01 -3.01061947e-01 2.98624196e+02] [ 6.83361096e-01 6.45561055e-01 -3.40981725e-01 1.97478190e+02] [ 4.54737668e-01 -1.09766551e-02 8.90557784e-01 5.74588636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:197.51, Z:57.47 [[ 5.69393621e-01 -7.71024925e-01 -2.85151661e-01 2.98632028e+02] [ 6.82794426e-01 6.36737099e-01 -3.58270342e-01 1.97513277e+02] [ 4.57802005e-01 9.29688299e-03 8.89005564e-01 5.74667078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.66, Y:197.52, Z:57.49 [[ 5.73696750e-01 -7.57870906e-01 -3.10650495e-01 2.98661466e+02] [ 6.79940102e-01 6.52131297e-01 -3.35270382e-01 1.97518285e+02] [ 4.56676578e-01 -1.88802008e-02 8.89432426e-01 5.74867265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.67, Y:197.53, Z:57.50 [[ 5.74585317e-01 -7.56336528e-01 -3.12740740e-01 2.98674433e+02] [ 6.74834428e-01 6.54019138e-01 -3.41844208e-01 1.97533187e+02] [ 4.63087690e-01 -1.46295557e-02 8.86191722e-01 5.75040139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.68, Y:197.57, Z:57.51 [[ 5.78345247e-01 -7.61072191e-01 -2.93744609e-01 2.98683289e+02] [ 6.73480261e-01 6.48626977e-01 -3.54552370e-01 1.97567815e+02] [ 4.60370627e-01 7.22248179e-03 8.87697427e-01 5.75066809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.71, Y:197.58, Z:57.52 [[ 5.80668979e-01 -7.55842082e-01 -3.02533113e-01 2.98705160e+02] [ 6.72071559e-01 6.54749224e-01 -3.45865977e-01 1.97581552e+02] [ 4.59503381e-01 -2.49025703e-03 8.88172529e-01 5.75229364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.73, Y:197.58, Z:57.55 [[ 5.81527189e-01 -7.45219142e-01 -3.26304396e-01 2.98730321e+02] [ 6.68531293e-01 6.66309934e-01 -3.30298322e-01 1.97582003e+02] [ 4.63564493e-01 -2.60672455e-02 8.85679660e-01 5.75516036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.73, Y:197.63, Z:57.54 [[ 5.83029495e-01 -7.62361095e-01 -2.80859697e-01 2.98726291e+02] [ 6.70525369e-01 6.46720681e-01 -3.63521788e-01 1.97631965e+02] [ 4.58772642e-01 2.36203725e-02 8.88239687e-01 5.75424262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.76, Y:197.63, Z:57.57 [[ 5.84551119e-01 -7.49274543e-01 -3.11267806e-01 2.98756819e+02] [ 6.68745914e-01 6.62175782e-01 -3.38085989e-01 1.97629707e+02] [ 4.59433228e-01 -1.05305303e-02 8.88149884e-01 5.75686591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.77, Y:197.64, Z:57.59 [[ 5.84778416e-01 -7.46150772e-01 -3.18265972e-01 2.98774921e+02] [ 6.66575165e-01 6.65588090e-01 -3.35663589e-01 1.97641606e+02] [ 4.62289686e-01 -1.58593705e-02 8.86587123e-01 5.75888564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:197.68, Z:57.60 [[ 5.81496771e-01 -7.56575519e-01 -2.99090271e-01 2.98781437e+02] [ 6.67999480e-01 6.53870900e-01 -3.55287969e-01 1.97675357e+02] [ 4.64368604e-01 6.80666103e-03 8.85615870e-01 5.75971174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.81, Y:197.68, Z:57.61 [[ 5.82978395e-01 -7.48048368e-01 -3.17111699e-01 2.98806312e+02] [ 6.68800695e-01 6.63439050e-01 -3.35491069e-01 1.97678567e+02] [ 4.61347831e-01 -1.65004796e-02 8.87065901e-01 5.76139659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:197.70, Z:57.62 [[ 5.81512595e-01 -7.54131393e-01 -3.05170352e-01 2.98816330e+02] [ 6.70123228e-01 6.56715046e-01 -3.45919366e-01 1.97703908e+02] [ 4.61278615e-01 -3.34527311e-03 8.87249034e-01 5.76226889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.83, Y:197.72, Z:57.64 [[ 5.78653120e-01 -7.56596303e-01 -3.04503860e-01 2.98833039e+02] [ 6.73156091e-01 6.53862451e-01 -3.45434179e-01 1.97721902e+02] [ 4.60457863e-01 -5.09206292e-03 8.87666957e-01 5.76354374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.85, Y:197.75, Z:57.64 [[ 5.77863177e-01 -7.62456007e-01 -2.91092745e-01 2.98847081e+02] [ 6.75302324e-01 6.46990199e-01 -3.54076902e-01 1.97751032e+02] [ 4.58302214e-01 8.03239604e-03 8.88760126e-01 5.76404254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.87, Y:197.77, Z:57.65 [[ 5.75316718e-01 -7.61968457e-01 -2.97346168e-01 2.98866811e+02] [ 6.77565262e-01 6.47613466e-01 -3.48571536e-01 1.97765423e+02] [ 4.58165898e-01 -9.32402245e-04 8.88866211e-01 5.76532695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.89, Y:197.78, Z:57.67 [[ 5.74412930e-01 -7.59842090e-01 -3.04449972e-01 2.98885320e+02] [ 6.78136460e-01 6.50038386e-01 -3.42900918e-01 1.97777652e+02] [ 4.58454718e-01 -9.49190535e-03 8.88667078e-01 5.76672725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.91, Y:197.79, Z:57.69 [[ 5.71405370e-01 -7.55479199e-01 -3.20541859e-01 2.98906587e+02] [ 6.78103015e-01 6.54638423e-01 -3.34103033e-01 1.97785494e+02] [ 4.62246909e-01 -2.64521335e-02 8.86356632e-01 5.76919237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.91, Y:197.83, Z:57.69 [[ 5.70162643e-01 -7.70244411e-01 -2.85723831e-01 2.98911506e+02] [ 6.80774211e-01 6.37653636e-01 -3.60477898e-01 1.97829003e+02] [ 4.59848926e-01 1.10176156e-02 8.87928814e-01 5.76878018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.94, Y:197.82, Z:57.72 [[ 5.68652012e-01 -7.56326871e-01 -3.23426273e-01 2.98942022e+02] [ 6.80165776e-01 6.53455862e-01 -3.32219736e-01 1.97820255e+02] [ 4.62611507e-01 -3.10660610e-02 8.86016644e-01 5.77183396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.94, Y:197.85, Z:57.72 [[ 5.67049370e-01 -7.67164668e-01 -2.99855604e-01 2.98944892e+02] [ 6.78775311e-01 6.41449693e-01 -3.57500166e-01 1.97853406e+02] [ 4.66603781e-01 -8.14337222e-04 8.84466081e-01 5.77231467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.97, Y:197.86, Z:57.74 [[ 5.66308675e-01 -7.62981065e-01 -3.11695972e-01 2.98969021e+02] [ 6.80826722e-01 6.46198950e-01 -3.44821537e-01 1.97863479e+02] [ 4.64509913e-01 -1.69355189e-02 8.85405968e-01 5.77392705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.98, Y:197.88, Z:57.75 [[ 5.65951734e-01 -7.65257247e-01 -3.06724601e-01 2.98981749e+02] [ 6.80574897e-01 6.43636880e-01 -3.50070532e-01 1.97882920e+02] [ 4.65313276e-01 -1.06260392e-02 8.85082280e-01 5.77492692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.00, Y:197.90, Z:57.76 [[ 5.63658333e-01 -7.68241367e-01 -3.03470733e-01 2.98997824e+02] [ 6.83127375e-01 6.40095144e-01 -3.51589527e-01 1.97904662e+02] [ 4.64355762e-01 -9.13279886e-03 8.85601670e-01 5.77617427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.02, Y:197.92, Z:57.77 [[ 5.63149218e-01 -7.67576738e-01 -3.06086441e-01 2.99015092e+02] [ 6.83716331e-01 6.40831543e-01 -3.49094417e-01 1.97920311e+02] [ 4.64106600e-01 -1.26840504e-02 8.85688534e-01 5.77744914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.03, Y:197.94, Z:57.79 [[ 5.62655350e-01 -7.67833513e-01 -3.06350540e-01 2.99031319e+02] [ 6.83701117e-01 6.40523583e-01 -3.49688895e-01 1.97937995e+02] [ 4.64727598e-01 -1.26978789e-02 8.85362651e-01 5.77875192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.04, Y:197.97, Z:57.79 [[ 5.63648195e-01 -7.74745462e-01 -2.86478937e-01 2.99042902e+02] [ 6.85313510e-01 6.32230059e-01 -3.61428480e-01 1.97970641e+02] [ 4.61135670e-01 7.39062415e-03 8.87298863e-01 5.77885069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.07, Y:197.96, Z:57.82 [[ 5.63393628e-01 -7.60453808e-01 -3.22951429e-01 2.99073002e+02] [ 6.83349277e-01 6.48610194e-01 -3.35169483e-01 1.97963218e+02] [ 4.64350499e-01 -3.18562746e-02 8.85078410e-01 5.78188597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.08, Y:198.01, Z:57.81 [[ 5.65096378e-01 -7.73060564e-01 -2.88172600e-01 2.99076100e+02] [ 6.83237931e-01 6.34287465e-01 -3.61753149e-01 1.98007075e+02] [ 4.62441361e-01 7.53494317e-03 8.86617850e-01 5.78148635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.10, Y:198.02, Z:57.83 [[ 5.65020637e-01 -7.66986880e-01 -3.04109858e-01 2.99100384e+02] [ 6.83395665e-01 6.41568619e-01 -3.48367726e-01 1.98015988e+02] [ 4.62300817e-01 -1.09924044e-02 8.86655018e-01 5.78335561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.13, Y:198.01, Z:57.87 [[ 5.65824810e-01 -7.49478120e-01 -3.43692933e-01 2.99134383e+02] [ 6.78097018e-01 6.60122096e-01 -3.23145870e-01 1.98007520e+02] [ 4.69070058e-01 -5.02132023e-02 8.81732338e-01 5.78728734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.13, Y:198.06, Z:57.86 [[ 5.66655657e-01 -7.69812184e-01 -2.93752563e-01 2.99125499e+02] [ 6.77374188e-01 6.38216129e-01 -3.65847486e-01 1.98056482e+02] [ 4.69111476e-01 8.32914384e-03 8.83099682e-01 5.78644304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.14, Y:198.07, Z:57.88 [[ 5.67178000e-01 -7.66723348e-01 -3.00739794e-01 2.99142295e+02] [ 6.78047645e-01 6.41977018e-01 -3.57934211e-01 1.98070639e+02] [ 4.67504553e-01 -9.03499438e-04 8.83990202e-01 5.78765810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.17, Y:198.08, Z:57.89 [[ 5.69303539e-01 -7.60912068e-01 -3.11297776e-01 2.99166831e+02] [ 6.76954811e-01 6.48728791e-01 -3.47682527e-01 1.98080656e+02] [ 4.66503661e-01 -1.27976341e-02 8.84426682e-01 5.78936695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.18, Y:198.11, Z:57.90 [[ 5.68671821e-01 -7.64974214e-01 -3.02368670e-01 2.99176935e+02] [ 6.77724681e-01 6.44053172e-01 -3.54802435e-01 1.98105142e+02] [ 4.66156215e-01 -3.15656421e-03 8.84696795e-01 5.79027908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.20, Y:198.11, Z:57.92 [[ 5.71184659e-01 -7.57511284e-01 -3.16108746e-01 2.99202291e+02] [ 6.75520075e-01 6.52587627e-01 -3.43222985e-01 1.98113201e+02] [ 4.66283941e-01 -1.74941005e-02 8.84462121e-01 5.79221107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.21, Y:198.14, Z:57.93 [[ 5.71167313e-01 -7.64712620e-01 -2.98299363e-01 2.99208744e+02] [ 6.75518057e-01 6.44363458e-01 -3.58428638e-01 1.98143143e+02] [ 4.66308112e-01 3.21611548e-03 8.84616528e-01 5.79272329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.23, Y:198.16, Z:57.94 [[ 5.71554625e-01 -7.61365537e-01 -3.06019330e-01 2.99228924e+02] [ 6.75475685e-01 6.48296054e-01 -3.51347156e-01 1.98155982e+02] [ 4.65894741e-01 -5.89452474e-03 8.84820516e-01 5.79421577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.25, Y:198.17, Z:57.95 [[ 5.72903187e-01 -7.60632461e-01 -3.05319829e-01 2.99246264e+02] [ 6.73983660e-01 6.49171765e-01 -3.52593315e-01 1.98173653e+02] [ 4.66398933e-01 -3.77874187e-03 8.84566423e-01 5.79544403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:198.20, Z:57.96 [[ 5.72718168e-01 -7.64853767e-01 -2.94945106e-01 2.99259439e+02] [ 6.75104908e-01 6.44167989e-01 -3.59556623e-01 1.98200667e+02] [ 4.65002433e-01 6.80572179e-03 8.85283243e-01 5.79615098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.28, Y:198.21, Z:57.98 [[ 5.73959935e-01 -7.59991867e-01 -3.04930083e-01 2.99281635e+02] [ 6.73917031e-01 6.49921216e-01 -3.51337797e-01 1.98211007e+02] [ 4.65194399e-01 -3.84375713e-03 8.85200202e-01 5.79783012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.30, Y:198.22, Z:58.00 [[ 5.74801361e-01 -7.55947254e-01 -3.13284447e-01 2.99300650e+02] [ 6.73149909e-01 6.54502981e-01 -3.44231095e-01 1.98221812e+02] [ 4.65266156e-01 -1.30228950e-02 8.85075030e-01 5.79974996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.30, Y:198.26, Z:57.99 [[ 5.76202456e-01 -7.68902708e-01 -2.77090879e-01 2.99298877e+02] [ 6.76169313e-01 6.38914324e-01 -3.66856303e-01 1.98264557e+02] [ 4.59114137e-01 2.40231538e-02 8.88052418e-01 5.79884671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.33, Y:198.26, Z:58.02 [[ 5.77241665e-01 -7.52155157e-01 -3.17890988e-01 2.99333368e+02] [ 6.70650602e-01 6.58782096e-01 -3.40930962e-01 1.98255153e+02] [ 4.65853872e-01 -1.63942267e-02 8.84709782e-01 5.80238118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.34, Y:198.29, Z:58.03 [[ 5.74754278e-01 -7.63480844e-01 -2.94541206e-01 2.99337098e+02] [ 6.70341189e-01 6.45705163e-01 -3.65660406e-01 1.98292790e+02] [ 4.69361492e-01 1.27217803e-02 8.82914461e-01 5.80297162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.37, Y:198.29, Z:58.05 [[ 5.76072494e-01 -7.52413355e-01 -3.19397283e-01 2.99365286e+02] [ 6.71329563e-01 6.58434113e-01 -3.40266273e-01 1.98293589e+02] [ 4.66322955e-01 -1.84027980e-02 8.84423111e-01 5.80505258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.37, Y:198.32, Z:58.06 [[ 5.74538952e-01 -7.59937974e-01 -3.03972480e-01 2.99373443e+02] [ 6.72291410e-01 6.49995108e-01 -3.54303005e-01 1.98323295e+02] [ 4.66828933e-01 -7.97209580e-04 8.84347280e-01 5.80575769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.57275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:299.37, Y:198.37, Z:58.04 [[ 5.73290632e-01 -7.76030551e-01 -2.62896247e-01 2.99370314e+02] [ 6.78611123e-01 6.29516957e-01 -3.78411607e-01 1.98372150e+02] [ 4.59156613e-01 3.85355120e-02 8.87519137e-01 5.80448603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.40, Y:198.37, Z:58.07 [[ 5.71342482e-01 -7.63567341e-01 -3.00886495e-01 2.99402661e+02] [ 6.78490637e-01 6.45715728e-01 -3.50287959e-01 1.98366686e+02] [ 4.61755588e-01 -4.01427816e-03 8.86998119e-01 5.80704167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.43, Y:198.36, Z:58.10 [[ 5.70039314e-01 -7.52703789e-01 -3.29381521e-01 2.99429878e+02] [ 6.75558440e-01 6.57561652e-01 -3.33516818e-01 1.98364316e+02] [ 4.67628030e-01 -3.23987686e-02 8.83331391e-01 5.81015630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.43, Y:198.40, Z:58.11 [[ 5.69194700e-01 -7.63476257e-01 -3.05157990e-01 2.99433274e+02] [ 6.75878165e-01 6.45822730e-01 -3.55108024e-01 1.98398950e+02] [ 4.68194511e-01 -4.12401746e-03 8.83615806e-01 5.81057881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.44, Y:198.43, Z:58.11 [[ 5.66814458e-01 -7.71422906e-01 -2.89185183e-01 2.99439552e+02] [ 6.79538016e-01 6.36235565e-01 -3.65283986e-01 1.98430533e+02] [ 4.65778333e-01 1.05359194e-02 8.84838708e-01 5.81076332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.47, Y:198.43, Z:58.13 [[ 5.66277644e-01 -7.60644145e-01 -3.17411587e-01 2.99468434e+02] [ 6.77450973e-01 6.48894762e-01 -3.46404053e-01 1.98430645e+02] [ 4.69456930e-01 -1.88699171e-02 8.82753713e-01 5.81349718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.48, Y:198.46, Z:58.14 [[ 5.64922135e-01 -7.66328736e-01 -3.05946483e-01 2.99477875e+02] [ 6.78343195e-01 6.42419707e-01 -3.56577382e-01 1.98457555e+02] [ 4.69801544e-01 -6.09825849e-03 8.82750996e-01 5.81437959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.49, Y:198.48, Z:58.16 [[ 5.62483451e-01 -7.68210148e-01 -3.05721337e-01 2.99492451e+02] [ 6.80467684e-01 6.40154409e-01 -3.56603510e-01 1.98475673e+02] [ 4.69655297e-01 -7.44991733e-03 8.82818442e-01 5.81561049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.50, Y:198.51, Z:58.16 [[ 5.61419865e-01 -7.75318745e-01 -2.89289786e-01 2.99501919e+02] [ 6.83531157e-01 6.31522621e-01 -3.66011388e-01 1.98506598e+02] [ 4.66468534e-01 7.74748185e-03 8.84503863e-01 5.81584272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.53, Y:198.51, Z:58.19 [[ 5.59947055e-01 -7.65317853e-01 -3.17408065e-01 2.99530089e+02] [ 6.83153527e-01 6.43233227e-01 -3.45763321e-01 1.98505066e+02] [ 4.68786257e-01 -2.32292858e-02 8.83006141e-01 5.81861177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.53, Y:198.55, Z:58.18 [[ 5.56686003e-01 -7.83509250e-01 -2.76068742e-01 2.99526439e+02] [ 6.87434366e-01 6.21065109e-01 -3.76446706e-01 1.98552714e+02] [ 4.66406139e-01 1.97834716e-02 8.84349438e-01 5.81765152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.57, Y:198.53, Z:58.22 [[ 5.57431193e-01 -7.62196612e-01 -3.29130355e-01 2.99568377e+02] [ 6.84239264e-01 6.46293441e-01 -3.37818617e-01 1.98534884e+02] [ 4.70198994e-01 -3.68932775e-02 8.81788972e-01 5.82159608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.56, Y:198.59, Z:58.20 [[ 5.56350749e-01 -7.83567081e-01 -2.76579959e-01 2.99559173e+02] [ 6.88776757e-01 6.21058688e-01 -3.73995568e-01 1.98589860e+02] [ 4.64823002e-01 1.75708669e-02 8.85229259e-01 5.82021041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:198.57, Z:58.24 [[ 5.55802419e-01 -7.63892965e-01 -3.27950011e-01 2.99597186e+02] [ 6.86353988e-01 6.44249919e-01 -3.37431838e-01 1.98571989e+02] [ 4.69043575e-01 -3.75443659e-02 8.82376646e-01 5.82419430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:198.61, Z:58.25 [[ 5.54315597e-01 -7.76830643e-01 -2.98778131e-01 2.99598006e+02] [ 6.85004574e-01 6.29707615e-01 -3.66383750e-01 1.98611354e+02] [ 4.72760989e-01 -1.57215929e-03 8.81189296e-01 5.82460865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.62, Y:198.62, Z:58.26 [[ 5.56950084e-01 -7.68975855e-01 -3.13819595e-01 2.99621394e+02] [ 6.85207223e-01 6.38954932e-01 -3.49610722e-01 1.98619248e+02] [ 4.69358782e-01 -2.03157322e-02 8.82773813e-01 5.82627727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.63, Y:198.64, Z:58.27 [[ 5.59093091e-01 -7.70137743e-01 -3.07087565e-01 2.99632447e+02] [ 6.84397264e-01 6.37753116e-01 -3.53371403e-01 1.98639781e+02] [ 4.67990706e-01 -1.26023792e-02 8.83643525e-01 5.82716887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.64, Y:198.67, Z:58.28 [[ 5.58337000e-01 -7.75572973e-01 -2.94527347e-01 2.99643939e+02] [ 6.83829996e-01 6.31251257e-01 -3.65921286e-01 1.98670990e+02] [ 4.69719418e-01 2.90075854e-03 8.82810996e-01 5.82809442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.66, Y:198.67, Z:58.30 [[ 5.60800954e-01 -7.66005616e-01 -3.14225535e-01 2.99664863e+02] [ 6.82645662e-01 6.42543406e-01 -3.48041478e-01 1.98674209e+02] [ 4.68505272e-01 -1.93227056e-02 8.83249366e-01 5.82993173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.67, Y:198.70, Z:58.31 [[ 5.59693465e-01 -7.72533587e-01 -2.99891785e-01 2.99673073e+02] [ 6.82491797e-01 6.34970479e-01 -3.61963310e-01 1.98703847e+02] [ 4.70051245e-01 -2.08518354e-03 8.82636663e-01 5.83082970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.69, Y:198.72, Z:58.32 [[ 5.59638046e-01 -7.70677721e-01 -3.04731206e-01 2.99689793e+02] [ 6.82394481e-01 6.37181439e-01 -3.58242358e-01 1.98719301e+02] [ 4.70258472e-01 -7.46083979e-03 8.82497199e-01 5.83225367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.70, Y:198.74, Z:58.34 [[ 5.59568154e-01 -7.70899536e-01 -3.04298189e-01 2.99704656e+02] [ 6.82756779e-01 6.36913530e-01 -3.58028401e-01 1.98737788e+02] [ 4.69815562e-01 -7.42035987e-03 8.82733412e-01 5.83353673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.72, Y:198.76, Z:58.35 [[ 5.59110139e-01 -7.71354915e-01 -3.03985934e-01 2.99719524e+02] [ 6.83320197e-01 6.36359915e-01 -3.57937938e-01 1.98756867e+02] [ 4.69541650e-01 -7.59299808e-03 8.82877673e-01 5.83481769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.73, Y:198.78, Z:58.36 [[ 5.58373731e-01 -7.72173845e-01 -3.03259509e-01 2.99732538e+02] [ 6.83898525e-01 6.35370854e-01 -3.58589857e-01 1.98775287e+02] [ 4.69575962e-01 -7.17157516e-03 8.82862948e-01 5.83603558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.29275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:299.75, Y:198.79, Z:58.38 [[ 5.57977143e-01 -7.70116194e-01 -3.09164286e-01 2.99753423e+02] [ 6.84529025e-01 6.37736881e-01 -3.53145415e-01 1.98791874e+02] [ 4.69128471e-01 -1.45848574e-02 8.83009490e-01 5.83764047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.76, Y:198.81, Z:58.39 [[ 5.56516804e-01 -7.72457692e-01 -3.05938167e-01 2.99763156e+02] [ 6.86767353e-01 6.34929434e-01 -3.53857623e-01 1.98809636e+02] [ 4.67589190e-01 -1.31806314e-02 8.83847623e-01 5.83853289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.77, Y:198.84, Z:58.39 [[ 5.52092239e-01 -7.82825409e-01 -2.87016617e-01 2.99768449e+02] [ 6.87593587e-01 6.22171766e-01 -3.74322525e-01 1.98844380e+02] [ 4.71602820e-01 9.30977603e-03 8.81761934e-01 5.83944166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.79, Y:198.85, Z:58.41 [[ 5.52023353e-01 -7.74699555e-01 -3.08400417e-01 2.99794235e+02] [ 6.89422192e-01 6.32092086e-01 -3.53774839e-01 1.98847854e+02] [ 4.69006673e-01 -1.73261184e-02 8.83024658e-01 5.84130290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.81, Y:198.87, Z:58.43 [[ 5.50684089e-01 -7.76774776e-01 -3.05561747e-01 2.99810927e+02] [ 6.88051945e-01 6.29671371e-01 -3.60691677e-01 1.98870161e+02] [ 4.72579680e-01 -1.16151871e-02 8.81211401e-01 5.84284241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.81, Y:198.90, Z:58.44 [[ 5.46824890e-01 -7.85766417e-01 -2.89056529e-01 2.99812825e+02] [ 6.87562110e-01 6.18453160e-01 -3.80491832e-01 1.98899587e+02] [ 4.77745627e-01 9.31808773e-03 8.78448797e-01 5.84354856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.47275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:299.85, Y:198.89, Z:58.46 [[ 5.48870643e-01 -7.69422746e-01 -3.26695050e-01 2.99848803e+02] [ 6.89584478e-01 6.37675131e-01 -3.43283666e-01 1.98893429e+02] [ 4.72455569e-01 -3.68655090e-02 8.80583142e-01 5.84593662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.85, Y:198.94, Z:58.45 [[ 5.49969260e-01 -7.84245492e-01 -2.87215637e-01 2.99849711e+02] [ 6.89288770e-01 6.20401714e-01 -3.74142625e-01 1.98940185e+02] [ 4.71608740e-01 7.79242983e-03 8.81773482e-01 5.84547914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:198.95, Z:58.47 [[ 5.50125552e-01 -7.79099065e-01 -3.00610252e-01 2.99872790e+02] [ 6.89527969e-01 6.26853448e-01 -3.62775322e-01 1.98952224e+02] [ 4.71076487e-01 -7.70720214e-03 8.82058696e-01 5.84721656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:198.97, Z:58.49 [[ 5.51033256e-01 -7.76586379e-01 -3.05411111e-01 2.99888168e+02] [ 6.87936938e-01 6.29906625e-01 -3.60500227e-01 1.98966891e+02] [ 4.72340048e-01 -1.14559709e-02 8.81341954e-01 5.84868186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.91, Y:198.98, Z:58.51 [[ 5.50088315e-01 -7.73452224e-01 -3.14919836e-01 2.99905281e+02] [ 6.87216324e-01 6.33511627e-01 -3.55523197e-01 1.98978087e+02] [ 4.74485585e-01 -2.08488958e-02 8.80016337e-01 5.85063781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.91, Y:199.01, Z:58.51 [[ 5.52287262e-01 -7.79028285e-01 -2.96805847e-01 2.99914351e+02] [ 6.86821395e-01 6.26988260e-01 -3.67643977e-01 1.99009510e+02] [ 4.72498839e-01 -8.07520685e-04 8.81330923e-01 5.85102906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.94, Y:199.01, Z:58.53 [[ 5.52705465e-01 -7.70343212e-01 -3.17943400e-01 2.99939531e+02] [ 6.84993162e-01 6.37229025e-01 -3.53162198e-01 1.99014650e+02] [ 4.74658864e-01 -2.25943785e-02 8.79879797e-01 5.85343572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.95, Y:199.04, Z:58.54 [[ 5.52242382e-01 -7.76641553e-01 -3.03077961e-01 2.99945565e+02] [ 6.84004687e-01 6.29929075e-01 -3.67868114e-01 1.99041236e+02] [ 4.76619283e-01 -4.15438236e-03 8.79099995e-01 5.85438727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.97, Y:199.05, Z:58.56 [[ 5.53352735e-01 -7.72564379e-01 -3.11359970e-01 2.99967448e+02] [ 6.84836332e-01 6.34754691e-01 -3.57890598e-01 1.99053291e+02] [ 4.74130729e-01 -1.51908790e-02 8.80323400e-01 5.85594652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.98, Y:199.08, Z:58.57 [[ 5.52921290e-01 -7.77274501e-01 -3.00203927e-01 2.99977496e+02] [ 6.82568734e-01 6.29161256e-01 -3.71827968e-01 1.99078303e+02] [ 4.77889078e-01 6.81785427e-04 8.78419925e-01 5.85686022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.00, Y:199.09, Z:58.59 [[ 5.49287295e-01 -7.76472709e-01 -3.08826166e-01 2.99997746e+02] [ 6.84755822e-01 6.30066628e-01 -3.66231496e-01 1.99093867e+02] [ 4.78949823e-01 -1.03042076e-02 8.77781801e-01 5.85870077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.02, Y:199.10, Z:58.60 [[ 5.50823933e-01 -7.71943076e-01 -3.17327721e-01 3.00016310e+02] [ 6.86730141e-01 6.35264618e-01 -3.53327864e-01 1.99101743e+02] [ 4.74336072e-01 -2.32970669e-02 8.80035532e-01 5.85995249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.03, Y:199.12, Z:58.62 [[ 5.49074863e-01 -7.72086781e-01 -3.19998122e-01 3.00032037e+02] [ 6.86123769e-01 6.35037490e-01 -3.54910637e-01 1.99118761e+02] [ 4.77232615e-01 -2.46858083e-02 8.78430215e-01 5.86174793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.04, Y:199.15, Z:58.62 [[ 5.47934481e-01 -7.79627336e-01 -3.03230970e-01 3.00038886e+02] [ 6.87274835e-01 6.26207959e-01 -3.68126192e-01 1.99147840e+02] [ 4.76886890e-01 -6.69398104e-03 8.78939182e-01 5.86238635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.05, Y:199.17, Z:58.63 [[ 5.45582754e-01 -7.84517475e-01 -2.94740207e-01 3.00049561e+02] [ 6.87981234e-01 6.20099788e-01 -3.77038560e-01 1.99172875e+02] [ 4.78561679e-01 2.93000456e-03 8.78049050e-01 5.86322301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.07, Y:199.18, Z:58.65 [[ 5.45333302e-01 -7.80376322e-01 -3.05981022e-01 3.00070485e+02] [ 6.88366236e-01 6.25228907e-01 -3.67750920e-01 1.99184827e+02] [ 4.78292290e-01 -1.00801807e-02 8.78142856e-01 5.86488484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.08, Y:199.21, Z:58.66 [[ 5.46238276e-01 -7.82163659e-01 -2.99739481e-01 3.00084268e+02] [ 6.90704719e-01 6.23038955e-01 -3.67082351e-01 1.99206834e+02] [ 4.73867847e-01 -6.51704281e-03 8.80571855e-01 5.86563008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.10, Y:199.22, Z:58.67 [[ 5.47585893e-01 -7.79433694e-01 -3.04356382e-01 3.00103354e+02] [ 6.88860924e-01 6.26406581e-01 -3.64808749e-01 1.99221238e+02] [ 4.74995071e-01 -9.89509414e-03 8.79932821e-01 5.86736822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.12, Y:199.24, Z:58.69 [[ 5.47850146e-01 -7.79522091e-01 -3.03653629e-01 3.00118234e+02] [ 6.88539756e-01 6.26312955e-01 -3.65575008e-01 1.99240410e+02] [ 4.75155997e-01 -8.79727390e-03 8.79857595e-01 5.86864501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.04275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:300.13, Y:199.26, Z:58.70 [[ 5.48026834e-01 -7.79447709e-01 -3.03525713e-01 3.00132795e+02] [ 6.88381186e-01 6.26409309e-01 -3.65708518e-01 1.99259096e+02] [ 4.75181999e-01 -8.52330958e-03 8.79846249e-01 5.86990391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.14, Y:199.28, Z:58.71 [[ 5.47058833e-01 -7.83585528e-01 -2.94483198e-01 3.00140889e+02] [ 6.86222361e-01 6.21264728e-01 -3.78323947e-01 1.99283908e+02] [ 4.79401194e-01 4.88450147e-03 8.77582268e-01 5.87095762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:199.30, Z:58.72 [[ 5.49166147e-01 -7.81235091e-01 -2.96796691e-01 3.00157602e+02] [ 6.86864735e-01 6.24236678e-01 -3.72216880e-01 1.99300899e+02] [ 4.76060268e-01 5.49729265e-04 8.79412485e-01 5.87184600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:199.32, Z:58.73 [[ 5.48242431e-01 -7.83460863e-01 -2.92607780e-01 3.00171005e+02] [ 6.88312965e-01 6.21429725e-01 -3.74233028e-01 1.99324410e+02] [ 4.75032103e-01 3.76469680e-03 8.79960413e-01 5.87300072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.20, Y:199.33, Z:58.76 [[ 5.49439158e-01 -7.74411557e-01 -3.13693087e-01 3.00197532e+02] [ 6.83320293e-01 6.32527480e-01 -3.64667470e-01 1.99326072e+02] [ 4.80822201e-01 -1.39902644e-02 8.76706498e-01 5.87580671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.19275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.21, Y:199.36, Z:58.76 [[ 5.49299177e-01 -7.79805712e-01 -3.00288971e-01 3.00206837e+02] [ 6.85595674e-01 6.26019082e-01 -3.71562484e-01 1.99355181e+02] [ 4.77733174e-01 -1.77785263e-03 8.78503190e-01 5.87623547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.22, Y:199.38, Z:58.77 [[ 5.47948902e-01 -7.82387262e-01 -2.96010426e-01 3.00219800e+02] [ 6.85534415e-01 6.22781290e-01 -3.77075631e-01 1.99377969e+02] [ 4.79368925e-01 3.69284348e-03 8.77605718e-01 5.87742753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.25, Y:199.37, Z:58.80 [[ 5.50185631e-01 -7.68837983e-01 -3.25858754e-01 3.00250891e+02] [ 6.85047690e-01 6.38717373e-01 -3.50356648e-01 1.99374842e+02] [ 4.77499146e-01 -3.04675933e-02 8.78103805e-01 5.88003258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.2827550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.26, Y:199.41, Z:58.81 [[ 5.49915193e-01 -7.77503267e-01 -3.05093347e-01 3.00257459e+02] [ 6.85131345e-01 6.28841456e-01 -3.67632240e-01 1.99407307e+02] [ 4.77690612e-01 -6.86246062e-03 8.78501329e-01 5.88060701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.27, Y:199.43, Z:58.82 [[ 5.49626262e-01 -7.77809838e-01 -3.04832460e-01 3.00271947e+02] [ 6.85502873e-01 6.28461516e-01 -3.67589356e-01 1.99425215e+02] [ 4.77490087e-01 -6.92676336e-03 8.78609832e-01 5.88191428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.29, Y:199.44, Z:58.83 [[ 5.49783356e-01 -7.77825121e-01 -3.04510004e-01 3.00286642e+02] [ 6.85475718e-01 6.28446143e-01 -3.67666268e-01 1.99442781e+02] [ 4.77348197e-01 -6.59741867e-03 8.78689463e-01 5.88315074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.30, Y:199.47, Z:58.84 [[ 5.48518232e-01 -7.81001392e-01 -2.98604380e-01 3.00299489e+02] [ 6.85595812e-01 6.24529116e-01 -3.74061179e-01 1.99465744e+02] [ 4.78629431e-01 4.57464017e-04 8.78016890e-01 5.88439211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:199.48, Z:58.86 [[ 5.48562537e-01 -7.77385435e-01 -3.07816551e-01 3.00319605e+02] [ 6.87303023e-01 6.28906392e-01 -3.63443676e-01 1.99477500e+02] [ 4.76123616e-01 -1.21916609e-02 8.79293845e-01 5.88595613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:199.51, Z:58.87 [[ 5.45515423e-01 -7.86689760e-01 -2.89019281e-01 3.00324344e+02] [ 6.85934558e-01 6.17232238e-01 -3.85380520e-01 1.99510898e+02] [ 4.81566927e-01 1.19827051e-02 8.76327399e-01 5.88681091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.36, Y:199.51, Z:58.89 [[ 5.47691092e-01 -7.72555904e-01 -3.21234871e-01 3.00355875e+02] [ 6.88197682e-01 6.34320462e-01 -3.52166867e-01 1.99507123e+02] [ 4.75834444e-01 -2.81944372e-02 8.79082849e-01 5.88918657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.36, Y:199.54, Z:58.90 [[ 5.47600117e-01 -7.81166308e-01 -2.99855484e-01 3.00360390e+02] [ 6.87723892e-01 6.24314092e-01 -3.70496644e-01 1.99539367e+02] [ 4.76623499e-01 -3.33377507e-03 8.79101204e-01 5.88981051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.38, Y:199.55, Z:58.91 [[ 5.48079777e-01 -7.78651027e-01 -3.05468717e-01 3.00377767e+02] [ 6.88260459e-01 6.27367990e-01 -3.64289645e-01 1.99554735e+02] [ 4.75295801e-01 -1.05822522e-02 8.79762421e-01 5.89132082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.39, Y:199.58, Z:58.93 [[ 5.47772694e-01 -7.79955158e-01 -3.02679744e-01 3.00391172e+02] [ 6.88116393e-01 6.25795053e-01 -3.67255198e-01 1.99575609e+02] [ 4.75858073e-01 -7.10652461e-03 8.79493372e-01 5.89258382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.41, Y:199.59, Z:58.94 [[ 5.47569388e-01 -7.80162279e-01 -3.02513774e-01 3.00405601e+02] [ 6.88300898e-01 6.25537218e-01 -3.67348694e-01 1.99594205e+02] [ 4.75825219e-01 -7.07160259e-03 8.79511429e-01 5.89384096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.44, Y:199.59, Z:58.98 [[ 5.48889884e-01 -7.65296341e-01 -3.36216308e-01 3.00439634e+02] [ 6.81946751e-01 6.42582820e-01 -3.49336441e-01 1.99591661e+02] [ 4.83392723e-01 -3.75343805e-02 8.74598563e-01 5.89765017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.43, Y:199.64, Z:58.96 [[ 5.47488958e-01 -7.87337222e-01 -2.83471234e-01 3.00426565e+02] [ 6.87690666e-01 6.16337156e-01 -3.83679630e-01 1.99644331e+02] [ 4.76799108e-01 1.51198390e-02 8.78882245e-01 5.89596386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.45, Y:199.65, Z:58.98 [[ 5.46840659e-01 -7.81932551e-01 -2.99243680e-01 3.00448328e+02] [ 6.86932281e-01 6.23361722e-01 -3.73556160e-01 1.99653757e+02] [ 4.78632777e-01 -1.28444766e-03 8.78014246e-01 5.89780358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.47, Y:199.67, Z:58.99 [[ 5.47656008e-01 -7.78127316e-01 -3.07556138e-01 3.00467348e+02] [ 6.87661406e-01 6.27992725e-01 -3.64344519e-01 1.99665896e+02] [ 4.76649439e-01 -1.19590211e-02 8.79012112e-01 5.89930239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.48, Y:199.69, Z:59.00 [[ 5.47010250e-01 -7.81485076e-01 -3.00101420e-01 3.00478150e+02] [ 6.87340723e-01 6.23917410e-01 -3.71873361e-01 1.99689664e+02] [ 4.77851983e-01 -2.85338718e-03 8.78435735e-01 5.90037857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.50, Y:199.70, Z:59.02 [[ 5.47462051e-01 -7.79044431e-01 -3.05573357e-01 3.00495900e+02] [ 6.87866812e-01 6.26890492e-01 -3.65851827e-01 1.99704138e+02] [ 4.76575861e-01 -9.90377933e-03 8.79077564e-01 5.90181747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.51, Y:199.72, Z:59.03 [[ 5.48023329e-01 -7.80061705e-01 -3.01950605e-01 3.00509107e+02] [ 6.87650049e-01 6.25675871e-01 -3.68330170e-01 1.99723616e+02] [ 4.76243468e-01 -5.78282193e-03 8.79294443e-01 5.90299260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.52, Y:199.74, Z:59.04 [[ 5.48260244e-01 -7.79847826e-01 -3.02072961e-01 3.00523762e+02] [ 6.87156698e-01 6.25946043e-01 -3.68791571e-01 1.99742128e+02] [ 4.76682679e-01 -5.37770211e-03 8.79058988e-01 5.90428596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.54, Y:199.76, Z:59.06 [[ 5.48712995e-01 -7.77956479e-01 -3.06100907e-01 3.00543646e+02] [ 6.86157386e-01 6.28256389e-01 -3.66717808e-01 1.99758993e+02] [ 4.77600345e-01 -8.81057160e-03 8.78533030e-01 5.90595288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.55, Y:199.78, Z:59.07 [[ 5.48112413e-01 -7.80455105e-01 -3.00770032e-01 3.00553095e+02] [ 6.86177523e-01 6.25206576e-01 -3.71856349e-01 1.99779880e+02] [ 4.78260588e-01 -2.56255493e-03 8.78214235e-01 5.90685717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.57, Y:199.80, Z:59.08 [[ 5.48531654e-01 -7.80655458e-01 -2.99483021e-01 3.00570053e+02] [ 6.88042804e-01 6.24950433e-01 -3.68827951e-01 1.99799867e+02] [ 4.75089596e-01 -3.74333159e-03 8.79929465e-01 5.90798346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.58, Y:199.82, Z:59.09 [[ 5.45345231e-01 -7.81782864e-01 -3.02347703e-01 3.00584901e+02] [ 6.89749015e-01 6.23501890e-01 -3.68091958e-01 1.99817698e+02] [ 4.76282349e-01 -7.80683627e-03 8.79257742e-01 5.90941280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.60, Y:199.83, Z:59.12 [[ 5.43773442e-01 -7.78738399e-01 -3.12852920e-01 3.00603521e+02] [ 6.88477981e-01 6.27110655e-01 -3.64321694e-01 1.99828420e+02] [ 4.79904692e-01 -1.72838850e-02 8.77150360e-01 5.91153625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.61, Y:199.86, Z:59.12 [[ 5.41573438e-01 -7.85963031e-01 -2.98262175e-01 3.00611311e+02] [ 6.92477354e-01 6.18251799e-01 -3.71806168e-01 1.99855259e+02] [ 4.76627029e-01 -5.17945704e-03 8.79090353e-01 5.91206271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.63, Y:199.87, Z:59.13 [[ 5.40170353e-01 -7.85871639e-01 -3.01034479e-01 3.00627364e+02] [ 6.94025357e-01 6.18313451e-01 -3.68805207e-01 1.99871914e+02] [ 4.75967220e-01 -9.70792315e-03 8.79409439e-01 5.91346102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.64, Y:199.89, Z:59.15 [[ 5.37801147e-01 -7.87649217e-01 -3.00630399e-01 3.00640214e+02] [ 6.96156856e-01 6.16024969e-01 -3.68617511e-01 1.99890952e+02] [ 4.75537126e-01 -1.10429929e-02 8.79626338e-01 5.91473604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.65, Y:199.91, Z:59.16 [[ 5.36836404e-01 -7.88422043e-01 -3.00328748e-01 3.00653479e+02] [ 6.97063919e-01 6.15027422e-01 -3.68569075e-01 1.99909441e+02] [ 4.75298399e-01 -1.14870374e-02 8.79749669e-01 5.91596334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.66, Y:199.93, Z:59.17 [[ 5.35583808e-01 -7.91146018e-01 -2.95360735e-01 3.00664522e+02] [ 6.96913877e-01 6.11604663e-01 -3.74500712e-01 1.99932213e+02] [ 4.76928750e-01 -5.26447742e-03 8.78926193e-01 5.91711598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.68, Y:199.95, Z:59.19 [[ 5.34915942e-01 -7.87914024e-01 -3.05051514e-01 3.00682398e+02] [ 6.98638517e-01 6.15521718e-01 -3.64742700e-01 1.99946178e+02] [ 4.75151721e-01 -1.80140523e-02 8.79719465e-01 5.91863985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.69, Y:199.97, Z:59.20 [[ 5.33728880e-01 -7.92000889e-01 -2.96425495e-01 3.00691809e+02] [ 6.99412045e-01 6.10454602e-01 -3.71709524e-01 1.99972781e+02] [ 4.75348581e-01 -8.93145381e-03 8.79752213e-01 5.91952136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.70, Y:200.00, Z:59.20 [[ 5.33274367e-01 -7.95828195e-01 -2.86837817e-01 3.00701170e+02] [ 7.01257239e-01 6.05522290e-01 -3.76272564e-01 2.00000650e+02] [ 4.73135007e-01 -4.90582572e-04 8.80989798e-01 5.92017973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.73, Y:200.00, Z:59.23 [[ 5.34188870e-01 -7.86470753e-01 -3.10009687e-01 3.00727292e+02] [ 6.99064445e-01 6.17168509e-01 -3.61125926e-01 2.00004669e+02] [ 4.75343195e-01 -2.38072995e-02 8.79478288e-01 5.92277852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.74, Y:200.03, Z:59.24 [[ 5.33989374e-01 -7.90003297e-01 -3.01247638e-01 3.00736539e+02] [ 6.99188134e-01 6.12940233e-01 -3.68022044e-01 2.00029670e+02] [ 4.75385425e-01 -1.41089128e-02 8.79664502e-01 5.92374262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.75, Y:200.05, Z:59.25 [[ 5.34880824e-01 -7.90458982e-01 -2.98457874e-01 3.00748469e+02] [ 6.98005529e-01 6.12436023e-01 -3.71093519e-01 2.00050675e+02] [ 4.76120559e-01 -9.83443904e-03 8.79325024e-01 5.92487355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.76, Y:200.07, Z:59.26 [[ 5.36734431e-01 -7.88575905e-01 -3.00106969e-01 3.00761500e+02] [ 6.96671441e-01 6.14844489e-01 -3.69614877e-01 2.00067661e+02] [ 4.75988502e-01 -1.06909237e-02 8.79386519e-01 5.92600885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.76, Y:200.11, Z:59.26 [[ 5.34864878e-01 -8.00387219e-01 -2.70739473e-01 3.00761426e+02] [ 7.00339823e-01 5.99217196e-01 -3.87895456e-01 2.00109512e+02] [ 4.72698313e-01 1.78620211e-02 8.81043275e-01 5.92575411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.80, Y:200.10, Z:59.30 [[ 5.37243360e-01 -7.80981637e-01 -3.18492158e-01 3.00798990e+02] [ 6.94011989e-01 6.23924714e-01 -3.59256607e-01 2.00097733e+02] [ 4.79287942e-01 -2.80291495e-02 8.77210029e-01 5.92974944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.79, Y:200.15, Z:59.28 [[ 5.37638737e-01 -7.98434279e-01 -2.71011605e-01 3.00789841e+02] [ 6.98611934e-01 6.01789979e-01 -3.87027372e-01 2.00147902e+02] [ 4.72107989e-01 1.87489661e-02 8.81341321e-01 5.92840829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.81, Y:200.16, Z:59.31 [[ 5.39027435e-01 -7.90057298e-01 -2.91991250e-01 3.00813466e+02] [ 6.95176019e-01 6.13032674e-01 -3.75394783e-01 2.00156763e+02] [ 4.75583565e-01 -6.37227651e-04 8.79670317e-01 5.93057050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.84, Y:200.16, Z:59.33 [[ 5.39247425e-01 -7.78698770e-01 -3.20687449e-01 3.00840536e+02] [ 6.93348701e-01 6.26656084e-01 -3.55766400e-01 2.00156767e+02] [ 4.77995599e-01 -3.05021106e-02 8.77832460e-01 5.93337912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.84, Y:200.19, Z:59.34 [[ 5.39204598e-01 -7.86215985e-01 -3.01865576e-01 3.00844875e+02] [ 6.93048160e-01 6.17886632e-01 -3.71349374e-01 2.00186577e+02] [ 4.78479518e-01 -8.97409195e-03 8.78052855e-01 5.93402576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.86, Y:200.21, Z:59.35 [[ 5.38922502e-01 -7.88917874e-01 -2.95247567e-01 3.00856154e+02] [ 6.93948744e-01 6.14492973e-01 -3.75277933e-01 2.00211882e+02] [ 4.77491024e-01 -2.64095606e-03 8.78632658e-01 5.93491999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.88, Y:200.22, Z:59.37 [[ 5.39065521e-01 -7.84485455e-01 -3.06579412e-01 3.00876071e+02] [ 6.93235514e-01 6.19979320e-01 -3.67491721e-01 2.00223149e+02] [ 4.78364805e-01 -1.44296204e-02 8.78042652e-01 5.93671756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.89, Y:200.25, Z:59.37 [[ 5.39239743e-01 -7.89332195e-01 -2.93556103e-01 3.00885099e+02] [ 6.94036106e-01 6.13965548e-01 -3.75978974e-01 2.00252463e+02] [ 4.77005643e-01 -9.95729004e-04 8.78899667e-01 5.93748540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.91, Y:200.26, Z:59.39 [[ 5.39184938e-01 -7.83839497e-01 -3.08018256e-01 3.00905286e+02] [ 6.93320112e-01 6.20752119e-01 -3.66024628e-01 2.00262658e+02] [ 4.78107546e-01 -1.62002852e-02 8.78151881e-01 5.93940145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.91, Y:200.30, Z:59.40 [[ 5.39314005e-01 -7.91915642e-01 -2.86373918e-01 3.00910346e+02] [ 6.94747279e-01 6.10600556e-01 -3.80122585e-01 2.00298137e+02] [ 4.75885094e-01 6.04793315e-03 8.79486668e-01 5.93960020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.94, Y:200.30, Z:59.42 [[ 5.38957058e-01 -7.82297571e-01 -3.12307222e-01 3.00936335e+02] [ 6.93076463e-01 6.22564293e-01 -3.63398842e-01 2.00301484e+02] [ 4.78717356e-01 -2.05964143e-02 8.77727452e-01 5.94213098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.95, Y:200.33, Z:59.43 [[ 5.37996000e-01 -7.87210837e-01 -3.01428935e-01 3.00945143e+02] [ 6.93467871e-01 6.16624802e-01 -3.72660926e-01 2.00326781e+02] [ 4.79231276e-01 -8.54119428e-03 8.77647100e-01 5.94305757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.96, Y:200.35, Z:59.44 [[ 5.35383889e-01 -7.90996243e-01 -2.96123344e-01 3.00955919e+02] [ 6.93542502e-01 6.11818551e-01 -3.80364113e-01 2.00349626e+02] [ 4.82040340e-01 -1.73330642e-03 8.76147309e-01 5.94419873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.98, Y:200.36, Z:59.46 [[ 5.34732420e-01 -7.86907955e-01 -3.07956343e-01 3.00977701e+02] [ 6.95495897e-01 6.16832699e-01 -3.68514421e-01 2.00360639e+02] [ 4.79944471e-01 -1.71257646e-02 8.77131696e-01 5.94572745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.97, Y:200.41, Z:59.45 [[ 5.32115032e-01 -8.02393002e-01 -2.70220397e-01 3.00973625e+02] [ 6.97541432e-01 5.96357110e-01 -3.97233117e-01 2.00405492e+02] [ 4.79884928e-01 2.28837903e-02 8.77032946e-01 5.94516722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.00, Y:200.41, Z:59.47 [[ 5.32164111e-01 -7.93231635e-01 -2.95947517e-01 3.01002506e+02] [ 6.97587695e-01 6.08895358e-01 -3.77647787e-01 2.00409955e+02] [ 4.79763241e-01 -5.47874781e-03 8.77380884e-01 5.94724703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.02, Y:200.42, Z:59.49 [[ 5.31131801e-01 -7.90173842e-01 -3.05817445e-01 3.01023277e+02] [ 7.00269674e-01 6.12573878e-01 -3.66572813e-01 2.00422291e+02] [ 4.76992026e-01 -1.94562040e-02 8.78692246e-01 5.94886052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.04, Y:200.43, Z:59.51 [[ 5.28515970e-01 -7.89544507e-01 -3.11913998e-01 3.01039790e+02] [ 7.00280518e-01 6.13174456e-01 -3.65546552e-01 2.00433647e+02] [ 4.79872968e-01 -2.52301053e-02 8.76975129e-01 5.95079759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.05, Y:200.46, Z:59.52 [[ 5.26226165e-01 -7.96551298e-01 -2.97644172e-01 3.01048279e+02] [ 7.01546044e-01 6.04484679e-01 -3.77400875e-01 2.00460141e+02] [ 4.80540498e-01 -1.02128761e-02 8.76913067e-01 5.95168481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.07, Y:200.47, Z:59.53 [[ 5.25640853e-01 -7.94044283e-01 -3.05279168e-01 3.01068017e+02] [ 7.03708903e-01 6.07491484e-01 -3.68439787e-01 2.00473407e+02] [ 4.78012001e-01 -2.11606644e-02 8.78098373e-01 5.95316371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.07, Y:200.50, Z:59.54 [[ 5.23812941e-01 -8.01990235e-01 -2.87109151e-01 3.01071355e+02] [ 7.01648416e-01 5.97333735e-01 -3.88435205e-01 2.00502160e+02] [ 4.83021224e-01 2.01770628e-03 8.75606319e-01 5.95400841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.09, Y:200.51, Z:59.56 [[ 5.24030378e-01 -7.96411973e-01 -3.01861114e-01 3.01094613e+02] [ 7.02019697e-01 6.04576221e-01 -3.76372076e-01 2.00511139e+02] [ 4.82245279e-01 -1.46820464e-02 8.75913197e-01 5.95574786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.11, Y:200.53, Z:59.57 [[ 5.25880184e-01 -7.93353412e-01 -3.06660067e-01 3.01114538e+02] [ 7.03082135e-01 6.08364392e-01 -3.68195978e-01 2.00525492e+02] [ 4.78670601e-01 -2.19802457e-02 8.77719388e-01 5.95712896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.12, Y:200.55, Z:59.58 [[ 5.26744550e-01 -7.99429535e-01 -2.88881632e-01 3.01118246e+02] [ 7.00137550e-01 6.00759038e-01 -3.85870431e-01 2.00553094e+02] [ 4.82024471e-01 9.98268428e-04 8.76157185e-01 5.95784088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.14, Y:200.57, Z:59.60 [[ 5.26582965e-01 -7.96911840e-01 -2.96043747e-01 3.01139343e+02] [ 7.00701510e-01 6.04048871e-01 -3.79660843e-01 2.00571801e+02] [ 4.81381112e-01 -7.51536748e-03 8.76479175e-01 5.95961861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.15, Y:200.60, Z:59.60 [[ 5.28626702e-01 -8.01238804e-01 -2.80303744e-01 3.01148982e+02] [ 7.02077406e-01 5.98299638e-01 -3.86166881e-01 2.00601873e+02] [ 4.77117518e-01 7.34319913e-03 8.78808825e-01 5.95974991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.17, Y:200.61, Z:59.61 [[ 5.29152065e-01 -7.97272969e-01 -2.90437437e-01 3.01168693e+02] [ 7.00424878e-01 6.03615946e-01 -3.80857951e-01 2.00614640e+02] [ 4.78960418e-01 -1.89783506e-03 8.77834447e-01 5.96148273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.19, Y:200.62, Z:59.64 [[ 5.33374683e-01 -7.87771259e-01 -3.08103701e-01 3.01194927e+02] [ 6.95592968e-01 6.15736546e-01 -3.70160678e-01 2.00622845e+02] [ 4.81312652e-01 -1.68804335e-02 8.76386434e-01 5.96380024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.22, Y:200.63, Z:59.66 [[ 5.34834679e-01 -7.81205468e-01 -3.21978079e-01 3.01215085e+02] [ 6.91006518e-01 6.23687441e-01 -3.65409315e-01 2.00630029e+02] [ 4.86273439e-01 -2.70553773e-02 8.73387743e-01 5.96625992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.22, Y:200.66, Z:59.67 [[ 5.37588746e-01 -7.86023842e-01 -3.05229193e-01 3.01222699e+02] [ 6.88245801e-01 6.18167643e-01 -3.79718952e-01 2.00658248e+02] [ 4.87150960e-01 -5.94007512e-03 8.73297577e-01 5.96710600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.23, Y:200.69, Z:59.67 [[ 5.38072648e-01 -7.94513371e-01 -2.81471720e-01 3.01227331e+02] [ 6.88186877e-01 6.06910110e-01 -3.97566272e-01 2.00694250e+02] [ 4.86699752e-01 2.02143933e-02 8.73335405e-01 5.96714003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.26, Y:200.70, Z:59.69 [[ 5.38208834e-01 -7.84528455e-01 -3.07971354e-01 3.01256883e+02] [ 6.88224154e-01 6.20024568e-01 -3.76718794e-01 2.00697511e+02] [ 4.86496419e-01 -9.19994162e-03 8.73634132e-01 5.96946922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.35275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:301.27, Y:200.72, Z:59.71 [[ 5.39502334e-01 -7.86668292e-01 -3.00150346e-01 3.01271116e+02] [ 6.87135167e-01 6.17375775e-01 -3.83004458e-01 2.00719150e+02] [ 4.86603015e-01 3.87940945e-04 8.73623120e-01 5.97052610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.29, Y:200.72, Z:59.73 [[ 5.38149064e-01 -7.81407040e-01 -3.15909201e-01 3.01291766e+02] [ 6.85219786e-01 6.23860139e-01 -3.75862170e-01 2.00724638e+02] [ 4.90784504e-01 -1.41973602e-02 8.71165315e-01 5.97285794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.31, Y:200.74, Z:59.74 [[ 5.38545771e-01 -7.83299352e-01 -3.10500528e-01 3.01306803e+02] [ 6.85533477e-01 6.21583483e-01 -3.79048580e-01 2.00743218e+02] [ 4.89910507e-01 -8.72349687e-03 8.71729084e-01 5.97396671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.32, Y:200.76, Z:59.75 [[ 5.37774274e-01 -7.84266916e-01 -3.09393334e-01 3.01323274e+02] [ 6.86960361e-01 6.20358167e-01 -3.78472202e-01 2.00761995e+02] [ 4.88757908e-01 -9.00834232e-03 8.72372946e-01 5.97526190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.33, Y:200.79, Z:59.76 [[ 5.35661885e-01 -7.89432339e-01 -2.99771458e-01 3.01333365e+02] [ 6.86834625e-01 6.13832163e-01 -3.89189253e-01 2.00785694e+02] [ 4.91247944e-01 2.58043187e-03 8.71015958e-01 5.97635599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.35, Y:200.81, Z:59.77 [[ 5.34256669e-01 -7.92558458e-01 -2.93974323e-01 3.01349962e+02] [ 6.89328179e-01 6.09762966e-01 -3.91172324e-01 2.00809104e+02] [ 4.89281589e-01 6.34163738e-03 8.72102810e-01 5.97717400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.38, Y:200.80, Z:59.81 [[ 5.33321664e-01 -7.79025588e-01 -3.29677322e-01 3.01383255e+02] [ 6.86807892e-01 6.26288133e-01 -3.68860535e-01 2.00802995e+02] [ 4.93824790e-01 -2.97036721e-02 8.69053950e-01 5.98054864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.38, Y:200.84, Z:59.81 [[ 5.30234043e-01 -7.93101126e-01 -2.99737324e-01 3.01383477e+02] [ 6.89387974e-01 6.09088639e-01 -3.92116374e-01 2.00837819e+02] [ 4.93554536e-01 1.27814359e-03 8.69713911e-01 5.98071436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.41, Y:200.84, Z:59.83 [[ 5.29887091e-01 -7.86860246e-01 -3.16339413e-01 3.01407626e+02] [ 6.90718339e-01 6.16852587e-01 -3.77360652e-01 2.00844062e+02] [ 4.92064881e-01 -1.85428957e-02 8.70361025e-01 5.98250644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.43, Y:200.86, Z:59.84 [[ 5.29942607e-01 -7.83016537e-01 -3.25646951e-01 3.01430977e+02] [ 6.91483046e-01 6.21284272e-01 -3.68587915e-01 2.00856163e+02] [ 4.90929762e-01 -2.98489047e-02 8.70687666e-01 5.98436313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.43, Y:200.89, Z:59.85 [[ 5.26627678e-01 -7.95919136e-01 -2.98623540e-01 3.01432598e+02] [ 6.94996048e-01 6.05394196e-01 -3.87915404e-01 2.00888505e+02] [ 4.89534251e-01 -3.25519135e-03 8.71977993e-01 5.98450024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.46, Y:200.90, Z:59.87 [[ 5.26432551e-01 -7.90672987e-01 -3.12577985e-01 3.01457962e+02] [ 6.94618198e-01 6.11972469e-01 -3.78147136e-01 2.00898680e+02] [ 4.90279847e-01 -1.80533955e-02 8.71378073e-01 5.98661060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.47, Y:200.92, Z:59.88 [[ 5.25967285e-01 -7.91847079e-01 -3.10381409e-01 3.01474601e+02] [ 6.94653626e-01 6.10522197e-01 -3.80419489e-01 2.00916628e+02] [ 4.90728801e-01 -1.55193657e-02 8.71174147e-01 5.98795316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.49, Y:200.94, Z:59.89 [[ 5.25671165e-01 -7.93082859e-01 -3.07716437e-01 3.01488058e+02] [ 6.95588773e-01 6.08960764e-01 -3.81212601e-01 2.00936598e+02] [ 4.89720416e-01 -1.36516267e-02 8.71772647e-01 5.98912869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.49, Y:200.97, Z:59.89 [[ 5.26330283e-01 -8.01144388e-01 -2.84858038e-01 3.01491903e+02] [ 6.97711500e-01 5.98410216e-01 -3.93832295e-01 2.00970692e+02] [ 4.85978493e-01 8.53713479e-03 8.73929071e-01 5.98899582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.52, Y:200.97, Z:59.92 [[ 5.27779248e-01 -7.88202937e-01 -3.16520451e-01 3.01519156e+02] [ 6.95504805e-01 6.14947258e-01 -3.71635488e-01 2.00966908e+02] [ 4.87567567e-01 -2.39999965e-02 8.72755331e-01 5.99184854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.53, Y:200.99, Z:59.93 [[ 5.31552398e-01 -7.87231628e-01 -3.12599445e-01 3.01534254e+02] [ 6.90783850e-01 6.16472858e-01 -3.77860937e-01 2.00989963e+02] [ 4.90173154e-01 -1.50857609e-02 8.71494521e-01 5.99336142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.54, Y:201.01, Z:59.94 [[ 5.32844324e-01 -7.89025448e-01 -3.05803482e-01 3.01544352e+02] [ 6.89412156e-01 6.14328085e-01 -3.83812302e-01 2.01013682e+02] [ 4.90701341e-01 -6.31243151e-03 8.71304968e-01 5.99431983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.55, Y:201.04, Z:59.95 [[ 5.35216631e-01 -7.88688362e-01 -3.02512521e-01 3.01553932e+02] [ 6.87503456e-01 6.14792160e-01 -3.86483631e-01 2.01035175e+02] [ 4.90797469e-01 -1.12593695e-03 8.71272964e-01 5.99521599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.57, Y:201.05, Z:59.97 [[ 5.36349698e-01 -7.87209368e-01 -3.04352449e-01 3.01568826e+02] [ 6.86478018e-01 6.16681619e-01 -3.85294319e-01 2.01052979e+02] [ 4.90995858e-01 -2.27877450e-03 8.71158926e-01 5.99655820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.58, Y:201.08, Z:59.97 [[ 5.37057550e-01 -7.91495908e-01 -2.91724898e-01 3.01579351e+02] [ 6.86842311e-01 6.11076238e-01 -3.93488844e-01 2.01083226e+02] [ 4.89710963e-01 1.09571515e-02 8.71815986e-01 5.99719004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.59, Y:201.09, Z:59.99 [[ 5.35742558e-01 -7.89424530e-01 -2.99647832e-01 3.01590784e+02] [ 6.83900040e-01 6.13814878e-01 -3.94350138e-01 2.01094979e+02] [ 4.95237970e-01 6.34098771e-03 8.68734220e-01 5.99897968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.0127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.62, Y:201.10, Z:60.01 [[ 5.36778342e-01 -7.77825484e-01 -3.26889167e-01 3.01621922e+02] [ 6.90369146e-01 6.27637512e-01 -3.59807722e-01 2.01097635e+02] [ 4.85035519e-01 -3.25372023e-02 8.73888938e-01 6.00083906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.62, Y:201.13, Z:60.01 [[ 5.35927340e-01 -7.89816265e-01 -2.98282005e-01 3.01619239e+02] [ 6.90673258e-01 6.13343126e-01 -3.83119643e-01 2.01130702e+02] [ 4.85543343e-01 -6.91113130e-04 8.74212323e-01 6.00101308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.63, Y:201.16, Z:60.02 [[ 5.32417613e-01 -7.96654002e-01 -2.86136134e-01 3.01630246e+02] [ 6.95296566e-01 6.04380828e-01 -3.88955653e-01 2.01161690e+02] [ 4.82798271e-01 8.13736887e-03 8.75693789e-01 6.00166123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.65, Y:201.17, Z:60.04 [[ 5.30624536e-01 -7.93646686e-01 -2.97594588e-01 3.01649481e+02] [ 6.94511343e-01 6.08372187e-01 -3.84105814e-01 2.01172827e+02] [ 4.85892577e-01 -2.86684766e-03 8.74013836e-01 6.00359543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.66, Y:201.19, Z:60.05 [[ 5.24862351e-01 -7.95515130e-01 -3.02779113e-01 3.01661953e+02] [ 6.97629774e-01 6.05842834e-01 -3.82448896e-01 2.01185244e+02] [ 4.87680440e-01 -1.04946976e-02 8.72959134e-01 6.00525728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.67, Y:201.22, Z:60.06 [[ 5.22163595e-01 -8.02665959e-01 -2.88223070e-01 3.01672009e+02] [ 7.00814644e-01 5.96424224e-01 -3.91327203e-01 2.01215928e+02] [ 4.86008245e-01 2.34587136e-03 8.73951076e-01 6.00587426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.69, Y:201.23, Z:60.08 [[ 5.18446499e-01 -8.01225113e-01 -2.98749972e-01 3.01691447e+02] [ 7.03775562e-01 5.98250288e-01 -3.83140382e-01 2.01229904e+02] [ 4.85708952e-01 -1.16151396e-02 8.74043421e-01 6.00755594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.70, Y:201.25, Z:60.09 [[ 5.15803179e-01 -8.04966946e-01 -2.93215443e-01 3.01701839e+02] [ 7.04921848e-01 5.93287302e-01 -3.88709873e-01 2.01252716e+02] [ 4.86859598e-01 -6.19618337e-03 8.73458264e-01 6.00865787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.73, Y:201.25, Z:60.11 [[ 5.15212935e-01 -7.95110735e-01 -3.19928977e-01 3.01726703e+02] [ 7.05801772e-01 6.05379723e-01 -3.67912014e-01 2.01252269e+02] [ 4.86209308e-01 -3.62534096e-02 8.73090030e-01 6.01112738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.73, Y:201.28, Z:60.12 [[ 5.14319984e-01 -8.03359846e-01 -3.00146485e-01 3.01731163e+02] [ 7.05773959e-01 5.95321584e-01 -3.84025169e-01 2.01283559e+02] [ 4.87194081e-01 -1.43237543e-02 8.73176246e-01 6.01178329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.74, Y:201.31, Z:60.13 [[ 5.13502822e-01 -8.05868641e-01 -2.94772092e-01 3.01742236e+02] [ 7.04549919e-01 5.92055637e-01 -3.91253798e-01 2.01306508e+02] [ 4.89820645e-01 -6.77172377e-03 8.71796926e-01 6.01298421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.75, Y:201.33, Z:60.14 [[ 5.14615335e-01 -8.07631948e-01 -2.87926541e-01 3.01754761e+02] [ 7.03931171e-01 5.89685935e-01 -3.95918432e-01 2.01333540e+02] [ 4.89542606e-01 1.06522927e-03 8.71978728e-01 6.01387483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:201.33, Z:60.16 [[ 5.15614883e-01 -7.96646226e-01 -3.15429998e-01 3.01780196e+02] [ 7.02101018e-01 6.03848017e-01 -3.77388041e-01 2.01332969e+02] [ 4.91116537e-01 -2.68768316e-02 8.70679150e-01 6.01637117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.79, Y:201.36, Z:60.17 [[ 5.17128033e-01 -7.99226513e-01 -3.06293289e-01 3.01790397e+02] [ 7.00930543e-01 6.00818527e-01 -3.84335103e-01 2.01357488e+02] [ 4.91197487e-01 -1.59398652e-02 8.70902377e-01 6.01744327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:201.37, Z:60.19 [[ 5.20225311e-01 -7.96556715e-01 -3.07998417e-01 3.01806021e+02] [ 7.00490926e-01 6.04288674e-01 -3.79667831e-01 2.01372965e+02] [ 4.88546915e-01 -1.82372809e-02 8.72347015e-01 6.01865859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:201.41, Z:60.20 [[ 5.19455991e-01 -8.03402947e-01 -2.91048411e-01 3.01811545e+02] [ 6.98713023e-01 5.95429881e-01 -3.96564458e-01 2.01405171e+02] [ 4.91899975e-01 2.63846846e-03 8.70647720e-01 6.01967405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:201.41, Z:60.21 [[ 5.20720087e-01 -7.95976770e-01 -3.08660934e-01 3.01834101e+02] [ 6.97373710e-01 6.05134345e-01 -3.84034287e-01 2.01411906e+02] [ 4.92463703e-01 -1.52776537e-02 8.70198882e-01 6.02147978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.85, Y:201.43, Z:60.23 [[ 5.20830947e-01 -7.96391347e-01 -3.07401930e-01 3.01849745e+02] [ 6.98073776e-01 6.04600588e-01 -3.83602833e-01 2.01430855e+02] [ 4.91353364e-01 -1.47969988e-02 8.70834612e-01 6.02278522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.55275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.86, Y:201.45, Z:60.24 [[ 5.20451710e-01 -7.97859541e-01 -3.04220596e-01 3.01863281e+02] [ 6.98683163e-01 6.02724927e-01 -3.85440658e-01 2.01450264e+02] [ 4.90888843e-01 -1.19505587e-02 8.71140246e-01 6.02396731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5827550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.88, Y:201.47, Z:60.25 [[ 5.20917964e-01 -7.97307345e-01 -3.04869601e-01 3.01879177e+02] [ 6.99121263e-01 6.03425966e-01 -3.83544734e-01 2.01467028e+02] [ 4.89769266e-01 -1.33454788e-02 8.71749943e-01 6.02529290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.89, Y:201.49, Z:60.26 [[ 5.20734233e-01 -7.99568676e-01 -2.99208607e-01 3.01890865e+02] [ 6.99830069e-01 6.00521689e-01 -3.86796555e-01 2.01488045e+02] [ 4.88951668e-01 -7.97697255e-03 8.72274403e-01 6.02642326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.91, Y:201.51, Z:60.28 [[ 5.20421236e-01 -7.99887655e-01 -2.98900444e-01 3.01905064e+02] [ 7.00231380e-01 6.00095954e-01 -3.86730993e-01 2.01507055e+02] [ 4.88710294e-01 -8.03644891e-03 8.72409115e-01 6.02770737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.91, Y:201.53, Z:60.29 [[ 5.18328982e-01 -8.04934289e-01 -2.88818035e-01 3.01911898e+02] [ 6.98800214e-01 5.93340625e-01 -3.99531181e-01 2.01531508e+02] [ 4.92963820e-01 5.26248563e-03 8.70033895e-01 6.02870921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.94, Y:201.54, Z:60.31 [[ 5.18879655e-01 -7.97738063e-01 -3.07209840e-01 3.01936559e+02] [ 7.00854967e-01 6.02753269e-01 -3.81432579e-01 2.01538923e+02] [ 4.89455022e-01 -1.73919368e-02 8.71855092e-01 6.03054401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.95, Y:201.56, Z:60.32 [[ 5.18498563e-01 -8.01017888e-01 -2.99214944e-01 3.01946711e+02] [ 7.00989818e-01 5.98576905e-01 -3.87709897e-01 2.01562572e+02] [ 4.89665718e-01 -8.71960505e-03 8.71866649e-01 6.03161218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.95, Y:201.59, Z:60.33 [[ 5.15553759e-01 -8.06309720e-01 -2.89946473e-01 3.01954694e+02] [ 7.00366719e-01 5.91486384e-01 -3.99537629e-01 2.01588871e+02] [ 4.93650464e-01 2.91426671e-03 8.69655522e-01 6.03283237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.98, Y:201.59, Z:60.34 [[ 5.17702826e-01 -7.98559772e-01 -3.07060376e-01 3.01976093e+02] [ 7.00540385e-01 6.01690017e-01 -3.83682542e-01 2.01594792e+02] [ 4.91148606e-01 -1.64746573e-02 8.70919992e-01 6.03449966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.99, Y:201.61, Z:60.36 [[ 5.18731667e-01 -7.97583486e-01 -3.07860424e-01 3.01991075e+02] [ 7.01916289e-01 6.02897651e-01 -3.79246549e-01 2.01613254e+02] [ 4.88089111e-01 -1.93650516e-02 8.72578945e-01 6.03576707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.00, Y:201.64, Z:60.37 [[ 5.19360454e-01 -8.01109082e-01 -2.97470934e-01 3.02001176e+02] [ 7.01376095e-01 5.98470676e-01 -3.87174926e-01 2.01639272e+02] [ 4.88196981e-01 -7.55565707e-03 8.72700762e-01 6.03664257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.02, Y:201.66, Z:60.38 [[ 5.18943809e-01 -8.01530196e-01 -2.97063407e-01 3.02015380e+02] [ 7.01653389e-01 5.97909440e-01 -3.87539447e-01 2.01662175e+02] [ 4.88241584e-01 -7.32434958e-03 8.72677781e-01 6.03780759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.02, Y:201.68, Z:60.39 [[ 5.16847440e-01 -8.02958717e-01 -2.96860274e-01 3.02024534e+02] [ 7.00193375e-01 5.96016044e-01 -3.93057391e-01 2.01680078e+02] [ 4.92542345e-01 -4.70889011e-03 8.70275741e-01 6.03940608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.04, Y:201.70, Z:60.41 [[ 5.16392670e-01 -8.03338172e-01 -2.96625003e-01 3.02039771e+02] [ 7.00852404e-01 5.95501089e-01 -3.92663164e-01 2.01701866e+02] [ 4.92081821e-01 -5.12196674e-03 8.70533886e-01 6.04066404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.97275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.05, Y:201.72, Z:60.42 [[ 5.15331869e-01 -8.05062823e-01 -2.93780387e-01 3.02051528e+02] [ 7.01806333e-01 5.93182485e-01 -3.94464715e-01 2.01722752e+02] [ 4.91834257e-01 -2.89669728e-03 8.70684026e-01 6.04170772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.08, Y:201.72, Z:60.44 [[ 5.15438093e-01 -7.94625485e-01 -3.20770807e-01 3.02077405e+02] [ 7.01945963e-01 6.06230869e-01 -3.73839536e-01 2.01722478e+02] [ 4.91523588e-01 -3.24726355e-02 8.70258634e-01 6.04443875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.08, Y:201.75, Z:60.45 [[ 5.14216981e-01 -8.03903208e-01 -2.98865402e-01 3.02080120e+02] [ 7.02999419e-01 5.94683803e-01 -3.90055114e-01 2.01753500e+02] [ 4.91296971e-01 -9.52924056e-03 8.70939998e-01 6.04505422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.09, Y:201.78, Z:60.46 [[ 5.12726003e-01 -8.06888642e-01 -2.93330472e-01 3.02089885e+02] [ 7.02248040e-01 5.90699346e-01 -3.97393977e-01 2.01775384e+02] [ 4.93922804e-01 -2.23652411e-03 8.69502882e-01 6.04624917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.11, Y:201.80, Z:60.47 [[ 5.12667452e-01 -8.07157061e-01 -2.92693632e-01 3.02106856e+02] [ 7.04581998e-01 5.90320843e-01 -3.93808977e-01 2.01796977e+02] [ 4.90648848e-01 -4.33361923e-03 8.71346618e-01 6.04742848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.12, Y:201.81, Z:60.50 [[ 5.09243418e-01 -8.05402630e-01 -3.03311300e-01 3.02122927e+02] [ 7.04710933e-01 5.92537680e-01 -3.90232750e-01 2.01807810e+02] [ 4.94017857e-01 -1.50233294e-02 8.69321952e-01 6.04957285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1527550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.14, Y:201.82, Z:60.51 [[ 5.10745598e-01 -8.01962324e-01 -3.09831188e-01 3.02140558e+02] [ 7.06633825e-01 5.96858177e-01 -3.80038097e-01 2.01819797e+02] [ 4.89701513e-01 -2.48344122e-02 8.71536391e-01 6.05105264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.15, Y:201.85, Z:60.52 [[ 5.10242937e-01 -8.07071190e-01 -2.97133370e-01 3.02148960e+02] [ 7.07484725e-01 5.90332970e-01 -3.88551604e-01 2.01845859e+02] [ 4.88996430e-01 -1.19616094e-02 8.72203767e-01 6.05206965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.16, Y:201.86, Z:60.54 [[ 5.11859310e-01 -8.05621707e-01 -2.98284615e-01 3.02163869e+02] [ 7.04793394e-01 5.92338897e-01 -3.90385582e-01 2.01861081e+02] [ 4.91188678e-01 -1.04065314e-02 8.70991037e-01 6.05363146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.18, Y:201.88, Z:60.55 [[ 5.10180254e-01 -8.07221336e-01 -2.96832988e-01 3.02175924e+02] [ 7.07500312e-01 5.90134104e-01 -3.88825216e-01 2.01883222e+02] [ 4.89039279e-01 -1.16384841e-02 8.72184114e-01 6.05472842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.19, Y:201.90, Z:60.56 [[ 5.11088251e-01 -8.06268172e-01 -2.97859757e-01 3.02189479e+02] [ 7.06983100e-01 5.91420705e-01 -3.87809808e-01 2.01902650e+02] [ 4.88839132e-01 -1.23767779e-02 8.72286145e-01 6.05605951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.30275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.20, Y:201.92, Z:60.57 [[ 5.11204961e-01 -8.07060434e-01 -2.95504558e-01 3.02201861e+02] [ 7.06384266e-01 5.90398105e-01 -3.90450185e-01 2.01923972e+02] [ 4.89582226e-01 -9.13969883e-03 8.71909232e-01 6.05731614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.21, Y:201.94, Z:60.59 [[ 5.12059143e-01 -8.05868929e-01 -2.97272105e-01 3.02214874e+02] [ 7.05066664e-01 5.92014561e-01 -3.90384117e-01 2.01942309e+02] [ 4.90587845e-01 -9.69689513e-03 8.71337786e-01 6.05859217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.36275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.23, Y:201.97, Z:60.60 [[ 5.11776083e-01 -8.07821321e-01 -2.92420850e-01 3.02225234e+02] [ 7.03758324e-01 5.89420732e-01 -3.96619996e-01 2.01965162e+02] [ 4.92757001e-01 -2.81297891e-03 8.70162413e-01 6.05975586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.24, Y:201.98, Z:60.61 [[ 5.12349510e-01 -8.03144199e-01 -3.04068045e-01 3.02244624e+02] [ 7.03329294e-01 5.95594951e-01 -3.88065147e-01 2.01977850e+02] [ 4.92773664e-01 -1.50349751e-02 8.70027624e-01 6.06136519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.26, Y:202.00, Z:60.62 [[ 5.12276462e-01 -8.05527237e-01 -2.97823264e-01 3.02255384e+02] [ 7.03682253e-01 5.92495109e-01 -3.92148994e-01 2.02000534e+02] [ 4.92345523e-01 -8.68424612e-03 8.70356519e-01 6.06244588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.29, Y:202.00, Z:60.66 [[ 5.12224518e-01 -7.88951042e-01 -3.39385174e-01 3.02290395e+02] [ 6.96853178e-01 6.12762653e-01 -3.72716487e-01 2.01995022e+02] [ 5.02017620e-01 -4.55871147e-02 8.63655096e-01 6.06635100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.27, Y:202.06, Z:60.65 [[ 5.09563507e-01 -8.16891229e-01 -2.70247574e-01 3.02268672e+02] [ 7.00652055e-01 5.76247699e-01 -4.20743731e-01 2.02057483e+02] [ 4.99431407e-01 2.50461326e-02 8.65991317e-01 6.06488010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.30, Y:202.05, Z:60.67 [[ 5.10304331e-01 -8.03598877e-01 -3.06297787e-01 3.02300494e+02] [ 7.00926809e-01 5.95006590e-01 -3.93279501e-01 2.02053725e+02] [ 4.98288167e-01 -1.40000976e-02 8.66898437e-01 6.06714016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.31, Y:202.08, Z:60.68 [[ 5.08262639e-01 -8.09761236e-01 -2.93182249e-01 3.02305755e+02] [ 7.00039086e-01 5.86757258e-01 -4.07014985e-01 2.02078589e+02] [ 5.01611770e-01 1.63147641e-03 8.65091308e-01 6.06807684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.33, Y:202.09, Z:60.70 [[ 5.09246688e-01 -8.02093312e-01 -3.11952128e-01 3.02331505e+02] [ 7.03688798e-01 5.96750401e-01 -3.85630696e-01 2.02087581e+02] [ 4.95469360e-01 -2.31360635e-02 8.68317244e-01 6.06993881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.36, Y:202.09, Z:60.74 [[ 5.08950078e-01 -7.90511514e-01 -3.40677801e-01 3.02359760e+02] [ 6.98943769e-01 6.10520585e-01 -3.72481171e-01 2.02089393e+02] [ 5.02441465e-01 -4.85403048e-02 8.63247597e-01 6.07352330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.34, Y:202.15, Z:60.72 [[ 5.07147095e-01 -8.18665249e-01 -2.69423523e-01 3.02338455e+02] [ 7.01294607e-01 5.73697702e-01 -4.23151061e-01 2.02153347e+02] [ 5.00986725e-01 2.56545671e-02 8.65074647e-01 6.07217933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.39, Y:202.13, Z:60.76 [[ 5.08600408e-01 -7.91424527e-01 -3.39076456e-01 3.02388322e+02] [ 7.00224300e-01 6.09360222e-01 -3.71975873e-01 2.02130448e+02] [ 5.01010534e-01 -4.82424931e-02 8.64095543e-01 6.07610560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.37, Y:202.18, Z:60.75 [[ 5.07550922e-01 -8.15145238e-01 -2.79159995e-01 3.02371537e+02] [ 7.04609420e-01 5.79144283e-01 -4.10021298e-01 2.02184810e+02] [ 4.95900823e-01 1.14079258e-02 8.68304228e-01 6.07460154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.40, Y:202.19, Z:60.77 [[ 5.08022548e-01 -8.07911529e-01 -2.98650383e-01 3.02395155e+02] [ 7.04552961e-01 5.89227302e-01 -3.95495022e-01 2.02192599e+02] [ 4.95497947e-01 -9.49462249e-03 8.68557215e-01 6.07654321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.43, Y:202.20, Z:60.80 [[ 5.09018173e-01 -7.96637548e-01 -3.25989444e-01 3.02425642e+02] [ 7.00236143e-01 6.03492950e-01 -3.81399533e-01 2.02195798e+02] [ 5.00569520e-01 -3.41302973e-02 8.65023282e-01 6.07978684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.42, Y:202.24, Z:60.79 [[ 5.08783046e-01 -8.12705552e-01 -2.83988552e-01 3.02415848e+02] [ 7.03685922e-01 5.82631834e-01 -4.06652518e-01 2.02239644e+02] [ 4.95949530e-01 7.05916045e-03 8.68322654e-01 6.07883461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.45, Y:202.23, Z:60.82 [[ 5.12089541e-01 -7.94074775e-01 -3.27428699e-01 3.02454383e+02] [ 6.96944825e-01 6.06944832e-01 -3.81950105e-01 2.02233719e+02] [ 5.02028100e-01 -3.26070834e-02 8.64236406e-01 6.08246815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:302.44, Y:202.28, Z:60.81 [[ 5.11794631e-01 -8.11189210e-01 -2.82910448e-01 3.02442829e+02] [ 7.01296269e-01 5.84692770e-01 -4.07820925e-01 2.02278610e+02] [ 4.96235628e-01 1.03165180e-02 8.68126587e-01 6.08139117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.87275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.46, Y:202.29, Z:60.83 [[ 5.13971424e-01 -8.04235821e-01 -2.98392559e-01 3.02464386e+02] [ 6.99539688e-01 5.94291041e-01 -3.96815303e-01 2.02288680e+02] [ 4.96465105e-01 -4.78571096e-03 8.68043488e-01 6.08312230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.48, Y:202.31, Z:60.84 [[ 5.14630837e-01 -8.03756957e-01 -2.98546237e-01 3.02478556e+02] [ 6.98682823e-01 5.94943632e-01 -3.97346685e-01 2.02308296e+02] [ 4.96988345e-01 -4.10227051e-03 8.67747519e-01 6.08443986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.49, Y:202.33, Z:60.86 [[ 5.14250072e-01 -8.05368943e-01 -2.94835089e-01 3.02488866e+02] [ 6.97526279e-01 5.92772277e-01 -4.02589267e-01 2.02329526e+02] [ 4.99002959e-01 1.37633669e-03 8.66599188e-01 6.08565495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.51, Y:202.34, Z:60.87 [[ 5.15812993e-01 -8.00737219e-01 -3.04560112e-01 3.02507726e+02] [ 6.96513008e-01 5.98957962e-01 -3.95118956e-01 2.02342935e+02] [ 4.98805158e-01 -8.32258799e-03 8.66674188e-01 6.08727295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.52, Y:202.36, Z:60.88 [[ 5.17773564e-01 -8.00731492e-01 -3.01230169e-01 3.02520053e+02] [ 6.95112680e-01 5.99012759e-01 -3.97494750e-01 2.02361746e+02] [ 4.98727279e-01 -3.57663702e-03 8.66751585e-01 6.08847600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.52, Y:202.39, Z:60.89 [[ 5.16073533e-01 -8.07723136e-01 -2.85046390e-01 3.02524956e+02] [ 6.94117260e-01 5.89359180e-01 -4.13348504e-01 2.02390760e+02] [ 5.01865857e-01 1.54626033e-02 8.64807244e-01 6.08949642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.55, Y:202.40, Z:60.91 [[ 5.15529466e-01 -8.02563310e-01 -3.00202436e-01 3.02547935e+02] [ 6.95182395e-01 5.96563777e-01 -4.01040019e-01 2.02400309e+02] [ 5.00949905e-01 -1.94750150e-03 8.65474090e-01 6.09134878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.56, Y:202.42, Z:60.93 [[ 5.14172247e-01 -8.02659109e-01 -3.02266860e-01 3.02564694e+02] [ 6.97727897e-01 5.96398669e-01 -3.96843054e-01 2.02419444e+02] [ 4.98801245e-01 -6.85433608e-03 8.66689296e-01 6.09286219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.58, Y:202.44, Z:60.94 [[ 5.11974781e-01 -8.05633230e-01 -2.98055233e-01 3.02576935e+02] [ 7.00017698e-01 5.92397775e-01 -3.98798319e-01 2.02440024e+02] [ 4.97852435e-01 -4.46925631e-03 8.67250240e-01 6.09407956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.59, Y:202.45, Z:60.95 [[ 5.13552921e-01 -8.03356292e-01 -3.01466525e-01 3.02592271e+02] [ 6.99786979e-01 5.95440981e-01 -3.94649494e-01 2.02452758e+02] [ 4.96549677e-01 -8.28894876e-03 8.67968727e-01 6.09526841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.60, Y:202.48, Z:60.96 [[ 5.09471414e-01 -8.11239396e-01 -2.86931212e-01 3.02599795e+02] [ 7.02051699e-01 5.84686625e-01 -4.06527935e-01 2.02482869e+02] [ 4.97556319e-01 5.67381687e-03 8.67413118e-01 6.09638968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.62, Y:202.50, Z:60.98 [[ 5.08582356e-01 -8.07987134e-01 -2.97490805e-01 3.02619949e+02] [ 7.02615310e-01 5.89168652e-01 -3.99013816e-01 2.02495491e+02] [ 4.97670286e-01 -6.09020815e-03 8.67344912e-01 6.09808494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.63, Y:202.51, Z:60.99 [[ 5.06179329e-01 -8.11460995e-01 -2.92084817e-01 3.02630749e+02] [ 7.03815749e-01 5.84405467e-01 -4.03873299e-01 2.02514658e+02] [ 4.98423393e-01 -1.14157901e-03 8.66932995e-01 6.09910006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.65, Y:202.52, Z:61.00 [[ 5.10112184e-01 -8.04384351e-01 -3.04551106e-01 3.02652477e+02] [ 7.03964327e-01 5.93901746e-01 -3.89506025e-01 2.02521138e+02] [ 4.94185984e-01 -1.57013456e-02 8.69214404e-01 6.10040694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.66, Y:202.56, Z:61.01 [[ 5.06927889e-01 -8.14724901e-01 -2.81509240e-01 3.02657483e+02] [ 7.05268638e-01 5.79788666e-01 -4.07972121e-01 2.02557982e+02] [ 4.95600912e-01 8.27280801e-03 8.68510965e-01 6.10134517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.32275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.68, Y:202.57, Z:61.03 [[ 5.07018975e-01 -8.09297146e-01 -2.96597182e-01 3.02679711e+02] [ 7.05060236e-01 5.87349776e-01 -3.97379295e-01 2.02568278e+02] [ 4.95804218e-01 -7.64003619e-03 8.68400718e-01 6.10306349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.35275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.69, Y:202.59, Z:61.04 [[ 5.08028873e-01 -8.08628177e-01 -2.96693674e-01 3.02694875e+02] [ 7.04018522e-01 5.88281209e-01 -3.97848136e-01 2.02587291e+02] [ 4.96250526e-01 -6.75950147e-03 8.68153054e-01 6.10432831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.38275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.71, Y:202.61, Z:61.05 [[ 5.08541348e-01 -8.10822502e-01 -2.89745695e-01 3.02706995e+02] [ 7.03641937e-01 5.85291252e-01 -4.02892262e-01 2.02612257e+02] [ 4.96259733e-01 1.01015195e-03 8.68173518e-01 6.10537525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.41275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.73, Y:202.62, Z:61.07 [[ 5.09417297e-01 -8.04991975e-01 -3.04108432e-01 3.02727264e+02] [ 7.02792067e-01 5.93129049e-01 -3.92786509e-01 2.02622252e+02] [ 4.96565533e-01 -1.36327520e-02 8.67892171e-01 6.10722495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.44275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:302.74, Y:202.65, Z:61.08 [[ 5.10983839e-01 -8.06778662e-01 -2.96654188e-01 3.02738536e+02] [ 7.01338508e-01 5.90838285e-01 -3.98791196e-01 2.02645996e+02] [ 4.97010879e-01 -4.27914935e-03 8.67733758e-01 6.10830161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.47275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:302.75, Y:202.68, Z:61.09 [[ 5.11477187e-01 -8.11862296e-01 -2.81550529e-01 3.02746945e+02] [ 7.02122200e-01 5.83747696e-01 -4.07753655e-01 2.02675708e+02] [ 4.95394291e-01 1.08738158e-02 8.68600171e-01 6.10876559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.77, Y:202.68, Z:61.11 [[ 5.10998465e-01 -8.06402311e-01 -2.97650603e-01 3.02770357e+02] [ 7.02106529e-01 5.91334088e-01 -3.96699405e-01 2.02683753e+02] [ 4.95910265e-01 -6.26964435e-03 8.68351139e-01 6.11071730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.79, Y:202.69, Z:61.13 [[ 5.10660100e-01 -8.02723396e-01 -3.07995800e-01 3.02789007e+02] [ 7.01455738e-01 5.96121518e-01 -3.90639198e-01 2.02693792e+02] [ 4.97178147e-01 -1.65615689e-02 8.67490406e-01 6.11277380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.80, Y:202.72, Z:61.14 [[ 5.09804054e-01 -8.07698277e-01 -2.96181228e-01 3.02797694e+02] [ 7.02112364e-01 5.89579685e-01 -3.99291902e-01 2.02719124e+02] [ 4.97129817e-01 -4.39187199e-03 8.67665060e-01 6.11381407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.81, Y:202.75, Z:61.14 [[ 5.08849603e-01 -8.12274426e-01 -2.85100576e-01 3.02807462e+02] [ 7.04318581e-01 5.83253068e-01 -4.04661828e-01 2.02745938e+02] [ 4.94982240e-01 5.11037748e-03 8.68888063e-01 6.11449967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.83, Y:202.76, Z:61.16 [[ 5.07771951e-01 -8.09947056e-01 -2.93519014e-01 3.02827356e+02] [ 7.05916977e-01 5.86476835e-01 -3.97147509e-01 2.02759070e+02] [ 4.93810558e-01 -5.53968977e-03 8.69551864e-01 6.11624535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.84, Y:202.78, Z:61.18 [[ 5.07479257e-01 -8.10177389e-01 -2.93389506e-01 3.02841943e+02] [ 7.06012336e-01 5.86159531e-01 -3.97446331e-01 2.02779284e+02] [ 4.93975085e-01 -5.44084165e-03 8.69459034e-01 6.11766374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.85, Y:202.80, Z:61.19 [[ 5.06264820e-01 -8.13419533e-01 -2.86434276e-01 3.02852127e+02] [ 7.05784064e-01 5.81671801e-01 -4.04384434e-01 2.02801918e+02] [ 4.95544939e-01 2.56486538e-03 8.68578514e-01 6.11880429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.87, Y:202.81, Z:61.21 [[ 5.05756176e-01 -8.09224040e-01 -2.98943379e-01 3.02873170e+02] [ 7.06600836e-01 5.87384230e-01 -3.94582090e-01 2.02811456e+02] [ 4.94899939e-01 -1.16713124e-02 8.68871585e-01 6.12079459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.89, Y:202.83, Z:61.22 [[ 5.07624311e-01 -8.10464452e-01 -2.92343859e-01 3.02885205e+02] [ 7.07596447e-01 5.85754605e-01 -3.95219953e-01 2.02832114e+02] [ 4.91553484e-01 -6.23821937e-03 8.70825044e-01 6.12151566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.90, Y:202.85, Z:61.23 [[ 5.06915887e-01 -8.09751670e-01 -2.95530906e-01 3.02902186e+02] [ 7.07611755e-01 5.86695806e-01 -3.93793900e-01 2.02850364e+02] [ 4.92262011e-01 -9.50075885e-03 8.70395225e-01 6.12332813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.91, Y:202.87, Z:61.24 [[ 5.06989382e-01 -8.13196524e-01 -2.85785200e-01 3.02911335e+02] [ 7.08532524e-01 5.81989167e-01 -3.99086799e-01 2.02874867e+02] [ 4.90859888e-01 -1.55339020e-04 8.71238513e-01 6.12407845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.93, Y:202.89, Z:61.26 [[ 5.07113389e-01 -8.11403293e-01 -2.90621243e-01 3.02927700e+02] [ 7.08210584e-01 5.84465392e-01 -3.96027745e-01 2.02891366e+02] [ 4.91196275e-01 -4.99006830e-03 8.71034625e-01 6.12558908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.95, Y:202.90, Z:61.28 [[ 5.07729172e-01 -8.06174199e-01 -3.03799685e-01 3.02946438e+02] [ 7.06316805e-01 5.91431979e-01 -3.89004865e-01 2.02900332e+02] [ 4.93282535e-01 -1.70697048e-02 8.69701653e-01 6.12772702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.96, Y:202.93, Z:61.29 [[ 5.09233706e-01 -8.08886617e-01 -2.93910656e-01 3.02958822e+02] [ 7.05205034e-01 5.87939086e-01 -3.96249279e-01 2.02925973e+02] [ 4.93322301e-01 -5.48378508e-03 8.69829314e-01 6.12888071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.97, Y:202.94, Z:61.30 [[ 5.08531736e-01 -8.08781900e-01 -2.95410413e-01 3.02970202e+02] [ 7.05763802e-01 5.88059813e-01 -3.95073552e-01 2.02943259e+02] [ 4.93247330e-01 -7.58253723e-03 8.69856066e-01 6.13016534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.99, Y:202.97, Z:61.31 [[ 5.10804004e-01 -8.09121772e-01 -2.90518895e-01 3.02985211e+02] [ 7.04361279e-01 5.87639717e-01 -3.98189342e-01 2.02966829e+02] [ 4.92904107e-01 -1.23354975e-03 8.70082766e-01 6.13143768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.00, Y:202.98, Z:61.33 [[ 5.10156284e-01 -8.07058180e-01 -2.97317441e-01 3.02999407e+02] [ 7.04629787e-01 5.90407759e-01 -3.93593116e-01 2.02981668e+02] [ 4.93191068e-01 -8.70472419e-03 8.69877462e-01 6.13303686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.01, Y:203.01, Z:61.34 [[ 5.11622474e-01 -8.08942275e-01 -2.89577002e-01 3.03011934e+02] [ 7.03100768e-01 5.87887105e-01 -4.00047575e-01 2.03005365e+02] [ 4.93853980e-01 1.07151714e-03 8.69544190e-01 6.13416767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.03, Y:203.02, Z:61.36 [[ 5.10919614e-01 -8.06172595e-01 -2.98407265e-01 3.03026423e+02] [ 7.04343818e-01 5.91600250e-01 -3.92312287e-01 2.03017694e+02] [ 4.92809227e-01 -9.74127045e-03 8.70082854e-01 6.13569669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.04, Y:203.04, Z:61.37 [[ 5.12473662e-01 -8.06263609e-01 -2.95482214e-01 3.03038443e+02] [ 7.04840140e-01 5.91507548e-01 -3.91559955e-01 2.03035299e+02] [ 4.90480502e-01 -7.60356088e-03 8.71418994e-01 6.13683898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.05, Y:203.06, Z:61.38 [[ 5.09810257e-01 -8.12216100e-01 -2.83546308e-01 3.03046588e+02] [ 7.05889676e-01 5.83337857e-01 -4.01791874e-01 2.03062698e+02] [ 4.91745125e-01 4.68520732e-03 8.70726582e-01 6.13796811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.05, Y:203.10, Z:61.39 [[ 5.07208321e-01 -8.19316113e-01 -2.67321579e-01 3.03053835e+02] [ 7.04247758e-01 5.72819520e-01 -4.19419711e-01 2.03095581e+02] [ 4.96764346e-01 2.44725443e-02 8.67540362e-01 6.13885626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.09, Y:203.08, Z:61.42 [[ 5.07443372e-01 -8.00840901e-01 -3.18048858e-01 3.03091853e+02] [ 7.06902920e-01 5.97960708e-01 -3.77797900e-01 2.03083060e+02] [ 4.92736731e-01 -3.31186259e-02 8.69547969e-01 6.14198868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.09, Y:203.12, Z:61.42 [[ 5.05761492e-01 -8.14840260e-01 -2.83267831e-01 3.03088322e+02] [ 7.06985461e-01 5.79666911e-01 -4.05163955e-01 2.03122336e+02] [ 4.94344891e-01 4.65008796e-03 8.69253418e-01 6.14228113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.11, Y:203.13, Z:61.44 [[ 5.05122979e-01 -8.09437796e-01 -2.99434852e-01 3.03111394e+02] [ 7.09130776e-01 5.87012747e-01 -3.90575957e-01 2.03132967e+02] [ 4.91919017e-01 -1.50495779e-02 8.70510879e-01 6.14420135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.12, Y:203.16, Z:61.45 [[ 5.05176879e-01 -8.12554244e-01 -2.90778130e-01 3.03120925e+02] [ 7.09126723e-01 5.82857065e-01 -3.96758028e-01 2.03157672e+02] [ 4.91869507e-01 -5.76555931e-03 8.70649841e-01 6.14526309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.13, Y:203.19, Z:61.46 [[ 5.05611487e-01 -8.17476089e-01 -2.75843920e-01 3.03129330e+02] [ 7.09788299e-01 5.75887254e-01 -4.05653104e-01 2.03189537e+02] [ 4.90466711e-01 9.31208230e-03 8.71410174e-01 6.14581193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.15, Y:203.20, Z:61.48 [[ 5.05340577e-01 -8.10242118e-01 -2.96881477e-01 3.03152480e+02] [ 7.08743300e-01 5.85974510e-01 -3.92831783e-01 2.03196150e+02] [ 4.92253833e-01 -1.18989176e-02 8.70370369e-01 6.14806129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.16, Y:203.21, Z:61.49 [[ 5.05731745e-01 -8.09696502e-01 -2.97702833e-01 3.03163531e+02] [ 7.07085102e-01 5.86747464e-01 -3.94661971e-01 2.03213599e+02] [ 4.94232800e-01 -1.09081509e-02 8.69261153e-01 6.14943429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.16, Y:203.25, Z:61.49 [[ 5.04986556e-01 -8.20158769e-01 -2.68938975e-01 3.03164744e+02] [ 7.08276806e-01 5.71835123e-01 -4.13942700e-01 2.03254932e+02] [ 4.93287487e-01 1.85522606e-02 8.69668482e-01 6.14937975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.20, Y:203.24, Z:61.53 [[ 5.06118934e-01 -8.01433145e-01 -3.18666816e-01 3.03200754e+02] [ 7.06740327e-01 5.97161521e-01 -3.79362924e-01 2.03241829e+02] [ 4.94329581e-01 -3.32119313e-02 8.68639875e-01 6.15289111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.20, Y:203.28, Z:61.53 [[ 5.06833324e-01 -8.11287282e-01 -2.91432544e-01 3.03199388e+02] [ 7.05958249e-01 5.84639385e-01 -3.99774611e-01 2.03277854e+02] [ 4.94715001e-01 -3.12011369e-03 8.69049672e-01 6.15337644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.21, Y:203.30, Z:61.55 [[ 5.07435549e-01 -8.11014960e-01 -2.91142402e-01 3.03212439e+02] [ 7.05669049e-01 5.85019576e-01 -3.99729020e-01 2.03297354e+02] [ 4.94510220e-01 -2.61346686e-03 8.69167885e-01 6.15475082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.22, Y:203.33, Z:61.55 [[ 5.08451883e-01 -8.18359207e-01 -2.67889699e-01 3.03215469e+02] [ 7.06574321e-01 5.74326494e-01 -4.13402719e-01 2.03331834e+02] [ 4.92168073e-01 2.09114093e-02 8.70248988e-01 6.15474219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.24, Y:203.34, Z:61.57 [[ 5.10109670e-01 -8.08578707e-01 -2.93238128e-01 3.03242630e+02] [ 7.05081963e-01 5.88368128e-01 -3.95831242e-01 2.03337104e+02] [ 4.92592682e-01 -4.83957115e-03 8.70246533e-01 6.15715110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.26, Y:203.35, Z:61.59 [[ 5.11501124e-01 -8.03868633e-01 -3.03581656e-01 3.03262533e+02] [ 7.02733209e-01 5.94652437e-01 -3.90582279e-01 2.03349122e+02] [ 4.94502414e-01 -1.35536365e-02 8.69070574e-01 6.15936534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.27, Y:203.38, Z:61.60 [[ 5.13381352e-01 -8.07491357e-01 -2.90512128e-01 3.03269778e+02] [ 7.01249119e-01 5.89876593e-01 -4.00368928e-01 2.03375788e+02] [ 4.94660752e-01 1.82056768e-03 8.69084245e-01 6.16022971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.28, Y:203.39, Z:61.62 [[ 5.13350485e-01 -8.06440400e-01 -2.93470886e-01 3.03283970e+02] [ 7.01303415e-01 5.91313670e-01 -3.98147791e-01 2.03392669e+02] [ 4.94615811e-01 -1.42277239e-03 8.69110566e-01 6.16157306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.30, Y:203.41, Z:61.63 [[ 5.12419786e-01 -8.05724609e-01 -2.97041777e-01 3.03300980e+02] [ 7.02136824e-01 5.92259714e-01 -3.95262331e-01 2.03412380e+02] [ 4.94398465e-01 -6.02373066e-03 8.69214514e-01 6.16332688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.31, Y:203.43, Z:61.65 [[ 5.10388145e-01 -8.07626142e-01 -2.95370880e-01 3.03310832e+02] [ 7.03676512e-01 5.89668923e-01 -3.96396175e-01 2.03431149e+02] [ 4.94310942e-01 -5.52964236e-03 8.69267574e-01 6.16455587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.32, Y:203.45, Z:61.66 [[ 5.09220686e-01 -8.10371439e-01 -2.89814465e-01 3.03322106e+02] [ 7.04548573e-01 5.85916411e-01 -4.00391393e-01 2.03452686e+02] [ 4.94272801e-01 -3.00787662e-04 8.69306797e-01 6.16571934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.34, Y:203.47, Z:61.67 [[ 5.07190826e-01 -8.11773796e-01 -2.89449080e-01 3.03337174e+02] [ 7.06246597e-01 5.83970273e-01 -4.00243007e-01 2.03471278e+02] [ 4.93936443e-01 -1.42284633e-03 8.69496846e-01 6.16701229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.35, Y:203.49, Z:61.68 [[ 5.05849445e-01 -8.12694323e-01 -2.89213203e-01 3.03351141e+02] [ 7.07302027e-01 5.82686494e-01 -4.00250287e-01 2.03490011e+02] [ 4.93801763e-01 -2.09469895e-03 8.69571982e-01 6.16832645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.37, Y:203.51, Z:61.70 [[ 5.05488302e-01 -8.10354961e-01 -2.96321471e-01 3.03372433e+02] [ 7.06208253e-01 5.85880094e-01 -3.97510277e-01 2.03506471e+02] [ 4.95733276e-01 -8.32787337e-03 8.68434895e-01 6.17021953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.39, Y:203.53, Z:61.71 [[ 5.02714505e-01 -8.12955820e-01 -2.93906383e-01 3.03385597e+02] [ 7.08291603e-01 5.82276547e-01 -3.99095262e-01 2.03528228e+02] [ 4.95581610e-01 -7.54044623e-03 8.68528646e-01 6.17137733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.39, Y:203.55, Z:61.72 [[ 5.00084485e-01 -8.15389688e-01 -2.91642185e-01 3.03393978e+02] [ 7.10544282e-01 5.78868114e-01 -4.00048159e-01 2.03548100e+02] [ 4.95017506e-01 -7.16680940e-03 8.68853443e-01 6.17237323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.41, Y:203.57, Z:61.74 [[ 5.00346002e-01 -8.13698464e-01 -2.95886274e-01 3.03413992e+02] [ 7.09629089e-01 5.81189082e-01 -3.98303662e-01 2.03567151e+02] [ 4.96064950e-01 -1.06798625e-02 8.68219733e-01 6.17423356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.42, Y:203.59, Z:61.75 [[ 4.98288664e-01 -8.17233434e-01 -2.89547790e-01 3.03419912e+02] [ 7.12286574e-01 5.76269269e-01 -4.00701344e-01 2.03588478e+02] [ 4.94324028e-01 -6.57606651e-03 8.69252846e-01 6.17502094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.94275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.43, Y:203.61, Z:61.76 [[ 4.97549972e-01 -8.18081487e-01 -2.88421056e-01 3.03432961e+02] [ 7.12866423e-01 5.75072115e-01 -4.01389495e-01 2.03608500e+02] [ 4.94232221e-01 -5.89435458e-03 8.69309938e-01 6.17633387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.45, Y:203.62, Z:61.78 [[ 4.97692038e-01 -8.15122615e-01 -2.96441829e-01 3.03454383e+02] [ 7.11547886e-01 5.79144332e-01 -3.97858578e-01 2.03624744e+02] [ 4.95986130e-01 -1.29215103e-02 8.68234297e-01 6.17829515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.46, Y:203.65, Z:61.79 [[ 4.95515371e-01 -8.19514176e-01 -2.87855922e-01 3.03459785e+02] [ 7.14049610e-01 5.73024930e-01 -4.02213356e-01 2.03647788e+02] [ 4.94568167e-01 -6.24050800e-03 8.69116439e-01 6.17898360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.48, Y:203.66, Z:61.81 [[ 4.95484328e-01 -8.17481365e-01 -2.93631569e-01 3.03479416e+02] [ 7.13026790e-01 5.75846579e-01 -3.99991894e-01 2.03664862e+02] [ 4.96072654e-01 -1.11774602e-02 8.68209068e-01 6.18081645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.49, Y:203.69, Z:61.82 [[ 4.92821074e-01 -8.20239068e-01 -2.90405338e-01 3.03490983e+02] [ 7.13348339e-01 5.71970474e-01 -4.04949286e-01 2.03686033e+02] [ 4.98258504e-01 -7.59262378e-03 8.66995280e-01 6.18206772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.51, Y:203.70, Z:61.84 [[ 4.93146085e-01 -8.16385088e-01 -3.00536731e-01 3.03510764e+02] [ 7.14110571e-01 5.77186096e-01 -3.96108954e-01 2.03698592e+02] [ 4.96843066e-01 -1.92768773e-02 8.67626285e-01 6.18375650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.52, Y:203.72, Z:61.85 [[ 4.91964406e-01 -8.18796431e-01 -2.95877387e-01 3.03523780e+02] [ 7.15307849e-01 5.73875427e-01 -3.98750141e-01 2.03720444e+02] [ 4.96291954e-01 -1.54725408e-02 8.68017797e-01 6.18508631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.54, Y:203.74, Z:61.86 [[ 4.91252184e-01 -8.19915062e-01 -2.93956770e-01 3.03535462e+02] [ 7.15349283e-01 5.72329677e-01 -4.00891686e-01 2.03739930e+02] [ 4.96937315e-01 -1.33428477e-02 8.67683856e-01 6.18633646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.54, Y:203.76, Z:61.87 [[ 4.89339268e-01 -8.24396190e-01 -2.84460898e-01 3.03541573e+02] [ 7.17897127e-01 5.65982713e-01 -4.05323678e-01 2.03763926e+02] [ 4.95147247e-01 -5.87286932e-03 8.68789223e-01 6.18702368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.56, Y:203.78, Z:61.89 [[ 4.88054351e-01 -8.23845753e-01 -2.88237968e-01 3.03556582e+02] [ 7.17997155e-01 5.66730514e-01 -4.04099752e-01 2.03781698e+02] [ 4.96269116e-01 -9.73139907e-03 8.68114200e-01 6.18853800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.58, Y:203.80, Z:61.90 [[ 4.87094685e-01 -8.22328103e-01 -2.94134764e-01 3.03576271e+02] [ 7.19168681e-01 5.68756204e-01 -3.99140061e-01 2.03798067e+02] [ 4.95515061e-01 -1.71135083e-02 8.68430741e-01 6.19026873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.58, Y:203.82, Z:61.91 [[ 4.87465746e-01 -8.25601225e-01 -2.84182623e-01 3.03583819e+02] [ 7.19507324e-01 5.64209654e-01 -4.04940338e-01 2.03819572e+02] [ 4.94657819e-01 -7.07693469e-03 8.69059008e-01 6.19110651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.60, Y:203.84, Z:61.93 [[ 4.84090719e-01 -8.24530196e-01 -2.92926837e-01 3.03603410e+02] [ 7.21181533e-01 5.65544687e-01 -4.00070498e-01 2.03835930e+02] [ 4.95533423e-01 -1.75830098e-02 8.68410885e-01 6.19296104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.62, Y:203.86, Z:61.94 [[ 4.82650627e-01 -8.26991118e-01 -2.88329780e-01 3.03615472e+02] [ 7.22850318e-01 5.62030777e-01 -4.02005999e-01 2.03859253e+02] [ 4.94505601e-01 -1.43908256e-02 8.69055300e-01 6.19410294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.63, Y:203.88, Z:61.95 [[ 4.80796939e-01 -8.28426673e-01 -2.87303936e-01 3.03626568e+02] [ 7.24693968e-01 5.59894309e-01 -4.01667792e-01 2.03878656e+02] [ 4.93612151e-01 -1.50867844e-02 8.69551283e-01 6.19510385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.64, Y:203.90, Z:61.97 [[ 4.78392249e-01 -8.30612986e-01 -2.84996358e-01 3.03635052e+02] [ 7.26259881e-01 5.56673119e-01 -4.03313307e-01 2.03899921e+02] [ 4.93647082e-01 -1.40394619e-02 8.69548994e-01 6.19656340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.64, Y:203.93, Z:61.97 [[ 4.78081509e-01 -8.35655925e-01 -2.70402007e-01 3.03643082e+02] [ 7.27871809e-01 5.49253005e-01 -4.10516463e-01 2.03930485e+02] [ 4.91569630e-01 -5.57668154e-04 8.70838095e-01 6.19709717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.67, Y:203.93, Z:62.00 [[ 4.77306059e-01 -8.26793760e-01 -2.97642409e-01 3.03665538e+02] [ 7.27456650e-01 5.61783658e-01 -3.93961856e-01 2.03932802e+02] [ 4.92935846e-01 -2.84815690e-02 8.69599363e-01 6.19963092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.69, Y:203.95, Z:62.02 [[ 4.78724439e-01 -8.23365008e-01 -3.04783489e-01 3.03685948e+02] [ 7.24487529e-01 5.66559541e-01 -3.92591526e-01 2.03948656e+02] [ 4.95924119e-01 -3.28686787e-02 8.67743579e-01 6.20188057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.68, Y:203.99, Z:62.02 [[ 4.76887048e-01 -8.35446858e-01 -2.73143352e-01 3.03678512e+02] [ 7.27429562e-01 5.49564372e-01 -4.10883479e-01 2.03987063e+02] [ 4.93381166e-01 -2.74753919e-03 8.69808873e-01 6.20157184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.70, Y:204.00, Z:62.03 [[ 4.76749175e-01 -8.31964407e-01 -2.83805301e-01 3.03697502e+02] [ 7.27741078e-01 5.54647268e-01 -4.03434420e-01 2.04000998e+02] [ 4.93054913e-01 -1.41997487e-02 8.69882302e-01 6.20325689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.72, Y:204.01, Z:62.06 [[ 4.78801383e-01 -8.24628547e-01 -3.01225820e-01 3.03723014e+02] [ 7.24896742e-01 5.64899521e-01 -3.94224866e-01 2.04011605e+02] [ 4.95251400e-01 -2.96022047e-02 8.68245219e-01 6.20573936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.73, Y:204.04, Z:62.07 [[ 4.78671497e-01 -8.27869798e-01 -2.92412715e-01 3.03730981e+02] [ 7.24885626e-01 5.60552682e-01 -4.00401699e-01 2.04036898e+02] [ 4.95393205e-01 -2.03048936e-02 8.68431508e-01 6.20680446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.73, Y:204.07, Z:62.07 [[ 4.77846088e-01 -8.34526698e-01 -2.74277791e-01 3.03729050e+02] [ 7.27082004e-01 5.50955212e-01 -4.09634122e-01 2.04067689e+02] [ 4.92965390e-01 -3.68038363e-03 8.70041137e-01 6.20691609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.76, Y:204.08, Z:62.09 [[ 4.79841907e-01 -8.25545336e-01 -2.97029699e-01 3.03756144e+02] [ 7.23874817e-01 5.63816316e-01 -3.97638545e-01 2.04075729e+02] [ 4.95738837e-01 -2.42086816e-02 8.68134175e-01 6.20944356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.75, Y:204.11, Z:62.10 [[ 4.79403387e-01 -8.32510284e-01 -2.77667104e-01 3.03752853e+02] [ 7.25430914e-01 5.53981265e-01 -4.08478576e-01 2.04106932e+02] [ 4.93884989e-01 -5.60228813e-03 8.69509190e-01 6.20966053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.79, Y:204.11, Z:62.13 [[ 4.78642183e-01 -8.21291283e-01 -3.10454971e-01 3.03785490e+02] [ 7.21801673e-01 5.69386861e-01 -3.93447516e-01 2.04111698e+02] [ 4.99903997e-01 -3.57663391e-02 8.65341992e-01 6.21321377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.78, Y:204.15, Z:62.12 [[ 4.80519565e-01 -8.33012776e-01 -2.74209157e-01 3.03775257e+02] [ 7.24716739e-01 5.53252079e-01 -4.10728361e-01 2.04148480e+02] [ 4.93848758e-01 -1.36095274e-03 8.69546751e-01 6.21219299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.79, Y:204.16, Z:62.14 [[ 4.80756747e-01 -8.30029212e-01 -2.82709137e-01 3.03791867e+02] [ 7.24659748e-01 5.57626215e-01 -4.04871898e-01 2.04163614e+02] [ 4.93701529e-01 -1.02230352e-02 8.69571325e-01 6.21379813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.80, Y:204.18, Z:62.15 [[ 4.80743174e-01 -8.30071568e-01 -2.82607845e-01 3.03802713e+02] [ 7.24602727e-01 5.57566305e-01 -4.05056421e-01 2.04183470e+02] [ 4.93798430e-01 -1.00503054e-02 8.69518316e-01 6.21509361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.82, Y:204.20, Z:62.17 [[ 4.80065487e-01 -8.27154855e-01 -2.92150603e-01 3.03820403e+02] [ 7.23125245e-01 5.61676929e-01 -4.02006104e-01 2.04198578e+02] [ 4.96615554e-01 -1.82722200e-02 8.67778265e-01 6.21702125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.84, Y:204.20, Z:62.20 [[ 4.79019963e-01 -8.20341011e-01 -3.12378778e-01 3.03839482e+02] [ 7.20818390e-01 5.70693118e-01 -3.93357615e-01 2.04204490e+02] [ 5.00959802e-01 -3.67422184e-02 8.64690283e-01 6.21968617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.83, Y:204.26, Z:62.18 [[ 4.77220530e-01 -8.40062059e-01 -2.57985082e-01 3.03825460e+02] [ 7.28032910e-01 5.42351237e-01 -4.19312794e-01 2.04256844e+02] [ 4.92167297e-01 1.22830434e-02 8.70413970e-01 6.21824833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.86, Y:204.25, Z:62.22 [[ 4.77434226e-01 -8.22935311e-01 -3.07951351e-01 3.03863205e+02] [ 7.23710231e-01 5.67050699e-01 -3.93315403e-01 2.04248109e+02] [ 4.98297162e-01 -3.50853084e-02 8.66296116e-01 6.22197257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.85, Y:204.30, Z:62.21 [[ 4.74610195e-01 -8.39979816e-01 -2.63019146e-01 3.03851447e+02] [ 7.27641099e-01 5.42561288e-01 -4.19720954e-01 2.04295617e+02] [ 4.95261136e-01 7.82030307e-03 8.68708956e-01 6.22141556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.89, Y:204.29, Z:62.25 [[ 4.74565216e-01 -8.21772908e-01 -3.15399974e-01 3.03889024e+02] [ 7.26364225e-01 5.68000618e-01 -3.87001694e-01 2.04286711e+02] [ 4.97174888e-01 -4.54377146e-02 8.66459777e-01 6.22477154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.87, Y:204.34, Z:62.24 [[ 4.73356176e-01 -8.40760939e-01 -2.62783130e-01 3.03872508e+02] [ 7.29599876e-01 5.41372558e-01 -4.17851377e-01 2.04337329e+02] [ 4.93576692e-01 6.06599124e-03 8.69681122e-01 6.22380202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.89, Y:204.35, Z:62.25 [[ 4.73429771e-01 -8.37947665e-01 -2.71492103e-01 3.03889990e+02] [ 7.30444610e-01 5.45736641e-01 -4.10636325e-01 2.04353800e+02] [ 4.92254938e-01 -3.90248179e-03 8.70442328e-01 6.22508570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:303.91, Y:204.37, Z:62.27 [[ 4.71720615e-01 -8.34309050e-01 -2.85320995e-01 3.03906323e+02] [ 7.30539450e-01 5.50997949e-01 -4.03377456e-01 2.04367048e+02] [ 4.93752745e-01 -1.81567811e-02 8.69412766e-01 6.22690927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.91, Y:204.40, Z:62.28 [[ 4.71983146e-01 -8.39471561e-01 -2.69294277e-01 3.03909534e+02] [ 7.29234628e-01 5.43403613e-01 -4.15847774e-01 2.04396230e+02] [ 4.95427864e-01 -1.05571563e-04 8.68649078e-01 6.22767101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.91, Y:204.43, Z:62.28 [[ 4.68253891e-01 -8.47212697e-01 -2.50936127e-01 3.03910783e+02] [ 7.33729351e-01 5.31060484e-01 -4.23811281e-01 2.04430386e+02] [ 4.92320559e-01 1.43320795e-02 8.70295960e-01 6.22798250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.17275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.95, Y:204.42, Z:62.31 [[ 4.69646239e-01 -8.30505097e-01 -2.99489054e-01 3.03947221e+02] [ 7.31513888e-01 5.55989088e-01 -3.94668932e-01 2.04421472e+02] [ 4.94287206e-01 -3.37256228e-02 8.68644197e-01 6.23085961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.95, Y:204.45, Z:62.32 [[ 4.68491722e-01 -8.37148140e-01 -2.82309223e-01 3.03950498e+02] [ 7.32375409e-01 5.46723787e-01 -4.05856330e-01 2.04451327e+02] [ 4.94107040e-01 -1.66160021e-02 8.69242280e-01 6.23170990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.23275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:303.95, Y:204.48, Z:62.33 [[ 4.67817711e-01 -8.41536670e-01 -2.70115942e-01 3.03954990e+02] [ 7.30204348e-01 5.40197786e-01 -4.18315625e-01 2.04476661e+02] [ 4.97943972e-01 -1.54437763e-03 8.67207827e-01 6.23287880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.96, Y:204.51, Z:62.34 [[ 4.66534913e-01 -8.47259080e-01 -2.53963042e-01 3.03958139e+02] [ 7.32230387e-01 5.31020958e-01 -4.26445076e-01 2.04506448e+02] [ 4.96169161e-01 1.29920600e-02 8.68128660e-01 6.23358453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.99, Y:204.50, Z:62.37 [[ 4.66078629e-01 -8.33296648e-01 -2.97300199e-01 3.03992836e+02] [ 7.30718913e-01 5.52009592e-01 -4.01665633e-01 2.04500409e+02] [ 4.98819187e-01 -3.00351106e-02 8.66185495e-01 6.23678198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.32275509600004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:303.99, Y:204.53, Z:62.37 [[ 4.65472416e-01 -8.40758990e-01 -2.76513564e-01 3.03992833e+02] [ 7.29506750e-01 5.41362506e-01 -4.18026960e-01 2.04527323e+02] [ 5.01154001e-01 -7.13849229e-03 8.65328671e-01 6.23746065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.00, Y:204.56, Z:62.38 [[ 4.63585362e-01 -8.44458151e-01 -2.68289105e-01 3.04003478e+02] [ 7.34688475e-01 5.35605933e-01 -4.16364179e-01 2.04557016e+02] [ 4.95299361e-01 -4.08857452e-03 8.68712741e-01 6.23830689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.38275509600004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:304.03, Y:204.56, Z:62.41 [[ 4.63691217e-01 -8.35643057e-01 -2.94433585e-01 3.04028758e+02] [ 7.32853950e-01 5.48501289e-01 -4.02580955e-01 2.04559820e+02] [ 4.97911180e-01 -2.91035623e-02 8.66739545e-01 6.24079394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.02, Y:204.60, Z:62.41 [[ 4.62553059e-01 -8.48224123e-01 -2.57993226e-01 3.04023289e+02] [ 7.35052846e-01 5.29601399e-01 -4.23343444e-01 2.04601941e+02] [ 4.95723695e-01 6.18015038e-03 8.68458303e-01 6.24092271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.06, Y:204.59, Z:62.44 [[ 4.64143975e-01 -8.31649617e-01 -3.04843049e-01 3.04060430e+02] [ 7.32030330e-01 5.53924560e-01 -3.96609604e-01 2.04594482e+02] [ 4.98700277e-01 -3.90703995e-02 8.65893491e-01 6.24427196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.47275509600007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:304.05, Y:204.64, Z:62.44 [[ 4.64135013e-01 -8.48551771e-01 -2.54044447e-01 3.04047691e+02] [ 7.33194389e-01 5.28974552e-01 -4.27331150e-01 2.04643584e+02] [ 4.96995652e-01 1.20753865e-02 8.67669008e-01 6.24374826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.50275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:304.08, Y:204.65, Z:62.46 [[ 4.65421632e-01 -8.37357250e-01 -2.86732524e-01 3.04077609e+02] [ 7.31066804e-01 5.46312576e-01 -4.08758972e-01 2.04645228e+02] [ 4.98922872e-01 -1.93753625e-02 8.66429780e-01 6.24621937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.09, Y:204.67, Z:62.47 [[ 4.65690334e-01 -8.41211594e-01 -2.74764565e-01 3.04085466e+02] [ 7.31650403e-01 5.40651509e-01 -4.15191081e-01 2.04672626e+02] [ 4.97815428e-01 -7.68113164e-03 8.67248984e-01 6.24726230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.56275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:304.10, Y:204.69, Z:62.49 [[ 4.66227566e-01 -8.38045029e-01 -2.83394399e-01 3.04102705e+02] [ 7.29461896e-01 5.45414578e-01 -4.12805378e-01 2.04687049e+02] [ 5.00516932e-01 -1.42641690e-02 8.65609227e-01 6.24896558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.12, Y:204.70, Z:62.51 [[ 4.68319080e-01 -8.31982945e-01 -2.97458602e-01 3.04123588e+02] [ 7.25934516e-01 5.54227974e-01 -4.07247384e-01 2.04696875e+02] [ 5.03682756e-01 -2.52137458e-02 8.63520670e-01 6.25100387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.13, Y:204.73, Z:62.52 [[ 4.66224328e-01 -8.39576883e-01 -2.78828859e-01 3.04125413e+02] [ 7.26647726e-01 5.43201868e-01 -4.20612427e-01 2.04728168e+02] [ 5.04596828e-01 -6.51061037e-03 8.63330559e-01 6.25198608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.15, Y:204.74, Z:62.54 [[ 4.70067613e-01 -8.32444020e-01 -2.93382674e-01 3.04146228e+02] [ 7.25082593e-01 5.53738312e-01 -4.09425347e-01 2.04738538e+02] [ 5.03280909e-01 -2.02690747e-02 8.63885115e-01 6.25356258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.68275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:304.15, Y:204.76, Z:62.55 [[ 4.71078770e-01 -8.35109337e-01 -2.84037300e-01 3.04154472e+02] [ 7.24061417e-01 5.50000379e-01 -4.16214667e-01 2.04762444e+02] [ 5.03805377e-01 -9.59055709e-03 8.63763951e-01 6.25466026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.17, Y:204.78, Z:62.56 [[ 4.71675596e-01 -8.34838121e-01 -2.83844048e-01 3.04167636e+02] [ 7.23681152e-01 5.50421206e-01 -4.16319694e-01 2.04782300e+02] [ 5.03793334e-01 -9.04474785e-03 8.63776863e-01 6.25598868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.19, Y:204.80, Z:62.58 [[ 4.73322949e-01 -8.31770315e-01 -2.90040565e-01 3.04186742e+02] [ 7.21555444e-01 5.54959741e-01 -4.13977569e-01 2.04799505e+02] [ 5.05295090e-01 -1.33352654e-02 8.62843580e-01 6.25770974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7727550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:304.19, Y:204.82, Z:62.59 [[ 4.72593900e-01 -8.34995969e-01 -2.81845238e-01 3.04194696e+02] [ 7.22312674e-01 5.50227665e-01 -4.18943813e-01 2.04823054e+02] [ 5.04895442e-01 -5.59009666e-03 8.63162409e-01 6.25867943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.21, Y:204.84, Z:62.60 [[ 4.73005135e-01 -8.33887235e-01 -2.84426125e-01 3.04209944e+02] [ 7.21474486e-01 5.51885346e-01 -4.18207043e-01 2.04840307e+02] [ 5.05708126e-01 -7.39211287e-03 8.62672967e-01 6.26005609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.22, Y:204.86, Z:62.61 [[ 4.72828699e-01 -8.34013474e-01 -2.84349340e-01 3.04223109e+02] [ 7.21458981e-01 5.51696107e-01 -4.18483387e-01 2.04859082e+02] [ 5.05895207e-01 -7.27542937e-03 8.62564263e-01 6.26134567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.24, Y:204.88, Z:62.63 [[ 4.72646062e-01 -8.34104273e-01 -2.84386643e-01 3.04236776e+02] [ 7.21311478e-01 5.51560687e-01 -4.18915934e-01 2.04878440e+02] [ 5.06276063e-01 -7.13238294e-03 8.62341973e-01 6.26271918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.26, Y:204.89, Z:62.65 [[ 4.73930091e-01 -8.26594275e-01 -3.03532822e-01 3.04263683e+02] [ 7.18370020e-01 5.62289497e-01 -4.09603512e-01 2.04886029e+02] [ 5.09249236e-01 -2.39254496e-02 8.60286458e-01 6.26516087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.92275509600006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:304.26, Y:204.92, Z:62.65 [[ 4.74158009e-01 -8.37104346e-01 -2.72819531e-01 3.04258582e+02] [ 7.19406196e-01 5.47002161e-01 -4.28069341e-01 2.04917912e+02] [ 5.07571579e-01 6.70444542e-03 8.61583509e-01 6.26520759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.27, Y:204.94, Z:62.67 [[ 4.72438207e-01 -8.37113597e-01 -2.75758892e-01 3.04272663e+02] [ 7.19347545e-01 5.47015127e-01 -4.28151329e-01 2.04935038e+02] [ 5.09255584e-01 3.90856395e-03 8.60606457e-01 6.26669045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.30, Y:204.95, Z:62.68 [[ 4.71192906e-01 -8.33548686e-01 -2.88398741e-01 3.04295547e+02] [ 7.21817321e-01 5.52322802e-01 -4.17036302e-01 2.04947193e+02] [ 5.06909262e-01 -1.16666591e-02 8.61920466e-01 6.26845343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.31, Y:204.97, Z:62.70 [[ 4.70878689e-01 -8.35104509e-01 -2.84383051e-01 3.04307492e+02] [ 7.22053686e-01 5.50036861e-01 -4.19640234e-01 2.04967332e+02] [ 5.06864612e-01 -7.74018746e-03 8.61990925e-01 6.26970065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.32, Y:204.98, Z:62.71 [[ 4.70579936e-01 -8.35384370e-01 -2.84055414e-01 3.04321768e+02] [ 7.22496868e-01 5.49610153e-01 -4.19436475e-01 2.04983688e+02] [ 5.06510414e-01 -7.85075711e-03 8.62198101e-01 6.27095693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.33, Y:205.01, Z:62.72 [[ 4.69586557e-01 -8.38078532e-01 -2.77691988e-01 3.04331729e+02] [ 7.21652651e-01 5.45549532e-01 -4.26137489e-01 2.05006049e+02] [ 5.08631415e-01 -2.88722910e-04 8.60984321e-01 6.27219831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.35, Y:205.02, Z:62.74 [[ 4.70054955e-01 -8.33311328e-01 -2.90930525e-01 3.04352568e+02] [ 7.23045538e-01 5.52586795e-01 -4.14551545e-01 2.05016470e+02] [ 5.06214866e-01 -1.54940104e-02 8.62268198e-01 6.27377367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.36, Y:205.04, Z:62.75 [[ 4.70035129e-01 -8.35951869e-01 -2.83286868e-01 3.04364563e+02] [ 7.23096687e-01 5.48749441e-01 -4.19529775e-01 2.05037587e+02] [ 5.06160210e-01 -7.65006314e-03 8.62405542e-01 6.27494811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.38, Y:205.06, Z:62.76 [[ 4.69926239e-01 -8.36052420e-01 -2.83170762e-01 3.04378450e+02] [ 7.23103098e-01 5.48597953e-01 -4.19716804e-01 2.05055655e+02] [ 5.06252150e-01 -7.52571584e-03 8.62352668e-01 6.27629024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.19275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.39, Y:205.07, Z:62.78 [[ 4.69662259e-01 -8.36233976e-01 -2.83072607e-01 3.04392888e+02] [ 7.23235630e-01 5.48320966e-01 -4.19850380e-01 2.05074738e+02] [ 5.06307798e-01 -7.54031805e-03 8.62319870e-01 6.27766772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.41, Y:205.09, Z:62.79 [[ 4.69299884e-01 -8.36583362e-01 -2.82640934e-01 3.04407891e+02] [ 7.23799920e-01 5.47785975e-01 -4.19576217e-01 2.05092331e+02] [ 5.05837221e-01 -7.66841536e-03 8.62594865e-01 6.27897504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.42, Y:205.11, Z:62.80 [[ 4.68537306e-01 -8.38916878e-01 -2.76931878e-01 3.04418638e+02] [ 7.23107214e-01 5.44258694e-01 -4.25321561e-01 2.05114228e+02] [ 5.07532019e-01 -9.72420323e-04 8.61632349e-01 6.28021022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.44, Y:205.13, Z:62.82 [[ 4.67402212e-01 -8.35985423e-01 -2.87512685e-01 3.04440156e+02] [ 7.25366035e-01 5.48568134e-01 -4.15833042e-01 2.05126450e+02] [ 5.05350659e-01 -1.41906524e-02 8.62797391e-01 6.28180265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.45, Y:205.15, Z:62.83 [[ 4.67641997e-01 -8.37731709e-01 -2.81986783e-01 3.04451717e+02] [ 7.25189998e-01 5.46018528e-01 -4.19479717e-01 2.05147152e+02] [ 5.05381469e-01 -8.32766216e-03 8.62855852e-01 6.28299771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.47, Y:205.17, Z:62.84 [[ 4.65453205e-01 -8.39814323e-01 -2.79401535e-01 3.04465089e+02] [ 7.26556723e-01 5.42829525e-01 -4.21249850e-01 2.05168419e+02] [ 5.05439060e-01 -6.92897117e-03 8.62834484e-01 6.28436220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.48, Y:205.19, Z:62.86 [[ 4.64724780e-01 -8.39595301e-01 -2.81266083e-01 3.04480128e+02] [ 7.27390078e-01 5.43126290e-01 -4.19425212e-01 2.05185131e+02] [ 5.04910441e-01 -9.67286856e-03 8.63117537e-01 6.28573897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.49, Y:205.20, Z:62.87 [[ 4.63486833e-01 -8.40276568e-01 -2.81274322e-01 3.04494702e+02] [ 7.27955447e-01 5.42062523e-01 -4.19820305e-01 2.05203071e+02] [ 5.05233434e-01 -1.01739908e-02 8.62922747e-01 6.28709467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.51, Y:205.22, Z:62.88 [[ 4.63055742e-01 -8.40571900e-01 -2.81101869e-01 3.04508607e+02] [ 7.28228569e-01 5.41602991e-01 -4.19939700e-01 2.05222407e+02] [ 5.05235124e-01 -1.02509220e-02 8.62920847e-01 6.28845976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.52, Y:205.24, Z:62.90 [[ 4.62785872e-01 -8.40775581e-01 -2.80937109e-01 3.04521700e+02] [ 7.28399987e-01 5.41286925e-01 -4.20049907e-01 2.05242571e+02] [ 5.05235288e-01 -1.02414239e-02 8.62920864e-01 6.28984363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.54, Y:205.26, Z:62.91 [[ 4.62726742e-01 -8.40647226e-01 -2.81418200e-01 3.04536601e+02] [ 7.27636074e-01 5.41492372e-01 -4.21107771e-01 2.05261149e+02] [ 5.06388888e-01 -9.91220707e-03 8.62248249e-01 6.29123053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.55, Y:205.28, Z:62.93 [[ 4.62802172e-01 -8.40544197e-01 -2.81601849e-01 3.04550423e+02] [ 7.27146539e-01 5.41658198e-01 -4.21739620e-01 2.05279796e+02] [ 5.07022741e-01 -9.58379781e-03 8.61879395e-01 6.29258627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.56, Y:205.30, Z:62.94 [[ 4.63375785e-01 -8.40244712e-01 -2.81552314e-01 3.04564273e+02] [ 7.26617206e-01 5.42132389e-01 -4.22042544e-01 2.05298254e+02] [ 5.07257644e-01 -9.01646066e-03 8.61747286e-01 6.29392288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.58, Y:205.32, Z:62.95 [[ 4.64933902e-01 -8.39394390e-01 -2.81520026e-01 3.04579394e+02] [ 7.25418332e-01 5.43466323e-01 -4.22389156e-01 2.05316598e+02] [ 5.07547741e-01 -7.83674917e-03 8.61587997e-01 6.29534358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.59, Y:205.34, Z:62.97 [[ 4.65693510e-01 -8.38964040e-01 -2.81547323e-01 3.04593291e+02] [ 7.24666391e-01 5.44140189e-01 -4.22812105e-01 2.05335340e+02] [ 5.07925365e-01 -7.12702983e-03 8.61371597e-01 6.29672005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.63, Y:205.33, Z:63.01 [[ 4.68495352e-01 -8.23333242e-01 -3.20366162e-01 3.04628556e+02] [ 7.18448968e-01 5.66089628e-01 -4.04195018e-01 2.05330694e+02] [ 5.14143157e-01 -4.08032515e-02 8.56733278e-01 6.30052116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.61, Y:205.39, Z:62.99 [[ 4.68882640e-01 -8.45881471e-01 -2.54231406e-01 3.04608340e+02] [ 7.22739453e-01 5.32891698e-01 -4.40084220e-01 2.05386504e+02] [ 5.07736893e-01 2.26047835e-02 8.61215578e-01 6.29868609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.63, Y:205.39, Z:63.01 [[ 4.69203924e-01 -8.37249425e-01 -2.80822148e-01 3.04634717e+02] [ 7.22627761e-01 5.46802503e-01 -4.22866577e-01 2.05391151e+02] [ 5.07599052e-01 -4.51922298e-03 8.61581557e-01 6.30078550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.65, Y:205.41, Z:63.02 [[ 4.70183216e-01 -8.36675788e-01 -2.80893875e-01 3.04649381e+02] [ 7.21662831e-01 5.47686324e-01 -4.23370345e-01 2.05408634e+02] [ 5.08065451e-01 -3.64903879e-03 8.61310735e-01 6.30221815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.66, Y:205.43, Z:63.04 [[ 4.70340048e-01 -8.36647212e-01 -2.80716372e-01 3.04663295e+02] [ 7.21565260e-01 5.47731724e-01 -4.23477904e-01 2.05427458e+02] [ 5.08058870e-01 -3.37656448e-03 8.61315728e-01 6.30362985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.68, Y:205.45, Z:63.05 [[ 4.70101096e-01 -8.36836807e-01 -2.80551454e-01 3.04678215e+02] [ 7.21711312e-01 5.47442232e-01 -4.23603335e-01 2.05446015e+02] [ 5.08072576e-01 -3.34076584e-03 8.61307783e-01 6.30506209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.69, Y:205.46, Z:63.06 [[ 4.69440243e-01 -8.37213473e-01 -2.80534237e-01 3.04691488e+02] [ 7.21940746e-01 5.46864980e-01 -4.23957844e-01 2.05464801e+02] [ 5.08357569e-01 -3.50622293e-03 8.61138949e-01 6.30638615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.70, Y:205.48, Z:63.08 [[ 4.69087076e-01 -8.37441747e-01 -2.80443642e-01 3.04704847e+02] [ 7.22052129e-01 5.46515394e-01 -4.24218867e-01 2.05483542e+02] [ 5.08525356e-01 -3.49934110e-03 8.61039904e-01 6.30769875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.72, Y:205.50, Z:63.09 [[ 4.69525122e-01 -8.37163770e-01 -2.80540518e-01 3.04717357e+02] [ 7.21410435e-01 5.46944345e-01 -4.24757422e-01 2.05502740e+02] [ 5.09031575e-01 -2.95057666e-03 8.60742790e-01 6.30909580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.73, Y:205.52, Z:63.10 [[ 4.69602359e-01 -8.37115173e-01 -2.80556252e-01 3.04729776e+02] [ 7.21118944e-01 5.47020206e-01 -4.25154516e-01 2.05523122e+02] [ 5.09373236e-01 -2.66086465e-03 8.60541589e-01 6.31043742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.74, Y:205.54, Z:63.12 [[ 4.69634228e-01 -8.37058081e-01 -2.80673226e-01 3.04741815e+02] [ 7.20722279e-01 5.47108954e-01 -4.25712567e-01 2.05542513e+02] [ 5.09904980e-01 -2.35825433e-03 8.60227499e-01 6.31178919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.75, Y:205.56, Z:63.13 [[ 4.69320169e-01 -8.37102908e-01 -2.81064585e-01 3.04753502e+02] [ 7.20186489e-01 5.47041193e-01 -4.26705231e-01 2.05563303e+02] [ 5.10950096e-01 -2.15754574e-03 8.59607669e-01 6.31318059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.77, Y:205.58, Z:63.15 [[ 4.68462711e-01 -8.37494059e-01 -2.81329680e-01 3.04765954e+02] [ 7.20183880e-01 5.46441369e-01 -4.27477497e-01 2.05583163e+02] [ 5.11740039e-01 -2.35183286e-03 8.59137126e-01 6.31455832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.78, Y:205.61, Z:63.16 [[ 4.66478231e-01 -8.39168658e-01 -2.79631943e-01 3.04777500e+02] [ 7.23443146e-01 5.43857138e-01 -4.25263952e-01 2.05606601e+02] [ 5.08948008e-01 -3.92143643e-03 8.60788329e-01 6.31565812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.78, Y:205.63, Z:63.17 [[ 4.65148541e-01 -8.44562591e-01 -2.65237375e-01 3.04782818e+02] [ 7.24713697e-01 5.35371634e-01 -4.33782516e-01 2.05631115e+02] [ 5.08357052e-01 9.55214635e-03 8.61093412e-01 6.31654076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.81, Y:205.64, Z:63.19 [[ 4.64620904e-01 -8.36020960e-01 -2.91884173e-01 3.04808945e+02] [ 7.23662296e-01 5.48447165e-01 -4.18949386e-01 2.05636472e+02] [ 5.10333515e-01 -1.65729286e-02 8.59816865e-01 6.31918293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.81, Y:205.66, Z:63.20 [[ 4.62573439e-01 -8.41203045e-01 -2.80005805e-01 3.04814283e+02] [ 7.24713927e-01 5.40692955e-01 -4.27130953e-01 2.05663352e+02] [ 5.10701025e-01 -5.34467285e-03 8.59741762e-01 6.32017168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.83, Y:205.68, Z:63.21 [[ 4.61146693e-01 -8.41953551e-01 -2.80103455e-01 3.04825087e+02] [ 7.25280162e-01 5.39517302e-01 -4.27656132e-01 2.05682841e+02] [ 5.11187259e-01 -5.94126773e-03 8.59448828e-01 6.32147974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.84, Y:205.70, Z:63.23 [[ 4.60269728e-01 -8.42414646e-01 -2.80159495e-01 3.04836758e+02] [ 7.25535173e-01 5.38794048e-01 -4.28135127e-01 2.05703120e+02] [ 5.11615569e-01 -6.20792941e-03 8.59192046e-01 6.32280831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.85, Y:205.72, Z:63.24 [[ 4.59653694e-01 -8.42752637e-01 -2.80154375e-01 3.04846683e+02] [ 7.24880705e-01 5.38273175e-01 -4.29895281e-01 2.05722569e+02] [ 5.13094967e-01 -5.47554720e-03 8.58314379e-01 6.32408533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.86, Y:205.74, Z:63.25 [[ 4.59223224e-01 -8.42773884e-01 -2.80795675e-01 3.04859439e+02] [ 7.25149901e-01 5.38229891e-01 -4.29495292e-01 2.05742536e+02] [ 5.13100040e-01 -6.38474325e-03 8.58305064e-01 6.32546175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.87, Y:205.76, Z:63.27 [[ 4.58786756e-01 -8.43018895e-01 -2.80773674e-01 3.04870762e+02] [ 7.25092320e-01 5.37847337e-01 -4.30071354e-01 2.05761610e+02] [ 5.13571650e-01 -6.27579354e-03 8.58023761e-01 6.32682038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.88, Y:205.78, Z:63.28 [[ 4.58567224e-01 -8.43113476e-01 -2.80848301e-01 3.04882012e+02] [ 7.24894736e-01 5.37700720e-01 -4.30587456e-01 2.05781563e+02] [ 5.14046420e-01 -6.13216008e-03 8.57740447e-01 6.32824306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.90, Y:205.81, Z:63.29 [[ 4.59724780e-01 -8.45015483e-01 -2.73133595e-01 3.04895678e+02] [ 7.26960284e-01 5.34741593e-01 -4.30790174e-01 2.05808226e+02] [ 5.10080260e-01 -5.12357889e-04 8.60126657e-01 6.32935168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.91, Y:205.82, Z:63.31 [[ 4.60560178e-01 -8.41295601e-01 -2.83030093e-01 3.04911341e+02] [ 7.24754956e-01 5.40511105e-01 -4.27291468e-01 2.05822005e+02] [ 5.12459341e-01 -8.33402868e-03 8.58671048e-01 6.33110998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.92, Y:205.84, Z:63.33 [[ 4.59499410e-01 -8.39533231e-01 -2.89903857e-01 3.04923113e+02] [ 7.24503894e-01 5.43100851e-01 -4.24423812e-01 2.05836405e+02] [ 5.13764926e-01 -1.50139822e-02 8.57799616e-01 6.33275621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.93, Y:205.86, Z:63.34 [[ 4.59914886e-01 -8.42703007e-01 -2.79874866e-01 3.04930845e+02] [ 7.24244188e-01 5.38359579e-01 -4.30858817e-01 2.05860934e+02] [ 5.13759335e-01 -4.53936142e-03 8.57922339e-01 6.33382950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.94, Y:205.88, Z:63.35 [[ 4.60256233e-01 -8.42761593e-01 -2.79136343e-01 3.04943923e+02] [ 7.24762574e-01 5.38269412e-01 -4.30099118e-01 2.05879990e+02] [ 5.12721573e-01 -4.35177538e-03 8.58543913e-01 6.33522820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.96, Y:205.90, Z:63.37 [[ 4.59985454e-01 -8.43021422e-01 -2.78797891e-01 3.04956604e+02] [ 7.25149196e-01 5.37862024e-01 -4.29957075e-01 2.05899232e+02] [ 5.12417823e-01 -4.39606606e-03 8.58725014e-01 6.33663509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.97, Y:205.92, Z:63.38 [[ 4.59617610e-01 -8.43582168e-01 -2.77706281e-01 3.04969834e+02] [ 7.26574509e-01 5.36979038e-01 -4.28652535e-01 2.05919010e+02] [ 5.10726086e-01 -4.75805082e-03 8.59730322e-01 6.33805250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.98, Y:205.94, Z:63.39 [[ 4.58950412e-01 -8.44054692e-01 -2.77373747e-01 3.04982835e+02] [ 7.27204673e-01 5.36233421e-01 -4.28517306e-01 2.05938742e+02] [ 5.10429116e-01 -5.03929055e-03 8.59905066e-01 6.33944833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.00, Y:205.96, Z:63.41 [[ 4.58253124e-01 -8.44606144e-01 -2.76847496e-01 3.04995686e+02] [ 7.28104490e-01 5.35360859e-01 -4.28080136e-01 2.05958413e+02] [ 5.09772426e-01 -5.40484498e-03 8.60292311e-01 6.34080463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.01, Y:205.98, Z:63.42 [[ 4.56916767e-01 -8.45546616e-01 -2.76184700e-01 3.05008383e+02] [ 7.29581964e-01 5.33865616e-01 -4.27431470e-01 2.05977156e+02] [ 5.08858748e-01 -6.19877087e-03 8.60827712e-01 6.34209686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.02, Y:206.00, Z:63.43 [[ 4.56387471e-01 -8.45953027e-01 -2.75815068e-01 3.05021706e+02] [ 7.30218488e-01 5.33218311e-01 -4.27152424e-01 2.05997195e+02] [ 5.08420531e-01 -6.45824722e-03 8.61084697e-01 6.34347562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.66275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:305.03, Y:206.02, Z:63.45 [[ 4.55528074e-01 -8.46485837e-01 -2.75600984e-01 3.05034883e+02] [ 7.30811466e-01 5.32367671e-01 -4.27199325e-01 2.06016562e+02] [ 5.08339233e-01 -6.81107382e-03 8.61129975e-01 6.34469214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.05, Y:206.04, Z:63.46 [[ 4.55078610e-01 -8.46907038e-01 -2.75048954e-01 3.05046905e+02] [ 7.31570397e-01 5.31694662e-01 -4.26738258e-01 2.06035466e+02] [ 5.07649695e-01 -7.01821960e-03 8.61534986e-01 6.34606131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.06, Y:206.05, Z:63.47 [[ 4.53671278e-01 -8.47879109e-01 -2.74378184e-01 3.05059619e+02] [ 7.33082026e-01 5.30131669e-01 -4.26088204e-01 2.06054962e+02] [ 5.06727852e-01 -7.83773496e-03 8.62070446e-01 6.34738533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.07, Y:206.07, Z:63.49 [[ 4.52604553e-01 -8.48594692e-01 -2.73927304e-01 3.05072405e+02] [ 7.34093350e-01 5.28977190e-01 -4.25781736e-01 2.06074901e+02] [ 5.06217417e-01 -8.37746010e-03 8.62365204e-01 6.34872546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.09, Y:206.09, Z:63.50 [[ 4.53489178e-01 -8.46409371e-01 -2.79175108e-01 3.05087557e+02] [ 7.34841895e-01 5.32333688e-01 -4.20271619e-01 2.06089139e+02] [ 5.04336152e-01 -1.45609347e-02 8.63384633e-01 6.35008999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.09, Y:206.12, Z:63.51 [[ 4.50849248e-01 -8.52812216e-01 -2.63526620e-01 3.05092920e+02] [ 7.35193521e-01 5.22216528e-01 -4.32180963e-01 2.06119677e+02] [ 5.06187161e-01 1.10539838e-03 8.62422945e-01 6.35112983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.11, Y:206.13, Z:63.53 [[ 4.51632473e-01 -8.48786388e-01 -2.74935951e-01 3.05109371e+02] [ 7.35612274e-01 5.28622784e-01 -4.23594777e-01 2.06131653e+02] [ 5.04878889e-01 -1.09371037e-02 8.63120900e-01 6.35265176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.12, Y:206.15, Z:63.54 [[ 4.50902757e-01 -8.50939921e-01 -2.69421518e-01 3.05118342e+02] [ 7.35616867e-01 5.25236247e-01 -4.27778811e-01 2.06153926e+02] [ 5.05524014e-01 -5.30436766e-03 8.62796230e-01 6.35384200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.13, Y:206.17, Z:63.55 [[ 4.51171676e-01 -8.49760534e-01 -2.72674081e-01 3.05132052e+02] [ 7.35578079e-01 5.27099098e-01 -4.25548389e-01 2.06171279e+02] [ 5.05340488e-01 -8.57769692e-03 8.62877404e-01 6.35522479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.14, Y:206.20, Z:63.56 [[ 4.53156626e-01 -8.54157977e-01 -2.55074936e-01 3.05135082e+02] [ 7.34753309e-01 5.19917107e-01 -4.35687707e-01 2.06201037e+02] [ 5.04763953e-01 1.00176181e-02 8.63199281e-01 6.35553775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.16, Y:206.20, Z:63.58 [[ 4.53344495e-01 -8.44417658e-01 -2.85372718e-01 3.05162449e+02] [ 7.34361797e-01 5.35297935e-01 -4.17335443e-01 2.06204204e+02] [ 5.05164844e-01 -2.03700962e-02 8.62782440e-01 6.35827658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.16, Y:206.24, Z:63.59 [[ 4.53892508e-01 -8.50790761e-01 -2.64833292e-01 3.05164937e+02] [ 7.35027380e-01 5.25504565e-01 -4.28462021e-01 2.06236628e+02] [ 5.03702632e-01 -1.84019034e-04 8.63877089e-01 6.35882722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.18, Y:206.25, Z:63.61 [[ 4.56365907e-01 -8.45670862e-01 -2.76714568e-01 3.05182435e+02] [ 7.33364681e-01 5.33597720e-01 -4.21247811e-01 2.06248938e+02] [ 5.03891262e-01 -1.06895512e-02 8.63700949e-01 6.36078753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.19, Y:206.27, Z:63.62 [[ 4.56872506e-01 -8.47244254e-01 -2.71006803e-01 3.05191940e+02] [ 7.33218096e-01 5.31182320e-01 -4.24542774e-01 2.06271766e+02] [ 5.03645448e-01 -4.74517090e-03 8.63897417e-01 6.36197482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.21, Y:206.29, Z:63.63 [[ 4.58851810e-01 -8.45263607e-01 -2.73832888e-01 3.05205561e+02] [ 7.32845155e-01 5.34298584e-01 -4.21263579e-01 2.06288356e+02] [ 5.02387297e-01 -7.37954934e-03 8.64611211e-01 6.36330334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.21, Y:206.32, Z:63.64 [[ 4.58189761e-01 -8.48947483e-01 -2.63344480e-01 3.05213070e+02] [ 7.32564067e-01 5.28464512e-01 -4.29039797e-01 2.06315127e+02] [ 5.03400468e-01 3.66493852e-03 8.64045449e-01 6.36441728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.23, Y:206.33, Z:63.66 [[ 4.58022442e-01 -8.46898312e-01 -2.70145684e-01 3.05229224e+02] [ 7.32971074e-01 5.31742111e-01 -4.24268466e-01 2.06331992e+02] [ 5.02960084e-01 -3.68449332e-03 8.64301787e-01 6.36597453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.24, Y:206.35, Z:63.67 [[ 4.58224269e-01 -8.46880611e-01 -2.69858758e-01 3.05242281e+02] [ 7.32994661e-01 5.31772000e-01 -4.24190249e-01 2.06351655e+02] [ 5.02741829e-01 -3.43076173e-03 8.64429802e-01 6.36729332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.25, Y:206.37, Z:63.69 [[ 4.57846758e-01 -8.47163312e-01 -2.69612071e-01 3.05254076e+02] [ 7.33328516e-01 5.31321027e-01 -4.24178328e-01 2.06371050e+02] [ 5.02598880e-01 -3.50554715e-03 8.64512624e-01 6.36860514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.27, Y:206.39, Z:63.70 [[ 4.57468156e-01 -8.47523902e-01 -2.69121016e-01 3.05265274e+02] [ 7.33965224e-01 5.30744670e-01 -4.23798474e-01 2.06391447e+02] [ 5.02013881e-01 -3.65116070e-03 8.64851856e-01 6.36989822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.29, Y:206.41, Z:63.72 [[ 4.58682593e-01 -8.42310506e-01 -2.83060576e-01 3.05287296e+02] [ 7.31070590e-01 5.38785990e-01 -4.18623278e-01 2.06405503e+02] [ 5.05119858e-01 -1.49220516e-02 8.62920194e-01 6.37214968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.29, Y:206.43, Z:63.72 [[ 4.56724639e-01 -8.49725485e-01 -2.63380342e-01 3.05286342e+02] [ 7.34131212e-01 5.27221308e-01 -4.27889069e-01 2.06434879e+02] [ 5.02447975e-01 2.07175073e-03 8.64604962e-01 6.37237073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.30, Y:206.45, Z:63.74 [[ 4.56039738e-01 -8.48328061e-01 -2.69011632e-01 3.05300496e+02] [ 7.34262914e-01 5.29457627e-01 -4.24891273e-01 2.06451974e+02] [ 5.02877451e-01 -3.75796025e-03 8.64349552e-01 6.37385047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.31, Y:206.47, Z:63.75 [[ 4.55743198e-01 -8.48529129e-01 -2.68880001e-01 3.05312668e+02] [ 7.34447231e-01 5.29135035e-01 -4.24974564e-01 2.06471879e+02] [ 5.02877125e-01 -3.79890530e-03 8.64349562e-01 6.37519303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.32, Y:206.49, Z:63.76 [[ 4.54867015e-01 -8.48999944e-01 -2.68877469e-01 3.05323857e+02] [ 7.34774908e-01 5.28377135e-01 -4.25350958e-01 2.06491529e+02] [ 5.03191646e-01 -4.08629700e-03 8.64165186e-01 6.37649814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.34, Y:206.51, Z:63.78 [[ 4.53750415e-01 -8.49721041e-01 -2.68485966e-01 3.05335388e+02] [ 7.35736521e-01 5.27212210e-01 -4.25134164e-01 2.06512857e+02] [ 5.02794524e-01 -4.63012772e-03 8.64393561e-01 6.37781830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.35, Y:206.54, Z:63.79 [[ 4.55541399e-01 -8.51087893e-01 -2.61019984e-01 3.05345826e+02] [ 7.34360723e-01 5.25005651e-01 -4.30213197e-01 2.06537070e+02] [ 5.03186210e-01 4.29709721e-03 8.64167329e-01 6.37885138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.36, Y:206.56, Z:63.81 [[ 4.51767169e-01 -8.51267054e-01 -2.66928506e-01 3.05361127e+02] [ 7.35457124e-01 5.24725997e-01 -4.28678722e-01 2.06555879e+02] [ 5.04984399e-01 -2.65149860e-03 8.63124398e-01 6.38050146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.37, Y:206.58, Z:63.82 [[ 4.50511183e-01 -8.52339444e-01 -2.65625952e-01 3.05372524e+02] [ 7.37552929e-01 5.22977604e-01 -4.27212011e-01 2.06577102e+02] [ 5.03046072e-01 -3.44941029e-03 8.64252712e-01 6.38151908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.39, Y:206.59, Z:63.84 [[ 4.46945171e-01 -8.48168129e-01 -2.84342821e-01 3.05391715e+02] [ 7.39386841e-01 5.29174557e-01 -4.16270810e-01 2.06585481e+02] [ 5.03534620e-01 -2.41891121e-02 8.63636366e-01 6.38384917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.39, Y:206.62, Z:63.85 [[ 4.41857123e-01 -8.59082213e-01 -2.58340928e-01 3.05390871e+02] [ 7.40014547e-01 5.11835029e-01 -4.36352350e-01 2.06623097e+02] [ 5.07090479e-01 1.62934914e-03 8.61891288e-01 6.38471066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.42, Y:206.62, Z:63.87 [[ 4.42539694e-01 -8.49248754e-01 -2.87984675e-01 3.05417264e+02] [ 7.41878851e-01 5.27125860e-01 -4.14432260e-01 2.06624033e+02] [ 5.03760250e-01 -3.02470139e-02 8.63313807e-01 6.38666072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.42, Y:206.66, Z:63.87 [[ 4.37084062e-01 -8.59822713e-01 -2.63936404e-01 3.05416207e+02] [ 7.43365665e-01 5.10540308e-01 -4.32152846e-01 2.06657063e+02] [ 5.06325005e-01 -7.31413970e-03 8.62311714e-01 6.38728372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.43, Y:206.68, Z:63.88 [[ 4.35229606e-01 -8.62842576e-01 -2.57056178e-01 3.05426457e+02] [ 7.44740033e-01 5.05469546e-01 -4.35732511e-01 2.06684323e+02] [ 5.05902632e-01 -1.79633731e-03 8.62588720e-01 6.38823757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.45, Y:206.70, Z:63.90 [[ 4.31468070e-01 -8.60072854e-01 -2.72231503e-01 3.05446111e+02] [ 7.47610389e-01 5.09784594e-01 -4.25674023e-01 2.06698741e+02] [ 5.04890097e-01 -1.98583508e-02 8.62955176e-01 6.39001815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.45, Y:206.72, Z:63.91 [[ 4.31292941e-01 -8.63759249e-01 -2.60588486e-01 3.05452239e+02] [ 7.47714931e-01 5.03836284e-01 -4.32517492e-01 2.06723988e+02] [ 5.04884919e-01 -8.30416097e-03 8.63146720e-01 6.39080448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.48, Y:206.72, Z:63.94 [[ 4.30262379e-01 -8.52224638e-01 -2.97636442e-01 3.05477522e+02] [ 7.46986935e-01 5.21256835e-01 -4.12676423e-01 2.06721096e+02] [ 5.06838045e-01 -4.47713941e-02 8.60877877e-01 6.39402198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.47, Y:206.77, Z:63.93 [[ 4.31441760e-01 -8.67695227e-01 -2.46906868e-01 3.05468400e+02] [ 7.47783127e-01 4.97068609e-01 -4.40162688e-01 2.06771740e+02] [ 5.04656717e-01 5.27177458e-03 8.63304006e-01 6.39346687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.49, Y:206.77, Z:63.96 [[ 4.31700914e-01 -8.55997464e-01 -2.84433934e-01 3.05494579e+02] [ 7.46445664e-01 5.16053075e-01 -4.20128663e-01 2.06769168e+02] [ 5.06412076e-01 -3.09445488e-02 8.61736180e-01 6.39626227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.49, Y:206.80, Z:63.97 [[ 4.35848086e-01 -8.60327913e-01 -2.64333743e-01 3.05494493e+02] [ 7.43586354e-01 5.09679390e-01 -4.32788925e-01 2.06798693e+02] [ 5.07065854e-01 -7.92474015e-03 8.61870883e-01 6.39697187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.50, Y:206.82, Z:63.98 [[ 4.37401834e-01 -8.61812714e-01 -2.56823835e-01 3.05502722e+02] [ 7.44472048e-01 5.07224953e-01 -4.34147689e-01 2.06824707e+02] [ 5.04421456e-01 -1.30117083e-03 8.63456601e-01 6.39783505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8927550960001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:305.52, Y:206.83, Z:64.00 [[ 4.39168646e-01 -8.55468376e-01 -2.74417123e-01 3.05520370e+02] [ 7.42716102e-01 5.17568203e-01 -4.24848145e-01 2.06833439e+02] [ 5.05473730e-01 -1.72340309e-02 8.62669865e-01 6.39985106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.53, Y:206.86, Z:64.01 [[ 4.42853213e-01 -8.55611546e-01 -2.67973720e-01 3.05527482e+02] [ 7.40953396e-01 5.17539576e-01 -4.27949591e-01 2.06857596e+02] [ 5.04845617e-01 -9.03718670e-03 8.63162344e-01 6.40110140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.54, Y:206.88, Z:64.02 [[ 4.44649706e-01 -8.55779113e-01 -2.64440446e-01 3.05535939e+02] [ 7.38963273e-01 5.17329627e-01 -4.31628704e-01 2.06877599e+02] [ 5.06181706e-01 -3.48820140e-03 8.62419801e-01 6.40230082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.55, Y:206.90, Z:64.03 [[ 4.47764765e-01 -8.55983179e-01 -2.58456018e-01 3.05547896e+02] [ 7.39943782e-01 5.17001645e-01 -4.30339979e-01 2.06903280e+02] [ 5.01985970e-01 1.44815603e-03 8.64874551e-01 6.40312036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.56, Y:206.92, Z:64.05 [[ 4.49537409e-01 -8.54209889e-01 -2.61230902e-01 3.05560027e+02] [ 7.39219896e-01 5.19927881e-01 -4.28052500e-01 2.06921729e+02] [ 5.01467908e-01 -6.81468341e-04 8.65175978e-01 6.40450841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.57, Y:206.94, Z:64.06 [[ 4.50544697e-01 -8.53047066e-01 -2.63287256e-01 3.05573610e+02] [ 7.38494924e-01 5.21829918e-01 -4.26988037e-01 2.06940853e+02] [ 5.01632060e-01 -2.05910636e-03 8.65078630e-01 6.40609635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.59, Y:206.96, Z:64.07 [[ 4.51546482e-01 -8.52318114e-01 -2.63931064e-01 3.05585102e+02] [ 7.38592461e-01 5.23015891e-01 -4.25365201e-01 2.06959128e+02] [ 5.00586607e-01 -2.86533404e-03 8.65681719e-01 6.40743993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.59, Y:206.98, Z:64.09 [[ 4.49227082e-01 -8.55134445e-01 -2.58727868e-01 3.05594020e+02] [ 7.39319923e-01 5.18403296e-01 -4.29725579e-01 2.06982310e+02] [ 5.01598524e-01 1.76170041e-03 8.65098733e-01 6.40873374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.61, Y:207.00, Z:64.10 [[ 4.51482315e-01 -8.50786277e-01 -2.68935736e-01 3.05611732e+02] [ 7.39101667e-01 5.25443366e-01 -4.21471227e-01 2.06995658e+02] [ 4.99892434e-01 -8.48404536e-03 8.66045943e-01 6.41031718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.62, Y:207.02, Z:64.11 [[ 4.51126581e-01 -8.54182941e-01 -2.58565873e-01 3.05619103e+02] [ 7.39191598e-01 5.19968844e-01 -4.28051612e-01 2.07021011e+02] [ 5.00080583e-01 1.97573912e-03 8.65976620e-01 6.41140271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.64, Y:207.03, Z:64.14 [[ 4.48640655e-01 -8.50398025e-01 -2.74854072e-01 3.05639097e+02] [ 7.37741828e-01 5.25981346e-01 -4.23179181e-01 2.07030841e+02] [ 5.04438855e-01 -1.29159602e-02 8.63350809e-01 6.41378704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.67, Y:207.03, Z:64.15 [[ 4.54613177e-01 -8.37824809e-01 -3.02285377e-01 3.05667728e+02] [ 7.42007481e-01 5.43982519e-01 -3.91800864e-01 2.07032010e+02] [ 4.92698445e-01 -4.61801758e-02 8.68973897e-01 6.41530781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.62, Y:207.11, Z:64.14 [[ 4.44324847e-01 -8.73514733e-01 -1.98865386e-01 3.05624226e+02] [ 7.39809067e-01 4.82958664e-01 -4.68437268e-01 2.07110813e+02] [ 5.05230616e-01 6.10159017e-02 8.60824654e-01 6.41427778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.68, Y:207.09, Z:64.18 [[ 4.43194353e-01 -8.52387158e-01 -2.77515581e-01 3.05675705e+02] [ 7.38547086e-01 5.22659892e-01 -4.25881250e-01 2.07090174e+02] [ 5.08061973e-01 -1.62101581e-02 8.61167964e-01 6.41836353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.68, Y:207.11, Z:64.19 [[ 4.41871061e-01 -8.56525287e-01 -2.66672830e-01 3.05682445e+02] [ 7.39003292e-01 5.16073420e-01 -4.33061611e-01 2.07114913e+02] [ 5.08550980e-01 -5.71470558e-03 8.61012917e-01 6.41939724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.68, Y:207.15, Z:64.19 [[ 4.39067241e-01 -8.65405236e-01 -2.41440956e-01 3.05684388e+02] [ 7.42962782e-01 5.00830237e-01 -4.44044343e-01 2.07151443e+02] [ 5.05199231e-01 1.55836803e-02 8.62862032e-01 6.41933384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.37275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.71, Y:207.16, Z:64.21 [[ 4.38185169e-01 -8.60007438e-01 -2.61497542e-01 3.05707126e+02] [ 7.43388201e-01 5.10257950e-01 -4.32447462e-01 2.07160948e+02] [ 5.05339234e-01 -4.90212256e-03 8.62906848e-01 6.42122847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.73, Y:207.16, Z:64.24 [[ 4.36843152e-01 -8.52189742e-01 -2.87994277e-01 3.05730788e+02] [ 7.41326190e-01 5.22404150e-01 -4.21342360e-01 2.07163761e+02] [ 5.09513043e-01 -2.94371749e-02 8.59959250e-01 6.42415369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.72, Y:207.21, Z:64.23 [[ 4.34910921e-01 -8.67586533e-01 -2.41135020e-01 3.05721824e+02] [ 7.44663368e-01 4.97085007e-01 -4.45402026e-01 2.07211332e+02] [ 5.06289403e-01 1.41457895e-02 8.62247608e-01 6.42343395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.75, Y:207.22, Z:64.26 [[ 4.33803009e-01 -8.61478841e-01 -2.63949154e-01 3.05745688e+02] [ 7.45578536e-01 5.07704035e-01 -4.31681896e-01 2.07220483e+02] [ 5.05892870e-01 -9.52991896e-03 8.62543671e-01 6.42551116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.76, Y:207.24, Z:64.27 [[ 4.33610641e-01 -8.62079061e-01 -2.62300410e-01 3.05756304e+02] [ 7.45196048e-01 5.06718360e-01 -4.33496660e-01 2.07241196e+02] [ 5.06620827e-01 -7.49646426e-03 8.62136382e-01 6.42679802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.78, Y:207.25, Z:64.29 [[ 4.32836415e-01 -8.55338371e-01 -2.84690901e-01 3.05777597e+02] [ 7.44129048e-01 5.17264752e-01 -4.22740034e-01 2.07247444e+02] [ 5.08846340e-01 -2.88694883e-02 8.60373148e-01 6.42937431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.78, Y:207.27, Z:64.30 [[ 4.33667878e-01 -8.59167815e-01 -2.71593148e-01 3.05783312e+02] [ 7.44094353e-01 5.11453164e-01 -4.29813047e-01 2.07273103e+02] [ 5.08188711e-01 -1.56948154e-02 8.61102727e-01 6.43032783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.79, Y:207.29, Z:64.31 [[ 4.35019513e-01 -8.60069318e-01 -2.66531031e-01 3.05792605e+02] [ 7.43072655e-01 5.10086762e-01 -4.33191094e-01 2.07294816e+02] [ 5.08528320e-01 -9.60534162e-03 8.60991687e-01 6.43149207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.80, Y:207.31, Z:64.33 [[ 4.36647492e-01 -8.59428035e-01 -2.65936874e-01 3.05803306e+02] [ 7.41753308e-01 5.11198852e-01 -4.34140257e-01 2.07313105e+02] [ 5.09058933e-01 -7.69330172e-03 8.60697285e-01 6.43282286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.81, Y:207.34, Z:64.34 [[ 4.35946655e-01 -8.60204059e-01 -2.64574170e-01 3.05814683e+02] [ 7.41917143e-01 5.09908657e-01 -4.35375831e-01 2.07335023e+02] [ 5.09420717e-01 -6.49147537e-03 8.60493111e-01 6.43425125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.83, Y:207.35, Z:64.36 [[ 4.38119093e-01 -8.57690225e-01 -2.69108043e-01 3.05830366e+02] [ 7.41393405e-01 5.14059067e-01 -4.31368862e-01 2.07354022e+02] [ 5.08318286e-01 -1.05239932e-02 8.61104968e-01 6.43574199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7027550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:305.84, Y:207.38, Z:64.37 [[ 4.38973855e-01 -8.58658742e-01 -2.64588586e-01 3.05838464e+02] [ 7.41498362e-01 5.12511365e-01 -4.33026881e-01 2.07376240e+02] [ 5.07426975e-01 -6.10452368e-03 8.61673140e-01 6.43677210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.85, Y:207.40, Z:64.38 [[ 4.41180575e-01 -8.58968962e-01 -2.59869241e-01 3.05848230e+02] [ 7.40917363e-01 5.12027020e-01 -4.34591523e-01 2.07398705e+02] [ 5.06360702e-01 -8.08294530e-04 8.62321394e-01 6.43791780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.86, Y:207.42, Z:64.39 [[ 4.41762023e-01 -8.58600263e-01 -2.60099795e-01 3.05860265e+02] [ 7.40841000e-01 5.12644756e-01 -4.33993049e-01 2.07418752e+02] [ 5.05965342e-01 -9.70945419e-04 8.62553262e-01 6.43925143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.87, Y:207.44, Z:64.41 [[ 4.41861095e-01 -8.57568695e-01 -2.63314841e-01 3.05873577e+02] [ 7.40781639e-01 5.14352757e-01 -4.32069213e-01 2.07436395e+02] [ 5.05965746e-01 -4.14422440e-03 8.62543616e-01 6.44077180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.89, Y:207.46, Z:64.42 [[ 4.42224258e-01 -8.57774377e-01 -2.62032103e-01 3.05886163e+02] [ 7.40571977e-01 5.14019557e-01 -4.32824493e-01 2.07457003e+02] [ 5.05955386e-01 -2.64814190e-03 8.62555584e-01 6.44219827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.90, Y:207.48, Z:64.43 [[ 4.42447477e-01 -8.59215338e-01 -2.56883695e-01 3.05897347e+02] [ 7.41422698e-01 5.11611422e-01 -4.34218996e-01 2.07478693e+02] [ 5.04512254e-01 1.65969689e-03 8.63402937e-01 6.44328669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.91, Y:207.50, Z:64.45 [[ 4.42240396e-01 -8.58402650e-01 -2.59939075e-01 3.05912277e+02] [ 7.41479720e-01 5.12974406e-01 -4.32510212e-01 2.07496924e+02] [ 5.04610005e-01 -1.46606504e-03 8.63346161e-01 6.44473833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.93, Y:207.51, Z:64.47 [[ 4.41368688e-01 -8.55766314e-01 -2.69921650e-01 3.05930950e+02] [ 7.40761874e-01 5.17250574e-01 -4.28630015e-01 2.07508928e+02] [ 5.06424257e-01 -1.07637999e-02 8.62217265e-01 6.44658745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.94, Y:207.53, Z:64.48 [[ 4.39523043e-01 -8.56563088e-01 -2.70405569e-01 3.05940731e+02] [ 7.40917205e-01 5.15917093e-01 -4.29966566e-01 2.07525747e+02] [ 5.07800345e-01 -1.13679255e-02 8.61399780e-01 6.44809755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.95, Y:207.56, Z:64.48 [[ 4.38106829e-01 -8.64306202e-01 -2.47057070e-01 3.05945599e+02] [ 7.42754412e-01 5.02862950e-01 -4.42091322e-01 2.07559392e+02] [ 5.06338119e-01 1.01804982e-02 8.62274937e-01 6.44831783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.97, Y:207.56, Z:64.51 [[ 4.36467368e-01 -8.56882874e-01 -2.74313645e-01 3.05970586e+02] [ 7.42055046e-01 5.15250287e-01 -4.28802345e-01 2.07563256e+02] [ 5.08773571e-01 -1.63975936e-02 8.60744197e-01 6.45094168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.97, Y:207.60, Z:64.51 [[ 4.35284452e-01 -8.64760277e-01 -2.50433841e-01 3.05974025e+02] [ 7.43414613e-01 5.02147472e-01 -4.41794782e-01 2.07596683e+02] [ 5.07801298e-01 6.13022235e-03 8.61452414e-01 6.45125466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.00, Y:207.60, Z:64.54 [[ 4.32895835e-01 -8.59388657e-01 -2.72125581e-01 3.05997735e+02] [ 7.43375196e-01 5.11087890e-01 -4.31488687e-01 2.07601746e+02] [ 5.09896572e-01 -1.55017519e-02 8.60096030e-01 6.45352934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.01, Y:207.63, Z:64.54 [[ 4.32053468e-01 -8.63114226e-01 -2.61464404e-01 3.06006953e+02] [ 7.43765103e-01 5.04981489e-01 -4.37957952e-01 2.07626560e+02] [ 5.10042422e-01 -5.24684736e-03 8.60133244e-01 6.45447927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.02, Y:207.64, Z:64.56 [[ 4.29857956e-01 -8.64273681e-01 -2.61253023e-01 3.06019308e+02] [ 7.45095654e-01 5.02981391e-01 -4.37997930e-01 2.07644119e+02] [ 5.09955492e-01 -6.38159779e-03 8.60177116e-01 6.45579672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.03, Y:207.66, Z:64.57 [[ 4.29083176e-01 -8.64713691e-01 -2.61070605e-01 3.06031741e+02] [ 7.45522144e-01 5.02221295e-01 -4.38144386e-01 2.07663374e+02] [ 5.09984667e-01 -6.63353265e-03 8.60157913e-01 6.45714106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.04, Y:207.68, Z:64.58 [[ 4.28805377e-01 -8.65002892e-01 -2.60568506e-01 3.06042523e+02] [ 7.46101800e-01 5.01722010e-01 -4.37729516e-01 2.07682309e+02] [ 5.09370251e-01 -6.70986182e-03 8.60521310e-01 6.45842405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.05, Y:207.70, Z:64.60 [[ 4.30058551e-01 -8.64567871e-01 -2.59946226e-01 3.06053081e+02] [ 7.45942787e-01 5.02481267e-01 -4.37129198e-01 2.07701174e+02] [ 5.08545969e-01 -5.91386261e-03 8.61014532e-01 6.45973490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.06, Y:207.72, Z:64.61 [[ 4.30636546e-01 -8.64404071e-01 -2.59533750e-01 3.06063875e+02] [ 7.45897741e-01 5.02768228e-01 -4.36876035e-01 2.07719984e+02] [ 5.08122746e-01 -5.45085145e-03 8.61267417e-01 6.46100464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.08, Y:207.74, Z:64.62 [[ 4.30340005e-01 -8.64595766e-01 -2.59387052e-01 3.06075414e+02] [ 7.46069080e-01 5.02438209e-01 -4.36963126e-01 2.07740146e+02] [ 5.08122434e-01 -5.47794571e-03 8.61267429e-01 6.46236520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.09, Y:207.76, Z:64.64 [[ 4.30813155e-01 -8.64418923e-01 -2.59190955e-01 3.06086887e+02] [ 7.45822661e-01 5.02747050e-01 -4.37028559e-01 2.07759546e+02] [ 5.08083244e-01 -5.03283525e-03 8.61293264e-01 6.46371936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.10, Y:207.78, Z:64.65 [[ 4.31956620e-01 -8.63987758e-01 -2.58725013e-01 3.06098004e+02] [ 7.45535704e-01 5.03494694e-01 -4.36657312e-01 2.07778734e+02] [ 5.07533243e-01 -4.27171787e-03 8.61621587e-01 6.46501627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.11, Y:207.80, Z:64.66 [[ 4.31934511e-01 -8.64116824e-01 -2.58330589e-01 3.06109231e+02] [ 7.45821786e-01 5.03274070e-01 -4.36423046e-01 2.07798574e+02] [ 5.07131583e-01 -4.16240598e-03 8.61858592e-01 6.46630171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.12, Y:207.82, Z:64.68 [[ 4.31005938e-01 -8.64690221e-01 -2.57962602e-01 3.06120728e+02] [ 7.46613902e-01 5.02284536e-01 -4.36208581e-01 2.07819637e+02] [ 5.06755920e-01 -4.58997661e-03 8.62077357e-01 6.46755649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.42275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:306.13, Y:207.84, Z:64.69 [[ 4.30509078e-01 -8.64915083e-01 -2.58038433e-01 3.06131361e+02] [ 7.46552457e-01 5.01897046e-01 -4.36759413e-01 2.07838673e+02] [ 5.07268531e-01 -4.61033427e-03 8.61775715e-01 6.46895834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.14, Y:207.86, Z:64.70 [[ 4.29589892e-01 -8.67374055e-01 -2.51226539e-01 3.06140154e+02] [ 7.48112268e-01 4.97656375e-01 -4.38937543e-01 2.07864552e+02] [ 5.05747525e-01 6.17476186e-04 8.62681320e-01 6.46985589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.16, Y:207.88, Z:64.72 [[ 4.29130365e-01 -8.64135836e-01 -2.62899957e-01 3.06157013e+02] [ 7.47201719e-01 5.03156991e-01 -4.34191933e-01 2.07877329e+02] [ 5.07480760e-01 -1.01143569e-02 8.61603725e-01 6.47186857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.17, Y:207.90, Z:64.73 [[ 4.28307328e-01 -8.66208233e-01 -2.57363810e-01 3.06165597e+02] [ 7.47996158e-01 4.99654057e-01 -4.36861044e-01 2.07899421e+02] [ 5.07005504e-01 -5.39635455e-03 8.61925924e-01 6.47309032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.18, Y:207.92, Z:64.74 [[ 4.28103837e-01 -8.66473423e-01 -2.56809096e-01 3.06175876e+02] [ 7.48602348e-01 4.99193506e-01 -4.36348906e-01 2.07918548e+02] [ 5.06282163e-01 -5.44525107e-03 8.62350695e-01 6.47436968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.17, Y:207.95, Z:64.75 [[ 4.26916237e-01 -8.72203286e-01 -2.38755008e-01 3.06174505e+02] [ 7.50045374e-01 4.89019217e-01 -4.45300060e-01 2.07947589e+02] [ 5.05147963e-01 1.10287365e-02 8.62962284e-01 6.47459055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.20, Y:207.95, Z:64.77 [[ 4.26675170e-01 -8.64239642e-01 -2.66529812e-01 3.06201952e+02] [ 7.50527215e-01 5.02791030e-01 -4.28847385e-01 2.07952511e+02] [ 5.04635709e-01 -1.70593469e-02 8.63163820e-01 6.47737658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.21, Y:207.98, Z:64.78 [[ 4.24884762e-01 -8.68518768e-01 -2.55241238e-01 3.06208298e+02] [ 7.51915472e-01 4.95603914e-01 -4.34741170e-01 2.07978264e+02] [ 5.04079421e-01 -7.20493780e-03 8.63627249e-01 6.47842912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.21, Y:208.00, Z:64.79 [[ 4.23883495e-01 -8.71213507e-01 -2.47608173e-01 3.06214633e+02] [ 7.51130829e-01 4.90903043e-01 -4.41380425e-01 2.08000262e+02] [ 5.06088194e-01 1.10774526e-03 8.62481022e-01 6.47943642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.23, Y:208.02, Z:64.81 [[ 4.22339654e-01 -8.68220270e-01 -2.60428069e-01 3.06234342e+02] [ 7.53583952e-01 4.95979926e-01 -4.31410640e-01 2.08015400e+02] [ 5.03726557e-01 -1.40525925e-02 8.63748853e-01 6.48128338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.24, Y:208.04, Z:64.82 [[ 4.20896437e-01 -8.70656793e-01 -2.54564211e-01 3.06243508e+02] [ 7.54535944e-01 4.91805098e-01 -4.34514964e-01 2.08037905e+02] [ 5.03509382e-01 -9.19204748e-03 8.63940859e-01 6.48246125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.25, Y:208.06, Z:64.83 [[ 4.19725248e-01 -8.73206500e-01 -2.47671406e-01 3.06251827e+02] [ 7.55825060e-01 4.87336725e-01 -4.37300120e-01 2.08061724e+02] [ 5.02552679e-01 -3.65035451e-03 8.64538883e-01 6.48328398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.28, Y:208.07, Z:64.86 [[ 4.19740877e-01 -8.64742181e-01 -2.75750897e-01 3.06279812e+02] [ 7.53401651e-01 5.01368291e-01 -4.25459503e-01 2.08068602e+02] [ 5.06165534e-01 -2.91684364e-02 8.61942953e-01 6.48635655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.81275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.27, Y:208.10, Z:64.86 [[ 4.19776830e-01 -8.74191003e-01 -2.44085034e-01 3.06274344e+02] [ 7.52850496e-01 4.85574363e-01 -4.44335087e-01 2.08101609e+02] [ 5.06955170e-01 2.76203523e-03 8.61967997e-01 6.48643641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.29, Y:208.12, Z:64.88 [[ 4.17762135e-01 -8.73981272e-01 -2.48256995e-01 3.06287175e+02] [ 7.52592211e-01 4.85958117e-01 -4.44353095e-01 2.08120478e+02] [ 5.08998785e-01 -1.20238374e-03 8.60766398e-01 6.48795409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.31, Y:208.13, Z:64.90 [[ 4.18293355e-01 -8.69839485e-01 -2.61552939e-01 3.06305525e+02] [ 7.48983833e-01 4.93216059e-01 -4.42449022e-01 2.08132602e+02] [ 5.13861739e-01 -1.08254371e-02 8.57804711e-01 6.49011004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.33, Y:208.15, Z:64.92 [[ 4.17914943e-01 -8.64694892e-01 -2.78657216e-01 3.06326034e+02] [ 7.50551494e-01 5.01443097e-01 -4.30380385e-01 2.08148251e+02] [ 5.11878458e-01 -2.92841960e-02 8.58558606e-01 6.49227045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.32, Y:208.19, Z:64.92 [[ 4.17277238e-01 -8.76060625e-01 -2.41655722e-01 3.06316668e+02] [ 7.50470845e-01 4.82146244e-01 -4.52027112e-01 2.08186228e+02] [ 5.12516553e-01 7.26505057e-03 8.58646611e-01 6.49221126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.34, Y:208.20, Z:64.94 [[ 4.17172825e-01 -8.70244124e-01 -2.61996179e-01 3.06337756e+02] [ 7.51667496e-01 4.92424748e-01 -4.38763996e-01 2.08196740e+02] [ 5.10845191e-01 -1.38935961e-02 8.59560445e-01 6.49411260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.35, Y:208.22, Z:64.95 [[ 4.16726728e-01 -8.72041999e-01 -2.56674087e-01 3.06346277e+02] [ 7.49073054e-01 4.89391924e-01 -4.46525593e-01 2.08220255e+02] [ 5.15003295e-01 -6.18849287e-03 8.57165858e-01 6.49534175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.36, Y:208.24, Z:64.97 [[ 4.15878748e-01 -8.70197748e-01 -2.64198310e-01 3.06361194e+02] [ 7.49447613e-01 4.92503847e-01 -4.42457045e-01 2.08237980e+02] [ 5.15143808e-01 -1.39943105e-02 8.56989508e-01 6.49693909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.37, Y:208.26, Z:64.98 [[ 4.15143559e-01 -8.71034114e-01 -2.62593596e-01 3.06370044e+02] [ 7.50850896e-01 4.91028848e-01 -4.41716653e-01 2.08258242e+02] [ 5.13691305e-01 -1.37928135e-02 8.57864209e-01 6.49811788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.38, Y:208.28, Z:64.99 [[ 4.14751657e-01 -8.73812802e-01 -2.53835084e-01 3.06375826e+02] [ 7.49631201e-01 4.86245591e-01 -4.49019251e-01 2.08282708e+02] [ 5.15784960e-01 -4.05122037e-03 8.56708505e-01 6.49924613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.39, Y:208.30, Z:65.01 [[ 4.14048278e-01 -8.71297980e-01 -2.63446111e-01 3.06390887e+02] [ 7.50815814e-01 4.90535455e-01 -4.42324067e-01 2.08298360e+02] [ 5.14625724e-01 -1.46559880e-02 8.57289663e-01 6.50082135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.39, Y:208.32, Z:65.02 [[ 4.13121329e-01 -8.74833933e-01 -2.52975013e-01 3.06394740e+02] [ 7.49927110e-01 4.84409577e-01 -4.50507149e-01 2.08324979e+02] [ 5.16662460e-01 -3.59870853e-03 8.56181612e-01 6.50182217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.41, Y:208.34, Z:65.03 [[ 4.13399377e-01 -8.72544615e-01 -2.60320666e-01 3.06411552e+02] [ 7.50819878e-01 4.88396122e-01 -4.44678242e-01 2.08344095e+02] [ 5.15141209e-01 -1.16242227e-02 8.57026494e-01 6.50338763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.42, Y:208.36, Z:65.05 [[ 4.11774176e-01 -8.71743023e-01 -2.65529903e-01 3.06421758e+02] [ 7.51426063e-01 4.89653848e-01 -4.42264605e-01 2.08360121e+02] [ 5.15558823e-01 -1.74129464e-02 8.56677238e-01 6.50495149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.44, Y:208.37, Z:65.08 [[ 4.12392176e-01 -8.65295590e-01 -2.84949530e-01 3.06444666e+02] [ 7.47742078e-01 5.00175987e-01 -4.36698713e-01 2.08371398e+02] [ 5.20398383e-01 -3.29776209e-02 8.53286587e-01 6.50772708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.43, Y:208.41, Z:65.07 [[ 4.10898625e-01 -8.78042134e-01 -2.45365707e-01 3.06433859e+02] [ 7.48774702e-01 4.78560104e-01 -4.58602958e-01 2.08410641e+02] [ 5.20094958e-01 4.71569026e-03 8.54095426e-01 6.50744571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.29275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:306.45, Y:208.42, Z:65.09 [[ 4.09426896e-01 -8.74295671e-01 -2.60723408e-01 3.06452696e+02] [ 7.49612228e-01 4.85265555e-01 -4.50109819e-01 2.08424453e+02] [ 5.20049156e-01 -1.11543885e-02 8.54063496e-01 6.50923286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.46, Y:208.44, Z:65.11 [[ 4.08390374e-01 -8.74738643e-01 -2.60863201e-01 3.06463846e+02] [ 7.49659703e-01 4.84460494e-01 -4.50897284e-01 2.08444345e+02] [ 5.20795193e-01 -1.14165198e-02 8.53605313e-01 6.51064995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.47, Y:208.47, Z:65.12 [[ 4.06830078e-01 -8.78489138e-01 -2.50491758e-01 3.06467996e+02] [ 7.48177685e-01 4.77762308e-01 -4.60405614e-01 2.08468476e+02] [ 5.24136852e-01 -1.05491620e-04 8.51634047e-01 6.51171159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.49, Y:208.48, Z:65.14 [[ 4.08324679e-01 -8.70883326e-01 -2.73556555e-01 3.06492897e+02] [ 7.46768035e-01 4.91035896e-01 -4.48576917e-01 2.08475554e+02] [ 5.24984245e-01 -2.11182653e-02 8.50849905e-01 6.51402956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.50, Y:208.50, Z:65.15 [[ 4.07031541e-01 -8.74217371e-01 -2.64706088e-01 3.06500163e+02] [ 7.48651860e-01 4.85322952e-01 -4.51643692e-01 2.08501962e+02] [ 5.23302701e-01 -1.43394771e-02 8.52026210e-01 6.51504371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.51, Y:208.53, Z:65.16 [[ 4.05083731e-01 -8.76912900e-01 -2.58710143e-01 3.06508263e+02] [ 7.50306486e-01 4.80541037e-01 -4.54004944e-01 2.08526577e+02] [ 5.22443632e-01 -1.02018814e-02 8.52612792e-01 6.51626805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.52, Y:208.54, Z:65.18 [[ 4.03989134e-01 -8.76300296e-01 -2.62470133e-01 3.06519019e+02] [ 7.50841299e-01 4.81548517e-01 -4.52049079e-01 2.08543075e+02] [ 5.22522845e-01 -1.44504993e-02 8.52502821e-01 6.51773848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.53, Y:208.56, Z:65.19 [[ 4.02728127e-01 -8.76861066e-01 -2.62535192e-01 3.06530509e+02] [ 7.52258320e-01 4.80479776e-01 -4.50828797e-01 2.08563206e+02] [ 5.21457070e-01 -1.59328452e-02 8.53128753e-01 6.51915593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.54, Y:208.58, Z:65.21 [[ 4.03040507e-01 -8.77657562e-01 -2.59375314e-01 3.06540953e+02] [ 7.52999182e-01 4.79097701e-01 -4.51062773e-01 2.08583882e+02] [ 5.20144770e-01 -1.35128306e-02 8.53971206e-01 6.52052856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.55, Y:208.60, Z:65.22 [[ 4.01455621e-01 -8.78352351e-01 -2.59481275e-01 3.06550935e+02] [ 7.53454248e-01 4.77803396e-01 -4.51675338e-01 2.08603811e+02] [ 5.20711129e-01 -1.41796659e-02 8.53615169e-01 6.52194644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.57, Y:208.62, Z:65.24 [[ 4.03431044e-01 -8.73769287e-01 -2.71607485e-01 3.06572458e+02] [ 7.51320163e-01 4.85755837e-01 -4.46720584e-01 2.08619411e+02] [ 5.22265647e-01 -2.38432286e-02 8.52449467e-01 6.52416703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.57, Y:208.65, Z:65.25 [[ 4.03078416e-01 -8.79244441e-01 -2.53883839e-01 3.06574518e+02] [ 7.52507097e-01 4.76308314e-01 -4.54822447e-01 2.08649534e+02] [ 5.20827092e-01 -7.72027894e-03 8.53627283e-01 6.52461785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.59, Y:208.67, Z:65.26 [[ 4.03697479e-01 -8.76878915e-01 -2.60982210e-01 3.06588658e+02] [ 7.52419236e-01 4.80493069e-01 -4.50546007e-01 2.08667373e+02] [ 5.20474437e-01 -1.44837472e-02 8.53754404e-01 6.52620174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.60, Y:208.68, Z:65.28 [[ 4.02461227e-01 -8.74650512e-01 -2.70206298e-01 3.06599761e+02] [ 7.52760861e-01 4.84164796e-01 -4.46021902e-01 2.08680924e+02] [ 5.20937662e-01 -2.38942033e-02 8.53260230e-01 6.52789257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.61, Y:208.71, Z:65.29 [[ 4.04918278e-01 -8.76970920e-01 -2.58772474e-01 3.06605620e+02] [ 7.50973709e-01 4.80420000e-01 -4.53028821e-01 2.08706549e+02] [ 5.21612574e-01 -1.08916746e-02 8.53112944e-01 6.52900048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.62, Y:208.73, Z:65.30 [[ 4.06106499e-01 -8.76457342e-01 -2.58650420e-01 3.06616459e+02] [ 7.50225724e-01 4.81376136e-01 -4.53253107e-01 2.08726057e+02] [ 5.21765153e-01 -9.97716630e-03 8.53030821e-01 6.53032535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.63, Y:208.75, Z:65.32 [[ 4.07837114e-01 -8.75722937e-01 -2.58414833e-01 3.06628097e+02] [ 7.49325297e-01 4.82734412e-01 -4.53298012e-01 2.08746649e+02] [ 5.21709199e-01 -8.76501857e-03 8.53078359e-01 6.53176944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.64, Y:208.77, Z:65.33 [[ 4.11253896e-01 -8.74124100e-01 -2.58413025e-01 3.06639392e+02] [ 7.47170254e-01 4.85659416e-01 -4.53730695e-01 2.08767297e+02] [ 5.22117653e-01 -6.48000924e-03 8.52848853e-01 6.53324078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.65, Y:208.79, Z:65.35 [[ 4.12565018e-01 -8.73592976e-01 -2.58119001e-01 3.06650417e+02] [ 7.46591402e-01 4.86625636e-01 -4.53648288e-01 2.08787794e+02] [ 5.21911281e-01 -5.55001293e-03 8.52981719e-01 6.53464617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.66, Y:208.81, Z:65.36 [[ 4.13574317e-01 -8.73198176e-01 -2.57839541e-01 3.06661275e+02] [ 7.46157702e-01 4.87341726e-01 -4.53593129e-01 2.08807087e+02] [ 5.21732660e-01 -4.79449101e-03 8.53095566e-01 6.53604291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.67, Y:208.83, Z:65.38 [[ 4.13957838e-01 -8.73213188e-01 -2.57172388e-01 3.06673145e+02] [ 7.46610316e-01 4.87317295e-01 -4.52874033e-01 2.08826162e+02] [ 5.20780131e-01 -4.53680264e-03 8.53678788e-01 6.53752779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.68, Y:208.84, Z:65.39 [[ 4.13472267e-01 -8.73569769e-01 -2.56742173e-01 3.06684264e+02] [ 7.47229880e-01 4.86675937e-01 -4.52541753e-01 2.08844968e+02] [ 5.20277032e-01 -4.73195914e-03 8.53984437e-01 6.53889363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.69, Y:208.87, Z:65.40 [[ 4.10298137e-01 -8.78991232e-01 -2.42960599e-01 3.06689489e+02] [ 7.46877819e-01 4.76758004e-01 -4.63546470e-01 2.08871309e+02] [ 5.23286693e-01 8.73037105e-03 8.52111975e-01 6.54021179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.72, Y:208.88, Z:65.42 [[ 4.10666388e-01 -8.70439402e-01 -2.71456008e-01 3.06716437e+02] [ 7.50011926e-01 4.91785633e-01 -4.42299675e-01 2.08876290e+02] [ 5.18493229e-01 -2.19576336e-02 8.54799762e-01 6.54232590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.72, Y:208.91, Z:65.43 [[ 4.08594500e-01 -8.78408194e-01 -2.47890257e-01 3.06716122e+02] [ 7.49901918e-01 4.77910053e-01 -4.57437532e-01 2.08907522e+02] [ 5.20286122e-01 1.01308047e-03 8.53991408e-01 6.54311168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.73, Y:208.92, Z:65.45 [[ 4.07989825e-01 -8.74411362e-01 -2.62581554e-01 3.06734639e+02] [ 7.52242048e-01 4.84936449e-01 -4.46058901e-01 2.08918785e+02] [ 5.17374337e-01 -1.55373929e-02 8.55618130e-01 6.54478354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.74, Y:208.94, Z:65.46 [[ 4.05558592e-01 -8.77944129e-01 -2.54433360e-01 3.06743110e+02] [ 7.53291797e-01 4.78683138e-01 -4.51014326e-01 2.08942410e+02] [ 5.17758339e-01 -8.74982847e-03 8.55482170e-01 6.54601599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.75, Y:208.96, Z:65.47 [[ 4.04602925e-01 -8.78447035e-01 -2.54218960e-01 3.06754921e+02] [ 7.53845937e-01 4.77752392e-01 -4.51075331e-01 2.08962016e+02] [ 5.17699504e-01 -9.13553201e-03 8.55513744e-01 6.54738254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.77, Y:208.98, Z:65.49 [[ 4.02675579e-01 -8.77934431e-01 -2.59004852e-01 3.06768351e+02] [ 7.54219931e-01 4.78566983e-01 -4.49584184e-01 2.08978867e+02] [ 5.18656606e-01 -1.43100497e-02 8.54862883e-01 6.54908112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.78, Y:209.00, Z:65.50 [[ 4.02388814e-01 -8.79451655e-01 -2.54259766e-01 3.06777590e+02] [ 7.54362832e-01 4.75886273e-01 -4.52182456e-01 2.09001901e+02] [ 5.18671342e-01 -9.85095472e-03 8.54916954e-01 6.55036562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.79, Y:209.02, Z:65.51 [[ 4.02656797e-01 -8.80858436e-01 -2.48909458e-01 3.06787037e+02] [ 7.55131141e-01 4.73349770e-01 -4.53560311e-01 2.09024885e+02] [ 5.17343661e-01 -5.33014111e-03 8.55761138e-01 6.55143882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.80, Y:209.04, Z:65.53 [[ 4.02207461e-01 -8.79754537e-01 -2.53497757e-01 3.06800710e+02] [ 7.55158120e-01 4.75325990e-01 -4.51443703e-01 2.09043420e+02] [ 5.17653718e-01 -9.85686449e-03 8.55533442e-01 6.55300299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.81, Y:209.06, Z:65.54 [[ 4.01290096e-01 -8.80165153e-01 -2.53526255e-01 3.06811557e+02] [ 7.55347003e-01 4.74559176e-01 -4.51934170e-01 2.09062950e+02] [ 5.18089919e-01 -1.01435904e-02 8.55266007e-01 6.55438223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.82, Y:209.08, Z:65.56 [[ 4.00573225e-01 -8.80536804e-01 -2.53369351e-01 3.06822967e+02] [ 7.55675257e-01 4.73864543e-01 -4.52114256e-01 2.09083411e+02] [ 5.18165994e-01 -1.03600842e-02 8.55217324e-01 6.55581092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.85, Y:209.09, Z:65.59 [[ 3.99427152e-01 -8.74266020e-01 -2.75892873e-01 3.06847043e+02] [ 7.53026082e-01 4.84523240e-01 -4.45184175e-01 2.09090885e+02] [ 5.22885905e-01 -2.99358821e-02 8.51876853e-01 6.55870412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.85, Y:209.11, Z:65.60 [[ 3.98352082e-01 -8.77766993e-01 -2.66159209e-01 3.06854402e+02] [ 7.53048718e-01 4.78645099e-01 -4.51460405e-01 2.09114943e+02] [ 5.23672843e-01 -2.05906587e-02 8.51670581e-01 6.55999959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.37275509600005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:306.85, Y:209.15, Z:65.60 [[ 3.95586516e-01 -8.87374432e-01 -2.36807781e-01 3.06850619e+02] [ 7.56959706e-01 4.61032622e-01 -4.63099261e-01 2.09149572e+02] [ 5.20118556e-01 3.94187482e-03 8.54084978e-01 6.55970678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.88, Y:209.15, Z:65.63 [[ 3.95969354e-01 -8.75428008e-01 -2.77189598e-01 3.06884251e+02] [ 7.54205179e-01 4.82248516e-01 -4.45657848e-01 2.09149310e+02] [ 5.23815634e-01 -3.25909804e-02 8.51207971e-01 6.56338437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.87, Y:209.19, Z:65.63 [[ 3.94078896e-01 -8.86998343e-01 -2.40698492e-01 3.06874888e+02] [ 7.57303895e-01 4.61772511e-01 -4.61797530e-01 2.09187709e+02] [ 5.20761591e-01 -2.97244556e-04 8.53702101e-01 6.56279111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.90, Y:209.20, Z:65.66 [[ 3.95650165e-01 -8.79566743e-01 -2.64240973e-01 3.06900921e+02] [ 7.54733005e-01 4.75331981e-01 -4.52147762e-01 2.09197137e+02] [ 5.23296319e-01 -2.05390466e-02 8.51903228e-01 6.56553427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.90, Y:209.22, Z:65.66 [[ 3.94048018e-01 -8.83788849e-01 -2.52276495e-01 3.06901972e+02] [ 7.56413952e-01 4.67764380e-01 -4.57202820e-01 2.09222346e+02] [ 5.22076712e-01 -1.06655952e-02 8.52831843e-01 6.56605211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.91, Y:209.24, Z:65.68 [[ 3.94499187e-01 -8.83169179e-01 -2.53737251e-01 3.06913473e+02] [ 7.56140066e-01 4.68906689e-01 -4.56485177e-01 2.09241739e+02] [ 5.22132733e-01 -1.17778700e-02 8.52782910e-01 6.56754080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.92, Y:209.26, Z:65.69 [[ 3.96324699e-01 -8.82401502e-01 -2.53563250e-01 3.06923803e+02] [ 7.55140283e-01 4.70379898e-01 -4.56624467e-01 2.09261612e+02] [ 5.22197171e-01 -1.05042704e-02 8.52760092e-01 6.56897755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5827550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:306.93, Y:209.28, Z:65.70 [[ 3.97096036e-01 -8.82067196e-01 -2.53519625e-01 3.06934954e+02] [ 7.54501248e-01 4.71021670e-01 -4.57019095e-01 2.09282676e+02] [ 5.22534789e-01 -9.80040218e-03 8.52561638e-01 6.57033164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.95, Y:209.30, Z:65.72 [[ 3.99728113e-01 -8.78967031e-01 -2.60066132e-01 3.06952731e+02] [ 7.52525838e-01 4.76675017e-01 -4.54407077e-01 2.09301082e+02] [ 5.23375868e-01 -1.40672001e-02 8.51985807e-01 6.57246853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.96, Y:209.32, Z:65.74 [[ 4.01004002e-01 -8.77353073e-01 -2.63528700e-01 3.06963449e+02] [ 7.51389915e-01 4.79569739e-01 -4.53239519e-01 2.09319578e+02] [ 5.24031475e-01 -1.62619464e-02 8.51543635e-01 6.57408245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.67275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.96, Y:209.34, Z:65.75 [[ 3.99931747e-01 -8.81243774e-01 -2.51920640e-01 3.06964688e+02] [ 7.52485903e-01 4.72622380e-01 -4.58686223e-01 2.09344628e+02] [ 5.23277711e-01 -6.12354779e-03 8.52140211e-01 6.57462260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.99, Y:209.36, Z:65.77 [[ 4.00597782e-01 -8.75918344e-01 -2.68865156e-01 3.06987575e+02] [ 7.53180845e-01 4.81904450e-01 -4.47757430e-01 2.09358040e+02] [ 5.21766261e-01 -2.31334517e-02 8.52774772e-01 6.57712400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.73275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:306.98, Y:209.39, Z:65.77 [[ 3.98705915e-01 -8.83624843e-01 -2.45439873e-01 3.06983282e+02] [ 7.53272789e-01 4.68195078e-01 -4.61923667e-01 2.09388239e+02] [ 5.23080968e-01 -7.11479605e-04 8.52282696e-01 6.57720977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.00, Y:209.40, Z:65.79 [[ 3.97754412e-01 -8.82032712e-01 -2.52605865e-01 3.06997810e+02] [ 7.53946476e-01 4.71114288e-01 -4.57838443e-01 2.09404833e+02] [ 5.22834716e-01 -8.34404150e-03 8.52393241e-01 6.57890907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.01, Y:209.42, Z:65.80 [[ 3.96586384e-01 -8.82672244e-01 -2.52208149e-01 3.07008952e+02] [ 7.54860359e-01 4.69904519e-01 -4.57575766e-01 2.09424842e+02] [ 5.22403177e-01 -8.91361546e-03 8.52652021e-01 6.58027835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.82275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.02, Y:209.44, Z:65.82 [[ 3.94451763e-01 -8.83842300e-01 -2.51456945e-01 3.07019704e+02] [ 7.56779942e-01 4.67674722e-01 -4.56688597e-01 2.09444590e+02] [ 5.21240757e-01 -1.01559501e-02 8.53349243e-01 6.58157659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.03, Y:209.47, Z:65.83 [[ 3.92087348e-01 -8.85587316e-01 -2.49003247e-01 3.07030055e+02] [ 7.57610191e-01 4.64389325e-01 -4.58660390e-01 2.09468181e+02] [ 5.21818274e-01 -8.81246115e-03 8.53011154e-01 6.58303600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:209.49, Z:65.84 [[ 3.90593255e-01 -8.84750910e-01 -2.54269023e-01 3.07041830e+02] [ 7.60485641e-01 4.65767078e-01 -4.52462837e-01 2.09485517e+02] [ 5.18747047e-01 -1.66390082e-02 8.54765842e-01 6.58426617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.04, Y:209.52, Z:65.85 [[ 3.86672709e-01 -8.92434345e-01 -2.32476141e-01 3.07041432e+02] [ 7.62594110e-01 4.51173010e-01 -4.63565678e-01 2.09519158e+02] [ 5.18588892e-01 1.96326074e-03 8.55021466e-01 6.58485105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.06, Y:209.53, Z:65.86 [[ 3.86895204e-01 -8.89156039e-01 -2.44363746e-01 3.07057952e+02] [ 7.64246075e-01 4.57474806e-01 -4.54581938e-01 2.09534837e+02] [ 5.15984533e-01 -1.08784628e-02 8.56528821e-01 6.58630249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.97275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:307.08, Y:209.54, Z:65.89 [[ 3.89339894e-01 -8.82186297e-01 -2.64880698e-01 3.07081597e+02] [ 7.61012976e-01 4.70095923e-01 -4.47067191e-01 2.09543867e+02] [ 5.18915886e-01 -2.75165553e-02 8.54382316e-01 6.58894053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:209.57, Z:65.90 [[ 3.89117055e-01 -8.86855811e-01 -2.49147924e-01 3.07084743e+02] [ 7.61240432e-01 4.61875940e-01 -4.55174275e-01 2.09571002e+02] [ 5.18749382e-01 -1.25453993e-02 8.54834306e-01 6.58993654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.09, Y:209.59, Z:65.91 [[ 3.88812027e-01 -8.87059987e-01 -2.48897144e-01 3.07094955e+02] [ 7.61478661e-01 4.61483486e-01 -4.55173858e-01 2.09591165e+02] [ 5.18628438e-01 -1.25527932e-02 8.54907580e-01 6.59127562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.06275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:307.11, Y:209.62, Z:65.93 [[ 3.87588995e-01 -8.87962421e-01 -2.47583338e-01 3.07105042e+02] [ 7.61870624e-01 4.59764952e-01 -4.56255785e-01 2.09615144e+02] [ 5.18968133e-01 -1.17867508e-02 8.54712319e-01 6.59255490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.12, Y:209.63, Z:65.94 [[ 3.89895651e-01 -8.85683550e-01 -2.52083378e-01 3.07117789e+02] [ 7.61765114e-01 4.64022007e-01 -4.52103404e-01 2.09632174e+02] [ 5.17392784e-01 -1.57551720e-02 8.55602993e-01 6.59399295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:209.65, Z:65.95 [[ 3.90429785e-01 -8.86716644e-01 -2.47584685e-01 3.07126073e+02] [ 7.61564891e-01 4.62178340e-01 -4.54323782e-01 2.09654974e+02] [ 5.17284738e-01 -1.11702676e-02 8.55740454e-01 6.59520782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.14, Y:209.68, Z:65.96 [[ 3.92361712e-01 -8.86073000e-01 -2.46833803e-01 3.07136025e+02] [ 7.61352495e-01 4.63437155e-01 -4.53396495e-01 2.09676285e+02] [ 5.16134348e-01 -1.00321072e-02 8.56448885e-01 6.59641325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.15, Y:209.70, Z:65.98 [[ 3.93490693e-01 -8.85686568e-01 -2.46423170e-01 3.07146846e+02] [ 7.61060983e-01 4.64191554e-01 -4.53114093e-01 2.09697511e+02] [ 5.15704620e-01 -9.24688126e-03 8.56716546e-01 6.59774077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:209.72, Z:65.99 [[ 3.94573001e-01 -8.85267562e-01 -2.46198071e-01 3.07157726e+02] [ 7.60546297e-01 4.65005373e-01 -4.53143833e-01 2.09718521e+02] [ 5.15636962e-01 -8.44670877e-03 8.56765532e-01 6.59903460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.17, Y:209.74, Z:66.00 [[ 3.95925719e-01 -8.85630223e-01 -2.42697206e-01 3.07167223e+02] [ 7.59110095e-01 4.64377021e-01 -4.56186197e-01 2.09741659e+02] [ 5.16715289e-01 -3.61805092e-03 8.56149648e-01 6.60017729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:209.79, Z:65.99 [[ 3.96917922e-01 -8.95774223e-01 -2.00111730e-01 3.07159346e+02] [ 7.63763770e-01 4.43251634e-01 -4.69247156e-01 2.09786980e+02] [ 5.09039358e-01 3.34145163e-02 8.60094415e-01 6.59910854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.30275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.21, Y:209.76, Z:66.04 [[ 3.97957989e-01 -8.71944839e-01 -2.85204552e-01 3.07210898e+02] [ 7.59008458e-01 4.87554590e-01 -4.31505136e-01 2.09763276e+02] [ 5.15301465e-01 -4.47517511e-02 8.55839752e-01 6.60412880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.20, Y:209.80, Z:66.04 [[ 3.98167603e-01 -8.84033997e-01 -2.44839646e-01 3.07203540e+02] [ 7.59472759e-01 4.67386860e-01 -4.52493815e-01 2.09803524e+02] [ 5.14454749e-01 -5.78066353e-03 8.57498044e-01 6.60412453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:209.82, Z:66.05 [[ 3.97913823e-01 -8.84220492e-01 -2.44578640e-01 3.07215030e+02] [ 7.59713052e-01 4.67034057e-01 -4.52454714e-01 2.09824447e+02] [ 5.14296284e-01 -5.77159984e-03 8.57593156e-01 6.60548928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.23, Y:209.85, Z:66.07 [[ 3.97509483e-01 -8.84522377e-01 -2.44144170e-01 3.07226645e+02] [ 7.60280234e-01 4.66460371e-01 -4.52093672e-01 2.09845618e+02] [ 5.13770550e-01 -5.90646498e-03 8.57907300e-01 6.60682077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:209.89, Z:66.06 [[ 3.96025233e-01 -8.95222495e-01 -2.04305407e-01 3.07218611e+02] [ 7.61957971e-01 4.44551257e-01 -4.70950348e-01 2.09886461e+02] [ 5.12429571e-01 3.08360875e-02 8.58175431e-01 6.60632642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.26, Y:209.87, Z:66.10 [[ 3.95236746e-01 -8.76101083e-01 -2.76106513e-01 3.07264825e+02] [ 7.63171368e-01 4.80470966e-01 -4.32107757e-01 2.09870383e+02] [ 5.11231237e-01 -3.99317212e-02 8.58515044e-01 6.61033749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:209.93, Z:66.09 [[ 3.91412858e-01 -8.98697409e-01 -1.97835646e-01 3.07238227e+02] [ 7.63952146e-01 4.37200469e-01 -4.74587051e-01 2.09930489e+02] [ 5.13003990e-01 3.46225074e-02 8.57687699e-01 6.60888054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.29, Y:209.91, Z:66.13 [[ 3.91744746e-01 -8.75493965e-01 -2.82924676e-01 3.07291443e+02] [ 7.66328017e-01 4.80653932e-01 -4.26278275e-01 2.09907078e+02] [ 5.09192915e-01 -4.98208312e-02 8.59209206e-01 6.61315514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:209.95, Z:66.13 [[ 3.90094410e-01 -8.88602251e-01 -2.41272442e-01 3.07282353e+02] [ 7.66928905e-01 4.58571377e-01 -4.48923543e-01 2.09946804e+02] [ 5.09555107e-01 -9.91624544e-03 8.60380881e-01 6.61319903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:209.99, Z:66.13 [[ 3.87425526e-01 -9.00104544e-01 -1.99281888e-01 3.07270999e+02] [ 7.64496552e-01 4.34486735e-01 -4.76199853e-01 2.09989248e+02] [ 5.15214988e-01 3.21416621e-02 8.56458072e-01 6.61292587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.32, Y:209.97, Z:66.17 [[ 3.88239250e-01 -8.77802144e-01 -2.80595225e-01 3.07322888e+02] [ 7.68646024e-01 4.76411786e-01 -4.26866607e-01 2.09969034e+02] [ 5.08383295e-01 -4.99520325e-02 8.59680883e-01 6.61696586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.30, Y:210.03, Z:66.15 [[ 3.86823404e-01 -8.99444434e-01 -2.03389685e-01 3.07295681e+02] [ 7.68417952e-01 4.36331103e-01 -4.68133548e-01 2.10028773e+02] [ 5.09805360e-01 2.47967274e-02 8.59932333e-01 6.61542198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.34, Y:210.02, Z:66.19 [[ 3.86666289e-01 -8.81343829e-01 -2.71518390e-01 3.07339818e+02] [ 7.69869596e-01 4.70574869e-01 -4.31114949e-01 2.10015910e+02] [ 5.07730230e-01 -4.23361356e-02 8.60475255e-01 6.61920524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.32, Y:210.07, Z:66.18 [[ 3.85335979e-01 -8.99903973e-01 -2.04178899e-01 3.07316873e+02] [ 7.69015676e-01 4.35464971e-01 -4.67958491e-01 2.10069385e+02] [ 5.10030463e-01 2.33044693e-02 8.59840583e-01 6.61813629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.36, Y:210.06, Z:66.22 [[ 3.84657277e-01 -8.82643679e-01 -2.70146100e-01 3.07361340e+02] [ 7.70536066e-01 4.68181967e-01 -4.32527244e-01 2.10059099e+02] [ 5.08244970e-01 -4.17825609e-02 8.60198389e-01 6.62168564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.34, Y:210.11, Z:66.20 [[ 3.81871220e-01 -9.01459236e-01 -2.03827420e-01 3.07338448e+02] [ 7.71147862e-01 4.32340363e-01 -4.67346537e-01 2.10114881e+02] [ 5.09416673e-01 2.12851126e-02 8.60256704e-01 6.62042692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.36, Y:210.12, Z:66.23 [[ 3.82586856e-01 -8.93930038e-01 -2.33487440e-01 3.07364916e+02] [ 7.69911439e-01 4.48166923e-01 -4.54293721e-01 2.10122339e+02] [ 5.10748151e-01 -5.95784434e-03 8.59709736e-01 6.62280447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.37, Y:210.14, Z:66.24 [[ 3.81652701e-01 -8.94163885e-01 -2.34119976e-01 3.07374802e+02] [ 7.70278479e-01 4.47684922e-01 -4.54146756e-01 2.10142982e+02] [ 5.10893611e-01 -7.01124267e-03 8.59615357e-01 6.62398903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.39, Y:210.16, Z:66.25 [[ 3.80181449e-01 -8.93954717e-01 -2.37291024e-01 3.07385090e+02] [ 7.70785889e-01 4.48029557e-01 -4.52944400e-01 2.10163305e+02] [ 5.11225175e-01 -1.06995144e-02 8.59380208e-01 6.62534245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.39, Y:210.19, Z:66.27 [[ 3.79416015e-01 -8.95418583e-01 -2.32957184e-01 3.07391882e+02] [ 7.70879612e-01 4.45174532e-01 -4.55592209e-01 2.10185224e+02] [ 5.11652335e-01 -6.72296332e-03 8.59166276e-01 6.62654839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:210.19, Z:66.29 [[ 3.79154446e-01 -8.85998370e-01 -2.66924697e-01 3.07420113e+02] [ 7.74306903e-01 4.61726486e-01 -4.32732565e-01 2.10189050e+02] [ 5.06646549e-01 -4.26091597e-02 8.61100304e-01 6.62920955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.40, Y:210.24, Z:66.29 [[ 3.75582289e-01 -9.02863915e-01 -2.09224031e-01 3.07398228e+02] [ 7.73589270e-01 4.29727976e-01 -4.65718272e-01 2.10237252e+02] [ 5.10389642e-01 1.30620692e-02 8.59844053e-01 6.62863294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:210.25, Z:66.31 [[ 3.74815273e-01 -8.97201335e-01 -2.33545019e-01 3.07420561e+02] [ 7.74677733e-01 4.41478953e-01 -4.52736949e-01 2.10247140e+02] [ 5.09301405e-01 -1.12294027e-02 8.60514950e-01 6.63069799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.43, Y:210.27, Z:66.32 [[ 3.73908885e-01 -8.97270654e-01 -2.34728607e-01 3.07429480e+02] [ 7.75639378e-01 4.41279712e-01 -4.51282363e-01 2.10267294e+02] [ 5.08503394e-01 -1.33262657e-02 8.60956857e-01 6.63211006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.44, Y:210.29, Z:66.33 [[ 3.73288693e-01 -8.99006603e-01 -2.29003665e-01 3.07435727e+02] [ 7.76536737e-01 4.37848626e-01 -4.53077562e-01 2.10290744e+02] [ 5.07588661e-01 -8.70102775e-03 8.61555595e-01 6.63311973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.45, Y:210.31, Z:66.35 [[ 3.73863311e-01 -8.97185440e-01 -2.35126585e-01 3.07447962e+02] [ 7.74993596e-01 4.41458091e-01 -4.52216408e-01 2.10307433e+02] [ 5.09520510e-01 -1.31544744e-02 8.60357954e-01 6.63490026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.46, Y:210.33, Z:66.36 [[ 3.73514395e-01 -8.98129488e-01 -2.32056932e-01 3.07456900e+02] [ 7.74797022e-01 4.39615230e-01 -4.54343508e-01 2.10329354e+02] [ 5.10075064e-01 -1.00931788e-02 8.60070670e-01 6.63625740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.47, Y:210.35, Z:66.38 [[ 3.73863960e-01 -8.96872300e-01 -2.36317196e-01 3.07467172e+02] [ 7.74963466e-01 4.42059318e-01 -4.51680402e-01 2.10349234e+02] [ 5.09565860e-01 -1.42701699e-02 8.60313313e-01 6.63770679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.47, Y:210.38, Z:66.39 [[ 3.74320061e-01 -9.00358364e-01 -2.21899320e-01 3.07467700e+02] [ 7.72728156e-01 4.35146581e-01 -4.62102424e-01 2.10376249e+02] [ 5.12616513e-01 1.50635512e-03 8.58616353e-01 6.63874934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.50, Y:210.38, Z:66.41 [[ 3.76599445e-01 -8.90671891e-01 -2.54708541e-01 3.07496869e+02] [ 7.73005628e-01 4.53663296e-01 -4.43454522e-01 2.10383795e+02] [ 5.10524394e-01 -2.98864091e-02 8.59343730e-01 6.64129275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.49, Y:210.42, Z:66.42 [[ 3.76515632e-01 -8.98225702e-01 -2.26774264e-01 3.07488650e+02] [ 7.72999674e-01 4.39523950e-01 -4.57482460e-01 2.10417158e+02] [ 5.10595224e-01 -3.04713428e-03 8.59815813e-01 6.64162002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.51, Y:210.43, Z:66.44 [[ 3.78825308e-01 -8.90660294e-01 -2.51427180e-01 3.07513268e+02] [ 7.70349743e-01 4.54030513e-01 -4.47680206e-01 2.10426742e+02] [ 5.12886595e-01 -2.40942714e-02 8.58118178e-01 6.64428905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.50, Y:210.46, Z:66.44 [[ 3.78819148e-01 -8.99591594e-01 -2.17326982e-01 3.07501293e+02] [ 7.69078071e-01 4.36624822e-01 -4.66773699e-01 2.10462190e+02] [ 5.14796051e-01 9.68139900e-03 8.57258011e-01 6.64444397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.53, Y:210.47, Z:66.47 [[ 3.80389250e-01 -8.88413907e-01 -2.56952813e-01 3.07534933e+02] [ 7.74405875e-01 4.57863373e-01 -4.36642499e-01 2.10466221e+02] [ 5.05568551e-01 -3.28916554e-02 8.62159254e-01 6.64676995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.53, Y:210.50, Z:66.47 [[ 3.79857405e-01 -8.97081436e-01 -2.25728263e-01 3.07527198e+02] [ 7.71985778e-01 4.41864713e-01 -4.56939311e-01 2.10499998e+02] [ 5.09653127e-01 -6.87227681e-04 8.60379694e-01 6.64725659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:210.52, Z:66.49 [[ 3.81143366e-01 -8.93425383e-01 -2.37741075e-01 3.07544867e+02] [ 7.70992662e-01 4.49072271e-01 -4.51557760e-01 2.10516525e+02] [ 5.10196089e-01 -1.11883795e-02 8.59985332e-01 6.64908141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.56, Y:210.54, Z:66.51 [[ 3.80660900e-01 -8.93230351e-01 -2.39242176e-01 3.07556387e+02] [ 7.70957689e-01 4.49420904e-01 -4.51270532e-01 2.10536618e+02] [ 5.10608970e-01 -1.26645484e-02 8.59719773e-01 6.65060724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.56, Y:210.56, Z:66.52 [[ 3.79136687e-01 -8.95555476e-01 -2.32885726e-01 3.07561348e+02] [ 7.71922236e-01 4.44884946e-01 -4.54107308e-01 2.10558253e+02] [ 5.10285640e-01 -7.60092966e-03 8.59971390e-01 6.65159054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.44275509600004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:307.59, Y:210.57, Z:66.54 [[ 3.79354271e-01 -8.88919488e-01 -2.56734260e-01 3.07586766e+02] [ 7.70875464e-01 4.57104941e-01 -4.43628327e-01 2.10569370e+02] [ 5.11704364e-01 -2.96178411e-02 8.58650934e-01 6.65409892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:210.61, Z:66.54 [[ 3.76202716e-01 -8.99183986e-01 -2.23471868e-01 3.07577208e+02] [ 7.76369766e-01 4.37561557e-01 -4.53640683e-01 2.10605804e+02] [ 5.05689137e-01 -2.83594498e-03 8.62711107e-01 6.65378950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.59, Y:210.62, Z:66.55 [[ 3.75181125e-01 -8.96713986e-01 -2.34825788e-01 3.07591180e+02] [ 7.74971547e-01 4.42429303e-01 -4.51304125e-01 2.10619149e+02] [ 5.08584530e-01 -1.26625148e-02 8.60918949e-01 6.65543515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5327550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:307.61, Y:210.64, Z:66.57 [[ 3.76148250e-01 -8.94271077e-01 -2.42470070e-01 3.07607735e+02] [ 7.74350667e-01 4.47107674e-01 -4.47745209e-01 2.10636581e+02] [ 5.08815820e-01 -1.93382837e-02 8.60658174e-01 6.65718463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.56275509600005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:307.61, Y:210.67, Z:66.58 [[ 3.74258573e-01 -8.99563334e-01 -2.25202863e-01 3.07608808e+02] [ 7.76774025e-01 4.36760307e-01 -4.53720783e-01 2.10667024e+02] [ 5.06510252e-01 -5.12284192e-03 8.62218720e-01 6.65775720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.63, Y:210.68, Z:66.60 [[ 3.74845551e-01 -8.95653612e-01 -2.39364616e-01 3.07626655e+02] [ 7.75443893e-01 4.44408629e-01 -4.48539563e-01 2.10680664e+02] [ 5.08111781e-01 -1.74807700e-02 8.61113721e-01 6.65969546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.63, Y:210.71, Z:66.60 [[ 3.75370606e-01 -8.98118101e-01 -2.29086850e-01 3.07631247e+02] [ 7.75821921e-01 4.39683977e-01 -4.52524417e-01 2.10705845e+02] [ 5.07146187e-01 -7.86623543e-03 8.61824151e-01 6.66045396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:210.73, Z:66.62 [[ 3.73734401e-01 -8.97350705e-01 -2.34700471e-01 3.07644524e+02] [ 7.77338121e-01 4.41069896e-01 -4.48556342e-01 2.10725202e+02] [ 5.06031662e-01 -1.48006873e-02 8.62387904e-01 6.66205021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.65, Y:210.74, Z:66.63 [[ 3.76131484e-01 -8.97303102e-01 -2.31024349e-01 3.07651082e+02] [ 7.76180692e-01 4.41303133e-01 -4.50327746e-01 2.10744290e+02] [ 5.06032252e-01 -9.93419584e-03 8.62457345e-01 6.66290770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.66, Y:210.77, Z:66.64 [[ 3.74941707e-01 -8.99594804e-01 -2.23937278e-01 3.07658383e+02] [ 7.75782133e-01 4.36715522e-01 -4.55457611e-01 2.10770383e+02] [ 5.07524185e-01 -2.95648474e-03 8.61632439e-01 6.66422868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:210.78, Z:66.66 [[ 3.74558501e-01 -8.94706620e-01 -2.43322818e-01 3.07677040e+02] [ 7.75164411e-01 4.46156559e-01 -4.47285659e-01 2.10779519e+02] [ 5.08749511e-01 -2.10805434e-02 8.60656462e-01 6.66627069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.68, Y:210.81, Z:66.67 [[ 3.76659405e-01 -8.97357045e-01 -2.29952227e-01 3.07683274e+02] [ 7.73830152e-01 4.41253044e-01 -4.54403616e-01 2.10806718e+02] [ 5.09229407e-01 -6.78857107e-03 8.60604048e-01 6.66710481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.69, Y:210.83, Z:66.68 [[ 3.74701732e-01 -8.99785732e-01 -2.23571576e-01 3.07690798e+02] [ 7.74429336e-01 4.36329512e-01 -4.58121994e-01 2.10833059e+02] [ 5.09762510e-01 -1.48128283e-03 8.60313890e-01 6.66832625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.71, Y:210.84, Z:66.70 [[ 3.75189549e-01 -8.95509853e-01 -2.39363541e-01 3.07709287e+02] [ 7.72651811e-01 4.44788859e-01 -4.52959214e-01 2.10844712e+02] [ 5.12095676e-01 -1.49991102e-02 8.58797441e-01 6.67020017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.72, Y:210.86, Z:66.72 [[ 3.75053308e-01 -8.94560961e-01 -2.43096080e-01 3.07723050e+02] [ 7.72510446e-01 4.46563911e-01 -4.51451309e-01 2.10862951e+02] [ 5.12408653e-01 -1.84759545e-02 8.58542959e-01 6.67185080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.73, Y:210.89, Z:66.73 [[ 3.74791271e-01 -8.95650249e-01 -2.39462179e-01 3.07733723e+02] [ 7.72127821e-01 4.44516221e-01 -4.54118881e-01 2.10885645e+02] [ 5.13176511e-01 -1.46956179e-02 8.58157274e-01 6.67324319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.75, Y:210.90, Z:66.75 [[ 3.74792794e-01 -8.94717524e-01 -2.42921621e-01 3.07747390e+02] [ 7.71631223e-01 4.46286335e-01 -4.53225952e-01 2.10904874e+02] [ 5.13921802e-01 -1.75800863e-02 8.57656879e-01 6.67488473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.75, Y:210.93, Z:66.76 [[ 3.74030299e-01 -8.97093965e-01 -2.35210019e-01 3.07754501e+02] [ 7.71894175e-01 4.41714177e-01 -4.57239510e-01 2.10927964e+02] [ 5.14082405e-01 -1.05358130e-02 8.57676092e-01 6.67590683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.77, Y:210.94, Z:66.78 [[ 3.73843511e-01 -8.94229512e-01 -2.46159724e-01 3.07771865e+02] [ 7.72618058e-01 4.47083554e-01 -4.50752295e-01 2.10942953e+02] [ 5.13129969e-01 -2.16766270e-02 8.58037155e-01 6.67766337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.78, Y:210.97, Z:66.79 [[ 3.73062880e-01 -8.97251643e-01 -2.36143127e-01 3.07779287e+02] [ 7.73158794e-01 4.41337984e-01 -4.55462692e-01 2.10966660e+02] [ 5.12883581e-01 -1.26599113e-02 8.58364817e-01 6.67878359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:210.99, Z:66.80 [[ 3.72590143e-01 -8.97194092e-01 -2.37106194e-01 3.07791195e+02] [ 7.73495266e-01 4.41416371e-01 -4.54814975e-01 2.10986095e+02] [ 5.12719864e-01 -1.39409423e-02 8.58442771e-01 6.68020151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.80, Y:211.01, Z:66.81 [[ 3.72178838e-01 -8.97525019e-01 -2.36498951e-01 3.07801687e+02] [ 7.74160135e-01 4.40741461e-01 -4.54338035e-01 2.11005591e+02] [ 5.12014647e-01 -1.39930577e-02 8.58862734e-01 6.68142916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.81, Y:211.03, Z:66.83 [[ 3.71578828e-01 -8.99455632e-01 -2.30019001e-01 3.07811337e+02] [ 7.74209101e-01 4.36940093e-01 -4.57912244e-01 2.11028309e+02] [ 5.12376270e-01 -7.93230913e-03 8.58724424e-01 6.68273620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.83, Y:211.04, Z:66.84 [[ 3.71449980e-01 -8.96712833e-01 -2.40688610e-01 3.07828425e+02] [ 7.75494396e-01 4.42193403e-01 -4.50636700e-01 2.11043431e+02] [ 5.10522628e-01 -1.92636751e-02 8.59648508e-01 6.68434579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.84, Y:211.06, Z:66.86 [[ 3.71846028e-01 -8.97382555e-01 -2.37560691e-01 3.07838724e+02] [ 7.73959070e-01 4.41002247e-01 -4.54427526e-01 2.11064796e+02] [ 5.12560133e-01 -1.48851805e-02 8.58522301e-01 6.68594486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.85, Y:211.09, Z:66.87 [[ 3.71457389e-01 -8.98744386e-01 -2.32976257e-01 3.07846579e+02] [ 7.74164219e-01 4.38341471e-01 -4.56647037e-01 2.11087517e+02] [ 5.12532117e-01 -1.07369662e-02 8.58600924e-01 6.68710318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.86, Y:211.10, Z:66.89 [[ 3.73060984e-01 -8.95766249e-01 -2.41719525e-01 3.07862995e+02] [ 7.73062000e-01 4.44164240e-01 -4.52872248e-01 2.11104145e+02] [ 5.13030844e-01 -1.79152130e-02 8.58183196e-01 6.68891056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.87, Y:211.13, Z:66.90 [[ 3.74230598e-01 -8.97274697e-01 -2.34199866e-01 3.07867446e+02] [ 7.72629157e-01 4.41355469e-01 -4.56343660e-01 2.11125962e+02] [ 5.12831011e-01 -1.01718844e-02 8.58429314e-01 6.68986010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.88, Y:211.15, Z:66.91 [[ 3.75245996e-01 -8.97373931e-01 -2.32186283e-01 3.07877086e+02] [ 7.71699686e-01 4.41210612e-01 -4.58053262e-01 2.11147082e+02] [ 5.13488109e-01 -7.29542970e-03 8.58065696e-01 6.69117611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.89, Y:211.17, Z:66.93 [[ 3.75374657e-01 -8.97599501e-01 -2.31103880e-01 3.07886450e+02] [ 7.70709437e-01 4.40778924e-01 -4.60131399e-01 2.11168437e+02] [ 5.14879434e-01 -5.39227497e-03 8.57245643e-01 6.69257146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.90, Y:211.19, Z:66.94 [[ 3.77005525e-01 -8.96696877e-01 -2.31951599e-01 3.07899071e+02] [ 7.69965096e-01 4.42613199e-01 -4.59616479e-01 2.11189985e+02] [ 5.14801501e-01 -5.31668318e-03 8.57292918e-01 6.69401144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.91, Y:211.21, Z:66.95 [[ 3.78531467e-01 -8.95153651e-01 -2.35401508e-01 3.07910666e+02] [ 7.69075481e-01 4.45692484e-01 -4.58127836e-01 2.11208079e+02] [ 5.15011488e-01 -7.62572644e-03 8.57149354e-01 6.69547219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.92, Y:211.23, Z:66.97 [[ 3.79608467e-01 -8.96012889e-01 -2.30343906e-01 3.07918938e+02] [ 7.69303403e-01 4.44019062e-01 -4.59368422e-01 2.11232513e+02] [ 5.13877111e-01 -2.82420834e-03 8.57859160e-01 6.69664005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.93, Y:211.25, Z:66.98 [[ 3.80962131e-01 -8.92985953e-01 -2.39674658e-01 3.07933199e+02] [ 7.69068500e-01 4.49940604e-01 -4.53968165e-01 2.11248614e+02] [ 5.13226555e-01 -1.13815495e-02 8.58177699e-01 6.69824223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.94, Y:211.27, Z:67.00 [[ 3.81111123e-01 -8.93905237e-01 -2.35982497e-01 3.07941689e+02] [ 7.68144732e-01 4.48201182e-01 -4.57241042e-01 2.11271729e+02] [ 5.14497796e-01 -7.00906491e-03 8.57463055e-01 6.69975878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.95, Y:211.30, Z:67.01 [[ 3.80853744e-01 -8.96249692e-01 -2.27347566e-01 3.07945212e+02] [ 7.67841483e-01 4.43547381e-01 -4.62260941e-01 2.11295509e+02] [ 5.15140644e-01 1.48691810e-03 8.57104373e-01 6.70072345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.95, Y:211.32, Z:67.02 [[ 3.78436356e-01 -8.98159449e-01 -2.23820303e-01 3.07949063e+02] [ 7.65016635e-01 4.39616125e-01 -4.70624279e-01 2.11318785e+02] [ 5.21090657e-01 6.87508212e-03 8.53473644e-01 6.70237346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.55275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.98, Y:211.32, Z:67.05 [[ 3.80742000e-01 -8.85170328e-01 -2.67411707e-01 3.07982444e+02] [ 7.65890518e-01 4.63925352e-01 -4.45179720e-01 2.11317807e+02] [ 5.18118948e-01 -3.53094738e-02 8.54579427e-01 6.70515875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.97, Y:211.36, Z:67.05 [[ 3.80440590e-01 -8.96896132e-01 -2.25482339e-01 3.07970221e+02] [ 7.65175865e-01 4.42207227e-01 -4.67930192e-01 2.11356085e+02] [ 5.19394699e-01 5.48599416e-03 8.54516852e-01 6.70513307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.99, Y:211.37, Z:67.07 [[ 3.79240936e-01 -8.92993157e-01 -2.42362401e-01 3.07989786e+02] [ 7.66713237e-01 4.49906424e-01 -4.57968364e-01 2.11372061e+02] [ 5.18003016e-01 -1.21421101e-02 8.55292608e-01 6.70714703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.99, Y:211.40, Z:67.08 [[ 3.77794089e-01 -8.98130372e-01 -2.25018801e-01 3.07989548e+02] [ 7.66961177e-01 4.39711218e-01 -4.67359173e-01 2.11397815e+02] [ 5.18692760e-01 3.98484825e-03 8.54951427e-01 6.70790698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.00, Y:211.41, Z:67.10 [[ 3.73461422e-01 -8.96946600e-01 -2.36671424e-01 3.08004735e+02] [ 7.69291597e-01 4.42030469e-01 -4.61301966e-01 2.11414494e+02] [ 5.18379210e-01 -9.79084946e-03 8.55094810e-01 6.70968200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.02, Y:211.43, Z:67.11 [[ 3.71693098e-01 -8.97225816e-01 -2.38390596e-01 3.08016733e+02] [ 7.68642257e-01 4.41430964e-01 -4.62955489e-01 2.11434551e+02] [ 5.20608607e-01 -1.11597254e-02 8.53722519e-01 6.71139861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.02, Y:211.46, Z:67.12 [[ 3.68335995e-01 -8.99830016e-01 -2.33740321e-01 3.08022258e+02] [ 7.71108473e-01 4.36139843e-01 -4.63868257e-01 2.11456498e+02] [ 5.19346048e-01 -9.37976606e-03 8.54512553e-01 6.71229992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.02, Y:211.49, Z:67.13 [[ 3.65130319e-01 -9.04499960e-01 -2.20362592e-01 3.08023753e+02] [ 7.72697153e-01 4.26471407e-01 -4.70171511e-01 2.11485316e+02] [ 5.19248457e-01 1.40032645e-03 8.54622185e-01 6.71309717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.04, Y:211.50, Z:67.15 [[ 3.63460476e-01 -9.01622157e-01 -2.34465284e-01 3.08039816e+02] [ 7.73663647e-01 4.32327665e-01 -4.63181770e-01 2.11499181e+02] [ 5.18980775e-01 -1.30490004e-02 8.54686304e-01 6.71480549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.82275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.05, Y:211.52, Z:67.16 [[ 3.61379031e-01 -9.02694248e-01 -2.33555755e-01 3.08049099e+02] [ 7.75076997e-01 4.30063408e-01 -4.62926684e-01 2.11520702e+02] [ 5.18325039e-01 -1.37316969e-02 8.55073444e-01 6.71619139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.05, Y:211.55, Z:67.17 [[ 3.60308236e-01 -9.07187847e-01 -2.17228418e-01 3.08050965e+02] [ 7.77078365e-01 4.20725792e-01 -4.68122870e-01 2.11550667e+02] [ 5.16068977e-01 -1.34978708e-04 8.56547017e-01 6.71673611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.07, Y:211.56, Z:67.19 [[ 3.59842370e-01 -9.03871878e-01 -2.31363561e-01 3.08068931e+02] [ 7.78054657e-01 4.27560872e-01 -4.60241949e-01 2.11563870e+02] [ 5.14921760e-01 -1.43989422e-02 8.57116241e-01 6.71858090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.91275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:308.08, Y:211.58, Z:67.20 [[ 3.58158901e-01 -9.05150327e-01 -2.28965253e-01 3.08075148e+02] [ 7.76978301e-01 4.24934792e-01 -4.64472973e-01 2.11583779e+02] [ 5.17713166e-01 -1.15459037e-02 8.55476341e-01 6.72016156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.09, Y:211.60, Z:67.22 [[ 3.58709050e-01 -9.03201111e-01 -2.35702292e-01 3.08088717e+02] [ 7.78666217e-01 4.28786951e-01 -4.58061866e-01 2.11600277e+02] [ 5.14788053e-01 -1.92224758e-02 8.57101952e-01 6.72154480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.09, Y:211.62, Z:67.23 [[ 3.58343176e-01 -9.05367859e-01 -2.27813979e-01 3.08094621e+02] [ 7.78724302e-01 4.24462489e-01 -4.61974087e-01 2.11624545e+02] [ 5.14954978e-01 -1.18590208e-02 8.57135190e-01 6.72271382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.10, Y:211.65, Z:67.24 [[ 3.58290101e-01 -9.06531625e-01 -2.23223244e-01 3.08102319e+02] [ 7.79095014e-01 4.22065296e-01 -4.63542712e-01 2.11647431e+02] [ 5.14430913e-01 -7.82935151e-03 8.57496086e-01 6.72382689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.12, Y:211.66, Z:67.26 [[ 3.58633547e-01 -9.03731657e-01 -2.33775687e-01 3.08116748e+02] [ 7.77032410e-01 4.27798283e-01 -4.61745886e-01 2.11661410e+02] [ 5.17303212e-01 -1.60537211e-02 8.55651603e-01 6.72577774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.12, Y:211.69, Z:67.27 [[ 3.58236740e-01 -9.06262136e-01 -2.24400043e-01 3.08119665e+02] [ 7.77622358e-01 4.22645183e-01 -4.65483102e-01 2.11686866e+02] [ 5.16691307e-01 -7.74534125e-03 8.56136731e-01 6.72662937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.13, Y:211.71, Z:67.28 [[ 3.58098263e-01 -9.06640042e-01 -2.23090719e-01 3.08128468e+02] [ 7.77023576e-01 4.21861676e-01 -4.67190635e-01 2.11708996e+02] [ 5.17687161e-01 -6.04659310e-03 8.55548621e-01 6.72797999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.15, Y:211.72, Z:67.30 [[ 3.59491246e-01 -9.02105257e-01 -2.38688393e-01 3.08146051e+02] [ 7.77931125e-01 4.30989630e-01 -4.57242937e-01 2.11720422e+02] [ 5.15353480e-01 -2.13082966e-02 8.56712757e-01 6.72956616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.14, Y:211.75, Z:67.31 [[ 3.57154164e-01 -9.08037015e-01 -2.18882805e-01 3.08144993e+02] [ 7.77894974e-01 4.18879416e-01 -4.68422292e-01 2.11752096e+02] [ 5.17030281e-01 -2.96886143e-03 8.55961958e-01 6.73053986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.17, Y:211.76, Z:67.33 [[ 3.60436859e-01 -8.99668464e-01 -2.46337014e-01 3.08169732e+02] [ 7.77163683e-01 4.35689286e-01 -4.54083093e-01 2.11756995e+02] [ 5.15850637e-01 -2.77758973e-02 8.56228135e-01 6.73278800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.16, Y:211.80, Z:67.33 [[ 3.58050555e-01 -9.10876740e-01 -2.05191047e-01 3.08157883e+02] [ 7.78009430e-01 4.12557151e-01 -4.73812118e-01 2.11798302e+02] [ 5.16237471e-01 1.00081220e-02 8.56387010e-01 6.73307840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.18, Y:211.81, Z:67.35 [[ 3.56300111e-01 -9.06478543e-01 -2.26598506e-01 3.08177602e+02] [ 7.79104921e-01 4.22097959e-01 -4.63496316e-01 2.11811350e+02] [ 5.15796232e-01 -1.14002227e-02 8.56635443e-01 6.73492032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.19, Y:211.83, Z:67.36 [[ 3.57625349e-01 -9.05039583e-01 -2.30233498e-01 3.08189812e+02] [ 7.78962093e-01 4.25080912e-01 -4.61003553e-01 2.11829332e+02] [ 5.15094328e-01 -1.44766114e-02 8.57011237e-01 6.73634344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.19, Y:211.86, Z:67.37 [[ 3.57325402e-01 -9.10635852e-01 -2.07511211e-01 3.08185812e+02] [ 7.79138436e-01 4.13154276e-01 -4.71430633e-01 2.11861803e+02] [ 5.15035781e-01 6.77418030e-03 8.57141911e-01 6.73690603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.21, Y:211.87, Z:67.39 [[ 3.57925977e-01 -9.03949122e-01 -2.34019186e-01 3.08209859e+02] [ 7.77431904e-01 4.27312141e-01 -4.61523531e-01 2.11869866e+02] [ 5.17193030e-01 -1.67427205e-02 8.55705003e-01 6.73948560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.20, Y:211.91, Z:67.39 [[ 3.57533873e-01 -9.11896966e-01 -2.01527797e-01 3.08199960e+02] [ 7.78090269e-01 4.10204342e-01 -4.75718331e-01 2.11907142e+02] [ 5.16473680e-01 1.32786000e-02 8.56200103e-01 6.73926515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.23, Y:211.91, Z:67.42 [[ 3.60400822e-01 -9.02939031e-01 -2.34120382e-01 3.08226421e+02] [ 7.76386191e-01 4.29488056e-01 -4.61264015e-01 2.11911643e+02] [ 5.17045191e-01 -1.55279013e-02 8.55817244e-01 6.74170530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.24, Y:211.93, Z:67.44 [[ 3.60663247e-01 -9.03081227e-01 -2.33165862e-01 3.08237374e+02] [ 7.74567038e-01 4.29270867e-01 -4.64513107e-01 2.11932141e+02] [ 5.19584379e-01 -1.30697858e-02 8.54319176e-01 6.74359407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.24, Y:211.96, Z:67.45 [[ 3.61560490e-01 -9.05985502e-01 -2.20146049e-01 3.08240122e+02] [ 7.72308170e-01 4.23306916e-01 -4.73657413e-01 2.11956718e+02] [ 5.22316094e-01 1.23521430e-03 8.52751061e-01 6.74465690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.25, Y:211.98, Z:67.46 [[ 3.61568361e-01 -9.04717029e-01 -2.25289629e-01 3.08253113e+02] [ 7.73240361e-01 4.25990617e-01 -4.69714102e-01 2.11976490e+02] [ 5.20929615e-01 -4.36927594e-03 8.53588452e-01 6.74600829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.26, Y:212.00, Z:67.47 [[ 3.62189209e-01 -9.04836600e-01 -2.23807290e-01 3.08262518e+02] [ 7.72416844e-01 4.25753422e-01 -4.71281490e-01 2.11996050e+02] [ 5.21719461e-01 -2.17945068e-03 8.53114327e-01 6.74729011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.28, Y:212.01, Z:67.50 [[ 3.61335914e-01 -9.01064375e-01 -2.39831921e-01 3.08282799e+02] [ 7.70650334e-01 4.33389669e-01 -4.67195309e-01 2.12009918e+02] [ 5.24913726e-01 -1.60121061e-02 8.51004814e-01 6.74986038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.29, Y:212.04, Z:67.51 [[ 3.61782698e-01 -9.04837439e-01 -2.24460438e-01 3.08286369e+02] [ 7.70799648e-01 4.25754369e-01 -4.73921006e-01 2.12038215e+02] [ 5.24386481e-01 -1.55760706e-03 8.51478944e-01 6.75071351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.30, Y:212.06, Z:67.52 [[ 3.61637651e-01 -9.03913368e-01 -2.28383085e-01 3.08298721e+02] [ 7.70853249e-01 4.27682466e-01 -4.72094246e-01 2.12057218e+02] [ 5.24407741e-01 -5.32278905e-03 8.51450638e-01 6.75216565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.31, Y:212.08, Z:67.54 [[ 3.63675279e-01 -9.02909725e-01 -2.29116389e-01 3.08306094e+02] [ 7.70027394e-01 4.29801765e-01 -4.71516972e-01 2.12077458e+02] [ 5.24211888e-01 -4.94682930e-03 8.51573500e-01 6.75362198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.33, Y:212.09, Z:67.56 [[ 3.65200010e-01 -8.97737822e-01 -2.46365085e-01 3.08326005e+02] [ 7.67895082e-01 4.40111446e-01 -4.65445010e-01 2.12090214e+02] [ 5.26275684e-01 -1.92020150e-02 8.50097164e-01 6.75612552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.32, Y:212.13, Z:67.56 [[ 3.65535891e-01 -9.05603240e-01 -2.15095989e-01 3.08318525e+02] [ 7.69995322e-01 4.24037681e-01 -4.76759110e-01 2.12125501e+02] [ 5.22963400e-01 8.64966052e-03 8.52311250e-01 6.75617600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.33, Y:212.14, Z:67.58 [[ 3.65009784e-01 -9.02756116e-01 -2.27594492e-01 3.08334363e+02] [ 7.70186559e-01 4.30139405e-01 -4.70948784e-01 2.12140116e+02] [ 5.23049254e-01 -3.38930456e-03 8.52295718e-01 6.75785170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.34, Y:212.16, Z:67.59 [[ 3.64052996e-01 -9.03193884e-01 -2.27390027e-01 3.08344477e+02] [ 7.70639138e-01 4.29216447e-01 -4.71050487e-01 2.12160996e+02] [ 5.23049458e-01 -3.74831380e-03 8.52294089e-01 6.75925500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.37, Y:212.17, Z:67.62 [[ 3.62414705e-01 -8.98846236e-01 -2.46436657e-01 3.08365457e+02] [ 7.69431776e-01 4.37758427e-01 -4.65126113e-01 2.12171848e+02] [ 5.25956579e-01 -2.10476516e-02 8.50250947e-01 6.76180294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.36, Y:212.21, Z:67.62 [[ 3.59919234e-01 -9.08135865e-01 -2.13886408e-01 3.08356446e+02] [ 7.72660332e-01 4.18625086e-01 -4.77230603e-01 2.12207045e+02] [ 5.22928442e-01 6.50292977e-03 8.52351780e-01 6.76160231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.37, Y:212.22, Z:67.63 [[ 3.57883339e-01 -9.05832372e-01 -2.26687513e-01 3.08371430e+02] [ 7.73644472e-01 4.23582799e-01 -4.71223772e-01 2.12222345e+02] [ 5.22870679e-01 -6.73240470e-03 8.52385434e-01 6.76326526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.87275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.38, Y:212.24, Z:67.65 [[ 3.54530168e-01 -9.07234953e-01 -2.26347301e-01 3.08379304e+02] [ 7.75405077e-01 4.20538193e-01 -4.71056891e-01 2.12242796e+02] [ 5.22546961e-01 -8.50696752e-03 8.52568065e-01 6.76460088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.39, Y:212.26, Z:67.66 [[ 3.52864966e-01 -9.07940666e-01 -2.26119577e-01 3.08387612e+02] [ 7.76185430e-01 4.18996421e-01 -4.71145602e-01 2.12262539e+02] [ 5.22515545e-01 -9.25994376e-03 8.52579474e-01 6.76595676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.40, Y:212.28, Z:67.67 [[ 3.51138888e-01 -9.08672124e-01 -2.25868221e-01 3.08396179e+02] [ 7.77031075e-01 4.17389285e-01 -4.71178198e-01 2.12283104e+02] [ 5.22421469e-01 -1.00576380e-02 8.52628086e-01 6.76735437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.42, Y:212.30, Z:67.70 [[ 3.52107922e-01 -9.03597634e-01 -2.43990423e-01 3.08418369e+02] [ 7.75145612e-01 4.27629928e-01 -4.65061206e-01 2.12296502e+02] [ 5.24565813e-01 -2.53763708e-02 8.50991626e-01 6.76984343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.99275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.41, Y:212.33, Z:67.70 [[ 3.49658758e-01 -9.11689442e-01 -2.15780246e-01 3.08410442e+02] [ 7.77750155e-01 4.10877273e-01 -4.75693771e-01 2.12328886e+02] [ 5.22344188e-01 -1.49262675e-03 8.52733441e-01 6.76991764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.42, Y:212.35, Z:67.72 [[ 3.48782808e-01 -9.09721839e-01 -2.25292542e-01 3.08424544e+02] [ 7.78202674e-01 4.15073938e-01 -4.71289957e-01 2.12345050e+02] [ 5.22255829e-01 -1.09454240e-02 8.52718621e-01 6.77151687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.05275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.43, Y:212.37, Z:67.72 [[ 3.48443025e-01 -9.13065499e-01 -2.11893495e-01 3.08427850e+02] [ 7.79433053e-01 4.07812564e-01 -4.75576522e-01 2.12374531e+02] [ 5.20645344e-01 5.54528561e-04 8.53772873e-01 6.77226260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.45, Y:212.38, Z:67.75 [[ 3.47012667e-01 -9.07388064e-01 -2.37126783e-01 3.08449058e+02] [ 7.78796917e-01 4.19669910e-01 -4.66210821e-01 2.12383240e+02] [ 5.22549110e-01 -2.28925475e-02 8.52301801e-01 6.77470062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.11275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:308.45, Y:212.42, Z:67.75 [[ 3.46707012e-01 -9.14128897e-01 -2.10149011e-01 3.08445554e+02] [ 7.80233749e-01 4.05421980e-01 -4.76306956e-01 2.12418765e+02] [ 5.20604980e-01 1.17361115e-03 8.53796859e-01 6.77508463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.46, Y:212.43, Z:67.77 [[ 3.45895807e-01 -9.11956200e-01 -2.20662594e-01 3.08460156e+02] [ 7.80334767e-01 4.10190719e-01 -4.72039432e-01 2.12434276e+02] [ 5.20993035e-01 -8.91423344e-03 8.53514378e-01 6.77670781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.48, Y:212.44, Z:67.79 [[ 3.44624969e-01 -9.06730143e-01 -2.43051599e-01 3.08479922e+02] [ 7.80366369e-01 4.20628018e-01 -4.62709845e-01 2.12443319e+02] [ 5.21787276e-01 -3.02079272e-02 8.52540626e-01 6.77915838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.47, Y:212.48, Z:67.79 [[ 3.44645954e-01 -9.15540569e-01 -2.07375583e-01 3.08473964e+02] [ 7.81754150e-01 4.02220070e-01 -4.76528556e-01 2.12482029e+02] [ 5.19691847e-01 2.11691620e-03 8.54351159e-01 6.77924577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.49, Y:212.50, Z:67.81 [[ 3.43983871e-01 -9.12757650e-01 -2.20337397e-01 3.08490905e+02] [ 7.82312221e-01 4.08364439e-01 -4.70346758e-01 2.12498365e+02] [ 5.19290560e-01 -1.05809397e-02 8.54532245e-01 6.78103386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:212.51, Z:67.83 [[ 3.42583031e-01 -9.07736791e-01 -2.42179241e-01 3.08509124e+02] [ 7.81587488e-01 4.18409160e-01 -4.62660538e-01 2.12506027e+02] [ 5.21304005e-01 -3.07846150e-02 8.52815597e-01 6.78349862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:212.53, Z:67.84 [[ 3.42163721e-01 -9.12756499e-01 -2.23158154e-01 3.08508580e+02] [ 7.82057304e-01 4.08283643e-01 -4.70840568e-01 2.12534601e+02] [ 5.20874613e-01 -1.34179036e-02 8.53527737e-01 6.78440838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:212.56, Z:67.85 [[ 3.41930729e-01 -9.17115641e-01 -2.04895773e-01 3.08506196e+02] [ 7.78956050e-01 3.98577174e-01 -4.84111257e-01 2.12560237e+02] [ 5.25652784e-01 5.92771318e-03 8.50678561e-01 6.78534950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.53, Y:212.57, Z:67.87 [[ 3.42897236e-01 -9.10360965e-01 -2.31655777e-01 3.08529397e+02] [ 7.80653573e-01 4.13326414e-01 -4.68765693e-01 2.12571376e+02] [ 5.22495440e-01 -2.01044496e-02 8.52405025e-01 6.78738605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.53, Y:212.61, Z:67.88 [[ 3.42810532e-01 -9.16882172e-01 -2.04470099e-01 3.08527479e+02] [ 7.82978491e-01 3.99142961e-01 -4.77105418e-01 2.12610537e+02] [ 5.19062253e-01 3.46107293e-03 8.54729430e-01 6.78781133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.41275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.55, Y:212.62, Z:67.90 [[ 3.43548149e-01 -9.11478387e-01 -2.26233992e-01 3.08548583e+02] [ 7.82399748e-01 4.11026180e-01 -4.67876173e-01 2.12621691e+02] [ 5.19447113e-01 -1.62674246e-02 8.54347744e-01 6.78989042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.56, Y:212.64, Z:67.91 [[ 3.45250605e-01 -9.09958066e-01 -2.29735364e-01 3.08559276e+02] [ 7.82395174e-01 4.14255891e-01 -4.65026717e-01 2.12639656e+02] [ 5.18324040e-01 -1.91930841e-02 8.54968897e-01 6.79139248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:212.65, Z:67.93 [[ 3.45664491e-01 -9.07647723e-01 -2.38100126e-01 3.08570344e+02] [ 7.80896804e-01 4.18940967e-01 -4.63345064e-01 2.12653234e+02] [ 5.20303990e-01 -2.57696916e-02 8.53592222e-01 6.79331735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:212.68, Z:67.94 [[ 3.45464564e-01 -9.12414293e-01 -2.19441091e-01 3.08568995e+02] [ 7.80232424e-01 4.09193778e-01 -4.73072739e-01 2.12681257e+02] [ 5.21432259e-01 -7.78518712e-03 8.53257166e-01 6.79425060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.58, Y:212.70, Z:67.96 [[ 3.47290821e-01 -9.11051491e-01 -2.22203212e-01 3.08579453e+02] [ 7.79693950e-01 4.12181965e-01 -4.71363312e-01 2.12701015e+02] [ 5.21024405e-01 -9.55034845e-03 8.53488348e-01 6.79570020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:212.72, Z:67.97 [[ 3.48051683e-01 -9.10802747e-01 -2.22032391e-01 3.08588119e+02] [ 7.79281890e-01 4.12745827e-01 -4.71551289e-01 2.12720908e+02] [ 5.21133152e-01 -8.90160130e-03 8.53428966e-01 6.79703403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.60, Y:212.74, Z:67.98 [[ 3.49759573e-01 -9.10236064e-01 -2.21672167e-01 3.08596161e+02] [ 7.78723665e-01 4.14017035e-01 -4.71359043e-01 2.12742124e+02] [ 5.20824054e-01 -7.75902459e-03 8.53628785e-01 6.79829990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.60, Y:212.76, Z:68.00 [[ 3.50491962e-01 -9.10002969e-01 -2.21472306e-01 3.08604806e+02] [ 7.78358319e-01 4.14540472e-01 -4.71502412e-01 2.12762460e+02] [ 5.20877829e-01 -7.12700630e-03 8.53601484e-01 6.79965910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.61, Y:212.78, Z:68.01 [[ 3.50794354e-01 -9.09949351e-01 -2.21213699e-01 3.08613825e+02] [ 7.78291909e-01 4.14664167e-01 -4.71503269e-01 2.12783249e+02] [ 5.20773488e-01 -6.76814763e-03 8.53668066e-01 6.80097543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.62, Y:212.80, Z:68.02 [[ 3.50727772e-01 -9.10052489e-01 -2.20894764e-01 3.08622903e+02] [ 7.78491591e-01 4.14439806e-01 -4.71370862e-01 2.12803004e+02] [ 5.20519810e-01 -6.64186439e-03 8.53823760e-01 6.80220282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.63, Y:212.82, Z:68.04 [[ 3.49720592e-01 -9.10459585e-01 -2.20814067e-01 3.08632558e+02] [ 7.78728896e-01 4.13539368e-01 -4.71769539e-01 2.12823336e+02] [ 5.20842408e-01 -6.96677201e-03 8.53624420e-01 6.80354108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.63, Y:212.86, Z:68.04 [[ 3.48256256e-01 -9.16470625e-01 -1.96975061e-01 3.08632476e+02] [ 7.80992344e-01 3.99883043e-01 -4.79733792e-01 2.12857880e+02] [ 5.18428915e-01 1.32342795e-02 8.55018312e-01 6.80392832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.67, Y:212.86, Z:68.07 [[ 3.45572362e-01 -9.06250252e-01 -2.43495838e-01 3.08665783e+02] [ 7.81266545e-01 4.21591265e-01 -4.60307931e-01 2.12855153e+02] [ 5.19809897e-01 -3.11654528e-02 8.53713292e-01 6.80684581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.66, Y:212.89, Z:68.08 [[ 3.43548750e-01 -9.13040066e-01 -2.19845614e-01 3.08663601e+02] [ 7.81964734e-01 4.07748669e-01 -4.71457504e-01 2.12885733e+02] [ 5.20101347e-01 -9.94288114e-03 8.54046678e-01 6.80760249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.67, Y:212.91, Z:68.09 [[ 3.41349450e-01 -9.14030886e-01 -2.19153126e-01 3.08674016e+02] [ 7.82923642e-01 4.05507851e-01 -4.71798636e-01 2.12906222e+02] [ 5.20106838e-01 -1.05319590e-02 8.54036272e-01 6.80889198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.86275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.68, Y:212.93, Z:68.10 [[ 3.38189492e-01 -9.17241700e-01 -2.10465036e-01 3.08678869e+02] [ 7.82819138e-01 3.98319167e-01 -4.78054431e-01 2.12931505e+02] [ 5.22323717e-01 -3.08307301e-03 8.52741713e-01 6.81015028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:308.69, Y:212.95, Z:68.12 [[ 3.37764981e-01 -9.14817960e-01 -2.21411193e-01 3.08693886e+02] [ 7.83077706e-01 4.03638374e-01 -4.73144131e-01 2.12948064e+02] [ 5.22210803e-01 -1.35706509e-02 8.52708458e-01 6.81184321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.71, Y:212.97, Z:68.13 [[ 3.37712443e-01 -9.13351940e-01 -2.27461072e-01 3.08707504e+02] [ 7.84202212e-01 4.06674445e-01 -4.68660631e-01 2.12965339e+02] [ 5.20554702e-01 -2.01029492e-02 8.53591632e-01 6.81331618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.71, Y:212.99, Z:68.14 [[ 3.37320777e-01 -9.15202626e-01 -2.20496818e-01 3.08713959e+02] [ 7.84793703e-01 4.02745592e-01 -4.71057144e-01 2.12988562e+02] [ 5.19916856e-01 -1.41471526e-02 8.54099714e-01 6.81449680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.72, Y:213.01, Z:68.16 [[ 3.37846120e-01 -9.15460962e-01 -2.18612043e-01 3.08723255e+02] [ 7.84582201e-01 4.02224679e-01 -4.71853874e-01 2.13010228e+02] [ 5.19894960e-01 -1.21051176e-02 8.54144424e-01 6.81581012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.73, Y:213.03, Z:68.17 [[ 3.37202915e-01 -9.17147774e-01 -2.12448006e-01 3.08728898e+02] [ 7.83550516e-01 3.98506269e-01 -4.76698377e-01 2.13033693e+02] [ 5.21864717e-01 -5.71966211e-03 8.53009087e-01 6.81698909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.74, Y:213.05, Z:68.18 [[ 3.39531271e-01 -9.14732367e-01 -2.19050708e-01 3.08742481e+02] [ 7.81613037e-01 4.03940610e-01 -4.75303107e-01 2.13051371e+02] [ 5.23258613e-01 -9.83262077e-03 8.52117212e-01 6.81846018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.76, Y:213.07, Z:68.20 [[ 3.40917147e-01 -9.12409476e-01 -2.26460696e-01 3.08756866e+02] [ 7.82044743e-01 4.08934837e-01 -4.70295991e-01 2.13069124e+02] [ 5.21710186e-01 -1.67704296e-02 8.52957932e-01 6.81999022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.76, Y:213.10, Z:68.21 [[ 3.40019085e-01 -9.16663216e-01 -2.10037067e-01 3.08757550e+02] [ 7.80526362e-01 3.99660228e-01 -4.80676920e-01 2.13098073e+02] [ 5.24562314e-01 -5.00141224e-04 8.51371910e-01 6.82103138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:213.11, Z:68.23 [[ 3.44229597e-01 -9.11225993e-01 -2.26214887e-01 3.08776094e+02] [ 7.78712918e-01 4.11695340e-01 -4.73405893e-01 2.13107599e+02] [ 5.24511369e-01 -1.31961347e-02 8.51301172e-01 6.82252051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.79, Y:213.13, Z:68.24 [[ 3.44813478e-01 -9.11665128e-01 -2.23540512e-01 3.08785487e+02] [ 7.79621610e-01 4.10779038e-01 -4.72705752e-01 2.13129851e+02] [ 5.22775106e-01 -1.12817001e-02 8.52395983e-01 6.82382027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.79, Y:213.16, Z:68.25 [[ 3.43121933e-01 -9.15034127e-01 -2.12084618e-01 3.08788748e+02] [ 7.78647259e-01 4.03376369e-01 -4.80620382e-01 2.13155751e+02] [ 5.25333975e-01 -2.27711878e-04 8.50896094e-01 6.82500930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:213.17, Z:68.27 [[ 3.44581048e-01 -9.10545379e-01 -2.28409752e-01 3.08809297e+02] [ 7.79750962e-01 4.13099805e-01 -4.70464652e-01 2.13166883e+02] [ 5.22735439e-01 -1.59895206e-02 8.52344998e-01 6.82672755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.81, Y:213.19, Z:68.28 [[ 3.43906591e-01 -9.13407893e-01 -2.17748196e-01 3.08814330e+02] [ 7.80197953e-01 4.06993210e-01 -4.75023874e-01 2.13191391e+02] [ 5.22512593e-01 -6.52285603e-03 8.52606616e-01 6.82783138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.82, Y:213.21, Z:68.29 [[ 3.42743501e-01 -9.13922398e-01 -2.17422957e-01 3.08824504e+02] [ 7.80887303e-01 4.05828284e-01 -4.74887802e-01 2.13211210e+02] [ 5.22246984e-01 -7.01811928e-03 8.52765404e-01 6.82921557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.84, Y:213.23, Z:68.31 [[ 3.40910123e-01 -9.13389917e-01 -2.22484039e-01 3.08839538e+02] [ 7.83214591e-01 4.06846033e-01 -4.70160834e-01 2.13227865e+02] [ 5.19956914e-01 -1.39701578e-02 8.54078241e-01 6.83076964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.84, Y:213.26, Z:68.32 [[ 3.38508143e-01 -9.18803519e-01 -2.03008206e-01 3.08838487e+02] [ 7.81482278e-01 3.94684425e-01 -4.83228366e-01 2.13256706e+02] [ 5.24116100e-01 4.92942170e-03 8.51632558e-01 6.83180596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:213.27, Z:68.34 [[ 3.39208024e-01 -9.12971968e-01 -2.26760011e-01 3.08862598e+02] [ 7.83231501e-01 4.07609126e-01 -4.69471209e-01 2.13265855e+02] [ 5.21043503e-01 -1.83571830e-02 8.53332691e-01 6.83370633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:213.30, Z:68.35 [[ 3.37082970e-01 -9.18257738e-01 -2.07792681e-01 3.08861824e+02] [ 7.82327481e-01 3.95982931e-01 -4.80792294e-01 2.13296027e+02] [ 5.23773599e-01 -4.95030526e-04 8.51857366e-01 6.83475600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.88, Y:213.31, Z:68.36 [[ 3.38105322e-01 -9.15153945e-01 -2.19494985e-01 3.08877535e+02] [ 7.82043869e-01 4.02956871e-01 -4.75429434e-01 2.13310880e+02] [ 5.23538135e-01 -1.09094858e-02 8.51932394e-01 6.83638249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.89, Y:213.33, Z:68.38 [[ 3.39475546e-01 -9.12646256e-01 -2.27668979e-01 3.08891297e+02] [ 7.82823141e-01 4.08316443e-01 -4.69537659e-01 2.13326637e+02] [ 5.21482774e-01 -1.88279924e-02 8.53054056e-01 6.83781947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:213.35, Z:68.39 [[ 3.42614487e-01 -9.14350923e-01 -2.15818683e-01 3.08896089e+02] [ 7.80989909e-01 4.04883549e-01 -4.75525051e-01 2.13351603e+02] [ 5.22178203e-01 -5.63044243e-03 8.52817813e-01 6.83887835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:213.37, Z:68.40 [[ 3.42414475e-01 -9.14565195e-01 -2.15227394e-01 3.08904590e+02] [ 7.81654165e-01 4.04399184e-01 -4.74845307e-01 2.13371727e+02] [ 5.21314774e-01 -5.63948189e-03 8.53345829e-01 6.84017062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:213.39, Z:68.42 [[ 3.45196007e-01 -9.13620462e-01 -2.14796108e-01 3.08913796e+02] [ 7.80697250e-01 4.06549753e-01 -4.74583082e-01 2.13393375e+02] [ 5.20914119e-01 -3.86654568e-03 8.53600334e-01 6.84162528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:213.42, Z:68.43 [[ 3.44499830e-01 -9.17421536e-01 -1.99142139e-01 3.08912986e+02] [ 7.78948292e-01 3.97738857e-01 -4.84812706e-01 2.13420869e+02] [ 5.23984184e-01 1.18964655e-02 8.51644908e-01 6.84262101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:213.43, Z:68.45 [[ 3.46890197e-01 -9.08355080e-01 -2.33577052e-01 3.08940491e+02] [ 7.80099765e-01 4.17690690e-01 -4.65809880e-01 2.13427104e+02] [ 5.20683731e-01 -2.06285220e-02 8.53500391e-01 6.84483108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.94, Y:213.46, Z:68.46 [[ 3.48254525e-01 -9.12546311e-01 -2.14424850e-01 3.08938402e+02] [ 7.79076765e-01 4.08970355e-01 -4.75165911e-01 2.13456920e+02] [ 5.21304306e-01 -1.57473988e-03 8.53369404e-01 6.84559120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.67275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.95, Y:213.48, Z:68.47 [[ 3.48654458e-01 -9.12646633e-01 -2.13345242e-01 3.08945840e+02] [ 7.78404005e-01 4.08749460e-01 -4.76456802e-01 2.13477428e+02] [ 5.22041449e-01 4.99975071e-05 8.52920115e-01 6.84686342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.95, Y:213.50, Z:68.48 [[ 3.47152581e-01 -9.14006245e-01 -2.09946828e-01 3.08953179e+02] [ 7.78581949e-01 4.05690816e-01 -4.78774593e-01 2.13501274e+02] [ 5.22776467e-01 2.74702518e-03 8.52465377e-01 6.84825685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:213.52, Z:68.50 [[ 3.47018530e-01 -9.11742700e-01 -2.19780322e-01 3.08966885e+02] [ 7.79135057e-01 4.10703833e-01 -4.73572512e-01 2.13516909e+02] [ 5.22040901e-01 -6.90011667e-03 8.52892541e-01 6.84982213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:213.54, Z:68.51 [[ 3.46497823e-01 -9.13373134e-01 -2.13749333e-01 3.08972558e+02] [ 7.79643180e-01 4.07119596e-01 -4.75825752e-01 2.13540481e+02] [ 5.21628000e-01 -1.77562278e-03 8.53171188e-01 6.85102779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.98, Y:213.56, Z:68.52 [[ 3.45251489e-01 -9.13698186e-01 -2.14375920e-01 3.08981138e+02] [ 7.80922573e-01 4.06377158e-01 -4.74360138e-01 2.13561436e+02] [ 5.20539475e-01 -3.63745093e-03 8.53829857e-01 6.85244095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.98, Y:213.59, Z:68.54 [[ 3.42828955e-01 -9.16742526e-01 -2.05064499e-01 3.08984588e+02] [ 7.80794851e-01 3.99452258e-01 -4.80413670e-01 2.13587282e+02] [ 5.22329118e-01 4.58641125e-03 8.52731644e-01 6.85371813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.00, Y:213.60, Z:68.55 [[ 3.40382619e-01 -9.14572822e-01 -2.18394655e-01 3.08999569e+02] [ 7.83038954e-01 4.04294358e-01 -4.72647932e-01 2.13601396e+02] [ 5.20566680e-01 -1.01303815e-02 8.53760919e-01 6.85537296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.00, Y:213.62, Z:68.56 [[ 3.39524188e-01 -9.17406713e-01 -2.07577091e-01 3.09001974e+02] [ 7.82436756e-01 3.97950849e-01 -4.78986268e-01 2.13624563e+02] [ 5.22030698e-01 2.11477787e-04 8.52926671e-01 6.85640833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.01, Y:213.64, Z:68.58 [[ 3.38942212e-01 -9.16412959e-01 -2.12850807e-01 3.09013725e+02] [ 7.83045065e-01 4.00198978e-01 -4.76110496e-01 2.13643159e+02] [ 5.21496503e-01 -5.29782944e-03 8.53236972e-01 6.85786990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:213.67, Z:68.59 [[ 3.37496189e-01 -9.16820493e-01 -2.13392843e-01 3.09022856e+02] [ 7.84036581e-01 3.99239967e-01 -4.75283166e-01 2.13665552e+02] [ 5.20944299e-01 -6.90153795e-03 8.53562772e-01 6.85931834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.03, Y:213.69, Z:68.60 [[ 3.37113237e-01 -9.17792746e-01 -2.09788325e-01 3.09026534e+02] [ 7.83159955e-01 3.97048671e-01 -4.78552858e-01 2.13687464e+02] [ 5.22508517e-01 -2.97131169e-03 8.52628888e-01 6.86044315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.03, Y:213.71, Z:68.62 [[ 3.34993375e-01 -9.19467139e-01 -2.05814527e-01 3.09031808e+02] [ 7.82940430e-01 3.93166696e-01 -4.82103965e-01 2.13712482e+02] [ 5.24198171e-01 3.61120005e-04 8.51596235e-01 6.86182714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.05, Y:213.73, Z:68.63 [[ 3.35977483e-01 -9.15795018e-01 -2.20087745e-01 3.09046907e+02] [ 7.83460071e-01 4.01433995e-01 -4.74384932e-01 2.13728305e+02] [ 5.22790061e-01 -1.30473050e-02 8.52361614e-01 6.86347278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.05, Y:213.75, Z:68.65 [[ 3.36219191e-01 -9.17290385e-01 -2.13389328e-01 3.09051574e+02] [ 7.83242325e-01 3.98164369e-01 -4.77489891e-01 2.13752467e+02] [ 5.22960913e-01 -6.59428834e-03 8.52331156e-01 6.86467374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.06, Y:213.77, Z:68.66 [[ 3.36436402e-01 -9.17553731e-01 -2.11909648e-01 3.09059297e+02] [ 7.82880369e-01 3.97581711e-01 -4.78567770e-01 2.13774013e+02] [ 5.23363043e-01 -4.89228458e-03 8.52095764e-01 6.86599739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.07, Y:213.80, Z:68.67 [[ 3.36874954e-01 -9.18072831e-01 -2.08943873e-01 3.09066015e+02] [ 7.81730834e-01 3.96410046e-01 -4.81410405e-01 2.13796193e+02] [ 5.24797264e-01 -1.16275970e-03 8.51226456e-01 6.86734610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.08, Y:213.81, Z:68.69 [[ 3.36698909e-01 -9.16786138e-01 -2.14795303e-01 3.09077719e+02] [ 7.82186206e-01 3.99317469e-01 -4.78257564e-01 2.13814684e+02] [ 5.24231422e-01 -6.98112342e-03 8.51547227e-01 6.86883755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.08, Y:213.85, Z:68.69 [[ 3.35788112e-01 -9.21320510e-01 -1.95997095e-01 3.09075742e+02] [ 7.83648363e-01 3.88696965e-01 -4.84571886e-01 2.13846606e+02] [ 5.22629493e-01 9.12067584e-03 8.52511130e-01 6.86940852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.10, Y:213.85, Z:68.72 [[ 3.35521895e-01 -9.14853470e-01 -2.24651255e-01 3.09098992e+02] [ 7.82940210e-01 4.03427897e-01 -4.73551010e-01 2.13853081e+02] [ 5.23860368e-01 -1.70017688e-02 8.51634461e-01 6.87182224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.10, Y:213.88, Z:68.73 [[ 3.34522656e-01 -9.18459435e-01 -2.11013883e-01 3.09100868e+02] [ 7.83496429e-01 3.95483677e-01 -4.79297411e-01 2.13880244e+02] [ 5.23667775e-01 -4.99278045e-03 8.51907937e-01 6.87288882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2727550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:309.11, Y:213.90, Z:68.74 [[ 3.32836429e-01 -9.19185996e-01 -2.10516070e-01 3.09110267e+02] [ 7.84714641e-01 3.93780037e-01 -4.78706814e-01 2.13901163e+02] [ 5.22917626e-01 -5.86397626e-03 8.52363051e-01 6.87434062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.12, Y:213.92, Z:68.76 [[ 3.29996255e-01 -9.20320039e-01 -2.10032135e-01 3.09119793e+02] [ 7.86395104e-01 3.91096596e-01 -4.78148714e-01 2.13920381e+02] [ 5.22192696e-01 -7.38095748e-03 8.52795585e-01 6.87566005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.14, Y:213.93, Z:68.78 [[ 3.29089723e-01 -9.16353786e-01 -2.28025643e-01 3.09140098e+02] [ 7.85272987e-01 3.99682306e-01 -4.72864030e-01 2.13933163e+02] [ 5.24448558e-01 -2.34476853e-02 8.51119214e-01 6.87814719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.13, Y:213.97, Z:68.78 [[ 3.26794801e-01 -9.24426025e-01 -1.96574878e-01 3.09132071e+02] [ 7.87936812e-01 3.81348794e-01 -4.83454939e-01 2.13966529e+02] [ 5.21881920e-01 3.10197784e-03 8.53012098e-01 6.87813288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.15, Y:213.98, Z:68.80 [[ 3.25353666e-01 -9.22201006e-01 -2.09022239e-01 3.09147551e+02] [ 7.88895852e-01 3.86594700e-01 -4.77690143e-01 2.13981205e+02] [ 5.21333220e-01 -9.47853816e-03 8.53300552e-01 6.87981124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.16, Y:214.00, Z:68.81 [[ 3.23205540e-01 -9.22999524e-01 -2.08830211e-01 3.09156944e+02] [ 7.89729032e-01 3.84658705e-01 -4.77876277e-01 2.14001819e+02] [ 5.21407935e-01 -1.04670207e-02 8.53243346e-01 6.88119172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:214.02, Z:68.83 [[ 3.21936128e-01 -9.23463362e-01 -2.08740384e-01 3.09165561e+02] [ 7.90041613e-01 3.83530549e-01 -4.78266210e-01 2.14022463e+02] [ 5.21719636e-01 -1.09424181e-02 8.53046824e-01 6.88252826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.17, Y:214.04, Z:68.84 [[ 3.20832483e-01 -9.23872254e-01 -2.08630237e-01 3.09174261e+02] [ 7.90316319e-01 3.82533254e-01 -4.78610933e-01 2.14043896e+02] [ 5.21983365e-01 -1.13299463e-02 8.52880413e-01 6.88390036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:309.18, Y:214.07, Z:68.85 [[ 3.20910102e-01 -9.23870320e-01 -2.08519397e-01 3.09182894e+02] [ 7.90131373e-01 3.82545484e-01 -4.78906427e-01 2.14065313e+02] [ 5.22215588e-01 -1.10718066e-02 8.52741634e-01 6.88528709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.19, Y:214.09, Z:68.86 [[ 3.21723221e-01 -9.26143296e-01 -1.96857217e-01 3.09185774e+02] [ 7.90176552e-01 3.77171813e-01 -4.83076019e-01 2.14093490e+02] [ 5.21646610e-01 -1.35184000e-04 8.53161647e-01 6.88608493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.20, Y:214.10, Z:68.88 [[ 3.21245768e-01 -9.22188213e-01 -2.15337078e-01 3.09202918e+02] [ 7.88572363e-01 3.86404781e-01 -4.78377438e-01 2.14103745e+02] [ 5.24361311e-01 -1.61321405e-02 8.51343039e-01 6.88820258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.21, Y:214.13, Z:68.89 [[ 3.22057228e-01 -9.25121170e-01 -2.01072036e-01 3.09205590e+02] [ 7.89222445e-01 3.79658189e-01 -4.82687883e-01 2.14132529e+02] [ 5.22883424e-01 -3.23744216e-03 8.52398055e-01 6.88893874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.22, Y:214.15, Z:68.91 [[ 3.22302205e-01 -9.23279162e-01 -2.08990136e-01 3.09218079e+02] [ 7.88501259e-01 3.84000850e-01 -4.80425969e-01 2.14150432e+02] [ 5.23819676e-01 -9.94663659e-03 8.51771103e-01 6.89061181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:214.17, Z:68.93 [[ 3.22569457e-01 -9.21248339e-01 -2.17371669e-01 3.09232642e+02] [ 7.87368418e-01 3.88612873e-01 -4.78571844e-01 2.14168853e+02] [ 5.25356945e-01 -1.67789278e-02 8.50716491e-01 6.89260123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.23, Y:214.20, Z:68.93 [[ 3.21577616e-01 -9.25498827e-01 -2.00099370e-01 3.09230923e+02] [ 7.89023606e-01 3.78743329e-01 -4.83730544e-01 2.14198385e+02] [ 5.23478353e-01 -2.32621175e-03 8.52035799e-01 6.89327287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.25, Y:214.21, Z:68.96 [[ 3.21337149e-01 -9.21354036e-01 -2.18744546e-01 3.09249074e+02] [ 7.88077851e-01 3.88265271e-01 -4.77685440e-01 2.14209990e+02] [ 5.25048319e-01 -1.88896547e-02 8.50862765e-01 6.89550908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:214.23, Z:68.97 [[ 3.22786769e-01 -9.21694780e-01 -2.15145149e-01 3.09257556e+02] [ 7.85795034e-01 3.87680615e-01 -4.81902381e-01 2.14231141e+02] [ 5.27574513e-01 -1.35082770e-02 8.49401354e-01 6.89706067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.26, Y:214.25, Z:68.98 [[ 3.22546519e-01 -9.22848190e-01 -2.10511191e-01 3.09264326e+02] [ 7.85913865e-01 3.85049383e-01 -4.83814396e-01 2.14254814e+02] [ 5.27544444e-01 -9.39101478e-03 8.49475526e-01 6.89837351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.27, Y:214.28, Z:68.99 [[ 3.20155913e-01 -9.25299055e-01 -2.03277764e-01 3.09267606e+02] [ 7.88364408e-01 3.79203166e-01 -4.84444547e-01 2.14279486e+02] [ 5.25339654e-01 -5.15916767e-03 8.50876978e-01 6.89930340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.28, Y:214.30, Z:69.01 [[ 3.18697849e-01 -9.24892704e-01 -2.07376874e-01 3.09278790e+02] [ 7.89007755e-01 3.80102151e-01 -4.82689462e-01 2.14298298e+02] [ 5.25260358e-01 -9.78986849e-03 8.50885254e-01 6.90083277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.29, Y:214.32, Z:69.03 [[ 3.17786446e-01 -9.24021476e-01 -2.12593713e-01 3.09291710e+02] [ 7.89093699e-01 3.82050188e-01 -4.81008096e-01 2.14318397e+02] [ 5.25683279e-01 -1.48985059e-02 8.50549896e-01 6.90264819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.30, Y:214.34, Z:69.04 [[ 3.16115015e-01 -9.26351114e-01 -2.04804567e-01 3.09295137e+02] [ 7.90524635e-01 3.76548235e-01 -4.82992990e-01 2.14341932e+02] [ 5.24539893e-01 -9.22171915e-03 8.51335927e-01 6.90362812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.30, Y:214.36, Z:69.05 [[ 3.15672696e-01 -9.26942336e-01 -2.02802008e-01 3.09303224e+02] [ 7.91076170e-01 3.75120672e-01 -4.83200761e-01 2.14364534e+02] [ 5.23974468e-01 -7.89854905e-03 8.51697346e-01 6.90493177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.30, Y:214.40, Z:69.05 [[ 3.13095959e-01 -9.32569369e-01 -1.79681085e-01 3.09297559e+02] [ 7.94607231e-01 3.60849701e-01 -4.88248749e-01 2.14397547e+02] [ 5.20163694e-01 1.00928210e-02 8.54006948e-01 6.90493189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:214.41, Z:69.07 [[ 3.13439007e-01 -9.27313129e-01 -2.04563805e-01 3.09321060e+02] [ 7.93589585e-01 3.74096223e-01 -4.79862049e-01 2.14409162e+02] [ 5.21508925e-01 -1.19322210e-02 8.53162390e-01 6.90733227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:214.44, Z:69.08 [[ 3.12291469e-01 -9.30318336e-01 -1.92306611e-01 3.09322882e+02] [ 7.94213601e-01 3.66750239e-01 -4.84478089e-01 2.14436485e+02] [ 5.21247345e-01 -1.43415138e-03 8.53404446e-01 6.90828284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.35, Y:214.44, Z:69.12 [[ 3.13600935e-01 -9.21302262e-01 -2.29905624e-01 3.09352647e+02] [ 7.90656984e-01 3.87435549e-01 -4.74083568e-01 2.14438812e+02] [ 5.25847875e-01 -3.31034372e-02 8.49934218e-01 6.91166290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:214.48, Z:69.11 [[ 3.13558342e-01 -9.32111116e-01 -1.81245785e-01 3.09334829e+02] [ 7.91790614e-01 3.62012968e-01 -4.91949424e-01 2.14480883e+02] [ 5.24164851e-01 1.07461347e-02 8.51549018e-01 6.91102299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:214.49, Z:69.13 [[ 3.13536742e-01 -9.27196153e-01 -2.04943906e-01 3.09356677e+02] [ 7.91749851e-01 3.74416420e-01 -4.82643262e-01 2.14493317e+02] [ 5.24239340e-01 -1.09379112e-02 8.51500720e-01 6.91326167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.37, Y:214.51, Z:69.15 [[ 3.15853535e-01 -9.25155240e-01 -2.10533432e-01 3.09369743e+02] [ 7.90016060e-01 3.79323514e-01 -4.81651635e-01 2.14513516e+02] [ 5.25462815e-01 -1.41934206e-02 8.50698170e-01 6.91516394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:214.53, Z:69.17 [[ 3.16156585e-01 -9.23017829e-01 -2.19278592e-01 3.09381573e+02] [ 7.88504184e-01 3.84180425e-01 -4.80277579e-01 2.14528984e+02] [ 5.27547311e-01 -2.10591679e-02 8.49264591e-01 6.91711024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:214.55, Z:69.18 [[ 3.18083685e-01 -9.25211000e-01 -2.06899435e-01 3.09383701e+02] [ 7.87159875e-01 3.79364698e-01 -4.86273336e-01 2.14554652e+02] [ 5.28395781e-01 -8.18731874e-03 8.48958696e-01 6.91813076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:214.58, Z:69.20 [[ 3.18471306e-01 -9.25076912e-01 -2.06902717e-01 3.09392548e+02] [ 7.86625806e-01 3.79701756e-01 -4.86874129e-01 2.14575764e+02] [ 5.28957341e-01 -7.69957631e-03 8.48613486e-01 6.91954378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.40, Y:214.60, Z:69.21 [[ 3.19728900e-01 -9.24647325e-01 -2.06883433e-01 3.09402183e+02] [ 7.85781644e-01 3.80765110e-01 -4.87406543e-01 2.14596392e+02] [ 5.29453150e-01 -6.72724598e-03 8.48312505e-01 6.92089231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.42, Y:214.62, Z:69.23 [[ 3.20918544e-01 -9.22828232e-01 -2.13071212e-01 3.09416681e+02] [ 7.84362411e-01 3.85053034e-01 -4.86322701e-01 2.14616146e+02] [ 5.30836036e-01 -1.10550767e-02 8.47402436e-01 6.92280416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.41, Y:214.65, Z:69.23 [[ 3.18355821e-01 -9.29630658e-01 -1.85570500e-01 3.09409729e+02] [ 7.86123777e-01 3.68292738e-01 -4.96356592e-01 2.14651518e+02] [ 5.29772573e-01 1.21366278e-02 8.48052901e-01 6.92301497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.35275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.43, Y:214.66, Z:69.25 [[ 3.20610990e-01 -9.22833323e-01 -2.13511713e-01 3.09433298e+02] [ 7.87525984e-01 3.84950534e-01 -4.81264907e-01 2.14661347e+02] [ 5.26318741e-01 -1.38472042e-02 8.50174592e-01 6.92485998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:214.68, Z:69.26 [[ 3.20718380e-01 -9.24547245e-01 -2.05796292e-01 3.09437002e+02] [ 7.87135957e-01 3.81013113e-01 -4.85021642e-01 2.14684509e+02] [ 5.26836508e-01 -6.43430597e-03 8.49942288e-01 6.92609167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.45, Y:214.70, Z:69.28 [[ 3.21180178e-01 -9.20822372e-01 -2.21200030e-01 3.09453117e+02] [ 7.85238477e-01 3.89514204e-01 -4.81330675e-01 2.14695405e+02] [ 5.29380607e-01 -1.91009033e-02 8.48169398e-01 6.92838824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.45, Y:214.72, Z:69.29 [[ 3.20877077e-01 -9.24513476e-01 -2.05700595e-01 3.09453717e+02] [ 7.85155435e-01 3.81118190e-01 -4.88139190e-01 2.14722087e+02] [ 5.29687497e-01 -4.87426373e-03 8.48178871e-01 6.92939449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.46, Y:214.74, Z:69.31 [[ 3.21088177e-01 -9.24127462e-01 -2.07100982e-01 3.09464999e+02] [ 7.84667415e-01 3.82041070e-01 -4.88202487e-01 2.14743285e+02] [ 5.30282406e-01 -5.74934614e-03 8.47801578e-01 6.93094562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:214.76, Z:69.32 [[ 3.19999348e-01 -9.24527500e-01 -2.07000770e-01 3.09472312e+02] [ 7.85977067e-01 3.81052854e-01 -4.86866277e-01 2.14761960e+02] [ 5.28999497e-01 -6.90096706e-03 8.48594078e-01 6.93219239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.48, Y:214.78, Z:69.33 [[ 3.19382067e-01 -9.25272059e-01 -2.04613569e-01 3.09479050e+02] [ 7.86473278e-01 3.79267958e-01 -4.87458305e-01 2.14782664e+02] [ 5.28634920e-01 -5.23766340e-03 8.48833134e-01 6.93345226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.50, Y:214.80, Z:69.35 [[ 3.21313361e-01 -9.21740266e-01 -2.17146510e-01 3.09495886e+02] [ 7.85363081e-01 3.87500916e-01 -4.82750319e-01 2.14796674e+02] [ 5.29114879e-01 -1.54247244e-02 8.48409997e-01 6.93547579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.49, Y:214.83, Z:69.36 [[ 3.17740999e-01 -9.28427037e-01 -1.92519855e-01 3.09489595e+02] [ 7.87765787e-01 3.71488010e-01 -4.91346846e-01 2.14828795e+02] [ 5.27698515e-01 4.46048276e-03 8.49420027e-01 6.93594843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.50, Y:214.85, Z:69.38 [[ 3.16813486e-01 -9.26397728e-01 -2.03510354e-01 3.09503857e+02] [ 7.88254068e-01 3.76495183e-01 -4.86730830e-01 2.14845263e+02] [ 5.27527003e-01 -6.21497308e-03 8.49515530e-01 6.93763321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:214.87, Z:69.39 [[ 3.15333182e-01 -9.26954743e-01 -2.03272944e-01 3.09513110e+02] [ 7.88878177e-01 3.75110501e-01 -4.86788798e-01 2.14866843e+02] [ 5.27481001e-01 -6.85692841e-03 8.49539155e-01 6.93908192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.52, Y:214.89, Z:69.40 [[ 3.15175248e-01 -9.28519172e-01 -1.96256746e-01 3.09520026e+02] [ 7.89732632e-01 3.71282888e-01 -4.88335322e-01 2.14892786e+02] [ 5.26295480e-01 -1.07915007e-03 8.50301066e-01 6.94022100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.54, Y:214.91, Z:69.42 [[ 3.15712529e-01 -9.25100108e-01 -2.10986703e-01 3.09536674e+02] [ 7.87879392e-01 3.79496911e-01 -4.85003256e-01 2.14906056e+02] [ 5.28745367e-01 -1.31104709e-02 8.48679240e-01 6.94215807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.54, Y:214.93, Z:69.43 [[ 3.13913001e-01 -9.27543323e-01 -2.02785632e-01 3.09539044e+02] [ 7.89197915e-01 3.73649356e-01 -4.87393896e-01 2.14931185e+02] [ 5.27849675e-01 -7.03871733e-03 8.49308647e-01 6.94325696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.55, Y:214.96, Z:69.44 [[ 3.14183840e-01 -9.28787014e-01 -1.96578732e-01 3.09545698e+02] [ 7.89609584e-01 3.70610600e-01 -4.89044465e-01 2.14956651e+02] [ 5.27072310e-01 -1.57058261e-03 8.49818989e-01 6.94439082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:214.97, Z:69.46 [[ 3.12920900e-01 -9.26348663e-01 -2.09663219e-01 3.09559479e+02] [ 7.89876000e-01 3.76403082e-01 -4.84165907e-01 2.14971233e+02] [ 5.27424322e-01 -1.41023136e-02 8.49484967e-01 6.94621718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.57, Y:214.99, Z:69.48 [[ 3.13549468e-01 -9.26410771e-01 -2.08446191e-01 3.09570519e+02] [ 7.89379881e-01 3.76308270e-01 -4.85047925e-01 2.14993822e+02] [ 5.27793647e-01 -1.24567111e-02 8.49281282e-01 6.94783764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.56, Y:215.03, Z:69.48 [[ 3.11776953e-01 -9.32527311e-01 -1.82175589e-01 3.09564586e+02] [ 7.92701516e-01 3.60993576e-01 -4.91231050e-01 2.15025850e+02] [ 5.23850588e-01 8.74365464e-03 8.51765291e-01 6.94770553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.58, Y:215.04, Z:69.50 [[ 3.10850982e-01 -9.28670097e-01 -2.02345049e-01 3.09584689e+02] [ 7.92896997e-01 3.70768739e-01 -4.83575118e-01 2.15039191e+02] [ 5.24104970e-01 -1.01189814e-02 8.51593557e-01 6.94975623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:215.06, Z:69.52 [[ 3.07700070e-01 -9.30433560e-01 -1.99032805e-01 3.09589555e+02] [ 7.90943746e-01 3.66400604e-01 -4.90059780e-01 2.15060286e+02] [ 5.28893806e-01 -6.63232411e-03 8.48662097e-01 6.95155718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.60, Y:215.08, Z:69.53 [[ 3.07431843e-01 -9.29906693e-01 -2.01889087e-01 3.09600400e+02] [ 7.93992566e-01 3.67617397e-01 -4.84183080e-01 2.15083621e+02] [ 5.24463028e-01 -1.14451379e-02 8.51356295e-01 6.95253944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.61, Y:215.10, Z:69.54 [[ 3.08233060e-01 -9.27245924e-01 -2.12620265e-01 3.09613934e+02] [ 7.91812523e-01 3.73944442e-01 -4.82906289e-01 2.15095412e+02] [ 5.27281054e-01 -1.95077052e-02 8.49466974e-01 6.95447108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.62, Y:215.12, Z:69.55 [[ 3.09038809e-01 -9.29644429e-01 -2.00639604e-01 3.09616442e+02] [ 7.91125803e-01 3.68374650e-01 -4.88282789e-01 2.15120422e+02] [ 5.27839918e-01 -7.83283596e-03 8.49307758e-01 6.95547821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.62, Y:215.15, Z:69.57 [[ 3.06566775e-01 -9.31342206e-01 -1.96515925e-01 3.09622303e+02] [ 7.91952145e-01 3.64105560e-01 -4.90141757e-01 2.15145820e+02] [ 5.28042246e-01 -5.37003049e-03 8.49201124e-01 6.95691906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.64, Y:215.16, Z:69.59 [[ 3.08473754e-01 -9.27441358e-01 -2.11415397e-01 3.09639059e+02] [ 7.92139520e-01 3.73507387e-01 -4.82708206e-01 2.15159471e+02] [ 5.26648767e-01 -1.85676788e-02 8.49880179e-01 6.95859577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.63, Y:215.19, Z:69.59 [[ 3.08629830e-01 -9.32268050e-01 -1.88742975e-01 3.09634406e+02] [ 7.89818718e-01 3.61748394e-01 -4.95302425e-01 2.15188170e+02] [ 5.30032094e-01 3.79236870e-03 8.47969102e-01 6.95942708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:215.21, Z:69.62 [[ 3.04056624e-01 -9.28220901e-01 -2.14372405e-01 3.09655239e+02] [ 7.90604055e-01 3.71409999e-01 -4.86826296e-01 2.15208389e+02] [ 5.31502398e-01 -2.14609332e-02 8.46784878e-01 6.96229014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:215.22, Z:69.63 [[ 3.06908308e-01 -9.26950281e-01 -2.15801916e-01 3.09660529e+02] [ 7.93368718e-01 3.74422002e-01 -4.79973167e-01 2.15222819e+02] [ 5.25712248e-01 -2.39027366e-02 8.50326580e-01 6.96286011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.66, Y:215.25, Z:69.64 [[ 3.07815044e-01 -9.30990914e-01 -1.96228992e-01 3.09658743e+02] [ 7.93005031e-01 3.65001390e-01 -4.87767369e-01 2.15251494e+02] [ 5.25730843e-01 -5.46844343e-03 8.50633397e-01 6.96374137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:215.27, Z:69.65 [[ 3.08475834e-01 -9.30796418e-01 -1.96113969e-01 3.09666426e+02] [ 7.92546831e-01 3.65505797e-01 -4.88134236e-01 2.15271637e+02] [ 5.26034390e-01 -4.85188903e-03 8.50449457e-01 6.96510929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.67, Y:215.30, Z:69.66 [[ 3.10237032e-01 -9.31781102e-01 -1.88512496e-01 3.09669862e+02] [ 7.90273928e-01 3.62996618e-01 -4.93660383e-01 2.15296314e+02] [ 5.28412814e-01 4.17522119e-03 8.48977306e-01 6.96632887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.69, Y:215.31, Z:69.68 [[ 3.11581297e-01 -9.27475305e-01 -2.06655883e-01 3.09689926e+02] [ 7.90269812e-01 3.73691689e-01 -4.85621402e-01 2.15313152e+02] [ 5.27627444e-01 -1.20033588e-02 8.49391076e-01 6.96837945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.69, Y:215.34, Z:69.69 [[ 3.10427442e-01 -9.31449873e-01 -1.89831341e-01 3.09686382e+02] [ 7.89963728e-01 3.63855208e-01 -4.93524768e-01 2.15338968e+02] [ 5.28764705e-01 3.24375766e-03 8.48762255e-01 6.96912951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.70, Y:215.35, Z:69.71 [[ 3.10979455e-01 -9.28298708e-01 -2.03846237e-01 3.09703051e+02] [ 7.90188942e-01 3.71712760e-01 -4.87268982e-01 2.15353845e+02] [ 5.28103413e-01 -9.54639966e-03 8.49126405e-01 6.97091230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:215.38, Z:69.72 [[ 3.07576436e-01 -9.32260034e-01 -1.90494003e-01 3.09703698e+02] [ 7.91262265e-01 3.61787826e-01 -4.92964093e-01 2.15379100e+02] [ 5.28489133e-01 8.93422896e-04 8.48939596e-01 6.97185939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.71, Y:215.40, Z:69.73 [[ 3.04677426e-01 -9.33196455e-01 -1.90567683e-01 3.09712760e+02] [ 7.91208891e-01 3.59366631e-01 -4.94817255e-01 2.15400721e+02] [ 5.30245375e-01 -1.91971245e-05 8.47844232e-01 6.97346686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.73, Y:215.42, Z:69.75 [[ 3.03581199e-01 -9.31185580e-01 -2.01821386e-01 3.09728011e+02] [ 7.92381514e-01 3.64367458e-01 -4.89252381e-01 2.15415364e+02] [ 5.29121908e-01 -1.13917109e-02 8.48469349e-01 6.97511782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.73, Y:215.44, Z:69.76 [[ 3.00868809e-01 -9.34714621e-01 -1.89173299e-01 3.09730070e+02] [ 7.93164074e-01 3.55396984e-01 -4.94554077e-01 2.15441850e+02] [ 5.29498547e-01 -1.24956837e-03 8.48309924e-01 6.97626613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.75, Y:215.46, Z:69.78 [[ 2.98389572e-01 -9.33031157e-01 -2.01038610e-01 3.09745315e+02] [ 7.95636298e-01 3.59504516e-01 -4.87564750e-01 2.15457581e+02] [ 5.27187391e-01 -1.44693785e-02 8.49625854e-01 6.97793786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.75, Y:215.48, Z:69.79 [[ 2.95511540e-01 -9.35828248e-01 -1.92089616e-01 3.09747807e+02] [ 7.96647637e-01 3.52367844e-01 -4.91110420e-01 2.15482034e+02] [ 5.27281208e-01 -7.89894234e-03 8.49654127e-01 6.97910737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:215.50, Z:69.81 [[ 2.94788810e-01 -9.35634246e-01 -1.94134269e-01 3.09756343e+02] [ 7.97181608e-01 3.52819621e-01 -4.89918154e-01 2.15502535e+02] [ 5.26878582e-01 -1.03378785e-02 8.49877690e-01 6.98052767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.76, Y:215.52, Z:69.82 [[ 2.94135296e-01 -9.35909278e-01 -1.93799513e-01 3.09763985e+02] [ 7.97629097e-01 3.52083524e-01 -4.89719323e-01 2.15524459e+02] [ 5.26566474e-01 -1.05363931e-02 8.50068664e-01 6.98189370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.75, Y:215.56, Z:69.81 [[ 2.92266355e-01 -9.42933244e-01 -1.59553361e-01 3.09752702e+02] [ 8.01604227e-01 3.32531490e-01 -4.96843507e-01 2.15563953e+02] [ 5.21546777e-01 1.73119923e-02 8.53047041e-01 6.98149575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.78, Y:215.57, Z:69.84 [[ 2.91415577e-01 -9.36572000e-01 -1.94704523e-01 3.09779910e+02] [ 8.02214570e-01 3.50142366e-01 -4.83582575e-01 2.15571578e+02] [ 5.21084201e-01 -1.52713102e-02 8.53368644e-01 6.98391941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.80, Y:215.58, Z:69.87 [[ 2.94241880e-01 -9.30398048e-01 -2.18589087e-01 3.09803869e+02] [ 7.97039267e-01 3.65091903e-01 -4.81078279e-01 2.15581767e+02] [ 5.27399397e-01 -3.26707082e-02 8.48989105e-01 6.98706540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.80, Y:215.61, Z:69.88 [[ 2.93704129e-01 -9.34999708e-01 -1.98779856e-01 3.09801637e+02] [ 7.97058188e-01 3.54339057e-01 -4.89021551e-01 2.15610760e+02] [ 5.27670474e-01 -1.48114627e-02 8.49320017e-01 6.98792600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.80, Y:215.64, Z:69.89 [[ 2.93043215e-01 -9.38025013e-01 -1.85026347e-01 3.09801380e+02] [ 7.97643105e-01 3.46555161e-01 -4.93624348e-01 2.15638911e+02] [ 5.27153821e-01 -2.93172406e-03 8.49764823e-01 6.98858965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.80, Y:215.66, Z:69.89 [[ 2.91441417e-01 -9.39602177e-01 -1.79470468e-01 3.09804435e+02] [ 8.00577804e-01 3.42268372e-01 -4.91861303e-01 2.15664959e+02] [ 5.23581017e-01 -3.31317831e-04 8.51975827e-01 6.98937751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:215.67, Z:69.92 [[ 2.93670659e-01 -9.32936553e-01 -2.08295303e-01 3.09828375e+02] [ 7.97934884e-01 3.59235244e-01 -4.83993760e-01 2.15674904e+02] [ 5.26362484e-01 -2.40713222e-02 8.49919471e-01 6.99207329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.82, Y:215.70, Z:69.93 [[ 2.90323686e-01 -9.37472741e-01 -1.91981817e-01 3.09823743e+02] [ 7.96658209e-01 3.47930332e-01 -4.94247087e-01 2.15701848e+02] [ 5.30139468e-01 -9.45225408e-03 8.47857771e-01 6.99344230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.84, Y:215.71, Z:69.95 [[ 2.95810334e-01 -9.31503573e-01 -2.11653821e-01 3.09842291e+02] [ 7.95185192e-01 3.62899041e-01 -4.85782664e-01 2.15709479e+02] [ 5.29317256e-01 -2.46044522e-02 8.48067134e-01 6.99521642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.84, Y:215.74, Z:69.96 [[ 2.93887318e-01 -9.36298644e-01 -1.92289090e-01 3.09838044e+02] [ 7.97563599e-01 3.51084373e-01 -4.90542627e-01 2.15740169e+02] [ 5.26804091e-01 -9.19852149e-03 8.49936961e-01 6.99589700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.85, Y:215.76, Z:69.97 [[ 2.97345486e-01 -9.35157763e-01 -1.92524334e-01 3.09847025e+02] [ 7.95418643e-01 3.54164294e-01 -4.91809756e-01 2.15758950e+02] [ 5.28104956e-01 -6.90003374e-03 8.49151073e-01 6.99732946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:215.78, Z:69.99 [[ 2.95259392e-01 -9.34671257e-01 -1.98019021e-01 3.09856871e+02] [ 7.96300817e-01 3.55270669e-01 -4.89579167e-01 2.15780569e+02] [ 5.27945925e-01 -1.31298612e-02 8.49176487e-01 6.99899149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:215.80, Z:70.00 [[ 2.98264680e-01 -9.33743341e-01 -1.97892784e-01 3.09863181e+02] [ 7.95708374e-01 3.57752226e-01 -4.88734620e-01 2.15799874e+02] [ 5.27149281e-01 -1.16926702e-02 8.49692249e-01 7.00027884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.85, Y:215.83, Z:70.00 [[ 3.00187510e-01 -9.38472218e-01 -1.70755249e-01 3.09854829e+02] [ 7.96494425e-01 3.45108741e-01 -4.96484227e-01 2.15832705e+02] [ 5.24865783e-01 1.30327604e-02 8.51085223e-01 7.00040195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:215.84, Z:70.03 [[ 2.98384848e-01 -9.32738684e-01 -2.02398196e-01 3.09877794e+02] [ 7.96861650e-01 3.60173182e-01 -4.85063697e-01 2.15840989e+02] [ 5.25336076e-01 -1.65477027e-02 8.50733907e-01 7.00311334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:215.87, Z:70.04 [[ 3.00185221e-01 -9.36551934e-01 -1.80995326e-01 3.09875725e+02] [ 7.96949250e-01 3.50512053e-01 -4.91948365e-01 2.15872514e+02] [ 5.24176236e-01 3.43153955e-03 8.51602900e-01 7.00368865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.89, Y:215.88, Z:70.06 [[ 2.99713619e-01 -9.32879431e-01 -1.99769150e-01 3.09890585e+02] [ 7.96746566e-01 3.59929133e-01 -4.85433753e-01 2.15884015e+02] [ 5.24753900e-01 -1.36742777e-02 8.51144147e-01 7.00582935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.89, Y:215.91, Z:70.07 [[ 3.01018434e-01 -9.34363337e-01 -1.90664776e-01 3.09894745e+02] [ 7.94725433e-01 3.56303411e-01 -4.91385149e-01 2.15907772e+02] [ 5.27066778e-01 -3.61015852e-03 8.49816203e-01 7.00713681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.90, Y:215.93, Z:70.08 [[ 2.99266409e-01 -9.35229281e-01 -1.89171374e-01 3.09900793e+02] [ 7.97738055e-01 3.54009801e-01 -4.88150650e-01 2.15930350e+02] [ 5.23501302e-01 -4.82211196e-03 8.52011229e-01 7.00839175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:215.95, Z:70.10 [[ 2.98872143e-01 -9.35403390e-01 -1.88933693e-01 3.09908189e+02] [ 7.98026998e-01 3.53548136e-01 -4.88012937e-01 2.15950580e+02] [ 5.23286111e-01 -4.92071552e-03 8.52142848e-01 7.00973857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:215.97, Z:70.11 [[ 2.98443922e-01 -9.36642090e-01 -1.83392531e-01 3.09913349e+02] [ 7.97693374e-01 3.50287808e-01 -4.90900940e-01 2.15973546e+02] [ 5.24038650e-01 2.15395166e-04 8.51694457e-01 7.01104382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.93, Y:215.99, Z:70.13 [[ 2.97448675e-01 -9.35187887e-01 -1.92218370e-01 3.09925567e+02] [ 7.99433039e-01 3.54029904e-01 -4.85355173e-01 2.15991686e+02] [ 5.21949329e-01 -9.29746297e-03 8.52925820e-01 7.01263791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:216.01, Z:70.14 [[ 2.98136205e-01 -9.34242672e-01 -1.95717740e-01 3.09937573e+02] [ 7.98018010e-01 3.56458253e-01 -4.85906133e-01 2.16014015e+02] [ 5.23719447e-01 -1.13200710e-02 8.51815588e-01 7.01448685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.94, Y:216.04, Z:70.15 [[ 2.95791350e-01 -9.36948087e-01 -1.86106850e-01 3.09937107e+02] [ 7.99948446e-01 3.49438547e-01 -4.87827003e-01 2.16037774e+02] [ 5.22101485e-01 -4.58087763e-03 8.52871066e-01 7.01532409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.95, Y:216.06, Z:70.17 [[ 2.95920670e-01 -9.37150040e-01 -1.84880395e-01 3.09946754e+02] [ 7.99660558e-01 3.48911672e-01 -4.88675391e-01 2.16062327e+02] [ 5.22469090e-01 -3.23241090e-03 8.52652099e-01 7.01674408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.96, Y:216.08, Z:70.18 [[ 2.94620460e-01 -9.37205601e-01 -1.86666672e-01 3.09955482e+02] [ 8.00280032e-01 3.48731243e-01 -4.87789290e-01 2.16083765e+02] [ 5.22255355e-01 -5.67290509e-03 8.52770287e-01 7.01811751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:216.10, Z:70.20 [[ 2.91942487e-01 -9.35825741e-01 -1.97483588e-01 3.09967825e+02] [ 8.00503472e-01 3.52077028e-01 -4.85011297e-01 2.16098706e+02] [ 5.23415491e-01 -1.64908932e-02 8.51917998e-01 7.01993343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:216.12, Z:70.21 [[ 2.90751053e-01 -9.38264014e-01 -1.87415220e-01 3.09970191e+02] [ 8.00654742e-01 3.45831840e-01 -4.89236469e-01 2.16122966e+02] [ 5.23847124e-01 -7.80886590e-03 8.51776504e-01 7.02103491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.97, Y:216.15, Z:70.22 [[ 2.88274315e-01 -9.42243671e-01 -1.70513297e-01 3.09969887e+02] [ 8.02410763e-01 3.34881785e-01 -4.93954612e-01 2.16153568e+02] [ 5.22527404e-01 5.57272271e-03 8.52604279e-01 7.02163915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:216.17, Z:70.23 [[ 2.86934333e-01 -9.39748231e-01 -1.85854650e-01 3.09985789e+02] [ 8.03101203e-01 3.41743291e-01 -4.88098331e-01 2.16169200e+02] [ 5.22204123e-01 -9.20792426e-03 8.52770818e-01 7.02337832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:216.17, Z:70.26 [[ 2.86677784e-01 -9.33568766e-01 -2.15093483e-01 3.10007475e+02] [ 8.03746921e-01 3.56551609e-01 -4.76300155e-01 2.16174493e+02] [ 5.21350876e-01 -3.63360517e-02 8.52568447e-01 7.02577685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.98, Y:216.22, Z:70.25 [[ 2.84430602e-01 -9.46088600e-01 -1.54969652e-01 3.09983688e+02] [ 8.04084421e-01 3.23447038e-01 -4.98828886e-01 2.16221743e+02] [ 5.22060797e-01 1.72735171e-02 8.52733340e-01 7.02539844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.02, Y:216.22, Z:70.28 [[ 2.83287720e-01 -9.37256560e-01 -2.03219608e-01 3.10015368e+02] [ 8.03659706e-01 3.47632348e-01 -4.82993610e-01 2.16221044e+02] [ 5.23334639e-01 -2.64932516e-02 8.51715307e-01 7.02831906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:216.25, Z:70.29 [[ 2.84257486e-01 -9.42429764e-01 -1.76135803e-01 3.10010508e+02] [ 8.04748006e-01 3.34396070e-01 -4.90469077e-01 2.16253840e+02] [ 5.21131777e-01 -2.32542931e-03 8.53473059e-01 7.02859201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:216.28, Z:70.29 [[ 2.80530406e-01 -9.45878181e-01 -1.63147657e-01 3.10009429e+02] [ 8.06433400e-01 3.24443832e-01 -4.94369671e-01 2.16283687e+02] [ 5.20545736e-01 7.11800505e-03 8.53804117e-01 7.02940728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:216.28, Z:70.33 [[ 2.80004119e-01 -9.36436122e-01 -2.11388464e-01 3.10040600e+02] [ 8.02750738e-01 3.49153861e-01 -4.83407525e-01 2.16282031e+02] [ 5.26487366e-01 -3.43361473e-02 8.49489307e-01 7.03300307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:216.31, Z:70.34 [[ 2.79779591e-01 -9.41744575e-01 -1.86656200e-01 3.10035481e+02] [ 8.02823998e-01 3.36112076e-01 -4.92445226e-01 2.16312906e+02] [ 5.26495023e-01 -1.20759525e-02 8.50092443e-01 7.03374621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.04, Y:216.33, Z:70.35 [[ 2.80118707e-01 -9.41630356e-01 -1.86723812e-01 3.10041853e+02] [ 8.02176982e-01 3.36448278e-01 -4.93269344e-01 2.16333929e+02] [ 5.27300293e-01 -1.16115729e-02 8.49599654e-01 7.03512648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.05, Y:216.35, Z:70.36 [[ 2.79963479e-01 -9.41718553e-01 -1.86511709e-01 3.10048435e+02] [ 8.02212429e-01 3.36205363e-01 -4.93377313e-01 2.16354989e+02] [ 5.27328806e-01 -1.14943816e-02 8.49583551e-01 7.03646244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:216.40, Z:70.35 [[ 2.78135251e-01 -9.51303887e-01 -1.32897317e-01 3.10025978e+02] [ 8.05794346e-01 3.06388855e-01 -5.06775435e-01 2.16401684e+02] [ 5.22815698e-01 3.38642062e-02 8.51772835e-01 7.03516871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.06, Y:216.40, Z:70.38 [[ 2.79535989e-01 -9.41694923e-01 -1.87270669e-01 3.10063193e+02] [ 8.06142458e-01 3.36140516e-01 -4.86974219e-01 2.16404698e+02] [ 5.21530409e-01 -1.48400177e-02 8.53103632e-01 7.03799843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.08, Y:216.41, Z:70.41 [[ 2.78908501e-01 -9.36996121e-01 -2.10352842e-01 3.10080719e+02] [ 8.03745620e-01 3.47641835e-01 -4.82843797e-01 2.16411731e+02] [ 5.25550213e-01 -3.44009360e-02 8.50066791e-01 7.04062328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.07, Y:216.44, Z:70.41 [[ 2.77577541e-01 -9.42845018e-01 -1.84374568e-01 3.10074489e+02] [ 8.03648930e-01 3.33040754e-01 -4.93185820e-01 2.16443593e+02] [ 5.26402038e-01 -1.12751172e-02 8.50161024e-01 7.04147029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:216.46, Z:70.43 [[ 2.78256046e-01 -9.41533986e-01 -1.89966646e-01 3.10087662e+02] [ 8.04045267e-01 3.36521093e-01 -4.90168096e-01 2.16464117e+02] [ 5.25437704e-01 -1.63495467e-02 8.50674974e-01 7.04298414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.932755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.08, Y:216.50, Z:70.44 [[ 2.75390100e-01 -9.46239273e-01 -1.69680674e-01 3.10084515e+02] [ 8.06062910e-01 3.23467396e-01 -4.95612176e-01 2.16495962e+02] [ 5.23853871e-01 -2.86611209e-04 8.51808100e-01 7.04353910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.11, Y:216.50, Z:70.46 [[ 2.73335182e-01 -9.39721616e-01 -2.05453553e-01 3.10108684e+02] [ 8.06445226e-01 3.40294650e-01 -4.83575898e-01 2.16499432e+02] [ 5.24341469e-01 -3.35087311e-02 8.50848511e-01 7.04626625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.12, Y:216.52, Z:70.49 [[ 2.73866723e-01 -9.38203026e-01 -2.11594186e-01 3.10123598e+02] [ 8.01986153e-01 3.44208529e-01 -4.88199446e-01 2.16518972e+02] [ 5.30862721e-01 -3.59940246e-02 8.46693097e-01 7.04893062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.022755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:310.10, Y:216.56, Z:70.47 [[ 2.72831870e-01 -9.49416475e-01 -1.55470664e-01 3.10101822e+02] [ 8.06799263e-01 3.13821894e-01 -5.00590419e-01 2.16563925e+02] [ 5.24058889e-01 1.11434034e-02 8.51609127e-01 7.04736808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.15, Y:216.55, Z:70.52 [[ 2.74217176e-01 -9.32565655e-01 -2.34789777e-01 3.10151829e+02] [ 8.02913567e-01 3.56393481e-01 -4.77821609e-01 2.16553536e+02] [ 5.29277568e-01 -5.74890052e-02 8.46498831e-01 7.05239712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.12, Y:216.60, Z:70.51 [[ 2.75584211e-01 -9.47956609e-01 -1.59472910e-01 3.10119201e+02] [ 8.01425057e-01 3.18182278e-01 -5.06436488e-01 2.16596993e+02] [ 5.30821270e-01 1.17603139e-02 8.47402192e-01 7.05148637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.13, Y:216.62, Z:70.52 [[ 2.76436872e-01 -9.45539110e-01 -1.71867529e-01 3.10134441e+02] [ 8.05067550e-01 3.25505991e-01 -4.95895241e-01 2.16624583e+02] [ 5.24832256e-01 -1.28124145e-03 8.51204712e-01 7.05249371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.15, Y:216.63, Z:70.55 [[ 2.76861311e-01 -9.39738406e-01 -2.00597963e-01 3.10153312e+02] [ 8.04953937e-01 3.40826090e-01 -4.85681723e-01 2.16630843e+02] [ 5.24782788e-01 -2.70056411e-02 8.50807688e-01 7.05461189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.15, Y:216.66, Z:70.56 [[ 2.81945599e-01 -9.42826039e-01 -1.77723772e-01 3.10152333e+02] [ 8.01617567e-01 3.33275648e-01 -4.96323099e-01 2.16658271e+02] [ 5.27177347e-01 -2.53038423e-03 8.49751518e-01 7.05551519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.18, Y:216.67, Z:70.58 [[ 2.79988256e-01 -9.37567377e-01 -2.06334654e-01 3.10175074e+02] [ 8.00502929e-01 3.46651742e-01 -4.88904520e-01 2.16673423e+02] [ 5.29907196e-01 -2.82839712e-02 8.47583849e-01 7.05834319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.17, Y:216.70, Z:70.59 [[ 2.82035972e-01 -9.42682225e-01 -1.78342180e-01 3.10168105e+02] [ 8.00360646e-01 3.33684132e-01 -4.98074027e-01 2.16704323e+02] [ 5.29035488e-01 -2.26327019e-03 8.48596683e-01 7.05851131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.18, Y:216.73, Z:70.60 [[ 2.81821690e-01 -9.42399466e-01 -1.80165986e-01 3.10177217e+02] [ 8.01399467e-01 3.34457416e-01 -4.95880159e-01 2.16726703e+02] [ 5.27575047e-01 -4.63514094e-03 8.49495783e-01 7.05975284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.19, Y:216.74, Z:70.62 [[ 2.82642645e-01 -9.39670722e-01 -1.92696835e-01 3.10190489e+02] [ 7.98387431e-01 3.41804550e-01 -4.95728917e-01 2.16737019e+02] [ 5.31686604e-01 -1.37325985e-02 8.46829836e-01 7.06172259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.20, Y:216.76, Z:70.63 [[ 2.81757246e-01 -9.40272269e-01 -1.91052124e-01 3.10198889e+02] [ 7.99234047e-01 3.40171665e-01 -4.95487817e-01 2.16761746e+02] [ 5.30883973e-01 -1.30880791e-02 8.47343442e-01 7.06320954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.20, Y:216.79, Z:70.64 [[ 2.80843265e-01 -9.44462324e-01 -1.70639910e-01 3.10195400e+02] [ 8.01730766e-01 3.28602095e-01 -4.99247876e-01 2.16791742e+02] [ 5.27593441e-01 3.40313823e-03 8.49490188e-01 7.06353596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.20, Y:216.81, Z:70.65 [[ 2.81062190e-01 -9.43533342e-01 -1.75353579e-01 3.10204241e+02] [ 8.01344400e-01 3.31277165e-01 -4.98098979e-01 2.16806511e+02] [ 5.28063631e-01 -5.21818694e-04 8.49204645e-01 7.06466656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.22, Y:216.83, Z:70.66 [[ 2.78699570e-01 -9.43723260e-01 -1.78081326e-01 3.10215048e+02] [ 8.02983683e-01 3.30701228e-01 -4.95836569e-01 2.16830783e+02] [ 5.26824217e-01 -4.80696053e-03 8.49960668e-01 7.06630486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.23, Y:216.85, Z:70.68 [[ 2.76597971e-01 -9.42843900e-01 -1.85846559e-01 3.10229079e+02] [ 8.00967171e-01 3.33045034e-01 -4.97526478e-01 2.16846733e+02] [ 5.30985078e-01 -1.12421779e-02 8.47306592e-01 7.06837742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.23, Y:216.87, Z:70.69 [[ 2.75216567e-01 -9.44700859e-01 -1.78314691e-01 3.10233602e+02] [ 8.04506599e-01 3.27855353e-01 -4.95257508e-01 2.16872702e+02] [ 5.26331619e-01 -7.15227490e-03 8.50249300e-01 7.06924845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.25, Y:216.89, Z:70.71 [[ 2.73815156e-01 -9.42563194e-01 -1.91310964e-01 3.10248358e+02] [ 8.04158842e-01 3.33480669e-01 -4.92056095e-01 2.16885301e+02] [ 5.27592473e-01 -1.91119868e-02 8.49282588e-01 7.07115924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.25, Y:216.91, Z:70.72 [[ 2.70873316e-01 -9.45581539e-01 -1.80286439e-01 3.10252119e+02] [ 8.05678125e-01 3.25194437e-01 -4.95107400e-01 2.16910806e+02] [ 5.26792564e-01 -1.11414570e-02 8.49920857e-01 7.07240652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.26, Y:216.93, Z:70.74 [[ 2.68538186e-01 -9.46596450e-01 -1.78444397e-01 3.10258972e+02] [ 8.05691418e-01 3.22256003e-01 -4.97003428e-01 2.16934458e+02] [ 5.27966459e-01 -1.03067197e-02 8.49202679e-01 7.07382721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.27, Y:216.95, Z:70.75 [[ 2.68020890e-01 -9.45618355e-01 -1.84311502e-01 3.10269486e+02] [ 8.05883425e-01 3.24890830e-01 -4.94972579e-01 2.16954142e+02] [ 5.27936272e-01 -1.58705929e-02 8.49135688e-01 7.07539464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.27, Y:216.98, Z:70.76 [[ 2.66450828e-01 -9.48600227e-01 -1.70767580e-01 3.10271313e+02] [ 8.08628298e-01 3.16421258e-01 -4.95981716e-01 2.16980975e+02] [ 5.24522861e-01 -5.93275857e-03 8.51375693e-01 7.07595909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.28, Y:217.00, Z:70.77 [[ 2.66218760e-01 -9.47824252e-01 -1.75376052e-01 3.10282496e+02] [ 8.09097021e-01 3.18622452e-01 -4.93803346e-01 2.17000764e+02] [ 5.23917534e-01 -1.04365262e-02 8.51705052e-01 7.07744982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.29, Y:217.03, Z:70.78 [[ 2.63938489e-01 -9.50426144e-01 -1.64397744e-01 3.10286502e+02] [ 8.10633047e-01 3.10941833e-01 -4.96174607e-01 2.17027577e+02] [ 5.22695454e-01 -2.30666800e-03 8.52516359e-01 7.07849929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:217.04, Z:70.81 [[ 2.66256345e-01 -9.45226517e-01 -1.88823700e-01 3.10309024e+02] [ 8.08372817e-01 3.25667962e-01 -4.90381247e-01 2.17038867e+02] [ 5.25015188e-01 -2.20728281e-02 8.50806584e-01 7.08086474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.31, Y:217.06, Z:70.82 [[ 2.67490348e-01 -9.47172581e-01 -1.76954841e-01 3.10312307e+02] [ 8.07080601e-01 3.20562627e-01 -4.95843227e-01 2.17064319e+02] [ 5.26374218e-01 -1.01835421e-02 8.50192024e-01 7.08195717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.32, Y:217.09, Z:70.83 [[ 2.67274537e-01 -9.47726598e-01 -1.74294627e-01 3.10319639e+02] [ 8.06401984e-01 3.18996275e-01 -4.97953028e-01 2.17088139e+02] [ 5.27522666e-01 -7.46136798e-03 8.49508190e-01 7.08340379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.33, Y:217.10, Z:70.85 [[ 2.69678174e-01 -9.45065276e-01 -1.84730362e-01 3.10333218e+02] [ 8.05481957e-01 3.26517470e-01 -4.94555516e-01 2.17104287e+02] [ 5.27704935e-01 -1.54261447e-02 8.49287663e-01 7.08511762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.34, Y:217.13, Z:70.86 [[ 2.72713753e-01 -9.45705026e-01 -1.76831027e-01 3.10338228e+02] [ 8.05055910e-01 3.24950405e-01 -4.96278366e-01 2.17128621e+02] [ 5.26794259e-01 -7.01692778e-03 8.49963865e-01 7.08617852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.35, Y:217.15, Z:70.88 [[ 2.74615452e-01 -9.44424759e-01 -1.80688207e-01 3.10348254e+02] [ 8.03965701e-01 3.28600122e-01 -4.95642120e-01 2.17146469e+02] [ 5.27470857e-01 -9.15613664e-03 8.49523785e-01 7.08768308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.36, Y:217.16, Z:70.90 [[ 2.76713738e-01 -9.41298524e-01 -1.93356136e-01 3.10363584e+02] [ 8.00953562e-01 3.37097838e-01 -4.94811519e-01 2.17160943e+02] [ 5.30945288e-01 -1.79481403e-02 8.47216009e-01 7.08991840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:217.18, Z:70.91 [[ 2.77203068e-01 -9.44026871e-01 -1.78806395e-01 3.10365822e+02] [ 8.00342318e-01 3.29840238e-01 -5.00657160e-01 2.17184667e+02] [ 5.31611356e-01 -4.32262365e-03 8.46977379e-01 7.09112657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:217.20, Z:70.92 [[ 2.76948056e-01 -9.44371308e-01 -1.77377020e-01 3.10373727e+02] [ 8.00745462e-01 3.28863831e-01 -5.00654858e-01 2.17204798e+02] [ 5.31136969e-01 -3.37845420e-03 8.47279238e-01 7.09238630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.38, Y:217.23, Z:70.93 [[ 2.75416559e-01 -9.46030386e-01 -1.70798795e-01 3.10380504e+02] [ 8.02183910e-01 3.24076063e-01 -5.01473508e-01 2.17227655e+02] [ 5.29760978e-01 1.10206295e-03 8.48146268e-01 7.09345962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.39, Y:217.25, Z:70.95 [[ 2.73584738e-01 -9.47125711e-01 -1.67643307e-01 3.10387073e+02] [ 8.02796143e-01 3.20849515e-01 -5.02567350e-01 2.17249901e+02] [ 5.29782733e-01 2.91135661e-03 8.48128398e-01 7.09474114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.40, Y:217.27, Z:70.97 [[ 2.71805515e-01 -9.45693312e-01 -1.78286067e-01 3.10403731e+02] [ 8.03928204e-01 3.24963149e-01 -4.98094765e-01 2.17265291e+02] [ 5.28981289e-01 -7.94429306e-03 8.48596302e-01 7.09663844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:217.29, Z:70.98 [[ 2.70041763e-01 -9.45756262e-01 -1.80617104e-01 3.10413851e+02] [ 8.05637691e-01 3.24666259e-01 -4.95519657e-01 2.17286199e+02] [ 5.27281099e-01 -1.17009444e-02 8.49610341e-01 7.09814251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:217.31, Z:70.99 [[ 2.69371086e-01 -9.49245571e-01 -1.62394779e-01 3.10412926e+02] [ 8.06055893e-01 3.14508521e-01 -5.01356447e-01 2.17314948e+02] [ 5.26984929e-01 4.15166203e-03 8.49864488e-01 7.09859070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:217.33, Z:71.00 [[ 2.68266851e-01 -9.46715014e-01 -1.78223397e-01 3.10430663e+02] [ 8.06709933e-01 3.21890504e-01 -4.95586105e-01 2.17326341e+02] [ 5.26547226e-01 -1.08252610e-02 8.50076957e-01 7.10045834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.44, Y:217.35, Z:71.02 [[ 2.67826306e-01 -9.46499715e-01 -1.80020442e-01 3.10438410e+02] [ 8.06910598e-01 3.22454051e-01 -4.94892586e-01 2.17346879e+02] [ 5.26464012e-01 -1.27151496e-02 8.50102329e-01 7.10212659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.44, Y:217.37, Z:71.04 [[ 2.71641320e-01 -9.46242401e-01 -1.75602707e-01 3.10444332e+02] [ 8.05472402e-01 3.23392237e-01 -4.96620249e-01 2.17371953e+02] [ 5.26711689e-01 -6.54055414e-03 8.50018834e-01 7.10350100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.45, Y:217.39, Z:71.05 [[ 2.71649988e-01 -9.46102071e-01 -1.76343855e-01 3.10449273e+02] [ 8.05478887e-01 3.23788396e-01 -4.96351526e-01 2.17392326e+02] [ 5.26697301e-01 -7.20736612e-03 8.50022357e-01 7.10477511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.45, Y:217.41, Z:71.06 [[ 2.72333781e-01 -9.46359294e-01 -1.73891915e-01 3.10453663e+02] [ 8.05033567e-01 3.23084954e-01 -4.97530972e-01 2.17414302e+02] [ 5.27024921e-01 -4.49433742e-03 8.49837946e-01 7.10598752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:217.44, Z:71.07 [[ 2.72509251e-01 -9.46326474e-01 -1.73795605e-01 3.10459844e+02] [ 8.04674857e-01 3.23185972e-01 -4.98045382e-01 2.17436354e+02] [ 5.27481832e-01 -4.12698004e-03 8.49556287e-01 7.10729709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:217.46, Z:71.08 [[ 2.71614226e-01 -9.47972949e-01 -1.66051196e-01 3.10463231e+02] [ 8.05377258e-01 3.18344093e-01 -5.00024510e-01 2.17462563e+02] [ 5.26871127e-01 2.07991353e-03 8.49942639e-01 7.10829155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:217.48, Z:71.10 [[ 2.69502340e-01 -9.45856480e-01 -1.80897782e-01 3.10477295e+02] [ 8.05382366e-01 3.24363878e-01 -4.96132361e-01 2.17477250e+02] [ 5.27946715e-01 -1.19830509e-02 8.49192954e-01 7.11019601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:217.50, Z:71.11 [[ 2.67901992e-01 -9.47720400e-01 -1.73362530e-01 3.10479430e+02] [ 8.05742100e-01 3.19045419e-01 -4.98988666e-01 2.17500643e+02] [ 5.28212259e-01 -6.00543153e-03 8.49091128e-01 7.11128847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:217.53, Z:71.12 [[ 2.66086156e-01 -9.49537345e-01 -1.66063203e-01 3.10482502e+02] [ 8.07239645e-01 3.13652361e-01 -4.99986352e-01 2.17527406e+02] [ 5.26841829e-01 -1.01335462e-03 8.49962740e-01 7.11232635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.50, Y:217.54, Z:71.14 [[ 2.62922488e-01 -9.48059503e-01 -1.79038947e-01 3.10495539e+02] [ 8.07899096e-01 3.17777876e-01 -4.96302602e-01 2.17543455e+02] [ 5.27419014e-01 -1.41562885e-02 8.49487365e-01 7.11419524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.49, Y:217.57, Z:71.15 [[ 2.60990936e-01 -9.50855297e-01 -1.66607128e-01 3.10494695e+02] [ 8.07613637e-01 3.09615085e-01 -5.01895122e-01 2.17568526e+02] [ 5.28813715e-01 -3.56411153e-03 8.48730435e-01 7.11512485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.50, Y:217.59, Z:71.16 [[ 2.58184281e-01 -9.51470088e-01 -1.67468054e-01 3.10499837e+02] [ 8.07923480e-01 3.07691312e-01 -5.02579056e-01 2.17588885e+02] [ 5.29717404e-01 -5.54336077e-03 8.48156084e-01 7.11646760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.51, Y:217.61, Z:71.18 [[ 2.56598148e-01 -9.51434937e-01 -1.70085129e-01 3.10508168e+02] [ 8.07356107e-01 3.07742457e-01 -5.03458734e-01 2.17610424e+02] [ 5.31350645e-01 -8.13268867e-03 8.47112951e-01 7.11808468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.53, Y:217.63, Z:71.21 [[ 2.56268348e-01 -9.46770185e-01 -1.94814655e-01 3.10530972e+02] [ 8.07607398e-01 3.20465096e-01 -4.95047890e-01 2.17626103e+02] [ 5.31127879e-01 -3.04686518e-02 8.46743667e-01 7.12065229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.52, Y:217.66, Z:71.21 [[ 2.53094604e-01 -9.54207772e-01 -1.59469901e-01 3.10515409e+02] [ 8.08264287e-01 2.99144188e-01 -5.07170185e-01 2.17657514e+02] [ 5.31650226e-01 -5.31788941e-04 8.46963845e-01 7.12052754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.53, Y:217.68, Z:71.22 [[ 2.49705669e-01 -9.52137894e-01 -1.76296651e-01 3.10531288e+02] [ 8.10868780e-01 3.05123371e-01 -4.99391179e-01 2.17675454e+02] [ 5.29281494e-01 -1.82526416e-02 8.48249929e-01 7.12244864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.54, Y:217.70, Z:71.24 [[ 2.48656425e-01 -9.53262080e-01 -1.71643202e-01 3.10535620e+02] [ 8.11395346e-01 3.01781896e-01 -5.00564960e-01 2.17698368e+02] [ 5.28968406e-01 -1.48018019e-02 8.48512423e-01 7.12367799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.54, Y:217.72, Z:71.25 [[ 2.51541269e-01 -9.52456860e-01 -1.71909628e-01 3.10543511e+02] [ 8.09481512e-01 3.04401741e-01 -5.02074957e-01 2.17718002e+02] [ 5.30534327e-01 -1.28650935e-02 8.47565819e-01 7.12520920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:217.74, Z:71.27 [[ 2.49079469e-01 -9.49929534e-01 -1.88661861e-01 3.10559404e+02] [ 8.09290851e-01 3.11154049e-01 -4.98228337e-01 2.17736758e+02] [ 5.31984714e-01 -2.85838684e-02 8.46271367e-01 7.12744870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:217.76, Z:71.28 [[ 2.48728918e-01 -9.52418906e-01 -1.76159453e-01 3.10559474e+02] [ 8.09772814e-01 3.04268070e-01 -5.01686088e-01 2.17763868e+02] [ 5.31415012e-01 -1.78652984e-02 8.46923205e-01 7.12841359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.55, Y:217.79, Z:71.29 [[ 2.46942883e-01 -9.56637795e-01 -1.54477644e-01 3.10551340e+02] [ 8.10501563e-01 2.91280016e-01 -5.08176317e-01 2.17791882e+02] [ 5.31136922e-01 2.86152989e-04 8.47285954e-01 7.12881808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.57, Y:217.81, Z:71.31 [[ 2.48995101e-01 -9.53012676e-01 -1.72534864e-01 3.10570290e+02] [ 8.09019088e-01 3.02601442e-01 -5.03905232e-01 2.17807156e+02] [ 5.32437372e-01 -1.41140643e-02 8.46351723e-01 7.13100615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:217.83, Z:71.32 [[ 2.51385610e-01 -9.52080686e-01 -1.74205749e-01 3.10575856e+02] [ 8.09864817e-01 3.05469649e-01 -5.00806620e-01 2.17825048e+02] [ 5.30022880e-01 -1.51875294e-02 8.47847325e-01 7.13202000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.59, Y:217.84, Z:71.34 [[ 2.54015771e-01 -9.48637971e-01 -1.88578866e-01 3.10594600e+02] [ 8.08385775e-01 3.15279246e-01 -4.97103043e-01 2.17841308e+02] [ 5.31025824e-01 -2.61724601e-02 8.46951342e-01 7.13441350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:217.87, Z:71.34 [[ 2.54516298e-01 -9.53525050e-01 -1.61280606e-01 3.10584899e+02] [ 8.10174728e-01 3.01301767e-01 -5.02826168e-01 2.17870815e+02] [ 5.28051478e-01 -2.68801649e-03 8.49208108e-01 7.13440137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.59, Y:217.89, Z:71.36 [[ 2.54074427e-01 -9.53681829e-01 -1.61050163e-01 3.10592646e+02] [ 8.10455138e-01 3.00804066e-01 -5.02672243e-01 2.17894800e+02] [ 5.27833928e-01 -2.80776962e-03 8.49342958e-01 7.13600921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.60, Y:217.91, Z:71.38 [[ 2.54599665e-01 -9.52144105e-01 -1.69117159e-01 3.10604127e+02] [ 8.10520601e-01 3.05490996e-01 -4.99731534e-01 2.17913111e+02] [ 5.27480204e-01 -9.84146022e-03 8.49510318e-01 7.13758847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.61, Y:217.93, Z:71.39 [[ 2.56205445e-01 -9.51745552e-01 -1.68935413e-01 3.10612265e+02] [ 8.09925956e-01 3.06763666e-01 -4.99915992e-01 2.17934318e+02] [ 5.27616068e-01 -8.74397650e-03 8.49437948e-01 7.13899059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.62, Y:217.95, Z:71.40 [[ 2.57695943e-01 -9.50899184e-01 -1.71416283e-01 3.10620990e+02] [ 8.09815487e-01 3.09327662e-01 -4.98513064e-01 2.17952903e+02] [ 5.27059464e-01 -1.03507666e-02 8.49765370e-01 7.14038015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.62, Y:217.98, Z:71.42 [[ 2.57658248e-01 -9.52245623e-01 -1.63830708e-01 3.10623639e+02] [ 8.08974859e-01 3.05317275e-01 -5.02335584e-01 2.17977361e+02] [ 5.28367206e-01 -3.10401708e-03 8.49010283e-01 7.14163642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.63, Y:218.00, Z:71.43 [[ 2.59234247e-01 -9.51003004e-01 -1.68495969e-01 3.10632376e+02] [ 8.08211363e-01 3.09118621e-01 -5.01238536e-01 2.17996408e+02] [ 5.28764595e-01 -6.24216251e-03 8.48745567e-01 7.14308580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.64, Y:218.02, Z:71.44 [[ 2.59545103e-01 -9.50949536e-01 -1.68319103e-01 3.10639350e+02] [ 8.08003031e-01 3.09290758e-01 -5.01468173e-01 2.18017939e+02] [ 5.28930469e-01 -5.84873734e-03 8.48645009e-01 7.14448760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.65, Y:218.04, Z:71.46 [[ 2.60167567e-01 -9.50787343e-01 -1.68274376e-01 3.10645726e+02] [ 8.07449833e-01 3.09799594e-01 -5.02044797e-01 2.18040086e+02] [ 5.29469172e-01 -5.25734346e-03 8.48312888e-01 7.14586076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.65, Y:218.06, Z:71.47 [[ 2.59845141e-01 -9.50875360e-01 -1.68275230e-01 3.10651909e+02] [ 8.07102269e-01 3.09530754e-01 -5.02768973e-01 2.18061779e+02] [ 5.30156987e-01 -5.17324560e-03 8.47883722e-01 7.14722658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:218.08, Z:71.49 [[ 2.59400304e-01 -9.51008584e-01 -1.68208667e-01 3.10658236e+02] [ 8.06903805e-01 3.09121381e-01 -5.03339072e-01 2.18082859e+02] [ 5.30676673e-01 -5.16190503e-03 8.47558625e-01 7.14855665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:218.11, Z:71.50 [[ 2.58106383e-01 -9.51352410e-01 -1.68254828e-01 3.10664382e+02] [ 8.06842741e-01 3.08053104e-01 -5.04091338e-01 2.18105021e+02] [ 5.31399931e-01 -5.64599483e-03 8.47102258e-01 7.14992656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.67, Y:218.13, Z:71.51 [[ 2.56880129e-01 -9.51715565e-01 -1.68077608e-01 3.10670775e+02] [ 8.07121576e-01 3.06920526e-01 -5.04335753e-01 2.18127141e+02] [ 5.31570654e-01 -6.10523090e-03 8.46991951e-01 7.15132079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.68, Y:218.15, Z:71.53 [[ 2.55496807e-01 -9.52104625e-01 -1.67982630e-01 3.10677263e+02] [ 8.07280761e-01 3.05700574e-01 -5.04821684e-01 2.18148909e+02] [ 5.31995447e-01 -6.62881709e-03 8.46721267e-01 7.15270818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.68, Y:218.17, Z:71.54 [[ 2.53854329e-01 -9.52557850e-01 -1.67903312e-01 3.10683594e+02] [ 8.07481911e-01 3.04270269e-01 -5.05363797e-01 2.18169780e+02] [ 5.32476238e-01 -7.29009931e-03 8.46413558e-01 7.15408022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.70, Y:218.19, Z:71.56 [[ 2.53789427e-01 -9.49601115e-01 -1.83980027e-01 3.10701111e+02] [ 8.05562629e-01 3.12790130e-01 -5.03220811e-01 2.18185743e+02] [ 5.35406180e-01 -2.04953128e-02 8.44345998e-01 7.15646183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.70, Y:218.21, Z:71.57 [[ 2.52010409e-01 -9.53378201e-01 -1.66014337e-01 3.10697860e+02] [ 8.08129377e-01 3.01704193e-01 -5.05867068e-01 2.18214602e+02] [ 5.32369857e-01 -6.67729540e-03 8.46485528e-01 7.15710385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.72, Y:218.23, Z:71.59 [[ 2.51344830e-01 -9.49835122e-01 -1.86115602e-01 3.10715713e+02] [ 8.08069532e-01 3.11768944e-01 -4.99823726e-01 2.18229136e+02] [ 5.32775194e-01 -2.47662377e-02 8.45894335e-01 7.15930448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.70, Y:218.26, Z:71.59 [[ 2.49436561e-01 -9.56277294e-01 -1.52692955e-01 3.10701793e+02] [ 8.09543925e-01 2.92442209e-01 -5.09034565e-01 2.18261901e+02] [ 5.31432061e-01 3.36017757e-03 8.47094253e-01 7.15912782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.72, Y:218.28, Z:71.61 [[ 2.48271604e-01 -9.54433365e-01 -1.65584305e-01 3.10715289e+02] [ 8.10268531e-01 2.98290690e-01 -5.04467613e-01 2.18278802e+02] [ 5.30872978e-01 -8.92276792e-03 8.47404429e-01 7.16090019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.72, Y:218.30, Z:71.62 [[ 2.47908775e-01 -9.54568926e-01 -1.65346318e-01 3.10722081e+02] [ 8.10379524e-01 2.97856916e-01 -5.04545622e-01 2.18300740e+02] [ 5.30873117e-01 -8.91198281e-03 8.47404455e-01 7.16230673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:218.32, Z:71.64 [[ 2.47260594e-01 -9.54773814e-01 -1.65133773e-01 3.10728674e+02] [ 8.10550379e-01 2.97194828e-01 -5.04661587e-01 2.18320974e+02] [ 5.30914572e-01 -9.06631857e-03 8.47376846e-01 7.16365986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:218.34, Z:71.65 [[ 2.46590952e-01 -9.54997155e-01 -1.64843369e-01 3.10735493e+02] [ 8.10846811e-01 2.96471309e-01 -5.04610952e-01 2.18342549e+02] [ 5.30773353e-01 -9.23022473e-03 8.47463540e-01 7.16509857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.74, Y:218.36, Z:71.67 [[ 2.46323423e-01 -9.55119119e-01 -1.64536436e-01 3.10742231e+02] [ 8.11075425e-01 2.96079469e-01 -5.04473590e-01 2.18363354e+02] [ 5.30548232e-01 -9.18779792e-03 8.47604954e-01 7.16657202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:218.39, Z:71.68 [[ 2.46014661e-01 -9.55242895e-01 -1.64279636e-01 3.10748759e+02] [ 8.11212473e-01 2.95680921e-01 -5.04486984e-01 2.18385020e+02] [ 5.30481961e-01 -9.15449542e-03 8.47646792e-01 7.16799800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:218.40, Z:71.70 [[ 2.47433320e-01 -9.52088313e-01 -1.79734793e-01 3.10768159e+02] [ 8.10994003e-01 3.05014096e-01 -4.99254573e-01 2.18403235e+02] [ 5.30156090e-01 -2.22316222e-02 8.47608563e-01 7.17036622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.76, Y:218.43, Z:71.71 [[ 2.44697352e-01 -9.56377653e-01 -1.59577541e-01 3.10758975e+02] [ 8.11231024e-01 2.92081331e-01 -5.06549821e-01 2.18428424e+02] [ 5.31062549e-01 -5.50285189e-03 8.47314751e-01 7.17063062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.77, Y:218.45, Z:71.72 [[ 2.43963640e-01 -9.55844707e-01 -1.63837233e-01 3.10767856e+02] [ 8.11239819e-01 2.93716514e-01 -5.05589325e-01 2.18448312e+02] [ 5.31386582e-01 -9.56587548e-03 8.47075436e-01 7.17211164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.722755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.77, Y:218.47, Z:71.74 [[ 2.42503396e-01 -9.56253157e-01 -1.63621524e-01 3.10774659e+02] [ 8.11646188e-01 2.92363814e-01 -5.05721134e-01 2.18469897e+02] [ 5.31434444e-01 -1.01636941e-02 8.47038447e-01 7.17351393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:218.49, Z:71.75 [[ 2.42368435e-01 -9.56629759e-01 -1.61607689e-01 3.10782950e+02] [ 8.11439885e-01 2.91187718e-01 -5.06729737e-01 2.18494660e+02] [ 5.31810920e-01 -8.31963153e-03 8.46822253e-01 7.17495458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.79, Y:218.51, Z:71.76 [[ 2.40003038e-01 -9.55936720e-01 -1.69066644e-01 3.10790807e+02] [ 8.12701296e-01 2.93106661e-01 -5.03592185e-01 2.18511027e+02] [ 5.30956821e-01 -1.65370263e-02 8.47237500e-01 7.17647145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:218.53, Z:71.78 [[ 2.39969462e-01 -9.55770970e-01 -1.70048552e-01 3.10797573e+02] [ 8.14106167e-01 2.93548400e-01 -5.01059364e-01 2.18530525e+02] [ 5.28815475e-01 -1.81986285e-02 8.48541692e-01 7.17772178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:218.56, Z:71.79 [[ 2.37941666e-01 -9.58791622e-01 -1.55249440e-01 3.10796066e+02] [ 8.14357236e-01 2.84046752e-01 -5.06102494e-01 2.18558684e+02] [ 5.29344931e-01 -6.00563418e-03 8.48385453e-01 7.17885325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.80, Y:218.58, Z:71.80 [[ 2.36748978e-01 -9.59198703e-01 -1.54556688e-01 3.10802130e+02] [ 8.14070760e-01 2.82675151e-01 -5.07329831e-01 2.18580455e+02] [ 5.30319451e-01 -5.71026158e-03 8.47778670e-01 7.18027965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.81, Y:218.60, Z:71.82 [[ 2.36140654e-01 -9.58103584e-01 -1.62096000e-01 3.10812444e+02] [ 8.13927798e-01 2.86147313e-01 -5.05609786e-01 2.18599467e+02] [ 5.30809883e-01 -1.25394146e-02 8.47398154e-01 7.18187497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:218.62, Z:71.83 [[ 2.36861901e-01 -9.57184563e-01 -1.66415601e-01 3.10820787e+02] [ 8.13982661e-01 2.89029740e-01 -5.03878991e-01 2.18619255e+02] [ 5.30404250e-01 -1.61096781e-02 8.47591771e-01 7.18320863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:218.65, Z:71.84 [[ 2.34841738e-01 -9.59194519e-01 -1.57465020e-01 3.10822467e+02] [ 8.15098451e-01 2.82584554e-01 -5.05727678e-01 2.18647226e+02] [ 5.29588400e-01 -9.58352723e-03 8.48200615e-01 7.18444422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.83, Y:218.67, Z:71.86 [[ 2.34491525e-01 -9.58557191e-01 -1.61808025e-01 3.10829625e+02] [ 8.13696771e-01 2.84611981e-01 -5.06846708e-01 2.18665961e+02] [ 5.31894060e-01 -1.28114101e-02 8.46713988e-01 7.18585982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:218.69, Z:71.87 [[ 2.34975506e-01 -9.58318453e-01 -1.62518476e-01 3.10835735e+02] [ 8.13670033e-01 2.85395554e-01 -5.06448867e-01 2.18686632e+02] [ 5.31721345e-01 -1.32333355e-02 8.46815972e-01 7.18715820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.84, Y:218.71, Z:71.88 [[ 2.35715481e-01 -9.58344014e-01 -1.61291548e-01 3.10840484e+02] [ 8.12974185e-01 2.85385492e-01 -5.07570779e-01 2.18708301e+02] [ 5.32457686e-01 -1.14835745e-02 8.46378722e-01 7.18848082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:218.73, Z:71.90 [[ 2.36059872e-01 -9.58310531e-01 -1.60986529e-01 3.10846810e+02] [ 8.13034660e-01 2.85512674e-01 -5.07402360e-01 2.18729610e+02] [ 5.32212719e-01 -1.11102916e-02 8.46537762e-01 7.18983560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:218.75, Z:71.91 [[ 2.36531621e-01 -9.58252225e-01 -1.60640795e-01 3.10853241e+02] [ 8.13171530e-01 2.85724266e-01 -5.07063810e-01 2.18751145e+02] [ 5.31793998e-01 -1.06918962e-02 8.46806251e-01 7.19128270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.86, Y:218.78, Z:71.93 [[ 2.38403546e-01 -9.58255086e-01 -1.57831996e-01 3.10859780e+02] [ 8.12808934e-01 2.85822058e-01 -5.07589783e-01 2.18775076e+02] [ 5.31512357e-01 -7.27605175e-03 8.47019287e-01 7.19263080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:218.79, Z:71.94 [[ 2.40125291e-01 -9.56098172e-01 -1.67976575e-01 3.10871432e+02] [ 8.13766524e-01 2.92603309e-01 -5.02162672e-01 2.18791151e+02] [ 5.29267314e-01 -1.61117561e-02 8.48302141e-01 7.19403122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.202755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.88, Y:218.82, Z:71.96 [[ 2.39825025e-01 -9.56701837e-01 -1.64941058e-01 3.10877567e+02] [ 8.11350382e-01 2.90813423e-01 -5.07087874e-01 2.18815317e+02] [ 5.33098974e-01 -1.22126283e-02 8.45964737e-01 7.19587969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.88, Y:218.84, Z:71.97 [[ 2.39607126e-01 -9.58586801e-01 -1.53947297e-01 3.10877400e+02] [ 8.12945100e-01 2.84779753e-01 -5.07957436e-01 2.18841044e+02] [ 5.30762366e-01 -3.44047964e-03 8.47513701e-01 7.19662058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:218.86, Z:71.98 [[ 2.39032372e-01 -9.56596235e-01 -1.66694836e-01 3.10889197e+02] [ 8.12554629e-01 2.91044013e-01 -5.05023125e-01 2.18855491e+02] [ 5.31618754e-01 -1.47317850e-02 8.46855640e-01 7.19841694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:218.88, Z:72.00 [[ 2.38957247e-01 -9.57793949e-01 -1.59781682e-01 3.10892099e+02] [ 8.12730940e-01 2.87322753e-01 -5.06866901e-01 2.18878816e+02] [ 5.31382963e-01 -8.73999703e-03 8.47086630e-01 7.19962753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:218.90, Z:72.01 [[ 2.38846701e-01 -9.57882299e-01 -1.59416923e-01 3.10898676e+02] [ 8.13048208e-01 2.87031332e-01 -5.06523076e-01 2.18900418e+02] [ 5.30947140e-01 -8.63227807e-03 8.47360973e-01 7.20101242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:218.92, Z:72.02 [[ 2.38043358e-01 -9.58109394e-01 -1.59253724e-01 3.10904765e+02] [ 8.13134400e-01 2.86265725e-01 -5.06817898e-01 2.18921312e+02] [ 5.31175872e-01 -8.85004696e-03 8.47215362e-01 7.20242154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.91, Y:218.94, Z:72.04 [[ 2.38929695e-01 -9.57941750e-01 -1.58934591e-01 3.10911077e+02] [ 8.13036034e-01 2.86846496e-01 -5.06647309e-01 2.18942897e+02] [ 5.30928440e-01 -8.16646248e-03 8.47377307e-01 7.20379974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.92, Y:218.96, Z:72.05 [[ 2.39713258e-01 -9.57783102e-01 -1.58710692e-01 3.10916707e+02] [ 8.12787500e-01 2.87393247e-01 -5.06736224e-01 2.18963959e+02] [ 5.30955774e-01 -7.52667551e-03 8.47366105e-01 7.20515766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.92, Y:218.99, Z:72.07 [[ 2.40583327e-01 -9.57616474e-01 -1.58399341e-01 3.10923244e+02] [ 8.12684174e-01 2.87964762e-01 -5.06577467e-01 2.18985795e+02] [ 5.30720356e-01 -6.85454520e-03 8.47519274e-01 7.20655012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.93, Y:219.01, Z:72.08 [[ 2.40875653e-01 -9.57588928e-01 -1.58121362e-01 3.10928805e+02] [ 8.12707764e-01 2.88064409e-01 -5.06482958e-01 2.19006809e+02] [ 5.30551609e-01 -6.50704584e-03 8.47627659e-01 7.20792513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.94, Y:219.03, Z:72.09 [[ 2.40989816e-01 -9.57598439e-01 -1.57889637e-01 3.10935392e+02] [ 8.12662469e-01 2.88038855e-01 -5.06570162e-01 2.19028476e+02] [ 5.30569147e-01 -6.23273254e-03 8.47618743e-01 7.20932939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.94, Y:219.05, Z:72.11 [[ 2.40526388e-01 -9.57749791e-01 -1.57678137e-01 3.10941745e+02] [ 8.12738241e-01 2.87534436e-01 -5.06735138e-01 2.19050330e+02] [ 5.30663367e-01 -6.26787967e-03 8.47559499e-01 7.21070421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.95, Y:219.07, Z:72.12 [[ 2.39545805e-01 -9.57987134e-01 -1.57729064e-01 3.10947809e+02] [ 8.12391197e-01 2.86737281e-01 -5.07742332e-01 2.19070912e+02] [ 5.31637424e-01 -6.51015708e-03 8.46947027e-01 7.21205737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.95, Y:219.09, Z:72.13 [[ 2.38784861e-01 -9.58195382e-01 -1.57617891e-01 3.10954077e+02] [ 8.12441739e-01 2.86035305e-01 -5.08057305e-01 2.19092534e+02] [ 5.31902445e-01 -6.73896056e-03 8.46778823e-01 7.21345076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.97, Y:219.11, Z:72.15 [[ 2.38623241e-01 -9.56767006e-01 -1.66300467e-01 3.10966351e+02] [ 8.11304892e-01 2.90525006e-01 -5.07325924e-01 2.19110963e+02] [ 5.33707150e-01 -1.38606262e-02 8.45555771e-01 7.21544831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.96, Y:219.14, Z:72.16 [[ 2.37593372e-01 -9.59511352e-01 -1.51285671e-01 3.10964383e+02] [ 8.12420172e-01 2.81665358e-01 -5.10527267e-01 2.19137504e+02] [ 5.32468641e-01 -1.60963618e-03 8.46448200e-01 7.21608649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.98, Y:219.15, Z:72.18 [[ 2.37071105e-01 -9.57078302e-01 -1.66728566e-01 3.10979934e+02] [ 8.13986984e-01 2.89370318e-01 -5.03676492e-01 2.19153918e+02] [ 5.30304140e-01 -1.63077399e-02 8.47650622e-01 7.21784946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.98, Y:219.18, Z:72.19 [[ 2.36731499e-01 -9.60244118e-01 -1.47950775e-01 3.10975631e+02] [ 8.12281399e-01 2.79159659e-01 -5.12121874e-01 2.19180505e+02] [ 5.33063905e-01 1.05771651e-03 8.46074320e-01 7.21878454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.99, Y:219.20, Z:72.20 [[ 2.36831811e-01 -9.58801457e-01 -1.56877213e-01 3.10986331e+02] [ 8.11921361e-01 2.84000795e-01 -5.10026717e-01 2.19198063e+02] [ 5.33567612e-01 -6.58140877e-03 8.45731806e-01 7.22039918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.99, Y:219.22, Z:72.22 [[ 2.35898231e-01 -9.58673465e-01 -1.59050971e-01 3.10994059e+02] [ 8.12494221e-01 2.84360653e-01 -5.08912724e-01 2.19220489e+02] [ 5.33108963e-01 -9.17638388e-03 8.45996825e-01 7.22193219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.00, Y:219.24, Z:72.23 [[ 2.34898987e-01 -9.59221280e-01 -1.57216419e-01 3.10999396e+02] [ 8.12207032e-01 2.82548438e-01 -5.10378406e-01 2.19244262e+02] [ 5.33987082e-01 -7.80491011e-03 8.45456610e-01 7.22345746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.01, Y:219.26, Z:72.25 [[ 2.37102178e-01 -9.57835845e-01 -1.62274616e-01 3.11008774e+02] [ 8.11516678e-01 2.87104615e-01 -5.08931844e-01 2.19260515e+02] [ 5.34062954e-01 -1.10197088e-02 8.45372892e-01 7.22488976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.01, Y:219.28, Z:72.26 [[ 2.36977959e-01 -9.58906894e-01 -1.56009664e-01 3.11012218e+02] [ 8.11538647e-01 2.83666557e-01 -5.10821210e-01 2.19283403e+02] [ 5.34084704e-01 -5.55450422e-03 8.45412726e-01 7.22612171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.02, Y:219.30, Z:72.27 [[ 2.36725822e-01 -9.59007307e-01 -1.55775060e-01 3.11018869e+02] [ 8.11605560e-01 2.83328271e-01 -5.10902638e-01 2.19304361e+02] [ 5.34094842e-01 -5.48405814e-03 8.45406781e-01 7.22749746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.03, Y:219.33, Z:72.29 [[ 2.34814914e-01 -9.59722922e-01 -1.54252618e-01 3.11025299e+02] [ 8.12052249e-01 2.80901114e-01 -5.11532705e-01 2.19326990e+02] [ 5.34259395e-01 -5.14567763e-03 8.45304928e-01 7.22903006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.03, Y:219.35, Z:72.31 [[ 2.34803082e-01 -9.58960572e-01 -1.58940662e-01 3.11034162e+02] [ 8.12339314e-01 2.83382483e-01 -5.09705020e-01 2.19345413e+02] [ 5.33828017e-01 -9.43343813e-03 8.45540454e-01 7.23050846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.03, Y:219.38, Z:72.30 [[ 2.33020604e-01 -9.64060787e-01 -1.27625221e-01 3.11026905e+02] [ 8.15698216e-01 2.65217975e-01 -5.14097118e-01 2.19382114e+02] [ 5.29469375e-01 1.56915560e-02 8.48183916e-01 7.23048246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.05, Y:219.40, Z:72.33 [[ 2.32901761e-01 -9.60473322e-01 -1.52472184e-01 3.11048331e+02] [ 8.14915446e-01 2.78310614e-01 -5.08385699e-01 2.19396829e+02] [ 5.30725528e-01 -5.84801374e-03 8.47523578e-01 7.23277658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.40, Z:72.36 [[ 2.30154335e-01 -9.55934642e-01 -1.82257899e-01 3.11067921e+02] [ 8.12824532e-01 2.91817909e-01 -5.04141436e-01 2.19403684e+02] [ 5.35112382e-01 -3.21133544e-02 8.44170285e-01 7.23569374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:219.43, Z:72.36 [[ 2.28398905e-01 -9.60971814e-01 -1.56099690e-01 3.11061435e+02] [ 8.13508494e-01 2.76460736e-01 -5.11637950e-01 2.19434684e+02] [ 5.34825084e-01 -1.01308764e-02 8.44902062e-01 7.23644589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.46, Z:72.38 [[ 2.27218580e-01 -9.61551470e-01 -1.54241655e-01 3.11067794e+02] [ 8.13745791e-01 2.74473884e-01 -5.12329850e-01 2.19456195e+02] [ 5.34966826e-01 -9.10263716e-03 8.44824027e-01 7.23780215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.07, Y:219.48, Z:72.39 [[ 2.25953516e-01 -9.62325912e-01 -1.51241024e-01 3.11072242e+02] [ 8.13953976e-01 2.71806020e-01 -5.13420308e-01 2.19478413e+02] [ 5.35185887e-01 -7.09410922e-03 8.44704529e-01 7.23910077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:219.50, Z:72.41 [[ 2.23112898e-01 -9.63062922e-01 -1.50766186e-01 3.11078411e+02] [ 8.14834319e-01 2.69148568e-01 -5.13423881e-01 2.19501222e+02] [ 5.35038006e-01 -8.29797227e-03 8.44787237e-01 7.24056319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.09, Y:219.52, Z:72.42 [[ 2.22125691e-01 -9.63087949e-01 -1.52058479e-01 3.11085159e+02] [ 8.14801167e-01 2.69007581e-01 -5.13550367e-01 2.19521774e+02] [ 5.35499053e-01 -9.82469617e-03 8.44478679e-01 7.24199222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:219.54, Z:72.44 [[ 2.21958849e-01 -9.61001265e-01 -1.64957082e-01 3.11098416e+02] [ 8.15962284e-01 2.75682365e-01 -5.08138548e-01 2.19539124e+02] [ 5.33797546e-01 -2.18129105e-02 8.45330928e-01 7.24367794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:219.56, Z:72.45 [[ 2.22948302e-01 -9.61995652e-01 -1.57665535e-01 3.11100867e+02] [ 8.16414838e-01 2.72639819e-01 -5.09052395e-01 2.19561891e+02] [ 5.32692093e-01 -1.52281148e-02 8.46172109e-01 7.24477731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:219.59, Z:72.46 [[ 2.24045428e-01 -9.62727242e-01 -1.51525258e-01 3.11103958e+02] [ 8.17085276e-01 2.70299440e-01 -5.09224769e-01 2.19585593e+02] [ 5.31201750e-01 -9.71957560e-03 8.47189608e-01 7.24599239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.11, Y:219.61, Z:72.47 [[ 2.24008307e-01 -9.62775305e-01 -1.51274553e-01 3.11108963e+02] [ 8.17129454e-01 2.70134717e-01 -5.09241289e-01 2.19606517e+02] [ 5.31149446e-01 -9.53661419e-03 8.47224480e-01 7.24733273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.11, Y:219.63, Z:72.49 [[ 2.26421854e-01 -9.62354129e-01 -1.50358484e-01 3.11114048e+02] [ 8.17969893e-01 2.71675648e-01 -5.07067645e-01 2.19628554e+02] [ 5.28827381e-01 -8.17751671e-03 8.48690008e-01 7.24861660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:219.65, Z:72.50 [[ 2.26120001e-01 -9.62464124e-01 -1.50108477e-01 3.11120183e+02] [ 8.18052863e-01 2.71287387e-01 -5.07141663e-01 2.19650637e+02] [ 5.28828193e-01 -8.12179649e-03 8.48690037e-01 7.25002770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.13, Y:219.67, Z:72.51 [[ 2.26557366e-01 -9.62427028e-01 -1.49686256e-01 3.11125576e+02] [ 8.18464603e-01 2.71428857e-01 -5.06401095e-01 2.19672598e+02] [ 5.28003270e-01 -7.78400424e-03 8.49206663e-01 7.25132664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.13, Y:219.70, Z:72.53 [[ 2.26534062e-01 -9.63041628e-01 -1.45715964e-01 3.11129537e+02] [ 8.18095164e-01 2.69321350e-01 -5.08120373e-01 2.19696990e+02] [ 5.28585491e-01 -4.10295347e-03 8.48870157e-01 7.25265040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.14, Y:219.72, Z:72.54 [[ 2.26363457e-01 -9.62488472e-01 -1.49584514e-01 3.11137246e+02] [ 8.18219721e-01 2.71214800e-01 -5.06911256e-01 2.19717728e+02] [ 5.28465774e-01 -7.64681506e-03 8.48920168e-01 7.25410025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.14, Y:219.74, Z:72.55 [[ 2.25894967e-01 -9.62143626e-01 -1.52483139e-01 3.11144984e+02] [ 8.19307469e-01 2.72322695e-01 -5.04554875e-01 2.19738224e+02] [ 5.26978876e-01 -1.09541679e-02 8.49807784e-01 7.25545750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.15, Y:219.76, Z:72.57 [[ 2.24925010e-01 -9.63024505e-01 -1.48298828e-01 3.11148446e+02] [ 8.19767167e-01 2.69298358e-01 -5.05430694e-01 2.19760752e+02] [ 5.26678775e-01 -7.88650577e-03 8.50027806e-01 7.25660246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.14, Y:219.80, Z:72.57 [[ 2.23356218e-01 -9.66655811e-01 -1.25253915e-01 3.11144551e+02] [ 8.21802848e-01 2.55852346e-01 -5.09096903e-01 2.19796897e+02] [ 5.24167988e-01 1.07759348e-02 8.51546710e-01 7.25686313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.17, Y:219.80, Z:72.60 [[ 2.21349999e-01 -9.59793635e-01 -1.72627794e-01 3.11173327e+02] [ 8.20924801e-01 2.78942326e-01 -4.98270659e-01 2.19798270e+02] [ 5.26390206e-01 -3.14222274e-02 8.49662283e-01 7.25998232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.17, Y:219.83, Z:72.61 [[ 2.19748433e-01 -9.64329879e-01 -1.47575440e-01 3.11166007e+02] [ 8.21529179e-01 2.64505155e-01 -5.05100813e-01 2.19828920e+02] [ 5.26118271e-01 -1.02424183e-02 8.50349727e-01 7.26066328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.17, Y:219.86, Z:72.62 [[ 2.18680335e-01 -9.65932491e-01 -1.38395573e-01 3.11168956e+02] [ 8.23295942e-01 2.58770982e-01 -5.05194389e-01 2.19857527e+02] [ 5.23796433e-01 -3.46443606e-03 8.51836425e-01 7.26156487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:219.87, Z:72.64 [[ 2.17387061e-01 -9.63131031e-01 -1.58497581e-01 3.11182916e+02] [ 8.23407932e-01 2.68148554e-01 -5.00095721e-01 2.19868566e+02] [ 5.24158604e-01 -2.17938265e-02 8.51341757e-01 7.26355267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:219.89, Z:72.65 [[ 2.16426249e-01 -9.65279298e-01 -1.46272197e-01 3.11182107e+02] [ 8.23701974e-01 2.60965145e-01 -5.03400686e-01 2.19894551e+02] [ 5.24094206e-01 -1.15355751e-02 8.51582171e-01 7.26461768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.18, Y:219.92, Z:72.66 [[ 2.14781041e-01 -9.67604109e-01 -1.32707922e-01 3.11179657e+02] [ 8.22274493e-01 2.52472001e-01 -5.10022105e-01 2.19921813e+02] [ 5.27004519e-01 4.20739227e-04 8.49862377e-01 7.26577829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.20, Y:219.93, Z:72.68 [[ 2.16385288e-01 -9.63039914e-01 -1.60410507e-01 3.11201444e+02] [ 8.23450477e-01 2.68295518e-01 -4.99946825e-01 2.19934767e+02] [ 5.24506167e-01 -2.39089710e-02 8.51070879e-01 7.26774044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.20, Y:219.96, Z:72.69 [[ 2.16954992e-01 -9.65324089e-01 -1.45189306e-01 3.11197163e+02] [ 8.23665227e-01 2.60849311e-01 -5.03520835e-01 2.19962312e+02] [ 5.23933322e-01 -1.03460239e-02 8.51696445e-01 7.26870109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.20, Y:219.99, Z:72.70 [[ 2.17147012e-01 -9.66176661e-01 -1.39103686e-01 3.11198663e+02] [ 8.22759737e-01 2.57842612e-01 -5.06540820e-01 2.19985722e+02] [ 5.25274775e-01 -4.45508620e-03 8.50921008e-01 7.26990676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:220.00, Z:72.72 [[ 2.18085567e-01 -9.63588009e-01 -1.54715333e-01 3.11213481e+02] [ 8.23409705e-01 2.66773258e-01 -5.00827801e-01 2.20004428e+02] [ 5.23865577e-01 -1.81707919e-02 8.51607116e-01 7.27166951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:220.03, Z:72.73 [[ 2.18791206e-01 -9.66502257e-01 -1.34178226e-01 3.11206184e+02] [ 8.20913405e-01 2.56653947e-01 -5.10127370e-01 2.20032228e+02] [ 5.27476626e-01 1.46267837e-03 8.49568285e-01 7.27259858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:220.05, Z:72.74 [[ 2.20122859e-01 -9.62628618e-01 -1.57772213e-01 3.11224580e+02] [ 8.22237897e-01 2.70125289e-01 -5.00956254e-01 2.20046545e+02] [ 5.24853091e-01 -1.94543700e-02 8.50970482e-01 7.27446647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:220.07, Z:72.75 [[ 2.20231066e-01 -9.64727543e-01 -1.44218740e-01 3.11222487e+02] [ 8.21964723e-01 2.63149047e-01 -5.05100558e-01 2.20072358e+02] [ 5.25235444e-01 -7.30388176e-03 8.50925603e-01 7.27545073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.23, Y:220.10, Z:72.77 [[ 2.20159369e-01 -9.64778000e-01 -1.43990494e-01 3.11226999e+02] [ 8.21946630e-01 2.62968965e-01 -5.05223773e-01 2.20095327e+02] [ 5.25293813e-01 -7.12275435e-03 8.50891107e-01 7.27676235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:220.13, Z:72.77 [[ 2.18835550e-01 -9.67310298e-01 -1.28147531e-01 3.11224658e+02] [ 8.23581421e-01 2.53536229e-01 -5.07378580e-01 2.20126573e+02] [ 5.23282567e-01 5.49254496e-03 8.52141530e-01 7.27735287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.25, Y:220.14, Z:72.80 [[ 2.18758371e-01 -9.62898417e-01 -1.58023463e-01 3.11246449e+02] [ 8.23057463e-01 2.69073290e-01 -5.00175947e-01 2.20135476e+02] [ 5.24138520e-01 -2.06447149e-02 8.51382762e-01 7.27984749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:220.16, Z:72.81 [[ 2.15444445e-01 -9.67114911e-01 -1.35175587e-01 3.11240591e+02] [ 8.22938519e-01 2.54333525e-01 -5.08022294e-01 2.20163956e+02] [ 5.25695620e-01 -1.79061639e-03 8.50670858e-01 7.28064158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:220.18, Z:72.82 [[ 2.14325151e-01 -9.64992239e-01 -1.51177736e-01 3.11255846e+02] [ 8.24919931e-01 2.61705331e-01 -5.01016394e-01 2.20180091e+02] [ 5.23040951e-01 -1.73291133e-02 8.52131366e-01 7.28240899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:220.22, Z:72.82 [[ 2.09192883e-01 -9.70797413e-01 -1.17433904e-01 3.11241634e+02] [ 8.26154962e-01 2.39706573e-01 -5.09910520e-01 2.20216311e+02] [ 5.23169492e-01 9.65104920e-03 8.52174008e-01 7.28240647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:220.22, Z:72.86 [[ 2.08635747e-01 -9.63871169e-01 -1.65600406e-01 3.11275518e+02] [ 8.27549874e-01 2.64228387e-01 -4.95322688e-01 2.20219396e+02] [ 5.21183587e-01 -3.37005761e-02 8.52778952e-01 7.28553843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.182755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:311.27, Y:220.25, Z:72.86 [[ 2.06525282e-01 -9.68138502e-01 -1.41616201e-01 3.11268678e+02] [ 8.27750177e-01 2.50051957e-01 -5.02298381e-01 2.20249687e+02] [ 5.21705811e-01 -1.34855205e-02 8.53018867e-01 7.28613749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.27, Y:220.27, Z:72.88 [[ 2.04734782e-01 -9.68576526e-01 -1.41220334e-01 3.11274075e+02] [ 8.28594445e-01 2.48305213e-01 -5.01772624e-01 2.20271021e+02] [ 5.21070930e-01 -1.42840759e-02 8.53393843e-01 7.28761100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.28, Y:220.29, Z:72.89 [[ 2.04282883e-01 -9.68709224e-01 -1.40964335e-01 3.11279623e+02] [ 8.28757809e-01 2.47784695e-01 -5.01760141e-01 2.20292659e+02] [ 5.20988481e-01 -1.43242851e-02 8.53443506e-01 7.28899324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.29, Y:220.31, Z:72.90 [[ 2.04085206e-01 -9.68794130e-01 -1.40666847e-01 3.11285072e+02] [ 8.28956978e-01 2.47457431e-01 -5.01592612e-01 2.20314822e+02] [ 5.20749035e-01 -1.42391334e-02 8.53591055e-01 7.29034063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.302755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.29, Y:220.34, Z:72.92 [[ 2.04517397e-01 -9.68742257e-01 -1.40396130e-01 3.11290581e+02] [ 8.28921741e-01 2.47685056e-01 -5.01538494e-01 2.20337415e+02] [ 5.20635556e-01 -1.38040578e-02 8.53667421e-01 7.29164782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.29, Y:220.36, Z:72.93 [[ 2.06037981e-01 -9.68432321e-01 -1.40311051e-01 3.11294098e+02] [ 8.28176558e-01 2.48950768e-01 -5.02142514e-01 2.20358724e+02] [ 5.21221584e-01 -1.27418939e-02 8.53326259e-01 7.29296487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:220.38, Z:72.94 [[ 2.07140897e-01 -9.68230232e-01 -1.40081642e-01 3.11298978e+02] [ 8.27851899e-01 2.49775848e-01 -5.02268114e-01 2.20380703e+02] [ 5.21300184e-01 -1.19265856e-02 8.53290030e-01 7.29429919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:220.40, Z:72.96 [[ 2.08026802e-01 -9.68069829e-01 -1.39877292e-01 3.11303673e+02] [ 8.27548965e-01 2.50428846e-01 -5.02442139e-01 2.20402454e+02] [ 5.21428384e-01 -1.12338764e-02 8.53221097e-01 7.29560280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:220.42, Z:72.97 [[ 2.10044014e-01 -9.67659128e-01 -1.39704420e-01 3.11308986e+02] [ 8.26852917e-01 2.52066613e-01 -5.02769009e-01 2.20424259e+02] [ 5.21723841e-01 -9.91138651e-03 8.53056855e-01 7.29700819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:220.44, Z:72.99 [[ 2.10862751e-01 -9.64772890e-01 -1.57321869e-01 3.11325285e+02] [ 8.25005936e-01 2.61968330e-01 -5.00737256e-01 2.20440078e+02] [ 5.24311077e-01 -2.42046408e-02 8.51182724e-01 7.29931205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:220.47, Z:72.99 [[ 2.09976492e-01 -9.69570626e-01 -1.25867686e-01 3.11313279e+02] [ 8.26929704e-01 2.44801786e-01 -5.06220654e-01 2.20471423e+02] [ 5.21629311e-01 2.21070935e-03 8.53169371e-01 7.29940211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:220.49, Z:73.01 [[ 2.09905137e-01 -9.67809937e-01 -1.38865975e-01 3.11325924e+02] [ 8.27318468e-01 2.51504556e-01 -5.02284392e-01 2.20488439e+02] [ 5.21041251e-01 -9.45431150e-03 8.53479133e-01 7.30111964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:220.51, Z:73.02 [[ 2.09598387e-01 -9.67936440e-01 -1.38446970e-01 3.11331395e+02] [ 8.27826509e-01 2.51017175e-01 -5.01690789e-01 2.20510058e+02] [ 5.20357364e-01 -9.45649185e-03 8.53896240e-01 7.30248650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.34, Y:220.53, Z:73.04 [[ 2.08552864e-01 -9.68230923e-01 -1.37965876e-01 3.11336554e+02] [ 8.28687537e-01 2.49862574e-01 -5.00844945e-01 2.20531047e+02] [ 5.19406073e-01 -9.87795401e-03 8.54470455e-01 7.30377955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.602755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:311.34, Y:220.55, Z:73.05 [[ 2.07967919e-01 -9.68371418e-01 -1.37862766e-01 3.11342593e+02] [ 8.28510372e-01 2.49314914e-01 -5.01410647e-01 2.20552841e+02] [ 5.19922983e-01 -9.94340249e-03 8.54155267e-01 7.30490311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:220.57, Z:73.06 [[ 2.07038036e-01 -9.68639200e-01 -1.37380317e-01 3.11347783e+02] [ 8.29327963e-01 2.48258213e-01 -5.00582651e-01 2.20574052e+02] [ 5.18989770e-01 -1.02936896e-02 8.54718467e-01 7.30647769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.35, Y:220.60, Z:73.08 [[ 2.05774653e-01 -9.68906336e-01 -1.37394705e-01 3.11353524e+02] [ 8.29066899e-01 2.47196099e-01 -5.01539795e-01 2.20595415e+02] [ 5.19908520e-01 -1.07052251e-02 8.54154863e-01 7.30779743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.36, Y:220.62, Z:73.09 [[ 2.05339670e-01 -9.69008036e-01 -1.37328239e-01 3.11359316e+02] [ 8.28760068e-01 2.46798143e-01 -5.02242398e-01 2.20617367e+02] [ 5.20569274e-01 -1.06818726e-02 8.53752615e-01 7.30921700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.36, Y:220.64, Z:73.11 [[ 2.04793556e-01 -9.69143815e-01 -1.37185515e-01 3.11364501e+02] [ 8.28694262e-01 2.46261337e-01 -5.02614339e-01 2.20639147e+02] [ 5.20889066e-01 -1.07526711e-02 8.53556654e-01 7.31055893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.37, Y:220.66, Z:73.12 [[ 2.04988504e-01 -9.69126063e-01 -1.37019664e-01 3.11369028e+02] [ 8.28493725e-01 2.46345045e-01 -5.02903834e-01 2.20659899e+02] [ 5.21131327e-01 -1.04304273e-02 8.53412764e-01 7.31188706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.37, Y:220.68, Z:73.13 [[ 2.04696789e-01 -9.69217217e-01 -1.36810859e-01 3.11373971e+02] [ 8.28636083e-01 2.45985943e-01 -5.02845064e-01 2.20681165e+02] [ 5.21019642e-01 -1.04356441e-02 8.53480890e-01 7.31318888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.38, Y:220.70, Z:73.15 [[ 2.04586635e-01 -9.69257299e-01 -1.36691611e-01 3.11379378e+02] [ 8.28382261e-01 2.45835479e-01 -5.03336615e-01 2.20702843e+02] [ 5.21466335e-01 -1.02569610e-02 8.53210206e-01 7.31461076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.842755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:311.38, Y:220.72, Z:73.16 [[ 2.04359325e-01 -9.69313174e-01 -1.36635416e-01 3.11384864e+02] [ 8.28027563e-01 2.45620110e-01 -5.04024916e-01 2.20724390e+02] [ 5.22118397e-01 -1.01356985e-02 8.52812785e-01 7.31596963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.872755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.39, Y:220.75, Z:73.17 [[ 2.03867128e-01 -9.69457586e-01 -1.36345822e-01 3.11390533e+02] [ 8.28306539e-01 2.45046059e-01 -5.03845915e-01 2.20746357e+02] [ 5.21868251e-01 -1.02185164e-02 8.52964894e-01 7.31735529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.902755096 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:311.39, Y:220.77, Z:73.18 [[ 2.04556605e-01 -9.71332332e-01 -1.21120170e-01 3.11387780e+02] [ 8.25569512e-01 2.37679220e-01 -5.11804230e-01 2.20771339e+02] [ 5.25919744e-01 4.69981605e-03 8.50521213e-01 7.31847280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.932755096 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:311.41, Y:220.79, Z:73.21 [[ 2.04517651e-01 -9.67455257e-01 -1.49006228e-01 3.11409021e+02] [ 8.27917161e-01 2.52176734e-01 -5.00959150e-01 2.20786702e+02] [ 5.22231467e-01 -2.09098248e-02 8.52547403e-01 7.32053054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.962755096 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:311.41, Y:220.81, Z:73.22 [[ 2.04850385e-01 -9.69311587e-01 -1.35909405e-01 3.11407359e+02] [ 8.27501666e-01 2.45669002e-01 -5.04864075e-01 2.20812698e+02] [ 5.22759326e-01 -9.04365848e-03 8.52432343e-01 7.32164608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.992755096 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:311.41, Y:220.84, Z:73.23 [[ 2.04869068e-01 -9.69335229e-01 -1.35712488e-01 3.11412341e+02] [ 8.27408941e-01 2.45583872e-01 -5.05057429e-01 2.20835083e+02] [ 5.22898756e-01 -8.81908120e-03 8.52349174e-01 7.32305516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.022755096 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:311.42, Y:220.86, Z:73.24 [[ 2.04821678e-01 -9.69374287e-01 -1.35504880e-01 3.11416705e+02] [ 8.27357848e-01 2.45436290e-01 -5.05212845e-01 2.20856107e+02] [ 5.22998156e-01 -8.63248327e-03 8.52290097e-01 7.32439213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.052755096 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:311.42, Y:220.88, Z:73.26 [[ 2.04660088e-01 -9.69432944e-01 -1.35329284e-01 3.11421910e+02] [ 8.27232544e-01 2.45209566e-01 -5.05528028e-01 2.20877661e+02] [ 5.23259559e-01 -8.48737718e-03 8.52131092e-01 7.32578852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.082755096 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:311.44, Y:220.90, Z:73.28 [[ 2.04681380e-01 -9.67392484e-01 -1.49188858e-01 3.11435662e+02] [ 8.25821264e-01 2.52491714e-01 -5.04249119e-01 2.20895360e+02] [ 5.25475759e-01 -1.99929259e-02 8.50573636e-01 7.32797316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.112755096 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:311.43, Y:220.93, Z:73.28 [[ 2.02767601e-01 -9.71249210e-01 -1.24740816e-01 3.11426309e+02] [ 8.27634070e-01 2.38064991e-01 -5.08278375e-01 2.20925375e+02] [ 5.23361392e-01 -1.77362069e-04 8.52110804e-01 7.32832797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.142755096 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:311.44, Y:220.94, Z:73.30 [[ 2.02038205e-01 -9.70079088e-01 -1.34637015e-01 3.11437173e+02] [ 8.27812208e-01 2.42612602e-01 -5.05832061e-01 2.20944243e+02] [ 5.23361741e-01 -9.25676295e-03 8.52060327e-01 7.32997065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1727550960001 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:311.44, Y:220.97, Z:73.31 [[ 2.00838929e-01 -9.70340492e-01 -1.34547593e-01 3.11442261e+02] [ 8.27775540e-01 2.41548789e-01 -5.06400867e-01 2.20965801e+02] [ 5.23881075e-01 -9.67019847e-03 8.51736524e-01 7.33134994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.202755096 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:311.45, Y:220.99, Z:73.33 [[ 1.98858331e-01 -9.70752937e-01 -1.34514309e-01 3.11446306e+02] [ 8.27792708e-01 2.39851263e-01 -5.07179065e-01 2.20988054e+02] [ 5.24608994e-01 -1.04931817e-02 8.51278624e-01 7.33276612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.232755096 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:311.45, Y:221.01, Z:73.34 [[ 1.98007034e-01 -9.70943529e-01 -1.34394485e-01 3.11451006e+02] [ 8.27742195e-01 2.39068069e-01 -5.07631083e-01 2.21009237e+02] [ 5.25010545e-01 -1.07294614e-02 8.51028088e-01 7.33410432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.262755096 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:311.46, Y:221.03, Z:73.35 [[ 1.97105984e-01 -9.71134952e-01 -1.34335907e-01 3.11455699e+02] [ 8.27526015e-01 2.38278481e-01 -5.08354266e-01 2.21029546e+02] [ 5.25689952e-01 -1.09667902e-02 8.50605551e-01 7.33545051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2927550960001 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:311.47, Y:221.05, Z:73.38 [[ 1.97186201e-01 -9.68405470e-01 -1.52671043e-01 3.11471899e+02] [ 8.25539340e-01 2.48013766e-01 -5.06926001e-01 2.21045152e+02] [ 5.28774433e-01 -2.60771392e-02 8.48361705e-01 7.33786562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.322755096 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:311.47, Y:221.07, Z:73.39 [[ 1.96677763e-01 -9.70591400e-01 -1.38817119e-01 3.11469987e+02] [ 8.25665539e-01 2.40312049e-01 -5.10418002e-01 2.21071367e+02] [ 5.28766749e-01 -1.42286406e-02 8.48647907e-01 7.33891334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.352755096 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:311.46, Y:221.10, Z:73.39 [[ 1.96130483e-01 -9.73152180e-01 -1.20447783e-01 3.11464683e+02] [ 8.27125468e-01 2.30160723e-01 -5.12727512e-01 2.21099499e+02] [ 5.26684245e-01 9.36065754e-04 8.50060486e-01 7.33933444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.382755096 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:311.48, Y:221.12, Z:73.41 [[ 1.96095162e-01 -9.71424448e-01 -1.33720714e-01 3.11477124e+02] [ 8.26962876e-01 2.37111725e-01 -5.09814115e-01 2.21117263e+02] [ 5.26952645e-01 -1.06099848e-02 8.49828417e-01 7.34101994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.412755096 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:311.48, Y:221.14, Z:73.42 [[ 1.96369036e-01 -9.71386847e-01 -1.33591900e-01 3.11482393e+02] [ 8.26629605e-01 2.37282459e-01 -5.10274955e-01 2.21138331e+02] [ 5.27373394e-01 -1.02288187e-02 8.49572054e-01 7.34235002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.442755096 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:311.49, Y:221.16, Z:73.44 [[ 1.97304992e-01 -9.71202614e-01 -1.33552319e-01 3.11488094e+02] [ 8.25882025e-01 2.38067511e-01 -5.11119106e-01 2.21160155e+02] [ 5.28194681e-01 -9.45210870e-03 8.49070690e-01 7.34369727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.472755096 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:311.49, Y:221.18, Z:73.45 [[ 1.97881069e-01 -9.71094858e-01 -1.33483557e-01 3.11493255e+02] [ 8.25297616e-01 2.38528711e-01 -5.11847535e-01 2.21181532e+02] [ 5.28892169e-01 -8.87872345e-03 8.48642588e-01 7.34505579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.502755096 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:311.49, Y:221.21, Z:73.46 [[ 1.97920806e-01 -9.72388258e-01 -1.23646391e-01 3.11492792e+02] [ 8.25870876e-01 2.33368381e-01 -5.13299615e-01 2.21207811e+02] [ 5.27981677e-01 -5.23279935e-04 8.49255601e-01 7.34596042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.532755096 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:311.50, Y:221.23, Z:73.47 [[ 1.98905234e-01 -9.71687729e-01 -1.27513390e-01 3.11500294e+02] [ 8.25132318e-01 2.36247914e-01 -5.13170128e-01 2.21229491e+02] [ 5.28765889e-01 -3.14319500e-03 8.48761895e-01 7.34742305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.562755096 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:311.52, Y:221.24, Z:73.50 [[ 1.99249582e-01 -9.68785799e-01 -1.47491289e-01 3.11517073e+02] [ 8.23267071e-01 2.47123258e-01 -5.11039554e-01 2.21242366e+02] [ 5.31536391e-01 -1.96003033e-02 8.46808652e-01 7.34974525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.592755096 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:311.53, Y:221.26, Z:73.52 [[ 2.01253572e-01 -9.67503582e-01 -1.53081084e-01 3.11529931e+02] [ 8.20736291e-01 2.51859845e-01 -5.12794851e-01 2.21262107e+02] [ 5.34685833e-01 -2.24374054e-02 8.44752995e-01 7.35199193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.622755096 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:311.52, Y:221.29, Z:73.52 [[ 2.00909086e-01 -9.71910952e-01 -1.22575040e-01 3.11518612e+02] [ 8.22125956e-01 2.35324653e-01 -5.18392921e-01 2.21291826e+02] [ 5.32676687e-01 3.37772594e-03 8.46312081e-01 7.35221513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.652755096 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:311.53, Y:221.31, Z:73.54 [[ 1.98794695e-01 -9.71007682e-01 -1.32758244e-01 3.11528209e+02] [ 8.23487460e-01 2.38944815e-01 -5.14561734e-01 2.21310615e+02] [ 5.31365291e-01 -7.03260565e-03 8.47113611e-01 7.35365804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.682755096 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:311.55, Y:221.33, Z:73.56 [[ 1.99948934e-01 -9.67910595e-01 -1.52215320e-01 3.11548127e+02] [ 8.21531675e-01 2.50274997e-01 -5.12296919e-01 2.21326411e+02] [ 5.33953304e-01 -2.26164838e-02 8.45211431e-01 7.35619653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.712755096 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:311.54, Y:221.36, Z:73.56 [[ 1.96748845e-01 -9.72946533e-01 -1.21098871e-01 3.11535750e+02] [ 8.24293332e-01 2.31022787e-01 -5.16883909e-01 2.21356098e+02] [ 5.30877006e-01 1.87532026e-03 8.47446805e-01 7.35622081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.742755096 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:311.56, Y:221.37, Z:73.59 [[ 1.97897362e-01 -9.68475613e-01 -1.51299770e-01 3.11562849e+02] [ 8.22565102e-01 2.48027231e-01 -5.11731517e-01 2.21369120e+02] [ 5.33125958e-01 -2.31835929e-02 8.45718177e-01 7.35908561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.772755096 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:311.56, Y:221.40, Z:73.60 [[ 1.96061352e-01 -9.72224549e-01 -1.27825558e-01 3.11557673e+02] [ 8.20859734e-01 2.34033503e-01 -5.20977559e-01 2.21395433e+02] [ 5.36422636e-01 -2.78328908e-03 8.43944909e-01 7.35989031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.802755096 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:311.56, Y:221.41, Z:73.61 [[ 1.92286712e-01 -9.71972012e-01 -1.35263552e-01 3.11564186e+02] [ 8.26021647e-01 2.34725969e-01 -5.12437273e-01 2.21413787e+02] [ 5.29824555e-01 -1.31957443e-02 8.48004607e-01 7.36082119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.832755096 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:311.56, Y:221.44, Z:73.62 [[ 1.91638625e-01 -9.73901505e-01 -1.21616184e-01 3.11564570e+02] [ 8.26489414e-01 2.26964014e-01 -5.15172385e-01 2.21442096e+02] [ 5.29329658e-01 -1.78756059e-03 8.48414355e-01 7.36169459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.862755096 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:311.58, Y:221.45, Z:73.64 [[ 1.90157244e-01 -9.71454258e-01 -1.41833871e-01 3.11581824e+02] [ 8.26592077e-01 2.36372657e-01 -5.10757776e-01 2.21453747e+02] [ 5.29703465e-01 -2.01144630e-02 8.47944366e-01 7.36379404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.892755096 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:311.59, Y:221.47, Z:73.66 [[ 1.91915950e-01 -9.70615683e-01 -1.45167023e-01 3.11593350e+02] [ 8.24448674e-01 2.39691076e-01 -5.12671992e-01 2.21474998e+02] [ 5.32402716e-01 -2.12928271e-02 8.46223354e-01 7.36581691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9227550960001 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:311.58, Y:221.51, Z:73.66 [[ 1.90691458e-01 -9.74073344e-01 -1.21728753e-01 3.11584973e+02] [ 8.25995879e-01 2.26222744e-01 -5.16288755e-01 2.21506130e+02] [ 5.30440926e-01 -2.09559269e-03 8.47719312e-01 7.36606847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.952755096 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:311.60, Y:221.52, Z:73.68 [[ 1.92186069e-01 -9.71731375e-01 -1.37122752e-01 3.11596764e+02] [ 8.25796232e-01 2.35627297e-01 -5.12386925e-01 2.21521222e+02] [ 5.30212315e-01 -1.47618228e-02 8.47736392e-01 7.36782692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.982755096 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:311.59, Y:221.55, Z:73.68 [[ 1.93702665e-01 -9.74259262e-01 -1.15317686e-01 3.11591054e+02] [ 8.26229812e-01 2.25380905e-01 -5.16282622e-01 2.21553747e+02] [ 5.28983530e-01 4.72641009e-03 8.48618929e-01 7.36832275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.012755096 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:311.61, Y:221.56, Z:73.71 [[ 1.94830211e-01 -9.70074694e-01 -1.44900920e-01 3.11611705e+02] [ 8.24623118e-01 2.41992271e-01 -5.11308571e-01 2.21563035e+02] [ 5.31072408e-01 -1.98702920e-02 8.47093424e-01 7.37082132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0427550960001 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:311.61, Y:221.59, Z:73.72 [[ 1.96953448e-01 -9.71735489e-01 -1.30151749e-01 3.11609310e+02] [ 8.23285590e-01 2.36008764e-01 -5.16237059e-01 2.21589516e+02] [ 5.32362824e-01 -5.47739061e-03 8.46498566e-01 7.37182163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.072755096 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:311.62, Y:221.61, Z:73.74 [[ 1.98678113e-01 -9.70799822e-01 -1.34442228e-01 3.11618906e+02] [ 8.22131910e-01 2.39759514e-01 -5.16347265e-01 2.21611662e+02] [ 5.33503636e-01 -7.94234573e-03 8.45760480e-01 7.37353135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.102755096 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:311.62, Y:221.63, Z:73.75 [[ 1.99046587e-01 -9.71290969e-01 -1.30285496e-01 3.11618810e+02] [ 8.22271743e-01 2.37857157e-01 -5.17004017e-01 2.21633398e+02] [ 5.33150670e-01 -4.22219641e-03 8.46009773e-01 7.37459109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.132755096 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:311.62, Y:221.66, Z:73.76 [[ 1.98910823e-01 -9.71416273e-01 -1.29556588e-01 3.11622557e+02] [ 8.22438374e-01 2.37353276e-01 -5.16970544e-01 2.21655981e+02] [ 5.32944280e-01 -3.72127341e-03 8.46142155e-01 7.37596732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.162755096 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:311.62, Y:221.68, Z:73.77 [[ 1.98747997e-01 -9.72898973e-01 -1.18181310e-01 3.11621251e+02] [ 8.24004871e-01 2.31166918e-01 -5.17279256e-01 2.21683849e+02] [ 5.30580066e-01 5.42624109e-03 8.47617455e-01 7.37687671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.192755096 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:311.63, Y:221.70, Z:73.79 [[ 1.98656359e-01 -9.71482273e-01 -1.29452090e-01 3.11631897e+02] [ 8.24791907e-01 2.37063756e-01 -5.13341101e-01 2.21701852e+02] [ 5.29390178e-01 -4.79256231e-03 8.48364939e-01 7.37850088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.222755096 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:311.63, Y:221.73, Z:73.80 [[ 1.96838362e-01 -9.72871184e-01 -1.21557880e-01 3.11631830e+02] [ 8.26204593e-01 2.31346487e-01 -5.13677695e-01 2.21725408e+02] [ 5.27864216e-01 6.79796956e-04 8.49328504e-01 7.37968639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.252755096 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:311.65, Y:221.74, Z:73.82 [[ 1.95780393e-01 -9.70139690e-01 -1.43174787e-01 3.11649053e+02] [ 8.24973163e-01 2.41869789e-01 -5.10801612e-01 2.21737017e+02] [ 5.30178573e-01 -1.81104163e-02 8.47692571e-01 7.38202528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.282755096 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:311.64, Y:221.77, Z:73.82 [[ 1.92622184e-01 -9.75218814e-01 -1.08834554e-01 3.11635598e+02] [ 8.27641365e-01 2.21047130e-01 -5.15895278e-01 2.21772354e+02] [ 5.27168347e-01 9.29689650e-03 8.49710011e-01 7.38201207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.312755096 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:311.65, Y:221.79, Z:73.84 [[ 1.92289544e-01 -9.72676449e-01 -1.30097104e-01 3.11653367e+02] [ 8.26876717e-01 2.31987890e-01 -5.12305099e-01 2.21787883e+02] [ 5.28488057e-01 -9.06335219e-03 8.48892354e-01 7.38430746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.342755096 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:311.66, Y:221.81, Z:73.86 [[ 1.90440134e-01 -9.72696896e-01 -1.32639754e-01 3.11659821e+02] [ 8.26416784e-01 2.31774273e-01 -5.13143240e-01 2.21809374e+02] [ 5.29875319e-01 -1.18926517e-02 8.47992164e-01 7.38566766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.372755096 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:311.66, Y:221.83, Z:73.88 [[ 1.88799402e-01 -9.72812208e-01 -1.34131259e-01 3.11664713e+02] [ 8.27186534e-01 2.31156409e-01 -5.12180782e-01 2.21827984e+02] [ 5.29261017e-01 -1.42521462e-02 8.48339350e-01 7.38753767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.402755096 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:311.67, Y:221.85, Z:73.89 [[ 1.87419426e-01 -9.74077167e-01 -1.26679244e-01 3.11665777e+02] [ 8.27596768e-01 2.26054555e-01 -5.13792689e-01 2.21852526e+02] [ 5.29110147e-01 -8.54460207e-03 8.48510131e-01 7.38872980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.432755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:311.67, Y:221.87, Z:73.90 [[ 1.85508800e-01 -9.75371845e-01 -1.19315752e-01 3.11665920e+02] [ 8.26352897e-01 2.20553057e-01 -5.18167192e-01 2.21874306e+02] [ 5.31721144e-01 -2.47234331e-03 8.46915883e-01 7.38988838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.462755096 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:311.68, Y:221.89, Z:73.92 [[ 1.84006768e-01 -9.73998040e-01 -1.32171585e-01 3.11678000e+02] [ 8.27949036e-01 2.26059664e-01 -5.13222585e-01 2.21892617e+02] [ 5.29756456e-01 -1.49949073e-02 8.48017247e-01 7.39157457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.492755096 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:311.68, Y:221.92, Z:73.93 [[ 1.83923174e-01 -9.75495297e-01 -1.20752603e-01 3.11678198e+02] [ 8.28147760e-01 2.19959301e-01 -5.15547470e-01 2.21919789e+02] [ 5.29474790e-01 -5.17987017e-03 8.48309858e-01 7.39263747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.522755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:311.70, Y:221.93, Z:73.94 [[ 1.85545522e-01 -9.71206184e-01 -1.49436969e-01 3.11698608e+02] [ 8.28331416e-01 2.36401900e-01 -5.07918505e-01 2.21928765e+02] [ 5.28620776e-01 -2.95413323e-02 8.48343907e-01 7.39446706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.552755096 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:311.66, Y:221.98, Z:73.95 [[ 1.75448105e-01 -9.81797480e-01 -7.27438694e-02 3.11656546e+02] [ 8.23319915e-01 1.86837479e-01 -5.35944095e-01 2.21981950e+02] [ 5.39779843e-01 3.41388996e-02 8.41113700e-01 7.39513306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.582755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:311.70, Y:221.98, Z:73.98 [[ 1.76783039e-01 -9.73270825e-01 -1.46600333e-01 3.11701902e+02] [ 8.24836916e-01 2.27765273e-01 -5.17462118e-01 2.21981355e+02] [ 5.37021247e-01 -2.94428408e-02 8.43054743e-01 7.39821374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.612755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:311.69, Y:222.01, Z:73.99 [[ 1.78666464e-01 -9.75887398e-01 -1.25387724e-01 3.11694515e+02] [ 8.24106058e-01 2.18048638e-01 -5.22784848e-01 2.22006842e+02] [ 5.37519768e-01 -9.92866260e-03 8.43192695e-01 7.39890811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.642755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:311.69, Y:222.04, Z:74.00 [[ 1.78385040e-01 -9.77930357e-01 -1.08770371e-01 3.11688931e+02] [ 8.25726980e-01 2.08899202e-01 -5.23961905e-01 2.22037605e+02] [ 5.35120297e-01 3.65233533e-03 8.44767973e-01 7.39955562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6727550960001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:311.70, Y:222.06, Z:74.01 [[ 1.78401877e-01 -9.76503696e-01 -1.20885494e-01 3.11700474e+02] [ 8.25948009e-01 2.15390104e-01 -5.20976957e-01 2.22056310e+02] [ 5.34773463e-01 -6.90186604e-03 8.44967282e-01 7.40126253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.702755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:311.71, Y:222.08, Z:74.03 [[ 1.77604545e-01 -9.76312748e-01 -1.23572018e-01 3.11706744e+02] [ 8.23613630e-01 2.16191021e-01 -5.24330079e-01 2.22076405e+02] [ 5.38625301e-01 -8.65219289e-03 8.42500994e-01 7.40323426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.732755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:311.71, Y:222.10, Z:74.05 [[ 1.77468415e-01 -9.76351093e-01 -1.23464590e-01 3.11710846e+02] [ 8.23660634e-01 2.16018218e-01 -5.24327465e-01 2.22098114e+02] [ 5.38598294e-01 -8.64135807e-03 8.42518371e-01 7.40456531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.762755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:311.71, Y:222.12, Z:74.06 [[ 1.78456531e-01 -9.76777850e-01 -1.18567698e-01 3.11712899e+02] [ 8.23733487e-01 2.14217495e-01 -5.24951434e-01 2.22120601e+02] [ 5.38160208e-01 -3.98717146e-03 8.42833135e-01 7.40552297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7927550960001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:311.72, Y:222.14, Z:74.07 [[ 1.76122964e-01 -9.76652489e-01 -1.23006578e-01 3.11719850e+02] [ 8.23416202e-01 2.14646115e-01 -5.25274028e-01 2.22141510e+02] [ 5.39413071e-01 -8.77279045e-03 8.41995592e-01 7.40736991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.822755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:311.72, Y:222.16, Z:74.09 [[ 1.76170379e-01 -9.77178715e-01 -1.18683430e-01 3.11721051e+02] [ 8.22439885e-01 2.12368130e-01 -5.27723803e-01 2.22162478e+02] [ 5.40885046e-01 -4.64068397e-03 8.41083724e-01 7.40854229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.852755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:311.73, Y:222.18, Z:74.10 [[ 1.74276415e-01 -9.76379198e-01 -1.27716062e-01 3.11730490e+02] [ 8.23945916e-01 2.15616283e-01 -5.24044604e-01 2.22182441e+02] [ 5.39203912e-01 -1.39025128e-02 8.42060485e-01 7.41015837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.882755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:311.73, Y:222.21, Z:74.11 [[ 1.72167287e-01 -9.77410651e-01 -1.22584034e-01 3.11731867e+02] [ 8.24133145e-01 2.11086279e-01 -5.25592183e-01 2.22205825e+02] [ 5.39595205e-01 -1.05357856e-02 8.41858665e-01 7.41138372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.912755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:311.74, Y:222.23, Z:74.13 [[ 1.70772879e-01 -9.77678988e-01 -1.22394528e-01 3.11736040e+02] [ 8.24253044e-01 2.09812306e-01 -5.25914172e-01 2.22226465e+02] [ 5.39855113e-01 -1.10721852e-02 8.41685133e-01 7.41274894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.942755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.74, Y:222.25, Z:74.14 [[ 1.69395618e-01 -9.77942110e-01 -1.22206194e-01 3.11740187e+02] [ 8.24334424e-01 2.08554418e-01 -5.26286815e-01 2.22247321e+02] [ 5.40164680e-01 -1.15880922e-02 8.41479551e-01 7.41408735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.972755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.74, Y:222.27, Z:74.15 [[ 1.68044434e-01 -9.79330646e-01 -1.12572443e-01 3.11739973e+02] [ 8.25275873e-01 2.02220245e-01 -5.27282378e-01 2.22273895e+02] [ 5.39148219e-01 -4.29645245e-03 8.42199940e-01 7.41502969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.002755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.75, Y:222.29, Z:74.17 [[ 1.65665940e-01 -9.78991167e-01 -1.18874268e-01 3.11748334e+02] [ 8.25500744e-01 2.03609768e-01 -5.26394894e-01 2.22294865e+02] [ 5.39539914e-01 -1.09250915e-02 8.41889140e-01 7.41657343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.032755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.76, Y:222.31, Z:74.19 [[ 1.64750157e-01 -9.77431755e-01 -1.32229161e-01 3.11760708e+02] [ 8.24634448e-01 2.10048678e-01 -5.25221458e-01 2.22309741e+02] [ 5.41142692e-01 -2.25104031e-02 8.40629448e-01 7.41862147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.062755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:311.75, Y:222.34, Z:74.19 [[ 1.62842084e-01 -9.81616415e-01 -9.95573657e-02 3.11746834e+02] [ 8.26993519e-01 1.90826884e-01 -5.28835343e-01 2.22344231e+02] [ 5.38111675e-01 3.78335335e-03 8.42865061e-01 7.41868614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.092755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.76, Y:222.36, Z:74.21 [[ 1.62016784e-01 -9.79475116e-01 -1.19912712e-01 3.11762974e+02] [ 8.27367433e-01 2.01061215e-01 -5.24440195e-01 2.22359577e+02] [ 5.37785916e-01 -1.42437584e-02 8.42961104e-01 7.42062630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.122755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:311.77, Y:222.38, Z:74.22 [[ 1.61446635e-01 -9.79209133e-01 -1.22818799e-01 3.11769056e+02] [ 8.26212169e-01 2.02174567e-01 -5.25831623e-01 2.22379373e+02] [ 5.39729966e-01 -1.65806403e-02 8.41674905e-01 7.42230127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.152755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.77, Y:222.40, Z:74.24 [[ 1.61206864e-01 -9.79894068e-01 -1.17558335e-01 3.11770507e+02] [ 8.26851284e-01 1.99132111e-01 -5.25987981e-01 2.22401619e+02] [ 5.38822142e-01 -1.24103877e-02 8.42328132e-01 7.42351118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.182755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.78, Y:222.42, Z:74.25 [[ 1.61341210e-01 -9.78715643e-01 -1.26825485e-01 3.11780009e+02] [ 8.25193724e-01 2.04274283e-01 -5.26618776e-01 2.22416653e+02] [ 5.41317219e-01 -1.96902837e-02 8.40587866e-01 7.42546822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.212755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.78, Y:222.44, Z:74.27 [[ 1.60988406e-01 -9.79814640e-01 -1.18515837e-01 3.11779997e+02] [ 8.25091288e-01 1.99505146e-01 -5.28603882e-01 2.22440417e+02] [ 5.41578342e-01 -1.26872884e-02 8.40554539e-01 7.42666490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.242755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.79, Y:222.46, Z:74.28 [[ 1.60514960e-01 -9.79218286e-01 -1.23961675e-01 3.11788058e+02] [ 8.26745815e-01 2.01990475e-01 -5.25063048e-01 2.22461259e+02] [ 5.39190416e-01 -1.82043219e-02 8.41987113e-01 7.42823137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.272755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.80, Y:222.48, Z:74.30 [[ 1.62287560e-01 -9.78350791e-01 -1.28423040e-01 3.11797938e+02] [ 8.25564240e-01 2.05910010e-01 -5.25399613e-01 2.22482128e+02] [ 5.40468717e-01 -2.07556481e-02 8.41108061e-01 7.43006418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.302755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.79, Y:222.51, Z:74.30 [[ 1.61073031e-01 -9.81646433e-01 -1.02106605e-01 3.11785701e+02] [ 8.27711153e-01 1.90709302e-01 -5.27753929e-01 2.22512764e+02] [ 5.37540442e-01 4.92148917e-04 8.43237826e-01 7.43005463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.332755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.81, Y:222.52, Z:74.33 [[ 1.61576589e-01 -9.77933070e-01 -1.32438347e-01 3.11806531e+02] [ 8.26693485e-01 2.07419963e-01 -5.23024704e-01 2.22523462e+02] [ 5.38953512e-01 -2.49773714e-02 8.41965108e-01 7.43260712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.362755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.80, Y:222.55, Z:74.34 [[ 1.64235906e-01 -9.79272078e-01 -1.18544355e-01 3.11802617e+02] [ 8.25838892e-01 2.02225634e-01 -5.26398059e-01 2.22548875e+02] [ 5.39459629e-01 -1.14450768e-02 8.41933679e-01 7.43360821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.392755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.81, Y:222.57, Z:74.35 [[ 1.65561742e-01 -9.79078550e-01 -1.18298362e-01 3.11806785e+02] [ 8.25719880e-01 2.03208375e-01 -5.26206267e-01 2.22571082e+02] [ 5.39236487e-01 -1.05616830e-02 8.42088156e-01 7.43505032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4227550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.81, Y:222.59, Z:74.36 [[ 1.68525630e-01 -9.78615632e-01 -1.17943024e-01 3.11810497e+02] [ 8.25450832e-01 2.05510993e-01 -5.25733922e-01 2.22593767e+02] [ 5.38730022e-01 -8.75652650e-03 8.42432957e-01 7.43642239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.452755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.81, Y:222.62, Z:74.38 [[ 1.69476767e-01 -9.78471118e-01 -1.17779018e-01 3.11814511e+02] [ 8.25025066e-01 2.06228480e-01 -5.26121140e-01 2.22615438e+02] [ 5.39083728e-01 -8.00533252e-03 8.42214135e-01 7.43784192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.82, Y:222.64, Z:74.39 [[ 1.70221734e-01 -9.78360426e-01 -1.17624137e-01 3.11818820e+02] [ 8.24594073e-01 2.06777071e-01 -5.26581293e-01 2.22636875e+02] [ 5.39508273e-01 -7.35658563e-03 8.41948160e-01 7.43923038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:222.66, Z:74.41 [[ 1.70369247e-01 -9.78365031e-01 -1.17371996e-01 3.11823162e+02] [ 8.24550726e-01 2.06765840e-01 -5.26653574e-01 2.22658926e+02] [ 5.39527960e-01 -7.05359153e-03 8.41938137e-01 7.44063378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.83, Y:222.68, Z:74.42 [[ 1.70186228e-01 -9.78421870e-01 -1.17163524e-01 3.11827812e+02] [ 8.24512932e-01 2.06500360e-01 -5.26816881e-01 2.22679975e+02] [ 5.39643468e-01 -6.94586246e-03 8.41865002e-01 7.44198873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.83, Y:222.70, Z:74.43 [[ 1.69184108e-01 -9.78618229e-01 -1.16974777e-01 3.11832653e+02] [ 8.24731517e-01 2.05554129e-01 -5.26844783e-01 2.22701767e+02] [ 5.39624557e-01 -7.33902052e-03 8.41873789e-01 7.44345657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:222.72, Z:74.45 [[ 1.67364466e-01 -9.78971933e-01 -1.16632282e-01 3.11837799e+02] [ 8.25412153e-01 2.03831674e-01 -5.26447933e-01 2.22722522e+02] [ 5.39151104e-01 -8.16102605e-03 8.42169511e-01 7.44479804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:222.74, Z:74.46 [[ 1.66065922e-01 -9.79228392e-01 -1.16335141e-01 3.11842280e+02] [ 8.25814702e-01 2.02574871e-01 -5.26301719e-01 2.22743470e+02] [ 5.38936163e-01 -8.67048956e-03 8.42301986e-01 7.44618619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:222.77, Z:74.48 [[ 1.64829865e-01 -9.79467427e-01 -1.16080467e-01 3.11846803e+02] [ 8.26086639e-01 2.01395273e-01 -5.26327663e-01 2.22765000e+02] [ 5.38898859e-01 -9.13800589e-03 8.42320911e-01 7.44759163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.85, Y:222.79, Z:74.49 [[ 1.63128204e-01 -9.79782154e-01 -1.15827972e-01 3.11851566e+02] [ 8.26458585e-01 1.99823918e-01 -5.26342673e-01 2.22786129e+02] [ 5.38846357e-01 -9.86568699e-03 8.42346290e-01 7.44894436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.86, Y:222.81, Z:74.50 [[ 1.62100036e-01 -9.79985817e-01 -1.15548159e-01 3.11856117e+02] [ 8.26744609e-01 1.98804860e-01 -5.26279373e-01 2.22808486e+02] [ 5.38717857e-01 -1.02189121e-02 8.42424266e-01 7.45034072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.86, Y:222.83, Z:74.52 [[ 1.61390972e-01 -9.80131975e-01 -1.15300759e-01 3.11860602e+02] [ 8.26910924e-01 1.98073370e-01 -5.26293895e-01 2.22829708e+02] [ 5.38675484e-01 -1.04043735e-02 8.42449091e-01 7.45169033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.782755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.87, Y:222.85, Z:74.53 [[ 1.61070922e-01 -9.80216376e-01 -1.15030498e-01 3.11865114e+02] [ 8.27038395e-01 1.97657023e-01 -5.26250125e-01 2.22850709e+02] [ 5.38575576e-01 -1.03710456e-02 8.42513377e-01 7.45305545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.812755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.86, Y:222.88, Z:74.54 [[ 1.60158908e-01 -9.81692944e-01 -1.03092615e-01 3.11861318e+02] [ 8.28224409e-01 1.90467881e-01 -5.27035401e-01 2.22876675e+02] [ 5.37022767e-01 -9.74405324e-04 8.43567187e-01 7.45382366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.88, Y:222.89, Z:74.56 [[ 1.61588241e-01 -9.79253635e-01 -1.22276567e-01 3.11878286e+02] [ 8.27248305e-01 2.01970746e-01 -5.24278610e-01 2.22892418e+02] [ 5.38098024e-01 -1.64358247e-02 8.42722007e-01 7.45606717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.88, Y:222.92, Z:74.57 [[ 1.63419065e-01 -9.79930443e-01 -1.14151376e-01 3.11877706e+02] [ 8.27087264e-01 1.99157615e-01 -5.25607175e-01 2.22915353e+02] [ 5.37792588e-01 -8.51891573e-03 8.43034140e-01 7.45722482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.88, Y:222.94, Z:74.59 [[ 1.64045612e-01 -9.79856321e-01 -1.13888665e-01 3.11881326e+02] [ 8.27021118e-01 1.99544585e-01 -5.25564485e-01 2.22936276e+02] [ 5.37703549e-01 -7.97178298e-03 8.43096284e-01 7.45860511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.89, Y:222.96, Z:74.60 [[ 1.66009174e-01 -9.79576786e-01 -1.13447232e-01 3.11885035e+02] [ 8.27238651e-01 2.00957248e-01 -5.24683141e-01 2.22957806e+02] [ 5.36765468e-01 -6.74572040e-03 8.43704526e-01 7.46003432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.89, Y:222.97, Z:74.61 [[ 1.70747292e-01 -9.78187878e-01 -1.18295548e-01 3.11893171e+02] [ 8.27261828e-01 2.07539083e-01 -5.22077960e-01 2.22972704e+02] [ 5.35241282e-01 -8.71799319e-03 8.44654229e-01 7.46115661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.89, Y:223.00, Z:74.62 [[ 1.68972640e-01 -9.80492691e-01 -1.00410807e-01 3.11887531e+02] [ 8.27031803e-01 1.96465286e-01 -5.26706548e-01 2.23002708e+02] [ 5.36159159e-01 5.95606518e-03 8.44095896e-01 7.46238735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.89, Y:223.02, Z:74.64 [[ 1.67818828e-01 -9.80065442e-01 -1.06341762e-01 3.11894676e+02] [ 8.25145369e-01 1.98672414e-01 -5.28833048e-01 2.23023209e+02] [ 5.39418170e-01 1.00073018e-03 8.42037432e-01 7.46413010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.91, Y:223.04, Z:74.66 [[ 1.70533702e-01 -9.77548400e-01 -1.23763416e-01 3.11910932e+02] [ 8.26518688e-01 2.10294109e-01 -5.22152512e-01 2.23038726e+02] [ 5.36456070e-01 -1.32481750e-02 8.43824254e-01 7.46575241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.91, Y:223.06, Z:74.67 [[ 1.70254780e-01 -9.78594353e-01 -1.15613160e-01 3.11911022e+02] [ 8.26717615e-01 2.05698422e-01 -5.23666062e-01 2.23062937e+02] [ 5.36238095e-01 -6.42278555e-03 8.44042329e-01 7.46698331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.91, Y:223.08, Z:74.68 [[ 1.69403307e-01 -9.78994293e-01 -1.13457894e-01 3.11913110e+02] [ 8.27459706e-01 2.03820169e-01 -5.23228224e-01 2.23084035e+02] [ 5.35362452e-01 -5.24524368e-03 8.44606140e-01 7.46830294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.92, Y:223.11, Z:74.70 [[ 1.68884957e-01 -9.79115722e-01 -1.13182482e-01 3.11917024e+02] [ 8.27580210e-01 2.03234732e-01 -5.23265362e-01 2.23105448e+02] [ 5.35339954e-01 -5.29593437e-03 8.44620084e-01 7.46971659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.92, Y:223.13, Z:74.71 [[ 1.68501365e-01 -9.79230122e-01 -1.12763727e-01 3.11920816e+02] [ 8.28208194e-01 2.02681329e-01 -5.22485852e-01 2.23126534e+02] [ 5.34488987e-01 -5.35226321e-03 8.45158492e-01 7.47114205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.93, Y:223.14, Z:74.72 [[ 1.69951590e-01 -9.78278333e-01 -1.18692712e-01 3.11928751e+02] [ 8.28684204e-01 2.07055206e-01 -5.20010222e-01 2.23143307e+02] [ 5.33290677e-01 -9.98221096e-03 8.45873164e-01 7.47246650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.92, Y:223.17, Z:74.74 [[ 1.68295007e-01 -9.80294314e-01 -1.03440069e-01 3.11923923e+02] [ 8.29049021e-01 1.97529359e-01 -5.23125103e-01 2.23170195e+02] [ 5.33249015e-01 2.28245496e-03 8.45955246e-01 7.47362349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.93, Y:223.19, Z:74.75 [[ 1.66996676e-01 -9.79527480e-01 -1.12418979e-01 3.11931758e+02] [ 8.29674473e-01 2.01211523e-01 -5.20724679e-01 2.23189375e+02] [ 5.32684126e-01 -6.31186640e-03 8.46290602e-01 7.47521176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.94, Y:223.21, Z:74.77 [[ 1.66305649e-01 -9.79665124e-01 -1.12243827e-01 3.11935527e+02] [ 8.29578103e-01 2.00535995e-01 -5.21138643e-01 2.23211017e+02] [ 5.33050281e-01 -6.44672047e-03 8.46059004e-01 7.47662682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.94, Y:223.23, Z:74.78 [[ 1.64462282e-01 -9.79853030e-01 -1.13314594e-01 3.11939709e+02] [ 8.30684908e-01 1.99532584e-01 -5.19758917e-01 2.23232509e+02] [ 5.31897303e-01 -8.64798536e-03 8.46764708e-01 7.47806632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.94, Y:223.26, Z:74.79 [[ 1.62936777e-01 -9.80530062e-01 -1.09601119e-01 3.11941747e+02] [ 8.30642952e-01 1.96273063e-01 -5.21065420e-01 2.23255031e+02] [ 5.32432055e-01 -6.13867671e-03 8.46450485e-01 7.47941718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.95, Y:223.28, Z:74.81 [[ 1.61389971e-01 -9.80562011e-01 -1.11585928e-01 3.11946738e+02] [ 8.30812536e-01 1.96019092e-01 -5.20890628e-01 2.23276568e+02] [ 5.32638534e-01 -8.64046407e-03 8.46298727e-01 7.48091727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.95, Y:223.30, Z:74.82 [[ 1.59224874e-01 -9.80942508e-01 -1.11351854e-01 3.11949265e+02] [ 8.31234379e-01 1.94060357e-01 -5.20951039e-01 2.23298982e+02] [ 5.32632000e-01 -9.61112523e-03 8.46292372e-01 7.48230078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.95, Y:223.33, Z:74.83 [[ 1.59365676e-01 -9.82276717e-01 -9.86662663e-02 3.11947900e+02] [ 8.32075841e-01 1.87433318e-01 -5.22033088e-01 2.23327241e+02] [ 5.31274294e-01 1.09633947e-03 8.47199163e-01 7.48328483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:223.34, Z:74.85 [[ 1.59378996e-01 -9.79163128e-01 -1.25848735e-01 3.11965114e+02] [ 8.32215128e-01 2.01832985e-01 -5.16412071e-01 2.23337255e+02] [ 5.31052084e-01 -2.24279836e-02 8.47042307e-01 7.48508028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.95, Y:223.37, Z:74.86 [[ 1.55999610e-01 -9.82361506e-01 -1.03101864e-01 3.11954420e+02] [ 8.31788701e-01 1.86943939e-01 -5.22665784e-01 2.23367878e+02] [ 5.32721015e-01 -4.22330714e-03 8.46280382e-01 7.48611610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.96, Y:223.39, Z:74.88 [[ 1.55010967e-01 -9.81736108e-01 -1.10298754e-01 3.11961858e+02] [ 8.32111568e-01 1.89928990e-01 -5.21073236e-01 2.23388395e+02] [ 5.32505342e-01 -1.10088028e-02 8.46355048e-01 7.48767547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.96, Y:223.41, Z:74.89 [[ 1.54328050e-01 -9.81847358e-01 -1.10266128e-01 3.11963760e+02] [ 8.31581259e-01 1.89346783e-01 -5.22130640e-01 2.23410234e+02] [ 5.33531126e-01 -1.11158421e-02 8.45707382e-01 7.48900970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:223.43, Z:74.90 [[ 1.54173771e-01 -9.81889921e-01 -1.10102819e-01 3.11966635e+02] [ 8.31321737e-01 1.89135236e-01 -5.22620351e-01 2.23432672e+02] [ 5.33979978e-01 -1.09565164e-02 8.45426128e-01 7.49041341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.97, Y:223.46, Z:74.92 [[ 1.54143694e-01 -9.81914524e-01 -1.09925378e-01 3.11969488e+02] [ 8.31115189e-01 1.89019610e-01 -5.22990564e-01 2.23455108e+02] [ 5.34310083e-01 -1.07449537e-02 8.45220256e-01 7.49177910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.652755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.99, Y:223.47, Z:74.95 [[ 1.57144439e-01 -9.77739973e-01 -1.39032987e-01 3.11992344e+02] [ 8.27752747e-01 2.07186024e-01 -5.21439682e-01 2.23468948e+02] [ 5.38638112e-01 -3.31435902e-02 8.41885080e-01 7.49483924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.96, Y:223.50, Z:74.94 [[ 1.54959479e-01 -9.83701709e-01 -9.12058519e-02 3.11963326e+02] [ 8.30902584e-01 1.79713937e-01 -5.26596427e-01 2.23504750e+02] [ 5.34404768e-01 5.81792988e-03 8.45208670e-01 7.49414074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:223.52, Z:74.96 [[ 1.54808634e-01 -9.81890209e-01 -1.09205791e-01 3.11976651e+02] [ 8.31092251e-01 1.89197145e-01 -5.22962819e-01 2.23521543e+02] [ 5.34153496e-01 -9.80092746e-03 8.45330696e-01 7.49594651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:223.54, Z:74.97 [[ 1.54303937e-01 -9.82000334e-01 -1.08929515e-01 3.11979928e+02] [ 8.31251786e-01 1.88621661e-01 -5.22917141e-01 2.23543803e+02] [ 5.34051274e-01 -9.85968052e-03 8.45394597e-01 7.49736301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:223.57, Z:74.99 [[ 1.52979461e-01 -9.82222420e-01 -1.08795230e-01 3.11981628e+02] [ 8.31161986e-01 1.87435649e-01 -5.23486036e-01 2.23566159e+02] [ 5.34571826e-01 -1.03438476e-02 8.45059742e-01 7.49875210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:223.59, Z:75.00 [[ 1.51889193e-01 -9.82415112e-01 -1.08582780e-01 3.11984094e+02] [ 8.31236869e-01 1.86402473e-01 -5.23735989e-01 2.23587524e+02] [ 5.34766249e-01 -1.07081738e-02 8.44932183e-01 7.50007536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.98, Y:223.61, Z:75.01 [[ 1.49842380e-01 -9.82759637e-01 -1.08308624e-01 3.11984696e+02] [ 8.31652207e-01 1.84523768e-01 -5.23741907e-01 2.23610545e+02] [ 5.34697922e-01 -1.15963724e-02 8.44963701e-01 7.50144482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.99, Y:223.63, Z:75.03 [[ 1.48503110e-01 -9.82987352e-01 -1.08086501e-01 3.11987138e+02] [ 8.31809420e-01 1.83274132e-01 -5.23930990e-01 2.23632821e+02] [ 5.34826996e-01 -1.21019885e-02 8.44874917e-01 7.50279628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.99, Y:223.65, Z:75.04 [[ 1.47230066e-01 -9.83202531e-01 -1.07870715e-01 3.11989666e+02] [ 8.31933069e-01 1.82084491e-01 -5.24149412e-01 2.23654700e+02] [ 5.34986613e-01 -1.25706623e-02 8.44767011e-01 7.50414700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.99, Y:223.68, Z:75.06 [[ 1.45833009e-01 -9.83614414e-01 -1.05997256e-01 3.11991761e+02] [ 8.31501638e-01 1.79918497e-01 -5.25580023e-01 2.23678570e+02] [ 5.36038953e-01 -1.14899758e-02 8.44115052e-01 7.50553691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:223.70, Z:75.07 [[ 1.43268788e-01 -9.83295639e-01 -1.12266385e-01 3.11995839e+02] [ 8.32175904e-01 1.81089597e-01 -5.24108598e-01 2.23699430e+02] [ 5.35683973e-01 -1.83369764e-02 8.44219425e-01 7.50698102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:223.72, Z:75.08 [[ 1.41597259e-01 -9.84087801e-01 -1.07337864e-01 3.11995562e+02] [ 8.32142847e-01 1.77056537e-01 -5.25537120e-01 2.23722783e+02] [ 5.36179539e-01 -1.49058203e-02 8.43972345e-01 7.50825962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:223.75, Z:75.10 [[ 1.38244298e-01 -9.84747879e-01 -1.05641511e-01 3.11995172e+02] [ 8.32669816e-01 1.73317331e-01 -5.25948742e-01 2.23746473e+02] [ 5.36236413e-01 -1.52550827e-02 8.43929968e-01 7.50961240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:223.77, Z:75.11 [[ 1.37295449e-01 -9.84440226e-01 -1.09669509e-01 3.12000422e+02] [ 8.33065014e-01 1.74656847e-01 -5.24878718e-01 2.23767524e+02] [ 5.35866254e-01 -1.92983722e-02 8.44082301e-01 7.51107387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:223.79, Z:75.12 [[ 1.35369830e-01 -9.85084322e-01 -1.06225645e-01 3.12000555e+02] [ 8.34285126e-01 1.71161990e-01 -5.24091502e-01 2.23789451e+02] [ 5.34456114e-01 -1.76762985e-02 8.45011367e-01 7.51235393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:223.81, Z:75.14 [[ 1.34982985e-01 -9.85165624e-01 -1.05963609e-01 3.12004600e+02] [ 8.34347486e-01 1.70695112e-01 -5.24144496e-01 2.23811889e+02] [ 5.34456609e-01 -1.76598827e-02 8.45011397e-01 7.51378365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.00, Y:223.84, Z:75.15 [[ 1.33766855e-01 -9.86116173e-01 -9.83937121e-02 3.12003357e+02] [ 8.34104553e-01 1.65644949e-01 -5.26147646e-01 2.23835942e+02] [ 5.35141125e-01 -1.16895272e-02 8.44681793e-01 7.51514594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.01, Y:223.85, Z:75.17 [[ 1.33604197e-01 -9.84597000e-01 -1.12777060e-01 3.12014772e+02] [ 8.35816323e-01 1.73092540e-01 -5.21008682e-01 2.23854520e+02] [ 5.32504454e-01 -2.46519608e-02 8.46068134e-01 7.51676113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.01, Y:223.88, Z:75.18 [[ 1.32571505e-01 -9.86576309e-01 -9.53518901e-02 3.12005680e+02] [ 8.34849272e-01 1.63000580e-01 -5.25792263e-01 2.23881281e+02] [ 5.34276603e-01 -9.89938418e-03 8.45251746e-01 7.51784557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:223.90, Z:75.19 [[ 1.34407050e-01 -9.84074104e-01 -1.16331007e-01 3.12021246e+02] [ 8.36389477e-01 1.75617332e-01 -5.19240980e-01 2.23897947e+02] [ 5.31401343e-01 -2.75083823e-02 8.46673433e-01 7.51947175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:223.92, Z:75.21 [[ 1.33762375e-01 -9.85748030e-01 -1.02021802e-01 3.12015799e+02] [ 8.35881786e-01 1.67525992e-01 -5.22720462e-01 2.23924354e+02] [ 5.32361969e-01 -1.53578357e-02 8.46377499e-01 7.52059662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:223.94, Z:75.22 [[ 1.39048454e-01 -9.84281809e-01 -1.08879972e-01 3.12022724e+02] [ 8.34795843e-01 1.75650257e-01 -5.21788164e-01 2.23942977e+02] [ 5.32711393e-01 -1.83387106e-02 8.46098259e-01 7.52199111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:223.97, Z:75.23 [[ 1.41210067e-01 -9.84526298e-01 -1.03767457e-01 3.12023345e+02] [ 8.34350387e-01 1.74772107e-01 -5.22794550e-01 2.23965390e+02] [ 5.32840641e-01 -1.27545642e-02 8.46119479e-01 7.52316233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.03, Y:223.99, Z:75.25 [[ 1.46475157e-01 -9.83773924e-01 -1.03604508e-01 3.12026357e+02] [ 8.33002097e-01 1.79153992e-01 -5.23460938e-01 2.23988294e+02] [ 5.33528383e-01 -9.62874912e-03 8.45727351e-01 7.52454216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.03, Y:224.01, Z:75.26 [[ 1.48989838e-01 -9.83418304e-01 -1.03394716e-01 3.12029896e+02] [ 8.32471104e-01 1.81172483e-01 -5.23610917e-01 2.24010201e+02] [ 5.33660838e-01 -8.06040775e-03 8.45660180e-01 7.52589832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.03, Y:224.03, Z:75.27 [[ 1.51189973e-01 -9.83109138e-01 -1.03140752e-01 3.12033379e+02] [ 8.32064194e-01 1.82899499e-01 -5.23657283e-01 2.24031217e+02] [ 5.33676652e-01 -6.64799632e-03 8.45662483e-01 7.52720217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:224.05, Z:75.29 [[ 1.53158852e-01 -9.82832727e-01 -1.02869810e-01 3.12037386e+02] [ 8.31719654e-01 1.84421166e-01 -5.23670938e-01 2.24053658e+02] [ 5.33652306e-01 -5.35400267e-03 8.45687029e-01 7.52862424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.04, Y:224.08, Z:75.30 [[ 1.55688297e-01 -9.82377840e-01 -1.03416311e-01 3.12042323e+02] [ 8.31078657e-01 1.86854158e-01 -5.23826105e-01 2.24076169e+02] [ 5.33918926e-01 -4.39349456e-03 8.45524262e-01 7.53008797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.05, Y:224.10, Z:75.31 [[ 1.55970162e-01 -9.82414951e-01 -1.02636116e-01 3.12046486e+02] [ 8.31567135e-01 1.86672809e-01 -5.23115056e-01 2.24097743e+02] [ 5.33075424e-01 -3.75848119e-03 8.46059375e-01 7.53132886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.05, Y:224.12, Z:75.33 [[ 1.55233556e-01 -9.82608497e-01 -1.01897427e-01 3.12052003e+02] [ 8.32153344e-01 1.85652948e-01 -5.22545496e-01 2.24118837e+02] [ 5.32375202e-01 -3.67768895e-03 8.46500513e-01 7.53267590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.06, Y:224.14, Z:75.34 [[ 1.54118982e-01 -9.82820913e-01 -1.01540101e-01 3.12057111e+02] [ 8.32719553e-01 1.84516301e-01 -5.22045861e-01 2.24140774e+02] [ 5.31813393e-01 -4.09725119e-03 8.46851656e-01 7.53406330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.06, Y:224.16, Z:75.36 [[ 1.52730426e-01 -9.83065468e-01 -1.01270439e-01 3.12062056e+02] [ 8.33087301e-01 1.83195608e-01 -5.21924246e-01 2.24162908e+02] [ 5.31638003e-01 -4.65340432e-03 8.46958901e-01 7.53550926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.06, Y:224.19, Z:75.37 [[ 1.50898861e-01 -9.84709411e-01 -8.70454451e-02 3.12059178e+02] [ 8.31884504e-01 1.74060086e-01 -5.26945214e-01 2.24186269e+02] [ 5.34039049e-01 7.10367551e-03 8.45429969e-01 7.53669478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.07, Y:224.21, Z:75.38 [[ 1.51731338e-01 -9.83073755e-01 -1.02682005e-01 3.12074951e+02] [ 8.34214272e-01 1.83086434e-01 -5.20159500e-01 2.24205880e+02] [ 5.30154835e-01 -6.73429715e-03 8.47874106e-01 7.53805903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.11, Y:224.21, Z:75.42 [[ 1.52605538e-01 -9.76928760e-01 -1.49404642e-01 3.12108950e+02] [ 8.29905143e-01 2.08762578e-01 -5.17373792e-01 2.24214781e+02] [ 5.36627435e-01 -4.50375750e-02 8.42616528e-01 7.54192899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.07, Y:224.25, Z:75.41 [[ 1.51208439e-01 -9.85944410e-01 -7.10607423e-02 3.12068257e+02] [ 8.30889596e-01 1.65713389e-01 -5.31188809e-01 2.24254700e+02] [ 5.35498354e-01 2.12765992e-02 8.44268215e-01 7.54125660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:224.27, Z:75.43 [[ 1.51985605e-01 -9.84246280e-01 -9.03307055e-02 3.12085530e+02] [ 8.30821297e-01 1.76727593e-01 -5.27734147e-01 2.24273597e+02] [ 5.35384299e-01 5.15931994e-03 8.44592821e-01 7.54287885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.10, Y:224.29, Z:75.45 [[ 1.50899289e-01 -9.82276321e-01 -1.11187384e-01 3.12102427e+02] [ 8.31537667e-01 1.86949883e-01 -5.23062950e-01 2.24290647e+02] [ 5.34578818e-01 -1.35266711e-02 8.45010365e-01 7.54495134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.10, Y:224.32, Z:75.46 [[ 1.48138935e-01 -9.84853228e-01 -9.01053565e-02 3.12095825e+02] [ 8.31740725e-01 1.73360832e-01 -5.27402493e-01 2.24320100e+02] [ 5.35034787e-01 3.18454904e-03 8.44824026e-01 7.54580192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.12, Y:224.33, Z:75.48 [[ 1.48313068e-01 -9.82289113e-01 -1.14504727e-01 3.12115565e+02] [ 8.30978992e-01 1.86559858e-01 -5.24089052e-01 2.24333054e+02] [ 5.36168956e-01 -1.74217671e-02 8.43930882e-01 7.54807874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.11, Y:224.36, Z:75.49 [[ 1.47538520e-01 -9.83817936e-01 -1.01659496e-01 3.12114064e+02] [ 8.31130980e-01 1.79041270e-01 -5.26465115e-01 2.24358098e+02] [ 5.36147068e-01 -6.81847284e-03 8.44097050e-01 7.54922935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.12, Y:224.38, Z:75.51 [[ 1.46709776e-01 -9.83962606e-01 -1.01458523e-01 3.12121441e+02] [ 8.31129320e-01 1.78235599e-01 -5.26741041e-01 2.24378346e+02] [ 5.36377008e-01 -7.04709337e-03 8.43949076e-01 7.55053768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.12, Y:224.41, Z:75.51 [[ 1.44970792e-01 -9.85404610e-01 -8.92256960e-02 3.12119885e+02] [ 8.31733725e-01 1.70211674e-01 -5.28438262e-01 2.24405697e+02] [ 5.35912755e-01 2.39609268e-03 8.44269968e-01 7.55136786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.13, Y:224.42, Z:75.53 [[ 1.44191011e-01 -9.84582880e-01 -9.90227450e-02 3.12131458e+02] [ 8.31667733e-01 1.74803060e-01 -5.27041433e-01 2.24424614e+02] [ 5.36225451e-01 -6.35938463e-03 8.44050842e-01 7.55298025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.14, Y:224.45, Z:75.55 [[ 1.42346145e-01 -9.84690234e-01 -1.00611715e-01 3.12139946e+02] [ 8.31381160e-01 1.74104652e-01 -5.27724300e-01 2.24446876e+02] [ 5.37161933e-01 -8.52716451e-03 8.43436035e-01 7.55461340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.15, Y:224.46, Z:75.57 [[ 1.42134975e-01 -9.83114784e-01 -1.15251773e-01 3.12154261e+02] [ 8.30717922e-01 1.81786320e-01 -5.26176271e-01 2.24461220e+02] [ 5.38242866e-01 -2.09536621e-02 8.42529264e-01 7.55669832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.15, Y:224.49, Z:75.58 [[ 1.41089111e-01 -9.84880415e-01 -1.00520802e-01 3.12154003e+02] [ 8.30891164e-01 1.73006507e-01 -5.28855957e-01 2.24486153e+02] [ 5.38250627e-01 -8.90602981e-03 8.42737768e-01 7.55785881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.16, Y:224.51, Z:75.59 [[ 1.41446148e-01 -9.85136189e-01 -9.74662882e-02 3.12158104e+02] [ 8.30271392e-01 1.71673073e-01 -5.30261983e-01 2.24506198e+02] [ 5.39112606e-01 -5.91995609e-03 8.42212890e-01 7.55908891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.092755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.17, Y:224.53, Z:75.61 [[ 1.40173195e-01 -9.85079012e-01 -9.98539756e-02 3.12165404e+02] [ 8.31014603e-01 1.71876334e-01 -5.29030487e-01 2.24529319e+02] [ 5.38299365e-01 -8.82421816e-03 8.42707498e-01 7.56064783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.17, Y:224.55, Z:75.62 [[ 1.40336952e-01 -9.85888621e-01 -9.12642658e-02 3.12165986e+02] [ 8.29607463e-01 1.67399827e-01 -5.32661953e-01 2.24553116e+02] [ 5.40422981e-01 -9.61361317e-04 8.41392939e-01 7.56197117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.18, Y:224.57, Z:75.64 [[ 1.40371337e-01 -9.84308855e-01 -1.06920371e-01 3.12181705e+02] [ 8.30602816e-01 1.75845805e-01 -5.28372232e-01 2.24570666e+02] [ 5.38882965e-01 -1.46400446e-02 8.42253417e-01 7.56363850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.18, Y:224.59, Z:75.65 [[ 1.41133436e-01 -9.84980488e-01 -9.94725626e-02 3.12184718e+02] [ 8.30586066e-01 1.72485335e-01 -5.29505048e-01 2.24594199e+02] [ 5.38709700e-01 -7.88965731e-03 8.42454517e-01 7.56484920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.19, Y:224.61, Z:75.66 [[ 1.41097632e-01 -9.85007971e-01 -9.92509723e-02 3.12189892e+02] [ 8.30504133e-01 1.72337280e-01 -5.29681741e-01 2.24614758e+02] [ 5.38845380e-01 -7.69150345e-03 8.42369573e-01 7.56622570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.20, Y:224.64, Z:75.68 [[ 1.41075671e-01 -9.85032093e-01 -9.90425722e-02 3.12195085e+02] [ 8.30335521e-01 1.72209095e-01 -5.29987689e-01 2.24636288e+02] [ 5.39110915e-01 -7.47019660e-03 8.42201649e-01 7.56764225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.20, Y:224.66, Z:75.69 [[ 1.41089275e-01 -9.85054688e-01 -9.87981664e-02 3.12200389e+02] [ 8.30327443e-01 1.72089134e-01 -5.30039308e-01 2.24656861e+02] [ 5.39119796e-01 -7.25196749e-03 8.42197872e-01 7.56901561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.21, Y:224.68, Z:75.70 [[ 1.40819205e-01 -9.85100914e-01 -9.87225412e-02 3.12207039e+02] [ 8.29729485e-01 1.71829438e-01 -5.31058967e-01 2.24676189e+02] [ 5.40110113e-01 -7.12970180e-03 8.41564159e-01 7.57036519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.21, Y:224.70, Z:75.72 [[ 1.41116775e-01 -9.85079985e-01 -9.85062403e-02 3.12212760e+02] [ 8.29517238e-01 1.71965464e-01 -5.31346432e-01 2.24697661e+02] [ 5.40358407e-01 -6.73072937e-03 8.41408040e-01 7.57181456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.23, Y:224.72, Z:75.74 [[ 1.43223678e-01 -9.83328986e-01 -1.12031620e-01 3.12230071e+02] [ 8.27374600e-01 1.81081019e-01 -5.31658665e-01 2.24715877e+02] [ 5.43082176e-01 -1.65460069e-02 8.39516516e-01 7.57405523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.22, Y:224.74, Z:75.74 [[ 1.42035356e-01 -9.85567479e-01 -9.21015883e-02 3.12222102e+02] [ 8.29164879e-01 1.69281596e-01 -5.32756364e-01 2.24741553e+02] [ 5.40658451e-01 -6.97162509e-04 8.41241912e-01 7.57448130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.23, Y:224.76, Z:75.76 [[ 1.42654797e-01 -9.84923323e-01 -9.78552806e-02 3.12232799e+02] [ 8.28727269e-01 1.72914360e-01 -5.32270362e-01 2.24759915e+02] [ 5.41166077e-01 -5.16441873e-03 8.40899879e-01 7.57602719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.24, Y:224.78, Z:75.77 [[ 1.42377796e-01 -9.84987284e-01 -9.76146173e-02 3.12238196e+02] [ 8.28732774e-01 1.72551635e-01 -5.32379492e-01 2.24781122e+02] [ 5.41230591e-01 -5.09741371e-03 8.40858766e-01 7.57744193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.24, Y:224.80, Z:75.79 [[ 1.41935785e-01 -9.85077339e-01 -9.73492129e-02 3.12243742e+02] [ 8.28886156e-01 1.72035572e-01 -5.32307714e-01 2.24802395e+02] [ 5.41111794e-01 -5.13790177e-03 8.40934973e-01 7.57884469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.25, Y:224.83, Z:75.80 [[ 1.40679829e-01 -9.85763235e-01 -9.20870752e-02 3.12245661e+02] [ 8.29520862e-01 1.68132960e-01 -5.32565909e-01 2.24826249e+02] [ 5.40466766e-01 -1.46686895e-03 8.41364085e-01 7.58004886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5427550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.25, Y:224.85, Z:75.81 [[ 1.39694129e-01 -9.86233296e-01 -8.84840985e-02 3.12250340e+02] [ 8.29915685e-01 1.65356857e-01 -5.32819919e-01 2.24849660e+02] [ 5.40116197e-01 9.97473068e-04 8.41589864e-01 7.58122094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.26, Y:224.86, Z:75.83 [[ 1.41130164e-01 -9.84737060e-01 -1.01858727e-01 3.12263651e+02] [ 8.28819013e-01 1.73796556e-01 -5.31840014e-01 2.24864540e+02] [ 5.41425268e-01 -9.36378138e-03 8.40696734e-01 7.58316965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.26, Y:224.89, Z:75.84 [[ 1.41314411e-01 -9.85818204e-01 -9.05135704e-02 3.12259681e+02] [ 8.30121834e-01 1.67816773e-01 -5.31728569e-01 2.24891542e+02] [ 5.39377398e-01 3.61843469e-06 8.42064144e-01 7.58426753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.26, Y:224.91, Z:75.85 [[ 1.41504847e-01 -9.86178315e-01 -8.61899593e-02 3.12259991e+02] [ 8.29590730e-01 1.65640279e-01 -5.33237769e-01 2.24913481e+02] [ 5.40144054e-01 3.95333754e-03 8.41563291e-01 7.58537793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.28, Y:224.93, Z:75.88 [[ 1.42915666e-01 -9.83592375e-01 -1.10096107e-01 3.12278936e+02] [ 8.30325481e-01 1.79692009e-01 -5.27513391e-01 2.24927971e+02] [ 5.38641539e-01 -1.60256751e-02 8.42382615e-01 7.58762538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.27, Y:224.96, Z:75.89 [[ 1.42626005e-01 -9.85183283e-01 -9.52455888e-02 3.12274131e+02] [ 8.29257738e-01 1.71476445e-01 -5.31909234e-01 2.24955627e+02] [ 5.40360460e-01 -3.11905216e-03 8.41427861e-01 7.58883265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.27, Y:224.98, Z:75.90 [[ 1.41267055e-01 -9.85893427e-01 -8.97650791e-02 3.12273734e+02] [ 8.30170533e-01 1.67373191e-01 -5.31792349e-01 2.24979783e+02] [ 5.39314849e-01 6.04415616e-04 8.42103989e-01 7.58987675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.28, Y:225.00, Z:75.91 [[ 1.41130652e-01 -9.85694484e-01 -9.21331856e-02 3.12277967e+02] [ 8.28322708e-01 1.68539481e-01 -5.34299480e-01 2.24997839e+02] [ 5.42184130e-01 -9.09975820e-04 8.40259211e-01 7.59144239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.29, Y:225.02, Z:75.93 [[ 1.40248318e-01 -9.84912098e-01 -1.01383279e-01 3.12286606e+02] [ 8.28417110e-01 1.72807172e-01 -5.32787737e-01 2.25020147e+02] [ 5.42268846e-01 -9.26505906e-03 8.40153949e-01 7.59313517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.29, Y:225.04, Z:75.95 [[ 1.39158643e-01 -9.85716362e-01 -9.48584553e-02 3.12286170e+02] [ 8.27886702e-01 1.68364557e-01 -5.35029891e-01 2.25043719e+02] [ 5.43358519e-01 -4.07802034e-03 8.39490851e-01 7.59453016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.29, Y:225.07, Z:75.96 [[ 1.36301384e-01 -9.86130429e-01 -9.47032755e-02 3.12287632e+02] [ 8.28057973e-01 1.65883534e-01 -5.35539584e-01 2.25065477e+02] [ 5.43821594e-01 -5.42501583e-03 8.39183319e-01 7.59584546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.872755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.29, Y:225.09, Z:75.97 [[ 1.34234211e-01 -9.86447391e-01 -9.43542350e-02 3.12290404e+02] [ 8.28685379e-01 1.63954832e-01 -5.35162925e-01 2.25087242e+02] [ 5.43379904e-01 -6.35280176e-03 8.39462877e-01 7.59712153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.29, Y:225.11, Z:75.99 [[ 1.32606206e-01 -9.86690370e-01 -9.41153974e-02 3.12292738e+02] [ 8.28829990e-01 1.62459190e-01 -5.35395049e-01 2.25107957e+02] [ 5.43559050e-01 -7.00895754e-03 8.39341667e-01 7.59862402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.29, Y:225.14, Z:75.99 [[ 1.29438034e-01 -9.88309938e-01 -8.05559568e-02 3.12287338e+02] [ 8.30053570e-01 1.52436407e-01 -5.36445908e-01 2.25136117e+02] [ 5.42454483e-01 2.57074438e-03 8.40081261e-01 7.59933420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.31, Y:225.15, Z:76.02 [[ 1.28790218e-01 -9.84531883e-01 -1.18785736e-01 3.12313668e+02] [ 8.28370751e-01 1.72658618e-01 -5.32907966e-01 2.25145131e+02] [ 5.45174264e-01 -2.97652958e-02 8.37794157e-01 7.60247877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.31, Y:225.17, Z:76.03 [[ 1.28469607e-01 -9.86854352e-01 -9.80512538e-02 3.12305632e+02] [ 8.28341798e-01 1.61144172e-01 -5.36546756e-01 2.25172247e+02] [ 5.45293890e-01 -1.22900009e-02 8.38154836e-01 7.60331960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.30, Y:225.20, Z:76.04 [[ 1.25330028e-01 -9.88431946e-01 -8.54088514e-02 3.12300523e+02] [ 8.29889766e-01 1.51622639e-01 -5.36929746e-01 2.25196767e+02] [ 5.43668429e-01 -3.58651170e-03 8.39292426e-01 7.60408675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.31, Y:225.22, Z:76.06 [[ 1.24098062e-01 -9.87913581e-01 -9.28785659e-02 3.12308090e+02] [ 8.30058656e-01 1.54642657e-01 -5.35806193e-01 2.25216469e+02] [ 5.43693203e-01 -1.06021476e-02 8.39217073e-01 7.60571792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.31, Y:225.24, Z:76.07 [[ 1.23270342e-01 -9.88043426e-01 -9.25991921e-02 3.12311484e+02] [ 8.30310255e-01 1.53793229e-01 -5.35660828e-01 2.25238750e+02] [ 5.43497288e-01 -1.08549653e-02 8.39340734e-01 7.60715621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.31, Y:225.26, Z:76.09 [[ 1.22838397e-01 -9.88127976e-01 -9.22704288e-02 3.12314452e+02] [ 8.30693852e-01 1.53245679e-01 -5.35222838e-01 2.25259445e+02] [ 5.43008704e-01 -1.09025623e-02 8.39656288e-01 7.60858524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.32, Y:225.28, Z:76.10 [[ 1.22923365e-01 -9.88146197e-01 -9.19616165e-02 3.12317759e+02] [ 8.30882108e-01 1.53145891e-01 -5.34959118e-01 2.25281280e+02] [ 5.42701362e-01 -1.06502868e-02 8.39858204e-01 7.61001912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.32, Y:225.30, Z:76.12 [[ 1.23990349e-01 -9.87776883e-01 -9.44628117e-02 3.12324129e+02] [ 8.30420978e-01 1.55403578e-01 -5.35024044e-01 2.25303126e+02] [ 5.43164242e-01 -1.21060826e-02 8.39539189e-01 7.61162629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.32, Y:225.33, Z:76.13 [[ 1.24645998e-01 -9.88407948e-01 -8.66781640e-02 3.12322030e+02] [ 8.30612995e-01 1.51731839e-01 -5.35779341e-01 2.25328052e+02] [ 5.42720396e-01 -5.21325858e-03 8.39897252e-01 7.61264337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.33, Y:225.34, Z:76.15 [[ 1.24502660e-01 -9.87199883e-01 -9.96768748e-02 3.12331323e+02] [ 8.30817041e-01 1.58642824e-01 -5.33456183e-01 2.25343461e+02] [ 5.42440902e-01 -1.63965324e-02 8.39933939e-01 7.61450113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.33, Y:225.37, Z:76.16 [[ 1.25586004e-01 -9.87894772e-01 -9.10608271e-02 3.12329969e+02] [ 8.30425594e-01 1.54897346e-01 -5.35163662e-01 2.25365773e+02] [ 5.42790464e-01 -8.41017552e-03 8.39826042e-01 7.61562368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.33, Y:225.39, Z:76.17 [[ 1.25628086e-01 -9.87911153e-01 -9.08247649e-02 3.12333351e+02] [ 8.30288251e-01 1.54806802e-01 -5.35402908e-01 2.25387070e+02] [ 5.42990796e-01 -8.14909279e-03 8.39699106e-01 7.61706705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.34, Y:225.41, Z:76.19 [[ 1.25653924e-01 -9.87962484e-01 -9.02287147e-02 3.12337820e+02] [ 8.29976866e-01 1.54509757e-01 -5.35971209e-01 2.25410833e+02] [ 5.43460664e-01 -7.54086040e-03 8.39400764e-01 7.61851512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.33, Y:225.44, Z:76.19 [[ 1.23304122e-01 -9.89485186e-01 -7.55986724e-02 3.12331319e+02] [ 8.31419430e-01 1.44596629e-01 -5.36501208e-01 2.25437509e+02] [ 5.41791311e-01 3.29860549e-03 8.40506570e-01 7.61888659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.35, Y:225.45, Z:76.21 [[ 1.22381696e-01 -9.87592160e-01 -9.84095827e-02 3.12348858e+02] [ 8.29744627e-01 1.56215285e-01 -5.35836392e-01 2.25453921e+02] [ 5.44560901e-01 -1.60782558e-02 8.38567180e-01 7.62148454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.35, Y:225.47, Z:76.23 [[ 1.19695066e-01 -9.87739747e-01 -1.00216183e-01 3.12353694e+02] [ 8.29489167e-01 1.54961179e-01 -5.36595522e-01 2.25471884e+02] [ 5.45546344e-01 -1.89004016e-02 8.37867509e-01 7.62317738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.35, Y:225.50, Z:76.24 [[ 1.18963315e-01 -9.88808361e-01 -9.00319688e-02 3.12352860e+02] [ 8.29231495e-01 1.48816448e-01 -5.38728868e-01 2.25496333e+02] [ 5.46097847e-01 -1.05683722e-02 8.37654733e-01 7.62432810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.36, Y:225.52, Z:76.26 [[ 1.17389420e-01 -9.89025128e-01 -8.97163323e-02 3.12355469e+02] [ 8.29714813e-01 1.47319472e-01 -5.38396046e-01 2.25517766e+02] [ 5.45704181e-01 -1.12369702e-02 8.37902546e-01 7.62572550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.35, Y:225.54, Z:76.26 [[ 1.16135496e-01 -9.89926338e-01 -8.09839001e-02 3.12353120e+02] [ 8.31822727e-01 1.41493834e-01 -5.36703313e-01 2.25543972e+02] [ 5.42755468e-01 -5.03394307e-03 8.39875682e-01 7.62620597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.36, Y:225.56, Z:76.29 [[ 1.15813155e-01 -9.89320959e-01 -8.84949295e-02 3.12362764e+02] [ 8.27425231e-01 1.45381678e-01 -5.42431245e-01 2.25561906e+02] [ 5.49504141e-01 -1.04022634e-02 8.35426234e-01 7.62874651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.37, Y:225.58, Z:76.30 [[ 1.16190927e-01 -9.88070480e-01 -1.01076180e-01 3.12372470e+02] [ 8.29426810e-01 1.52508949e-01 -5.37393884e-01 2.25579590e+02] [ 5.46398055e-01 -2.13950005e-02 8.37252303e-01 7.63020140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.592755096 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:312.37, Y:225.60, Z:76.31 [[ 1.18273179e-01 -9.89519450e-01 -8.28414946e-02 3.12365390e+02] [ 8.27994432e-01 1.44329302e-01 -5.41843402e-01 2.25602693e+02] [ 5.48121040e-01 -4.50675437e-03 8.36386881e-01 7.63104377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.622755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:312.40, Y:225.62, Z:76.33 [[ 1.18390366e-01 -9.84420157e-01 -1.30002597e-01 3.12395978e+02] [ 8.33926933e-01 1.69643350e-01 -5.25154267e-01 2.25615285e+02] [ 5.39026522e-01 -4.62394613e-02 8.41018621e-01 7.63331946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.652755096 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:312.35, Y:225.66, Z:76.33 [[ 1.16168222e-01 -9.92311685e-01 -4.26903193e-02 3.12348516e+02] [ 8.26988389e-01 1.20439867e-01 -5.49167044e-01 2.25658892e+02] [ 5.50086492e-01 2.84913610e-02 8.34621528e-01 7.63333371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.682755096 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:312.36, Y:225.67, Z:76.36 [[ 1.11805164e-01 -9.91584369e-01 -6.52690098e-02 3.12361216e+02] [ 8.20976072e-01 1.29176349e-01 -5.56158035e-01 2.25674969e+02] [ 5.59908827e-01 8.59704477e-03 8.28509624e-01 7.63616496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.712755096 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:312.38, Y:225.70, Z:76.38 [[ 1.13454147e-01 -9.88805318e-01 -9.69133626e-02 3.12383914e+02] [ 8.24764800e-01 1.48119875e-01 -5.45732102e-01 2.25695916e+02] [ 5.53977600e-01 -1.80151601e-02 8.32336635e-01 7.63805147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.742755096 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:312.39, Y:225.71, Z:76.40 [[ 1.13826501e-01 -9.88325137e-01 -1.01276609e-01 3.12388760e+02] [ 8.22576162e-01 1.50919104e-01 -5.48262602e-01 2.25711915e+02] [ 5.57146287e-01 -2.09009109e-02 8.30151292e-01 7.64003788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.772755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:312.39, Y:225.73, Z:76.41 [[ 1.15403025e-01 -9.88535970e-01 -9.73590106e-02 3.12390342e+02] [ 8.23719458e-01 1.50014651e-01 -5.46792337e-01 2.25733457e+02] [ 5.55129171e-01 -1.70950217e-02 8.31588458e-01 7.64122006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.802755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:312.39, Y:225.76, Z:76.42 [[ 1.17072095e-01 -9.89598708e-01 -8.35973742e-02 3.12388186e+02] [ 8.23567202e-01 1.43781540e-01 -5.48692931e-01 2.25761530e+02] [ 5.55005575e-01 -4.61142465e-03 8.31833846e-01 7.64235773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.832755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:312.40, Y:225.78, Z:76.44 [[ 1.17224170e-01 -9.88688104e-01 -9.35645611e-02 3.12397374e+02] [ 8.23096835e-01 1.49440025e-01 -5.47886192e-01 2.25780868e+02] [ 5.55670851e-01 -1.27871897e-02 8.31304032e-01 7.64417646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.862755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:312.40, Y:225.80, Z:76.46 [[ 1.15895999e-01 -9.88951260e-01 -9.24311740e-02 3.12397410e+02] [ 8.23002799e-01 1.47712855e-01 -5.48495493e-01 2.25799250e+02] [ 5.56088581e-01 -1.25026820e-02 8.31028984e-01 7.64553445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.892755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:312.40, Y:225.83, Z:76.47 [[ 1.16809012e-01 -9.89476252e-01 -8.53955539e-02 3.12398891e+02] [ 8.23115770e-01 1.44564893e-01 -5.49164294e-01 2.25826046e+02] [ 5.55730227e-01 -6.14308853e-03 8.31339989e-01 7.64690863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9227550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:312.41, Y:225.84, Z:76.49 [[ 1.16729793e-01 -9.87907280e-01 -1.02045885e-01 3.12412162e+02] [ 8.22122878e-01 1.53762341e-01 -5.48152457e-01 2.25842863e+02] [ 5.57214616e-01 -1.99085335e-02 8.30129822e-01 7.64910121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.952755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:312.40, Y:225.87, Z:76.50 [[ 1.13853079e-01 -9.90184896e-01 -8.10638493e-02 3.12401271e+02] [ 8.23317372e-01 1.39703227e-01 -5.50119545e-01 2.25867390e+02] [ 5.56044946e-01 -4.10847130e-03 8.31142069e-01 7.64969368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.982755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:312.41, Y:225.89, Z:76.51 [[ 1.13008064e-01 -9.90003827e-01 -8.43895760e-02 3.12406783e+02] [ 8.23487968e-01 1.40846885e-01 -5.49572307e-01 2.25888641e+02] [ 5.55964696e-01 -7.38769821e-03 8.31173074e-01 7.65124113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.012755096 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:312.41, Y:225.91, Z:76.53 [[ 1.11988210e-01 -9.90142748e-01 -8.41188373e-02 3.12410421e+02] [ 8.23705356e-01 1.39847251e-01 -5.49501804e-01 2.25910140e+02] [ 5.55849014e-01 -7.75141323e-03 8.31247129e-01 7.65271924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0427550960001 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:312.41, Y:225.94, Z:76.53 [[ 1.11459145e-01 -9.91500253e-01 -6.71126537e-02 3.12406240e+02] [ 8.25346541e-01 1.29973108e-01 -5.49463446e-01 2.25941277e+02] [ 5.53515986e-01 5.85152930e-03 8.32817995e-01 7.65344942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.072755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:312.43, Y:225.95, Z:76.56 [[ 1.09550239e-01 -9.88657027e-01 -1.02742531e-01 3.12427176e+02] [ 8.24535232e-01 1.48113779e-01 -5.46080544e-01 2.25948566e+02] [ 5.55103951e-01 -2.48915826e-02 8.31408451e-01 7.65620558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.102755096 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:312.43, Y:225.98, Z:76.58 [[ 1.12063191e-01 -9.89009267e-01 -9.64495236e-02 3.12431721e+02] [ 8.23558993e-01 1.46750047e-01 -5.47918798e-01 2.25975929e+02] [ 5.56050741e-01 -1.80303434e-02 8.30952755e-01 7.65793354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.132755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:312.43, Y:226.00, Z:76.59 [[ 1.09594328e-01 -9.89925026e-01 -8.96522558e-02 3.12429800e+02] [ 8.22526121e-01 1.40961122e-01 -5.50981616e-01 2.25999837e+02] [ 5.58067973e-01 -1.33568621e-02 8.29687731e-01 7.65928644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.162755096 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:312.44, Y:226.02, Z:76.61 [[ 1.09631256e-01 -9.89284593e-01 -9.64208611e-02 3.12435767e+02] [ 8.24587907e-01 1.44685418e-01 -5.46919476e-01 2.26018775e+02] [ 5.55009704e-01 -1.95480070e-02 8.31614156e-01 7.66069306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.192755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:312.43, Y:226.04, Z:76.62 [[ 1.08630672e-01 -9.90092357e-01 -8.89747246e-02 3.12433916e+02] [ 8.25257690e-01 1.39719587e-01 -5.47200313e-01 2.26044085e+02] [ 5.54210359e-01 -1.39843378e-02 8.32259164e-01 7.66197832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.222755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:312.43, Y:226.07, Z:76.63 [[ 1.07672184e-01 -9.90618121e-01 -8.41572323e-02 3.12432956e+02] [ 8.25692856e-01 1.36251658e-01 -5.47418299e-01 2.26067185e+02] [ 5.53749049e-01 -1.05463018e-02 8.32616818e-01 7.66310047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.252755096 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:312.43, Y:226.08, Z:76.64 [[ 1.07123641e-01 -9.90691429e-01 -8.39941579e-02 3.12433336e+02] [ 8.24733443e-01 1.35724082e-01 -5.48993372e-01 2.26083989e+02] [ 5.55283058e-01 -1.04626221e-02 8.31595610e-01 7.66444701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.282755096 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:312.43, Y:226.11, Z:76.66 [[ 1.07588258e-01 -9.90946218e-01 -8.03141338e-02 3.12433283e+02] [ 8.24473140e-01 1.34073359e-01 -5.49789393e-01 2.26105268e+02] [ 5.55579705e-01 -7.06596309e-03 8.31433259e-01 7.66566846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.312755096 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:312.43, Y:226.13, Z:76.67 [[ 1.06449974e-01 -9.91526101e-01 -7.44606861e-02 3.12432204e+02] [ 8.24307086e-01 1.29879148e-01 -5.51043769e-01 2.26129738e+02] [ 5.56045171e-01 -2.71987623e-03 8.31147623e-01 7.66702851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.342755096 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:312.44, Y:226.15, Z:76.69 [[ 1.05654594e-01 -9.90696997e-01 -8.57704322e-02 3.12441191e+02] [ 8.25316072e-01 1.35476270e-01 -5.48178403e-01 2.26149015e+02] [ 5.54698556e-01 -1.28701494e-02 8.31951845e-01 7.66873562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.372755096 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:312.45, Y:226.17, Z:76.71 [[ 1.07801127e-01 -9.90615015e-01 -8.40286243e-02 3.12445848e+02] [ 8.22838052e-01 1.36339196e-01 -5.51678497e-01 2.26171003e+02] [ 5.57957397e-01 -9.67038585e-03 8.29813248e-01 7.67051343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.402755096 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:312.44, Y:226.20, Z:76.71 [[ 1.06265859e-01 -9.92180191e-01 -6.54678261e-02 3.12435860e+02] [ 8.26406941e-01 1.24741508e-01 -5.49082075e-01 2.26199531e+02] [ 5.52954913e-01 4.24561248e-03 8.33200359e-01 7.67059891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.432755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:312.44, Y:226.22, Z:76.72 [[ 1.04928640e-01 -9.91607689e-01 -7.55259693e-02 3.12443219e+02] [ 8.26218925e-01 1.29191813e-01 -5.48335448e-01 2.26218175e+02] [ 5.53490983e-01 -4.86489212e-03 8.32840960e-01 7.67237926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.462755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:312.46, Y:226.23, Z:76.75 [[ 1.03321134e-01 -9.88959501e-01 -1.06225460e-01 3.12463927e+02] [ 8.25477084e-01 1.44838124e-01 -5.45535977e-01 2.26232670e+02] [ 5.54898484e-01 -3.13212867e-02 8.31328244e-01 7.67541864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.492755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:312.46, Y:226.26, Z:76.76 [[ 1.02211122e-01 -9.90979752e-01 -8.66718931e-02 3.12455968e+02] [ 8.25974864e-01 1.33100506e-01 -5.47767998e-01 2.26259128e+02] [ 5.54363068e-01 -1.56008234e-02 8.32128718e-01 7.67637181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.522755096 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:312.45, Y:226.28, Z:76.77 [[ 1.00652348e-01 -9.91929110e-01 -7.71086629e-02 3.12453222e+02] [ 8.26405864e-01 1.26508651e-01 -5.48679240e-01 2.26283073e+02] [ 5.54005823e-01 -8.49719720e-03 8.32469426e-01 7.67744605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.552755096 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:312.46, Y:226.30, Z:76.79 [[ 9.96995447e-02 -9.91407526e-01 -8.46824517e-02 3.12460072e+02] [ 8.27215692e-01 1.29882140e-01 -5.46667018e-01 2.26303115e+02] [ 5.52968534e-01 -1.55482000e-02 8.33057053e-01 7.67903366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.582755096 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:312.46, Y:226.33, Z:76.80 [[ 9.83890553e-02 -9.91844703e-01 -8.10165378e-02 3.12460533e+02] [ 8.27854970e-01 1.26755717e-01 -5.46433104e-01 2.26326859e+02] [ 5.52246089e-01 -1.33069065e-02 8.33574942e-01 7.68036268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.612755096 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:312.46, Y:226.35, Z:76.82 [[ 9.78767354e-02 -9.91720475e-01 -8.31302807e-02 3.12464666e+02] [ 8.27981418e-01 1.27490667e-01 -5.46070418e-01 2.26348313e+02] [ 5.52147549e-01 -1.53827379e-02 8.33604496e-01 7.68196478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.642755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:312.46, Y:226.37, Z:76.83 [[ 9.59707264e-02 -9.92308136e-01 -7.81932449e-02 3.12462111e+02] [ 8.28706764e-01 1.23169524e-01 -5.45961874e-01 2.26368768e+02] [ 5.51393435e-01 -1.24029133e-02 8.34153132e-01 7.68303576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6727550960001 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:312.46, Y:226.40, Z:76.84 [[ 9.58344760e-02 -9.92813335e-01 -7.16759051e-02 3.12462682e+02] [ 8.28565651e-01 1.19470259e-01 -5.46997092e-01 2.26395606e+02] [ 5.51629146e-01 -6.96701333e-03 8.34060397e-01 7.68430230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.702755096 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:312.48, Y:226.41, Z:76.87 [[ 9.63421587e-02 -9.90079575e-01 -1.02277192e-01 3.12484265e+02] [ 8.26768812e-01 1.36817564e-01 -5.45650332e-01 2.26408321e+02] [ 5.54230565e-01 -3.19904612e-02 8.31748214e-01 7.68711367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.732755096 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:312.46, Y:226.44, Z:76.87 [[ 9.18593548e-02 -9.93477103e-01 -6.75655621e-02 3.12464456e+02] [ 8.28468888e-01 1.13893865e-01 -5.48331551e-01 2.26436204e+02] [ 5.52450144e-01 -5.60658363e-03 8.33527087e-01 7.68708115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.762755096 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:312.47, Y:226.46, Z:76.88 [[ 9.07324804e-02 -9.93795549e-01 -6.43274753e-02 3.12466534e+02] [ 8.29441530e-01 1.11161203e-01 -5.47421168e-01 2.26462038e+02] [ 5.51175439e-01 -3.68699918e-03 8.34381233e-01 7.68820081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7927550960001 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:312.50, Y:226.47, Z:76.92 [[ 9.25914752e-02 -9.90179527e-01 -1.04744086e-01 3.12495176e+02] [ 8.26080277e-01 1.35121882e-01 -5.47113748e-01 2.26470123e+02] [ 5.55894050e-01 -3.58689545e-02 8.30478912e-01 7.69155782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.822755096 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:312.45, Y:226.51, Z:76.90 [[ 8.70813526e-02 -9.95541570e-01 -3.62466649e-02 3.12454537e+02] [ 8.27442461e-01 9.25434361e-02 -5.53872445e-01 2.26509460e+02] [ 5.54757435e-01 1.82399321e-02 8.31812174e-01 7.69034162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.852755096 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:312.49, Y:226.52, Z:76.93 [[ 8.77851398e-02 -9.92059787e-01 -9.00619158e-02 3.12488258e+02] [ 8.29310916e-01 1.22870553e-01 -5.45111210e-01 2.26519825e+02] [ 5.51848868e-01 -2.68366661e-02 8.33512220e-01 7.69320704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.882755096 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:312.49, Y:226.54, Z:76.95 [[ 8.88635336e-02 -9.92361241e-01 -8.55712577e-02 3.12489388e+02] [ 8.26732130e-01 1.21401505e-01 -5.49341114e-01 2.26539964e+02] [ 5.55533309e-01 -2.19281156e-02 8.31205089e-01 7.69496671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.912755096 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:312.49, Y:226.56, Z:76.96 [[ 8.84218963e-02 -9.92980443e-01 -7.85583123e-02 3.12488218e+02] [ 8.26671399e-01 1.17153099e-01 -5.50354022e-01 2.26564012e+02] [ 5.55694131e-01 -1.62785636e-02 8.31227431e-01 7.69627759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.942755096 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:312.48, Y:226.59, Z:76.97 [[ 8.80477478e-02 -9.93776934e-01 -6.82275593e-02 3.12482717e+02] [ 8.29120103e-01 1.11076980e-01 -5.47924958e-01 2.26589884e+02] [ 5.52093696e-01 -8.32528247e-03 8.33740512e-01 7.69696284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.972755096 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:312.49, Y:226.61, Z:76.99 [[ 8.90953380e-02 -9.93518171e-01 -7.05950784e-02 3.12487178e+02] [ 8.27110815e-01 1.13288825e-01 -5.50502808e-01 2.26610250e+02] [ 5.54932176e-01 -9.34271912e-03 8.31843130e-01 7.69866733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.002755096 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:312.50, Y:226.63, Z:77.01 [[ 9.20083062e-02 -9.91826367e-01 -8.84020945e-02 3.12499923e+02] [ 8.27393652e-01 1.25545472e-01 -5.47410339e-01 2.26625984e+02] [ 5.54034490e-01 -2.27770337e-02 8.32182066e-01 7.70075412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.032755096 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:312.49, Y:226.65, Z:77.02 [[ 9.27189123e-02 -9.92996535e-01 -7.32194255e-02 3.12494303e+02] [ 8.27063879e-01 1.17753162e-01 -5.49635818e-01 2.26650720e+02] [ 5.54408282e-01 -9.59550689e-03 8.32189512e-01 7.70180401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.062755096 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:312.49, Y:226.67, Z:77.03 [[ 9.28773258e-02 -9.93334210e-01 -6.82711508e-02 3.12493845e+02] [ 8.26212812e-01 1.15153081e-01 -5.51463649e-01 2.26673020e+02] [ 5.55649342e-01 -5.18803051e-03 8.31400561e-01 7.70323568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.092755096 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:312.50, Y:226.70, Z:77.05 [[ 9.42236421e-02 -9.92953217e-01 -7.18735975e-02 3.12496842e+02] [ 8.25951719e-01 1.18273939e-01 -5.51194189e-01 2.26695160e+02] [ 5.55810816e-01 -7.42859743e-03 8.31275618e-01 7.70489914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.122755096 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:312.50, Y:226.71, Z:77.06 [[ 9.56169495e-02 -9.92133871e-01 -8.07946814e-02 3.12504037e+02] [ 8.26797118e-01 1.24356514e-01 -5.48581793e-01 2.26714915e+02] [ 5.54313923e-01 -1.43470921e-02 8.32184016e-01 7.70647977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.152755096 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:312.52, Y:226.73, Z:77.09 [[ 9.98918085e-02 -9.90542294e-01 -9.40616277e-02 3.12516144e+02] [ 8.23688976e-01 1.35354971e-01 -5.50650072e-01 2.26733259e+02] [ 5.58173895e-01 -2.24720942e-02 8.29419621e-01 7.70912417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.182755096 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:312.50, Y:226.76, Z:77.09 [[ 9.75586013e-02 -9.93466087e-01 -5.92237488e-02 3.12495082e+02] [ 8.26581381e-01 1.14026058e-01 -5.51145424e-01 2.26762774e+02] [ 5.54297339e-01 4.81572865e-03 8.32304793e-01 7.70880733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.212755096 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:312.51, Y:226.78, Z:77.11 [[ 9.91654052e-02 -9.91710072e-01 -8.17150919e-02 3.12512784e+02] [ 8.24863537e-01 1.27857036e-01 -5.50683869e-01 2.26781435e+02] [ 5.56566589e-01 -1.27950106e-02 8.30704472e-01 7.71138001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.242755096 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:312.52, Y:226.80, Z:77.13 [[ 9.82623067e-02 -9.91697932e-01 -8.29441421e-02 3.12515872e+02] [ 8.24758702e-01 1.27793885e-01 -5.50855522e-01 2.26801998e+02] [ 5.56882036e-01 -1.42805687e-02 8.30468821e-01 7.71295385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.272755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:312.51, Y:226.83, Z:77.13 [[ 9.62300490e-02 -9.93342436e-01 -6.33291582e-02 3.12505370e+02] [ 8.26702612e-01 1.15197193e-01 -5.50719891e-01 2.26828215e+02] [ 5.54348779e-01 6.41421642e-04 8.32284218e-01 7.71340537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.302755096 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:312.51, Y:226.85, Z:77.15 [[ 9.54812784e-02 -9.92720534e-01 -7.34116265e-02 3.12514505e+02] [ 8.26427756e-01 1.20164687e-01 -5.50070552e-01 2.26849820e+02] [ 5.54887818e-01 -8.14796619e-03 8.31885281e-01 7.71532141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.332755096 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:312.51, Y:226.87, Z:77.16 [[ 9.40561332e-02 -9.93130872e-01 -6.96025564e-02 3.12513668e+02] [ 8.28003259e-01 1.16852362e-01 -5.48412372e-01 2.26872869e+02] [ 5.52778480e-01 -6.04959645e-03 8.33306279e-01 7.71632319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.362755096 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:312.51, Y:226.90, Z:77.18 [[ 9.24648111e-02 -9.93613126e-01 -6.46777681e-02 3.12512997e+02] [ 8.26902121e-01 1.12811760e-01 -5.50914140e-01 2.26896581e+02] [ 5.54691934e-01 -2.54201169e-03 8.32051919e-01 7.71769686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.392755096 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:312.52, Y:226.92, Z:77.19 [[ 9.01627494e-02 -9.93531127e-01 -6.90404068e-02 3.12517529e+02] [ 8.26959022e-01 1.13316217e-01 -5.50725168e-01 2.26918087e+02] [ 5.54985995e-01 -7.43869195e-03 8.31826431e-01 7.71909651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4227550960001 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:312.52, Y:226.94, Z:77.21 [[ 8.74448481e-02 -9.93876990e-01 -6.75420454e-02 3.12519061e+02] [ 8.26535780e-01 1.10233437e-01 -5.51984776e-01 2.26941557e+02] [ 5.56050360e-01 -7.55769226e-03 8.31114239e-01 7.72062039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.452755096 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:312.52, Y:226.96, Z:77.22 [[ 8.57859800e-02 -9.93608960e-01 -7.33621205e-02 3.12523759e+02] [ 8.27985781e-01 1.12053741e-01 -5.49439264e-01 2.26961951e+02] [ 5.54148276e-01 -1.36086069e-02 8.32306731e-01 7.72182341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.482755096 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:312.53, Y:226.98, Z:77.24 [[ 8.46555342e-02 -9.93416321e-01 -7.71845438e-02 3.12528628e+02] [ 8.27742821e-01 1.13236283e-01 -5.49562888e-01 2.26982208e+02] [ 5.54684833e-01 -1.73654122e-02 8.31879306e-01 7.72357480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.512755096 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:312.54, Y:227.00, Z:77.26 [[ 8.36354832e-02 -9.92271705e-01 -9.16622610e-02 3.12541101e+02] [ 8.24810991e-01 1.20550071e-01 -5.52407919e-01 2.26999508e+02] [ 5.59188640e-01 -2.94031371e-02 8.28518872e-01 7.72627061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5427550960001 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:312.53, Y:227.03, Z:77.27 [[ 8.12535871e-02 -9.94432443e-01 -6.70967215e-02 3.12528483e+02] [ 8.25276535e-01 1.04872916e-01 -5.54905679e-01 2.27025806e+02] [ 5.58852840e-01 -1.02852729e-02 8.29203061e-01 7.72680057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.572755096 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:312.53, Y:227.05, Z:77.28 [[ 7.94777505e-02 -9.94846213e-01 -6.29626858e-02 3.12526930e+02] [ 8.27039271e-01 1.01069452e-01 -5.52983735e-01 2.27049158e+02] [ 5.56497378e-01 -8.12271050e-03 8.30809659e-01 7.72771761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.602755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:312.52, Y:227.07, Z:77.29 [[ 7.59468728e-02 -9.95293554e-01 -6.01898147e-02 3.12524356e+02] [ 8.27304850e-01 9.65940431e-02 -5.53386191e-01 2.27072706e+02] [ 5.56595686e-01 -7.76737498e-03 8.30747200e-01 7.72891490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.632755096 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:312.53, Y:227.09, Z:77.31 [[ 7.47222916e-02 -9.94374264e-01 -7.50759706e-02 3.12534269e+02] [ 8.26812782e-01 1.03867963e-01 -5.52803825e-01 2.27089407e+02] [ 5.57491885e-01 -2.07670036e-02 8.29922605e-01 7.73090511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.662755096 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:312.53, Y:227.12, Z:77.32 [[ 7.50786659e-02 -9.95542445e-01 -5.70827003e-02 3.12526766e+02] [ 8.26823605e-01 9.41503020e-02 -5.54525425e-01 2.27117505e+02] [ 5.57427951e-01 -5.56429489e-03 8.30206672e-01 7.73188235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.692755096 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:312.54, Y:227.13, Z:77.34 [[ 7.51031057e-02 -9.94617206e-01 -7.13872350e-02 3.12535500e+02] [ 8.26154284e-01 1.02152744e-01 -5.54106412e-01 2.27133234e+02] [ 5.58416174e-01 -1.73617575e-02 8.29379254e-01 7.73361861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.722755096 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:312.53, Y:227.16, Z:77.35 [[ 7.57752540e-02 -9.95686331e-01 -5.35428867e-02 3.12528315e+02] [ 8.24311681e-01 9.27654533e-02 -5.58484399e-01 2.27159694e+02] [ 5.61042212e-01 -1.81672973e-03 8.27785199e-01 7.73478391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.752755096 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:312.55, Y:227.17, Z:77.37 [[ 7.52630904e-02 -9.93473347e-01 -8.57098399e-02 3.12547311e+02] [ 8.26549436e-01 1.10236858e-01 -5.51963645e-01 2.27173289e+02] [ 5.57809553e-01 -2.93009301e-02 8.29451601e-01 7.73687744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.782755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:312.53, Y:227.20, Z:77.38 [[ 7.34450537e-02 -9.95440455e-01 -6.08615246e-02 3.12533274e+02] [ 8.25790418e-01 9.49178945e-02 -5.55932351e-01 2.27202805e+02] [ 5.59174400e-01 -9.42838240e-03 8.28996439e-01 7.73783499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.812755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:312.54, Y:227.22, Z:77.39 [[ 7.37453631e-02 -9.95055578e-01 -6.65283246e-02 3.12538274e+02] [ 8.25846855e-01 9.83287587e-02 -5.55255281e-01 2.27223209e+02] [ 5.59051512e-01 -1.39947053e-02 8.29014810e-01 7.73941710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.842755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:312.54, Y:227.24, Z:77.41 [[ 7.11568458e-02 -9.95346048e-01 -6.49842116e-02 3.12538713e+02] [ 8.25758630e-01 9.53273694e-02 -5.55909504e-01 2.27244160e+02] [ 5.59517102e-01 -1.41045067e-02 8.28698784e-01 7.74086279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.872755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:312.55, Y:227.26, Z:77.43 [[ 7.26534308e-02 -9.95103367e-01 -6.70131991e-02 3.12545249e+02] [ 8.24962102e-01 9.77194790e-02 -5.56676237e-01 2.27264548e+02] [ 5.60498893e-01 -1.48389111e-02 8.28022221e-01 7.74261891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.902755096 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:312.54, Y:227.29, Z:77.44 [[ 7.04843437e-02 -9.95704434e-01 -6.00386274e-02 3.12541990e+02] [ 8.26896353e-01 9.19866130e-02 -5.54780033e-01 2.27290058e+02] [ 5.57919688e-01 -1.05424156e-02 8.29827981e-01 7.74354652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.932755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:312.55, Y:227.31, Z:77.45 [[ 6.87005223e-02 -9.95221717e-01 -6.93827916e-02 3.12549655e+02] [ 8.27271621e-01 9.57009674e-02 -5.53590996e-01 2.27311924e+02] [ 5.57585782e-01 -1.93664240e-02 8.29893389e-01 7.74545044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.962755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:312.55, Y:227.33, Z:77.47 [[ 6.87271581e-02 -9.95870272e-01 -5.93209844e-02 3.12546170e+02] [ 8.26590774e-01 9.01365685e-02 -5.55538559e-01 2.27334939e+02] [ 5.58591326e-01 -1.08535920e-02 8.29372009e-01 7.74672301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.992755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:312.56, Y:227.35, Z:77.49 [[ 6.77207866e-02 -9.94349792e-01 -8.17458699e-02 3.12558405e+02] [ 8.29021945e-01 1.01668234e-01 -5.49896522e-01 2.27349518e+02] [ 5.55100450e-01 -3.05296950e-02 8.31222851e-01 7.74869030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.022755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:312.55, Y:227.38, Z:77.49 [[ 6.78326366e-02 -9.96157692e-01 -5.53948257e-02 3.12545814e+02] [ 8.31010643e-01 8.71377634e-02 -5.49389043e-01 2.27380677e+02] [ 5.52105103e-01 -8.76718244e-03 8.33728428e-01 7.74927563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.052755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:312.55, Y:227.40, Z:77.51 [[ 6.78143219e-02 -9.95896480e-01 -5.99284430e-02 3.12550171e+02] [ 8.31170596e-01 8.96186122e-02 -5.48747614e-01 2.27401836e+02] [ 5.51866522e-01 -1.25978123e-02 8.33837297e-01 7.75083258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.082755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:312.56, Y:227.42, Z:77.53 [[ 6.93707465e-02 -9.94387455e-01 -7.98829679e-02 3.12564361e+02] [ 8.30713139e-01 1.01918505e-01 -5.47291786e-01 2.27420071e+02] [ 5.52361639e-01 -2.83937912e-02 8.33120887e-01 7.75313246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.112755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:312.56, Y:227.44, Z:77.55 [[ 7.04419009e-02 -9.94997261e-01 -7.08405938e-02 3.12562515e+02] [ 8.28863638e-01 9.78968091e-02 -5.50818739e-01 2.27444321e+02] [ 5.54998205e-01 -1.99164733e-02 8.31613087e-01 7.75454793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.142755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:312.56, Y:227.47, Z:77.56 [[ 7.20611639e-02 -9.95417973e-01 -6.28510012e-02 3.12558193e+02] [ 8.29063383e-01 9.48122304e-02 -5.51057664e-01 2.27468189e+02] [ 5.54491746e-01 -1.23976071e-02 8.32096871e-01 7.75556541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1727550960001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:312.56, Y:227.49, Z:77.57 [[ 7.33375674e-02 -9.95171411e-01 -6.52339121e-02 3.12561229e+02] [ 8.29699957e-01 9.71755769e-02 -5.49686173e-01 2.27489149e+02] [ 5.53371107e-01 -1.38119273e-02 8.32820298e-01 7.75699829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.202755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:312.56, Y:227.52, Z:77.58 [[ 7.30196285e-02 -9.95766570e-01 -5.58307395e-02 3.12556695e+02] [ 8.30174029e-01 9.17091005e-02 -5.49909558e-01 2.27515079e+02] [ 5.52701741e-01 -6.19503836e-03 8.33356110e-01 7.75786182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.232755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:312.57, Y:227.53, Z:77.60 [[ 7.46989208e-02 -9.94304760e-01 -7.60139123e-02 3.12570413e+02] [ 8.29806499e-01 1.04252257e-01 -5.48226815e-01 2.27532624e+02] [ 5.53029154e-01 -2.21248870e-02 8.32868083e-01 7.76017414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.262755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:312.57, Y:227.55, Z:77.62 [[ 7.29913367e-02 -9.94408356e-01 -7.63170168e-02 3.12569831e+02] [ 8.27629614e-01 1.03092303e-01 -5.51725656e-01 2.27548370e+02] [ 5.56508299e-01 -2.28910301e-02 8.30526648e-01 7.76176089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2927550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:312.56, Y:227.57, Z:77.63 [[ 7.25512225e-02 -9.95466845e-01 -6.14986168e-02 3.12563396e+02] [ 8.27250519e-01 9.45060878e-02 -5.53827751e-01 2.27573638e+02] [ 5.57129158e-01 -1.06938823e-02 8.30356997e-01 7.76280981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.322755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:312.57, Y:227.60, Z:77.64 [[ 7.16698134e-02 -9.95543455e-01 -6.12916538e-02 3.12565176e+02] [ 8.27033384e-01 9.36643949e-02 -5.54294834e-01 2.27595627e+02] [ 5.57565440e-01 -1.09640365e-02 8.30060582e-01 7.76426958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.352755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.57, Y:227.62, Z:77.66 [[ 7.24367964e-02 -9.95510245e-01 -6.09283457e-02 3.12570107e+02] [ 8.27659085e-01 9.40863521e-02 -5.53288530e-01 2.27621996e+02] [ 5.56536925e-01 -1.03494503e-02 8.30758412e-01 7.76583133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.57, Y:227.64, Z:77.67 [[ 6.91704586e-02 -9.95752047e-01 -6.07726044e-02 3.12572265e+02] [ 8.27167853e-01 9.13011302e-02 -5.54488455e-01 2.27643497e+02] [ 5.57681621e-01 -1.19149240e-02 8.29969424e-01 7.76720451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.412755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:312.58, Y:227.66, Z:77.69 [[ 6.69941821e-02 -9.94992755e-01 -7.41700528e-02 3.12581241e+02] [ 8.27957456e-01 9.69216145e-02 -5.52351927e-01 2.27658272e+02] [ 5.56774847e-01 -2.44052826e-02 8.30304855e-01 7.76896403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.442755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:312.58, Y:227.68, Z:77.70 [[ 6.41464295e-02 -9.96087555e-01 -6.07850153e-02 3.12576729e+02] [ 8.28340431e-01 8.71149755e-02 -5.53410437e-01 2.27682502e+02] [ 5.56540535e-01 -1.48513822e-02 8.30687709e-01 7.77012751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.472755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:312.58, Y:227.70, Z:77.72 [[ 6.27217078e-02 -9.96193835e-01 -6.05295793e-02 3.12578682e+02] [ 8.28466002e-01 8.57881954e-02 -5.53429734e-01 2.27703711e+02] [ 5.56516012e-01 -1.54346405e-02 8.30693506e-01 7.77154685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.502755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.58, Y:227.72, Z:77.73 [[ 6.16990258e-02 -9.96270045e-01 -6.03260194e-02 3.12580584e+02] [ 8.28554778e-01 8.48245703e-02 -5.53445365e-01 2.27724997e+02] [ 5.56498167e-01 -1.58363718e-02 8.30697899e-01 7.77298877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.532755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.58, Y:227.75, Z:77.74 [[ 6.04700521e-02 -9.96362280e-01 -6.00464767e-02 3.12581616e+02] [ 8.28758474e-01 8.36442594e-02 -5.53320006e-01 2.27746902e+02] [ 5.56329726e-01 -1.63047368e-02 8.30801656e-01 7.77438749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.562755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.58, Y:227.77, Z:77.76 [[ 5.99797590e-02 -9.96403661e-01 -5.98512646e-02 3.12583241e+02] [ 8.28309902e-01 8.31424366e-02 -5.54066820e-01 2.27768227e+02] [ 5.57050388e-01 -1.63426008e-02 8.30317882e-01 7.77583451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.59, Y:227.79, Z:77.77 [[ 6.05499602e-02 -9.96386561e-01 -5.95610910e-02 3.12585077e+02] [ 8.28375485e-01 8.34518636e-02 -5.53922235e-01 2.27788708e+02] [ 5.56891155e-01 -1.57989784e-02 8.30435208e-01 7.77724072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:227.81, Z:77.79 [[ 6.20283802e-02 -9.96536677e-01 -5.53816862e-02 3.12586746e+02] [ 8.28103733e-01 8.23598581e-02 -5.54491714e-01 2.27814081e+02] [ 5.57132558e-01 -1.14675582e-02 8.30344391e-01 7.77856418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.652755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.60, Y:227.83, Z:77.81 [[ 6.31215388e-02 -9.95465446e-01 -7.11633130e-02 3.12598165e+02] [ 8.27776420e-01 9.20536280e-02 -5.53454902e-01 2.27832260e+02] [ 5.57496072e-01 -2.39723874e-02 8.29833389e-01 7.78065534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.58, Y:227.86, Z:77.82 [[ 6.04257041e-02 -9.97386221e-01 -3.96164051e-02 3.12577337e+02] [ 8.24698094e-01 7.22442247e-02 -5.60940127e-01 2.27863873e+02] [ 5.62336010e-01 1.22362832e-03 8.26907924e-01 7.78192786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.61, Y:227.87, Z:77.84 [[ 6.31291983e-02 -9.93758464e-01 -9.19718439e-02 3.12609650e+02] [ 8.27889603e-01 1.03609114e-01 -5.51238566e-01 2.27872441e+02] [ 5.57327112e-01 -4.13432846e-02 8.29263060e-01 7.78420189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:227.90, Z:77.85 [[ 6.55590658e-02 -9.96193639e-01 -5.74477341e-02 3.12592336e+02] [ 8.27322867e-01 8.64530316e-02 -5.55034005e-01 2.27900514e+02] [ 5.57887876e-01 -1.11403132e-02 8.29841558e-01 7.78480378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.59, Y:227.93, Z:77.86 [[ 6.67808302e-02 -9.96548438e-01 -4.93105672e-02 3.12590905e+02] [ 8.27402534e-01 8.29305500e-02 -5.55452583e-01 2.27925114e+02] [ 5.57624756e-01 -3.70610364e-03 8.30084873e-01 7.78573957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.60, Y:227.94, Z:77.88 [[ 6.64573476e-02 -9.95606526e-01 -6.59626206e-02 3.12601742e+02] [ 8.26918128e-01 9.19517582e-02 -5.54753354e-01 2.27940739e+02] [ 5.58381439e-01 -1.76782503e-02 8.29395954e-01 7.78782722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.60, Y:227.97, Z:77.89 [[ 6.61181908e-02 -9.96200958e-01 -5.66748293e-02 3.12598618e+02] [ 8.26854634e-01 8.64943409e-02 -5.55724880e-01 2.27965014e+02] [ 5.58515710e-01 -1.01183216e-02 8.29432228e-01 7.78910495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.60, Y:227.98, Z:77.91 [[ 7.04127354e-02 -9.95910312e-01 -5.66100461e-02 3.12604975e+02] [ 8.25210265e-01 9.00394671e-02 -5.57602828e-01 2.27983455e+02] [ 5.60419545e-01 -7.45285076e-03 8.28175337e-01 7.79075709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.60, Y:228.01, Z:77.92 [[ 6.61692269e-02 -9.96764628e-01 -4.56279489e-02 3.12598232e+02] [ 8.25161925e-01 8.03731998e-02 -5.59149305e-01 2.28009954e+02] [ 5.61007514e-01 -6.51968904e-04 8.27810452e-01 7.79180555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.61, Y:228.03, Z:77.93 [[ 6.72512665e-02 -9.96151049e-01 -5.62170255e-02 3.12608524e+02] [ 8.24671858e-01 8.72126359e-02 -5.58847280e-01 2.28026249e+02] [ 5.61599139e-01 -8.77741156e-03 8.27362897e-01 7.79330635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.61, Y:228.05, Z:77.95 [[ 6.53857193e-02 -9.96105685e-01 -5.91453409e-02 3.12611911e+02] [ 8.26622875e-01 8.72709378e-02 -5.55948205e-01 2.28050008e+02] [ 5.58944837e-01 -1.25398184e-02 8.29110018e-01 7.79481212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.61, Y:228.07, Z:77.96 [[ 6.47832120e-02 -9.96366574e-01 -5.52882125e-02 3.12612371e+02] [ 8.26658192e-01 8.46181729e-02 -5.56305670e-01 2.28072414e+02] [ 5.58962762e-01 -9.66518567e-03 8.29136428e-01 7.79614241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.62, Y:228.09, Z:77.98 [[ 6.33111385e-02 -9.96476867e-01 -5.50050222e-02 3.12615909e+02] [ 8.27028949e-01 8.32341630e-02 -5.55963301e-01 2.28094228e+02] [ 5.58582866e-01 -1.02920761e-02 8.29384866e-01 7.79760435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.62, Y:228.12, Z:77.99 [[ 6.21877016e-02 -9.96563505e-01 -5.47162791e-02 3.12618509e+02] [ 8.27316603e-01 8.21369325e-02 -5.55698446e-01 2.28115625e+02] [ 5.58283019e-01 -1.07100769e-02 8.29581440e-01 7.79902830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.62, Y:228.14, Z:78.00 [[ 6.08352940e-02 -9.96659514e-01 -5.44874268e-02 3.12621638e+02] [ 8.27134800e-01 8.08924701e-02 -5.56151446e-01 2.28135557e+02] [ 5.58701253e-01 -1.12348102e-02 8.29292885e-01 7.80036729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.62, Y:228.16, Z:78.02 [[ 5.91734382e-02 -9.97166169e-01 -4.64557367e-02 3.12619467e+02] [ 8.26143766e-01 7.50411655e-02 -5.58440061e-01 2.28158729e+02] [ 5.60343629e-01 -5.33429882e-03 8.28243058e-01 7.80168655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.63, Y:228.18, Z:78.03 [[ 5.92248945e-02 -9.96257477e-01 -6.29559559e-02 3.12631991e+02] [ 8.27162436e-01 8.42827842e-02 -5.55606621e-01 2.28176721e+02] [ 5.58833353e-01 -1.91690583e-02 8.29058400e-01 7.80345430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.63, Y:228.20, Z:78.05 [[ 5.88166465e-02 -9.96663340e-01 -5.65931871e-02 3.12632319e+02] [ 8.27604018e-01 8.03841373e-02 -5.55526759e-01 2.28201807e+02] [ 5.58222349e-01 -1.41625281e-02 8.29570510e-01 7.80476913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.192755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:312.63, Y:228.23, Z:78.06 [[ 5.87778984e-02 -9.97027941e-01 -4.98040607e-02 3.12631589e+02] [ 8.26497287e-01 7.65834624e-02 -5.57707099e-01 2.28226115e+02] [ 5.59863728e-01 -8.38206975e-03 8.28542302e-01 7.80589842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.64, Y:228.25, Z:78.07 [[ 6.05749458e-02 -9.96823511e-01 -5.17065260e-02 3.12635249e+02] [ 8.26210531e-01 7.91396576e-02 -5.57775110e-01 2.28247525e+02] [ 5.60095380e-01 -8.93327928e-03 8.28379962e-01 7.80741446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.63, Y:228.27, Z:78.09 [[ 5.95430338e-02 -9.97093907e-01 -4.75222978e-02 3.12634420e+02] [ 8.27372986e-01 7.59309559e-02 -5.56496570e-01 2.28271529e+02] [ 5.58487753e-01 -6.18317134e-03 8.29489722e-01 7.80850897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:228.29, Z:78.11 [[ 6.18382709e-02 -9.96097327e-01 -6.29773309e-02 3.12646388e+02] [ 8.25146203e-01 8.65206453e-02 -5.58254353e-01 2.28287155e+02] [ 5.61524507e-01 -1.74440216e-02 8.27276214e-01 7.81072990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.64, Y:228.31, Z:78.12 [[ 6.10882736e-02 -9.96708904e-01 -5.32877485e-02 3.12642092e+02] [ 8.24614205e-01 8.04771551e-02 -5.59941819e-01 2.28313133e+02] [ 5.62387443e-01 -9.73595534e-03 8.26816531e-01 7.81210515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:228.33, Z:78.14 [[ 6.39751234e-02 -9.95366486e-01 -7.17826031e-02 3.12654543e+02] [ 8.26441546e-01 9.31614793e-02 -5.55261480e-01 2.28328939e+02] [ 5.59376041e-01 -2.38012038e-02 8.28572234e-01 7.81371416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.64, Y:228.35, Z:78.14 [[ 6.66215209e-02 -9.96624006e-01 -4.79808636e-02 3.12643950e+02] [ 8.24292467e-01 8.20708089e-02 -5.60184176e-01 2.28353253e+02] [ 5.62230826e-01 -2.22994259e-03 8.26977343e-01 7.81449721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:228.38, Z:78.16 [[ 6.57611440e-02 -9.96662688e-01 -4.83627830e-02 3.12645933e+02] [ 8.23874138e-01 8.15764520e-02 -5.60871365e-01 2.28375566e+02] [ 5.62944826e-01 -2.96130353e-03 8.26489173e-01 7.81608360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:228.40, Z:78.17 [[ 6.59720793e-02 -9.96449599e-01 -5.23056489e-02 3.12650421e+02] [ 8.25776848e-01 8.39478779e-02 -5.57714400e-01 2.28398030e+02] [ 5.60125239e-01 -6.39921527e-03 8.28383225e-01 7.81718656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.65, Y:228.42, Z:78.18 [[ 6.55251283e-02 -9.96669300e-01 -4.85465208e-02 3.12650106e+02] [ 8.26774640e-01 8.14669923e-02 -5.56602932e-01 2.28421086e+02] [ 5.58703994e-01 -3.66555372e-03 8.29359036e-01 7.81834770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.66, Y:228.43, Z:78.21 [[ 6.33631105e-02 -9.95796749e-01 -6.61358456e-02 3.12663149e+02] [ 8.24838867e-01 8.95597617e-02 -5.58229247e-01 2.28434926e+02] [ 5.61805980e-01 -1.91802745e-02 8.27046648e-01 7.82079872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:228.47, Z:78.21 [[ 6.18900244e-02 -9.97435824e-01 -3.59360913e-02 3.12648296e+02] [ 8.26465378e-01 7.14012503e-02 -5.58441439e-01 2.28466281e+02] [ 5.59575379e-01 4.86201901e-03 8.28765200e-01 7.82121642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.66, Y:228.48, Z:78.23 [[ 5.99785456e-02 -9.96951485e-01 -4.99030208e-02 3.12658958e+02] [ 8.27302799e-01 7.76214763e-02 -5.56367671e-01 2.28484419e+02] [ 5.58545122e-01 -7.91478505e-03 8.29436377e-01 7.82298135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:228.50, Z:78.25 [[ 5.74203716e-02 -9.95974754e-01 -6.88272452e-02 3.12670359e+02] [ 8.27410792e-01 8.60533364e-02 -5.54965049e-01 2.28499349e+02] [ 5.58653992e-01 -2.50821061e-02 8.29021475e-01 7.82533936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.66, Y:228.53, Z:78.26 [[ 5.73023664e-02 -9.97339735e-01 -4.50543132e-02 3.12658479e+02] [ 8.26997154e-01 7.26994368e-02 -5.57485874e-01 2.28525102e+02] [ 5.59278237e-01 -5.31452897e-03 8.28962972e-01 7.82617320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.66, Y:228.55, Z:78.28 [[ 5.70673237e-02 -9.97205037e-01 -4.82227721e-02 3.12661226e+02] [ 8.27167730e-01 7.42731375e-02 -5.57025177e-01 2.28545713e+02] [ 5.59049969e-01 -8.10038480e-03 8.29094395e-01 7.82765960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.66, Y:228.57, Z:78.29 [[ 5.74524814e-02 -9.97154462e-01 -4.88076930e-02 3.12662788e+02] [ 8.27605295e-01 7.49123337e-02 -5.56289149e-01 2.28568110e+02] [ 5.58362506e-01 -8.43331322e-03 8.29554213e-01 7.82912938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:228.59, Z:78.30 [[ 6.05062961e-02 -9.96717442e-01 -5.37896668e-02 3.12667660e+02] [ 8.28239619e-01 8.02089694e-02 -5.54604052e-01 2.28587954e+02] [ 5.57097946e-01 -1.09936962e-02 8.30374022e-01 7.83038807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:228.62, Z:78.31 [[ 5.90046883e-02 -9.97804896e-01 -3.00638640e-02 3.12654127e+02] [ 8.26216870e-01 6.57158382e-02 -5.59506133e-01 2.28616301e+02] [ 5.60253631e-01 8.17421341e-03 8.28280780e-01 7.83149743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:228.63, Z:78.33 [[ 5.94362051e-02 -9.96899491e-01 -5.15629936e-02 3.12667396e+02] [ 8.26815373e-01 7.81067609e-02 -5.57023943e-01 2.28632919e+02] [ 5.59324303e-01 -9.52568650e-03 8.28894194e-01 7.83339289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:228.66, Z:78.35 [[ 6.00262838e-02 -9.97209606e-01 -4.43829478e-02 3.12665005e+02] [ 8.26310927e-01 7.45854445e-02 -5.58253762e-01 2.28655479e+02] [ 5.60006337e-01 -3.16421600e-03 8.28482281e-01 7.83464453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:228.67, Z:78.36 [[ 6.07038184e-02 -9.96974191e-01 -4.85541803e-02 3.12669114e+02] [ 8.26766186e-01 7.74759539e-02 -5.57185024e-01 2.28674776e+02] [ 5.59260870e-01 -6.31969600e-03 8.28967636e-01 7.83609191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:228.70, Z:78.38 [[ 5.97790149e-02 -9.97253635e-01 -4.37224966e-02 3.12667462e+02] [ 8.26585873e-01 7.40095450e-02 -5.57923276e-01 2.28698466e+02] [ 5.59626897e-01 -2.78829416e-03 8.28739984e-01 7.83755597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:228.72, Z:78.39 [[ 5.95887876e-02 -9.97493202e-01 -3.81639581e-02 3.12665586e+02] [ 8.25276697e-01 7.07370965e-02 -5.60280856e-01 2.28719644e+02] [ 5.61575953e-01 1.89063171e-03 8.27423033e-01 7.83878632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:228.74, Z:78.41 [[ 5.73478832e-02 -9.96984130e-01 -5.22863727e-02 3.12675425e+02] [ 8.26542305e-01 7.67875580e-02 -5.57612310e-01 2.28739642e+02] [ 5.59945567e-01 -1.12390134e-02 8.28453165e-01 7.84066310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:228.76, Z:78.42 [[ 5.58819355e-02 -9.97380375e-01 -4.59303555e-02 3.12673608e+02] [ 8.27053996e-01 7.20117725e-02 -5.57490801e-01 2.28761791e+02] [ 5.59337910e-01 -6.83321909e-03 8.28911581e-01 7.84187957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:228.78, Z:78.43 [[ 5.43677803e-02 -9.97716308e-01 -4.00788321e-02 3.12671936e+02] [ 8.26234617e-01 6.74895053e-02 -5.59268740e-01 2.28783473e+02] [ 5.60696443e-01 -2.70831852e-03 8.28017007e-01 7.84318260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:228.80, Z:78.45 [[ 5.09367842e-02 -9.97462695e-01 -4.97354672e-02 3.12679395e+02] [ 8.27651166e-01 7.00310987e-02 -5.56856528e-01 2.28803826e+02] [ 5.58926643e-01 -1.27991366e-02 8.29118321e-01 7.84499553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:228.83, Z:78.46 [[ 4.91533457e-02 -9.97768836e-01 -4.51807313e-02 3.12678448e+02] [ 8.27963247e-01 6.60048752e-02 -5.56884385e-01 2.28826012e+02] [ 5.58624033e-01 -1.00352543e-02 8.29360286e-01 7.84632018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:228.85, Z:78.48 [[ 4.65361371e-02 -9.97905233e-01 -4.49392306e-02 3.12680043e+02] [ 8.28381366e-01 6.36931959e-02 -5.56531661e-01 2.28848141e+02] [ 5.58228180e-01 -1.13279876e-02 8.29610135e-01 7.84780913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:228.87, Z:78.49 [[ 4.51413321e-02 -9.97981757e-01 -4.46617531e-02 3.12681455e+02] [ 8.28598950e-01 6.23778199e-02 -5.56356709e-01 2.28870128e+02] [ 5.58019749e-01 -1.18919988e-02 8.29742454e-01 7.84932616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:228.89, Z:78.51 [[ 4.42892107e-02 -9.98032886e-01 -4.43714338e-02 3.12682850e+02] [ 8.28832384e-01 6.15045465e-02 -5.56106169e-01 2.28891156e+02] [ 5.57741289e-01 -1.21469780e-02 8.29925964e-01 7.85074276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.152755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.68, Y:228.91, Z:78.52 [[ 4.38046133e-02 -9.98066429e-01 -4.40971588e-02 3.12683945e+02] [ 8.28815849e-01 6.09502889e-02 -5.56191830e-01 2.28912752e+02] [ 5.57804128e-01 -1.21846561e-02 8.29883178e-01 7.85221701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:228.93, Z:78.54 [[ 4.37532158e-02 -9.98076560e-01 -4.39185196e-02 3.12683715e+02] [ 8.28098652e-01 6.08235715e-02 -5.57272927e-01 2.28934264e+02] [ 5.58872327e-01 -1.19863843e-02 8.29167081e-01 7.85361728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:228.96, Z:78.55 [[ 4.43764587e-02 -9.98058595e-01 -4.37009344e-02 3.12684195e+02] [ 8.27576072e-01 6.12290769e-02 -5.58004342e-01 2.28956858e+02] [ 5.59596797e-01 -1.14035910e-02 8.28686541e-01 7.85508515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:228.98, Z:78.57 [[ 4.43141341e-02 -9.98071910e-01 -4.34594022e-02 3.12685282e+02] [ 8.27358885e-01 6.10467917e-02 -5.58346277e-01 2.28978656e+02] [ 5.59922792e-01 -1.12138908e-02 8.28468899e-01 7.85650067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.00, Z:78.58 [[ 4.39700726e-02 -9.98097386e-01 -4.32231563e-02 3.12686362e+02] [ 8.27121882e-01 6.06345746e-02 -5.58742195e-01 2.29000421e+02] [ 5.60299942e-01 -1.11828835e-02 8.28214295e-01 7.85798025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.02, Z:78.59 [[ 4.33635292e-02 -9.98134179e-01 -4.29856492e-02 3.12687397e+02] [ 8.26913478e-01 6.00039201e-02 -5.59118619e-01 2.29021989e+02] [ 5.60654710e-01 -1.13000562e-02 8.27972587e-01 7.85943517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.04, Z:78.61 [[ 4.21734376e-02 -9.98195925e-01 -4.27352010e-02 3.12688306e+02] [ 8.26872476e-01 5.88800217e-02 -5.59298715e-01 2.29043994e+02] [ 5.60805947e-01 -1.17490120e-02 8.27863908e-01 7.86092266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.362755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.68, Y:229.07, Z:78.62 [[ 3.94095348e-02 -9.98797572e-01 -2.91598929e-02 3.12679847e+02] [ 8.28230964e-01 4.89773802e-02 -5.58242498e-01 2.29070340e+02] [ 5.58999426e-01 -2.15104907e-03 8.29165252e-01 7.86162291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.09, Z:78.64 [[ 3.90746499e-02 -9.97918778e-01 -5.12960414e-02 3.12694892e+02] [ 8.27497477e-01 6.10914848e-02 -5.58135966e-01 2.29085047e+02] [ 5.60108113e-01 -2.06383774e-02 8.28162399e-01 7.86410446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.11, Z:78.65 [[ 3.76106117e-02 -9.98412386e-01 -4.19302973e-02 3.12690910e+02] [ 8.27600023e-01 5.46377635e-02 -5.58652769e-01 2.29107562e+02] [ 5.60056822e-01 -1.36902426e-02 8.28341073e-01 7.86527231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:229.13, Z:78.66 [[ 3.48296503e-02 -9.99043789e-01 -2.64273182e-02 3.12681326e+02] [ 8.29282051e-01 4.36486089e-02 -5.57123037e-01 2.29134801e+02] [ 5.57743826e-01 -2.51130011e-03 8.30009348e-01 7.86585977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.15, Z:78.68 [[ 3.32019365e-02 -9.98656722e-01 -3.97791742e-02 3.12690029e+02] [ 8.29608093e-01 4.97336647e-02 -5.56126762e-01 2.29152632e+02] [ 5.57358093e-01 -1.45366394e-02 8.30144952e-01 7.86775448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.17, Z:78.70 [[ 3.37072372e-02 -9.98225613e-01 -4.90861247e-02 3.12698112e+02] [ 8.28468988e-01 5.53788782e-02 -5.57290154e-01 2.29171070e+02] [ 5.59019640e-01 -2.18816206e-02 8.28865633e-01 7.86984882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.19, Z:78.71 [[ 3.31388334e-02 -9.98617801e-01 -4.07958965e-02 3.12693897e+02] [ 8.28673499e-01 5.02732502e-02 -5.57470028e-01 2.29194950e+02] [ 5.58750436e-01 -1.53325718e-02 8.29194104e-01 7.87115048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.22, Z:78.72 [[ 3.21479448e-02 -9.98997247e-01 -3.11610492e-02 3.12688739e+02] [ 8.27618927e-01 4.40868175e-02 -5.59556311e-01 2.29219232e+02] [ 5.60369005e-01 -7.80088869e-03 8.28206329e-01 7.87247942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.24, Z:78.73 [[ 3.21352479e-02 -9.99031858e-01 -3.00445040e-02 3.12687484e+02] [ 8.30017313e-01 4.34209416e-02 -5.56044856e-01 2.29243877e+02] [ 5.56811087e-01 -7.06881917e-03 8.30609081e-01 7.87346059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.26, Z:78.76 [[ 3.23051211e-02 -9.97857495e-01 -5.68928652e-02 3.12703548e+02] [ 8.29241033e-01 5.85361823e-02 -5.55817258e-01 2.29258173e+02] [ 5.57956708e-01 -2.92221545e-02 8.29355399e-01 7.87597283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.28, Z:78.77 [[ 3.25112563e-02 -9.98689251e-01 -3.95322423e-02 3.12694247e+02] [ 8.28979524e-01 4.90398373e-02 -5.57124800e-01 2.29284046e+02] [ 5.58333204e-01 -1.46585922e-02 8.29487287e-01 7.87703427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.31, Z:78.78 [[ 3.45953104e-02 -9.98629694e-01 -3.92670319e-02 3.12693307e+02] [ 8.28887798e-01 5.06214391e-02 -5.57119815e-01 2.29305072e+02] [ 5.58344144e-01 -1.32742307e-02 8.29503232e-01 7.87845486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.33, Z:78.80 [[ 3.42841145e-02 -9.98651160e-01 -3.89930780e-02 3.12694478e+02] [ 8.28899898e-01 5.02103897e-02 -5.57139010e-01 2.29327459e+02] [ 5.58345376e-01 -1.32203408e-02 8.29503263e-01 7.87994343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.752755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.70, Y:229.35, Z:78.81 [[ 3.65758534e-02 -9.98568677e-01 -3.90231360e-02 3.12696507e+02] [ 8.28564500e-01 5.21339560e-02 -5.57461138e-01 2.29352528e+02] [ 5.58697662e-01 -1.19435682e-02 8.29285400e-01 7.88145445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.37, Z:78.83 [[ 3.78293056e-02 -9.98347184e-01 -4.32648191e-02 3.12696091e+02] [ 8.28438687e-01 5.55433615e-02 -5.57318829e-01 2.29370803e+02] [ 5.58800757e-01 -1.47592656e-02 8.29170597e-01 7.88286565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.39, Z:78.84 [[ 3.86293679e-02 -9.98516858e-01 -3.83647747e-02 3.12693660e+02] [ 8.28117917e-01 5.34764255e-02 -5.57997301e-01 2.29393720e+02] [ 5.59221323e-01 -1.02154743e-02 8.28955461e-01 7.88420406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.42, Z:78.86 [[ 3.89310458e-02 -9.98514652e-01 -3.81164534e-02 3.12693943e+02] [ 8.28035788e-01 5.35890092e-02 -5.58108369e-01 2.29415867e+02] [ 5.59322006e-01 -9.83404509e-03 8.28892143e-01 7.88567992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.44, Z:78.87 [[ 3.97746473e-02 -9.98492440e-01 -3.78262377e-02 3.12694408e+02] [ 8.28223468e-01 5.41225441e-02 -5.57778305e-01 2.29437269e+02] [ 5.58984673e-01 -9.14314243e-03 8.29127577e-01 7.88706372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.46, Z:78.89 [[ 3.98185364e-02 -9.98501523e-01 -3.75392148e-02 3.12695652e+02] [ 8.28319233e-01 5.39970502e-02 -5.57648246e-01 2.29458813e+02] [ 5.58839630e-01 -8.88971664e-03 8.29228100e-01 7.88857115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:229.48, Z:78.91 [[ 4.23423280e-02 -9.97940193e-01 -4.81923133e-02 3.12705934e+02] [ 8.27742223e-01 6.20516067e-02 -5.57666936e-01 2.29481381e+02] [ 5.59508660e-01 -1.62778962e-02 8.28664643e-01 7.89070878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.50, Z:78.91 [[ 3.98904377e-02 -9.98568463e-01 -3.56339323e-02 3.12696045e+02] [ 8.28970648e-01 5.29839959e-02 -5.56776761e-01 2.29502904e+02] [ 5.57867742e-01 -7.32941522e-03 8.29897501e-01 7.89149166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.52, Z:78.93 [[ 3.97711006e-02 -9.98538119e-01 -3.66044252e-02 3.12696957e+02] [ 8.29172044e-01 5.34231591e-02 -5.56434801e-01 2.29524582e+02] [ 5.57576883e-01 -8.22134163e-03 8.30084591e-01 7.89296556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.55, Z:78.94 [[ 3.95567460e-02 -9.98558001e-01 -3.62929978e-02 3.12696215e+02] [ 8.29706660e-01 5.30640066e-02 -5.55671728e-01 2.29546086e+02] [ 5.56796302e-01 -8.13197657e-03 8.30609264e-01 7.89431985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.57, Z:78.96 [[ 3.87966528e-02 -9.98597729e-01 -3.60193716e-02 3.12696558e+02] [ 8.29770883e-01 5.22798130e-02 -5.55650162e-01 2.29568512e+02] [ 5.56754076e-01 -8.33045936e-03 8.30635601e-01 7.89580856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.59, Z:78.97 [[ 3.76416816e-02 -9.98652492e-01 -3.57253994e-02 3.12696965e+02] [ 8.30245358e-01 5.11500049e-02 -5.55046235e-01 2.29590100e+02] [ 5.56125660e-01 -8.76797330e-03 8.31051967e-01 7.89727424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.61, Z:78.99 [[ 3.67704192e-02 -9.98695343e-01 -3.54337102e-02 3.12697557e+02] [ 8.30645060e-01 5.02577730e-02 -5.54529477e-01 2.29611108e+02] [ 5.55586826e-01 -9.04255500e-03 8.31409352e-01 7.89868747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.63, Z:79.00 [[ 3.61827074e-02 -9.98726831e-01 -3.51500875e-02 3.12698066e+02] [ 8.30837640e-01 4.96087867e-02 -5.54299363e-01 2.29633255e+02] [ 5.55337399e-01 -9.14796412e-03 8.31574824e-01 7.90018643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.66, Z:79.02 [[ 3.53517333e-02 -9.98766250e-01 -3.48745319e-02 3.12697191e+02] [ 8.31012966e-01 4.87622927e-02 -5.54111622e-01 2.29655193e+02] [ 5.55128549e-01 -9.39238191e-03 8.31711535e-01 7.90161160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.68, Z:79.03 [[ 3.46711425e-02 -9.98799678e-01 -3.45993570e-02 3.12697145e+02] [ 8.31128610e-01 4.80419257e-02 -5.54001090e-01 2.29676849e+02] [ 5.54998330e-01 -9.54866473e-03 8.31796656e-01 7.90296022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.232755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:312.70, Y:229.70, Z:79.04 [[ 3.42174085e-02 -9.98822683e-01 -3.43862870e-02 3.12697227e+02] [ 8.30582387e-01 4.75559934e-02 -5.54861538e-01 2.29699073e+02] [ 5.55843564e-01 -9.57472045e-03 8.31231771e-01 7.90422893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.72, Y:229.72, Z:79.07 [[ 3.77898698e-02 -9.97748125e-01 -5.54130339e-02 3.12716145e+02] [ 8.28453376e-01 6.22893857e-02 -5.56583360e-01 2.29716268e+02] [ 5.58781648e-01 -2.48739023e-02 8.28941710e-01 7.90713336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.74, Z:79.07 [[ 3.49792851e-02 -9.99076368e-01 -2.49571572e-02 3.12695395e+02] [ 8.29921886e-01 4.29515086e-02 -5.56223724e-01 2.29743407e+02] [ 5.56781926e-01 -1.25618274e-03 8.30657757e-01 7.90743392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:229.77, Z:79.10 [[ 3.62181247e-02 -9.98380276e-01 -4.38756487e-02 3.12708011e+02] [ 8.28961611e-01 5.45347279e-02 -5.56640469e-01 2.29765871e+02] [ 5.58131611e-01 -1.62107545e-02 8.29594067e-01 7.90968388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.79, Z:79.11 [[ 3.49877196e-02 -9.98804663e-01 -3.41336385e-02 3.12700342e+02] [ 8.29972992e-01 4.80653643e-02 -5.55728849e-01 2.29792159e+02] [ 5.56705211e-01 -8.88631295e-03 8.30662592e-01 7.91057494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.81, Z:79.12 [[ 3.36255556e-02 -9.98686451e-01 -3.86612876e-02 3.12702183e+02] [ 8.30280819e-01 4.94463239e-02 -5.55147569e-01 2.29813087e+02] [ 5.56330014e-01 -1.34325800e-02 8.30852864e-01 7.91194156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.83, Z:79.14 [[ 3.28197143e-02 -9.98643538e-01 -4.04221591e-02 3.12703615e+02] [ 8.30162452e-01 4.97594782e-02 -5.55296586e-01 2.29834922e+02] [ 5.56554733e-01 -1.53322834e-02 8.30669459e-01 7.91351078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:229.85, Z:79.15 [[ 3.07119297e-02 -9.98387389e-01 -4.77430443e-02 3.12705355e+02] [ 8.29765748e-01 5.20973347e-02 -5.55674969e-01 2.29849313e+02] [ 5.57266167e-01 -2.25496923e-02 8.30027669e-01 7.91506664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.87, Z:79.16 [[ 2.99764893e-02 -9.99056485e-01 -3.14252943e-02 3.12696520e+02] [ 8.29712181e-01 4.24025116e-02 -5.56578587e-01 2.29874292e+02] [ 5.57385959e-01 -9.38967735e-03 8.30200414e-01 7.91624720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.90, Z:79.18 [[ 2.84998868e-02 -9.99108895e-01 -3.11315400e-02 3.12695134e+02] [ 8.30271724e-01 4.10036089e-02 -5.55848512e-01 2.29896109e+02] [ 5.56629698e-01 -1.00060177e-02 8.30700463e-01 7.91777335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:229.92, Z:79.19 [[ 2.78576980e-02 -9.99136136e-01 -3.08371578e-02 3.12694686e+02] [ 8.30689456e-01 4.02990308e-02 -5.55275621e-01 2.29917261e+02] [ 5.56038646e-01 -1.01474013e-02 8.31094492e-01 7.91920237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:229.95, Z:79.19 [[ 2.54134607e-02 -9.99556857e-01 1.54998345e-02 3.12665706e+02] [ 8.33636143e-01 1.26326410e-02 -5.52169537e-01 2.29953600e+02] [ 5.51729043e-01 2.69537611e-02 8.33587763e-01 7.91878879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:229.96, Z:79.23 [[ 2.56986557e-02 -9.97785483e-01 -6.13490712e-02 3.12709768e+02] [ 8.30596340e-01 5.54619322e-02 -5.54106212e-01 2.29955784e+02] [ 5.56281672e-01 -3.67165293e-02 8.30182268e-01 7.92287089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:229.98, Z:79.24 [[ 2.59878079e-02 -9.98837084e-01 -4.06092792e-02 3.12695927e+02] [ 8.32904255e-01 4.40990445e-02 -5.51657300e-01 2.29981262e+02] [ 5.52806599e-01 -1.94872775e-02 8.33081695e-01 7.92369374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:230.01, Z:79.25 [[ 2.59441032e-02 -9.99222280e-01 -2.96940845e-02 3.12687101e+02] [ 8.33594516e-01 3.80198566e-02 -5.51066850e-01 2.30005536e+02] [ 5.51767239e-01 -1.04558908e-02 8.33932604e-01 7.92491558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.03, Z:79.26 [[ 2.63683055e-02 -9.99449150e-01 -2.01521704e-02 3.12680835e+02] [ 8.32626986e-01 3.31141968e-02 -5.52843334e-01 2.30028848e+02] [ 5.53206123e-01 -2.20169891e-03 8.33041498e-01 7.92620031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.712755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:312.69, Y:230.05, Z:79.28 [[ 2.71553376e-02 -9.98944711e-01 -3.70412303e-02 3.12689599e+02] [ 8.34202738e-01 4.30628039e-02 -5.49773941e-01 2.30050504e+02] [ 5.50788870e-01 -1.59705988e-02 8.34491798e-01 7.92783989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.07, Z:79.29 [[ 2.82696665e-02 -9.99184617e-01 -2.88257941e-02 3.12681802e+02] [ 8.35148797e-01 3.94555845e-02 -5.48607095e-01 2.30073638e+02] [ 5.49297108e-01 -8.56488762e-03 8.35583227e-01 7.92906342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.10, Z:79.30 [[ 2.88606773e-02 -9.99175772e-01 -2.85453546e-02 3.12680834e+02] [ 8.35174202e-01 3.97948736e-02 -5.48543910e-01 2.30096100e+02] [ 5.49227744e-01 -8.00899503e-03 8.35634335e-01 7.93048537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.12, Z:79.32 [[ 3.08455945e-02 -9.99125003e-01 -2.82449476e-02 3.12678756e+02] [ 8.35592679e-01 4.12829482e-02 -5.47796124e-01 2.30119022e+02] [ 5.48482839e-01 -6.70417426e-03 8.36134935e-01 7.93185263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.14, Z:79.33 [[ 3.13391719e-02 -9.99117773e-01 -2.79559099e-02 3.12678328e+02] [ 8.35958952e-01 4.15328826e-02 -5.47218101e-01 2.30140294e+02] [ 5.47896420e-01 -6.22063099e-03 8.36523052e-01 7.93318001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.16, Z:79.35 [[ 3.16368935e-02 -9.99116927e-01 -2.76491181e-02 3.12678452e+02] [ 8.36424789e-01 4.16088693e-02 -5.46500022e-01 2.30162434e+02] [ 5.47167871e-01 -5.83684476e-03 8.37002540e-01 7.93458852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.18, Z:79.36 [[ 3.10005159e-02 -9.99145860e-01 -2.73225000e-02 3.12678332e+02] [ 8.37403475e-01 4.08870960e-02 -5.45053818e-01 2.30184111e+02] [ 5.45705404e-01 -5.98300682e-03 8.37955736e-01 7.93596154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.21, Z:79.37 [[ 2.97559532e-02 -9.99191388e-01 -2.70398653e-02 3.12678797e+02] [ 8.37689753e-01 3.96870308e-02 -5.44702503e-01 2.30206121e+02] [ 5.45335182e-01 -6.44287588e-03 8.38193312e-01 7.93737885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.23, Z:79.39 [[ 2.83424572e-02 -9.99239500e-01 -2.67792084e-02 3.12679445e+02] [ 8.37856926e-01 3.83584602e-02 -5.44540541e-01 2.30228342e+02] [ 5.45153627e-01 -7.00352826e-03 8.38306909e-01 7.93877783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.25, Z:79.40 [[ 2.53780141e-02 -9.99325088e-01 -2.65579717e-02 3.12681028e+02] [ 8.37530394e-01 3.57589123e-02 -5.45219349e-01 2.30250447e+02] [ 5.45801058e-01 -8.40652416e-03 8.37872625e-01 7.94015283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.27, Z:79.41 [[ 2.39202790e-02 -9.99367681e-01 -2.63069917e-02 3.12682223e+02] [ 8.37557966e-01 3.44006381e-02 -5.45264386e-01 2.30271674e+02] [ 5.45824582e-01 -8.99075417e-03 8.37851235e-01 7.94149921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.29, Z:79.43 [[ 2.15439892e-02 -9.99428789e-01 -2.60375301e-02 3.12683357e+02] [ 8.37729303e-01 3.22603492e-02 -5.45131988e-01 2.30293317e+02] [ 5.45660582e-01 -1.00680843e-02 8.37945799e-01 7.94284030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.32, Z:79.44 [[ 2.05129105e-02 -9.99457328e-01 -2.57734330e-02 3.12684285e+02] [ 8.37656640e-01 3.12540472e-02 -5.45302244e-01 2.30315741e+02] [ 5.45811848e-01 -1.04035512e-02 8.37843179e-01 7.94429231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.34, Z:79.46 [[ 1.85114566e-02 -9.99502875e-01 -2.55211643e-02 3.12684225e+02] [ 8.37662115e-01 2.94400910e-02 -5.45394776e-01 2.30338407e+02] [ 5.45874992e-01 -1.12820608e-02 8.37790671e-01 7.94569598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:230.36, Z:79.47 [[ 1.76129840e-02 -9.99526082e-01 -2.52466544e-02 3.12684221e+02] [ 8.37802746e-01 2.85348835e-02 -5.45226851e-01 2.30359880e+02] [ 5.45688869e-01 -1.15486446e-02 8.37908281e-01 7.94703023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:230.39, Z:79.48 [[ 1.65568312e-02 -9.99854567e-01 -4.08862274e-03 3.12672044e+02] [ 8.37884322e-01 1.61058458e-02 -5.45610177e-01 2.30388339e+02] [ 5.45596678e-01 5.60778270e-03 8.38029127e-01 7.94756569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:230.40, Z:79.50 [[ 1.61564185e-02 -9.98915953e-01 -4.36564810e-02 3.12696814e+02] [ 8.38132974e-01 3.73389708e-02 -5.44186475e-01 2.30400697e+02] [ 5.45226640e-01 -2.77978318e-02 8.37827662e-01 7.95031815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:230.43, Z:79.51 [[ 1.53319343e-02 -9.99583487e-01 -2.44496345e-02 3.12686976e+02] [ 8.38180060e-01 2.61811277e-02 -5.44764844e-01 2.30425985e+02] [ 5.45178062e-01 -1.21408973e-02 8.38232354e-01 7.95139251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:230.45, Z:79.53 [[ 1.48404017e-02 -9.99597003e-01 -2.41990503e-02 3.12687898e+02] [ 8.38056699e-01 2.56354407e-02 -5.44980544e-01 2.30447027e+02] [ 5.45381272e-01 -1.21924460e-02 8.38099405e-01 7.95278611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:230.47, Z:79.54 [[ 1.43754922e-02 -9.99609534e-01 -2.39608978e-02 3.12689309e+02] [ 8.37571842e-01 2.51269563e-02 -5.45749069e-01 2.30469072e+02] [ 5.46138037e-01 -1.22235618e-02 8.37606011e-01 7.95418556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:230.49, Z:79.56 [[ 1.41691417e-02 -9.99618331e-01 -2.37155563e-02 3.12690353e+02] [ 8.37438333e-01 2.48231870e-02 -5.45967808e-01 2.30490745e+02] [ 5.46348125e-01 -1.21244207e-02 8.37470432e-01 7.95553965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.342755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:312.68, Y:230.52, Z:79.56 [[ 1.33706268e-02 -9.99892298e-01 -6.05135315e-03 3.12682326e+02] [ 8.37861162e-01 1.45064578e-02 -5.45690605e-01 2.30520208e+02] [ 5.45719616e-01 2.22603163e-03 8.37964883e-01 7.95626744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:230.53, Z:79.59 [[ 1.46090539e-02 -9.99026477e-01 -4.16254082e-02 3.12705109e+02] [ 8.37288841e-01 3.49785718e-02 -5.45640813e-01 2.30531087e+02] [ 5.46565616e-01 -2.68811937e-02 8.36984724e-01 7.95875118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:230.56, Z:79.60 [[ 1.78499593e-02 -9.99769163e-01 -1.19582389e-02 3.12692554e+02] [ 8.33961110e-01 2.14849619e-02 -5.51404809e-01 2.30557699e+02] [ 5.51534447e-01 -1.30152745e-04 8.34152107e-01 7.95978170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:230.58, Z:79.62 [[ 1.80428880e-02 -9.99115013e-01 -3.79953189e-02 3.12709776e+02] [ 8.35636441e-01 3.59345675e-02 -5.48106236e-01 2.30578491e+02] [ 5.48986514e-01 -2.18608536e-02 8.35545277e-01 7.96193998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:230.60, Z:79.64 [[ 1.91101280e-02 -9.99121516e-01 -3.72960944e-02 3.12710440e+02] [ 8.34814736e-01 3.64730028e-02 -5.49321469e-01 2.30600020e+02] [ 5.50199199e-01 -2.06377256e-02 8.34778369e-01 7.96360902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:230.62, Z:79.64 [[ 2.07140023e-02 -9.99643568e-01 -1.68424446e-02 3.12698457e+02] [ 8.35979985e-01 2.65575861e-02 -5.48116921e-01 2.30624231e+02] [ 5.48368849e-01 -2.72625141e-03 8.36232129e-01 7.96417339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:230.65, Z:79.66 [[ 2.18921110e-02 -9.99527294e-01 -2.15852722e-02 3.12702599e+02] [ 8.36128542e-01 3.01412243e-02 -5.47704818e-01 2.30645063e+02] [ 5.48096521e-01 -6.05764753e-03 8.36393155e-01 7.96565972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:230.67, Z:79.67 [[ 2.30069918e-02 -9.99508267e-01 -2.13049766e-02 3.12704261e+02] [ 8.36228752e-01 3.09189664e-02 -5.47508440e-01 2.30666886e+02] [ 5.47897940e-01 -5.21931179e-03 8.36528903e-01 7.96711606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:230.69, Z:79.69 [[ 2.66308742e-02 -9.99336922e-01 -2.48296842e-02 3.12712023e+02] [ 8.35198807e-01 3.58917999e-02 -5.48775667e-01 2.30690565e+02] [ 5.49302968e-01 -6.12334691e-03 8.35600834e-01 7.96902267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:230.71, Z:79.71 [[ 2.60341727e-02 -9.99271854e-01 -2.78923656e-02 3.12714257e+02] [ 8.35262184e-01 3.70741232e-02 -5.48600578e-01 2.30711639e+02] [ 5.49235201e-01 -9.01507598e-03 8.35619185e-01 7.97052639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.642755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:312.71, Y:230.73, Z:79.72 [[ 2.53104312e-02 -9.99467885e-01 -2.05749601e-02 3.12710501e+02] [ 8.36053436e-01 3.24467917e-02 -5.47687737e-01 2.30734008e+02] [ 5.48063896e-01 -3.33955327e-03 8.36429802e-01 7.97158400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.72, Y:230.75, Z:79.73 [[ 2.56105792e-02 -9.99289340e-01 -2.76570617e-02 3.12716666e+02] [ 8.36338762e-01 3.65732932e-02 -5.46991654e-01 2.30751911e+02] [ 5.47614439e-01 -9.12189961e-03 8.36681073e-01 7.97310771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.702755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:312.71, Y:230.77, Z:79.74 [[ 2.55517908e-02 -9.99627379e-01 -9.60253965e-03 3.12708106e+02] [ 8.34757475e-01 2.66206140e-02 -5.49973910e-01 2.30774826e+02] [ 5.50024604e-01 6.03702655e-03 8.35126631e-01 7.97424578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:230.80, Z:79.76 [[ 2.49661879e-02 -9.99571821e-01 -1.52599201e-02 3.12713651e+02] [ 8.34259287e-01 2.92428510e-02 -5.50596310e-01 2.30798646e+02] [ 5.50806800e-01 1.01556082e-03 8.34632157e-01 7.97602997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:230.82, Z:79.78 [[ 2.55426416e-02 -9.99169658e-01 -3.17422261e-02 3.12726541e+02] [ 8.35427330e-01 3.87733050e-02 -5.48231527e-01 2.30819015e+02] [ 5.49007058e-01 -1.25150418e-02 8.35724012e-01 7.97790754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.72, Y:230.84, Z:79.79 [[ 2.48295810e-02 -9.99587213e-01 -1.44532511e-02 3.12717548e+02] [ 8.33180249e-01 2.86812683e-02 -5.52257239e-01 2.30840525e+02] [ 5.52443812e-01 1.67015253e-03 8.33548466e-01 7.97898561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.72, Y:230.86, Z:79.81 [[ 2.51335649e-02 -9.99418362e-01 -2.30486705e-02 3.12724660e+02] [ 8.33414556e-01 3.36804010e-02 -5.51621073e-01 2.30861375e+02] [ 5.52076518e-01 -5.34489341e-03 8.33776319e-01 7.98062975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:230.89, Z:79.82 [[ 2.49921885e-02 -9.99511518e-01 -1.87647677e-02 3.12725850e+02] [ 8.34027531e-01 3.11957998e-02 -5.50840177e-01 2.30888708e+02] [ 5.51156483e-01 -1.88363130e-03 8.34399774e-01 7.98181618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:230.91, Z:79.83 [[ 2.50120306e-02 -9.99515711e-01 -1.85132843e-02 3.12727522e+02] [ 8.32930453e-01 3.10770027e-02 -5.52504371e-01 2.30906996e+02] [ 5.52812137e-01 -1.60102205e-03 8.33304373e-01 7.98323880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:230.93, Z:79.85 [[ 2.14559090e-02 -9.99643419e-01 -1.58959056e-02 3.12729634e+02] [ 8.34225480e-01 2.66636959e-02 -5.50778445e-01 2.30933981e+02] [ 5.51005891e-01 -1.44331729e-03 8.34500105e-01 7.98462131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:230.95, Z:79.86 [[ 2.31638086e-02 -9.99306543e-01 -2.91525337e-02 3.12740841e+02] [ 8.33502106e-01 3.54057798e-02 -5.51380694e-01 2.30948459e+02] [ 5.52030504e-01 -1.15266214e-02 8.33744241e-01 7.98615358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:230.98, Z:79.87 [[ 1.83637343e-02 -9.99775876e-01 -1.05343052e-02 3.12731537e+02] [ 8.33960951e-01 2.11281870e-02 -5.51418835e-01 2.30976735e+02] [ 5.51517819e-01 1.34090976e-03 8.34162033e-01 7.98737135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:231.00, Z:79.89 [[ 1.64569875e-02 -9.99721944e-01 -1.68879259e-02 3.12737736e+02] [ 8.33461961e-01 2.30464381e-02 -5.52096026e-01 2.30999581e+02] [ 5.52331719e-01 -4.98960643e-03 8.33609486e-01 7.98910765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.02, Z:79.91 [[ 1.53892236e-02 -9.99426113e-01 -3.01764261e-02 3.12751052e+02] [ 8.32651648e-01 2.95186633e-02 -5.53009839e-01 2.31016937e+02] [ 5.53583242e-01 -1.66160589e-02 8.32628069e-01 7.99110746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.04, Z:79.92 [[ 1.25643574e-02 -9.99746306e-01 -1.86938922e-02 3.12748664e+02] [ 8.33463531e-01 2.07996575e-02 -5.52182865e-01 2.31041765e+02] [ 5.52431605e-01 -8.64285455e-03 8.33513421e-01 7.99230672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.06, Z:79.93 [[ 1.24313954e-02 -9.99864764e-01 -1.07663112e-02 3.12746198e+02] [ 8.32971143e-01 1.63117873e-02 -5.53075944e-01 2.31064000e+02] [ 5.53176767e-01 -2.09252083e-03 8.33061274e-01 7.99340546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.08, Z:79.95 [[ 1.12740866e-02 -9.99759132e-01 -1.88300958e-02 3.12752729e+02] [ 8.33046271e-01 1.98067991e-02 -5.52848625e-01 2.31084221e+02] [ 5.53088425e-01 -9.45347781e-03 8.33068920e-01 7.99515760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.10, Z:79.97 [[ 1.16985254e-02 -9.99421829e-01 -3.19241560e-02 3.12763216e+02] [ 8.31607639e-01 2.74522958e-02 -5.54684691e-01 2.31098986e+02] [ 5.55240380e-01 -2.00593790e-02 8.31447979e-01 7.99739978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.12, Z:79.98 [[ 1.23307600e-02 -9.99812634e-01 -1.49214456e-02 3.12757376e+02] [ 8.30909701e-01 1.85470105e-02 -5.56098083e-01 2.31122687e+02] [ 5.56270637e-01 -5.54126189e-03 8.30982715e-01 7.99840537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.15, Z:80.00 [[ 1.51425164e-02 -9.99691748e-01 -1.96752008e-02 3.12766172e+02] [ 8.29441374e-01 2.35477632e-02 -5.58097222e-01 2.31145217e+02] [ 5.58388494e-01 -7.86842925e-03 8.29542270e-01 8.00025216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.17, Z:80.01 [[ 1.41075352e-02 -9.99768349e-01 -1.62550543e-02 3.12763944e+02] [ 8.29809445e-01 2.07761718e-02 -5.57659964e-01 2.31165109e+02] [ 5.57868499e-01 -5.62139001e-03 8.29910319e-01 8.00135710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.19, Z:80.03 [[ 1.50189185e-02 -9.99854306e-01 -8.11170295e-03 3.12761467e+02] [ 8.29714112e-01 1.69896461e-02 -5.57929964e-01 2.31191225e+02] [ 5.57986492e-01 1.64911026e-03 8.29848393e-01 8.00256670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.78, Y:231.21, Z:80.05 [[ 1.70056986e-02 -9.99397293e-01 -3.02631399e-02 3.12775309e+02] [ 8.28531391e-01 3.10280412e-02 -5.59082279e-01 2.31208503e+02] [ 5.59684322e-01 -1.55663766e-02 8.28559682e-01 8.00505933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.23, Z:80.06 [[ 2.00306532e-02 -9.99527889e-01 -2.32974642e-02 3.12771599e+02] [ 8.27843900e-01 2.96468974e-02 -5.60174561e-01 2.31231352e+02] [ 5.60600794e-01 -8.06600122e-03 8.28046912e-01 8.00640755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.25, Z:80.08 [[ 2.11053756e-02 -9.99589335e-01 -1.93835928e-02 3.12769426e+02] [ 8.27077016e-01 2.83488439e-02 -5.61373273e-01 2.31253538e+02] [ 5.61692240e-01 -4.18373034e-03 8.27335678e-01 8.00788201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.28, Z:80.09 [[ 2.04200258e-02 -9.99645072e-01 -1.71100110e-02 3.12768664e+02] [ 8.26018113e-01 2.65099953e-02 -5.63019802e-01 2.31275806e+02] [ 5.63273557e-01 -2.63630012e-03 8.26266271e-01 8.00933903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.30, Z:80.10 [[ 1.87333329e-02 -9.99782683e-01 -9.14594474e-03 3.12762531e+02] [ 8.28285226e-01 2.06420840e-02 -5.59926325e-01 2.31300292e+02] [ 5.59993435e-01 2.91383536e-03 8.28491920e-01 8.01009236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.32, Z:80.12 [[ 1.66388020e-02 -9.99710878e-01 -1.73582976e-02 3.12767483e+02] [ 8.27954607e-01 2.35088612e-02 -5.60302152e-01 2.31319213e+02] [ 5.60548230e-01 -5.04912591e-03 8.28106387e-01 8.01183994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.34, Z:80.13 [[ 1.40890089e-02 -9.99790422e-01 -1.48530093e-02 3.12764752e+02] [ 8.28397812e-01 1.99899618e-02 -5.59783410e-01 2.31339407e+02] [ 5.59963003e-01 -4.41740696e-03 8.28505837e-01 8.01319337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.78, Y:231.36, Z:80.16 [[ 1.50283419e-02 -9.99273709e-01 -3.50171783e-02 3.12780228e+02] [ 8.26339571e-01 3.21304289e-02 -5.62254879e-01 2.31359324e+02] [ 5.62971636e-01 -2.04863215e-02 8.26222275e-01 8.01593413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.39, Z:80.15 [[ 8.33739009e-03 -9.99918891e-01 9.62804620e-03 3.12749959e+02] [ 8.29009260e-01 1.52757835e-03 -5.59232791e-01 2.31389415e+02] [ 5.59172724e-01 1.26442814e-02 8.28954756e-01 8.01534730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.41, Z:80.17 [[ 5.78008839e-03 -9.99941153e-01 -9.18043887e-03 3.12760235e+02] [ 8.30689547e-01 9.91231217e-03 -5.56647665e-01 2.31406753e+02] [ 5.56705907e-01 -4.40862190e-03 8.30697958e-01 8.01696490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.42, Z:80.20 [[ 5.96528572e-03 -9.99623547e-01 -2.67801991e-02 3.12772640e+02] [ 8.27650352e-01 1.99654013e-02 -5.60888828e-01 2.31422517e+02] [ 5.61212357e-01 -1.88187791e-02 8.27457880e-01 8.01972427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.78, Y:231.45, Z:80.21 [[ 4.22085567e-03 -9.99457502e-01 -3.26632187e-02 3.12775100e+02] [ 8.30198085e-01 2.17108260e-02 -5.57045582e-01 2.31446711e+02] [ 5.57452531e-01 -2.47657326e-02 8.29839342e-01 8.02140802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.47, Z:80.21 [[ 1.50892019e-03 -9.99987527e-01 4.76125845e-03 3.12750207e+02] [ 8.29663798e-01 -1.40614880e-03 -5.58261593e-01 2.31473538e+02] [ 5.58261324e-01 4.79261596e-03 8.29651327e-01 8.02146840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.49, Z:80.24 [[ 2.41684422e-03 -9.99594793e-01 -2.83621134e-02 3.12771249e+02] [ 8.28816808e-01 1.78714372e-02 -5.59234576e-01 2.31490956e+02] [ 5.59514842e-01 -2.21554134e-02 8.28524158e-01 8.02424236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.51, Z:80.25 [[ 2.27234733e-03 -9.99864283e-01 -1.63172296e-02 3.12764252e+02] [ 8.27526345e-01 1.10410854e-02 -5.61318308e-01 2.31514967e+02] [ 5.61422287e-01 -1.22274272e-02 8.27439125e-01 8.02537968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.54, Z:80.27 [[ 1.53455062e-03 -9.99841582e-01 -1.77329012e-02 3.12765192e+02] [ 8.27709600e-01 1.12208862e-02 -5.61044481e-01 2.31538397e+02] [ 5.61154581e-01 -1.38167414e-02 8.27595695e-01 8.02694627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.56, Z:80.28 [[ 5.08844393e-04 -9.99845637e-01 -1.75625648e-02 3.12764424e+02] [ 8.27388587e-01 1.02846069e-02 -5.61535709e-01 2.31559129e+02] [ 5.61629653e-01 -1.42453313e-02 8.27266102e-01 8.02841274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.58, Z:80.29 [[-2.00273244e-03 -9.99986974e-01 4.69477861e-03 3.12748395e+02] [ 8.29655778e-01 -4.28253606e-03 -5.58258856e-01 2.31584896e+02] [ 5.58271690e-01 2.77700708e-03 8.29653548e-01 8.02867518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.60, Z:80.32 [[-2.12863502e-05 -9.99596147e-01 -2.84172992e-02 3.12769752e+02] [ 8.27690006e-01 1.59297672e-02 -5.60959444e-01 2.31601020e+02] [ 5.61185579e-01 -2.35326553e-02 8.27355401e-01 8.03174555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.63, Z:80.32 [[-9.10567899e-04 -9.99964638e-01 -8.36026219e-03 3.12757294e+02] [ 8.28724079e-01 3.92429677e-03 -5.59643637e-01 2.31627672e+02] [ 5.59656655e-01 -7.43794412e-03 8.28691201e-01 8.03246096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.65, Z:80.33 [[-1.88537459e-03 -9.99966523e-01 -7.96230815e-03 3.12755545e+02] [ 8.30790725e-01 2.86538611e-03 -5.56577543e-01 2.31647480e+02] [ 5.56581726e-01 -7.66436891e-03 8.30757510e-01 8.03338499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.67, Z:80.34 [[-2.91032033e-03 -9.99984004e-01 4.84988267e-03 3.12747712e+02] [ 8.32005281e-01 -5.11192773e-03 -5.54744159e-01 2.31673349e+02] [ 5.54760077e-01 2.42064480e-03 8.32006849e-01 8.03419824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.69, Z:80.36 [[-5.54309646e-03 -9.99982179e-01 2.21698329e-03 3.12748878e+02] [ 8.29113036e-01 -5.83536326e-03 -5.59050555e-01 2.31693273e+02] [ 5.59053529e-01 -1.26074140e-03 8.29130606e-01 8.03581781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.71, Z:80.37 [[-5.37009565e-03 -9.99901020e-01 -1.30042882e-02 3.12758167e+02] [ 8.30961311e-01 2.77252123e-03 -5.56323299e-01 2.31710848e+02] [ 5.56304289e-01 -1.37935697e-02 8.30864174e-01 8.03724584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.022755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:312.75, Y:231.74, Z:80.38 [[-8.52537415e-03 -9.99963311e-01 -8.34105024e-04 3.12750205e+02] [ 8.31754843e-01 -6.62824976e-03 -5.55103547e-01 2.31736449e+02] [ 5.55077652e-01 -5.42623632e-03 8.31780834e-01 8.03837527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.76, Z:80.40 [[-1.05257418e-02 -9.99944589e-01 1.67161720e-04 3.12749563e+02] [ 8.28957282e-01 -8.81936293e-03 -5.59242384e-01 2.31758081e+02] [ 5.59212870e-01 -5.74787102e-03 8.29004179e-01 8.04008930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.78, Z:80.41 [[-8.21997147e-03 -9.99954998e-01 -4.73638915e-03 3.12752046e+02] [ 8.29064768e-01 -4.16678555e-03 -5.59137057e-01 2.31776132e+02] [ 5.59092160e-01 -8.52286403e-03 8.29061709e-01 8.04140203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.80, Z:80.43 [[-9.49005432e-03 -9.99952990e-01 -1.98933111e-03 3.12748870e+02] [ 8.29255037e-01 -6.75829614e-03 -5.58829500e-01 2.31800569e+02] [ 5.58789784e-01 -6.95298514e-03 8.29280190e-01 8.04283365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:231.82, Z:80.46 [[-5.59888696e-03 -9.99360593e-01 -3.53137095e-02 3.12772394e+02] [ 8.26661902e-01 1.52450541e-02 -5.62492389e-01 2.31815305e+02] [ 5.62671087e-01 -3.23418295e-02 8.26047973e-01 8.04615168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:231.84, Z:80.47 [[-5.66660662e-03 -9.99906475e-01 -1.24471190e-02 3.12757768e+02] [ 8.27551776e-01 2.29842668e-03 -5.61384695e-01 2.31842356e+02] [ 5.61360800e-01 -1.34817816e-02 8.27461355e-01 8.04700018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:231.87, Z:80.47 [[-8.59047977e-03 -9.99950517e-01 5.01677154e-03 3.12743644e+02] [ 8.29744368e-01 -9.92802942e-03 -5.58055300e-01 2.31865942e+02] [ 5.58077492e-01 -6.31324829e-04 8.29788596e-01 8.04739978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.89, Z:80.49 [[-8.27033628e-03 -9.99962248e-01 -2.66520606e-03 3.12747911e+02] [ 8.30246152e-01 -5.38110960e-03 -5.57370945e-01 2.31885370e+02] [ 5.57335562e-01 -6.82242223e-03 8.30259313e-01 8.04905836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.91, Z:80.50 [[-8.15051265e-03 -9.99963940e-01 -2.38505780e-03 3.12747626e+02] [ 8.30233282e-01 -5.43761661e-03 -5.57389568e-01 2.31905395e+02] [ 5.57356499e-01 -6.52316508e-03 8.30247662e-01 8.05043524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.93, Z:80.52 [[-7.78459571e-03 -9.99967506e-01 -2.09463437e-03 3.12747262e+02] [ 8.30223513e-01 -5.29556578e-03 -5.57405485e-01 2.31926607e+02] [ 5.57376280e-01 -6.07819105e-03 8.30237760e-01 8.05187761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.95, Z:80.54 [[-4.16735334e-03 -9.99937904e-01 -1.03354040e-02 3.12754344e+02] [ 8.29434698e-01 2.31694157e-03 -5.58598884e-01 2.31949004e+02] [ 5.58588144e-01 -1.09004216e-02 8.29373539e-01 8.05387426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.97, Z:80.55 [[-4.27817019e-03 -9.99951441e-01 -8.87772172e-03 3.12752164e+02] [ 8.29810042e-01 1.40416066e-03 -5.58044194e-01 2.31972230e+02] [ 5.58029561e-01 -9.75423067e-03 8.29763740e-01 8.05533606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:231.99, Z:80.56 [[-5.59447777e-03 -9.99983064e-01 1.60398690e-03 3.12743327e+02] [ 8.30562434e-01 -5.53991394e-03 -5.56897973e-01 2.31993963e+02] [ 5.56897428e-01 -1.78334206e-03 8.30579361e-01 8.05619833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:232.01, Z:80.58 [[-3.30561937e-03 -9.99984877e-01 -4.39528149e-03 3.12747843e+02] [ 8.32057048e-01 -3.12450026e-04 -5.54689978e-01 2.32014727e+02] [ 5.54680216e-01 -5.49071887e-03 8.32045497e-01 8.05760128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.04, Z:80.59 [[-4.14838887e-03 -9.99991156e-01 6.91499504e-04 3.12743956e+02] [ 8.31429718e-01 -3.83333637e-03 -5.55616711e-01 2.32036290e+02] [ 5.55614448e-01 -1.72998094e-03 8.31438267e-01 8.05896957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.06, Z:80.60 [[-5.54707229e-03 -9.99688576e-01 2.43306740e-02 3.12728646e+02] [ 8.29434250e-01 -1.81906089e-02 -5.58308092e-01 2.32062266e+02] [ 5.58576812e-01 1.70837190e-02 8.29276849e-01 8.05971381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.75, Y:232.07, Z:80.62 [[-3.07298839e-03 -9.99942638e-01 -1.02605139e-02 3.12751150e+02] [ 8.22717517e-01 3.30448314e-03 -5.68440821e-01 2.32073978e+02] [ 5.68442120e-01 -1.01883166e-02 8.22660170e-01 8.06234706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.75, Y:232.10, Z:80.64 [[-3.44032892e-03 -9.99992632e-01 -1.70314723e-03 3.12745912e+02] [ 8.22677870e-01 -1.86204889e-03 -5.68504754e-01 2.32096935e+02] [ 5.68497394e-01 -3.35698488e-03 8.22678214e-01 8.06361797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:232.12, Z:80.65 [[-3.08960380e-03 -9.99991431e-01 -2.75545957e-03 3.12747059e+02] [ 8.23054645e-01 -9.77926602e-04 -5.67961350e-01 2.32117504e+02] [ 5.67953788e-01 -4.02266934e-03 8.23050614e-01 8.06502924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.74, Y:232.14, Z:80.66 [[-6.21507845e-03 -9.99979827e-01 1.31059461e-03 3.12744240e+02] [ 8.23100754e-01 -5.85999495e-03 -5.67865133e-01 2.32139899e+02] [ 5.67861358e-01 -2.45057494e-03 8.23120570e-01 8.06638352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.16, Z:80.68 [[-7.56140583e-03 -9.99939593e-01 7.97713745e-03 3.12739914e+02] [ 8.24160585e-01 -1.07495493e-02 -5.66254164e-01 2.32164091e+02] [ 5.66305709e-01 2.29276473e-03 8.24192082e-01 8.06750197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.19, Z:80.69 [[-9.44821575e-03 -9.99953700e-01 1.82472801e-03 3.12744216e+02] [ 8.24351172e-01 -8.82187048e-03 -5.66009999e-01 2.32185912e+02] [ 5.65999891e-01 -3.84356791e-03 8.24396355e-01 8.06918696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.17, Z:80.68 [[-1.57061555e-02 -9.99876555e-01 -4.37996789e-04 3.12744495e+02] [ 8.26368550e-01 -1.27340590e-02 -5.62985669e-01 2.32166825e+02] [ 5.62910594e-01 -9.20428723e-03 8.26466542e-01 8.06756338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.16, Z:80.67 [[-1.47932396e-02 -9.99860805e-01 7.71562548e-03 3.12739509e+02] [ 8.25806134e-01 -1.65680347e-02 -5.63710680e-01 2.32162830e+02] [ 5.63760047e-01 -1.96749632e-03 8.25936280e-01 8.06722595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:232.21, Z:80.72 [[-1.30022049e-02 -9.99893279e-01 -6.66138426e-03 3.12749416e+02] [ 8.20954076e-01 -6.87160994e-03 -5.70952876e-01 2.32213930e+02] [ 5.70846169e-01 -1.28923368e-02 8.20955808e-01 8.07182747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.16, Z:80.67 [[-1.72350042e-02 -9.99780297e-01 1.19294502e-02 3.12736310e+02] [ 8.26131762e-01 -2.09603079e-02 -5.63087008e-01 2.32163694e+02] [ 5.63213341e-01 1.50490777e-04 8.26311509e-01 8.06712203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:232.40, Z:80.85 [[-1.69776501e-02 -9.99851039e-01 -3.10809514e-03 3.12745440e+02] [ 8.20975967e-01 -1.21658513e-02 -5.70833123e-01 2.32402145e+02] [ 5.70710278e-01 -1.22430764e-02 8.21060221e-01 8.08469885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.16, Z:80.68 [[-1.59006604e-02 -9.99868743e-01 3.10898559e-03 3.12740963e+02] [ 8.20356815e-01 -1.48234429e-02 -5.71659831e-01 2.32159593e+02] [ 5.71630883e-01 -6.53929130e-03 8.20484840e-01 8.06757999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:232.17, Z:80.70 [[-4.81443087e-03 -9.99776630e-01 -2.05793753e-02 3.12758284e+02] [ 8.07906876e-01 8.23867847e-03 -5.89252580e-01 2.32165930e+02] [ 5.89290506e-01 -1.94631346e-02 8.07686750e-01 8.06989713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.19, Z:80.69 [[-9.30138185e-03 -9.99796438e-01 1.79044070e-02 3.12730702e+02] [ 8.10452417e-01 -1.80255119e-02 -5.85527080e-01 2.32193976e+02] [ 5.85730625e-01 9.06445899e-03 8.10455101e-01 8.06945502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.21, Z:80.71 [[-1.03815000e-02 -9.99938672e-01 -3.85714357e-03 3.12741545e+02] [ 8.10097967e-01 -6.14911131e-03 -5.86262290e-01 2.32211538e+02] [ 5.86202618e-01 -9.21094612e-03 8.10112122e-01 8.07143362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.23, Z:80.73 [[-1.07697046e-02 -9.99941929e-01 -3.90961949e-04 3.12738147e+02] [ 8.09814757e-01 -8.49261114e-03 -5.86624185e-01 2.32234752e+02] [ 5.86586799e-01 -6.63437593e-03 8.09859193e-01 8.07276262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.25, Z:80.74 [[-1.14745264e-02 -9.99900118e-01 -8.25161538e-03 3.12740376e+02] [ 8.09855926e-01 -4.45266192e-03 -5.86611927e-01 2.32252449e+02] [ 5.86516593e-01 -1.34137136e-02 8.09826128e-01 8.07438619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.28, Z:80.76 [[-1.28688516e-02 -9.99916310e-01 1.32844770e-03 3.12732974e+02] [ 8.09382368e-01 -1.11967903e-02 -5.87175284e-01 2.32275259e+02] [ 5.87141018e-01 -6.48104942e-03 8.09458721e-01 8.07573075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.30, Z:80.77 [[-1.39702397e-02 -9.99901695e-01 1.19706978e-03 3.12731503e+02] [ 8.08724800e-01 -1.20032138e-02 -5.88064725e-01 2.32295787e+02] [ 5.88021284e-01 -7.24730513e-03 8.08812986e-01 8.07733093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.31, Z:80.79 [[-1.35767850e-02 -9.99873883e-01 -8.23951375e-03 3.12734823e+02] [ 8.09411525e-01 -6.15166036e-03 -5.87209622e-01 2.32314257e+02] [ 5.87084878e-01 -1.46415762e-02 8.09392964e-01 8.07898465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.34, Z:80.80 [[-1.32888485e-02 -9.99910134e-01 -1.76948929e-03 3.12729896e+02] [ 8.09589369e-01 -9.72084222e-03 -5.86916143e-01 2.32336853e+02] [ 5.86846198e-01 -9.23199942e-03 8.09645793e-01 8.08038285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.36, Z:80.82 [[-9.52746068e-03 -9.99953521e-01 -1.47749143e-03 3.12729950e+02] [ 8.10776280e-01 -6.86015868e-03 -5.85315951e-01 2.32357830e+02] [ 5.85278610e-01 -6.77448971e-03 8.10803956e-01 8.08178370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.162755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.72, Y:232.37, Z:80.83 [[-9.92231360e-03 -9.99927537e-01 6.81682171e-03 3.12721490e+02] [ 8.08918218e-01 -1.20341265e-02 -5.87798007e-01 2.32374496e+02] [ 5.87837448e-01 -3.18064891e-04 8.08979007e-01 8.08295499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:232.41, Z:80.85 [[-1.71866915e-02 -9.99717795e-01 1.63996232e-02 3.12709429e+02] [ 8.07865232e-01 -2.35488586e-02 -5.88896611e-01 2.32406219e+02] [ 5.89116614e-01 3.12750104e-03 8.08041975e-01 8.08508071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.42, Z:80.87 [[-1.52812114e-02 -9.99517245e-01 -2.70511019e-02 3.12734304e+02] [ 8.09468444e-01 3.51517047e-03 -5.87152861e-01 2.32416792e+02] [ 5.86964499e-01 -3.08694203e-02 8.09023953e-01 8.08721250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.21, Y:231.74, Z:81.81 [[-7.01439987e-02 9.97174971e-01 -2.68681428e-02 3.12207949e+02] [ 8.11110542e-01 7.26930385e-02 5.80358002e-01 2.31740133e+02] [ 5.80671600e-01 1.89155970e-02 -8.13918112e-01 8.18144042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.30, Y:231.42, Z:81.58 [[-1.52948932e-01 9.84986293e-01 -8.00538994e-02 3.12304510e+02] [ 8.03329147e-01 1.71102075e-01 5.70426474e-01 2.31415001e+02] [ 5.75559647e-01 2.29364891e-02 -8.17438078e-01 8.15845064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:232.43, Z:80.84 [[-1.71590166e-01 -9.78227731e-01 1.16736114e-01 3.12670398e+02] [ 7.90921954e-01 -2.07434007e-01 -5.75685327e-01 2.32433324e+02] [ 5.87366391e-01 -6.45278537e-03 8.09295424e-01 8.08389886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.37, Y:231.39, Z:81.58 [[-2.26461280e-01 9.66664555e-01 -1.19477728e-01 3.12372005e+02] [ 7.83874555e-01 2.53685716e-01 5.66731189e-01 2.31391503e+02] [ 5.78148745e-01 3.46871195e-02 -8.15193739e-01 8.15807076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.43, Y:231.38, Z:81.58 [[-3.01110013e-01 9.38660852e-01 -1.68073097e-01 3.12432094e+02] [ 7.59848303e-01 3.42670037e-01 5.52456154e-01 2.31382020e+02] [ 5.76162579e-01 3.86400222e-02 -8.16421234e-01 8.15795169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.50, Y:231.38, Z:81.58 [[-3.73263192e-01 9.01342601e-01 -2.19672724e-01 3.12495395e+02] [ 7.28786707e-01 4.31402081e-01 5.31753872e-01 2.31378523e+02] [ 5.74059688e-01 3.83895867e-02 -8.17913024e-01 8.15796090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.54, Y:232.50, Z:80.86 [[-3.92918667e-01 -8.78204200e-01 2.72712862e-01 3.12541548e+02] [ 7.09478734e-01 -4.78183043e-01 -5.17668720e-01 2.32496438e+02] [ 5.85025510e-01 -9.91772762e-03 8.10954247e-01 8.08587515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:232.24, Z:80.66 [[-3.90745728e-01 -8.78169862e-01 2.75926564e-01 3.12678745e+02] [ 7.03766207e-01 -4.78220116e-01 -5.25374768e-01 2.32238892e+02] [ 5.93321921e-01 -1.11001547e-02 8.04888741e-01 8.06571014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:232.22, Z:80.64 [[-3.93101928e-01 -8.74763475e-01 2.83301496e-01 3.12679127e+02] [ 7.07679844e-01 -4.84547367e-01 -5.14201408e-01 2.32224818e+02] [ 5.87077604e-01 -1.64680686e-03 8.09528983e-01 8.06387920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:232.23, Z:80.64 [[-3.94354757e-01 -8.76381081e-01 2.76478801e-01 3.12683230e+02] [ 7.06876155e-01 -4.81536315e-01 -5.18120526e-01 2.32227152e+02] [ 5.87205609e-01 -8.88702279e-03 8.09389025e-01 8.06410963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.56, Y:231.37, Z:81.57 [[-4.36349379e-01 8.60519847e-01 -2.62877943e-01 3.12564617e+02] [ 6.93789499e-01 5.07808435e-01 5.10672816e-01 2.31367684e+02] [ 5.72935730e-01 4.04498100e-02 -8.18601529e-01 8.15690720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.60, Y:231.36, Z:81.56 [[-5.01367096e-01 8.24254828e-01 -2.63125473e-01 3.12595997e+02] [ 6.51637092e-01 5.59775715e-01 5.11879135e-01 2.31364246e+02] [ 5.69210098e-01 8.51770374e-02 -8.17768144e-01 8.15568815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:231.37, Z:81.55 [[-5.61095011e-01 7.74481540e-01 -2.92148479e-01 3.12647176e+02] [ 6.05679840e-01 6.24709529e-01 4.92838651e-01 2.31370086e+02] [ 5.64202376e-01 9.95808643e-02 -8.19609255e-01 8.15537865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.642755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:312.70, Y:231.38, Z:81.55 [[-6.17427260e-01 7.18330870e-01 -3.20599969e-01 3.12697732e+02] [ 5.52859402e-01 6.86191430e-01 4.72744966e-01 2.31380661e+02] [ 5.59580254e-01 1.14638922e-01 -8.20809270e-01 8.15528373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:231.40, Z:81.55 [[-6.74254918e-01 6.54354516e-01 -3.42345546e-01 3.12743337e+02] [ 4.97069691e-01 7.44960889e-01 4.44921337e-01 2.31398535e+02] [ 5.46170328e-01 1.29820806e-01 -8.27553340e-01 8.15510754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.84, Y:231.46, Z:81.58 [[-7.18696513e-01 5.45792597e-01 -4.30796662e-01 3.12835941e+02] [ 4.30940534e-01 8.35858793e-01 3.40044607e-01 2.31456744e+02] [ 5.45679007e-01 5.87411297e-02 -8.35932953e-01 8.15798970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.85, Y:231.45, Z:81.56 [[-7.58324574e-01 5.04717612e-01 -4.12557842e-01 3.12847204e+02] [ 3.66310716e-01 8.53434933e-01 3.70763098e-01 2.31454768e+02] [ 5.39221940e-01 1.30034409e-01 -8.32064151e-01 8.15634394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.91, Y:231.51, Z:81.58 [[-7.99434310e-01 3.96034744e-01 -4.51731409e-01 3.12905416e+02] [ 2.91976821e-01 9.13295079e-01 2.83974708e-01 2.31513178e+02] [ 5.25027924e-01 9.51240242e-02 -8.45752386e-01 8.15783973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.96, Y:231.59, Z:81.60 [[-8.23518265e-01 2.75539860e-01 -4.95878466e-01 3.12964918e+02] [ 2.12410415e-01 9.60300407e-01 1.80845085e-01 2.31585692e+02] [ 5.26022322e-01 4.35994800e-02 -8.49352460e-01 8.16026873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.98, Y:231.59, Z:81.59 [[-8.41378031e-01 2.21843316e-01 -4.92816956e-01 3.12982753e+02] [ 1.34543469e-01 9.69139758e-01 2.06557946e-01 2.31592147e+02] [ 5.23432005e-01 1.07488015e-01 -8.45260471e-01 8.15883433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.01, Y:231.62, Z:81.58 [[-8.60075011e-01 1.43810929e-01 -4.89478695e-01 3.13011960e+02] [ 5.59551782e-02 9.80249959e-01 1.89681405e-01 2.31622407e+02] [ 5.07089730e-01 1.35751369e-01 -8.51135460e-01 8.15764935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.05, Y:231.73, Z:81.62 [[-8.59195585e-01 7.61530948e-04 -5.11646720e-01 3.13053526e+02] [-2.64237647e-02 9.98598383e-01 4.58590755e-02 2.31725218e+02] [ 5.10964511e-01 5.29215477e-02 -8.57971199e-01 8.16160008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.06, Y:231.71, Z:81.59 [[-8.56166632e-01 -3.37739466e-02 -5.15594820e-01 3.13055611e+02] [-1.08619891e-01 9.87328126e-01 1.15693092e-01 2.31708909e+02] [ 5.05153855e-01 1.55056418e-01 -8.48985918e-01 8.15944493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.09, Y:231.75, Z:81.58 [[-8.51633531e-01 -1.13717728e-01 -5.11652820e-01 3.13086932e+02] [-1.87940890e-01 9.77520241e-01 9.55635965e-02 2.31748623e+02] [ 4.89283713e-01 1.77545650e-01 -8.53861225e-01 8.15822492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:231.75, Z:81.85 [[-8.36152951e-01 -2.50730462e-01 -4.87834479e-01 3.12702670e+02] [-2.61862883e-01 9.63978572e-01 -4.66169799e-02 2.31746028e+02] [ 4.81950281e-01 8.87668178e-02 -8.71690529e-01 8.18481979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.69, Y:231.54, Z:80.85 [[-8.70472248e-01 4.54509747e-01 -1.88941673e-01 3.12694211e+02] [-2.49326966e-01 -7.61797395e-02 9.65418413e-01 2.31543744e+02] [ 4.24398551e-01 8.87478190e-01 1.79633885e-01 8.08464350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.39, Y:232.28, Z:80.66 [[-8.65040292e-01 2.85257475e-01 4.12714751e-01 3.12394910e+02] [-2.58208843e-01 -9.58449458e-01 1.21255225e-01 2.32276620e+02] [ 4.30155189e-01 -1.67594335e-03 9.02753402e-01 8.06645865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.04, Y:231.95, Z:81.72 [[-8.41721711e-01 -3.66737532e-01 -3.96242533e-01 3.13036263e+02] [-3.30621686e-01 9.30320837e-01 -1.58721265e-01 2.31945793e+02] [ 4.26841730e-01 -2.59276079e-03 -9.04322628e-01 8.17213302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.05, Y:231.92, Z:81.69 [[-8.13508165e-01 -3.95050194e-01 -4.26778409e-01 3.13054568e+02] [-4.05049203e-01 9.11484451e-01 -7.16326647e-02 2.31920436e+02] [ 4.17300382e-01 1.14592497e-01 -9.01514809e-01 8.16859978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.06, Y:232.00, Z:81.70 [[-7.76342054e-01 -4.86117864e-01 -4.01226168e-01 3.13057861e+02] [-4.69895233e-01 8.70627445e-01 -1.45623909e-01 2.31997209e+02] [ 4.20108897e-01 7.54802987e-02 -9.04329165e-01 8.16998598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.06, Y:232.01, Z:81.68 [[-7.37689846e-01 -5.39492749e-01 -4.05907951e-01 3.13063610e+02] [-5.41095079e-01 8.32000813e-01 -1.22436773e-01 2.32013003e+02] [ 4.03769496e-01 1.29314431e-01 -9.05675423e-01 8.16818113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.182755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.02, Y:232.14, Z:81.72 [[-6.92260368e-01 -6.53105280e-01 -3.06967549e-01 3.13021950e+02] [-5.96079374e-01 7.57265002e-01 -2.66906534e-01 2.32137807e+02] [ 4.06773848e-01 -1.79179053e-03 -9.13527135e-01 8.17224375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.04, Y:232.16, Z:81.71 [[-6.34836761e-01 -6.95414030e-01 -3.36721864e-01 3.13035289e+02] [-6.49728462e-01 7.16324441e-01 -2.54425277e-01 2.32158492e+02] [ 4.18133008e-01 5.72592605e-02 -9.06579376e-01 8.17134035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.89, Y:231.94, Z:81.78 [[-5.87745767e-01 -7.01890609e-01 -4.02373566e-01 3.12894760e+02] [-7.07205382e-01 6.87278264e-01 -1.65858783e-01 2.31939306e+02] [ 3.92957328e-01 1.87077953e-01 -9.00325706e-01 8.17772422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.83, Y:232.05, Z:81.83 [[-5.24698406e-01 -8.08351993e-01 -2.66943137e-01 3.12832304e+02] [-7.56644351e-01 5.86538346e-01 -2.88898070e-01 2.32045036e+02] [ 3.90103716e-01 5.03966601e-02 -9.19390704e-01 8.18288756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.83, Y:232.07, Z:81.82 [[-4.60643483e-01 -8.47245215e-01 -2.64543242e-01 3.12827044e+02] [-7.99709757e-01 5.25476499e-01 -2.90411354e-01 2.32068163e+02] [ 3.85060887e-01 7.77817138e-02 -9.19607589e-01 8.18242058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.10, Y:231.96, Z:81.33 [[-4.34032096e-01 -3.66424566e-01 -8.23012258e-01 3.13097020e+02] [-8.36983185e-01 5.01970076e-01 2.17910970e-01 2.31959369e+02] [ 3.33279593e-01 7.83427776e-01 -5.24562324e-01 8.13300112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.03, Z:81.90 [[-3.64424730e-01 -9.18695227e-01 -1.52294765e-01 3.12727779e+02] [-8.71078154e-01 3.94119884e-01 -2.93073996e-01 2.32028762e+02] [ 3.29268077e-01 2.58572307e-02 -9.43882375e-01 8.18972537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.15, Y:232.17, Z:80.70 [[-3.55103126e-01 9.26553308e-01 1.24099706e-01 3.12152229e+02] [-8.73461649e-01 -3.76160952e-01 3.09140237e-01 2.32167700e+02] [ 3.33116373e-01 1.38033114e-03 9.42884710e-01 8.07047898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.09, Z:81.89 [[-2.93175490e-01 -9.47133340e-01 -1.30332532e-01 3.12725810e+02] [-8.97662768e-01 3.19612034e-01 -3.03396938e-01 2.32085061e+02] [ 3.29013201e-01 2.80461150e-02 -9.43908750e-01 8.18872242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:232.11, Z:81.88 [[-2.18104855e-01 -9.68372346e-01 -1.21182800e-01 3.12710372e+02] [-9.19611153e-01 2.45499152e-01 -3.06668377e-01 2.32111858e+02] [ 3.26719450e-01 4.45551929e-02 -9.44070567e-01 8.18834045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.66, Y:232.00, Z:81.93 [[-1.42214790e-01 -9.85626461e-01 -9.11889961e-02 3.12658684e+02] [-9.34963529e-01 1.64006967e-01 -3.14555104e-01 2.32000642e+02] [ 3.24989465e-01 4.05239975e-02 -9.44849011e-01 8.19348331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.93, Y:232.25, Z:81.58 [[-8.44740307e-02 -7.82336231e-01 -6.17101418e-01 3.12932354e+02] [-9.49884900e-01 2.50290054e-01 -1.87279380e-01 2.32250496e+02] [ 3.00969792e-01 5.70355075e-01 -7.64272382e-01 8.15817939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.66, Y:231.93, Z:81.95 [[-9.70271877e-03 -9.93189237e-01 -1.16107694e-01 3.12664212e+02] [-9.59908003e-01 4.17814690e-02 -2.77183938e-01 2.31930524e+02] [ 2.80147254e-01 1.08763267e-01 -9.53775691e-01 8.19488327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.03, Y:231.68, Z:80.85 [[ 6.69002750e-04 9.99997698e-01 -2.03859810e-03 3.12025191e+02] [-9.60880976e-01 1.20744290e-03 2.76959007e-01 2.31683772e+02] [ 2.76960831e-01 1.77356380e-03 9.60879572e-01 8.08509808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:232.22, Z:81.54 [[-1.78659509e-02 5.14786705e-02 9.98514273e-01 3.11717251e+02] [-9.43154885e-01 -3.32353420e-01 2.59138378e-04 2.32217097e+02] [ 3.31872974e-01 -9.41748985e-01 5.44901694e-02 8.15350950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.632755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:312.57, Y:232.10, Z:81.94 [[ 6.16272716e-02 -9.97376676e-01 3.79716448e-02 3.12565623e+02] [-9.36329628e-01 -7.09472395e-02 -3.43879799e-01 2.32097028e+02] [ 3.45671674e-01 -1.43616023e-02 -9.38245617e-01 8.19384246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.63, Y:232.09, Z:81.92 [[ 1.39413662e-01 -9.90148580e-01 -1.30238734e-02 3.12626751e+02] [-9.29161294e-01 -1.26256494e-01 -3.47445806e-01 2.32092117e+02] [ 3.42378623e-01 6.05399711e-02 -9.37609615e-01 8.19214597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.63, Y:232.10, Z:81.94 [[ 2.14765015e-01 -9.75579746e-01 4.60450640e-02 3.12625952e+02] [-9.14949145e-01 -2.17463393e-01 -3.39967256e-01 2.32095357e+02] [ 3.41678285e-01 3.08841810e-02 -9.39309383e-01 8.19410993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:232.10, Z:81.94 [[ 2.87431555e-01 -9.57096921e-01 3.67230727e-02 3.12667578e+02] [-8.95577331e-01 -2.82154908e-01 -3.43991063e-01 2.32099952e+02] [ 3.39594383e-01 6.59855348e-02 -9.38254531e-01 8.19385689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.752755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.22, Y:231.52, Z:80.87 [[ 3.11369285e-01 9.43142522e-01 -1.16324343e-01 3.12220905e+02] [-8.88527184e-01 3.32353017e-01 3.16324068e-01 2.31519267e+02] [ 3.36999426e-01 4.86374214e-03 9.41492290e-01 8.08740084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.21, Y:231.49, Z:80.89 [[ 3.16046770e-01 9.44808063e-01 -8.63259139e-02 3.12213415e+02] [-8.87323857e-01 3.26566767e-01 3.25592567e-01 2.31490570e+02] [ 3.35813657e-01 -2.63034361e-02 9.41561106e-01 8.08931271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.78, Y:232.06, Z:81.92 [[ 3.54548427e-01 -9.32476888e-01 -6.91539295e-02 3.12778758e+02] [-8.73755700e-01 -3.04069967e-01 -3.79595089e-01 2.32062408e+02] [ 3.32936015e-01 1.95008482e-01 -9.22564525e-01 8.19179881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.71, Y:232.05, Z:81.98 [[ 4.24665862e-01 -8.98983403e-01 1.07180905e-01 3.12710793e+02] [-8.44291045e-01 -4.35980273e-01 -3.11598833e-01 2.32053597e+02] [ 3.26850940e-01 4.18335088e-02 -9.44149575e-01 8.19809811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.06, Z:81.99 [[ 4.89651743e-01 -8.63496194e-01 1.20894553e-01 3.12733386e+02] [-8.09339939e-01 -5.01699282e-01 -3.05395963e-01 2.32061916e+02] [ 3.24360962e-01 5.16928758e-02 -9.44519885e-01 8.19863485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.44, Y:231.41, Z:80.91 [[ 5.33481834e-01 8.28350244e-01 -1.70976624e-01 3.12439445e+02] [-7.84332967e-01 5.60152006e-01 2.66554924e-01 2.31407868e+02] [ 3.16573735e-01 -8.09960697e-03 9.48533324e-01 8.09091559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:232.03, Z:82.01 [[ 5.55433497e-01 -8.15414228e-01 1.63074425e-01 3.12728719e+02] [-7.66278806e-01 -5.78056574e-01 -2.80477075e-01 2.32030660e+02] [ 3.22971240e-01 3.08258872e-02 -9.45906625e-01 8.20132556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:232.05, Z:82.00 [[ 6.18780397e-01 -7.77024550e-01 1.15514796e-01 3.12769466e+02] [-7.18681480e-01 -6.19317142e-01 -3.16137957e-01 2.32047594e+02] [ 3.17187247e-01 1.12601626e-01 -9.41654461e-01 8.19965015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.78, Y:232.05, Z:82.00 [[ 6.77799204e-01 -7.27416384e-01 1.07021700e-01 3.12784465e+02] [-6.67117544e-01 -6.69636233e-01 -3.26406953e-01 2.32054258e+02] [ 3.09099373e-01 1.49842319e-01 -9.39151137e-01 8.19955667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.83, Y:232.08, Z:81.96 [[ 7.34490689e-01 -6.76346733e-01 5.54844547e-02 3.12828766e+02] [-6.12516772e-01 -6.95924415e-01 -3.74849853e-01 2.32078428e+02] [ 2.92141461e-01 2.41338568e-01 -9.25423721e-01 8.19619954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:231.99, Z:82.05 [[ 7.83403277e-01 -5.79718849e-01 2.24065532e-01 3.12733967e+02] [-5.51613687e-01 -8.14645284e-01 -1.79096068e-01 2.31994461e+02] [ 2.86359296e-01 1.67068324e-02 -9.57976636e-01 8.20509715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.082755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:312.74, Y:231.99, Z:82.06 [[ 8.27289910e-01 -5.09476798e-01 2.36695581e-01 3.12738714e+02] [-4.84196391e-01 -8.60310636e-01 -1.59434829e-01 2.31994893e+02] [ 2.84860072e-01 1.72916796e-02 -9.58413135e-01 8.20604214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:231.99, Z:82.07 [[ 8.64868190e-01 -4.36274576e-01 2.48329436e-01 3.12742789e+02] [-4.13840029e-01 -8.99640641e-01 -1.39223377e-01 2.31994023e+02] [ 2.84146873e-01 1.76412088e-02 -9.58618455e-01 8.20667826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.75, Y:231.99, Z:82.07 [[ 8.96437397e-01 -3.60352822e-01 2.57964799e-01 3.12746320e+02] [-3.40926479e-01 -9.32644159e-01 -1.18084751e-01 2.31994552e+02] [ 2.83141536e-01 1.79085559e-02 -9.58910921e-01 8.20746562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.75, Y:232.00, Z:82.08 [[ 9.22066326e-01 -2.81786952e-01 2.65310771e-01 3.12750594e+02] [-2.65495743e-01 -9.59303705e-01 -9.61686660e-02 2.31995245e+02] [ 2.81612681e-01 1.82350084e-02 -9.59354878e-01 8.20833937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:232.00, Z:82.09 [[ 9.41234961e-01 -2.05681057e-01 2.67903065e-01 3.12756907e+02] [-1.88609971e-01 -9.78077723e-01 -8.82623774e-02 2.32003121e+02] [ 2.80183918e-01 3.25464461e-02 -9.59394445e-01 8.20891693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:232.05, Z:82.07 [[ 9.55126820e-01 -1.43947244e-01 2.58866663e-01 3.12774909e+02] [-1.11591293e-01 -9.84447369e-01 -1.35686261e-01 2.32046055e+02] [ 2.74372268e-01 1.00710321e-01 -9.56335344e-01 8.20722874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:232.02, Z:82.10 [[ 9.62890845e-01 -4.47894524e-02 2.66148690e-01 3.12769765e+02] [-3.32627186e-02 -9.98309500e-01 -4.76627131e-02 2.32016079e+02] [ 2.67833553e-01 3.70411611e-02 -9.62752897e-01 8.20981779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.78, Y:232.08, Z:82.08 [[ 9.63483387e-01 9.26260668e-03 2.67607860e-01 3.12782885e+02] [ 4.34507479e-02 -9.91564091e-01 -1.22117510e-01 2.32077346e+02] [ 2.64219218e-01 1.29285954e-01 -9.55757996e-01 8.20763699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.78, Y:232.04, Z:82.11 [[ 9.58001664e-01 1.20364344e-01 2.60279150e-01 3.12778537e+02] [ 1.24513851e-01 -9.92217717e-01 5.50018600e-04 2.32042735e+02] [ 2.58319787e-01 3.18814406e-02 -9.65533252e-01 8.21131477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.78, Y:232.11, Z:82.09 [[ 9.47714636e-01 1.77274987e-01 2.65349858e-01 3.12780777e+02] [ 1.99095055e-01 -9.78291600e-01 -5.75039554e-02 2.32110255e+02] [ 2.49395524e-01 1.07327185e-01 -9.62435841e-01 8.20927220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.382755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:312.78, Y:232.14, Z:82.09 [[ 9.30083508e-01 2.44563057e-01 2.74105052e-01 3.12780468e+02] [ 2.73341757e-01 -9.59246189e-01 -7.16312212e-02 2.32139516e+02] [ 2.45415876e-01 1.41547374e-01 -9.59028357e-01 8.20887451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.79, Y:232.08, Z:82.13 [[ 9.05582174e-01 3.54374287e-01 2.33108969e-01 3.12794262e+02] [ 3.47241972e-01 -9.34977070e-01 7.23940078e-02 2.32076878e+02] [ 2.43606116e-01 1.53864951e-02 -9.69752193e-01 8.21349923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.78, Y:232.13, Z:82.12 [[ 8.76824269e-01 4.18286261e-01 2.37098723e-01 3.12780259e+02] [ 4.21366110e-01 -9.06004125e-01 4.00889825e-02 2.32129931e+02] [ 2.31581092e-01 6.47543740e-02 -9.70658060e-01 8.21216938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:232.27, Z:82.04 [[ 8.43969109e-01 4.22396481e-01 3.30601506e-01 3.12739542e+02] [ 4.88020055e-01 -8.60456772e-01 -1.46460128e-01 2.32268508e+02] [ 2.22604062e-01 2.84947989e-01 -9.32336889e-01 8.20420181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.32, Y:231.80, Z:81.01 [[ 8.30515146e-01 -5.25025539e-01 -1.85991333e-01 3.13321865e+02] [ 5.12021478e-01 8.51085598e-01 -1.16134887e-01 2.31795390e+02] [ 2.19268327e-01 1.22022519e-03 9.75663831e-01 8.10124340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.36, Y:231.80, Z:81.03 [[ 8.30397816e-01 -5.19680915e-01 -2.00925890e-01 3.13356399e+02] [ 5.11523712e-01 8.54022026e-01 -9.48149296e-02 2.31797227e+02] [ 2.20868645e-01 -2.40442465e-02 9.75007136e-01 8.10296481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.37, Y:231.83, Z:81.02 [[ 8.31060269e-01 -5.26967028e-01 -1.77889238e-01 3.13365598e+02] [ 5.11382923e-01 8.49743775e-01 -1.28152340e-01 2.31834278e+02] [ 2.18692331e-01 1.55327997e-02 9.75670229e-01 8.10175972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.39, Y:231.84, Z:81.03 [[ 8.31752316e-01 -5.22556621e-01 -1.87410414e-01 3.13393448e+02] [ 5.10282330e-01 8.52602314e-01 -1.12610999e-01 2.31838499e+02] [ 2.18632176e-01 -1.96776367e-03 9.75805360e-01 8.10286175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.622755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:313.42, Y:231.85, Z:81.03 [[ 8.32309894e-01 -5.21503543e-01 -1.87867759e-01 3.13417420e+02] [ 5.09123824e-01 8.53247570e-01 -1.12966881e-01 2.31852678e+02] [ 2.19210337e-01 -1.62449916e-03 9.75676273e-01 8.10341337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.45, Y:231.86, Z:81.05 [[ 8.34792907e-01 -5.13587639e-01 -1.98364662e-01 3.13445819e+02] [ 5.02947615e-01 8.57948406e-01 -1.04729312e-01 2.31855980e+02] [ 2.23974326e-01 -1.23397469e-02 9.74516922e-01 8.10507348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.46, Y:231.89, Z:81.04 [[ 8.35247741e-01 -5.19728709e-01 -1.79564140e-01 3.13460615e+02] [ 5.03697725e-01 8.54151341e-01 -1.29282979e-01 2.31886846e+02] [ 2.20567027e-01 1.75372675e-02 9.75214146e-01 8.10436843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.49, Y:231.89, Z:81.05 [[ 8.34717161e-01 -5.17741680e-01 -1.87592149e-01 3.13489809e+02] [ 5.04882625e-01 8.55536399e-01 -1.14677834e-01 2.31893389e+02] [ 2.19865406e-01 1.01153933e-03 9.75529692e-01 8.10544962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.51, Y:231.90, Z:81.06 [[ 8.35364521e-01 -5.15832279e-01 -1.89955724e-01 3.13514534e+02] [ 5.04754311e-01 8.56662035e-01 -1.06551602e-01 2.31902299e+02] [ 2.17690613e-01 -6.87154237e-03 9.75993637e-01 8.10620941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.54, Y:231.92, Z:81.07 [[ 8.35428238e-01 -5.17150768e-01 -1.86050375e-01 3.13536185e+02] [ 5.04833191e-01 8.55894296e-01 -1.12198052e-01 2.31919741e+02] [ 2.17262763e-01 -1.90983775e-04 9.76113137e-01 8.10663878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.56, Y:231.93, Z:81.07 [[ 8.35660285e-01 -5.17084520e-01 -1.85190409e-01 3.13559344e+02] [ 5.04862882e-01 8.55934337e-01 -1.11758138e-01 2.31932260e+02] [ 2.16299233e-01 -1.03926233e-04 9.76327113e-01 8.10717923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.58, Y:231.95, Z:81.08 [[ 8.35398508e-01 -5.17613958e-01 -1.84892194e-01 3.13582887e+02] [ 5.05435265e-01 8.55614253e-01 -1.11621879e-01 2.31945795e+02] [ 2.15973439e-01 -2.02284025e-04 9.76399218e-01 8.10780366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.60, Y:231.96, Z:81.08 [[ 8.35139111e-01 -5.19009145e-01 -1.82132297e-01 3.13604572e+02] [ 5.05081411e-01 8.54731530e-01 -1.19694530e-01 2.31962191e+02] [ 2.17796772e-01 7.96994596e-03 9.75961601e-01 8.10825999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.63, Y:231.97, Z:81.09 [[ 8.34615037e-01 -5.17735817e-01 -1.88062126e-01 3.13632055e+02] [ 5.06916026e-01 8.55509866e-01 -1.05541516e-01 2.31968862e+02] [ 2.15531627e-01 -7.24516900e-03 9.76469982e-01 8.10920142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.65, Y:231.99, Z:81.10 [[ 8.34232199e-01 -5.19629431e-01 -1.84504450e-01 3.13654181e+02] [ 5.07505811e-01 8.54391573e-01 -1.11592531e-01 2.31987132e+02] [ 2.15625811e-01 -5.42997481e-04 9.76475916e-01 8.10955714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.68, Y:232.00, Z:81.10 [[ 8.33875631e-01 -5.20160539e-01 -1.84619735e-01 3.13677897e+02] [ 5.08016218e-01 8.54068290e-01 -1.11744704e-01 2.32001524e+02] [ 2.15803047e-01 -6.08633416e-04 9.76436723e-01 8.11015244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.70, Y:232.02, Z:81.11 [[ 8.33252030e-01 -5.20971719e-01 -1.85147303e-01 3.13700342e+02] [ 5.08758626e-01 8.53573610e-01 -1.12146127e-01 2.32015223e+02] [ 2.16461812e-01 -7.49299558e-04 9.76290798e-01 8.11073228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.72, Y:232.03, Z:81.11 [[ 8.32783066e-01 -5.21646657e-01 -1.85356764e-01 3.13724450e+02] [ 5.09411947e-01 8.53161169e-01 -1.12318688e-01 2.32029278e+02] [ 2.16729861e-01 -8.85848915e-04 9.76231214e-01 8.11131113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.75, Y:232.04, Z:81.12 [[ 8.31271993e-01 -5.23801494e-01 -1.86061465e-01 3.13747364e+02] [ 5.11507353e-01 8.51839238e-01 -1.12827925e-01 2.32041466e+02] [ 2.17593892e-01 -1.38111318e-03 9.76038417e-01 8.11188753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.77, Y:232.05, Z:81.12 [[ 8.30238026e-01 -5.25343722e-01 -1.86329796e-01 3.13770800e+02] [ 5.13041709e-01 8.50888312e-01 -1.13036658e-01 2.32054876e+02] [ 2.17928945e-01 -1.74762530e-03 9.75963074e-01 8.11246979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.79, Y:232.07, Z:81.13 [[ 8.28251004e-01 -5.28341322e-01 -1.86696869e-01 3.13793638e+02] [ 5.16047032e-01 8.49028472e-01 -1.13340700e-01 2.32067191e+02] [ 2.18393533e-01 -2.46981664e-03 9.75857656e-01 8.11304437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.82, Y:232.09, Z:81.13 [[ 8.26939369e-01 -5.31979757e-01 -1.82123087e-01 3.13816629e+02] [ 5.18143520e-01 8.46739767e-01 -1.20660927e-01 2.32086379e+02] [ 2.18400030e-01 5.41337326e-03 9.75844313e-01 8.11323689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.84, Y:232.09, Z:81.15 [[ 8.26227547e-01 -5.29673284e-01 -1.91818283e-01 3.13843729e+02] [ 5.19143575e-01 8.48114396e-01 -1.05791868e-01 2.32089853e+02] [ 2.18718974e-01 -1.21730740e-02 9.75711959e-01 8.11450546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.86, Y:232.11, Z:81.15 [[ 8.25311051e-01 -5.32703217e-01 -1.87320453e-01 3.13864959e+02] [ 5.20400132e-01 8.46294905e-01 -1.13879922e-01 2.32108160e+02] [ 2.19192546e-01 -3.49523033e-03 9.75675362e-01 8.11485742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.89, Y:232.13, Z:81.15 [[ 8.24409561e-01 -5.34707214e-01 -1.85572282e-01 3.13886488e+02] [ 5.21407073e-01 8.45036857e-01 -1.18521618e-01 2.32125103e+02] [ 2.20189783e-01 9.51654759e-04 9.75456587e-01 8.11538122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.91, Y:232.13, Z:81.16 [[ 8.24583985e-01 -5.33319356e-01 -1.88763649e-01 3.13912511e+02] [ 5.22060154e-01 8.45872337e-01 -1.09330623e-01 2.32134948e+02] [ 2.17978086e-01 -8.39369844e-03 9.75917568e-01 8.11619233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.93, Y:232.15, Z:81.17 [[ 8.25763373e-01 -5.32350616e-01 -1.86326794e-01 3.13932415e+02] [ 5.20516168e-01 8.46510762e-01 -1.11724879e-01 2.32149370e+02] [ 2.17204444e-01 -4.72779579e-03 9.76114685e-01 8.11669176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.96, Y:232.17, Z:81.17 [[ 8.24909011e-01 -5.34532195e-01 -1.83849003e-01 3.13955333e+02] [ 5.21859019e-01 8.45147967e-01 -1.15706859e-01 2.32167875e+02] [ 2.17228653e-01 -4.95629561e-04 9.76120621e-01 8.11723875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.98, Y:232.18, Z:81.18 [[ 8.24772856e-01 -5.34190488e-01 -1.85446106e-01 3.13979814e+02] [ 5.22094572e-01 8.45356695e-01 -1.13089861e-01 2.32180920e+02] [ 2.17179635e-01 -3.54695766e-03 9.76125210e-01 8.11794377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.00, Y:232.20, Z:81.19 [[ 8.25057320e-01 -5.33990432e-01 -1.84755617e-01 3.14002544e+02] [ 5.21965024e-01 8.45483602e-01 -1.12738606e-01 2.32196293e+02] [ 2.16409181e-01 -3.42015782e-03 9.76296763e-01 8.11850835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.03, Y:232.21, Z:81.19 [[ 8.25312607e-01 -5.33595095e-01 -1.84757611e-01 3.14025634e+02] [ 5.21542426e-01 8.45733833e-01 -1.12817468e-01 2.32211395e+02] [ 2.16454610e-01 -3.24925418e-03 9.76287275e-01 8.11911220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.05, Y:232.23, Z:81.20 [[ 8.25762402e-01 -5.32938672e-01 -1.84642434e-01 3.14047624e+02] [ 5.20866448e-01 8.46148543e-01 -1.12830787e-01 2.32225904e+02] [ 2.16366816e-01 -3.00262703e-03 9.76307526e-01 8.11966847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.07, Y:232.25, Z:81.20 [[ 8.26588776e-01 -5.32755202e-01 -1.81446658e-01 3.14067978e+02] [ 5.18642523e-01 8.46242591e-01 -1.21997583e-01 2.32246945e+02] [ 2.18542737e-01 6.73588043e-03 9.75804130e-01 8.12006963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.10, Y:232.25, Z:81.21 [[ 8.27760204e-01 -5.28296936e-01 -1.88985167e-01 3.14095407e+02] [ 5.17912706e-01 8.48986983e-01 -1.04821426e-01 2.32252460e+02] [ 2.15822785e-01 -1.11108144e-02 9.76369334e-01 8.12105629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.12, Y:232.27, Z:81.21 [[ 8.28920358e-01 -5.28075142e-01 -1.84465947e-01 3.14115356e+02] [ 5.15871425e-01 8.49196160e-01 -1.12882927e-01 2.32273661e+02] [ 2.16258441e-01 -1.58975494e-03 9.76334860e-01 8.12134595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.552755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.14, Y:232.29, Z:81.22 [[ 8.29390426e-01 -5.27309627e-01 -1.84542891e-01 3.14137415e+02] [ 5.15058826e-01 8.49672181e-01 -1.13011462e-01 2.32288105e+02] [ 2.16392992e-01 -1.31982015e-03 9.76305450e-01 8.12185327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.17, Y:232.28, Z:81.25 [[ 8.29858761e-01 -5.16601803e-01 -2.10848320e-01 3.14174212e+02] [ 5.11250708e-01 8.55361301e-01 -8.35449455e-02 2.32280056e+02] [ 2.23510963e-01 -3.84658478e-02 9.73942107e-01 8.12475176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.17, Y:232.34, Z:81.22 [[ 8.29431676e-01 -5.33297338e-01 -1.66243930e-01 3.14174986e+02] [ 5.14640795e-01 8.45254352e-01 -1.43839954e-01 2.32336803e+02] [ 2.17227870e-01 3.37495058e-02 9.75537300e-01 8.12208570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.21, Y:232.34, Z:81.23 [[ 8.28481683e-01 -5.29870511e-01 -1.81260426e-01 3.14207617e+02] [ 5.16286356e-01 8.48062133e-01 -1.19327351e-01 2.32336770e+02] [ 2.16948148e-01 5.27823983e-03 9.76168859e-01 8.12340494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.23, Y:232.34, Z:81.24 [[ 8.28081597e-01 -5.27962773e-01 -1.88510421e-01 3.14234003e+02] [ 5.17184536e-01 8.49216912e-01 -1.06540097e-01 2.32340791e+02] [ 2.16335443e-01 -9.27078106e-03 9.76275079e-01 8.12443716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.26, Y:232.36, Z:81.25 [[ 8.27343270e-01 -5.30644898e-01 -1.84171403e-01 3.14255757e+02] [ 5.18466289e-01 8.47591984e-01 -1.13051029e-01 2.32359242e+02] [ 2.16092157e-01 -1.95465553e-03 9.76371015e-01 8.12482867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.28, Y:232.37, Z:81.25 [[ 8.26700565e-01 -5.31767013e-01 -1.83820619e-01 3.14279567e+02] [ 5.19645313e-01 8.46887898e-01 -1.12914288e-01 2.32373813e+02] [ 2.15719552e-01 -2.17521743e-03 9.76452940e-01 8.12541747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.30, Y:232.39, Z:81.26 [[ 8.25787305e-01 -5.33234349e-01 -1.83674866e-01 3.14302115e+02] [ 5.21150481e-01 8.45963911e-01 -1.12903662e-01 2.32386743e+02] [ 2.15586418e-01 -2.48783394e-03 9.76481596e-01 8.12596085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.33, Y:232.40, Z:81.27 [[ 8.25194570e-01 -5.34210439e-01 -1.83502392e-01 3.14325982e+02] [ 5.22163781e-01 8.45347209e-01 -1.12840964e-01 2.32401090e+02] [ 2.15404056e-01 -2.70255201e-03 9.76521269e-01 8.12653071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.35, Y:232.41, Z:81.27 [[ 8.24085394e-01 -5.35885439e-01 -1.83602997e-01 3.14349748e+02] [ 5.23849249e-01 8.44285108e-01 -1.12980624e-01 2.32414718e+02] [ 2.15557947e-01 -3.07461046e-03 9.76486210e-01 8.12711368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.37, Y:232.43, Z:81.28 [[ 8.23617897e-01 -5.36664432e-01 -1.83425319e-01 3.14373246e+02] [ 5.24653683e-01 8.43789664e-01 -1.12949172e-01 2.32428757e+02] [ 2.15388192e-01 -3.20781012e-03 9.76523239e-01 8.12769179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.40, Y:232.44, Z:81.28 [[ 8.23214817e-01 -5.37279189e-01 -1.83435105e-01 3.14396107e+02] [ 5.25264247e-01 8.43398004e-01 -1.13036623e-01 2.32443257e+02] [ 2.15441026e-01 -3.29847870e-03 9.76511282e-01 8.12827462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.42, Y:232.46, Z:81.28 [[ 8.22583378e-01 -5.39647359e-01 -1.79268831e-01 3.14415530e+02] [ 5.26648230e-01 8.41887584e-01 -1.17757961e-01 2.32463959e+02] [ 2.14471975e-01 2.45412874e-03 9.76727060e-01 8.12839293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.44, Y:232.47, Z:81.30 [[ 8.23593825e-01 -5.35620210e-01 -1.86558843e-01 3.14443479e+02] [ 5.24416281e-01 8.44422532e-01 -1.09261845e-01 2.32470784e+02] [ 2.16057343e-01 -7.84711406e-03 9.76349142e-01 8.12950088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.47, Y:232.49, Z:81.30 [[ 8.23791528e-01 -5.35760298e-01 -1.85279307e-01 3.14465683e+02] [ 5.23420486e-01 8.44365573e-01 -1.14358097e-01 2.32488594e+02] [ 2.17711996e-01 -2.77175316e-03 9.76009121e-01 8.12993283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.49, Y:232.50, Z:81.30 [[ 8.24031560e-01 -5.35177690e-01 -1.85894667e-01 3.14487772e+02] [ 5.22721461e-01 8.44735647e-01 -1.14821432e-01 2.32503063e+02] [ 2.18481721e-01 -2.55464859e-03 9.75837697e-01 8.13048314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.51, Y:232.52, Z:81.31 [[ 8.24318931e-01 -5.34624033e-01 -1.86213433e-01 3.14510754e+02] [ 5.22100002e-01 8.45086694e-01 -1.15065494e-01 2.32517987e+02] [ 2.18883273e-01 -2.37136894e-03 9.75748169e-01 8.13105873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.53, Y:232.53, Z:81.32 [[ 8.25039960e-01 -5.33415571e-01 -1.86485638e-01 3.14532608e+02] [ 5.20805382e-01 8.45850992e-01 -1.15316322e-01 2.32533137e+02] [ 2.19250584e-01 -1.98214999e-03 9.75666568e-01 8.13158769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.56, Y:232.55, Z:81.32 [[ 8.25143197e-01 -5.33198023e-01 -1.86650939e-01 3.14555767e+02] [ 5.20549243e-01 8.45988364e-01 -1.15465036e-01 2.32548754e+02] [ 2.19470251e-01 -1.88581649e-03 9.75617370e-01 8.13216804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.58, Y:232.56, Z:81.33 [[ 8.25215853e-01 -5.33044879e-01 -1.86767110e-01 3.14577914e+02] [ 5.20357608e-01 8.46085107e-01 -1.15619855e-01 2.32563285e+02] [ 2.19651442e-01 -1.77434909e-03 9.75576802e-01 8.13272228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.60, Y:232.58, Z:81.33 [[ 8.24799540e-01 -5.33403224e-01 -1.87581236e-01 3.14600823e+02] [ 5.20599859e-01 8.45859124e-01 -1.16181450e-01 2.32577522e+02] [ 2.20638860e-01 -1.82835847e-03 9.75353859e-01 8.13330546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.62, Y:232.59, Z:81.34 [[ 8.24531825e-01 -5.33760616e-01 -1.87741509e-01 3.14623437e+02] [ 5.20926033e-01 8.45633585e-01 -1.16361110e-01 2.32590752e+02] [ 2.20869503e-01 -1.85600122e-03 9.75301604e-01 8.13391462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.65, Y:232.60, Z:81.35 [[ 8.24030759e-01 -5.34373838e-01 -1.88196468e-01 3.14646797e+02] [ 5.21481746e-01 8.45245915e-01 -1.16688186e-01 2.32603410e+02] [ 2.21427409e-01 -1.98636794e-03 9.75174834e-01 8.13452465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.67, Y:232.62, Z:81.35 [[ 8.23633417e-01 -5.34955603e-01 -1.88283026e-01 3.14669998e+02] [ 5.22056388e-01 8.44877548e-01 -1.16786372e-01 2.32617332e+02] [ 2.21551625e-01 -2.10519825e-03 9.75146371e-01 8.13514593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.69, Y:232.63, Z:81.36 [[ 8.23222994e-01 -5.35578188e-01 -1.88308009e-01 3.14692569e+02] [ 5.22673153e-01 8.44482772e-01 -1.16882946e-01 2.32631040e+02] [ 2.21622826e-01 -2.20281215e-03 9.75129976e-01 8.13574816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.72, Y:232.65, Z:81.36 [[ 8.22593053e-01 -5.36622551e-01 -1.88087497e-01 3.14715683e+02] [ 5.23764566e-01 8.43818866e-01 -1.16792130e-01 2.32645369e+02] [ 2.21385069e-01 -2.44117128e-03 9.75183415e-01 8.13638333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.74, Y:232.66, Z:81.37 [[ 8.22379245e-01 -5.37215855e-01 -1.87327259e-01 3.14737843e+02] [ 5.24460112e-01 8.43441028e-01 -1.16399408e-01 2.32659595e+02] [ 2.20531103e-01 -2.52121794e-03 9.75376684e-01 8.13696424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.76, Y:232.67, Z:81.38 [[ 8.22023045e-01 -5.38318950e-01 -1.85717048e-01 3.14760864e+02] [ 5.25801998e-01 8.42736689e-01 -1.15443198e-01 2.32674112e+02] [ 2.18655832e-01 -2.75342575e-03 9.75798158e-01 8.13760703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.78, Y:232.69, Z:81.38 [[ 8.22025809e-01 -5.38580700e-01 -1.84944315e-01 3.14783376e+02] [ 5.26156933e-01 8.42569479e-01 -1.15045879e-01 2.32688172e+02] [ 2.17789925e-01 -2.73905144e-03 9.75991827e-01 8.13825652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.81, Y:232.70, Z:81.39 [[ 8.21770265e-01 -5.39072367e-01 -1.84647272e-01 3.14806338e+02] [ 5.26690883e-01 8.42254715e-01 -1.14907393e-01 2.32702660e+02] [ 2.17463436e-01 -2.82455585e-03 9.76064381e-01 8.13890299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.84, Y:232.70, Z:81.41 [[ 8.21446285e-01 -5.34604901e-01 -1.98553776e-01 3.14836238e+02] [ 5.26130855e-01 8.44758229e-01 -9.78256565e-02 2.32704298e+02] [ 2.20028011e-01 -2.41067456e-02 9.75195641e-01 8.14067479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.85, Y:232.74, Z:81.40 [[ 8.21072608e-01 -5.43998163e-01 -1.72932853e-01 3.14847455e+02] [ 5.27944709e-01 8.38907062e-01 -1.32322812e-01 2.32742734e+02] [ 2.17057958e-01 1.73476516e-02 9.76004561e-01 8.13955225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.88, Y:232.75, Z:81.41 [[ 8.20191279e-01 -5.41571841e-01 -1.84353483e-01 3.14875751e+02] [ 5.29236810e-01 8.40648129e-01 -1.14974443e-01 2.32745766e+02] [ 2.17243331e-01 -3.26561375e-03 9.76112018e-01 8.14072645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.90, Y:232.76, Z:81.41 [[ 8.19579094e-01 -5.42389191e-01 -1.84672885e-01 3.14898936e+02] [ 5.30018677e-01 8.40120310e-01 -1.15230495e-01 2.32760552e+02] [ 2.17647217e-01 -3.43957356e-03 9.76021444e-01 8.14131076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.92, Y:232.78, Z:81.42 [[ 8.18875885e-01 -5.43272822e-01 -1.85194293e-01 3.14921386e+02] [ 5.30834684e-01 8.39548448e-01 -1.15641436e-01 2.32775261e+02] [ 2.18304431e-01 -3.61157074e-03 9.75874035e-01 8.14184640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.94, Y:232.79, Z:81.42 [[ 8.17632781e-01 -5.44658040e-01 -1.86612581e-01 3.14944286e+02] [ 5.32050860e-01 8.38648825e-01 -1.16576286e-01 2.32790934e+02] [ 2.19996633e-01 -3.97079114e-03 9.75492550e-01 8.14240704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.97, Y:232.81, Z:81.43 [[ 8.17080788e-01 -5.45302539e-01 -1.87147337e-01 3.14967699e+02] [ 5.32619593e-01 8.38229362e-01 -1.16995322e-01 2.32805950e+02] [ 2.20670239e-01 -4.08370889e-03 9.75339925e-01 8.14300102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.99, Y:232.82, Z:81.44 [[ 8.16236272e-01 -5.46298827e-01 -1.87925358e-01 3.14991236e+02] [ 5.33515672e-01 8.37579316e-01 -1.17566648e-01 2.32820794e+02] [ 2.21628915e-01 -4.29896102e-03 9.75121604e-01 8.14360391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.01, Y:232.84, Z:81.44 [[ 8.15747525e-01 -5.46959008e-01 -1.88127138e-01 3.15014327e+02] [ 5.34146227e-01 8.37147768e-01 -1.17777004e-01 2.32835407e+02] [ 2.21909407e-01 -4.41110113e-03 9.75057310e-01 8.14422090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.04, Y:232.85, Z:81.45 [[ 8.15476208e-01 -5.47391154e-01 -1.88046481e-01 3.15037442e+02] [ 5.34581780e-01 8.36865031e-01 -1.17810190e-01 2.32850063e+02] [ 2.21857779e-01 -4.45481580e-03 9.75068859e-01 8.14481299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.06, Y:232.86, Z:81.45 [[ 8.15353800e-01 -5.47594464e-01 -1.87985328e-01 3.15059947e+02] [ 5.34780114e-01 8.36732100e-01 -1.17854244e-01 2.32864644e+02] [ 2.21829690e-01 -4.43790977e-03 9.75075327e-01 8.14544115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.08, Y:232.88, Z:81.46 [[ 8.15266042e-01 -5.47825702e-01 -1.87691987e-01 3.15082906e+02] [ 5.35044893e-01 8.36580687e-01 -1.17727293e-01 2.32879610e+02] [ 2.21513529e-01 -4.44457485e-03 9.75147170e-01 8.14604665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.11, Y:232.89, Z:81.47 [[ 8.15696074e-01 -5.47441146e-01 -1.86944126e-01 3.15105975e+02] [ 5.34734823e-01 8.36833383e-01 -1.17339501e-01 2.32894857e+02] [ 2.20677556e-01 -4.25216357e-03 9.75337549e-01 8.14667402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.13, Y:232.91, Z:81.47 [[ 8.15973132e-01 -5.47242658e-01 -1.86315113e-01 3.15128779e+02] [ 5.34599450e-01 8.36963884e-01 -1.17025143e-01 2.32909853e+02] [ 2.19980171e-01 -4.11458394e-03 9.75495666e-01 8.14730421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.15, Y:232.92, Z:81.48 [[ 8.16325613e-01 -5.46934336e-01 -1.85675326e-01 3.15150927e+02] [ 5.34353123e-01 8.37166196e-01 -1.16702616e-01 2.32924482e+02] [ 2.19269774e-01 -3.94885592e-03 9.75656278e-01 8.14793494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.17, Y:232.94, Z:81.49 [[ 8.16810124e-01 -5.46500432e-01 -1.84820180e-01 3.15173724e+02] [ 5.34015302e-01 8.37450310e-01 -1.16209451e-01 2.32939992e+02] [ 2.18286232e-01 -3.77574831e-03 9.75877484e-01 8.14859243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.20, Y:232.96, Z:81.49 [[ 8.16839134e-01 -5.46372504e-01 -1.85070031e-01 3.15195747e+02] [ 5.33831366e-01 8.37534224e-01 -1.16449545e-01 2.32955010e+02] [ 2.18627314e-01 -3.67564183e-03 9.75801510e-01 8.14918909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.22, Y:232.97, Z:81.50 [[ 8.17389951e-01 -5.45450227e-01 -1.85358351e-01 3.15218743e+02] [ 5.32835554e-01 8.38136343e-01 -1.16677945e-01 2.32970362e+02] [ 2.18997582e-01 -3.39413988e-03 9.75719498e-01 8.14975682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.24, Y:232.98, Z:81.50 [[ 8.17332686e-01 -5.45333184e-01 -1.85954295e-01 3.15241051e+02] [ 5.32614551e-01 8.38212868e-01 -1.17136366e-01 2.32984888e+02] [ 2.19747630e-01 -3.30258313e-03 9.75551163e-01 8.15035882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.26, Y:233.00, Z:81.51 [[ 8.17214220e-01 -5.45121792e-01 -1.87091289e-01 3.15263814e+02] [ 5.32226683e-01 8.38350693e-01 -1.17910450e-01 2.32999771e+02] [ 2.21123667e-01 -3.21687942e-03 9.75240471e-01 8.15089985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.28, Y:233.02, Z:81.51 [[ 8.16825850e-01 -5.46425036e-01 -1.84973542e-01 3.15284689e+02] [ 5.31994260e-01 8.37500559e-01 -1.24799523e-01 2.33018061e+02] [ 2.23109028e-01 3.53461359e-03 9.74787089e-01 8.15136629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.31, Y:233.03, Z:81.52 [[ 8.16638357e-01 -5.44441988e-01 -1.91532546e-01 3.15311314e+02] [ 5.32694685e-01 8.38741044e-01 -1.12915166e-01 2.33025732e+02] [ 2.22121965e-01 -9.81751347e-03 9.74969461e-01 8.15226882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.33, Y:233.05, Z:81.53 [[ 8.15706549e-01 -5.47471960e-01 -1.86808136e-01 3.15330291e+02] [ 5.33360345e-01 8.36823294e-01 -1.23505129e-01 2.33045551e+02] [ 2.23940995e-01 1.10789096e-03 9.74602074e-01 8.15255334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.36, Y:233.06, Z:81.53 [[ 8.14989245e-01 -5.47324184e-01 -1.90338562e-01 3.15356502e+02] [ 5.35148816e-01 8.36881815e-01 -1.15085067e-01 2.33055887e+02] [ 2.22279722e-01 -8.06636390e-03 9.74949568e-01 8.15339149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.38, Y:233.08, Z:81.54 [[ 8.14203035e-01 -5.50344564e-01 -1.84916948e-01 3.15376048e+02] [ 5.35585316e-01 8.34927606e-01 -1.26665945e-01 2.33075543e+02] [ 2.24102179e-01 4.09299524e-03 9.74557059e-01 8.15380482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.40, Y:233.09, Z:81.55 [[ 8.13325370e-01 -5.50133569e-01 -1.89353899e-01 3.15403528e+02] [ 5.37223067e-01 8.35060081e-01 -1.18600321e-01 2.33086844e+02] [ 2.23367900e-01 -5.26463206e-03 9.74719993e-01 8.15475208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.43, Y:233.10, Z:81.55 [[ 8.13209287e-01 -5.50503417e-01 -1.88776703e-01 3.15425881e+02] [ 5.37350048e-01 8.34822814e-01 -1.19690415e-01 2.33102010e+02] [ 2.23485080e-01 -4.10581336e-03 9.74698703e-01 8.15532521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.45, Y:233.11, Z:81.56 [[ 8.13146805e-01 -5.50331281e-01 -1.89546181e-01 3.15448621e+02] [ 5.37865294e-01 8.34916476e-01 -1.16685062e-01 2.33114243e+02] [ 2.22470669e-01 -7.06822740e-03 9.74913761e-01 8.15600405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2927550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:315.47, Y:233.13, Z:81.57 [[ 8.12924873e-01 -5.51032066e-01 -1.88459048e-01 3.15472422e+02] [ 5.38668844e-01 8.34454794e-01 -1.16280153e-01 2.33130001e+02] [ 2.21334648e-01 -6.98998878e-03 9.75172863e-01 8.15662066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.49, Y:233.15, Z:81.57 [[ 8.12879726e-01 -5.51580389e-01 -1.87044449e-01 3.15493658e+02] [ 5.38741392e-01 8.34109482e-01 -1.18402215e-01 2.33145802e+02] [ 2.21323888e-01 -4.52182717e-03 9.75189874e-01 8.15714743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.52, Y:233.16, Z:81.58 [[ 8.13162886e-01 -5.51187039e-01 -1.86973179e-01 3.15516964e+02] [ 5.38336740e-01 8.34370263e-01 -1.18405312e-01 2.33160908e+02] [ 2.21268334e-01 -4.37172648e-03 9.75203165e-01 8.15776086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.54, Y:233.18, Z:81.58 [[ 8.13305665e-01 -5.50813689e-01 -1.87451796e-01 3.15539390e+02] [ 5.37867657e-01 8.34617615e-01 -1.18793179e-01 2.33175184e+02] [ 2.21883480e-01 -4.20909293e-03 9.75064103e-01 8.15837294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.56, Y:233.19, Z:81.59 [[ 8.13493352e-01 -5.50334217e-01 -1.88044715e-01 3.15562011e+02] [ 5.37281376e-01 8.34934636e-01 -1.19217771e-01 2.33190278e+02] [ 2.22614665e-01 -4.05005912e-03 9.74898101e-01 8.15893890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.58, Y:233.21, Z:81.59 [[ 8.13084706e-01 -5.51567485e-01 -1.86189610e-01 3.15584097e+02] [ 5.37083896e-01 8.34127595e-01 -1.25586801e-01 2.33209534e+02] [ 2.24575488e-01 2.11326642e-03 9.74454404e-01 8.15940074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.61, Y:233.22, Z:81.60 [[ 8.13844415e-01 -5.48440896e-01 -1.92015239e-01 3.15610028e+02] [ 5.36517627e-01 8.36128430e-01 -1.14184431e-01 2.33217959e+02] [ 2.23172812e-01 -1.00911986e-02 9.74726661e-01 8.16031053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.63, Y:233.24, Z:81.61 [[ 8.14822012e-01 -5.48196423e-01 -1.88535860e-01 3.15629607e+02] [ 5.34967266e-01 8.36343165e-01 -1.19750304e-01 2.33236352e+02] [ 2.23327366e-01 -3.28532964e-03 9.74737962e-01 8.16069018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.65, Y:233.25, Z:81.61 [[ 8.15186496e-01 -5.47652608e-01 -1.88540709e-01 3.15652134e+02] [ 5.34397164e-01 8.36700094e-01 -1.19802437e-01 2.33251433e+02] [ 2.23362146e-01 -3.09429110e-03 9.74730618e-01 8.16128558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.67, Y:233.27, Z:81.62 [[ 8.15915049e-01 -5.46727072e-01 -1.88074831e-01 3.15673778e+02] [ 5.32774575e-01 8.37310877e-01 -1.22726315e-01 2.33268468e+02] [ 2.24574900e-01 -6.72412400e-05 9.74456828e-01 8.16182218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.70, Y:233.28, Z:81.63 [[ 8.15976859e-01 -5.45929509e-01 -1.90112432e-01 3.15697622e+02] [ 5.32980595e-01 8.37817361e-01 -1.18295200e-01 2.33281387e+02] [ 2.23860337e-01 -4.80009137e-03 9.74609413e-01 8.16252526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.72, Y:233.30, Z:81.63 [[ 8.16000836e-01 -5.46333845e-01 -1.88843758e-01 3.15720183e+02] [ 5.32951682e-01 8.37563609e-01 -1.20206932e-01 2.33298129e+02] [ 2.23841775e-01 -2.55564136e-03 9.74622147e-01 8.16306023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.74, Y:233.31, Z:81.64 [[ 8.15948742e-01 -5.46357665e-01 -1.88999874e-01 3.15742713e+02] [ 5.32933943e-01 8.37548267e-01 -1.20392329e-01 2.33312842e+02] [ 2.24073789e-01 -2.49047902e-03 9.74569000e-01 8.16367263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.77, Y:233.33, Z:81.64 [[ 8.16094282e-01 -5.46197334e-01 -1.88834838e-01 3.15765810e+02] [ 5.32773437e-01 8.37653182e-01 -1.20372807e-01 2.33328144e+02] [ 2.23925409e-01 -2.37062671e-03 9.74603402e-01 8.16426504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.79, Y:233.34, Z:81.65 [[ 8.16600622e-01 -5.45563578e-01 -1.88477603e-01 3.15788266e+02] [ 5.32154604e-01 8.38066761e-01 -1.20231371e-01 2.33342546e+02] [ 2.23550671e-01 -2.11821216e-03 9.74690008e-01 8.16485270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.81, Y:233.36, Z:81.65 [[ 8.16835728e-01 -5.45332955e-01 -1.88125922e-01 3.15811452e+02] [ 5.31957267e-01 8.38217116e-01 -1.20056373e-01 2.33357184e+02] [ 2.23161064e-01 -2.00861686e-03 9.74779516e-01 8.16544845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.83, Y:233.37, Z:81.66 [[ 8.16994461e-01 -5.45742857e-01 -1.86238516e-01 3.15833272e+02] [ 5.30991684e-01 8.37942534e-01 -1.26095765e-01 2.33374767e+02] [ 2.24873037e-01 4.12843841e-03 9.74379327e-01 8.16600412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.86, Y:233.39, Z:81.67 [[ 8.17108910e-01 -5.44553531e-01 -1.89194297e-01 3.15858589e+02] [ 5.31253265e-01 8.38721603e-01 -1.19649663e-01 2.33386105e+02] [ 2.23836990e-01 -2.74328239e-03 9.74622735e-01 8.16680123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.88, Y:233.40, Z:81.68 [[ 8.17431665e-01 -5.44104327e-01 -1.89092450e-01 3.15883411e+02] [ 5.31616036e-01 8.38998429e-01 -1.16043207e-01 2.33399387e+02] [ 2.21787880e-01 -5.66718644e-03 9.75078468e-01 8.16751782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.90, Y:233.42, Z:81.68 [[ 8.16746537e-01 -5.47005404e-01 -1.83603327e-01 3.15904198e+02] [ 5.32041497e-01 8.37105939e-01 -1.27222214e-01 2.33421483e+02] [ 2.23286674e-01 6.22371326e-03 9.74732951e-01 8.16789447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.93, Y:233.43, Z:81.69 [[ 8.17105977e-01 -5.44222017e-01 -1.90158402e-01 3.15931627e+02] [ 5.32715098e-01 8.38881929e-01 -1.11766426e-01 2.33426705e+02] [ 2.20346197e-01 -9.97523693e-03 9.75370723e-01 8.16887155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.95, Y:233.45, Z:81.69 [[ 8.16584576e-01 -5.46641846e-01 -1.85397742e-01 3.15952654e+02] [ 5.33605687e-01 8.37364104e-01 -1.18685838e-01 2.33445997e+02] [ 2.20124060e-01 -2.01226513e-03 9.75469809e-01 8.16926659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.98, Y:233.46, Z:81.70 [[ 8.16187825e-01 -5.47248812e-01 -1.85354180e-01 3.15976126e+02] [ 5.34215281e-01 8.36967332e-01 -1.18742236e-01 2.33460650e+02] [ 2.20116941e-01 -2.10306856e-03 9.75471224e-01 8.16991092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.00, Y:233.48, Z:81.71 [[ 8.15066968e-01 -5.48922524e-01 -1.85337262e-01 3.15999400e+02] [ 5.35915158e-01 8.35869547e-01 -1.18815170e-01 2.33475315e+02] [ 2.20138096e-01 -2.48272805e-03 9.75465558e-01 8.17054633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.02, Y:233.49, Z:81.71 [[ 8.14540791e-01 -5.49704871e-01 -1.85331740e-01 3.16021375e+02] [ 5.36699402e-01 8.35354821e-01 -1.18895224e-01 2.33489461e+02] [ 2.20175047e-01 -2.62242399e-03 9.75456853e-01 8.17115399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.04, Y:233.50, Z:81.72 [[ 8.13963360e-01 -5.50482775e-01 -1.85559595e-01 3.16044105e+02] [ 5.37454203e-01 8.34841839e-01 -1.19088552e-01 2.33504130e+02] [ 2.20469110e-01 -2.79606600e-03 9.75389949e-01 8.17185437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.07, Y:233.52, Z:81.72 [[ 8.13668222e-01 -5.50924799e-01 -1.85542151e-01 3.16066599e+02] [ 5.37891351e-01 8.34550042e-01 -1.19160067e-01 2.33519100e+02] [ 2.20492446e-01 -2.84475828e-03 9.75384534e-01 8.17249076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.10, Y:233.52, Z:81.74 [[ 8.14104172e-01 -5.44980344e-01 -2.00576227e-01 3.16099033e+02] [ 5.35452206e-01 8.38140178e-01 -1.03980657e-01 2.33521189e+02] [ 2.24778408e-01 -2.27478966e-02 9.74144343e-01 8.17448697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.11, Y:233.56, Z:81.74 [[ 8.13018257e-01 -5.54905997e-01 -1.76297048e-01 3.16107965e+02] [ 5.37267177e-01 8.31691452e-01 -1.40118913e-01 2.33560068e+02] [ 2.24377572e-01 1.92006170e-02 9.74313113e-01 8.17354285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.14, Y:233.56, Z:81.75 [[ 8.13523716e-01 -5.49170267e-01 -1.91288218e-01 3.16137978e+02] [ 5.37192418e-01 8.35655016e-01 -1.14477077e-01 2.33558363e+02] [ 2.22718365e-01 -9.62876316e-03 9.74835277e-01 8.17493371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.16, Y:233.58, Z:81.75 [[ 8.13015367e-01 -5.51354087e-01 -1.87122111e-01 3.16159134e+02] [ 5.36929792e-01 8.34270170e-01 -1.25298374e-01 2.33579339e+02] [ 2.25194166e-01 1.39806785e-03 9.74312903e-01 8.17544924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.18, Y:233.59, Z:81.76 [[ 8.13376843e-01 -5.49286125e-01 -1.91579915e-01 3.16183754e+02] [ 5.36617057e-01 8.35603134e-01 -1.17513988e-01 2.33588565e+02] [ 2.24633581e-01 -7.22189343e-03 9.74416543e-01 8.17632338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.20, Y:233.61, Z:81.77 [[ 8.13250048e-01 -5.50032662e-01 -1.89969548e-01 3.16204946e+02] [ 5.36318055e-01 8.35139110e-01 -1.22088536e-01 2.33605045e+02] [ 2.25803682e-01 -2.59559031e-03 9.74169369e-01 8.17693283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.23, Y:233.62, Z:81.78 [[ 8.13079766e-01 -5.50078549e-01 -1.90564645e-01 3.16227552e+02] [ 5.36266460e-01 8.35108952e-01 -1.22520698e-01 2.33619715e+02] [ 2.26538249e-01 -2.57432746e-03 9.73998868e-01 8.17762761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.25, Y:233.64, Z:81.78 [[ 8.11986522e-01 -5.52071056e-01 -1.89460915e-01 3.16249580e+02] [ 5.36972188e-01 8.33793598e-01 -1.28254066e-01 2.33638150e+02] [ 2.28776656e-01 2.40533069e-03 9.73475966e-01 8.17824263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.28, Y:233.65, Z:81.79 [[ 8.12984109e-01 -5.48757178e-01 -1.94736741e-01 3.16275282e+02] [ 5.36051104e-01 8.35936722e-01 -1.17724301e-01 2.33645876e+02] [ 2.27389648e-01 -8.68085941e-03 9.73765162e-01 8.17915732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.30, Y:233.66, Z:81.80 [[ 8.13146197e-01 -5.49615500e-01 -1.91614363e-01 3.16295327e+02] [ 5.35582173e-01 8.35414680e-01 -1.23426290e-01 2.33663155e+02] [ 2.27914454e-01 -2.26161830e-03 9.73678534e-01 8.17973966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.32, Y:233.69, Z:81.80 [[ 8.13880064e-01 -5.51145120e-01 -1.83951894e-01 3.16319025e+02] [ 5.35049068e-01 8.34355694e-01 -1.32563460e-01 2.33685068e+02] [ 2.26543014e-01 9.46746737e-03 9.73955148e-01 8.17977806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.34, Y:233.69, Z:81.82 [[ 8.13788277e-01 -5.46323862e-01 -1.98188994e-01 3.16343451e+02] [ 5.35066355e-01 8.37432684e-01 -1.11402406e-01 2.33687182e+02] [ 2.26831734e-01 -1.53862906e-02 9.73812419e-01 8.18155023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.36, Y:233.71, Z:81.82 [[ 8.13830560e-01 -5.49079094e-01 -1.90241865e-01 3.16361716e+02] [ 5.35190849e-01 8.35768152e-01 -1.22728775e-01 2.33709873e+02] [ 2.26385897e-01 -1.93527791e-03 9.74035770e-01 8.18179710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.38, Y:233.74, Z:81.81 [[ 8.14457890e-01 -5.55300978e-01 -1.68223572e-01 3.16379221e+02] [ 5.36559007e-01 8.31159471e-01 -1.45871059e-01 2.33744629e+02] [ 2.20822956e-01 2.85439623e-02 9.74896130e-01 8.18064122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.41, Y:233.73, Z:81.84 [[ 8.13561514e-01 -5.43579689e-01 -2.06491608e-01 3.16414375e+02] [ 5.36167153e-01 8.38704408e-01 -9.53923509e-02 2.33726256e+02] [ 2.25038766e-01 -3.31064723e-02 9.73787202e-01 8.18404679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.43, Y:233.76, Z:81.84 [[ 8.13140231e-01 -5.51220609e-01 -1.86972738e-01 3.16426078e+02] [ 5.36143370e-01 8.34350331e-01 -1.28100787e-01 2.33760878e+02] [ 2.26612560e-01 3.91970929e-03 9.73977096e-01 8.18367029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.45, Y:233.77, Z:81.85 [[ 8.13285928e-01 -5.49239143e-01 -1.92099879e-01 3.16451314e+02] [ 5.36664814e-01 8.35628400e-01 -1.17115559e-01 2.33770675e+02] [ 2.24848564e-01 -7.84480969e-03 9.74362141e-01 8.18452811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.47, Y:233.79, Z:81.85 [[ 8.13205757e-01 -5.50529366e-01 -1.88716225e-01 3.16470776e+02] [ 5.36834180e-01 8.34813260e-01 -1.22048696e-01 2.33790927e+02] [ 2.24734198e-01 -2.05861780e-03 9.74417930e-01 8.18496803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.49, Y:233.81, Z:81.86 [[ 8.13287155e-01 -5.50502646e-01 -1.88443203e-01 3.16493372e+02] [ 5.36827061e-01 8.34831084e-01 -1.21958059e-01 2.33807142e+02] [ 2.24456477e-01 -1.97448843e-03 9.74482114e-01 8.18557278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.51, Y:233.82, Z:81.86 [[ 8.13220008e-01 -5.50502426e-01 -1.88733402e-01 3.16513949e+02] [ 5.36764498e-01 8.34831391e-01 -1.22231022e-01 2.33823524e+02] [ 2.24849043e-01 -1.90467698e-03 9.74391749e-01 8.18620489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.54, Y:233.84, Z:81.87 [[ 8.12992986e-01 -5.50751176e-01 -1.88985573e-01 3.16536444e+02] [ 5.36971310e-01 8.34667240e-01 -1.22443503e-01 2.33839487e+02] [ 2.25175969e-01 -1.93412164e-03 9.74316192e-01 8.18680058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.56, Y:233.87, Z:81.86 [[ 8.13552724e-01 -5.55470051e-01 -1.72002874e-01 3.16555707e+02] [ 5.38338387e-01 8.31297256e-01 -1.38335295e-01 2.33869094e+02] [ 2.19826630e-01 1.99473064e-02 9.75334998e-01 8.18583456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.58, Y:233.88, Z:81.87 [[ 8.12210391e-01 -5.53086496e-01 -1.85498273e-01 3.16583451e+02] [ 5.39267519e-01 8.33123802e-01 -1.22862824e-01 2.33875555e+02] [ 2.22496795e-01 -2.42730950e-04 9.74933391e-01 8.18718089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.61, Y:233.89, Z:81.88 [[ 8.11757530e-01 -5.53953547e-01 -1.84892346e-01 3.16605402e+02] [ 5.39871905e-01 8.32547057e-01 -1.24111744e-01 2.33892195e+02] [ 2.22683720e-01 9.30459417e-04 9.74890299e-01 8.18770888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.63, Y:233.90, Z:81.89 [[ 8.10377311e-01 -5.52582509e-01 -1.94784971e-01 3.16631239e+02] [ 5.42296495e-01 8.33256057e-01 -1.07697978e-01 2.33899122e+02] [ 2.21817776e-01 -1.83552091e-02 9.74915361e-01 8.18896577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.64, Y:233.93, Z:81.88 [[ 8.09072435e-01 -5.60414541e-01 -1.77023550e-01 3.16643437e+02] [ 5.43251442e-01 8.28059071e-01 -1.38549795e-01 2.33934101e+02] [ 2.24231276e-01 1.59285213e-02 9.74405776e-01 8.18846963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.67, Y:233.94, Z:81.90 [[ 8.08969785e-01 -5.56774068e-01 -1.88601497e-01 3.16671373e+02] [ 5.43511180e-01 8.30650631e-01 -1.20893042e-01 2.33938095e+02] [ 2.23972063e-01 -4.70820428e-03 9.74584192e-01 8.18964675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.69, Y:233.96, Z:81.90 [[ 8.07443315e-01 -5.60490935e-01 -1.84079346e-01 3.16691425e+02] [ 5.45704261e-01 8.28155690e-01 -1.27925810e-01 2.33959477e+02] [ 2.24147615e-01 2.83995680e-03 9.74551067e-01 8.18999087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.71, Y:233.97, Z:81.91 [[ 8.06201133e-01 -5.61172247e-01 -1.87417831e-01 3.16713560e+02] [ 5.47440396e-01 8.27693250e-01 -1.23421624e-01 2.33972475e+02] [ 2.24385263e-01 -3.09743845e-03 9.74495592e-01 8.19074517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.74, Y:233.99, Z:81.91 [[ 8.05474627e-01 -5.62363189e-01 -1.86971304e-01 3.16735384e+02] [ 5.47948236e-01 8.26890164e-01 -1.26512401e-01 2.33990249e+02] [ 2.25750650e-01 -5.48066696e-04 9.74184964e-01 8.19140608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.76, Y:234.01, Z:81.92 [[ 8.05158406e-01 -5.62326936e-01 -1.88436618e-01 3.16757958e+02] [ 5.48482454e-01 8.26907731e-01 -1.24058865e-01 2.34005672e+02] [ 2.25581338e-01 -3.46714107e-03 9.74218168e-01 8.19215586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.78, Y:234.02, Z:81.93 [[ 8.04460209e-01 -5.62904750e-01 -1.89689258e-01 3.16780315e+02] [ 5.49668252e-01 8.26496196e-01 -1.21527161e-01 2.34020200e+02] [ 2.25185666e-01 -6.50239739e-03 9.74294173e-01 8.19286327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.81, Y:234.03, Z:81.95 [[ 8.03130138e-01 -5.59841811e-01 -2.03860564e-01 3.16808433e+02] [ 5.49869663e-01 8.28215699e-01 -1.08176287e-01 2.34025476e+02] [ 2.29402128e-01 -2.52171032e-02 9.73005016e-01 8.19487943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.092755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:316.83, Y:234.05, Z:81.95 [[ 8.03510836e-01 -5.62213291e-01 -1.95669499e-01 3.16827147e+02] [ 5.50482588e-01 8.26854165e-01 -1.15243701e-01 2.34047940e+02] [ 2.26581680e-01 -1.51130896e-02 9.73874908e-01 8.19504726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.85, Y:234.07, Z:81.95 [[ 8.03250458e-01 -5.64601070e-01 -1.89774428e-01 3.16846212e+02] [ 5.50880615e-01 8.25348265e-01 -1.23817567e-01 2.34069641e+02] [ 2.26537526e-01 -5.08653639e-03 9.73989156e-01 8.19538261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.87, Y:234.09, Z:81.96 [[ 8.03080527e-01 -5.64856413e-01 -1.89733762e-01 3.16869417e+02] [ 5.51128277e-01 8.25173560e-01 -1.23879853e-01 2.34085025e+02] [ 2.26537613e-01 -5.08214332e-03 9.73989159e-01 8.19601905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.89, Y:234.10, Z:81.96 [[ 8.03398222e-01 -5.64700485e-01 -1.88850889e-01 3.16889957e+02] [ 5.51078052e-01 8.25281117e-01 -1.23385811e-01 2.34101550e+02] [ 2.25531100e-01 -4.94363867e-03 9.74223426e-01 8.19649504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.91, Y:234.12, Z:81.97 [[ 8.03475804e-01 -5.64711354e-01 -1.88487982e-01 3.16912036e+02] [ 5.51130764e-01 8.25273971e-01 -1.23198029e-01 2.34117623e+02] [ 2.25125551e-01 -4.89489015e-03 9.74317467e-01 8.19707159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.93, Y:234.13, Z:81.98 [[ 8.03766436e-01 -5.64478393e-01 -1.87945896e-01 3.16934130e+02] [ 5.50950478e-01 8.25434227e-01 -1.22930501e-01 2.34134995e+02] [ 2.24528587e-01 -4.74147064e-03 9.74455967e-01 8.19761598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.96, Y:234.15, Z:81.98 [[ 8.03945959e-01 -5.64304886e-01 -1.87698934e-01 3.16956226e+02] [ 5.50788144e-01 8.25553585e-01 -1.22856418e-01 2.34150422e+02] [ 2.24284005e-01 -4.61242695e-03 9.74512909e-01 8.19815468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.98, Y:234.17, Z:81.99 [[ 8.03852700e-01 -5.64579941e-01 -1.87270731e-01 3.16978376e+02] [ 5.51121766e-01 8.25365368e-01 -1.22624665e-01 2.34165907e+02] [ 2.23798202e-01 -4.63680810e-03 9.74624474e-01 8.19876063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.00, Y:234.18, Z:81.99 [[ 8.03962773e-01 -5.64761869e-01 -1.86246856e-01 3.17001026e+02] [ 5.51437074e-01 8.25241174e-01 -1.22041627e-01 2.34182394e+02] [ 2.22623031e-01 -4.58649673e-03 9.74893815e-01 8.19932702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.02, Y:234.20, Z:82.00 [[ 8.03958325e-01 -5.64836057e-01 -1.86040965e-01 3.17023766e+02] [ 5.51523322e-01 8.25190718e-01 -1.21993052e-01 2.34198204e+02] [ 2.22425352e-01 -4.52860100e-03 9.74939206e-01 8.19990325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.05, Y:234.21, Z:82.00 [[ 8.03710834e-01 -5.65437599e-01 -1.85281452e-01 3.17045791e+02] [ 5.52230937e-01 8.24778236e-01 -1.21580644e-01 2.34214162e+02] [ 2.21562377e-01 -4.60246960e-03 9.75135340e-01 8.20045793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.07, Y:234.23, Z:82.01 [[ 8.03362744e-01 -5.65922478e-01 -1.85310687e-01 3.17068167e+02] [ 5.52704582e-01 8.24445268e-01 -1.21686668e-01 2.34229297e+02] [ 2.21643740e-01 -4.66353074e-03 9.75116559e-01 8.20108229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.09, Y:234.24, Z:82.02 [[ 8.02855508e-01 -5.66762965e-01 -1.84939920e-01 3.17090076e+02] [ 5.53600918e-01 8.23866848e-01 -1.21529584e-01 2.34244192e+02] [ 2.21244336e-01 -4.81221395e-03 9.75206535e-01 8.20169736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.11, Y:234.26, Z:82.02 [[ 8.01796827e-01 -5.68379061e-01 -1.84572728e-01 3.17112345e+02] [ 5.55291439e-01 8.22750577e-01 -1.21379182e-01 2.34259674e+02] [ 2.20846704e-01 -5.17021281e-03 9.75294828e-01 8.20234540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.14, Y:234.28, Z:82.03 [[ 8.01159650e-01 -5.69259499e-01 -1.84626212e-01 3.17135145e+02] [ 5.56165844e-01 8.22140597e-01 -1.21508814e-01 2.34275125e+02] [ 2.20958751e-01 -5.33483433e-03 9.75268563e-01 8.20298656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.16, Y:234.29, Z:82.04 [[ 8.00710881e-01 -5.69890474e-01 -1.84626469e-01 3.17156697e+02] [ 5.56791526e-01 8.21702736e-01 -1.21605144e-01 2.34290163e+02] [ 2.21009688e-01 -5.42789100e-03 9.75256508e-01 8.20357668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.19, Y:234.30, Z:82.05 [[ 7.99956887e-01 -5.66104571e-01 -1.98983903e-01 3.17186006e+02] [ 5.56457885e-01 8.23951386e-01 -1.07045485e-01 2.34295700e+02] [ 2.24552000e-01 -2.50943889e-02 9.74138938e-01 8.20538514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.19, Y:234.33, Z:82.04 [[ 8.00103276e-01 -5.74316036e-01 -1.73193071e-01 3.17194663e+02] [ 5.56303694e-01 8.18417300e-01 -1.43942082e-01 2.34334688e+02] [ 2.24412451e-01 1.88205864e-02 9.74312495e-01 8.20442980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.22, Y:234.34, Z:82.06 [[ 8.00695949e-01 -5.69344084e-01 -1.86368748e-01 3.17224124e+02] [ 5.55307968e-01 8.22094340e-01 -1.25674014e-01 2.34339018e+02] [ 2.24764450e-01 -2.86537681e-03 9.74408914e-01 8.20561357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.25, Y:234.35, Z:82.07 [[ 8.01353746e-01 -5.66654480e-01 -1.91663441e-01 3.17249790e+02] [ 5.54930889e-01 8.23839851e-01 -1.15497222e-01 2.34348193e+02] [ 2.23346999e-01 -1.38058325e-02 9.74641225e-01 8.20651062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.692755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:317.27, Y:234.37, Z:82.07 [[ 8.00711033e-01 -5.70314565e-01 -1.83311591e-01 3.17268382e+02] [ 5.54905193e-01 8.21417784e-01 -1.31730979e-01 2.34374050e+02] [ 2.25703497e-01 3.75789471e-03 9.74188796e-01 8.20688681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.722755096 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:317.29, Y:234.38, Z:82.08 [[ 8.03300947e-01 -5.63610698e-01 -1.92485243e-01 3.17294442e+02] [ 5.51950289e-01 8.25922878e-01 -1.14901172e-01 2.34377303e+02] [ 2.23737496e-01 -1.39420646e-02 9.74549718e-01 8.20788504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.752755096 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:317.31, Y:234.40, Z:82.08 [[ 8.03799376e-01 -5.64737364e-01 -1.87024794e-01 3.17313892e+02] [ 5.51054709e-01 8.25262398e-01 -1.23615054e-01 2.34397483e+02] [ 2.24154569e-01 -3.69919012e-03 9.74546584e-01 8.20829582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.782755096 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:317.34, Y:234.41, Z:82.09 [[ 8.04505336e-01 -5.63607658e-01 -1.87396828e-01 3.17336982e+02] [ 5.49826656e-01 8.26035850e-01 -1.23916999e-01 2.34412345e+02] [ 2.24637068e-01 -3.34388410e-03 9.74436764e-01 8.20896994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.812755096 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:317.36, Y:234.43, Z:82.10 [[ 8.04628194e-01 -5.63433768e-01 -1.87392260e-01 3.17359928e+02] [ 5.49628149e-01 8.26154964e-01 -1.24003520e-01 2.34427283e+02] [ 2.24682816e-01 -3.21933245e-03 9.74426636e-01 8.20960363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.842755096 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:317.38, Y:234.44, Z:82.10 [[ 8.04661183e-01 -5.63234147e-01 -1.87850145e-01 3.17382053e+02] [ 5.49335385e-01 8.26291523e-01 -1.24390326e-01 2.34441525e+02] [ 2.25279862e-01 -3.10066459e-03 9.74289161e-01 8.21020747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.872755096 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:317.41, Y:234.46, Z:82.11 [[ 8.04859953e-01 -5.62879088e-01 -1.88062725e-01 3.17405848e+02] [ 5.48927995e-01 8.26533932e-01 -1.24578148e-01 2.34455812e+02] [ 2.25562658e-01 -2.96493231e-03 9.74224151e-01 8.21081634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.902755096 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:317.43, Y:234.47, Z:82.11 [[ 8.04926216e-01 -5.62772741e-01 -1.88097395e-01 3.17428444e+02] [ 5.48792698e-01 8.26606719e-01 -1.24691248e-01 2.34470185e+02] [ 2.25655406e-01 -2.85922196e-03 9.74202988e-01 8.21139822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.932755096 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:317.44, Y:234.50, Z:82.10 [[ 8.04738022e-01 -5.69628676e-01 -1.67092453e-01 3.17438281e+02] [ 5.50641782e-01 8.21444872e-01 -1.48397944e-01 2.34502821e+02] [ 2.21788963e-01 2.74133823e-02 9.74709271e-01 8.21041942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.962755096 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:317.48, Y:234.49, Z:82.13 [[ 8.05558977e-01 -5.57106615e-01 -2.01759646e-01 3.17481644e+02] [ 5.48548521e-01 8.29937119e-01 -1.01483493e-01 2.34485987e+02] [ 2.23984944e-01 -2.89240169e-02 9.74163306e-01 8.21316613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.992755096 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:317.50, Y:234.51, Z:82.13 [[ 8.05607091e-01 -5.62348643e-01 -1.86443607e-01 3.17496847e+02] [ 5.48566564e-01 8.26896238e-01 -1.23763231e-01 2.34514375e+02] [ 2.23767602e-01 -2.57219274e-03 9.74639135e-01 8.21313202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.022755096 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:317.52, Y:234.53, Z:82.14 [[ 8.06044723e-01 -5.62163470e-01 -1.85105747e-01 3.17519285e+02] [ 5.48556648e-01 8.27022570e-01 -1.22960454e-01 2.34528018e+02] [ 2.22210506e-01 -2.42936247e-03 9.74995687e-01 8.21365053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.052755096 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:317.54, Y:234.54, Z:82.14 [[ 8.06122209e-01 -5.62128338e-01 -1.84874866e-01 3.17542440e+02] [ 5.48544203e-01 8.27046603e-01 -1.22854276e-01 2.34542536e+02] [ 2.21960000e-01 -2.37647570e-03 9.75052876e-01 8.21422111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.082755096 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:317.57, Y:234.56, Z:82.15 [[ 8.06206866e-01 -5.62199223e-01 -1.84289234e-01 3.17565886e+02] [ 5.48684588e-01 8.26998591e-01 -1.22550207e-01 2.34557504e+02] [ 2.21304568e-01 -2.31584430e-03 9.75201992e-01 8.21478768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.112755096 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:317.59, Y:234.57, Z:82.15 [[ 8.06447162e-01 -5.61888477e-01 -1.84185544e-01 3.17588228e+02] [ 5.48361903e-01 8.27210183e-01 -1.22566455e-01 2.34571100e+02] [ 2.21228836e-01 -2.15696622e-03 9.75219539e-01 8.21531057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.142755096 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:317.61, Y:234.59, Z:82.16 [[ 8.06486706e-01 -5.61883030e-01 -1.84028946e-01 3.17611027e+02] [ 5.48366532e-01 8.27214017e-01 -1.22519859e-01 2.34586216e+02] [ 2.21073153e-01 -2.10467762e-03 9.75254957e-01 8.21588148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1727550960001 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:317.63, Y:234.60, Z:82.16 [[ 8.06625719e-01 -5.61642185e-01 -1.84154841e-01 3.17632902e+02] [ 5.48082214e-01 8.27377890e-01 -1.22685429e-01 2.34600605e+02] [ 2.21270956e-01 -1.97077078e-03 9.75210377e-01 8.21643396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.202755096 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:317.66, Y:234.61, Z:82.17 [[ 8.06716894e-01 -5.61605425e-01 -1.83867343e-01 3.17656924e+02] [ 5.48076405e-01 8.27402969e-01 -1.22542160e-01 2.34614994e+02] [ 2.20952727e-01 -1.91652164e-03 9.75282636e-01 8.21700002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.232755096 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:317.68, Y:234.63, Z:82.18 [[ 8.06691010e-01 -5.61747875e-01 -1.83545472e-01 3.17680462e+02] [ 5.48251396e-01 8.27306345e-01 -1.22411675e-01 2.34629572e+02] [ 2.20612832e-01 -1.88066317e-03 9.75359647e-01 8.21760960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.262755096 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:317.70, Y:234.64, Z:82.18 [[ 8.06721930e-01 -5.61870086e-01 -1.83034787e-01 3.17703755e+02] [ 5.48433474e-01 8.27223448e-01 -1.22156013e-01 2.34641794e+02] [ 2.20046477e-01 -1.83646937e-03 9.75487660e-01 8.21816546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2927550960001 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:317.72, Y:234.65, Z:82.19 [[ 8.07766283e-01 -5.60660900e-01 -1.82134532e-01 3.17724910e+02] [ 5.47102968e-01 8.28045247e-01 -1.22553707e-01 2.34654669e+02] [ 2.19526705e-01 -6.51590912e-04 9.75606274e-01 8.21866913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.322755096 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:317.74, Y:234.68, Z:82.18 [[ 8.07165919e-01 -5.65545631e-01 -1.69237463e-01 3.17743673e+02] [ 5.49184581e-01 8.24543504e-01 -1.36104023e-01 2.34680566e+02] [ 2.16516686e-01 1.69159235e-02 9.76132356e-01 8.21849820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.352755096 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:317.78, Y:234.68, Z:82.20 [[ 8.07125621e-01 -5.59392769e-01 -1.88753707e-01 3.17776514e+02] [ 5.47999504e-01 8.28812348e-01 -1.12989537e-01 2.34675843e+02] [ 2.19646933e-01 -1.22401873e-02 9.75502641e-01 8.22023216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.382755096 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:317.80, Y:234.70, Z:82.21 [[ 8.06652577e-01 -5.62672391e-01 -1.80862934e-01 3.17797184e+02] [ 5.48851157e-01 8.26679665e-01 -1.23948134e-01 2.34697314e+02] [ 2.19257903e-01 7.16251076e-04 9.75666674e-01 8.22054573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.412755096 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:317.82, Y:234.72, Z:82.21 [[ 8.05078194e-01 -5.67081108e-01 -1.73977354e-01 3.17818067e+02] [ 5.51944691e-01 8.23612758e-01 -1.30457210e-01 2.34718352e+02] [ 2.17269787e-01 9.00237828e-03 9.76070078e-01 8.22050651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.442755096 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:317.86, Y:234.71, Z:82.23 [[ 8.03758628e-01 -5.61984075e-01 -1.95309928e-01 3.17857082e+02] [ 5.52480166e-01 8.26824789e-01 -1.05481913e-01 2.34714286e+02] [ 2.20766245e-01 -2.31228636e-02 9.75052613e-01 8.22288802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.472755096 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:317.87, Y:234.75, Z:82.22 [[ 8.02640094e-01 -5.70297900e-01 -1.74726027e-01 3.17868183e+02] [ 5.55167825e-01 8.21399674e-01 -1.30733551e-01 2.34745425e+02] [ 2.18076971e-01 7.92972090e-03 9.75899357e-01 8.22220247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.502755096 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:317.89, Y:234.76, Z:82.22 [[ 8.03344853e-01 -5.70582895e-01 -1.70505739e-01 3.17887439e+02] [ 5.55160250e-01 8.21158026e-01 -1.32274689e-01 2.34760212e+02] [ 2.15485831e-01 1.16041821e-02 9.76438016e-01 8.22221067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.532755096 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:317.92, Y:234.76, Z:82.24 [[ 8.01827161e-01 -5.67400848e-01 -1.87428603e-01 3.17922077e+02] [ 5.56463339e-01 8.23311792e-01 -1.11831326e-01 2.34760818e+02] [ 2.17765368e-01 -1.46277515e-02 9.75891527e-01 8.22397591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.562755096 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:317.94, Y:234.78, Z:82.24 [[ 8.01567129e-01 -5.69725139e-01 -1.81392955e-01 3.17941467e+02] [ 5.56638606e-01 8.21827376e-01 -1.21462861e-01 2.34780408e+02] [ 2.18274142e-01 -3.60968517e-03 9.75880817e-01 8.22425976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.592755096 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:317.97, Y:234.79, Z:82.25 [[ 8.01218081e-01 -5.70102555e-01 -1.81748904e-01 3.17965463e+02] [ 5.56963238e-01 8.21565290e-01 -1.21747386e-01 2.34792973e+02] [ 2.18727087e-01 -3.68125143e-03 9.75779130e-01 8.22485735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.622755096 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:317.99, Y:234.81, Z:82.25 [[ 8.00894670e-01 -5.70562269e-01 -1.81731739e-01 3.17989338e+02] [ 5.57418359e-01 8.21245847e-01 -1.21819671e-01 2.34807261e+02] [ 2.18752143e-01 -3.73588244e-03 9.75773305e-01 8.22546261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.652755096 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:318.01, Y:234.82, Z:82.26 [[ 8.00430569e-01 -5.71180256e-01 -1.81835144e-01 3.18012192e+02] [ 5.58018003e-01 8.20815692e-01 -1.21973393e-01 2.34820970e+02] [ 2.18921933e-01 -3.83605193e-03 9.75734837e-01 8.22606713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.682755096 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:318.04, Y:234.83, Z:82.27 [[ 8.00036402e-01 -5.71740664e-01 -1.81808607e-01 3.18037278e+02] [ 5.58586383e-01 8.20424894e-01 -1.22001009e-01 2.34833551e+02] [ 2.18913244e-01 -3.95056384e-03 9.75736329e-01 8.22662435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.712755096 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:318.05, Y:234.85, Z:82.26 [[ 8.01224253e-01 -5.73026520e-01 -1.72279727e-01 3.18053164e+02] [ 5.56878279e-01 8.19437307e-01 -1.35680070e-01 2.34854113e+02] [ 2.18920714e-01 1.27713246e-02 9.75659067e-01 8.22623909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.742755096 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:318.09, Y:234.85, Z:82.28 [[ 8.01681852e-01 -5.67319790e-01 -1.88293558e-01 3.18090174e+02] [ 5.56017199e-01 8.23383664e-01 -1.13508662e-01 2.34853566e+02] [ 2.19433550e-01 -1.36966226e-02 9.75531301e-01 8.22781999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.772755096 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:318.10, Y:234.89, Z:82.27 [[ 7.99106271e-01 -5.77025651e-01 -1.68732235e-01 3.18103944e+02] [ 5.60159716e-01 8.16549482e-01 -1.39527903e-01 2.34889189e+02] [ 2.18289398e-01 1.69806214e-02 9.75736336e-01 8.22708504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.802755096 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:318.14, Y:234.88, Z:82.29 [[ 8.00390731e-01 -5.67020110e-01 -1.94583845e-01 3.18136492e+02] [ 5.56923405e-01 8.23425887e-01 -1.08656020e-01 2.34875586e+02] [ 2.21835523e-01 -2.14010262e-02 9.74849218e-01 8.22939037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.832755096 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:318.16, Y:234.90, Z:82.29 [[ 8.01072341e-01 -5.69668725e-01 -1.83740711e-01 3.18159870e+02] [ 5.55620973e-01 8.21873273e-01 -1.25736461e-01 2.34901871e+02] [ 2.22639709e-01 -1.36619137e-03 9.74899838e-01 8.22948137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.862755096 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:318.18, Y:234.92, Z:82.30 [[ 8.00246421e-01 -5.71678778e-01 -1.81077442e-01 3.18175971e+02] [ 5.56744397e-01 8.20471669e-01 -1.29853448e-01 2.34916763e+02] [ 2.22803372e-01 3.10090618e-03 9.74858473e-01 8.22980998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.892755096 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:318.21, Y:234.93, Z:82.31 [[ 7.98691278e-01 -5.71876279e-01 -1.87215825e-01 3.18205440e+02] [ 5.59915730e-01 8.20259970e-01 -1.16910039e-01 2.34926793e+02] [ 2.20423725e-01 -1.14500572e-02 9.75337007e-01 8.23093294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9227550960001 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:318.23, Y:234.94, Z:82.31 [[ 7.98125932e-01 -5.74097466e-01 -1.82776082e-01 3.18227295e+02] [ 5.60742235e-01 8.18776316e-01 -1.23180718e-01 2.34943971e+02] [ 2.20370465e-01 -4.17654309e-03 9.75407307e-01 8.23135573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.952755096 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:318.25, Y:234.96, Z:82.32 [[ 7.98778825e-01 -5.72964794e-01 -1.83476793e-01 3.18253989e+02] [ 5.59091660e-01 8.19576295e-01 -1.25344375e-01 2.34958765e+02] [ 2.22191144e-01 -2.45791213e-03 9.75000028e-01 8.23204913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.982755096 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:318.27, Y:234.97, Z:82.33 [[ 7.97811605e-01 -5.73888527e-01 -1.84793401e-01 3.18274377e+02] [ 5.60958249e-01 8.18904670e-01 -1.21330060e-01 2.34971677e+02] [ 2.20958109e-01 -6.86285271e-03 9.75259153e-01 8.23269088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.012755096 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:318.29, Y:234.99, Z:82.33 [[ 7.97916406e-01 -5.74930642e-01 -1.81063985e-01 3.18293376e+02] [ 5.59966821e-01 8.18197977e-01 -1.30342737e-01 2.34991905e+02] [ 2.23084219e-01 2.61278408e-03 9.74795673e-01 8.23307915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0427550960001 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:318.32, Y:235.01, Z:82.34 [[ 7.98912859e-01 -5.73737050e-01 -1.80455092e-01 3.18319483e+02] [ 5.59450356e-01 8.19039260e-01 -1.27239889e-01 2.35008549e+02] [ 2.20802044e-01 6.97918260e-04 9.75318394e-01 8.23358094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.072755096 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:318.34, Y:235.02, Z:82.34 [[ 7.98733775e-01 -5.72990978e-01 -1.83591110e-01 3.18343983e+02] [ 5.59668460e-01 8.19548960e-01 -1.22925658e-01 2.35021547e+02] [ 2.20897196e-01 -4.56527903e-03 9.75286413e-01 8.23439114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.102755096 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:318.36, Y:235.04, Z:82.35 [[ 7.99833214e-01 -5.71859089e-01 -1.82329405e-01 3.18361778e+02] [ 5.56805759e-01 8.20347234e-01 -1.30375469e-01 2.35039890e+02] [ 2.24129819e-01 2.75656763e-03 9.74555399e-01 8.23479448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.132755096 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:318.39, Y:235.05, Z:82.36 [[ 8.00925160e-01 -5.69439112e-01 -1.85089129e-01 3.18386063e+02] [ 5.56089120e-01 8.22020206e-01 -1.22668948e-01 2.35051982e+02] [ 2.21999501e-01 -4.67740414e-03 9.75035560e-01 8.23559732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.162755096 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:318.41, Y:235.06, Z:82.37 [[ 8.02019789e-01 -5.65780530e-01 -1.91459265e-01 3.18408572e+02] [ 5.54578344e-01 8.24410620e-01 -1.13092837e-01 2.35062109e+02] [ 2.21826777e-01 -1.54764687e-02 9.74963261e-01 8.23671990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.192755096 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:318.43, Y:235.09, Z:82.37 [[ 8.02046334e-01 -5.68758109e-01 -1.82307138e-01 3.18425555e+02] [ 5.54183303e-01 8.22503316e-01 -1.27942026e-01 2.35086719e+02] [ 2.22716290e-01 1.58386121e-03 9.74882016e-01 8.23687604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.222755096 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:318.45, Y:235.11, Z:82.37 [[ 8.01806433e-01 -5.69650585e-01 -1.80567591e-01 3.18450610e+02] [ 5.55038100e-01 8.21882906e-01 -1.28223225e-01 2.35105261e+02] [ 2.21447852e-01 2.58831420e-03 9.75168780e-01 8.23731506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.252755096 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:318.47, Y:235.11, Z:82.39 [[ 8.00861155e-01 -5.67850190e-01 -1.90177740e-01 3.18474283e+02] [ 5.56033167e-01 8.23031192e-01 -1.15960229e-01 2.35111653e+02] [ 2.22370250e-01 -1.28770881e-02 9.74877250e-01 8.23866159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.282755096 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:318.49, Y:235.13, Z:82.39 [[ 8.00254405e-01 -5.70752621e-01 -1.83941115e-01 3.18493114e+02] [ 5.56911179e-01 8.21118437e-01 -1.24957795e-01 2.35132387e+02] [ 2.22357429e-01 -2.44083728e-03 9.74962161e-01 8.23894558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.312755096 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:318.51, Y:235.16, Z:82.38 [[ 7.99407946e-01 -5.76706217e-01 -1.68394998e-01 3.18511409e+02] [ 5.59483706e-01 8.16739955e-01 -1.41116365e-01 2.35162324e+02] [ 2.18917608e-01 1.85952862e-02 9.75566141e-01 8.23819156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.342755096 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:318.54, Y:235.16, Z:82.39 [[ 7.98345979e-01 -5.73967088e-01 -1.82223711e-01 3.18539357e+02] [ 5.61083028e-01 8.18859252e-01 -1.21059330e-01 2.35163744e+02] [ 2.18699643e-01 -5.59540195e-03 9.75776182e-01 8.23941792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.372755096 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:318.56, Y:235.18, Z:82.40 [[ 7.96808507e-01 -5.76852328e-01 -1.79826571e-01 3.18559515e+02] [ 5.63040643e-01 8.16847471e-01 -1.25480853e-01 2.35182045e+02] [ 2.19274802e-01 -1.26545738e-03 9.75662319e-01 8.23977827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.402755096 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:318.58, Y:235.20, Z:82.40 [[ 7.93337268e-01 -5.82348552e-01 -1.77443352e-01 3.18583187e+02] [ 5.66747590e-01 8.12918851e-01 -1.34015340e-01 2.35203748e+02] [ 2.22290685e-01 5.75377136e-03 9.74963459e-01 8.24030514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.432755096 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:318.61, Y:235.21, Z:82.41 [[ 7.93639522e-01 -5.79734361e-01 -1.84511190e-01 3.18608709e+02] [ 5.67211913e-01 8.14752915e-01 -1.20201217e-01 2.35208992e+02] [ 2.20015806e-01 -9.26050872e-03 9.75452351e-01 8.24121722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.462755096 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:318.63, Y:235.23, Z:82.42 [[ 7.91492937e-01 -5.84241291e-01 -1.79446494e-01 3.18630187e+02] [ 5.69367478e-01 8.11578599e-01 -1.30999438e-01 2.35231825e+02] [ 2.22170215e-01 1.51413236e-03 9.75006719e-01 8.24166859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.492755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:318.66, Y:235.22, Z:82.43 [[ 7.93368123e-01 -5.76394423e-01 -1.95797066e-01 3.18661588e+02] [ 5.69213189e-01 8.16444336e-01 -9.70308844e-02 2.35223753e+02] [ 2.15785466e-01 -3.44690614e-02 9.75832217e-01 8.24327285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.522755096 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:318.67, Y:235.27, Z:82.43 [[ 7.91205843e-01 -5.87730351e-01 -1.69015823e-01 3.18670949e+02] [ 5.70807228e-01 8.08918940e-01 -1.40816395e-01 2.35267900e+02] [ 2.19482170e-01 1.49393009e-02 9.75502124e-01 8.24268311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.552755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:318.70, Y:235.27, Z:82.44 [[ 7.91669873e-01 -5.84370410e-01 -1.78241510e-01 3.18697589e+02] [ 5.70974769e-01 8.11480536e-01 -1.24447393e-01 2.35273083e+02] [ 2.17362890e-01 -3.25015335e-03 9.76085453e-01 8.24367534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.582755096 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:318.73, Y:235.27, Z:82.46 [[ 7.93008489e-01 -5.75867068e-01 -1.98782936e-01 3.18727125e+02] [ 5.68211027e-01 8.16836464e-01 -9.95711827e-02 2.35270266e+02] [ 2.19712916e-01 -3.39898632e-02 9.74972268e-01 8.24606342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.612755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:318.74, Y:235.31, Z:82.45 [[ 7.93339270e-01 -5.84195785e-01 -1.71254455e-01 3.18737346e+02] [ 5.67740273e-01 8.11517366e-01 -1.38240903e-01 2.35313654e+02] [ 2.19735717e-01 1.24438861e-02 9.75480069e-01 8.24487543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.642755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:318.77, Y:235.31, Z:82.47 [[ 7.95887160e-01 -5.73935912e-01 -1.92772398e-01 3.18767552e+02] [ 5.63737273e-01 8.18623538e-01 -1.09798860e-01 2.35310002e+02] [ 2.20825532e-01 -2.12854830e-02 9.75081029e-01 8.24694048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6727550960001 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:318.78, Y:235.35, Z:82.46 [[ 7.97053687e-01 -5.78661098e-01 -1.72791069e-01 3.18780652e+02] [ 5.61445412e-01 8.15424218e-01 -1.40934004e-01 2.35345832e+02] [ 2.22451048e-01 1.53192140e-02 9.74823498e-01 8.24619632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.702755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:318.81, Y:235.34, Z:82.48 [[ 7.97639292e-01 -5.70843896e-01 -1.94701841e-01 3.18812439e+02] [ 5.60697789e-01 8.20765656e-01 -1.09369678e-01 2.35341846e+02] [ 2.22237598e-01 -2.19313389e-02 9.74745847e-01 8.24821634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.732755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:318.83, Y:235.37, Z:82.48 [[ 7.99204303e-01 -5.72083345e-01 -1.84372256e-01 3.18828215e+02] [ 5.58067627e-01 8.20192295e-01 -1.25877414e-01 2.35369052e+02] [ 2.23233075e-01 -2.29041646e-03 9.74762406e-01 8.24824760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.762755096 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:318.85, Y:235.39, Z:82.49 [[ 7.99608458e-01 -5.71546168e-01 -1.84285897e-01 3.18850658e+02] [ 5.57510345e-01 8.20567304e-01 -1.25902805e-01 2.35385017e+02] [ 2.23178247e-01 -2.06834667e-03 9.74775457e-01 8.24883677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7927550960001 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:318.87, Y:235.40, Z:82.49 [[ 7.99820828e-01 -5.71276631e-01 -1.84200037e-01 3.18872792e+02] [ 5.57227499e-01 8.20755337e-01 -1.25929315e-01 2.35400617e+02] [ 2.23123638e-01 -1.92043712e-03 9.74788261e-01 8.24947794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.822755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:318.89, Y:235.43, Z:82.49 [[ 7.99615474e-01 -5.75100777e-01 -1.72841518e-01 3.18891060e+02] [ 5.58287841e-01 8.17954207e-01 -1.38800586e-01 2.35427026e+02] [ 2.21200772e-01 1.44917786e-02 9.75120611e-01 8.24907508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.852755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:318.92, Y:235.42, Z:82.51 [[ 7.99772963e-01 -5.68048366e-01 -1.94124348e-01 3.18923837e+02] [ 5.56948215e-01 8.22806152e-01 -1.13131438e-01 2.35423018e+02] [ 2.23990836e-01 -1.76377441e-02 9.74431637e-01 8.25131895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.882755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:318.94, Y:235.45, Z:82.51 [[ 8.00004847e-01 -5.72999104e-01 -1.77944575e-01 3.18942169e+02] [ 5.57298952e-01 8.19520982e-01 -1.33428774e-01 2.35452583e+02] [ 2.22283880e-01 7.57534075e-03 9.74952558e-01 8.25101651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.912755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:318.97, Y:235.46, Z:82.52 [[ 7.99965746e-01 -5.69193642e-01 -1.89929997e-01 3.18967356e+02] [ 5.57036231e-01 8.22119925e-01 -1.17598750e-01 2.35456174e+02] [ 2.23081696e-01 -1.17229181e-02 9.74729260e-01 8.25245854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.942755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:318.98, Y:235.49, Z:82.51 [[ 8.00129763e-01 -5.76096963e-01 -1.67046855e-01 3.18981277e+02] [ 5.58419695e-01 8.17103681e-01 -1.43209703e-01 2.35492913e+02] [ 2.18997275e-01 2.13040917e-02 9.75492865e-01 8.25139135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.972755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:319.02, Y:235.48, Z:82.54 [[ 8.00694337e-01 -5.66164065e-01 -1.95823467e-01 3.19016128e+02] [ 5.56615181e-01 8.23945734e-01 -1.06268380e-01 2.35481458e+02] [ 2.21513248e-01 -2.39098242e-02 9.74864196e-01 8.25409646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.002755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:319.03, Y:235.51, Z:82.54 [[ 8.00637573e-01 -5.70686057e-01 -1.82474386e-01 3.19032159e+02] [ 5.56792407e-01 8.21167158e-01 -1.25166748e-01 2.35509136e+02] [ 2.21272891e-01 -1.38715167e-03 9.75210943e-01 8.25411328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.032755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:319.06, Y:235.52, Z:82.55 [[ 8.01198138e-01 -5.69953885e-01 -1.82302259e-01 3.19059056e+02] [ 5.56160141e-01 8.21675264e-01 -1.24642118e-01 2.35524329e+02] [ 2.20833516e-01 -1.52621728e-03 9.75310324e-01 8.25484092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.062755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:319.08, Y:235.54, Z:82.55 [[ 8.00259280e-01 -5.71183565e-01 -1.82577162e-01 3.19077673e+02] [ 5.57751150e-01 8.20815912e-01 -1.23186412e-01 2.35538365e+02] [ 2.20224294e-01 -3.25155253e-03 9.75443842e-01 8.25547517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.092755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:319.10, Y:235.56, Z:82.55 [[ 8.00526458e-01 -5.73613171e-01 -1.73566470e-01 3.19098353e+02] [ 5.57859218e-01 8.19060606e-01 -1.33913467e-01 2.35561794e+02] [ 2.18975986e-01 1.03756183e-02 9.75675081e-01 8.25534403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.122755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:319.13, Y:235.56, Z:82.57 [[ 8.00644243e-01 -5.68990889e-01 -1.87665032e-01 3.19128831e+02] [ 5.57344817e-01 8.22250893e-01 -1.15196458e-01 2.35564618e+02] [ 2.19853475e-01 -1.23627522e-02 9.75454567e-01 8.25704008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.152755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:319.14, Y:235.58, Z:82.57 [[ 7.99918289e-01 -5.71522857e-01 -1.83009167e-01 3.19143745e+02] [ 5.58365222e-01 8.20573344e-01 -1.22015027e-01 2.35584185e+02] [ 2.19906821e-01 -4.58390203e-03 9.75510112e-01 8.25737333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.182755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:319.17, Y:235.61, Z:82.57 [[ 8.00259391e-01 -5.72960928e-01 -1.76919989e-01 3.19165355e+02] [ 5.57792101e-01 8.19558917e-01 -1.31115038e-01 2.35607160e+02] [ 2.20120149e-01 6.24146815e-03 9.75452800e-01 8.25746986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.212755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:319.19, Y:235.61, Z:82.59 [[ 7.99620664e-01 -5.70498545e-01 -1.87451871e-01 3.19189841e+02] [ 5.58229330e-01 8.21235400e-01 -1.18120421e-01 2.35613694e+02] [ 2.21329641e-01 -1.01896025e-02 9.75145816e-01 8.25874860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.242755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.21, Y:235.64, Z:82.58 [[ 7.99672402e-01 -5.74714391e-01 -1.73860342e-01 3.19209249e+02] [ 5.58770650e-01 8.18284196e-01 -1.34856719e-01 2.35642241e+02] [ 2.19771268e-01 1.06931400e-02 9.75492823e-01 8.25845369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.272755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.24, Y:235.64, Z:82.60 [[ 7.98697986e-01 -5.70783295e-01 -1.90493981e-01 3.19235567e+02] [ 5.59300472e-01 8.20967427e-01 -1.14871517e-01 2.35643744e+02] [ 2.21956097e-01 -1.47957237e-02 9.74944397e-01 8.26010714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.302755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:319.25, Y:235.67, Z:82.60 [[ 7.98207909e-01 -5.73836811e-01 -1.83236044e-01 3.19253848e+02] [ 5.59758232e-01 8.18967859e-01 -1.26342264e-01 2.35666622e+02] [ 2.22564273e-01 -1.72048967e-03 9.74916501e-01 8.26035317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.332755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.27, Y:235.69, Z:82.60 [[ 7.98101024e-01 -5.76492654e-01 -1.75188399e-01 3.19274566e+02] [ 5.60666308e-01 8.17051756e-01 -1.34460846e-01 2.35689794e+02] [ 2.20653679e-01 9.09110637e-03 9.75309851e-01 8.26031323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.362755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.30, Y:235.69, Z:82.62 [[ 7.97784371e-01 -5.72243173e-01 -1.89941698e-01 3.19301323e+02] [ 5.60322730e-01 8.19978696e-01 -1.16933215e-01 2.35693054e+02] [ 2.22662380e-01 -1.31411599e-02 9.74807045e-01 8.26196055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.392755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.32, Y:235.71, Z:82.62 [[ 7.97657739e-01 -5.74473169e-01 -1.83637443e-01 3.19319737e+02] [ 5.60308658e-01 8.18521531e-01 -1.26793973e-01 2.35714667e+02] [ 2.23150936e-01 -1.75545563e-03 9.74782323e-01 8.26231108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4227550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.34, Y:235.74, Z:82.62 [[ 7.97876106e-01 -5.76591484e-01 -1.75886271e-01 3.19339319e+02] [ 5.60642434e-01 8.16982022e-01 -1.34983103e-01 2.35737508e+02] [ 2.21526029e-01 9.09048515e-03 9.75112087e-01 8.26229915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.452755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.36, Y:235.75, Z:82.63 [[ 7.97650858e-01 -5.75276475e-01 -1.81135546e-01 3.19364157e+02] [ 5.61107733e-01 8.17958923e-01 -1.26890947e-01 2.35749028e+02] [ 2.21158813e-01 -4.21883251e-04 9.75237715e-01 8.26316748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.482755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.39, Y:235.76, Z:82.65 [[ 7.97751499e-01 -5.71993386e-01 -1.90830060e-01 3.19389224e+02] [ 5.60038613e-01 8.20147955e-01 -1.17107144e-01 2.35756027e+02] [ 2.23493395e-01 -1.34498029e-02 9.74612644e-01 8.26463533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.512755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.40, Y:235.79, Z:82.64 [[ 7.97506597e-01 -5.76918793e-01 -1.76487772e-01 3.19403501e+02] [ 5.60988761e-01 8.16756407e-01 -1.34909533e-01 2.35786036e+02] [ 2.21979364e-01 8.58358604e-03 9.75013582e-01 8.26419959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5427550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:319.43, Y:235.80, Z:82.65 [[ 7.97456286e-01 -5.75296029e-01 -1.81928420e-01 3.19429242e+02] [ 5.61129244e-01 8.17944785e-01 -1.26886962e-01 2.35797431e+02] [ 2.21804967e-01 -8.98551321e-04 9.75090636e-01 8.26512991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.572755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.45, Y:235.81, Z:82.67 [[ 7.97077561e-01 -5.73068049e-01 -1.90421566e-01 3.19453543e+02] [ 5.60726371e-01 8.19419885e-01 -1.18899071e-01 2.35806399e+02] [ 2.24172476e-01 -1.20026123e-02 9.74475571e-01 8.26654562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.602755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.47, Y:235.83, Z:82.67 [[ 7.96577692e-01 -5.75684406e-01 -1.84530338e-01 3.19472832e+02] [ 5.61323090e-01 8.17670040e-01 -1.27797085e-01 2.35828403e+02] [ 2.24455718e-01 -1.78083285e-03 9.74482663e-01 8.26690314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.49, Y:235.84, Z:82.68 [[ 7.96066427e-01 -5.76281453e-01 -1.84872741e-01 3.19494823e+02] [ 5.61863104e-01 8.17249127e-01 -1.28116026e-01 2.35844453e+02] [ 2.24917976e-01 -1.88430473e-03 9.74375879e-01 8.26757637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.52, Y:235.86, Z:82.68 [[ 7.95426886e-01 -5.77170304e-01 -1.84852669e-01 3.19517071e+02] [ 5.62760084e-01 8.16621189e-01 -1.28183158e-01 2.35860358e+02] [ 2.24938119e-01 -2.06737311e-03 9.74370858e-01 8.26821540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.54, Y:235.88, Z:82.69 [[ 7.94124922e-01 -5.78872058e-01 -1.85129007e-01 3.19538282e+02] [ 5.64444988e-01 8.15414596e-01 -1.28455797e-01 2.35875605e+02] [ 2.25316366e-01 -2.48519045e-03 9.74282484e-01 8.26888713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.56, Y:235.89, Z:82.70 [[ 7.93437671e-01 -5.79790124e-01 -1.85202794e-01 3.19560478e+02] [ 5.65359222e-01 8.14761436e-01 -1.28579755e-01 2.35891595e+02] [ 2.25445367e-01 -2.68608615e-03 9.74252109e-01 8.26951410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.58, Y:235.91, Z:82.70 [[ 7.92236061e-01 -5.81248755e-01 -1.85773811e-01 3.19581434e+02] [ 5.66748632e-01 8.13720232e-01 -1.29055696e-01 2.35907639e+02] [ 2.26181371e-01 -3.04447738e-03 9.74080448e-01 8.27014366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.60, Y:235.94, Z:82.69 [[ 7.91279151e-01 -5.86764262e-01 -1.72002926e-01 3.19595800e+02] [ 5.68842679e-01 8.09583413e-01 -1.44888595e-01 2.35936572e+02] [ 2.24266165e-01 1.68047196e-02 9.74383030e-01 8.26943016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:235.93, Z:82.72 [[ 7.91346294e-01 -5.77904802e-01 -1.99492062e-01 3.19635870e+02] [ 5.67543139e-01 8.15727217e-01 -1.11731343e-01 2.35928023e+02] [ 2.27301184e-01 -2.48021674e-02 9.73508615e-01 8.27217359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.65, Y:235.96, Z:82.72 [[ 7.88787528e-01 -5.85786655e-01 -1.86194068e-01 3.19646497e+02] [ 5.70913615e-01 8.10460399e-01 -1.31192935e-01 2.35956480e+02] [ 2.27753989e-01 -2.81737704e-03 9.73714631e-01 8.27203720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.66, Y:235.98, Z:82.72 [[ 7.88040272e-01 -5.89423289e-01 -1.77687127e-01 3.19663365e+02] [ 5.72319695e-01 8.07766726e-01 -1.41290778e-01 2.35980359e+02] [ 2.26809824e-01 9.64898079e-03 9.73891267e-01 8.27173318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.902755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.69, Y:235.99, Z:82.72 [[ 7.87381426e-01 -5.88772275e-01 -1.82695643e-01 3.19687884e+02] [ 5.73389893e-01 8.08298792e-01 -1.33705251e-01 2.35991484e+02] [ 2.26394613e-01 5.21196047e-04 9.74035527e-01 8.27242961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.72, Y:235.99, Z:82.74 [[ 7.86173750e-01 -5.85557747e-01 -1.97618217e-01 3.19717286e+02] [ 5.74249835e-01 8.10336755e-01 -1.16582461e-01 2.35993568e+02] [ 2.28403068e-01 -2.18281576e-02 9.73321925e-01 8.27440084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.962755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.74, Y:236.02, Z:82.75 [[ 7.85999462e-01 -5.89031652e-01 -1.87740670e-01 3.19735106e+02] [ 5.74343285e-01 8.08094462e-01 -1.30817172e-01 2.36018552e+02] [ 2.28767650e-01 -5.00536656e-03 9.73468186e-01 8.27457297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.76, Y:236.04, Z:82.75 [[ 7.85632789e-01 -5.89887111e-01 -1.86585951e-01 3.19757496e+02] [ 5.74759360e-01 8.07480388e-01 -1.32767096e-01 2.36035796e+02] [ 2.28982095e-01 -2.93583749e-03 9.73426207e-01 8.27511896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.78, Y:236.05, Z:82.76 [[ 7.85116435e-01 -5.89728517e-01 -1.89241801e-01 3.19779664e+02] [ 5.75506113e-01 8.07565231e-01 -1.28961668e-01 2.36049375e+02] [ 2.28877472e-01 -7.65988833e-03 9.73425102e-01 8.27596125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:236.07, Z:82.77 [[ 7.84937712e-01 -5.90423007e-01 -1.87812301e-01 3.19800728e+02] [ 5.75721827e-01 8.07076766e-01 -1.31039967e-01 2.36066805e+02] [ 2.28947956e-01 -5.26942957e-03 9.73424402e-01 8.27654297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.82, Y:236.08, Z:82.77 [[ 7.85164205e-01 -5.90683569e-01 -1.86037879e-01 3.19822731e+02] [ 5.75517444e-01 8.06899013e-01 -1.33017497e-01 2.36084688e+02] [ 2.28685031e-01 -2.62746710e-03 9.73496920e-01 8.27698533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.85, Y:236.10, Z:82.78 [[ 7.84643545e-01 -5.88817619e-01 -1.93980205e-01 3.19852976e+02] [ 5.76106949e-01 8.08117236e-01 -1.22667507e-01 2.36095225e+02] [ 2.28987536e-01 -1.55030767e-02 9.73305894e-01 8.27840098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.87, Y:236.11, Z:82.79 [[ 7.84949787e-01 -5.87918845e-01 -1.95461669e-01 3.19874611e+02] [ 5.75373174e-01 8.08746873e-01 -1.21959857e-01 2.36108907e+02] [ 2.29781512e-01 -1.67310375e-02 9.73098417e-01 8.27931375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:236.14, Z:82.79 [[ 7.84216402e-01 -5.92854653e-01 -1.83106515e-01 3.19892713e+02] [ 5.77088380e-01 8.05309042e-01 -1.35817338e-01 2.36137022e+02] [ 2.27977273e-01 8.41542456e-04 9.73666090e-01 8.27933355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:236.14, Z:82.80 [[ 7.86306964e-01 -5.87367822e-01 -1.91625678e-01 3.19918249e+02] [ 5.73816723e-01 8.09246055e-01 -1.25917400e-01 2.36143426e+02] [ 2.29032153e-01 -1.09482906e-02 9.73357287e-01 8.28037328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:236.17, Z:82.80 [[ 7.86267918e-01 -5.90888935e-01 -1.80646141e-01 3.19932364e+02] [ 5.74234240e-01 8.06731395e-01 -1.39425587e-01 2.36169129e+02] [ 2.28117950e-01 5.89266613e-03 9.73615672e-01 8.28023730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.96, Y:236.18, Z:82.81 [[ 7.87666291e-01 -5.87196531e-01 -1.86499459e-01 3.19957611e+02] [ 5.72346861e-01 8.09437464e-01 -1.31263336e-01 2.36180196e+02] [ 2.28037025e-01 -3.35067537e-03 9.73646696e-01 8.28109797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.98, Y:236.20, Z:82.82 [[ 7.88106140e-01 -5.86545520e-01 -1.86689756e-01 3.19979998e+02] [ 5.71626160e-01 8.09910363e-01 -1.31486640e-01 2.36196116e+02] [ 2.28324868e-01 -3.09132036e-03 9.73580094e-01 8.28173109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.00, Y:236.21, Z:82.82 [[ 7.88436215e-01 -5.85940700e-01 -1.87194634e-01 3.20001639e+02] [ 5.70901325e-01 8.10348925e-01 -1.31932930e-01 2.36211092e+02] [ 2.28997843e-01 -2.84896467e-03 9.73422761e-01 8.28237927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.03, Y:236.22, Z:82.84 [[ 7.89702065e-01 -5.82133357e-01 -1.93626968e-01 3.20030916e+02] [ 5.68501591e-01 8.13021502e-01 -1.25705918e-01 2.36221074e+02] [ 2.30600497e-01 -1.08070160e-02 9.72988499e-01 8.28361823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.05, Y:236.24, Z:82.84 [[ 7.89600788e-01 -5.83946577e-01 -1.88512575e-01 3.20051879e+02] [ 5.68946929e-01 8.11785034e-01 -1.31546383e-01 2.36240654e+02] [ 2.29847747e-01 -3.38452263e-03 9.73220714e-01 8.28400482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.07, Y:236.26, Z:82.84 [[ 7.87957260e-01 -5.87439443e-01 -1.84494601e-01 3.20068086e+02] [ 5.71520446e-01 8.09266561e-01 -1.35838190e-01 2.36260285e+02] [ 2.29102022e-01 1.59225164e-03 9.73401114e-01 8.28425047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.442755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:320.09, Y:236.27, Z:82.85 [[ 7.86318897e-01 -5.88803037e-01 -1.87119150e-01 3.20092120e+02] [ 5.73747403e-01 8.08269824e-01 -1.32339754e-01 2.36274438e+02] [ 2.29164812e-01 -3.29787726e-03 9.73382049e-01 8.28487050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:236.30, Z:82.85 [[ 7.86407587e-01 -5.91145997e-01 -1.79191289e-01 3.20114392e+02] [ 5.74610649e-01 8.06539717e-01 -1.38983049e-01 2.36295671e+02] [ 2.26684165e-01 6.33210117e-03 9.73947737e-01 8.28525895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:236.30, Z:82.87 [[ 7.83935388e-01 -5.91313351e-01 -1.89192569e-01 3.20141339e+02] [ 5.77685717e-01 8.06379442e-01 -1.26615195e-01 2.36304762e+02] [ 2.27430254e-01 -1.00357135e-02 9.73742658e-01 8.28658149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.16, Y:236.32, Z:82.87 [[ 7.83847400e-01 -5.90821462e-01 -1.91084414e-01 3.20161934e+02] [ 5.77086090e-01 8.06732121e-01 -1.27102044e-01 2.36319211e+02] [ 2.29248550e-01 -1.06435508e-02 9.73309723e-01 8.28740075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:236.34, Z:82.88 [[ 7.83908494e-01 -5.92080786e-01 -1.86889852e-01 3.20181073e+02] [ 5.77003179e-01 8.05870038e-01 -1.32818726e-01 2.36338114e+02] [ 2.29248348e-01 -3.71831091e-03 9.73360863e-01 8.28790709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.20, Y:236.36, Z:82.89 [[ 7.83961442e-01 -5.91657166e-01 -1.88005999e-01 3.20204618e+02] [ 5.76864904e-01 8.06172252e-01 -1.31579565e-01 2.36355479e+02] [ 2.29415212e-01 -5.30075690e-03 9.73314216e-01 8.28874231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.622755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:320.22, Y:236.37, Z:82.89 [[ 7.84865686e-01 -5.90715076e-01 -1.87193895e-01 3.20224449e+02] [ 5.75318851e-01 8.06876304e-01 -1.34010636e-01 2.36371762e+02] [ 2.30204421e-01 -2.51582653e-03 9.73139042e-01 8.28927807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.652755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.25, Y:236.39, Z:82.90 [[ 7.85569795e-01 -5.89281282e-01 -1.88752926e-01 3.20246247e+02] [ 5.73763165e-01 8.07923299e-01 -1.34371773e-01 2.36388627e+02] [ 2.31680657e-01 -2.74107013e-03 9.72788034e-01 8.28995499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.682755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:320.27, Y:236.41, Z:82.91 [[ 7.85222169e-01 -5.89864750e-01 -1.88376545e-01 3.20267572e+02] [ 5.73804896e-01 8.07501716e-01 -1.36707430e-01 2.36406522e+02] [ 2.32753277e-01 -7.45679027e-04 9.72535529e-01 8.29055517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.29, Y:236.42, Z:82.91 [[ 7.85483136e-01 -5.88741136e-01 -1.90788148e-01 3.20291114e+02] [ 5.73495860e-01 8.08307437e-01 -1.33197542e-01 2.36420903e+02] [ 2.32634352e-01 -4.79179036e-03 9.72552465e-01 8.29126152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.30, Y:236.45, Z:82.90 [[ 7.85125224e-01 -5.94595945e-01 -1.73303334e-01 3.20301617e+02] [ 5.75010958e-01 8.03770011e-01 -1.52696325e-01 2.36451905e+02] [ 2.30088638e-01 2.02344201e-02 9.72959294e-01 8.29047198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.34, Y:236.45, Z:82.93 [[ 7.84062311e-01 -5.87099557e-01 -2.01396133e-01 3.20338450e+02] [ 5.75335681e-01 8.09201963e-01 -1.19084161e-01 2.36445503e+02] [ 2.32884404e-01 -2.25009791e-02 9.72244085e-01 8.29291989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.802755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:320.35, Y:236.48, Z:82.92 [[ 7.84243708e-01 -5.95571218e-01 -1.73944620e-01 3.20348117e+02] [ 5.78112200e-01 8.03211315e-01 -1.43658861e-01 2.36482152e+02] [ 2.25273369e-01 1.21040508e-02 9.74220407e-01 8.29173636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.38, Y:236.49, Z:82.94 [[ 7.82323756e-01 -5.91610073e-01 -1.94851383e-01 3.20378093e+02] [ 5.77687371e-01 8.06130661e-01 -1.28182129e-01 2.36485843e+02] [ 2.32909513e-01 -1.22832586e-02 9.72420835e-01 8.29384680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.862755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:320.40, Y:236.50, Z:82.94 [[ 7.82625639e-01 -5.92484445e-01 -1.90943165e-01 3.20397218e+02] [ 5.77989019e-01 8.05539963e-01 -1.30514606e-01 2.36503440e+02] [ 2.31140224e-01 -8.21897544e-03 9.72885731e-01 8.29424776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.42, Y:236.52, Z:82.95 [[ 7.81783622e-01 -5.94897050e-01 -1.86847177e-01 3.20417265e+02] [ 5.79690845e-01 8.03792968e-01 -1.33698874e-01 2.36523019e+02] [ 2.29723513e-01 -3.79000790e-03 9.73248552e-01 8.29465789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.43, Y:236.55, Z:82.94 [[ 7.81497718e-01 -5.99707425e-01 -1.72082313e-01 3.20431844e+02] [ 5.82395207e-01 8.00129847e-01 -1.43555048e-01 2.36549001e+02] [ 2.23779223e-01 1.19680276e-02 9.74566378e-01 8.29420942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.47, Y:236.55, Z:82.96 [[ 7.80367793e-01 -5.94671285e-01 -1.93370550e-01 3.20465987e+02] [ 5.82360638e-01 8.03774774e-01 -1.21664297e-01 2.36549413e+02] [ 2.27776634e-01 -1.76684983e-02 9.73553095e-01 8.29619100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.48, Y:236.57, Z:82.96 [[ 7.79642897e-01 -5.98237720e-01 -1.85117755e-01 3.20483966e+02] [ 5.83362245e-01 8.01305672e-01 -1.32656361e-01 2.36572833e+02] [ 2.27695946e-01 -4.56611985e-03 9.73721576e-01 8.29643277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.50, Y:236.59, Z:82.97 [[ 7.79618509e-01 -5.99208618e-01 -1.82054971e-01 3.20501865e+02] [ 5.82837643e-01 8.00589450e-01 -1.39128766e-01 2.36591344e+02] [ 2.29118445e-01 2.35887115e-03 9.73395692e-01 8.29680494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0427550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:320.53, Y:236.60, Z:82.98 [[ 7.79212559e-01 -5.97977443e-01 -1.87751873e-01 3.20528715e+02] [ 5.84229104e-01 8.01450026e-01 -1.27883581e-01 2.36602775e+02] [ 2.26945240e-01 -1.00416159e-02 9.73855751e-01 8.29765666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.55, Y:236.62, Z:82.98 [[ 7.80070318e-01 -5.97899263e-01 -1.84409246e-01 3.20549119e+02] [ 5.83086403e-01 8.01559735e-01 -1.32333816e-01 2.36621945e+02] [ 2.26937317e-01 -4.29684175e-03 9.73899888e-01 8.29809106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.57, Y:236.64, Z:82.99 [[ 7.80652347e-01 -5.97222341e-01 -1.84139590e-01 3.20570124e+02] [ 5.82413808e-01 8.02065657e-01 -1.32230244e-01 2.36637600e+02] [ 2.26662897e-01 -4.01958970e-03 9.73964976e-01 8.29863653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.132755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:320.59, Y:236.65, Z:82.99 [[ 7.81963976e-01 -5.95423296e-01 -1.84400215e-01 3.20592423e+02] [ 5.80511046e-01 8.03404705e-01 -1.32468130e-01 2.36653629e+02] [ 2.27022611e-01 -3.46105620e-03 9.73883338e-01 8.29917743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.61, Y:236.67, Z:83.00 [[ 7.82913470e-01 -5.93751674e-01 -1.85756423e-01 3.20614980e+02] [ 5.79429745e-01 8.04625678e-01 -1.29763972e-01 2.36667259e+02] [ 2.26511964e-01 -6.03883541e-03 9.73989663e-01 8.29981622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.64, Y:236.69, Z:83.00 [[ 7.82132111e-01 -5.95622616e-01 -1.83038413e-01 3.20635036e+02] [ 5.78442673e-01 8.03247050e-01 -1.42120553e-01 2.36689808e+02] [ 2.31675280e-01 5.27981926e-03 9.72778849e-01 8.30047137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.66, Y:236.70, Z:83.01 [[ 7.82365080e-01 -5.95267814e-01 -1.83196919e-01 3.20656451e+02] [ 5.78208887e-01 8.03512838e-01 -1.41568369e-01 2.36704080e+02] [ 2.31472169e-01 4.83206147e-03 9.72829526e-01 8.30091937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.68, Y:236.72, Z:83.02 [[ 7.81796085e-01 -5.94472193e-01 -1.88142747e-01 3.20680942e+02] [ 5.79031861e-01 8.04107813e-01 -1.34657825e-01 2.36715130e+02] [ 2.31337385e-01 -3.66568443e-03 9.72866680e-01 8.30172735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.71, Y:236.72, Z:83.03 [[ 7.82134915e-01 -5.91721650e-01 -1.95270234e-01 3.20708963e+02] [ 5.78242063e-01 8.06019436e-01 -1.26367663e-01 2.36722769e+02] [ 2.32166086e-01 -1.40769015e-02 9.72574290e-01 8.30276276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.312755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:320.72, Y:236.75, Z:83.03 [[ 7.80987109e-01 -5.98364962e-01 -1.78937162e-01 3.20720505e+02] [ 5.79772208e-01 8.01130173e-01 -1.48508023e-01 2.36751231e+02] [ 2.32213957e-01 1.22400584e-02 9.72587713e-01 8.30251115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.75, Y:236.76, Z:83.03 [[ 7.81433070e-01 -5.96603800e-01 -1.82828510e-01 3.20747434e+02] [ 5.80999288e-01 8.02535869e-01 -1.35558133e-01 2.36759774e+02] [ 2.27600934e-01 -2.93625868e-04 9.73754450e-01 8.30320009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.79, Y:236.76, Z:83.05 [[ 7.79484849e-01 -5.91301740e-01 -2.06798508e-01 3.20786706e+02] [ 5.82542436e-01 8.05625271e-01 -1.07760071e-01 2.36756787e+02] [ 2.30320821e-01 -3.64715637e-02 9.72431049e-01 8.30547574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.79, Y:236.80, Z:83.04 [[ 7.77890721e-01 -6.03978424e-01 -1.73482248e-01 3.20790367e+02] [ 5.85854793e-01 7.96893894e-01 -1.47425519e-01 2.36798992e+02] [ 2.27288776e-01 1.30455371e-02 9.73740020e-01 8.30412496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.82, Y:236.80, Z:83.05 [[ 7.77034055e-01 -6.01893703e-01 -1.84233678e-01 3.20817592e+02] [ 5.86985216e-01 7.98562786e-01 -1.33213486e-01 2.36804459e+02] [ 2.27302518e-01 -4.63103067e-03 9.73813185e-01 8.30521716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.84, Y:236.82, Z:83.06 [[ 7.75919656e-01 -6.03412830e-01 -1.83960988e-01 3.20841527e+02] [ 5.88579338e-01 7.97413123e-01 -1.33066429e-01 2.36818741e+02] [ 2.26986897e-01 -5.02677889e-03 9.73884839e-01 8.30585083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.87, Y:236.83, Z:83.07 [[ 7.76181495e-01 -6.00140528e-01 -1.93322614e-01 3.20872745e+02] [ 5.87284928e-01 7.99719010e-01 -1.24683270e-01 2.36827483e+02] [ 2.29431254e-01 -1.67586105e-02 9.73180584e-01 8.30719919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.88, Y:236.85, Z:83.07 [[ 7.74826013e-01 -6.06391779e-01 -1.78699919e-01 3.20883895e+02] [ 5.89835395e-01 7.95157532e-01 -1.40778927e-01 2.36853879e+02] [ 2.27461770e-01 3.67563704e-03 9.73780074e-01 8.30686315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.91, Y:236.86, Z:83.08 [[ 7.74737332e-01 -6.04801019e-01 -1.84384906e-01 3.20909290e+02] [ 5.89875627e-01 7.96359438e-01 -1.33635287e-01 2.36862419e+02] [ 2.27659418e-01 -5.23191604e-03 9.73726767e-01 8.30780249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.582755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.93, Y:236.88, Z:83.08 [[ 7.74700743e-01 -6.04910286e-01 -1.84180090e-01 3.20931120e+02] [ 5.90009563e-01 7.96276547e-01 -1.33537922e-01 2.36876817e+02] [ 2.27436749e-01 -5.21608741e-03 9.73778886e-01 8.30839187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.95, Y:236.89, Z:83.09 [[ 7.74734258e-01 -6.04841431e-01 -1.84265225e-01 3.20954186e+02] [ 5.89910414e-01 7.96329292e-01 -1.33661369e-01 2.36892415e+02] [ 2.27579730e-01 -5.14793354e-03 9.73745842e-01 8.30901184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.98, Y:236.91, Z:83.10 [[ 7.75204471e-01 -6.04078549e-01 -1.84789437e-01 3.20977332e+02] [ 5.89018717e-01 7.96909935e-01 -1.34132422e-01 2.36906750e+02] [ 2.28287057e-01 -4.86438323e-03 9.73581716e-01 8.30959942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.00, Y:236.92, Z:83.10 [[ 7.75426119e-01 -6.03709142e-01 -1.85066490e-01 3.20999991e+02] [ 5.88571560e-01 7.97190878e-01 -1.34425528e-01 2.36921799e+02] [ 2.28687238e-01 -4.68780770e-03 9.73488660e-01 8.31024800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.03, Y:236.94, Z:83.10 [[ 7.76452039e-01 -6.04156833e-01 -1.79211473e-01 3.21025212e+02] [ 5.87210975e-01 7.96848717e-01 -1.42180846e-01 2.36942135e+02] [ 2.28703962e-01 5.16166361e-03 9.73482334e-01 8.31032741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.05, Y:236.96, Z:83.11 [[ 7.76139579e-01 -6.05070074e-01 -1.77475517e-01 3.21045920e+02] [ 5.87161880e-01 7.96116278e-01 -1.46423353e-01 2.36959853e+02] [ 2.29887537e-01 9.43810136e-03 9.73171435e-01 8.31060498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.08, Y:236.96, Z:83.12 [[ 7.77706477e-01 -5.98480606e-01 -1.92337206e-01 3.21076779e+02] [ 5.85820436e-01 8.00965754e-01 -1.23564871e-01 2.36959538e+02] [ 2.28006694e-01 -1.65778654e-02 9.73518424e-01 8.31216087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.10, Y:236.98, Z:83.12 [[ 7.79197935e-01 -5.99128206e-01 -1.84108583e-01 3.21095241e+02] [ 5.83873018e-01 8.00648219e-01 -1.34367887e-01 2.36981381e+02] [ 2.27909801e-01 -2.79685383e-03 9.73678233e-01 8.31233393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.12, Y:237.00, Z:83.14 [[ 7.78100453e-01 -5.98795129e-01 -1.89747407e-01 3.21116397e+02] [ 5.84024838e-01 8.00864331e-01 -1.32405861e-01 2.36995423e+02] [ 2.31245914e-01 -7.79213837e-03 9.72864127e-01 8.31362529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.14, Y:237.01, Z:83.14 [[ 7.77977978e-01 -5.99923553e-01 -1.86660109e-01 3.21137234e+02] [ 5.84106386e-01 8.00053283e-01 -1.36873933e-01 2.37014733e+02] [ 2.31451929e-01 -2.54445634e-03 9.72843014e-01 8.31412800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.16, Y:237.03, Z:83.15 [[ 7.79355381e-01 -5.98234072e-01 -1.86336216e-01 3.21163969e+02] [ 5.82807117e-01 8.01314331e-01 -1.35022988e-01 2.37031778e+02] [ 2.30089232e-01 -3.36718044e-03 9.73163710e-01 8.31453495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.18, Y:237.05, Z:83.15 [[ 7.78283061e-01 -6.00188288e-01 -1.84525056e-01 3.21180459e+02] [ 5.83166088e-01 7.99853588e-01 -1.41956159e-01 2.37051175e+02] [ 2.32793453e-01 2.87331873e-03 9.72521955e-01 8.31539956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.942755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:321.21, Y:237.06, Z:83.16 [[ 7.78966764e-01 -5.98157463e-01 -1.88197847e-01 3.21208700e+02] [ 5.83291846e-01 8.01352874e-01 -1.32680798e-01 2.37063341e+02] [ 2.30176896e-01 -6.42033757e-03 9.73127626e-01 8.31610209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.23, Y:237.07, Z:83.17 [[ 7.77753628e-01 -5.98310910e-01 -1.92674202e-01 3.21228802e+02] [ 5.85414007e-01 8.01106178e-01 -1.24576608e-01 2.37074499e+02] [ 2.28888038e-01 -1.59042681e-02 9.73322824e-01 8.31725665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.25, Y:237.10, Z:83.17 [[ 7.77979060e-01 -6.02612161e-01 -1.77784044e-01 3.21248336e+02] [ 5.85599038e-01 7.98006717e-01 -1.42334277e-01 2.37102981e+02] [ 2.27645228e-01 6.62292143e-03 9.73721617e-01 8.31688479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.27, Y:237.11, Z:83.18 [[ 7.77463149e-01 -6.00753703e-01 -1.86134470e-01 3.21268157e+02] [ 5.85540417e-01 7.99421581e-01 -1.34415611e-01 2.37109429e+02] [ 2.29550588e-01 -4.48607096e-03 9.73286393e-01 8.31808215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.062755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.29, Y:237.12, Z:83.19 [[ 7.76778260e-01 -5.99773820e-01 -1.92059627e-01 3.21293853e+02] [ 5.85463097e-01 8.00095020e-01 -1.30693999e-01 2.37120226e+02] [ 2.32052790e-01 -1.09235673e-02 9.72641855e-01 8.31936703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.31, Y:237.15, Z:83.19 [[ 7.75033929e-01 -6.06452043e-01 -1.77590340e-01 3.21307637e+02] [ 5.88421705e-01 7.95063331e-01 -1.47085678e-01 2.37151400e+02] [ 2.30395977e-01 9.49837979e-03 9.73050602e-01 8.31892873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.33, Y:237.16, Z:83.20 [[ 7.73802780e-01 -6.05005009e-01 -1.87611822e-01 3.21334346e+02] [ 5.90559526e-01 7.96172219e-01 -1.31716530e-01 2.37159415e+02] [ 2.29060481e-01 -8.87333130e-03 9.73371748e-01 8.32005132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.35, Y:237.18, Z:83.20 [[ 7.72133913e-01 -6.08726405e-01 -1.82377041e-01 3.21353667e+02] [ 5.91933640e-01 7.93378412e-01 -1.42004442e-01 2.37183531e+02] [ 2.31135861e-01 1.69133945e-03 9.72920014e-01 8.32049902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.38, Y:237.18, Z:83.22 [[ 7.73816906e-01 -6.02368130e-01 -1.95857173e-01 3.21383540e+02] [ 5.90888932e-01 7.97876057e-01 -1.19348518e-01 2.37183771e+02] [ 2.28161492e-01 -2.33759345e-02 9.73342642e-01 8.32162273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.39, Y:237.22, Z:83.21 [[ 7.71500350e-01 -6.11111435e-01 -1.77002892e-01 3.21394411e+02] [ 5.93017398e-01 7.91491919e-01 -1.47888160e-01 2.37220764e+02] [ 2.30472505e-01 9.12997279e-03 9.73036006e-01 8.32148403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.42, Y:237.24, Z:83.22 [[ 7.70855979e-01 -6.10267705e-01 -1.82631838e-01 3.21421363e+02] [ 5.93460726e-01 7.92194253e-01 -1.42241461e-01 2.37235286e+02] [ 2.31485262e-01 1.26285773e-03 9.72837591e-01 8.32226581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.45, Y:237.24, Z:83.24 [[ 7.71639201e-01 -6.03857853e-01 -1.99821513e-01 3.21447397e+02] [ 5.90918166e-01 7.96820577e-01 -1.26066211e-01 2.37236135e+02] [ 2.35347965e-01 -2.08005314e-02 9.71688568e-01 8.32423025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.47, Y:237.26, Z:83.24 [[ 7.71388753e-01 -6.07981980e-01 -1.87928985e-01 3.21466155e+02] [ 5.91974905e-01 7.93939236e-01 -1.38658576e-01 2.37264929e+02] [ 2.33506110e-01 -4.28957708e-03 9.72345873e-01 8.32414927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.332755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:321.49, Y:237.28, Z:83.24 [[ 7.71058164e-01 -6.09108943e-01 -1.85622204e-01 3.21485146e+02] [ 5.93091021e-01 7.93080636e-01 -1.38802544e-01 2.37282497e+02] [ 2.31759246e-01 -3.06602746e-03 9.72768344e-01 8.32442089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.51, Y:237.30, Z:83.25 [[ 7.71237225e-01 -6.09241013e-01 -1.84441129e-01 3.21505204e+02] [ 5.91203796e-01 7.92972360e-01 -1.47217211e-01 2.37303969e+02] [ 2.35947480e-01 4.49709777e-03 9.71755403e-01 8.32514206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.53, Y:237.31, Z:83.27 [[ 7.71601840e-01 -6.04700109e-01 -1.97404098e-01 3.21531259e+02] [ 5.91639758e-01 7.96221532e-01 -1.26466074e-01 2.37308202e+02] [ 2.33651442e-01 -1.92106571e-02 9.72130626e-01 8.32654480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.54, Y:237.34, Z:83.26 [[ 7.70222879e-01 -6.11217307e-01 -1.82126660e-01 3.21543802e+02] [ 5.91897408e-01 7.91401232e-01 -1.52779414e-01 2.37340611e+02] [ 2.37516685e-01 9.87390168e-03 9.71333275e-01 8.32646065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.57, Y:237.35, Z:83.28 [[ 7.70506123e-01 -6.07653318e-01 -1.92555861e-01 3.21570324e+02] [ 5.91812417e-01 7.94166151e-01 -1.38051397e-01 2.37347745e+02] [ 2.36808737e-01 -7.58750316e-03 9.71526661e-01 8.32767034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.60, Y:237.36, Z:83.29 [[ 7.71272143e-01 -6.04045683e-01 -2.00669115e-01 3.21599295e+02] [ 5.90469790e-01 7.96719204e-01 -1.28778640e-01 2.37358706e+02] [ 2.37665119e-01 -1.91656729e-02 9.71158055e-01 8.32896021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.61, Y:237.40, Z:83.28 [[ 7.69615478e-01 -6.14308945e-01 -1.74116446e-01 3.21607519e+02] [ 5.93837539e-01 7.88849428e-01 -1.58346320e-01 2.37399278e+02] [ 2.34625220e-01 1.84688975e-02 9.71910441e-01 8.32762018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.64, Y:237.39, Z:83.30 [[ 7.70486097e-01 -6.06357182e-01 -1.96677762e-01 3.21641075e+02] [ 5.93715976e-01 7.94926609e-01 -1.24872037e-01 2.37393724e+02] [ 2.32061443e-01 -2.05585610e-02 9.72483847e-01 8.32957106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.65, Y:237.43, Z:83.29 [[ 7.68435638e-01 -6.16586819e-01 -1.71252343e-01 3.21650153e+02] [ 5.95907079e-01 7.87015764e-01 -1.59690137e-01 2.37434480e+02] [ 2.33241127e-01 2.06611089e-02 9.72199411e-01 8.32868874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.68, Y:237.43, Z:83.31 [[ 7.66533627e-01 -6.12751490e-01 -1.92254544e-01 3.21682808e+02] [ 5.97831043e-01 7.90191433e-01 -1.34890856e-01 2.37433808e+02] [ 2.34572466e-01 -1.15373580e-02 9.72030168e-01 8.33056015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.70, Y:237.45, Z:83.31 [[ 7.67085767e-01 -6.12883719e-01 -1.89612691e-01 3.21704451e+02] [ 5.97969421e-01 7.90109669e-01 -1.34756384e-01 2.37451168e+02] [ 2.32404814e-01 -1.00128872e-02 9.72567604e-01 8.33114048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.72, Y:237.48, Z:83.31 [[ 7.66057013e-01 -6.17948940e-01 -1.76906080e-01 3.21719043e+02] [ 5.99992075e-01 7.86184484e-01 -1.48065752e-01 2.37477793e+02] [ 2.30577890e-01 7.28456128e-03 9.73026604e-01 8.33095568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.75, Y:237.48, Z:83.33 [[ 7.66606007e-01 -6.12829160e-01 -1.91717636e-01 3.21748151e+02] [ 5.98634192e-01 7.90096790e-01 -1.31849032e-01 2.37482185e+02] [ 2.32276420e-01 -1.36924722e-02 9.72553434e-01 8.33253272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.77, Y:237.50, Z:83.33 [[ 7.67540767e-01 -6.13992451e-01 -1.84104428e-01 3.21766608e+02] [ 5.98143956e-01 7.89303223e-01 -1.38651472e-01 2.37504343e+02] [ 2.30445175e-01 -3.70029386e-03 9.73078275e-01 8.33268843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.80, Y:237.51, Z:83.35 [[ 7.68440496e-01 -6.07162726e-01 -2.02120331e-01 3.21795417e+02] [ 5.95569249e-01 7.94110069e-01 -1.21187738e-01 2.37505715e+02] [ 2.34086467e-01 -2.72510884e-02 9.71833784e-01 8.33485490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.80, Y:237.55, Z:83.33 [[ 7.68679740e-01 -6.16620646e-01 -1.70030691e-01 3.21802794e+02] [ 5.96447741e-01 7.87011636e-01 -1.57679351e-01 2.37548803e+02] [ 2.31044476e-01 1.97905011e-02 9.72741891e-01 8.33335486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.84, Y:237.54, Z:83.35 [[ 7.70460913e-01 -6.07278598e-01 -1.93914120e-01 3.21837985e+02] [ 5.93427055e-01 7.94346605e-01 -1.29837593e-01 2.37544798e+02] [ 2.32882615e-01 -1.50390944e-02 9.72388561e-01 8.33546004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.85, Y:237.57, Z:83.36 [[ 7.70769721e-01 -6.10260977e-01 -1.83017971e-01 3.21854880e+02] [ 5.93592595e-01 7.92200254e-01 -1.41656588e-01 2.37570189e+02] [ 2.31434371e-01 5.46496307e-04 9.72850365e-01 8.33550531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.88, Y:237.58, Z:83.37 [[ 7.71314686e-01 -6.07600747e-01 -1.89459724e-01 3.21880067e+02] [ 5.92387076e-01 7.94203905e-01 -1.35342930e-01 2.37582083e+02] [ 2.32704118e-01 -7.84150206e-03 9.72515966e-01 8.33659962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.90, Y:237.59, Z:83.38 [[ 7.72028889e-01 -6.04760577e-01 -1.95540376e-01 3.21902215e+02] [ 5.90689557e-01 7.96271097e-01 -1.30530413e-01 2.37593163e+02] [ 2.34642798e-01 -1.47304082e-02 9.71970047e-01 8.33785961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.92, Y:237.62, Z:83.38 [[ 7.71887277e-01 -6.07375560e-01 -1.87842917e-01 3.21920765e+02] [ 5.90915573e-01 7.94410658e-01 -1.40465269e-01 2.37616288e+02] [ 2.34539587e-01 -2.57595081e-03 9.72103156e-01 8.33813846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.95, Y:237.62, Z:83.40 [[ 7.72550011e-01 -6.01429288e-01 -2.03590992e-01 3.21954393e+02] [ 5.88522538e-01 7.98608861e-01 -1.25956777e-01 2.37620572e+02] [ 2.38343665e-01 -2.25099777e-02 9.70919975e-01 8.34000259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.97, Y:237.65, Z:83.40 [[ 7.70238267e-01 -6.08082180e-01 -1.92273437e-01 3.21972154e+02] [ 5.90485814e-01 7.93872330e-01 -1.45235075e-01 2.37648089e+02] [ 2.40955422e-01 -1.66912398e-03 9.70534749e-01 8.34012956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.99, Y:237.67, Z:83.40 [[ 7.70692570e-01 -6.10097153e-01 -1.83886994e-01 3.21988322e+02] [ 5.91800207e-01 7.92307216e-01 -1.48397411e-01 2.37666551e+02] [ 2.36231830e-01 5.54442084e-03 9.71680906e-01 8.33987466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.01, Y:237.68, Z:83.40 [[ 7.68039530e-01 -6.13755486e-01 -1.82809970e-01 3.22013095e+02] [ 5.96127736e-01 7.89489632e-01 -1.46074783e-01 2.37684880e+02] [ 2.33980775e-01 3.21311407e-03 9.72235914e-01 8.34036863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.04, Y:237.69, Z:83.42 [[ 7.68394654e-01 -6.09731856e-01 -1.94413785e-01 3.22035868e+02] [ 5.95969144e-01 7.92443995e-01 -1.29820240e-01 2.37686929e+02] [ 2.33217572e-01 -1.61114387e-02 9.72291101e-01 8.34175745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.05, Y:237.71, Z:83.42 [[ 7.67526699e-01 -6.13251271e-01 -1.86616304e-01 3.22054025e+02] [ 5.97124934e-01 7.89876964e-01 -1.39771937e-01 2.37709703e+02] [ 2.33119237e-01 -4.15455487e-03 9.72439284e-01 8.34202397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.07, Y:237.73, Z:83.43 [[ 7.66631288e-01 -6.14376037e-01 -1.86597305e-01 3.22074979e+02] [ 5.98263517e-01 7.89000979e-01 -1.39850703e-01 2.37725601e+02] [ 2.33146377e-01 -4.42043537e-03 9.72431605e-01 8.34269411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.10, Y:237.74, Z:83.44 [[ 7.65736528e-01 -6.14641948e-01 -1.89374880e-01 3.22101082e+02] [ 5.99044746e-01 7.88766527e-01 -1.37814218e-01 2.37740597e+02] [ 2.34078966e-01 -7.91464615e-03 9.72185371e-01 8.34353840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.12, Y:237.76, Z:83.44 [[ 7.64795328e-01 -6.17064246e-01 -1.85256103e-01 3.22118017e+02] [ 6.00774591e-01 7.86904799e-01 -1.40892611e-01 2.37759152e+02] [ 2.32718709e-01 -3.54314955e-03 9.72537634e-01 8.34391175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.15, Y:237.77, Z:83.46 [[ 7.66224489e-01 -6.11655303e-01 -1.96920852e-01 3.22150558e+02] [ 5.97973795e-01 7.90914988e-01 -1.29926215e-01 2.37767167e+02] [ 2.35217712e-01 -1.82008611e-02 9.71772276e-01 8.34551210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.16, Y:237.80, Z:83.45 [[ 7.65175768e-01 -6.18069362e-01 -1.80267324e-01 3.22158523e+02] [ 5.99964916e-01 7.86103956e-01 -1.48602387e-01 2.37797315e+02] [ 2.33555439e-01 5.55287613e-03 9.72327631e-01 8.34496629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.18, Y:237.81, Z:83.46 [[ 7.65800923e-01 -6.15376668e-01 -1.86709675e-01 3.22182620e+02] [ 5.99190343e-01 7.88220646e-01 -1.40282379e-01 2.37808431e+02] [ 2.33494923e-01 -4.44625864e-03 9.72347855e-01 8.34585025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.20, Y:237.83, Z:83.46 [[ 7.67018419e-01 -6.13840654e-01 -1.86768296e-01 3.22203098e+02] [ 5.97579457e-01 7.89420255e-01 -1.40408171e-01 2.37826607e+02] [ 2.33626919e-01 -3.91324319e-03 9.72318440e-01 8.34641663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.22, Y:237.85, Z:83.46 [[ 7.67540225e-01 -6.16208454e-01 -1.76547854e-01 3.22220414e+02] [ 5.97256193e-01 7.87502393e-01 -1.52069134e-01 2.37852988e+02] [ 2.32738144e-01 1.12748784e-02 9.72474079e-01 8.34612631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.25, Y:237.85, Z:83.48 [[ 7.69135992e-01 -6.08166044e-01 -1.96376905e-01 3.22248386e+02] [ 5.94791531e-01 7.93600239e-01 -1.28147163e-01 2.37852989e+02] [ 2.33779512e-01 -1.82407247e-02 9.72118519e-01 8.34813918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.26, Y:237.88, Z:83.48 [[ 7.69683058e-01 -6.10483785e-01 -1.86808830e-01 3.22264849e+02] [ 5.94066568e-01 7.92024084e-01 -1.40651212e-01 2.37877803e+02] [ 2.33822376e-01 -2.72002566e-03 9.72275526e-01 8.34833123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.442755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:322.29, Y:237.89, Z:83.49 [[ 7.70084837e-01 -6.10059609e-01 -1.86538514e-01 3.22286168e+02] [ 5.93656998e-01 7.92351530e-01 -1.40536190e-01 2.37894435e+02] [ 2.33539530e-01 -2.51510523e-03 9.72344055e-01 8.34885055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.31, Y:237.91, Z:83.50 [[ 7.70209036e-01 -6.10034372e-01 -1.86107779e-01 3.22306494e+02] [ 5.93688703e-01 7.92371206e-01 -1.40291112e-01 2.37910764e+02] [ 2.33048846e-01 -2.43660363e-03 9.72461978e-01 8.34955923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.34, Y:237.92, Z:83.51 [[ 7.71187837e-01 -6.04967468e-01 -1.98201118e-01 3.22339207e+02] [ 5.91439429e-01 7.96043926e-01 -1.28504747e-01 2.37917182e+02] [ 2.35517988e-01 -1.81226581e-02 9.71701007e-01 8.35130965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.35, Y:237.95, Z:83.51 [[ 7.69499499e-01 -6.13513229e-01 -1.77403601e-01 3.22345755e+02] [ 5.94991061e-01 7.89623362e-01 -1.49935260e-01 2.37949977e+02] [ 2.32069294e-01 9.82155088e-03 9.72649670e-01 8.35052617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.37, Y:237.97, Z:83.51 [[ 7.68931565e-01 -6.15180182e-01 -1.74062034e-01 3.22366299e+02] [ 5.96429632e-01 7.88287779e-01 -1.51241763e-01 2.37970413e+02] [ 2.30251910e-01 1.24788106e-02 9.73051046e-01 8.35052336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.40, Y:237.97, Z:83.53 [[ 7.68343812e-01 -6.10049379e-01 -1.93616997e-01 3.22397016e+02] [ 5.96873763e-01 7.92165181e-01 -1.27342203e-01 2.37970000e+02] [ 2.31061675e-01 -1.77223125e-02 9.72777684e-01 8.35259518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.41, Y:237.99, Z:83.53 [[ 7.67751529e-01 -6.13637165e-01 -1.84409925e-01 3.22414046e+02] [ 5.97625510e-01 7.89581414e-01 -1.39301618e-01 2.37994297e+02] [ 2.31087299e-01 -3.25904539e-03 9.72927561e-01 8.35279904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.44, Y:238.00, Z:83.54 [[ 7.67793510e-01 -6.10148864e-01 -1.95477595e-01 3.22443686e+02] [ 5.96683208e-01 7.92086584e-01 -1.28716718e-01 2.38001937e+02] [ 2.33371540e-01 -1.78103377e-02 9.72224520e-01 8.35448751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.45, Y:238.03, Z:83.54 [[ 7.66782422e-01 -6.17327673e-01 -1.75929704e-01 3.22453757e+02] [ 5.99132938e-01 7.86656092e-01 -1.49036625e-01 2.38033902e+02] [ 2.30400606e-01 8.87338384e-03 9.73055406e-01 8.35374105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.48, Y:238.04, Z:83.55 [[ 7.67537856e-01 -6.14345756e-01 -1.82934229e-01 3.22478597e+02] [ 5.98305821e-01 7.89033322e-01 -1.39486777e-01 2.38043578e+02] [ 2.30034312e-01 -2.38923206e-03 9.73179586e-01 8.35470036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.50, Y:238.06, Z:83.55 [[ 7.66523567e-01 -6.15468883e-01 -1.83411220e-01 3.22500372e+02] [ 5.99503462e-01 7.88154809e-01 -1.39311151e-01 2.38061552e+02] [ 2.30298114e-01 -3.17038115e-03 9.73114961e-01 8.35536640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.52, Y:238.08, Z:83.56 [[ 7.66420421e-01 -6.15542921e-01 -1.83593710e-01 3.22522493e+02] [ 5.99637245e-01 7.88095577e-01 -1.39070256e-01 2.38078292e+02] [ 2.30293102e-01 -3.50334239e-03 9.73115005e-01 8.35603633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:238.09, Z:83.57 [[ 7.66239749e-01 -6.15610714e-01 -1.84119789e-01 3.22543197e+02] [ 5.99602454e-01 7.88042667e-01 -1.39519360e-01 2.38094696e+02] [ 2.30983862e-01 -3.49339800e-03 9.72951310e-01 8.35662714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:238.11, Z:83.57 [[ 7.66108213e-01 -6.15616399e-01 -1.84647384e-01 3.22563729e+02] [ 5.99502025e-01 7.88038370e-01 -1.39974460e-01 2.38111016e+02] [ 2.31679796e-01 -3.46089708e-03 9.72785945e-01 8.35721982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.59, Y:238.13, Z:83.58 [[ 7.67266481e-01 -6.13591554e-01 -1.86567820e-01 3.22585664e+02] [ 5.98149778e-01 7.89596648e-01 -1.36945158e-01 2.38125606e+02] [ 2.31341717e-01 -6.52207081e-03 9.72850694e-01 8.35787818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.61, Y:238.15, Z:83.58 [[ 7.66540575e-01 -6.15602749e-01 -1.82890137e-01 3.22605964e+02] [ 5.98293903e-01 7.88054805e-01 -1.44962170e-01 2.38148660e+02] [ 2.33366562e-01 1.69733086e-03 9.72387354e-01 8.35839068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.63, Y:238.16, Z:83.59 [[ 7.66567279e-01 -6.14651996e-01 -1.85950347e-01 3.22628714e+02] [ 5.98219380e-01 7.88792724e-01 -1.41207693e-01 2.38163105e+02] [ 2.33469871e-01 -2.99390397e-03 9.72359427e-01 8.35913029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.65, Y:238.18, Z:83.60 [[ 7.66552461e-01 -6.14639850e-01 -1.86051553e-01 3.22650204e+02] [ 5.98166542e-01 7.88802476e-01 -1.41376949e-01 2.38180264e+02] [ 2.33653832e-01 -2.91696599e-03 9.72315473e-01 8.35978041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:238.18, Z:83.62 [[ 7.67752356e-01 -6.06006769e-01 -2.08115629e-01 3.22685630e+02] [ 5.94668666e-01 7.94852811e-01 -1.20740164e-01 2.38180912e+02] [ 2.38590649e-01 -3.10612985e-02 9.70623355e-01 8.36208909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:238.23, Z:83.60 [[ 7.67006855e-01 -6.18528244e-01 -1.70655491e-01 3.22684373e+02] [ 5.97339780e-01 7.85444385e-01 -1.62056492e-01 2.38227577e+02] [ 2.34276914e-01 2.23591267e-02 9.71912752e-01 8.36037260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.71, Y:238.24, Z:83.62 [[ 7.65055378e-01 -6.17092686e-01 -1.84083912e-01 3.22713611e+02] [ 5.99286745e-01 7.86887150e-01 -1.47186994e-01 2.38237408e+02] [ 2.35681282e-01 2.28715241e-03 9.71827712e-01 8.36168161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.74, Y:238.25, Z:83.63 [[ 7.66008917e-01 -6.14425573e-01 -1.88975011e-01 3.22735989e+02] [ 5.97508856e-01 7.88968275e-01 -1.43220910e-01 2.38248672e+02] [ 2.37093878e-01 -3.20574872e-03 9.71481454e-01 8.36254789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.76, Y:238.26, Z:83.63 [[ 7.65631008e-01 -6.13988563e-01 -1.91904155e-01 3.22760076e+02] [ 5.98657353e-01 7.89249022e-01 -1.36730962e-01 2.38262140e+02] [ 2.35411413e-01 -1.01993689e-02 9.71842291e-01 8.36338023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.78, Y:238.28, Z:83.64 [[ 7.65124012e-01 -6.16096448e-01 -1.87110700e-01 3.22778345e+02] [ 5.99186849e-01 7.87667017e-01 -1.43372911e-01 2.38282466e+02] [ 2.35712468e-01 -2.41621337e-03 9.71819836e-01 8.36377156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:238.30, Z:83.65 [[ 7.64950272e-01 -6.15649975e-01 -1.89278075e-01 3.22800382e+02] [ 5.99382719e-01 7.87998287e-01 -1.40709120e-01 2.38296517e+02] [ 2.35778365e-01 -5.81452767e-03 9.71789460e-01 8.36454814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.82, Y:238.32, Z:83.65 [[ 7.65162609e-01 -6.16689916e-01 -1.84985755e-01 3.22816449e+02] [ 5.98320344e-01 7.87197629e-01 -1.49441153e-01 2.38315521e+02] [ 2.37779200e-01 3.66604238e-03 9.71312315e-01 8.36492790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.84, Y:238.33, Z:83.66 [[ 7.64732375e-01 -6.15815138e-01 -1.89620965e-01 3.22843051e+02] [ 5.99709451e-01 7.87863038e-01 -1.40072870e-01 2.38329799e+02] [ 2.35654343e-01 -6.59922608e-03 9.71814530e-01 8.36590875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.86, Y:238.35, Z:83.66 [[ 7.64625749e-01 -6.17685013e-01 -1.83882272e-01 3.22857271e+02] [ 5.98512612e-01 7.86396035e-01 -1.52852640e-01 2.38350685e+02] [ 2.39019075e-01 6.81920569e-03 9.70990927e-01 8.36621179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.89, Y:238.36, Z:83.68 [[ 7.64688087e-01 -6.12701601e-01 -1.99621838e-01 3.22890104e+02] [ 5.98107087e-01 7.90133136e-01 -1.34005744e-01 2.38357066e+02] [ 2.39833363e-01 -1.69226396e-02 9.70666566e-01 8.36801561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.312755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:322.90, Y:238.39, Z:83.68 [[ 7.64274946e-01 -6.18440526e-01 -1.82798035e-01 3.22903017e+02] [ 6.00487003e-01 7.85824587e-01 -1.47969855e-01 2.38386473e+02] [ 2.35157745e-01 3.32180891e-03 9.71951542e-01 8.36751222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.92, Y:238.40, Z:83.68 [[ 7.65695676e-01 -6.15714460e-01 -1.86026439e-01 3.22924265e+02] [ 5.98806547e-01 7.87967602e-01 -1.43310074e-01 2.38398721e+02] [ 2.34820892e-01 -1.66194602e-03 9.72037235e-01 8.36828203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.94, Y:238.42, Z:83.69 [[ 7.63857055e-01 -6.19409231e-01 -1.81258390e-01 3.22943617e+02] [ 5.99885969e-01 7.85012782e-01 -1.54569587e-01 2.38424093e+02] [ 2.38031982e-01 9.33470483e-03 9.71212458e-01 8.36879101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:238.43, Z:83.70 [[ 7.66060028e-01 -6.12416826e-01 -1.95186233e-01 3.22973448e+02] [ 5.97423850e-01 7.90428816e-01 -1.35303476e-01 2.38427129e+02] [ 2.37142948e-01 -1.29583256e-02 9.71388338e-01 8.37013010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.99, Y:238.45, Z:83.70 [[ 7.65140004e-01 -6.16178548e-01 -1.86774652e-01 3.22990307e+02] [ 5.99233937e-01 7.87603684e-01 -1.43523959e-01 2.38451581e+02] [ 2.35540789e-01 -2.10578700e-03 9.71862183e-01 8.37028526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:238.45, Z:83.72 [[ 7.66288743e-01 -6.08417513e-01 -2.06469593e-01 3.23024119e+02] [ 5.95956698e-01 7.93160038e-01 -1.25430332e-01 2.38454651e+02] [ 2.40077441e-01 -2.69310858e-02 9.70380100e-01 8.37237943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:238.50, Z:83.71 [[ 7.65071794e-01 -6.20880890e-01 -1.70798334e-01 3.23024376e+02] [ 5.98336591e-01 7.83466178e-01 -1.67851339e-01 2.38500261e+02] [ 2.38030407e-01 2.62234325e-02 9.70903629e-01 8.37076490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.05, Y:238.50, Z:83.72 [[ 7.64392489e-01 -6.17442432e-01 -1.85658193e-01 3.23053763e+02] [ 5.99639282e-01 7.86615164e-01 -1.47205011e-01 2.38504490e+02] [ 2.36932171e-01 1.19445929e-03 9.71525460e-01 8.37206580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.08, Y:238.52, Z:83.73 [[ 7.63808980e-01 -6.17365927e-01 -1.88295392e-01 3.23076222e+02] [ 6.00796171e-01 7.86662929e-01 -1.42145689e-01 2.38516915e+02] [ 2.35880909e-01 -4.55499698e-03 9.71771294e-01 8.37286418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.10, Y:238.53, Z:83.74 [[ 7.64070123e-01 -6.15486050e-01 -1.93322966e-01 3.23100748e+02] [ 6.01419326e-01 7.87993509e-01 -1.31761242e-01 2.38526874e+02] [ 2.33434448e-01 -1.55933394e-02 9.72247503e-01 8.37386978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.11, Y:238.56, Z:83.74 [[ 7.62893166e-01 -6.21501854e-01 -1.78127659e-01 3.23114035e+02] [ 6.02671014e-01 7.83364761e-01 -1.52076626e-01 2.38555138e+02] [ 2.34054836e-01 8.66584168e-03 9.72184775e-01 8.37378294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.14, Y:238.56, Z:83.75 [[ 7.61922505e-01 -6.20137985e-01 -1.86823380e-01 3.23141305e+02] [ 6.04529561e-01 7.84457414e-01 -1.38457844e-01 2.38564838e+02] [ 2.32417954e-01 -7.44610820e-03 9.72587503e-01 8.37485986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.16, Y:238.59, Z:83.75 [[ 7.60807293e-01 -6.22611877e-01 -1.83103017e-01 3.23161279e+02] [ 6.05939933e-01 7.82528103e-01 -1.43131289e-01 2.38585597e+02] [ 2.32398497e-01 -2.05410074e-03 9.72618486e-01 8.37535161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.18, Y:238.61, Z:83.75 [[ 7.60177682e-01 -6.25366924e-01 -1.76199040e-01 3.23176803e+02] [ 6.06894917e-01 7.80290714e-01 -1.51079322e-01 2.38608177e+02] [ 2.31966486e-01 7.91282722e-03 9.72691594e-01 8.37534706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.20, Y:238.62, Z:83.77 [[ 7.59887553e-01 -6.22484542e-01 -1.87306971e-01 3.23204472e+02] [ 6.06828001e-01 7.82590550e-01 -1.38966932e-01 2.38616556e+02] [ 2.33089433e-01 -8.06387339e-03 9.72421869e-01 8.37680055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.22, Y:238.64, Z:83.76 [[ 7.59617936e-01 -6.27306758e-01 -1.71659032e-01 3.23216140e+02] [ 6.08992027e-01 7.78707836e-01 -1.50807218e-01 2.38644861e+02] [ 2.28274620e-01 1.00168858e-02 9.73545253e-01 8.37616279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.25, Y:238.64, Z:83.79 [[ 7.60111661e-01 -6.19551082e-01 -1.95925289e-01 3.23253013e+02] [ 6.07153815e-01 7.84603621e-01 -1.25544426e-01 2.38642332e+02] [ 2.31504876e-01 -2.35290040e-02 9.72549165e-01 8.37866161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.27, Y:238.67, Z:83.79 [[ 7.59942303e-01 -6.23535776e-01 -1.83550626e-01 3.23267702e+02] [ 6.07190916e-01 7.81786383e-01 -1.41877566e-01 2.38669630e+02] [ 2.31963118e-01 -3.63150815e-03 9.72717803e-01 8.37877571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.28, Y:238.69, Z:83.79 [[ 7.60504954e-01 -6.24064149e-01 -1.79377125e-01 3.23282519e+02] [ 6.05408601e-01 7.81344446e-01 -1.51595788e-01 2.38689296e+02] [ 2.34760817e-01 6.69289357e-03 9.72030125e-01 8.37906555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.31, Y:238.70, Z:83.80 [[ 7.61217893e-01 -6.20608430e-01 -1.88128933e-01 3.23308991e+02] [ 6.05632948e-01 7.84050668e-01 -1.35916455e-01 2.38698350e+02] [ 2.31853513e-01 -1.04750429e-02 9.72694311e-01 8.38003514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.33, Y:238.73, Z:83.80 [[ 7.60065365e-01 -6.24521054e-01 -1.79649921e-01 3.23325835e+02] [ 6.05894672e-01 7.80982437e-01 -1.51519237e-01 2.38726009e+02] [ 2.34930387e-01 6.31559396e-03 9.71991680e-01 8.38037691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.36, Y:238.73, Z:83.82 [[ 7.58959322e-01 -6.21744968e-01 -1.93426841e-01 3.23355015e+02] [ 6.07488873e-01 7.83050587e-01 -1.33375587e-01 2.38734094e+02] [ 2.34388601e-01 -1.62780088e-02 9.72006692e-01 8.38177688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.37, Y:238.76, Z:83.82 [[ 7.58635555e-01 -6.25645227e-01 -1.81769484e-01 3.23368064e+02] [ 6.08127085e-01 7.80107084e-01 -1.47018321e-01 2.38758709e+02] [ 2.33780973e-01 9.94378646e-04 9.72288778e-01 8.38175039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.39, Y:238.77, Z:83.83 [[ 7.59325544e-01 -6.23330225e-01 -1.86772988e-01 3.23391169e+02] [ 6.08032334e-01 7.81905555e-01 -1.37551386e-01 2.38768903e+02] [ 2.31778773e-01 -9.11773482e-03 9.72725793e-01 8.38254905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.41, Y:238.79, Z:83.83 [[ 7.58263756e-01 -6.26494916e-01 -1.80389017e-01 3.23409023e+02] [ 6.09115005e-01 7.79424513e-01 -1.46548077e-01 2.38792010e+02] [ 2.32411247e-01 1.24443800e-03 9.72616812e-01 8.38296794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.43, Y:238.81, Z:83.84 [[ 7.56907373e-01 -6.27864368e-01 -1.81321718e-01 3.23430034e+02] [ 6.10483689e-01 7.78322692e-01 -1.46708736e-01 2.38808893e+02] [ 2.33239995e-01 3.50972656e-04 9.72419139e-01 8.38369626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.45, Y:238.83, Z:83.84 [[ 7.55794821e-01 -6.29274391e-01 -1.81074376e-01 3.23449965e+02] [ 6.11864833e-01 7.77183149e-01 -1.46995847e-01 2.38825810e+02] [ 2.33228675e-01 3.05656998e-04 9.72421869e-01 8.38442194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.47, Y:238.84, Z:83.85 [[ 7.54338665e-01 -6.30064007e-01 -1.84370621e-01 3.23474508e+02] [ 6.14794110e-01 7.76489647e-01 -1.38173916e-01 2.38839796e+02] [ 2.30220290e-01 -9.12004456e-03 9.73095804e-01 8.38534899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.49, Y:238.86, Z:83.86 [[ 7.53875111e-01 -6.31512494e-01 -1.81285097e-01 3.23494535e+02] [ 6.15625068e-01 7.75346835e-01 -1.40865398e-01 2.38859175e+02] [ 2.29517085e-01 -5.40873213e-03 9.73289604e-01 8.38591613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.182755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:323.52, Y:238.88, Z:83.87 [[ 7.53671220e-01 -6.31862608e-01 -1.80912510e-01 3.23515036e+02] [ 6.16029125e-01 7.75061400e-01 -1.40669624e-01 2.38876211e+02] [ 2.29102179e-01 -5.42872799e-03 9.73387241e-01 8.38660846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.212755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:323.53, Y:238.89, Z:83.87 [[ 7.54898290e-01 -6.31118607e-01 -1.78375660e-01 3.23532222e+02] [ 6.14968530e-01 7.75682029e-01 -1.41884098e-01 2.38893919e+02] [ 2.27908489e-01 -2.58735428e-03 9.73679119e-01 8.38710856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.55, Y:238.91, Z:83.88 [[ 7.54368139e-01 -6.31669004e-01 -1.78670029e-01 3.23554018e+02] [ 6.15953601e-01 7.75225880e-01 -1.40092816e-01 2.38911847e+02] [ 2.27001920e-01 -4.37089114e-03 9.73884502e-01 8.38781421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.272755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:323.57, Y:238.93, Z:83.88 [[ 7.54575149e-01 -6.32098659e-01 -1.76260119e-01 3.23573495e+02] [ 6.15104900e-01 7.74886578e-01 -1.45591045e-01 2.38932208e+02] [ 2.28609505e-01 1.44092193e-03 9.73517138e-01 8.38847254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.60, Y:238.94, Z:83.89 [[ 7.54687762e-01 -6.30220690e-01 -1.82395898e-01 3.23599507e+02] [ 6.15569575e-01 7.76351165e-01 -1.35473126e-01 2.38944424e+02] [ 2.26981235e-01 -1.00374550e-02 9.73847405e-01 8.38946318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.62, Y:238.96, Z:83.90 [[ 7.56763943e-01 -6.27708492e-01 -1.82456525e-01 3.23623967e+02] [ 6.12764342e-01 7.78401389e-01 -1.36422648e-01 2.38961405e+02] [ 2.27658068e-01 -8.56311142e-03 9.73703485e-01 8.39027380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.64, Y:238.98, Z:83.91 [[ 7.55860912e-01 -6.30149515e-01 -1.77724142e-01 3.23639197e+02] [ 6.14022245e-01 7.76471120e-01 -1.41666096e-01 2.38981298e+02] [ 2.27268485e-01 -2.04671212e-03 9.73829989e-01 8.39056857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.66, Y:239.00, Z:83.91 [[ 7.56027478e-01 -6.29891589e-01 -1.77929871e-01 3.23659960e+02] [ 6.13053114e-01 7.76683011e-01 -1.44669899e-01 2.39001069e+02] [ 2.29321461e-01 2.93957467e-04 9.73350698e-01 8.39119174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.68, Y:239.02, Z:83.92 [[ 7.56517407e-01 -6.28116103e-01 -1.82075737e-01 3.23683253e+02] [ 6.12670812e-01 7.78090776e-01 -1.38597334e-01 2.39016433e+02] [ 2.28726669e-01 -6.70119357e-03 9.73467619e-01 8.39190858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:239.03, Z:83.92 [[ 7.56815712e-01 -6.28240420e-01 -1.80399424e-01 3.23702838e+02] [ 6.12279416e-01 7.78009387e-01 -1.40766865e-01 2.39034836e+02] [ 2.28787880e-01 -3.92027878e-03 9.73468406e-01 8.39242744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.72, Y:239.05, Z:83.93 [[ 7.56979843e-01 -6.27992922e-01 -1.80572442e-01 3.23724070e+02] [ 6.11981672e-01 7.78209735e-01 -1.40954041e-01 2.39052317e+02] [ 2.29041372e-01 -3.80765765e-03 9.73409242e-01 8.39302255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.75, Y:239.07, Z:83.94 [[ 7.56768350e-01 -6.28100395e-01 -1.81084396e-01 3.23745836e+02] [ 6.11977516e-01 7.78123153e-01 -1.41449211e-01 2.39069803e+02] [ 2.29750267e-01 -3.77529268e-03 9.73242294e-01 8.39358125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.77, Y:239.09, Z:83.94 [[ 7.56448348e-01 -6.28390097e-01 -1.81416049e-01 3.23766624e+02] [ 6.12192752e-01 7.77889127e-01 -1.41804587e-01 2.39085559e+02] [ 2.30230171e-01 -3.79374461e-03 9.73128808e-01 8.39419197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.79, Y:239.10, Z:83.95 [[ 7.56968663e-01 -6.28722475e-01 -1.78063169e-01 3.23786610e+02] [ 6.11632854e-01 7.77628670e-01 -1.45598433e-01 2.39104307e+02] [ 2.30008032e-01 1.30416698e-03 9.73187857e-01 8.39462876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.81, Y:239.12, Z:83.96 [[ 7.55559948e-01 -6.28600957e-01 -1.84363779e-01 3.23811402e+02] [ 6.13145531e-01 7.77684891e-01 -1.38775964e-01 2.39116105e+02] [ 2.30611629e-01 -8.18826727e-03 9.73011423e-01 8.39554636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.83, Y:239.13, Z:83.96 [[ 7.55224932e-01 -6.29785552e-01 -1.81674054e-01 3.23832105e+02] [ 6.13535955e-01 7.76758375e-01 -1.42197255e-01 2.39134930e+02] [ 2.30670619e-01 -4.07265216e-03 9.73023370e-01 8.39610689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.85, Y:239.15, Z:83.97 [[ 7.55888300e-01 -6.30324040e-01 -1.76987242e-01 3.23851131e+02] [ 6.12658283e-01 7.76323754e-01 -1.48227048e-01 2.39152955e+02] [ 2.30830472e-01 3.61039142e-03 9.72987286e-01 8.39652712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.87, Y:239.17, Z:83.97 [[ 7.55849493e-01 -6.29388186e-01 -1.80449592e-01 3.23874672e+02] [ 6.12687248e-01 7.77089222e-01 -1.44037070e-01 2.39167398e+02] [ 2.30880663e-01 -1.68881763e-03 9.72980610e-01 8.39734532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.90, Y:239.18, Z:83.98 [[ 7.54762985e-01 -6.29355231e-01 -1.85053585e-01 3.23900068e+02] [ 6.14125069e-01 7.77059320e-01 -1.37946412e-01 2.39181556e+02] [ 2.30614909e-01 -9.52920005e-03 9.72998437e-01 8.39826217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.92, Y:239.20, Z:83.98 [[ 7.55340550e-01 -6.30917851e-01 -1.77209813e-01 3.23916237e+02] [ 6.13060546e-01 7.75839439e-01 -1.49097057e-01 2.39203154e+02] [ 2.31554357e-01 3.97870815e-03 9.72813831e-01 8.39848428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.94, Y:239.22, Z:83.99 [[ 7.54365553e-01 -6.32909818e-01 -1.74234827e-01 3.23938443e+02] [ 6.14851830e-01 7.74200671e-01 -1.50234973e-01 2.39222387e+02] [ 2.29977909e-01 6.20348634e-03 9.73176078e-01 8.39866416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:239.22, Z:84.01 [[ 7.55226630e-01 -6.24975216e-01 -1.97582178e-01 3.23975123e+02] [ 6.12328289e-01 7.80254064e-01 -1.27505537e-01 2.39220269e+02] [ 2.33852098e-01 -2.46895798e-02 9.71958652e-01 8.40121298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:239.26, Z:84.00 [[ 7.55647395e-01 -6.31843029e-01 -1.72543912e-01 3.23983183e+02] [ 6.12342110e-01 7.74996839e-01 -1.56259528e-01 2.39255209e+02] [ 2.32452480e-01 1.24212018e-02 9.72528436e-01 8.40019277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.01, Y:239.26, Z:84.02 [[ 7.56213413e-01 -6.27216478e-01 -1.86388743e-01 3.24012439e+02] [ 6.12218847e-01 7.78771578e-01 -1.36758592e-01 2.39257474e+02] [ 2.30931498e-01 -1.06920198e-02 9.72911262e-01 8.40162387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.03, Y:239.28, Z:84.02 [[ 7.55894702e-01 -6.28850220e-01 -1.82127975e-01 3.24034148e+02] [ 6.13117228e-01 7.77504012e-01 -1.39909889e-01 2.39276969e+02] [ 2.29587595e-01 -5.90865554e-03 9.73270067e-01 8.40214748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.05, Y:239.29, Z:84.03 [[ 7.56295591e-01 -6.29473078e-01 -1.78271209e-01 3.24053318e+02] [ 6.12248012e-01 7.77020909e-01 -1.46256210e-01 2.39293656e+02] [ 2.30584804e-01 1.46673385e-03 9.73051128e-01 8.40261782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.08, Y:239.31, Z:84.03 [[ 7.56988027e-01 -6.28568680e-01 -1.78523224e-01 3.24075065e+02] [ 6.11100978e-01 7.77750649e-01 -1.47171748e-01 2.39308300e+02] [ 2.31354104e-01 2.31153441e-03 9.72866864e-01 8.40326237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.11, Y:239.31, Z:84.05 [[ 7.58064725e-01 -6.22442076e-01 -1.94688818e-01 3.24112611e+02] [ 6.10356560e-01 7.82283575e-01 -1.24488064e-01 2.39309662e+02] [ 2.29788474e-01 -2.44595875e-02 9.72933187e-01 8.40497960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.12, Y:239.34, Z:84.04 [[ 7.56912506e-01 -6.31180694e-01 -1.69394188e-01 3.24118059e+02] [ 6.12947521e-01 7.75565489e-01 -1.50975191e-01 2.39344054e+02] [ 2.26668912e-01 1.04452631e-02 9.73915859e-01 8.40400396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.15, Y:239.34, Z:84.06 [[ 7.59510798e-01 -6.22376831e-01 -1.89183583e-01 3.24153878e+02] [ 6.08589979e-01 7.82564388e-01 -1.31191526e-01 2.39342975e+02] [ 2.29698901e-01 -1.54938523e-02 9.73138405e-01 8.40595157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.16, Y:239.37, Z:84.05 [[ 7.58092279e-01 -6.29573567e-01 -1.70097680e-01 3.24164128e+02] [ 6.11654278e-01 7.76885983e-01 -1.49422933e-01 2.39371958e+02] [ 2.26219232e-01 9.23539804e-03 9.74032631e-01 8.40538940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.19, Y:239.38, Z:84.06 [[ 7.58744862e-01 -6.27469265e-01 -1.74895844e-01 3.24187338e+02] [ 6.10216998e-01 7.78630037e-01 -1.46186462e-01 2.39383568e+02] [ 2.27906669e-01 4.19381045e-03 9.73673951e-01 8.40624512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.22, Y:239.39, Z:84.07 [[ 7.58982171e-01 -6.25497976e-01 -1.80826837e-01 3.24215670e+02] [ 6.10455177e-01 7.80196420e-01 -1.36521143e-01 2.39393211e+02] [ 2.26474150e-01 -6.76956564e-03 9.73993651e-01 8.40726132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:324.23, Y:239.42, Z:84.07 [[ 7.59730627e-01 -6.26982790e-01 -1.72342554e-01 3.24234825e+02] [ 6.09740331e-01 7.79010387e-01 -1.46149053e-01 2.39417725e+02] [ 2.25889581e-01 5.94970537e-03 9.74134743e-01 8.40749198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.26, Y:239.43, Z:84.08 [[ 7.60650407e-01 -6.24206291e-01 -1.78262348e-01 3.24259798e+02] [ 6.08840991e-01 7.81250352e-01 -1.37697260e-01 2.39429122e+02] [ 2.25219018e-01 -3.79394766e-03 9.74300775e-01 8.40849237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.28, Y:239.45, Z:84.09 [[ 7.61484333e-01 -6.23865471e-01 -1.75879174e-01 3.24280262e+02] [ 6.08449239e-01 7.81529073e-01 -1.37847136e-01 2.39446503e+02] [ 2.23452756e-01 -2.04511540e-03 9.74712616e-01 8.40904236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.30, Y:239.46, Z:84.10 [[ 7.61730941e-01 -6.22347372e-01 -1.80138062e-01 3.24300785e+02] [ 6.08249365e-01 7.82689398e-01 -1.32022786e-01 2.39459706e+02] [ 2.23156185e-01 -9.00302093e-03 9.74741126e-01 8.41010251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.32, Y:239.48, Z:84.11 [[ 7.60444258e-01 -6.25488751e-01 -1.74609145e-01 3.24319487e+02] [ 6.10009849e-01 7.80232023e-01 -1.38296692e-01 2.39481077e+02] [ 2.22738671e-01 -1.34637297e-03 9.74877260e-01 8.41053475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.34, Y:239.50, Z:84.11 [[ 7.59210394e-01 -6.27131166e-01 -1.74086408e-01 3.24341233e+02] [ 6.11768195e-01 7.78911699e-01 -1.37971884e-01 2.39497920e+02] [ 2.22124409e-01 -1.75083901e-03 9.75016760e-01 8.41120665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.36, Y:239.52, Z:84.12 [[ 7.58117257e-01 -6.28589430e-01 -1.73590188e-01 3.24362635e+02] [ 6.13372299e-01 7.77734087e-01 -1.37492226e-01 2.39515138e+02] [ 2.21433167e-01 -2.24018348e-03 9.75172977e-01 8.41188317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.38, Y:239.54, Z:84.12 [[ 7.56086509e-01 -6.33278844e-01 -1.65200174e-01 3.24381547e+02] [ 6.17422214e-01 7.73910430e-01 -1.40898743e-01 2.39537550e+02] [ 2.17078331e-01 4.53338177e-03 9.76143661e-01 8.41180396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.41, Y:239.54, Z:84.13 [[ 7.56247519e-01 -6.29705389e-01 -1.77653631e-01 3.24410470e+02] [ 6.15621484e-01 7.76782093e-01 -1.32739478e-01 2.39544806e+02] [ 2.21584924e-01 -8.98349128e-03 9.75099697e-01 8.41340361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.42, Y:239.58, Z:84.13 [[ 7.51954896e-01 -6.39208685e-01 -1.61171001e-01 3.24424934e+02] [ 6.22336075e-01 7.68972856e-01 -1.46214079e-01 2.39577359e+02] [ 2.17397434e-01 9.64386460e-03 9.76035528e-01 8.41299401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.45, Y:239.59, Z:84.14 [[ 7.51240338e-01 -6.37539373e-01 -1.70825941e-01 3.24449294e+02] [ 6.23418612e-01 7.70393261e-01 -1.33579408e-01 2.39585109e+02] [ 2.16765285e-01 -6.14583146e-03 9.76204405e-01 8.41398376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.47, Y:239.60, Z:84.14 [[ 7.50473050e-01 -6.39582081e-01 -1.66508148e-01 3.24467184e+02] [ 6.25229928e-01 7.68717081e-01 -1.34764934e-01 2.39603642e+02] [ 2.14190894e-01 -2.96842690e-03 9.76787310e-01 8.41414182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.50, Y:239.61, Z:84.15 [[ 7.48187170e-01 -6.39457400e-01 -1.76946862e-01 3.24495247e+02] [ 6.26848224e-01 7.68667139e-01 -1.27326877e-01 2.39614830e+02] [ 2.17433352e-01 -1.56544903e-02 9.75949627e-01 8.41549949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.50, Y:239.65, Z:84.15 [[ 7.45668375e-01 -6.47116169e-01 -1.58805976e-01 3.24504717e+02] [ 6.31040128e-01 7.62361133e-01 -1.43505612e-01 2.39646148e+02] [ 2.13932306e-01 6.79465331e-03 9.76824857e-01 8.41477345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.54, Y:239.65, Z:84.17 [[ 7.42981963e-01 -6.44210029e-01 -1.81579851e-01 3.24535900e+02] [ 6.31867496e-01 7.64579699e-01 -1.27127306e-01 2.39649610e+02] [ 2.20728953e-01 -2.02811104e-02 9.75124303e-01 8.41710244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.622755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.55, Y:239.69, Z:84.16 [[ 7.42490402e-01 -6.51335095e-01 -1.56430804e-01 3.24545385e+02] [ 6.33944494e-01 7.58692020e-01 -1.50002658e-01 2.39685914e+02] [ 2.16384798e-01 1.22070867e-02 9.76231840e-01 8.41572635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.59, Y:239.68, Z:84.19 [[ 7.43112830e-01 -6.40741338e-01 -1.92960774e-01 3.24586372e+02] [ 6.30792487e-01 7.66988873e-01 -1.17596372e-01 2.39676129e+02] [ 2.23347623e-01 -3.43308337e-02 9.74134094e-01 8.41900084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.59, Y:239.71, Z:84.18 [[ 7.41611439e-01 -6.47970612e-01 -1.73627647e-01 3.24594366e+02] [ 6.32008127e-01 7.61656383e-01 -1.42986998e-01 2.39709854e+02] [ 2.24895978e-01 -3.69329082e-03 9.74375779e-01 8.41849844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.62, Y:239.72, Z:84.19 [[ 7.42986592e-01 -6.43535731e-01 -1.83936637e-01 3.24623503e+02] [ 6.31035469e-01 7.65127968e-01 -1.27958704e-01 2.39718297e+02] [ 2.23081064e-01 -2.09989403e-02 9.74573693e-01 8.41905272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:239.75, Z:84.19 [[ 7.42306836e-01 -6.48202259e-01 -1.69748028e-01 3.24631586e+02] [ 6.28663865e-01 7.61391525e-01 -1.58318321e-01 2.39751414e+02] [ 2.31867003e-01 1.08063208e-02 9.72687471e-01 8.41930306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.66, Y:239.76, Z:84.21 [[ 7.42494549e-01 -6.42851281e-01 -1.88265970e-01 3.24664072e+02] [ 6.28962009e-01 7.65761463e-01 -1.34224337e-01 2.39756978e+02] [ 2.30453111e-01 -1.87513044e-02 9.72902745e-01 8.42069119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.67, Y:239.79, Z:84.19 [[ 7.41938685e-01 -6.50408915e-01 -1.62773555e-01 3.24670944e+02] [ 6.31510186e-01 7.59471337e-01 -1.56199148e-01 2.39794551e+02] [ 2.25215168e-01 1.30970328e-02 9.74221020e-01 8.41921456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.70, Y:239.79, Z:84.21 [[ 7.43188134e-01 -6.42174896e-01 -1.87837165e-01 3.24703377e+02] [ 6.27489465e-01 7.66397060e-01 -1.37450055e-01 2.39794479e+02] [ 2.32224826e-01 -1.57145922e-02 9.72535183e-01 8.42141543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.72, Y:239.83, Z:84.21 [[ 7.42084360e-01 -6.48459406e-01 -1.69738630e-01 3.24716008e+02] [ 6.30197983e-01 7.61221224e-01 -1.52946888e-01 2.39828375e+02] [ 2.28388496e-01 6.53055141e-03 9.73548174e-01 8.42074765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.74, Y:239.84, Z:84.22 [[ 7.43730751e-01 -6.44061951e-01 -1.79021712e-01 3.24740608e+02] [ 6.27763550e-01 7.64955428e-01 -1.44069842e-01 2.39840695e+02] [ 2.29733534e-01 -5.23413334e-03 9.73239491e-01 8.42170615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.76, Y:239.86, Z:84.22 [[ 7.44576651e-01 -6.42681600e-01 -1.80460443e-01 3.24761532e+02] [ 6.26507519e-01 7.66107664e-01 -1.43413306e-01 2.39858170e+02] [ 2.30421222e-01 -6.27762570e-03 9.73070733e-01 8.42239535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.78, Y:239.88, Z:84.23 [[ 7.45258456e-01 -6.43485031e-01 -1.74690723e-01 3.24779188e+02] [ 6.25845532e-01 7.65455538e-01 -1.49650223e-01 2.39881829e+02] [ 2.30015660e-01 2.19868545e-03 9.73184444e-01 8.42257410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.81, Y:239.89, Z:84.25 [[ 7.47401223e-01 -6.35284683e-01 -1.94434523e-01 3.24808580e+02] [ 6.21770731e-01 7.71962040e-01 -1.32195943e-01 2.39886545e+02] [ 2.34078129e-01 -2.20902861e-02 9.71966794e-01 8.42451271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.81, Y:239.93, Z:84.23 [[ 7.47729751e-01 -6.43187715e-01 -1.64953883e-01 3.24814015e+02] [ 6.22485031e-01 7.65467663e-01 -1.63008106e-01 2.39929307e+02] [ 2.31111675e-01 1.92046877e-02 9.72737670e-01 8.42321079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.85, Y:239.92, Z:84.26 [[ 7.50267099e-01 -6.30134533e-01 -2.00074362e-01 3.24850765e+02] [ 6.16805141e-01 7.76086823e-01 -1.31303697e-01 2.39920846e+02] [ 2.38014070e-01 -2.48940512e-02 9.70942629e-01 8.42599979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.86, Y:239.97, Z:84.25 [[ 7.49891039e-01 -6.39681286e-01 -1.68734355e-01 3.24855264e+02] [ 6.19185642e-01 7.68460592e-01 -1.61485169e-01 2.39965063e+02] [ 2.32964743e-01 1.66183916e-02 9.72343179e-01 8.42461097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.89, Y:239.95, Z:84.28 [[ 7.51941299e-01 -6.25543863e-01 -2.08036433e-01 3.24894163e+02] [ 6.13628002e-01 7.79491640e-01 -1.25910516e-01 2.39954117e+02] [ 2.40925211e-01 -3.29796644e-02 9.69983188e-01 8.42775144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.90, Y:239.99, Z:84.27 [[ 7.51836418e-01 -6.31981809e-01 -1.87992004e-01 3.24904551e+02] [ 6.13683421e-01 7.74981013e-01 -1.50987047e-01 2.39989261e+02] [ 2.41111301e-01 -1.85001510e-03 9.70495707e-01 8.42742407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.92, Y:240.02, Z:84.27 [[ 7.51049469e-01 -6.37351870e-01 -1.72358025e-01 3.24915950e+02] [ 6.16342959e-01 7.70401144e-01 -1.63105592e-01 2.40019347e+02] [ 2.36740474e-01 1.62687132e-02 9.71436708e-01 8.42675198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.95, Y:240.02, Z:84.29 [[ 7.51347538e-01 -6.31015376e-01 -1.93122946e-01 3.24946894e+02] [ 6.14238662e-01 7.75708711e-01 -1.44868430e-01 2.40021846e+02] [ 2.41221359e-01 -9.77704149e-03 9.70420870e-01 8.42863135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.97, Y:240.04, Z:84.29 [[ 7.50908149e-01 -6.32329448e-01 -1.90516194e-01 3.24967236e+02] [ 6.15259266e-01 7.74663390e-01 -1.46125518e-01 2.40041272e+02] [ 2.39985389e-01 -7.49001086e-03 9.70747605e-01 8.42920579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.98, Y:240.07, Z:84.29 [[ 7.50802615e-01 -6.35260936e-01 -1.80939153e-01 3.24982018e+02] [ 6.15733478e-01 7.72274072e-01 -1.56413047e-01 2.40065687e+02] [ 2.39097715e-01 6.02503095e-03 9.70976818e-01 8.42921403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.01, Y:240.08, Z:84.30 [[ 7.51116758e-01 -6.32682775e-01 -1.88510271e-01 3.25006697e+02] [ 6.15663110e-01 7.74384066e-01 -1.45904946e-01 2.40076346e+02] [ 2.38290896e-01 -6.46716981e-03 9.71172294e-01 8.43018738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.02, Y:240.10, Z:84.31 [[ 7.49887271e-01 -6.35280165e-01 -1.84629882e-01 3.25024171e+02] [ 6.16214080e-01 7.72278971e-01 -1.54484298e-01 2.40100151e+02] [ 2.40726586e-01 2.07427549e-03 9.70590752e-01 8.43076505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:240.11, Z:84.31 [[ 7.51007287e-01 -6.32450023e-01 -1.89723546e-01 3.25048485e+02] [ 6.16258678e-01 7.74538218e-01 -1.42533473e-01 2.40110864e+02] [ 2.37093436e-01 -9.87510507e-03 9.71436660e-01 8.43145008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.06, Y:240.15, Z:84.31 [[ 7.49696046e-01 -6.39846472e-01 -1.68974351e-01 3.25056211e+02] [ 6.18082491e-01 7.68227693e-01 -1.66734060e-01 2.40146130e+02] [ 2.36494976e-01 2.05597778e-02 9.71415165e-01 8.43085822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.09, Y:240.15, Z:84.32 [[ 7.49403221e-01 -6.36651829e-01 -1.81849556e-01 3.25085502e+02] [ 6.17272509e-01 7.71137531e-01 -1.55953707e-01 2.40154341e+02] [ 2.39519230e-01 4.62147878e-03 9.70880621e-01 8.43217885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.11, Y:240.17, Z:84.33 [[ 7.49031054e-01 -6.36348728e-01 -1.84425529e-01 3.25107440e+02] [ 6.18085012e-01 7.71401269e-01 -1.51363800e-01 2.40167688e+02] [ 2.38586249e-01 -6.14468995e-04 9.71121117e-01 8.43284610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.13, Y:240.18, Z:84.34 [[ 7.49371576e-01 -6.35741731e-01 -1.85134257e-01 3.25128920e+02] [ 6.17902013e-01 7.71898371e-01 -1.49566062e-01 2.40182291e+02] [ 2.37990219e-01 -2.31427436e-03 9.71264794e-01 8.43350287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:240.21, Z:84.34 [[ 7.48023905e-01 -6.38564830e-01 -1.80818128e-01 3.25150553e+02] [ 6.19115399e-01 7.69551091e-01 -1.56483994e-01 2.40205981e+02] [ 2.39073963e-01 5.10648088e-03 9.70987932e-01 8.43415470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.17, Y:240.21, Z:84.35 [[ 7.50532380e-01 -6.32783303e-01 -1.90489994e-01 3.25174917e+02] [ 6.16734402e-01 7.74252414e-01 -1.42027731e-01 2.40210466e+02] [ 2.37360115e-01 -1.08853216e-02 9.71360739e-01 8.43517445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:240.23, Z:84.36 [[ 7.51542764e-01 -6.32277647e-01 -1.88171333e-01 3.25197617e+02] [ 6.13670553e-01 7.74741177e-01 -1.52264771e-01 2.40229973e+02] [ 2.42057691e-01 -1.04171940e-03 9.70261299e-01 8.43621109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.22, Y:240.25, Z:84.37 [[ 7.51409110e-01 -6.32317531e-01 -1.88570650e-01 3.25218660e+02] [ 6.13761264e-01 7.74707928e-01 -1.52068197e-01 2.40246562e+02] [ 2.42242564e-01 -1.47193149e-03 9.70214602e-01 8.43689283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.25, Y:240.26, Z:84.38 [[ 7.51451864e-01 -6.29716184e-01 -1.96920349e-01 3.25245549e+02] [ 6.13216417e-01 7.76721166e-01 -1.43770153e-01 2.40256716e+02] [ 2.43486595e-01 -1.27184415e-02 9.69820870e-01 8.43824854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.26, Y:240.27, Z:84.39 [[ 7.52319722e-01 -6.30609126e-01 -1.90649328e-01 3.25263751e+02] [ 6.12363544e-01 7.76093048e-01 -1.50633561e-01 2.40274527e+02] [ 2.42952516e-01 -3.42209943e-03 9.70032146e-01 8.43871440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.29, Y:240.30, Z:84.40 [[ 7.51104306e-01 -6.32489329e-01 -1.89207743e-01 3.25286538e+02] [ 6.13084536e-01 7.74568687e-01 -1.55469291e-01 2.40295277e+02] [ 2.44887061e-01 7.73312144e-04 9.69551303e-01 8.43954750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.31, Y:240.31, Z:84.40 [[ 7.51698348e-01 -6.31574098e-01 -1.89904588e-01 3.25307714e+02] [ 6.12546808e-01 7.75315233e-01 -1.53859345e-01 2.40309123e+02] [ 2.44409497e-01 -6.69633724e-04 9.69671877e-01 8.44020183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.33, Y:240.33, Z:84.40 [[ 7.50313574e-01 -6.35061706e-01 -1.83646863e-01 3.25327318e+02] [ 6.15606282e-01 7.72450925e-01 -1.56039976e-01 2.40329386e+02] [ 2.40953202e-01 4.02474933e-03 9.70528390e-01 8.44032829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.762755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.35, Y:240.34, Z:84.41 [[ 7.49736867e-01 -6.34962297e-01 -1.86326359e-01 3.25350982e+02] [ 6.16186649e-01 7.72543120e-01 -1.53268200e-01 2.40342774e+02] [ 2.41264675e-01 9.90057295e-05 9.70459348e-01 8.44112780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.38, Y:240.35, Z:84.42 [[ 7.48506276e-01 -6.35106985e-01 -1.90728795e-01 3.25376435e+02] [ 6.17442530e-01 7.72398282e-01 -1.48881217e-01 2.40353507e+02] [ 2.41874094e-01 -6.32554426e-03 9.70287025e-01 8.44219291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.40, Y:240.36, Z:84.43 [[ 7.47971260e-01 -6.34103462e-01 -1.96091288e-01 3.25400680e+02] [ 6.17369386e-01 7.73148451e-01 -1.45246392e-01 2.40364480e+02] [ 2.43708916e-01 -1.24206309e-02 9.69768886e-01 8.44341766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:240.39, Z:84.43 [[ 7.46828417e-01 -6.39712084e-01 -1.81702408e-01 3.25415381e+02] [ 6.19036852e-01 7.68571383e-01 -1.61528342e-01 2.40391488e+02] [ 2.42982904e-01 8.15346934e-03 9.69996304e-01 8.44314948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.44, Y:240.40, Z:84.44 [[ 7.46977856e-01 -6.37328560e-01 -1.89305014e-01 3.25442163e+02] [ 6.18340928e-01 7.70590287e-01 -1.54418609e-01 2.40401459e+02] [ 2.44291994e-01 -1.70775688e-03 9.69700214e-01 8.44424571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:240.41, Z:84.45 [[ 7.46994383e-01 -6.35116077e-01 -1.96537429e-01 3.25469384e+02] [ 6.18313705e-01 7.72312268e-01 -1.45677463e-01 2.40412345e+02] [ 2.44310366e-01 -1.27015397e-02 9.69613900e-01 8.44545410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.48, Y:240.44, Z:84.45 [[ 7.46170958e-01 -6.41424555e-01 -1.78335192e-01 3.25480509e+02] [ 6.20435369e-01 7.67106254e-01 -1.63119426e-01 2.40442818e+02] [ 2.41430847e-01 1.10695175e-02 9.70354890e-01 8.44499782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.51, Y:240.45, Z:84.46 [[ 7.46290902e-01 -6.37721542e-01 -1.90685933e-01 3.25509100e+02] [ 6.20138513e-01 7.70233923e-01 -1.48888982e-01 2.40449497e+02] [ 2.41822485e-01 -7.13719890e-03 9.70294257e-01 8.44641129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.53, Y:240.47, Z:84.47 [[ 7.46266497e-01 -6.38850165e-01 -1.86967332e-01 3.25528986e+02] [ 6.20460995e-01 7.69327353e-01 -1.52195856e-01 2.40469241e+02] [ 2.41069430e-01 -2.42726892e-03 9.70504837e-01 8.44703461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.55, Y:240.49, Z:84.48 [[ 7.45818468e-01 -6.39319983e-01 -1.87149065e-01 3.25549141e+02] [ 6.21193883e-01 7.68932881e-01 -1.51196510e-01 2.40485704e+02] [ 2.40568019e-01 -3.49070490e-03 9.70626006e-01 8.44771992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.57, Y:240.50, Z:84.49 [[ 7.45565588e-01 -6.37213526e-01 -1.95168838e-01 3.25573827e+02] [ 6.21075324e-01 7.70552248e-01 -1.43229453e-01 2.40495756e+02] [ 2.41655532e-01 -1.44275981e-02 9.70254837e-01 8.44910342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.59, Y:240.52, Z:84.49 [[ 7.45582548e-01 -6.40046571e-01 -1.85599165e-01 3.25590574e+02] [ 6.20866193e-01 7.68335780e-01 -1.55516237e-01 2.40520001e+02] [ 2.42140113e-01 7.17945463e-04 9.70241027e-01 8.44942943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.61, Y:240.54, Z:84.50 [[ 7.45315045e-01 -6.40308442e-01 -1.85770244e-01 3.25612694e+02] [ 6.21849205e-01 7.68115901e-01 -1.52648381e-01 2.40536926e+02] [ 2.40435126e-01 -1.74994340e-03 9.70663633e-01 8.44998294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.63, Y:240.56, Z:84.50 [[ 7.45146847e-01 -6.41697972e-01 -1.81603663e-01 3.25630852e+02] [ 6.22638782e-01 7.66952984e-01 -1.55254846e-01 2.40556874e+02] [ 2.38908191e-01 2.61417544e-03 9.71038641e-01 8.45033146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.66, Y:240.56, Z:84.52 [[ 7.45296537e-01 -6.37633685e-01 -1.94823910e-01 3.25658460e+02] [ 6.21751278e-01 7.70191228e-01 -1.42235092e-01 2.40563844e+02] [ 2.40745552e-01 -1.51246931e-02 9.70470413e-01 8.45195925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.67, Y:240.60, Z:84.52 [[ 7.44402939e-01 -6.44354702e-01 -1.75132186e-01 3.25668168e+02] [ 6.22563567e-01 7.64576281e-01 -1.66846384e-01 2.40598730e+02] [ 2.41410168e-01 1.51700200e-02 9.70304592e-01 8.45150671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.70, Y:240.60, Z:84.53 [[ 7.45894926e-01 -6.38023785e-01 -1.91223454e-01 3.25697773e+02] [ 6.22501477e-01 7.69886307e-01 -1.40595113e-01 2.40599985e+02] [ 2.36923345e-01 -1.41677007e-02 9.71425038e-01 8.45291771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.71, Y:240.63, Z:84.53 [[ 7.44731873e-01 -6.42070100e-01 -1.81990178e-01 3.25713988e+02] [ 6.23219411e-01 7.66644259e-01 -1.54447877e-01 2.40626785e+02] [ 2.38688089e-01 1.60244501e-03 9.71094964e-01 8.45323591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.74, Y:240.64, Z:84.54 [[ 7.44232314e-01 -6.41151610e-01 -1.87197423e-01 3.25736973e+02] [ 6.23693266e-01 7.67390245e-01 -1.48724317e-01 2.40639866e+02] [ 2.39008312e-01 -6.06832972e-03 9.70998559e-01 8.45429432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.76, Y:240.65, Z:84.55 [[ 7.43937408e-01 -6.40219149e-01 -1.91511290e-01 3.25760566e+02] [ 6.24440942e-01 7.68064994e-01 -1.41949547e-01 2.40652455e+02] [ 2.37971936e-01 -1.39859121e-02 9.71171330e-01 8.45537238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.78, Y:240.67, Z:84.56 [[ 7.43169404e-01 -6.42865989e-01 -1.85533170e-01 3.25778048e+02] [ 6.25161394e-01 7.65964947e-01 -1.49903075e-01 2.40674503e+02] [ 2.38479493e-01 -4.58479638e-03 9.71136711e-01 8.45579695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.80, Y:240.69, Z:84.56 [[ 7.41704545e-01 -6.44514489e-01 -1.85675636e-01 3.25796977e+02] [ 6.26795979e-01 7.64575750e-01 -1.50168986e-01 2.40691523e+02] [ 2.38749175e-01 -4.99972244e-03 9.71068398e-01 8.45643530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.82, Y:240.71, Z:84.57 [[ 7.40470127e-01 -6.46305475e-01 -1.84372513e-01 3.25816350e+02] [ 6.28166120e-01 7.63072052e-01 -1.52080142e-01 2.40710251e+02] [ 2.38979740e-01 -3.20576364e-03 9.71019262e-01 8.45707798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.84, Y:240.73, Z:84.58 [[ 7.39066210e-01 -6.47643373e-01 -1.85308387e-01 3.25837970e+02] [ 6.30638217e-01 7.61904221e-01 -1.47639420e-01 2.40726518e+02] [ 2.36804934e-01 -7.74724393e-03 9.71526327e-01 8.45782682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.85, Y:240.75, Z:84.57 [[ 7.38584958e-01 -6.51806711e-01 -1.72163503e-01 3.25853144e+02] [ 6.33515557e-01 7.58373384e-01 -1.53387907e-01 2.40752452e+02] [ 2.30543486e-01 4.22174339e-03 9.73052865e-01 8.45732854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.89, Y:240.75, Z:84.60 [[ 7.39043043e-01 -6.44361511e-01 -1.96503495e-01 3.25885792e+02] [ 6.33560713e-01 7.63960825e-01 -1.22330213e-01 2.40746517e+02] [ 2.28945853e-01 -3.40896016e-02 9.72842071e-01 8.45957928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.88, Y:240.81, Z:84.58 [[ 7.35184987e-01 -6.61432557e-01 -1.48357705e-01 3.25881414e+02] [ 6.37124084e-01 7.48977156e-01 -1.81950876e-01 2.40807962e+02] [ 2.31464765e-01 3.92452848e-02 9.72051372e-01 8.45793126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.572755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:325.92, Y:240.80, Z:84.60 [[ 7.35404155e-01 -6.54160480e-01 -1.76790257e-01 3.25916935e+02] [ 6.37445225e-01 7.56341878e-01 -1.47005268e-01 2.40803415e+02] [ 2.29878911e-01 -4.58582001e-03 9.73208434e-01 8.45956658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.93, Y:240.83, Z:84.60 [[ 7.36347813e-01 -6.54664111e-01 -1.70899974e-01 3.25932476e+02] [ 6.36033396e-01 7.55899453e-01 -1.55169379e-01 2.40830197e+02] [ 2.30767020e-01 5.56054234e-03 9.72993146e-01 8.45986433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.96, Y:240.84, Z:84.61 [[ 7.37819950e-01 -6.49806499e-01 -1.82683427e-01 3.25958198e+02] [ 6.33967465e-01 7.60029487e-01 -1.42970042e-01 2.40839763e+02] [ 2.31747654e-01 -1.03292002e-02 9.72721097e-01 8.46106395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.98, Y:240.85, Z:84.63 [[ 7.38940388e-01 -6.45212223e-01 -1.94083206e-01 3.25980953e+02] [ 6.30859064e-01 7.63708834e-01 -1.36987805e-01 2.40849905e+02] [ 2.36609265e-01 -2.12133278e-02 9.71373281e-01 8.46269549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.00, Y:240.88, Z:84.63 [[ 7.41092645e-01 -6.44067387e-01 -1.89628301e-01 3.25998601e+02] [ 6.28556811e-01 7.64830995e-01 -1.41244062e-01 2.40875367e+02] [ 2.36004296e-01 -1.45172241e-02 9.71643568e-01 8.46305242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.02, Y:240.90, Z:84.63 [[ 7.42096684e-01 -6.44588092e-01 -1.83844239e-01 3.26015339e+02] [ 6.27168092e-01 7.64515049e-01 -1.48919190e-01 2.40899056e+02] [ 2.36543224e-01 -4.78880406e-03 9.71609166e-01 8.46344032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.03, Y:240.92, Z:84.64 [[ 7.43619103e-01 -6.42612182e-01 -1.84608270e-01 3.26033223e+02] [ 6.24961761e-01 7.66180624e-01 -1.49633050e-01 2.40919224e+02] [ 2.37599300e-01 -4.10311480e-03 9.71354589e-01 8.46408920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:240.94, Z:84.65 [[ 7.44529366e-01 -6.41356666e-01 -1.85304212e-01 3.26053871e+02] [ 6.23511658e-01 7.67234195e-01 -1.50282746e-01 2.40937282e+02] [ 2.38556569e-01 -3.64941924e-03 9.71121746e-01 8.46480057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.07, Y:240.96, Z:84.65 [[ 7.44054456e-01 -6.42079217e-01 -1.84708542e-01 3.26072244e+02] [ 6.24346074e-01 7.66628962e-01 -1.49906684e-01 2.40957059e+02] [ 2.37854884e-01 -3.78331730e-03 9.71293334e-01 8.46543888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.09, Y:240.98, Z:84.66 [[ 7.43134646e-01 -6.43162011e-01 -1.84644324e-01 3.26090639e+02] [ 6.25459734e-01 7.65719250e-01 -1.49913813e-01 2.40976298e+02] [ 2.37804582e-01 -4.08144117e-03 9.71304444e-01 8.46608940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.11, Y:240.99, Z:84.67 [[ 7.41096046e-01 -6.45481071e-01 -1.84745330e-01 3.26109290e+02] [ 6.27808208e-01 7.63761449e-01 -1.50084321e-01 2.40994918e+02] [ 2.37977949e-01 -4.75773733e-03 9.71258905e-01 8.46681489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.12, Y:241.03, Z:84.66 [[ 7.39197330e-01 -6.53122864e-01 -1.64371016e-01 3.26118950e+02] [ 6.31552815e-01 7.56984124e-01 -1.67678496e-01 2.41029608e+02] [ 2.33940909e-01 2.01385187e-02 9.72042227e-01 8.46595731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.16, Y:241.02, Z:84.69 [[ 7.38329209e-01 -6.44117024e-01 -1.99958091e-01 3.26156804e+02] [ 6.31327688e-01 7.64359301e-01 -1.31073294e-01 2.41019891e+02] [ 2.37266367e-01 -2.94638379e-02 9.70997710e-01 8.46875691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.17, Y:241.05, Z:84.69 [[ 7.35615125e-01 -6.51240170e-01 -1.86431299e-01 3.26168194e+02] [ 6.34880550e-01 7.58787060e-01 -1.45495306e-01 2.41049275e+02] [ 2.36214045e-01 -1.13330583e-02 9.71634956e-01 8.46884055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.18, Y:241.07, Z:84.69 [[ 7.34358607e-01 -6.54769209e-01 -1.78870679e-01 3.26183530e+02] [ 6.35483002e-01 7.55825714e-01 -1.57761986e-01 2.41074663e+02] [ 2.38492749e-01 2.18459677e-03 9.71141821e-01 8.46933037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.20, Y:241.10, Z:84.70 [[ 7.32622497e-01 -6.57666653e-01 -1.75324985e-01 3.26202542e+02] [ 6.39054119e-01 7.53306974e-01 -1.55365490e-01 2.41095251e+02] [ 2.34252236e-01 1.78209895e-03 9.72174220e-01 8.46960108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.22, Y:241.12, Z:84.70 [[ 7.31201262e-01 -6.61824198e-01 -1.65328296e-01 3.26218388e+02] [ 6.40662296e-01 7.49487442e-01 -1.66794474e-01 2.41123540e+02] [ 2.34300101e-01 1.60407244e-02 9.72031974e-01 8.46953947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.082755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:326.26, Y:241.11, Z:84.72 [[ 7.31576504e-01 -6.50255068e-01 -2.04851569e-01 3.26258921e+02] [ 6.39630377e-01 7.58639743e-01 -1.23849594e-01 2.41110705e+02] [ 2.35942368e-01 -4.04238334e-02 9.70925905e-01 8.47239091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.27, Y:241.15, Z:84.72 [[ 7.31668023e-01 -6.56266677e-01 -1.84325669e-01 3.26266570e+02] [ 6.38915849e-01 7.54487330e-01 -1.50117979e-01 2.41146919e+02] [ 2.37588809e-01 -7.93206568e-03 9.71333434e-01 8.47244401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.142755096 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:326.29, Y:241.17, Z:84.73 [[ 7.33459885e-01 -6.54261729e-01 -1.84331730e-01 3.26285789e+02] [ 6.36822920e-01 7.56233884e-01 -1.50222770e-01 2.41167833e+02] [ 2.37682910e-01 -7.20429461e-03 9.71316083e-01 8.47279588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1727550960001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:326.30, Y:241.18, Z:84.74 [[ 7.35945034e-01 -6.51275001e-01 -1.85002107e-01 3.26302962e+02] [ 6.33755352e-01 7.58812118e-01 -1.50194285e-01 2.41183658e+02] [ 2.38199624e-01 -6.71133700e-03 9.71193028e-01 8.47363913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.31, Y:241.22, Z:84.73 [[ 7.35928155e-01 -6.57271831e-01 -1.62491510e-01 3.26313186e+02] [ 6.34368468e-01 7.53245193e-01 -1.73776657e-01 2.41222986e+02] [ 2.36614450e-01 2.48076442e-02 9.71286870e-01 8.47311201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.35, Y:241.21, Z:84.76 [[ 7.38923986e-01 -6.42771037e-01 -2.02081016e-01 3.26353234e+02] [ 6.30350151e-01 7.65407281e-01 -1.29654859e-01 2.41210675e+02] [ 2.38012669e-01 -3.15767132e-02 9.70748619e-01 8.47562751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.36, Y:241.26, Z:84.75 [[ 7.39682477e-01 -6.52298121e-01 -1.65459949e-01 3.26355566e+02] [ 6.29757388e-01 7.57623867e-01 -1.71498424e-01 2.41257351e+02] [ 2.37224506e-01 2.26547541e-02 9.71190659e-01 8.47458225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.39, Y:241.25, Z:84.77 [[ 7.41606210e-01 -6.39572215e-01 -2.02404574e-01 3.26394369e+02] [ 6.26867552e-01 7.68138173e-01 -1.30387188e-01 2.41245748e+02] [ 2.38866702e-01 -3.01849109e-02 9.70583108e-01 8.47704052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.41, Y:241.28, Z:84.77 [[ 7.41813897e-01 -6.44349045e-01 -1.85812944e-01 3.26405719e+02] [ 6.26236539e-01 7.64722120e-01 -1.51749385e-01 2.41275977e+02] [ 2.39874840e-01 -3.79305207e-03 9.70796412e-01 8.47711474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.43, Y:241.29, Z:84.78 [[ 7.41790843e-01 -6.44273556e-01 -1.86166407e-01 3.26426664e+02] [ 6.26064660e-01 7.64786178e-01 -1.52135282e-01 2.41292880e+02] [ 2.40394234e-01 -3.69964959e-03 9.70668288e-01 8.47779571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.45, Y:241.31, Z:84.78 [[ 7.41790264e-01 -6.44211752e-01 -1.86382465e-01 3.26447012e+02] [ 6.25932741e-01 7.64838696e-01 -1.52413819e-01 2.41308566e+02] [ 2.40739295e-01 -3.60380036e-03 9.70583126e-01 8.47846388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.49, Y:241.30, Z:84.82 [[ 7.42958672e-01 -6.30514326e-01 -2.24642151e-01 3.26490174e+02] [ 6.21531706e-01 7.74440395e-01 -1.18069528e-01 2.41297984e+02] [ 2.48416485e-01 -5.19014391e-02 9.67261852e-01 8.48180790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.48, Y:241.36, Z:84.79 [[ 7.41739498e-01 -6.52296374e-01 -1.55987043e-01 3.26475113e+02] [ 6.26172473e-01 7.56838090e-01 -1.87360986e-01 2.41364969e+02] [ 2.40271827e-01 4.12982516e-02 9.69826739e-01 8.47901289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.51, Y:241.36, Z:84.81 [[ 7.41650770e-01 -6.44654372e-01 -1.85404628e-01 3.26512196e+02] [ 6.26526608e-01 7.64465933e-01 -1.51842839e-01 2.41359858e+02] [ 2.39621672e-01 -3.54657416e-03 9.70859864e-01 8.48061678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.53, Y:241.37, Z:84.81 [[ 7.42165969e-01 -6.44037381e-01 -1.85487268e-01 3.26532245e+02] [ 6.25949613e-01 7.64985599e-01 -1.51605130e-01 2.41374284e+02] [ 2.39534460e-01 -3.58951504e-03 9.70881228e-01 8.48127963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.57, Y:241.36, Z:84.84 [[ 7.41597420e-01 -6.32910865e-01 -2.22389530e-01 3.26573358e+02] [ 6.24744000e-01 7.72350841e-01 -1.14756751e-01 2.41364576e+02] [ 2.44393536e-01 -5.38332143e-02 9.68180657e-01 8.48397740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.55, Y:241.43, Z:84.81 [[ 7.39583745e-01 -6.56666424e-01 -1.47665473e-01 3.26554849e+02] [ 6.30286346e-01 7.52671744e-01 -1.90327000e-01 2.41434804e+02] [ 2.36124979e-01 4.76912242e-02 9.70551669e-01 8.48083217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.62, Y:241.39, Z:84.86 [[ 7.39396950e-01 -6.32844472e-01 -2.29782559e-01 3.26620065e+02] [ 6.26549141e-01 7.71693290e-01 -1.09204583e-01 2.41392711e+02] [ 2.46431175e-01 -6.32245290e-02 9.67095825e-01 8.48580891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.62, Y:241.44, Z:84.85 [[ 7.38461042e-01 -6.46242751e-01 -1.92472325e-01 3.26623147e+02] [ 6.27255371e-01 7.63109729e-01 -1.55609259e-01 2.41437071e+02] [ 2.47438859e-01 -5.81792399e-03 9.68886042e-01 8.48506151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.64, Y:241.46, Z:84.85 [[ 7.37643582e-01 -6.48672133e-01 -1.87367047e-01 3.26639706e+02] [ 6.27613290e-01 7.61060548e-01 -1.63976829e-01 2.41458362e+02] [ 2.48964867e-01 3.36240697e-03 9.68506680e-01 8.48542366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.66, Y:241.47, Z:84.86 [[ 7.37499583e-01 -6.47148600e-01 -1.93114096e-01 3.26664618e+02] [ 6.29091990e-01 7.62306911e-01 -1.52090242e-01 2.41469034e+02] [ 2.45637197e-01 -9.32004081e-03 9.69317030e-01 8.48612135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.712755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:326.68, Y:241.50, Z:84.86 [[ 7.37450524e-01 -6.50887506e-01 -1.80311338e-01 3.26680347e+02] [ 6.28999175e-01 7.59105040e-01 -1.67688929e-01 2.41495358e+02] [ 2.46021875e-01 1.02466061e-02 9.69210114e-01 8.48626870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.742755096 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:326.70, Y:241.50, Z:84.87 [[ 7.36587066e-01 -6.48630548e-01 -1.91619171e-01 3.26704204e+02] [ 6.29775578e-01 7.61077953e-01 -1.55380407e-01 2.41500481e+02] [ 2.46621604e-01 -6.22587627e-03 9.69091855e-01 8.48728014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.772755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:326.72, Y:241.52, Z:84.87 [[ 7.35637053e-01 -6.52020213e-01 -1.83596756e-01 3.26720848e+02] [ 6.30733793e-01 7.58179140e-01 -1.65345926e-01 2.41523166e+02] [ 2.47008116e-01 5.83391140e-03 9.68995849e-01 8.48742300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.74, Y:241.54, Z:84.88 [[ 7.34753005e-01 -6.53140617e-01 -1.83153916e-01 3.26739735e+02] [ 6.33369455e-01 7.57235722e-01 -1.59490423e-01 2.41536814e+02] [ 2.42860361e-01 1.18197174e-03 9.70060538e-01 8.48774093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.77, Y:241.55, Z:84.89 [[ 7.35860498e-01 -6.50897833e-01 -1.86658349e-01 3.26768360e+02] [ 6.31802586e-01 7.59160363e-01 -1.56528063e-01 2.41549791e+02] [ 2.43587397e-01 -2.74840898e-03 9.69875057e-01 8.48870992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.78, Y:241.57, Z:84.88 [[ 7.32188211e-01 -6.58864835e-01 -1.72619677e-01 3.26777148e+02] [ 6.36250597e-01 7.52090669e-01 -1.71886016e-01 2.41574906e+02] [ 2.43075300e-01 1.60235419e-02 9.69875067e-01 8.48846690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.81, Y:241.58, Z:84.90 [[ 7.35764173e-01 -6.50994510e-01 -1.86700910e-01 3.26812714e+02] [ 6.32024870e-01 7.59075732e-01 -1.56040369e-01 2.41576807e+02] [ 2.43301553e-01 -3.19070552e-03 9.69945449e-01 8.48974968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.83, Y:241.60, Z:84.90 [[ 7.36207015e-01 -6.52231002e-01 -1.80537948e-01 3.26832140e+02] [ 6.31882437e-01 7.58003880e-01 -1.61724157e-01 2.41596621e+02] [ 2.42329974e-01 4.98370021e-03 9.70181090e-01 8.49008079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.86, Y:241.61, Z:84.91 [[ 7.36942566e-01 -6.51197334e-01 -1.81266896e-01 3.26855048e+02] [ 6.31432584e-01 7.58902918e-01 -1.59245891e-01 2.41611022e+02] [ 2.41264476e-01 2.89725042e-03 9.70455078e-01 8.49074611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:326.88, Y:241.62, Z:84.92 [[ 7.37635266e-01 -6.48127016e-01 -1.89276479e-01 3.26883820e+02] [ 6.29884514e-01 7.61504586e-01 -1.52827566e-01 2.41622381e+02] [ 2.43186581e-01 -6.49132107e-03 9.69957808e-01 8.49197121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.90, Y:241.64, Z:84.92 [[ 7.38612789e-01 -6.47913769e-01 -1.86168999e-01 3.26901008e+02] [ 6.29236354e-01 7.61707603e-01 -1.54476984e-01 2.41637998e+02] [ 2.41894106e-01 -3.04562620e-03 9.70297875e-01 8.49247585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.91, Y:241.67, Z:84.92 [[ 7.39333236e-01 -6.53885373e-01 -1.60686917e-01 3.26910371e+02] [ 6.29633495e-01 7.55945730e-01 -1.79186258e-01 2.41671504e+02] [ 2.38637862e-01 3.13044909e-02 9.70603936e-01 8.49172217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.072755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:326.95, Y:241.67, Z:84.93 [[ 7.40311388e-01 -6.46726881e-01 -1.83530352e-01 3.26945635e+02] [ 6.28579429e-01 7.62716811e-01 -1.52154423e-01 2.41669845e+02] [ 2.38384040e-01 -2.72175198e-03 9.71167154e-01 8.49331653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.102755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:326.96, Y:241.70, Z:84.93 [[ 7.41329119e-01 -6.49085431e-01 -1.70643606e-01 3.26962125e+02] [ 6.27407638e-01 7.60528011e-01 -1.67202869e-01 2.41697148e+02] [ 2.38308188e-01 1.68892537e-02 9.71042718e-01 8.49333246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.01, Y:241.68, Z:84.97 [[ 7.43574593e-01 -6.33645903e-01 -2.13517432e-01 3.27011015e+02] [ 6.21023756e-01 7.72813105e-01 -1.30726431e-01 2.41682415e+02] [ 2.47843337e-01 -3.53945452e-02 9.68153349e-01 8.49694209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.02, Y:241.72, Z:84.97 [[ 7.44069970e-01 -6.39833897e-01 -1.92282250e-01 3.27021907e+02] [ 6.20126304e-01 7.68510676e-01 -1.57590314e-01 2.41715763e+02] [ 2.48602587e-01 -1.98106140e-03 9.68603546e-01 8.49666421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.04, Y:241.73, Z:84.97 [[ 7.44335922e-01 -6.39320426e-01 -1.92959653e-01 3.27043461e+02] [ 6.19427030e-01 7.68938486e-01 -1.58252204e-01 2.41732109e+02] [ 2.49547970e-01 -1.73162492e-03 9.68360889e-01 8.49727528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.06, Y:241.75, Z:84.98 [[ 7.44063876e-01 -6.39528469e-01 -1.93319132e-01 3.27064418e+02] [ 6.19539134e-01 7.68765489e-01 -1.58653345e-01 2.41748678e+02] [ 2.50080408e-01 -1.72054473e-03 9.68223543e-01 8.49787419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.252755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.09, Y:241.76, Z:84.99 [[ 7.41831323e-01 -6.38767148e-01 -2.04114718e-01 3.27087833e+02] [ 6.20675224e-01 7.69268794e-01 -1.51617245e-01 2.41758488e+02] [ 2.53867198e-01 -1.42145274e-02 9.67134630e-01 8.49923912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.282755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.10, Y:241.78, Z:84.99 [[ 7.41160511e-01 -6.42667577e-01 -1.94060513e-01 3.27104429e+02] [ 6.21280613e-01 7.66144052e-01 -1.64419255e-01 2.41782999e+02] [ 2.54345232e-01 1.29502414e-03 9.67112623e-01 8.49940669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.13, Y:241.80, Z:85.00 [[ 7.41728931e-01 -6.44003672e-01 -1.87343171e-01 3.27127810e+02] [ 6.21546310e-01 7.64972117e-01 -1.68813049e-01 2.41803298e+02] [ 2.52028526e-01 8.77106563e-03 9.67680056e-01 8.49954772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.19, Y:241.77, Z:85.05 [[ 7.39992597e-01 -6.20562645e-01 -2.59447412e-01 3.27188198e+02] [ 6.19031323e-01 7.79207335e-01 -9.81638959e-02 2.41767853e+02] [ 2.63080174e-01 -8.79655187e-02 9.60755375e-01 8.50526631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.15, Y:241.87, Z:84.99 [[ 7.39553684e-01 -6.57927160e-01 -1.42099267e-01 3.27149718e+02] [ 6.23840813e-01 7.49258826e-01 -2.22337250e-01 2.41870476e+02] [ 2.52750845e-01 7.57830102e-02 9.64558938e-01 8.49931895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.402755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:327.20, Y:241.85, Z:85.02 [[ 7.38080445e-01 -6.46238935e-01 -1.93939411e-01 3.27198792e+02] [ 6.26235588e-01 7.63126334e-01 -1.59584418e-01 2.41845333e+02] [ 2.51129936e-01 -3.66562274e-03 9.67946444e-01 8.50203700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.22, Y:241.86, Z:85.03 [[ 7.37349525e-01 -6.47357948e-01 -1.92985403e-01 3.27219594e+02] [ 6.27564878e-01 7.62175921e-01 -1.58903085e-01 2.41861910e+02] [ 2.49956002e-01 -3.94374651e-03 9.68249164e-01 8.50268945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.24, Y:241.88, Z:85.03 [[ 7.36893953e-01 -6.47939734e-01 -1.92772934e-01 3.27241329e+02] [ 6.28186044e-01 7.61680776e-01 -1.58822827e-01 2.41878895e+02] [ 2.49739058e-01 -4.06168625e-03 9.68304655e-01 8.50339698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.492755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.26, Y:241.89, Z:85.04 [[ 7.36986620e-01 -6.48068957e-01 -1.91982678e-01 3.27262760e+02] [ 6.28457083e-01 7.61571125e-01 -1.58275444e-01 2.41894343e+02] [ 2.48781866e-01 -4.00598918e-03 9.68551256e-01 8.50404177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.28, Y:241.91, Z:85.05 [[ 7.37366767e-01 -6.48338791e-01 -1.89597110e-01 3.27281553e+02] [ 6.27534379e-01 7.61351083e-01 -1.62926769e-01 2.41913915e+02] [ 2.49981709e-01 1.15808038e-03 9.68249867e-01 8.50459819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.29, Y:241.94, Z:85.04 [[ 7.40248724e-01 -6.48531995e-01 -1.77307865e-01 3.27294137e+02] [ 6.26160825e-01 7.61050474e-01 -1.69483912e-01 2.41940097e+02] [ 2.44855975e-01 1.44370103e-02 9.69451971e-01 8.50429578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.33, Y:241.94, Z:85.07 [[ 7.41423246e-01 -6.39021385e-01 -2.04800488e-01 3.27332276e+02] [ 6.22822105e-01 7.68916527e-01 -1.44429918e-01 2.41938791e+02] [ 2.49768286e-01 -2.04705722e-02 9.68089231e-01 8.50680093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.612755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.35, Y:241.97, Z:85.07 [[ 7.43354492e-01 -6.41300455e-01 -1.90152111e-01 3.27345843e+02] [ 6.20695389e-01 7.67287623e-01 -1.61266665e-01 2.41969217e+02] [ 2.49321747e-01 1.85176156e-03 9.68418937e-01 8.50679612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.37, Y:241.99, Z:85.07 [[ 7.44255589e-01 -6.40191007e-01 -1.90365681e-01 3.27367516e+02] [ 6.19939018e-01 7.68215267e-01 -1.59752676e-01 2.41988370e+02] [ 2.48514049e-01 8.81708127e-04 9.68627890e-01 8.50744334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.38, Y:242.01, Z:85.07 [[ 7.44601977e-01 -6.42288598e-01 -1.81750525e-01 3.27383277e+02] [ 6.20867373e-01 7.66399469e-01 -1.64789438e-01 2.42011231e+02] [ 2.45135883e-01 9.85957015e-03 9.69438594e-01 8.50734811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.40, Y:242.03, Z:85.08 [[ 7.44038725e-01 -6.42730271e-01 -1.82494314e-01 3.27404012e+02] [ 6.22445712e-01 7.66071527e-01 -1.60298947e-01 2.42027417e+02] [ 2.42832683e-01 5.67582095e-03 9.70051583e-01 8.50779621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.43, Y:242.04, Z:85.09 [[ 7.43948873e-01 -6.41407404e-01 -1.87447637e-01 3.27426360e+02] [ 6.21931454e-01 7.67200449e-01 -1.56858973e-01 2.42041415e+02] [ 2.44420418e-01 1.15474815e-04 9.69669349e-01 8.50865243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.45, Y:242.05, Z:85.10 [[ 7.42670086e-01 -6.37759228e-01 -2.04216333e-01 3.27454082e+02] [ 6.21341802e-01 7.69997286e-01 -1.45046700e-01 2.42047629e+02] [ 2.49750894e-01 -1.91662996e-02 9.68120418e-01 8.51042205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.47, Y:242.07, Z:85.10 [[ 7.41189907e-01 -6.42766386e-01 -1.93620491e-01 3.27469341e+02] [ 6.23144086e-01 7.66052815e-01 -1.57653207e-01 2.42072734e+02] [ 2.49657704e-01 -3.80249856e-03 9.68326687e-01 8.51046171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.822755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:327.48, Y:242.11, Z:85.10 [[ 7.35930356e-01 -6.55436181e-01 -1.69734861e-01 3.27479166e+02] [ 6.30115702e-01 7.54755605e-01 -1.82477888e-01 2.42113826e+02] [ 2.47710948e-01 2.73384159e-02 9.68448190e-01 8.50954000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.852755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:327.51, Y:242.11, Z:85.11 [[ 7.36151722e-01 -6.48477546e-01 -1.93797616e-01 3.27511734e+02] [ 6.29665317e-01 7.61194481e-01 -1.55256407e-01 2.42110733e+02] [ 2.48197969e-01 -7.73536602e-03 9.68678446e-01 8.51117786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.54, Y:242.11, Z:85.13 [[ 7.34130248e-01 -6.45406417e-01 -2.10958137e-01 3.27538993e+02] [ 6.31144557e-01 7.63192188e-01 -1.38543249e-01 2.42113101e+02] [ 2.50418304e-01 -3.14362900e-02 9.67627218e-01 8.51301282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9127550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:327.55, Y:242.15, Z:85.12 [[ 7.30887197e-01 -6.58049618e-01 -1.81037582e-01 3.27548679e+02] [ 6.34822404e-01 7.52878389e-01 -1.73708510e-01 2.42154413e+02] [ 2.50608102e-01 1.20346125e-02 9.68013816e-01 8.51213695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.942755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:327.57, Y:242.16, Z:85.13 [[ 7.30076697e-01 -6.56468451e-01 -1.89834638e-01 3.27572365e+02] [ 6.35398489e-01 7.54353461e-01 -1.64983686e-01 2.42163047e+02] [ 2.51509000e-01 -1.69897661e-04 9.67854945e-01 8.51311081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.972755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:327.59, Y:242.18, Z:85.14 [[ 7.29821532e-01 -6.56178505e-01 -1.91807980e-01 3.27594484e+02] [ 6.36991819e-01 7.54572266e-01 -1.57677261e-01 2.42175126e+02] [ 2.48197412e-01 -7.10385362e-03 9.68683426e-01 8.51376158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.62, Y:242.20, Z:85.14 [[ 7.28861318e-01 -6.57387377e-01 -1.91319147e-01 3.27615079e+02] [ 6.37402230e-01 7.53538449e-01 -1.60929189e-01 2.42195124e+02] [ 2.49959151e-01 -4.65219066e-03 9.68245207e-01 8.51443515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.032755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.64, Y:242.21, Z:85.16 [[ 7.29022817e-01 -6.55456358e-01 -1.97237661e-01 3.27637886e+02] [ 6.37269240e-01 7.55112754e-01 -1.53924150e-01 2.42207054e+02] [ 2.49827236e-01 -1.34792770e-02 9.68196603e-01 8.51554254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.062755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.66, Y:242.23, Z:85.16 [[ 7.29300459e-01 -6.55587239e-01 -1.95770819e-01 3.27657555e+02] [ 6.36482558e-01 7.55055857e-01 -1.57418571e-01 2.42227268e+02] [ 2.51019510e-01 -9.79927573e-03 9.67932425e-01 8.51637116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.67, Y:242.25, Z:85.17 [[ 7.29801795e-01 -6.57452800e-01 -1.87470412e-01 3.27672323e+02] [ 6.35344619e-01 7.53483390e-01 -1.69115333e-01 2.42250316e+02] [ 2.52441190e-01 4.31235598e-03 9.67602630e-01 8.51659162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.122755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.70, Y:242.25, Z:85.19 [[ 7.31127009e-01 -6.50082457e-01 -2.06992984e-01 3.27702934e+02] [ 6.34999273e-01 7.59360042e-01 -1.41944533e-01 2.42248863e+02] [ 2.49457852e-01 -2.76609123e-02 9.67990524e-01 8.51871070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.71, Y:242.28, Z:85.19 [[ 7.31716940e-01 -6.55026834e-01 -1.88494474e-01 3.27713669e+02] [ 6.33332433e-01 7.55599778e-01 -1.67209465e-01 2.42281383e+02] [ 2.51953069e-01 2.97033501e-03 9.67734896e-01 8.51863640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.182755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.71, Y:242.32, Z:85.17 [[ 7.29566871e-01 -6.64991156e-01 -1.59746495e-01 3.27712640e+02] [ 6.38114303e-01 7.45920146e-01 -1.90822622e-01 2.42316999e+02] [ 2.46053485e-01 3.72813404e-02 9.68538995e-01 8.51742173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.77, Y:242.29, Z:85.22 [[ 7.35606383e-01 -6.39864005e-01 -2.22389983e-01 3.27774914e+02] [ 6.27621730e-01 7.67300488e-01 -1.31684949e-01 2.42287948e+02] [ 2.54900401e-01 -4.27084967e-02 9.66023690e-01 8.52216521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.242755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:327.79, Y:242.33, Z:85.22 [[ 7.34772077e-01 -6.48799751e-01 -1.97911288e-01 3.27785041e+02] [ 6.28443887e-01 7.60936915e-01 -1.61348354e-01 2.42325884e+02] [ 2.55280777e-01 -5.82187436e-03 9.66849435e-01 8.52187441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.272755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.80, Y:242.34, Z:85.23 [[ 7.33792511e-01 -6.49693089e-01 -1.98613801e-01 3.27804332e+02] [ 6.28692410e-01 7.60182770e-01 -1.63914642e-01 2.42343897e+02] [ 2.57477000e-01 -4.58765205e-03 9.66273537e-01 8.52277697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.302755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.82, Y:242.36, Z:85.24 [[ 7.32749454e-01 -6.50225629e-01 -2.00710911e-01 3.27824522e+02] [ 6.28769045e-01 7.59726223e-01 -1.65727350e-01 2.42360302e+02] [ 2.60245512e-01 -4.76418242e-03 9.65530722e-01 8.52367867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.87, Y:242.33, Z:85.27 [[ 7.31303595e-01 -6.33406307e-01 -2.52965417e-01 3.27865233e+02] [ 6.30383090e-01 7.69301754e-01 -1.03884413e-01 2.42333549e+02] [ 2.60407781e-01 -8.34940765e-02 9.61881763e-01 8.52728082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.84, Y:242.44, Z:85.23 [[ 7.31148129e-01 -6.66577679e-01 -1.45246727e-01 3.27839804e+02] [ 6.31286915e-01 7.41769880e-01 -2.26394076e-01 2.42436190e+02] [ 2.58648885e-01 7.38352465e-02 9.63145426e-01 8.52286744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.89, Y:242.41, Z:85.26 [[ 7.30504254e-01 -6.53554912e-01 -1.98064414e-01 3.27887875e+02] [ 6.32715803e-01 7.56858029e-01 -1.63818916e-01 2.42413491e+02] [ 2.56971299e-01 -5.64806957e-03 9.66402531e-01 8.52560729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.91, Y:242.43, Z:85.26 [[ 7.29385459e-01 -6.54840506e-01 -1.97941316e-01 3.27908807e+02] [ 6.34042770e-01 7.55743250e-01 -1.63834996e-01 2.42430503e+02] [ 2.56878605e-01 -6.00439732e-03 9.66425025e-01 8.52629491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.94, Y:242.43, Z:85.29 [[ 7.27604352e-01 -6.48260422e-01 -2.24388795e-01 3.27938821e+02] [ 6.33225587e-01 7.60495829e-01 -1.43775692e-01 2.42426935e+02] [ 2.63850834e-01 -3.74769077e-02 9.63835162e-01 8.52870866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.94, Y:242.49, Z:85.26 [[ 7.27532165e-01 -6.65335443e-01 -1.67408774e-01 3.27938970e+02] [ 6.38333871e-01 7.45877419e-01 -1.90254421e-01 2.42485320e+02] [ 2.51449434e-01 3.15535201e-02 9.67355962e-01 8.52564607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.512755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:327.97, Y:242.48, Z:85.27 [[ 7.27102431e-01 -6.59038658e-01 -1.92328114e-01 3.27972497e+02] [ 6.39481420e-01 7.52076420e-01 -1.59513547e-01 2.42482983e+02] [ 2.49771033e-01 -7.00756735e-03 9.68279570e-01 8.52735022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5427550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:327.99, Y:242.50, Z:85.28 [[ 7.27452754e-01 -6.58932944e-01 -1.91363179e-01 3.27992375e+02] [ 6.39543732e-01 7.52170476e-01 -1.58818732e-01 2.42500089e+02] [ 2.48588628e-01 -6.85199756e-03 9.68584918e-01 8.52801595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.572755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:328.01, Y:242.52, Z:85.29 [[ 7.28157330e-01 -6.58323373e-01 -1.90780604e-01 3.28012531e+02] [ 6.39008915e-01 7.52706753e-01 -1.58430271e-01 2.42519326e+02] [ 2.47900200e-01 -6.54834376e-03 9.68763444e-01 8.52864086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.602755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.03, Y:242.54, Z:85.29 [[ 7.28596322e-01 -6.57785858e-01 -1.90958542e-01 3.28033310e+02] [ 6.38390439e-01 7.53178713e-01 -1.58680415e-01 2.42537572e+02] [ 2.48203642e-01 -6.29214083e-03 9.68687443e-01 8.52925998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:328.05, Y:242.56, Z:85.30 [[ 7.29131048e-01 -6.57173484e-01 -1.91025984e-01 3.28053867e+02] [ 6.37717134e-01 7.53715424e-01 -1.58839277e-01 2.42555006e+02] [ 2.48364192e-01 -6.00589457e-03 9.68648108e-01 8.52988025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6627550960001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:328.07, Y:242.57, Z:85.31 [[ 7.29629066e-01 -6.56445427e-01 -1.91626792e-01 3.28074711e+02] [ 6.36813370e-01 7.54352005e-01 -1.59442104e-01 2.42572470e+02] [ 2.49219095e-01 -5.69690998e-03 9.68430373e-01 8.53055739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.10, Y:242.59, Z:85.31 [[ 7.31449349e-01 -6.54391338e-01 -1.91712875e-01 3.28095320e+02] [ 6.34645419e-01 7.56140057e-01 -1.59616436e-01 2.42590484e+02] [ 2.49413397e-01 -4.91835968e-03 9.68384617e-01 8.53115876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.722755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:328.11, Y:242.61, Z:85.32 [[ 7.32822626e-01 -6.52797579e-01 -1.91901850e-01 3.28114606e+02] [ 6.32931503e-01 7.57520192e-01 -1.59877675e-01 2.42607680e+02] [ 2.49737285e-01 -4.29874837e-03 9.68304089e-01 8.53178762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.752755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:328.14, Y:242.63, Z:85.32 [[ 7.33356573e-01 -6.52162284e-01 -1.92022117e-01 3.28135150e+02] [ 6.32225185e-01 7.58068773e-01 -1.60072015e-01 2.42625599e+02] [ 2.49958902e-01 -4.01135393e-03 9.68248138e-01 8.53241264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.782755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:328.15, Y:242.65, Z:85.33 [[ 7.33245575e-01 -6.52930456e-01 -1.89822935e-01 3.28152705e+02] [ 6.31420520e-01 7.57415157e-01 -1.66223969e-01 2.42646007e+02] [ 2.52307460e-01 2.02489298e-03 9.67645000e-01 8.53293040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.812755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:328.18, Y:242.66, Z:85.34 [[ 7.33286896e-01 -6.51627052e-01 -1.94094082e-01 3.28181955e+02] [ 6.31750836e-01 7.58520038e-01 -1.59806862e-01 2.42662966e+02] [ 2.51358725e-01 -5.43482098e-03 9.67878739e-01 8.53388655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.842755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:328.20, Y:242.68, Z:85.34 [[ 7.33030372e-01 -6.53589057e-01 -1.88382109e-01 3.28202110e+02] [ 6.33579037e-01 7.56847695e-01 -1.60496636e-01 2.42683663e+02] [ 2.47475410e-01 -1.70604692e-03 9.68892673e-01 8.53425094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.872755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:328.23, Y:242.69, Z:85.36 [[ 7.32127759e-01 -6.51705849e-01 -1.98162638e-01 3.28230704e+02] [ 6.34565030e-01 7.58294962e-01 -1.49385317e-01 2.42692734e+02] [ 2.47621015e-01 -1.63779432e-02 9.68718533e-01 8.53576960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.902755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:328.24, Y:242.72, Z:85.36 [[ 7.30286623e-01 -6.56384440e-01 -1.89316971e-01 3.28244627e+02] [ 6.36939325e-01 7.54411814e-01 -1.58654064e-01 2.42715897e+02] [ 2.46961018e-01 -4.72048323e-03 9.69013918e-01 8.53601301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.932755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:328.26, Y:242.73, Z:85.37 [[ 7.29546823e-01 -6.56409882e-01 -1.92061189e-01 3.28263238e+02] [ 6.37220440e-01 7.54368964e-01 -1.57726273e-01 2.42730202e+02] [ 2.48418084e-01 -7.31661401e-03 9.68625275e-01 8.53686034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.962755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:328.29, Y:242.74, Z:85.38 [[ 7.29829614e-01 -6.55171979e-01 -1.95188147e-01 3.28286524e+02] [ 6.38351190e-01 7.55304126e-01 -1.48402951e-01 2.42741989e+02] [ 2.44655868e-01 -1.62897177e-02 9.69473131e-01 8.53761324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.992755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:328.30, Y:242.77, Z:85.38 [[ 7.29255403e-01 -6.58935492e-01 -1.84365330e-01 3.28300788e+02] [ 6.38035633e-01 7.52195475e-01 -1.64658736e-01 2.42769299e+02] [ 2.47178252e-01 2.44662281e-03 9.68966937e-01 8.53779358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.022755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:328.33, Y:242.79, Z:85.38 [[ 7.30105790e-01 -6.57571968e-01 -1.85861891e-01 3.28325396e+02] [ 6.37573887e-01 7.53391074e-01 -1.60939205e-01 2.42785882e+02] [ 2.45855800e-01 -9.98043505e-04 9.69305901e-01 8.53833402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.052755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.35, Y:242.80, Z:85.39 [[ 7.30260233e-01 -6.57192965e-01 -1.86594207e-01 3.28346851e+02] [ 6.37591409e-01 7.53717823e-01 -1.59331850e-01 2.42803129e+02] [ 2.45351150e-01 -2.61714924e-03 9.69430742e-01 8.53897724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.082755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:328.37, Y:242.81, Z:85.40 [[ 7.28718784e-01 -6.56163925e-01 -1.96004687e-01 3.28367932e+02] [ 6.38253280e-01 7.54494081e-01 -1.52877179e-01 2.42814391e+02] [ 2.48196866e-01 -1.36961626e-02 9.68612787e-01 8.54030067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.112755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:328.38, Y:242.85, Z:85.40 [[ 7.28510701e-01 -6.61571430e-01 -1.77750951e-01 3.28383731e+02] [ 6.39246481e-01 7.49804824e-01 -1.70753222e-01 2.42847093e+02] [ 2.46243974e-01 1.07688792e-02 9.69148047e-01 8.53978295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.142755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:328.41, Y:242.85, Z:85.41 [[ 7.27992423e-01 -6.57184888e-01 -1.95281990e-01 3.28413214e+02] [ 6.39448831e-01 7.53599297e-01 -1.52293439e-01 2.42851841e+02] [ 2.47249317e-01 -1.40043709e-02 9.68850687e-01 8.54139286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.43, Y:242.87, Z:85.42 [[ 7.27061447e-01 -6.59200817e-01 -1.91926902e-01 3.28431515e+02] [ 6.40893017e-01 7.51892628e-01 -1.54640283e-01 2.42871592e+02] [ 2.46247423e-01 -1.05716237e-02 9.69149342e-01 8.54177942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.202755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:328.45, Y:242.90, Z:85.42 [[ 7.25540118e-01 -6.63558382e-01 -1.82433030e-01 3.28447085e+02] [ 6.41705442e-01 7.48104036e-01 -1.68980700e-01 2.42899618e+02] [ 2.48607446e-01 5.53400827e-03 9.68588516e-01 8.54192701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.232755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.47, Y:242.91, Z:85.43 [[ 7.25028060e-01 -6.60690250e-01 -1.94480608e-01 3.28471130e+02] [ 6.42108328e-01 7.50566693e-01 -1.56033759e-01 2.42907655e+02] [ 2.49060650e-01 -1.17487645e-02 9.68416625e-01 8.54305446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.262755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:328.50, Y:242.91, Z:85.45 [[ 7.25058890e-01 -6.56440493e-01 -2.08267822e-01 3.28496844e+02] [ 6.42430303e-01 7.53651766e-01 -1.38896802e-01 2.42913098e+02] [ 2.48138897e-01 -3.30891992e-02 9.68159177e-01 8.54469794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2927550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.50, Y:242.96, Z:85.44 [[ 7.23329378e-01 -6.66749841e-01 -1.79552946e-01 3.28504305e+02] [ 6.43901557e-01 7.45217731e-01 -1.73324313e-01 2.42955844e+02] [ 2.49369998e-01 9.75614589e-03 9.68359139e-01 8.54388231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.53, Y:242.96, Z:85.46 [[ 7.23842662e-01 -6.60235112e-01 -2.00353182e-01 3.28530939e+02] [ 6.42532506e-01 7.50842395e-01 -1.52930302e-01 2.42955341e+02] [ 2.51403618e-01 -1.80359556e-02 9.67714279e-01 8.54573066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.352755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.55, Y:242.98, Z:85.46 [[ 7.24033885e-01 -6.63368001e-01 -1.88991611e-01 3.28549437e+02] [ 6.42424301e-01 7.48291456e-01 -1.65381121e-01 2.42983475e+02] [ 2.51129351e-01 -1.67126828e-03 9.67952094e-01 8.54588319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.57, Y:243.00, Z:85.47 [[ 7.23543692e-01 -6.61728064e-01 -1.96470087e-01 3.28567343e+02] [ 6.42582662e-01 7.49654143e-01 -1.58449328e-01 2.42996250e+02] [ 2.52134981e-01 -1.16032594e-02 9.67622507e-01 8.54684256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4127550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:328.59, Y:243.02, Z:85.47 [[ 7.23732249e-01 -6.62837980e-01 -1.91982927e-01 3.28585170e+02] [ 6.42472831e-01 7.48744219e-01 -1.63128037e-01 2.43018757e+02] [ 2.51873565e-01 -5.28279344e-03 9.67745731e-01 8.54734107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.442755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:328.60, Y:243.04, Z:85.48 [[ 7.24228686e-01 -6.62355025e-01 -1.91777554e-01 3.28603405e+02] [ 6.41990378e-01 7.49173236e-01 -1.63057715e-01 2.43038117e+02] [ 2.51676708e-01 -5.02826945e-03 9.67798301e-01 8.54800234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.472755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.62, Y:243.06, Z:85.49 [[ 7.24492864e-01 -6.62155517e-01 -1.91468434e-01 3.28623981e+02] [ 6.41831967e-01 7.49350461e-01 -1.62866856e-01 2.43056647e+02] [ 2.51320147e-01 -4.89468660e-03 9.67891640e-01 8.54869871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.502755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:328.64, Y:243.08, Z:85.49 [[ 7.24836048e-01 -6.62136633e-01 -1.90230869e-01 3.28644917e+02] [ 6.41593558e-01 7.49375406e-01 -1.63689362e-01 2.43075272e+02] [ 2.50939057e-01 -3.40295004e-03 9.67996906e-01 8.54934512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.532755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:328.66, Y:243.09, Z:85.50 [[ 7.25264109e-01 -6.61277270e-01 -1.91583782e-01 3.28664945e+02] [ 6.41554142e-01 7.50112930e-01 -1.60433397e-01 2.43090977e+02] [ 2.49800431e-01 -6.55478448e-03 9.68275157e-01 8.55028239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.562755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:328.68, Y:243.11, Z:85.51 [[ 7.25284650e-01 -6.62606616e-01 -1.86854618e-01 3.28683536e+02] [ 6.41905932e-01 7.48967223e-01 -1.64331597e-01 2.43113073e+02] [ 2.48835188e-01 -7.55903163e-04 9.68545548e-01 8.55068308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.592755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:328.70, Y:243.13, Z:85.52 [[ 7.25150889e-01 -6.61371697e-01 -1.91686377e-01 3.28704675e+02] [ 6.42220867e-01 7.50011631e-01 -1.58224244e-01 2.43127732e+02] [ 2.48412049e-01 -8.36853978e-03 9.68618305e-01 8.55175297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.622755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:328.72, Y:243.16, Z:85.51 [[ 7.24688906e-01 -6.65963225e-01 -1.76971672e-01 3.28717468e+02] [ 6.43889711e-01 7.45924519e-01 -1.70301649e-01 2.43156831e+02] [ 2.45422145e-01 9.46547653e-03 9.69370092e-01 8.55142107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.74, Y:243.17, Z:85.52 [[ 7.23897953e-01 -6.65518770e-01 -1.81814524e-01 3.28740238e+02] [ 6.45143218e-01 7.46380439e-01 -1.63421139e-01 2.43171397e+02] [ 2.44462640e-01 1.00382135e-03 9.69658192e-01 8.55220952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.76, Y:243.19, Z:85.53 [[ 7.23246502e-01 -6.66658731e-01 -1.80223845e-01 3.28759446e+02] [ 6.46072001e-01 7.45358991e-01 -1.64410899e-01 2.43190927e+02] [ 2.43937425e-01 2.47202747e-03 9.69787823e-01 8.55275857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.712755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:328.79, Y:243.19, Z:85.55 [[ 7.23476704e-01 -6.59465396e-01 -2.04173581e-01 3.28792497e+02] [ 6.44172009e-01 7.51233369e-01 -1.43843139e-01 2.43190939e+02] [ 2.48241579e-01 -2.74557456e-02 9.68308990e-01 8.55526299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.742755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:328.80, Y:243.22, Z:85.55 [[ 7.23091199e-01 -6.64429512e-01 -1.88871759e-01 3.28804602e+02] [ 6.44608335e-01 7.47332762e-01 -1.61164006e-01 2.43219434e+02] [ 2.48232175e-01 -5.21203612e-03 9.68686545e-01 8.55537663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.772755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:328.83, Y:243.23, Z:85.56 [[ 7.24462146e-01 -6.60708780e-01 -1.96515920e-01 3.28829885e+02] [ 6.44957854e-01 7.50329412e-01 -1.45034962e-01 2.43227930e+02] [ 2.43277548e-01 -2.16721467e-02 9.69714573e-01 8.55627504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.802755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:328.84, Y:243.26, Z:85.56 [[ 7.22972092e-01 -6.68002052e-01 -1.76308289e-01 3.28838061e+02] [ 6.44948579e-01 7.44056288e-01 -1.74417806e-01 2.43264252e+02] [ 2.47694743e-01 1.23894254e-02 9.68758905e-01 8.55625860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.832755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:328.86, Y:243.28, Z:85.57 [[ 7.23081922e-01 -6.67927507e-01 -1.76140225e-01 3.28856766e+02] [ 6.45457637e-01 7.44148398e-01 -1.72126700e-01 2.43282508e+02] [ 2.46042624e-01 1.07706515e-02 9.69199164e-01 8.55661859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.862755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:328.88, Y:243.29, Z:85.57 [[ 7.22063474e-01 -6.67232290e-01 -1.82826180e-01 3.28882539e+02] [ 6.50626215e-01 7.44756305e-01 -1.48403416e-01 2.43293204e+02] [ 2.35180501e-01 -1.17948193e-02 9.71880144e-01 8.55677544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.892755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:328.91, Y:243.31, Z:85.59 [[ 7.21534586e-01 -6.65164436e-01 -1.92208519e-01 3.28907689e+02] [ 6.47074588e-01 7.46586835e-01 -1.54604574e-01 2.43306665e+02] [ 2.46337814e-01 -1.28207008e-02 9.69099227e-01 8.55899723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9227550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:328.92, Y:243.33, Z:85.59 [[ 7.20810827e-01 -6.67310662e-01 -1.87425272e-01 3.28924258e+02] [ 6.47736356e-01 7.44757806e-01 -1.60541034e-01 2.43327867e+02] [ 2.46717179e-01 -5.68244725e-03 9.69070866e-01 8.55945539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.94, Y:243.35, Z:85.60 [[ 7.20118574e-01 -6.67986732e-01 -1.87677824e-01 3.28944132e+02] [ 6.48355648e-01 7.44150229e-01 -1.60858295e-01 2.43345898e+02] [ 2.47111703e-01 -5.84493132e-03 9.68969372e-01 8.56011899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.96, Y:243.36, Z:85.61 [[ 7.18805996e-01 -6.69407246e-01 -1.87648287e-01 3.28964131e+02] [ 6.49805850e-01 7.42869275e-01 -1.60927309e-01 2.43364319e+02] [ 2.47124053e-01 -6.25944039e-03 9.68963633e-01 8.56074876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.012755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:328.99, Y:243.38, Z:85.62 [[ 7.19095058e-01 -6.68339053e-01 -1.90329210e-01 3.28985531e+02] [ 6.50223407e-01 7.43755599e-01 -1.55039127e-01 2.43377976e+02] [ 2.45177118e-01 -1.22686373e-02 9.69400671e-01 8.56158383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:329.00, Y:243.40, Z:85.62 [[ 7.17876942e-01 -6.71737195e-01 -1.82816402e-01 3.29000847e+02] [ 6.50882842e-01 7.40789503e-01 -1.66079616e-01 2.43402733e+02] [ 2.46990326e-01 2.32667770e-04 9.69017918e-01 8.56204145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.072755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:329.02, Y:243.42, Z:85.63 [[ 7.18022657e-01 -6.70435021e-01 -1.86976864e-01 3.29023518e+02] [ 6.50947955e-01 7.41940637e-01 -1.60595304e-01 2.43417815e+02] [ 2.46394450e-01 -6.40114048e-03 9.69148493e-01 8.56280141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.04, Y:243.44, Z:85.63 [[ 7.18147323e-01 -6.70273946e-01 -1.87075545e-01 3.29042336e+02] [ 6.50737227e-01 7.42087199e-01 -1.60772047e-01 2.43435717e+02] [ 2.46587682e-01 -6.27900626e-03 9.69100144e-01 8.56349309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.132755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:329.05, Y:243.46, Z:85.63 [[ 7.18354757e-01 -6.73351807e-01 -1.74825019e-01 3.29053481e+02] [ 6.50749576e-01 7.39244138e-01 -1.73329439e-01 2.43464116e+02] [ 2.45950062e-01 1.07447206e-02 9.69222946e-01 8.56314778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1627550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:329.08, Y:243.46, Z:85.65 [[ 7.19576970e-01 -6.66499071e-01 -1.94905033e-01 3.29081669e+02] [ 6.48973046e-01 7.45321489e-01 -1.52741163e-01 2.43464796e+02] [ 2.47068753e-01 -1.65790896e-02 9.68856112e-01 8.56488026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.192755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:329.10, Y:243.49, Z:85.65 [[ 7.17997281e-01 -6.70605125e-01 -1.86463590e-01 3.29099533e+02] [ 6.50888638e-01 7.41794813e-01 -1.61506765e-01 2.43494089e+02] [ 2.46624988e-01 -5.40561362e-03 9.69095916e-01 8.56531988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.12, Y:243.51, Z:85.65 [[ 7.20077134e-01 -6.68040837e-01 -1.87644243e-01 3.29119786e+02] [ 6.50275444e-01 7.44035583e-01 -1.53469539e-01 2.43507448e+02] [ 2.42137913e-01 -1.15105373e-02 9.70173561e-01 8.56549294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.14, Y:243.54, Z:85.66 [[ 7.17529958e-01 -6.72963440e-01 -1.79641217e-01 3.29136465e+02] [ 6.51359115e-01 7.39662665e-01 -1.69205337e-01 2.43535978e+02] [ 2.46742907e-01 4.39895384e-03 9.69070992e-01 8.56648839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.16, Y:243.55, Z:85.67 [[ 7.17382125e-01 -6.71271556e-01 -1.86433328e-01 3.29160783e+02] [ 6.51609524e-01 7.41189503e-01 -1.61378900e-01 2.43549197e+02] [ 2.46511491e-01 -5.71139451e-03 9.69123039e-01 8.56744304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.18, Y:243.57, Z:85.68 [[ 7.17934183e-01 -6.70765148e-01 -1.86130665e-01 3.29180456e+02] [ 6.51127436e-01 7.41649744e-01 -1.61210170e-01 2.43567722e+02] [ 2.46177924e-01 -5.45649103e-03 9.69209294e-01 8.56814337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.20, Y:243.59, Z:85.69 [[ 7.18748911e-01 -6.69826508e-01 -1.86366447e-01 3.29199388e+02] [ 6.50079878e-01 7.42500405e-01 -1.61521829e-01 2.43585492e+02] [ 2.46568765e-01 -5.05943859e-03 9.69112092e-01 8.56880498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.22, Y:243.60, Z:85.70 [[ 7.18949226e-01 -6.69602442e-01 -1.86398982e-01 3.29219673e+02] [ 6.49822858e-01 7.42703365e-01 -1.61622910e-01 2.43603817e+02] [ 2.46662246e-01 -4.92765313e-03 9.69088982e-01 8.56950542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.24, Y:243.63, Z:85.70 [[ 7.20226113e-01 -6.69245123e-01 -1.82716480e-01 3.29238516e+02] [ 6.47365810e-01 7.43030988e-01 -1.69771787e-01 2.43625233e+02] [ 2.49382946e-01 3.98967202e-03 9.68396731e-01 8.56992091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.26, Y:243.64, Z:85.71 [[ 7.19945165e-01 -6.66858715e-01 -1.92297721e-01 3.29263289e+02] [ 6.48486420e-01 7.45080546e-01 -1.55949808e-01 2.43635257e+02] [ 2.47273780e-01 -1.24271500e-02 9.68865958e-01 8.57114399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.28, Y:243.66, Z:85.72 [[ 7.20055554e-01 -6.68299136e-01 -1.86805418e-01 3.29280875e+02] [ 6.48327200e-01 7.43880179e-01 -1.62216281e-01 2.43656799e+02] [ 2.47369848e-01 -4.30629962e-03 9.68911562e-01 8.57163776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.30, Y:243.68, Z:85.72 [[ 7.20099334e-01 -6.68967507e-01 -1.84226556e-01 3.29300166e+02] [ 6.47799506e-01 7.43291125e-01 -1.66955396e-01 2.43676515e+02] [ 2.48621699e-01 8.82597993e-04 9.68600264e-01 8.57203688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.32, Y:243.69, Z:85.73 [[ 7.19147897e-01 -6.68181963e-01 -1.90680796e-01 3.29323212e+02] [ 6.49233432e-01 7.43931381e-01 -1.58309984e-01 2.43688597e+02] [ 2.47633304e-01 -9.94805580e-03 9.68802758e-01 8.57308400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.34, Y:243.71, Z:85.74 [[ 7.18363191e-01 -6.69964581e-01 -1.87354708e-01 3.29342344e+02] [ 6.49852749e-01 7.42378394e-01 -1.62989951e-01 2.43708289e+02] [ 2.48285582e-01 -4.66699065e-03 9.68675637e-01 8.57364039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.36, Y:243.73, Z:85.74 [[ 7.17295274e-01 -6.73250264e-01 -1.79503685e-01 3.29358187e+02] [ 6.49809694e-01 7.39348743e-01 -1.76382530e-01 2.43729334e+02] [ 2.51465408e-01 9.87512040e-03 9.67815907e-01 8.57396701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.39, Y:243.73, Z:85.75 [[ 7.14957690e-01 -6.71172319e-01 -1.95865309e-01 3.29390113e+02] [ 6.53549844e-01 7.41082494e-01 -1.53848427e-01 2.43734394e+02] [ 2.48411157e-01 -1.80126261e-02 9.68487193e-01 8.57533176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.41, Y:243.76, Z:85.76 [[ 7.12604186e-01 -6.76135814e-01 -1.87178087e-01 3.29407216e+02] [ 6.56190925e-01 7.36747744e-01 -1.63144820e-01 2.43755476e+02] [ 2.48211089e-01 -6.56688065e-03 9.68683711e-01 8.57571827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.43, Y:243.77, Z:85.76 [[ 7.13352114e-01 -6.76009653e-01 -1.84769345e-01 3.29425418e+02] [ 6.55467954e-01 7.36886184e-01 -1.65410135e-01 2.43770975e+02] [ 2.47972825e-01 -3.11471504e-03 9.68761981e-01 8.57623587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.45, Y:243.79, Z:85.77 [[ 7.11019407e-01 -6.78001428e-01 -1.86454999e-01 3.29450016e+02] [ 6.58090924e-01 7.35030598e-01 -1.63237115e-01 2.43789398e+02] [ 2.47725127e-01 -6.63958564e-03 9.68807606e-01 8.57715939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.47, Y:243.81, Z:85.78 [[ 7.10581443e-01 -6.78315042e-01 -1.86983198e-01 3.29470610e+02] [ 6.58420922e-01 7.34736639e-01 -1.63229778e-01 2.43805642e+02] [ 2.48104620e-01 -7.12559813e-03 9.68707037e-01 8.57784071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.49, Y:243.82, Z:85.79 [[ 7.10433318e-01 -6.78433826e-01 -1.87115056e-01 3.29491141e+02] [ 6.58488646e-01 7.34627268e-01 -1.63448709e-01 2.43823258e+02] [ 2.48348955e-01 -7.09373119e-03 9.68644659e-01 8.57853856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.51, Y:243.84, Z:85.79 [[ 7.10125320e-01 -6.78686323e-01 -1.87368365e-01 3.29511643e+02] [ 6.58669767e-01 7.34393768e-01 -1.63767918e-01 2.43840571e+02] [ 2.48749206e-01 -7.11813230e-03 9.68541772e-01 8.57923688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.53, Y:243.86, Z:85.80 [[ 7.10430543e-01 -6.78309369e-01 -1.87576232e-01 3.29532896e+02] [ 6.58207462e-01 7.34743901e-01 -1.64055897e-01 2.43856772e+02] [ 2.49101144e-01 -6.91375590e-03 9.68452797e-01 8.57989243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.55, Y:243.88, Z:85.80 [[ 7.09808061e-01 -6.80978288e-01 -1.80114096e-01 3.29549225e+02] [ 6.59213604e-01 7.32299315e-01 -1.70807310e-01 2.43880185e+02] [ 2.48213499e-01 2.50674280e-03 9.68702109e-01 8.57995379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.58, Y:243.89, Z:85.82 [[ 7.10995777e-01 -6.75976891e-01 -1.93753061e-01 3.29577953e+02] [ 6.57420894e-01 7.36769531e-01 -1.58014005e-01 2.43885393e+02] [ 2.49565168e-01 -1.50300204e-02 9.68241357e-01 8.58159762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.60, Y:243.91, Z:85.82 [[ 7.11413889e-01 -6.77144352e-01 -1.88057983e-01 3.29595772e+02] [ 6.56839457e-01 7.35822785e-01 -1.64702023e-01 2.43907148e+02] [ 2.49904393e-01 -6.35259691e-03 9.68249678e-01 8.58202386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.62, Y:243.92, Z:85.83 [[ 7.12133451e-01 -6.76265064e-01 -1.88498039e-01 3.29616898e+02] [ 6.55806769e-01 7.36634095e-01 -1.65189867e-01 2.43924933e+02] [ 2.50566219e-01 -5.98106000e-03 9.68080987e-01 8.58272310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.972755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.64, Y:243.94, Z:85.83 [[ 7.14668062e-01 -6.73509667e-01 -1.88770471e-01 3.29637676e+02] [ 6.52870147e-01 7.39161885e-01 -1.65530297e-01 2.43941213e+02] [ 2.51018193e-01 -4.94338867e-03 9.67969746e-01 8.58340321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.66, Y:243.96, Z:85.84 [[ 7.16017413e-01 -6.72060701e-01 -1.88821285e-01 3.29658028e+02] [ 6.51342107e-01 7.40483090e-01 -1.65644961e-01 2.43958832e+02] [ 2.51142437e-01 -4.38257746e-03 9.67940220e-01 8.58410036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.68, Y:243.98, Z:85.85 [[ 7.18153853e-01 -6.69853376e-01 -1.88551049e-01 3.29677331e+02] [ 6.49093994e-01 7.42485027e-01 -1.65508224e-01 2.43976488e+02] [ 2.50862573e-01 -3.52698416e-03 9.68016286e-01 8.58471608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.70, Y:243.99, Z:85.85 [[ 7.18716566e-01 -6.69259281e-01 -1.88516610e-01 3.29697924e+02] [ 6.48460106e-01 7.43021892e-01 -1.65583693e-01 2.43994214e+02] [ 2.50890391e-01 -3.23775793e-03 9.68010087e-01 8.58538329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.74, Y:243.98, Z:85.89 [[ 7.18267499e-01 -6.56703852e-01 -2.29851802e-01 3.29737700e+02] [ 6.45656811e-01 7.52217024e-01 -1.31517417e-01 2.43984151e+02] [ 2.59266432e-01 -5.39406952e-02 9.64298356e-01 8.58912233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.72, Y:244.05, Z:85.85 [[ 7.17712454e-01 -6.79151898e-01 -1.53758035e-01 3.29723780e+02] [ 6.49741308e-01 7.32571657e-01 -2.02916239e-01 2.44053748e+02] [ 2.50449727e-01 4.57325650e-02 9.67048844e-01 8.58543805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.76, Y:244.05, Z:85.87 [[ 7.16599094e-01 -6.71900238e-01 -1.87178546e-01 3.29760954e+02] [ 6.51411469e-01 7.40631384e-01 -1.64706561e-01 2.44045297e+02] [ 2.49296683e-01 -3.90167917e-03 9.68419300e-01 8.58744582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.78, Y:244.06, Z:85.88 [[ 7.14486605e-01 -6.74358440e-01 -1.86412410e-01 3.29782979e+02] [ 6.54097928e-01 7.38389406e-01 -1.64124908e-01 2.44061549e+02] [ 2.48323965e-01 -4.66692242e-03 9.68665798e-01 8.58821117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.82, Y:244.05, Z:85.92 [[ 7.13745521e-01 -6.64055747e-01 -2.22704505e-01 3.29819118e+02] [ 6.52045910e-01 7.46080658e-01 -1.34906572e-01 2.44053040e+02] [ 2.55741007e-01 -4.89246002e-02 9.65506562e-01 8.59169259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.82, Y:244.09, Z:85.91 [[ 7.13107092e-01 -6.74520950e-01 -1.91049114e-01 3.29824766e+02] [ 6.53146539e-01 7.38241316e-01 -1.68521090e-01 2.44093247e+02] [ 2.54711355e-01 -4.60948279e-03 9.67006142e-01 8.59089770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.83, Y:244.13, Z:85.90 [[ 7.12000307e-01 -6.82630420e-01 -1.64533503e-01 3.29832089e+02] [ 6.54954010e-01 7.30106103e-01 -1.94885413e-01 2.44130200e+02] [ 2.53161626e-01 3.09965959e-02 9.66927299e-01 8.59024652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.86, Y:244.13, Z:85.92 [[ 7.11188688e-01 -6.77567359e-01 -1.87384963e-01 3.29864743e+02] [ 6.57161468e-01 7.35438622e-01 -1.65132792e-01 2.44130184e+02] [ 2.49698728e-01 -5.70160409e-03 9.68306789e-01 8.59165963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.89, Y:244.14, Z:85.94 [[ 7.10906737e-01 -6.73791334e-01 -2.01536224e-01 3.29890210e+02] [ 6.56342635e-01 7.38570746e-01 -1.54037652e-01 2.44137737e+02] [ 2.52637994e-01 -2.27704116e-02 9.67292899e-01 8.59362679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.90, Y:244.17, Z:85.93 [[ 7.10662654e-01 -6.81222438e-01 -1.75768549e-01 3.29899857e+02] [ 6.57539440e-01 7.31990541e-01 -1.78414498e-01 2.44173943e+02] [ 2.50200875e-01 1.12177678e-02 9.68128961e-01 8.59266475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.93, Y:244.18, Z:85.94 [[ 7.10458683e-01 -6.78418709e-01 -1.87073558e-01 3.29925456e+02] [ 6.58043547e-01 7.34652641e-01 -1.65118708e-01 2.44184453e+02] [ 2.49453704e-01 -5.79252812e-03 9.68369401e-01 8.59388303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.95, Y:244.20, Z:85.95 [[ 7.11353243e-01 -6.77342795e-01 -1.87572123e-01 3.29946661e+02] [ 6.56795422e-01 7.35648041e-01 -1.65655466e-01 2.44199963e+02] [ 2.50192601e-01 -5.35695846e-03 9.68181267e-01 8.59461714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.97, Y:244.21, Z:85.96 [[ 7.13197632e-01 -6.74219471e-01 -1.91773938e-01 3.29969361e+02] [ 6.54512658e-01 7.38464759e-01 -1.62120263e-01 2.44214443e+02] [ 2.50922933e-01 -9.89468211e-03 9.67956495e-01 8.59579889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.99, Y:244.24, Z:85.96 [[ 7.14215073e-01 -6.75689019e-01 -1.82595671e-01 3.29985928e+02] [ 6.53968134e-01 7.37184138e-01 -1.69956543e-01 2.44238955e+02] [ 2.49444402e-01 1.97377460e-03 9.68387110e-01 8.59593222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.512755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:330.01, Y:244.25, Z:85.97 [[ 7.13856671e-01 -6.74394309e-01 -1.88682193e-01 3.30008414e+02] [ 6.53823565e-01 7.38352321e-01 -1.65380153e-01 2.44253837e+02] [ 2.50845369e-01 -5.30713845e-03 9.68012621e-01 8.59677874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.03, Y:244.27, Z:85.98 [[ 7.16323352e-01 -6.72157283e-01 -1.87311085e-01 3.30027576e+02] [ 6.51405135e-01 7.40401148e-01 -1.65763356e-01 2.44271501e+02] [ 2.50104389e-01 -3.27523975e-03 9.68213338e-01 8.59756689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.05, Y:244.29, Z:85.98 [[ 7.17087360e-01 -6.71359952e-01 -1.87247250e-01 3.30047896e+02] [ 6.50568277e-01 7.41125708e-01 -1.65811950e-01 2.44289805e+02] [ 2.50093253e-01 -2.91546673e-03 9.68217364e-01 8.59828880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.06, Y:244.32, Z:85.97 [[ 7.20087236e-01 -6.73949570e-01 -1.65125255e-01 3.30058731e+02] [ 6.49265730e-01 7.38384859e-01 -1.82323371e-01 2.44321952e+02] [ 2.44802746e-01 2.40785627e-02 9.69273872e-01 8.59723852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.09, Y:244.33, Z:85.99 [[ 7.19668833e-01 -6.70326502e-01 -1.80939636e-01 3.30087362e+02] [ 6.49024758e-01 7.42059235e-01 -1.67675150e-01 2.44331537e+02] [ 2.46665025e-01 3.23627640e-03 9.69095399e-01 8.59856071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.11, Y:244.35, Z:85.99 [[ 7.20116611e-01 -6.69014973e-01 -1.83986501e-01 3.30108615e+02] [ 6.48229067e-01 7.43248918e-01 -1.65469402e-01 2.44348240e+02] [ 2.47449276e-01 -1.08133161e-04 9.68900843e-01 8.59938451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.13, Y:244.37, Z:86.00 [[ 7.20919150e-01 -6.68520166e-01 -1.82637253e-01 3.30127711e+02] [ 6.47303566e-01 7.43690630e-01 -1.67099791e-01 2.44367710e+02] [ 2.47535194e-01 2.24369383e-03 9.68876305e-01 8.59991532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.15, Y:244.38, Z:86.01 [[ 7.20754758e-01 -6.67496341e-01 -1.86979179e-01 3.30149747e+02] [ 6.47011104e-01 7.44608227e-01 -1.64119530e-01 2.44384145e+02] [ 2.48775421e-01 -2.68767313e-03 9.68557467e-01 8.60082945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.17, Y:244.41, Z:86.01 [[ 7.20194005e-01 -6.69010068e-01 -1.83701182e-01 3.30167576e+02] [ 6.47417932e-01 7.43249125e-01 -1.68614235e-01 2.44405874e+02] [ 2.49340364e-01 2.50352186e-03 9.68412678e-01 8.60128330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.19, Y:244.42, Z:86.02 [[ 7.18815281e-01 -6.68891017e-01 -1.89444978e-01 3.30190135e+02] [ 6.48500201e-01 7.43343749e-01 -1.63974268e-01 2.44419904e+02] [ 2.50503655e-01 -4.98789737e-03 9.68102804e-01 8.60220385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.21, Y:244.45, Z:86.03 [[ 7.16694733e-01 -6.74323570e-01 -1.77866191e-01 3.30207613e+02] [ 6.49501755e-01 7.38287137e-01 -1.81877909e-01 2.44451394e+02] [ 2.53960881e-01 1.48265362e-02 9.67100845e-01 8.60255683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.842755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.24, Y:244.46, Z:86.04 [[ 7.15679882e-01 -6.70786307e-01 -1.94545722e-01 3.30236695e+02] [ 6.50212814e-01 7.41603558e-01 -1.65068045e-01 2.44456764e+02] [ 2.55001184e-01 -8.36024274e-03 9.66904599e-01 8.60404172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.26, Y:244.46, Z:86.07 [[ 7.12348108e-01 -6.67946025e-01 -2.15425813e-01 3.30260916e+02] [ 6.51839380e-01 7.43441415e-01 -1.49667248e-01 2.44457422e+02] [ 2.60126115e-01 -3.38078471e-02 9.64982608e-01 8.60650959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.27, Y:244.51, Z:86.05 [[ 7.12480954e-01 -6.80086966e-01 -1.72779078e-01 3.30265989e+02] [ 6.53583614e-01 7.32803242e-01 -1.89282508e-01 2.44507101e+02] [ 2.55341635e-01 2.19346082e-02 9.66602050e-01 8.60465049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.30, Y:244.49, Z:86.08 [[ 7.12459661e-01 -6.67197873e-01 -2.17366582e-01 3.30303227e+02] [ 6.52941958e-01 7.43800422e-01 -1.42925620e-01 2.44490627e+02] [ 2.57037025e-01 -4.00990224e-02 9.65569281e-01 8.60806631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.31, Y:244.53, Z:86.08 [[ 7.12875172e-01 -6.74508109e-01 -1.91957807e-01 3.30310842e+02] [ 6.52448932e-01 7.38260262e-01 -1.71120357e-01 2.44527468e+02] [ 2.57136889e-01 -3.25521196e-03 9.66369507e-01 8.60762791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.33, Y:244.55, Z:86.08 [[ 7.13571213e-01 -6.73867187e-01 -1.91622384e-01 3.30330757e+02] [ 6.51834170e-01 7.38846674e-01 -1.70932173e-01 2.44545923e+02] [ 2.56765143e-01 -2.93373926e-03 9.66469376e-01 8.60830560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.35, Y:244.56, Z:86.09 [[ 7.15635064e-01 -6.71882991e-01 -1.90891856e-01 3.30351061e+02] [ 6.49921868e-01 7.40654251e-01 -1.70390274e-01 2.44564453e+02] [ 2.55867192e-01 -2.12753695e-03 9.66709601e-01 8.60897573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.37, Y:244.58, Z:86.10 [[ 7.18471723e-01 -6.69051253e-01 -1.90180975e-01 3.30371184e+02] [ 6.47129608e-01 7.43215555e-01 -1.69864382e-01 2.44582891e+02] [ 2.54993437e-01 -1.02898418e-03 9.66942236e-01 8.60967995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.39, Y:244.60, Z:86.10 [[ 7.18586166e-01 -6.69225353e-01 -1.89133151e-01 3.30390086e+02] [ 6.47534979e-01 7.43058795e-01 -1.69003192e-01 2.44600712e+02] [ 2.53638272e-01 -1.02697489e-03 9.67298595e-01 8.61032446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.41, Y:244.62, Z:86.11 [[ 7.19446697e-01 -6.69064597e-01 -1.86410881e-01 3.30408477e+02] [ 6.46448915e-01 7.43195458e-01 -1.72523367e-01 2.44620132e+02] [ 2.53968997e-01 3.61625484e-03 9.67205599e-01 8.61093061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.43, Y:244.64, Z:86.12 [[ 7.20395143e-01 -6.67259511e-01 -1.89197205e-01 3.30430709e+02] [ 6.46686196e-01 7.44815233e-01 -1.64460430e-01 2.44635075e+02] [ 2.50654746e-01 -3.87472605e-03 9.68068791e-01 8.61184314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.45, Y:244.66, Z:86.12 [[ 7.20500073e-01 -6.68035032e-01 -1.86034513e-01 3.30449859e+02] [ 6.46962066e-01 7.44129707e-01 -1.66466408e-01 2.44655605e+02] [ 2.49639200e-01 -4.18213433e-04 9.68338833e-01 8.61242352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.47, Y:244.67, Z:86.13 [[ 7.20307541e-01 -6.68257373e-01 -1.85981532e-01 3.30470297e+02] [ 6.47176420e-01 7.43930045e-01 -1.66525580e-01 2.44674194e+02] [ 2.49639196e-01 -4.13230830e-04 9.68338836e-01 8.61315040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.49, Y:244.69, Z:86.14 [[ 7.19794783e-01 -6.69009862e-01 -1.85260020e-01 3.30490588e+02] [ 6.48093948e-01 7.43253288e-01 -1.65978268e-01 2.44692577e+02] [ 2.48736217e-01 -5.95606229e-04 9.68571081e-01 8.61382315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.51, Y:244.71, Z:86.14 [[ 7.19086160e-01 -6.69795387e-01 -1.85173522e-01 3.30510439e+02] [ 6.48896939e-01 7.42545302e-01 -1.66009750e-01 2.44710292e+02] [ 2.48692294e-01 -7.83217751e-04 9.68582227e-01 8.61449521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2927550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:330.53, Y:244.73, Z:86.15 [[ 7.18237185e-01 -6.70832086e-01 -1.84715073e-01 3.30531105e+02] [ 6.50047506e-01 7.41608508e-01 -1.65695692e-01 2.44729395e+02] [ 2.48140256e-01 -1.06476509e-03 9.68723531e-01 8.61498503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.55, Y:244.75, Z:86.16 [[ 7.16661294e-01 -6.72620646e-01 -1.84331375e-01 3.30550562e+02] [ 6.51954120e-01 7.39985754e-01 -1.65459694e-01 2.44748299e+02] [ 2.47694198e-01 -1.59704118e-03 9.68836949e-01 8.61580305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.57, Y:244.77, Z:86.16 [[ 7.16047515e-01 -6.73303957e-01 -1.84221978e-01 3.30570350e+02] [ 6.52656878e-01 7.39363727e-01 -1.65469874e-01 2.44767174e+02] [ 2.47618569e-01 -1.74944845e-03 9.68856018e-01 8.61643934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.59, Y:244.79, Z:86.17 [[ 7.14345644e-01 -6.75038686e-01 -1.84480551e-01 3.30589585e+02] [ 6.54361530e-01 7.37778841e-01 -1.65811251e-01 2.44786501e+02] [ 2.48034856e-01 -2.27043100e-03 9.68748448e-01 8.61704863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.61, Y:244.80, Z:86.18 [[ 7.13333552e-01 -6.76055389e-01 -1.84673646e-01 3.30608824e+02] [ 6.55339611e-01 7.36846418e-01 -1.66094404e-01 2.44804297e+02] [ 2.48365131e-01 -2.54324419e-03 9.68663148e-01 8.61769203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.63, Y:244.82, Z:86.18 [[ 7.12308367e-01 -6.77080955e-01 -1.84873393e-01 3.30627982e+02] [ 6.56328145e-01 7.35903104e-01 -1.66373035e-01 2.44821596e+02] [ 2.48696917e-01 -2.82870628e-03 9.68577226e-01 8.61837221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.65, Y:244.84, Z:86.19 [[ 7.10714704e-01 -6.78777978e-01 -1.84783836e-01 3.30647677e+02] [ 6.58083226e-01 7.34335845e-01 -1.66365066e-01 2.44839503e+02] [ 2.48618338e-01 -3.36504430e-03 9.68595684e-01 8.61900120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.66, Y:244.87, Z:86.19 [[ 7.09326234e-01 -6.82253443e-01 -1.77162449e-01 3.30661436e+02] [ 6.57708168e-01 7.31010246e-01 -1.81780051e-01 2.44865024e+02] [ 2.53527631e-01 1.24201691e-02 9.67248406e-01 8.61930281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.69, Y:244.87, Z:86.21 [[ 7.09268448e-01 -6.77343895e-01 -1.95303650e-01 3.30692986e+02] [ 6.59382775e-01 7.35443101e-01 -1.56005773e-01 2.44869085e+02] [ 2.49304280e-01 -1.81298904e-02 9.68255484e-01 8.62078854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.70, Y:244.89, Z:86.21 [[ 7.09720887e-01 -6.80310859e-01 -1.82957367e-01 3.30704184e+02] [ 6.58137971e-01 7.32921329e-01 -1.72280981e-01 2.44894405e+02] [ 2.51297979e-01 1.86022033e-03 9.67907984e-01 8.62090162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.73, Y:244.91, Z:86.22 [[ 7.08781227e-01 -6.79981087e-01 -1.87762864e-01 3.30728635e+02] [ 6.59683082e-01 7.33197343e-01 -1.65045108e-01 2.44910641e+02] [ 2.49894785e-01 -6.88311044e-03 9.68248532e-01 8.62182518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.75, Y:244.93, Z:86.22 [[ 7.09233562e-01 -6.79936083e-01 -1.86211377e-01 3.30747819e+02] [ 6.58814352e-01 7.33263539e-01 -1.68191060e-01 2.44929659e+02] [ 2.50901183e-01 -3.39198331e-03 9.68006762e-01 8.62238777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.77, Y:244.95, Z:86.23 [[ 7.09437808e-01 -6.79685918e-01 -1.86346582e-01 3.30768636e+02] [ 6.58496396e-01 7.33496189e-01 -1.68421608e-01 2.44947508e+02] [ 2.51158303e-01 -3.22389569e-03 9.67940656e-01 8.62308274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.79, Y:244.96, Z:86.24 [[ 7.09808985e-01 -6.79262874e-01 -1.86475610e-01 3.30789263e+02] [ 6.58000673e-01 7.33888949e-01 -1.68647935e-01 2.44963828e+02] [ 2.51408670e-01 -2.99325699e-03 9.67876398e-01 8.62377811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.81, Y:244.98, Z:86.24 [[ 7.09794847e-01 -6.79384802e-01 -1.86084837e-01 3.30810075e+02] [ 6.58191816e-01 7.33776230e-01 -1.68392333e-01 2.44982036e+02] [ 2.50947822e-01 -2.95550602e-03 9.67996103e-01 8.62447483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.83, Y:245.00, Z:86.25 [[ 7.10755744e-01 -6.78729088e-01 -1.84805565e-01 3.30834692e+02] [ 6.57291855e-01 7.34387789e-01 -1.69239452e-01 2.45001733e+02] [ 2.50586689e-01 -1.18328031e-03 9.68093441e-01 8.62513486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.85, Y:245.01, Z:86.26 [[ 7.09409939e-01 -6.79163314e-01 -1.88347372e-01 3.30852784e+02] [ 6.58807739e-01 7.33954683e-01 -1.65175318e-01 2.45014770e+02] [ 2.50419452e-01 -6.90769433e-03 9.68112794e-01 8.62598720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.87, Y:245.03, Z:86.27 [[ 7.08770881e-01 -6.80594812e-01 -1.85565460e-01 3.30872777e+02] [ 6.59491116e-01 7.32653184e-01 -1.68198633e-01 2.45033457e+02] [ 2.50430242e-01 -3.16447852e-03 9.68129475e-01 8.62663518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.89, Y:245.06, Z:86.27 [[ 7.08776700e-01 -6.82757118e-01 -1.77421270e-01 3.30892587e+02] [ 6.60074513e-01 7.30614890e-01 -1.74652572e-01 2.45057567e+02] [ 2.48871909e-01 6.67841537e-03 9.68513382e-01 8.62680478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.92, Y:245.06, Z:86.28 [[ 7.08078036e-01 -6.79216187e-01 -1.93108432e-01 3.30917956e+02] [ 6.60342092e-01 7.33795724e-01 -1.59662635e-01 2.45063647e+02] [ 2.50147588e-01 -1.44640214e-02 9.68099673e-01 8.62836507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.93, Y:245.09, Z:86.29 [[ 7.07065589e-01 -6.82356439e-01 -1.85601570e-01 3.30934954e+02] [ 6.61232405e-01 7.31010859e-01 -1.68507659e-01 2.45086432e+02] [ 2.50659050e-01 -3.57980555e-03 9.68068813e-01 8.62872732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.95, Y:245.11, Z:86.29 [[ 7.06170021e-01 -6.83919660e-01 -1.83242462e-01 3.30953589e+02] [ 6.61471095e-01 7.29555750e-01 -1.73794126e-01 2.45106950e+02] [ 2.52546812e-01 1.51860909e-03 9.67583486e-01 8.62933756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.98, Y:245.12, Z:86.30 [[ 7.06168941e-01 -6.82182397e-01 -1.89611718e-01 3.30979620e+02] [ 6.61856504e-01 7.31131243e-01 -1.65508529e-01 2.45120885e+02] [ 2.51538057e-01 -8.61876598e-03 9.67809032e-01 8.63026925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.99, Y:245.15, Z:86.30 [[ 7.04850289e-01 -6.87598371e-01 -1.74340328e-01 3.30990992e+02] [ 6.62943721e-01 7.25967845e-01 -1.82965327e-01 2.45150147e+02] [ 2.52372133e-01 1.33853382e-02 9.67537668e-01 8.63007897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.02, Y:245.15, Z:86.32 [[ 7.05613531e-01 -6.79695896e-01 -2.00307348e-01 3.31021448e+02] [ 6.62909511e-01 7.33055660e-01 -1.52251041e-01 2.45147404e+02] [ 2.50320843e-01 -2.53552516e-02 9.67830867e-01 8.63219644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.03, Y:245.19, Z:86.31 [[ 7.05869368e-01 -6.86227194e-01 -1.75615130e-01 3.31031338e+02] [ 6.62765288e-01 7.27327054e-01 -1.78150301e-01 2.45185180e+02] [ 2.49981216e-01 9.35922787e-03 9.68205452e-01 8.63149794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.05, Y:245.20, Z:86.32 [[ 7.05930914e-01 -6.84569517e-01 -1.81730902e-01 3.31054023e+02] [ 6.62762522e-01 7.28947366e-01 -1.71410551e-01 2.45199870e+02] [ 2.49814700e-01 5.59576184e-04 9.68293500e-01 8.63234002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.08, Y:245.22, Z:86.33 [[ 7.05737920e-01 -6.83653084e-01 -1.85882890e-01 3.31075035e+02] [ 6.62665459e-01 7.29793239e-01 -1.68155637e-01 2.45216202e+02] [ 2.50616196e-01 -4.50436138e-03 9.68076047e-01 8.63323495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.10, Y:245.22, Z:86.35 [[ 7.05650023e-01 -6.79944272e-01 -1.99333472e-01 3.31098487e+02] [ 6.61645088e-01 7.32980206e-01 -1.58005680e-01 2.45224285e+02] [ 2.53542546e-01 -2.03913009e-02 9.67109287e-01 8.63494205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.11, Y:245.26, Z:86.34 [[ 7.04500370e-01 -6.88551327e-01 -1.71977613e-01 3.31105639e+02] [ 6.63757653e-01 7.25026237e-01 -1.83746384e-01 2.45263741e+02] [ 2.51207098e-01 1.52979387e-02 9.67812465e-01 8.63391718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.13, Y:245.28, Z:86.35 [[ 7.03422922e-01 -6.87288404e-01 -1.81192834e-01 3.31129217e+02] [ 6.65150518e-01 7.26383657e-01 -1.73036332e-01 2.45276603e+02] [ 2.50541378e-01 1.19721512e-03 9.68105152e-01 8.63485138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.15, Y:245.29, Z:86.36 [[ 7.02618982e-01 -6.87205115e-01 -1.84596037e-01 3.31150179e+02] [ 6.65965269e-01 7.26453563e-01 -1.69574415e-01 2.45293431e+02] [ 2.50632854e-01 -3.78834617e-03 9.68074801e-01 8.63568502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.17, Y:245.31, Z:86.36 [[ 7.02017568e-01 -6.87548717e-01 -1.85601982e-01 3.31170823e+02] [ 6.66552747e-01 7.26119017e-01 -1.68696798e-01 2.45312295e+02] [ 2.50756396e-01 -5.28539526e-03 9.68035792e-01 8.63649899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.19, Y:245.33, Z:86.38 [[ 7.01171592e-01 -6.87695997e-01 -1.88235528e-01 3.31190710e+02] [ 6.67358387e-01 7.25942389e-01 -1.66254118e-01 2.45328722e+02] [ 2.50980440e-01 -9.04789398e-03 9.67949872e-01 8.63751237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.21, Y:245.34, Z:86.39 [[ 7.00465801e-01 -6.84735020e-01 -2.01210373e-01 3.31213247e+02] [ 6.67251514e-01 7.28358547e-01 -1.55785895e-01 2.45337233e+02] [ 2.53225352e-01 -2.51352344e-02 9.67080731e-01 8.63937290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.22, Y:245.38, Z:86.38 [[ 7.00265423e-01 -6.94614583e-01 -1.64738937e-01 3.31217147e+02] [ 6.69029353e-01 7.19062400e-01 -1.88013271e-01 2.45382885e+02] [ 2.49054335e-01 2.14440085e-02 9.68252081e-01 8.63794216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.24, Y:245.39, Z:86.39 [[ 7.00254049e-01 -6.90713611e-01 -1.80441056e-01 3.31243478e+02] [ 6.68426007e-01 7.23127305e-01 -1.74050492e-01 2.45390387e+02] [ 2.50700898e-01 1.26806759e-03 9.68063764e-01 8.63927029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.27, Y:245.40, Z:86.41 [[ 7.00634413e-01 -6.87998306e-01 -1.89128926e-01 3.31267003e+02] [ 6.67506282e-01 7.25652795e-01 -1.66923289e-01 2.45404354e+02] [ 2.52084874e-01 -9.29254541e-03 9.67660511e-01 8.64051808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:331.29, Y:245.42, Z:86.41 [[ 7.01763852e-01 -6.86635473e-01 -1.89892664e-01 3.31288209e+02] [ 6.66919930e-01 7.26907565e-01 -1.63777893e-01 2.45422799e+02] [ 2.50490125e-01 -1.17097970e-02 9.68048334e-01 8.64131091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.30, Y:245.45, Z:86.42 [[ 7.02866283e-01 -6.88368945e-01 -1.79240575e-01 3.31299852e+02] [ 6.65101053e-01 7.25339273e-01 -1.77548664e-01 2.45449638e+02] [ 2.52229215e-01 5.57987467e-03 9.67651429e-01 8.64157334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.33, Y:245.46, Z:86.43 [[ 7.04786806e-01 -6.83634162e-01 -1.89525433e-01 3.31326355e+02] [ 6.64095437e-01 7.29738596e-01 -1.62661711e-01 2.45460059e+02] [ 2.49505125e-01 -1.12211478e-02 9.68308462e-01 8.64274201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.34, Y:245.48, Z:86.44 [[ 7.04509224e-01 -6.82898567e-01 -1.93174276e-01 3.31344289e+02] [ 6.62128821e-01 7.30445496e-01 -1.67435963e-01 2.45477120e+02] [ 2.55445059e-01 -9.94607543e-03 9.66772412e-01 8.64413828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.37, Y:245.49, Z:86.45 [[ 7.06963193e-01 -6.79171234e-01 -1.97305546e-01 3.31365570e+02] [ 6.60858243e-01 7.33737894e-01 -1.57781766e-01 2.45489567e+02] [ 2.51931392e-01 -1.88450953e-02 9.67561593e-01 8.64488487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.37, Y:245.53, Z:86.44 [[ 7.06769122e-01 -6.86778443e-01 -1.69743275e-01 3.31373366e+02] [ 6.61943827e-01 7.26654057e-01 -1.83859327e-01 2.45529136e+02] [ 2.49615261e-01 1.75855821e-02 9.68185400e-01 8.64386552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.40, Y:245.54, Z:86.45 [[ 7.05997690e-01 -6.84367737e-01 -1.82230793e-01 3.31400162e+02] [ 6.62056838e-01 7.29134990e-01 -1.73328908e-01 2.45539481e+02] [ 2.51491560e-01 1.72266602e-03 9.67857958e-01 8.64513278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.42, Y:245.56, Z:86.46 [[ 7.05085008e-01 -6.85048889e-01 -1.83202486e-01 3.31420025e+02] [ 6.63402815e-01 7.28496306e-01 -1.70850334e-01 2.45555315e+02] [ 2.50503166e-01 -1.07303605e-03 9.68115186e-01 8.64571577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.44, Y:245.57, Z:86.47 [[ 7.03927498e-01 -6.85585995e-01 -1.85628448e-01 3.31442512e+02] [ 6.63993566e-01 7.27985170e-01 -1.70734110e-01 2.45573122e+02] [ 2.52187672e-01 -3.07166055e-03 9.67673469e-01 8.64671963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.46, Y:245.59, Z:86.47 [[ 7.01095469e-01 -6.88830675e-01 -1.84329719e-01 3.31460916e+02] [ 6.67397206e-01 7.24914001e-01 -1.70530525e-01 2.45589852e+02] [ 2.51089851e-01 -3.46296074e-03 9.67957589e-01 8.64724303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:331.48, Y:245.61, Z:86.48 [[ 6.99374048e-01 -6.92008403e-01 -1.78886311e-01 3.31479488e+02] [ 6.68728211e-01 7.21872828e-01 -1.78051116e-01 2.45613862e+02] [ 2.52346036e-01 4.89800677e-03 9.67624663e-01 8.64771541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.762755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:331.51, Y:245.62, Z:86.49 [[ 6.97066457e-01 -6.91428507e-01 -1.89802460e-01 3.31505773e+02] [ 6.70812644e-01 7.22371659e-01 -1.67897535e-01 2.45623291e+02] [ 2.53197060e-01 -1.02861499e-02 9.67360039e-01 8.64906473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.52, Y:245.64, Z:86.50 [[ 6.95491266e-01 -6.93556303e-01 -1.87807223e-01 3.31523418e+02] [ 6.72868007e-01 7.20342951e-01 -1.68388477e-01 2.45641169e+02] [ 2.52072499e-01 -9.25675705e-03 9.67664078e-01 8.64962369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.822755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:331.54, Y:245.66, Z:86.50 [[ 6.94241553e-01 -6.96094496e-01 -1.82978465e-01 3.31542588e+02] [ 6.73564547e-01 7.17949014e-01 -1.75670183e-01 2.45663993e+02] [ 2.53652256e-01 -1.29026628e-03 9.67294613e-01 8.65021816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.56, Y:245.68, Z:86.51 [[ 6.92145230e-01 -6.97570410e-01 -1.85284926e-01 3.31563944e+02] [ 6.75468659e-01 7.16501859e-01 -1.74261803e-01 2.45679272e+02] [ 2.54316871e-01 -4.53968419e-03 9.67110294e-01 8.65097234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:331.59, Y:245.70, Z:86.52 [[ 6.91488957e-01 -6.97536741e-01 -1.87844396e-01 3.31585747e+02] [ 6.76033658e-01 7.16504132e-01 -1.72047441e-01 2.45695660e+02] [ 2.54600697e-01 -8.02022869e-03 9.67013010e-01 8.65187417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.61, Y:245.70, Z:86.54 [[ 6.91176391e-01 -6.92227078e-01 -2.07597854e-01 3.31612122e+02] [ 6.74375182e-01 7.21053429e-01 -1.59059945e-01 2.45699372e+02] [ 2.59794745e-01 -3.00603615e-02 9.65195869e-01 8.65413937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.61, Y:245.75, Z:86.52 [[ 6.91093191e-01 -7.02652150e-01 -1.69322647e-01 3.31614614e+02] [ 6.75678706e-01 7.11265491e-01 -1.93803217e-01 2.45745707e+02] [ 2.56609603e-01 1.95283769e-02 9.66317833e-01 8.65241454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.65, Y:245.73, Z:86.56 [[ 6.92214103e-01 -6.90529570e-01 -2.09782144e-01 3.31653079e+02] [ 6.72925015e-01 7.22609112e-01 -1.58139168e-01 2.45734444e+02] [ 2.60790261e-01 -3.17014899e-02 9.64874839e-01 8.65566818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.66, Y:245.78, Z:86.54 [[ 6.92737119e-01 -7.01017017e-01 -1.69382486e-01 3.31655243e+02] [ 6.73599734e-01 7.12829757e-01 -1.95287315e-01 2.45782446e+02] [ 2.57640607e-01 2.11867740e-02 9.66008508e-01 8.65381397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.68, Y:245.79, Z:86.55 [[ 6.94340016e-01 -6.95280630e-01 -1.85679260e-01 3.31683810e+02] [ 6.71433212e-01 7.18738047e-01 -1.80535484e-01 2.45790447e+02] [ 2.58977573e-01 6.81788621e-04 9.65883094e-01 8.65512978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.71, Y:245.80, Z:86.56 [[ 6.95093681e-01 -6.92519255e-01 -1.93033304e-01 3.31708375e+02] [ 6.70017357e-01 7.21360264e-01 -1.75260124e-01 2.45804499e+02] [ 2.60617566e-01 -7.51345937e-03 9.65412882e-01 8.65629839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.73, Y:245.82, Z:86.57 [[ 6.94812779e-01 -6.93307447e-01 -1.91206656e-01 3.31727546e+02] [ 6.70111831e-01 7.20627702e-01 -1.77892803e-01 2.45824984e+02] [ 2.61123218e-01 -4.52764981e-03 9.65294859e-01 8.65699627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.75, Y:245.85, Z:86.57 [[ 6.95024443e-01 -6.94083174e-01 -1.87588834e-01 3.31746005e+02] [ 6.69725066e-01 7.19894056e-01 -1.82265970e-01 2.45846793e+02] [ 2.61551830e-01 1.04636073e-03 9.65188865e-01 8.65748618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.77, Y:245.87, Z:86.58 [[ 6.95339399e-01 -6.93404789e-01 -1.88925695e-01 3.31766470e+02] [ 6.69083313e-01 7.20548242e-01 -1.82037776e-01 2.45865168e+02] [ 2.62355944e-01 1.71007804e-04 9.64971155e-01 8.65819389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.79, Y:245.88, Z:86.59 [[ 6.95567540e-01 -6.92249828e-01 -1.92291375e-01 3.31787339e+02] [ 6.68533221e-01 7.21649097e-01 -1.79682815e-01 2.45881808e+02] [ 2.63152295e-01 -3.57163901e-03 9.64747694e-01 8.65914199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.81, Y:245.90, Z:86.60 [[ 6.95712776e-01 -6.90823687e-01 -1.96840968e-01 3.31809410e+02] [ 6.67989080e-01 7.22969861e-01 -1.76366574e-01 2.45897939e+02] [ 2.64148295e-01 -8.78713859e-03 9.64442048e-01 8.66029101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.242755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:331.84, Y:245.90, Z:86.63 [[ 6.94789788e-01 -6.85301866e-01 -2.18239555e-01 3.31836955e+02] [ 6.66943940e-01 7.27482694e-01 -1.61104661e-01 2.45901657e+02] [ 2.69170824e-01 -3.36196753e-02 9.62505473e-01 8.66267211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.83, Y:245.95, Z:86.61 [[ 6.95622635e-01 -6.98224951e-01 -1.69088936e-01 3.31831986e+02] [ 6.68716147e-01 7.15331168e-01 -2.02780754e-01 2.45952238e+02] [ 2.62541168e-01 2.79863805e-02 9.64514851e-01 8.66055911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.87, Y:245.94, Z:86.64 [[ 6.94626490e-01 -6.86873804e-01 -2.13771881e-01 3.31870684e+02] [ 6.68489325e-01 7.26109199e-01 -1.60895784e-01 2.45937917e+02] [ 2.65736829e-01 -3.11417467e-02 9.63542490e-01 8.66403358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.88, Y:245.97, Z:86.64 [[ 6.93902794e-01 -6.94726762e-01 -1.89350573e-01 3.31878144e+02] [ 6.68931842e-01 7.19265222e-01 -1.87583933e-01 2.45974491e+02] [ 2.66512860e-01 3.50238751e-03 9.63824999e-01 8.66380198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.89, Y:246.01, Z:86.63 [[ 6.91932732e-01 -7.01072451e-01 -1.72413783e-01 3.31892228e+02] [ 6.73206307e-01 7.12808260e-01 -1.96717191e-01 2.46008594e+02] [ 2.60810972e-01 2.00450173e-02 9.65181762e-01 8.66326629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.92, Y:246.00, Z:86.66 [[ 6.91185596e-01 -6.92093339e-01 -2.08012699e-01 3.31923981e+02] [ 6.71590027e-01 7.21440427e-01 -1.68791430e-01 2.46000806e+02] [ 2.66888194e-01 -2.30330492e-02 9.63452215e-01 8.66618547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.93, Y:246.05, Z:86.65 [[ 6.89007287e-01 -7.04794580e-01 -1.68918793e-01 3.31928808e+02] [ 6.76434253e-01 7.09037686e-01 -1.99254260e-01 2.46049799e+02] [ 2.60203113e-01 2.30251798e-02 9.65279328e-01 8.66452665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.96, Y:246.05, Z:86.66 [[ 6.88126899e-01 -7.00422214e-01 -1.89446809e-01 3.31959352e+02] [ 6.77424848e-01 7.13705347e-01 -1.78101808e-01 2.46054291e+02] [ 2.59955663e-01 -5.77933118e-03 9.65603259e-01 8.66611812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.98, Y:246.08, Z:86.67 [[ 6.87324232e-01 -7.02253959e-01 -1.85539152e-01 3.31977704e+02] [ 6.78238352e-01 7.11926190e-01 -1.82081954e-01 2.46075880e+02] [ 2.59957954e-01 -6.90429904e-04 9.65619690e-01 8.66662603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.01, Y:246.07, Z:86.70 [[ 6.86015556e-01 -6.93444454e-01 -2.20266764e-01 3.32009605e+02] [ 6.76762485e-01 7.19313219e-01 -1.56783393e-01 2.46069227e+02] [ 2.67161369e-01 -4.15124360e-02 9.62757249e-01 8.66988607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.02, Y:246.10, Z:86.70 [[ 6.86601724e-01 -6.98745169e-01 -2.00831428e-01 3.32019935e+02] [ 6.76618332e-01 7.15199908e-01 -1.75147724e-01 2.46100543e+02] [ 2.66018244e-01 -1.56294964e-02 9.63841280e-01 8.66974985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.04, Y:246.12, Z:86.70 [[ 6.87445067e-01 -6.99493042e-01 -1.95265880e-01 3.32035875e+02] [ 6.75511249e-01 7.14605333e-01 -1.81724438e-01 2.46123669e+02] [ 2.66653019e-01 -6.97873040e-03 9.63767329e-01 8.67013029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.05, Y:246.15, Z:86.71 [[ 6.87237749e-01 -7.01315057e-01 -1.89371239e-01 3.32051531e+02] [ 6.74290879e-01 7.12834917e-01 -1.92868328e-01 2.46149182e+02] [ 2.70251894e-01 4.85509593e-03 9.62777410e-01 8.67058471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.07, Y:246.18, Z:86.70 [[ 6.88082222e-01 -7.04555424e-01 -1.73621744e-01 3.32065462e+02] [ 6.76234410e-01 7.09386286e-01 -1.98691016e-01 2.46178143e+02] [ 2.63153717e-01 1.93067585e-02 9.64560714e-01 8.66969669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.10, Y:246.16, Z:86.73 [[ 6.88698134e-01 -6.91486680e-01 -2.18039106e-01 3.32104577e+02] [ 6.73923938e-01 7.21428142e-01 -1.59273230e-01 2.46163659e+02] [ 2.67434864e-01 -3.72505973e-02 9.62855642e-01 8.67322255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.11, Y:246.20, Z:86.73 [[ 6.88254590e-01 -6.99172763e-01 -1.93553786e-01 3.32111723e+02] [ 6.73129589e-01 7.14952738e-01 -1.89047980e-01 2.46200281e+02] [ 2.70559008e-01 -1.73640255e-04 9.62703378e-01 8.67300727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.14, Y:246.21, Z:86.74 [[ 6.89214395e-01 -6.95826346e-01 -2.02012908e-01 3.32139222e+02] [ 6.73835671e-01 7.18031764e-01 -1.74286759e-01 2.46210507e+02] [ 2.66325003e-01 -1.60025598e-02 9.63750440e-01 8.67432282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.14, Y:246.26, Z:86.72 [[ 6.88316273e-01 -7.09544633e-01 -1.50887781e-01 3.32136379e+02] [ 6.78396693e-01 7.03291005e-01 -2.12508091e-01 2.46264503e+02] [ 2.56901995e-01 4.39110060e-02 9.65439376e-01 8.67172417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.18, Y:246.25, Z:86.74 [[ 6.89333394e-01 -6.98078057e-01 -1.93665945e-01 3.32177192e+02] [ 6.77479141e-01 7.15870220e-01 -1.68972900e-01 2.46249324e+02] [ 2.56595957e-01 -1.47259751e-02 9.66406571e-01 8.67434451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.20, Y:246.27, Z:86.75 [[ 6.88221416e-01 -6.99695087e-01 -1.91776088e-01 3.32195823e+02] [ 6.79430851e-01 7.14288351e-01 -1.67826907e-01 2.46268784e+02] [ 2.54411088e-01 -1.47965190e-02 9.66982968e-01 8.67497143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.21, Y:246.29, Z:86.77 [[ 6.85136882e-01 -7.01298683e-01 -1.96894922e-01 3.32214048e+02] [ 6.78656131e-01 7.12762700e-01 -1.77186878e-01 2.46287646e+02] [ 2.64600280e-01 -1.22266806e-02 9.64280665e-01 8.67684308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.24, Y:246.30, Z:86.78 [[ 6.85335627e-01 -6.99223319e-01 -2.03474391e-01 3.32238780e+02] [ 6.80228103e-01 7.14428740e-01 -1.63955187e-01 2.46299331e+02] [ 2.60009243e-01 -2.60446680e-02 9.65254821e-01 8.67771544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.25, Y:246.33, Z:86.78 [[ 6.83791250e-01 -7.05939125e-01 -1.84606280e-01 3.32247590e+02] [ 6.80449985e-01 7.08266402e-01 -1.88006707e-01 2.46332781e+02] [ 2.63471716e-01 2.94200040e-03 9.64662635e-01 8.67764519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.27, Y:246.34, Z:86.79 [[ 6.84497216e-01 -7.01575281e-01 -1.98130480e-01 3.32274937e+02] [ 6.80593506e-01 7.12376601e-01 -1.71207646e-01 2.46340542e+02] [ 2.61258570e-01 -1.76551607e-02 9.65107380e-01 8.67876591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.29, Y:246.37, Z:86.79 [[ 6.82895218e-01 -7.05382174e-01 -1.89973973e-01 3.32291355e+02] [ 6.81785393e-01 7.08802595e-01 -1.81018118e-01 2.46366740e+02] [ 2.62340998e-01 -5.90507250e-03 9.64957165e-01 8.67918456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.33, Y:246.37, Z:86.81 [[ 6.84749790e-01 -6.98866601e-01 -2.06647524e-01 3.32325750e+02] [ 6.79050653e-01 7.14786428e-01 -1.67244053e-01 2.46374867e+02] [ 2.64590129e-01 -2.58038062e-02 9.64015678e-01 8.68088610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.32, Y:246.42, Z:86.80 [[ 6.83401342e-01 -7.08495371e-01 -1.76059408e-01 3.32321790e+02] [ 6.78505310e-01 7.05413710e-01 -2.04992786e-01 2.46415374e+02] [ 2.69431160e-01 2.06351017e-02 9.62798547e-01 8.68011833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.35, Y:246.42, Z:86.82 [[ 6.83847333e-01 -7.03016143e-01 -1.95246329e-01 3.32349637e+02] [ 6.78420535e-01 7.11145704e-01 -1.84437973e-01 2.46420325e+02] [ 2.68511460e-01 -6.33170334e-03 9.63255680e-01 8.68150443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.082755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:332.37, Y:246.43, Z:86.82 [[ 6.87263517e-01 -6.97246911e-01 -2.03753780e-01 3.32374190e+02] [ 6.77271467e-01 7.16461230e-01 -1.67292155e-01 2.46429815e+02] [ 2.62625622e-01 -2.30228268e-02 9.64623104e-01 8.68243767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.38, Y:246.47, Z:86.82 [[ 6.87419788e-01 -7.03456545e-01 -1.80562801e-01 3.32378257e+02] [ 6.74490235e-01 7.10558439e-01 -2.00423622e-01 2.46467227e+02] [ 2.69289731e-01 1.59873177e-02 9.62926501e-01 8.68226260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.42, Y:246.46, Z:86.85 [[ 6.90514113e-01 -6.90615460e-01 -2.15036151e-01 3.32419532e+02] [ 6.72201644e-01 7.22476352e-01 -1.61780317e-01 2.46464268e+02] [ 2.67086522e-01 -3.28360626e-02 9.63112965e-01 8.68476324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1727550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:332.42, Y:246.51, Z:86.84 [[ 6.90078510e-01 -7.00649089e-01 -1.81335335e-01 3.32416522e+02] [ 6.71693560e-01 7.13321789e-01 -1.99999469e-01 2.46506693e+02] [ 2.69479891e-01 1.62135583e-02 9.62869518e-01 8.68387651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.45, Y:246.51, Z:86.85 [[ 6.90410953e-01 -6.94896073e-01 -2.01127234e-01 3.32447895e+02] [ 6.72562484e-01 7.18969620e-01 -1.75335080e-01 2.46512133e+02] [ 2.66444029e-01 -1.42173727e-02 9.63745529e-01 8.68546221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.47, Y:246.53, Z:86.86 [[ 6.91228088e-01 -6.93881013e-01 -2.01823861e-01 3.32471438e+02] [ 6.71523898e-01 7.19946627e-01 -1.75306898e-01 2.46531234e+02] [ 2.66944535e-01 -1.43524940e-02 9.63605013e-01 8.68646190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.47, Y:246.57, Z:86.86 [[ 6.89890271e-01 -7.01099077e-01 -1.80309449e-01 3.32474999e+02] [ 6.71118724e-01 7.12795257e-01 -2.03770900e-01 2.46565752e+02] [ 2.71387310e-01 1.95705139e-02 9.62271232e-01 8.68635627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.51, Y:246.56, Z:86.88 [[ 6.89854462e-01 -6.93731230e-01 -2.06972951e-01 3.32510433e+02] [ 6.73693435e-01 7.19832455e-01 -1.67267425e-01 2.46563551e+02] [ 2.65024484e-01 -2.40461385e-02 9.63941806e-01 8.68809739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.52, Y:246.59, Z:86.88 [[ 6.89019655e-01 -6.98359723e-01 -1.93766900e-01 3.32523223e+02] [ 6.74234077e-01 7.15727996e-01 -1.82049018e-01 2.46591281e+02] [ 2.65820097e-01 -5.20889561e-03 9.64008581e-01 8.68831856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.54, Y:246.61, Z:86.89 [[ 6.87330876e-01 -7.00104360e-01 -1.93468735e-01 3.32542234e+02] [ 6.76089942e-01 7.14017080e-01 -1.81884579e-01 2.46609800e+02] [ 2.65478167e-01 -5.78737865e-03 9.64099502e-01 8.68903279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.56, Y:246.63, Z:86.90 [[ 6.86199152e-01 -7.01303861e-01 -1.93141448e-01 3.32560793e+02] [ 6.77385011e-01 7.12835941e-01 -1.81698840e-01 2.46628398e+02] [ 2.65104264e-01 -6.14953205e-03 9.64200141e-01 8.68972737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.58, Y:246.66, Z:86.90 [[ 6.83259483e-01 -7.06206727e-01 -1.85549284e-01 3.32576460e+02] [ 6.79046933e-01 7.07974834e-01 -1.94079617e-01 2.46656519e+02] [ 2.68424554e-01 6.61006657e-03 9.63278031e-01 8.69028173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.61, Y:246.66, Z:86.92 [[ 6.83338510e-01 -7.01159864e-01 -2.03527210e-01 3.32605794e+02] [ 6.80708760e-01 7.12644852e-01 -1.69625760e-01 2.46659475e+02] [ 2.63977393e-01 -2.26309411e-02 9.64263334e-01 8.69162285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.60, Y:246.71, Z:86.89 [[ 6.82013420e-01 -7.14213026e-01 -1.57345000e-01 3.32602417e+02] [ 6.84541137e-01 6.99147649e-01 -2.06387976e-01 2.46708726e+02] [ 2.57412368e-01 3.30502441e-02 9.65736276e-01 8.68940221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.65, Y:246.68, Z:86.94 [[ 6.81178483e-01 -6.98380004e-01 -2.19684421e-01 3.32652016e+02] [ 6.83605435e-01 7.14143461e-01 -1.50607856e-01 2.46684071e+02] [ 2.62067707e-01 -4.75866337e-02 9.63875526e-01 8.69351966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.66, Y:246.72, Z:86.93 [[ 6.80395889e-01 -7.07263091e-01 -1.91938415e-01 3.32657884e+02] [ 6.83686708e-01 7.06906342e-01 -1.81261989e-01 2.46722704e+02] [ 2.63882397e-01 -7.89583150e-03 9.64522543e-01 8.69305297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.65, Y:246.78, Z:86.90 [[ 6.77490275e-01 -7.22759084e-01 -1.36477962e-01 3.32649326e+02] [ 6.89083939e-01 6.88577891e-01 -2.25884513e-01 2.46782305e+02] [ 2.57235791e-01 5.89897894e-02 9.64546501e-01 8.69004625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.71, Y:246.74, Z:86.95 [[ 6.78509125e-01 -6.98528294e-01 -2.27340249e-01 3.32711295e+02] [ 6.85667019e-01 7.13281203e-01 -1.45226255e-01 2.46735357e+02] [ 2.63602174e-01 -5.73423719e-02 9.62925618e-01 8.69528880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.71, Y:246.78, Z:86.94 [[ 6.78065157e-01 -7.09176230e-01 -1.93123583e-01 3.32713823e+02] [ 6.85613814e-01 7.04969627e-01 -1.81525545e-01 2.46777864e+02] [ 2.64879862e-01 -9.32204918e-03 9.64236360e-01 8.69448432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.73, Y:246.80, Z:86.95 [[ 6.76464774e-01 -7.11959164e-01 -1.88439800e-01 3.32732101e+02] [ 6.88038806e-01 7.02196918e-01 -1.83090385e-01 2.46800631e+02] [ 2.62674724e-01 -5.79969948e-03 9.64867013e-01 8.69496073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.76, Y:246.81, Z:86.96 [[ 6.75685904e-01 -7.10539185e-01 -1.96424607e-01 3.32756832e+02] [ 6.88919112e-01 7.03447016e-01 -1.74793457e-01 2.46814482e+02] [ 2.62371904e-01 -1.72151908e-02 9.64813257e-01 8.69604699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.77, Y:246.84, Z:86.97 [[ 6.74572466e-01 -7.13086802e-01 -1.90942927e-01 3.32773850e+02] [ 6.89717376e-01 7.01012811e-01 -1.81303559e-01 2.46837022e+02] [ 2.63138613e-01 -9.39426529e-03 9.64712298e-01 8.69650434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.79, Y:246.86, Z:86.97 [[ 6.74580789e-01 -7.13718392e-01 -1.88538634e-01 3.32790167e+02] [ 6.89129397e-01 7.00417653e-01 -1.85784246e-01 2.46856726e+02] [ 2.64653421e-01 -4.60103206e-03 9.64332618e-01 8.69711110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.81, Y:246.88, Z:86.98 [[ 6.76449040e-01 -7.11724945e-01 -1.89378718e-01 3.32808400e+02] [ 6.87374596e-01 7.02438514e-01 -1.84651834e-01 2.46878419e+02] [ 2.64448222e-01 -5.26656431e-03 9.64385505e-01 8.69784012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.83, Y:246.90, Z:86.99 [[ 6.78799832e-01 -7.08326476e-01 -1.93660506e-01 3.32832855e+02] [ 6.85157437e-01 7.05806714e-01 -1.79989357e-01 2.46896987e+02] [ 2.64178113e-01 -1.05111912e-02 9.64416632e-01 8.69864337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.85, Y:246.92, Z:87.00 [[ 6.77973744e-01 -7.08710283e-01 -1.95144404e-01 3.32847875e+02] [ 6.86144767e-01 7.05374654e-01 -1.77909965e-01 2.46915952e+02] [ 2.63736538e-01 -1.32790267e-02 9.64503347e-01 8.69951671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.86, Y:246.94, Z:87.00 [[ 6.80423221e-01 -7.07585231e-01 -1.90649892e-01 3.32862531e+02] [ 6.83815296e-01 7.06597682e-01 -1.81979001e-01 2.46939213e+02] [ 2.63478425e-01 -6.54657409e-03 9.64643075e-01 8.70008458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.89, Y:246.96, Z:87.01 [[ 6.83311293e-01 -7.04997613e-01 -1.89905352e-01 3.32887250e+02] [ 6.81037103e-01 7.09193663e-01 -1.82298688e-01 2.46960383e+02] [ 2.63199812e-01 -4.76583857e-03 9.64729571e-01 8.70079320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.90, Y:246.98, Z:87.01 [[ 6.82013013e-01 -7.07675721e-01 -1.84535425e-01 3.32897994e+02] [ 6.82658905e-01 7.06536325e-01 -1.86502656e-01 2.46982597e+02] [ 2.62364382e-01 1.22248733e-03 9.64968101e-01 8.70124289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.93, Y:246.99, Z:87.03 [[ 6.83190173e-01 -7.02425252e-01 -1.99624530e-01 3.32929629e+02] [ 6.81755206e-01 7.11483460e-01 -1.70297168e-01 2.46994836e+02] [ 2.61650583e-01 -1.97497108e-02 9.64960580e-01 8.70281424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.94, Y:247.02, Z:87.03 [[ 6.81765776e-01 -7.06419105e-01 -1.90177482e-01 3.32936587e+02] [ 6.82851928e-01 7.07764645e-01 -1.81059251e-01 2.47018909e+02] [ 2.62504612e-01 -6.42305952e-03 9.64909360e-01 8.70309687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.96, Y:247.04, Z:87.04 [[ 6.81544097e-01 -7.06739992e-01 -1.89779418e-01 3.32956171e+02] [ 6.83069113e-01 7.07448369e-01 -1.81475595e-01 2.47038411e+02] [ 2.62515200e-01 -5.94883885e-03 9.64909520e-01 8.70382198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.97, Y:247.07, Z:87.04 [[ 6.80271382e-01 -7.12197570e-01 -1.73220862e-01 3.32969727e+02] [ 6.85400949e-01 7.01854406e-01 -1.93974049e-01 2.47071679e+02] [ 2.59723672e-01 1.32292513e-02 9.65592358e-01 8.70352474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.00, Y:247.07, Z:87.06 [[ 6.77938040e-01 -7.07858567e-01 -1.98333715e-01 3.32995462e+02] [ 6.86994421e-01 7.06075970e-01 -1.71742222e-01 2.47071655e+02] [ 2.61607873e-01 -1.98235700e-02 9.64970646e-01 8.70560859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.01, Y:247.10, Z:87.06 [[ 6.76344912e-01 -7.11734269e-01 -1.89715287e-01 3.33009801e+02] [ 6.88804630e-01 7.02387111e-01 -1.79445055e-01 2.47095717e+02] [ 2.60970768e-01 -9.31001774e-03 9.65301809e-01 8.70601077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.03, Y:247.12, Z:87.07 [[ 6.74345192e-01 -7.14177774e-01 -1.87639733e-01 3.33028781e+02] [ 6.90741984e-01 6.99927810e-01 -1.81594528e-01 2.47118080e+02] [ 2.61025043e-01 -7.15324446e-03 9.65305526e-01 8.70670006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.05, Y:247.14, Z:87.07 [[ 6.72792471e-01 -7.15932945e-01 -1.86521607e-01 3.33046643e+02] [ 6.92469299e-01 6.98136211e-01 -1.81912345e-01 2.47138314e+02] [ 2.60454529e-01 -6.77123048e-03 9.65462371e-01 8.70747167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.06, Y:247.16, Z:87.08 [[ 6.71838486e-01 -7.18839057e-01 -1.78615396e-01 3.33058923e+02] [ 6.91820718e-01 6.95133963e-01 -1.95378780e-01 2.47163097e+02] [ 2.64607526e-01 7.69315187e-03 9.64325501e-01 8.70805054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.09, Y:247.18, Z:87.08 [[ 6.72916022e-01 -7.17696099e-01 -1.79154506e-01 3.33086837e+02] [ 6.93665739e-01 6.96356367e-01 -1.84162029e-01 2.47183240e+02] [ 2.56927750e-01 -3.47762335e-04 9.66430551e-01 8.70834698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.11, Y:247.20, Z:87.10 [[ 6.75481667e-01 -7.13329841e-01 -1.86775413e-01 3.33109086e+02] [ 6.90860004e-01 7.00771948e-01 -1.77851432e-01 2.47195485e+02] [ 2.57753704e-01 -8.90028102e-03 9.66169661e-01 8.70962814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.13, Y:247.22, Z:87.10 [[ 6.75322274e-01 -7.13486246e-01 -1.86754394e-01 3.33128371e+02] [ 6.91800406e-01 7.00581801e-01 -1.74920949e-01 2.47215330e+02] [ 2.55640421e-01 -1.10687531e-02 9.66708569e-01 8.71044700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.15, Y:247.23, Z:87.11 [[ 6.80040880e-01 -7.08204595e-01 -1.89712027e-01 3.33147761e+02] [ 6.86564438e-01 7.05908130e-01 -1.74134962e-01 2.47232715e+02] [ 2.57242443e-01 -1.18306385e-02 9.66274475e-01 8.71148699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.17, Y:247.24, Z:87.13 [[ 6.79965310e-01 -7.04048390e-01 -2.04848828e-01 3.33168997e+02] [ 6.85465730e-01 7.09545367e-01 -1.63346581e-01 2.47244206e+02] [ 2.60353434e-01 -2.93468426e-02 9.65067279e-01 8.71340846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.17, Y:247.29, Z:87.12 [[ 6.82998899e-01 -7.09949937e-01 -1.71707864e-01 3.33174399e+02] [ 6.81605756e-01 7.03989209e-01 -1.99531418e-01 2.47286807e+02] [ 2.62537801e-01 1.92426703e-02 9.64729819e-01 8.71239099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.20, Y:247.29, Z:87.14 [[ 6.84719578e-01 -7.00472456e-01 -2.01239753e-01 3.33202721e+02] [ 6.79712097e-01 7.13397200e-01 -1.70457914e-01 2.47287707e+02] [ 2.62964950e-01 -2.00692235e-02 9.64596632e-01 8.71447693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.22, Y:247.32, Z:87.14 [[ 6.86616059e-01 -7.04182381e-01 -1.80791487e-01 3.33216585e+02] [ 6.77976926e-01 7.09971513e-01 -1.90493406e-01 2.47323691e+02] [ 2.62498906e-01 8.22337556e-03 9.64897249e-01 8.71423808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.26, Y:247.32, Z:87.17 [[ 6.87582590e-01 -6.92351980e-01 -2.18812517e-01 3.33257203e+02] [ 6.75276247e-01 7.20490518e-01 -1.57782775e-01 2.47320358e+02] [ 2.66893561e-01 -3.92702063e-02 9.62925583e-01 8.71728240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.25, Y:247.36, Z:87.16 [[ 6.84566966e-01 -7.05595236e-01 -1.83039430e-01 3.33249049e+02] [ 6.79236572e-01 7.08584922e-01 -1.91167695e-01 2.47361238e+02] [ 2.64585995e-01 6.54001387e-03 9.64339919e-01 8.71632988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.27, Y:247.38, Z:87.17 [[ 6.84220981e-01 -7.05313303e-01 -1.85404407e-01 3.33273613e+02] [ 6.78784851e-01 7.08875829e-01 -1.91692944e-01 2.47381498e+02] [ 2.66632286e-01 5.31063148e-03 9.63783701e-01 8.71701210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.29, Y:247.40, Z:87.18 [[ 6.82720372e-01 -7.06179137e-01 -1.87627078e-01 3.33292660e+02] [ 6.79897011e-01 7.08027857e-01 -1.90883754e-01 2.47400087e+02] [ 2.67643323e-01 2.75313782e-03 9.63514127e-01 8.71774985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.33, Y:247.40, Z:87.20 [[ 6.81119329e-01 -7.00484531e-01 -2.13067784e-01 3.33326492e+02] [ 6.81838675e-01 7.12877901e-01 -1.64015604e-01 2.47402179e+02] [ 2.66781708e-01 -3.35636571e-02 9.63172363e-01 8.71980360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.32, Y:247.44, Z:87.19 [[ 6.76946851e-01 -7.12936801e-01 -1.82931897e-01 3.33319118e+02] [ 6.84169164e-01 7.01145863e-01 -2.00766119e-01 2.47442023e+02] [ 2.71395497e-01 1.07516288e-02 9.62407859e-01 8.71927781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.35, Y:247.45, Z:87.21 [[ 6.76277036e-01 -7.08936421e-01 -2.00146254e-01 3.33346929e+02] [ 6.86133056e-01 7.05086105e-01 -1.79094984e-01 2.47448143e+02] [ 2.68087300e-01 -1.62091356e-02 9.63258254e-01 8.72051778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.36, Y:247.47, Z:87.21 [[ 6.74889487e-01 -7.12417214e-01 -1.92317171e-01 3.33361478e+02] [ 6.87402372e-01 7.01731797e-01 -1.87217695e-01 2.47472856e+02] [ 2.68332182e-01 -5.84802568e-03 9.63308694e-01 8.72097788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.38, Y:247.49, Z:87.22 [[ 6.72579982e-01 -7.14570001e-01 -1.92421105e-01 3.33379079e+02] [ 6.89582052e-01 6.99532556e-01 -1.87432115e-01 2.47491933e+02] [ 2.68538194e-01 -6.62705169e-03 9.63246241e-01 8.72172363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.40, Y:247.51, Z:87.22 [[ 6.71818028e-01 -7.15307174e-01 -1.92343921e-01 3.33398118e+02] [ 6.90336060e-01 6.98776764e-01 -1.87475754e-01 2.47511902e+02] [ 2.68508214e-01 -6.83235347e-03 9.63253164e-01 8.72243673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.42, Y:247.53, Z:87.23 [[ 6.70422140e-01 -7.16454984e-01 -1.92941471e-01 3.33415904e+02] [ 6.91340731e-01 6.97595811e-01 -1.88170343e-01 2.47532012e+02] [ 2.69410742e-01 -7.23473380e-03 9.62998188e-01 8.72323404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.43, Y:247.57, Z:87.23 [[ 6.69442136e-01 -7.22716119e-01 -1.71838986e-01 3.33428191e+02] [ 6.92859068e-01 6.90879282e-01 -2.06475492e-01 2.47568540e+02] [ 2.67943161e-01 1.91631947e-02 9.63244120e-01 8.72272519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.46, Y:247.56, Z:87.25 [[ 6.68554159e-01 -7.13851265e-01 -2.08450733e-01 3.33459828e+02] [ 6.92175207e-01 6.99804912e-01 -1.76540555e-01 2.47561914e+02] [ 2.71898546e-01 -2.62575070e-02 9.61967632e-01 8.72520349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.47, Y:247.58, Z:87.26 [[ 6.69592111e-01 -7.14706746e-01 -2.02090750e-01 3.33474572e+02] [ 6.92276662e-01 6.99132896e-01 -1.78790988e-01 2.47582653e+02] [ 2.69071417e-01 -2.01856747e-02 9.62908672e-01 8.72562102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.49, Y:247.61, Z:87.26 [[ 6.69168488e-01 -7.17753946e-01 -1.92465082e-01 3.33488533e+02] [ 6.92735162e-01 6.96256205e-01 -1.88003438e-01 2.47608050e+02] [ 2.68945217e-01 -7.52135334e-03 9.63126108e-01 8.72606960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.50, Y:247.64, Z:87.27 [[ 6.67259456e-01 -7.22345136e-01 -1.81610359e-01 3.33501536e+02] [ 6.93076293e-01 6.91458810e-01 -2.03789024e-01 2.47637005e+02] [ 2.72782093e-01 1.01103190e-02 9.62022719e-01 8.72665975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.53, Y:247.64, Z:87.28 [[ 6.67361135e-01 -7.17812842e-01 -1.98428427e-01 3.33529686e+02] [ 6.94252710e-01 6.96061517e-01 -1.83061573e-01 2.47643247e+02] [ 2.69522339e-01 -1.55912941e-02 9.62867914e-01 8.72792975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.55, Y:247.66, Z:87.29 [[ 6.68078580e-01 -7.18151295e-01 -1.94755562e-01 3.33546734e+02] [ 6.93984021e-01 6.95791971e-01 -1.85093793e-01 2.47663496e+02] [ 2.68434703e-01 -1.15000499e-02 9.63229235e-01 8.72852084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.57, Y:247.68, Z:87.29 [[ 6.69805083e-01 -7.16143201e-01 -1.96214341e-01 3.33567481e+02] [ 6.93870584e-01 6.97748509e-01 -1.78018622e-01 2.47678566e+02] [ 2.64395089e-01 -1.69095817e-02 9.64266199e-01 8.72921659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.58, Y:247.70, Z:87.30 [[ 6.70086227e-01 -7.17848391e-01 -1.88886569e-01 3.33583173e+02] [ 6.93633555e-01 6.96163805e-01 -1.85009317e-01 2.47701906e+02] [ 2.64304633e-01 -7.04586707e-03 9.64413509e-01 8.72967977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.60, Y:247.72, Z:87.30 [[ 6.71092387e-01 -7.17054343e-01 -1.88329705e-01 3.33602846e+02] [ 6.92921958e-01 6.96985761e-01 -1.84580634e-01 2.47720815e+02] [ 2.63617468e-01 -6.62712978e-03 9.64604537e-01 8.73039108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.62, Y:247.74, Z:87.31 [[ 6.71632764e-01 -7.16491334e-01 -1.88546011e-01 3.33620971e+02] [ 6.92248509e-01 6.97567284e-01 -1.84910482e-01 2.47739163e+02] [ 2.64010286e-01 -6.32875715e-03 9.64499101e-01 8.73105349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.64, Y:247.76, Z:87.32 [[ 6.72836916e-01 -7.15415073e-01 -1.88339475e-01 3.33640269e+02] [ 6.91150956e-01 6.98675551e-01 -1.84831897e-01 2.47758155e+02] [ 2.63819712e-01 -5.80928450e-03 9.64554515e-01 8.73174352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.66, Y:247.78, Z:87.32 [[ 6.75696008e-01 -7.12839166e-01 -1.87870242e-01 3.33658716e+02] [ 6.88566082e-01 7.01311805e-01 -1.84495266e-01 2.47776784e+02] [ 2.63271070e-01 -4.69836197e-03 9.64710459e-01 8.73239873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.68, Y:247.80, Z:87.33 [[ 6.77313124e-01 -7.11498145e-01 -1.87129160e-01 3.33677835e+02] [ 6.87339117e-01 7.02676141e-01 -1.83878163e-01 2.47795855e+02] [ 2.62320167e-01 -4.07809876e-03 9.64972279e-01 8.73313119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.70, Y:247.81, Z:87.34 [[ 6.80647601e-01 -7.08657708e-01 -1.85803917e-01 3.33697414e+02] [ 6.84709134e-01 7.05546605e-01 -1.82694802e-01 2.47814676e+02] [ 2.60561403e-01 -2.87086083e-03 9.65453010e-01 8.73386915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.72, Y:247.83, Z:87.35 [[ 6.82249489e-01 -7.07252979e-01 -1.85280486e-01 3.33717474e+02] [ 6.83358303e-01 7.06957008e-01 -1.82299805e-01 2.47833584e+02] [ 2.59917418e-01 -2.23900984e-03 9.65628253e-01 8.73461336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.74, Y:247.85, Z:87.35 [[ 6.83569971e-01 -7.06081913e-01 -1.84879495e-01 3.33737005e+02] [ 6.82218293e-01 7.08128121e-01 -1.82024078e-01 2.47852198e+02] [ 2.59442278e-01 -1.70197985e-03 9.65757116e-01 8.73530821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.76, Y:247.87, Z:87.36 [[ 6.85509652e-01 -7.04239734e-01 -1.84723884e-01 3.33756509e+02] [ 6.80319191e-01 7.09961660e-01 -1.81989671e-01 2.47870441e+02] [ 2.59311233e-01 -9.15527733e-04 9.65793377e-01 8.73596231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.77, Y:247.90, Z:87.36 [[ 6.83142206e-01 -7.08943654e-01 -1.75258730e-01 3.33770770e+02] [ 6.80891564e-01 7.05083643e-01 -1.98100314e-01 2.47901042e+02] [ 2.64014024e-01 1.59984951e-02 9.64386148e-01 8.73646573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.80, Y:247.90, Z:87.38 [[ 6.87557961e-01 -6.98675598e-01 -1.97778814e-01 3.33804105e+02] [ 6.78723045e-01 7.15173608e-01 -1.66918362e-01 2.47898565e+02] [ 2.58067974e-01 -1.94709905e-02 9.65930536e-01 8.73778700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.82, Y:247.93, Z:87.38 [[ 6.87534124e-01 -7.02641290e-01 -1.83281330e-01 3.33817025e+02] [ 6.78970486e-01 7.11544241e-01 -1.80842120e-01 2.47926529e+02] [ 2.57479915e-01 -1.07485218e-04 9.66283645e-01 8.73801941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.84, Y:247.94, Z:87.39 [[ 6.87590179e-01 -7.02940226e-01 -1.81919720e-01 3.33838796e+02] [ 6.79606408e-01 7.11248916e-01 -1.79610995e-01 2.47943630e+02] [ 2.55645997e-01 -1.35051079e-04 9.66770452e-01 8.73873567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.86, Y:247.96, Z:87.39 [[ 6.86926744e-01 -7.03666065e-01 -1.81619704e-01 3.33858958e+02] [ 6.80405414e-01 7.10530764e-01 -1.79428276e-01 2.47962017e+02] [ 2.55303976e-01 -3.20948242e-04 9.66860785e-01 8.73948334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.88, Y:247.98, Z:87.40 [[ 6.86593901e-01 -7.04161310e-01 -1.80957631e-01 3.33879068e+02] [ 6.81059344e-01 7.10039910e-01 -1.78889617e-01 2.47980649e+02] [ 2.54454287e-01 -4.18365782e-04 9.67084712e-01 8.74019493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.512755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:333.90, Y:248.00, Z:87.41 [[ 6.85917430e-01 -7.04889886e-01 -1.80686270e-01 3.33899324e+02] [ 6.81852618e-01 7.09316492e-01 -1.78737576e-01 2.47997831e+02] [ 2.54154061e-01 -6.02187604e-04 9.67163559e-01 8.74075952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.92, Y:248.02, Z:87.41 [[ 6.85544292e-01 -7.05162319e-01 -1.81039026e-01 3.33919496e+02] [ 6.82015435e-01 7.09045633e-01 -1.79190503e-01 2.48015550e+02] [ 2.54723321e-01 -6.28383332e-04 9.67013772e-01 8.74142702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.94, Y:248.03, Z:87.42 [[ 6.85978364e-01 -7.04578046e-01 -1.81668551e-01 3.33940446e+02] [ 6.81215153e-01 7.09626432e-01 -1.79933994e-01 2.48031691e+02] [ 2.55694348e-01 -3.24543067e-04 9.66757620e-01 8.74204418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.602755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.96, Y:248.05, Z:87.43 [[ 6.86135584e-01 -7.04407099e-01 -1.81737721e-01 3.33960331e+02] [ 6.80991838e-01 7.09796172e-01 -1.80109717e-01 2.48049718e+02] [ 2.55867301e-01 -1.82218574e-04 9.66711897e-01 8.74273979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.98, Y:248.08, Z:87.43 [[ 6.87156781e-01 -7.05531502e-01 -1.73322987e-01 3.33977797e+02] [ 6.78358875e-01 7.08494810e-01 -1.94587618e-01 2.48076075e+02] [ 2.60086131e-01 1.61370149e-02 9.65450569e-01 8.74307023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.01, Y:248.08, Z:87.45 [[ 6.88144268e-01 -6.99266413e-01 -1.93607722e-01 3.34008836e+02] [ 6.79076619e-01 7.14678871e-01 -1.67597901e-01 2.48076085e+02] [ 2.55562931e-01 -1.61429430e-02 9.66657640e-01 8.74457106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.03, Y:248.10, Z:87.45 [[ 6.89328185e-01 -7.00432265e-01 -1.84989988e-01 3.34027549e+02] [ 6.77637644e-01 7.13711873e-01 -1.77264171e-01 2.48100115e+02] [ 2.56191095e-01 -3.16299039e-03 9.66620980e-01 8.74505573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.04, Y:248.12, Z:87.45 [[ 6.89638513e-01 -7.01474387e-01 -1.79812142e-01 3.34043617e+02] [ 6.77493502e-01 7.12685507e-01 -1.81884368e-01 2.48119256e+02] [ 2.55736733e-01 3.61290733e-03 9.66739712e-01 8.74543395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.07, Y:248.13, Z:87.46 [[ 6.91017347e-01 -6.99390231e-01 -1.82615256e-01 3.34067102e+02] [ 6.75440135e-01 7.14737076e-01 -1.81470482e-01 2.48134102e+02] [ 2.57440576e-01 2.05357817e-03 9.66291950e-01 8.74633278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.09, Y:248.15, Z:87.47 [[ 6.90506901e-01 -7.00253392e-01 -1.81233018e-01 3.34085426e+02] [ 6.76667508e-01 7.13892090e-01 -1.80219775e-01 2.48152827e+02] [ 2.55580327e-01 1.80850372e-03 9.66786132e-01 8.74685074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.10, Y:248.18, Z:87.47 [[ 6.89980800e-01 -7.02516596e-01 -1.74347145e-01 3.34104255e+02] [ 6.74192270e-01 7.11403975e-01 -1.98416654e-01 2.48177175e+02] [ 2.63422245e-01 1.93601842e-02 9.64486342e-01 8.74737142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.13, Y:248.18, Z:87.49 [[ 6.89952518e-01 -6.98558069e-01 -1.89689605e-01 3.34133874e+02] [ 6.74149961e-01 7.15551619e-01 -1.83051115e-01 2.48184791e+02] [ 2.63604537e-01 -1.58266216e-03 9.64629537e-01 8.74873764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.16, Y:248.19, Z:87.49 [[ 6.90482903e-01 -6.96204521e-01 -1.96297288e-01 3.34157656e+02] [ 6.75315846e-01 7.17682126e-01 -1.69943737e-01 2.48192531e+02] [ 2.59194653e-01 -1.52194246e-02 9.65705183e-01 8.74948116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.17, Y:248.22, Z:87.50 [[ 6.90239838e-01 -6.99940841e-01 -1.83444229e-01 3.34170330e+02] [ 6.75626387e-01 7.14197112e-01 -1.82897433e-01 2.48220838e+02] [ 2.59032722e-01 2.30333267e-03 9.65865800e-01 8.74972262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.18, Y:248.25, Z:87.50 [[ 6.87918223e-01 -7.06258431e-01 -1.67235002e-01 3.34179387e+02] [ 6.74888347e-01 7.07230135e-01 -2.10597379e-01 2.48253868e+02] [ 2.67009808e-01 3.20088205e-02 9.63162083e-01 8.74986385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.22, Y:248.25, Z:87.52 [[ 6.88481752e-01 -6.96593760e-01 -2.01866320e-01 3.34219876e+02] [ 6.74108587e-01 7.17313441e-01 -1.76179000e-01 2.48248325e+02] [ 2.67526617e-01 -1.47837932e-02 9.63437050e-01 8.75217612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.25, Y:248.26, Z:87.53 [[ 6.89416068e-01 -6.94370179e-01 -2.06289942e-01 3.34245219e+02] [ 6.74672353e-01 7.19194251e-01 -1.66062776e-01 2.48262126e+02] [ 2.63671579e-01 -2.46917746e-02 9.64296435e-01 8.75335089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.25, Y:248.30, Z:87.53 [[ 6.88608669e-01 -7.02448182e-01 -1.79957364e-01 3.34250028e+02] [ 6.76396346e-01 7.11678814e-01 -1.89739950e-01 2.48298412e+02] [ 2.61354327e-01 8.93407081e-03 9.65201584e-01 8.75267927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.27, Y:248.31, Z:87.54 [[ 6.87799657e-01 -7.00473130e-01 -1.90444284e-01 3.34273960e+02] [ 6.77058852e-01 7.13658629e-01 -1.79673797e-01 2.48312686e+02] [ 2.61768873e-01 -5.36241285e-03 9.65115693e-01 8.75398329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.29, Y:248.33, Z:87.55 [[ 6.87058564e-01 -7.01808609e-01 -1.88189284e-01 3.34289178e+02] [ 6.77610670e-01 7.12362781e-01 -1.82710287e-01 2.48334413e+02] [ 2.62286694e-01 -1.98639884e-03 9.64987950e-01 8.75468077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.31, Y:248.35, Z:87.56 [[ 6.86212995e-01 -7.00450998e-01 -1.96163517e-01 3.34312079e+02] [ 6.78364655e-01 7.13582281e-01 -1.74990638e-01 2.48349732e+02] [ 2.62551177e-01 -1.29895470e-02 9.64830634e-01 8.75591130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.31, Y:248.39, Z:87.55 [[ 6.84740400e-01 -7.09393564e-01 -1.67007053e-01 3.34309675e+02] [ 6.78732560e-01 7.04201952e-01 -2.08378797e-01 2.48388442e+02] [ 2.65429270e-01 2.93322563e-02 9.63684036e-01 8.75524060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.35, Y:248.39, Z:87.57 [[ 6.81646580e-01 -7.03411229e-01 -2.01421406e-01 3.34349930e+02] [ 6.83378915e-01 7.10412171e-01 -1.68249237e-01 2.48385293e+02] [ 2.61440621e-01 -2.29606253e-02 9.64946429e-01 8.75741136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.35, Y:248.42, Z:87.57 [[ 6.77650836e-01 -7.15437653e-01 -1.70112638e-01 3.34350594e+02] [ 6.86090742e-01 6.98346047e-01 -2.03941885e-01 2.48422524e+02] [ 2.64705192e-01 2.14886828e-02 9.64089933e-01 8.75660616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.38, Y:248.43, Z:87.58 [[ 6.74315028e-01 -7.14080754e-01 -1.88116772e-01 3.34382136e+02] [ 6.90574680e-01 7.00025467e-01 -1.81854219e-01 2.48432183e+02] [ 2.61545130e-01 -7.28164678e-03 9.65163780e-01 8.75810527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.40, Y:248.46, Z:87.59 [[ 6.73074339e-01 -7.16301183e-01 -1.84074847e-01 3.34397246e+02] [ 6.91862664e-01 6.97786825e-01 -1.85525203e-01 2.48455459e+02] [ 2.61336926e-01 -2.48226101e-03 9.65244451e-01 8.75861430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.42, Y:248.47, Z:87.60 [[ 6.72585935e-01 -7.15240288e-01 -1.89893368e-01 3.34415977e+02] [ 6.89124625e-01 6.98875628e-01 -1.91520515e-01 2.48471645e+02] [ 2.69695035e-01 -2.04619152e-03 9.62943613e-01 8.75996714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.43, Y:248.50, Z:87.59 [[ 6.68810892e-01 -7.23095470e-01 -1.72698967e-01 3.34426320e+02] [ 6.95757541e-01 6.90647297e-01 -1.97301182e-01 2.48504703e+02] [ 2.61941665e-01 1.18005709e-02 9.65011560e-01 8.75912791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.45, Y:248.51, Z:87.61 [[ 6.65245088e-01 -7.22483517e-01 -1.88325627e-01 3.34449978e+02] [ 6.97407321e-01 6.91364206e-01 -1.88781787e-01 2.48511927e+02] [ 2.66593327e-01 -5.75351464e-03 9.63791936e-01 8.76057711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.48, Y:248.53, Z:87.62 [[ 6.65942692e-01 -7.20366847e-01 -1.93886401e-01 3.34477425e+02] [ 6.96801339e-01 6.93469727e-01 -1.83214716e-01 2.48526822e+02] [ 2.66436157e-01 -1.30898032e-02 9.63763680e-01 8.76190195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.48, Y:248.56, Z:87.62 [[ 6.62127604e-01 -7.28124059e-01 -1.77263621e-01 3.34484436e+02] [ 7.00673507e-01 6.85409541e-01 -1.98167603e-01 2.48558754e+02] [ 2.65788777e-01 7.00831690e-03 9.64005814e-01 8.76185981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.51, Y:248.57, Z:87.63 [[ 6.62214350e-01 -7.25666500e-01 -1.86762646e-01 3.34508669e+02] [ 7.01573508e-01 6.87998785e-01 -1.85613268e-01 2.48570539e+02] [ 2.63185804e-01 -8.11195557e-03 9.64711060e-01 8.76303902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.53, Y:248.59, Z:87.64 [[ 6.61707643e-01 -7.24875599e-01 -1.91568166e-01 3.34530191e+02] [ 6.99803498e-01 6.88822784e-01 -1.89204220e-01 2.48591539e+02] [ 2.69106039e-01 -8.86219393e-03 9.63069780e-01 8.76428252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.54, Y:248.61, Z:87.64 [[ 6.63329606e-01 -7.24406643e-01 -1.87693499e-01 3.34544495e+02] [ 7.00365418e-01 6.89319814e-01 -1.85274054e-01 2.48609866e+02] [ 2.63594604e-01 -8.55627041e-03 9.64595602e-01 8.76441781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.57, Y:248.62, Z:87.66 [[ 6.66046364e-01 -7.19181701e-01 -1.97888663e-01 3.34573510e+02] [ 6.98023330e-01 6.94477502e-01 -1.74540625e-01 2.48621722e+02] [ 2.62955648e-01 -2.18787545e-02 9.64559821e-01 8.76583915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.59, Y:248.65, Z:87.66 [[ 6.66412195e-01 -7.22190359e-01 -1.85299410e-01 3.34585133e+02] [ 6.97797601e-01 6.91674618e-01 -1.86184670e-01 2.48649289e+02] [ 2.62627672e-01 -5.22574882e-03 9.64883100e-01 8.76609437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.60, Y:248.67, Z:87.66 [[ 6.66167429e-01 -7.24221776e-01 -1.78111694e-01 3.34596319e+02] [ 6.98357844e-01 6.89558662e-01 -1.91846746e-01 2.48671668e+02] [ 2.61758053e-01 3.41635526e-03 9.65127479e-01 8.76625379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.62, Y:248.69, Z:87.68 [[ 6.67258493e-01 -7.19800878e-01 -1.91449210e-01 3.34620348e+02] [ 6.94093379e-01 6.94157882e-01 -1.90733364e-01 2.48685453e+02] [ 2.70186021e-01 -5.61517203e-03 9.62791766e-01 8.76795891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.652755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.64, Y:248.70, Z:87.68 [[ 6.68274812e-01 -7.19535851e-01 -1.88883388e-01 3.34637757e+02] [ 6.93195840e-01 6.94452375e-01 -1.92913000e-01 2.48704987e+02] [ 2.69978338e-01 -2.01428027e-03 9.62864290e-01 8.76815882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.66, Y:248.72, Z:87.69 [[ 6.68350426e-01 -7.19589908e-01 -1.88409321e-01 3.34656765e+02] [ 6.93538230e-01 6.94395059e-01 -1.91885969e-01 2.48724210e+02] [ 2.68909709e-01 -2.42199793e-03 9.63162345e-01 8.76908592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.68, Y:248.74, Z:87.70 [[ 6.67942237e-01 -7.20140073e-01 -1.87753677e-01 3.34679000e+02] [ 6.95136184e-01 6.93811946e-01 -1.88177229e-01 2.48744215e+02] [ 2.65779708e-01 -4.82285541e-03 9.64021725e-01 8.76985965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.71, Y:248.76, Z:87.71 [[ 6.68383782e-01 -7.17446368e-01 -1.96300354e-01 3.34705561e+02] [ 6.96135589e-01 6.96329868e-01 -1.74699620e-01 2.48756544e+02] [ 2.62027408e-01 -1.98852699e-02 9.64855540e-01 8.77117800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.72, Y:248.78, Z:87.71 [[ 6.66831659e-01 -7.22704430e-01 -1.81752154e-01 3.34718904e+02] [ 6.97843772e-01 6.91155560e-01 -1.87931002e-01 2.48784477e+02] [ 2.61437580e-01 -1.51626641e-03 9.65219194e-01 8.77123012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.73, Y:248.81, Z:87.72 [[ 6.65972345e-01 -7.25509857e-01 -1.73540440e-01 3.34729090e+02] [ 6.95566440e-01 6.87998253e-01 -2.06992105e-01 2.48807578e+02] [ 2.69570332e-01 1.71421113e-02 9.62828118e-01 8.77151058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.77, Y:248.80, Z:87.74 [[ 6.64560438e-01 -7.16385070e-01 -2.12489662e-01 3.34771410e+02] [ 6.97555801e-01 6.96721681e-01 -1.67316478e-01 2.48801749e+02] [ 2.67909182e-01 -3.70314849e-02 9.62732226e-01 8.77437745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.862755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:334.77, Y:248.85, Z:87.73 [[ 6.63936890e-01 -7.28247840e-01 -1.69831944e-01 3.34768945e+02] [ 7.00487898e-01 6.85179578e-01 -1.99613754e-01 2.48846758e+02] [ 2.61733665e-01 1.35657132e-02 9.65044797e-01 8.77270716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.80, Y:248.86, Z:87.74 [[ 6.63616119e-01 -7.24706670e-01 -1.85509810e-01 3.34796876e+02] [ 6.99645016e-01 6.89043603e-01 -1.88986150e-01 2.48857287e+02] [ 2.64783871e-01 -4.37675824e-03 9.64297851e-01 8.77433353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.82, Y:248.87, Z:87.76 [[ 6.64840963e-01 -7.21255484e-01 -1.94363115e-01 3.34820823e+02] [ 6.98913926e-01 6.92463257e-01 -1.78924455e-01 2.48868364e+02] [ 2.63639561e-01 -1.68867810e-02 9.64473441e-01 8.77563430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.83, Y:248.90, Z:87.75 [[ 6.63986853e-01 -7.27901432e-01 -1.71116816e-01 3.34826333e+02] [ 6.98190503e-01 6.85453075e-01 -2.06601315e-01 2.48903383e+02] [ 2.67677941e-01 1.77084211e-02 9.63345697e-01 8.77540150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.86, Y:248.91, Z:87.77 [[ 6.64002066e-01 -7.21817904e-01 -1.95141410e-01 3.34859763e+02] [ 6.99267270e-01 6.91872933e-01 -1.79825274e-01 2.48906399e+02] [ 2.64814162e-01 -1.70516474e-02 9.64148692e-01 8.77721164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.87, Y:248.93, Z:87.78 [[ 6.65182876e-01 -7.23499621e-01 -1.84607800e-01 3.34869679e+02] [ 6.95863993e-01 6.90316900e-01 -1.98080490e-01 2.48930856e+02] [ 2.70749044e-01 3.29782925e-03 9.62644316e-01 8.77772005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.91, Y:248.93, Z:87.80 [[ 6.65294995e-01 -7.16488137e-01 -2.09826881e-01 3.34907368e+02] [ 6.98195506e-01 6.96632031e-01 -1.65005600e-01 2.48933230e+02] [ 2.64396681e-01 -3.67227854e-02 9.63714601e-01 8.77983475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.91, Y:248.97, Z:87.79 [[ 6.65717396e-01 -7.22890994e-01 -1.85064742e-01 3.34914057e+02] [ 6.97801600e-01 6.90953566e-01 -1.88828222e-01 2.48969718e+02] [ 2.64373365e-01 -3.43224003e-03 9.64414301e-01 8.77945274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.102755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.92, Y:249.00, Z:87.79 [[ 6.65126127e-01 -7.27837706e-01 -1.66911680e-01 3.34919053e+02] [ 6.97512524e-01 6.85374283e-01 -2.09137208e-01 2.49000565e+02] [ 2.66614919e-01 2.26796338e-02 9.63536257e-01 8.77905505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.95, Y:249.01, Z:87.80 [[ 6.64353077e-01 -7.24609318e-01 -1.83238437e-01 3.34945570e+02] [ 6.99517789e-01 6.89155040e-01 -1.89050769e-01 2.49009723e+02] [ 2.63267641e-01 -2.58208652e-03 9.64719380e-01 8.78019777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.96, Y:249.03, Z:87.81 [[ 6.63782112e-01 -7.24935053e-01 -1.84017598e-01 3.34964159e+02] [ 6.99605773e-01 6.88812168e-01 -1.89972525e-01 2.49029466e+02] [ 2.64471304e-01 -2.63940985e-03 9.64389944e-01 8.78106060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.99, Y:249.04, Z:87.83 [[ 6.63186178e-01 -7.22687551e-01 -1.94696679e-01 3.34989718e+02] [ 6.99177022e-01 6.91022902e-01 -1.83408942e-01 2.49042493e+02] [ 2.67087224e-01 -1.44931689e-02 9.63563367e-01 8.78266264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.01, Y:249.06, Z:87.84 [[ 6.62071631e-01 -7.23851754e-01 -1.94164348e-01 3.35008118e+02] [ 7.00195978e-01 6.89811865e-01 -1.84079289e-01 2.49061572e+02] [ 2.67182987e-01 -1.40794204e-02 9.63542953e-01 8.78362000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.02, Y:249.08, Z:87.84 [[ 6.59717820e-01 -7.27779793e-01 -1.87373880e-01 3.35024831e+02] [ 7.02718733e-01 6.85778333e-01 -1.89458334e-01 2.49083515e+02] [ 2.66380895e-01 -6.68209655e-03 9.63844681e-01 8.78426632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.04, Y:249.11, Z:87.85 [[ 6.57955919e-01 -7.31557450e-01 -1.78655270e-01 3.35039230e+02] [ 7.04820719e-01 6.81773047e-01 -1.95993026e-01 2.49107360e+02] [ 2.65182506e-01 3.03483554e-03 9.64193460e-01 8.78452231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.07, Y:249.11, Z:87.86 [[ 6.55658778e-01 -7.29512682e-01 -1.94737807e-01 3.35068520e+02] [ 7.07640641e-01 6.83652007e-01 -1.78506742e-01 2.49114846e+02] [ 2.63355825e-01 -2.07648742e-02 9.64475261e-01 8.78639489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.08, Y:249.14, Z:87.86 [[ 6.54168019e-01 -7.34789127e-01 -1.79301818e-01 3.35080367e+02] [ 7.10795265e-01 6.78272820e-01 -1.86322498e-01 2.49142945e+02] [ 2.58523295e-01 -5.56066438e-03 9.65989019e-01 8.78626633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.372755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:335.09, Y:249.17, Z:87.87 [[ 6.52224923e-01 -7.38070353e-01 -1.72785429e-01 3.35094464e+02] [ 7.11294503e-01 6.74700206e-01 -1.97078062e-01 2.49167429e+02] [ 2.62035839e-01 5.63789804e-03 9.65041674e-01 8.78670082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.12, Y:249.18, Z:87.88 [[ 6.51016995e-01 -7.36690092e-01 -1.82933267e-01 3.35117862e+02] [ 7.12731268e-01 6.76171602e-01 -1.86563940e-01 2.49178658e+02] [ 2.61134086e-01 -8.92596369e-03 9.65261268e-01 8.78794097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.14, Y:249.19, Z:87.89 [[ 6.49912423e-01 -7.37211050e-01 -1.84753108e-01 3.35140160e+02] [ 7.16449467e-01 6.75400908e-01 -1.74739164e-01 2.49192760e+02] [ 2.53602059e-01 -1.88011129e-02 9.67125904e-01 8.78904059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.15, Y:249.22, Z:87.89 [[ 6.48775072e-01 -7.41705024e-01 -1.70189790e-01 3.35151433e+02] [ 7.16746856e-01 6.70723798e-01 -1.90797094e-01 2.49221781e+02] [ 2.55665505e-01 1.80140157e-03 9.66763624e-01 8.78923782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.17, Y:249.24, Z:87.90 [[ 6.50480326e-01 -7.40541526e-01 -1.68741205e-01 3.35172377e+02] [ 7.17200285e-01 6.72009810e-01 -1.84462913e-01 2.49238622e+02] [ 2.49998192e-01 -1.03174490e-03 9.68245754e-01 8.78986416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.19, Y:249.26, Z:87.91 [[ 6.48853017e-01 -7.40521862e-01 -1.74977524e-01 3.35194402e+02] [ 7.18538140e-01 6.71967056e-01 -1.79341065e-01 2.49255080e+02] [ 2.50385111e-01 -9.36203332e-03 9.68101053e-01 8.79100080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.21, Y:249.28, Z:87.92 [[ 6.49161157e-01 -7.41264808e-01 -1.70634923e-01 3.35212442e+02] [ 7.18414837e-01 6.71200766e-01 -1.82673628e-01 2.49277710e+02] [ 2.49939822e-01 -4.00203683e-03 9.68253102e-01 8.79160811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.23, Y:249.29, Z:87.92 [[ 6.49535108e-01 -7.40130150e-01 -1.74101991e-01 3.35233262e+02] [ 7.18151580e-01 6.72408498e-01 -1.79234815e-01 2.49294495e+02] [ 2.49724750e-01 -8.61231496e-03 9.68278564e-01 8.79238366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.24, Y:249.33, Z:87.92 [[ 6.48894504e-01 -7.44457657e-01 -1.57221879e-01 3.35242037e+02] [ 7.17540376e-01 6.67469495e-01 -1.99048444e-01 2.49325440e+02] [ 2.53123946e-01 1.63483956e-02 9.67295714e-01 8.79216735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.27, Y:249.33, Z:87.94 [[ 6.49419723e-01 -7.40209883e-01 -1.74193433e-01 3.35272566e+02] [ 7.17978710e-01 6.72327998e-01 -1.80226624e-01 2.49333281e+02] [ 2.50520650e-01 -8.02445202e-03 9.68077999e-01 8.79371864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.30, Y:249.34, Z:87.95 [[ 6.50099788e-01 -7.36404375e-01 -1.87293519e-01 3.35299314e+02] [ 7.17713880e-01 6.76044502e-01 -1.66885043e-01 2.49343983e+02] [ 2.49513630e-01 -2.59312272e-02 9.68024029e-01 8.79506795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.30, Y:249.38, Z:87.94 [[ 6.50220035e-01 -7.43213067e-01 -1.57633254e-01 3.35301920e+02] [ 7.16872811e-01 6.68889366e-01 -1.96673306e-01 2.49383945e+02] [ 2.51609378e-01 1.48779304e-02 9.67714508e-01 8.79445226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.33, Y:249.39, Z:87.96 [[ 6.51816854e-01 -7.37417232e-01 -1.77061047e-01 3.35329692e+02] [ 7.15654032e-01 6.75354384e-01 -1.78145342e-01 2.49392409e+02] [ 2.50946399e-01 -1.05963157e-02 9.67942985e-01 8.79601236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.34, Y:249.42, Z:87.96 [[ 6.51520513e-01 -7.39993946e-01 -1.67122652e-01 3.35339999e+02] [ 7.13165585e-01 6.72544906e-01 -1.97682064e-01 2.49421536e+02] [ 2.58681019e-01 9.60779584e-03 9.65915017e-01 8.79615160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.36, Y:249.44, Z:87.97 [[ 6.52781625e-01 -7.36955230e-01 -1.75422743e-01 3.35361235e+02] [ 7.11177601e-01 6.75940170e-01 -1.93213111e-01 2.49438802e+02] [ 2.60964692e-01 1.36924364e-03 9.65347375e-01 8.79714856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.38, Y:249.46, Z:87.98 [[ 6.52508098e-01 -7.36244669e-01 -1.79379401e-01 3.35382190e+02] [ 7.11245992e-01 6.76706699e-01 -1.90255570e-01 2.49456711e+02] [ 2.61461892e-01 -3.43957984e-03 9.65207671e-01 8.79808989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.41, Y:249.46, Z:88.00 [[ 6.53793738e-01 -7.29923279e-01 -1.99413530e-01 3.35413036e+02] [ 7.12394281e-01 6.82604515e-01 -1.62927790e-01 2.49460595e+02] [ 2.55045362e-01 -3.55398901e-02 9.66275726e-01 8.79998480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.42, Y:249.49, Z:88.00 [[ 6.52157772e-01 -7.35625539e-01 -1.83153779e-01 3.35423313e+02] [ 7.11529055e-01 6.77336175e-01 -1.86928090e-01 2.49492675e+02] [ 2.61565757e-01 -8.41262870e-03 9.65148995e-01 8.80033344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.43, Y:249.52, Z:88.00 [[ 6.49713735e-01 -7.41015872e-01 -1.69609964e-01 3.35434601e+02] [ 7.14573956e-01 6.71457659e-01 -1.96287223e-01 2.49521543e+02] [ 2.59337857e-01 6.33164166e-03 9.65765907e-01 8.80009995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.46, Y:249.53, Z:88.02 [[ 6.47803477e-01 -7.39232432e-01 -1.84081685e-01 3.35460158e+02] [ 7.16014671e-01 6.73335163e-01 -1.84235582e-01 2.49532269e+02] [ 2.60141589e-01 -1.24567361e-02 9.65490126e-01 8.80162691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.48, Y:249.55, Z:88.03 [[ 6.46500018e-01 -7.38887532e-01 -1.89955103e-01 3.35479023e+02] [ 7.16232078e-01 6.73585952e-01 -1.82465272e-01 2.49547039e+02] [ 2.62772404e-01 -1.80881366e-02 9.64688283e-01 8.80265496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.48, Y:249.59, Z:88.02 [[ 6.40248046e-01 -7.51136042e-01 -1.60863562e-01 3.35480377e+02] [ 7.19552826e-01 6.59745895e-01 -2.16746591e-01 2.49592655e+02] [ 2.68935251e-01 2.30217504e-02 9.62883082e-01 8.80192772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.032755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:335.52, Y:249.58, Z:88.06 [[ 6.35482138e-01 -7.42208739e-01 -2.12811279e-01 3.35516227e+02] [ 7.22564132e-01 6.68812089e-01 -1.74904158e-01 2.49580068e+02] [ 2.72146150e-01 -4.26213286e-02 9.61311550e-01 8.80565101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.062755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.53, Y:249.61, Z:88.06 [[ 6.35294468e-01 -7.46980149e-01 -1.96014274e-01 3.35527734e+02] [ 7.24069626e-01 6.64402727e-01 -1.85181513e-01 2.49609628e+02] [ 2.68559333e-01 -2.42831911e-02 9.62957014e-01 8.80570661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.53, Y:249.64, Z:88.06 [[ 6.33437925e-01 -7.52784689e-01 -1.79085475e-01 3.35534840e+02] [ 7.23104201e-01 6.58259555e-01 -2.09319547e-01 2.49642288e+02] [ 2.75457276e-01 3.09348045e-03 9.61308338e-01 8.80567757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.56, Y:249.66, Z:88.07 [[ 6.32041758e-01 -7.51180209e-01 -1.90398294e-01 3.35556803e+02] [ 7.24008944e-01 6.60003580e-01 -2.00515145e-01 2.49657029e+02] [ 2.76286564e-01 -1.11161232e-02 9.61011013e-01 8.80678258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.57, Y:249.68, Z:88.07 [[ 6.31145537e-01 -7.52584064e-01 -1.87809847e-01 3.35570343e+02] [ 7.23634014e-01 6.58474162e-01 -2.06798436e-01 2.49679387e+02] [ 2.79301139e-01 -5.38568345e-03 9.60188455e-01 8.80730637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.59, Y:249.70, Z:88.08 [[ 6.31363279e-01 -7.50455161e-01 -1.95441710e-01 3.35592313e+02] [ 7.23938351e-01 6.60722060e-01 -1.98392600e-01 2.49695437e+02] [ 2.78017399e-01 -1.62299467e-02 9.60438918e-01 8.80822680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.62, Y:249.72, Z:88.09 [[ 6.34872712e-01 -7.47532443e-01 -1.95273876e-01 3.35616733e+02] [ 7.20651534e-01 6.64071889e-01 -1.99173022e-01 2.49719934e+02] [ 2.78564188e-01 -1.42749016e-02 9.60311523e-01 8.80887995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.62, Y:249.74, Z:88.09 [[ 6.32695966e-01 -7.49851389e-01 -1.93439162e-01 3.35624956e+02] [ 7.22108984e-01 6.61504270e-01 -2.02412241e-01 2.49740238e+02] [ 2.79739932e-01 -1.16187486e-02 9.60005508e-01 8.80948932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.64, Y:249.76, Z:88.10 [[ 6.34485827e-01 -7.48194523e-01 -1.93991472e-01 3.35641447e+02] [ 7.19645118e-01 6.63410298e-01 -2.04933356e-01 2.49762690e+02] [ 2.82025954e-01 -9.57770584e-03 9.59358968e-01 8.81019786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.66, Y:249.78, Z:88.11 [[ 6.36078570e-01 -7.47356499e-01 -1.91995614e-01 3.35658890e+02] [ 7.19361145e-01 6.64361043e-01 -2.02839711e-01 2.49784417e+02] [ 2.79147983e-01 -9.09219096e-03 9.60205049e-01 8.81071807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.332755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.67, Y:249.80, Z:88.12 [[ 6.36729470e-01 -7.46065279e-01 -1.94838860e-01 3.35674966e+02] [ 7.16999782e-01 6.65821203e-01 -2.06381779e-01 2.49803980e+02] [ 2.83702124e-01 -8.29005905e-03 9.58876624e-01 8.81160573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.69, Y:249.83, Z:88.12 [[ 6.37818785e-01 -7.45066969e-01 -1.95095895e-01 3.35691868e+02] [ 7.15936822e-01 6.66941731e-01 -2.06453857e-01 2.49825228e+02] [ 2.83939544e-01 -7.99618682e-03 9.58808843e-01 8.81229267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.71, Y:249.85, Z:88.13 [[ 6.41226834e-01 -7.41947078e-01 -1.95812874e-01 3.35706959e+02] [ 7.12415258e-01 6.70426518e-01 -2.07347014e-01 2.49847532e+02] [ 2.85118654e-01 -6.54360955e-03 9.58469892e-01 8.81300567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.72, Y:249.87, Z:88.14 [[ 6.42692253e-01 -7.40640762e-01 -1.95953898e-01 3.35724214e+02] [ 7.10964386e-01 6.71875588e-01 -2.07636309e-01 2.49869144e+02] [ 2.85440554e-01 -5.86999553e-03 9.58378440e-01 8.81370466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.74, Y:249.89, Z:88.14 [[ 6.48231214e-01 -7.36582976e-01 -1.92981380e-01 3.35744373e+02] [ 7.06250944e-01 6.76346843e-01 -2.09199791e-01 2.49894391e+02] [ 2.84615352e-01 -6.83447491e-04 9.58641557e-01 8.81403135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.76, Y:249.91, Z:88.15 [[ 6.49189475e-01 -7.34326917e-01 -1.98285161e-01 3.35760073e+02] [ 7.06129525e-01 6.78735678e-01 -2.01739867e-01 2.49908785e+02] [ 2.82726227e-01 -9.04760803e-03 9.59157975e-01 8.81503221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.78, Y:249.93, Z:88.16 [[ 6.52885901e-01 -7.31903330e-01 -1.95083355e-01 3.35778158e+02] [ 7.02367994e-01 6.81403393e-01 -2.05836384e-01 2.49930286e+02] [ 2.83582795e-01 -2.63263171e-03 9.58944142e-01 8.81556735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.79, Y:249.97, Z:88.15 [[ 6.54153615e-01 -7.35214984e-01 -1.77600606e-01 3.35786361e+02] [ 7.01438093e-01 6.77535180e-01 -2.21202805e-01 2.49967786e+02] [ 2.82962275e-01 2.01247845e-02 9.58919884e-01 8.81513937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.82, Y:249.97, Z:88.17 [[ 6.54314545e-01 -7.28392820e-01 -2.03264299e-01 3.35816759e+02] [ 7.00377552e-01 6.85067439e-01 -2.00384352e-01 2.49972174e+02] [ 2.85208277e-01 -1.12473560e-02 9.58399570e-01 8.81698303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.83, Y:249.99, Z:88.18 [[ 6.54892601e-01 -7.28659317e-01 -2.00427746e-01 3.35832703e+02] [ 7.00422690e-01 6.84820999e-01 -2.01067789e-01 2.49994700e+02] [ 2.83767047e-01 -8.70633388e-03 9.58853723e-01 8.81768670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.84, Y:250.02, Z:88.18 [[ 6.54583509e-01 -7.32998036e-01 -1.85025155e-01 3.35841413e+02] [ 7.01112480e-01 6.80150964e-01 -2.14093340e-01 2.50023382e+02] [ 2.82775035e-01 1.04185242e-02 9.59129675e-01 8.81750172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.88, Y:250.03, Z:88.20 [[ 6.54731953e-01 -7.24807262e-01 -2.14430646e-01 3.35877213e+02] [ 6.99961526e-01 6.88470010e-01 -1.89902361e-01 2.50026231e+02] [ 2.85271679e-01 -2.57580580e-02 9.58100512e-01 8.82019072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.88, Y:250.06, Z:88.19 [[ 6.52237545e-01 -7.35360188e-01 -1.83933626e-01 3.35877994e+02] [ 7.04343981e-01 6.77624607e-01 -2.11481555e-01 2.50064518e+02] [ 2.80153067e-01 8.38366815e-03 9.59918733e-01 8.81926785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.90, Y:250.07, Z:88.21 [[ 6.51262934e-01 -7.31462277e-01 -2.02038430e-01 3.35901208e+02] [ 7.04383718e-01 6.81746455e-01 -1.97649562e-01 2.50071195e+02] [ 2.82312182e-01 -1.35907468e-02 9.59226315e-01 8.82113701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.92, Y:250.10, Z:88.22 [[ 6.49366950e-01 -7.36636260e-01 -1.88916870e-01 3.35916633e+02] [ 7.06208256e-01 6.76283930e-01 -2.09547000e-01 2.50098379e+02] [ 2.82121362e-01 2.65824298e-03 9.59375042e-01 8.82153809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.782755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:335.94, Y:250.12, Z:88.22 [[ 6.46905486e-01 -7.37660037e-01 -1.93315705e-01 3.35937790e+02] [ 7.08213043e-01 6.75163728e-01 -2.06369150e-01 2.50115765e+02] [ 2.82750027e-01 -3.40736827e-03 9.59187579e-01 8.82240226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.95, Y:250.14, Z:88.23 [[ 6.44481686e-01 -7.42424712e-01 -1.82890414e-01 3.35952211e+02] [ 7.12241740e-01 6.69912192e-01 -2.09593317e-01 2.50141332e+02] [ 2.78127776e-01 4.81686705e-03 9.60532008e-01 8.82262381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.98, Y:250.15, Z:88.24 [[ 6.41049684e-01 -7.41634090e-01 -1.97570693e-01 3.35979271e+02] [ 7.14089112e-01 6.70688773e-01 -2.00632276e-01 2.50150536e+02] [ 2.81304181e-01 -1.24678235e-02 9.59537655e-01 8.82430919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.99, Y:250.18, Z:88.24 [[ 6.39872018e-01 -7.45576100e-01 -1.86225884e-01 3.35991488e+02] [ 7.15975515e-01 6.66420454e-01 -2.07997213e-01 2.50176160e+02] [ 2.79182489e-01 -2.41576548e-04 9.60238033e-01 8.82430708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.01, Y:250.20, Z:88.25 [[ 6.36354829e-01 -7.48951589e-01 -1.84726956e-01 3.36011135e+02] [ 7.20258372e-01 6.62620423e-01 -2.05334004e-01 2.50196571e+02] [ 2.76189082e-01 -2.38585123e-03 9.61100358e-01 8.82490140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.04, Y:250.20, Z:88.27 [[ 6.37467629e-01 -7.41357210e-01 -2.09820183e-01 3.36043124e+02] [ 7.18268140e-01 6.70350871e-01 -1.86334617e-01 2.50197358e+02] [ 2.78793654e-01 -3.19248666e-02 9.59820244e-01 8.82736980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.05, Y:250.23, Z:88.27 [[ 6.34805073e-01 -7.49383839e-01 -1.88272095e-01 3.36049126e+02] [ 7.19804690e-01 6.62128247e-01 -2.08488353e-01 2.50230065e+02] [ 2.80898074e-01 -3.16967326e-03 9.59732372e-01 8.82729117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.08, Y:250.24, Z:88.29 [[ 6.34370922e-01 -7.47145686e-01 -1.98360421e-01 3.36078614e+02] [ 7.20334419e-01 6.64452629e-01 -1.99050320e-01 2.50242309e+02] [ 2.80520691e-01 -1.66141038e-02 9.59704180e-01 8.82865574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.09, Y:250.26, Z:88.29 [[ 6.33481059e-01 -7.49501322e-01 -1.92222571e-01 3.36092579e+02] [ 7.18303191e-01 6.61998108e-01 -2.14007080e-01 2.50264752e+02] [ 2.87649568e-01 -2.50465486e-03 9.57732454e-01 8.82913261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.11, Y:250.29, Z:88.30 [[ 6.33191957e-01 -7.50895598e-01 -1.87679903e-01 3.36109562e+02] [ 7.20844288e-01 6.60417529e-01 -2.10314527e-01 2.50285846e+02] [ 2.81871350e-01 -2.11851885e-03 9.59449871e-01 8.82950838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.14, Y:250.29, Z:88.31 [[ 6.34887179e-01 -7.44124510e-01 -2.07838842e-01 3.36141416e+02] [ 7.20179575e-01 6.67396024e-01 -1.89536087e-01 2.50292631e+02] [ 2.79749264e-01 -2.93472573e-02 9.59624451e-01 8.83115232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.14, Y:250.33, Z:88.31 [[ 6.33855416e-01 -7.52975237e-01 -1.76792546e-01 3.36140996e+02] [ 7.19668789e-01 6.57912320e-01 -2.21874319e-01 2.50332683e+02] [ 2.83379862e-01 1.34041609e-02 9.58914064e-01 8.83061592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.17, Y:250.34, Z:88.32 [[ 6.35720350e-01 -7.46120062e-01 -1.97900200e-01 3.36171486e+02] [ 7.18920906e-01 6.65642119e-01 -2.00183167e-01 2.50337963e+02] [ 2.81091385e-01 -1.50140782e-02 9.59563552e-01 8.83211040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.19, Y:250.36, Z:88.33 [[ 6.38529461e-01 -7.43730014e-01 -1.97852961e-01 3.36192883e+02] [ 7.16242061e-01 6.68343697e-01 -2.00783498e-01 2.50356687e+02] [ 2.81562493e-01 -1.35044335e-02 9.59447858e-01 8.83303190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.202755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:336.20, Y:250.38, Z:88.33 [[ 6.39088051e-01 -7.46875061e-01 -1.83695690e-01 3.36203370e+02] [ 7.16521929e-01 6.64957236e-01 -2.10779979e-01 2.50382824e+02] [ 2.79576088e-01 3.08497595e-03 9.60118583e-01 8.83322709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.22, Y:250.41, Z:88.34 [[ 6.39389863e-01 -7.47332803e-01 -1.80760297e-01 3.36219486e+02] [ 7.15432735e-01 6.64390123e-01 -2.16198442e-01 2.50405158e+02] [ 2.81667544e-01 8.91325831e-03 9.59470661e-01 8.83411312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.25, Y:250.41, Z:88.35 [[ 6.41101656e-01 -7.41444655e-01 -1.98112315e-01 3.36249589e+02] [ 7.16879011e-01 6.70715816e-01 -1.90328079e-01 2.50411881e+02] [ 2.73994800e-01 -2.00029133e-02 9.61523132e-01 8.83525961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.26, Y:250.45, Z:88.35 [[ 6.41877504e-01 -7.46680694e-01 -1.74531403e-01 3.36258138e+02] [ 7.14532751e-01 6.65019496e-01 -2.17237241e-01 2.50450782e+02] [ 2.78273639e-01 1.47312944e-02 9.60388864e-01 8.83525880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.322755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:336.28, Y:250.46, Z:88.37 [[ 6.42995837e-01 -7.41312699e-01 -1.92384604e-01 3.36284363e+02] [ 7.14007032e-01 6.71098735e-01 -1.99550611e-01 2.50456221e+02] [ 2.77038466e-01 -9.05374761e-03 9.60816173e-01 8.83658642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.30, Y:250.48, Z:88.37 [[ 6.45577087e-01 -7.40574270e-01 -1.86493901e-01 3.36300304e+02] [ 7.12706321e-01 6.71967903e-01 -2.01268076e-01 2.50478135e+02] [ 2.74371875e-01 -2.98132376e-03 9.61619044e-01 8.83714464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.32, Y:250.49, Z:88.38 [[ 6.47953975e-01 -7.36403930e-01 -1.94589047e-01 3.36324628e+02] [ 7.10510164e-01 6.76425267e-01 -1.93969496e-01 2.50492931e+02] [ 2.74464847e-01 -1.25741902e-02 9.61514918e-01 8.83842282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.34, Y:250.51, Z:88.39 [[ 6.49448251e-01 -7.35391185e-01 -1.93434159e-01 3.36342845e+02] [ 7.09362523e-01 6.77552422e-01 -1.94235750e-01 2.50512501e+02] [ 2.73901042e-01 -1.10688748e-02 9.61694182e-01 8.83926504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.36, Y:250.54, Z:88.40 [[ 6.51664627e-01 -7.34823652e-01 -1.88062261e-01 3.36359476e+02] [ 7.07391491e-01 6.78249711e-01 -1.98933678e-01 2.50535019e+02] [ 2.73734346e-01 -3.39560227e-03 9.61799344e-01 8.83992198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.38, Y:250.55, Z:88.41 [[ 6.51219081e-01 -7.35482882e-01 -1.87025770e-01 3.36375732e+02] [ 7.08085182e-01 6.77537071e-01 -1.98894177e-01 2.50554452e+02] [ 2.73000155e-01 -2.90649360e-03 9.62009599e-01 8.84066139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.39, Y:250.57, Z:88.41 [[ 6.50997253e-01 -7.36149163e-01 -1.85167456e-01 3.36394781e+02] [ 7.08484857e-01 6.76818528e-01 -1.99914701e-01 2.50573614e+02] [ 2.72491804e-01 -1.04441763e-03 9.62157537e-01 8.84142276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.41, Y:250.60, Z:88.42 [[ 6.49735507e-01 -7.38316749e-01 -1.80920283e-01 3.36411111e+02] [ 7.09433363e-01 6.74438812e-01 -2.04539950e-01 2.50595549e+02] [ 2.73034932e-01 4.54598282e-03 9.61993378e-01 8.84201478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.43, Y:250.61, Z:88.43 [[ 6.49036260e-01 -7.36754326e-01 -1.89591657e-01 3.36434980e+02] [ 7.10321633e-01 6.76117388e-01 -1.95725460e-01 2.50610019e+02] [ 2.72387795e-01 -7.63813507e-03 9.62157237e-01 8.84313097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.45, Y:250.63, Z:88.44 [[ 6.46642688e-01 -7.40059824e-01 -1.84836930e-01 3.36450638e+02] [ 7.12524993e-01 6.72536873e-01 -2.00005721e-01 2.50631230e+02] [ 2.72325850e-01 -2.36869549e-03 9.62202173e-01 8.84365503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.47, Y:250.65, Z:88.44 [[ 6.45014118e-01 -7.41489300e-01 -1.84798284e-01 3.36469304e+02] [ 7.13995459e-01 6.70958419e-01 -2.00063203e-01 2.50651100e+02] [ 2.72336688e-01 -2.90154507e-03 9.62197646e-01 8.84439442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.49, Y:250.67, Z:88.45 [[ 6.43182654e-01 -7.43150856e-01 -1.84507126e-01 3.36487933e+02] [ 7.15774010e-01 6.69114732e-01 -1.99882573e-01 2.50670582e+02] [ 2.71999341e-01 -3.50440200e-03 9.62291057e-01 8.84507861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.51, Y:250.69, Z:88.46 [[ 6.41386092e-01 -7.44680355e-01 -1.84594284e-01 3.36506125e+02] [ 7.17300930e-01 6.67408930e-01 -2.00111710e-01 2.50689058e+02] [ 2.72219132e-01 -4.06078420e-03 9.62226717e-01 8.84580440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.52, Y:250.71, Z:88.47 [[ 6.41239545e-01 -7.44821373e-01 -1.84534466e-01 3.36524663e+02] [ 7.17431805e-01 6.67251702e-01 -2.00166858e-01 2.50709436e+02] [ 2.72219490e-01 -4.03599031e-03 9.62226720e-01 8.84655368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.55, Y:250.73, Z:88.47 [[ 6.39198443e-01 -7.46903741e-01 -1.83194302e-01 3.36547375e+02] [ 7.19316741e-01 6.64924459e-01 -2.01143952e-01 2.50729160e+02] [ 2.72045543e-01 -3.20382690e-03 9.62279044e-01 8.84730843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.56, Y:250.75, Z:88.48 [[ 6.37500734e-01 -7.47334498e-01 -1.87307134e-01 3.36564909e+02] [ 7.20738811e-01 6.64388344e-01 -1.97797104e-01 2.50745056e+02] [ 2.72265276e-01 -8.90372198e-03 9.62181035e-01 8.84820246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.58, Y:250.77, Z:88.49 [[ 6.36740775e-01 -7.48516217e-01 -1.85161168e-01 3.36581607e+02] [ 7.21013674e-01 6.63094101e-01 -2.01110651e-01 2.50766597e+02] [ 2.73313862e-01 -5.44838243e-03 9.61909480e-01 8.84890603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.59, Y:250.79, Z:88.49 [[ 6.35239157e-01 -7.51418734e-01 -1.78440745e-01 3.36594679e+02] [ 7.20991775e-01 6.59799685e-01 -2.11743324e-01 2.50793118e+02] [ 2.76843048e-01 5.85334163e-03 9.60897323e-01 8.84937602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.62, Y:250.80, Z:88.51 [[ 6.37603053e-01 -7.45115688e-01 -1.95614309e-01 3.36621305e+02] [ 7.20241127e-01 6.66676281e-01 -1.91821415e-01 2.50800820e+02] [ 2.73340566e-01 -1.85835504e-02 9.61737795e-01 8.85068881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.63, Y:250.83, Z:88.51 [[ 6.39422048e-01 -7.46114435e-01 -1.85614371e-01 3.36633424e+02] [ 7.18275820e-01 6.65804543e-01 -2.01950878e-01 2.50828773e+02] [ 2.74261356e-01 -4.19047026e-03 9.61646062e-01 8.85099255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.65, Y:250.86, Z:88.52 [[ 6.38886057e-01 -7.47908948e-01 -1.80157742e-01 3.36648469e+02] [ 7.17690836e-01 6.63781004e-01 -2.10510431e-01 2.50855388e+02] [ 2.77027922e-01 5.19461861e-03 9.60847827e-01 8.85160142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.67, Y:250.87, Z:88.53 [[ 6.40143947e-01 -7.43211712e-01 -1.94556107e-01 3.36673110e+02] [ 7.17802422e-01 6.68867484e-01 -1.93328663e-01 2.50866138e+02] [ 2.73816380e-01 -1.58946711e-02 9.61650638e-01 8.85283624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.68, Y:250.90, Z:88.53 [[ 6.38973675e-01 -7.47336038e-01 -1.82212758e-01 3.36683950e+02] [ 7.17751289e-01 6.64442447e-01 -2.08205000e-01 2.50895834e+02] [ 2.76668990e-01 2.25407221e-03 9.60962637e-01 8.85318900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.71, Y:250.90, Z:88.54 [[ 6.41302149e-01 -7.42487122e-01 -1.93505627e-01 3.36706144e+02] [ 7.16884850e-01 6.69705198e-01 -1.93832554e-01 2.50904237e+02] [ 2.73509900e-01 -1.44160191e-02 9.61761152e-01 8.85420951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.72, Y:250.94, Z:88.54 [[ 6.40835034e-01 -7.47315340e-01 -1.75642371e-01 3.36716146e+02] [ 7.18455224e-01 6.64445421e-01 -2.05753188e-01 2.50935386e+02] [ 2.70467283e-01 5.66267231e-03 9.62712513e-01 8.85408541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.74, Y:250.95, Z:88.56 [[ 6.40427913e-01 -7.44105029e-01 -1.90157287e-01 3.36740667e+02] [ 7.18185948e-01 6.67960809e-01 -1.95031542e-01 2.50946005e+02] [ 2.72141567e-01 -1.16646474e-02 9.62186522e-01 8.85568113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.75, Y:250.97, Z:88.56 [[ 6.39388315e-01 -7.46600693e-01 -1.83766125e-01 3.36754936e+02] [ 7.19063328e-01 6.65262332e-01 -2.00932725e-01 2.50969675e+02] [ 2.72269193e-01 -3.66544476e-03 9.62214140e-01 8.85617927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.77, Y:250.99, Z:88.57 [[ 6.38685447e-01 -7.47237613e-01 -1.83621488e-01 3.36772912e+02] [ 7.19742662e-01 6.64545711e-01 -2.00871845e-01 2.50989633e+02] [ 2.72123870e-01 -3.86629482e-03 9.62254463e-01 8.85689857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.79, Y:251.01, Z:88.58 [[ 6.37570905e-01 -7.48232194e-01 -1.83444609e-01 3.36789773e+02] [ 7.20793826e-01 6.63423690e-01 -2.00811523e-01 2.51009784e+02] [ 2.71955146e-01 -4.19415716e-03 9.62300789e-01 8.85756370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.81, Y:251.03, Z:88.58 [[ 6.36850056e-01 -7.48831085e-01 -1.83504802e-01 3.36807699e+02] [ 7.21359097e-01 6.62746589e-01 -2.01017440e-01 2.51030274e+02] [ 2.72145290e-01 -4.35489033e-03 9.62246318e-01 8.85831371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.83, Y:251.05, Z:88.59 [[ 6.36542815e-01 -7.49171998e-01 -1.83179044e-01 3.36825188e+02] [ 7.21776253e-01 6.62360883e-01 -2.00791190e-01 2.51049594e+02] [ 2.71757770e-01 -4.40209461e-03 9.62355618e-01 8.85900694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.84, Y:251.07, Z:88.60 [[ 6.36159796e-01 -7.49641929e-01 -1.82586126e-01 3.36843361e+02] [ 7.22407094e-01 6.61828372e-01 -2.00277802e-01 2.51070030e+02] [ 2.70977316e-01 -4.49282688e-03 9.62575248e-01 8.85973936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.86, Y:251.09, Z:88.60 [[ 6.35694806e-01 -7.50111004e-01 -1.82278895e-01 3.36861335e+02] [ 7.22952348e-01 6.61295968e-01 -2.00068853e-01 2.51090284e+02] [ 2.70614147e-01 -4.59622484e-03 9.62676923e-01 8.86040052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.88, Y:251.11, Z:88.61 [[ 6.35654686e-01 -7.50253828e-01 -1.81830454e-01 3.36878995e+02] [ 7.23200038e-01 6.61134215e-01 -1.99707924e-01 2.51110066e+02] [ 2.70045969e-01 -4.55451390e-03 9.62836659e-01 8.86108182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.90, Y:251.13, Z:88.62 [[ 6.35801603e-01 -7.50180618e-01 -1.81618728e-01 3.36896727e+02] [ 7.23149427e-01 6.61218177e-01 -1.99613200e-01 2.51129964e+02] [ 2.69835558e-01 -4.42308655e-03 9.62896260e-01 8.86181703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.91, Y:251.15, Z:88.63 [[ 6.36047195e-01 -7.50011637e-01 -1.81456633e-01 3.36914783e+02] [ 7.22987927e-01 6.61410904e-01 -1.99559702e-01 2.51150608e+02] [ 2.69689495e-01 -4.26156635e-03 9.62937908e-01 8.86255650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.93, Y:251.17, Z:88.63 [[ 6.36630252e-01 -7.49637760e-01 -1.80956212e-01 3.36932520e+02] [ 7.22713587e-01 6.61836260e-01 -1.99142753e-01 2.51170984e+02] [ 2.69048310e-01 -3.99921225e-03 9.63118380e-01 8.86322072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.95, Y:251.19, Z:88.64 [[ 6.38025017e-01 -7.48457758e-01 -1.80928336e-01 3.36950434e+02] [ 7.21457766e-01 6.63173712e-01 -1.99246880e-01 2.51190727e+02] [ 2.69114789e-01 -3.40765919e-03 9.63102081e-01 8.86383487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.97, Y:251.21, Z:88.65 [[ 6.38794400e-01 -7.47704344e-01 -1.81328232e-01 3.36968436e+02] [ 7.20518525e-01 6.64024951e-01 -1.99809709e-01 2.51210076e+02] [ 2.69805058e-01 -3.01302686e-03 9.62910252e-01 8.86453209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.99, Y:251.23, Z:88.65 [[ 6.40883760e-01 -7.45728969e-01 -1.82088745e-01 3.36986934e+02] [ 7.18192435e-01 6.66246144e-01 -2.00787706e-01 2.51230569e+02] [ 2.71049133e-01 -2.09317932e-03 9.62563237e-01 8.86520312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.00, Y:251.25, Z:88.66 [[ 6.41981842e-01 -7.44713852e-01 -1.82374871e-01 3.37004944e+02] [ 7.17011897e-01 6.67382045e-01 -2.01234058e-01 2.51251107e+02] [ 2.71575505e-01 -1.57634103e-03 9.62415846e-01 8.86590824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.02, Y:251.27, Z:88.67 [[ 6.43082703e-01 -7.43844500e-01 -1.82043945e-01 3.37022262e+02] [ 7.16173390e-01 6.68351792e-01 -2.01001385e-01 2.51270847e+02] [ 2.71183172e-01 -1.11451552e-03 9.62527114e-01 8.86655873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.04, Y:251.29, Z:88.67 [[ 6.45306410e-01 -7.42090431e-01 -1.81332375e-01 3.37040251e+02] [ 7.14532366e-01 6.70299720e-01 -2.00354142e-01 2.51290739e+02] [ 2.70227932e-01 -2.78038988e-04 9.62796337e-01 8.86726361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.06, Y:251.31, Z:88.68 [[ 6.46442856e-01 -7.41136050e-01 -1.81187722e-01 3.37057788e+02] [ 7.13549265e-01 6.71354832e-01 -2.00325074e-01 2.51309629e+02] [ 2.70109386e-01 2.12346781e-04 9.62829619e-01 8.86794220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.08, Y:251.33, Z:88.69 [[ 6.46587999e-01 -7.41110778e-01 -1.80772713e-01 3.37076246e+02] [ 7.13624665e-01 6.71382701e-01 -1.99962764e-01 2.51329209e+02] [ 2.69562232e-01 2.89657042e-04 9.62982928e-01 8.86865330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.09, Y:251.35, Z:88.69 [[ 6.46332278e-01 -7.41368535e-01 -1.80630231e-01 3.37094711e+02] [ 7.13899888e-01 6.71098070e-01 -1.99935813e-01 2.51348274e+02] [ 2.69446720e-01 2.73067343e-04 9.63015260e-01 8.86938698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.11, Y:251.37, Z:88.70 [[ 6.45963911e-01 -7.41832481e-01 -1.80042208e-01 3.37113612e+02] [ 7.14525347e-01 6.70585222e-01 -1.99421633e-01 2.51367880e+02] [ 2.68671088e-01 1.74456432e-04 9.63231964e-01 8.87012141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.13, Y:251.39, Z:88.71 [[ 6.44961800e-01 -7.42834355e-01 -1.79503199e-01 3.37132860e+02] [ 7.15695965e-01 6.69475241e-01 -1.98952729e-01 2.51387508e+02] [ 2.67961869e-01 -1.52804904e-04 9.63429506e-01 8.87081983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.15, Y:251.41, Z:88.71 [[ 6.43983763e-01 -7.43790813e-01 -1.79053456e-01 3.37151911e+02] [ 7.16796655e-01 6.68412300e-01 -1.98563724e-01 2.51408513e+02] [ 2.67371406e-01 -4.73104412e-04 9.63593435e-01 8.87141277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.17, Y:251.43, Z:88.72 [[ 6.42638263e-01 -7.44983745e-01 -1.78928152e-01 3.37170673e+02] [ 7.18307499e-01 6.67080810e-01 -1.97579175e-01 2.51426272e+02] [ 2.66552810e-01 -1.55349551e-03 9.63819063e-01 8.87228311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.19, Y:251.45, Z:88.73 [[ 6.41888057e-01 -7.45722584e-01 -1.78542853e-01 3.37190231e+02] [ 7.18900204e-01 6.66255624e-01 -1.98206813e-01 2.51445911e+02] [ 2.66762476e-01 -1.12790762e-03 9.63761645e-01 8.87299058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.21, Y:251.47, Z:88.74 [[ 6.40853718e-01 -7.46772939e-01 -1.77867059e-01 3.37207922e+02] [ 7.20159558e-01 6.65077461e-01 -1.97590945e-01 2.51465075e+02] [ 2.65850943e-01 -1.46577138e-03 9.64013033e-01 8.87373858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.23, Y:251.48, Z:88.74 [[ 6.39520442e-01 -7.48106119e-01 -1.77061681e-01 3.37227434e+02] [ 7.21751627e-01 6.63576334e-01 -1.96827434e-01 2.51484558e+02] [ 2.64741748e-01 -1.91938883e-03 9.64317439e-01 8.87442159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.25, Y:251.50, Z:88.75 [[ 6.38860900e-01 -7.48714116e-01 -1.76872618e-01 3.37245280e+02] [ 7.22403736e-01 6.62889774e-01 -1.96748544e-01 2.51503773e+02] [ 2.64555462e-01 -2.07848768e-03 9.64368232e-01 8.87514048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.27, Y:251.52, Z:88.76 [[ 6.38652027e-01 -7.48655049e-01 -1.77874127e-01 3.37267043e+02] [ 7.22511653e-01 6.62951777e-01 -1.96142430e-01 2.51524874e+02] [ 2.64764989e-01 -3.24936932e-03 9.64307494e-01 8.87586551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.28, Y:251.54, Z:88.77 [[ 6.37376573e-01 -7.49833724e-01 -1.77483774e-01 3.37283083e+02] [ 7.23555872e-01 6.61619563e-01 -1.96790379e-01 2.51543518e+02] [ 2.64986800e-01 -2.98985011e-03 9.64247404e-01 8.87652662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.31, Y:251.56, Z:88.77 [[ 6.36909595e-01 -7.50337782e-01 -1.77029320e-01 3.37307350e+02] [ 7.24050507e-01 6.61048787e-01 -1.96889221e-01 2.51563899e+02] [ 2.64758439e-01 -2.77753457e-03 9.64310767e-01 8.87722414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.32, Y:251.58, Z:88.78 [[ 6.34966858e-01 -7.51523390e-01 -1.78968389e-01 3.37322486e+02] [ 7.25570376e-01 6.59683659e-01 -1.95870111e-01 2.51580189e+02] [ 2.65263491e-01 -5.48313274e-03 9.64160368e-01 8.87806207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.34, Y:251.61, Z:88.79 [[ 6.34118518e-01 -7.53974903e-01 -1.71509624e-01 3.37339513e+02] [ 7.24746250e-01 6.56859042e-01 -2.08036228e-01 2.51606620e+02] [ 2.69511742e-01 7.61866785e-03 9.62966966e-01 8.87850737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.36, Y:251.61, Z:88.80 [[ 6.34044342e-01 -7.50578084e-01 -1.86065343e-01 3.37362052e+02] [ 7.25814324e-01 6.60643612e-01 -1.91686163e-01 2.51614599e+02] [ 2.66798313e-01 -1.35113643e-02 9.63657669e-01 8.87968135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.38, Y:251.64, Z:88.80 [[ 6.34125654e-01 -7.52179769e-01 -1.79193332e-01 3.37378807e+02] [ 7.26307897e-01 6.58930022e-01 -1.95673365e-01 2.51638396e+02] [ 2.65257412e-01 -6.06803134e-03 9.64158537e-01 8.88022662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.40, Y:251.66, Z:88.81 [[ 6.34381255e-01 -7.52572637e-01 -1.76620635e-01 3.37395858e+02] [ 7.26256914e-01 6.58501899e-01 -1.97297096e-01 2.51659292e+02] [ 2.64785419e-01 -3.11037807e-03 9.64302342e-01 8.88090324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.41, Y:251.68, Z:88.82 [[ 6.35337178e-01 -7.51932790e-01 -1.75908356e-01 3.37414557e+02] [ 7.25773441e-01 6.59234066e-01 -1.96630004e-01 2.51677634e+02] [ 2.63817328e-01 -2.74326128e-03 9.64568760e-01 8.88166601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.43, Y:251.70, Z:88.82 [[ 6.35949433e-01 -7.51506983e-01 -1.75515165e-01 3.37433173e+02] [ 7.25413713e-01 6.59720520e-01 -1.96325701e-01 2.51696656e+02] [ 2.63331092e-01 -2.46788928e-03 9.64702361e-01 8.88238881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.46, Y:251.71, Z:88.84 [[ 6.36744680e-01 -7.49029444e-01 -1.83060385e-01 3.37457052e+02] [ 7.23863993e-01 6.62464762e-01 -1.92772817e-01 2.51713075e+02] [ 2.65663570e-01 -9.76375544e-03 9.64016357e-01 8.88359441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.272755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:337.48, Y:251.73, Z:88.84 [[ 6.38767280e-01 -7.47170946e-01 -1.83608112e-01 3.37476526e+02] [ 7.21486656e-01 6.64580130e-01 -1.94397160e-01 2.51732053e+02] [ 2.67270213e-01 -8.29625712e-03 9.63585910e-01 8.88441590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.49, Y:251.75, Z:88.85 [[ 6.40090490e-01 -7.47299554e-01 -1.78402751e-01 3.37492411e+02] [ 7.20684627e-01 6.64484161e-01 -1.97672630e-01 2.51753976e+02] [ 2.66266470e-01 -2.04374952e-03 9.63897292e-01 8.88507121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.332755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:337.50, Y:251.78, Z:88.85 [[ 6.41961078e-01 -7.48107617e-01 -1.67990976e-01 3.37504203e+02] [ 7.20054208e-01 6.63509956e-01 -2.03166131e-01 2.51777364e+02] [ 2.63453815e-01 9.46213925e-03 9.64625604e-01 8.88508483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.362755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:337.53, Y:251.79, Z:88.86 [[ 6.42155457e-01 -7.46254169e-01 -1.75331353e-01 3.37526475e+02] [ 7.19834820e-01 6.65661089e-01 -1.96807383e-01 2.51793100e+02] [ 2.63579590e-01 1.71322010e-04 9.64637637e-01 8.88602953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.392755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:337.54, Y:251.82, Z:88.87 [[ 6.43163917e-01 -7.46684961e-01 -1.69710768e-01 3.37541046e+02] [ 7.18052589e-01 6.65102533e-01 -2.05034388e-01 2.51816301e+02] [ 2.65971156e-01 1.00094641e-02 9.63929020e-01 8.88651161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4227550960001 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:337.57, Y:251.83, Z:88.88 [[ 6.42818484e-01 -7.43870077e-01 -1.82870731e-01 3.37567822e+02] [ 7.18699993e-01 6.68276531e-01 -1.92033324e-01 2.51829808e+02] [ 2.65056062e-01 -7.98662293e-03 9.64199926e-01 8.88793412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.452755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:337.58, Y:251.85, Z:88.88 [[ 6.42690807e-01 -7.45683937e-01 -1.75795317e-01 3.37581397e+02] [ 7.18787177e-01 6.66298758e-01 -1.98471557e-01 2.51853617e+02] [ 2.65129253e-01 1.19642545e-03 9.64212139e-01 8.88817684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.482755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:337.60, Y:251.87, Z:88.90 [[ 6.42790536e-01 -7.44382901e-01 -1.80871290e-01 3.37602862e+02] [ 7.18715487e-01 6.67731335e-01 -1.93863129e-01 2.51870988e+02] [ 2.65081826e-01 -5.38161276e-03 9.64210902e-01 8.88950176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.60, Y:251.91, Z:88.89 [[ 6.41288760e-01 -7.51740340e-01 -1.53737401e-01 3.37602950e+02] [ 7.18706464e-01 6.58664726e-01 -2.22759506e-01 2.51906014e+02] [ 2.68718710e-01 3.23611034e-02 9.62674927e-01 8.88916359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.64, Y:251.90, Z:88.92 [[ 6.41442704e-01 -7.42408613e-01 -1.93340912e-01 3.37642455e+02] [ 7.19500205e-01 6.69619519e-01 -1.84198684e-01 2.51901966e+02] [ 2.66215538e-01 -2.09559237e-02 9.63685704e-01 8.89159408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.65, Y:251.93, Z:88.92 [[ 6.38970459e-01 -7.48731088e-01 -1.76404397e-01 3.37651032e+02] [ 7.22380704e-01 6.62871878e-01 -1.96893352e-01 2.51931663e+02] [ 2.64353688e-01 -1.62209708e-03 9.64424438e-01 8.89154819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.67, Y:251.95, Z:88.92 [[ 6.37559688e-01 -7.49915490e-01 -1.76477764e-01 3.37669718e+02] [ 7.23627773e-01 6.61529932e-01 -1.96827324e-01 2.51954084e+02] [ 2.64349183e-01 -2.21504392e-03 9.64424493e-01 8.89224820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.69, Y:251.98, Z:88.93 [[ 6.37315832e-01 -7.50355445e-01 -1.75485719e-01 3.37687410e+02] [ 7.23793530e-01 6.61033957e-01 -1.97881361e-01 2.51975481e+02] [ 2.64483376e-01 -9.02503663e-04 9.64389822e-01 8.89296537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.70, Y:252.00, Z:88.93 [[ 6.33669901e-01 -7.55594519e-01 -1.65949930e-01 3.37698995e+02] [ 7.27049833e-01 6.54965487e-01 -2.05958128e-01 2.52003386e+02] [ 2.64312310e-01 9.85559723e-03 9.64386785e-01 8.89288524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.73, Y:252.01, Z:88.95 [[ 6.32641963e-01 -7.50611763e-01 -1.90646603e-01 3.37729009e+02] [ 7.27561895e-01 6.60404419e-01 -1.85794760e-01 2.52008851e+02] [ 2.65363591e-01 -2.11656416e-02 9.63916065e-01 8.89514119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.74, Y:252.04, Z:88.95 [[ 6.31000680e-01 -7.56312549e-01 -1.72712102e-01 3.37736554e+02] [ 7.28617128e-01 6.54206995e-01 -2.02806036e-01 2.52040724e+02] [ 2.66374216e-01 2.12975075e-03 9.63867336e-01 8.89494807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.75, Y:252.06, Z:88.96 [[ 6.26971102e-01 -7.59819700e-01 -1.71992034e-01 3.37751324e+02] [ 7.30934687e-01 6.50118843e-01 -2.07557157e-01 2.52062669e+02] [ 2.69521279e-01 4.41739636e-03 9.62984303e-01 8.89575157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.78, Y:252.08, Z:88.97 [[ 6.24261038e-01 -7.58956590e-01 -1.85156829e-01 3.37777342e+02] [ 7.34494909e-01 6.50938458e-01 -1.91823756e-01 2.52076508e+02] [ 2.66111605e-01 -1.62486513e-02 9.63805268e-01 8.89707417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.79, Y:252.10, Z:88.98 [[ 6.19361955e-01 -7.64965006e-01 -1.76689866e-01 3.37789525e+02] [ 7.38488958e-01 6.44035522e-01 -1.99630420e-01 2.52102749e+02] [ 2.66504835e-01 -6.84002823e-03 9.63809310e-01 8.89752018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.81, Y:252.12, Z:88.99 [[ 6.17311573e-01 -7.65643646e-01 -1.80876281e-01 3.37811195e+02] [ 7.39980297e-01 6.43148028e-01 -1.96951196e-01 2.52122378e+02] [ 2.67124655e-01 -1.22646311e-02 9.63583934e-01 8.89862169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.82, Y:252.15, Z:88.99 [[ 6.15534355e-01 -7.70119987e-01 -1.67429577e-01 3.37818449e+02] [ 7.40575401e-01 6.37869881e-01 -2.11352997e-01 2.52147576e+02] [ 2.69565452e-01 6.10080430e-03 9.62962745e-01 8.89882534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.84, Y:252.16, Z:89.00 [[ 6.12456047e-01 -7.70325557e-01 -1.77471482e-01 3.37840276e+02] [ 7.43116911e-01 6.37606522e-01 -2.03064472e-01 2.52163080e+02] [ 2.69582727e-01 -7.51399569e-03 9.62947918e-01 8.90006409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.86, Y:252.18, Z:89.01 [[ 6.10948018e-01 -7.70202584e-01 -1.83113351e-01 3.37862411e+02] [ 7.45856397e-01 6.37526623e-01 -1.93023416e-01 2.52181528e+02] [ 2.65406770e-01 -1.86489906e-02 9.63956151e-01 8.90106749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.88, Y:252.21, Z:89.02 [[ 6.10062094e-01 -7.72517950e-01 -1.76182461e-01 3.37875311e+02] [ 7.46429550e-01 6.34915512e-01 -1.99311867e-01 2.52206799e+02] [ 2.65832972e-01 -9.91518035e-03 9.63968112e-01 8.90153935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.89, Y:252.23, Z:89.02 [[ 6.10293236e-01 -7.72376325e-01 -1.76002780e-01 3.37891980e+02] [ 7.46299604e-01 6.35090272e-01 -1.99241681e-01 2.52227101e+02] [ 2.65667211e-01 -9.75495517e-03 9.64015443e-01 8.90224128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.92, Y:252.25, Z:89.04 [[ 6.14129596e-01 -7.67540547e-01 -1.83647346e-01 3.37921672e+02] [ 7.42843946e-01 6.40765973e-01 -1.93911937e-01 2.52245317e+02] [ 2.66510244e-01 -1.73342593e-02 9.63676197e-01 8.90352225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.92, Y:252.27, Z:89.04 [[ 6.12588434e-01 -7.70996386e-01 -1.74068903e-01 3.37923988e+02] [ 7.44398690e-01 6.36806078e-01 -2.00869632e-01 2.52269690e+02] [ 2.65717896e-01 -6.52624982e-03 9.64028738e-01 8.90366196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.96, Y:252.29, Z:89.05 [[ 6.17113732e-01 -7.65142110e-01 -1.83652373e-01 3.37956773e+02] [ 7.40580631e-01 6.43640217e-01 -1.93048183e-01 2.52287229e+02] [ 2.65915347e-01 -1.68767052e-02 9.63848642e-01 8.90506446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.96, Y:252.31, Z:89.05 [[ 6.16006679e-01 -7.68413866e-01 -1.73424050e-01 3.37957464e+02] [ 7.41878520e-01 6.39931295e-01 -2.00260326e-01 2.52310470e+02] [ 2.64862289e-01 -5.29787927e-03 9.64271694e-01 8.90532788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.97, Y:252.34, Z:89.05 [[ 6.19316971e-01 -7.70046968e-01 -1.53212783e-01 3.37969174e+02] [ 7.38761736e-01 6.37605732e-01 -2.18380468e-01 2.52344169e+02] [ 2.65852565e-01 2.20589884e-02 9.63761285e-01 8.90483813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.00, Y:252.34, Z:89.08 [[ 6.19024639e-01 -7.61249731e-01 -1.93151092e-01 3.37999093e+02] [ 7.38828776e-01 6.47859361e-01 -1.85500104e-01 2.52340535e+02] [ 2.66346647e-01 -2.78764500e-02 9.63474114e-01 8.90751961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.202755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:338.01, Y:252.37, Z:89.07 [[ 6.19433931e-01 -7.65633326e-01 -1.73514308e-01 3.38006520e+02] [ 7.38253188e-01 6.43272791e-01 -2.02934341e-01 2.52373323e+02] [ 2.66990328e-01 -2.39307481e-03 9.63696237e-01 8.90734862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.03, Y:252.39, Z:89.09 [[ 6.18800522e-01 -7.64676979e-01 -1.79875047e-01 3.38028442e+02] [ 7.39848714e-01 6.44278497e-01 -1.93724285e-01 2.52391386e+02] [ 2.64026126e-01 -1.32036335e-02 9.64425150e-01 8.90860797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.04, Y:252.42, Z:89.08 [[ 6.19738231e-01 -7.67211251e-01 -1.65261677e-01 3.38043640e+02] [ 7.38617783e-01 6.41360573e-01 -2.07606323e-01 2.52423273e+02] [ 2.65270231e-01 6.59636171e-03 9.64151540e-01 8.90849365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.07, Y:252.43, Z:89.10 [[ 6.18647579e-01 -7.62917812e-01 -1.87700788e-01 3.38071743e+02] [ 7.39611566e-01 6.46112761e-01 -1.88449018e-01 2.52431067e+02] [ 2.65046987e-01 -2.22421446e-02 9.63978932e-01 8.91048768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.07, Y:252.47, Z:89.10 [[ 6.17046562e-01 -7.70577599e-01 -1.59573508e-01 3.38073453e+02] [ 7.41017638e-01 6.37225340e-01 -2.11746846e-01 2.52467924e+02] [ 2.64851659e-01 1.24108799e-02 9.64209297e-01 8.90957930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.11, Y:252.47, Z:89.12 [[ 6.18132179e-01 -7.62337146e-01 -1.91715115e-01 3.38107485e+02] [ 7.39172001e-01 6.46682774e-01 -1.88218341e-01 2.52468775e+02] [ 2.67464695e-01 -2.53666323e-02 9.63233705e-01 8.91211082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.11, Y:252.50, Z:89.12 [[ 6.18304669e-01 -7.67142881e-01 -1.70854140e-01 3.38111829e+02] [ 7.39643784e-01 6.41476063e-01 -2.03557198e-01 2.52500623e+02] [ 2.65756297e-01 -5.10836940e-04 9.64040108e-01 8.91169755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.13, Y:252.53, Z:89.12 [[ 6.16619763e-01 -7.69634484e-01 -1.65658771e-01 3.38125830e+02] [ 7.41887185e-01 6.38475699e-01 -2.04822330e-01 2.52525589e+02] [ 2.63407428e-01 3.39737703e-03 9.64678695e-01 8.91203767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.14, Y:252.54, Z:89.13 [[ 6.16484479e-01 -7.69239973e-01 -1.67978426e-01 3.38141335e+02] [ 7.41796815e-01 6.38959304e-01 -2.03638143e-01 2.52543722e+02] [ 2.63977978e-01 9.33893414e-04 9.64528255e-01 8.91261902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.472755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:338.16, Y:252.56, Z:89.14 [[ 6.15928317e-01 -7.69157296e-01 -1.70380052e-01 3.38160202e+02] [ 7.41984862e-01 6.39057489e-01 -2.02642518e-01 2.52564783e+02] [ 2.64746620e-01 -1.60615413e-03 9.64316674e-01 8.91352579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.19, Y:252.57, Z:89.16 [[ 6.17409163e-01 -7.63222732e-01 -1.90517679e-01 3.38187083e+02] [ 7.39732331e-01 6.45690267e-01 -1.89420584e-01 2.52574511e+02] [ 2.67585507e-01 -2.39820819e-02 9.63235618e-01 8.91579602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.19, Y:252.61, Z:89.15 [[ 6.17989563e-01 -7.67022822e-01 -1.72525043e-01 3.38194953e+02] [ 7.38907011e-01 6.41619739e-01 -2.05768171e-01 2.52605409e+02] [ 2.68524356e-01 -3.17382077e-04 9.63272843e-01 8.91547791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.562755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:338.22, Y:252.63, Z:89.16 [[ 6.17455290e-01 -7.66337403e-01 -1.77414627e-01 3.38215972e+02] [ 7.39439720e-01 6.42401771e-01 -2.01367487e-01 2.52626463e+02] [ 2.68286908e-01 -6.85200176e-03 9.63314687e-01 8.91644700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.23, Y:252.66, Z:89.17 [[ 6.19215139e-01 -7.67781601e-01 -1.64572247e-01 3.38225460e+02] [ 7.38884610e-01 6.40665472e-01 -2.08799631e-01 2.52655952e+02] [ 2.65748271e-01 7.69199217e-03 9.64011768e-01 8.91665533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.24, Y:252.67, Z:89.18 [[ 6.20184989e-01 -7.65278149e-01 -1.72394706e-01 3.38244142e+02] [ 7.37757210e-01 6.43698886e-01 -2.03386438e-01 2.52670851e+02] [ 2.66617477e-01 -1.04822144e-03 9.63801858e-01 8.91765225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.652755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.27, Y:252.68, Z:89.19 [[ 6.22808290e-01 -7.59880423e-01 -1.86256748e-01 3.38269139e+02] [ 7.34905863e-01 6.49862791e-01 -1.93885855e-01 2.52683614e+02] [ 2.68371396e-01 -1.61274585e-02 9.63180512e-01 8.91914371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.28, Y:252.71, Z:89.20 [[ 6.22326553e-01 -7.61985163e-01 -1.79131997e-01 3.38282014e+02] [ 7.34036694e-01 6.47580796e-01 -2.04521991e-01 2.52708724e+02] [ 2.71845164e-01 -4.20999314e-03 9.62331795e-01 8.92011278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.30, Y:252.73, Z:89.21 [[ 6.22151999e-01 -7.60566170e-01 -1.85650185e-01 3.38304867e+02] [ 7.34059330e-01 6.49145588e-01 -1.99416414e-01 2.52726896e+02] [ 2.72183377e-01 -1.22109296e-02 9.62167918e-01 8.92126478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.32, Y:252.75, Z:89.22 [[ 6.24068742e-01 -7.60639187e-01 -1.78791030e-01 3.38318667e+02] [ 7.33204160e-01 6.49157745e-01 -2.02499091e-01 2.52748589e+02] [ 2.70092326e-01 -4.71697387e-03 9.62822874e-01 8.92171510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.34, Y:252.77, Z:89.23 [[ 6.23221805e-01 -7.61529063e-01 -1.77955243e-01 3.38336864e+02] [ 7.33521663e-01 6.48123858e-01 -2.04649543e-01 2.52771942e+02] [ 2.71183614e-01 -2.99196847e-03 9.62522985e-01 8.92263690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.35, Y:252.80, Z:89.23 [[ 6.22980856e-01 -7.63310682e-01 -1.71031153e-01 3.38350963e+02] [ 7.34753686e-01 6.46023639e-01 -2.06858598e-01 2.52797545e+02] [ 2.68387546e-01 3.20317655e-03 9.63305697e-01 8.92301794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.37, Y:252.82, Z:89.24 [[ 6.22678221e-01 -7.63164491e-01 -1.72776714e-01 3.38368211e+02] [ 7.34818271e-01 6.46202851e-01 -2.06067912e-01 2.52816700e+02] [ 2.68912518e-01 1.35451448e-03 9.63163653e-01 8.92370634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.862755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:338.39, Y:252.83, Z:89.25 [[ 6.22287999e-01 -7.60979019e-01 -1.83489995e-01 3.38391647e+02] [ 7.34961290e-01 6.48667918e-01 -1.97640670e-01 2.52832786e+02] [ 2.69424476e-01 -1.18686262e-02 9.62948383e-01 8.92493037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.40, Y:252.86, Z:89.26 [[ 6.21522971e-01 -7.63550133e-01 -1.75215273e-01 3.38404771e+02] [ 7.36103317e-01 6.45742182e-01 -2.02901310e-01 2.52855420e+02] [ 2.68069215e-01 -2.86871845e-03 9.63395384e-01 8.92553024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9227550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.42, Y:252.88, Z:89.26 [[ 6.19852826e-01 -7.65925752e-01 -1.70705056e-01 3.38419442e+02] [ 7.37722852e-01 6.42926739e-01 -2.05937374e-01 2.52878992e+02] [ 2.67483583e-01 1.71784240e-03 9.63560887e-01 8.92591790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.952755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.44, Y:252.89, Z:89.27 [[ 6.18041017e-01 -7.65074033e-01 -1.80795538e-01 3.38441126e+02] [ 7.39784985e-01 6.43812746e-01 -1.95507864e-01 2.52892639e+02] [ 2.65976462e-01 -1.29179450e-02 9.63892965e-01 8.92707840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.45, Y:252.92, Z:89.28 [[ 6.16525057e-01 -7.68795241e-01 -1.69855031e-01 3.38452891e+02] [ 7.39929229e-01 6.39488008e-01 -2.08709905e-01 2.52921168e+02] [ 2.69075437e-01 2.99418401e-03 9.63114450e-01 8.92752143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.48, Y:252.93, Z:89.29 [[ 6.15601929e-01 -7.66992498e-01 -1.80988324e-01 3.38475173e+02] [ 7.41698125e-01 6.41510085e-01 -1.95828245e-01 2.52933755e+02] [ 2.66304630e-01 -1.36864554e-02 9.63791744e-01 8.92858056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.49, Y:252.96, Z:89.29 [[ 6.12697814e-01 -7.72197424e-01 -1.68263269e-01 3.38487499e+02] [ 7.43847113e-01 6.35379932e-01 -2.07325382e-01 2.52964014e+02] [ 2.67007230e-01 1.86566094e-03 9.63692720e-01 8.92893691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.51, Y:252.98, Z:89.30 [[ 6.11470954e-01 -7.71958862e-01 -1.73731940e-01 3.38507456e+02] [ 7.43948712e-01 6.35664272e-01 -2.06085534e-01 2.52982268e+02] [ 2.69524742e-01 -3.23233481e-03 9.62988040e-01 8.92996971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.53, Y:252.99, Z:89.32 [[ 6.09712867e-01 -7.69827747e-01 -1.88720587e-01 3.38532751e+02] [ 7.45874941e-01 6.37811798e-01 -1.92006987e-01 2.52992419e+02] [ 2.68180523e-01 -2.36928266e-02 9.63077285e-01 8.93151578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.132755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.54, Y:253.02, Z:89.32 [[ 6.07743182e-01 -7.74660849e-01 -1.74782136e-01 3.38542334e+02] [ 7.45180037e-01 6.32374905e-01 -2.11680639e-01 2.53023151e+02] [ 2.74508540e-01 -1.59669349e-03 9.61583336e-01 8.93176715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.56, Y:253.04, Z:89.33 [[ 6.06913197e-01 -7.74122192e-01 -1.79975560e-01 3.38561366e+02] [ 7.46129658e-01 6.32972695e-01 -2.06485111e-01 2.53038679e+02] [ 2.73764322e-01 -8.96656383e-03 9.61755009e-01 8.93283540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.58, Y:253.06, Z:89.34 [[ 6.03811163e-01 -7.76161478e-01 -1.81618940e-01 3.38577576e+02] [ 7.46285377e-01 6.30498586e-01 -2.13376826e-01 2.53060908e+02] [ 2.80125357e-01 -6.70024964e-03 9.59940046e-01 8.93397936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.222755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:338.60, Y:253.08, Z:89.35 [[ 6.03926669e-01 -7.74136683e-01 -1.89697060e-01 3.38598932e+02] [ 7.46981978e-01 6.32749414e-01 -2.04073772e-01 2.53077099e+02] [ 2.78011696e-01 -1.84546919e-02 9.60400396e-01 8.93480744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.61, Y:253.10, Z:89.35 [[ 6.03643098e-01 -7.76680735e-01 -1.79950123e-01 3.38612542e+02] [ 7.49626988e-01 6.29779811e-01 -2.03560234e-01 2.53100703e+02] [ 2.71430266e-01 -1.20177390e-02 9.62383076e-01 8.93503819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.282755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:338.62, Y:253.13, Z:89.35 [[ 6.02621097e-01 -7.79666160e-01 -1.70201328e-01 3.38624208e+02] [ 7.47621728e-01 6.26165489e-01 -2.21310940e-01 2.53130109e+02] [ 2.79122849e-01 6.12043061e-03 9.60235896e-01 8.93540312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.65, Y:253.13, Z:89.37 [[ 6.03437129e-01 -7.73363380e-01 -1.94352036e-01 3.38653825e+02] [ 7.48087752e-01 6.33428777e-01 -1.97819870e-01 2.53134545e+02] [ 2.76094816e-01 -2.60205234e-02 9.60778114e-01 8.93743949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.67, Y:253.15, Z:89.38 [[ 6.05038508e-01 -7.73408788e-01 -1.89122316e-01 3.38667437e+02] [ 7.47258964e-01 6.33590050e-01 -2.00418784e-01 2.53154636e+02] [ 2.74831666e-01 -2.00622641e-02 9.61283029e-01 8.93801741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.67, Y:253.19, Z:89.38 [[ 6.04792072e-01 -7.78348162e-01 -1.68525035e-01 3.38673426e+02] [ 7.46637761e-01 6.27791129e-01 -2.20023526e-01 2.53187529e+02] [ 2.77053429e-01 7.24132950e-03 9.60827227e-01 8.93788837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.69, Y:253.21, Z:89.39 [[ 6.05082803e-01 -7.78216054e-01 -1.68090973e-01 3.38689674e+02] [ 7.44853232e-01 6.27893742e-01 -2.25705805e-01 2.53210101e+02] [ 2.81191151e-01 1.13675972e-02 9.59584449e-01 8.93867558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.432755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.71, Y:253.22, Z:89.40 [[ 6.03529163e-01 -7.74507071e-01 -1.89450118e-01 3.38713918e+02] [ 7.47145372e-01 6.32311244e-01 -2.04832331e-01 2.53216077e+02] [ 2.78435529e-01 -1.79244936e-02 9.60287649e-01 8.93956430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.462755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:338.75, Y:253.23, Z:89.43 [[ 6.07365886e-01 -7.65779653e-01 -2.11395845e-01 3.38747358e+02] [ 7.40720194e-01 6.42065875e-01 -1.97699281e-01 2.53225856e+02] [ 2.87124145e-01 -3.65093720e-02 9.57197363e-01 8.94293935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.75, Y:253.27, Z:89.42 [[ 6.08597692e-01 -7.74559897e-01 -1.72237669e-01 3.38745783e+02] [ 7.40057166e-01 6.32389606e-01 -2.28907794e-01 2.53266380e+02] [ 2.86224110e-01 1.18470339e-02 9.58089457e-01 8.94206271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.77, Y:253.28, Z:89.43 [[ 6.08374009e-01 -7.71643129e-01 -1.85601579e-01 3.38769953e+02] [ 7.40321788e-01 6.36036240e-01 -2.17673040e-01 2.53280006e+02] [ 2.86015236e-01 -4.97827317e-03 9.58212138e-01 8.94334885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.79, Y:253.30, Z:89.45 [[ 6.08878550e-01 -7.69096283e-01 -1.94313715e-01 3.38792742e+02] [ 7.39772361e-01 6.38949005e-01 -2.10905248e-01 2.53295567e+02] [ 2.86362997e-01 -1.53322340e-02 9.57998516e-01 8.94467401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.80, Y:253.33, Z:89.44 [[ 6.07986769e-01 -7.75660162e-01 -1.69420783e-01 3.38796247e+02] [ 7.40673414e-01 6.30976247e-01 -2.30806999e-01 2.53330715e+02] [ 2.85928284e-01 1.48421317e-02 9.58136069e-01 8.94398242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.83, Y:253.33, Z:89.46 [[ 6.07537499e-01 -7.68748150e-01 -1.99811085e-01 3.38827272e+02] [ 7.40886428e-01 6.39149383e-01 -2.06337991e-01 2.53333908e+02] [ 2.86331080e-01 -2.26792539e-02 9.57862289e-01 8.94620416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.84, Y:253.36, Z:89.46 [[ 6.07783279e-01 -7.71422765e-01 -1.88431430e-01 3.38839783e+02] [ 7.41050818e-01 6.36255722e-01 -2.14528184e-01 2.53359312e+02] [ 2.85382500e-01 -9.25062199e-03 9.58369060e-01 8.94648236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.86, Y:253.38, Z:89.47 [[ 6.08432838e-01 -7.72094294e-01 -1.83520795e-01 3.38858809e+02] [ 7.41128991e-01 6.35493561e-01 -2.16508091e-01 2.53382701e+02] [ 2.83790945e-01 -4.28194916e-03 9.58876616e-01 8.94705187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.702755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:338.87, Y:253.41, Z:89.47 [[ 6.06602371e-01 -7.76707756e-01 -1.69583684e-01 3.38867660e+02] [ 7.41910785e-01 6.29708152e-01 -2.30295530e-01 2.53412198e+02] [ 2.85660552e-01 1.38818500e-02 9.58230318e-01 8.94676602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.90, Y:253.42, Z:89.49 [[ 6.07581470e-01 -7.69746202e-01 -1.95794645e-01 3.38901157e+02] [ 7.41167812e-01 6.38085652e-01 -2.08607229e-01 2.53416966e+02] [ 2.85508376e-01 -1.83708018e-02 9.58200126e-01 8.94895870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.91, Y:253.44, Z:89.49 [[ 6.07639459e-01 -7.73703089e-01 -1.79326010e-01 3.38909702e+02] [ 7.40998370e-01 6.33543930e-01 -2.22583703e-01 2.53444656e+02] [ 2.85824604e-01 2.37036028e-03 9.58279019e-01 8.94894650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.93, Y:253.46, Z:89.50 [[ 6.08272234e-01 -7.70117048e-01 -1.92157803e-01 3.38933804e+02] [ 7.40828248e-01 6.37746560e-01 -2.10838402e-01 2.53457754e+02] [ 2.84918226e-01 -1.41087830e-02 9.58447989e-01 8.95027755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.95, Y:253.48, Z:89.51 [[ 6.06816897e-01 -7.71288245e-01 -1.92061701e-01 3.38947944e+02] [ 7.39985110e-01 6.36407469e-01 -2.17732798e-01 2.53480630e+02] [ 2.90164248e-01 -9.99885803e-03 9.56924622e-01 8.95119967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.96, Y:253.51, Z:89.51 [[ 6.07094525e-01 -7.75759686e-01 -1.72142811e-01 3.38957739e+02] [ 7.40394282e-01 6.30887050e-01 -2.31943608e-01 2.53513736e+02] [ 2.88535170e-01 1.33581412e-02 9.57376110e-01 8.95069178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.882755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:338.99, Y:253.52, Z:89.53 [[ 6.06100554e-01 -7.69666070e-01 -2.00639625e-01 3.38987549e+02] [ 7.40859553e-01 6.38083124e-01 -2.09707057e-01 2.53517352e+02] [ 2.89429165e-01 -2.15422193e-02 9.56956995e-01 8.95256304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.00, Y:253.54, Z:89.53 [[ 6.05936364e-01 -7.73086042e-01 -1.87560906e-01 3.38998315e+02] [ 7.40447846e-01 6.34287391e-01 -2.22298207e-01 2.53543683e+02] [ 2.90823159e-01 -4.18050124e-03 9.56767691e-01 8.95317881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.02, Y:253.56, Z:89.54 [[ 6.04938860e-01 -7.73964663e-01 -1.87156819e-01 3.39016696e+02] [ 7.40854393e-01 6.33220890e-01 -2.23977840e-01 2.53564967e+02] [ 2.91862541e-01 -3.16305253e-03 9.56455044e-01 8.95399745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.04, Y:253.58, Z:89.55 [[ 6.06715642e-01 -7.72034677e-01 -1.89363640e-01 3.39035725e+02] [ 7.40052884e-01 6.35545550e-01 -2.20008142e-01 2.53581780e+02] [ 2.90203133e-01 -6.65672652e-03 9.56941915e-01 8.95464109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.05, Y:253.62, Z:89.56 [[ 5.99133994e-01 -7.77844923e-01 -1.89725416e-01 3.39050292e+02] [ 7.43923500e-01 6.28436499e-01 -2.27256227e-01 2.53618747e+02] [ 2.96000479e-01 -4.98426522e-03 9.55174787e-01 8.95575830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.032755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.07, Y:253.61, Z:89.57 [[ 6.05504541e-01 -7.67427183e-01 -2.10759983e-01 3.39071176e+02] [ 7.41404777e-01 6.40208540e-01 -2.01126781e-01 2.53610120e+02] [ 2.89280500e-01 -3.44752790e-02 9.56623357e-01 8.95663048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.062755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.07, Y:253.65, Z:89.56 [[ 6.04193090e-01 -7.76872989e-01 -1.77254248e-01 3.39071589e+02] [ 7.40192554e-01 6.29552434e-01 -2.36175181e-01 2.53651153e+02] [ 2.95068962e-01 1.14931373e-02 9.55406833e-01 8.95634674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.092755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:339.10, Y:253.66, Z:89.58 [[ 6.05056227e-01 -7.70513487e-01 -2.00539094e-01 3.39101346e+02] [ 7.40855975e-01 6.37112803e-01 -2.12649242e-01 2.53658128e+02] [ 2.91615133e-01 -1.99058386e-02 9.56328590e-01 8.95768696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.122755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:339.11, Y:253.68, Z:89.58 [[ 6.05577849e-01 -7.73412824e-01 -1.87371484e-01 3.39112672e+02] [ 7.40410313e-01 6.33893775e-01 -2.23542503e-01 2.53684403e+02] [ 2.91664256e-01 -3.35939054e-03 9.56514860e-01 8.95792388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.152755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:339.13, Y:253.70, Z:89.59 [[ 6.05958525e-01 -7.73288687e-01 -1.86651739e-01 3.39130906e+02] [ 7.40165146e-01 6.34049288e-01 -2.23913059e-01 2.53703979e+02] [ 2.91495838e-01 -2.47108508e-03 9.56568905e-01 8.95883894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.15, Y:253.72, Z:89.60 [[ 6.07502748e-01 -7.71647847e-01 -1.88414468e-01 3.39150389e+02] [ 7.38303869e-01 6.36043908e-01 -2.24400409e-01 2.53720916e+02] [ 2.92997967e-01 -2.78326558e-03 9.56109013e-01 8.96029482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.16, Y:253.75, Z:89.60 [[ 6.05589592e-01 -7.75018967e-01 -1.80573660e-01 3.39162631e+02] [ 7.40167714e-01 6.31913620e-01 -2.29862857e-01 2.53746875e+02] [ 2.92255029e-01 5.54776076e-03 9.56324328e-01 8.96044412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.19, Y:253.76, Z:89.62 [[ 6.05296422e-01 -7.72251607e-01 -1.92986263e-01 3.39187176e+02] [ 7.41256058e-01 6.35208020e-01 -2.16910646e-01 2.53758617e+02] [ 2.90096017e-01 -1.17569985e-02 9.56925323e-01 8.96170732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.272755096 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:339.20, Y:253.78, Z:89.62 [[ 6.04168921e-01 -7.75245766e-01 -1.84320149e-01 3.39202944e+02] [ 7.40728632e-01 6.31657494e-01 -2.28757304e-01 2.53782811e+02] [ 2.93770335e-01 1.67684184e-03 9.55874562e-01 8.96242047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.302755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.23, Y:253.79, Z:89.64 [[ 6.02342915e-01 -7.73280126e-01 -1.98042569e-01 3.39230509e+02] [ 7.43224951e-01 6.33805241e-01 -2.14260565e-01 2.53794457e+02] [ 2.91203855e-01 -1.81318448e-02 9.56489180e-01 8.96372073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.25, Y:253.82, Z:89.64 [[ 6.01790237e-01 -7.75638946e-01 -1.90348986e-01 3.39245262e+02] [ 7.43759506e-01 6.31112438e-01 -2.20270034e-01 2.53818080e+02] [ 2.90981629e-01 -9.01751197e-03 9.56686143e-01 8.96446060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.26, Y:253.85, Z:89.64 [[ 5.99999119e-01 -7.80481261e-01 -1.75641847e-01 3.39255508e+02] [ 7.45957847e-01 6.25142470e-01 -2.29660145e-01 2.53845939e+02] [ 2.89046618e-01 6.77447053e-03 9.57291053e-01 8.96421996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.392755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.29, Y:253.85, Z:89.67 [[ 5.99999655e-01 -7.74148252e-01 -2.01729765e-01 3.39288057e+02] [ 7.44791994e-01 6.32593187e-01 -2.12392904e-01 2.53852105e+02] [ 2.92036471e-01 -2.28110445e-02 9.56135114e-01 8.96651787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.29, Y:253.89, Z:89.66 [[ 5.97868863e-01 -7.82838982e-01 -1.72383151e-01 3.39290880e+02] [ 7.47813075e-01 6.22149623e-01 -2.31744368e-01 2.53886171e+02] [ 2.88666637e-01 9.64236783e-03 9.57381114e-01 8.96566807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.452755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:339.31, Y:253.90, Z:89.67 [[ 5.97769098e-01 -7.80180485e-01 -1.84365169e-01 3.39312904e+02] [ 7.48165499e-01 6.25528830e-01 -2.21273740e-01 2.53899340e+02] [ 2.87959182e-01 -5.66505462e-03 9.57625927e-01 8.96688728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.482755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:339.33, Y:253.92, Z:89.68 [[ 5.98193579e-01 -7.79821453e-01 -1.84507301e-01 3.39329600e+02] [ 7.47690702e-01 6.25978783e-01 -2.21605905e-01 2.53919764e+02] [ 2.88310695e-01 -5.39116426e-03 9.57521738e-01 8.96761010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.512755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:339.35, Y:253.94, Z:89.68 [[ 5.98645039e-01 -7.79448039e-01 -1.84620889e-01 3.39345911e+02] [ 7.47213756e-01 6.26445997e-01 -2.21894153e-01 2.53939913e+02] [ 2.88609979e-01 -5.11543386e-03 9.57433085e-01 8.96833953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5427550960001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:339.36, Y:253.96, Z:89.69 [[ 5.99929757e-01 -7.78070650e-01 -1.86253456e-01 3.39363019e+02] [ 7.45139475e-01 6.28161405e-01 -2.24009847e-01 2.53959097e+02] [ 2.91292720e-01 -4.39462909e-03 9.56623875e-01 8.96935345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.572755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:339.38, Y:253.98, Z:89.70 [[ 6.00072171e-01 -7.78321053e-01 -1.84742328e-01 3.39379322e+02] [ 7.45899230e-01 6.27851246e-01 -2.22344671e-01 2.53981105e+02] [ 2.89046240e-01 -4.37631042e-03 9.57305134e-01 8.96987192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.602755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.40, Y:254.00, Z:89.71 [[ 6.01246080e-01 -7.77317295e-01 -1.85151218e-01 3.39395916e+02] [ 7.44655309e-01 6.29097269e-01 -2.22991249e-01 2.54002575e+02] [ 2.89813080e-01 -3.80122330e-03 9.57075718e-01 8.97067767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.632755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:339.41, Y:254.02, Z:89.71 [[ 6.01213048e-01 -7.77233600e-01 -1.85609274e-01 3.39411988e+02] [ 7.44359319e-01 6.29201402e-01 -2.23684600e-01 2.54023921e+02] [ 2.90640802e-01 -3.67789277e-03 9.56825166e-01 8.97132809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.43, Y:254.04, Z:89.72 [[ 6.01944505e-01 -7.76757494e-01 -1.85231232e-01 3.39427666e+02] [ 7.43950527e-01 6.29790964e-01 -2.23385217e-01 2.54044952e+02] [ 2.90173098e-01 -3.33736866e-03 9.56968357e-01 8.97219986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.44, Y:254.07, Z:89.73 [[ 6.03410360e-01 -7.75708101e-01 -1.84859079e-01 3.39442182e+02] [ 7.42943005e-01 6.31085965e-01 -2.23083384e-01 2.54067775e+02] [ 2.89709558e-01 -2.72893458e-03 9.57110717e-01 8.97290063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.46, Y:254.09, Z:89.74 [[ 6.03651520e-01 -7.75574930e-01 -1.84630358e-01 3.39458137e+02] [ 7.42841267e-01 6.31250315e-01 -2.22957154e-01 2.54089380e+02] [ 2.89467951e-01 -2.56262420e-03 9.57184276e-01 8.97369044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.47, Y:254.11, Z:89.74 [[ 6.04496906e-01 -7.75150812e-01 -1.83642886e-01 3.39474249e+02] [ 7.42710068e-01 6.31772244e-01 -2.21913468e-01 2.54110636e+02] [ 2.88036883e-01 -2.24741524e-03 9.57616679e-01 8.97448405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.782755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:339.49, Y:254.13, Z:89.75 [[ 6.03910003e-01 -7.75467286e-01 -1.84236796e-01 3.39491801e+02] [ 7.42779785e-01 6.31383539e-01 -2.22784690e-01 2.54132184e+02] [ 2.89086319e-01 -2.30546447e-03 9.57300259e-01 8.97514420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.51, Y:254.15, Z:89.76 [[ 6.04008994e-01 -7.75704750e-01 -1.82907837e-01 3.39508117e+02] [ 7.43462415e-01 6.31091793e-01 -2.21329586e-01 2.54152288e+02] [ 2.87118047e-01 -2.30004186e-03 9.57892446e-01 8.97601925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.53, Y:254.17, Z:89.77 [[ 6.02470789e-01 -7.76840818e-01 -1.83159198e-01 3.39525532e+02] [ 7.44510797e-01 6.29691067e-01 -2.21794575e-01 2.54172363e+02] [ 2.87632790e-01 -2.73924780e-03 9.57736851e-01 8.97682865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.54, Y:254.19, Z:89.78 [[ 6.01743466e-01 -7.77417489e-01 -1.83103385e-01 3.39542867e+02] [ 7.45088578e-01 6.28978180e-01 -2.21877129e-01 2.54192075e+02] [ 2.87659194e-01 -2.91512764e-03 9.57728401e-01 8.97757205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.902755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.56, Y:254.21, Z:89.78 [[ 5.99382122e-01 -7.79153543e-01 -1.83468877e-01 3.39560658e+02] [ 7.46724184e-01 6.26822484e-01 -2.22478241e-01 2.54211916e+02] [ 2.88347127e-01 -3.65116683e-03 9.57518983e-01 8.97830031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.932755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.58, Y:254.23, Z:89.79 [[ 5.97900383e-01 -7.80330123e-01 -1.83303114e-01 3.39577362e+02] [ 7.47969092e-01 6.25354272e-01 -2.22428130e-01 2.54231660e+02] [ 2.88196755e-01 -4.11519912e-03 9.57562372e-01 8.97893644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.962755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:339.60, Y:254.25, Z:89.81 [[ 5.96658892e-01 -7.78327582e-01 -1.95459311e-01 3.39600094e+02] [ 7.47840755e-01 6.27626350e-01 -2.16377840e-01 2.54245531e+02] [ 2.91088255e-01 -1.70686767e-02 9.56543929e-01 8.98054161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.61, Y:254.28, Z:89.80 [[ 5.95570415e-01 -7.84594925e-01 -1.72356269e-01 3.39607691e+02] [ 7.50531151e-01 6.19970371e-01 -2.28778781e-01 2.54276103e+02] [ 2.86354451e-01 6.89512448e-03 9.58098944e-01 8.98022735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.63, Y:254.29, Z:89.81 [[ 5.95117791e-01 -7.82902270e-01 -1.81380400e-01 3.39628991e+02] [ 7.51236432e-01 6.22124160e-01 -2.20466219e-01 2.54291606e+02] [ 2.85444633e-01 -5.05619538e-03 9.58381864e-01 8.98138493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.052755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.64, Y:254.31, Z:89.82 [[ 5.94628841e-01 -7.83400861e-01 -1.80830394e-01 3.39644471e+02] [ 7.51910355e-01 6.21495144e-01 -2.19942273e-01 2.54312908e+02] [ 2.84688178e-01 -5.18422688e-03 9.58606157e-01 8.98201816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.66, Y:254.33, Z:89.83 [[ 5.94338460e-01 -7.83789534e-01 -1.80099311e-01 3.39660781e+02] [ 7.52544249e-01 6.21004118e-01 -2.19159848e-01 2.54334509e+02] [ 2.83617609e-01 -5.27757491e-03 9.58922937e-01 8.98281869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.68, Y:254.35, Z:89.84 [[ 5.93749253e-01 -7.84219221e-01 -1.80172243e-01 3.39676961e+02] [ 7.52925632e-01 6.20460410e-01 -2.19389775e-01 2.54354920e+02] [ 2.83839422e-01 -5.39378474e-03 9.58856657e-01 8.98356795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.69, Y:254.38, Z:89.84 [[ 5.92825157e-01 -7.85002845e-01 -1.79802300e-01 3.39693511e+02] [ 7.53844635e-01 6.19466040e-01 -2.19043585e-01 2.54375812e+02] [ 2.83331256e-01 -5.68845117e-03 9.59005235e-01 8.98430965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.71, Y:254.40, Z:89.85 [[ 5.92258046e-01 -7.85458081e-01 -1.79683084e-01 3.39710551e+02] [ 7.54319268e-01 6.18887612e-01 -2.19044665e-01 2.54396995e+02] [ 2.83254037e-01 -5.80744738e-03 9.59027332e-01 8.98504346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.73, Y:254.42, Z:89.86 [[ 5.91885170e-01 -7.85775198e-01 -1.79525161e-01 3.39725719e+02] [ 7.54663159e-01 6.18484448e-01 -2.18998867e-01 2.54417878e+02] [ 2.83117398e-01 -5.85884344e-03 9.59067366e-01 8.98573071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.232755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:339.74, Y:254.44, Z:89.86 [[ 5.90395622e-01 -7.86680899e-01 -1.80460998e-01 3.39741984e+02] [ 7.55231870e-01 6.17328418e-01 -2.20296271e-01 2.54440433e+02] [ 2.84706571e-01 -6.22794273e-03 9.58594482e-01 8.98633565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.76, Y:254.46, Z:89.87 [[ 5.88447901e-01 -7.88125338e-01 -1.80520139e-01 3.39757324e+02] [ 7.56678521e-01 6.15476831e-01 -2.20512782e-01 2.54463003e+02] [ 2.84897674e-01 -6.83542771e-03 9.58533564e-01 8.98708026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2927550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.77, Y:254.48, Z:89.88 [[ 5.87531193e-01 -7.88844643e-01 -1.80364150e-01 3.39773957e+02] [ 7.57442736e-01 6.14551835e-01 -2.20468916e-01 2.54484200e+02] [ 2.84758843e-01 -7.08315030e-03 9.58573018e-01 8.98769731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.79, Y:254.50, Z:89.89 [[ 5.86625852e-01 -7.89546752e-01 -1.80238831e-01 3.39790116e+02] [ 7.58177706e-01 6.13646718e-01 -2.20463765e-01 2.54504847e+02] [ 2.84669417e-01 -7.32331970e-03 9.58597774e-01 8.98852823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.352755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:339.81, Y:254.53, Z:89.89 [[ 5.85442186e-01 -7.90315635e-01 -1.80717030e-01 3.39807222e+02] [ 7.58765515e-01 6.12652551e-01 -2.21205211e-01 2.54526074e+02] [ 2.85538686e-01 -7.61898790e-03 9.58336898e-01 8.98914291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.84, Y:254.54, Z:89.91 [[ 5.86725941e-01 -7.85986852e-01 -1.94877755e-01 3.39835452e+02] [ 7.57085962e-01 6.17818633e-01 -2.12417004e-01 2.54541179e+02] [ 2.87356080e-01 -2.29086456e-02 9.57549830e-01 8.99110066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4127550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.84, Y:254.57, Z:89.90 [[ 5.85645450e-01 -7.92366113e-01 -1.70807936e-01 3.39835213e+02] [ 7.58895556e-01 6.10033765e-01 -2.27895463e-01 2.54574358e+02] [ 2.84775250e-01 3.84055707e-03 9.58586620e-01 8.99035720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.86, Y:254.59, Z:89.92 [[ 5.87981097e-01 -7.88249626e-01 -1.81495884e-01 3.39862195e+02] [ 7.57316393e-01 6.15292940e-01 -2.18829794e-01 2.54590928e+02] [ 2.84165640e-01 -8.78202560e-03 9.58734982e-01 8.99176169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.88, Y:254.61, Z:89.93 [[ 5.87553899e-01 -7.88304054e-01 -1.82639357e-01 3.39879893e+02] [ 7.57675502e-01 6.15198281e-01 -2.17850655e-01 2.54611850e+02] [ 2.84091973e-01 -1.03823651e-02 9.58740819e-01 8.99259526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.502755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.89, Y:254.63, Z:89.93 [[ 5.87028540e-01 -7.89221789e-01 -1.80350938e-01 3.39890333e+02] [ 7.58304119e-01 6.14052659e-01 -2.18893114e-01 2.54632787e+02] [ 2.83500188e-01 -8.26435432e-03 9.58936569e-01 8.99313261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.91, Y:254.66, Z:89.94 [[ 5.90015427e-01 -7.87642247e-01 -1.77486582e-01 3.39911411e+02] [ 7.56065967e-01 6.16120466e-01 -2.20816269e-01 2.54656775e+02] [ 2.83277337e-01 -3.90655903e-03 9.59030077e-01 8.99389996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.93, Y:254.67, Z:89.95 [[ 5.93413945e-01 -7.83144472e-01 -1.85861845e-01 3.39932577e+02] [ 7.53431264e-01 6.21703846e-01 -2.14069282e-01 2.54673905e+02] [ 2.83198198e-01 -1.30024275e-02 9.58973262e-01 8.99518329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.95, Y:254.70, Z:89.96 [[ 5.94966970e-01 -7.83332778e-01 -1.80011287e-01 3.39947342e+02] [ 7.52641386e-01 6.21571141e-01 -2.17210178e-01 2.54698897e+02] [ 2.82037673e-01 -6.25106283e-03 9.59382966e-01 8.99572645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.622755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:339.96, Y:254.72, Z:89.97 [[ 5.98709770e-01 -7.80621992e-01 -1.79376467e-01 3.39964883e+02] [ 7.50352874e-01 6.24977755e-01 -2.15344770e-01 2.54720004e+02] [ 2.80209165e-01 -5.66663037e-03 9.59922243e-01 8.99652985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.652755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:339.98, Y:254.74, Z:89.97 [[ 5.99353259e-01 -7.79447476e-01 -1.82311007e-01 3.39983619e+02] [ 7.49913194e-01 6.26399765e-01 -2.12728785e-01 2.54739318e+02] [ 2.80010486e-01 -9.21773892e-03 9.59952687e-01 8.99734408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.682755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:339.99, Y:254.76, Z:89.98 [[ 5.99352523e-01 -7.81202798e-01 -1.74638891e-01 3.39990387e+02] [ 7.50793009e-01 6.24274886e-01 -2.15848848e-01 2.54761047e+02] [ 2.77644397e-01 -1.74810688e-03 9.60682327e-01 8.99781999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.01, Y:254.78, Z:89.99 [[ 6.01382933e-01 -7.79699768e-01 -1.74375572e-01 3.40007002e+02] [ 7.49243963e-01 6.26152939e-01 -2.15791520e-01 2.54780728e+02] [ 2.77438375e-01 -8.76507040e-04 9.60743035e-01 8.99858230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.742755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.02, Y:254.80, Z:89.99 [[ 6.03209365e-01 -7.78299523e-01 -1.74322445e-01 3.40023982e+02] [ 7.47759787e-01 6.27893173e-01 -2.15882987e-01 2.54800866e+02] [ 2.77477498e-01 -1.28674929e-04 9.60732128e-01 8.99917279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.05, Y:254.82, Z:90.00 [[ 6.04872916e-01 -7.75786687e-01 -1.79676856e-01 3.40047206e+02] [ 7.46125812e-01 6.30971251e-01 -2.12536005e-01 2.54820379e+02] [ 2.78253534e-01 -5.50426644e-03 9.60491892e-01 9.00041102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.06, Y:254.85, Z:90.00 [[ 6.04410452e-01 -7.78824887e-01 -1.67689598e-01 3.40060262e+02] [ 7.47388884e-01 6.27200889e-01 -2.19154968e-01 2.54849286e+02] [ 2.75858408e-01 7.13021167e-03 9.61171836e-01 9.00046813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.832755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:340.08, Y:254.86, Z:90.02 [[ 6.02805502e-01 -7.77488467e-01 -1.79268540e-01 3.40078428e+02] [ 7.48548167e-01 6.28853292e-01 -2.10283567e-01 2.54861790e+02] [ 2.76226660e-01 -7.43104603e-03 9.61063792e-01 9.00151292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.09, Y:254.89, Z:90.02 [[ 6.00986556e-01 -7.81768295e-01 -1.66293393e-01 3.40089426e+02] [ 7.49054436e-01 6.23487809e-01 -2.24009831e-01 2.54887782e+02] [ 2.78805687e-01 1.00640927e-02 9.60294800e-01 9.00198767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.892755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:340.12, Y:254.90, Z:90.03 [[ 5.98199274e-01 -7.80610114e-01 -1.81122829e-01 3.40115318e+02] [ 7.52261103e-01 6.24914924e-01 -2.08769180e-01 2.54898398e+02] [ 2.76153692e-01 -1.13660870e-02 9.61046279e-01 9.00326267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9227550960001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:340.14, Y:254.92, Z:90.04 [[ 5.97574910e-01 -7.80415689e-01 -1.83998857e-01 3.40138772e+02] [ 7.51491420e-01 6.25140588e-01 -2.10855144e-01 2.54919359e+02] [ 2.79579816e-01 -1.22718184e-02 9.60044025e-01 9.00422212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.952755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:340.14, Y:254.95, Z:90.04 [[ 5.95109522e-01 -7.85882681e-01 -1.68026989e-01 3.40143316e+02] [ 7.54299214e-01 6.18358963e-01 -2.20601200e-01 2.54946548e+02] [ 2.77267657e-01 4.53924931e-03 9.60781995e-01 9.00406175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.982755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:340.16, Y:254.97, Z:90.05 [[ 5.92047294e-01 -7.86861496e-01 -1.74152196e-01 3.40164280e+02] [ 7.56343438e-01 6.17121227e-01 -2.17039158e-01 2.54965171e+02] [ 2.78252774e-01 -3.22142417e-03 9.60502481e-01 9.00470700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.18, Y:254.99, Z:90.06 [[ 5.91045390e-01 -7.87608373e-01 -1.74179210e-01 3.40179980e+02] [ 7.57070758e-01 6.16166318e-01 -2.17216335e-01 2.54985294e+02] [ 2.78404767e-01 -3.48127347e-03 9.60457530e-01 9.00570614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0427550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:340.20, Y:255.01, Z:90.06 [[ 5.88059830e-01 -7.89838544e-01 -1.74185852e-01 3.40197255e+02] [ 7.59349998e-01 6.13298768e-01 -2.17375717e-01 2.55006463e+02] [ 2.78519688e-01 -4.43809875e-03 9.60420266e-01 9.00624867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.072755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:340.22, Y:255.03, Z:90.07 [[ 5.86944009e-01 -7.89880068e-01 -1.77725093e-01 3.40216349e+02] [ 7.61030271e-01 6.13163861e-01 -2.11808888e-01 2.55025448e+02] [ 2.76278224e-01 -1.09342178e-02 9.61015497e-01 9.00730254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.102755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:340.23, Y:255.05, Z:90.07 [[ 5.85400157e-01 -7.92866031e-01 -1.69322514e-01 3.40228644e+02] [ 7.61532675e-01 6.09395927e-01 -2.20691162e-01 2.55051436e+02] [ 2.78162975e-01 2.48013653e-04 9.60533861e-01 9.00749849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.132755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:340.25, Y:255.07, Z:90.09 [[ 5.82853233e-01 -7.93909490e-01 -1.73175724e-01 3.40247327e+02] [ 7.63700345e-01 6.08008507e-01 -2.16996403e-01 2.55071546e+02] [ 2.77567817e-01 -5.77730565e-03 9.60688675e-01 9.00856777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1627550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:340.26, Y:255.09, Z:90.09 [[ 5.81695115e-01 -7.94496021e-01 -1.74375644e-01 3.40263972e+02] [ 7.64519995e-01 6.07223186e-01 -2.16308067e-01 2.55091285e+02] [ 2.77740832e-01 -7.48832081e-03 9.60626855e-01 9.00927871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.192755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:340.28, Y:255.12, Z:90.10 [[ 5.80662035e-01 -7.96169980e-01 -1.70132199e-01 3.40278154e+02] [ 7.64638758e-01 6.05071687e-01 -2.21846399e-01 2.55115643e+02] [ 2.79569620e-01 -1.27189219e-03 9.60124581e-01 9.00969399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.30, Y:255.13, Z:90.12 [[ 5.80814621e-01 -7.92082990e-01 -1.87773572e-01 3.40303429e+02] [ 7.64379629e-01 6.10008359e-01 -2.08838656e-01 2.55128413e+02] [ 2.79960995e-01 -2.22337488e-02 9.59753876e-01 9.01164814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.31, Y:255.16, Z:90.11 [[ 5.80340640e-01 -7.97390568e-01 -1.65447951e-01 3.40307559e+02] [ 7.65381357e-01 6.03455191e-01 -2.23681047e-01 2.55161406e+02] [ 2.78201582e-01 3.18042427e-03 9.60517446e-01 9.01136235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.282755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:340.33, Y:255.18, Z:90.12 [[ 5.80555781e-01 -7.95645237e-01 -1.72926697e-01 3.40326760e+02] [ 7.65557115e-01 6.05727971e-01 -2.16831568e-01 2.55180877e+02] [ 2.77267542e-01 -6.50244341e-03 9.60770747e-01 9.01222249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.33, Y:255.21, Z:90.13 [[ 5.78480073e-01 -8.00106951e-01 -1.58712547e-01 3.40331164e+02] [ 7.65457706e-01 5.99706130e-01 -2.33296073e-01 2.55212490e+02] [ 2.81842697e-01 1.34693867e-02 9.59366077e-01 9.01270861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.342755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.36, Y:255.22, Z:90.14 [[ 5.78341735e-01 -7.93395090e-01 -1.89855391e-01 3.40361731e+02] [ 7.67200450e-01 6.08079290e-01 -2.04066281e-01 2.55216929e+02] [ 2.77352317e-01 -2.76370941e-02 9.60370701e-01 9.01448712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.372755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:340.37, Y:255.25, Z:90.15 [[ 5.79191472e-01 -7.97004730e-01 -1.71232880e-01 3.40372006e+02] [ 7.66321475e-01 6.03957453e-01 -2.19058878e-01 2.55248576e+02] [ 2.78008336e-01 -4.34239960e-03 9.60568846e-01 9.01453244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.402755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.39, Y:255.27, Z:90.16 [[ 5.78737358e-01 -7.97057195e-01 -1.72519269e-01 3.40388241e+02] [ 7.67055107e-01 6.03864416e-01 -2.16735392e-01 2.55268484e+02] [ 2.76928752e-01 -6.89891832e-03 9.60865689e-01 9.01551619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.432755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:340.40, Y:255.30, Z:90.16 [[ 5.76126209e-01 -8.01157941e-01 -1.61939943e-01 3.40398347e+02] [ 7.67673582e-01 5.98402056e-01 -2.29330005e-01 2.55297690e+02] [ 2.80634750e-01 7.80601051e-03 9.59782894e-01 9.01585878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.43, Y:255.31, Z:90.18 [[ 5.77258311e-01 -7.95584448e-01 -1.83897330e-01 3.40425212e+02] [ 7.68861353e-01 6.05419544e-01 -2.05716786e-01 2.55305566e+02] [ 2.75000114e-01 -2.26398255e-02 9.61177598e-01 9.01763724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.43, Y:255.34, Z:90.18 [[ 5.76108383e-01 -8.00126434e-01 -1.67023412e-01 3.40431804e+02] [ 7.69326166e-01 5.99828604e-01 -2.19870182e-01 2.55338425e+02] [ 2.76109364e-01 -1.82642610e-03 9.61124489e-01 9.01782023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.45, Y:255.36, Z:90.19 [[ 5.76586076e-01 -7.97924628e-01 -1.75683764e-01 3.40451535e+02] [ 7.69730391e-01 6.02600354e-01 -2.10684454e-01 2.55355520e+02] [ 2.73977413e-01 -1.37514104e-02 9.61637809e-01 9.01889991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.46, Y:255.38, Z:90.19 [[ 5.76514933e-01 -7.99069672e-01 -1.70640533e-01 3.40463501e+02] [ 7.69635591e-01 6.01193185e-01 -2.15006538e-01 2.55379675e+02] [ 2.74393130e-01 -7.37654759e-03 9.61589308e-01 9.01944589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.582755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:340.48, Y:255.40, Z:90.20 [[ 5.76797201e-01 -7.98812145e-01 -1.70892206e-01 3.40478581e+02] [ 7.69233986e-01 6.01537840e-01 -2.15479238e-01 2.55402671e+02] [ 2.74925561e-01 -7.16827139e-03 9.61438792e-01 9.02002755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.49, Y:255.42, Z:90.21 [[ 5.77517763e-01 -7.99034673e-01 -1.67382270e-01 3.40490020e+02] [ 7.67927696e-01 6.01284064e-01 -2.20781631e-01 2.55424990e+02] [ 2.77056470e-01 -1.03216748e-03 9.60853083e-01 9.02077784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.642755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:340.51, Y:255.44, Z:90.22 [[ 5.78517881e-01 -7.96575585e-01 -1.75454835e-01 3.40509905e+02] [ 7.67553916e-01 6.04434413e-01 -2.13354228e-01 2.55443160e+02] [ 2.76003709e-01 -1.12418098e-02 9.61090825e-01 9.02162937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.52, Y:255.47, Z:90.22 [[ 5.80307042e-01 -7.96565188e-01 -1.69492299e-01 3.40521249e+02] [ 7.66275533e-01 6.04541919e-01 -2.17602565e-01 2.55466479e+02] [ 2.75799828e-01 -3.60150107e-03 9.61208346e-01 9.02228881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.54, Y:255.49, Z:90.23 [[ 5.81231213e-01 -7.95832109e-01 -1.69769053e-01 3.40536720e+02] [ 7.65309074e-01 6.05509732e-01 -2.18311671e-01 2.55489189e+02] [ 2.76536251e-01 -3.03623907e-03 9.60998691e-01 9.02315414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.732755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:340.55, Y:255.51, Z:90.24 [[ 5.83669951e-01 -7.93206543e-01 -1.73645526e-01 3.40552122e+02] [ 7.63686051e-01 6.08907644e-01 -2.14511297e-01 2.55510367e+02] [ 2.75885852e-01 -7.40686766e-03 9.61161867e-01 9.02389109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.57, Y:255.53, Z:90.25 [[ 5.85084350e-01 -7.92727705e-01 -1.71052886e-01 3.40565594e+02] [ 7.62588450e-01 6.09564384e-01 -2.16541261e-01 2.55534050e+02] [ 2.75926004e-01 -3.74805229e-03 9.61171573e-01 9.02468961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7927550960001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:340.59, Y:255.55, Z:90.26 [[ 5.86559968e-01 -7.90086508e-01 -1.78075023e-01 3.40585483e+02] [ 7.62043764e-01 6.12855642e-01 -2.09038907e-01 2.55551339e+02] [ 2.74293103e-01 -1.30871066e-02 9.61557082e-01 9.02550244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.59, Y:255.59, Z:90.26 [[ 5.87297827e-01 -7.94407807e-01 -1.54911258e-01 3.40586795e+02] [ 7.59250748e-01 6.07050343e-01 -2.34580866e-01 2.55586943e+02] [ 2.80391803e-01 2.01523446e-02 9.59674069e-01 9.02573174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.61, Y:255.60, Z:90.27 [[ 5.88131476e-01 -7.89357431e-01 -1.76114206e-01 3.40611461e+02] [ 7.58443739e-01 6.13914426e-01 -2.18797103e-01 2.55599136e+02] [ 2.80828171e-01 -4.89125403e-03 9.59745599e-01 9.02712920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.63, Y:255.62, Z:90.28 [[ 5.88022003e-01 -7.88469058e-01 -1.80406950e-01 3.40630209e+02] [ 7.59048330e-01 6.14970750e-01 -2.13674073e-01 2.55619877e+02] [ 2.79420393e-01 -1.12925379e-02 9.60102454e-01 9.02802968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9127550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:340.64, Y:255.65, Z:90.28 [[ 5.86869822e-01 -7.90763631e-01 -1.74001986e-01 3.40642802e+02] [ 7.59274943e-01 6.12116710e-01 -2.20940475e-01 2.55646273e+02] [ 2.81221216e-01 -2.45205031e-03 9.59639836e-01 9.02842764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.65, Y:255.67, Z:90.29 [[ 5.85946065e-01 -7.92825313e-01 -1.67616323e-01 3.40652812e+02] [ 7.58915822e-01 6.09405592e-01 -2.29502941e-01 2.55670820e+02] [ 2.84102065e-01 7.26966560e-03 9.58766483e-01 9.02907512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.67, Y:255.69, Z:90.30 [[ 5.82279632e-01 -7.92496163e-01 -1.81384294e-01 3.40674796e+02] [ 7.62026192e-01 6.09771795e-01 -2.17932193e-01 2.55686401e+02] [ 2.83313454e-01 -1.13221060e-02 9.58960529e-01 9.03020493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.69, Y:255.70, Z:90.31 [[ 5.80966084e-01 -7.93092230e-01 -1.82983943e-01 3.40691999e+02] [ 7.63993285e-01 6.08896763e-01 -2.13445526e-01 2.55704949e+02] [ 2.80700319e-01 -1.57938926e-02 9.59665506e-01 9.03093375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.032755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:340.70, Y:255.73, Z:90.31 [[ 5.76208138e-01 -7.99826575e-01 -1.68111965e-01 3.40700276e+02] [ 7.66546564e-01 6.00225083e-01 -2.28333563e-01 2.55733557e+02] [ 2.83532270e-01 2.70200844e-03 9.58958889e-01 9.03120918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.72, Y:255.75, Z:90.32 [[ 5.73421733e-01 -8.00729519e-01 -1.73262095e-01 3.40717938e+02] [ 7.68874052e-01 5.99005510e-01 -2.23662895e-01 2.55751231e+02] [ 2.82878432e-01 -4.96356456e-03 9.59142928e-01 9.03231235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.092755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:340.74, Y:255.76, Z:90.33 [[ 5.72685047e-01 -7.97990948e-01 -1.87729283e-01 3.40742090e+02] [ 7.71157691e-01 6.02095511e-01 -2.06873902e-01 2.55760958e+02] [ 2.78114460e-01 -2.62952900e-02 9.60187953e-01 9.03325653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.122755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.74, Y:255.80, Z:90.33 [[ 5.66273790e-01 -8.08733924e-01 -1.59007658e-01 3.40743498e+02] [ 7.74632596e-01 5.88113255e-01 -2.32523419e-01 2.55798577e+02] [ 2.81564088e-01 8.49940273e-03 9.59504781e-01 9.03331932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.77, Y:255.81, Z:90.35 [[ 5.64230216e-01 -8.07529743e-01 -1.71871979e-01 3.40765562e+02] [ 7.76421899e-01 5.89771011e-01 -2.22124266e-01 2.55812130e+02] [ 2.80737062e-01 -8.11594551e-03 9.59750402e-01 9.03462113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.78, Y:255.83, Z:90.36 [[ 5.61058107e-01 -8.09265819e-01 -1.74076521e-01 3.40782735e+02] [ 7.79079173e-01 5.87308255e-01 -2.19327736e-01 2.55831132e+02] [ 2.79731018e-01 -1.25637879e-02 9.59996203e-01 9.03550084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.212755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:340.80, Y:255.85, Z:90.36 [[ 5.59303017e-01 -8.10768150e-01 -1.72728523e-01 3.40798180e+02] [ 7.80211370e-01 5.85258653e-01 -2.20777099e-01 2.55853266e+02] [ 2.80089903e-01 -1.12834599e-02 9.59907459e-01 9.03609334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.242755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.81, Y:255.87, Z:90.37 [[ 5.58643498e-01 -8.11339011e-01 -1.72181449e-01 3.40813246e+02] [ 7.80952450e-01 5.84464394e-01 -2.20260398e-01 2.55874180e+02] [ 2.79339780e-01 -1.14184851e-02 9.60124422e-01 9.03688785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.272755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.83, Y:255.90, Z:90.38 [[ 5.57879287e-01 -8.11826861e-01 -1.72359648e-01 3.40828173e+02] [ 7.81345479e-01 5.83783702e-01 -2.20671322e-01 2.55895676e+02] [ 2.79767660e-01 -1.15644714e-02 9.59998083e-01 9.03756532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.84, Y:255.92, Z:90.38 [[ 5.57871584e-01 -8.11847133e-01 -1.72289084e-01 3.40843914e+02] [ 7.81347084e-01 5.83757266e-01 -2.20735564e-01 2.55916982e+02] [ 2.79778539e-01 -1.14754744e-02 9.59995981e-01 9.03837032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.86, Y:255.94, Z:90.39 [[ 5.57641262e-01 -8.12020072e-01 -1.72219700e-01 3.40860632e+02] [ 7.81511406e-01 5.83516783e-01 -2.20789686e-01 2.55938763e+02] [ 2.79778742e-01 -1.14702209e-02 9.59995984e-01 9.03915733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.88, Y:255.96, Z:90.40 [[ 5.57841154e-01 -8.11692264e-01 -1.73115321e-01 3.40877224e+02] [ 7.80804065e-01 5.83976254e-01 -2.22073743e-01 2.55960039e+02] [ 2.81350776e-01 -1.12872737e-02 9.59538607e-01 9.03990430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.392755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.89, Y:255.98, Z:90.41 [[ 5.57796779e-01 -8.11588076e-01 -1.73745645e-01 3.40892832e+02] [ 7.80422179e-01 5.84122906e-01 -2.23028370e-01 2.55980450e+02] [ 2.82495976e-01 -1.11904487e-02 9.59203210e-01 9.04059119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.91, Y:256.00, Z:90.41 [[ 5.58051217e-01 -8.11349923e-01 -1.74040634e-01 3.40908728e+02] [ 7.80019497e-01 5.84457329e-01 -2.23560317e-01 2.56002118e+02] [ 2.83104970e-01 -1.09969804e-02 9.59025882e-01 9.04139116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.92, Y:256.02, Z:90.42 [[ 5.59011565e-01 -8.10605913e-01 -1.74425122e-01 3.40923892e+02] [ 7.79056343e-01 5.85496870e-01 -2.24197746e-01 2.56022338e+02] [ 2.83861382e-01 -1.05578655e-02 9.58807200e-01 9.04209251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.94, Y:256.04, Z:90.43 [[ 5.60671531e-01 -8.09418432e-01 -1.74611674e-01 3.40940239e+02] [ 7.77706402e-01 5.87149031e-01 -2.24563503e-01 2.56044086e+02] [ 2.84288914e-01 -9.89025350e-03 9.58687643e-01 9.04292633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:256.07, Z:90.44 [[ 5.61586582e-01 -8.08764449e-01 -1.74701392e-01 3.40956480e+02] [ 7.76945063e-01 5.88056368e-01 -2.24824548e-01 2.56065330e+02] [ 2.84564367e-01 -9.47493489e-03 9.58610112e-01 9.04370262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.97, Y:256.09, Z:90.44 [[ 5.62571534e-01 -8.08048068e-01 -1.74847329e-01 3.40972535e+02] [ 7.76095260e-01 5.89047398e-01 -2.25165074e-01 2.56086046e+02] [ 2.84937568e-01 -9.02672235e-03 9.58503574e-01 9.04448039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.99, Y:256.11, Z:90.45 [[ 5.63303743e-01 -8.07556209e-01 -1.74762302e-01 3.40988816e+02] [ 7.75564426e-01 5.89726819e-01 -2.25215675e-01 2.56107456e+02] [ 2.84936334e-01 -8.67459192e-03 9.58507192e-01 9.04523923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.00, Y:256.13, Z:90.46 [[ 5.65352427e-01 -8.06023551e-01 -1.75221769e-01 3.41004877e+02] [ 7.73743522e-01 5.91831648e-01 -2.25956330e-01 2.56128625e+02] [ 2.85827912e-01 -7.83174912e-03 9.58248960e-01 9.04603042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.02, Y:256.15, Z:90.47 [[ 5.66355404e-01 -8.05463017e-01 -1.74559116e-01 3.41020251e+02] [ 7.73361111e-01 5.92599530e-01 -2.25251835e-01 2.56149126e+02] [ 2.84875673e-01 -7.42463785e-03 9.58535720e-01 9.04676386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.04, Y:256.17, Z:90.48 [[ 5.68404141e-01 -8.04018011e-01 -1.74561657e-01 3.41037085e+02] [ 7.71801464e-01 5.94568299e-01 -2.25413039e-01 2.56169313e+02] [ 2.85024971e-01 -6.60123720e-03 9.58497360e-01 9.04762877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.05, Y:256.19, Z:90.48 [[ 5.69414641e-01 -8.03340649e-01 -1.74386833e-01 3.41053322e+02] [ 7.71114914e-01 5.95487882e-01 -2.25335246e-01 2.56189297e+02] [ 2.84866208e-01 -6.16309984e-03 9.58547474e-01 9.04844910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.722755096 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:341.07, Y:256.21, Z:90.49 [[ 5.70804343e-01 -8.02101188e-01 -1.75545109e-01 3.41070791e+02] [ 7.69332172e-01 5.97162952e-01 -2.26989909e-01 2.56209075e+02] [ 2.86897911e-01 -5.48567437e-03 9.57945456e-01 9.04905556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.09, Y:256.23, Z:90.50 [[ 5.72592390e-01 -8.00993227e-01 -1.74779307e-01 3.41086494e+02] [ 7.68418977e-01 5.98654088e-01 -2.26153838e-01 2.56229241e+02] [ 2.85780039e-01 -4.80976971e-03 9.58283171e-01 9.05003136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.782755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:341.10, Y:256.25, Z:90.51 [[ 5.74573314e-01 -7.99431250e-01 -1.75428573e-01 3.41103113e+02] [ 7.66488708e-01 6.00744634e-01 -2.27158414e-01 2.56249134e+02] [ 2.86985308e-01 -3.94485743e-03 9.57926861e-01 9.05064248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.12, Y:256.27, Z:90.51 [[ 5.75677263e-01 -8.00399333e-01 -1.67202264e-01 3.41115591e+02] [ 7.66083232e-01 5.99442704e-01 -2.31915775e-01 2.56274497e+02] [ 2.85853409e-01 5.41778735e-03 9.58258043e-01 9.05104306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.14, Y:256.29, Z:90.53 [[ 5.76725118e-01 -7.96466628e-01 -1.81738957e-01 3.41139337e+02] [ 7.65301069e-01 6.04569868e-01 -2.20928830e-01 2.56286694e+02] [ 2.85836338e-01 -1.16698126e-02 9.58207391e-01 9.05257615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.872755096 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:341.15, Y:256.31, Z:90.53 [[ 5.76630087e-01 -7.97993017e-01 -1.75228103e-01 3.41152735e+02] [ 7.64906952e-01 6.02659729e-01 -2.27417249e-01 2.56309426e+02] [ 2.87080298e-01 -2.89756562e-03 9.57902139e-01 9.05280137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.17, Y:256.33, Z:90.54 [[ 5.77621735e-01 -7.97495803e-01 -1.74222777e-01 3.41168394e+02] [ 7.64723620e-01 6.03319203e-01 -2.26282399e-01 2.56328408e+02] [ 2.85571211e-01 -2.52664060e-03 9.58354162e-01 9.05375908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.19, Y:256.35, Z:90.55 [[ 5.77543211e-01 -7.97593316e-01 -1.74036613e-01 3.41185282e+02] [ 7.64846654e-01 6.03190537e-01 -2.26209576e-01 2.56348702e+02] [ 2.85400483e-01 -2.46551625e-03 9.58405178e-01 9.05451114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.962755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:341.20, Y:256.37, Z:90.55 [[ 5.76361692e-01 -7.98456941e-01 -1.73993430e-01 3.41202589e+02] [ 7.65717144e-01 6.02045453e-01 -2.26315106e-01 2.56368008e+02] [ 2.85454820e-01 -2.79039507e-03 9.58388105e-01 9.05514919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.992755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:341.22, Y:256.39, Z:90.56 [[ 5.75907142e-01 -7.98852034e-01 -1.73684748e-01 3.41218882e+02] [ 7.66210743e-01 6.01520583e-01 -2.26040008e-01 2.56387715e+02] [ 2.85047471e-01 -2.90106539e-03 9.58509011e-01 9.05594387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.24, Y:256.41, Z:90.57 [[ 5.74847822e-01 -7.99628121e-01 -1.73622721e-01 3.41236398e+02] [ 7.66997904e-01 6.00487074e-01 -2.26118308e-01 2.56406013e+02] [ 2.85068758e-01 -3.18464617e-03 9.58501780e-01 9.05671441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.25, Y:256.43, Z:90.57 [[ 5.73653829e-01 -8.00409955e-01 -1.73968927e-01 3.41252886e+02] [ 7.67644370e-01 5.99442774e-01 -2.26694688e-01 2.56425653e+02] [ 2.85733102e-01 -3.50199124e-03 9.58302839e-01 9.05747260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.27, Y:256.45, Z:90.58 [[ 5.72886369e-01 -8.00975309e-01 -1.73895836e-01 3.41269776e+02] [ 7.68213895e-01 5.98686080e-01 -2.26765053e-01 2.56445587e+02] [ 2.85742224e-01 -3.67858955e-03 9.58299457e-01 9.05820719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.29, Y:256.46, Z:90.59 [[ 5.71554695e-01 -8.01915639e-01 -1.73944066e-01 3.41286984e+02] [ 7.69131135e-01 5.97423548e-01 -2.26985465e-01 2.56463914e+02] [ 2.85941475e-01 -4.05118916e-03 9.58238520e-01 9.05896159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.30, Y:256.48, Z:90.60 [[ 5.70180380e-01 -8.02830044e-01 -1.74236202e-01 3.41304274e+02] [ 7.69925643e-01 5.96191599e-01 -2.27530395e-01 2.56483049e+02] [ 2.86546397e-01 -4.41555226e-03 9.58056191e-01 9.05963151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.32, Y:256.50, Z:90.60 [[ 5.69422687e-01 -8.03317100e-01 -1.74469022e-01 3.41320341e+02] [ 7.70308481e-01 5.95533842e-01 -2.27956766e-01 2.56502624e+02] [ 2.87023775e-01 -4.59121320e-03 9.57912456e-01 9.06033088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.34, Y:256.52, Z:90.61 [[ 5.68735465e-01 -8.03751383e-01 -1.74710287e-01 3.41336410e+02] [ 7.70620704e-01 5.94946609e-01 -2.28434375e-01 2.56521951e+02] [ 2.87547738e-01 -4.71663333e-03 9.57754693e-01 9.06100062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.232755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:341.35, Y:256.54, Z:90.62 [[ 5.67700188e-01 -8.04370598e-01 -1.75226817e-01 3.41353435e+02] [ 7.71019510e-01 5.94107297e-01 -2.29271532e-01 2.56542394e+02] [ 2.88522810e-01 -4.94580301e-03 9.57460248e-01 9.06163915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.262755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:341.37, Y:256.56, Z:90.62 [[ 5.67510470e-01 -8.04519795e-01 -1.75156405e-01 3.41371206e+02] [ 7.71157088e-01 5.93905418e-01 -2.29331858e-01 2.56561705e+02] [ 2.88528357e-01 -4.92487270e-03 9.57458685e-01 9.06246313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.39, Y:256.58, Z:90.63 [[ 5.68137816e-01 -8.04901603e-01 -1.71326680e-01 3.41386993e+02] [ 7.70477406e-01 5.93408222e-01 -2.32876039e-01 2.56582855e+02] [ 2.89108958e-01 3.02348381e-04 9.57296150e-01 9.06332787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.322755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:341.41, Y:256.60, Z:90.64 [[ 5.67564358e-01 -8.03742183e-01 -1.78519473e-01 3.41407807e+02] [ 7.71286608e-01 5.94905681e-01 -2.26283449e-01 2.56599455e+02] [ 2.88075802e-01 -9.25925847e-03 9.57562843e-01 9.06421865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.41, Y:256.63, Z:90.65 [[ 5.68808446e-01 -8.06261709e-01 -1.62477718e-01 3.41413656e+02] [ 7.68457866e-01 5.91389533e-01 -2.44399120e-01 2.56625901e+02] [ 2.93137273e-01 1.41590035e-02 9.55965513e-01 9.06454567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.44, Y:256.64, Z:90.66 [[ 5.68445609e-01 -8.01737505e-01 -1.84625467e-01 3.41443618e+02] [ 7.70972524e-01 5.97436386e-01 -2.20615348e-01 2.56635714e+02] [ 2.87177570e-01 -1.69333363e-02 9.57727678e-01 9.06604625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:341.46, Y:256.66, Z:90.66 [[ 5.68668171e-01 -8.03914684e-01 -1.74177187e-01 3.41455468e+02] [ 7.70967554e-01 5.94725899e-01 -2.27837959e-01 2.56661555e+02] [ 2.86749965e-01 -4.72076398e-03 9.57993827e-01 9.06634860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.47, Y:256.68, Z:90.67 [[ 5.69638373e-01 -8.03482681e-01 -1.72996262e-01 3.41473198e+02] [ 7.70666054e-01 5.95315784e-01 -2.27316849e-01 2.56681988e+02] [ 2.85632557e-01 -3.83394608e-03 9.58331542e-01 9.06716349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.472755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.49, Y:256.70, Z:90.68 [[ 5.69773767e-01 -8.03447536e-01 -1.72713379e-01 3.41489662e+02] [ 7.70692352e-01 5.95363985e-01 -2.27101353e-01 2.56702031e+02] [ 2.85291348e-01 -3.71248659e-03 9.58433651e-01 9.06790060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.51, Y:256.72, Z:90.69 [[ 5.69963293e-01 -8.03362185e-01 -1.72484912e-01 3.41506215e+02] [ 7.70642793e-01 5.95480066e-01 -2.26965143e-01 2.56722524e+02] [ 2.85046540e-01 -3.56245411e-03 9.58507057e-01 9.06868528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.52, Y:256.74, Z:90.69 [[ 5.69987550e-01 -8.03453740e-01 -1.71977558e-01 3.41523149e+02] [ 7.70887518e-01 5.95356912e-01 -2.26456579e-01 2.56741805e+02] [ 2.84335413e-01 -3.49792231e-03 9.58718487e-01 9.06936604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.562755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:341.54, Y:256.76, Z:90.70 [[ 5.69119127e-01 -8.04072573e-01 -1.71961382e-01 3.41540479e+02] [ 7.71490400e-01 5.94519629e-01 -2.26603119e-01 2.56762845e+02] [ 2.84439770e-01 -3.70238662e-03 9.58686763e-01 9.07002188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.56, Y:256.78, Z:90.71 [[ 5.68903017e-01 -8.04289112e-01 -1.71663569e-01 3.41558074e+02] [ 7.71785393e-01 5.94226628e-01 -2.26367007e-01 2.56781794e+02] [ 2.84071583e-01 -3.70656189e-03 9.58795910e-01 9.07094093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.622755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:341.58, Y:256.80, Z:90.72 [[ 5.68654437e-01 -8.04535460e-01 -1.71332499e-01 3.41575150e+02] [ 7.72122042e-01 5.93892967e-01 -2.26094442e-01 2.56802838e+02] [ 2.83654162e-01 -3.71999118e-03 9.58919433e-01 9.07168409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.59, Y:256.82, Z:90.72 [[ 5.68220157e-01 -8.04837377e-01 -1.71355331e-01 3.41591741e+02] [ 7.72381488e-01 5.93483414e-01 -2.26283615e-01 2.56823432e+02] [ 2.83818058e-01 -3.77277457e-03 9.58870730e-01 9.07244886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.60, Y:256.85, Z:90.73 [[ 5.67292814e-01 -8.06917445e-01 -1.64508666e-01 3.41604852e+02] [ 7.72089094e-01 5.90633105e-01 -2.34586800e-01 2.56848547e+02] [ 2.86456445e-01 6.06405927e-03 9.58074075e-01 9.07293164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.63, Y:256.86, Z:90.74 [[ 5.67903058e-01 -8.03301027e-01 -1.79425689e-01 3.41630040e+02] [ 7.72724351e-01 5.95414801e-01 -2.19950659e-01 2.56859127e+02] [ 2.83519301e-01 -1.37359472e-02 9.58868151e-01 9.07429148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.742755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:341.64, Y:256.88, Z:90.75 [[ 5.67298926e-01 -8.05578783e-01 -1.70923239e-01 3.41643474e+02] [ 7.73191663e-01 5.92476109e-01 -2.26156390e-01 2.56884599e+02] [ 2.83454725e-01 -3.85814613e-03 9.58977859e-01 9.07457164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.66, Y:256.91, Z:90.75 [[ 5.67543084e-01 -8.05426251e-01 -1.70831501e-01 3.41660423e+02] [ 7.73022737e-01 5.92684547e-01 -2.26187700e-01 2.56905586e+02] [ 2.83426702e-01 -3.68536953e-03 9.58986821e-01 9.07543941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.68, Y:256.93, Z:90.76 [[ 5.67590857e-01 -8.05399037e-01 -1.70801083e-01 3.41676791e+02] [ 7.72961071e-01 5.92722192e-01 -2.26299769e-01 2.56925531e+02] [ 2.83499208e-01 -3.57690886e-03 9.58965800e-01 9.07617829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.69, Y:256.95, Z:90.77 [[ 5.67559529e-01 -8.05463226e-01 -1.70602382e-01 3.41693668e+02] [ 7.73057836e-01 5.92635388e-01 -2.26196550e-01 2.56946883e+02] [ 2.83298012e-01 -3.50550129e-03 9.59025520e-01 9.07694538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.862755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:341.71, Y:256.97, Z:90.78 [[ 5.68231317e-01 -8.05095658e-01 -1.70100417e-01 3.41710732e+02] [ 7.72823562e-01 5.93136268e-01 -2.25683650e-01 2.56968393e+02] [ 2.82589653e-01 -3.21709241e-03 9.59235497e-01 9.07755327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.892755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:341.73, Y:256.99, Z:90.79 [[ 5.69423876e-01 -8.04294341e-01 -1.69903098e-01 3.41726693e+02] [ 7.72018759e-01 5.94224882e-01 -2.25574437e-01 2.56988514e+02] [ 2.82388891e-01 -2.72090829e-03 9.59296154e-01 9.07854710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.74, Y:257.01, Z:90.79 [[ 5.70634063e-01 -8.03398334e-01 -1.70081990e-01 3.41742748e+02] [ 7.70966780e-01 5.95437962e-01 -2.25973136e-01 2.57009924e+02] [ 2.82819715e-01 -2.17959569e-03 9.59170610e-01 9.07925125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.952755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:341.76, Y:257.03, Z:90.80 [[ 5.71282608e-01 -8.02895048e-01 -1.70281304e-01 3.41757978e+02] [ 7.70318196e-01 5.96117579e-01 -2.26392820e-01 2.57030597e+02] [ 2.83277353e-01 -1.83650604e-03 9.59036271e-01 9.07999545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.77, Y:257.05, Z:90.81 [[ 5.72097625e-01 -8.02292836e-01 -1.70383429e-01 3.41774373e+02] [ 7.69601741e-01 5.96928922e-01 -2.26691470e-01 2.57052574e+02] [ 2.83579738e-01 -1.43773179e-03 9.58947582e-01 9.08078059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.79, Y:257.08, Z:90.81 [[ 5.73654938e-01 -8.01992119e-01 -1.66519227e-01 3.41788412e+02] [ 7.68013008e-01 5.97316630e-01 -2.31017020e-01 2.57076333e+02] [ 2.84738533e-01 4.63512169e-03 9.58594014e-01 9.08138931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.81, Y:257.10, Z:90.82 [[ 5.74578504e-01 -8.00530554e-01 -1.70324325e-01 3.41805828e+02] [ 7.67453107e-01 5.99291927e-01 -2.27738699e-01 2.57095780e+02] [ 2.84385779e-01 1.37828690e-04 9.58709919e-01 9.08228838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.82, Y:257.12, Z:90.83 [[ 5.74389049e-01 -7.99924067e-01 -1.73777755e-01 3.41824898e+02] [ 7.67900694e-01 6.00082726e-01 -2.24118820e-01 2.57116462e+02] [ 2.83559066e-01 -4.71266291e-03 9.58943193e-01 9.08323184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.102755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:341.84, Y:257.14, Z:90.84 [[ 5.73516311e-01 -8.01200410e-01 -1.70754045e-01 3.41837191e+02] [ 7.68644659e-01 5.98393993e-01 -2.26075246e-01 2.57137838e+02] [ 2.83309775e-01 -1.59134338e-03 9.59027132e-01 9.08364489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.132755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:341.85, Y:257.16, Z:90.84 [[ 5.72253300e-01 -8.02269107e-01 -1.69971884e-01 3.41853065e+02] [ 7.69587145e-01 5.96961524e-01 -2.26655166e-01 2.57160038e+02] [ 2.83305113e-01 -1.10401009e-03 9.59029194e-01 9.08440619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.87, Y:257.18, Z:90.85 [[ 5.71713120e-01 -8.02790676e-01 -1.69325840e-01 3.41868688e+02] [ 7.70339107e-01 5.96259625e-01 -2.25947163e-01 2.57180881e+02] [ 2.82350437e-01 -1.26135864e-03 9.59310502e-01 9.08538268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.88, Y:257.20, Z:90.86 [[ 5.70328342e-01 -8.03798276e-01 -1.69215584e-01 3.41884486e+02] [ 7.71387888e-01 5.94899627e-01 -2.25953888e-01 2.57202092e+02] [ 2.82287633e-01 -1.66294596e-03 9.59328373e-01 9.08615174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.90, Y:257.22, Z:90.87 [[ 5.67663366e-01 -8.05797987e-01 -1.68665074e-01 3.41900935e+02] [ 7.73641292e-01 5.92185038e-01 -2.25379751e-01 2.57223719e+02] [ 2.81491483e-01 -2.54643750e-03 9.59560348e-01 9.08697084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.252755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:341.92, Y:257.25, Z:90.88 [[ 5.67431534e-01 -8.05976344e-01 -1.68592963e-01 3.41917208e+02] [ 7.73811333e-01 5.91942292e-01 -2.25433681e-01 2.57245840e+02] [ 2.81491519e-01 -2.54096625e-03 9.59560352e-01 9.08776321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.282755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:341.93, Y:257.27, Z:90.88 [[ 5.65780492e-01 -8.07123586e-01 -1.68653348e-01 3.41932915e+02] [ 7.74943281e-01 5.90374767e-01 -2.25655811e-01 2.57267002e+02] [ 2.81700808e-01 -3.02512320e-03 9.59497526e-01 9.08840240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.312755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:341.95, Y:257.29, Z:90.89 [[ 5.62575651e-01 -8.09524844e-01 -1.67863527e-01 3.41947963e+02] [ 7.77706689e-01 5.87071298e-01 -2.24765650e-01 2.57287851e+02] [ 2.80501237e-01 -4.10090623e-03 9.59844904e-01 9.08908413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.342755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:341.96, Y:257.31, Z:90.90 [[ 5.60863716e-01 -8.10783638e-01 -1.67516521e-01 3.41963643e+02] [ 7.79103416e-01 5.85327787e-01 -2.24475498e-01 2.57309099e+02] [ 2.80053135e-01 -4.61253187e-03 9.59973419e-01 9.08986392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.98, Y:257.33, Z:90.91 [[ 5.59579206e-01 -8.11781219e-01 -1.66980132e-01 3.41978780e+02] [ 7.80303397e-01 5.83940333e-01 -2.23920292e-01 2.57329176e+02] [ 2.79280721e-01 -4.99402538e-03 9.60196510e-01 9.09081037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:341.99, Y:257.35, Z:90.92 [[ 5.56765658e-01 -8.13755579e-01 -1.66774880e-01 3.41993967e+02] [ 7.82395374e-01 5.81177547e-01 -2.23808260e-01 2.57349443e+02] [ 2.79051036e-01 -5.87514156e-03 9.60258300e-01 9.09151879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.01, Y:257.37, Z:90.92 [[ 5.55555414e-01 -8.14600269e-01 -1.66687085e-01 3.42009170e+02] [ 7.83261171e-01 5.79989706e-01 -2.23861296e-01 2.57369686e+02] [ 2.79034265e-01 -6.19216663e-03 9.60261181e-01 9.09226960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.02, Y:257.39, Z:90.93 [[ 5.54760249e-01 -8.15188324e-01 -1.66460394e-01 3.42024790e+02] [ 7.83925759e-01 5.79160598e-01 -2.23681485e-01 2.57390472e+02] [ 2.78749837e-01 -6.40299453e-03 9.60342403e-01 9.09305008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.04, Y:257.41, Z:90.94 [[ 5.54796811e-01 -8.15236332e-01 -1.66103046e-01 3.42039240e+02] [ 7.84066597e-01 5.79093971e-01 -2.23360123e-01 2.57411088e+02] [ 2.78280559e-01 -6.31636597e-03 9.60479065e-01 9.09372398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.522755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:342.05, Y:257.43, Z:90.94 [[ 5.54999822e-01 -8.15011559e-01 -1.66527344e-01 3.42054492e+02] [ 7.83620608e-01 5.79412381e-01 -2.24098274e-01 2.57432950e+02] [ 2.79130689e-01 -6.11975601e-03 9.60233621e-01 9.09431634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.07, Y:257.45, Z:90.95 [[ 5.57217204e-01 -8.13480631e-01 -1.66608074e-01 3.42068249e+02] [ 7.81945821e-01 5.81568228e-01 -2.24363833e-01 2.57454550e+02] [ 2.79409595e-01 -5.25909958e-03 9.60157602e-01 9.09517289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.08, Y:257.48, Z:90.96 [[ 5.58416608e-01 -8.12665939e-01 -1.66568197e-01 3.42083998e+02] [ 7.81065673e-01 5.82710443e-01 -2.24465934e-01 2.57476865e+02] [ 2.79476847e-01 -4.75519562e-03 9.60140657e-01 9.09596649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.612755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:342.10, Y:257.50, Z:90.97 [[ 5.59735507e-01 -8.11803726e-01 -1.66345643e-01 3.42100051e+02] [ 7.80207256e-01 5.83915122e-01 -2.24320680e-01 2.57499443e+02] [ 2.79236100e-01 -4.22382784e-03 9.60213185e-01 9.09661733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.642755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:342.12, Y:257.52, Z:90.98 [[ 5.60245219e-01 -8.11541509e-01 -1.65908632e-01 3.42115349e+02] [ 7.80057722e-01 5.84281171e-01 -2.23887168e-01 2.57519922e+02] [ 2.78631020e-01 -3.98659352e-03 9.60389953e-01 9.09750521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.13, Y:257.54, Z:90.98 [[ 5.60591953e-01 -8.11379389e-01 -1.65529907e-01 3.42131601e+02] [ 7.79987686e-01 5.84507548e-01 -2.23540008e-01 2.57541705e+02] [ 2.78129235e-01 -3.79655923e-03 9.60536160e-01 9.09836802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.702755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:342.15, Y:257.56, Z:90.99 [[ 5.60805581e-01 -8.11161511e-01 -1.65873755e-01 3.42147037e+02] [ 7.79581659e-01 5.84811110e-01 -2.24161555e-01 2.57562319e+02] [ 2.78836040e-01 -3.60108567e-03 9.60331971e-01 9.09907207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.16, Y:257.58, Z:91.00 [[ 5.61311866e-01 -8.10832058e-01 -1.65772021e-01 3.42161937e+02] [ 7.79229756e-01 5.85269387e-01 -2.24189054e-01 2.57583068e+02] [ 2.78800961e-01 -3.33451543e-03 9.60343119e-01 9.09991646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.762755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:342.18, Y:257.61, Z:91.01 [[ 5.61413878e-01 -8.10708041e-01 -1.66032915e-01 3.42178178e+02] [ 7.78965794e-01 5.85441861e-01 -2.24655556e-01 2.57605255e+02] [ 2.79332684e-01 -3.20921489e-03 9.60189019e-01 9.10056806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7927550960001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:342.19, Y:257.63, Z:91.01 [[ 5.61535844e-01 -8.10724046e-01 -1.65541586e-01 3.42192795e+02] [ 7.79128851e-01 5.85420221e-01 -2.24145931e-01 2.57625903e+02] [ 2.78631888e-01 -3.11225128e-03 9.60392933e-01 9.10140697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.822755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:342.21, Y:257.65, Z:91.02 [[ 5.60950930e-01 -8.11225590e-01 -1.65066948e-01 3.42208379e+02] [ 7.79789005e-01 5.84724268e-01 -2.23666354e-01 2.57647634e+02] [ 2.77962520e-01 -3.25154200e-03 9.60586417e-01 9.10212888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.22, Y:257.67, Z:91.03 [[ 5.59865183e-01 -8.12120255e-01 -1.64352271e-01 3.42224505e+02] [ 7.80954751e-01 5.83479076e-01 -2.22849379e-01 2.57668733e+02] [ 2.76876606e-01 -3.58607787e-03 9.60898790e-01 9.10308544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.24, Y:257.69, Z:91.04 [[ 5.59348301e-01 -8.10990431e-01 -1.71534253e-01 3.42244089e+02] [ 7.79800035e-01 5.84989190e-01 -2.22933966e-01 2.57686787e+02] [ 2.81142997e-01 -9.06468157e-03 9.59623075e-01 9.10444041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.25, Y:257.71, Z:91.05 [[ 5.58277610e-01 -8.13872340e-01 -1.61052551e-01 3.42254452e+02] [ 7.81991730e-01 5.81043728e-01 -2.25559571e-01 2.57712959e+02] [ 2.77155270e-01 -1.69049786e-05 9.60825143e-01 9.10451653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.942755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:342.27, Y:257.73, Z:91.05 [[ 5.56637332e-01 -8.14264952e-01 -1.64704185e-01 3.42272056e+02] [ 7.82903334e-01 5.80477143e-01 -2.23849629e-01 2.57732681e+02] [ 2.77879922e-01 -4.34439543e-03 9.60605994e-01 9.10524568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.972755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:342.29, Y:257.75, Z:91.06 [[ 5.55817860e-01 -8.14887299e-01 -1.64393421e-01 3.42288030e+02] [ 7.83625894e-01 5.79601595e-01 -2.23589913e-01 2.57754163e+02] [ 2.77483270e-01 -4.54767453e-03 9.60719706e-01 9.10603221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.30, Y:257.77, Z:91.07 [[ 5.55039467e-01 -8.15634237e-01 -1.63315586e-01 3.42303427e+02] [ 7.84776569e-01 5.78548028e-01 -2.22278915e-01 2.57774599e+02] [ 2.75784204e-01 -4.79267493e-03 9.61207628e-01 9.10693733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.032755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:342.32, Y:257.80, Z:91.08 [[ 5.54090005e-01 -8.16209031e-01 -1.63667602e-01 3.42319738e+02] [ 7.85192490e-01 5.77735154e-01 -2.22923408e-01 2.57796418e+02] [ 2.76508626e-01 -4.99093981e-03 9.60998476e-01 9.10759968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.062755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:342.34, Y:257.82, Z:91.08 [[ 5.53448440e-01 -8.16575186e-01 -1.64011556e-01 3.42335352e+02] [ 7.85397196e-01 5.77216614e-01 -2.23544683e-01 2.57816931e+02] [ 2.77211236e-01 -5.09375994e-03 9.60795496e-01 9.10827485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.35, Y:257.84, Z:91.09 [[ 5.53360740e-01 -8.16693999e-01 -1.63715617e-01 3.42352415e+02] [ 7.85589605e-01 5.77048906e-01 -2.23301440e-01 2.57837337e+02] [ 2.76840863e-01 -5.04703642e-03 9.60902526e-01 9.10922175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.122755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:342.37, Y:257.86, Z:91.10 [[ 5.52916212e-01 -8.16959719e-01 -1.63891673e-01 3.42368993e+02] [ 7.85754513e-01 5.76672232e-01 -2.23693948e-01 2.57859070e+02] [ 2.77260722e-01 -5.09461111e-03 9.60781212e-01 9.10989064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.38, Y:257.88, Z:91.11 [[ 5.52309974e-01 -8.17688293e-01 -1.62294634e-01 3.42384153e+02] [ 7.85987885e-01 5.75653309e-01 -2.25491268e-01 2.57883305e+02] [ 2.77807013e-01 -3.02054031e-03 9.60632156e-01 9.11058829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.40, Y:257.90, Z:91.11 [[ 5.53223149e-01 -8.16722314e-01 -1.64039046e-01 3.42398476e+02] [ 7.85109475e-01 5.77015070e-01 -2.25070480e-01 2.57901231e+02] [ 2.78473085e-01 -4.27440973e-03 9.60434522e-01 9.11132639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.42, Y:257.92, Z:91.12 [[ 5.52011160e-01 -8.16826631e-01 -1.67564718e-01 3.42416715e+02] [ 7.85696855e-01 5.76823836e-01 -2.23505512e-01 2.57923072e+02] [ 2.79220578e-01 -8.27753488e-03 9.60191310e-01 9.11224511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.43, Y:257.94, Z:91.13 [[ 5.51950046e-01 -8.17498398e-01 -1.64461294e-01 3.42430239e+02] [ 7.86070725e-01 5.75906161e-01 -2.24554913e-01 2.57944124e+02] [ 2.78287554e-01 -5.33511386e-03 9.60482990e-01 9.11284133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.44, Y:257.97, Z:91.13 [[ 5.50899735e-01 -8.19415678e-01 -1.58326968e-01 3.42442858e+02] [ 7.87254434e-01 5.73199446e-01 -2.27316632e-01 2.57970038e+02] [ 2.77019742e-01 5.85064669e-04 9.60864049e-01 9.11318852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.302755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:342.46, Y:257.99, Z:91.14 [[ 5.49897020e-01 -8.17933246e-01 -1.69110827e-01 3.42464547e+02] [ 7.87266835e-01 5.75208329e-01 -2.22140293e-01 2.57985463e+02] [ 2.78969887e-01 -1.09810602e-02 9.60237064e-01 9.11440738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.332755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.48, Y:258.01, Z:91.15 [[ 5.49515900e-01 -8.19287293e-01 -1.63708909e-01 3.42476792e+02] [ 7.87992843e-01 5.73354710e-01 -2.24347179e-01 2.58009008e+02] [ 2.77668067e-01 -5.71910678e-03 9.60660053e-01 9.11510828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.362755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.50, Y:258.02, Z:91.16 [[ 5.49546102e-01 -8.17217189e-01 -1.73652377e-01 3.42496256e+02] [ 7.89103332e-01 5.75991545e-01 -2.13423690e-01 2.58022466e+02] [ 2.74435808e-01 -1.97435125e-02 9.61402715e-01 9.11610053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.392755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:342.50, Y:258.06, Z:91.16 [[ 5.47226827e-01 -8.23203333e-01 -1.51258299e-01 3.42500565e+02] [ 7.89850141e-01 5.67696802e-01 -2.32071318e-01 2.58056653e+02] [ 2.76910734e-01 7.52426241e-03 9.60866188e-01 9.11596834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.52, Y:258.07, Z:91.17 [[ 5.46752362e-01 -8.21373874e-01 -1.62501736e-01 3.42521042e+02] [ 7.90588195e-01 5.70351770e-01 -2.22865799e-01 2.58072468e+02] [ 2.75739297e-01 -6.61955213e-03 9.61209666e-01 9.11728393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.54, Y:258.10, Z:91.18 [[ 5.45871385e-01 -8.21944121e-01 -1.62580112e-01 3.42535111e+02] [ 7.91120474e-01 5.69527014e-01 -2.23086030e-01 2.58095997e+02] [ 2.75958017e-01 -6.84417440e-03 9.61145322e-01 9.11805290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.482755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:342.55, Y:258.12, Z:91.19 [[ 5.45197397e-01 -8.22364083e-01 -1.62717896e-01 3.42550442e+02] [ 7.91461890e-01 5.68918875e-01 -2.23426476e-01 2.58118802e+02] [ 2.76311191e-01 -6.97348045e-03 9.61042921e-01 9.11866513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.512755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:342.57, Y:258.14, Z:91.20 [[ 5.44236339e-01 -8.23101264e-01 -1.62207016e-01 3.42565201e+02] [ 7.92384716e-01 5.67848574e-01 -2.22877676e-01 2.58141228e+02] [ 2.75559919e-01 -7.23222980e-03 9.61256691e-01 9.11953737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5427550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.58, Y:258.16, Z:91.20 [[ 5.43318549e-01 -8.23756121e-01 -1.61959277e-01 3.42579709e+02] [ 7.93118722e-01 5.66895239e-01 -2.22693694e-01 2.58162504e+02] [ 2.75259236e-01 -7.45932001e-03 9.61341101e-01 9.12027062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.59, Y:258.18, Z:91.21 [[ 5.42269955e-01 -8.24568398e-01 -1.61338941e-01 3.42594654e+02] [ 7.94157996e-01 5.65709304e-01 -2.22004642e-01 2.58184946e+02] [ 2.74328952e-01 -7.74216341e-03 9.61604745e-01 9.12108542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.602755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.61, Y:258.21, Z:91.22 [[ 5.41001402e-01 -8.25398985e-01 -1.61350547e-01 3.42609670e+02] [ 7.94975908e-01 5.64492117e-01 -2.22175508e-01 2.58207011e+02] [ 2.74464551e-01 -8.07253651e-03 9.61563334e-01 9.12187274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.62, Y:258.23, Z:91.23 [[ 5.39346250e-01 -8.26546300e-01 -1.61018126e-01 3.42624300e+02] [ 7.96256338e-01 5.62803867e-01 -2.21873055e-01 2.58229412e+02] [ 2.74009976e-01 -8.54530331e-03 9.61688885e-01 9.12260503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6627550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.63, Y:258.26, Z:91.23 [[ 5.38304558e-01 -8.28644848e-01 -1.53544519e-01 3.42634234e+02] [ 7.95974894e-01 5.59771800e-01 -2.30389886e-01 2.58255885e+02] [ 2.76861284e-01 1.80234312e-03 9.60908206e-01 9.12310235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.66, Y:258.27, Z:91.24 [[ 5.38564239e-01 -8.25364417e-01 -1.69476072e-01 3.42659321e+02] [ 7.97007332e-01 5.64277202e-01 -2.15338225e-01 2.58272090e+02] [ 2.73363992e-01 -1.91002045e-02 9.61721015e-01 9.12439047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.67, Y:258.30, Z:91.25 [[ 5.38009310e-01 -8.27444260e-01 -1.60878771e-01 3.42667216e+02] [ 7.97017355e-01 5.61483164e-01 -2.22485938e-01 2.58297702e+02] [ 2.74425434e-01 -8.52366669e-03 9.61570605e-01 9.12482241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.68, Y:258.32, Z:91.26 [[ 5.38549466e-01 -8.27099145e-01 -1.60846129e-01 3.42682137e+02] [ 7.96662547e-01 5.61994305e-01 -2.22466149e-01 2.58320548e+02] [ 2.74396170e-01 -8.33106128e-03 9.61580644e-01 9.12554279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.70, Y:258.34, Z:91.26 [[ 5.40591873e-01 -8.25806863e-01 -1.60634529e-01 3.42696625e+02] [ 7.95352583e-01 5.63902175e-01 -2.22325451e-01 2.58342527e+02] [ 2.74180043e-01 -7.57375520e-03 9.61648554e-01 9.12632740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.71, Y:258.36, Z:91.27 [[ 5.43670240e-01 -8.23795992e-01 -1.60570337e-01 3.42710827e+02] [ 7.93234636e-01 5.66849574e-01 -2.22396880e-01 2.58364650e+02] [ 2.74228886e-01 -6.45938784e-03 9.61642758e-01 9.12706593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.842755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:342.73, Y:258.39, Z:91.28 [[ 5.45526698e-01 -8.22568331e-01 -1.60567627e-01 3.42725005e+02] [ 7.91907680e-01 5.68637301e-01 -2.22562008e-01 2.58386533e+02] [ 2.74377201e-01 -5.74121990e-03 9.61605007e-01 9.12776282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.872755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:342.74, Y:258.41, Z:91.28 [[ 5.47449350e-01 -8.21234789e-01 -1.60849713e-01 3.42739422e+02] [ 7.90359156e-01 5.70568677e-01 -2.23122813e-01 2.58408637e+02] [ 2.75012024e-01 -4.98060473e-03 9.61427886e-01 9.12846208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.902755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.75, Y:258.43, Z:91.29 [[ 5.49098509e-01 -8.20140244e-01 -1.60812960e-01 3.42753923e+02] [ 7.89184720e-01 5.72146161e-01 -2.23240338e-01 2.58430233e+02] [ 2.75096903e-01 -4.33019439e-03 9.61406752e-01 9.12910892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.932755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:342.77, Y:258.44, Z:91.30 [[ 5.56355601e-01 -8.13432245e-01 -1.69695102e-01 3.42771893e+02] [ 7.85171507e-01 5.81473809e-01 -2.13058477e-01 2.58442128e+02] [ 2.71981893e-01 -1.47034819e-02 9.62190032e-01 9.12997341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.77, Y:258.48, Z:91.30 [[ 5.54468217e-01 -8.19288902e-01 -1.46050308e-01 3.42774788e+02] [ 7.85603772e-01 5.73199331e-01 -2.32957592e-01 2.58479766e+02] [ 2.74575508e-01 1.44299080e-02 9.61457263e-01 9.13012118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.80, Y:258.48, Z:91.32 [[ 5.58464486e-01 -8.11660080e-01 -1.71246408e-01 3.42801785e+02] [ 7.83859898e-01 5.83903534e-01 -2.11235233e-01 2.58484341e+02] [ 2.71442589e-01 -1.62658158e-02 9.62317174e-01 9.13158589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.80, Y:258.52, Z:91.31 [[ 5.56422723e-01 -8.18920261e-01 -1.40582218e-01 3.42801831e+02] [ 7.83474437e-01 5.73442761e-01 -2.39439359e-01 2.58523814e+02] [ 2.76697598e-01 2.30869260e-02 9.60679673e-01 9.13144927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.83, Y:258.53, Z:91.33 [[ 5.56232206e-01 -8.14218467e-01 -1.66294983e-01 3.42830799e+02] [ 7.84645061e-01 5.80482215e-01 -2.17652306e-01 2.58530973e+02] [ 2.73747807e-01 -9.41731454e-03 9.61755401e-01 9.13312854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.082755096 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:342.84, Y:258.55, Z:91.33 [[ 5.54852055e-01 -8.16435311e-01 -1.59914292e-01 3.42843666e+02] [ 7.85533780e-01 5.77432864e-01 -2.22503864e-01 2.58554961e+02] [ 2.73999779e-01 -2.16135239e-03 9.61727326e-01 9.13345347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.112755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.86, Y:258.58, Z:91.34 [[ 5.54080332e-01 -8.16943158e-01 -1.59996445e-01 3.42858866e+02] [ 7.85982726e-01 5.76713552e-01 -2.22783829e-01 2.58576034e+02] [ 2.74273843e-01 -2.31430425e-03 9.61648846e-01 9.13441027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:342.87, Y:258.60, Z:91.35 [[ 5.53838101e-01 -8.17121758e-01 -1.59923080e-01 3.42874712e+02] [ 7.86153420e-01 5.76460495e-01 -2.22836482e-01 2.58598473e+02] [ 2.74273876e-01 -2.30874175e-03 9.61648850e-01 9.13519970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1727550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:342.89, Y:258.62, Z:91.36 [[ 5.52583705e-01 -8.18002976e-01 -1.59757257e-01 3.42891261e+02] [ 7.87094869e-01 5.75207856e-01 -2.22750060e-01 2.58619930e+02] [ 2.74103841e-01 -2.65606386e-03 9.61696433e-01 9.13596026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.202755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:342.91, Y:258.64, Z:91.37 [[ 5.52052994e-01 -8.18380472e-01 -1.59658683e-01 3.42906357e+02] [ 7.87481736e-01 5.74670215e-01 -2.22770419e-01 2.58641045e+02] [ 2.74062050e-01 -2.74722030e-03 9.61708088e-01 9.13665422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.232755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:342.92, Y:258.66, Z:91.37 [[ 5.50233248e-01 -8.19607254e-01 -1.59647497e-01 3.42922169e+02] [ 7.88730764e-01 5.72916341e-01 -2.22869130e-01 2.58663121e+02] [ 2.74129816e-01 -3.28888699e-03 9.61687074e-01 9.13736212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.262755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:342.94, Y:258.68, Z:91.38 [[ 5.49150677e-01 -8.20314208e-01 -1.59743964e-01 3.42938182e+02] [ 7.89383268e-01 5.71902095e-01 -2.23163730e-01 2.58684383e+02] [ 2.74422286e-01 -3.54869902e-03 9.61602733e-01 9.13808665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2927550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:342.96, Y:258.70, Z:91.39 [[ 5.49208334e-01 -8.20131133e-01 -1.60484051e-01 3.42956823e+02] [ 7.88850822e-01 5.72165662e-01 -2.24367637e-01 2.58704382e+02] [ 2.75834348e-01 -3.37339984e-03 9.61199268e-01 9.13881491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.322755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:342.97, Y:258.73, Z:91.39 [[ 5.44278234e-01 -8.23424304e-01 -1.60417020e-01 3.42971554e+02] [ 7.92262838e-01 5.67404656e-01 -2.24436074e-01 2.58726398e+02] [ 2.75827482e-01 -4.93677393e-03 9.61194480e-01 9.13925265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:342.99, Y:258.75, Z:91.40 [[ 5.43138358e-01 -8.24169423e-01 -1.60454001e-01 3.42987426e+02] [ 7.92975934e-01 5.66319312e-01 -2.24658864e-01 2.58747023e+02] [ 2.76025165e-01 -5.21531462e-03 9.61136259e-01 9.14029184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.01, Y:258.77, Z:91.41 [[ 5.40790094e-01 -8.24624061e-01 -1.65955511e-01 3.43007280e+02] [ 7.94003870e-01 5.65569821e-01 -2.22909471e-01 2.58766184e+02] [ 2.77675942e-01 -1.12220843e-02 9.60609253e-01 9.14144711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.02, Y:258.79, Z:91.42 [[ 5.39877176e-01 -8.26989956e-01 -1.56908407e-01 3.43018133e+02] [ 7.94905104e-01 5.62214509e-01 -2.28124356e-01 2.58791564e+02] [ 2.76872734e-01 -1.56816036e-03 9.60905318e-01 9.14165902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.04, Y:258.81, Z:91.43 [[ 5.38163066e-01 -8.27184771e-01 -1.61696842e-01 3.43035604e+02] [ 7.95513263e-01 5.61891517e-01 -2.26796323e-01 2.58809657e+02] [ 2.78458548e-01 -6.57857794e-03 9.60425718e-01 9.14269689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.472755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.06, Y:258.83, Z:91.44 [[ 5.38348370e-01 -8.26041917e-01 -1.66840596e-01 3.43055212e+02] [ 7.95521352e-01 5.63464131e-01 -2.22831665e-01 2.58829476e+02] [ 2.78076987e-01 -1.27641928e-02 9.60473979e-01 9.14367586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.07, Y:258.86, Z:91.44 [[ 5.39704022e-01 -8.26553377e-01 -1.59778236e-01 3.43068991e+02] [ 7.94597529e-01 5.62843421e-01 -2.27644571e-01 2.58855975e+02] [ 2.78090518e-01 -4.09870119e-03 9.60546128e-01 9.14415309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.532755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:343.08, Y:258.88, Z:91.45 [[ 5.40895857e-01 -8.25646019e-01 -1.60437912e-01 3.43079854e+02] [ 7.93970823e-01 5.64167705e-01 -2.26550510e-01 2.58876071e+02] [ 2.77564415e-01 -4.84278872e-03 9.60694823e-01 9.14456969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.09, Y:258.90, Z:91.46 [[ 5.42031513e-01 -8.24792641e-01 -1.60993595e-01 3.43094229e+02] [ 7.93120191e-01 5.65413578e-01 -2.26424046e-01 2.58896925e+02] [ 2.77780852e-01 -4.95830262e-03 9.60631674e-01 9.14558860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.592755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:343.12, Y:258.92, Z:91.47 [[ 5.45286579e-01 -8.20722668e-01 -1.70519350e-01 3.43117708e+02] [ 7.90083919e-01 5.71170398e-01 -2.22557356e-01 2.58916763e+02] [ 2.80053473e-01 -1.33670571e-02 9.59891335e-01 9.14677903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.622755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.12, Y:258.94, Z:91.47 [[ 5.44752645e-01 -8.23987169e-01 -1.55851535e-01 3.43120479e+02] [ 7.91063023e-01 5.66603646e-01 -2.30607030e-01 2.58943457e+02] [ 2.78323282e-01 2.33540286e-03 9.60484616e-01 9.14687869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.14, Y:258.96, Z:91.48 [[ 5.46691527e-01 -8.21357022e-01 -1.62791329e-01 3.43141702e+02] [ 7.88509844e-01 5.70408341e-01 -2.29970759e-01 2.58963221e+02] [ 2.81745630e-01 -2.63950007e-03 9.59485504e-01 9.14800808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.15, Y:258.99, Z:91.48 [[ 5.44737028e-01 -8.24267412e-01 -1.54417630e-01 3.43146767e+02] [ 7.89450804e-01 5.66153951e-01 -2.37143696e-01 2.58989383e+02] [ 2.82893972e-01 7.27582954e-03 9.59123591e-01 9.14832818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.712755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:343.17, Y:259.00, Z:91.49 [[ 5.45613197e-01 -8.21370930e-01 -1.66301037e-01 3.43166990e+02] [ 7.89430385e-01 5.70345673e-01 -2.26948191e-01 2.59003279e+02] [ 2.81257724e-01 -7.45716346e-03 9.59603295e-01 9.14925350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.742755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:343.18, Y:259.03, Z:91.50 [[ 5.44902741e-01 -8.22615650e-01 -1.62433050e-01 3.43180599e+02] [ 7.90106754e-01 5.68586702e-01 -2.28998863e-01 2.59027940e+02] [ 2.80735321e-01 -3.55734210e-03 9.59778633e-01 9.14997084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.20, Y:259.05, Z:91.51 [[ 5.42115310e-01 -8.23710733e-01 -1.66167444e-01 3.43197621e+02] [ 7.92669259e-01 5.66919246e-01 -2.24227594e-01 2.59048991e+02] [ 2.78902197e-01 -1.01586131e-02 9.60265779e-01 9.15109409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.21, Y:259.07, Z:91.52 [[ 5.40672330e-01 -8.25644262e-01 -1.61198584e-01 3.43210132e+02] [ 7.93678261e-01 5.64169781e-01 -2.27568181e-01 2.59072609e+02] [ 2.78833733e-01 -4.89999361e-03 9.60326892e-01 9.15165943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.22, Y:259.09, Z:91.52 [[ 5.39683017e-01 -8.27176389e-01 -1.56593302e-01 3.43221328e+02] [ 7.93649134e-01 5.61940282e-01 -2.33118365e-01 2.59094195e+02] [ 2.80826092e-01 1.52988444e-03 9.59757452e-01 9.15228987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.862755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:343.24, Y:259.11, Z:91.53 [[ 5.37738396e-01 -8.26946663e-01 -1.64306521e-01 3.43242898e+02] [ 7.95815832e-01 5.62195307e-01 -2.24974661e-01 2.59114498e+02] [ 2.78414400e-01 -9.78021784e-03 9.60411250e-01 9.15303500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.27, Y:259.12, Z:91.56 [[ 5.38692870e-01 -8.21165517e-01 -1.88406970e-01 3.43271229e+02] [ 7.92507774e-01 5.69782045e-01 -2.17439304e-01 2.59124785e+02] [ 2.85904567e-01 -3.21809862e-02 9.57717580e-01 9.15596927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9227550960001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:343.28, Y:259.15, Z:91.56 [[ 5.36499042e-01 -8.24095503e-01 -1.81756375e-01 3.43284743e+02] [ 7.94362451e-01 5.65859616e-01 -2.20887282e-01 2.59151523e+02] [ 2.84880808e-01 -2.58746243e-02 9.58213666e-01 9.15619379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.952755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:343.29, Y:259.18, Z:91.56 [[ 5.35477725e-01 -8.27850865e-01 -1.67112391e-01 3.43293728e+02] [ 7.95246567e-01 5.60866015e-01 -2.30243806e-01 2.59179676e+02] [ 2.84335195e-01 -9.60512551e-03 9.58676817e-01 9.15633938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.31, Y:259.20, Z:91.57 [[ 5.35079024e-01 -8.28823464e-01 -1.63530131e-01 3.43308332e+02] [ 7.96026788e-01 5.59471236e-01 -2.30940012e-01 2.59203795e+02] [ 2.82898905e-01 -6.60320913e-03 9.59127003e-01 9.15712023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.32, Y:259.23, Z:91.58 [[ 5.34488527e-01 -8.29382307e-01 -1.62625344e-01 3.43323446e+02] [ 7.96626771e-01 5.58647546e-01 -2.30865129e-01 2.59226317e+02] [ 2.82325703e-01 -6.15693962e-03 9.59298853e-01 9.15770195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.34, Y:259.25, Z:91.59 [[ 5.34548036e-01 -8.28617933e-01 -1.66285055e-01 3.43340223e+02] [ 7.96624905e-01 5.59717047e-01 -2.28266482e-01 2.59246543e+02] [ 2.82218280e-01 -1.04474162e-02 9.59293330e-01 9.15855895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.072755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:343.34, Y:259.28, Z:91.57 [[ 5.34434494e-01 -8.33276381e-01 -1.41528248e-01 3.43338688e+02] [ 7.98036824e-01 5.52640460e-01 -2.40261836e-01 2.59279530e+02] [ 2.78418750e-01 1.54594591e-02 9.60335361e-01 9.15723967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.102755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:343.36, Y:259.29, Z:91.59 [[ 5.36445025e-01 -8.28734498e-01 -1.59454906e-01 3.43361317e+02] [ 7.96764399e-01 5.59621964e-01 -2.28012608e-01 2.59292733e+02] [ 2.78196382e-01 -4.73176274e-03 9.60512563e-01 9.15874429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.132755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:343.37, Y:259.32, Z:91.60 [[ 5.36263257e-01 -8.30215435e-01 -1.52197405e-01 3.43371013e+02] [ 7.95789396e-01 5.57412518e-01 -2.36665421e-01 2.59318889e+02] [ 2.81320024e-01 5.79788874e-03 9.59596493e-01 9.15951670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1627550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:343.40, Y:259.33, Z:91.61 [[ 5.37523747e-01 -8.26191457e-01 -1.68748032e-01 3.43395385e+02] [ 7.95969278e-01 5.63188992e-01 -2.21925818e-01 2.59331954e+02] [ 2.78390249e-01 -1.50278519e-02 9.60350474e-01 9.16060884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.192755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:343.40, Y:259.36, Z:91.61 [[ 5.37783784e-01 -8.27732136e-01 -1.60150283e-01 3.43404700e+02] [ 7.95276932e-01 5.61109752e-01 -2.29544000e-01 2.59357630e+02] [ 2.79862831e-01 -3.91878444e-03 9.60031999e-01 9.16083547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.42, Y:259.38, Z:91.62 [[ 5.37890667e-01 -8.27664613e-01 -1.60140308e-01 3.43418365e+02] [ 7.95157018e-01 5.61210326e-01 -2.29713488e-01 2.59379347e+02] [ 2.79998119e-01 -3.77594866e-03 9.59993123e-01 9.16193090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.252755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:343.43, Y:259.41, Z:91.62 [[ 5.36273029e-01 -8.30318244e-01 -1.51600963e-01 3.43432437e+02] [ 7.96141787e-01 5.57259568e-01 -2.35838989e-01 2.59408348e+02] [ 2.80302503e-01 5.77822742e-03 9.59894327e-01 9.16177238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.282755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:343.45, Y:259.42, Z:91.64 [[ 5.34543193e-01 -8.27770044e-01 -1.70470905e-01 3.43452910e+02] [ 7.97212225e-01 5.60825977e-01 -2.23443262e-01 2.59419072e+02] [ 2.80564151e-01 -1.64614144e-02 9.59694107e-01 9.16366957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.312755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:343.46, Y:259.46, Z:91.63 [[ 5.32128908e-01 -8.33771401e-01 -1.47187212e-01 3.43459128e+02] [ 7.99200831e-01 5.52038255e-01 -2.37764161e-01 2.59455255e+02] [ 2.79493930e-01 8.88904087e-03 9.60106311e-01 9.16309010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.48, Y:259.47, Z:91.65 [[ 5.29746764e-01 -8.32992561e-01 -1.59661390e-01 3.43481650e+02] [ 8.00748837e-01 5.53249244e-01 -2.29600901e-01 2.59473265e+02] [ 2.79588386e-01 -6.21833767e-03 9.60099821e-01 9.16456229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.49, Y:259.50, Z:91.65 [[ 5.25763408e-01 -8.36787337e-01 -1.52839104e-01 3.43491845e+02] [ 8.04125974e-01 5.47526759e-01 -2.31507811e-01 2.59496668e+02] [ 2.77406304e-01 -1.18355783e-03 9.60751967e-01 9.16477080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.51, Y:259.51, Z:91.66 [[ 5.21327470e-01 -8.37077068e-01 -1.65890481e-01 3.43513733e+02] [ 8.07002627e-01 5.46802179e-01 -2.23056354e-01 2.59513864e+02] [ 2.77424635e-01 -1.75886492e-02 9.60586389e-01 9.16628371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.53, Y:259.54, Z:91.67 [[ 5.20829768e-01 -8.38256237e-01 -1.61439876e-01 3.43525522e+02] [ 8.07360596e-01 5.45128237e-01 -2.25840813e-01 2.59536140e+02] [ 2.77317906e-01 -1.27155765e-02 9.60694069e-01 9.16681365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.53, Y:259.57, Z:91.67 [[ 5.18933545e-01 -8.41621664e-01 -1.49602646e-01 3.43534183e+02] [ 8.08665698e-01 5.40067564e-01 -2.33209809e-01 2.59566236e+02] [ 2.77069964e-01 4.18644637e-05 9.60849746e-01 9.16692398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.56, Y:259.57, Z:91.69 [[ 5.17878615e-01 -8.37965949e-01 -1.72089538e-01 3.43556660e+02] [ 8.08831113e-01 5.45148803e-01 -2.20465449e-01 2.59574307e+02] [ 2.78556945e-01 -2.50170310e-02 9.60093837e-01 9.16900312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.56, Y:259.61, Z:91.68 [[ 5.18204559e-01 -8.42753574e-01 -1.45706719e-01 3.43558634e+02] [ 8.09847938e-01 5.38292005e-01 -2.33212426e-01 2.59610541e+02] [ 2.74973367e-01 2.85145685e-03 9.61447615e-01 9.16833142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.552755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:343.59, Y:259.62, Z:91.71 [[ 5.19848056e-01 -8.34915079e-01 -1.80761749e-01 3.43592077e+02] [ 8.08179502e-01 5.49227954e-01 -2.12590093e-01 2.59618637e+02] [ 2.76774079e-01 -3.55733933e-02 9.60276337e-01 9.17092929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.582755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:343.59, Y:259.65, Z:91.71 [[ 5.19733486e-01 -8.40938449e-01 -1.50663961e-01 3.43586348e+02] [ 8.07017805e-01 5.41129236e-01 -2.36434797e-01 2.59653299e+02] [ 2.80355786e-01 1.29458227e-03 9.59895285e-01 9.17066660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.61, Y:259.67, Z:91.72 [[ 5.21715528e-01 -8.37641788e-01 -1.61768794e-01 3.43605316e+02] [ 8.05991045e-01 5.46104192e-01 -2.28360783e-01 2.59669117e+02] [ 2.79627151e-01 -1.12448324e-02 9.60042817e-01 9.17180573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.61, Y:259.70, Z:91.72 [[ 5.22443963e-01 -8.38736535e-01 -1.53536086e-01 3.43614038e+02] [ 8.04232064e-01 5.44536674e-01 -2.38097875e-01 2.59695620e+02] [ 2.83307417e-01 9.14153952e-04 9.59028713e-01 9.17240978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.64, Y:259.71, Z:91.74 [[ 5.26118966e-01 -8.33063161e-01 -1.70893548e-01 3.43636263e+02] [ 8.03632869e-01 5.52766767e-01 -2.20506491e-01 2.59709426e+02] [ 2.78160108e-01 -2.13230251e-02 9.60298018e-01 9.17365771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.64, Y:259.74, Z:91.74 [[ 5.29435460e-01 -8.33414830e-01 -1.58486009e-01 3.43643247e+02] [ 8.01275062e-01 5.52619533e-01 -2.29281326e-01 2.59737983e+02] [ 2.78668922e-01 -5.60122267e-03 9.60370896e-01 9.17387456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.66, Y:259.76, Z:91.75 [[ 5.31081135e-01 -8.32402069e-01 -1.58302317e-01 3.43656851e+02] [ 8.00246299e-01 5.54149908e-01 -2.29180586e-01 2.59759475e+02] [ 2.78493608e-01 -4.96735736e-03 9.60425237e-01 9.17458394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.67, Y:259.78, Z:91.75 [[ 5.32707014e-01 -8.31431232e-01 -1.57940947e-01 3.43670645e+02] [ 7.99333301e-01 5.55610654e-01 -2.28829796e-01 2.59782119e+02] [ 2.78009912e-01 -4.34822146e-03 9.60568364e-01 9.17530154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7927550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:343.68, Y:259.81, Z:91.76 [[ 5.34050997e-01 -8.31617758e-01 -1.52320179e-01 3.43681378e+02] [ 7.97599590e-01 5.55332138e-01 -2.35459359e-01 2.59809939e+02] [ 2.80400475e-01 4.25679240e-03 9.59873665e-01 9.17579109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.70, Y:259.82, Z:91.77 [[ 5.36617273e-01 -8.27453652e-01 -1.65415709e-01 3.43701745e+02] [ 7.97084217e-01 5.61395534e-01 -2.22467539e-01 2.59822710e+02] [ 2.76945218e-01 -1.24703270e-02 9.60804786e-01 9.17696384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.71, Y:259.85, Z:91.77 [[ 5.37586613e-01 -8.28540584e-01 -1.56592251e-01 3.43711476e+02] [ 7.96755871e-01 5.59923110e-01 -2.27301988e-01 2.59847315e+02] [ 2.76008542e-01 -2.57128987e-03 9.61151743e-01 9.17733838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.73, Y:259.87, Z:91.78 [[ 5.37519734e-01 -8.28615682e-01 -1.56424384e-01 3.43726303e+02] [ 7.96852917e-01 5.59812274e-01 -2.27234782e-01 2.59868870e+02] [ 2.75858594e-01 -2.50404682e-03 9.61194968e-01 9.17811650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.74, Y:259.89, Z:91.79 [[ 5.37350499e-01 -8.28815203e-01 -1.55948074e-01 3.43740973e+02] [ 7.97207419e-01 5.59516873e-01 -2.26718328e-01 2.59889552e+02] [ 2.75163176e-01 -2.49575484e-03 9.61394299e-01 9.17881671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.76, Y:259.91, Z:91.80 [[ 5.36905677e-01 -8.29186395e-01 -1.55506323e-01 3.43756802e+02] [ 7.97723834e-01 5.58966288e-01 -2.26259527e-01 2.59911812e+02] [ 2.74534113e-01 -2.57107606e-03 9.61573923e-01 9.17961637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.76, Y:259.95, Z:91.79 [[ 5.34454247e-01 -8.34987373e-01 -1.30976126e-01 3.43757614e+02] [ 7.98227371e-01 5.49595912e-01 -2.46530724e-01 2.59947639e+02] [ 2.77833985e-01 2.72106637e-02 9.60243644e-01 9.17942959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.80, Y:259.94, Z:91.82 [[ 5.33219281e-01 -8.25600386e-01 -1.84556767e-01 3.43800357e+02] [ 7.99936279e-01 5.63043779e-01 -2.07566021e-01 2.59943801e+02] [ 2.75280126e-01 -3.69554489e-02 9.60653500e-01 9.18232408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.80, Y:259.98, Z:91.82 [[ 5.31666568e-01 -8.33048778e-01 -1.52841070e-01 3.43798824e+02] [ 8.01664235e-01 5.53195568e-01 -2.26515161e-01 2.59979841e+02] [ 2.73249181e-01 -2.09668141e-03 9.61941001e-01 9.18161645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.81, Y:260.01, Z:91.82 [[ 5.30140391e-01 -8.34816694e-01 -1.48432659e-01 3.43812895e+02] [ 8.01527211e-01 5.50507212e-01 -2.33443653e-01 2.60005451e+02] [ 2.76595908e-01 4.78509453e-03 9.60974405e-01 9.18218381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.83, Y:260.02, Z:91.83 [[ 5.29843263e-01 -8.33539015e-01 -1.56457111e-01 3.43832308e+02] [ 8.01720636e-01 5.52441847e-01 -2.28149135e-01 2.60024562e+02] [ 2.76604661e-01 -4.55161234e-03 9.60973020e-01 9.18326629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.85, Y:260.04, Z:91.84 [[ 5.26352504e-01 -8.34582920e-01 -1.62555809e-01 3.43852585e+02] [ 8.05044295e-01 5.50684355e-01 -2.20568413e-01 2.60041222e+02] [ 2.73599571e-01 -1.47678903e-02 9.61730308e-01 9.18428391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.86, Y:260.07, Z:91.85 [[ 5.24308537e-01 -8.37423481e-01 -1.54345299e-01 3.43864560e+02] [ 8.06375633e-01 5.46521966e-01 -2.25991328e-01 2.60066820e+02] [ 2.73603541e-01 -5.97110524e-03 9.61824022e-01 9.18478350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.88, Y:260.09, Z:91.86 [[ 5.22666019e-01 -8.38371180e-01 -1.54770788e-01 3.43879916e+02] [ 8.07141849e-01 5.45062298e-01 -2.26779909e-01 2.60087529e+02] [ 2.74485461e-01 -6.39182820e-03 9.61570006e-01 9.18557312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.212755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:343.90, Y:260.11, Z:91.87 [[ 5.19838948e-01 -8.38830560e-01 -1.61650116e-01 3.43900563e+02] [ 8.08987216e-01 5.44179696e-01 -2.22279428e-01 2.60107333e+02] [ 2.74421488e-01 -1.52233730e-02 9.61488999e-01 9.18666058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.91, Y:260.13, Z:91.87 [[ 5.17145471e-01 -8.42945141e-01 -1.48337625e-01 3.43907774e+02] [ 8.11063289e-01 5.37997283e-01 -2.29641599e-01 2.60134989e+02] [ 2.73380509e-01 -1.55308921e-03 9.61904717e-01 9.18671578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.93, Y:260.15, Z:91.88 [[ 5.13730410e-01 -8.44038643e-01 -1.53882534e-01 3.43927382e+02] [ 8.13292511e-01 5.36205310e-01 -2.25918474e-01 2.60153908e+02] [ 2.73196554e-01 -9.09032241e-03 9.61915282e-01 9.18759511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.94, Y:260.18, Z:91.88 [[ 5.12475894e-01 -8.44744867e-01 -1.54190039e-01 3.43944434e+02] [ 8.13858064e-01 5.35086745e-01 -2.26533060e-01 2.60175329e+02] [ 2.73867685e-01 -9.39607420e-03 9.61721480e-01 9.18835378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.96, Y:260.20, Z:91.89 [[ 5.09644923e-01 -8.46455583e-01 -1.54191436e-01 3.43958885e+02] [ 8.15595025e-01 5.32361295e-01 -2.26707313e-01 2.60196630e+02] [ 2.73983223e-01 -1.02175368e-02 9.61680194e-01 9.18907052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:343.97, Y:260.22, Z:91.90 [[ 5.06013684e-01 -8.48551224e-01 -1.54631733e-01 3.43974913e+02] [ 8.17542459e-01 5.28993373e-01 -2.27574910e-01 2.60218503e+02] [ 2.74908131e-01 -1.12619886e-02 9.61404539e-01 9.18969529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.00, Y:260.23, Z:91.92 [[ 5.05201496e-01 -8.45003907e-01 -1.75327826e-01 3.44002673e+02] [ 8.16632541e-01 5.33784900e-01 -2.19510761e-01 2.60231684e+02] [ 2.79074797e-01 -3.22812431e-02 9.59726617e-01 9.19171818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.00, Y:260.27, Z:91.90 [[ 5.02950025e-01 -8.53007701e-01 -1.39352555e-01 3.43996656e+02] [ 8.19028840e-01 5.21866285e-01 -2.38426802e-01 2.60269617e+02] [ 2.76103298e-01 5.78300444e-03 9.61110569e-01 9.19048805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.02, Y:260.28, Z:91.92 [[ 5.03147978e-01 -8.50291283e-01 -1.54424241e-01 3.44019741e+02] [ 8.19320378e-01 5.26176695e-01 -2.27710790e-01 2.60284292e+02] [ 2.74874937e-01 -1.19507040e-02 9.61405716e-01 9.19176721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.03, Y:260.31, Z:91.92 [[ 5.03729894e-01 -8.49987165e-01 -1.54201213e-01 3.44034238e+02] [ 8.19046849e-01 5.26673973e-01 -2.27545128e-01 2.60305492e+02] [ 2.74624204e-01 -1.16767348e-02 9.61480733e-01 9.19249429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.05, Y:260.33, Z:91.93 [[ 5.06300934e-01 -8.48539477e-01 -1.53753441e-01 3.44048265e+02] [ 8.17683046e-01 5.29022052e-01 -2.27002435e-01 2.60327240e+02] [ 2.73959488e-01 -1.07900367e-02 9.61680703e-01 9.19320069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.06, Y:260.35, Z:91.94 [[ 5.07938624e-01 -8.47577245e-01 -1.53659261e-01 3.44062408e+02] [ 8.16665190e-01 5.30574689e-01 -2.27042873e-01 2.60349556e+02] [ 2.73964088e-01 -1.01643252e-02 9.61686209e-01 9.19391709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.08, Y:260.37, Z:91.95 [[ 5.11596530e-01 -8.45412332e-01 -1.53450249e-01 3.44075904e+02] [ 8.14439509e-01 5.34040248e-01 -2.26912535e-01 2.60372077e+02] [ 2.73783265e-01 -8.88827945e-03 9.61750343e-01 9.19466125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.09, Y:260.39, Z:91.95 [[ 5.13206444e-01 -8.44552051e-01 -1.52810269e-01 3.44089338e+02] [ 8.13754244e-01 5.35409266e-01 -2.26143647e-01 2.60393384e+02] [ 2.72806115e-01 -8.29162826e-03 9.62033301e-01 9.19534007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.10, Y:260.42, Z:91.96 [[ 5.14642481e-01 -8.43718069e-01 -1.52587476e-01 3.44103422e+02] [ 8.12922984e-01 5.36730873e-01 -2.26000425e-01 2.60415756e+02] [ 2.72579051e-01 -7.73244746e-03 9.62102318e-01 9.19610231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.12, Y:260.44, Z:91.97 [[ 5.16504899e-01 -8.42705566e-01 -1.51888178e-01 3.44116718e+02] [ 8.12105944e-01 5.38328351e-01 -2.25136675e-01 2.60436883e+02] [ 2.71489642e-01 -7.06509652e-03 9.62415430e-01 9.19676365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.692755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.13, Y:260.46, Z:91.98 [[ 5.17084930e-01 -8.42414898e-01 -1.51526613e-01 3.44132178e+02] [ 8.11900477e-01 5.38786588e-01 -2.24781291e-01 2.60458921e+02] [ 2.70999615e-01 -6.79351138e-03 9.62555483e-01 9.19753801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.16, Y:260.47, Z:92.00 [[ 5.19872776e-01 -8.36801634e-01 -1.71742021e-01 3.44161840e+02] [ 8.09125057e-01 5.46834533e-01 -2.15147938e-01 2.60471402e+02] [ 2.73950614e-01 -2.71112168e-02 9.61361557e-01 9.19977929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.15, Y:260.51, Z:91.99 [[ 5.18076354e-01 -8.44569513e-01 -1.35274645e-01 3.44154740e+02] [ 8.11444219e-01 5.35317543e-01 -2.34506733e-01 2.60509585e+02] [ 2.70472128e-01 1.17245642e-02 9.62656410e-01 9.19851129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.18, Y:260.52, Z:92.00 [[ 5.18478218e-01 -8.41702870e-01 -1.50720326e-01 3.44176795e+02] [ 8.11369017e-01 5.39906038e-01 -2.24012920e-01 2.60524147e+02] [ 2.69927132e-01 -6.14398340e-03 9.62861150e-01 9.19974929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.19, Y:260.55, Z:92.00 [[ 5.18918205e-01 -8.41452932e-01 -1.50601656e-01 3.44190494e+02] [ 8.11107395e-01 5.40298113e-01 -2.24015050e-01 2.60545840e+02] [ 2.69867911e-01 -5.90862860e-03 9.62879223e-01 9.20038001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.20, Y:260.57, Z:92.01 [[ 5.19196448e-01 -8.41324333e-01 -1.50360951e-01 3.44204970e+02] [ 8.11034168e-01 5.40499994e-01 -2.23793063e-01 2.60567716e+02] [ 2.69552643e-01 -5.75530564e-03 9.62968457e-01 9.20112521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.22, Y:260.59, Z:92.02 [[ 5.19297423e-01 -8.41334747e-01 -1.49953426e-01 3.44219175e+02] [ 8.11163484e-01 5.40484933e-01 -2.23360337e-01 2.60588845e+02] [ 2.68968380e-01 -5.64629572e-03 9.63132457e-01 9.20184978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.23, Y:260.61, Z:92.03 [[ 5.19121612e-01 -8.41454860e-01 -1.49888193e-01 3.44233803e+02] [ 8.11264150e-01 5.40298364e-01 -2.23446096e-01 2.60610354e+02] [ 2.69004149e-01 -5.60321965e-03 9.63122719e-01 9.20259087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.25, Y:260.63, Z:92.03 [[ 5.18806334e-01 -8.41649721e-01 -1.49885744e-01 3.44247833e+02] [ 8.11418570e-01 5.39994752e-01 -2.23619258e-01 2.60631276e+02] [ 2.69146601e-01 -5.60498848e-03 9.63082910e-01 9.20328693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.26, Y:260.65, Z:92.04 [[ 5.18908951e-01 -8.41587417e-01 -1.49880356e-01 3.44261467e+02] [ 8.11304087e-01 5.40093248e-01 -2.23796700e-01 2.60652502e+02] [ 2.69293855e-01 -5.46843420e-03 9.63042531e-01 9.20394900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.28, Y:260.67, Z:92.05 [[ 5.19223386e-01 -8.41391990e-01 -1.49888607e-01 3.44275761e+02] [ 8.11047429e-01 5.40399643e-01 -2.23987261e-01 2.60674795e+02] [ 2.69460837e-01 -5.26734574e-03 9.62996943e-01 9.20466797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.29, Y:260.70, Z:92.05 [[ 5.20247345e-01 -8.40654457e-01 -1.50475195e-01 3.44290920e+02] [ 8.09986896e-01 5.41550548e-01 -2.25042736e-01 2.60696808e+02] [ 2.70673103e-01 -4.80505012e-03 9.62659329e-01 9.20536049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:344.31, Y:260.72, Z:92.06 [[ 5.20851995e-01 -8.40198346e-01 -1.50930248e-01 3.44305699e+02] [ 8.09272285e-01 5.42260685e-01 -2.25902009e-01 2.60718063e+02] [ 2.71646034e-01 -4.48215426e-03 9.62386795e-01 9.20611423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.32, Y:260.74, Z:92.07 [[ 5.21263815e-01 -8.39919836e-01 -1.51058615e-01 3.44319373e+02] [ 8.08878306e-01 5.42693918e-01 -2.26272398e-01 2.60738758e+02] [ 2.72029267e-01 -4.24042292e-03 9.62279635e-01 9.20681286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.33, Y:260.76, Z:92.08 [[ 5.22241737e-01 -8.39261592e-01 -1.51339184e-01 3.44333064e+02] [ 8.08022204e-01 5.43714582e-01 -2.26880081e-01 2.60760795e+02] [ 2.72697059e-01 -3.79917363e-03 9.62092449e-01 9.20753270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.35, Y:260.78, Z:92.08 [[ 5.23036895e-01 -8.38675589e-01 -1.51840911e-01 3.44347333e+02] [ 8.07148662e-01 5.44620672e-01 -2.27814313e-01 2.60782024e+02] [ 2.73758002e-01 -3.40289762e-03 9.61792585e-01 9.20824527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1727550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:344.36, Y:260.80, Z:92.09 [[ 5.23361985e-01 -8.38486127e-01 -1.51767084e-01 3.44362548e+02] [ 8.06942887e-01 5.44913413e-01 -2.27843257e-01 2.60803834e+02] [ 2.73743330e-01 -3.22286967e-03 9.61797381e-01 9.20901306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.38, Y:260.82, Z:92.10 [[ 5.23977154e-01 -8.36368873e-01 -1.61043630e-01 3.44383666e+02] [ 8.05849248e-01 5.48029146e-01 -2.24212052e-01 2.60821654e+02] [ 2.75780585e-01 -1.22948950e-02 9.61141980e-01 9.21047110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.232755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:344.39, Y:260.85, Z:92.10 [[ 5.23616873e-01 -8.39526771e-01 -1.44983344e-01 3.44389911e+02] [ 8.06675463e-01 5.43296770e-01 -2.32601198e-01 2.60849979e+02] [ 2.74043915e-01 4.83940585e-03 9.61705003e-01 9.21033258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.41, Y:260.87, Z:92.11 [[ 5.23101330e-01 -8.38625554e-01 -1.51895291e-01 3.44407622e+02] [ 8.06877155e-01 5.44700150e-01 -2.28584782e-01 2.60867164e+02] [ 2.74434428e-01 -2.98783664e-03 9.61601174e-01 9.21130137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2927550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:344.42, Y:260.89, Z:92.12 [[ 5.21889510e-01 -8.39315914e-01 -1.52250239e-01 3.44423661e+02] [ 8.07390370e-01 5.43634274e-01 -2.29308889e-01 2.60888631e+02] [ 2.75231048e-01 -3.25147301e-03 9.61372612e-01 9.21203877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.322755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:344.44, Y:260.91, Z:92.13 [[ 5.21027178e-01 -8.39881534e-01 -1.52084478e-01 3.44438367e+02] [ 8.07999139e-01 5.42758826e-01 -2.29238408e-01 2.60910031e+02] [ 2.75078298e-01 -3.44468684e-03 9.61415656e-01 9.21276105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.45, Y:260.93, Z:92.14 [[ 5.19855138e-01 -8.40620229e-01 -1.52014036e-01 3.44453761e+02] [ 8.08747351e-01 5.41612135e-01 -2.29312054e-01 2.60931886e+02] [ 2.75096998e-01 -3.73189938e-03 9.61409234e-01 9.21350879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.47, Y:260.95, Z:92.14 [[ 5.17638409e-01 -8.42029282e-01 -1.51779988e-01 3.44470791e+02] [ 8.10268696e-01 5.39414037e-01 -2.29122537e-01 2.60952788e+02] [ 2.74800142e-01 -4.37994724e-03 9.61491393e-01 9.21426610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.49, Y:260.97, Z:92.15 [[ 5.16098884e-01 -8.42996344e-01 -1.51654565e-01 3.44486111e+02] [ 8.11283408e-01 5.37897889e-01 -2.29096254e-01 2.60974341e+02] [ 2.74701975e-01 -4.79851126e-03 9.61517446e-01 9.21501116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.50, Y:261.00, Z:92.16 [[ 5.12945936e-01 -8.44911645e-01 -1.51693039e-01 3.44502613e+02] [ 8.13211495e-01 5.34875295e-01 -2.29337050e-01 2.60996038e+02] [ 2.74906403e-01 -5.72101564e-03 9.61453972e-01 9.21579220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.52, Y:261.02, Z:92.17 [[ 5.11512428e-01 -8.45743048e-01 -1.51900406e-01 3.44517727e+02] [ 8.13943065e-01 5.33555686e-01 -2.29815180e-01 2.61016721e+02] [ 2.75411916e-01 -6.08496168e-03 9.61307053e-01 9.21654179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.53, Y:261.04, Z:92.17 [[ 5.09995088e-01 -8.46687379e-01 -1.51741535e-01 3.44532929e+02] [ 8.14940586e-01 5.32051215e-01 -2.29768027e-01 2.61038333e+02] [ 2.75275956e-01 -6.47977020e-03 9.61343415e-01 9.21726204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.55, Y:261.06, Z:92.18 [[ 5.07777877e-01 -8.48073961e-01 -1.51433764e-01 3.44547817e+02] [ 8.16466871e-01 5.29830101e-01 -2.29481834e-01 2.61059589e+02] [ 2.74851735e-01 -7.11485313e-03 9.61460297e-01 9.21795256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.56, Y:261.08, Z:92.19 [[ 5.06937544e-01 -8.48652399e-01 -1.51008054e-01 3.44561780e+02] [ 8.17199385e-01 5.28900495e-01 -2.29018408e-01 2.61082241e+02] [ 2.74225256e-01 -7.30565934e-03 9.61637737e-01 9.21871569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.57, Y:261.10, Z:92.19 [[ 5.06448370e-01 -8.49005330e-01 -1.50665183e-01 3.44574576e+02] [ 8.17661773e-01 5.28332748e-01 -2.28678228e-01 2.61103847e+02] [ 2.73750384e-01 -7.37944510e-03 9.61772463e-01 9.21941370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.59, Y:261.13, Z:92.20 [[ 5.05900074e-01 -8.49330676e-01 -1.50673548e-01 3.44588399e+02] [ 8.17943863e-01 5.27808552e-01 -2.28879812e-01 2.61126376e+02] [ 2.73921433e-01 -7.45218980e-03 9.61723200e-01 9.22014887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.60, Y:261.15, Z:92.21 [[ 5.05220029e-01 -8.49672359e-01 -1.51028487e-01 3.44602208e+02] [ 8.18097662e-01 5.27256835e-01 -2.29600621e-01 2.61149174e+02] [ 2.74716103e-01 -7.55721954e-03 9.61495684e-01 9.22090405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.62, Y:261.17, Z:92.22 [[ 5.04490716e-01 -8.50033206e-01 -1.51435352e-01 3.44615169e+02] [ 8.18247820e-01 5.26673182e-01 -2.30403698e-01 2.61171500e+02] [ 2.75607733e-01 -7.67511989e-03 9.61239549e-01 9.22158825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.712755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:344.63, Y:261.19, Z:92.22 [[ 5.04049351e-01 -8.50293056e-01 -1.51446262e-01 3.44628973e+02] [ 8.18459166e-01 5.26253019e-01 -2.30612995e-01 2.61193588e+02] [ 2.75787681e-01 -7.71225039e-03 9.61187638e-01 9.22230367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.64, Y:261.22, Z:92.23 [[ 5.03503391e-01 -8.50572820e-01 -1.51691174e-01 3.44641274e+02] [ 8.18593953e-01 5.25799728e-01 -2.31167876e-01 2.61216122e+02] [ 2.76384290e-01 -7.77966798e-03 9.61015713e-01 9.22303984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.772755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:344.65, Y:261.24, Z:92.24 [[ 5.03225251e-01 -8.50706303e-01 -1.51865511e-01 3.44654088e+02] [ 8.18603437e-01 5.25584049e-01 -2.31624310e-01 2.61239053e+02] [ 2.76862350e-01 -7.75842808e-03 9.60878268e-01 9.22378343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.67, Y:261.26, Z:92.25 [[ 5.03160967e-01 -8.50748804e-01 -1.51840424e-01 3.44666580e+02] [ 8.18605420e-01 5.25516412e-01 -2.31770721e-01 2.61261332e+02] [ 2.76973298e-01 -7.67941431e-03 9.60846928e-01 9.22451212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.832755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:344.68, Y:261.28, Z:92.25 [[ 5.03847186e-01 -8.50408286e-01 -1.51471977e-01 3.44678170e+02] [ 8.18353378e-01 5.26071738e-01 -2.31400680e-01 2.61284828e+02] [ 2.76470182e-01 -7.36702285e-03 9.60994259e-01 9.22526651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.69, Y:261.31, Z:92.26 [[ 5.04996267e-01 -8.49882027e-01 -1.50596514e-01 3.44689557e+02] [ 8.18129283e-01 5.26927358e-01 -2.30243427e-01 2.61307681e+02] [ 2.75033174e-01 -6.93534702e-03 9.61409722e-01 9.22604821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.70, Y:261.33, Z:92.27 [[ 5.05413420e-01 -8.49724451e-01 -1.50085420e-01 3.44702511e+02] [ 8.18130412e-01 5.27184207e-01 -2.29650693e-01 2.61329977e+02] [ 2.74262472e-01 -6.72090447e-03 9.61631388e-01 9.22681122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.72, Y:261.35, Z:92.28 [[ 5.05721264e-01 -8.49590965e-01 -1.49803856e-01 3.44715774e+02] [ 8.18063423e-01 5.27401555e-01 -2.29390141e-01 2.61352927e+02] [ 2.73894578e-01 -6.54158358e-03 9.61737474e-01 9.22757213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.73, Y:261.38, Z:92.28 [[ 5.05519047e-01 -8.49725559e-01 -1.49722971e-01 3.44730141e+02] [ 8.18188181e-01 5.27185020e-01 -2.29442924e-01 2.61375396e+02] [ 2.73895224e-01 -6.51379655e-03 9.61737478e-01 9.22833225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.75, Y:261.39, Z:92.29 [[ 5.07368892e-01 -8.47404557e-01 -1.56468283e-01 3.44746869e+02] [ 8.17818862e-01 5.30733369e-01 -2.22473369e-01 2.61393761e+02] [ 2.71567886e-01 -1.50866464e-02 9.62301032e-01 9.22927817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.75, Y:261.43, Z:92.30 [[ 5.06120747e-01 -8.50820656e-01 -1.41230314e-01 3.44751848e+02] [ 8.17490209e-01 5.25441651e-01 -2.35840689e-01 2.61425295e+02] [ 2.74866419e-01 3.90946652e-03 9.61474476e-01 9.22951271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.77, Y:261.44, Z:92.30 [[ 5.06277287e-01 -8.49253951e-01 -1.49836695e-01 3.44767768e+02] [ 8.17515135e-01 5.27950396e-01 -2.30081255e-01 2.61444671e+02] [ 2.74503757e-01 -6.00885249e-03 9.61567253e-01 9.23049595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.78, Y:261.47, Z:92.31 [[ 5.06405737e-01 -8.49230941e-01 -1.49532732e-01 3.44780551e+02] [ 8.17570644e-01 5.27988817e-01 -2.29795673e-01 2.61467577e+02] [ 2.74101206e-01 -5.88372485e-03 9.61682853e-01 9.23121556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.79, Y:261.49, Z:92.32 [[ 5.06323397e-01 -8.49286813e-01 -1.49494238e-01 3.44793486e+02] [ 8.17596858e-01 5.27899662e-01 -2.29907210e-01 2.61490571e+02] [ 2.74175119e-01 -5.81861959e-03 9.61662180e-01 9.23198276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.81, Y:261.51, Z:92.33 [[ 5.06838286e-01 -8.49006557e-01 -1.49341278e-01 3.44805811e+02] [ 8.17321909e-01 5.28352989e-01 -2.29843460e-01 2.61512393e+02] [ 2.74043515e-01 -5.56643256e-03 9.61701184e-01 9.23271861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.82, Y:261.53, Z:92.33 [[ 5.06764380e-01 -8.49085502e-01 -1.49143130e-01 3.44819236e+02] [ 8.17438775e-01 5.28226781e-01 -2.29717908e-01 2.61534928e+02] [ 2.73831541e-01 -5.50252435e-03 9.61761930e-01 9.23348562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.83, Y:261.56, Z:92.34 [[ 5.06828191e-01 -8.49137782e-01 -1.48627761e-01 3.44830979e+02] [ 8.17667911e-01 5.28143615e-01 -2.29092798e-01 2.61556848e+02] [ 2.73028153e-01 -5.41746201e-03 9.61990789e-01 9.23423590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.84, Y:261.58, Z:92.35 [[ 5.06723270e-01 -8.49246226e-01 -1.48365680e-01 3.44843962e+02] [ 8.17857097e-01 5.27969460e-01 -2.28818746e-01 2.61579244e+02] [ 2.72656004e-01 -5.39414130e-03 9.62096464e-01 9.23494493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.86, Y:261.60, Z:92.36 [[ 5.06544276e-01 -8.49401214e-01 -1.48089412e-01 3.44857108e+02] [ 8.18090921e-01 5.27720263e-01 -2.28557583e-01 2.61602217e+02] [ 2.72286872e-01 -5.37606776e-03 9.62201100e-01 9.23565909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.87, Y:261.63, Z:92.36 [[ 5.06080351e-01 -8.49711569e-01 -1.47894989e-01 3.44869246e+02] [ 8.18446502e-01 5.27219789e-01 -2.28439527e-01 2.61625487e+02] [ 2.72080874e-01 -5.43537989e-03 9.62259037e-01 9.23635523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.88, Y:261.65, Z:92.37 [[ 5.05478722e-01 -8.50061547e-01 -1.47941296e-01 3.44882288e+02] [ 8.18739171e-01 5.26654384e-01 -2.28694838e-01 2.61648532e+02] [ 2.72318620e-01 -5.52495957e-03 9.62191272e-01 9.23701880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.90, Y:261.67, Z:92.38 [[ 5.04778624e-01 -8.50462202e-01 -1.48028996e-01 3.44895193e+02] [ 8.19066412e-01 5.26005888e-01 -2.29015323e-01 2.61669849e+02] [ 2.72633000e-01 -5.64353933e-03 9.62101553e-01 9.23772026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.91, Y:261.69, Z:92.38 [[ 5.04346707e-01 -8.50711607e-01 -1.48068097e-01 3.44909359e+02] [ 8.19254382e-01 5.25602102e-01 -2.29269905e-01 2.61693233e+02] [ 2.72867472e-01 -5.67391542e-03 9.62034900e-01 9.23848319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.92, Y:261.72, Z:92.39 [[ 5.03952420e-01 -8.50888255e-01 -1.48395200e-01 3.44921332e+02] [ 8.19249024e-01 5.25315887e-01 -2.29944028e-01 2.61716277e+02] [ 2.73611029e-01 -5.69177360e-03 9.61823585e-01 9.23915565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.93, Y:261.74, Z:92.40 [[ 5.04029513e-01 -8.50814410e-01 -1.48556685e-01 3.44934665e+02] [ 8.19051486e-01 5.25436871e-01 -2.30370915e-01 2.61739010e+02] [ 2.74060054e-01 -5.56183321e-03 9.61696497e-01 9.23983839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.95, Y:261.76, Z:92.41 [[ 5.04750723e-01 -8.50331353e-01 -1.48873429e-01 3.44948053e+02] [ 8.18356815e-01 5.26221855e-01 -2.31046928e-01 2.61762284e+02] [ 2.74806899e-01 -5.21048116e-03 9.61485319e-01 9.24054717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.96, Y:261.78, Z:92.41 [[ 5.05013596e-01 -8.50163308e-01 -1.48941661e-01 3.44961653e+02] [ 8.18099285e-01 5.26495146e-01 -2.31336166e-01 2.61784540e+02] [ 2.75090582e-01 -5.02115782e-03 9.61405201e-01 9.24126582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.98, Y:261.81, Z:92.42 [[ 5.05334920e-01 -8.50005376e-01 -1.48753080e-01 3.44975670e+02] [ 8.17964719e-01 5.26751892e-01 -2.31227513e-01 2.61807192e+02] [ 2.74900596e-01 -4.82743469e-03 9.61460534e-01 9.24203331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:344.99, Y:261.83, Z:92.43 [[ 5.05940106e-01 -8.49719508e-01 -1.48328580e-01 3.44989209e+02] [ 8.17801033e-01 5.27215313e-01 -2.30749833e-01 2.61829326e+02] [ 2.74273733e-01 -4.55767110e-03 9.61640862e-01 9.24278939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.00, Y:261.85, Z:92.44 [[ 5.06167687e-01 -8.49622755e-01 -1.48106201e-01 3.45002738e+02] [ 8.17746017e-01 5.27372571e-01 -2.30585392e-01 2.61851771e+02] [ 2.74017744e-01 -4.39838174e-03 9.61714578e-01 9.24350605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.02, Y:261.87, Z:92.44 [[ 5.06961471e-01 -8.49176870e-01 -1.47948335e-01 3.45015161e+02] [ 8.17299308e-01 5.28092999e-01 -2.30520336e-01 2.61873953e+02] [ 2.73883018e-01 -4.05314324e-03 9.61754472e-01 9.24417697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.03, Y:261.90, Z:92.45 [[ 5.07314746e-01 -8.48628110e-01 -1.49873543e-01 3.45029941e+02] [ 8.16975330e-01 5.28956794e-01 -2.29686786e-01 2.61895808e+02] [ 2.74195292e-01 -5.91949342e-03 9.61655812e-01 9.24504508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.04, Y:261.92, Z:92.46 [[ 5.07659137e-01 -8.49100870e-01 -1.45979152e-01 3.45041320e+02] [ 8.17103238e-01 5.28226732e-01 -2.30908678e-01 2.61919153e+02] [ 2.73174850e-01 -2.05713784e-03 9.61962198e-01 9.24560707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.06, Y:261.94, Z:92.46 [[ 5.07812846e-01 -8.48853201e-01 -1.46882119e-01 3.45056269e+02] [ 8.17296811e-01 5.28616444e-01 -2.29326356e-01 2.61940900e+02] [ 2.72308715e-01 -3.59141851e-03 9.62203235e-01 9.24642977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.07, Y:261.96, Z:92.47 [[ 5.07440087e-01 -8.49107703e-01 -1.46699240e-01 3.45069741e+02] [ 8.17593018e-01 5.28207293e-01 -2.29213246e-01 2.61961751e+02] [ 2.72114342e-01 -3.62828498e-03 9.62258084e-01 9.24711753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.08, Y:261.98, Z:92.48 [[ 5.06793695e-01 -8.49479251e-01 -1.46782669e-01 3.45084108e+02] [ 8.17891983e-01 5.27608836e-01 -2.29524770e-01 2.61983983e+02] [ 2.72420363e-01 -3.73066195e-03 9.62171101e-01 9.24788014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.10, Y:262.01, Z:92.49 [[ 5.06369703e-01 -8.49733129e-01 -1.46776473e-01 3.45097290e+02] [ 8.18107557e-01 5.27199598e-01 -2.29696777e-01 2.62005614e+02] [ 2.72561459e-01 -3.76745267e-03 9.62130998e-01 9.24855756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.11, Y:262.03, Z:92.49 [[ 5.05998028e-01 -8.49921968e-01 -1.46964771e-01 3.45110055e+02] [ 8.18167233e-01 5.26895091e-01 -2.30182412e-01 2.62027214e+02] [ 2.73072105e-01 -3.76991382e-03 9.61986182e-01 9.24925999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.12, Y:262.05, Z:92.50 [[ 5.05682818e-01 -8.50144753e-01 -1.46760983e-01 3.45123798e+02] [ 8.18437983e-01 5.26535435e-01 -2.30042830e-01 2.62049124e+02] [ 2.72844564e-01 -3.78605663e-03 9.62050680e-01 9.24997917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.14, Y:262.07, Z:92.51 [[ 5.05177319e-01 -8.50450343e-01 -1.46731352e-01 3.45138644e+02] [ 8.18717567e-01 5.26041241e-01 -2.30178536e-01 2.62071424e+02] [ 2.72942157e-01 -3.85056026e-03 9.62022740e-01 9.25078389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.15, Y:262.09, Z:92.51 [[ 5.04260566e-01 -8.52046044e-01 -1.40494914e-01 3.45147980e+02] [ 8.18562236e-01 5.23449350e-01 -2.36551567e-01 2.62094267e+02] [ 2.75094798e-01 4.27979547e-03 9.61407580e-01 9.25129956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.17, Y:262.11, Z:92.52 [[ 5.02519191e-01 -8.51013820e-01 -1.52479310e-01 3.45169807e+02] [ 8.20269225e-01 5.25027459e-01 -2.26946175e-01 2.62112557e+02] [ 2.73190156e-01 -1.10292765e-02 9.61896821e-01 9.25246025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.18, Y:262.14, Z:92.53 [[ 5.00908167e-01 -8.52936601e-01 -1.46935917e-01 3.45181208e+02] [ 8.21070053e-01 5.21991272e-01 -2.31017488e-01 2.62136421e+02] [ 2.73742537e-01 -4.92613495e-03 9.61790391e-01 9.25299737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.20, Y:262.16, Z:92.54 [[ 4.98284887e-01 -8.54446626e-01 -1.47082068e-01 3.45196900e+02] [ 8.22522805e-01 5.19508436e-01 -2.31445936e-01 2.62155968e+02] [ 2.74168574e-01 -5.65234283e-03 9.61665037e-01 9.25375944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.032755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:345.21, Y:262.18, Z:92.55 [[ 4.95702166e-01 -8.55884477e-01 -1.47448719e-01 3.45212083e+02] [ 8.23803626e-01 5.17127986e-01 -2.32220221e-01 2.62176647e+02] [ 2.75003541e-01 -6.35672278e-03 9.61422199e-01 9.25456366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.23, Y:262.20, Z:92.55 [[ 4.94854293e-01 -8.56362497e-01 -1.47521194e-01 3.45226756e+02] [ 8.24216774e-01 5.16333897e-01 -2.32521002e-01 2.62198328e+02] [ 2.75292459e-01 -6.52542628e-03 9.61338380e-01 9.25532180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.24, Y:262.22, Z:92.56 [[ 4.94153838e-01 -8.56760971e-01 -1.47555492e-01 3.45241067e+02] [ 8.24564005e-01 5.15670853e-01 -2.32761196e-01 2.62220044e+02] [ 2.75510774e-01 -6.64910947e-03 9.61274988e-01 9.25608507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.26, Y:262.24, Z:92.57 [[ 4.94462723e-01 -8.56546177e-01 -1.47767596e-01 3.45255165e+02] [ 8.24191805e-01 5.16030213e-01 -2.33282422e-01 2.62241518e+02] [ 2.76069711e-01 -6.43937969e-03 9.61116044e-01 9.25679426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.27, Y:262.26, Z:92.58 [[ 4.94555346e-01 -8.56406889e-01 -1.48264123e-01 3.45269397e+02] [ 8.23767633e-01 5.16263316e-01 -2.34262833e-01 2.62263517e+02] [ 2.77167632e-01 -6.27924905e-03 9.60801059e-01 9.25752531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.29, Y:262.28, Z:92.58 [[ 4.94915208e-01 -8.56109362e-01 -1.48780699e-01 3.45285587e+02] [ 8.23169319e-01 5.16759482e-01 -2.35269868e-01 2.62284644e+02] [ 2.78300573e-01 -6.03307053e-03 9.60475087e-01 9.25828208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.212755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:345.30, Y:262.31, Z:92.59 [[ 4.95003192e-01 -8.56043451e-01 -1.48867224e-01 3.45301147e+02] [ 8.23005417e-01 5.16870244e-01 -2.35599734e-01 2.62306940e+02] [ 2.78628647e-01 -5.89591086e-03 9.60380818e-01 9.25896603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.32, Y:262.33, Z:92.60 [[ 4.96395045e-01 -8.55216100e-01 -1.48987860e-01 3.45317807e+02] [ 8.22036565e-01 5.18244040e-01 -2.35963984e-01 2.62328066e+02] [ 2.79012269e-01 -5.34211593e-03 9.60272678e-01 9.25990445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.33, Y:262.35, Z:92.61 [[ 4.97484801e-01 -8.54531561e-01 -1.49280558e-01 3.45332253e+02] [ 8.21137964e-01 5.19376602e-01 -2.36601755e-01 2.62348450e+02] [ 2.79716495e-01 -4.87415644e-03 9.60070271e-01 9.26066829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.36, Y:262.37, Z:92.62 [[ 4.99921814e-01 -8.51164330e-01 -1.59992074e-01 3.45356592e+02] [ 8.18340917e-01 5.24720483e-01 -2.34492131e-01 2.62367762e+02] [ 2.83542456e-01 -1.37003288e-02 9.58861813e-01 9.26221257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.36, Y:262.39, Z:92.62 [[ 5.02197440e-01 -8.52617861e-01 -1.44362442e-01 3.45359719e+02] [ 8.18031613e-01 5.22528334e-01 -2.40392222e-01 2.62394901e+02] [ 2.80396168e-01 2.63131701e-03 9.59880756e-01 9.26205096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.38, Y:262.42, Z:92.63 [[ 5.03924799e-01 -8.50715124e-01 -1.49477676e-01 3.45376774e+02] [ 8.16944884e-01 5.25620990e-01 -2.37326002e-01 2.62415470e+02] [ 2.80465423e-01 -2.52056455e-03 9.59860820e-01 9.26304023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.39, Y:262.44, Z:92.64 [[ 5.05528971e-01 -8.49789070e-01 -1.49328482e-01 3.45391121e+02] [ 8.15997129e-01 5.27119431e-01 -2.37263127e-01 2.62438483e+02] [ 2.80337556e-01 -1.90822791e-03 9.59899585e-01 9.26382481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.40, Y:262.46, Z:92.65 [[ 5.08318188e-01 -8.48117832e-01 -1.49361181e-01 3.45404597e+02] [ 8.14188446e-01 5.29806904e-01 -2.37490671e-01 2.62459878e+02] [ 2.80552658e-01 -8.87320594e-04 9.59838225e-01 9.26460855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.42, Y:262.48, Z:92.65 [[ 5.09584506e-01 -8.47424581e-01 -1.48980574e-01 3.45417792e+02] [ 8.13582623e-01 5.30915650e-01 -2.37090463e-01 2.62482090e+02] [ 2.80012405e-01 -3.90380295e-04 9.59996303e-01 9.26537032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.43, Y:262.50, Z:92.66 [[ 5.10571477e-01 -8.46844290e-01 -1.48901025e-01 3.45430723e+02] [ 8.12959886e-01 5.31840904e-01 -2.37152855e-01 2.62503281e+02] [ 2.80023197e-01 3.29237241e-05 9.59993233e-01 9.26615011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.44, Y:262.52, Z:92.67 [[ 5.10420646e-01 -8.46904696e-01 -1.49074480e-01 3.45444203e+02] [ 8.12898917e-01 5.31744703e-01 -2.37577191e-01 2.62524827e+02] [ 2.80474804e-01 8.18202573e-05 9.59861385e-01 9.26687447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.46, Y:262.54, Z:92.68 [[ 5.09273605e-01 -8.45451841e-01 -1.60784266e-01 3.45462749e+02] [ 8.12373980e-01 5.33933760e-01 -2.34442439e-01 2.62542126e+02] [ 2.84057939e-01 -1.12216082e-02 9.58741447e-01 9.26834055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.47, Y:262.57, Z:92.68 [[ 5.08915672e-01 -8.49333412e-01 -1.40134204e-01 3.45465897e+02] [ 8.13447309e-01 5.27753555e-01 -2.44498796e-01 2.62573326e+02] [ 2.81617320e-01 1.04374779e-02 9.59470033e-01 9.26801982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.49, Y:262.59, Z:92.70 [[ 5.07243535e-01 -8.45893655e-01 -1.64826945e-01 3.45490199e+02] [ 8.13311615e-01 5.33116220e-01 -2.33047875e-01 2.62585698e+02] [ 2.85005637e-01 -1.58436411e-02 9.58394891e-01 9.27001222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.49, Y:262.62, Z:92.69 [[ 5.06084003e-01 -8.51655847e-01 -1.36239864e-01 3.45488701e+02] [ 8.14994487e-01 5.23907102e-01 -2.47599144e-01 2.62621724e+02] [ 2.82246291e-01 1.42712276e-02 9.59235823e-01 9.26941123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.51, Y:262.64, Z:92.71 [[ 5.06178081e-01 -8.49572818e-01 -1.48356927e-01 3.45507306e+02] [ 8.14618933e-01 5.27469919e-01 -2.41187643e-01 2.62637115e+02] [ 2.83160281e-01 1.22953683e-03 9.59071813e-01 9.27055159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.52, Y:262.66, Z:92.71 [[ 5.02427375e-01 -8.51628271e-01 -1.49318521e-01 3.45521173e+02] [ 8.17156827e-01 5.24144072e-01 -2.39849352e-01 2.62661473e+02] [ 2.82526906e-01 -1.50976849e-03 9.59258186e-01 9.27139111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.53, Y:262.68, Z:92.72 [[ 4.97544237e-01 -8.54396606e-01 -1.49853835e-01 3.45534728e+02] [ 8.19965038e-01 5.19610318e-01 -2.40130077e-01 2.62684106e+02] [ 2.83031922e-01 -3.39956959e-03 9.59104465e-01 9.27219958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.55, Y:262.71, Z:92.73 [[ 4.94816715e-01 -8.55920565e-01 -1.50187901e-01 3.45548012e+02] [ 8.21342775e-01 5.17090478e-01 -2.40859883e-01 2.62706275e+02] [ 2.83817660e-01 -4.17425137e-03 9.58869184e-01 9.27295024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.56, Y:262.73, Z:92.74 [[ 4.89163710e-01 -8.59001404e-01 -1.51114043e-01 3.45560212e+02] [ 8.24069316e-01 5.11939412e-01 -2.42544431e-01 2.62727917e+02] [ 2.85707241e-01 -5.88451198e-03 9.58298881e-01 9.27371412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.57, Y:262.75, Z:92.75 [[ 4.86785006e-01 -8.60288422e-01 -1.51473395e-01 3.45573959e+02] [ 8.25185087e-01 5.09765625e-01 -2.43328131e-01 2.62750753e+02] [ 2.86548304e-01 -6.54510065e-03 9.58043439e-01 9.27452222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.62, Y:262.75, Z:92.79 [[ 4.85397266e-01 -8.50089909e-01 -2.04295475e-01 3.45615683e+02] [ 8.22441413e-01 5.23243581e-01 -2.23173200e-01 2.62750530e+02] [ 2.96613581e-01 -5.96933978e-02 9.53130150e-01 9.27886456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.61, Y:262.79, Z:92.78 [[ 4.85936328e-01 -8.59016683e-01 -1.61109351e-01 3.45608890e+02] [ 8.22033698e-01 5.11826093e-01 -2.49588964e-01 2.62792474e+02] [ 2.96861054e-01 -1.11529708e-02 9.54855553e-01 9.27796948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.59, Y:262.84, Z:92.75 [[ 4.80944892e-01 -8.69749350e-01 -1.10580645e-01 3.45591697e+02] [ 8.27568426e-01 4.91989708e-01 -2.70326889e-01 2.62838011e+02] [ 2.89521176e-01 3.84992857e-02 9.56397038e-01 9.27536775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.67, Y:262.81, Z:92.82 [[ 4.81174213e-01 -8.48589173e-01 -2.19926791e-01 3.45665311e+02] [ 8.23660631e-01 5.23525678e-01 -2.17954191e-01 2.62814392e+02] [ 3.00090889e-01 -7.62711028e-02 9.50856549e-01 9.28208436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.65, Y:262.86, Z:92.81 [[ 4.80312559e-01 -8.61885016e-01 -1.62647053e-01 3.45651032e+02] [ 8.24164899e-01 5.06943077e-01 -2.52509280e-01 2.62862366e+02] [ 3.00086762e-01 -1.27646139e-02 9.53826504e-01 9.28065601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.66, Y:262.89, Z:92.81 [[ 4.80418216e-01 -8.63143776e-01 -1.55502926e-01 3.45661298e+02] [ 8.23920679e-01 5.04938002e-01 -2.57278698e-01 2.62888096e+02] [ 3.00587843e-01 -4.52070369e-03 9.53743420e-01 9.28101750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.69, Y:262.90, Z:92.83 [[ 4.81335868e-01 -8.58851710e-01 -1.75184255e-01 3.45688527e+02] [ 8.23501079e-01 5.11553523e-01 -2.45273249e-01 2.62904415e+02] [ 3.00269472e-01 -2.62056103e-02 9.53494368e-01 9.28271663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.69, Y:262.94, Z:92.82 [[ 4.80431873e-01 -8.63598372e-01 -1.52915230e-01 3.45687752e+02] [ 8.24725119e-01 5.04171301e-01 -2.56202612e-01 2.62935626e+02] [ 2.98351629e-01 -3.02513012e-03 9.54451232e-01 9.28228175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.71, Y:262.95, Z:92.84 [[ 4.81499366e-01 -8.58941940e-01 -1.74290289e-01 3.45714808e+02] [ 8.23835843e-01 5.11417903e-01 -2.44430424e-01 2.62950250e+02] [ 2.99086717e-01 -2.58934929e-02 9.53874553e-01 9.28404674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.71, Y:262.98, Z:92.83 [[ 4.82280450e-01 -8.63337972e-01 -1.48502906e-01 3.45713047e+02] [ 8.24153443e-01 5.04623514e-01 -2.57150173e-01 2.62983126e+02] [ 2.96945567e-01 1.62932009e-03 9.54893018e-01 9.28347216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.74, Y:263.00, Z:92.85 [[ 4.82519936e-01 -8.59291030e-01 -1.69686290e-01 3.45739389e+02] [ 8.24190515e-01 5.11010306e-01 -2.44086999e-01 2.62998602e+02] [ 2.96453211e-01 -2.20769874e-02 9.54792176e-01 9.28514691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.72, Y:263.04, Z:92.83 [[ 4.79602128e-01 -8.69324147e-01 -1.19404046e-01 3.45717853e+02] [ 8.28750531e-01 4.93469669e-01 -2.63932272e-01 2.63038698e+02] [ 2.88364973e-01 2.76263127e-02 9.57121951e-01 9.28284115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.77, Y:263.04, Z:92.87 [[ 4.81501487e-01 -8.57918282e-01 -1.79255516e-01 3.45770440e+02] [ 8.25586312e-01 5.12630763e-01 -2.35832447e-01 2.63039555e+02] [ 2.94216859e-01 -3.44372264e-02 9.55118065e-01 9.28681871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.77, Y:263.07, Z:92.86 [[ 4.81866079e-01 -8.63594536e-01 -1.48356189e-01 3.45766919e+02] [ 8.25562498e-01 5.04186829e-01 -2.53460457e-01 2.63072831e+02] [ 2.93686302e-01 -3.43309185e-04 9.55901793e-01 9.28617819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.79, Y:263.09, Z:92.87 [[ 4.78776164e-01 -8.64325826e-01 -1.53994321e-01 3.45785488e+02] [ 8.28387859e-01 5.02844515e-01 -2.46821694e-01 2.63093875e+02] [ 2.90769565e-01 -9.39468240e-03 9.56746989e-01 9.28716424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.80, Y:263.11, Z:92.88 [[ 4.77583775e-01 -8.63720380e-01 -1.60937390e-01 3.45803311e+02] [ 8.28982308e-01 5.03673957e-01 -2.43106723e-01 2.63114559e+02] [ 2.91036203e-01 -1.73104230e-02 9.56555423e-01 9.28840700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.322755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:345.80, Y:263.14, Z:92.88 [[ 4.74671784e-01 -8.68488408e-01 -1.42879607e-01 3.45798817e+02] [ 8.31697578e-01 4.95709463e-01 -2.50102514e-01 2.63141348e+02] [ 2.88037908e-01 -1.16016682e-04 9.57619001e-01 9.28810266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:345.79, Y:263.18, Z:92.86 [[ 4.72665254e-01 -8.74923138e-01 -1.05342592e-01 3.45792154e+02] [ 8.35337001e-01 4.82908960e-01 -2.62699509e-01 2.63178906e+02] [ 2.80712760e-01 3.61723654e-02 9.59109955e-01 9.28636424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.85, Y:263.17, Z:92.91 [[ 4.72768400e-01 -8.61307888e-01 -1.86114915e-01 3.45846717e+02] [ 8.32566851e-01 5.05793693e-01 -2.25843262e-01 2.63167243e+02] [ 2.88656334e-01 -4.81815507e-02 9.56219671e-01 9.29136853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.84, Y:263.20, Z:92.91 [[ 4.73036830e-01 -8.68044668e-01 -1.50780012e-01 3.45842531e+02] [ 8.31841234e-01 4.96421412e-01 -2.48205444e-01 2.63204265e+02] [ 2.90303838e-01 -8.01471498e-03 9.56900959e-01 9.29091402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.442755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:345.86, Y:263.23, Z:92.92 [[ 4.72384839e-01 -8.68410100e-01 -1.50719816e-01 3.45855859e+02] [ 8.32191995e-01 4.95780007e-01 -2.48311634e-01 2.63226470e+02] [ 2.90360202e-01 -8.12917284e-03 9.56882892e-01 9.29159294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.87, Y:263.26, Z:92.92 [[ 4.73230631e-01 -8.69837981e-01 -1.39408239e-01 3.45866840e+02] [ 8.32469364e-01 4.93326371e-01 -2.52237686e-01 2.63255567e+02] [ 2.88179680e-01 3.31351162e-03 9.57570620e-01 9.29196002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.89, Y:263.27, Z:92.94 [[ 4.71296870e-01 -8.66953863e-01 -1.62081029e-01 3.45887695e+02] [ 8.32964462e-01 4.97933991e-01 -2.41312964e-01 2.63267524e+02] [ 2.89912860e-01 -2.12776919e-02 9.56816489e-01 9.29378173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.532755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:345.90, Y:263.29, Z:92.94 [[ 4.71440750e-01 -8.68852354e-01 -1.51126459e-01 3.45896060e+02] [ 8.32304903e-01 4.95003897e-01 -2.49478839e-01 2.63294807e+02] [ 2.91568463e-01 -8.16880173e-03 9.56515082e-01 9.29414130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.91, Y:263.32, Z:92.95 [[ 4.72017346e-01 -8.68533503e-01 -1.51159447e-01 3.45909437e+02] [ 8.31890875e-01 4.95568026e-01 -2.49739672e-01 2.63317034e+02] [ 2.91817061e-01 -7.86670773e-03 9.56441801e-01 9.29506890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.92, Y:263.34, Z:92.96 [[ 4.73607578e-01 -8.67598255e-01 -1.51555697e-01 3.45922130e+02] [ 8.30648735e-01 4.97213626e-01 -2.50601855e-01 2.63340389e+02] [ 2.92777290e-01 -7.20261028e-03 9.56153534e-01 9.29585958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.622755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:345.94, Y:263.37, Z:92.96 [[ 4.75712967e-01 -8.67131295e-01 -1.47582146e-01 3.45936301e+02] [ 8.29464338e-01 4.98074982e-01 -2.52804717e-01 2.63366996e+02] [ 2.92721856e-01 -2.15164497e-03 9.56195213e-01 9.29642218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.95, Y:263.39, Z:92.98 [[ 4.75571335e-01 -8.65523354e-01 -1.57166246e-01 3.45951026e+02] [ 8.29398836e-01 5.00711920e-01 -2.47760256e-01 2.63385057e+02] [ 2.93137301e-01 -1.25258261e-02 9.55988298e-01 9.29757786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.682755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:345.98, Y:263.40, Z:92.99 [[ 4.79342307e-01 -8.60633590e-01 -1.71874301e-01 3.45978737e+02] [ 8.26139103e-01 5.08575143e-01 -2.42580928e-01 2.63404707e+02] [ 2.96184292e-01 -2.57127794e-02 9.54784645e-01 9.29924896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:345.97, Y:263.44, Z:92.99 [[ 4.80262813e-01 -8.66253032e-01 -1.37671037e-01 3.45969750e+02] [ 8.26991193e-01 4.99504010e-01 -2.58033546e-01 2.63438316e+02] [ 2.92289576e-01 1.00711812e-02 9.56276830e-01 9.29852440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.742755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:345.99, Y:263.46, Z:93.00 [[ 4.82380056e-01 -8.63205134e-01 -1.48950925e-01 3.45989705e+02] [ 8.26023990e-01 5.04848801e-01 -2.50623336e-01 2.63456167e+02] [ 2.91537046e-01 -2.14133855e-03 9.56557142e-01 9.29982090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.01, Y:263.48, Z:93.01 [[ 4.83960134e-01 -8.61333553e-01 -1.54554523e-01 3.46006318e+02] [ 8.25852569e-01 5.07957532e-01 -2.44840109e-01 2.63475393e+02] [ 2.89396135e-01 -9.14639756e-03 9.57165723e-01 9.30074539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.02, Y:263.50, Z:93.01 [[ 4.85652621e-01 -8.61738497e-01 -1.46793375e-01 3.46015406e+02] [ 8.24508155e-01 5.07352281e-01 -2.50559305e-01 2.63501525e+02] [ 2.90392552e-01 6.52448002e-04 9.56907383e-01 9.30127206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.03, Y:263.52, Z:93.02 [[ 4.87241240e-01 -8.60386369e-01 -1.49436511e-01 3.46030192e+02] [ 8.23714946e-01 5.09638383e-01 -2.48520434e-01 2.63522363e+02] [ 2.89982175e-01 -2.00368316e-03 9.57029949e-01 9.30210588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.862755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:346.04, Y:263.54, Z:93.03 [[ 4.90328814e-01 -8.58672910e-01 -1.49192786e-01 3.46044080e+02] [ 8.21982822e-01 5.12523238e-01 -2.48322714e-01 2.63544696e+02] [ 2.89692757e-01 -8.74125751e-04 9.57119294e-01 9.30267145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.892755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:346.06, Y:263.57, Z:93.03 [[ 4.91850044e-01 -8.57792855e-01 -1.49247959e-01 3.46057917e+02] [ 8.20971971e-01 5.13995486e-01 -2.48623537e-01 2.63565658e+02] [ 2.89980271e-01 -2.42893785e-04 9.57032593e-01 9.30338404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.09, Y:263.58, Z:93.05 [[ 4.94265334e-01 -8.53582541e-01 -1.64616598e-01 3.46086261e+02] [ 8.18747251e-01 5.20734535e-01 -2.41843922e-01 2.63584877e+02] [ 2.92155297e-01 -1.52443199e-02 9.56249389e-01 9.30517111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.08, Y:263.61, Z:93.05 [[ 4.91256078e-01 -8.59653798e-01 -1.40224158e-01 3.46081650e+02] [ 8.21415259e-01 5.10789509e-01 -2.53714506e-01 2.63613845e+02] [ 2.89731667e-01 9.45653028e-03 9.57061197e-01 9.30476133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:346.10, Y:263.63, Z:93.06 [[ 4.89839139e-01 -8.59025251e-01 -1.48772430e-01 3.46099959e+02] [ 8.22308199e-01 5.11932829e-01 -2.48463287e-01 2.63632818e+02] [ 2.89597729e-01 -6.29745977e-04 9.57148243e-01 9.30574974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.012755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:346.11, Y:263.66, Z:93.06 [[ 4.87265857e-01 -8.61502936e-01 -1.42774911e-01 3.46114969e+02] [ 8.24427583e-01 5.07735777e-01 -2.50047077e-01 2.63659074e+02] [ 2.87908222e-01 4.13182813e-03 9.57649092e-01 9.30588799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.13, Y:263.68, Z:93.07 [[ 4.82977331e-01 -8.63027780e-01 -1.48040364e-01 3.46131084e+02] [ 8.27403141e-01 5.05141009e-01 -2.45431465e-01 2.63676622e+02] [ 2.86595431e-01 -3.95122857e-03 9.58043552e-01 9.30682203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.072755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:346.15, Y:263.69, Z:93.08 [[ 4.80577016e-01 -8.63116819e-01 -1.55161495e-01 3.46147519e+02] [ 8.27948054e-01 5.04881321e-01 -2.44124705e-01 2.63694422e+02] [ 2.89046279e-01 -1.11449353e-02 9.57250249e-01 9.30805080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.16, Y:263.72, Z:93.09 [[ 4.78354401e-01 -8.65577899e-01 -1.48161966e-01 3.46157048e+02] [ 8.29290056e-01 5.00756512e-01 -2.48034108e-01 2.63719018e+02] [ 2.88885912e-01 -4.22103759e-03 9.57354225e-01 9.30866549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.17, Y:263.74, Z:93.10 [[ 4.73114281e-01 -8.67624552e-01 -1.52939577e-01 3.46173211e+02] [ 8.32964278e-01 4.97065749e-01 -2.43097003e-01 2.63738834e+02] [ 2.86937954e-01 -1.23805408e-02 9.57869163e-01 9.30951858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.18, Y:263.77, Z:93.09 [[ 4.73193473e-01 -8.70729124e-01 -1.33860860e-01 3.46178218e+02] [ 8.31977499e-01 4.91655532e-01 -2.57076407e-01 2.63768656e+02] [ 2.89657347e-01 1.02776541e-02 9.57075228e-01 9.30947576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.192755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:346.21, Y:263.77, Z:93.11 [[ 4.71559567e-01 -8.66218680e-01 -1.65217350e-01 3.46205022e+02] [ 8.34018555e-01 4.98949095e-01 -2.35505521e-01 2.63774066e+02] [ 2.86434329e-01 -2.67394543e-02 9.57726671e-01 9.31123925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.20, Y:263.81, Z:93.11 [[ 4.68020499e-01 -8.73580932e-01 -1.33465981e-01 3.46201156e+02] [ 8.34531793e-01 4.86584719e-01 -2.58441479e-01 2.63810319e+02] [ 2.90712055e-01 9.57430567e-03 9.56762684e-01 9.31107703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.252755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:346.21, Y:263.84, Z:93.10 [[ 4.65265501e-01 -8.76802778e-01 -1.21428593e-01 3.46212359e+02] [ 8.37255177e-01 4.80441527e-01 -2.61112443e-01 2.63841908e+02] [ 2.87283454e-01 1.98198939e-02 9.57640532e-01 9.31049264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.282755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:346.25, Y:263.84, Z:93.14 [[ 4.64836606e-01 -8.66701563e-01 -1.80984338e-01 3.46251498e+02] [ 8.37365343e-01 4.96748522e-01 -2.28167020e-01 2.63835197e+02] [ 2.87656416e-01 -4.54896289e-02 9.56652748e-01 9.31404368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.23, Y:263.90, Z:93.11 [[ 4.63730044e-01 -8.79889867e-01 -1.03673853e-01 3.46228129e+02] [ 8.38631416e-01 4.73673979e-01 -2.68942949e-01 2.63896458e+02] [ 2.85747782e-01 3.77727751e-02 9.57560140e-01 9.31123124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.26, Y:263.90, Z:93.14 [[ 4.64313221e-01 -8.73343788e-01 -1.47254407e-01 3.46264858e+02] [ 8.38238053e-01 4.87011030e-01 -2.45310465e-01 2.63903240e+02] [ 2.85954891e-01 -9.53335482e-03 9.58195656e-01 9.31363561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.372755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:346.28, Y:263.92, Z:93.15 [[ 4.65896736e-01 -8.71163034e-01 -1.54968382e-01 3.46280912e+02] [ 8.36432385e-01 4.90735711e-01 -2.44047797e-01 2.63923689e+02] [ 2.88653938e-01 -1.59195013e-02 9.57301140e-01 9.31476830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.30, Y:263.94, Z:93.17 [[ 4.64363935e-01 -8.68286585e-01 -1.74483643e-01 3.46297476e+02] [ 8.36480288e-01 4.94718158e-01 -2.35700386e-01 2.63937390e+02] [ 2.90975710e-01 -3.65013690e-02 9.56033883e-01 9.31709438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.432755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:346.30, Y:263.97, Z:93.17 [[ 4.66162492e-01 -8.72247202e-01 -1.47909937e-01 3.46297764e+02] [ 8.35816996e-01 4.89010886e-01 -2.49556211e-01 2.63972310e+02] [ 2.90004276e-01 -7.29189448e-03 9.56997570e-01 9.31668169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:346.31, Y:264.00, Z:93.18 [[ 4.66332440e-01 -8.72218470e-01 -1.47543199e-01 3.46309785e+02] [ 8.35913537e-01 4.89064127e-01 -2.49128159e-01 2.63995055e+02] [ 2.89452267e-01 -7.15681477e-03 9.57165694e-01 9.31766272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.492755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:346.32, Y:264.02, Z:93.18 [[ 4.67541117e-01 -8.71823447e-01 -1.46045136e-01 3.46323016e+02] [ 8.36186402e-01 4.89774034e-01 -2.46807004e-01 2.64017244e+02] [ 2.86701249e-01 -6.72853440e-03 9.57996410e-01 9.31812508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.522755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:346.34, Y:264.04, Z:93.19 [[ 4.67485546e-01 -8.71905838e-01 -1.45730828e-01 3.46335002e+02] [ 8.36363841e-01 4.89628399e-01 -2.46494537e-01 2.64040638e+02] [ 2.86273977e-01 -6.65136192e-03 9.58124715e-01 9.31893172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.35, Y:264.06, Z:93.20 [[ 4.67694940e-01 -8.71865582e-01 -1.45299177e-01 3.46346536e+02] [ 8.36475193e-01 4.89702106e-01 -2.45969712e-01 2.64063507e+02] [ 2.85605839e-01 -6.50036707e-03 9.58325127e-01 9.31981896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.35, Y:264.09, Z:93.20 [[ 4.68639155e-01 -8.72857010e-01 -1.36007287e-01 3.46354360e+02] [ 8.35854393e-01 4.87958221e-01 -2.51484010e-01 2.64090090e+02] [ 2.85875455e-01 4.17296569e-03 9.58257695e-01 9.32024877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.38, Y:264.11, Z:93.22 [[ 4.69113251e-01 -8.69874394e-01 -1.52483760e-01 3.46375975e+02] [ 8.36827967e-01 4.93015569e-01 -2.38022274e-01 2.64105233e+02] [ 2.82226349e-01 -1.59432721e-02 9.59215356e-01 9.32155311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.38, Y:264.14, Z:93.22 [[ 4.69686059e-01 -8.73551685e-01 -1.27681088e-01 3.46375511e+02] [ 8.35328983e-01 4.86542685e-01 -2.55933009e-01 2.64138379e+02] [ 2.85693011e-01 1.35524533e-02 9.58225357e-01 9.32159170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.40, Y:264.15, Z:93.23 [[ 4.70474870e-01 -8.68076905e-01 -1.58416804e-01 3.46404791e+02] [ 8.37191329e-01 4.95846279e-01 -2.30753431e-01 2.64147625e+02] [ 2.78862107e-01 -2.40614843e-02 9.60029671e-01 9.32325039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.702755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:346.41, Y:264.18, Z:93.23 [[ 4.70784119e-01 -8.70888853e-01 -1.41120229e-01 3.46410439e+02] [ 8.37244743e-01 4.91451806e-01 -2.39783991e-01 2.64177722e+02] [ 2.78178997e-01 -5.26567510e-03 9.60514820e-01 9.32310318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.41, Y:264.21, Z:93.24 [[ 4.71198928e-01 -8.72976933e-01 -1.26027159e-01 3.46413089e+02] [ 8.34959797e-01 4.87529241e-01 -2.55259430e-01 2.64208005e+02] [ 2.84277520e-01 1.50503584e-02 9.58623898e-01 9.32371756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.43, Y:264.22, Z:93.25 [[ 4.70699250e-01 -8.70576425e-01 -1.43314004e-01 3.46434427e+02] [ 8.35248205e-01 4.92015835e-01 -2.45521596e-01 2.64223556e+02] [ 2.84258073e-01 -4.13593327e-03 9.58738881e-01 9.32505392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.46, Y:264.24, Z:93.26 [[ 4.71936999e-01 -8.67379815e-01 -1.57885164e-01 3.46455627e+02] [ 8.36885263e-01 4.97069991e-01 -2.29225830e-01 2.64238795e+02] [ 2.77305835e-01 -2.39516167e-02 9.60483104e-01 9.32607012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.822755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:346.46, Y:264.27, Z:93.26 [[ 4.72131186e-01 -8.70281628e-01 -1.40363925e-01 3.46460694e+02] [ 8.36744877e-01 4.92534221e-01 -2.39307441e-01 2.64269630e+02] [ 2.77398906e-01 -4.46428944e-03 9.60744460e-01 9.32589607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.852755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:346.47, Y:264.29, Z:93.27 [[ 4.72876583e-01 -8.69946030e-01 -1.39934422e-01 3.46471937e+02] [ 8.36549829e-01 4.93129423e-01 -2.38762972e-01 2.64293357e+02] [ 2.76716680e-01 -4.15669859e-03 9.60942559e-01 9.32664322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.882755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:346.48, Y:264.32, Z:93.27 [[ 4.72667621e-01 -8.70089026e-01 -1.39751235e-01 3.46484392e+02] [ 8.36733964e-01 4.92877231e-01 -2.38638447e-01 2.64315474e+02] [ 2.76516896e-01 -4.13793732e-03 9.61000148e-01 9.32714263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9127550960001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:346.50, Y:264.34, Z:93.27 [[ 4.73463144e-01 -8.70555619e-01 -1.34035690e-01 3.46497400e+02] [ 8.36561941e-01 4.92066244e-01 -2.40904399e-01 2.64343032e+02] [ 2.75675117e-01 1.93019714e-03 9.61248929e-01 9.32743927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.942755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:346.51, Y:264.37, Z:93.28 [[ 4.73044632e-01 -8.70288625e-01 -1.37209643e-01 3.46511857e+02] [ 8.37069270e-01 4.92537213e-01 -2.38164084e-01 2.64365750e+02] [ 2.74852348e-01 -2.19173461e-03 9.61483948e-01 9.32838116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.972755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:346.53, Y:264.38, Z:93.30 [[ 4.71412038e-01 -8.69202596e-01 -1.49189603e-01 3.46528131e+02] [ 8.37686609e-01 4.94216357e-01 -2.32446420e-01 2.64382255e+02] [ 2.75774974e-01 -1.53960925e-02 9.61098915e-01 9.32969777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.002755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:346.53, Y:264.42, Z:93.29 [[ 4.70879517e-01 -8.73125914e-01 -1.26188818e-01 3.46533476e+02] [ 8.38340502e-01 4.87408222e-01 -2.44168853e-01 2.64416736e+02] [ 2.74695620e-01 9.18491461e-03 9.61487365e-01 9.32924251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.032755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:346.56, Y:264.43, Z:93.31 [[ 4.69791558e-01 -8.70176439e-01 -1.48623203e-01 3.46556834e+02] [ 8.38448769e-01 4.92511783e-01 -2.33314820e-01 2.64429764e+02] [ 2.76223738e-01 -1.50036089e-02 9.60976242e-01 9.33086959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.062755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:346.56, Y:264.46, Z:93.31 [[ 4.69033123e-01 -8.73706626e-01 -1.29014192e-01 3.46560749e+02] [ 8.39794807e-01 4.86430127e-01 -2.41102498e-01 2.64461389e+02] [ 2.73409240e-01 4.73960908e-03 9.61886128e-01 9.33096681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.092755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:346.58, Y:264.48, Z:93.32 [[ 4.67848736e-01 -8.72521767e-01 -1.40795333e-01 3.46580777e+02] [ 8.40258741e-01 4.88505448e-01 -2.35218358e-01 2.64481252e+02] [ 2.74012424e-01 -8.25789767e-03 9.61690698e-01 9.33206159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.59, Y:264.50, Z:93.33 [[ 4.68241089e-01 -8.72230129e-01 -1.41297153e-01 3.46593119e+02] [ 8.40069265e-01 4.89017566e-01 -2.34830686e-01 2.64503237e+02] [ 2.73923189e-01 -8.74201958e-03 9.61711840e-01 9.33293135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.61, Y:264.52, Z:93.34 [[ 4.67372370e-01 -8.70954998e-01 -1.51659025e-01 3.46607466e+02] [ 8.40594187e-01 4.90934433e-01 -2.28877248e-01 2.64519433e+02] [ 2.73796420e-01 -2.05127931e-02 9.61568898e-01 9.33414334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.61, Y:264.55, Z:93.34 [[ 4.68024697e-01 -8.72960801e-01 -1.37449346e-01 3.46612779e+02] [ 8.40357241e-01 4.87766088e-01 -2.36397867e-01 2.64548366e+02] [ 2.73409201e-01 -4.86651290e-03 9.61885506e-01 9.33435645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.212755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:346.63, Y:264.57, Z:93.35 [[ 4.67858920e-01 -8.73073897e-01 -1.37295304e-01 3.46626093e+02] [ 8.40493357e-01 4.87564023e-01 -2.36330787e-01 2.64571402e+02] [ 2.73274492e-01 -4.82632429e-03 9.61923988e-01 9.33488773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.64, Y:264.59, Z:93.36 [[ 4.70395958e-01 -8.71824918e-01 -1.36561176e-01 3.46637758e+02] [ 8.39490319e-01 4.89801516e-01 -2.35266827e-01 2.64593423e+02] [ 2.71999353e-01 -3.97322102e-03 9.62289232e-01 9.33578221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.65, Y:264.62, Z:93.37 [[ 4.71391673e-01 -8.71289775e-01 -1.36543102e-01 3.46650515e+02] [ 8.38882384e-01 4.90756030e-01 -2.35446098e-01 2.64616472e+02] [ 2.72151128e-01 -3.55627336e-03 9.62247950e-01 9.33653192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.66, Y:264.64, Z:93.37 [[ 4.74666899e-01 -8.69629832e-01 -1.35776621e-01 3.46661358e+02] [ 8.37470087e-01 4.93698067e-01 -2.34320445e-01 2.64639578e+02] [ 2.70804705e-01 -2.48469927e-03 9.62631102e-01 9.33721039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.67, Y:264.66, Z:93.38 [[ 4.76249094e-01 -8.68824470e-01 -1.35391437e-01 3.46673174e+02] [ 8.36760716e-01 4.95116529e-01 -2.33861340e-01 2.64662783e+02] [ 2.70218993e-01 -1.91398394e-03 9.62796984e-01 9.33790559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.68, Y:264.69, Z:93.39 [[ 4.77573632e-01 -8.68142200e-01 -1.35101986e-01 3.46684882e+02] [ 8.36136375e-01 4.96313505e-01 -2.33556987e-01 2.64685934e+02] [ 2.69813617e-01 -1.42302580e-03 9.62911516e-01 9.33859642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.70, Y:264.71, Z:93.39 [[ 4.79865658e-01 -8.66923539e-01 -1.34805516e-01 3.46696220e+02] [ 8.34958346e-01 4.98440745e-01 -2.33241043e-01 2.64708481e+02] [ 2.69394712e-01 -6.32623993e-04 9.63029641e-01 9.33918604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.71, Y:264.73, Z:93.40 [[ 4.80132898e-01 -8.66859711e-01 -1.34263327e-01 3.46709620e+02] [ 8.35096307e-01 4.98551906e-01 -2.32508400e-01 2.64731587e+02] [ 2.68489403e-01 -4.87876683e-04 9.63282515e-01 9.33990235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.72, Y:264.75, Z:93.41 [[ 4.80004020e-01 -8.67079831e-01 -1.33299316e-01 3.46722197e+02] [ 8.35735375e-01 4.98168956e-01 -2.31028297e-01 2.64754323e+02] [ 2.66725557e-01 -5.08442978e-04 9.63772389e-01 9.34057340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.73, Y:264.78, Z:93.41 [[ 4.80389951e-01 -8.66913331e-01 -1.32991620e-01 3.46734576e+02] [ 8.35571679e-01 4.98458876e-01 -2.30995060e-01 2.64776057e+02] [ 2.66543550e-01 -1.56326126e-04 9.63822863e-01 9.34122131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.74, Y:264.80, Z:93.42 [[ 4.79192619e-01 -8.68591391e-01 -1.26188069e-01 3.46743636e+02] [ 8.35847073e-01 4.95467715e-01 -2.36371347e-01 2.64800497e+02] [ 2.67832232e-01 7.79347730e-03 9.63434044e-01 9.34166557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.76, Y:264.82, Z:93.43 [[ 4.75338679e-01 -8.68976809e-01 -1.37595222e-01 3.46764273e+02] [ 8.38479025e-01 4.94805382e-01 -2.28299277e-01 2.64818808e+02] [ 2.66469633e-01 -6.85123071e-03 9.63818964e-01 9.34272411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.78, Y:264.84, Z:93.43 [[ 4.73787651e-01 -8.70585257e-01 -1.32689756e-01 3.46775312e+02] [ 8.39448036e-01 4.92013299e-01 -2.30759416e-01 2.64843902e+02] [ 2.66180871e-01 -2.05519362e-03 9.63920910e-01 9.34326931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.79, Y:264.87, Z:93.44 [[ 4.70399371e-01 -8.72410884e-01 -1.32754214e-01 3.46788832e+02] [ 8.41260774e-01 4.88764069e-01 -2.31062752e-01 2.64866122e+02] [ 2.66467150e-01 -2.98913925e-03 9.63839366e-01 9.34384622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.80, Y:264.89, Z:93.45 [[ 4.68497755e-01 -8.73394349e-01 -1.33011896e-01 3.46802886e+02] [ 8.42103786e-01 4.87001426e-01 -2.31712808e-01 2.64888715e+02] [ 2.67153641e-01 -3.45289091e-03 9.63647762e-01 9.34460368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.82, Y:264.91, Z:93.45 [[ 4.66762073e-01 -8.74309462e-01 -1.33101964e-01 3.46816503e+02] [ 8.42958967e-01 4.85353370e-01 -2.32060955e-01 2.64909819e+02] [ 2.67494575e-01 -3.88224212e-03 9.63551545e-01 9.34528491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.83, Y:264.93, Z:93.46 [[ 4.63212919e-01 -8.76215177e-01 -1.32968998e-01 3.46830574e+02] [ 8.44949304e-01 4.81895439e-01 -2.32029004e-01 2.64931521e+02] [ 2.67384489e-01 -4.87323027e-03 9.63577598e-01 9.34590751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.722755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:346.84, Y:264.95, Z:93.47 [[ 4.60767030e-01 -8.77429754e-01 -1.33457000e-01 3.46844077e+02] [ 8.45923640e-01 4.79673629e-01 -2.33080253e-01 2.64952888e+02] [ 2.68527352e-01 -5.49873513e-03 9.63256365e-01 9.34650762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.86, Y:264.97, Z:93.47 [[ 4.60082013e-01 -8.77102456e-01 -1.37897870e-01 3.46860842e+02] [ 8.46841726e-01 4.80164208e-01 -2.28695049e-01 2.64971766e+02] [ 2.66802611e-01 -1.15591917e-02 9.63681873e-01 9.34740682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.87, Y:265.00, Z:93.48 [[ 4.57581467e-01 -8.80012000e-01 -1.27271677e-01 3.46868425e+02] [ 8.47404948e-01 4.74950860e-01 -2.37332117e-01 2.65000347e+02] [ 2.69302904e-01 7.48129407e-04 9.63055235e-01 9.34778951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.88, Y:265.02, Z:93.49 [[ 4.56706179e-01 -8.79509277e-01 -1.33726948e-01 3.46884704e+02] [ 8.47828803e-01 4.75837355e-01 -2.34019511e-01 2.65020341e+02] [ 2.69454609e-01 -6.49940165e-03 9.62991159e-01 9.34867171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.90, Y:265.04, Z:93.49 [[ 4.56908105e-01 -8.79362662e-01 -1.34001088e-01 3.46899890e+02] [ 8.47492095e-01 4.76110447e-01 -2.34682744e-01 2.65041955e+02] [ 2.70170561e-01 -6.33641464e-03 9.62791628e-01 9.34939730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.91, Y:265.06, Z:93.50 [[ 4.57115984e-01 -8.79226721e-01 -1.34184018e-01 3.46913561e+02] [ 8.47207811e-01 4.76363621e-01 -2.35194866e-01 2.65063544e+02] [ 2.70709995e-01 -6.17041529e-03 9.62641171e-01 9.35016003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.93, Y:265.09, Z:93.51 [[ 4.57472340e-01 -8.78996695e-01 -1.34476277e-01 3.46927090e+02] [ 8.46768942e-01 4.76790756e-01 -2.35908742e-01 2.65085603e+02] [ 2.71480050e-01 -5.94861086e-03 9.62425684e-01 9.35092976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.932755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:346.94, Y:265.11, Z:93.52 [[ 4.59757542e-01 -8.77678081e-01 -1.35292972e-01 3.46941785e+02] [ 8.44937287e-01 4.79223484e-01 -2.37541226e-01 2.65106541e+02] [ 2.73320297e-01 -5.10270669e-03 9.61909548e-01 9.35160690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.96, Y:265.13, Z:93.52 [[ 4.60671688e-01 -8.77119016e-01 -1.35808054e-01 3.46955673e+02] [ 8.44055648e-01 4.80249952e-01 -2.38600181e-01 2.65128571e+02] [ 2.74502568e-01 -4.71320661e-03 9.61574816e-01 9.35233812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.992755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:346.97, Y:265.15, Z:93.53 [[ 4.63813052e-01 -8.75380564e-01 -1.36331657e-01 3.46970800e+02] [ 8.41923737e-01 4.83421099e-01 -2.39725807e-01 2.65148755e+02] [ 2.75756912e-01 -3.59290007e-03 9.61220691e-01 9.35312376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:346.99, Y:265.17, Z:93.54 [[ 4.65493336e-01 -8.74509049e-01 -1.36197938e-01 3.46985132e+02] [ 8.41021038e-01 4.85000141e-01 -2.39704978e-01 2.65170884e+02] [ 2.75680191e-01 -2.96426138e-03 9.61244842e-01 9.35386457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.052755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.00, Y:265.19, Z:93.55 [[ 4.67051248e-01 -8.73670205e-01 -1.36247955e-01 3.46999097e+02] [ 8.40062847e-01 4.86512878e-01 -2.39999234e-01 2.65192096e+02] [ 2.75966565e-01 -2.36490286e-03 9.61164327e-01 9.35463458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.01, Y:265.21, Z:93.55 [[ 4.70842928e-01 -8.71688842e-01 -1.35887820e-01 3.47014589e+02] [ 8.38135358e-01 4.90058487e-01 -2.39524112e-01 2.65212445e+02] [ 2.75383476e-01 -1.11415287e-03 9.61333813e-01 9.35549681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.03, Y:265.23, Z:93.56 [[ 4.72560394e-01 -8.70825402e-01 -1.35461408e-01 3.47028521e+02] [ 8.37391548e-01 4.91592176e-01 -2.38982275e-01 2.65234500e+02] [ 2.74703604e-01 -5.00680111e-04 9.61528824e-01 9.35628288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.142755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.04, Y:265.26, Z:93.57 [[ 4.75819114e-01 -8.69103351e-01 -1.35113051e-01 3.47042993e+02] [ 8.35720431e-01 4.94630176e-01 -2.38563096e-01 2.65255924e+02] [ 2.74166978e-01 5.96143393e-04 9.61681919e-01 9.35715061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.06, Y:265.28, Z:93.58 [[ 4.77257961e-01 -8.68366984e-01 -1.34772473e-01 3.47056202e+02] [ 8.35069703e-01 4.95920886e-01 -2.38161849e-01 2.65278759e+02] [ 2.73648371e-01 1.12022924e-03 9.61829150e-01 9.35792957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.202755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:347.07, Y:265.30, Z:93.59 [[ 4.78642996e-01 -8.67631763e-01 -1.34595714e-01 3.47068366e+02] [ 8.34336368e-01 4.97204602e-01 -2.38055475e-01 2.65300326e+02] [ 2.73466100e-01 1.64548621e-03 9.61880234e-01 9.35866778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.232755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.08, Y:265.32, Z:93.59 [[ 4.80445865e-01 -8.67076041e-01 -1.31722855e-01 3.47079099e+02] [ 8.33079470e-01 4.98141995e-01 -2.40485237e-01 2.65324470e+02] [ 2.74135673e-01 5.80453111e-03 9.61673510e-01 9.35936306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.262755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.09, Y:265.34, Z:93.60 [[ 4.80909381e-01 -8.65914240e-01 -1.37545253e-01 3.47094103e+02] [ 8.33027455e-01 5.00191676e-01 -2.36375860e-01 2.65344560e+02] [ 2.73480213e-01 -9.03603735e-04 9.61877204e-01 9.36027161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.10, Y:265.37, Z:93.61 [[ 4.80570174e-01 -8.66547769e-01 -1.34711811e-01 3.47104842e+02] [ 8.32972532e-01 4.99087412e-01 -2.38890175e-01 2.65369418e+02] [ 2.74242717e-01 2.59225532e-03 9.61657014e-01 9.36087327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.12, Y:265.39, Z:93.62 [[ 4.79456596e-01 -8.67121562e-01 -1.34987292e-01 3.47116821e+02] [ 8.33369981e-01 4.98090911e-01 -2.39582803e-01 2.65391875e+02] [ 2.74983358e-01 2.37519821e-03 9.61446052e-01 9.36157718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.13, Y:265.42, Z:93.62 [[ 4.78117339e-01 -8.67803260e-01 -1.35356238e-01 3.47129356e+02] [ 8.33844339e-01 4.96903622e-01 -2.40396359e-01 2.65415133e+02] [ 2.75875749e-01 2.07163484e-03 9.61191073e-01 9.36233703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.14, Y:265.44, Z:93.63 [[ 4.76022683e-01 -8.68908071e-01 -1.35650909e-01 3.47141933e+02] [ 8.35049335e-01 4.94972354e-01 -2.40197787e-01 2.65438425e+02] [ 2.75853245e-01 1.06439324e-03 9.61199175e-01 9.36305820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.15, Y:265.46, Z:93.64 [[ 4.73708251e-01 -8.70366836e-01 -1.34395177e-01 3.47153554e+02] [ 8.36221678e-01 4.92399926e-01 -2.41403432e-01 2.65463617e+02] [ 2.76285717e-01 1.97063746e-03 9.61073525e-01 9.36381057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.16, Y:265.48, Z:93.64 [[ 4.71367465e-01 -8.71401876e-01 -1.35909834e-01 3.47164800e+02] [ 8.37425952e-01 4.90569785e-01 -2.40954478e-01 2.65484278e+02] [ 2.76641442e-01 -2.36320966e-04 9.60973182e-01 9.36449997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.18, Y:265.51, Z:93.65 [[ 4.68335540e-01 -8.73312374e-01 -1.34116814e-01 3.47176973e+02] [ 8.38855794e-01 4.87159043e-01 -2.42893031e-01 2.65510359e+02] [ 2.77457708e-01 1.25077196e-03 9.60737038e-01 9.36524492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.19, Y:265.53, Z:93.66 [[ 4.63574043e-01 -8.75534360e-01 -1.36156862e-01 3.47190377e+02] [ 8.41242179e-01 4.83151479e-01 -2.42644277e-01 2.65531723e+02] [ 2.78227791e-01 -2.05730691e-03 9.60512917e-01 9.36605224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.20, Y:265.55, Z:93.67 [[ 4.60982317e-01 -8.76919730e-01 -1.36040768e-01 3.47202476e+02] [ 8.42679550e-01 4.80628852e-01 -2.42666608e-01 2.65554788e+02] [ 2.78184255e-01 -2.77375818e-03 9.60523725e-01 9.36682112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.21, Y:265.58, Z:93.68 [[ 4.58566737e-01 -8.78211616e-01 -1.35870913e-01 3.47214834e+02] [ 8.43899608e-01 4.78261675e-01 -2.43103315e-01 2.65579641e+02] [ 2.78478006e-01 -3.18231631e-03 9.60437334e-01 9.36762313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.23, Y:265.60, Z:93.68 [[ 4.53885741e-01 -8.80524607e-01 -1.36616807e-01 3.47225655e+02] [ 8.46483278e-01 4.73967793e-01 -2.42529567e-01 2.65602096e+02] [ 2.78305218e-01 -5.56313042e-03 9.60476578e-01 9.36827076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.24, Y:265.63, Z:93.69 [[ 4.50952409e-01 -8.82137177e-01 -1.35926180e-01 3.47237047e+02] [ 8.48013838e-01 4.70958491e-01 -2.43044501e-01 2.65625900e+02] [ 2.78414179e-01 -5.66577791e-03 9.60444399e-01 9.36894980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.25, Y:265.65, Z:93.70 [[ 4.45595388e-01 -8.84845020e-01 -1.35992794e-01 3.47248268e+02] [ 8.50752969e-01 4.65828960e-01 -2.43357279e-01 2.65648015e+02] [ 2.78682858e-01 -7.25739230e-03 9.60355765e-01 9.36962181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.26, Y:265.67, Z:93.70 [[ 4.43834225e-01 -8.85759368e-01 -1.35799570e-01 3.47263961e+02] [ 8.51318992e-01 4.64091870e-01 -2.44693093e-01 2.65672930e+02] [ 2.79762675e-01 -7.00558382e-03 9.60043628e-01 9.37035435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.28, Y:265.70, Z:93.71 [[ 4.43433044e-01 -8.85567637e-01 -1.38336894e-01 3.47278449e+02] [ 8.51550503e-01 4.64404561e-01 -2.43290250e-01 2.65696091e+02] [ 2.79694256e-01 -9.91791578e-03 9.60037894e-01 9.37122801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.29, Y:265.72, Z:93.72 [[ 4.40029622e-01 -8.87192440e-01 -1.38793036e-01 3.47288642e+02] [ 8.53379764e-01 4.61254449e-01 -2.42873036e-01 2.65716593e+02] [ 2.79494027e-01 -1.15718378e-02 9.60077696e-01 9.37205907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.772755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:347.30, Y:265.74, Z:93.73 [[ 4.38116310e-01 -8.88540709e-01 -1.36196577e-01 3.47299437e+02] [ 8.54244234e-01 4.58706366e-01 -2.44653342e-01 2.65739699e+02] [ 2.79858690e-01 -9.15852132e-03 9.59997518e-01 9.37273999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.31, Y:265.76, Z:93.74 [[ 4.37683726e-01 -8.88739468e-01 -1.36290549e-01 3.47310587e+02] [ 8.54357083e-01 4.58320008e-01 -2.44983153e-01 2.65763158e+02] [ 2.80190882e-01 -9.21565684e-03 9.59900068e-01 9.37354411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.32, Y:265.79, Z:93.75 [[ 4.39872044e-01 -8.87396508e-01 -1.37985592e-01 3.47322316e+02] [ 8.52242915e-01 4.60923914e-01 -2.47449307e-01 2.65789022e+02] [ 2.83186510e-01 -8.75121093e-03 9.59024930e-01 9.37452186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.33, Y:265.81, Z:93.75 [[ 4.41634549e-01 -8.86522958e-01 -1.37970904e-01 3.47330932e+02] [ 8.52564610e-01 4.62571934e-01 -2.43229914e-01 2.65810056e+02] [ 2.79450371e-01 -1.02103768e-02 9.60105848e-01 9.37508167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.34, Y:265.84, Z:93.75 [[ 4.43173834e-01 -8.86409012e-01 -1.33701218e-01 3.47343019e+02] [ 8.52140366e-01 4.62867399e-01 -2.44152756e-01 2.65839225e+02] [ 2.78305138e-01 -5.73009204e-03 9.60475620e-01 9.37542594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.35, Y:265.86, Z:93.77 [[ 4.48234818e-01 -8.83174728e-01 -1.38159140e-01 3.47354342e+02] [ 8.49341594e-01 4.68962474e-01 -2.42266496e-01 2.65858931e+02] [ 2.78755099e-01 -8.75202557e-03 9.60322340e-01 9.37667377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.37, Y:265.89, Z:93.77 [[ 4.51625758e-01 -8.81949962e-01 -1.34901591e-01 3.47367865e+02] [ 8.47393623e-01 4.71326932e-01 -2.44489204e-01 2.65885099e+02] [ 2.79209997e-01 -3.89712570e-03 9.60222157e-01 9.37732895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.38, Y:265.91, Z:93.78 [[ 4.55546745e-01 -8.79695624e-01 -1.36428634e-01 3.47379922e+02] [ 8.45272057e-01 4.75517785e-01 -2.43717021e-01 2.65907631e+02] [ 2.79271039e-01 -4.29481661e-03 9.60202709e-01 9.37828196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.39, Y:265.93, Z:93.79 [[ 4.56756768e-01 -8.78893433e-01 -1.37548491e-01 3.47390176e+02] [ 8.44655705e-01 4.76989824e-01 -2.42976228e-01 2.65928007e+02] [ 2.79159442e-01 -5.20008065e-03 9.60230683e-01 9.37901532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.40, Y:265.95, Z:93.80 [[ 4.58328419e-01 -8.78509494e-01 -1.34744682e-01 3.47400469e+02] [ 8.43845910e-01 4.77721820e-01 -2.44347995e-01 2.65951203e+02] [ 2.79032508e-01 -1.71211819e-03 9.60280130e-01 9.37966264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.072755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:347.41, Y:265.97, Z:93.80 [[ 4.60660637e-01 -8.77295119e-01 -1.34703571e-01 3.47413836e+02] [ 8.42553206e-01 4.79950499e-01 -2.44441431e-01 2.65974800e+02] [ 2.79098321e-01 -8.90380010e-04 9.60262118e-01 9.38017787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.42, Y:266.01, Z:93.80 [[ 4.63235455e-01 -8.78600643e-01 -1.16076798e-01 3.47419282e+02] [ 8.42421491e-01 4.77213744e-01 -2.50186081e-01 2.66007341e+02] [ 2.75207095e-01 1.81094734e-02 9.61214389e-01 9.38013201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.45, Y:266.01, Z:93.83 [[ 4.64301932e-01 -8.72678573e-01 -1.51181429e-01 3.47449042e+02] [ 8.40973646e-01 4.87941781e-01 -2.33829309e-01 2.66013278e+02] [ 2.77825564e-01 -1.85721980e-02 9.60451992e-01 9.38264548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.45, Y:266.04, Z:93.83 [[ 4.64063820e-01 -8.75585661e-01 -1.34143661e-01 3.47454062e+02] [ 8.40933484e-01 4.83062740e-01 -2.43887811e-01 2.66042804e+02] [ 2.78344474e-01 3.73613105e-04 9.60481241e-01 9.38276867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.47, Y:266.06, Z:93.84 [[ 4.63547843e-01 -8.75876025e-01 -1.34032034e-01 3.47466855e+02] [ 8.41231727e-01 4.82536106e-01 -2.43901798e-01 2.66064227e+02] [ 2.78303033e-01 3.08153009e-04 9.60493273e-01 9.38353201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.48, Y:266.09, Z:93.84 [[ 4.61174980e-01 -8.77119407e-01 -1.34086479e-01 3.47481854e+02] [ 8.42431572e-01 4.80272255e-01 -2.44228597e-01 2.66085110e+02] [ 2.78615658e-01 -3.26564591e-04 9.60402628e-01 9.38429119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.50, Y:266.11, Z:93.85 [[ 4.60022891e-01 -8.77724109e-01 -1.34087018e-01 3.47495162e+02] [ 8.42997040e-01 4.79165994e-01 -2.44450285e-01 2.66106823e+02] [ 2.78809848e-01 -5.82232180e-04 9.60346151e-01 9.38505478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.51, Y:266.13, Z:93.86 [[ 4.57847283e-01 -8.78829989e-01 -1.34289673e-01 3.47509666e+02] [ 8.43994795e-01 4.77133597e-01 -2.44982278e-01 2.66128879e+02] [ 2.79371888e-01 -1.17531442e-03 9.60182257e-01 9.38577690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.312755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.52, Y:266.15, Z:93.86 [[ 4.57128222e-01 -8.79224875e-01 -1.34154419e-01 3.47522327e+02] [ 8.44417484e-01 4.76405183e-01 -2.44943290e-01 2.66152256e+02] [ 2.79272094e-01 -1.31184651e-03 9.60211111e-01 9.38641134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.342755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:347.53, Y:266.18, Z:93.87 [[ 4.57311342e-01 -8.79154030e-01 -1.33994507e-01 3.47533571e+02] [ 8.44367862e-01 4.76536292e-01 -2.44859300e-01 2.66175454e+02] [ 2.79122286e-01 -1.16372030e-03 9.60254860e-01 9.38701234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.54, Y:266.21, Z:93.88 [[ 4.60386665e-01 -8.78783431e-01 -1.25633591e-01 3.47542767e+02] [ 8.42822956e-01 4.77140828e-01 -2.48970070e-01 2.66205521e+02] [ 2.78735688e-01 8.73562583e-03 9.60328124e-01 9.38755921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.402755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.56, Y:266.22, Z:93.89 [[ 4.60186887e-01 -8.75922208e-01 -1.44873443e-01 3.47561914e+02] [ 8.42110454e-01 4.82327603e-01 -2.41267625e-01 2.66219434e+02] [ 2.81208131e-01 -1.09712433e-02 9.59584086e-01 9.38905330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.57, Y:266.25, Z:93.90 [[ 4.60609703e-01 -8.77284777e-01 -1.34944883e-01 3.47568346e+02] [ 8.41765888e-01 4.79970176e-01 -2.47100829e-01 2.66246326e+02] [ 2.81547315e-01 2.25040138e-04 9.59547320e-01 9.38958467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.58, Y:266.27, Z:93.90 [[ 4.60129506e-01 -8.77501767e-01 -1.35172065e-01 3.47579410e+02] [ 8.41805805e-01 4.79573361e-01 -2.47734490e-01 2.66268751e+02] [ 2.82212374e-01 2.01319394e-04 9.59351935e-01 9.39027901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.59, Y:266.28, Z:93.91 [[ 4.61361932e-01 -8.75563322e-01 -1.43297024e-01 3.47594055e+02] [ 8.41092764e-01 4.83033229e-01 -2.43396513e-01 2.66282088e+02] [ 2.82326284e-01 -8.23220450e-03 9.59283118e-01 9.39094551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:347.60, Y:266.32, Z:93.91 [[ 4.54595869e-01 -8.82147907e-01 -1.23116472e-01 3.47596659e+02] [ 8.43927639e-01 4.70792732e-01 -2.57177651e-01 2.66318660e+02] [ 2.84831067e-01 1.30105038e-02 9.58489431e-01 9.39117352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.552755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:347.62, Y:266.34, Z:93.92 [[ 4.48721256e-01 -8.83268455e-01 -1.35963491e-01 3.47615393e+02] [ 8.47180246e-01 4.68857737e-01 -2.49916092e-01 2.66335362e+02] [ 2.84490535e-01 -3.04292160e-03 9.58674020e-01 9.39231198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.63, Y:266.36, Z:93.93 [[ 4.46210098e-01 -8.84591860e-01 -1.35623709e-01 3.47626666e+02] [ 8.48694555e-01 4.66350615e-01 -2.49468748e-01 2.66358115e+02] [ 2.83926224e-01 -3.78762826e-03 9.58838648e-01 9.39328054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.612755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:347.64, Y:266.38, Z:93.94 [[ 4.44564772e-01 -8.85819043e-01 -1.32991682e-01 3.47636425e+02] [ 8.49435908e-01 4.64029125e-01 -2.51268005e-01 2.66380166e+02] [ 2.84289997e-01 -1.26300653e-03 9.58737504e-01 9.39388923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.642755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:347.65, Y:266.40, Z:93.95 [[ 4.38424141e-01 -8.88474858e-01 -1.35634432e-01 3.47652652e+02] [ 8.53221562e-01 4.58871224e-01 -2.47891440e-01 2.66404027e+02] [ 2.82484050e-01 -7.04463035e-03 9.59246128e-01 9.39473634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.66, Y:266.42, Z:93.95 [[ 4.38344249e-01 -8.89354963e-01 -1.30007957e-01 3.47660625e+02] [ 8.52954705e-01 4.57217124e-01 -2.51834811e-01 2.66424130e+02] [ 2.83412403e-01 -5.00557826e-04 9.58997998e-01 9.39548571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.68, Y:266.45, Z:93.97 [[ 4.34366653e-01 -8.90448400e-01 -1.35747039e-01 3.47679116e+02] [ 8.56041496e-01 4.54982020e-01 -2.45324925e-01 2.66447165e+02] [ 2.80211649e-01 -9.64413183e-03 9.59889797e-01 9.39669807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.69, Y:266.47, Z:93.97 [[ 4.33298714e-01 -8.91629001e-01 -1.31339058e-01 3.47689827e+02] [ 8.56529425e-01 4.52737558e-01 -2.47762078e-01 2.66472072e+02] [ 2.80373979e-01 -5.14077802e-03 9.59877078e-01 9.39734415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.762755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.71, Y:266.50, Z:93.98 [[ 4.34813391e-01 -8.91350034e-01 -1.28189045e-01 3.47708387e+02] [ 8.56427704e-01 4.53309566e-01 -2.47066844e-01 2.66500491e+02] [ 2.78332360e-01 -2.35667699e-03 9.60481933e-01 9.39783243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7927550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.72, Y:266.52, Z:93.99 [[ 4.34010509e-01 -8.90909398e-01 -1.33848131e-01 3.47716643e+02] [ 8.56616331e-01 4.54104342e-01 -2.44944295e-01 2.66517517e+02] [ 2.79004192e-01 -8.34809650e-03 9.60253597e-01 9.39892466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.73, Y:266.54, Z:94.00 [[ 4.35866266e-01 -8.88902754e-01 -1.40969828e-01 3.47732548e+02] [ 8.56876447e-01 4.57763437e-01 -2.37097848e-01 2.66537669e+02] [ 2.75287763e-01 -1.74507717e-02 9.61203474e-01 9.40005290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.73, Y:266.57, Z:94.00 [[ 4.38758788e-01 -8.90265641e-01 -1.22138508e-01 3.47734662e+02] [ 8.54761269e-01 4.55416002e-01 -2.48956701e-01 2.66568538e+02] [ 2.77261428e-01 4.83267382e-03 9.60782361e-01 9.40025387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.75, Y:266.59, Z:94.01 [[ 4.42217736e-01 -8.88540794e-01 -1.22224104e-01 3.47751495e+02] [ 8.54004886e-01 4.58779134e-01 -2.45351507e-01 2.66593673e+02] [ 2.74078691e-01 4.11880567e-03 9.61698449e-01 9.40071622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.77, Y:266.61, Z:94.02 [[ 4.40799843e-01 -8.87155102e-01 -1.36569847e-01 3.47766549e+02] [ 8.53521785e-01 4.61366842e-01 -2.42159452e-01 2.66609498e+02] [ 2.77841792e-01 -9.82149123e-03 9.60576638e-01 9.40242902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.942755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:347.78, Y:266.64, Z:94.02 [[ 4.44056211e-01 -8.87386219e-01 -1.23934578e-01 3.47777350e+02] [ 8.53159868e-01 4.61019151e-01 -2.44089291e-01 2.66638719e+02] [ 2.73737687e-01 2.65335692e-03 9.61800727e-01 9.40208055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.972755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:347.79, Y:266.66, Z:94.03 [[ 4.43897940e-01 -8.87397660e-01 -1.24418694e-01 3.47789620e+02] [ 8.53082898e-01 4.60998786e-01 -2.44396581e-01 2.66663291e+02] [ 2.74233821e-01 2.34767849e-03 9.61660179e-01 9.40294759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.002755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:347.81, Y:266.68, Z:94.04 [[ 4.44984922e-01 -8.83800272e-01 -1.44518160e-01 3.47813109e+02] [ 8.51884381e-01 4.67515247e-01 -2.36056130e-01 2.66677351e+02] [ 2.76190915e-01 -1.80713446e-02 9.60932883e-01 9.40444913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.032755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:347.81, Y:266.71, Z:94.05 [[ 4.43396951e-01 -8.88015323e-01 -1.21769992e-01 3.47811162e+02] [ 8.52069077e-01 4.59757762e-01 -2.50202096e-01 2.66710430e+02] [ 2.78167994e-01 7.18240152e-03 9.60505586e-01 9.40478021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.062755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:347.83, Y:266.73, Z:94.06 [[ 4.42221088e-01 -8.87524403e-01 -1.29386799e-01 3.47825258e+02] [ 8.51955548e-01 4.60760654e-01 -2.48739550e-01 2.66728302e+02] [ 2.80378767e-01 -2.33926929e-04 9.59889417e-01 9.40585521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.092755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.85, Y:266.75, Z:94.07 [[ 4.40565256e-01 -8.86696079e-01 -1.40258041e-01 3.47845390e+02] [ 8.53624597e-01 4.62145043e-01 -2.40306068e-01 2.66748522e+02] [ 2.77898007e-01 -1.38572097e-02 9.60510633e-01 9.40667541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.122755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:347.86, Y:266.77, Z:94.08 [[ 4.40517504e-01 -8.86555086e-01 -1.41295466e-01 3.47860132e+02] [ 8.52799259e-01 4.62423452e-01 -2.42689049e-01 2.66769111e+02] [ 2.80495548e-01 -1.35878948e-02 9.59759145e-01 9.40787068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.87, Y:266.80, Z:94.08 [[ 4.36513690e-01 -8.90481549e-01 -1.28446131e-01 3.47866684e+02] [ 8.55062461e-01 4.55017523e-01 -2.48650843e-01 2.66795217e+02] [ 2.79864228e-01 -1.28996812e-03 9.60038723e-01 9.40820133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.182755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.90, Y:266.81, Z:94.10 [[ 4.35673489e-01 -8.85898349e-01 -1.59288184e-01 3.47897843e+02] [ 8.56589419e-01 4.62425531e-01 -2.28948020e-01 2.66807367e+02] [ 2.76483597e-01 -3.66979905e-02 9.60317697e-01 9.41006249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.89, Y:266.85, Z:94.09 [[ 4.32203074e-01 -8.94593435e-01 -1.13591765e-01 3.47885155e+02] [ 8.58837662e-01 4.46751335e-01 -2.50621458e-01 2.66847160e+02] [ 2.74951584e-01 1.07624783e-02 9.61397834e-01 9.40887002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.242755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:347.90, Y:266.87, Z:94.10 [[ 4.28087513e-01 -8.95758565e-01 -1.19823513e-01 3.47900691e+02] [ 8.59903393e-01 4.44519243e-01 -2.50935843e-01 2.66870787e+02] [ 2.78041788e-01 4.38585617e-03 9.60558967e-01 9.40989902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.92, Y:266.89, Z:94.11 [[ 4.26562364e-01 -8.95316382e-01 -1.28269735e-01 3.47916064e+02] [ 8.60131192e-01 4.45410014e-01 -2.48564384e-01 2.66890874e+02] [ 2.79676389e-01 -4.30058910e-03 9.60084695e-01 9.41096253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.94, Y:266.91, Z:94.12 [[ 4.27801235e-01 -8.92546774e-01 -1.42640665e-01 3.47936385e+02] [ 8.60757171e-01 4.50448291e-01 -2.37051535e-01 2.66906468e+02] [ 2.75831826e-01 -2.13680362e-02 9.60968371e-01 9.41193298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.332755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:347.95, Y:266.93, Z:94.13 [[ 4.27196433e-01 -8.93055891e-01 -1.41259985e-01 3.47949539e+02] [ 8.60705674e-01 4.49523466e-01 -2.38986186e-01 2.66931832e+02] [ 2.76927699e-01 -1.94892244e-02 9.60693093e-01 9.41278444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.95, Y:266.96, Z:94.13 [[ 4.26152798e-01 -8.96286101e-01 -1.22739638e-01 3.47950511e+02] [ 8.60833969e-01 4.43475738e-01 -2.49587955e-01 2.66960186e+02] [ 2.78134266e-01 7.04155290e-04 9.60541948e-01 9.41265562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.97, Y:266.98, Z:94.14 [[ 4.27362595e-01 -8.94267141e-01 -1.32843867e-01 3.47967847e+02] [ 8.59269153e-01 4.47458060e-01 -2.47866512e-01 2.66981757e+02] [ 2.81100936e-01 -8.21976108e-03 9.59643006e-01 9.41391774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.98, Y:267.00, Z:94.14 [[ 4.28063665e-01 -8.93774740e-01 -1.33896277e-01 3.47977829e+02] [ 8.60060455e-01 4.48382122e-01 -2.43412175e-01 2.67001935e+02] [ 2.77592350e-01 -1.09629847e-02 9.60636404e-01 9.41436920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:347.98, Y:267.03, Z:94.15 [[ 4.31880094e-01 -8.93163378e-01 -1.25454235e-01 3.47983928e+02] [ 8.56961652e-01 4.49730743e-01 -2.51712111e-01 2.67027608e+02] [ 2.81240666e-01 1.19998181e-03 9.59636519e-01 9.41470220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.482755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.00, Y:267.05, Z:94.16 [[ 4.31685765e-01 -8.92593592e-01 -1.30092581e-01 3.47998516e+02] [ 8.56820098e-01 4.50848853e-01 -2.50189191e-01 2.67052307e+02] [ 2.81969360e-01 -3.46282562e-03 9.59417161e-01 9.41571628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.02, Y:267.07, Z:94.17 [[ 4.35227281e-01 -8.88846544e-01 -1.43279570e-01 3.48020978e+02] [ 8.54125524e-01 4.57955810e-01 -2.46467168e-01 2.67071971e+02] [ 2.84687202e-01 -1.51095026e-02 9.58501382e-01 9.41726504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5427550960001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:348.02, Y:267.10, Z:94.17 [[ 4.35036636e-01 -8.91423272e-01 -1.26916022e-01 3.48017919e+02] [ 8.54574731e-01 4.53167715e-01 -2.53655378e-01 2.67101514e+02] [ 2.83628551e-01 1.89015715e-03 9.58932361e-01 9.41708300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.572755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:348.03, Y:267.12, Z:94.18 [[ 4.34712495e-01 -8.90741776e-01 -1.32680577e-01 3.48033153e+02] [ 8.54772173e-01 4.54487759e-01 -2.50610076e-01 2.67122967e+02] [ 2.83530562e-01 -4.46833394e-03 9.58952791e-01 9.41805438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.602755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:348.05, Y:267.15, Z:94.18 [[ 4.37187316e-01 -8.90290277e-01 -1.27477344e-01 3.48046848e+02] [ 8.53554552e-01 4.55389732e-01 -2.53110289e-01 2.67153235e+02] [ 2.83393503e-01 1.84774050e-03 9.59001933e-01 9.41832925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.06, Y:267.17, Z:94.19 [[ 4.40395981e-01 -8.88316159e-01 -1.30175964e-01 3.48056217e+02] [ 8.52772343e-01 4.59230107e-01 -2.48771059e-01 2.67173414e+02] [ 2.80768074e-01 -1.45268740e-03 9.59774546e-01 9.41905198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.09, Y:267.19, Z:94.22 [[ 4.41171112e-01 -8.82266863e-01 -1.64235298e-01 3.48088274e+02] [ 8.50477807e-01 4.69447219e-01 -2.37290558e-01 2.67186645e+02] [ 2.86453400e-01 -3.49927365e-02 9.57454938e-01 9.42212036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.07, Y:267.23, Z:94.20 [[ 4.40587029e-01 -8.91093243e-01 -1.08792933e-01 3.48068997e+02] [ 8.53316642e-01 4.53351066e-01 -2.57533531e-01 2.67231330e+02] [ 2.78807781e-01 2.06311126e-02 9.60125293e-01 9.42013984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.722755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:348.10, Y:267.25, Z:94.22 [[ 4.39902411e-01 -8.86930593e-01 -1.40854504e-01 3.48098514e+02] [ 8.52366503e-01 4.61744987e-01 -2.45485054e-01 2.67246019e+02] [ 2.82767066e-01 -1.20701936e-02 9.59112661e-01 9.42218947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.10, Y:267.27, Z:94.23 [[ 4.40092899e-01 -8.88572630e-01 -1.29448526e-01 3.48103291e+02] [ 8.51636667e-01 4.58734020e-01 -2.53531234e-01 2.67273758e+02] [ 2.84663358e-01 1.33418475e-03 9.58626618e-01 9.42261288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.782755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.12, Y:267.29, Z:94.24 [[ 4.38770235e-01 -8.87002256e-01 -1.43901630e-01 3.48116934e+02] [ 8.52832058e-01 4.61504058e-01 -2.44318409e-01 2.67287657e+02] [ 2.83122166e-01 -1.55242777e-02 9.58958203e-01 9.42378339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.812755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:348.14, Y:267.31, Z:94.26 [[ 4.40679193e-01 -8.83507413e-01 -1.58797042e-01 3.48141630e+02] [ 8.50078577e-01 4.67568746e-01 -2.42375497e-01 2.67307485e+02] [ 2.88389083e-01 -2.81801251e-02 9.57098541e-01 9.42572351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.842755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.14, Y:267.34, Z:94.26 [[ 4.41171100e-01 -8.87053168e-01 -1.36032121e-01 3.48139824e+02] [ 8.49777250e-01 4.61655242e-01 -2.54466230e-01 2.67338795e+02] [ 2.88525018e-01 -3.33385521e-03 9.57466553e-01 9.42581241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.872755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.14, Y:267.37, Z:94.25 [[ 4.40898430e-01 -8.89195273e-01 -1.22230688e-01 3.48142745e+02] [ 8.50821942e-01 4.57418220e-01 -2.58593494e-01 2.67365657e+02] [ 2.85850657e-01 1.00169140e-02 9.58221824e-01 9.42531252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.16, Y:267.38, Z:94.26 [[ 4.38078282e-01 -8.89179644e-01 -1.32087017e-01 3.48155320e+02] [ 8.53031402e-01 4.57550113e-01 -2.50968765e-01 2.67384214e+02] [ 2.83592747e-01 -2.73040791e-03 9.58940926e-01 9.42640019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.17, Y:267.41, Z:94.27 [[ 4.36458279e-01 -8.90588478e-01 -1.27891880e-01 3.48165793e+02] [ 8.53414610e-01 4.54805677e-01 -2.54627769e-01 2.67408773e+02] [ 2.84934510e-01 1.98959860e-03 9.58544922e-01 9.42710693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.18, Y:267.43, Z:94.28 [[ 4.36573570e-01 -8.89459634e-01 -1.35148353e-01 3.48181897e+02] [ 8.53617958e-01 4.56971548e-01 -2.50026771e-01 2.67427994e+02] [ 2.84147672e-01 -6.20998101e-03 9.58760417e-01 9.42810214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.992755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:348.19, Y:267.46, Z:94.28 [[ 4.34838957e-01 -8.91315419e-01 -1.28342923e-01 3.48192156e+02] [ 8.53773932e-01 4.53380464e-01 -2.55961381e-01 2.67455444e+02] [ 2.86330499e-01 1.72613766e-03 9.58129357e-01 9.42840109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.022755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:348.21, Y:267.48, Z:94.29 [[ 4.33615519e-01 -8.91426672e-01 -1.31666509e-01 3.48206620e+02] [ 8.54175513e-01 4.53161024e-01 -2.55008393e-01 2.67479364e+02] [ 2.86987413e-01 -1.89071160e-03 9.57932487e-01 9.42937816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.052755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.22, Y:267.49, Z:94.30 [[ 4.36101055e-01 -8.88757278e-01 -1.41160799e-01 3.48222481e+02] [ 8.53780601e-01 4.58201751e-01 -2.47204046e-01 2.67494039e+02] [ 2.84384521e-01 -1.27144068e-02 9.58625990e-01 9.43040700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.23, Y:267.53, Z:94.31 [[ 4.34835423e-01 -8.92002220e-01 -1.23491681e-01 3.48226108e+02] [ 8.53820986e-01 4.51978864e-01 -2.58272785e-01 2.67526401e+02] [ 2.86195527e-01 6.86636655e-03 9.58146635e-01 9.43079628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.112755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:348.24, Y:267.55, Z:94.32 [[ 4.33244663e-01 -8.91706783e-01 -1.30988837e-01 3.48244231e+02] [ 8.54578309e-01 4.52610636e-01 -2.54636067e-01 2.67547644e+02] [ 2.86347649e-01 -1.62050204e-03 9.58124417e-01 9.43169531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.142755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:348.26, Y:267.57, Z:94.32 [[ 4.33116276e-01 -8.91217854e-01 -1.34688634e-01 3.48258310e+02] [ 8.54652267e-01 4.53540287e-01 -2.52726555e-01 2.67566842e+02] [ 2.86321139e-01 -5.65196234e-03 9.58117039e-01 9.43247901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1727550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:348.27, Y:267.59, Z:94.33 [[ 4.31070521e-01 -8.93724234e-01 -1.24238479e-01 3.48266697e+02] [ 8.55026959e-01 4.48577430e-01 -2.60206052e-01 2.67593814e+02] [ 2.88283032e-01 5.93990903e-03 9.57526820e-01 9.43319216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.28, Y:267.62, Z:94.34 [[ 4.28376975e-01 -8.94300823e-01 -1.29302764e-01 3.48282213e+02] [ 8.56229953e-01 4.47466225e-01 -2.58155469e-01 2.67616057e+02] [ 2.88727268e-01 -1.25039979e-04 9.57411379e-01 9.43420606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.30, Y:267.63, Z:94.35 [[ 4.27414669e-01 -8.92734209e-01 -1.42626546e-01 3.48302070e+02] [ 8.57193131e-01 4.50318292e-01 -2.49866708e-01 2.67632306e+02] [ 2.87291900e-01 -1.54617996e-02 9.57718276e-01 9.43543533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.31, Y:267.66, Z:94.36 [[ 4.25479537e-01 -8.95139913e-01 -1.33010151e-01 3.48310953e+02] [ 8.58356534e-01 4.45743823e-01 -2.54040359e-01 2.67655152e+02] [ 2.86690118e-01 -6.08115777e-03 9.58004069e-01 9.43585735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2927550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:348.33, Y:267.68, Z:94.37 [[ 4.24667795e-01 -8.95062931e-01 -1.36086789e-01 3.48325744e+02] [ 8.59403482e-01 4.45812976e-01 -2.50352642e-01 2.67675904e+02] [ 2.84750626e-01 -1.06367556e-02 9.58542613e-01 9.43659763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.322755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:348.34, Y:267.70, Z:94.37 [[ 4.22993256e-01 -8.96667856e-01 -1.30627185e-01 3.48336484e+02] [ 8.60502661e-01 4.42666626e-01 -2.52153582e-01 2.67699302e+02] [ 2.83922307e-01 -5.74577565e-03 9.58830074e-01 9.43734181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.35, Y:267.72, Z:94.38 [[ 4.22011194e-01 -8.98094963e-01 -1.23822410e-01 3.48345472e+02] [ 8.59992950e-01 4.39793029e-01 -2.58832411e-01 2.67724408e+02] [ 2.86912317e-01 2.74377465e-03 9.57952918e-01 9.43794845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.382755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.37, Y:267.74, Z:94.39 [[ 4.21621663e-01 -8.96039176e-01 -1.39100571e-01 3.48365437e+02] [ 8.61283267e-01 4.43707690e-01 -2.47617889e-01 2.67740777e+02] [ 2.83595323e-01 -1.54039278e-02 9.58820323e-01 9.43926107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.37, Y:267.77, Z:94.40 [[ 4.20828580e-01 -8.98496654e-01 -1.24928254e-01 3.48370749e+02] [ 8.61197919e-01 4.38980310e-01 -2.56192178e-01 2.67769471e+02] [ 2.85028858e-01 2.25038170e-04 9.58518909e-01 9.43957730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.39, Y:267.79, Z:94.41 [[ 4.20436704e-01 -8.97579274e-01 -1.32606279e-01 3.48386829e+02] [ 8.61837511e-01 4.40765487e-01 -2.50922081e-01 2.67789386e+02] [ 2.83670730e-01 -8.78821271e-03 9.58881476e-01 9.44063510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.40, Y:267.81, Z:94.41 [[ 4.20388246e-01 -8.97907233e-01 -1.30523268e-01 3.48398160e+02] [ 8.61860251e-01 4.40135597e-01 -2.51947543e-01 2.67812521e+02] [ 2.83673458e-01 -6.57703119e-03 9.58898385e-01 9.44143215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.502755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.41, Y:267.84, Z:94.42 [[ 4.19595221e-01 -8.99330254e-01 -1.23064803e-01 3.48406677e+02] [ 8.61217115e-01 4.37261644e-01 -2.59050837e-01 2.67839812e+02] [ 2.86783772e-01 2.71097863e-03 9.57991502e-01 9.44198047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.42, Y:267.86, Z:94.43 [[ 4.20647593e-01 -8.96969973e-01 -1.36016432e-01 3.48424345e+02] [ 8.60912783e-01 4.41952292e-01 -2.52006650e-01 2.67855822e+02] [ 2.86155172e-01 -1.10922939e-02 9.58119084e-01 9.44305159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.44, Y:267.88, Z:94.44 [[ 4.20610454e-01 -8.97088865e-01 -1.35345536e-01 3.48435385e+02] [ 8.61561167e-01 4.41704020e-01 -2.50219733e-01 2.67878779e+02] [ 2.84252004e-01 -1.13634225e-02 9.58682258e-01 9.44368508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.44, Y:267.91, Z:94.44 [[ 4.20116042e-01 -8.99518564e-01 -1.19870196e-01 3.48438132e+02] [ 8.60361961e-01 4.36823307e-01 -2.62607493e-01 2.67908605e+02] [ 2.88582410e-01 7.19386400e-03 9.57428034e-01 9.44395533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.46, Y:267.92, Z:94.45 [[ 4.21308561e-01 -8.95708247e-01 -1.42147225e-01 3.48460806e+02] [ 8.61099664e-01 4.44268231e-01 -2.47251102e-01 2.67923542e+02] [ 2.84616348e-01 -1.82339215e-02 9.58468079e-01 9.44531614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.47, Y:267.95, Z:94.46 [[ 4.21790401e-01 -8.97321182e-01 -1.30029053e-01 3.48465874e+02] [ 8.60809121e-01 4.41349371e-01 -2.53413478e-01 2.67950929e+02] [ 2.84781522e-01 -5.04282205e-03 9.58579186e-01 9.44560693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.682755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:348.47, Y:267.98, Z:94.46 [[ 4.23114746e-01 -8.97585476e-01 -1.23750660e-01 3.48474065e+02] [ 8.59546451e-01 4.40830068e-01 -2.58551252e-01 2.67975518e+02] [ 2.86624861e-01 3.02740635e-03 9.58038112e-01 9.44620181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.712755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:348.50, Y:267.99, Z:94.48 [[ 4.25110168e-01 -8.92390740e-01 -1.51393894e-01 3.48504473e+02] [ 8.58441060e-01 4.50528639e-01 -2.45158912e-01 2.67990030e+02] [ 2.86984828e-01 -2.57431881e-02 9.57589159e-01 9.44837670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.742755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:348.50, Y:268.02, Z:94.47 [[ 4.23682120e-01 -8.98086562e-01 -1.18042316e-01 3.48495268e+02] [ 8.59997874e-01 4.39742747e-01 -2.58901474e-01 2.68023852e+02] [ 2.84424187e-01 8.17578434e-03 9.58663673e-01 9.44741527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.772755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:348.51, Y:268.04, Z:94.49 [[ 4.26030340e-01 -8.95405091e-01 -1.29413568e-01 3.48512512e+02] [ 8.58945465e-01 4.45239425e-01 -2.52931895e-01 2.68043756e+02] [ 2.84096529e-01 -3.40253662e-03 9.58789646e-01 9.44854192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.802755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:348.52, Y:268.07, Z:94.49 [[ 4.26168609e-01 -8.95364876e-01 -1.29236434e-01 3.48522975e+02] [ 8.58936647e-01 4.45321335e-01 -2.52817612e-01 2.68066797e+02] [ 2.83915751e-01 -3.26297898e-03 9.58843678e-01 9.44923098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.55, Y:268.08, Z:94.51 [[ 4.30459514e-01 -8.90825792e-01 -1.45375429e-01 3.48545211e+02] [ 8.56143315e-01 4.53979744e-01 -2.46821833e-01 2.68084913e+02] [ 2.85872755e-01 -1.82153957e-02 9.58094446e-01 9.45114311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.862755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.54, Y:268.12, Z:94.50 [[ 4.29193268e-01 -8.95626185e-01 -1.16819846e-01 3.48537939e+02] [ 8.57588700e-01 4.44677670e-01 -2.58463522e-01 2.68117409e+02] [ 2.83433875e-01 1.07474234e-02 9.58931557e-01 9.45025507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.892755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:348.56, Y:268.14, Z:94.51 [[ 4.29285519e-01 -8.93927288e-01 -1.28871824e-01 3.48555292e+02] [ 8.57442327e-01 4.48207628e-01 -2.52789591e-01 2.68137063e+02] [ 2.83736848e-01 -1.98124541e-03 9.58900139e-01 9.45136313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.57, Y:268.16, Z:94.52 [[ 4.29687910e-01 -8.93736554e-01 -1.28853684e-01 3.48565943e+02] [ 8.57186117e-01 4.48588805e-01 -2.52982300e-01 2.68159724e+02] [ 2.83901850e-01 -1.74815364e-03 9.58851753e-01 9.45198861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.952755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:348.58, Y:268.18, Z:94.53 [[ 4.28524450e-01 -8.94208860e-01 -1.29450033e-01 3.48576847e+02] [ 8.57261301e-01 4.47645708e-01 -2.54394148e-01 2.68182983e+02] [ 2.85429253e-01 -1.95839094e-03 9.58397781e-01 9.45250885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.60, Y:268.20, Z:94.54 [[ 4.29243408e-01 -8.91528402e-01 -1.44662385e-01 3.48597236e+02] [ 8.56186644e-01 4.52648273e-01 -2.49106347e-01 2.68201923e+02] [ 2.87566562e-01 -1.69307451e-02 9.57610997e-01 9.45429599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.012755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.60, Y:268.24, Z:94.54 [[ 4.28020582e-01 -8.95624111e-01 -1.21061277e-01 3.48597424e+02] [ 8.57375392e-01 4.44755383e-01 -2.59036842e-01 2.68235339e+02] [ 2.85842296e-01 7.07813991e-03 9.58250532e-01 9.45389004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.61, Y:268.25, Z:94.55 [[ 4.26012340e-01 -8.95487428e-01 -1.28902105e-01 3.48609927e+02] [ 8.58559563e-01 4.45081155e-01 -2.54515703e-01 2.68254149e+02] [ 2.85287510e-01 -2.24330500e-03 9.58439359e-01 9.45481833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.072755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:348.62, Y:268.28, Z:94.55 [[ 4.22906718e-01 -8.96948748e-01 -1.28968412e-01 3.48620390e+02] [ 8.60218038e-01 4.42120750e-01 -2.54075126e-01 2.68277649e+02] [ 2.84911977e-01 -3.49087635e-03 9.58547327e-01 9.45548084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.102755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:348.63, Y:268.30, Z:94.56 [[ 4.20956834e-01 -8.97884236e-01 -1.28838048e-01 3.48631661e+02] [ 8.61201700e-01 4.40213384e-01 -2.54054737e-01 2.68300997e+02] [ 2.84827976e-01 -4.00946828e-03 9.58570263e-01 9.45616293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.132755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:348.66, Y:268.32, Z:94.59 [[ 4.20133492e-01 -8.94441375e-01 -1.53174659e-01 3.48660574e+02] [ 8.60285989e-01 4.46292781e-01 -2.46436139e-01 2.68316613e+02] [ 2.88783423e-01 -2.82379373e-02 9.56977927e-01 9.45851745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1627550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:348.65, Y:268.35, Z:94.57 [[ 4.16870253e-01 -9.02275111e-01 -1.10085496e-01 3.48645554e+02] [ 8.63460032e-01 4.30925506e-01 -2.62183106e-01 2.68354254e+02] [ 2.83999939e-01 1.42419123e-02 9.58718521e-01 9.45715247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.192755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.67, Y:268.37, Z:94.58 [[ 4.14953961e-01 -9.00763910e-01 -1.28209161e-01 3.48666056e+02] [ 8.64378290e-01 4.34272534e-01 -2.53490707e-01 2.68371684e+02] [ 2.84012997e-01 -5.63424262e-03 9.58803876e-01 9.45844497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.222755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:348.68, Y:268.39, Z:94.59 [[ 4.13693548e-01 -9.01352195e-01 -1.28147839e-01 3.48676446e+02] [ 8.64959800e-01 4.33046279e-01 -2.53604940e-01 2.68394974e+02] [ 2.84081314e-01 -5.92800197e-03 9.58781866e-01 9.45916900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.252755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:348.69, Y:268.42, Z:94.60 [[ 4.11020795e-01 -9.02481431e-01 -1.28798965e-01 3.48686648e+02] [ 8.65689976e-01 4.30677715e-01 -2.55142256e-01 2.68418524e+02] [ 2.85731992e-01 -6.63119974e-03 9.58286625e-01 9.45971868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.282755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:348.70, Y:268.44, Z:94.60 [[ 4.10385228e-01 -9.02687871e-01 -1.29377636e-01 3.48697333e+02] [ 8.65496108e-01 4.30243783e-01 -2.56528312e-01 2.68441190e+02] [ 2.87228919e-01 -6.70041051e-03 9.57838532e-01 9.46036428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.71, Y:268.46, Z:94.61 [[ 4.10907755e-01 -9.02482487e-01 -1.29151764e-01 3.48708438e+02] [ 8.65342694e-01 4.30678432e-01 -2.56316427e-01 2.68464455e+02] [ 2.86943965e-01 -6.43812762e-03 9.57925734e-01 9.46114804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.342755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:348.72, Y:268.49, Z:94.62 [[ 4.11121271e-01 -9.02384240e-01 -1.29158752e-01 3.48719465e+02] [ 8.65164467e-01 4.30886825e-01 -2.56567709e-01 2.68487729e+02] [ 2.87175462e-01 -6.26311993e-03 9.57857519e-01 9.46180390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.372755096 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:348.73, Y:268.51, Z:94.63 [[ 4.13376422e-01 -9.01362129e-01 -1.29097814e-01 3.48730430e+02] [ 8.64073329e-01 4.33031708e-01 -2.56633634e-01 2.68511381e+02] [ 2.87223285e-01 -5.46368408e-03 9.57848074e-01 9.46259263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.402755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:348.74, Y:268.54, Z:94.63 [[ 4.15295707e-01 -9.01682801e-01 -1.20405986e-01 3.48735991e+02] [ 8.62646134e-01 4.32367531e-01 -2.62488029e-01 2.68536276e+02] [ 2.88740580e-01 5.14239318e-03 9.57393562e-01 9.46314233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.432755096 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:348.76, Y:268.56, Z:94.65 [[ 4.16143615e-01 -8.99027115e-01 -1.36289168e-01 3.48756341e+02] [ 8.63111332e-01 4.37705640e-01 -2.51897997e-01 2.68555973e+02] [ 2.86117667e-01 -1.28069824e-02 9.58108899e-01 9.46453590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.462755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.76, Y:268.58, Z:94.65 [[ 4.18399945e-01 -8.99119380e-01 -1.28552820e-01 3.48763426e+02] [ 8.61888862e-01 4.37688227e-01 -2.56079294e-01 2.68583141e+02] [ 2.86511912e-01 -3.65468089e-03 9.58069709e-01 9.46502132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.492755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:348.78, Y:268.61, Z:94.66 [[ 4.18179418e-01 -8.99235182e-01 -1.28460350e-01 3.48775162e+02] [ 8.61995764e-01 4.37450501e-01 -2.56125675e-01 2.68607079e+02] [ 2.86512263e-01 -3.62579210e-03 9.58069714e-01 9.46578602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.79, Y:268.63, Z:94.67 [[ 4.19409264e-01 -8.98692030e-01 -1.28251725e-01 3.48786210e+02] [ 8.61501758e-01 4.38568775e-01 -2.55875265e-01 2.68630199e+02] [ 2.86200263e-01 -3.17262976e-03 9.58164570e-01 9.46657940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.552755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:348.80, Y:268.65, Z:94.67 [[ 4.21761943e-01 -8.97667246e-01 -1.27712095e-01 3.48796762e+02] [ 8.60681366e-01 4.40667625e-01 -2.55028686e-01 2.68653356e+02] [ 2.85209484e-01 -2.35802567e-03 9.58462305e-01 9.46736093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.582755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:348.81, Y:268.68, Z:94.68 [[ 4.22470858e-01 -8.97339843e-01 -1.27669810e-01 3.48808044e+02] [ 8.60292558e-01 4.41335593e-01 -2.55185440e-01 2.68677330e+02] [ 2.85333294e-01 -2.02497511e-03 9.58426216e-01 9.46806211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.612755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:348.82, Y:268.70, Z:94.69 [[ 4.23031291e-01 -8.97084663e-01 -1.27607341e-01 3.48819126e+02] [ 8.59995345e-01 4.41855242e-01 -2.55287977e-01 2.68701533e+02] [ 2.85398902e-01 -1.74691615e-03 9.58407228e-01 9.46876348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.83, Y:268.72, Z:94.70 [[ 4.24987094e-01 -8.96294585e-01 -1.26656969e-01 3.48830142e+02] [ 8.59665431e-01 4.43457787e-01 -2.53614941e-01 2.68724972e+02] [ 2.83480717e-01 -1.09954094e-03 9.58977306e-01 9.46976828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.84, Y:268.75, Z:94.71 [[ 4.25139118e-01 -8.96279958e-01 -1.26249621e-01 3.48841818e+02] [ 8.59822538e-01 4.43487629e-01 -2.53029496e-01 2.68748423e+02] [ 2.82775412e-01 -9.79532784e-04 9.59185648e-01 9.47057506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.702755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:348.85, Y:268.77, Z:94.71 [[ 4.24721556e-01 -8.96492241e-01 -1.26147779e-01 3.48853697e+02] [ 8.60032859e-01 4.43058287e-01 -2.53066862e-01 2.68770880e+02] [ 2.82763297e-01 -1.00828361e-03 9.59189190e-01 9.47125313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.87, Y:268.79, Z:94.72 [[ 4.24302123e-01 -8.96712442e-01 -1.25994067e-01 3.48865135e+02] [ 8.60278982e-01 4.42612382e-01 -2.53010577e-01 2.68794169e+02] [ 2.82644267e-01 -1.03712266e-03 9.59224240e-01 9.47216329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.762755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:348.88, Y:268.82, Z:94.73 [[ 4.23067617e-01 -8.97281797e-01 -1.26091907e-01 3.48876506e+02] [ 8.60744625e-01 4.41456302e-01 -2.53446294e-01 2.68817160e+02] [ 2.83076814e-01 -1.30801160e-03 9.59096349e-01 9.47277955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7927550960001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:348.89, Y:268.84, Z:94.73 [[ 4.21527243e-01 -8.97979166e-01 -1.26286184e-01 3.48888924e+02] [ 8.61283263e-01 4.40034828e-01 -2.54087565e-01 2.68840805e+02] [ 2.83735659e-01 -1.66334579e-03 9.58901095e-01 9.47344235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.822755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.90, Y:268.86, Z:94.74 [[ 4.18649125e-01 -8.99379559e-01 -1.25894077e-01 3.48900083e+02] [ 8.62908773e-01 4.37161512e-01 -2.53531581e-01 2.68863721e+02] [ 2.83057167e-01 -2.49432895e-03 9.59099796e-01 9.47437274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.852755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.91, Y:268.89, Z:94.74 [[ 4.14410371e-01 -9.03284952e-01 -1.11087081e-01 3.48905888e+02] [ 8.65730396e-01 4.28906813e-01 -2.57972533e-01 2.68894104e+02] [ 2.80668713e-01 1.07350306e-02 9.59744671e-01 9.47420458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.93, Y:268.91, Z:94.76 [[ 4.12792079e-01 -9.00152991e-01 -1.39022636e-01 3.48931785e+02] [ 8.65785080e-01 4.35185615e-01 -2.47041852e-01 2.68905808e+02] [ 2.82876113e-01 -1.83868044e-02 9.58980203e-01 9.47635995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9127550960001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:348.94, Y:268.93, Z:94.76 [[ 4.10568324e-01 -9.03082070e-01 -1.26001687e-01 3.48937356e+02] [ 8.66547061e-01 4.29441493e-01 -2.54315149e-01 2.68933613e+02] [ 2.83777804e-01 -4.77264739e-03 9.58878188e-01 9.47642223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.942755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:348.95, Y:268.96, Z:94.77 [[ 4.07552287e-01 -9.04492433e-01 -1.25676459e-01 3.48949057e+02] [ 8.68160371e-01 4.26452202e-01 -2.53842648e-01 2.68955430e+02] [ 2.83193757e-01 -5.65316948e-03 9.59046056e-01 9.47716828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.972755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:348.96, Y:268.98, Z:94.78 [[ 4.06065247e-01 -9.05186781e-01 -1.25490665e-01 3.48961052e+02] [ 8.68924350e-01 4.24971378e-01 -2.53712044e-01 2.68979238e+02] [ 2.82986729e-01 -6.01825018e-03 9.59104943e-01 9.47790984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:348.97, Y:269.00, Z:94.79 [[ 4.05042493e-01 -9.05917816e-01 -1.23505020e-01 3.48971093e+02] [ 8.69201258e-01 4.23435292e-01 -2.55326707e-01 2.69002736e+02] [ 2.83601397e-01 -3.93255308e-03 9.58934191e-01 9.47878636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.032755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:348.99, Y:269.02, Z:94.79 [[ 4.03614699e-01 -9.06035381e-01 -1.27259826e-01 3.48985006e+02] [ 8.70082549e-01 4.23113053e-01 -2.52847193e-01 2.69024713e+02] [ 2.82933796e-01 -8.67371025e-03 9.59100221e-01 9.47936240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:348.99, Y:269.05, Z:94.80 [[ 4.04087361e-01 -9.06138105e-01 -1.25008558e-01 3.48994999e+02] [ 8.70027219e-01 4.22933679e-01 -2.53337207e-01 2.69049105e+02] [ 2.82428826e-01 -6.39048486e-03 9.59266970e-01 9.48018006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.092755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:349.01, Y:269.07, Z:94.81 [[ 4.05124983e-01 -9.05621544e-01 -1.25392856e-01 3.49006472e+02] [ 8.69192517e-01 4.24045065e-01 -2.54342588e-01 2.69073489e+02] [ 2.83510349e-01 -5.94999540e-03 9.58950718e-01 9.48058848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.122755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:349.02, Y:269.10, Z:94.81 [[ 4.06046033e-01 -9.05210697e-01 -1.25380277e-01 3.49017834e+02] [ 8.68700599e-01 4.24926701e-01 -2.54551700e-01 2.69097773e+02] [ 2.83700349e-01 -5.55821416e-03 9.58896876e-01 9.48128421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.152755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:349.03, Y:269.12, Z:94.82 [[ 4.07271376e-01 -9.04682631e-01 -1.25217264e-01 3.49028166e+02] [ 8.68176217e-01 4.26055794e-01 -2.54453368e-01 2.69120514e+02] [ 2.83549084e-01 -5.07907762e-03 9.58944274e-01 9.48203916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.182755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.04, Y:269.14, Z:94.83 [[ 4.08836619e-01 -9.04027801e-01 -1.24845318e-01 3.49038422e+02] [ 8.67641037e-01 4.27449969e-01 -2.53940061e-01 2.69143305e+02] [ 2.82934003e-01 -4.50092495e-03 9.59128819e-01 9.48283714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.212755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.05, Y:269.17, Z:94.84 [[ 4.12311172e-01 -9.02525334e-01 -1.24288050e-01 3.49049270e+02] [ 8.66331236e-01 4.30623810e-01 -2.53048065e-01 2.69166724e+02] [ 2.81903683e-01 -3.34007603e-03 9.59436896e-01 9.48357694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.06, Y:269.19, Z:94.84 [[ 4.13694330e-01 -9.01909524e-01 -1.24162039e-01 3.49060316e+02] [ 8.65694521e-01 4.31915856e-01 -2.53025077e-01 2.69190158e+02] [ 2.81833280e-01 -2.81135720e-03 9.59459274e-01 9.48437889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.07, Y:269.21, Z:94.85 [[ 4.16640845e-01 -9.00639592e-01 -1.23526236e-01 3.49071450e+02] [ 8.64679853e-01 4.34562955e-01 -2.51959899e-01 2.69213071e+02] [ 2.80604986e-01 -1.83386214e-03 9.59821587e-01 9.48513197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.302755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:349.09, Y:269.23, Z:94.86 [[ 4.18178158e-01 -8.99024842e-01 -1.29928291e-01 3.49088689e+02] [ 8.63633392e-01 4.37829679e-01 -2.49885048e-01 2.69233510e+02] [ 2.81539328e-01 -7.71394148e-03 9.59518683e-01 9.48623935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.332755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:349.10, Y:269.26, Z:94.87 [[ 4.18897474e-01 -8.99349121e-01 -1.25283939e-01 3.49098694e+02] [ 8.63996946e-01 4.37216047e-01 -2.49702634e-01 2.69259205e+02] [ 2.79345993e-01 -3.64513804e-03 9.60183591e-01 9.48703354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.362755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:349.10, Y:269.28, Z:94.87 [[ 4.18417765e-01 -9.00620581e-01 -1.17512309e-01 3.49104493e+02] [ 8.65295386e-01 4.34597016e-01 -2.49778560e-01 2.69281848e+02] [ 2.76026211e-01 2.82892827e-03 9.61145945e-01 9.48709118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.11, Y:269.30, Z:94.88 [[ 4.18531899e-01 -9.00714684e-01 -1.16379154e-01 3.49114988e+02] [ 8.65043093e-01 4.34389049e-01 -2.51011159e-01 2.69304614e+02] [ 2.76643267e-01 4.38319359e-03 9.60962689e-01 9.48797732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:349.14, Y:269.33, Z:94.89 [[ 4.18561584e-01 -8.98984497e-01 -1.28969274e-01 3.49138419e+02] [ 8.65058312e-01 4.37885913e-01 -2.44806136e-01 2.69326264e+02] [ 2.76550749e-01 -9.09949822e-03 9.60956233e-01 9.48947084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.452755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:349.14, Y:269.35, Z:94.90 [[ 4.14537277e-01 -9.02231814e-01 -1.18897436e-01 3.49143190e+02] [ 8.67927067e-01 4.31250125e-01 -2.46426331e-01 2.69348913e+02] [ 2.73608209e-01 -1.04140226e-03 9.61840664e-01 9.48966006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.482755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:349.16, Y:269.37, Z:94.90 [[ 4.12843346e-01 -9.02904144e-01 -1.19684912e-01 3.49155466e+02] [ 8.68842208e-01 4.29834317e-01 -2.45673924e-01 2.69370432e+02] [ 2.73264687e-01 -2.56245872e-03 9.61935468e-01 9.49042999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.512755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:349.18, Y:269.39, Z:94.92 [[ 4.12469183e-01 -9.01384260e-01 -1.31816494e-01 3.49179003e+02] [ 8.68407909e-01 4.32772456e-01 -2.42024181e-01 2.69391573e+02] [ 2.75203335e-01 -1.46429694e-02 9.61274523e-01 9.49185137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5427550960001 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:349.18, Y:269.42, Z:94.91 [[ 4.10392777e-01 -9.05090587e-01 -1.11304976e-01 3.49175724e+02] [ 8.70405236e-01 4.25189598e-01 -2.48210657e-01 2.69420986e+02] [ 2.71978847e-01 4.98342662e-03 9.62290326e-01 9.49131253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.19, Y:269.44, Z:94.93 [[ 4.10121612e-01 -9.04256562e-01 -1.18829009e-01 3.49189153e+02] [ 8.70563016e-01 4.26977934e-01 -2.44560583e-01 2.69441368e+02] [ 2.71882877e-01 -3.14856039e-03 9.62325199e-01 9.49257969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.602755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:349.21, Y:269.47, Z:94.94 [[ 4.09933957e-01 -9.03400825e-01 -1.25781954e-01 3.49207989e+02] [ 8.69558590e-01 4.28704827e-01 -2.45112281e-01 2.69465992e+02] [ 2.75357968e-01 -8.89493143e-03 9.61300614e-01 9.49361992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.632755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:349.22, Y:269.49, Z:94.94 [[ 4.08534871e-01 -9.03900105e-01 -1.26743282e-01 3.49219156e+02] [ 8.69895335e-01 4.27630457e-01 -2.45793202e-01 2.69489000e+02] [ 2.76371788e-01 -9.83829586e-03 9.61000438e-01 9.49439830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6627550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:349.22, Y:269.51, Z:94.94 [[ 4.05515215e-01 -9.06771800e-01 -1.15422323e-01 3.49220985e+02] [ 8.71949345e-01 4.21621659e-01 -2.48876507e-01 2.69513886e+02] [ 2.74338750e-01 2.80791373e-04 9.61633075e-01 9.49437988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.692755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:349.23, Y:269.54, Z:94.95 [[ 4.04560330e-01 -9.06663335e-01 -1.19551401e-01 3.49233825e+02] [ 8.72339132e-01 4.21832995e-01 -2.47146442e-01 2.69535615e+02] [ 2.74509342e-01 -4.30371909e-03 9.61574802e-01 9.49521979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.722755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:349.24, Y:269.56, Z:94.96 [[ 4.02918520e-01 -9.07383774e-01 -1.19630068e-01 3.49242667e+02] [ 8.72975876e-01 4.20276898e-01 -2.47548881e-01 2.69560294e+02] [ 2.74899592e-01 -4.69213509e-03 9.61461491e-01 9.49598305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.752755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:349.26, Y:269.58, Z:94.97 [[ 4.02505982e-01 -9.06439603e-01 -1.27891289e-01 3.49260135e+02] [ 8.72117497e-01 4.22165742e-01 -2.47360381e-01 2.69583258e+02] [ 2.78208567e-01 -1.19721976e-02 9.60446074e-01 9.49723152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.26, Y:269.61, Z:94.97 [[ 4.00463961e-01 -9.08909097e-01 -1.16244867e-01 3.49260425e+02] [ 8.73835948e-01 4.16991821e-01 -2.50057107e-01 2.69608167e+02] [ 2.75752338e-01 -1.44008362e-03 9.61227639e-01 9.49746330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.812755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:349.28, Y:269.63, Z:94.99 [[ 3.98966983e-01 -9.08212236e-01 -1.26395730e-01 3.49280206e+02] [ 8.73670360e-01 4.18356117e-01 -2.48351087e-01 2.69631239e+02] [ 2.78433923e-01 -1.13443185e-02 9.60388389e-01 9.49854511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.842755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:349.28, Y:269.66, Z:94.99 [[ 3.95390323e-01 -9.10963097e-01 -1.17527565e-01 3.49282438e+02] [ 8.75990110e-01 4.12467524e-01 -2.50023735e-01 2.69655532e+02] [ 2.76238700e-01 -4.09601930e-03 9.61080331e-01 9.49868138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.872755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:349.30, Y:269.68, Z:95.00 [[ 3.94851024e-01 -9.09796498e-01 -1.27917944e-01 3.49302083e+02] [ 8.75242578e-01 4.14826927e-01 -2.48734901e-01 2.69678440e+02] [ 2.79361949e-01 -1.37460008e-02 9.60087469e-01 9.50018988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.902755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:349.30, Y:269.70, Z:95.00 [[ 3.91689705e-01 -9.12680380e-01 -1.16592015e-01 3.49302646e+02] [ 8.77514832e-01 4.08654314e-01 -2.50936986e-01 2.69703890e+02] [ 2.76671094e-01 -4.02178859e-03 9.60956259e-01 9.50028883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.932755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:349.31, Y:269.73, Z:95.01 [[ 3.90812379e-01 -9.12662175e-01 -1.19638785e-01 3.49314585e+02] [ 8.78001873e-01 4.08643442e-01 -2.49245357e-01 2.69726139e+02] [ 2.76366414e-01 -7.63490628e-03 9.61022015e-01 9.50100951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.962755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:349.33, Y:269.75, Z:95.02 [[ 3.91007653e-01 -9.13011111e-01 -1.16291555e-01 3.49326547e+02] [ 8.77717626e-01 4.07917346e-01 -2.51426346e-01 2.69754454e+02] [ 2.76992390e-01 -3.76152268e-03 9.60864750e-01 9.50168365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.992755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.34, Y:269.77, Z:95.03 [[ 3.92463960e-01 -9.11736839e-01 -1.21276443e-01 3.49337640e+02] [ 8.76866942e-01 4.10691405e-01 -2.49873841e-01 2.69773853e+02] [ 2.77626379e-01 -8.27682687e-03 9.60653469e-01 9.50273794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.34, Y:269.80, Z:95.03 [[ 3.91521325e-01 -9.13376568e-01 -1.11598827e-01 3.49342996e+02] [ 8.78055033e-01 4.07115462e-01 -2.51547928e-01 2.69802328e+02] [ 2.75191591e-01 4.96466380e-04 9.61389277e-01 9.50289231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.052755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.36, Y:269.82, Z:95.04 [[ 3.94841633e-01 -9.10624545e-01 -1.21913998e-01 3.49359223e+02] [ 8.76463660e-01 4.13131683e-01 -2.47252231e-01 2.69820919e+02] [ 2.75520485e-01 -9.22771447e-03 9.61250910e-01 9.50393264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.082755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:349.37, Y:269.84, Z:95.05 [[ 3.96122706e-01 -9.10080924e-01 -1.21817545e-01 3.49371312e+02] [ 8.75199580e-01 4.14358738e-01 -2.49664837e-01 2.69844707e+02] [ 2.77691370e-01 -7.71675287e-03 9.60639347e-01 9.50477230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.112755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:349.38, Y:269.87, Z:95.06 [[ 3.97074806e-01 -9.09639350e-01 -1.22015782e-01 3.49380686e+02] [ 8.74895814e-01 4.15325096e-01 -2.49123220e-01 2.69866601e+02] [ 2.77288500e-01 -7.83054239e-03 9.60754792e-01 9.50562729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.39, Y:269.89, Z:95.07 [[ 4.00856600e-01 -9.08184127e-01 -1.20480614e-01 3.49392755e+02] [ 8.72762441e-01 4.18547197e-01 -2.51205029e-01 2.69893535e+02] [ 2.78567243e-01 -4.45376062e-03 9.60406401e-01 9.50653769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1727550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:349.41, Y:269.92, Z:95.07 [[ 4.01049205e-01 -9.07641226e-01 -1.23882769e-01 3.49405693e+02] [ 8.72491770e-01 4.19675836e-01 -2.50260470e-01 2.69916599e+02] [ 2.79137325e-01 -7.71993411e-03 9.60220160e-01 9.50743014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.202755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:349.41, Y:269.94, Z:95.07 [[ 4.00954611e-01 -9.09574346e-01 -1.09132532e-01 3.49407748e+02] [ 8.72953118e-01 4.15478572e-01 -2.55598141e-01 2.69944808e+02] [ 2.77827741e-01 7.21566884e-03 9.60603810e-01 9.50749544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.232755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:349.43, Y:269.96, Z:95.09 [[ 3.99991244e-01 -9.06776193e-01 -1.33281435e-01 3.49430091e+02] [ 8.73983476e-01 4.21160548e-01 -2.42439018e-01 2.69957980e+02] [ 2.75970812e-01 -1.95122868e-02 9.60967940e-01 9.50910657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.43, Y:269.99, Z:95.09 [[ 4.00009108e-01 -9.09765498e-01 -1.10993025e-01 3.49427951e+02] [ 8.72899737e-01 4.15083631e-01 -2.56420803e-01 2.69987424e+02] [ 2.79354188e-01 5.68487444e-03 9.60171297e-01 9.50931911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.44, Y:270.01, Z:95.10 [[ 3.98283635e-01 -9.09834319e-01 -1.16497460e-01 3.49441515e+02] [ 8.73298241e-01 4.14971693e-01 -2.55242388e-01 2.70009112e+02] [ 2.80571432e-01 -7.81607766e-05 9.59833145e-01 9.51026916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.322755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:349.46, Y:270.03, Z:95.11 [[ 3.98002823e-01 -9.08995741e-01 -1.23775992e-01 3.49457276e+02] [ 8.73194621e-01 4.16737873e-01 -2.52706744e-01 2.70029776e+02] [ 2.81291498e-01 -7.50253244e-03 9.59593042e-01 9.51115906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.352755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:349.47, Y:270.05, Z:95.12 [[ 3.96737768e-01 -9.09942510e-01 -1.20846063e-01 3.49466851e+02] [ 8.73688704e-01 4.14708019e-01 -2.54333065e-01 2.70053836e+02] [ 2.81544299e-01 -4.67830795e-03 9.59536826e-01 9.51175529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.382755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:349.48, Y:270.08, Z:95.12 [[ 3.96468964e-01 -9.10307166e-01 -1.18967326e-01 3.49476745e+02] [ 8.73764068e-01 4.13924524e-01 -2.55348473e-01 2.70077998e+02] [ 2.81689038e-01 -2.71162967e-03 9.59501919e-01 9.51244919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4127550960001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:349.49, Y:270.10, Z:95.13 [[ 3.92621581e-01 -9.11059111e-01 -1.25775951e-01 3.49492587e+02] [ 8.75508385e-01 4.12126993e-01 -2.52262582e-01 2.70100896e+02] [ 2.81661788e-01 -1.10741656e-02 9.59449842e-01 9.51338256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.442755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:349.50, Y:270.13, Z:95.14 [[ 3.90838030e-01 -9.13362271e-01 -1.14083289e-01 3.49495928e+02] [ 8.75217278e-01 4.07141661e-01 -2.61209464e-01 2.70127854e+02] [ 2.85026929e-01 2.24292687e-03 9.58516885e-01 9.51378749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.472755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:349.51, Y:270.15, Z:95.15 [[ 3.90063293e-01 -9.12312086e-01 -1.24648649e-01 3.49510146e+02] [ 8.75412475e-01 4.09399415e-01 -2.56992449e-01 2.70150701e+02] [ 2.85488401e-01 -8.87566165e-03 9.58341064e-01 9.51481872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.52, Y:270.17, Z:95.16 [[ 3.90450506e-01 -9.12312757e-01 -1.23425427e-01 3.49519616e+02] [ 8.74999965e-01 4.09432083e-01 -2.58341693e-01 2.70173828e+02] [ 2.86222752e-01 -7.12759938e-03 9.58136595e-01 9.51556673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:349.54, Y:270.19, Z:95.17 [[ 3.91533082e-01 -9.09155874e-01 -1.41906459e-01 3.49543522e+02] [ 8.73270245e-01 4.15738309e-01 -2.54088049e-01 2.70194968e+02] [ 2.90001594e-01 -2.44388116e-02 9.56714074e-01 9.51720083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.562755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:349.55, Y:270.23, Z:95.17 [[ 3.90768598e-01 -9.11391659e-01 -1.29093560e-01 3.49547423e+02] [ 8.73062847e-01 4.11407917e-01 -2.61734199e-01 2.70225012e+02] [ 2.91652478e-01 -1.04292849e-02 9.56467491e-01 9.51744498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.592755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:349.54, Y:270.25, Z:95.17 [[ 3.87674186e-01 -9.14877236e-01 -1.12731397e-01 3.49544448e+02] [ 8.75255973e-01 4.03706020e-01 -2.66361466e-01 2.70251940e+02] [ 2.89198386e-01 4.59263579e-03 9.57258169e-01 9.51705960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.57, Y:270.27, Z:95.19 [[ 3.89289045e-01 -9.10572966e-01 -1.38963709e-01 3.49574859e+02] [ 8.73378350e-01 4.12826459e-01 -2.58427113e-01 2.70269870e+02] [ 2.92684638e-01 -2.07650510e-02 9.55983533e-01 9.51938162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.652755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:349.58, Y:270.30, Z:95.20 [[ 3.88021075e-01 -9.12306039e-01 -1.30909651e-01 3.49582118e+02] [ 8.73778496e-01 4.09318756e-01 -2.62620062e-01 2.70298430e+02] [ 2.93173644e-01 -1.24839195e-02 9.55977702e-01 9.51987934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.682755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:349.58, Y:270.33, Z:95.20 [[ 3.84114314e-01 -9.16338882e-01 -1.13045332e-01 3.49577100e+02] [ 8.77105188e-01 4.00394215e-01 -2.65275256e-01 2.70325149e+02] [ 2.88344729e-01 2.74337589e-03 9.57522737e-01 9.51951658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.61, Y:270.34, Z:95.22 [[ 3.85647077e-01 -9.12360186e-01 -1.37387128e-01 3.49607328e+02] [ 8.75770531e-01 4.08832205e-01 -2.56675291e-01 2.70344098e+02] [ 2.90348599e-01 -2.13335221e-02 9.56683110e-01 9.52182714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.62, Y:270.37, Z:95.23 [[ 3.85441230e-01 -9.12278725e-01 -1.38501214e-01 3.49619608e+02] [ 8.75392419e-01 4.08983667e-01 -2.57721697e-01 2.70367716e+02] [ 2.91758755e-01 -2.19063449e-02 9.56241048e-01 9.52300693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.63, Y:270.39, Z:95.23 [[ 3.84695540e-01 -9.13742745e-01 -1.30704010e-01 3.49627231e+02] [ 8.76145808e-01 4.06032119e-01 -2.59820020e-01 2.70393764e+02] [ 2.90478684e-01 -1.45641673e-02 9.56770620e-01 9.52347881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.63, Y:270.42, Z:95.24 [[ 3.85225695e-01 -9.14390354e-01 -1.24464635e-01 3.49634359e+02] [ 8.76407354e-01 4.04743172e-01 -2.60946575e-01 2.70418814e+02] [ 2.88983242e-01 -8.55839634e-03 9.57295900e-01 9.52407927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.832755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:349.63, Y:270.44, Z:95.23 [[ 3.83296473e-01 -9.17444566e-01 -1.06673720e-01 3.49629548e+02] [ 8.78798246e-01 3.97796980e-01 -2.63573911e-01 2.70444855e+02] [ 2.84248936e-01 7.28227263e-03 9.58722854e-01 9.52346557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.65, Y:270.46, Z:95.25 [[ 3.86562810e-01 -9.13624229e-01 -1.25936339e-01 3.49651633e+02] [ 8.76750287e-01 4.06410828e-01 -2.57175374e-01 2.70464887e+02] [ 2.86143545e-01 -1.10002857e-02 9.58123617e-01 9.52526022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.892755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:349.65, Y:270.49, Z:95.25 [[ 3.87165150e-01 -9.14537626e-01 -1.17149806e-01 3.49654597e+02] [ 8.76911643e-01 4.04494811e-01 -2.59634201e-01 2.70490348e+02] [ 2.84831734e-01 -2.20871394e-03 9.58574987e-01 9.52530147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:349.67, Y:270.51, Z:95.27 [[ 3.89038783e-01 -9.12838570e-01 -1.23994233e-01 3.49670809e+02] [ 8.75430406e-01 4.08244601e-01 -2.58762344e-01 2.70513899e+02] [ 2.86828225e-01 -7.87973417e-03 9.57949623e-01 9.52660151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.68, Y:270.54, Z:95.27 [[ 3.91387417e-01 -9.12524824e-01 -1.18803769e-01 3.49678845e+02] [ 8.75111984e-01 4.09012128e-01 -2.58627329e-01 2.70540299e+02] [ 2.84596040e-01 -2.74311996e-03 9.58643609e-01 9.52703138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.68, Y:270.57, Z:95.28 [[ 3.92344102e-01 -9.12988968e-01 -1.11880514e-01 3.49684993e+02] [ 8.72869942e-01 4.07917101e-01 -2.67771737e-01 2.70565899e+02] [ 2.90110617e-01 7.40152382e-03 9.56964496e-01 9.52763978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.71, Y:270.58, Z:95.29 [[ 3.95552349e-01 -9.08541957e-01 -1.34498523e-01 3.49706294e+02] [ 8.72718817e-01 4.17438272e-01 -2.53193908e-01 2.70579289e+02] [ 2.86182119e-01 -1.72279466e-02 9.58020351e-01 9.52911238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.71, Y:270.61, Z:95.29 [[ 3.97064321e-01 -9.11262309e-01 -1.09274561e-01 3.49706881e+02] [ 8.72665272e-01 4.11730467e-01 -2.62551606e-01 2.70613469e+02] [ 2.84245048e-01 8.88976096e-03 9.58710449e-01 9.52878101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.73, Y:270.63, Z:95.30 [[ 3.96611114e-01 -9.08700160e-01 -1.30244549e-01 3.49725741e+02] [ 8.72268845e-01 4.17263365e-01 -2.55026167e-01 2.70627672e+02] [ 2.86088598e-01 -1.24620503e-02 9.58122128e-01 9.53048417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.102755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:349.73, Y:270.65, Z:95.31 [[ 3.96304805e-01 -9.10253188e-01 -1.19923460e-01 3.49731523e+02] [ 8.72029775e-01 4.14050530e-01 -2.61010019e-01 2.70654539e+02] [ 2.87239573e-01 -1.13730344e-03 9.57858097e-01 9.53070076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.73, Y:270.69, Z:95.31 [[ 3.95438222e-01 -9.12782952e-01 -1.02254068e-01 3.49734655e+02] [ 8.73469450e-01 4.08144746e-01 -2.65459951e-01 2.70686765e+02] [ 2.84041778e-01 1.56572065e-02 9.58684056e-01 9.53053784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1627550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:349.75, Y:270.70, Z:95.32 [[ 3.94247776e-01 -9.11438512e-01 -1.17679776e-01 3.49753900e+02] [ 8.74020762e-01 4.11435211e-01 -2.58473936e-01 2.70704262e+02] [ 2.84000703e-01 -9.51793215e-04 9.58823599e-01 9.53160863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.77, Y:270.73, Z:95.33 [[ 3.93845122e-01 -9.11507957e-01 -1.18487397e-01 3.49767165e+02] [ 8.74372429e-01 4.11276696e-01 -2.57535114e-01 2.70727856e+02] [ 2.83476411e-01 -2.17316497e-03 9.58976747e-01 9.53261193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.222755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:349.78, Y:270.75, Z:95.34 [[ 3.92399088e-01 -9.11511310e-01 -1.23166913e-01 3.49780601e+02] [ 8.74378911e-01 4.11221851e-01 -2.57600678e-01 2.70749437e+02] [ 2.85454857e-01 -6.61228075e-03 9.58369346e-01 9.53350875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.79, Y:270.78, Z:95.34 [[ 3.91939919e-01 -9.12367856e-01 -1.18186272e-01 3.49789262e+02] [ 8.74855054e-01 4.09366891e-01 -2.58935095e-01 2.70775623e+02] [ 2.84625605e-01 -1.90885724e-03 9.58636856e-01 9.53414602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.81, Y:270.79, Z:95.36 [[ 3.90745279e-01 -9.10568965e-01 -1.34841707e-01 3.49806112e+02] [ 8.74424783e-01 4.12947511e-01 -2.54667728e-01 2.70791537e+02] [ 2.87575077e-01 -1.83987180e-02 9.57581361e-01 9.53593794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:349.81, Y:270.83, Z:95.35 [[ 3.91244976e-01 -9.14448476e-01 -1.03495672e-01 3.49805200e+02] [ 8.74953096e-01 4.04474027e-01 -2.66191362e-01 2.70829018e+02] [ 2.85279596e-01 1.35921745e-02 9.58347956e-01 9.53520438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.83, Y:270.85, Z:95.37 [[ 3.90190152e-01 -9.13000791e-01 -1.19084845e-01 3.49826048e+02] [ 8.75202505e-01 4.07948349e-01 -2.59997538e-01 2.70848000e+02] [ 2.85958424e-01 -2.77487600e-03 9.58238008e-01 9.53669034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.84, Y:270.87, Z:95.38 [[ 3.90218857e-01 -9.12616262e-01 -1.21904889e-01 3.49837942e+02] [ 8.75256653e-01 4.08775809e-01 -2.58511372e-01 2.70868969e+02] [ 2.85753452e-01 -5.82205323e-03 9.58285484e-01 9.53759551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.402755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.85, Y:270.89, Z:95.38 [[ 3.90554845e-01 -9.12548658e-01 -1.21333671e-01 3.49846480e+02] [ 8.75178926e-01 4.08934818e-01 -2.58523040e-01 2.70891866e+02] [ 2.85532416e-01 -5.22124643e-03 9.58354829e-01 9.53833527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.86, Y:270.91, Z:95.40 [[ 3.90858155e-01 -9.10587306e-01 -1.34389961e-01 3.49860417e+02] [ 8.74351134e-01 4.12930903e-01 -2.54947373e-01 2.70908085e+02] [ 2.87645609e-01 -1.78557554e-02 9.57570455e-01 9.54005754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:349.86, Y:270.94, Z:95.40 [[ 3.91299808e-01 -9.12533703e-01 -1.19023955e-01 3.49862980e+02] [ 8.74228650e-01 4.08998058e-01 -2.61619680e-01 2.70937759e+02] [ 2.87417342e-01 -1.68242089e-03 9.57803968e-01 9.54024370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.85, Y:270.98, Z:95.39 [[ 3.88425881e-01 -9.18463589e-01 -7.44981196e-02 3.49847670e+02] [ 8.76026449e-01 3.93135352e-01 -2.79324643e-01 2.70980283e+02] [ 2.85837358e-01 4.32345974e-02 9.57302342e-01 9.53855002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.522755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.91, Y:270.97, Z:95.43 [[ 3.91160250e-01 -9.06076521e-01 -1.61304049e-01 3.49905083e+02] [ 8.74495745e-01 4.20547196e-01 -2.41655224e-01 2.70970813e+02] [ 2.86794090e-01 -4.65337865e-02 9.56861409e-01 9.54327650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.89, Y:271.01, Z:95.43 [[ 3.91367622e-01 -9.12580810e-01 -1.18438381e-01 3.49894194e+02] [ 8.74469017e-01 4.08893892e-01 -2.60978398e-01 2.71006733e+02] [ 2.86592608e-01 -1.43219921e-03 9.58051474e-01 9.54256272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.582755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:349.90, Y:271.03, Z:95.43 [[ 3.90684248e-01 -9.12918643e-01 -1.18090519e-01 3.49904376e+02] [ 8.74968971e-01 4.08138608e-01 -2.60484502e-01 2.71030003e+02] [ 2.85998458e-01 -1.55834840e-03 9.58228811e-01 9.54328656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:349.91, Y:271.05, Z:95.44 [[ 3.89612579e-01 -9.13408067e-01 -1.17846262e-01 3.49914683e+02] [ 8.75562968e-01 4.07041097e-01 -2.60205755e-01 2.71053480e+02] [ 2.85642308e-01 -1.80238741e-03 9.58334609e-01 9.54401390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.92, Y:271.08, Z:95.45 [[ 3.87798340e-01 -9.14261165e-01 -1.17213353e-01 3.49924557e+02] [ 8.76791712e-01 4.05118751e-01 -2.59065803e-01 2.71076677e+02] [ 2.84339130e-01 -2.30640792e-03 9.58720992e-01 9.54477033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.94, Y:271.10, Z:95.46 [[ 3.87925191e-01 -9.14228140e-01 -1.17051074e-01 3.49935312e+02] [ 8.76786698e-01 4.05194028e-01 -2.58965028e-01 2.71100097e+02] [ 2.84181512e-01 -2.16976655e-03 9.58768043e-01 9.54551070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.95, Y:271.12, Z:95.46 [[ 3.84256920e-01 -9.15838023e-01 -1.16564727e-01 3.49945480e+02] [ 8.78708024e-01 4.01534909e-01 -2.58150975e-01 2.71123780e+02] [ 2.83229286e-01 -3.23006247e-03 9.59046786e-01 9.54628012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.96, Y:271.15, Z:95.47 [[ 3.83132994e-01 -9.16315606e-01 -1.16511026e-01 3.49956338e+02] [ 8.79169987e-01 4.00441766e-01 -2.58276065e-01 2.71147670e+02] [ 2.83318270e-01 -3.47891535e-03 9.59019632e-01 9.54703159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.97, Y:271.17, Z:95.48 [[ 3.83178786e-01 -9.16428647e-01 -1.15466671e-01 3.49965445e+02] [ 8.79073589e-01 4.00191715e-01 -2.58990766e-01 2.71168948e+02] [ 2.83555362e-01 -2.26393362e-03 9.58953196e-01 9.54767606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7927550960001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:349.98, Y:271.20, Z:95.48 [[ 3.79518892e-01 -9.18030102e-01 -1.14830927e-01 3.49975504e+02] [ 8.81138184e-01 3.96496145e-01 -2.57655405e-01 2.71195069e+02] [ 2.82065438e-01 -3.39682035e-03 9.59389155e-01 9.54817355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:349.99, Y:271.22, Z:95.49 [[ 3.78523094e-01 -9.18359599e-01 -1.15481231e-01 3.49985484e+02] [ 8.81741772e-01 3.95719904e-01 -2.56782409e-01 2.71217769e+02] [ 2.81516812e-01 -4.62655329e-03 9.59545142e-01 9.54916135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.00, Y:271.24, Z:95.50 [[ 3.76899300e-01 -9.19036455e-01 -1.15407595e-01 3.49995524e+02] [ 8.82420449e-01 3.94140576e-01 -2.56880045e-01 2.71241362e+02] [ 2.81568942e-01 -5.02011262e-03 9.59527868e-01 9.54993685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.01, Y:271.27, Z:95.51 [[ 3.75872334e-01 -9.19469485e-01 -1.15307650e-01 3.50005718e+02] [ 8.82860303e-01 3.93126579e-01 -2.56922513e-01 2.71265360e+02] [ 2.81562913e-01 -5.23048196e-03 9.59528514e-01 9.55070261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.02, Y:271.29, Z:95.51 [[ 3.75624685e-01 -9.19594768e-01 -1.15115419e-01 3.50015990e+02] [ 8.83044935e-01 3.92833629e-01 -2.56736019e-01 2.71288386e+02] [ 2.81314307e-01 -5.21570115e-03 9.59601510e-01 9.55144295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.942755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:350.02, Y:271.32, Z:95.51 [[ 3.75044532e-01 -9.20784926e-01 -1.07222754e-01 3.50022655e+02] [ 8.83314912e-01 3.90060571e-01 -2.60014455e-01 2.71316833e+02] [ 2.81240759e-01 2.80554201e-03 9.59633140e-01 9.55139438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.04, Y:271.34, Z:95.53 [[ 3.75724683e-01 -9.18641699e-01 -1.22181799e-01 3.50040775e+02] [ 8.83061462e-01 3.94889241e-01 -2.53505309e-01 2.71335264e+02] [ 2.81128825e-01 -1.26458367e-02 9.59586716e-01 9.55326498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.05, Y:271.37, Z:95.53 [[ 3.76357188e-01 -9.19875034e-01 -1.10386545e-01 3.50045084e+02] [ 8.82744736e-01 3.92211571e-01 -2.58711835e-01 2.71365499e+02] [ 2.81277439e-01 -7.50829263e-05 9.59626488e-01 9.55334238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.06, Y:271.38, Z:95.55 [[ 3.76445988e-01 -9.18697126e-01 -1.19515727e-01 3.50059177e+02] [ 8.82833772e-01 3.94842263e-01 -2.54370042e-01 2.71384533e+02] [ 2.80878886e-01 -9.75593853e-03 9.59693635e-01 9.55461999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.07, Y:271.41, Z:95.55 [[ 3.76635079e-01 -9.19252023e-01 -1.14550146e-01 3.50067234e+02] [ 8.82768209e-01 3.93643442e-01 -2.56447128e-01 2.71410348e+02] [ 2.80831455e-01 -4.53424282e-03 9.59746391e-01 9.55521220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.08, Y:271.43, Z:95.56 [[ 3.77063927e-01 -9.19070797e-01 -1.14593480e-01 3.50077282e+02] [ 8.82477956e-01 3.94069014e-01 -2.56792268e-01 2.71433423e+02] [ 2.81168014e-01 -4.29911886e-03 9.59648928e-01 9.55596049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.09, Y:271.46, Z:95.57 [[ 3.77325832e-01 -9.18962449e-01 -1.14600326e-01 3.50087458e+02] [ 8.82284172e-01 3.94323611e-01 -2.57067169e-01 2.71457139e+02] [ 2.81424690e-01 -4.11197055e-03 9.59574508e-01 9.55671800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.152755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:350.10, Y:271.48, Z:95.57 [[ 3.78886072e-01 -9.18343912e-01 -1.14410682e-01 3.50097389e+02] [ 8.81687639e-01 3.95767512e-01 -2.56894887e-01 2.71481026e+02] [ 2.81197887e-01 -3.54058946e-03 9.59643274e-01 9.55730803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.11, Y:271.50, Z:95.58 [[ 3.79808300e-01 -9.18008016e-01 -1.14047961e-01 3.50106780e+02] [ 8.81496559e-01 3.96549148e-01 -2.56344670e-01 2.71503954e+02] [ 2.80552084e-01 -3.17105224e-03 9.59833565e-01 9.55813719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.212755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:350.12, Y:271.53, Z:95.59 [[ 3.80294640e-01 -9.17857734e-01 -1.13636119e-01 3.50117529e+02] [ 8.81533154e-01 3.96898638e-01 -2.55677081e-01 2.71528499e+02] [ 2.79777207e-01 -2.94138313e-03 9.60060447e-01 9.55877659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.13, Y:271.55, Z:95.60 [[ 3.82905145e-01 -9.17121304e-01 -1.10779799e-01 3.50126475e+02] [ 8.80533552e-01 3.98607682e-01 -2.56461651e-01 2.71550293e+02] [ 2.79364123e-01 6.55155446e-04 9.60185012e-01 9.55951567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.272755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:350.14, Y:271.58, Z:95.60 [[ 3.81104678e-01 -9.17525486e-01 -1.13605488e-01 3.50139324e+02] [ 8.81586908e-01 3.97663795e-01 -2.54299095e-01 2.71575711e+02] [ 2.78502690e-01 -3.23853593e-03 9.60429989e-01 9.56032179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.15, Y:271.60, Z:95.61 [[ 3.80129015e-01 -9.18737405e-01 -1.06880838e-01 3.50146113e+02] [ 8.82305471e-01 3.94857076e-01 -2.56173664e-01 2.71602552e+02] [ 2.77558983e-01 3.07749420e-03 9.60703669e-01 9.56070481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.16, Y:271.62, Z:95.62 [[ 3.79779441e-01 -9.18192267e-01 -1.12652282e-01 3.50159260e+02] [ 8.82447876e-01 3.96123260e-01 -2.53716592e-01 2.71624469e+02] [ 2.77584802e-01 -3.05342125e-03 9.60696286e-01 9.56164898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.362755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:350.17, Y:271.65, Z:95.63 [[ 3.78890990e-01 -9.17756713e-01 -1.19013584e-01 3.50173280e+02] [ 8.82355071e-01 3.97034176e-01 -2.52613128e-01 2.71646093e+02] [ 2.79089854e-01 -9.29940057e-03 9.60219961e-01 9.56274997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.18, Y:271.67, Z:95.63 [[ 3.77946459e-01 -9.18926365e-01 -1.12830886e-01 3.50180566e+02] [ 8.82879566e-01 3.94415422e-01 -2.54872807e-01 2.71671918e+02] [ 2.78711584e-01 -3.28780893e-03 9.60369223e-01 9.56337566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4227550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:350.19, Y:271.70, Z:95.64 [[ 3.76264827e-01 -9.19631774e-01 -1.12703952e-01 3.50190395e+02] [ 8.83624744e-01 3.92764187e-01 -2.54840353e-01 2.71695669e+02] [ 2.78625362e-01 -3.70053948e-03 9.60392739e-01 9.56392218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:350.20, Y:271.72, Z:95.65 [[ 3.73761587e-01 -9.20711468e-01 -1.12217059e-01 3.50200459e+02] [ 8.84991876e-01 3.90219501e-01 -2.54004175e-01 2.71719698e+02] [ 2.77653842e-01 -4.37418214e-03 9.60671229e-01 9.56482325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.21, Y:271.74, Z:95.66 [[ 3.72287863e-01 -9.21312445e-01 -1.12183447e-01 3.50210723e+02] [ 8.85566461e-01 3.88794477e-01 -2.54186740e-01 2.71743597e+02] [ 2.77801711e-01 -4.71526022e-03 9.60626866e-01 9.56554595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.512755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:350.22, Y:271.77, Z:95.66 [[ 3.69573397e-01 -9.22385807e-01 -1.12338454e-01 3.50220445e+02] [ 8.86511970e-01 3.86231812e-01 -2.54797005e-01 2.71766673e+02] [ 2.78409826e-01 -5.42318958e-03 9.60447062e-01 9.56621066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.23, Y:271.79, Z:95.67 [[ 3.68432565e-01 -9.22865134e-01 -1.12148964e-01 3.50230334e+02] [ 8.87058064e-01 3.85081605e-01 -2.54637290e-01 2.71790713e+02] [ 2.78182380e-01 -5.66597316e-03 9.60511562e-01 9.56698684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.24, Y:271.81, Z:95.68 [[ 3.67570626e-01 -9.23229369e-01 -1.11979320e-01 3.50239799e+02] [ 8.87475083e-01 3.84205094e-01 -2.54508198e-01 2.71814624e+02] [ 2.77992468e-01 -5.82911865e-03 9.60565567e-01 9.56774548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.25, Y:271.84, Z:95.68 [[ 3.66379622e-01 -9.23753369e-01 -1.11560230e-01 3.50248163e+02] [ 8.88220761e-01 3.82939326e-01 -2.53813617e-01 2.71839027e+02] [ 2.77181983e-01 -6.09797557e-03 9.60798087e-01 9.56842061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:350.26, Y:271.86, Z:95.69 [[ 3.65652757e-01 -9.24032249e-01 -1.11635407e-01 3.50258095e+02] [ 8.88384977e-01 3.82264165e-01 -2.54256251e-01 2.71863550e+02] [ 2.77615191e-01 -6.20571945e-03 9.60672314e-01 9.56915593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.27, Y:271.89, Z:95.70 [[ 3.64498202e-01 -9.24477397e-01 -1.11725574e-01 3.50266970e+02] [ 8.88715309e-01 3.81182374e-01 -2.54725532e-01 2.71886813e+02] [ 2.78075816e-01 -6.44522926e-03 9.60537506e-01 9.56998023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.692755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:350.28, Y:271.91, Z:95.71 [[ 3.63864442e-01 -9.24718343e-01 -1.11797377e-01 3.50277059e+02] [ 8.88840361e-01 3.80596135e-01 -2.55165428e-01 2.71911438e+02] [ 2.78505801e-01 -6.52439497e-03 9.60412386e-01 9.57066455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.29, Y:271.94, Z:95.72 [[ 3.63532665e-01 -9.24875667e-01 -1.11575096e-01 3.50286487e+02] [ 8.89075510e-01 3.80213600e-01 -2.54916370e-01 2.71935889e+02] [ 2.78188317e-01 -6.52825772e-03 9.60504369e-01 9.57157736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.752755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:350.30, Y:271.96, Z:95.72 [[ 3.63892161e-01 -9.24759402e-01 -1.11366708e-01 3.50295014e+02] [ 8.89015496e-01 3.80499746e-01 -2.54698628e-01 2.71960052e+02] [ 2.77909955e-01 -6.32389493e-03 9.60586313e-01 9.57215986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.782755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.30, Y:271.98, Z:95.73 [[ 3.64211533e-01 -9.24697731e-01 -1.10833504e-01 3.50303686e+02] [ 8.89221999e-01 3.80652642e-01 -2.53747520e-01 2.71983908e+02] [ 2.76828821e-01 -6.13781632e-03 9.60899647e-01 9.57315128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.812755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:350.31, Y:272.01, Z:95.74 [[ 3.64051269e-01 -9.24742848e-01 -1.10983506e-01 3.50313293e+02] [ 8.89096134e-01 3.80543979e-01 -2.54350831e-01 2.72008500e+02] [ 2.77443217e-01 -6.07826304e-03 9.60722809e-01 9.57368584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.842755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:350.32, Y:272.03, Z:95.75 [[ 3.65350717e-01 -9.24225421e-01 -1.11023527e-01 3.50321333e+02] [ 8.88454122e-01 3.81806485e-01 -2.54701945e-01 2.72033121e+02] [ 2.77791515e-01 -5.58377214e-03 9.60625159e-01 9.57451824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.33, Y:272.06, Z:95.75 [[ 3.66367018e-01 -9.23829690e-01 -1.10968064e-01 3.50330145e+02] [ 8.88001773e-01 3.82768736e-01 -2.54835135e-01 2.72056972e+02] [ 2.77899369e-01 -5.17664915e-03 9.60596243e-01 9.57549812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.34, Y:272.08, Z:95.76 [[ 3.68546881e-01 -9.22966631e-01 -1.10931489e-01 3.50338090e+02] [ 8.87049086e-01 3.84854622e-01 -2.55011449e-01 2.72081143e+02] [ 2.78059554e-01 -4.41800141e-03 9.60553677e-01 9.57630898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.932755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:350.35, Y:272.11, Z:95.77 [[ 3.69099413e-01 -9.22760454e-01 -1.10809603e-01 3.50347128e+02] [ 8.86835582e-01 3.85351705e-01 -2.55003359e-01 2.72106408e+02] [ 2.78007685e-01 -4.14830873e-03 9.60569893e-01 9.57683430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.36, Y:272.13, Z:95.78 [[ 3.70366749e-01 -9.22303452e-01 -1.10384842e-01 3.50355281e+02] [ 8.86565723e-01 3.86448900e-01 -2.54280291e-01 2.72130386e+02] [ 2.77181691e-01 -3.68645260e-03 9.60810450e-01 9.57778301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.36, Y:272.15, Z:95.79 [[ 3.71971183e-01 -9.21636752e-01 -1.10558299e-01 3.50362545e+02] [ 8.85681245e-01 3.88041425e-01 -2.54936434e-01 2.72154017e+02] [ 2.77859987e-01 -3.09040494e-03 9.60616613e-01 9.57859387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.022755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:350.37, Y:272.18, Z:95.79 [[ 3.72220620e-01 -9.21536829e-01 -1.10551719e-01 3.50372002e+02] [ 8.85503740e-01 3.88280080e-01 -2.55189547e-01 2.72178627e+02] [ 2.78091597e-01 -2.90714908e-03 9.60550161e-01 9.57931668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.052755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:350.38, Y:272.21, Z:95.79 [[ 3.72424589e-01 -9.23052145e-01 -9.63050509e-02 3.50376272e+02] [ 8.85994735e-01 3.84512005e-01 -2.59159888e-01 2.72211814e+02] [ 2.76248538e-01 1.11917464e-02 9.61021066e-01 9.57924023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.082755096 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:350.40, Y:272.22, Z:95.81 [[ 3.72173628e-01 -9.19596755e-01 -1.25811758e-01 3.50396973e+02] [ 8.85552534e-01 3.92409511e-01 -2.48619157e-01 2.72223416e+02] [ 2.77999101e-01 -1.88834276e-02 9.60395708e-01 9.58116658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.40, Y:272.25, Z:95.82 [[ 3.71923323e-01 -9.21689087e-01 -1.10282679e-01 3.50398488e+02] [ 8.85605924e-01 3.87920123e-01 -2.55382313e-01 2.72252982e+02] [ 2.78163961e-01 -2.68435537e-03 9.60529856e-01 9.58151528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.41, Y:272.28, Z:95.82 [[ 3.71615134e-01 -9.21842075e-01 -1.10042631e-01 3.50406972e+02] [ 8.85851837e-01 3.87556391e-01 -2.55081491e-01 2.72278264e+02] [ 2.77792576e-01 -2.68932428e-03 9.60637316e-01 9.58224990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1727550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:350.42, Y:272.30, Z:95.83 [[ 3.71492810e-01 -9.21904679e-01 -1.09931141e-01 3.50416517e+02] [ 8.85914901e-01 3.87407881e-01 -2.55088068e-01 2.72302455e+02] [ 2.77755074e-01 -2.62625304e-03 9.60648334e-01 9.58280596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.202755096 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:350.43, Y:272.33, Z:95.83 [[ 3.71486546e-01 -9.21910482e-01 -1.09903641e-01 3.50426011e+02] [ 8.85859094e-01 3.87394790e-01 -2.55301668e-01 2.72326593e+02] [ 2.77941382e-01 -2.51800498e-03 9.60594737e-01 9.58344869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.232755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:350.43, Y:272.35, Z:95.84 [[ 3.72801753e-01 -9.21396026e-01 -1.09764370e-01 3.50434936e+02] [ 8.85338038e-01 3.88619706e-01 -2.55247493e-01 2.72350836e+02] [ 2.77840623e-01 -2.02185867e-03 9.60625057e-01 9.58419088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.262755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.44, Y:272.38, Z:95.85 [[ 3.73724553e-01 -9.21047417e-01 -1.09551881e-01 3.50444624e+02] [ 8.85042840e-01 3.89446940e-01 -2.55010298e-01 2.72375362e+02] [ 2.77541221e-01 -1.65449805e-03 9.60712305e-01 9.58501967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.45, Y:272.40, Z:95.86 [[ 3.74003422e-01 -9.21649062e-01 -1.03365597e-01 3.50451016e+02] [ 8.84042441e-01 3.87976417e-01 -2.60659285e-01 2.72402425e+02] [ 2.80339800e-01 6.10788939e-03 9.59881394e-01 9.58573550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.47, Y:272.42, Z:95.87 [[ 3.75543000e-01 -9.19311842e-01 -1.17614596e-01 3.50468579e+02] [ 8.83975065e-01 3.93424446e-01 -2.52597090e-01 2.72419898e+02] [ 2.78487953e-01 -9.10730101e-03 9.60396542e-01 9.58680423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.352755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:350.48, Y:272.45, Z:95.87 [[ 3.75532452e-01 -9.20282583e-01 -1.09796838e-01 3.50475448e+02] [ 8.83867995e-01 3.91253553e-01 -2.56316260e-01 2.72446500e+02] [ 2.78841792e-01 -7.90837288e-04 9.60336727e-01 9.58717794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.382755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:350.49, Y:272.47, Z:95.88 [[ 3.76363032e-01 -9.19927681e-01 -1.09926930e-01 3.50485859e+02] [ 8.83335393e-01 3.92087850e-01 -2.56876821e-01 2.72469675e+02] [ 2.79409112e-01 -4.23408664e-04 9.60172052e-01 9.58788210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.50, Y:272.49, Z:95.89 [[ 3.76935453e-01 -9.19712509e-01 -1.09765954e-01 3.50496084e+02] [ 8.83142713e-01 3.92592507e-01 -2.56768519e-01 2.72493908e+02] [ 2.79246510e-01 -1.53844088e-04 9.60219435e-01 9.58873698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.51, Y:272.52, Z:95.89 [[ 3.77560835e-01 -9.19467393e-01 -1.09670090e-01 3.50506447e+02] [ 8.82878904e-01 3.93166244e-01 -2.56797870e-01 2.72516700e+02] [ 2.79235846e-01 1.31409230e-04 9.60222539e-01 9.58937455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.52, Y:272.54, Z:95.90 [[ 3.77499971e-01 -9.19516870e-01 -1.09464600e-01 3.50516731e+02] [ 8.83013055e-01 3.93050500e-01 -2.56513643e-01 2.72539728e+02] [ 2.78893737e-01 1.75221993e-04 9.60321953e-01 9.59003088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.53, Y:272.56, Z:95.91 [[ 3.77125374e-01 -9.19680871e-01 -1.09378002e-01 3.50527218e+02] [ 8.83166267e-01 3.92666613e-01 -2.56574115e-01 2.72561845e+02] [ 2.78915396e-01 1.61647363e-04 9.60315665e-01 9.59071937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.532755096 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:350.54, Y:272.59, Z:95.91 [[ 3.74949217e-01 -9.20557655e-01 -1.09483740e-01 3.50540655e+02] [ 8.83942735e-01 3.90606510e-01 -2.57044347e-01 2.72585310e+02] [ 2.79389203e-01 -3.98779842e-04 9.60177856e-01 9.59118446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.55, Y:272.61, Z:95.92 [[ 3.74356699e-01 -9.20795780e-01 -1.09508877e-01 3.50551367e+02] [ 8.84100016e-01 3.90044751e-01 -2.57356277e-01 2.72605891e+02] [ 2.79685937e-01 -4.73753657e-04 9.60091429e-01 9.59217368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.592755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:350.56, Y:272.63, Z:95.93 [[ 3.71950749e-01 -9.21792642e-01 -1.09320470e-01 3.50563076e+02] [ 8.85182280e-01 3.87681717e-01 -2.57206564e-01 2.72629459e+02] [ 2.79472666e-01 -1.10036894e-03 9.60153018e-01 9.59255174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.622755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:350.58, Y:272.65, Z:95.93 [[ 3.68705675e-01 -9.23075412e-01 -1.09489308e-01 3.50576125e+02] [ 8.86323822e-01 3.84614011e-01 -2.57880100e-01 2.72651242e+02] [ 2.80153901e-01 -1.96112593e-03 9.59953096e-01 9.59317969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.58, Y:272.68, Z:95.94 [[ 3.65886191e-01 -9.25794545e-01 -9.50355465e-02 3.50578624e+02] [ 8.86391897e-01 3.77780182e-01 -2.67565952e-01 2.72679693e+02] [ 2.83613645e-01 1.36599485e-02 9.58841335e-01 9.59371794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.682755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:350.61, Y:272.69, Z:95.95 [[ 3.64774222e-01 -9.22624935e-01 -1.25311599e-01 3.50607726e+02] [ 8.88201062e-01 3.85182672e-01 -2.50465929e-01 2.72690862e+02] [ 2.79353968e-01 -1.99383807e-02 9.59981157e-01 9.59529369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.712755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:350.61, Y:272.72, Z:95.96 [[ 3.63514468e-01 -9.25228726e-01 -1.08669386e-01 3.50610370e+02] [ 8.88904855e-01 3.79395685e-01 -2.56723728e-01 2.72719819e+02] [ 2.78756864e-01 -3.27395540e-03 9.60356128e-01 9.59559319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.62, Y:272.74, Z:95.96 [[ 3.62540376e-01 -9.25657484e-01 -1.08271414e-01 3.50621325e+02] [ 8.89550938e-01 3.78346454e-01 -2.56033374e-01 2.72743515e+02] [ 2.77963315e-01 -3.49050253e-03 9.60585349e-01 9.59644449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.63, Y:272.77, Z:95.97 [[ 3.61431087e-01 -9.26081165e-01 -1.08357029e-01 3.50634005e+02] [ 8.89656690e-01 3.77308662e-01 -2.57194768e-01 2.72769182e+02] [ 2.79067276e-01 -3.44237139e-03 9.60265383e-01 9.59729179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.802755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:350.64, Y:272.79, Z:95.98 [[ 3.59210145e-01 -9.26806375e-01 -1.09535455e-01 3.50644819e+02] [ 8.91287243e-01 3.75486408e-01 -2.54198759e-01 2.72790172e+02] [ 2.76722105e-01 -6.31678051e-03 9.60929225e-01 9.59775434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:350.65, Y:272.81, Z:95.99 [[ 3.58122430e-01 -9.27492549e-01 -1.07265546e-01 3.50653112e+02] [ 8.91899343e-01 3.73814289e-01 -2.54516088e-01 2.72814013e+02] [ 2.76159169e-01 -4.52215014e-03 9.61101277e-01 9.59867306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.862755096 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:350.66, Y:272.84, Z:95.99 [[ 3.56408525e-01 -9.28201027e-01 -1.06844828e-01 3.50663527e+02] [ 8.92843578e-01 3.72046288e-01 -2.53795004e-01 2.72837909e+02] [ 2.75324005e-01 -4.94101541e-03 9.61338795e-01 9.59933247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.892755096 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:350.67, Y:272.86, Z:96.00 [[ 3.55253926e-01 -9.28650555e-01 -1.06783867e-01 3.50673629e+02] [ 8.93277406e-01 3.70919519e-01 -2.53917675e-01 2.72862099e+02] [ 2.75409011e-01 -5.18236449e-03 9.61313175e-01 9.59988883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9227550960001 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:350.67, Y:272.89, Z:96.00 [[ 3.52892368e-01 -9.31127158e-01 -9.20282161e-02 3.50674812e+02] [ 8.92800042e-01 3.64521899e-01 -2.64635354e-01 2.72892582e+02] [ 2.79955465e-01 1.12250015e-02 9.59947362e-01 9.60033782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.952755096 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:350.70, Y:272.91, Z:96.02 [[ 3.52335226e-01 -9.28328252e-01 -1.18602470e-01 3.50697570e+02] [ 8.94151383e-01 3.71330876e-01 -2.50213280e-01 2.72906863e+02] [ 2.76320816e-01 -1.78896103e-02 9.60898938e-01 9.60187902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.982755096 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:350.70, Y:272.93, Z:96.02 [[ 3.52316626e-01 -9.29081741e-01 -1.12606008e-01 3.50704353e+02] [ 8.94518700e-01 3.69674094e-01 -2.51351069e-01 2.72932235e+02] [ 2.75153212e-01 -1.21730191e-02 9.61323321e-01 9.60239752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.012755096 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:350.71, Y:272.96, Z:96.03 [[ 3.51337095e-01 -9.30157896e-01 -1.06623329e-01 3.50711028e+02] [ 8.94657604e-01 3.67111642e-01 -2.54591464e-01 2.72959193e+02] [ 2.75952926e-01 -5.94394690e-03 9.61152773e-01 9.60280045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0427550960001 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:350.72, Y:272.98, Z:96.04 [[ 3.51563787e-01 -9.30078583e-01 -1.06567971e-01 3.50719248e+02] [ 8.94537700e-01 3.67315167e-01 -2.54719202e-01 2.72983599e+02] [ 2.76052906e-01 -5.77902035e-03 9.61125068e-01 9.60364359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.072755096 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:350.73, Y:273.01, Z:96.04 [[ 3.51078788e-01 -9.30253534e-01 -1.06639800e-01 3.50728475e+02] [ 8.94596076e-01 3.66871209e-01 -2.55153634e-01 2.73008578e+02] [ 2.76480642e-01 -5.82051758e-03 9.61001861e-01 9.60427902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.102755096 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:350.74, Y:273.03, Z:96.05 [[ 3.52356510e-01 -9.29824815e-01 -1.06163568e-01 3.50735711e+02] [ 8.94396130e-01 3.67963500e-01 -2.54280211e-01 2.73033079e+02] [ 2.75500368e-01 -5.35499623e-03 9.61286051e-01 9.60508262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.132755096 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:350.74, Y:273.06, Z:96.06 [[ 3.53013475e-01 -9.29602843e-01 -1.05924696e-01 3.50744814e+02] [ 8.94268028e-01 3.68527671e-01 -2.53913470e-01 2.73057950e+02] [ 2.75074865e-01 -5.09019236e-03 9.61409335e-01 9.60586208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1627550960001 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:350.75, Y:273.08, Z:96.07 [[ 3.53604811e-01 -9.29400479e-01 -1.05727893e-01 3.50753399e+02] [ 8.94115387e-01 3.69041327e-01 -2.53704894e-01 2.73081128e+02] [ 2.74811412e-01 -4.82166453e-03 9.61486058e-01 9.60659144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.192755096 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:350.76, Y:273.11, Z:96.07 [[ 3.54925330e-01 -9.28894715e-01 -1.05747898e-01 3.50761033e+02] [ 8.93515815e-01 3.70318335e-01 -2.53956333e-01 2.73106327e+02] [ 2.75059081e-01 -4.35188430e-03 9.61417476e-01 9.60726842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.222755096 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:350.77, Y:273.13, Z:96.08 [[ 3.54619811e-01 -9.29021855e-01 -1.05655968e-01 3.50771042e+02] [ 8.93637093e-01 3.69999326e-01 -2.53994576e-01 2.73131064e+02] [ 2.75059149e-01 -4.34658340e-03 9.61417481e-01 9.60803059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.252755096 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:350.78, Y:273.15, Z:96.09 [[ 3.55096855e-01 -9.28836449e-01 -1.05683838e-01 3.50779108e+02] [ 8.93354357e-01 3.70467221e-01 -2.54306962e-01 2.73154976e+02] [ 2.75361973e-01 -4.10951514e-03 9.61331834e-01 9.60870433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.282755096 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:350.79, Y:273.18, Z:96.10 [[ 3.55845894e-01 -9.28549758e-01 -1.05683712e-01 3.50787522e+02] [ 8.92977303e-01 3.71188688e-01 -2.54579053e-01 2.73179969e+02] [ 2.75617917e-01 -3.78224509e-03 9.61259829e-01 9.60952024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.312755096 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:350.81, Y:273.20, Z:96.11 [[ 3.58774592e-01 -9.25416468e-01 -1.22004721e-01 3.50805700e+02] [ 8.90919836e-01 3.78492889e-01 -2.51007924e-01 2.73202042e+02] [ 2.78464786e-01 -1.86411600e-02 9.60265521e-01 9.61105414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.342755096 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:350.80, Y:273.23, Z:96.11 [[ 3.58657030e-01 -9.28804582e-01 -9.32050651e-02 3.50797280e+02] [ 8.92108554e-01 3.70444835e-01 -2.58675380e-01 2.73233770e+02] [ 2.74786213e-01 9.62670781e-03 9.61457156e-01 9.61062702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.372755096 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:350.81, Y:273.25, Z:96.12 [[ 3.59446688e-01 -9.27250648e-01 -1.04901451e-01 3.50810437e+02] [ 8.91938923e-01 3.74433161e-01 -2.53465511e-01 2.73253477e+02] [ 2.74304641e-01 -2.45834918e-03 9.61639704e-01 9.61170962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.402755096 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:350.83, Y:273.28, Z:96.13 [[ 3.61079530e-01 -9.24730726e-01 -1.20393763e-01 3.50831051e+02] [ 8.90466846e-01 3.80244414e-01 -2.49965963e-01 2.73276035e+02] [ 2.76930262e-01 -1.69490619e-02 9.60740527e-01 9.61342905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.432755096 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:350.82, Y:273.31, Z:96.13 [[ 3.59446686e-01 -9.28416376e-01 -9.40271900e-02 3.50823078e+02] [ 8.91992385e-01 3.71438628e-01 -2.57648854e-01 2.73306604e+02] [ 2.74130746e-01 8.73948930e-03 9.61652721e-01 9.61292424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.462755096 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:350.84, Y:273.33, Z:96.14 [[ 3.58690515e-01 -9.27556485e-01 -1.04785887e-01 3.50836468e+02] [ 8.92113945e-01 3.73675365e-01 -2.53967381e-01 2.73326853e+02] [ 2.74724996e-01 -2.38525984e-03 9.61519884e-01 9.61388133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.492755096 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:350.84, Y:273.35, Z:96.15 [[ 3.57846506e-01 -9.27915322e-01 -1.04494178e-01 3.50844258e+02] [ 8.92607412e-01 3.72782367e-01 -2.53545488e-01 2.73350068e+02] [ 2.74222330e-01 -2.54191124e-03 9.61662962e-01 9.61460782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.522755096 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:350.85, Y:273.37, Z:96.15 [[ 3.55807550e-01 -9.28675318e-01 -1.04705016e-01 3.50852010e+02] [ 8.93172549e-01 3.70881404e-01 -2.54341861e-01 2.73374002e+02] [ 2.75034152e-01 -3.02289152e-03 9.61429705e-01 9.61526390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.552755096 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:350.86, Y:273.40, Z:96.16 [[ 3.54411521e-01 -9.29194692e-01 -1.04831758e-01 3.50861144e+02] [ 8.93549269e-01 3.69575649e-01 -2.54918700e-01 2.73398077e+02] [ 2.75612368e-01 -3.32621674e-03 9.61263106e-01 9.61587500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.582755096 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:350.87, Y:273.42, Z:96.17 [[ 3.53400569e-01 -9.29640742e-01 -1.04288678e-01 3.50869437e+02] [ 8.94314360e-01 3.68450101e-01 -2.53862855e-01 2.73422011e+02] [ 2.74426427e-01 -3.55158480e-03 9.61601540e-01 9.61672285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.612755096 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:350.88, Y:273.45, Z:96.17 [[ 3.50161359e-01 -9.30823479e-01 -1.04664579e-01 3.50878720e+02] [ 8.95211342e-01 3.65442720e-01 -2.55045626e-01 2.73445308e+02] [ 2.75651365e-01 -4.38979523e-03 9.61247655e-01 9.61725662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.642755096 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:350.87, Y:273.48, Z:96.18 [[ 3.47957649e-01 -9.34541357e-01 -7.45514962e-02 3.50870132e+02] [ 8.92816256e-01 3.54580196e-01 -2.77762521e-01 2.73478217e+02] [ 2.86015047e-01 3.00888061e-02 9.57752607e-01 9.61764599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6727550960001 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:350.92, Y:273.49, Z:96.20 [[ 3.47360943e-01 -9.27322001e-01 -1.39335141e-01 3.50917661e+02] [ 8.95263841e-01 3.72157734e-01 -2.44951578e-01 2.73486338e+02] [ 2.79003638e-01 -3.96551026e-02 9.59470918e-01 9.62032679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.702755096 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:350.92, Y:273.51, Z:96.20 [[ 3.48087015e-01 -9.28707445e-01 -1.27819840e-01 3.50921634e+02] [ 8.96073451e-01 3.69677905e-01 -2.45745025e-01 2.73509932e+02] [ 2.75477405e-01 -2.89953135e-02 9.60870164e-01 9.62049883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.732755096 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:350.90, Y:273.55, Z:96.20 [[ 3.41777289e-01 -9.36551948e-01 -7.78378636e-02 3.50900169e+02] [ 8.96415178e-01 3.49755699e-01 -2.72232953e-01 2.73549488e+02] [ 2.82184539e-01 2.32679985e-02 9.59077935e-01 9.61975569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.762755096 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:350.92, Y:273.57, Z:96.20 [[ 3.40753567e-01 -9.35616780e-01 -9.22401656e-02 3.50919927e+02] [ 8.96861322e-01 3.52923848e-01 -2.66616815e-01 2.73572644e+02] [ 2.82004920e-01 8.12399399e-03 9.59378562e-01 9.62044148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7927550960001 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:350.95, Y:273.59, Z:96.23 [[ 3.41566063e-01 -9.31095126e-01 -1.28040978e-01 3.50950031e+02] [ 8.95742768e-01 3.63746964e-01 -2.55603287e-01 2.73587421e+02] [ 2.84565492e-01 -2.73863717e-02 9.58265343e-01 9.62334926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.822755096 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:350.94, Y:273.63, Z:96.22 [[ 3.38395392e-01 -9.36817498e-01 -8.86652890e-02 3.50937587e+02] [ 8.97582517e-01 3.49636592e-01 -2.68514205e-01 2.73625242e+02] [ 2.82549436e-01 1.12795566e-02 9.59186420e-01 9.62196375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.852755096 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:350.97, Y:273.63, Z:96.25 [[ 3.38616595e-01 -9.30768035e-01 -1.37875547e-01 3.50970637e+02] [ 8.97978071e-01 3.63437315e-01 -2.48090109e-01 2.73631144e+02] [ 2.81023462e-01 -3.98017901e-02 9.58875191e-01 9.62455574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.882755096 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:350.94, Y:273.69, Z:96.23 [[ 3.34125878e-01 -9.40950390e-01 -5.45184551e-02 3.50935387e+02] [ 8.93712196e-01 3.34663998e-01 -2.98795111e-01 2.73686610e+02] [ 2.99396740e-01 5.11113705e-02 9.52758742e-01 9.62329460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9127550960001 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:350.96, Y:273.70, Z:96.25 [[ 3.33556695e-01 -9.38425048e-01 -8.99908906e-02 3.50961563e+02] [ 8.92205744e-01 3.45069406e-01 -2.91369209e-01 2.73698105e+02] [ 3.04481267e-01 1.68977610e-02 9.52368428e-01 9.62532440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.942755096 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:351.00, Y:273.71, Z:96.28 [[ 3.34004731e-01 -9.32169772e-01 -1.39643677e-01 3.51000522e+02] [ 8.92929772e-01 3.60367523e-01 -2.69836377e-01 2.73713767e+02] [ 3.01856360e-01 -3.45653697e-02 9.52726599e-01 9.62797205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.972755096 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:350.99, Y:273.75, Z:96.27 [[ 3.31634472e-01 -9.38505911e-01 -9.60480741e-02 3.50985340e+02] [ 8.93889429e-01 3.45145469e-01 -2.86070434e-01 2.73751896e+02] [ 3.01629351e-01 9.01445922e-03 9.53382648e-01 9.62701133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.002755096 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:351.02, Y:273.76, Z:96.30 [[ 3.29362365e-01 -9.32042896e-01 -1.51051224e-01 3.51022152e+02] [ 8.94602088e-01 3.59210131e-01 -2.65810433e-01 2.73755838e+02] [ 3.02005856e-01 -4.75827876e-02 9.52117819e-01 9.63028339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.032755096 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:351.01, Y:273.79, Z:96.30 [[ 3.29580611e-01 -9.37416073e-01 -1.12373158e-01 3.51011914e+02] [ 8.94614586e-01 3.48114719e-01 -2.80144400e-01 2.73790991e+02] [ 3.01730614e-01 -8.20050381e-03 9.53357954e-01 9.63012387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.062755096 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:351.03, Y:273.82, Z:96.31 [[ 3.30401154e-01 -9.36903539e-01 -1.14222749e-01 3.51026312e+02] [ 8.93686834e-01 3.49469545e-01 -2.81415848e-01 2.73817903e+02] [ 3.03576876e-01 -9.09924624e-03 9.52763498e-01 9.63101974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.092755096 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:351.03, Y:273.84, Z:96.32 [[ 3.29333126e-01 -9.37266077e-01 -1.14332820e-01 3.51033562e+02] [ 8.94987226e-01 3.48453707e-01 -2.78528058e-01 2.73837656e+02] [ 3.00894595e-01 -1.05978976e-02 9.53598515e-01 9.63188225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.122755096 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:351.04, Y:273.86, Z:96.33 [[ 3.28913293e-01 -9.37709583e-01 -1.11878430e-01 3.51041748e+02] [ 8.95052020e-01 3.47324954e-01 -2.79727112e-01 2.73862382e+02] [ 3.01160964e-01 -8.13104954e-03 9.53538651e-01 9.63261710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.152755096 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:351.04, Y:273.89, Z:96.33 [[ 3.29122621e-01 -9.38979151e-01 -9.99822737e-02 3.51043520e+02] [ 8.92961176e-01 3.43916318e-01 -2.90416778e-01 2.73886895e+02] [ 3.07080835e-01 6.30244238e-03 9.51662566e-01 9.63307603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.182755096 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:351.07, Y:273.90, Z:96.34 [[ 3.27537561e-01 -9.36678762e-01 -1.23903358e-01 3.51066859e+02] [ 8.95216333e-01 3.49594857e-01 -2.76353311e-01 2.73904660e+02] [ 3.02170254e-01 -2.04042199e-02 9.53035574e-01 9.63433207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.212755096 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:351.06, Y:273.94, Z:96.34 [[ 3.30240119e-01 -9.40125061e-01 -8.42990776e-02 3.51058577e+02] [ 8.92839928e-01 3.40103667e-01 -2.95239494e-01 2.73942003e+02] [ 3.06232472e-01 2.22343430e-02 9.51697067e-01 9.63357037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.242755096 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:351.08, Y:273.95, Z:96.36 [[ 3.29014963e-01 -9.36285927e-01 -1.22954535e-01 3.51084711e+02] [ 8.94128156e-01 3.50759527e-01 -2.78392880e-01 2.73948557e+02] [ 3.03782810e-01 -1.83416882e-02 9.52564742e-01 9.63577453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.272755096 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:351.08, Y:273.98, Z:96.36 [[ 3.26683949e-01 -9.40418727e-01 -9.42879396e-02 3.51078545e+02] [ 8.93298425e-01 3.39810983e-01 -2.94187730e-01 2.73982721e+02] [ 3.08699728e-01 1.18791415e-02 9.51085361e-01 9.63595977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.302755096 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:351.11, Y:274.00, Z:96.37 [[ 3.29297120e-01 -9.35367750e-01 -1.29037125e-01 3.51110346e+02] [ 8.94046289e-01 3.52829186e-01 -2.76030433e-01 2.73998192e+02] [ 3.03718028e-01 -2.44691356e-02 9.52447700e-01 9.63732091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.332755096 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:351.11, Y:274.03, Z:96.38 [[ 3.29710512e-01 -9.37574429e-01 -1.10657892e-01 3.51111103e+02] [ 8.93461004e-01 3.47746597e-01 -2.84252948e-01 2.74026813e+02] [ 3.04989201e-01 -5.14732658e-03 9.52341899e-01 9.63783497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.362755096 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:351.13, Y:274.04, Z:96.39 [[ 3.27984281e-01 -9.35738787e-01 -1.29688990e-01 3.51128210e+02] [ 8.94860205e-01 3.51739358e-01 -2.74781072e-01 2.74043874e+02] [ 3.02740029e-01 -2.59296444e-02 9.52720383e-01 9.63935106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.392755096 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:351.12, Y:274.08, Z:96.39 [[ 3.30984121e-01 -9.38545318e-01 -9.78886993e-02 3.51121103e+02] [ 8.92383410e-01 3.45040873e-01 -2.90858465e-01 2.74076780e+02] [ 3.06759453e-01 8.91528222e-03 9.51745321e-01 9.63925833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4227550960001 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:351.15, Y:274.09, Z:96.41 [[ 3.34685230e-01 -9.33844490e-01 -1.26175532e-01 3.51151126e+02] [ 8.91521108e-01 3.57161428e-01 -2.78614121e-01 2.74094304e+02] [ 3.05247295e-01 -1.92401193e-02 9.52078729e-01 9.64115723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.452755096 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:351.16, Y:274.12, Z:96.42 [[ 3.36958636e-01 -9.33560432e-01 -1.22163000e-01 3.51161390e+02] [ 8.90199003e-01 3.58151299e-01 -2.81555293e-01 2.74122898e+02] [ 3.06601718e-01 -1.38768929e-02 9.51736738e-01 9.64210536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.482755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:351.16, Y:274.15, Z:96.42 [[ 3.38461164e-01 -9.34471296e-01 -1.10487276e-01 3.51163867e+02] [ 8.88857459e-01 3.56037975e-01 -2.88391015e-01 2.74148254e+02] [ 3.08830791e-01 -5.98280622e-04 9.51116809e-01 9.64242516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.512755096 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:351.18, Y:274.17, Z:96.44 [[ 3.39988475e-01 -9.32770039e-01 -1.19782683e-01 3.51178260e+02] [ 8.88004574e-01 3.60353253e-01 -2.85645601e-01 2.74168060e+02] [ 3.09605738e-01 -9.25135787e-03 9.50820014e-01 9.64359939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5427550960001 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:351.18, Y:274.20, Z:96.44 [[ 3.38177857e-01 -9.35168828e-01 -1.05332811e-01 3.51180270e+02] [ 8.87844731e-01 3.54154300e-01 -2.93779620e-01 2.74198525e+02] [ 3.12037610e-01 5.83058103e-03 9.50051859e-01 9.64393928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.572755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:351.20, Y:274.22, Z:96.45 [[ 3.38729994e-01 -9.33068399e-01 -1.21017990e-01 3.51198256e+02] [ 8.86960108e-01 3.59582249e-01 -2.89831628e-01 2.74215465e+02] [ 3.13948654e-01 -9.16346415e-03 9.49395741e-01 9.64513768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.602755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:351.21, Y:274.24, Z:96.46 [[ 3.38202807e-01 -9.31710959e-01 -1.32414316e-01 3.51214480e+02] [ 8.88309301e-01 3.62517022e-01 -2.81936153e-01 2.74236172e+02] [ 3.10685447e-01 -2.22732696e-02 9.50251785e-01 9.64631200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.632755096 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:351.21, Y:274.26, Z:96.46 [[ 3.37225695e-01 -9.34611060e-01 -1.13053071e-01 3.51214925e+02] [ 8.88849379e-01 3.55658198e-01 -2.88884109e-01 2.74264178e+02] [ 3.10202534e-01 -3.06800776e-03 9.50665543e-01 9.64620930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6627550960001 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:351.23, Y:274.28, Z:96.47 [[ 3.37880860e-01 -9.32889702e-01 -1.24712985e-01 3.51226610e+02] [ 8.89553197e-01 3.59813994e-01 -2.81476463e-01 2.74279441e+02] [ 3.07459971e-01 -1.58333249e-02 9.51429279e-01 9.64749352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.692755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:351.23, Y:274.31, Z:96.48 [[ 3.37074791e-01 -9.35161782e-01 -1.08871606e-01 3.51229881e+02] [ 8.89685502e-01 3.54220811e-01 -2.88075206e-01 2.74310435e+02] [ 3.07961512e-01 2.41400136e-04 9.51398785e-01 9.64757807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.722755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:351.23, Y:274.34, Z:96.48 [[ 3.33653702e-01 -9.37789139e-01 -9.60559098e-02 3.51233866e+02] [ 8.90517794e-01 3.46975162e-01 -2.94255493e-01 2.74339850e+02] [ 3.09278621e-01 1.26399379e-02 9.50887463e-01 9.64786364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.752755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:351.25, Y:274.36, Z:96.49 [[ 3.30988178e-01 -9.36425847e-01 -1.16419323e-01 3.51253517e+02] [ 8.92433723e-01 3.50724293e-01 -2.83821284e-01 2.74355777e+02] [ 3.06608671e-01 -9.95504049e-03 9.51783599e-01 9.64904580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.782755096 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:351.26, Y:274.38, Z:96.49 [[ 3.29153018e-01 -9.37928692e-01 -1.09307182e-01 3.51259777e+02] [ 8.93610786e-01 3.46806312e-01 -2.84930070e-01 2.74379101e+02] [ 3.05152509e-01 -3.89248441e-03 9.52295540e-01 9.64932207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.812755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:351.27, Y:274.41, Z:96.50 [[ 3.26678577e-01 -9.39150871e-01 -1.06192038e-01 3.51267692e+02] [ 8.94324488e-01 3.43502418e-01 -2.86687635e-01 2.74405048e+02] [ 3.05720164e-01 -1.31543186e-03 9.52120502e-01 9.65023478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.842755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:351.29, Y:274.42, Z:96.52 [[ 3.28092358e-01 -9.35720993e-01 -1.29543925e-01 3.51292680e+02] [ 8.93645643e-01 3.51896767e-01 -2.78506966e-01 2.74417557e+02] [ 3.06190903e-01 -2.43903571e-02 9.51657628e-01 9.65207753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.872755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:351.28, Y:274.46, Z:96.51 [[ 3.22955222e-01 -9.42925766e-01 -8.11845129e-02 3.51276294e+02] [ 8.96639638e-01 3.32294893e-01 -2.92604620e-01 2.74457694e+02] [ 3.02881635e-01 2.17049378e-02 9.52780988e-01 9.65084814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.902755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:351.32, Y:274.46, Z:96.54 [[ 3.23966788e-01 -9.36289255e-01 -1.35675902e-01 3.51317595e+02] [ 8.95665760e-01 3.49721500e-01 -2.74732084e-01 2.74462023e+02] [ 3.04677478e-01 -3.25161890e-02 9.51900379e-01 9.65388939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.932755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:351.28, Y:274.51, Z:96.51 [[ 3.17705563e-01 -9.46783559e-01 -5.16146105e-02 3.51278640e+02] [ 9.00297505e-01 3.18292704e-01 -2.96907658e-01 2.74511652e+02] [ 2.97535843e-01 4.78607096e-02 9.53510238e-01 9.65082001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.962755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:351.35, Y:274.50, Z:96.56 [[ 3.22754000e-01 -9.33661665e-01 -1.55260270e-01 3.51348018e+02] [ 8.96315536e-01 3.54203220e-01 -2.66755578e-01 2.74502781e+02] [ 3.04053145e-01 -5.30657623e-02 9.51175962e-01 9.65640325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.992755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:351.34, Y:274.54, Z:96.55 [[ 3.22690409e-01 -9.40139727e-01 -1.09581905e-01 3.51335528e+02] [ 8.95913580e-01 3.40732808e-01 -2.85026333e-01 2.74541110e+02] [ 3.05302729e-01 -6.20065319e-03 9.52235158e-01 9.65541844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.022755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:351.35, Y:274.56, Z:96.56 [[ 3.23729469e-01 -9.39788374e-01 -1.09531010e-01 3.51345648e+02] [ 8.95481655e-01 3.41708567e-01 -2.85215463e-01 2.74564528e+02] [ 3.05469861e-01 -5.75035949e-03 9.52184382e-01 9.65620982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.35, Y:274.59, Z:96.57 [[ 3.23948956e-01 -9.39737440e-01 -1.09318882e-01 3.51354435e+02] [ 8.95523506e-01 3.41851108e-01 -2.84913094e-01 2.74586393e+02] [ 3.05114282e-01 -5.60032961e-03 9.52299276e-01 9.65704577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.082755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:351.37, Y:274.61, Z:96.58 [[ 3.24398661e-01 -9.39605697e-01 -1.09117565e-01 3.51365480e+02] [ 8.95436692e-01 3.42217264e-01 -2.84746335e-01 2.74609307e+02] [ 3.04891193e-01 -5.33654119e-03 9.52372239e-01 9.65781903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.112755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:351.37, Y:274.63, Z:96.59 [[ 3.24062881e-01 -9.39734599e-01 -1.09005191e-01 3.51374366e+02] [ 8.95558240e-01 3.41863225e-01 -2.84789350e-01 2.74633421e+02] [ 3.04891272e-01 -5.33083978e-03 9.52372246e-01 9.65862640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.142755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:351.38, Y:274.66, Z:96.59 [[ 3.23568499e-01 -9.39908671e-01 -1.08973011e-01 3.51384897e+02] [ 8.95665975e-01 3.41383607e-01 -2.85025778e-01 2.74656419e+02] [ 3.05099799e-01 -5.37805518e-03 9.52305197e-01 9.65927750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.37, Y:274.70, Z:96.60 [[ 3.16954150e-01 -9.45857246e-01 -6.99581035e-02 3.51372644e+02] [ 8.94245286e-01 3.22605554e-01 -3.10243493e-01 2.74702000e+02] [ 3.16014929e-01 3.57732585e-02 9.48079553e-01 9.65953120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.43, Y:274.69, Z:96.63 [[ 3.20671338e-01 -9.33976597e-01 -1.57662960e-01 3.51428610e+02] [ 8.96338555e-01 3.53028395e-01 -2.68231520e-01 2.74691456e+02] [ 3.06181463e-01 -5.53052289e-02 9.50365321e-01 9.66291744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.42, Y:274.74, Z:96.63 [[ 3.22954669e-01 -9.39944895e-01 -1.10471152e-01 3.51421960e+02] [ 8.92208889e-01 3.41312610e-01 -2.95751586e-01 2.74739303e+02] [ 3.15695391e-01 -3.04898802e-03 9.48855692e-01 9.66283382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.42, Y:274.75, Z:96.63 [[ 3.22042136e-01 -9.40487329e-01 -1.08500906e-01 3.51420419e+02] [ 8.94335158e-01 3.39812580e-01 -2.91018960e-01 2.74754388e+02] [ 3.10569617e-01 -3.31580701e-03 9.50544853e-01 9.66281856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2927550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:351.44, Y:274.77, Z:96.64 [[ 3.23842331e-01 -9.37906656e-01 -1.24327191e-01 3.51439317e+02] [ 8.95289257e-01 3.46278667e-01 -2.80264574e-01 2.74773726e+02] [ 3.05913863e-01 -2.05472661e-02 9.51837443e-01 9.66414594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.322755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:351.43, Y:274.81, Z:96.64 [[ 3.23423224e-01 -9.42209808e-01 -8.73961997e-02 3.51427380e+02] [ 8.93254920e-01 3.34479767e-01 -3.00364667e-01 2.74808708e+02] [ 3.12238796e-01 1.90778237e-02 9.49812072e-01 9.66395402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.352755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:351.46, Y:274.82, Z:96.66 [[ 3.24233262e-01 -9.36953897e-01 -1.30346410e-01 3.51459360e+02] [ 8.95442790e-01 3.48418325e-01 -2.77104457e-01 2.74818281e+02] [ 3.05049179e-01 -2.68712705e-02 9.51957422e-01 9.66605152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.46, Y:274.85, Z:96.66 [[ 3.23469017e-01 -9.40117366e-01 -1.07457590e-01 3.51456834e+02] [ 8.95829445e-01 3.40827227e-01 -2.85177851e-01 2.74848688e+02] [ 3.04725122e-01 -4.01747442e-03 9.52431866e-01 9.66606716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4127550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:351.47, Y:274.87, Z:96.67 [[ 3.22080615e-01 -9.40594104e-01 -1.07456080e-01 3.51465660e+02] [ 8.96226487e-01 3.39505258e-01 -2.85507028e-01 2.74873070e+02] [ 3.05028132e-01 -4.34870566e-03 9.52333412e-01 9.66679447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.47, Y:274.90, Z:96.68 [[ 3.20405882e-01 -9.41201473e-01 -1.07144101e-01 3.51472356e+02] [ 8.97019427e-01 3.37811894e-01 -2.85025039e-01 2.74896678e+02] [ 3.04460538e-01 -4.78664066e-03 9.52512923e-01 9.66752034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.47, Y:274.93, Z:96.67 [[ 3.19497857e-01 -9.43963240e-01 -8.27920320e-02 3.51467490e+02] [ 8.96572081e-01 3.29422337e-01 -2.96039570e-01 2.74928764e+02] [ 3.06724016e-01 2.03549839e-02 9.51580818e-01 9.66710261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.502755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:351.50, Y:274.94, Z:96.70 [[ 3.16683354e-01 -9.39631838e-01 -1.29628939e-01 3.51501483e+02] [ 8.98196682e-01 3.40991910e-01 -2.77429698e-01 2.74937678e+02] [ 3.04884197e-01 -2.85749155e-02 9.51960661e-01 9.66969730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.532755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:351.50, Y:274.97, Z:96.70 [[ 3.16159404e-01 -9.42656882e-01 -1.06963705e-01 3.51498527e+02] [ 8.98357305e-01 3.33713270e-01 -2.85638944e-01 2.74967082e+02] [ 3.04954724e-01 -5.78418721e-03 9.52349284e-01 9.66977549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.50, Y:275.00, Z:96.70 [[ 3.14778709e-01 -9.45429674e-01 -8.41254791e-02 3.51495246e+02] [ 8.98059977e-01 3.25348603e-01 -2.96034735e-01 2.75000484e+02] [ 3.07250130e-01 1.76357059e-02 9.51465364e-01 9.66950429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.592755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:351.53, Y:275.01, Z:96.72 [[ 3.14924608e-01 -9.40164493e-01 -1.30050828e-01 3.51528515e+02] [ 8.99119048e-01 3.39407185e-01 -2.76383248e-01 2.75006348e+02] [ 3.03985902e-01 -2.98912905e-02 9.52207479e-01 9.67216613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.622755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:351.53, Y:275.04, Z:96.72 [[ 3.14898024e-01 -9.43155109e-01 -1.06290521e-01 3.51525158e+02] [ 8.99148330e-01 3.32300701e-01 -2.84795585e-01 2.75037016e+02] [ 3.03926826e-01 -5.88937768e-03 9.52677175e-01 9.67214255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.52, Y:275.07, Z:96.72 [[ 3.14094802e-01 -9.46008138e-01 -8.00815758e-02 3.51517864e+02] [ 8.96741052e-01 3.23318370e-01 -3.02193180e-01 2.75071666e+02] [ 3.11769052e-01 2.31048706e-02 9.49876952e-01 9.67226978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.682755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:351.56, Y:275.08, Z:96.75 [[ 3.14853801e-01 -9.39520379e-01 -1.34790734e-01 3.51555864e+02] [ 8.98901031e-01 3.40756686e-01 -2.75430241e-01 2.75077319e+02] [ 3.04703168e-01 -3.44432712e-02 9.51824375e-01 9.67470936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.56, Y:275.11, Z:96.76 [[ 3.17842908e-01 -9.40347972e-01 -1.21332508e-01 3.51564142e+02] [ 8.96962096e-01 3.39689265e-01 -2.82966785e-01 2.75109136e+02] [ 3.07302593e-01 -1.88916747e-02 9.51424312e-01 9.67568934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.742755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:351.56, Y:275.14, Z:96.75 [[ 3.15275713e-01 -9.44323504e-01 -9.40975230e-02 3.51558349e+02] [ 8.98368591e-01 3.28938768e-01 -2.91089611e-01 2.75142223e+02] [ 3.05835085e-01 7.23922560e-03 9.52056981e-01 9.67487257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.772755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:351.57, Y:275.16, Z:96.76 [[ 3.13102286e-01 -9.43738069e-01 -1.06420936e-01 3.51574109e+02] [ 8.99209109e-01 3.30639811e-01 -2.86531487e-01 2.75161017e+02] [ 3.05597671e-01 -5.98101195e-03 9.52141949e-01 9.67600167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.802755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:351.60, Y:275.18, Z:96.78 [[ 3.13979412e-01 -9.40454478e-01 -1.30239407e-01 3.51597592e+02] [ 8.97774555e-01 3.38720645e-01 -2.81547817e-01 2.75177923e+02] [ 3.08897681e-01 -2.85254074e-02 9.50667410e-01 9.67839045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.58, Y:275.21, Z:96.77 [[ 3.13771478e-01 -9.45766072e-01 -8.41070558e-02 3.51581294e+02] [ 8.98663830e-01 3.24400498e-01 -2.95241659e-01 2.75213689e+02] [ 3.06513915e-01 1.70544429e-02 9.51713384e-01 9.67683065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.60, Y:275.23, Z:96.78 [[ 3.13239053e-01 -9.43584121e-01 -1.07379249e-01 3.51601506e+02] [ 8.99233769e-01 3.31059291e-01 -2.85969184e-01 2.75230618e+02] [ 3.05384880e-01 -6.98233042e-03 9.52203404e-01 9.67841113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.892755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:351.62, Y:275.24, Z:96.81 [[ 3.15252210e-01 -9.40565467e-01 -1.26303788e-01 3.51621511e+02] [ 8.96085671e-01 3.38847079e-01 -2.86728315e-01 2.75243522e+02] [ 3.12484421e-01 -2.27872794e-02 9.49649528e-01 9.68083326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9227550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:351.61, Y:275.28, Z:96.80 [[ 3.11441495e-01 -9.45621878e-01 -9.38267485e-02 3.51608819e+02] [ 8.97995817e-01 3.25168016e-01 -2.96427520e-01 2.75279472e+02] [ 3.10817806e-01 8.06380229e-03 9.50435304e-01 9.67994354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.952755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:351.63, Y:275.30, Z:96.81 [[ 3.12441342e-01 -9.43311199e-01 -1.12001744e-01 3.51630442e+02] [ 8.97947066e-01 3.31752329e-01 -2.89191043e-01 2.75301641e+02] [ 3.09953989e-01 -1.02164003e-02 9.50696666e-01 9.68147378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.982755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:351.65, Y:275.32, Z:96.84 [[ 3.13798405e-01 -9.39320962e-01 -1.38588207e-01 3.51653111e+02] [ 8.96023513e-01 3.41245379e-01 -2.84065935e-01 2.75317000e+02] [ 3.14121673e-01 -3.50388544e-02 9.48735924e-01 9.68409002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.012755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:351.63, Y:275.35, Z:96.82 [[ 3.11167618e-01 -9.46050798e-01 -9.03471152e-02 3.51631985e+02] [ 8.98380089e-01 3.23825843e-01 -2.96732268e-01 2.75352987e+02] [ 3.09980530e-01 1.11674238e-02 9.50677316e-01 9.68242693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.66, Y:275.37, Z:96.85 [[ 3.14207050e-01 -9.42287182e-01 -1.15623510e-01 3.51658181e+02] [ 8.94855498e-01 3.34636149e-01 -2.95384978e-01 2.75371145e+02] [ 3.17029284e-01 -1.06542908e-02 9.48355903e-01 9.68476372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.66, Y:275.40, Z:96.85 [[ 3.12369539e-01 -9.43787161e-01 -1.08125233e-01 3.51661724e+02] [ 8.98105451e-01 3.30490324e-01 -2.90142628e-01 2.75400114e+02] [ 3.09567231e-01 -6.47614207e-03 9.50855504e-01 9.68502511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.102755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:351.66, Y:275.42, Z:96.86 [[ 3.09347529e-01 -9.44887132e-01 -1.07202680e-01 3.51664991e+02] [ 8.99420023e-01 3.27325313e-01 -2.89658007e-01 2.75421508e+02] [ 3.08784274e-01 -6.81524884e-03 9.51107683e-01 9.68553065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.68, Y:275.45, Z:96.87 [[ 3.12297953e-01 -9.42499035e-01 -1.19019151e-01 3.51684181e+02] [ 8.96729980e-01 3.33826552e-01 -2.90577317e-01 2.75445623e+02] [ 3.13600593e-01 -1.59813392e-02 9.49420489e-01 9.68748804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.68, Y:275.48, Z:96.87 [[ 3.10907780e-01 -9.45659889e-01 -9.52036043e-02 3.51675436e+02] [ 8.98188881e-01 3.25092594e-01 -2.95924887e-01 2.75475166e+02] [ 3.10794283e-01 6.49453086e-03 9.50455015e-01 9.68677691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.192755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:351.68, Y:275.50, Z:96.87 [[ 3.08050254e-01 -9.46989522e-01 -9.11914853e-02 3.51678620e+02] [ 8.98590779e-01 3.21103222e-01 -2.99044032e-01 2.75499026e+02] [ 3.12473445e-01 1.01767623e-02 9.49871981e-01 9.68713163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.222755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:351.72, Y:275.51, Z:96.91 [[ 3.09025710e-01 -9.39872010e-01 -1.45408787e-01 3.51718127e+02] [ 8.97391092e-01 3.38792245e-01 -2.82681875e-01 2.75511737e+02] [ 3.14948151e-01 -4.31325832e-02 9.48128284e-01 9.69079735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.69, Y:275.55, Z:96.89 [[ 3.05283796e-01 -9.48535775e-01 -8.41527586e-02 3.51692486e+02] [ 8.99689482e-01 3.16258005e-01 -3.00898172e-01 2.75553734e+02] [ 3.12026665e-01 1.61479845e-02 9.49936105e-01 9.68872900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.282755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:351.72, Y:275.57, Z:96.91 [[ 3.04988875e-01 -9.45418647e-01 -1.14740434e-01 3.51717697e+02] [ 9.00237329e-01 3.25508124e-01 -2.89166409e-01 2.75569833e+02] [ 3.10732259e-01 -1.51010841e-02 9.50377515e-01 9.69084270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.72, Y:275.59, Z:96.91 [[ 3.04328913e-01 -9.46483522e-01 -1.07484208e-01 3.51720532e+02] [ 8.99760022e-01 3.22669587e-01 -2.93796258e-01 2.75593377e+02] [ 3.12755202e-01 -7.29929740e-03 9.49805719e-01 9.69144951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.74, Y:275.62, Z:96.92 [[ 3.04839903e-01 -9.43678769e-01 -1.28619649e-01 3.51742864e+02] [ 9.01817346e-01 3.29431518e-01 -2.79643255e-01 2.75616517e+02] [ 3.06264769e-01 -3.07450082e-02 9.51449755e-01 9.69178011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.72, Y:275.65, Z:96.92 [[ 2.98675912e-01 -9.50352557e-01 -8.73081750e-02 3.51724991e+02] [ 9.03309428e-01 3.11033900e-01 -2.95448796e-01 2.75652939e+02] [ 3.07936321e-01 9.37714098e-03 9.51360758e-01 9.69196488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.74, Y:275.67, Z:96.94 [[ 3.00160684e-01 -9.48240619e-01 -1.03649853e-01 3.51742868e+02] [ 9.02822293e-01 3.17485711e-01 -2.90025396e-01 2.75673609e+02] [ 3.07921208e-01 -6.52317704e-03 9.51389498e-01 9.69354026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.75, Y:275.70, Z:96.95 [[ 2.99559307e-01 -9.47962851e-01 -1.07845514e-01 3.51753530e+02] [ 9.02854668e-01 3.18199289e-01 -2.89141247e-01 2.75697554e+02] [ 3.08411526e-01 -1.07538741e-02 9.51192244e-01 9.69464925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.76, Y:275.72, Z:96.95 [[ 2.97411277e-01 -9.49486721e-01 -1.00107438e-01 3.51755273e+02] [ 9.02888812e-01 3.13792846e-01 -2.93812599e-01 2.75723353e+02] [ 3.10384159e-01 -3.00270587e-03 9.50606468e-01 9.69522199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.77, Y:275.74, Z:96.97 [[ 2.98164209e-01 -9.47599449e-01 -1.14688225e-01 3.51771676e+02] [ 9.02925501e-01 3.18972215e-01 -2.88066426e-01 2.75743445e+02] [ 3.09553944e-01 -1.76638251e-02 9.50717805e-01 9.69664435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.78, Y:275.77, Z:96.98 [[ 2.98079685e-01 -9.47568702e-01 -1.15161000e-01 3.51780859e+02] [ 9.02476972e-01 3.19062909e-01 -2.89368582e-01 2.75768191e+02] [ 3.10940215e-01 -1.76752553e-02 9.50265104e-01 9.69769538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.78, Y:275.80, Z:96.98 [[ 2.95953421e-01 -9.50030289e-01 -9.92674289e-02 3.51779073e+02] [ 9.03141947e-01 3.12148429e-01 -2.94784637e-01 2.75798308e+02] [ 3.11040506e-01 -2.41005711e-03 9.50393600e-01 9.69777136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.79, Y:275.82, Z:96.99 [[ 2.95245610e-01 -9.50184762e-01 -9.98946855e-02 3.51785887e+02] [ 9.03576979e-01 3.11667868e-01 -2.93958811e-01 2.75822788e+02] [ 3.10449147e-01 -3.47248973e-03 9.50583647e-01 9.69854940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.80, Y:275.85, Z:97.00 [[ 2.94432474e-01 -9.49588900e-01 -1.07658902e-01 3.51797823e+02] [ 9.04031205e-01 3.13279607e-01 -2.90832370e-01 2.75845948e+02] [ 3.09898529e-01 -1.16965126e-02 9.50697688e-01 9.69971730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.642755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:351.81, Y:275.87, Z:97.00 [[ 2.93415249e-01 -9.49974260e-01 -1.07034562e-01 3.51805993e+02] [ 9.04528556e-01 3.12113930e-01 -2.90539129e-01 2.75870298e+02] [ 3.09411671e-01 -1.15672072e-02 9.50857832e-01 9.70034303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:351.81, Y:275.90, Z:97.01 [[ 2.93326013e-01 -9.50173065e-01 -1.05503537e-01 3.51813723e+02] [ 9.05211443e-01 3.11538344e-01 -2.89026132e-01 2.75895193e+02] [ 3.07493242e-01 -1.07241258e-02 9.51489831e-01 9.70125882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.82, Y:275.92, Z:97.02 [[ 2.94792120e-01 -9.50252351e-01 -1.00588647e-01 3.51818207e+02] [ 9.04517785e-01 3.11439130e-01 -2.91295802e-01 2.75919879e+02] [ 3.08131762e-01 -5.11251311e-03 9.51329953e-01 9.70181998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.83, Y:275.95, Z:97.03 [[ 2.93721211e-01 -9.50306525e-01 -1.03176349e-01 3.51827677e+02] [ 9.04946073e-01 3.11209633e-01 -2.90208838e-01 2.75945452e+02] [ 3.07896826e-01 -8.12854011e-03 9.51385028e-01 9.70293759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.83, Y:275.97, Z:97.04 [[ 2.93376564e-01 -9.50467433e-01 -1.02673510e-01 3.51834415e+02] [ 9.05222309e-01 3.10723700e-01 -2.89867821e-01 2.75970094e+02] [ 3.07413017e-01 -7.90192661e-03 9.51543376e-01 9.70364537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.86, Y:275.98, Z:97.06 [[ 2.95807623e-01 -9.45582967e-01 -1.35538566e-01 3.51861627e+02] [ 9.03092203e-01 3.23070184e-01 -2.82931315e-01 2.75984921e+02] [ 3.11323502e-01 -3.87105822e-02 9.49515228e-01 9.70648241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.85, Y:276.02, Z:97.06 [[ 2.96285109e-01 -9.50103866e-01 -9.75590999e-02 3.51847453e+02] [ 9.02453009e-01 3.11933716e-01 -2.97112644e-01 2.76019828e+02] [ 3.12719844e-01 -1.24514355e-05 9.49845408e-01 9.70582928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.86, Y:276.04, Z:97.07 [[ 2.97111421e-01 -9.48752086e-01 -1.07676750e-01 3.51860447e+02] [ 9.02018905e-01 3.15872434e-01 -2.94255840e-01 2.76040575e+02] [ 3.13187960e-01 -9.69969332e-03 9.49641626e-01 9.70703543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.882755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:351.86, Y:276.07, Z:97.07 [[ 2.97813844e-01 -9.49380714e-01 -9.99158389e-02 3.51861972e+02] [ 9.01983913e-01 3.14122025e-01 -2.96230273e-01 2.76066342e+02] [ 3.12621074e-01 -1.90100305e-03 9.49876019e-01 9.70744718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.87, Y:276.10, Z:97.08 [[ 2.98596991e-01 -9.50031661e-01 -9.09927470e-02 3.51865805e+02] [ 9.02373455e-01 3.12083080e-01 -2.97197409e-01 2.76095578e+02] [ 3.10744245e-01 6.63281249e-03 9.50470421e-01 9.70751558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.87, Y:276.12, Z:97.08 [[ 2.97089769e-01 -9.51098318e-01 -8.45556523e-02 3.51869170e+02] [ 9.01582874e-01 3.08577985e-01 -3.03196221e-01 2.76123038e+02] [ 3.14461429e-01 1.38425673e-02 9.49169318e-01 9.70806187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.90, Y:276.13, Z:97.11 [[ 2.98471127e-01 -9.44981591e-01 -1.33883451e-01 3.51902825e+02] [ 9.02780067e-01 3.25047021e-01 -2.81660408e-01 2.76128935e+02] [ 3.09682318e-01 -3.67998114e-02 9.50127695e-01 9.71065806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.89, Y:276.16, Z:97.10 [[ 2.97932669e-01 -9.49006023e-01 -1.03071299e-01 3.51894891e+02] [ 9.02801455e-01 3.15202968e-01 -2.92569003e-01 2.76161434e+02] [ 3.10138126e-01 -5.88705486e-03 9.50673280e-01 9.71042657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.89, Y:276.19, Z:97.10 [[ 2.97637365e-01 -9.51287940e-01 -8.03943674e-02 3.51890906e+02] [ 9.03029850e-01 3.07858025e-01 -2.99600613e-01 2.76192892e+02] [ 3.09756501e-01 1.65738234e-02 9.50671457e-01 9.71013730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.91, Y:276.21, Z:97.12 [[ 2.96824343e-01 -9.49796130e-01 -9.89071361e-02 3.51908337e+02] [ 9.03449818e-01 3.12860550e-01 -2.93081392e-01 2.76210723e+02] [ 3.09311712e-01 -2.36394264e-03 9.50957768e-01 9.71152313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.92, Y:276.23, Z:97.12 [[ 2.95654707e-01 -9.50278159e-01 -9.77737982e-02 3.51915214e+02] [ 9.04003800e-01 3.11397251e-01 -2.92931531e-01 2.76233735e+02] [ 3.08812928e-01 -1.78129926e-03 9.51121129e-01 9.71224094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.122755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:351.94, Y:276.25, Z:97.15 [[ 2.96061649e-01 -9.47214109e-01 -1.23015981e-01 3.51938131e+02] [ 9.02512928e-01 3.19581524e-01 -2.88683329e-01 2.76249493e+02] [ 3.12758557e-01 -2.55554504e-02 9.49488812e-01 9.71453677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.94, Y:276.28, Z:97.15 [[ 2.94859708e-01 -9.49695279e-01 -1.05530236e-01 3.51937576e+02] [ 9.02704787e-01 3.13067184e-01 -2.95149124e-01 2.76277400e+02] [ 3.13339784e-01 -8.23506508e-03 9.49605373e-01 9.71507200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.93, Y:276.31, Z:97.14 [[ 2.92764721e-01 -9.53426337e-01 -7.25743552e-02 3.51926279e+02] [ 9.04444813e-01 3.00752960e-01 -3.02534689e-01 2.76312908e+02] [ 3.10271493e-01 2.29319848e-02 9.50371362e-01 9.71392439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.94, Y:276.33, Z:97.15 [[ 2.91211819e-01 -9.52427911e-01 -8.98707417e-02 3.51943110e+02] [ 9.04251949e-01 3.04707895e-01 -2.99134605e-01 2.76333263e+02] [ 3.12288471e-01 5.84573905e-03 9.49969335e-01 9.71534317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.96, Y:276.35, Z:97.17 [[ 2.90545052e-01 -9.50387775e-01 -1.11115483e-01 3.51964034e+02] [ 9.05169558e-01 3.10641067e-01 -2.90121007e-01 2.76351840e+02] [ 3.10244490e-01 -1.62851292e-02 9.50517307e-01 9.71690040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.96, Y:276.38, Z:97.17 [[ 2.88885163e-01 -9.53004993e-01 -9.12515519e-02 3.51962593e+02] [ 9.07103956e-01 3.02950156e-01 -2.92204749e-01 2.76382758e+02] [ 3.06117257e-01 1.63897286e-03 9.51992405e-01 9.71679320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.99, Y:276.39, Z:97.20 [[ 2.88268088e-01 -9.48581423e-01 -1.30747058e-01 3.51992251e+02] [ 9.05008929e-01 3.14507038e-01 -2.86433520e-01 2.76390766e+02] [ 3.12826386e-01 -3.57576119e-02 9.49137000e-01 9.72007307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.99, Y:276.42, Z:97.20 [[ 2.88962518e-01 -9.51567108e-01 -1.04979535e-01 3.51989676e+02] [ 9.04711095e-01 3.07287767e-01 -2.95079755e-01 2.76422773e+02] [ 3.13047116e-01 -9.70916093e-03 9.49687967e-01 9.71982884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:351.98, Y:276.46, Z:97.19 [[ 2.83369893e-01 -9.56178981e-01 -7.36427913e-02 3.51978478e+02] [ 9.08605928e-01 2.92251094e-01 -2.98369849e-01 2.76459410e+02] [ 3.06817164e-01 1.76367554e-02 9.51605051e-01 9.71868921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.02, Y:276.46, Z:97.22 [[ 2.84141336e-01 -9.49698502e-01 -1.31667982e-01 3.52017638e+02] [ 9.06820006e-01 3.10791597e-01 -2.84756143e-01 2.76461684e+02] [ 3.11353784e-01 -3.84881693e-02 9.49514340e-01 9.72243815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.01, Y:276.49, Z:97.22 [[ 2.82877014e-01 -9.53686408e-01 -1.02287979e-01 3.52009986e+02] [ 9.06547148e-01 3.00670251e-01 -2.96259463e-01 2.76494584e+02] [ 3.13293575e-01 -8.92388317e-03 9.49614396e-01 9.72227137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.02, Y:276.52, Z:97.23 [[ 2.83758137e-01 -9.53492649e-01 -1.01651801e-01 3.52017879e+02] [ 9.06820278e-01 3.01295483e-01 -2.94784695e-01 2.76517947e+02] [ 3.11702268e-01 -8.53235807e-03 9.50141513e-01 9.72297161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.03, Y:276.54, Z:97.24 [[ 2.82852363e-01 -9.53719460e-01 -1.02047698e-01 3.52026228e+02] [ 9.06564776e-01 3.00571895e-01 -2.96305322e-01 2.76541834e+02] [ 3.13264821e-01 -8.70218774e-03 9.49625939e-01 9.72378474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.03, Y:276.57, Z:97.25 [[ 2.82464258e-01 -9.53845047e-01 -1.01948852e-01 3.52034107e+02] [ 9.06666819e-01 3.00172831e-01 -2.96397624e-01 2.76565537e+02] [ 3.13319682e-01 -8.71190612e-03 9.49607751e-01 9.72457697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.04, Y:276.59, Z:97.25 [[ 2.83088490e-01 -9.54090058e-01 -9.78420536e-02 3.52042333e+02] [ 9.06615758e-01 2.99485206e-01 -2.97248178e-01 2.76594381e+02] [ 3.12903779e-01 -4.55760974e-03 9.49773896e-01 9.72509828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.05, Y:276.61, Z:97.26 [[ 2.85271938e-01 -9.52154936e-01 -1.09639859e-01 3.52054072e+02] [ 9.05872446e-01 3.05220035e-01 -2.93659398e-01 2.76607534e+02] [ 3.13073527e-01 -1.55469416e-02 9.49601632e-01 9.72620073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.05, Y:276.64, Z:97.27 [[ 2.81512873e-01 -9.54885508e-01 -9.45736186e-02 3.52053381e+02] [ 9.06850325e-01 2.96969996e-01 -2.99050680e-01 2.76639772e+02] [ 3.13644688e-01 -1.57750040e-03 9.49539110e-01 9.72661507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.06, Y:276.66, Z:97.28 [[ 2.80794687e-01 -9.54398699e-01 -1.01377846e-01 3.52064412e+02] [ 9.07233380e-01 2.98407213e-01 -2.96446842e-01 2.76661593e+02] [ 3.13180361e-01 -8.73266777e-03 9.49653517e-01 9.72764097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.07, Y:276.69, Z:97.28 [[ 2.82104085e-01 -9.55187212e-01 -8.96363549e-02 3.52067638e+02] [ 9.07392788e-01 2.95988744e-01 -2.98377264e-01 2.76690695e+02] [ 3.11537498e-01 2.83806286e-03 9.50229621e-01 9.72780017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.09, Y:276.71, Z:97.30 [[ 2.80211152e-01 -9.53421686e-01 -1.11663779e-01 3.52086186e+02] [ 9.07847633e-01 3.01004605e-01 -2.91905639e-01 2.76706162e+02] [ 3.11920478e-01 -1.95784822e-02 9.49906468e-01 9.72968416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.09, Y:276.73, Z:97.30 [[ 2.79883783e-01 -9.54737305e-01 -1.00706243e-01 3.52088209e+02] [ 9.07908067e-01 2.97322020e-01 -2.95470063e-01 2.76733285e+02] [ 3.12038475e-01 -8.73473148e-03 9.50029313e-01 9.73016569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.09, Y:276.76, Z:97.31 [[ 2.79970007e-01 -9.54736911e-01 -1.00470023e-01 3.52094333e+02] [ 9.08007863e-01 2.97327435e-01 -2.95157784e-01 2.76758118e+02] [ 3.11670525e-01 -8.59224364e-03 9.50151386e-01 9.73091162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.10, Y:276.78, Z:97.32 [[ 2.79919210e-01 -9.54773653e-01 -1.00262191e-01 3.52101117e+02] [ 9.08117825e-01 2.97212315e-01 -2.94935341e-01 2.76781572e+02] [ 3.11395650e-01 -8.49181502e-03 9.50242410e-01 9.73161937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.11, Y:276.81, Z:97.32 [[ 2.80012708e-01 -9.54747839e-01 -1.00246928e-01 3.52108281e+02] [ 9.07971781e-01 2.97299678e-01 -2.95296710e-01 2.76805542e+02] [ 3.11737276e-01 -8.33455062e-03 9.50131784e-01 9.73243672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.12, Y:276.83, Z:97.33 [[ 2.81024882e-01 -9.54486612e-01 -9.99015654e-02 3.52115230e+02] [ 9.07899702e-01 2.98149291e-01 -2.94661045e-01 2.76829079e+02] [ 3.11035604e-01 -7.89351595e-03 9.50365480e-01 9.73317980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.12, Y:276.85, Z:97.34 [[ 2.80756337e-01 -9.54583357e-01 -9.97321138e-02 3.52122564e+02] [ 9.08033895e-01 2.97840271e-01 -2.94560042e-01 2.76853477e+02] [ 3.10886353e-01 -7.86054151e-03 9.50414587e-01 9.73399154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.13, Y:276.88, Z:97.35 [[ 2.81284650e-01 -9.54452650e-01 -9.94941432e-02 3.52129868e+02] [ 9.07999308e-01 2.98266211e-01 -2.94235492e-01 2.76876539e+02] [ 3.10509586e-01 -7.57668599e-03 9.50540052e-01 9.73469237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.932755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:352.14, Y:276.90, Z:97.35 [[ 2.81130708e-01 -9.54504371e-01 -9.94330501e-02 3.52137888e+02] [ 9.07983310e-01 2.98102483e-01 -2.94450708e-01 2.76900635e+02] [ 3.10695727e-01 -7.50441388e-03 9.50479799e-01 9.73541348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.13, Y:276.93, Z:97.35 [[ 2.80980703e-01 -9.56437083e-01 -7.92335247e-02 3.52134915e+02] [ 9.08749129e-01 2.91697427e-01 -2.98475513e-01 2.76932602e+02] [ 3.08585264e-01 1.18624631e-02 9.51122714e-01 9.73519026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.16, Y:276.94, Z:97.38 [[ 2.81660326e-01 -9.52318050e-01 -1.17293618e-01 3.52162266e+02] [ 9.08331955e-01 3.04027774e-01 -2.87228432e-01 2.76943340e+02] [ 3.09193338e-01 -2.56406877e-02 9.50653478e-01 9.73775406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.022755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.17, Y:276.97, Z:97.39 [[ 2.85593031e-01 -9.52036222e-01 -1.09834661e-01 3.52170253e+02] [ 9.06408221e-01 3.05552964e-01 -2.91653087e-01 2.76973123e+02] [ 3.11224609e-01 -1.62609504e-02 9.50197255e-01 9.73866629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.16, Y:277.00, Z:97.39 [[ 2.84356790e-01 -9.54198116e-01 -9.29901685e-02 3.52164388e+02] [ 9.07167400e-01 2.99175376e-01 -2.95873966e-01 2.76999517e+02] [ 3.10142750e-01 -2.23877963e-04 9.50689973e-01 9.73856699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.17, Y:277.02, Z:97.39 [[ 2.87115477e-01 -9.52781980e-01 -9.88493899e-02 3.52174380e+02] [ 9.06083587e-01 3.03614696e-01 -2.94670410e-01 2.77021630e+02] [ 3.10768784e-01 -4.96137445e-03 9.50472592e-01 9.73947916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.18, Y:277.05, Z:97.40 [[ 2.87999076e-01 -9.52536346e-01 -9.86460407e-02 3.52182086e+02] [ 9.05921109e-01 3.04390317e-01 -2.94369629e-01 2.77045277e+02] [ 3.10424670e-01 -4.58734958e-03 9.50586914e-01 9.74026540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.19, Y:277.07, Z:97.41 [[ 2.88788545e-01 -9.52325218e-01 -9.83760945e-02 3.52190310e+02] [ 9.05835671e-01 3.05055452e-01 -2.93943717e-01 2.77069474e+02] [ 3.09940179e-01 -4.22499721e-03 9.50746672e-01 9.74108326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.20, Y:277.09, Z:97.42 [[ 2.89606670e-01 -9.52099351e-01 -9.81570251e-02 3.52198033e+02] [ 9.05686033e-01 3.05764603e-01 -2.93667869e-01 2.77092499e+02] [ 3.09613931e-01 -3.85127309e-03 9.50854553e-01 9.74185123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.21, Y:277.12, Z:97.42 [[ 2.90721289e-01 -9.52353871e-01 -9.22129917e-02 3.52206246e+02] [ 9.05369320e-01 3.04985758e-01 -2.95448949e-01 2.77121504e+02] [ 3.09495599e-01 2.40648554e-03 9.50897830e-01 9.74233709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.22, Y:277.14, Z:97.44 [[ 2.89530905e-01 -9.51205245e-01 -1.06679130e-01 3.52218107e+02] [ 9.05682220e-01 3.08311129e-01 -2.91005092e-01 2.77136895e+02] [ 3.09695933e-01 -1.23624235e-02 9.50755278e-01 9.74374202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.22, Y:277.17, Z:97.44 [[ 2.91235667e-01 -9.52106428e-01 -9.31404099e-02 3.52222406e+02] [ 9.04992845e-01 3.05761188e-01 -2.95800686e-01 2.77166808e+02] [ 3.10112457e-01 1.85630566e-03 9.50698069e-01 9.74406378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.24, Y:277.19, Z:97.46 [[ 2.91588586e-01 -9.50655809e-01 -1.05969945e-01 3.52238127e+02] [ 9.04622259e-01 3.10066655e-01 -2.92433307e-01 2.77188378e+02] [ 3.10861168e-01 -1.05925563e-02 9.50396303e-01 9.74551228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.24, Y:277.21, Z:97.46 [[ 2.90798663e-01 -9.51453227e-01 -1.00860768e-01 3.52239574e+02] [ 9.04767963e-01 3.07741776e-01 -2.94431543e-01 2.77210550e+02] [ 3.11176914e-01 -5.63529193e-03 9.50335295e-01 9.74611504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.25, Y:277.24, Z:97.47 [[ 2.92022151e-01 -9.51287240e-01 -9.88718858e-02 3.52250304e+02] [ 9.03985924e-01 3.08292666e-01 -2.96251718e-01 2.77237891e+02] [ 3.12301956e-01 -2.86672926e-03 9.49978563e-01 9.74696803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.26, Y:277.26, Z:97.48 [[ 2.90881917e-01 -9.51450745e-01 -1.00643882e-01 3.52255422e+02] [ 9.04584908e-01 3.07756483e-01 -2.94978122e-01 2.77258149e+02] [ 3.11630961e-01 -5.23713502e-03 9.50188780e-01 9.74776373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.27, Y:277.29, Z:97.49 [[ 2.91717003e-01 -9.51454012e-01 -9.81654409e-02 3.52265019e+02] [ 9.03913789e-01 3.07783824e-01 -2.96999968e-01 2.77285654e+02] [ 3.12795546e-01 -2.09315516e-03 9.49818175e-01 9.74858286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.442755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:352.27, Y:277.31, Z:97.50 [[ 2.90817195e-01 -9.51383432e-01 -1.01463906e-01 3.52274792e+02] [ 9.04009406e-01 3.07960111e-01 -2.96525822e-01 2.77309403e+02] [ 3.13356590e-01 -5.48951752e-03 9.49619667e-01 9.74958548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.28, Y:277.33, Z:97.50 [[ 2.89604043e-01 -9.52055363e-01 -9.85904838e-02 3.52280152e+02] [ 9.04540926e-01 3.05909475e-01 -2.97027114e-01 2.77333185e+02] [ 3.12946020e-01 -3.15887434e-03 9.49765661e-01 9.75020756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.29, Y:277.35, Z:97.51 [[ 2.87272905e-01 -9.52471268e-01 -1.01354639e-01 3.52288993e+02] [ 9.05587453e-01 3.04548608e-01 -2.95231285e-01 2.77354523e+02] [ 3.12066730e-01 -6.97354082e-03 9.50034592e-01 9.75121530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.29, Y:277.38, Z:97.52 [[ 2.85611077e-01 -9.53548782e-01 -9.57655166e-02 3.52294989e+02] [ 9.05810260e-01 3.01234117e-01 -2.97935866e-01 2.77382111e+02] [ 3.12944223e-01 -1.65160404e-03 9.49770070e-01 9.75187419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.31, Y:277.40, Z:97.53 [[ 2.82779922e-01 -9.53908824e-01 -1.00466269e-01 3.52305842e+02] [ 9.06807932e-01 3.00006243e-01 -2.96134477e-01 2.77403395e+02] [ 3.12625799e-01 -7.36272466e-03 9.49847830e-01 9.75287620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.31, Y:277.43, Z:97.54 [[ 2.81039935e-01 -9.54707368e-01 -9.77261310e-02 3.52312507e+02] [ 9.06968059e-01 2.97507001e-01 -2.98158557e-01 2.77428379e+02] [ 3.13728379e-01 -4.84001799e-03 9.49500436e-01 9.75365358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.32, Y:277.45, Z:97.55 [[ 2.79709237e-01 -9.54527205e-01 -1.03153079e-01 3.52324042e+02] [ 9.06559806e-01 2.97959530e-01 -2.98947215e-01 2.77451771e+02] [ 3.16088692e-01 -9.89613792e-03 9.48678030e-01 9.75483729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.33, Y:277.48, Z:97.55 [[ 2.77058816e-01 -9.56263103e-01 -9.38045362e-02 3.52327368e+02] [ 9.08167976e-01 2.92499466e-01 -2.99457828e-01 2.77477596e+02] [ 3.13798248e-01 -2.22284452e-03 9.49487082e-01 9.75519617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.34, Y:277.50, Z:97.56 [[ 2.75792347e-01 -9.56287800e-01 -9.72225485e-02 3.52336608e+02] [ 9.08755377e-01 2.92361026e-01 -2.97806474e-01 2.77499475e+02] [ 3.13212782e-01 -6.21876714e-03 9.49662614e-01 9.75606810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.34, Y:277.52, Z:97.57 [[ 2.73615179e-01 -9.56911333e-01 -9.72390573e-02 3.52343769e+02] [ 9.09256569e-01 2.90300682e-01 -2.98291811e-01 2.77522324e+02] [ 3.13667380e-01 -6.79808438e-03 9.49508589e-01 9.75685154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.35, Y:277.55, Z:97.58 [[ 2.72456323e-01 -9.57239094e-01 -9.72669974e-02 3.52351685e+02] [ 9.09433425e-01 2.89212172e-01 -2.98809581e-01 2.77545987e+02] [ 3.14163013e-01 -7.04529869e-03 9.49342912e-01 9.75771594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.36, Y:277.57, Z:97.59 [[ 2.71510967e-01 -9.57509723e-01 -9.72467271e-02 3.52360020e+02] [ 9.09605934e-01 2.88310298e-01 -2.99155839e-01 2.77569995e+02] [ 3.14481858e-01 -7.23210870e-03 9.49235934e-01 9.75858165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.37, Y:277.59, Z:97.60 [[ 2.71024517e-01 -9.57625500e-01 -9.74633962e-02 3.52368126e+02] [ 9.09371610e-01 2.87924840e-01 -3.00237510e-01 2.77594473e+02] [ 3.15577228e-01 -7.25871933e-03 9.48872133e-01 9.75950011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.37, Y:277.62, Z:97.60 [[ 2.70874819e-01 -9.57660339e-01 -9.75372125e-02 3.52374979e+02] [ 9.09207199e-01 2.87810656e-01 -3.00844305e-01 2.77617094e+02] [ 3.16178908e-01 -7.19038919e-03 9.48672334e-01 9.76030236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.38, Y:277.64, Z:97.61 [[ 2.71322334e-01 -9.57510453e-01 -9.77646354e-02 3.52382509e+02] [ 9.08668032e-01 2.88316019e-01 -3.01987219e-01 2.77641855e+02] [ 3.17343029e-01 -6.89972168e-03 9.48285714e-01 9.76122767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.39, Y:277.67, Z:97.62 [[ 2.72308909e-01 -9.57244473e-01 -9.76262068e-02 3.52388518e+02] [ 9.08399451e-01 2.89207989e-01 -3.01942339e-01 2.77665185e+02] [ 3.17266914e-01 -6.46200386e-03 9.48314266e-01 9.76201078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.39, Y:277.69, Z:97.63 [[ 2.75279426e-01 -9.56386487e-01 -9.77042787e-02 3.52394024e+02] [ 9.07259467e-01 2.92055504e-01 -3.02628223e-01 2.77689339e+02] [ 3.17964615e-01 -5.33580838e-03 9.48087566e-01 9.76287490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.40, Y:277.71, Z:97.64 [[ 2.74944613e-01 -9.56494780e-01 -9.75868616e-02 3.52401555e+02] [ 9.07360962e-01 2.91700747e-01 -3.02666084e-01 2.77713778e+02] [ 3.17964690e-01 -5.33009943e-03 9.48087573e-01 9.76371983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.41, Y:277.74, Z:97.65 [[ 2.78581614e-01 -9.55449906e-01 -9.75077490e-02 3.52408766e+02] [ 9.06206724e-01 2.95126114e-01 -3.02803484e-01 2.77738711e+02] [ 3.18090644e-01 -4.00669440e-03 9.48051839e-01 9.76466691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.42, Y:277.76, Z:97.66 [[ 2.79985465e-01 -9.55056325e-01 -9.73424672e-02 3.52415626e+02] [ 9.05829869e-01 2.96404552e-01 -3.02682325e-01 2.77762506e+02] [ 3.17931419e-01 -3.42906267e-03 9.48107512e-01 9.76550285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.42, Y:277.79, Z:97.66 [[ 2.81511772e-01 -9.54596038e-01 -9.74552564e-02 3.52422585e+02] [ 9.05086732e-01 2.97890359e-01 -3.03445781e-01 2.77786381e+02] [ 3.18699121e-01 -2.78189995e-03 9.47851851e-01 9.76637178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.43, Y:277.81, Z:97.67 [[ 2.83819864e-01 -9.53881677e-01 -9.77549526e-02 3.52428927e+02] [ 9.03881894e-01 3.00177115e-01 -3.04780611e-01 2.77811556e+02] [ 3.20068440e-01 -1.85614017e-03 9.47392605e-01 9.76732559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.44, Y:277.84, Z:97.68 [[ 2.84597562e-01 -9.53645771e-01 -9.77955549e-02 3.52435617e+02] [ 9.03455744e-01 3.00927891e-01 -3.05303329e-01 2.77836585e+02] [ 3.20580639e-01 -1.46537269e-03 9.47220094e-01 9.76819385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.44, Y:277.86, Z:97.69 [[ 2.85998234e-01 -9.53204992e-01 -9.80063982e-02 3.52441555e+02] [ 9.02631542e-01 3.02323551e-01 -3.06360523e-01 2.77860548e+02] [ 3.21654023e-01 -8.45097639e-04 9.46856893e-01 9.76904767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.45, Y:277.88, Z:97.70 [[ 2.86160727e-01 -9.53145155e-01 -9.81139702e-02 3.52448605e+02] [ 9.02312312e-01 3.02512638e-01 -3.07113327e-01 2.77883369e+02] [ 3.22404296e-01 -6.45670224e-04 9.46601845e-01 9.76984185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.49, Y:277.89, Z:97.74 [[ 2.88045341e-01 -9.43770624e-01 -1.62255638e-01 3.52492937e+02] [ 8.98716550e-01 3.24926155e-01 -2.94502219e-01 2.77889338e+02] [ 3.30663644e-01 -6.09918347e-02 9.41775743e-01 9.77447330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.44, Y:277.95, Z:97.70 [[ 2.85013159e-01 -9.57642283e-01 -4.10944894e-02 3.52435403e+02] [ 9.02200215e-01 2.82498791e-01 -3.25928222e-01 2.77948025e+02] [ 3.23731790e-01 5.58183749e-02 9.44500946e-01 9.76999986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.47, Y:277.96, Z:97.73 [[ 2.82988194e-01 -9.54078896e-01 -9.82402308e-02 3.52473983e+02] [ 9.02777262e-01 2.99552414e-01 -3.08644726e-01 2.77956672e+02] [ 3.23899518e-01 -1.34623268e-03 9.46090529e-01 9.77262828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.50, Y:277.97, Z:97.76 [[ 2.83687282e-01 -9.49531741e-01 -1.33831977e-01 3.52503790e+02] [ 9.01054032e-01 3.11707626e-01 -3.01562575e-01 2.77971080e+02] [ 3.28059685e-01 -3.50403750e-02 9.44006894e-01 9.77573004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.312755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.47, Y:278.01, Z:97.74 [[ 2.79725997e-01 -9.57673791e-01 -6.79284698e-02 3.52474763e+02] [ 9.03429563e-01 2.86505272e-01 -3.18951021e-01 2.78013936e+02] [ 3.24912898e-01 2.78503047e-02 9.45333787e-01 9.77350158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.342755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:352.52, Y:278.02, Z:97.78 [[ 2.80611423e-01 -9.49584415e-01 -1.39809399e-01 3.52523686e+02] [ 9.01483451e-01 3.10752931e-01 -3.01264342e-01 2.78017341e+02] [ 3.29522105e-01 -4.14976437e-02 9.43235457e-01 9.77781684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.372755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:352.51, Y:278.05, Z:97.77 [[ 2.79109464e-01 -9.55269781e-01 -9.77627356e-02 3.52511353e+02] [ 9.02366008e-01 2.95734894e-01 -3.13490765e-01 2.78054087e+02] [ 3.28380107e-01 -7.19529906e-04 9.44545387e-01 9.77716017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.402755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:352.50, Y:278.09, Z:97.76 [[ 2.75838485e-01 -9.58752839e-01 -6.86011905e-02 3.52499679e+02] [ 9.03994049e-01 2.83014153e-01 -3.20464894e-01 2.78086067e+02] [ 3.26661735e-01 2.63814829e-02 9.44773056e-01 9.77623840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.53, Y:278.10, Z:97.79 [[ 2.76409797e-01 -9.54102841e-01 -1.15262276e-01 3.52534938e+02] [ 9.02413768e-01 2.98923147e-01 -3.10313300e-01 2.78097907e+02] [ 3.30525364e-01 -1.82406287e-02 9.43620826e-01 9.77938534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.54, Y:278.12, Z:97.80 [[ 2.76647611e-01 -9.54650600e-01 -1.10037864e-01 3.52540070e+02] [ 9.03625781e-01 2.97391719e-01 -3.08250893e-01 2.78123583e+02] [ 3.26996250e-01 -1.41561776e-02 9.44919603e-01 9.77991570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.53, Y:278.16, Z:97.79 [[ 2.75665170e-01 -9.58139921e-01 -7.73085064e-02 3.52527473e+02] [ 9.03461417e-01 2.85718219e-01 -3.19566218e-01 2.78156864e+02] [ 3.28277599e-01 1.82480231e-02 9.44405012e-01 9.77931565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.55, Y:278.18, Z:97.82 [[ 2.77818544e-01 -9.54687935e-01 -1.06713647e-01 3.52554294e+02] [ 9.01971936e-01 2.97463414e-01 -3.12989047e-01 2.78175069e+02] [ 3.30550273e-01 -9.29855342e-03 9.43742578e-01 9.78166310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.55, Y:278.20, Z:97.82 [[ 2.78067381e-01 -9.55766014e-01 -9.58637519e-02 3.52550870e+02] [ 9.01940977e-01 2.94124425e-01 -3.16217167e-01 2.78200918e+02] [ 3.30425492e-01 1.46623313e-03 9.43830941e-01 9.78175304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.56, Y:278.22, Z:97.83 [[ 2.78275398e-01 -9.55362503e-01 -9.92234405e-02 3.52559461e+02] [ 9.01579521e-01 2.95432215e-01 -3.16028754e-01 2.78224993e+02] [ 3.31235822e-01 -1.51479467e-03 9.43546785e-01 9.78270131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.57, Y:278.25, Z:97.84 [[ 2.80352248e-01 -9.54515171e-01 -1.01505691e-01 3.52571592e+02] [ 9.00019188e-01 2.98154020e-01 -3.17914520e-01 2.78251021e+02] [ 3.33718562e-01 -2.22901922e-03 9.42670119e-01 9.78396099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.57, Y:278.28, Z:97.84 [[ 2.78111318e-01 -9.56220799e-01 -9.10817129e-02 3.52571456e+02] [ 9.01012055e-01 2.92562202e-01 -3.20288361e-01 2.78279794e+02] [ 3.32913459e-01 7.01009673e-03 9.42931327e-01 9.78414350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.58, Y:278.31, Z:97.85 [[ 2.76143258e-01 -9.56748690e-01 -9.15251027e-02 3.52578221e+02] [ 9.02016017e-01 2.90863045e-01 -3.19007513e-01 2.78305431e+02] [ 3.31831290e-01 5.53466547e-03 9.43322512e-01 9.78473495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.59, Y:278.33, Z:97.86 [[ 2.74586955e-01 -9.56578917e-01 -9.77690068e-02 3.52588210e+02] [ 9.02212833e-01 2.91472005e-01 -3.17893180e-01 2.78328052e+02] [ 3.32586842e-01 -9.19132333e-04 9.43072186e-01 9.78576637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.61, Y:278.34, Z:97.87 [[ 2.71190989e-01 -9.54658622e-01 -1.22810271e-01 3.52607226e+02] [ 9.05141986e-01 2.96335243e-01 -3.04800605e-01 2.78344627e+02] [ 3.27373537e-01 -2.85015557e-02 9.44465049e-01 9.78731825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.58, Y:278.39, Z:97.86 [[ 2.69533320e-01 -9.60669949e-01 -6.68209438e-02 3.52583758e+02] [ 9.04214052e-01 2.76342955e-01 -3.25624814e-01 2.78385109e+02] [ 3.31283470e-01 2.73463006e-02 9.43134901e-01 9.78630459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.61, Y:278.40, Z:97.88 [[ 2.64317912e-01 -9.59401462e-01 -9.84117699e-02 3.52606959e+02] [ 9.06922067e-01 2.81968818e-01 -3.13027076e-01 2.78403416e+02] [ 3.28067685e-01 -6.51314246e-03 9.44631766e-01 9.78811556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.61, Y:278.43, Z:97.89 [[ 2.62197446e-01 -9.61566026e-01 -8.15063044e-02 3.52605889e+02] [ 9.06397571e-01 2.74379176e-01 -3.21184545e-01 2.78434332e+02] [ 3.31203779e-01 1.03366511e-02 9.43502629e-01 9.78854552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.62, Y:278.45, Z:97.90 [[ 2.58754150e-01 -9.61194153e-01 -9.56665591e-02 3.52620025e+02] [ 9.08105778e-01 2.75820904e-01 -3.15066225e-01 2.78454011e+02] [ 3.29226650e-01 -5.35066204e-03 9.44235767e-01 9.78972607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.63, Y:278.48, Z:97.91 [[ 2.57152228e-01 -9.61395958e-01 -9.79313204e-02 3.52629751e+02] [ 9.07704506e-01 2.75068970e-01 -3.16874727e-01 2.78478937e+02] [ 3.31579949e-01 -7.40765887e-03 9.43398041e-01 9.79097866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.66, Y:278.49, Z:97.95 [[ 2.52031171e-01 -9.57241586e-01 -1.42017024e-01 3.52658351e+02] [ 9.07567269e-01 2.84739280e-01 -3.08618201e-01 2.78486313e+02] [ 3.35860001e-01 -5.11085964e-02 9.40524307e-01 9.79470850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.64, Y:278.52, Z:97.94 [[ 2.51360181e-01 -9.62863933e-01 -9.85449420e-02 3.52643817e+02] [ 9.07687267e-01 2.69848020e-01 -3.21381192e-01 2.78522566e+02] [ 3.36038516e-01 -8.66555467e-03 9.41808380e-01 9.79413004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.65, Y:278.55, Z:97.95 [[ 2.48565027e-01 -9.63551341e-01 -9.89153264e-02 3.52649798e+02] [ 9.09085976e-01 2.67317475e-01 -3.19537254e-01 2.78546014e+02] [ 3.34332345e-01 -1.04967500e-02 9.42396786e-01 9.79498610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.66, Y:278.57, Z:97.96 [[ 2.47216517e-01 -9.63927077e-01 -9.86335852e-02 3.52656433e+02] [ 9.09637369e-01 2.65946010e-01 -3.19112171e-01 2.78570028e+02] [ 3.33832070e-01 -1.08309954e-02 9.42570336e-01 9.79581599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.66, Y:278.59, Z:97.97 [[ 2.46418326e-01 -9.64155708e-01 -9.83960346e-02 3.52663667e+02] [ 9.09990031e-01 2.65109781e-01 -3.18802365e-01 2.78594482e+02] [ 3.33460871e-01 -1.09806656e-02 9.42699991e-01 9.79666132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.67, Y:278.62, Z:97.97 [[ 2.45811904e-01 -9.64468780e-01 -9.68322310e-02 3.52670365e+02] [ 9.09920851e-01 2.64026879e-01 -3.19896629e-01 2.78619722e+02] [ 3.34096623e-01 -9.47526637e-03 9.42491202e-01 9.79748547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.68, Y:278.65, Z:97.98 [[ 2.45369520e-01 -9.64528081e-01 -9.73621047e-02 3.52678107e+02] [ 9.09990120e-01 2.63786772e-01 -3.19897671e-01 2.78645119e+02] [ 3.34233122e-01 -1.01054157e-02 9.42436258e-01 9.79835684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.69, Y:278.67, Z:97.99 [[ 2.47146563e-01 -9.63662493e-01 -1.01356678e-01 3.52687067e+02] [ 9.09569343e-01 2.66784064e-01 -3.18606143e-01 2.78667695e+02] [ 3.34069136e-01 -1.34485137e-02 9.42452625e-01 9.79921966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.69, Y:278.69, Z:98.00 [[ 2.48013190e-01 -9.63787210e-01 -9.79983218e-02 3.52692730e+02] [ 9.09436795e-01 2.66486817e-01 -3.19232662e-01 2.78693727e+02] [ 3.33787618e-01 -9.94936862e-03 9.42595797e-01 9.79993063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.182755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:352.70, Y:278.72, Z:98.01 [[ 2.49043366e-01 -9.63521161e-01 -9.80019114e-02 3.52699938e+02] [ 9.08993746e-01 2.67464569e-01 -3.19676514e-01 2.78718040e+02] [ 3.34227125e-01 -9.46980932e-03 9.42444986e-01 9.80074097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.70, Y:278.75, Z:98.01 [[ 2.51537116e-01 -9.64502516e-01 -8.03988526e-02 3.52696524e+02] [ 9.08231550e-01 2.63931515e-01 -3.24739291e-01 2.78746858e+02] [ 3.34431655e-01 8.66321016e-03 9.42380187e-01 9.80090854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.72, Y:278.76, Z:98.03 [[ 2.51672468e-01 -9.61332963e-01 -1.11802963e-01 3.52720413e+02] [ 9.09352217e-01 2.74428578e-01 -3.12677953e-01 2.78763200e+02] [ 3.31269551e-01 -2.29758405e-02 9.43256378e-01 9.80288162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.72, Y:278.79, Z:98.03 [[ 2.53580242e-01 -9.62501472e-01 -9.63741570e-02 3.52720081e+02] [ 9.09302159e-01 2.71170256e-01 -3.15652144e-01 2.78792158e+02] [ 3.29949458e-01 -7.59008217e-03 9.43968085e-01 9.80324668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.73, Y:278.82, Z:98.04 [[ 2.53960573e-01 -9.62437526e-01 -9.60106017e-02 3.52726938e+02] [ 9.09497498e-01 2.71403670e-01 -3.14887836e-01 2.78816128e+02] [ 3.29117499e-01 -7.35230669e-03 9.44260354e-01 9.80406884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.332755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:352.74, Y:278.85, Z:98.05 [[ 2.56533387e-01 -9.61864776e-01 -9.49040258e-02 3.52739524e+02] [ 9.09284291e-01 2.73463590e-01 -3.13719212e-01 2.78846507e+02] [ 3.27708255e-01 -5.81528783e-03 9.44761071e-01 9.80483713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.74, Y:278.87, Z:98.06 [[ 2.57093001e-01 -9.61940725e-01 -9.25917430e-02 3.52744471e+02] [ 9.08921710e-01 2.73239646e-01 -3.14962571e-01 2.78868366e+02] [ 3.28275059e-01 -3.18397284e-03 9.44576809e-01 9.80561886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.75, Y:278.88, Z:98.07 [[ 2.56305605e-01 -9.60942686e-01 -1.04386739e-01 3.52752980e+02] [ 9.09726974e-01 2.76311380e-01 -3.09917496e-01 2.78883556e+02] [ 3.26656195e-01 -1.55298409e-02 9.45015637e-01 9.80690824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.75, Y:278.92, Z:98.07 [[ 2.57462355e-01 -9.62926229e-01 -8.05370296e-02 3.52752811e+02] [ 9.09007303e-01 2.69627200e-01 -3.17815823e-01 2.78919522e+02] [ 3.27748166e-01 8.61686200e-03 9.44725828e-01 9.80695337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.452755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:352.76, Y:278.94, Z:98.08 [[ 2.54716750e-01 -9.62962843e-01 -8.84417281e-02 3.52757844e+02] [ 9.09160789e-01 2.69633781e-01 -3.17370895e-01 2.78938839e+02] [ 3.29463257e-01 4.31931789e-04 9.44168298e-01 9.80782339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.78, Y:278.96, Z:98.09 [[ 2.57615762e-01 -9.61016786e-01 -1.00403468e-01 3.52776714e+02] [ 9.08991034e-01 2.76276516e-01 -3.12100284e-01 2.78963258e+02] [ 3.27672732e-01 -1.08638999e-02 9.44728827e-01 9.80923536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.78, Y:278.99, Z:98.10 [[ 2.57257279e-01 -9.61703751e-01 -9.45758316e-02 3.52780466e+02] [ 9.09232304e-01 2.74038325e-01 -3.13368178e-01 2.78989411e+02] [ 3.27284755e-01 -5.37515637e-03 9.44910470e-01 9.80983404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.79, Y:279.02, Z:98.11 [[ 2.55515723e-01 -9.61898430e-01 -9.72785958e-02 3.52787676e+02] [ 9.11089030e-01 2.73232558e-01 -3.08643401e-01 2.79017267e+02] [ 3.23463282e-01 -9.76621969e-03 9.46190322e-01 9.81057337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.572755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.80, Y:279.03, Z:98.12 [[ 2.55155930e-01 -9.59999049e-01 -1.15313824e-01 3.52800085e+02] [ 9.10121062e-01 2.78725094e-01 -3.06581105e-01 2.79032646e+02] [ 3.26458426e-01 -2.67235529e-02 9.44833715e-01 9.81239885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.79, Y:279.06, Z:98.13 [[ 2.57403178e-01 -9.61716192e-01 -9.40508947e-02 3.52794636e+02] [ 9.09436634e-01 2.74001475e-01 -3.12806970e-01 2.79063531e+02] [ 3.26601612e-01 -5.01582081e-03 9.45148787e-01 9.81252034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.79, Y:279.10, Z:98.12 [[ 2.59219633e-01 -9.63293573e-01 -6.97902191e-02 3.52792714e+02] [ 9.10121319e-01 2.67816378e-01 -3.16154350e-01 2.79099930e+02] [ 3.23240417e-01 1.84358484e-02 9.46137280e-01 9.81198111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.81, Y:279.12, Z:98.14 [[ 2.60344265e-01 -9.60585026e-01 -9.74539458e-02 3.52814485e+02] [ 9.09767326e-01 2.77860383e-01 -3.08410473e-01 2.79117847e+02] [ 3.23333073e-01 -8.36751785e-03 9.46248228e-01 9.81383622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.81, Y:279.15, Z:98.14 [[ 2.61012745e-01 -9.61989254e-01 -8.03058078e-02 3.52811728e+02] [ 9.08620541e-01 2.72920611e-01 -3.16106079e-01 2.79145376e+02] [ 3.26007761e-01 9.54020870e-03 9.45318954e-01 9.81408173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.83, Y:279.17, Z:98.15 [[ 2.59045655e-01 -9.60635097e-01 -1.00377083e-01 3.52830312e+02] [ 9.10563938e-01 2.77551975e-01 -3.06330242e-01 2.79168840e+02] [ 3.22131440e-01 -1.20462339e-02 9.46618310e-01 9.81544677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.84, Y:279.19, Z:98.16 [[ 2.58596315e-01 -9.60896375e-01 -9.90257683e-02 3.52837980e+02] [ 9.10545844e-01 2.76699906e-01 -3.07153753e-01 2.79193978e+02] [ 3.22543349e-01 -1.07386732e-02 9.46493777e-01 9.81648764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7827550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:352.84, Y:279.22, Z:98.17 [[ 2.54913692e-01 -9.63147640e-01 -8.58232656e-02 3.52836039e+02] [ 9.10855015e-01 2.68968351e-01 -3.13048189e-01 2.79219063e+02] [ 3.24595366e-01 1.62771785e-03 9.45851573e-01 9.81676010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.812755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:352.85, Y:279.24, Z:98.18 [[ 2.53366122e-01 -9.62126072e-01 -1.00593392e-01 3.52851293e+02] [ 9.10962884e-01 2.72288405e-01 -3.09847783e-01 2.79239833e+02] [ 3.25503045e-01 -1.31319154e-02 9.45449798e-01 9.81833679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.842755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:352.85, Y:279.27, Z:98.19 [[ 2.52970096e-01 -9.62970803e-01 -9.32382025e-02 3.52854699e+02] [ 9.10861799e-01 2.69541892e-01 -3.12534720e-01 2.79267199e+02] [ 3.26093412e-01 -5.86517877e-03 9.45319357e-01 9.81904562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.872755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:352.87, Y:279.29, Z:98.20 [[ 2.49564274e-01 -9.62498099e-01 -1.06372375e-01 3.52869068e+02] [ 9.13176034e-01 2.70470669e-01 -3.04885467e-01 2.79288094e+02] [ 3.22222289e-01 -2.10481832e-02 9.46430013e-01 9.82047914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.902755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:352.87, Y:279.32, Z:98.21 [[ 2.47697068e-01 -9.65006807e-01 -8.60698812e-02 3.52865403e+02] [ 9.13129911e-01 2.62221726e-01 -3.12143448e-01 2.79318401e+02] [ 3.23789945e-01 -1.27596628e-03 9.46128133e-01 9.82071805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.87, Y:279.34, Z:98.22 [[ 2.46727308e-01 -9.65260041e-01 -8.60156297e-02 3.52870883e+02] [ 9.13027704e-01 2.61288119e-01 -3.13223453e-01 2.79340596e+02] [ 3.24816945e-01 -1.25387348e-03 9.45776073e-01 9.82151690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.962755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.89, Y:279.35, Z:98.24 [[ 2.45001923e-01 -9.61967450e-01 -1.20800181e-01 3.52894944e+02] [ 9.14584237e-01 2.70664611e-01 -3.00460217e-01 2.79354159e+02] [ 3.21729283e-01 -3.68686109e-02 9.46113616e-01 9.82403404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.992755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:352.88, Y:279.39, Z:98.23 [[ 2.44572717e-01 -9.66579721e-01 -7.68624024e-02 3.52878700e+02] [ 9.15254148e-01 2.56303450e-01 -3.10834981e-01 2.79392198e+02] [ 3.20146888e-01 5.67312315e-03 9.47350931e-01 9.82308139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.022755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:352.89, Y:279.42, Z:98.24 [[ 2.44793159e-01 -9.65924431e-01 -8.40613084e-02 3.52889167e+02] [ 9.15320739e-01 2.58820395e-01 -3.08544890e-01 2.79416371e+02] [ 3.19787828e-01 -1.41338066e-03 9.47488125e-01 9.82389842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.89, Y:279.44, Z:98.24 [[ 2.47274843e-01 -9.66146527e-01 -7.35937546e-02 3.52888193e+02] [ 9.13074431e-01 2.57761854e-01 -3.15996694e-01 2.79441830e+02] [ 3.24268771e-01 1.09414575e-02 9.45901712e-01 9.82442870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.90, Y:279.46, Z:98.26 [[ 2.50230065e-01 -9.63994997e-01 -8.99920024e-02 3.52902033e+02] [ 9.11920767e-01 2.65892497e-01 -3.12572704e-01 2.79463250e+02] [ 3.25246721e-01 -3.85048767e-03 9.45621353e-01 9.82580637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.112755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:352.92, Y:279.48, Z:98.28 [[ 2.51346226e-01 -9.60928052e-01 -1.15941168e-01 3.52923662e+02] [ 9.13316434e-01 2.75121657e-01 -3.00268487e-01 2.79480103e+02] [ 3.20434339e-01 -3.04196232e-02 9.46782172e-01 9.82770589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.142755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:352.91, Y:279.51, Z:98.27 [[ 2.55276612e-01 -9.64055530e-01 -7.36938732e-02 3.52906069e+02] [ 9.11161056e-01 2.65366637e-01 -3.15223855e-01 2.79511980e+02] [ 3.23449196e-01 1.33222903e-02 9.46151750e-01 9.82698873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:352.93, Y:279.53, Z:98.29 [[ 2.55174117e-01 -9.61844278e-01 -9.87003287e-02 3.52926956e+02] [ 9.12539459e-01 2.73314977e-01 -3.04254266e-01 2.79532113e+02] [ 3.19621503e-01 -1.24301309e-02 9.47463765e-01 9.82886014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.92, Y:279.56, Z:98.29 [[ 2.55941021e-01 -9.63191247e-01 -8.21998516e-02 3.52924791e+02] [ 9.12290109e-01 2.68785877e-01 -3.08999854e-01 2.79562710e+02] [ 3.19720114e-01 4.09562654e-03 9.47503179e-01 9.82922973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.232755096 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:352.93, Y:279.59, Z:98.30 [[ 2.58505192e-01 -9.62678991e-01 -8.01512722e-02 3.52928615e+02] [ 9.10387688e-01 2.70528750e-01 -3.13063017e-01 2.79586439e+02] [ 3.23062412e-01 7.95968397e-03 9.46344188e-01 9.82989841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.94, Y:279.61, Z:98.31 [[ 2.60135906e-01 -9.61390834e-01 -8.97606573e-02 3.52941363e+02] [ 9.10691786e-01 2.75181944e-01 -3.08083378e-01 2.79612206e+02] [ 3.20889048e-01 -1.60074469e-03 9.47115440e-01 9.83133963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.95, Y:279.64, Z:98.33 [[ 2.63801936e-01 -9.59743260e-01 -9.64438407e-02 3.52951046e+02] [ 9.09314564e-01 2.80799093e-01 -3.07081249e-01 2.79635592e+02] [ 3.21800502e-01 -6.68916097e-03 9.46783868e-01 9.83257116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.96, Y:279.65, Z:98.34 [[ 2.64827582e-01 -9.57572231e-01 -1.13673987e-01 3.52964501e+02] [ 9.08100955e-01 2.87309777e-01 -3.04640358e-01 2.79651834e+02] [ 3.24374795e-01 -2.25502867e-02 9.45659811e-01 9.83446873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.352755096 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:352.96, Y:279.68, Z:98.34 [[ 2.64946227e-01 -9.60014940e-01 -9.04146678e-02 3.52958695e+02] [ 9.08317855e-01 2.79948690e-01 -3.10785144e-01 2.79682046e+02] [ 3.23669849e-01 2.16094267e-04 9.46170060e-01 9.83427088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.96, Y:279.71, Z:98.35 [[ 2.67705615e-01 -9.59269349e-01 -9.01998891e-02 3.52964982e+02] [ 9.07613953e-01 2.82490196e-01 -3.10541788e-01 2.79705995e+02] [ 3.23373804e-01 1.26710249e-03 9.46270457e-01 9.83544697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:352.97, Y:279.73, Z:98.36 [[ 2.68219700e-01 -9.59408860e-01 -8.71368624e-02 3.52971406e+02] [ 9.07677093e-01 2.81986468e-01 -3.10814939e-01 2.79733811e+02] [ 3.22770022e-01 4.27455553e-03 9.46467771e-01 9.83607414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.97, Y:279.76, Z:98.37 [[ 2.68081483e-01 -9.59691700e-01 -8.44047431e-02 3.52974928e+02] [ 9.08006536e-01 2.80975690e-01 -3.10768070e-01 2.79759872e+02] [ 3.21957218e-01 6.67110647e-03 9.46730715e-01 9.83676929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.99, Y:279.78, Z:98.38 [[ 2.69941793e-01 -9.57698840e-01 -9.97214144e-02 3.52990384e+02] [ 9.06542477e-01 2.87686783e-01 -3.08896508e-01 2.79777933e+02] [ 3.24518360e-01 -7.01762075e-03 9.45853364e-01 9.83822661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.99, Y:279.80, Z:98.39 [[ 2.66560911e-01 -9.59506488e-01 -9.10636044e-02 3.52990257e+02] [ 9.07751526e-01 2.81686454e-01 -3.10869600e-01 2.79804506e+02] [ 3.23932782e-01 2.02557963e-04 9.46080077e-01 9.83893326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:352.99, Y:279.83, Z:98.40 [[ 2.62626692e-01 -9.61985771e-01 -7.49039170e-02 3.52987258e+02] [ 9.07298883e-01 2.72623690e-01 -3.20132880e-01 2.79833420e+02] [ 3.28383858e-01 1.61151990e-02 9.44406873e-01 9.83950069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.01, Y:279.85, Z:98.41 [[ 2.61846365e-01 -9.59419867e-01 -1.04642245e-01 3.53010733e+02] [ 9.09023695e-01 2.81599009e-01 -3.07209896e-01 2.79851325e+02] [ 3.24210430e-01 -1.46804855e-02 9.45871070e-01 9.84112860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.592755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:353.01, Y:279.88, Z:98.41 [[ 2.57650322e-01 -9.61988306e-01 -9.05251883e-02 3.53009127e+02] [ 9.10248231e-01 2.73081719e-01 -3.11246739e-01 2.79878371e+02] [ 3.24136498e-01 -2.20756978e-03 9.46007747e-01 9.84149853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.01, Y:279.90, Z:98.42 [[ 2.56084933e-01 -9.62509066e-01 -8.94248581e-02 3.53014984e+02] [ 9.10465659e-01 2.71245558e-01 -3.12214880e-01 2.79901882e+02] [ 3.24765748e-01 -1.46473583e-03 9.45793352e-01 9.84249865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.652755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.02, Y:279.93, Z:98.43 [[ 2.52751245e-01 -9.64302482e-01 -7.89780407e-02 3.53015388e+02] [ 9.12037168e-01 2.64706886e-01 -3.13238678e-01 2.79930335e+02] [ 3.22962866e-01 7.14055732e-03 9.46384700e-01 9.84258816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.03, Y:279.95, Z:98.45 [[ 2.52331202e-01 -9.62646084e-01 -9.81910453e-02 3.53032681e+02] [ 9.11386883e-01 2.70529786e-01 -3.10141233e-01 2.79948434e+02] [ 3.25119846e-01 -1.12317206e-02 9.45606120e-01 9.84452524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.02, Y:279.98, Z:98.45 [[ 2.45137182e-01 -9.66613645e-01 -7.46044444e-02 3.53024292e+02] [ 9.11314146e-01 2.55999697e-01 -3.22444851e-01 2.79982923e+02] [ 3.30778308e-01 1.10551366e-02 9.43643733e-01 9.84496887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.04, Y:280.00, Z:98.46 [[ 2.44330579e-01 -9.65907641e-01 -8.55861953e-02 3.53035934e+02] [ 9.10387173e-01 2.58885184e-01 -3.22759442e-01 2.80003916e+02] [ 3.33912809e-01 9.43426911e-04 9.42603494e-01 9.84625211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.06, Y:280.02, Z:98.48 [[ 2.44946064e-01 -9.62549699e-01 -1.16187365e-01 3.53059606e+02] [ 9.11861983e-01 2.69430633e-01 -3.09701241e-01 2.80021814e+02] [ 3.29407271e-01 -3.00867410e-02 9.43708450e-01 9.84795570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.802755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.05, Y:280.05, Z:98.48 [[ 2.43824836e-01 -9.65971711e-01 -8.63023961e-02 3.53049184e+02] [ 9.12259622e-01 2.58644548e-01 -3.17624590e-01 2.80053210e+02] [ 3.29138012e-01 -1.28542773e-03 9.44280952e-01 9.84777900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.06, Y:280.08, Z:98.49 [[ 2.44705201e-01 -9.64573728e-01 -9.85742732e-02 3.53063162e+02] [ 9.12330480e-01 2.63481112e-01 -3.13417929e-01 2.80076069e+02] [ 3.28287160e-01 -1.32373166e-02 9.44485211e-01 9.84919490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.06, Y:280.11, Z:98.49 [[ 2.41949799e-01 -9.67185376e-01 -7.75418774e-02 3.53055408e+02] [ 9.13764179e-01 2.54004296e-01 -3.17043915e-01 2.80106139e+02] [ 3.26336208e-01 5.85372169e-03 9.45235639e-01 9.84904010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.892755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:353.07, Y:280.12, Z:98.51 [[ 2.42280220e-01 -9.64819584e-01 -1.02095378e-01 3.53074256e+02] [ 9.13619866e-01 2.62295046e-01 -3.10644570e-01 2.80123112e+02] [ 3.26495076e-01 -1.80133309e-02 9.45027240e-01 9.85072460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.07, Y:280.16, Z:98.51 [[ 2.39990291e-01 -9.67841386e-01 -7.54169218e-02 3.53065084e+02] [ 9.14483711e-01 2.51460771e-01 -3.16996883e-01 2.80155594e+02] [ 3.25767100e-01 7.10862749e-03 9.45423326e-01 9.85066043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.08, Y:280.18, Z:98.52 [[ 2.38704293e-01 -9.67177047e-01 -8.71138411e-02 3.53077009e+02] [ 9.14701644e-01 2.54060668e-01 -3.14283438e-01 2.80177563e+02] [ 3.26099928e-01 -4.66236783e-03 9.45323807e-01 9.85187721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.982755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:353.09, Y:280.20, Z:98.53 [[ 2.36699125e-01 -9.67213774e-01 -9.20382492e-02 3.53085281e+02] [ 9.15477980e-01 2.53752781e-01 -3.12265264e-01 2.80201412e+02] [ 3.25382226e-01 -1.03460755e-02 9.45525973e-01 9.85268764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.012755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:353.09, Y:280.22, Z:98.54 [[ 2.34972412e-01 -9.67117050e-01 -9.73271661e-02 3.53091730e+02] [ 9.15048689e-01 2.53864327e-01 -3.13430694e-01 2.80221985e+02] [ 3.27832064e-01 -1.54115296e-02 9.44610302e-01 9.85400662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.09, Y:280.25, Z:98.54 [[ 2.33481038e-01 -9.69606046e-01 -7.31486206e-02 3.53085067e+02] [ 9.16310214e-01 2.44570916e-01 -3.17113005e-01 2.80254982e+02] [ 3.25364712e-01 7.01304531e-03 9.45562595e-01 9.85390099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.072755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:353.10, Y:280.27, Z:98.55 [[ 2.31516179e-01 -9.68386420e-01 -9.28870336e-02 3.53100680e+02] [ 9.18330806e-01 2.49057289e-01 -3.07634518e-01 2.80274822e+02] [ 3.21043282e-01 -1.40786565e-02 9.46959874e-01 9.85489623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.11, Y:280.30, Z:98.56 [[ 2.27775943e-01 -9.69226295e-01 -9.33729524e-02 3.53105341e+02] [ 9.19957564e-01 2.45630654e-01 -3.05521951e-01 2.80302299e+02] [ 3.19055168e-01 -1.63086033e-02 9.47595815e-01 9.85585916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.132755096 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:353.11, Y:280.33, Z:98.57 [[ 2.26560642e-01 -9.70135690e-01 -8.66430498e-02 3.53107086e+02] [ 9.19294670e-01 2.42380702e-01 -3.10078870e-01 2.80328023e+02] [ 3.21819182e-01 -9.39882604e-03 9.46754496e-01 9.85653030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1627550960001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:353.10, Y:280.36, Z:98.57 [[ 2.24957666e-01 -9.71493894e-01 -7.47907873e-02 3.53104056e+02] [ 9.18212442e-01 2.37049082e-01 -3.17322619e-01 2.80357385e+02] [ 3.26006074e-01 2.71032409e-03 9.45363789e-01 9.85705769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.11, Y:280.38, Z:98.58 [[ 2.25471967e-01 -9.70631455e-01 -8.38866569e-02 3.53114025e+02] [ 9.17831291e-01 2.40501808e-01 -3.15823687e-01 2.80379875e+02] [ 3.26723297e-01 -5.78441063e-03 9.45102337e-01 9.85840710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.13, Y:280.40, Z:98.60 [[ 2.24698379e-01 -9.68695349e-01 -1.05546009e-01 3.53128886e+02] [ 9.16786972e-01 2.46863907e-01 -3.13942446e-01 2.80396684e+02] [ 3.30170087e-01 -2.62208476e-02 9.43557195e-01 9.86041795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.12, Y:280.43, Z:98.61 [[ 2.25073733e-01 -9.70346072e-01 -8.81493876e-02 3.53122975e+02] [ 9.16347378e-01 2.41555705e-01 -3.19309135e-01 2.80425377e+02] [ 3.31133352e-01 -8.90736139e-03 9.43541924e-01 9.86070852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2827550960001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:353.13, Y:280.45, Z:98.61 [[ 2.24744452e-01 -9.70418906e-01 -8.81877492e-02 3.53128099e+02] [ 9.16187204e-01 2.41263919e-01 -3.19988639e-01 2.80450427e+02] [ 3.31799547e-01 -8.88081605e-03 9.43308111e-01 9.86136730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.312755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:353.13, Y:280.48, Z:98.61 [[ 2.25202699e-01 -9.71395908e-01 -7.53241910e-02 3.53128072e+02] [ 9.17084819e-01 2.37446207e-01 -3.20272904e-01 2.80480115e+02] [ 3.28997232e-01 3.04765024e-03 9.44325968e-01 9.86144575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.14, Y:280.49, Z:98.64 [[ 2.26932434e-01 -9.68598285e-01 -1.01582643e-01 3.53143967e+02] [ 9.15840799e-01 2.47715468e-01 -3.16026389e-01 2.80494128e+02] [ 3.31266210e-01 -2.13168911e-02 9.43296501e-01 9.86359234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.14, Y:280.52, Z:98.64 [[ 2.27951780e-01 -9.69715917e-01 -8.76870929e-02 3.53141928e+02] [ 9.15536171e-01 2.44123240e-01 -3.19683224e-01 2.80521509e+02] [ 3.31408368e-01 -7.40834534e-03 9.43458324e-01 9.86407866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.14, Y:280.55, Z:98.64 [[ 2.30688868e-01 -9.70261618e-01 -7.33146542e-02 3.53139311e+02] [ 9.16754035e-01 2.41981653e-01 -3.17815857e-01 2.80551451e+02] [ 3.26105328e-01 6.10507508e-03 9.45313727e-01 9.86375722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.16, Y:280.57, Z:98.66 [[ 2.31592700e-01 -9.67881411e-01 -9.78283964e-02 3.53157107e+02] [ 9.15608197e-01 2.50845245e-01 -3.14226500e-01 2.80568247e+02] [ 3.28673776e-01 -1.67999179e-02 9.44294081e-01 9.86586385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.462755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.16, Y:280.60, Z:98.67 [[ 2.29710171e-01 -9.69200281e-01 -8.87921860e-02 3.53157174e+02] [ 9.15754900e-01 2.46131359e-01 -3.17509554e-01 2.80597161e+02] [ 3.29584890e-01 -8.37670564e-03 9.44088783e-01 9.86650028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.16, Y:280.62, Z:98.67 [[ 2.32486528e-01 -9.68620203e-01 -8.78915032e-02 3.53163022e+02] [ 9.14868817e-01 2.48462619e-01 -3.18247347e-01 2.80618555e+02] [ 3.30098563e-01 -6.42097491e-03 9.43924631e-01 9.86738043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.17, Y:280.64, Z:98.68 [[ 2.32577593e-01 -9.68837702e-01 -8.52124972e-02 3.53167650e+02] [ 9.14635647e-01 2.47669914e-01 -3.19532858e-01 2.80643499e+02] [ 3.30680052e-01 -3.62220455e-03 9.43735971e-01 9.86815520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.552755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:353.15, Y:280.68, Z:98.67 [[ 2.31481020e-01 -9.71603052e-01 -4.90310859e-02 3.53154434e+02] [ 9.16474504e-01 2.34698389e-01 -3.24023378e-01 2.80681256e+02] [ 3.26329620e-01 3.00695217e-02 9.44777648e-01 9.86741644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.20, Y:280.68, Z:98.72 [[ 2.32935230e-01 -9.64219942e-01 -1.26574412e-01 3.53203002e+02] [ 9.13361475e-01 2.61603526e-01 -3.11984633e-01 2.80683610e+02] [ 3.33934117e-01 -4.29359793e-02 9.41618026e-01 9.87155326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.17, Y:280.73, Z:98.69 [[ 2.31031714e-01 -9.71854475e-01 -4.60784757e-02 3.53165368e+02] [ 9.15685749e-01 2.33198328e-01 -3.27319643e-01 2.80730341e+02] [ 3.28852483e-01 3.34278147e-02 9.43789503e-01 9.86931163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.21, Y:280.73, Z:98.73 [[ 2.31545807e-01 -9.64890885e-01 -1.23984350e-01 3.53214316e+02] [ 9.13736238e-01 2.59448948e-01 -3.12685675e-01 2.80732485e+02] [ 3.33875167e-01 -4.08879369e-02 9.41730083e-01 9.87314502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6727550960001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:353.18, Y:280.78, Z:98.71 [[ 2.29140346e-01 -9.71884920e-01 -5.41701337e-02 3.53183962e+02] [ 9.15641530e-01 2.34094973e-01 -3.26802897e-01 2.80775534e+02] [ 3.30295763e-01 2.52833049e-02 9.43538798e-01 9.87133300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.23, Y:280.78, Z:98.75 [[ 2.28846629e-01 -9.66471425e-01 -1.16456886e-01 3.53225040e+02] [ 9.14490647e-01 2.54445030e-01 -3.14586370e-01 2.80781250e+02] [ 3.33670612e-01 -3.45067027e-02 9.42057965e-01 9.87459986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.22, Y:280.81, Z:98.75 [[ 2.28493479e-01 -9.69647747e-01 -8.70285987e-02 3.53215810e+02] [ 9.14399292e-01 2.44436190e-01 -3.22683876e-01 2.80812870e+02] [ 3.34162633e-01 -5.84772757e-03 9.42497289e-01 9.87471582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.22, Y:280.84, Z:98.76 [[ 2.27380810e-01 -9.69923420e-01 -8.68707447e-02 3.53223056e+02] [ 9.14729253e-01 2.43333465e-01 -3.22582113e-01 2.80835873e+02] [ 3.34018505e-01 -6.11422928e-03 9.42546686e-01 9.87555375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.23, Y:280.86, Z:98.76 [[ 2.26243553e-01 -9.70648914e-01 -8.15753641e-02 3.53229469e+02] [ 9.15404900e-01 2.40495283e-01 -3.22793879e-01 2.80863231e+02] [ 3.32938018e-01 -1.64445394e-03 9.42947279e-01 9.87604662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.24, Y:280.88, Z:98.77 [[ 2.25232806e-01 -9.69954699e-01 -9.19677434e-02 3.53240993e+02] [ 9.15606740e-01 2.42986807e-01 -3.20346234e-01 2.80883239e+02] [ 3.33068283e-01 -1.20538046e-02 9.42825660e-01 9.87740080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.25, Y:280.91, Z:98.78 [[ 2.25122904e-01 -9.70503782e-01 -8.62675322e-02 3.53245629e+02] [ 9.15702063e-01 2.40995501e-01 -3.21575652e-01 2.80907488e+02] [ 3.32880474e-01 -6.60131273e-03 9.42945923e-01 9.87803163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.25, Y:280.93, Z:98.79 [[ 2.25554824e-01 -9.70422321e-01 -8.60554549e-02 3.53253223e+02] [ 9.15746703e-01 2.41329866e-01 -3.21197559e-01 2.80931674e+02] [ 3.32465032e-01 -6.35734024e-03 9.43094156e-01 9.87886300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.26, Y:280.96, Z:98.80 [[ 2.25863450e-01 -9.70367038e-01 -8.58691641e-02 3.53260318e+02] [ 9.15751363e-01 2.41557939e-01 -3.21012779e-01 2.80955764e+02] [ 3.32242598e-01 -6.12975023e-03 9.43174047e-01 9.87968652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.27, Y:280.98, Z:98.81 [[ 2.28092374e-01 -9.69860179e-01 -8.57035696e-02 3.53268302e+02] [ 9.15246897e-01 2.43605689e-01 -3.20904015e-01 2.80979412e+02] [ 3.32109903e-01 -5.24416754e-03 9.43226119e-01 9.88052074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.28, Y:281.00, Z:98.81 [[ 2.29380801e-01 -9.69575827e-01 -8.54819533e-02 3.53275236e+02] [ 9.15046520e-01 2.44746450e-01 -3.20607300e-01 2.81002751e+02] [ 3.31774493e-01 -4.67880461e-03 9.43347123e-01 9.88134787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.28, Y:281.03, Z:98.82 [[ 2.30459572e-01 -9.69339948e-01 -8.52552125e-02 3.53282152e+02] [ 9.14898510e-01 2.45687974e-01 -3.20309439e-01 2.81026714e+02] [ 3.31434915e-01 -4.18149072e-03 9.43468819e-01 9.88221502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.29, Y:281.05, Z:98.83 [[ 2.32818684e-01 -9.68813094e-01 -8.48330624e-02 3.53290691e+02] [ 9.14703797e-01 2.47771086e-01 -3.19259225e-01 2.81050510e+02] [ 3.30321698e-01 -3.26761156e-03 9.43862754e-01 9.88312782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.30, Y:281.07, Z:98.84 [[ 2.33578551e-01 -9.68655422e-01 -8.45442772e-02 3.53298152e+02] [ 9.14742916e-01 2.48391318e-01 -3.18664639e-01 2.81073747e+02] [ 3.29676294e-01 -2.90305399e-03 9.44089569e-01 9.88400836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.31, Y:281.10, Z:98.85 [[ 2.34712068e-01 -9.67906580e-01 -8.98170287e-02 3.53310861e+02] [ 9.14221105e-01 2.51198829e-01 -3.17960564e-01 2.81096538e+02] [ 3.30318054e-01 -7.48344180e-03 9.43840019e-01 9.88526416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.31, Y:281.12, Z:98.86 [[ 2.33779632e-01 -9.68979545e-01 -8.01606160e-02 3.53312475e+02] [ 9.14801901e-01 2.47137222e-01 -3.19469367e-01 2.81122140e+02] [ 3.29369954e-01 1.35434702e-03 9.44199979e-01 9.88565766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.32, Y:281.15, Z:98.87 [[ 2.33011658e-01 -9.68657742e-01 -8.60682661e-02 3.53323563e+02] [ 9.14668472e-01 2.48359979e-01 -3.18902660e-01 2.81145998e+02] [ 3.30283443e-01 -4.41589195e-03 9.43871467e-01 9.88678976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.33, Y:281.17, Z:98.87 [[ 2.30990977e-01 -9.69402843e-01 -8.30740413e-02 3.53330451e+02] [ 9.15134880e-01 2.45465876e-01 -3.19804088e-01 2.81169713e+02] [ 3.30410834e-01 -2.15209413e-03 9.43834757e-01 9.88740925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.34, Y:281.19, Z:98.88 [[ 2.29843011e-01 -9.69581043e-01 -8.41712070e-02 3.53338314e+02] [ 9.15334565e-01 2.44744845e-01 -3.19785234e-01 2.81192532e+02] [ 3.30658170e-01 -3.54441394e-03 9.43743934e-01 9.88825612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.35, Y:281.22, Z:98.89 [[ 2.28504778e-01 -9.69902525e-01 -8.41109909e-02 3.53345503e+02] [ 9.15606955e-01 2.43462367e-01 -3.19984345e-01 2.81216282e+02] [ 3.30831485e-01 -3.89465654e-03 9.43681811e-01 9.88906364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.35, Y:281.24, Z:98.90 [[ 2.26653166e-01 -9.70346549e-01 -8.39995048e-02 3.53354226e+02] [ 9.16040218e-01 2.41677989e-01 -3.20096969e-01 2.81241024e+02] [ 3.30905821e-01 -4.39593305e-03 9.43653545e-01 9.88993410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.36, Y:281.26, Z:98.91 [[ 2.25925633e-01 -9.70517050e-01 -8.39896679e-02 3.53361658e+02] [ 9.16061628e-01 2.40990125e-01 -3.20553978e-01 2.81263689e+02] [ 3.31343782e-01 -4.51835150e-03 9.43499276e-01 9.89078336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.37, Y:281.29, Z:98.92 [[ 2.25170198e-01 -9.70700659e-01 -8.38964388e-02 3.53370729e+02] [ 9.16180766e-01 2.40247239e-01 -3.20771054e-01 2.81287486e+02] [ 3.31528561e-01 -4.63622189e-03 9.43433791e-01 9.89160044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.37, Y:281.31, Z:98.92 [[ 2.24716007e-01 -9.71453386e-01 -7.60331136e-02 3.53373504e+02] [ 9.16411686e-01 2.37214428e-01 -3.22364602e-01 2.81313251e+02] [ 3.31198335e-01 2.76285210e-03 9.43557115e-01 9.89189830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.39, Y:281.33, Z:98.93 [[ 2.24135933e-01 -9.70333767e-01 -9.06391957e-02 3.53389385e+02] [ 9.16281206e-01 2.41498926e-01 -3.19541892e-01 2.81333185e+02] [ 3.31951556e-01 -1.14301715e-02 9.43227181e-01 9.89346517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.39, Y:281.36, Z:98.94 [[ 2.23832635e-01 -9.71027204e-01 -8.36966017e-02 3.53393546e+02] [ 9.16250107e-01 2.38922530e-01 -3.21561450e-01 2.81357483e+02] [ 3.32241920e-01 -4.71107353e-03 9.43182439e-01 9.89408180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.40, Y:281.38, Z:98.95 [[ 2.23018633e-01 -9.71226260e-01 -8.35598052e-02 3.53403497e+02] [ 9.16447285e-01 2.38109183e-01 -3.21602848e-01 2.81380719e+02] [ 3.32245488e-01 -4.85472926e-03 9.43180453e-01 9.89495790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.41, Y:281.40, Z:98.96 [[ 2.22542689e-01 -9.71345721e-01 -8.34400532e-02 3.53411436e+02] [ 9.16546532e-01 2.37620685e-01 -3.21681311e-01 2.81404464e+02] [ 3.32290847e-01 -4.88886741e-03 9.43164297e-01 9.89583010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.42, Y:281.43, Z:98.97 [[ 2.22824529e-01 -9.71275710e-01 -8.35028443e-02 3.53420940e+02] [ 9.16195910e-01 2.37911443e-01 -3.22464261e-01 2.81428562e+02] [ 3.33067986e-01 -4.65201726e-03 9.42891338e-01 9.89672867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.43, Y:281.45, Z:98.98 [[ 2.22986463e-01 -9.71243861e-01 -8.34409972e-02 3.53428700e+02] [ 9.16064331e-01 2.38044901e-01 -3.22739471e-01 2.81452513e+02] [ 3.33321434e-01 -4.47078812e-03 9.42802648e-01 9.89759885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.44, Y:281.48, Z:98.98 [[ 2.23993547e-01 -9.71022154e-01 -8.33238755e-02 3.53438338e+02] [ 9.15797059e-01 2.38956064e-01 -3.22824638e-01 2.81476218e+02] [ 3.33380621e-01 -3.99712424e-03 9.42783848e-01 9.89849409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.45, Y:281.50, Z:98.99 [[ 2.24494216e-01 -9.70920568e-01 -8.31600706e-02 3.53446571e+02] [ 9.15718581e-01 2.39373291e-01 -3.22738141e-01 2.81500472e+02] [ 3.33259399e-01 -3.69837592e-03 9.42827924e-01 9.89937992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.45, Y:281.52, Z:99.00 [[ 2.25528167e-01 -9.70701601e-01 -8.29183210e-02 3.53453281e+02] [ 9.15637191e-01 2.40266398e-01 -3.22305123e-01 2.81524474e+02] [ 3.32784586e-01 -3.23421475e-03 9.42997327e-01 9.90029638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.46, Y:281.55, Z:99.01 [[ 2.29293184e-01 -9.69851440e-01 -8.25398142e-02 3.53458111e+02] [ 9.15052704e-01 2.43690004e-01 -3.21393421e-01 2.81548375e+02] [ 3.31818000e-01 -1.83495933e-03 9.43341639e-01 9.90113968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.46, Y:281.57, Z:99.02 [[ 2.31295516e-01 -9.69389568e-01 -8.23787025e-02 3.53463426e+02] [ 9.14576562e-01 2.45525635e-01 -3.21351639e-01 2.81572449e+02] [ 3.31741010e-01 -1.01443721e-03 9.43369956e-01 9.90197605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.47, Y:281.60, Z:99.03 [[ 2.34214758e-01 -9.68687491e-01 -8.23892711e-02 3.53468165e+02] [ 9.13620729e-01 2.48283159e-01 -3.21951294e-01 2.81595968e+02] [ 3.32326060e-01 1.33198677e-04 9.43164552e-01 9.90278898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.47, Y:281.62, Z:99.04 [[ 2.34522943e-01 -9.68616659e-01 -8.23453543e-02 3.53473943e+02] [ 9.13449782e-01 2.48559138e-01 -3.22223293e-01 2.81620646e+02] [ 3.32578540e-01 3.50409038e-04 9.43075496e-01 9.90367445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.48, Y:281.65, Z:99.05 [[ 2.34828301e-01 -9.68552472e-01 -8.22300327e-02 3.53479281e+02] [ 9.13358240e-01 2.48808713e-01 -3.22290164e-01 2.81646053e+02] [ 3.32614484e-01 5.77373804e-04 9.43062708e-01 9.90458552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.48, Y:281.67, Z:99.05 [[ 2.34684015e-01 -9.68611392e-01 -8.19474446e-02 3.53484795e+02] [ 9.13627267e-01 2.48579111e-01 -3.21704278e-01 2.81671031e+02] [ 3.31976852e-01 6.29431882e-04 9.43287323e-01 9.90545980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.49, Y:281.70, Z:99.06 [[ 2.32492529e-01 -9.69149289e-01 -8.18344716e-02 3.53488294e+02] [ 9.14166123e-01 2.46474454e-01 -3.21792857e-01 2.81695773e+02] [ 3.32035425e-01 4.13335305e-06 9.43266917e-01 9.90630314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.49, Y:281.72, Z:99.07 [[ 2.30298750e-01 -9.69678394e-01 -8.17697910e-02 3.53493145e+02] [ 9.14620213e-01 2.44383798e-01 -3.22096920e-01 2.81721137e+02] [ 3.32313636e-01 -6.09785681e-04 9.43168742e-01 9.90717488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.50, Y:281.75, Z:99.08 [[ 2.24689279e-01 -9.70999554e-01 -8.16981839e-02 3.53498264e+02] [ 9.15943104e-01 2.39069171e-01 -3.22326174e-01 2.81745727e+02] [ 3.32510088e-01 -2.40765260e-03 9.43096625e-01 9.90804212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.50, Y:281.77, Z:99.09 [[ 2.21449250e-01 -9.71755063e-01 -8.15617981e-02 3.53504113e+02] [ 9.16737600e-01 2.35967441e-01 -3.22353128e-01 2.81768872e+02] [ 3.32494213e-01 -3.38590841e-03 9.43099217e-01 9.90889479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.51, Y:281.79, Z:99.10 [[ 2.18438969e-01 -9.72449384e-01 -8.14040129e-02 3.53510302e+02] [ 9.17489703e-01 2.33074823e-01 -3.22317812e-01 2.81794331e+02] [ 3.32410984e-01 -4.28057306e-03 9.43124920e-01 9.90979175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.52, Y:281.82, Z:99.11 [[ 2.12896699e-01 -9.73695865e-01 -8.11871753e-02 3.53515690e+02] [ 9.18941803e-01 2.27771037e-01 -3.21972540e-01 2.81819146e+02] [ 3.31995419e-01 -6.05939826e-03 9.43261536e-01 9.91065911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.52, Y:281.84, Z:99.12 [[ 2.10498316e-01 -9.74233037e-01 -8.09965929e-02 3.53520878e+02] [ 9.19598186e-01 2.25442460e-01 -3.21737274e-01 2.81842936e+02] [ 3.31707153e-01 -6.75916540e-03 9.43358192e-01 9.91151578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.52, Y:281.87, Z:99.12 [[ 2.07377738e-01 -9.74910578e-01 -8.08939987e-02 3.53524568e+02] [ 9.20274767e-01 2.22463830e-01 -3.21876060e-01 2.81867669e+02] [ 3.31796365e-01 -7.69477647e-03 9.43319650e-01 9.91231818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.53, Y:281.89, Z:99.13 [[ 2.06115452e-01 -9.75181636e-01 -8.08529330e-02 3.53529862e+02] [ 9.20424589e-01 2.21262035e-01 -3.22275796e-01 2.81892501e+02] [ 3.32167123e-01 -7.99300629e-03 9.43186681e-01 9.91321186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.54, Y:281.92, Z:99.14 [[ 2.05023916e-01 -9.75423237e-01 -8.07137121e-02 3.53535935e+02] [ 9.20694635e-01 2.20185202e-01 -3.22241937e-01 2.81917842e+02] [ 3.32094238e-01 -8.24537799e-03 9.43210173e-01 9.91410612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.54, Y:281.94, Z:99.15 [[ 2.04630425e-01 -9.75512214e-01 -8.06368960e-02 3.53542261e+02] [ 9.20714887e-01 2.19790119e-01 -3.22453720e-01 2.81940853e+02] [ 3.32280736e-01 -8.25974892e-03 9.43144363e-01 9.91502349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.55, Y:281.97, Z:99.16 [[ 2.04643516e-01 -9.75519549e-01 -8.05148517e-02 3.53547952e+02] [ 9.20681953e-01 2.19762865e-01 -3.22566312e-01 2.81965178e+02] [ 3.32363918e-01 -8.11746655e-03 9.43116288e-01 9.91590380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.55, Y:281.99, Z:99.17 [[ 2.05272875e-01 -9.75396006e-01 -8.04094414e-02 3.53553630e+02] [ 9.20497437e-01 2.20322975e-01 -3.22710791e-01 2.81989777e+02] [ 3.32486864e-01 -7.77291272e-03 9.43075854e-01 9.91677972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.56, Y:282.01, Z:99.18 [[ 2.07820233e-01 -9.74875451e-01 -8.01785914e-02 3.53558817e+02] [ 9.20065834e-01 2.22647465e-01 -3.22346036e-01 2.82013464e+02] [ 3.32098798e-01 -6.77955416e-03 9.43220243e-01 9.91766691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.56, Y:282.04, Z:99.19 [[ 2.09661722e-01 -9.74492144e-01 -8.00438843e-02 3.53564645e+02] [ 9.19638338e-01 2.24340907e-01 -3.22391819e-01 2.82037898e+02] [ 3.32125413e-01 -6.01820071e-03 9.43216037e-01 9.91858918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.57, Y:282.06, Z:99.19 [[ 2.13154147e-01 -9.73748007e-01 -7.98757024e-02 3.53569651e+02] [ 9.18884606e-01 2.27580091e-01 -3.22270668e-01 2.82061113e+02] [ 3.31988541e-01 -4.70322383e-03 9.43271694e-01 9.91944590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.58, Y:282.09, Z:99.20 [[ 2.14267798e-01 -9.73516697e-01 -7.97154433e-02 3.53575056e+02] [ 9.18660368e-01 2.28577462e-01 -3.22204085e-01 2.82085282e+02] [ 3.31892210e-01 -4.19345860e-03 9.43307996e-01 9.92029678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.58, Y:282.11, Z:99.21 [[ 2.14931355e-01 -9.73372887e-01 -7.96852253e-02 3.53580618e+02] [ 9.18355820e-01 2.29195358e-01 -3.22633037e-01 2.82108880e+02] [ 3.32305734e-01 -3.83543464e-03 9.43163925e-01 9.92119413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.59, Y:282.13, Z:99.22 [[ 2.15936196e-01 -9.73159123e-01 -7.95793954e-02 3.53587522e+02] [ 9.18075996e-01 2.30108734e-01 -3.22779238e-01 2.82131741e+02] [ 3.32427474e-01 -3.36021210e-03 9.43122836e-01 9.92206149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.59, Y:282.15, Z:99.23 [[ 2.15565473e-01 -9.73253801e-01 -7.94264749e-02 3.53593914e+02] [ 9.18194583e-01 2.29707963e-01 -3.22727377e-01 2.82154987e+02] [ 3.32340541e-01 -3.36007914e-03 9.43153474e-01 9.92294155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.60, Y:282.18, Z:99.24 [[ 2.14692854e-01 -9.73455534e-01 -7.93177314e-02 3.53600123e+02] [ 9.18365790e-01 2.28849012e-01 -3.22850440e-01 2.82178818e+02] [ 3.32432332e-01 -3.52900868e-03 9.43120507e-01 9.92384592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.61, Y:282.20, Z:99.25 [[ 2.13492502e-01 -9.73866907e-01 -7.74867605e-02 3.53605624e+02] [ 9.18108802e-01 2.27112333e-01 -3.24801809e-01 2.82201891e+02] [ 3.33911933e-01 -1.79852583e-03 9.42602560e-01 9.92462629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.61, Y:282.23, Z:99.26 [[ 2.09881239e-01 -9.74446250e-01 -8.00273185e-02 3.53614395e+02] [ 9.18982983e-01 2.24552982e-01 -3.24108369e-01 2.82226489e+02] [ 3.33796558e-01 -5.51947771e-03 9.42628980e-01 9.92561575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.62, Y:282.25, Z:99.26 [[ 2.07816891e-01 -9.74934385e-01 -7.94675036e-02 3.53620222e+02] [ 9.19350848e-01 2.22421713e-01 -3.24534437e-01 2.82249793e+02] [ 3.34075080e-01 -5.61477928e-03 9.42529743e-01 9.92645758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.63, Y:282.27, Z:99.27 [[ 2.06154738e-01 -9.75288125e-01 -7.94562612e-02 3.53626778e+02] [ 9.19578918e-01 2.20853288e-01 -3.24959134e-01 2.82274131e+02] [ 3.34476961e-01 -6.07443756e-03 9.42384350e-01 9.92736763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.63, Y:282.30, Z:99.28 [[ 2.04623217e-01 -9.75614585e-01 -7.94073138e-02 3.53632768e+02] [ 9.19810367e-01 2.19395135e-01 -3.25291660e-01 2.82297013e+02] [ 3.34780867e-01 -6.47744437e-03 9.42273747e-01 9.92818922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.64, Y:282.32, Z:99.29 [[ 2.04262771e-01 -9.75698946e-01 -7.92987252e-02 3.53638486e+02] [ 9.19890613e-01 2.19019114e-01 -3.25318132e-01 2.82321769e+02] [ 3.34780495e-01 -6.49576991e-03 9.42273753e-01 9.92908298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.65, Y:282.35, Z:99.30 [[ 2.01925658e-01 -9.76181112e-01 -7.93502732e-02 3.53645327e+02] [ 9.20135080e-01 2.16838790e-01 -3.26086452e-01 2.82345784e+02] [ 3.35525652e-01 -7.16774863e-03 9.42003801e-01 9.93001343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.65, Y:282.37, Z:99.31 [[ 2.00951944e-01 -9.76395356e-01 -7.91860111e-02 3.53651824e+02] [ 9.20391778e-01 2.15865208e-01 -3.26007955e-01 2.82370950e+02] [ 3.35406159e-01 -7.37022110e-03 9.42044791e-01 9.93097175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.66, Y:282.39, Z:99.32 [[ 1.99557415e-01 -9.76688682e-01 -7.90952398e-02 3.53657874e+02] [ 9.20645917e-01 2.14521567e-01 -3.26177241e-01 2.82394659e+02] [ 3.35541254e-01 -7.72762255e-03 9.41993817e-01 9.93187540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.66, Y:282.42, Z:99.33 [[ 1.99004866e-01 -9.76814022e-01 -7.89394050e-02 3.53663476e+02] [ 9.20805971e-01 2.13947779e-01 -3.26102303e-01 2.82417773e+02] [ 3.35430213e-01 -7.79193036e-03 9.42032833e-01 9.93271127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.69, Y:282.44, Z:99.35 [[ 2.01673401e-01 -9.73443976e-01 -1.08326659e-01 3.53690239e+02] [ 9.18742245e-01 2.26345116e-01 -3.23543778e-01 2.82437533e+02] [ 3.39470952e-01 -3.42741040e-02 9.39991893e-01 9.93541288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.66, Y:282.47, Z:99.34 [[ 1.98026573e-01 -9.78537273e-01 -5.70112357e-02 3.53664601e+02] [ 9.20640025e-01 2.05644731e-01 -3.31861703e-01 2.82472310e+02] [ 3.36463106e-01 1.32306103e-02 9.41603701e-01 9.93393031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.68, Y:282.49, Z:99.35 [[ 1.97931166e-01 -9.77038722e-01 -7.88580323e-02 3.53681610e+02] [ 9.20595917e-01 2.12918974e-01 -3.27366261e-01 2.82490554e+02] [ 3.36639884e-01 -7.80039703e-03 9.41601159e-01 9.93546328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.69, Y:282.52, Z:99.36 [[ 1.98384801e-01 -9.76937453e-01 -7.89726732e-02 3.53687211e+02] [ 9.20144294e-01 2.13392810e-01 -3.28326037e-01 2.82516131e+02] [ 3.37606203e-01 -7.53135908e-03 9.41257314e-01 9.93638171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.69, Y:282.54, Z:99.37 [[ 2.00177712e-01 -9.76553670e-01 -7.91947799e-02 3.53691873e+02] [ 9.19201785e-01 2.15167398e-01 -3.29804592e-01 2.82539397e+02] [ 3.39112020e-01 -6.77645452e-03 9.40721594e-01 9.93726589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.70, Y:282.56, Z:99.38 [[ 2.01131815e-01 -9.76369372e-01 -7.90496186e-02 3.53697081e+02] [ 9.18990632e-01 2.16016427e-01 -3.29838022e-01 2.82563946e+02] [ 3.39119759e-01 -6.30493898e-03 9.40722083e-01 9.93814577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.70, Y:282.59, Z:99.39 [[ 2.03517553e-01 -9.75877563e-01 -7.90163815e-02 3.53701254e+02] [ 9.18294640e-01 2.18253274e-01 -3.30303592e-01 2.82588637e+02] [ 3.39581448e-01 -5.33774084e-03 9.40561507e-01 9.93905987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.71, Y:282.61, Z:99.40 [[ 2.04220662e-01 -9.75741423e-01 -7.88834362e-02 3.53705679e+02] [ 9.18128277e-01 2.18870011e-01 -3.30357965e-01 2.82611954e+02] [ 3.39609170e-01 -4.95919100e-03 9.40553570e-01 9.93994335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.71, Y:282.64, Z:99.41 [[ 2.04944374e-01 -9.75609442e-01 -7.86385406e-02 3.53710497e+02] [ 9.18127681e-01 2.19465891e-01 -3.29964065e-01 2.82635224e+02] [ 3.39174535e-01 -4.57594195e-03 9.40712334e-01 9.94078137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.72, Y:282.66, Z:99.42 [[ 2.05361282e-01 -9.75535316e-01 -7.84703217e-02 3.53715711e+02] [ 9.18128606e-01 2.19800128e-01 -3.29738938e-01 2.82660581e+02] [ 3.38919766e-01 -4.33023614e-03 9.40805315e-01 9.94176092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.072755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:353.72, Y:282.68, Z:99.43 [[ 2.04791819e-01 -9.75662194e-01 -7.83810852e-02 3.53721190e+02] [ 9.18196144e-01 2.19234803e-01 -3.29927177e-01 2.82684838e+02] [ 3.39081335e-01 -4.40282342e-03 9.40746758e-01 9.94265829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.73, Y:282.71, Z:99.43 [[ 2.03397166e-01 -9.76198824e-01 -7.52691816e-02 3.53725246e+02] [ 9.18243135e-01 2.16870707e-01 -3.31355763e-01 2.82709601e+02] [ 3.39792787e-01 -1.71858595e-03 9.40498755e-01 9.94346579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.73, Y:282.73, Z:99.44 [[ 2.00736429e-01 -9.76787692e-01 -7.47709215e-02 3.53731254e+02] [ 9.18548259e-01 2.14200507e-01 -3.32245751e-01 2.82734612e+02] [ 3.40549529e-01 -1.98687411e-03 9.40224479e-01 9.94441889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.74, Y:282.76, Z:99.46 [[ 2.00344068e-01 -9.75945110e-01 -8.59848668e-02 3.53743325e+02] [ 9.19604302e-01 2.17595283e-01 -3.27078310e-01 2.82755947e+02] [ 3.37920378e-01 -1.35438541e-02 9.41077245e-01 9.94560033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.74, Y:282.78, Z:99.46 [[ 1.97679637e-01 -9.77585123e-01 -7.24574974e-02 3.53741223e+02] [ 9.19401795e-01 2.10538448e-01 -3.32225678e-01 2.82784666e+02] [ 3.40033969e-01 -9.43301970e-04 9.40412681e-01 9.94611921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.75, Y:282.81, Z:99.47 [[ 1.96748454e-01 -9.76898835e-01 -8.34188936e-02 3.53752407e+02] [ 9.20205721e-01 2.13354110e-01 -3.28178997e-01 2.82806671e+02] [ 3.38395444e-01 -1.21938329e-02 9.40924989e-01 9.94729069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.75, Y:282.84, Z:99.48 [[ 1.94923616e-01 -9.78247503e-01 -7.09690556e-02 3.53751105e+02] [ 9.19782257e-01 2.07440847e-01 -3.33119940e-01 2.82836066e+02] [ 3.40595631e-01 -3.43134824e-04 9.40209816e-01 9.94784124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.76, Y:282.86, Z:99.49 [[ 1.93847120e-01 -9.77292805e-01 -8.55690806e-02 3.53764463e+02] [ 9.20735279e-01 2.11346985e-01 -3.27992375e-01 2.82855493e+02] [ 3.38629355e-01 -1.52060942e-02 9.40796968e-01 9.94911146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.76, Y:282.89, Z:99.49 [[ 1.92910617e-01 -9.79118388e-01 -6.41301499e-02 3.53759429e+02] [ 9.21734851e-01 2.03238658e-01 -3.30301244e-01 2.82887750e+02] [ 3.36437747e-01 4.60762258e-03 9.41694437e-01 9.94903944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.78, Y:282.90, Z:99.51 [[ 1.91350883e-01 -9.77384836e-01 -9.00206732e-02 3.53778249e+02] [ 9.21382522e-01 2.10479848e-01 -3.26729982e-01 2.82904112e+02] [ 3.38288467e-01 -2.04234046e-02 9.40820811e-01 9.95106376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.78, Y:282.93, Z:99.52 [[ 1.90476608e-01 -9.78658927e-01 -7.71061969e-02 3.53776757e+02] [ 9.21414411e-01 2.05327383e-01 -3.29903242e-01 2.82932515e+02] [ 3.38694767e-01 -8.20791031e-03 9.40860502e-01 9.95159240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.78, Y:282.96, Z:99.53 [[ 1.90426419e-01 -9.78267982e-01 -8.20337371e-02 3.53784509e+02] [ 9.21751281e-01 2.06926296e-01 -3.27957442e-01 2.82955201e+02] [ 3.37805202e-01 -1.31629411e-02 9.41124000e-01 9.95258711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.78, Y:282.98, Z:99.53 [[ 1.89527963e-01 -9.79293099e-01 -7.11630400e-02 3.53783511e+02] [ 9.21300091e-01 2.02430402e-01 -3.32006137e-01 2.82982694e+02] [ 3.39536882e-01 -2.63806834e-03 9.40589042e-01 9.95315910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.78, Y:283.01, Z:99.53 [[ 1.89928854e-01 -9.79836805e-01 -6.20231107e-02 3.53784126e+02] [ 9.21972532e-01 1.99714361e-01 -3.31784304e-01 2.83013468e+02] [ 3.37481378e-01 5.83180837e-03 9.41314140e-01 9.95336985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.80, Y:283.03, Z:99.56 [[ 1.90026620e-01 -9.77476046e-01 -9.18175523e-02 3.53803937e+02] [ 9.21166389e-01 2.09864809e-01 -3.27733498e-01 2.83028556e+02] [ 3.39620916e-01 -2.23011542e-02 9.40297980e-01 9.95557945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.80, Y:283.06, Z:99.56 [[ 1.92081266e-01 -9.78398878e-01 -7.64226649e-02 3.53800063e+02] [ 9.20461488e-01 2.06619940e-01 -3.31751186e-01 2.83055908e+02] [ 3.40375435e-01 -6.62093213e-03 9.40266306e-01 9.95591684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.80, Y:283.09, Z:99.56 [[ 1.91947897e-01 -9.79716669e-01 -5.75435011e-02 3.53795803e+02] [ 9.21649825e-01 2.00097688e-01 -3.32449269e-01 2.83088239e+02] [ 3.37220412e-01 1.07779802e-02 9.41364026e-01 9.95559892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:283.10, Z:99.58 [[ 1.92273634e-01 -9.76757634e-01 -9.47384522e-02 3.53819777e+02] [ 9.20370327e-01 2.12983429e-01 -3.27958107e-01 2.83101597e+02] [ 3.40513305e-01 -2.41367633e-02 9.39929841e-01 9.95829699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:283.13, Z:99.59 [[ 1.94913076e-01 -9.77718295e-01 -7.79476018e-02 3.53815922e+02] [ 9.20022882e-01 2.09797657e-01 -3.30972568e-01 2.83128918e+02] [ 3.39951159e-01 -7.20269614e-03 9.40415510e-01 9.95869127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:283.16, Z:99.59 [[ 1.95408241e-01 -9.77972529e-01 -7.33849613e-02 3.53818288e+02] [ 9.20029199e-01 2.08716030e-01 -3.31638194e-01 2.83155755e+02] [ 3.39649661e-01 -2.71147094e-03 9.40548115e-01 9.95949377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:283.18, Z:99.60 [[ 1.96578098e-01 -9.77550414e-01 -7.58435222e-02 3.53823683e+02] [ 9.19957975e-01 2.10647395e-01 -3.30613066e-01 2.83179159e+02] [ 3.39167179e-01 -4.78156551e-03 9.40713963e-01 9.96041564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.82, Y:283.21, Z:99.60 [[ 2.00269414e-01 -9.78052294e-01 -5.74967103e-02 3.53817212e+02] [ 9.20561036e-01 2.07935285e-01 -3.30651322e-01 2.83209335e+02] [ 3.35349879e-01 1.32901151e-02 9.41999911e-01 9.96017701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.83, Y:283.23, Z:99.62 [[ 2.00340006e-01 -9.76817141e-01 -7.54463762e-02 3.53831966e+02] [ 9.20639436e-01 2.14037170e-01 -3.26513581e-01 2.83230827e+02] [ 3.35092392e-01 -4.04517652e-03 9.42176589e-01 9.96173991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.762755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:353.84, Y:283.25, Z:99.63 [[ 2.02605335e-01 -9.75562539e-01 -8.50224191e-02 3.53841302e+02] [ 9.19045866e-01 2.19404935e-01 -3.27438806e-01 2.83250812e+02] [ 3.38091371e-01 -1.17986537e-02 9.41039328e-01 9.96321620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.84, Y:283.28, Z:99.64 [[ 2.02752129e-01 -9.76067097e-01 -7.86422069e-02 3.53842901e+02] [ 9.19712710e-01 2.17385531e-01 -3.26912927e-01 2.83276151e+02] [ 3.36184629e-01 -6.04594549e-03 9.41776694e-01 9.96396842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.85, Y:283.30, Z:99.65 [[ 2.02556713e-01 -9.76432926e-01 -7.44950953e-02 3.53845393e+02] [ 9.19901728e-01 2.15809810e-01 -3.27424703e-01 2.83300493e+02] [ 3.35785033e-01 -2.20609537e-03 9.41936062e-01 9.96471435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.84, Y:283.33, Z:99.65 [[ 2.03319700e-01 -9.77363695e-01 -5.84919494e-02 3.53842397e+02] [ 9.20855026e-01 2.11179842e-01 -3.27763782e-01 2.83329631e+02] [ 3.32696741e-01 1.27782282e-02 9.42947292e-01 9.96469191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.86, Y:283.35, Z:99.66 [[ 2.00688092e-01 -9.76792672e-01 -7.48355936e-02 3.53856315e+02] [ 9.21572906e-01 2.14149944e-01 -3.23794966e-01 2.83352981e+02] [ 3.32306588e-01 -3.98466167e-03 9.43163005e-01 9.96608999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.86, Y:283.38, Z:99.67 [[ 2.00934676e-01 -9.76886372e-01 -7.29264846e-02 3.53860242e+02] [ 9.21158861e-01 2.13751447e-01 -3.25233258e-01 2.83375525e+02] [ 3.33304079e-01 -1.82623812e-03 9.42817615e-01 9.96685654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.87, Y:283.40, Z:99.68 [[ 1.96601911e-01 -9.77794863e-01 -7.25595872e-02 3.53867034e+02] [ 9.22437201e-01 2.09540436e-01 -3.24349219e-01 2.83403797e+02] [ 3.32351168e-01 -3.16398617e-03 9.43150407e-01 9.96787910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.88, Y:283.42, Z:99.69 [[ 1.92507941e-01 -9.77654764e-01 -8.44503105e-02 3.53876001e+02] [ 9.22096510e-01 2.09662303e-01 -3.25237982e-01 2.83420363e+02] [ 3.35676509e-01 -1.52604424e-02 9.41853704e-01 9.96936588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.88, Y:283.45, Z:99.70 [[ 1.89395155e-01 -9.78827401e-01 -7.76298563e-02 3.53877596e+02] [ 9.23260167e-01 2.04439534e-01 -3.25261651e-01 2.83446786e+02] [ 3.34245628e-01 -1.00695731e-02 9.42432206e-01 9.97001272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.88, Y:283.47, Z:99.70 [[ 1.90675213e-01 -9.79284400e-01 -6.81544298e-02 3.53877717e+02] [ 9.22480343e-01 2.02489562e-01 -3.28676124e-01 2.83469827e+02] [ 3.35667962e-01 -2.00731709e-04 9.41980350e-01 9.97042573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.88, Y:283.50, Z:99.71 [[ 1.89784835e-01 -9.79633291e-01 -6.55769158e-02 3.53884436e+02] [ 9.23556265e-01 2.00789816e-01 -3.26691408e-01 2.83496725e+02] [ 3.33204956e-01 1.43710364e-03 9.42853325e-01 9.97092837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.89, Y:283.52, Z:99.72 [[ 1.86007947e-01 -9.80453365e-01 -6.41267648e-02 3.53888441e+02] [ 9.22703625e-01 1.96735765e-01 -3.31531384e-01 2.83520746e+02] [ 3.37667089e-01 2.49747393e-03 9.41262290e-01 9.97182382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.91, Y:283.54, Z:99.74 [[ 1.83631795e-01 -9.79432445e-01 -8.36148830e-02 3.53906296e+02] [ 9.22314339e-01 2.01094815e-01 -3.29995660e-01 2.83544339e+02] [ 3.40022976e-01 -1.65215100e-02 9.40271990e-01 9.97380223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.90, Y:283.57, Z:99.74 [[ 1.79385385e-01 -9.80738411e-01 -7.72855241e-02 3.53904192e+02] [ 9.23893638e-01 1.94935810e-01 -3.29272800e-01 2.83569980e+02] [ 3.37996199e-01 -1.23368762e-02 9.41066614e-01 9.97430610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.91, Y:283.59, Z:99.75 [[ 1.84771059e-01 -9.79959404e-01 -7.44259459e-02 3.53911552e+02] [ 9.21598064e-01 1.99073433e-01 -3.33206807e-01 2.83591653e+02] [ 3.41345373e-01 -7.02383291e-03 9.39911699e-01 9.97519182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.92, Y:283.62, Z:99.76 [[ 1.82768964e-01 -9.80278897e-01 -7.51584274e-02 3.53917334e+02] [ 9.21958761e-01 1.97440519e-01 -3.33180557e-01 2.83619718e+02] [ 3.41449188e-01 -8.39790529e-03 9.39862717e-01 9.97628190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.92, Y:283.64, Z:99.77 [[ 1.79902560e-01 -9.80852887e-01 -7.45833984e-02 3.53917394e+02] [ 9.23826685e-01 1.94514044e-01 -3.29709787e-01 2.83642658e+02] [ 3.37904314e-01 -9.58649895e-03 9.41131645e-01 9.97684120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.92, Y:283.66, Z:99.78 [[ 1.81749165e-01 -9.80752302e-01 -7.13593891e-02 3.53920682e+02] [ 9.23074535e-01 1.95174728e-01 -3.31421528e-01 2.83664665e+02] [ 3.38969976e-01 -5.63444898e-03 9.40780319e-01 9.97756819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.92, Y:283.69, Z:99.78 [[ 1.80936224e-01 -9.81366719e-01 -6.46641000e-02 3.53922155e+02] [ 9.22386472e-01 1.92141598e-01 -3.35089245e-01 2.83692577e+02] [ 3.41270097e-01 9.84491675e-04 9.39964761e-01 9.97845200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.93, Y:283.72, Z:99.79 [[ 1.80411935e-01 -9.81346572e-01 -6.64111387e-02 3.53927088e+02] [ 9.21949643e-01 1.92246152e-01 -3.36229495e-01 2.83716837e+02] [ 3.42724949e-01 -5.67911724e-04 9.39435622e-01 9.97944574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.94, Y:283.74, Z:99.80 [[ 1.80843889e-01 -9.80642597e-01 -7.50705324e-02 3.53936841e+02] [ 9.22873128e-01 1.95585890e-01 -3.31739882e-01 2.83738914e+02] [ 3.40000996e-01 -9.28744683e-03 9.40379214e-01 9.98043975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.94, Y:283.76, Z:99.81 [[ 1.82162928e-01 -9.80222064e-01 -7.73393436e-02 3.53942824e+02] [ 9.23451493e-01 1.97566477e-01 -3.28945022e-01 2.83761779e+02] [ 3.37718830e-01 -1.14975441e-02 9.41176816e-01 9.98129512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.94, Y:283.79, Z:99.82 [[ 1.82207512e-01 -9.81040784e-01 -6.60257773e-02 3.53941329e+02] [ 9.22590250e-01 1.93801347e-01 -3.33568986e-01 2.83787990e+02] [ 3.40040664e-01 -1.35963408e-04 9.40410723e-01 9.98199074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.95, Y:283.81, Z:99.83 [[ 1.81077081e-01 -9.80702941e-01 -7.37077492e-02 3.53950431e+02] [ 9.23265769e-01 1.95333760e-01 -3.30794562e-01 2.83812120e+02] [ 3.38808811e-01 -8.15252808e-03 9.40819922e-01 9.98318476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.95, Y:283.84, Z:99.84 [[ 1.79650675e-01 -9.81166685e-01 -7.09758540e-02 3.53954010e+02] [ 9.23601959e-01 1.93068034e-01 -3.31185983e-01 2.83837849e+02] [ 3.38651822e-01 -6.05565251e-03 9.40892275e-01 9.98400390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.97, Y:283.86, Z:99.86 [[ 1.80949309e-01 -9.79236960e-01 -9.13910506e-02 3.53973303e+02] [ 9.22848055e-01 2.01182929e-01 -3.28446184e-01 2.83859360e+02] [ 3.40012962e-01 -2.49079431e-02 9.40090836e-01 9.98582526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.96, Y:283.89, Z:99.85 [[ 1.77417943e-01 -9.82398672e-01 -5.84441888e-02 3.53956624e+02] [ 9.24525118e-01 1.86731670e-01 -3.32241763e-01 2.83890578e+02] [ 3.37307248e-01 4.91252964e-03 9.41381797e-01 9.98522841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.97, Y:283.91, Z:99.87 [[ 1.77042274e-01 -9.81625394e-01 -7.11872171e-02 3.53968707e+02] [ 9.24670038e-01 1.90671802e-01 -3.29590026e-01 2.83912609e+02] [ 3.37107334e-01 -7.47331901e-03 9.41436559e-01 9.98650532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.98, Y:283.94, Z:99.88 [[ 1.78620856e-01 -9.80961868e-01 -7.62128752e-02 3.53977896e+02] [ 9.25327364e-01 1.93809875e-01 -3.25894158e-01 2.83935686e+02] [ 3.34460550e-01 -1.23103654e-02 9.42329346e-01 9.98751319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:353.98, Y:283.96, Z:99.88 [[ 1.75320500e-01 -9.81928238e-01 -7.12717125e-02 3.53979291e+02] [ 9.25031334e-01 1.89077566e-01 -3.29494621e-01 2.83960973e+02] [ 3.37015954e-01 -8.16140584e-03 9.41463562e-01 9.98824390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.98, Y:283.99, Z:99.89 [[ 1.75071945e-01 -9.82659411e-01 -6.10761452e-02 3.53978430e+02] [ 9.23993672e-01 1.85407628e-01 -3.34454341e-01 2.83987041e+02] [ 3.39978689e-01 2.11960022e-03 9.40430752e-01 9.98895050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.99, Y:284.01, Z:99.90 [[ 1.74437314e-01 -9.81302091e-01 -8.13500445e-02 3.53994926e+02] [ 9.25137752e-01 1.91621616e-01 -3.27721369e-01 2.84007767e+02] [ 3.37182091e-01 -1.80931620e-02 9.41265571e-01 9.99043239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:353.99, Y:284.03, Z:99.91 [[ 1.74018191e-01 -9.82181790e-01 -7.09690106e-02 3.53994180e+02] [ 9.25142172e-01 1.87752555e-01 -3.29940814e-01 2.84034107e+02] [ 3.37386472e-01 -8.24072088e-03 9.41330154e-01 9.99095891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.00, Y:284.06, Z:99.92 [[ 1.73664820e-01 -9.82249771e-01 -7.08937030e-02 3.53998956e+02] [ 9.25095182e-01 1.87397208e-01 -3.30274418e-01 2.84058690e+02] [ 3.37697254e-01 -8.22637576e-03 9.41218833e-01 9.99182774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.00, Y:284.08, Z:99.93 [[ 1.73207637e-01 -9.82337648e-01 -7.07944885e-02 3.54003756e+02] [ 9.25116362e-01 1.86934881e-01 -3.30477029e-01 2.84081926e+02] [ 3.37873987e-01 -8.25199442e-03 9.41155180e-01 9.99270092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.01, Y:284.11, Z:99.94 [[ 1.73041922e-01 -9.82371411e-01 -7.07312057e-02 3.54008489e+02] [ 9.25008863e-01 1.86760906e-01 -3.30876062e-01 2.84106363e+02] [ 3.38253008e-01 -8.17156240e-03 9.41019728e-01 9.99357263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.01, Y:284.13, Z:99.94 [[ 1.72384728e-01 -9.82486780e-01 -7.07335341e-02 3.54013215e+02] [ 9.24888065e-01 1.86148907e-01 -3.31557916e-01 2.84131159e+02] [ 3.38918239e-01 -8.26508043e-03 9.40779526e-01 9.99448722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.02, Y:284.15, Z:99.95 [[ 1.71874006e-01 -9.82581234e-01 -7.06643042e-02 3.54017979e+02] [ 9.24882642e-01 1.85647275e-01 -3.31854165e-01 2.84154543e+02] [ 3.39192311e-01 -8.31908346e-03 9.40680269e-01 9.99536277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.03, Y:284.17, Z:99.96 [[ 1.74009781e-01 -9.81809952e-01 -7.59593005e-02 3.54026846e+02] [ 9.24883037e-01 1.89428885e-01 -3.29709062e-01 2.84173868e+02] [ 3.38100524e-01 -1.28808669e-02 9.41021848e-01 9.99632631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.03, Y:284.20, Z:99.97 [[ 1.73673577e-01 -9.82246276e-01 -7.09206784e-02 3.54029601e+02] [ 9.24046947e-01 1.87439091e-01 -3.33172367e-01 2.84202631e+02] [ 3.40550624e-01 -7.67079956e-03 9.40194890e-01 9.99744737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.04, Y:284.23, Z:99.98 [[ 1.74760459e-01 -9.81757886e-01 -7.49015054e-02 3.54036042e+02] [ 9.24528411e-01 1.89787811e-01 -3.30496300e-01 2.84225493e+02] [ 3.38682742e-01 -1.14908845e-02 9.40830463e-01 9.99832390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.992755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:354.04, Y:284.25, Z:99.99 [[ 1.76094107e-01 -9.81910520e-01 -6.95887642e-02 3.54037719e+02] [ 9.23037771e-01 1.89272620e-01 -3.34928572e-01 2.84252639e+02] [ 3.42041136e-01 -5.25411012e-03 9.39670291e-01 9.99902357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.04, Y:284.28, Z:99.99 [[ 1.76855142e-01 -9.82157172e-01 -6.39495767e-02 3.54037440e+02] [ 9.23614957e-01 1.88061930e-01 -3.34018146e-01 2.84276402e+02] [ 3.40084799e-01 8.04096509e-06 9.40394773e-01 9.99949410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.05, Y:284.30, Z:100.01 [[ 1.81006127e-01 -9.81000296e-01 -6.98226369e-02 3.54047707e+02] [ 9.22176249e-01 1.93968594e-01 -3.34614929e-01 2.84301443e+02] [ 3.41800744e-01 -3.82142485e-03 9.39764677e-01 1.00006521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.082755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:354.06, Y:284.32, Z:100.02 [[ 1.82818418e-01 -9.80139663e-01 -7.68353252e-02 3.54057550e+02] [ 9.21252701e-01 1.98076633e-01 -3.34752310e-01 2.84323617e+02] [ 3.43323299e-01 -9.58586302e-03 9.39168368e-01 1.00018214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.07, Y:284.35, Z:100.03 [[ 1.85500587e-01 -9.79046233e-01 -8.40119412e-02 3.54068224e+02] [ 9.20190138e-01 2.03068309e-01 -3.34683989e-01 2.84347085e+02] [ 3.44731262e-01 -1.52228832e-02 9.38577978e-01 1.00033208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.06, Y:284.37, Z:100.03 [[ 1.84490597e-01 -9.80962903e-01 -6.06217966e-02 3.54056914e+02] [ 9.21532002e-01 1.94096816e-01 -3.36311159e-01 2.84373101e+02] [ 3.41675268e-01 6.18132079e-03 9.39797745e-01 1.00029554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.07, Y:284.40, Z:100.04 [[ 1.86922514e-01 -9.79692420e-01 -7.25447185e-02 3.54069497e+02] [ 9.21575952e-01 2.00450827e-01 -3.32441320e-01 2.84395553e+02] [ 3.40231890e-01 -4.71470058e-03 9.40329747e-01 1.00042956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.07, Y:284.42, Z:100.05 [[ 1.87606646e-01 -9.79921670e-01 -6.75075265e-02 3.54072211e+02] [ 9.21266469e-01 1.99382325e-01 -3.33938290e-01 2.84421201e+02] [ 3.40693174e-01 4.56622027e-04 9.40174427e-01 1.00051195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.10, Y:284.44, Z:100.07 [[ 1.92268174e-01 -9.77005089e-01 -9.21629305e-02 3.54096630e+02] [ 9.19203600e-01 2.12185609e-01 -3.31725804e-01 2.84444293e+02] [ 3.43653446e-01 -2.09361830e-02 9.38863134e-01 1.00074252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.08, Y:284.47, Z:100.07 [[ 1.89456418e-01 -9.80430542e-01 -5.34996929e-02 3.54077015e+02] [ 9.21131591e-01 1.96338145e-01 -3.36107015e-01 2.84473759e+02] [ 3.40033614e-01 1.43973741e-02 9.40303067e-01 1.00065177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.11, Y:284.49, Z:100.09 [[ 1.92905332e-01 -9.76855043e-01 -9.24216298e-02 3.54108381e+02] [ 9.19910812e-01 2.12820501e-01 -3.29350166e-01 2.84490433e+02] [ 3.41396588e-01 -2.14862534e-02 9.39673726e-01 1.00090929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.09, Y:284.52, Z:100.08 [[ 1.87828789e-01 -9.80935735e-01 -4.98540803e-02 3.54087562e+02] [ 9.21569819e-01 1.93564121e-01 -3.36514486e-01 2.84522809e+02] [ 3.39749046e-01 1.72630927e-02 9.40357683e-01 1.00081764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.10, Y:284.54, Z:100.10 [[ 1.86266382e-01 -9.80116673e-01 -6.83823292e-02 3.54103275e+02] [ 9.21924699e-01 1.98419140e-01 -3.32693094e-01 2.84542761e+02] [ 3.39646411e-01 -1.07381914e-03 9.40552583e-01 1.00095956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.11, Y:284.57, Z:100.10 [[ 1.83085955e-01 -9.80723881e-01 -6.82656805e-02 3.54110206e+02] [ 9.22525266e-01 1.95388079e-01 -3.32822224e-01 2.84567093e+02] [ 3.39745003e-01 -2.04174014e-03 9.40515372e-01 1.00104874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.12, Y:284.59, Z:100.11 [[ 1.80897498e-01 -9.81143935e-01 -6.80637572e-02 3.54115421e+02] [ 9.23073588e-01 1.93260040e-01 -3.32544294e-01 2.84590366e+02] [ 3.39427821e-01 -2.67142602e-03 9.40628310e-01 1.00113128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.12, Y:284.61, Z:100.12 [[ 1.78724792e-01 -9.81556057e-01 -6.78612987e-02 3.54120936e+02] [ 9.23605101e-01 1.91146259e-01 -3.32290121e-01 2.84614689e+02] [ 3.39132814e-01 -3.28855897e-03 9.40732757e-01 1.00121700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.13, Y:284.64, Z:100.13 [[ 1.75273610e-01 -9.82190860e-01 -6.76777371e-02 3.54127676e+02] [ 9.24352413e-01 1.87835552e-01 -3.32100019e-01 2.84639001e+02] [ 3.38897888e-01 -4.34971026e-03 9.40813106e-01 1.00130351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.15, Y:284.67, Z:100.15 [[ 1.75671114e-01 -9.80446393e-01 -8.86821833e-02 3.54150732e+02] [ 9.22717188e-01 1.95383625e-01 -3.32292385e-01 2.84665100e+02] [ 3.43121917e-01 -2.34544014e-02 9.38997998e-01 1.00153847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.13, Y:284.69, Z:100.14 [[ 1.72000647e-01 -9.83833703e-01 -4.98700582e-02 3.54129561e+02] [ 9.24428534e-01 1.78692272e-01 -3.36899033e-01 2.84689986e+02] [ 3.40364017e-01 1.18455467e-02 9.40219133e-01 1.00143155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.15, Y:284.71, Z:100.17 [[ 1.69251045e-01 -9.82383084e-01 -7.92310579e-02 3.54154322e+02] [ 9.22457470e-01 1.86205598e-01 -3.38230234e-01 2.84713302e+02] [ 3.47024927e-01 -1.58414606e-02 9.37722106e-01 1.00169974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.15, Y:284.74, Z:100.17 [[ 1.65054147e-01 -9.83613900e-01 -7.25315476e-02 3.54148112e+02] [ 9.26550574e-01 1.79841988e-01 -3.30395058e-01 2.84737250e+02] [ 3.38025389e-01 -1.26710727e-02 9.41051689e-01 1.00167869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.16, Y:284.76, Z:100.19 [[ 1.68008256e-01 -9.82177791e-01 -8.42615788e-02 3.54163569e+02] [ 9.24431277e-01 1.86659397e-01 -3.32543355e-01 2.84763350e+02] [ 3.42344914e-01 -2.20240099e-02 9.39316189e-01 1.00186286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.16, Y:284.79, Z:100.19 [[ 1.67188984e-01 -9.83376843e-01 -7.08366321e-02 3.54160889e+02] [ 9.24565313e-01 1.81329456e-01 -3.35109849e-01 2.84790093e+02] [ 3.42384033e-01 -9.46641791e-03 9.39512406e-01 1.00191303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.17, Y:284.82, Z:100.20 [[ 1.66822001e-01 -9.83467852e-01 -7.04372325e-02 3.54165508e+02] [ 9.24712447e-01 1.80846165e-01 -3.34965007e-01 2.84815310e+02] [ 3.42165619e-01 -9.25465283e-03 9.39594083e-01 1.00199163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.16, Y:284.84, Z:100.20 [[ 1.63989775e-01 -9.84664196e-01 -5.95296115e-02 3.54159657e+02] [ 9.25725351e-01 1.74460352e-01 -3.35553514e-01 2.84839009e+02] [ 3.40793088e-01 -8.07250505e-05 9.40138322e-01 1.00199290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.742755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.18, Y:284.86, Z:100.22 [[ 1.66807854e-01 -9.82482413e-01 -8.30869967e-02 3.54182116e+02] [ 9.24100050e-01 1.85166305e-01 -3.34294088e-01 2.84862470e+02] [ 3.43822975e-01 -2.10178184e-02 9.38799240e-01 1.00220948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.18, Y:284.89, Z:100.23 [[ 1.68273642e-01 -9.82765582e-01 -7.65231440e-02 3.54183124e+02] [ 9.23822900e-01 1.84307471e-01 -3.35532421e-01 2.84889507e+02] [ 3.43853503e-01 -1.42325703e-02 9.38915440e-01 1.00229962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.17, Y:284.91, Z:100.22 [[ 1.65188796e-01 -9.84811623e-01 -5.34670746e-02 3.54168676e+02] [ 9.25403304e-01 1.73516271e-01 -3.36928521e-01 2.84914338e+02] [ 3.41088531e-01 6.17820946e-03 9.40010874e-01 1.00224265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.18, Y:284.94, Z:100.24 [[ 1.65957602e-01 -9.83965740e-01 -6.53413880e-02 3.54179376e+02] [ 9.25185548e-01 1.78291549e-01 -3.35028098e-01 2.84935252e+02] [ 3.41305987e-01 -4.85244804e-03 9.39939720e-01 1.00236359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.19, Y:284.96, Z:100.25 [[ 1.69487684e-01 -9.83419812e-01 -6.44934012e-02 3.54188019e+02] [ 9.24089611e-01 1.81325194e-01 -3.36421708e-01 2.84964183e+02] [ 3.42538051e-01 -2.57834593e-03 9.39500418e-01 1.00246897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.892755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.21, Y:284.99, Z:100.27 [[ 1.71379285e-01 -9.81551313e-01 -8.47712222e-02 3.54206064e+02] [ 9.22928696e-01 1.90057283e-01 -3.34784785e-01 2.84985999e+02] [ 3.44719833e-01 -2.08626163e-02 9.38473754e-01 1.00265719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.19, Y:285.01, Z:100.26 [[ 1.70366751e-01 -9.83541436e-01 -6.01781905e-02 3.54191440e+02] [ 9.24199526e-01 1.80674657e-01 -3.36469768e-01 2.85009131e+02] [ 3.41804632e-01 1.70660588e-03 9.39769483e-01 1.00261689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.20, Y:285.03, Z:100.27 [[ 1.75347522e-01 -9.82419323e-01 -6.40743405e-02 3.54201748e+02] [ 9.24549549e-01 1.86685017e-01 -3.32199995e-01 2.85032585e+02] [ 3.38321413e-01 -9.89456796e-04 9.41030097e-01 1.00269682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.20, Y:285.07, Z:100.28 [[ 1.72121519e-01 -9.83682562e-01 -5.23717564e-02 3.54199682e+02] [ 9.24484964e-01 1.79664193e-01 -3.36226603e-01 2.85065259e+02] [ 3.40149576e-01 9.45493223e-03 9.40323812e-01 1.00275465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.22, Y:285.08, Z:100.29 [[ 1.72113261e-01 -9.81811953e-01 -8.01393416e-02 3.54217286e+02] [ 9.24248084e-01 1.89094871e-01 -3.31675457e-01 2.85079290e+02] [ 3.40796867e-01 -1.69828884e-02 9.39983551e-01 1.00294929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0427550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.21, Y:285.11, Z:100.29 [[ 1.72606841e-01 -9.83631728e-01 -5.17252649e-02 3.54209695e+02] [ 9.24462679e-01 1.79901278e-01 -3.36161102e-01 2.85114812e+02] [ 3.39964167e-01 1.02056289e-02 9.40383013e-01 1.00292568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.22, Y:285.13, Z:100.31 [[ 1.72436367e-01 -9.82470304e-01 -7.08364414e-02 3.54224036e+02] [ 9.25857530e-01 1.86207253e-01 -3.28807990e-01 2.85132511e+02] [ 3.36234345e-01 -8.88599763e-03 9.41736431e-01 1.00305892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.22, Y:285.16, Z:100.32 [[ 1.70812669e-01 -9.83407079e-01 -6.11027770e-02 3.54223669e+02] [ 9.24847349e-01 1.81411602e-01 -3.34286122e-01 2.85162247e+02] [ 3.39824092e-01 5.89563270e-04 9.40488830e-01 1.00315665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.132755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:354.22, Y:285.19, Z:100.32 [[ 1.69289624e-01 -9.84055253e-01 -5.45553246e-02 3.54224465e+02] [ 9.25653625e-01 1.77760245e-01 -3.34015959e-01 2.85189359e+02] [ 3.38387927e-01 6.04610206e-03 9.40987277e-01 1.00317818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.24, Y:285.21, Z:100.33 [[ 1.69610885e-01 -9.83062780e-01 -6.94241896e-02 3.54237498e+02] [ 9.26906261e-01 1.83058592e-01 -3.27619194e-01 2.85209224e+02] [ 3.34778930e-01 -8.78193462e-03 9.42255775e-01 1.00332299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.192755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.25, Y:285.23, Z:100.35 [[ 1.70145603e-01 -9.82291192e-01 -7.84505446e-02 3.54247168e+02] [ 9.24957445e-01 1.86656215e-01 -3.31078816e-01 2.85229680e+02] [ 3.39859087e-01 -1.62318104e-02 9.40336285e-01 1.00351161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.222755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.24, Y:285.26, Z:100.36 [[ 1.70643891e-01 -9.83297141e-01 -6.33039825e-02 3.54242366e+02] [ 9.24804497e-01 1.82001037e-01 -3.34084220e-01 2.85258259e+02] [ 3.40025449e-01 -1.53437644e-03 9.40414983e-01 1.00355106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.23, Y:285.29, Z:100.35 [[ 1.68801452e-01 -9.84791088e-01 -4.11410088e-02 3.54233000e+02] [ 9.26690483e-01 1.72785444e-01 -3.33751315e-01 2.85290393e+02] [ 3.35783888e-01 1.82127254e-02 9.41762962e-01 1.00349683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.26, Y:285.30, Z:100.38 [[ 1.71293185e-01 -9.81559800e-01 -8.48469453e-02 3.54261781e+02] [ 9.25006994e-01 1.89872292e-01 -3.29105717e-01 2.85300743e+02] [ 3.39147026e-01 -2.21104512e-02 9.40473510e-01 1.00378768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.312755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.26, Y:285.33, Z:100.38 [[ 1.69138871e-01 -9.83579006e-01 -6.29633377e-02 3.54255577e+02] [ 9.25073276e-01 1.80469847e-01 -3.34170718e-01 2.85330750e+02] [ 3.40046287e-01 -1.72444321e-03 9.40407119e-01 1.00379135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.342755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:354.26, Y:285.36, Z:100.39 [[ 1.67900715e-01 -9.83802835e-01 -6.27800208e-02 3.54260390e+02] [ 9.25387769e-01 1.79242534e-01 -3.33960464e-01 2.85355420e+02] [ 3.39804102e-01 -2.02366258e-03 9.40494060e-01 1.00387920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.372755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.26, Y:285.39, Z:100.39 [[ 1.65619043e-01 -9.84918805e-01 -5.00527814e-02 3.54261055e+02] [ 9.26608390e-01 1.72786382e-01 -3.33978680e-01 2.85386633e+02] [ 3.37590321e-01 8.93390214e-03 9.41250743e-01 1.00393163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.29, Y:285.41, Z:100.42 [[ 1.65100739e-01 -9.82313170e-01 -8.83322266e-02 3.54288351e+02] [ 9.25341506e-01 1.85270293e-01 -3.30783941e-01 2.85406013e+02] [ 3.41298759e-01 -2.71248025e-02 9.39563410e-01 1.00420694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.27, Y:285.43, Z:100.42 [[ 1.61048191e-01 -9.85425803e-01 -5.47673976e-02 3.54269220e+02] [ 9.26428137e-01 1.70072772e-01 -3.35866281e-01 2.85430275e+02] [ 3.40285742e-01 3.35259892e-03 9.40316103e-01 1.00415498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.28, Y:285.45, Z:100.43 [[ 1.60588441e-01 -9.85016149e-01 -6.28851300e-02 3.54277968e+02] [ 9.26501279e-01 1.72402088e-01 -3.34474064e-01 2.85453619e+02] [ 3.40303882e-01 -4.55048482e-03 9.40304504e-01 1.00427097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.492755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.29, Y:285.48, Z:100.44 [[ 1.58609979e-01 -9.84410141e-01 -7.60233477e-02 3.54289713e+02] [ 9.28507462e-01 1.74898116e-01 -3.27543191e-01 2.85475404e+02] [ 3.35733179e-01 -1.86366269e-02 9.41772748e-01 1.00438883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.522755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:354.28, Y:285.50, Z:100.44 [[ 1.57510469e-01 -9.85919546e-01 -5.61524751e-02 3.54282902e+02] [ 9.28083916e-01 1.67220104e-01 -3.32712611e-01 2.85503676e+02] [ 3.37417689e-01 2.91510317e-04 9.41354991e-01 1.00442131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.29, Y:285.52, Z:100.46 [[ 1.56893044e-01 -9.85060020e-01 -7.10023277e-02 3.54294630e+02] [ 9.29590086e-01 1.71572503e-01 -3.26228676e-01 2.85523034e+02] [ 3.33536873e-01 -1.48200500e-02 9.42620560e-01 1.00455093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.582755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:354.30, Y:285.55, Z:100.47 [[ 1.57726877e-01 -9.85364625e-01 -6.46435447e-02 3.54301147e+02] [ 9.27055431e-01 1.70305781e-01 -3.34012229e-01 2.85554643e+02] [ 3.40133004e-01 -7.24544351e-03 9.40349426e-01 1.00467336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.612755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:354.30, Y:285.57, Z:100.47 [[ 1.55527192e-01 -9.85792708e-01 -6.34352387e-02 3.54299908e+02] [ 9.29193067e-01 1.67788675e-01 -3.29313234e-01 2.85573246e+02] [ 3.35278299e-01 -7.72642149e-03 9.42087451e-01 1.00469574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.30, Y:285.60, Z:100.48 [[ 1.54271456e-01 -9.86576848e-01 -5.35391451e-02 3.54300209e+02] [ 9.29107159e-01 1.63291258e-01 -3.31806951e-01 2.85604034e+02] [ 3.36095530e-01 1.44473859e-03 9.41826793e-01 1.00476243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.32, Y:285.63, Z:100.50 [[ 1.53727757e-01 -9.85580489e-01 -7.07027317e-02 3.54315040e+02] [ 9.27398845e-01 1.68607277e-01 -3.33920602e-01 2.85625370e+02] [ 3.41026625e-01 -1.42367667e-02 9.39945826e-01 1.00496678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.31, Y:285.65, Z:100.50 [[ 1.50628923e-01 -9.86595257e-01 -6.27752104e-02 3.54312839e+02] [ 9.28912577e-01 1.62978838e-01 -3.32504620e-01 2.85652502e+02] [ 3.38278512e-01 -8.22786957e-03 9.41010069e-01 1.00498753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.732755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:354.32, Y:285.67, Z:100.51 [[ 1.52152257e-01 -9.86458754e-01 -6.12275827e-02 3.54315073e+02] [ 9.28893633e-01 1.63886849e-01 -3.32111006e-01 2.85670334e+02] [ 3.37648205e-01 -6.34247257e-03 9.41251010e-01 1.00505439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.32, Y:285.70, Z:100.51 [[ 1.49207513e-01 -9.87202556e-01 -5.62870405e-02 3.54316288e+02] [ 9.29374884e-01 1.59449550e-01 -3.32923664e-01 2.85698405e+02] [ 3.37638035e-01 -2.63704966e-03 9.41272332e-01 1.00513459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7927550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.32, Y:285.72, Z:100.52 [[ 1.49195413e-01 -9.87122708e-01 -5.77017202e-02 3.54321628e+02] [ 9.28841008e-01 1.59921217e-01 -3.34184958e-01 2.85721793e+02] [ 3.39109290e-01 -3.73686137e-03 9.40739563e-01 1.00522175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.822755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.34, Y:285.74, Z:100.54 [[ 1.52367775e-01 -9.85327026e-01 -7.69071705e-02 3.54339249e+02] [ 9.27966233e-01 1.69405957e-01 -3.31934170e-01 2.85740071e+02] [ 3.40092241e-01 -2.07911865e-02 9.40162217e-01 1.00539954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.852755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.34, Y:285.77, Z:100.55 [[ 1.51165167e-01 -9.86115710e-01 -6.87378968e-02 3.54341219e+02] [ 9.27709850e-01 1.65534982e-01 -3.34593192e-01 2.85773603e+02] [ 3.41326130e-01 -1.31899882e-02 9.39852381e-01 1.00548806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.882755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.33, Y:285.79, Z:100.55 [[ 1.49904352e-01 -9.87001605e-01 -5.79354611e-02 3.54334212e+02] [ 9.30351202e-01 1.60647632e-01 -3.29604277e-01 2.85792644e+02] [ 3.34627145e-01 -4.49121025e-03 9.42339908e-01 1.00546433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9127550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.33, Y:285.82, Z:100.55 [[ 1.46788688e-01 -9.88202930e-01 -4.36812334e-02 3.54330174e+02] [ 9.29777122e-01 1.52911855e-01 -3.34861865e-01 2.85823837e+02] [ 3.37590854e-01 8.54012233e-03 9.41254207e-01 1.00552395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.942755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.35, Y:285.85, Z:100.57 [[ 1.49101628e-01 -9.86590965e-01 -6.63850241e-02 3.54350595e+02] [ 9.28514990e-01 1.62779203e-01 -3.33710721e-01 2.85850044e+02] [ 3.40042084e-01 -1.18826781e-02 9.40335144e-01 1.00572869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.972755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:354.35, Y:285.87, Z:100.58 [[ 1.46461653e-01 -9.87358594e-01 -6.05969544e-02 3.54346839e+02] [ 9.29986067e-01 1.58312093e-01 -3.31757739e-01 2.85871116e+02] [ 3.37157085e-01 -7.76453645e-03 9.41416386e-01 1.00576153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.002755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:354.34, Y:285.90, Z:100.58 [[ 1.45974155e-01 -9.88045986e-01 -4.95648631e-02 3.54343674e+02] [ 9.28860575e-01 1.54127622e-01 -3.36842261e-01 2.85896909e+02] [ 3.40454959e-01 3.13141733e-03 9.40255612e-01 1.00582078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0327550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.36, Y:285.92, Z:100.60 [[ 1.44995597e-01 -9.87009602e-01 -6.91977013e-02 3.54357588e+02] [ 9.29882280e-01 1.59831679e-01 -3.31319754e-01 2.85917793e+02] [ 3.38075764e-01 -1.63058106e-02 9.40977629e-01 1.00595483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.062755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.36, Y:285.94, Z:100.60 [[ 1.44698090e-01 -9.87688639e-01 -5.94442209e-02 3.54355710e+02] [ 9.29572164e-01 1.56278270e-01 -3.33875268e-01 2.85944688e+02] [ 3.39054649e-01 -6.94657960e-03 9.40741032e-01 1.00600653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.092755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:354.36, Y:285.97, Z:100.61 [[ 1.45148494e-01 -9.87608810e-01 -5.96720523e-02 3.54358908e+02] [ 9.28732168e-01 1.56794627e-01 -3.35964292e-01 2.85970150e+02] [ 3.41157552e-01 -6.65464335e-03 9.39982575e-01 1.00608495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.122755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.37, Y:286.00, Z:100.62 [[ 1.48019998e-01 -9.86831065e-01 -6.52267554e-02 3.54370270e+02] [ 9.27615547e-01 1.61403797e-01 -3.36865272e-01 2.86000506e+02] [ 3.42956961e-01 -1.06425553e-02 9.39290828e-01 1.00621657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.36, Y:286.02, Z:100.63 [[ 1.46243338e-01 -9.87255115e-01 -6.27712048e-02 3.54364952e+02] [ 9.28257667e-01 1.58885997e-01 -3.36292942e-01 2.86020920e+02] [ 3.41980393e-01 -9.08724976e-03 9.39663149e-01 1.00626227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.182755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.36, Y:286.05, Z:100.63 [[ 1.47741168e-01 -9.88004510e-01 -4.49403654e-02 3.54361541e+02] [ 9.28483040e-01 1.54207841e-01 -3.37844915e-01 2.86053312e+02] [ 3.40722456e-01 8.18723508e-03 9.40128277e-01 1.00626066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.212755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.38, Y:286.08, Z:100.64 [[ 1.48514738e-01 -9.86957185e-01 -6.21199476e-02 3.54375890e+02] [ 9.27829804e-01 1.60800996e-01 -3.36563360e-01 2.86076587e+02] [ 3.42162576e-01 -7.65211947e-03 9.39609609e-01 1.00640697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.242755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:354.38, Y:286.10, Z:100.65 [[ 1.50165243e-01 -9.86379075e-01 -6.71321094e-02 3.54381098e+02] [ 9.26872258e-01 1.64083821e-01 -3.37615634e-01 2.86100319e+02] [ 3.44032290e-01 -1.15247561e-02 9.38887088e-01 1.00652303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.272755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:354.39, Y:286.12, Z:100.66 [[ 1.50415187e-01 -9.85995881e-01 -7.20235673e-02 3.54385116e+02] [ 9.26390926e-01 1.66011650e-01 -3.37994060e-01 2.86120720e+02] [ 3.45217502e-01 -1.58825393e-02 9.38388310e-01 1.00663254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.302755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:354.39, Y:286.15, Z:100.67 [[ 1.55708367e-01 -9.85322027e-01 -6.99671899e-02 3.54392108e+02] [ 9.24785553e-01 1.70302739e-01 -3.40247936e-01 2.86149720e+02] [ 3.47169390e-01 -1.17251960e-02 9.37729137e-01 1.00674884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.38, Y:286.17, Z:100.68 [[ 1.53810005e-01 -9.86529031e-01 -5.57041623e-02 3.54381934e+02] [ 9.26038642e-01 1.63584643e-01 -3.40135998e-01 2.86172115e+02] [ 3.44666382e-01 7.32112929e-04 9.38724959e-01 1.00676551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.362755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.38, Y:286.20, Z:100.68 [[ 1.55705830e-01 -9.86536863e-01 -5.00071247e-02 3.54384950e+02] [ 9.25868554e-01 1.63399804e-01 -3.40687429e-01 2.86201612e+02] [ 3.44271862e-01 6.74699456e-03 9.38845761e-01 1.00682253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.392755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:354.40, Y:286.22, Z:100.70 [[ 1.57653277e-01 -9.84998328e-01 -7.01693559e-02 3.54399167e+02] [ 9.25405845e-01 1.72166162e-01 -3.37613440e-01 2.86218081e+02] [ 3.44629463e-01 -1.17092669e-02 9.38665769e-01 1.00698017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.40, Y:286.25, Z:100.70 [[ 1.59506938e-01 -9.85699730e-01 -5.43468462e-02 3.54397021e+02] [ 9.24753174e-01 1.68459536e-01 -3.41252037e-01 2.86248575e+02] [ 3.45527285e-01 4.17464903e-03 9.38399418e-01 1.00704569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.452755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.41, Y:286.27, Z:100.72 [[ 1.60516011e-01 -9.85270388e-01 -5.89650183e-02 3.54405570e+02] [ 9.24005167e-01 1.71003192e-01 -3.42012222e-01 2.86271151e+02] [ 3.47057721e-01 4.14456234e-04 9.37843679e-01 1.00715784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.42, Y:286.29, Z:100.73 [[ 1.60181974e-01 -9.84225820e-01 -7.51083946e-02 3.54419660e+02] [ 9.24899502e-01 1.76236238e-01 -3.36900132e-01 2.86294738e+02] [ 3.44822630e-01 -1.55023886e-02 9.38539839e-01 1.00732047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.512755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.42, Y:286.32, Z:100.74 [[ 1.60612639e-01 -9.85097108e-01 -6.15407829e-02 3.54417807e+02] [ 9.24731267e-01 1.71982726e-01 -3.39549739e-01 2.86321879e+02] [ 3.45073417e-01 -2.37270654e-03 9.38572697e-01 1.00736430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.42, Y:286.34, Z:100.74 [[ 1.59402075e-01 -9.85550021e-01 -5.72899247e-02 3.54417449e+02] [ 9.25884466e-01 1.69382811e-01 -3.37709074e-01 2.86342530e+02] [ 3.42533113e-01 7.87675758e-04 9.39505426e-01 1.00742467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.572755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.43, Y:286.37, Z:100.75 [[ 1.60474726e-01 -9.85371132e-01 -5.73724163e-02 3.54425578e+02] [ 9.25512860e-01 1.70418168e-01 -3.38206437e-01 2.86370244e+02] [ 3.43036162e-01 1.17467609e-03 9.39321464e-01 1.00751484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.602755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:354.44, Y:286.39, Z:100.76 [[ 1.59834661e-01 -9.85093751e-01 -6.35860302e-02 3.54435538e+02] [ 9.25468814e-01 1.71948674e-01 -3.37551667e-01 2.86393052e+02] [ 3.43453572e-01 -4.89443166e-03 9.39156903e-01 1.00763720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.44, Y:286.42, Z:100.77 [[ 1.60895144e-01 -9.85350266e-01 -5.65473720e-02 3.54436379e+02] [ 9.25160310e-01 1.70528021e-01 -3.39114427e-01 2.86416552e+02] [ 3.43789402e-01 2.24648020e-03 9.39044089e-01 1.00770842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6627550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.45, Y:286.44, Z:100.78 [[ 1.59092375e-01 -9.85352526e-01 -6.14004615e-02 3.54445856e+02] [ 9.25808030e-01 1.70500219e-01 -3.37356144e-01 2.86441983e+02] [ 3.42883521e-01 -3.17425013e-03 9.39372565e-01 1.00780798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.44, Y:286.47, Z:100.79 [[ 1.57314711e-01 -9.86371467e-01 -4.82017725e-02 3.54442515e+02] [ 9.24951987e-01 1.64268599e-01 -3.42753043e-01 2.86468117e+02] [ 3.45999860e-01 9.33577063e-03 9.38188116e-01 1.00786911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.722755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:354.46, Y:286.49, Z:100.80 [[ 1.52106566e-01 -9.85584110e-01 -7.40780386e-02 3.54461158e+02] [ 9.27841338e-01 1.68215381e-01 -3.32887425e-01 2.86485235e+02] [ 3.40549622e-01 -1.80983034e-02 9.40052342e-01 1.00803191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.46, Y:286.52, Z:100.81 [[ 1.52654449e-01 -9.86384360e-01 -6.11760907e-02 3.54462296e+02] [ 9.27230385e-01 1.64369077e-01 -3.36491634e-01 2.86518029e+02] [ 3.41965542e-01 -5.35738512e-03 9.39697221e-01 1.00810451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7827550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:354.47, Y:286.54, Z:100.82 [[ 1.52279299e-01 -9.86392554e-01 -6.19737367e-02 3.54465839e+02] [ 9.27838869e-01 1.64278258e-01 -3.34854725e-01 2.86541265e+02] [ 3.40479145e-01 -6.51019913e-03 9.40229530e-01 1.00819914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.46, Y:286.57, Z:100.82 [[ 1.52804476e-01 -9.86877763e-01 -5.21830707e-02 3.54462835e+02] [ 9.27812912e-01 1.61441770e-01 -3.36303070e-01 2.86565218e+02] [ 3.40314549e-01 2.97248778e-03 9.40306956e-01 1.00823849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.47, Y:286.59, Z:100.83 [[ 1.53285434e-01 -9.86088577e-01 -6.42875877e-02 3.54473454e+02] [ 9.29698992e-01 1.65956620e-01 -3.28813297e-01 2.86585654e+02] [ 3.34907987e-01 -9.36581652e-03 9.42204289e-01 1.00832030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.47, Y:286.62, Z:100.84 [[ 1.48352408e-01 -9.87767722e-01 -4.80259407e-02 3.54468213e+02] [ 9.29262526e-01 1.55850333e-01 -3.34935564e-01 2.86618000e+02] [ 3.38323398e-01 5.05979046e-03 9.41016300e-01 1.00839120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.902755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.48, Y:286.64, Z:100.85 [[ 1.48058530e-01 -9.87083589e-01 -6.11936242e-02 3.54480136e+02] [ 9.29512159e-01 1.60021626e-01 -3.32265294e-01 2.86635623e+02] [ 3.37765923e-01 -7.68550680e-03 9.41198765e-01 1.00850042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.48, Y:286.66, Z:100.86 [[ 1.44818285e-01 -9.87842504e-01 -5.65230109e-02 3.54481547e+02] [ 9.31250431e-01 1.55380544e-01 -3.29589929e-01 2.86660097e+02] [ 3.34365517e-01 -4.90642989e-03 9.42430702e-01 1.00858435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.962755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:354.49, Y:286.69, Z:100.87 [[ 1.42737555e-01 -9.88258364e-01 -5.45105160e-02 3.54485068e+02] [ 9.30668062e-01 1.52756863e-01 -3.32448943e-01 2.86685623e+02] [ 3.36872304e-01 -3.27824692e-03 9.41544637e-01 1.00868297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.49, Y:286.71, Z:100.87 [[ 1.42723360e-01 -9.88366437e-01 -5.25531060e-02 3.54486324e+02] [ 9.32188992e-01 1.52076762e-01 -3.28475787e-01 2.86707183e+02] [ 3.32646549e-01 -2.10825899e-03 9.43049219e-01 1.00872965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.022755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.49, Y:286.73, Z:100.89 [[ 1.39006702e-01 -9.88830668e-01 -5.37684581e-02 3.54493560e+02] [ 9.31100219e-01 1.48995321e-01 -3.32945606e-01 2.86733870e+02] [ 3.37238075e-01 -3.78215259e-03 9.41411800e-01 1.00888875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.49, Y:286.76, Z:100.89 [[ 1.34331905e-01 -9.89993762e-01 -4.32121515e-02 3.54487687e+02] [ 9.34217056e-01 1.41064143e-01 -3.27626921e-01 2.86761075e+02] [ 3.30444293e-01 3.64121966e-03 9.43818473e-01 1.00888482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.49, Y:286.79, Z:100.90 [[ 1.30594498e-01 -9.90697589e-01 -3.82539477e-02 3.54488593e+02] [ 9.34302120e-01 1.35886030e-01 -3.29567195e-01 2.86786842e+02] [ 3.31699603e-01 7.29891787e-03 9.43356825e-01 1.00895832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.50, Y:286.81, Z:100.91 [[ 1.30542304e-01 -9.89716552e-01 -5.84795196e-02 3.54503969e+02] [ 9.34536565e-01 1.42531102e-01 -3.26077130e-01 2.86806438e+02] [ 3.31059083e-01 -1.20843895e-02 9.43532645e-01 1.00911980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.50, Y:286.83, Z:100.92 [[ 1.29436655e-01 -9.90264064e-01 -5.12175463e-02 3.54503992e+02] [ 9.34628321e-01 1.39092694e-01 -3.27296692e-01 2.86831748e+02] [ 3.31234138e-01 -5.50518047e-03 9.43532532e-01 1.00918296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.52, Y:286.85, Z:100.93 [[ 1.31098002e-01 -9.89352336e-01 -6.32081384e-02 3.54515801e+02] [ 9.34593575e-01 1.44605617e-01 -3.24998562e-01 2.86851281e+02] [ 3.30678338e-01 -1.64672579e-02 9.43599844e-01 1.00932149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.51, Y:286.88, Z:100.93 [[ 1.29204687e-01 -9.90809547e-01 -4.00323630e-02 3.54506805e+02] [ 9.34633053e-01 1.35168806e-01 -3.28923167e-01 2.86882797e+02] [ 3.31311340e-01 5.08284526e-03 9.43507796e-01 1.00933721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.52, Y:286.91, Z:100.95 [[ 1.28209551e-01 -9.90235550e-01 -5.47345065e-02 3.54519676e+02] [ 9.33908924e-01 1.39120309e-01 -3.29332145e-01 2.86906690e+02] [ 3.33731079e-01 -8.89351766e-03 9.42626369e-01 1.00951550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.53, Y:286.93, Z:100.96 [[ 1.28730374e-01 -9.89958924e-01 -5.83936551e-02 3.54525268e+02] [ 9.33964179e-01 1.40823004e-01 -3.28450596e-01 2.86929859e+02] [ 3.33375768e-01 -1.22560140e-02 9.42714372e-01 1.00962449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.52, Y:286.96, Z:100.97 [[ 1.29032699e-01 -9.90423173e-01 -4.91172235e-02 3.54523261e+02] [ 9.33771068e-01 1.38026489e-01 -3.30182193e-01 2.86955897e+02] [ 3.33799573e-01 -3.25994286e-03 9.42638434e-01 1.00967874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.53, Y:286.98, Z:100.98 [[ 1.29680584e-01 -9.90117878e-01 -5.33810232e-02 3.54530401e+02] [ 9.33990253e-01 1.40051088e-01 -3.28706404e-01 2.86981056e+02] [ 3.32934158e-01 -7.23051686e-03 9.42922354e-01 1.00978169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.53, Y:287.01, Z:100.99 [[ 1.29302452e-01 -9.90127615e-01 -5.41126708e-02 3.54534551e+02] [ 9.34001095e-01 1.39938270e-01 -3.28723645e-01 2.87006056e+02] [ 3.33050792e-01 -8.03652060e-03 9.42874639e-01 1.00987556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.54, Y:287.03, Z:100.99 [[ 1.31651857e-01 -9.89758411e-01 -5.51912745e-02 3.54538986e+02] [ 9.34476649e-01 1.42491961e-01 -3.26265895e-01 2.87029518e+02] [ 3.30788727e-01 -8.62144634e-03 9.43665454e-01 1.00994713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.53, Y:287.05, Z:101.01 [[ 1.30288846e-01 -9.90601749e-01 -4.16292172e-02 3.54532908e+02] [ 9.32057747e-01 1.36689468e-01 -3.35535907e-01 2.87054409e+02] [ 3.38072732e-01 4.91575183e-03 9.41107148e-01 1.01005381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.55, Y:287.08, Z:101.02 [[ 1.34757118e-01 -9.88496388e-01 -6.86688451e-02 3.54553685e+02] [ 9.32337822e-01 1.49958120e-01 -3.29026971e-01 2.87077682e+02] [ 3.35539424e-01 -1.96838351e-02 9.41820493e-01 1.01021004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.54, Y:287.10, Z:101.02 [[ 1.34803916e-01 -9.89773665e-01 -4.66475746e-02 3.54543959e+02] [ 9.33624203e-01 1.42644770e-01 -3.28630973e-01 2.87104042e+02] [ 3.31924316e-01 7.49437452e-04 9.43305723e-01 1.01016841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.55, Y:287.12, Z:101.03 [[ 1.35100737e-01 -9.88901757e-01 -6.18150984e-02 3.54554198e+02] [ 9.34491174e-01 1.47907983e-01 -3.23804686e-01 2.87121100e+02] [ 3.29353969e-01 -1.40194124e-02 9.44102441e-01 1.01027532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.54, Y:287.16, Z:101.03 [[ 1.34314904e-01 -9.90395086e-01 -3.28188919e-02 3.54543538e+02] [ 9.33482326e-01 1.37571143e-01 -3.31187149e-01 2.87156079e+02] [ 3.32521058e-01 1.38475145e-02 9.42994164e-01 1.01028283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.56, Y:287.17, Z:101.04 [[ 1.34419889e-01 -9.89380661e-01 -5.52919632e-02 3.54559507e+02] [ 9.33532825e-01 1.45151054e-01 -3.27792063e-01 2.87173723e+02] [ 3.32336814e-01 -7.55508987e-03 9.43130512e-01 1.01043042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.592755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.56, Y:287.20, Z:101.05 [[ 1.33731299e-01 -9.89517513e-01 -5.45071672e-02 3.54563331e+02] [ 9.33609538e-01 1.44241811e-01 -3.27974894e-01 2.87197488e+02] [ 3.32399114e-01 -7.02790262e-03 9.43112633e-01 1.01050621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.56, Y:287.23, Z:101.06 [[ 1.30484426e-01 -9.90724635e-01 -3.79277300e-02 3.54557940e+02] [ 9.32262323e-01 1.35624629e-01 -3.35399644e-01 2.87228725e+02] [ 3.37432624e-01 8.40583643e-03 9.41312151e-01 1.01057908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.58, Y:287.25, Z:101.08 [[ 1.29320622e-01 -9.89316900e-01 -6.72922590e-02 3.54577307e+02] [ 9.31810852e-01 1.44451180e-01 -3.32960048e-01 2.87245550e+02] [ 3.39123449e-01 -1.96450565e-02 9.40536740e-01 1.01079527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.682755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.57, Y:287.27, Z:101.08 [[ 1.23621575e-01 -9.91391712e-01 -4.31298047e-02 3.54565545e+02] [ 9.31603460e-01 1.30917737e-01 -3.39080431e-01 2.87274897e+02] [ 3.41807986e-01 1.73778154e-03 9.39768206e-01 1.01080514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.58, Y:287.30, Z:101.09 [[ 1.23426667e-01 -9.90446565e-01 -6.14935792e-02 3.54579968e+02] [ 9.32625053e-01 1.36948739e-01 -3.33849598e-01 2.87295310e+02] [ 3.39081656e-01 -1.61445095e-02 9.40618406e-01 1.01094316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.742755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.58, Y:287.33, Z:101.09 [[ 1.21504832e-01 -9.91701335e-01 -4.20123525e-02 3.54575467e+02] [ 9.31929670e-01 1.28546743e-01 -3.39091176e-01 2.87331832e+02] [ 3.41677723e-01 2.04865859e-03 9.39814948e-01 1.01094948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.772755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.59, Y:287.35, Z:101.11 [[ 1.18808768e-01 -9.90780406e-01 -6.51050169e-02 3.54587878e+02] [ 9.32190159e-01 1.33881473e-01 -3.36299360e-01 2.87347571e+02] [ 3.41915172e-01 -2.07349433e-02 9.39502037e-01 1.01112719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.802755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:354.59, Y:287.37, Z:101.12 [[ 1.19989864e-01 -9.91200321e-01 -5.58959320e-02 3.54586620e+02] [ 9.31970855e-01 1.31863556e-01 -3.37701537e-01 2.87371899e+02] [ 3.42100508e-01 -1.15726179e-02 9.39592101e-01 1.01118599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.58, Y:287.41, Z:101.12 [[ 1.19732195e-01 -9.92114612e-01 -3.70512912e-02 3.54581278e+02] [ 9.31748289e-01 1.25176118e-01 -3.40846103e-01 2.87406298e+02] [ 3.42796336e-01 6.28777500e-03 9.39388703e-01 1.01120164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.862755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.60, Y:287.42, Z:101.14 [[ 1.18891177e-01 -9.90565754e-01 -6.81496572e-02 3.54600902e+02] [ 9.30809989e-01 1.35084818e-01 -3.39624581e-01 2.87423348e+02] [ 3.45626463e-01 -2.30560155e-02 9.38088892e-01 1.01142241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.60, Y:287.45, Z:101.15 [[ 1.20946080e-01 -9.91132952e-01 -5.50228810e-02 3.54597345e+02] [ 9.30956585e-01 1.32491551e-01 -3.40243775e-01 2.87448160e+02] [ 3.44516884e-01 -1.00727626e-02 9.38726081e-01 1.01147207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9227550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.60, Y:287.48, Z:101.15 [[ 1.20488691e-01 -9.91632413e-01 -4.63425541e-02 3.54595149e+02] [ 9.31152386e-01 1.29077113e-01 -3.41019548e-01 2.87477909e+02] [ 3.44147801e-01 -2.06298081e-03 9.38913220e-01 1.01151425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.952755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.60, Y:287.50, Z:101.17 [[ 1.21158685e-01 -9.90944071e-01 -5.78828206e-02 3.54604242e+02] [ 9.30974036e-01 1.33670887e-01 -3.39734365e-01 2.87501389e+02] [ 3.44395003e-01 -1.27256343e-02 9.38738590e-01 1.01165508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.982755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:354.61, Y:287.52, Z:101.18 [[ 1.24137379e-01 -9.90624242e-01 -5.70396605e-02 3.54605555e+02] [ 9.30798356e-01 1.36172686e-01 -3.39221786e-01 2.87524345e+02] [ 3.43808568e-01 -1.09823189e-02 9.38975536e-01 1.01175816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.61, Y:287.55, Z:101.18 [[ 1.25954609e-01 -9.90731486e-01 -5.08582332e-02 3.54605478e+02] [ 9.30619717e-01 1.35759668e-01 -3.39876824e-01 2.87552173e+02] [ 3.43631168e-01 -4.52062207e-03 9.39093810e-01 1.01183028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.64, Y:287.57, Z:101.22 [[ 1.33517452e-01 -9.85570912e-01 -1.04033969e-01 3.54641121e+02] [ 9.26925356e-01 1.61334578e-01 -3.38792766e-01 2.87567545e+02] [ 3.50688572e-01 -5.11969768e-02 9.35091651e-01 1.01223229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.59, Y:287.61, Z:101.19 [[ 1.31903405e-01 -9.91201012e-01 -1.10474024e-02 3.54588113e+02] [ 9.29359738e-01 1.27535229e-01 -3.46446595e-01 2.87605929e+02] [ 3.44807149e-01 3.54304745e-02 9.38004644e-01 1.01188733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.66, Y:287.61, Z:101.25 [[ 1.38000305e-01 -9.82934803e-01 -1.21635065e-01 3.54655585e+02] [ 9.24921445e-01 1.71819732e-01 -3.39113994e-01 2.87613975e+02] [ 3.54226251e-01 -6.57050453e-02 9.32848654e-01 1.01250368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.132755096 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:354.59, Y:287.66, Z:101.20 [[ 1.34660984e-01 -9.90888811e-01 2.40483469e-03 3.54586125e+02] [ 9.27868428e-01 1.25244108e-01 -3.51246486e-01 2.87660960e+02] [ 3.47745022e-01 4.95305676e-02 9.36279938e-01 1.01204242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.66, Y:287.66, Z:101.27 [[ 1.39845014e-01 -9.81969356e-01 -1.27198887e-01 3.54663481e+02] [ 9.23711888e-01 1.75648021e-01 -3.40446943e-01 2.87663833e+02] [ 3.56650698e-01 -6.98853165e-02 9.31620267e-01 1.01272742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.59, Y:287.71, Z:101.22 [[ 1.38305759e-01 -9.90350758e-01 8.76891356e-03 3.54587244e+02] [ 9.27834888e-01 1.26468252e-01 -3.50896284e-01 2.87713053e+02] [ 3.46401411e-01 5.66670808e-02 9.36373272e-01 1.01222933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.66, Y:287.72, Z:101.28 [[ 1.43075006e-01 -9.83530847e-01 -1.10438291e-01 3.54657831e+02] [ 9.23795203e-01 1.72753821e-01 -3.41699488e-01 2.87716651e+02] [ 3.55150623e-01 -5.31337075e-02 9.33297833e-01 1.01283796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.60, Y:287.76, Z:101.25 [[ 1.42399373e-01 -9.89797389e-01 -4.85248762e-03 3.54601195e+02] [ 9.26660806e-01 1.35035920e-01 -3.50806286e-01 2.87760627e+02] [ 3.47882406e-01 4.54579852e-02 9.36435477e-01 1.01248532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.63, Y:287.78, Z:101.27 [[ 1.41133582e-01 -9.88619668e-01 -5.20813174e-02 3.54628249e+02] [ 9.27704598e-01 1.50436506e-01 -3.41662169e-01 2.87777557e+02] [ 3.45608871e-01 -9.60717822e-05 9.38378654e-01 1.01268813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.64, Y:287.80, Z:101.29 [[ 1.44212528e-01 -9.87061959e-01 -7.00816346e-02 3.54642178e+02] [ 9.26188916e-01 1.59574514e-01 -3.41628549e-01 2.87801071e+02] [ 3.48391788e-01 -1.56417165e-02 9.37218490e-01 1.01287887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.342755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:354.63, Y:287.82, Z:101.28 [[ 1.45544388e-01 -9.87999288e-01 -5.17130355e-02 3.54633846e+02] [ 9.27535300e-01 1.54450481e-01 -3.40328249e-01 2.87823465e+02] [ 3.44231170e-01 1.56720096e-03 9.38883616e-01 1.01284766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.62, Y:287.86, Z:101.29 [[ 1.41021335e-01 -9.89536005e-01 -3.05201238e-02 3.54624192e+02] [ 9.27266836e-01 1.42821598e-01 -3.46089881e-01 2.87856061e+02] [ 3.46827331e-01 2.05057585e-02 9.37704813e-01 1.01290869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.402755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.64, Y:287.88, Z:101.31 [[ 1.39678481e-01 -9.88852817e-01 -5.15754554e-02 3.54639316e+02] [ 9.27274687e-01 1.48896211e-01 -3.43499016e-01 2.87876570e+02] [ 3.47349359e-01 1.54806484e-04 9.37735783e-01 1.01305866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.64, Y:287.90, Z:101.32 [[ 1.37706351e-01 -9.89134879e-01 -5.14699187e-02 3.54642686e+02] [ 9.27474963e-01 1.47010318e-01 -3.43770504e-01 2.87899500e+02] [ 3.47602005e-01 -3.97679332e-04 9.37642090e-01 1.01315252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.65, Y:287.92, Z:101.32 [[ 1.36424133e-01 -9.89317104e-01 -5.13821351e-02 3.54645920e+02] [ 9.27510355e-01 1.45777836e-01 -3.44199599e-01 2.87923792e+02] [ 3.48012927e-01 -7.00330618e-04 9.37489473e-01 1.01324338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.492755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.65, Y:287.95, Z:101.33 [[ 1.33544402e-01 -9.89964676e-01 -4.62150823e-02 3.54645716e+02] [ 9.26980009e-01 1.41270062e-01 -3.47492205e-01 2.87951608e+02] [ 3.50533815e-01 3.56518120e-03 9.36543290e-01 1.01333147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.66, Y:287.97, Z:101.35 [[ 1.32988418e-01 -9.89381132e-01 -5.86434645e-02 3.54656444e+02] [ 9.27550846e-01 1.45089912e-01 -3.44381106e-01 2.87972498e+02] [ 3.49232744e-01 -8.59609651e-03 9.36996584e-01 1.01345341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.552755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:354.66, Y:288.00, Z:101.35 [[ 1.31662134e-01 -9.89973181e-01 -5.11681922e-02 3.54656387e+02] [ 9.27342259e-01 1.41243659e-01 -3.46535083e-01 2.87997890e+02] [ 3.50287621e-01 -1.82487861e-03 9.36640407e-01 1.01351158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.66, Y:288.02, Z:101.36 [[ 1.30949110e-01 -9.90084681e-01 -5.08394990e-02 3.54660255e+02] [ 9.27992031e-01 1.40457743e-01 -3.45112174e-01 2.88021858e+02] [ 3.48831078e-01 -1.98651794e-03 9.37183511e-01 1.01361784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.66, Y:288.05, Z:101.37 [[ 1.29697654e-01 -9.90253704e-01 -5.07554988e-02 3.54664095e+02] [ 9.28006550e-01 1.39256559e-01 -3.45559624e-01 2.88046483e+02] [ 3.49259734e-01 -2.28316271e-03 9.37023172e-01 1.01370655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.67, Y:288.07, Z:101.38 [[ 1.28767737e-01 -9.90388240e-01 -5.04975656e-02 3.54667636e+02] [ 9.28392693e-01 1.38293315e-01 -3.44908635e-01 2.88070300e+02] [ 3.48576931e-01 -2.46846650e-03 9.37276923e-01 1.01380131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6727550960001 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:354.67, Y:288.10, Z:101.39 [[ 1.26820380e-01 -9.90915221e-01 -4.47617801e-02 3.54670706e+02] [ 9.28987166e-01 1.34470875e-01 -3.44819416e-01 2.88097217e+02] [ 3.47705963e-01 2.14701014e-03 9.37601170e-01 1.01386264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.67, Y:288.13, Z:101.39 [[ 1.26836184e-01 -9.91427704e-01 -3.13638418e-02 3.54669578e+02] [ 9.30526958e-01 1.29877442e-01 -3.42419963e-01 2.88128116e+02] [ 3.43558093e-01 1.42463411e-02 9.39023364e-01 1.01389599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.732755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.70, Y:288.14, Z:101.42 [[ 1.24318814e-01 -9.89375846e-01 -7.53675536e-02 3.54695481e+02] [ 9.29435578e-01 1.42707831e-01 -3.40270455e-01 2.88138842e+02] [ 3.47410909e-01 -2.77472662e-02 9.37302379e-01 1.01416159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.762755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.69, Y:288.17, Z:101.42 [[ 1.23631393e-01 -9.91081172e-01 -4.97331857e-02 3.54686096e+02] [ 9.29565127e-01 1.33207298e-01 -3.43750624e-01 2.88167716e+02] [ 3.47309594e-01 -3.73186655e-03 9.37743099e-01 1.01417245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7927550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:354.69, Y:288.19, Z:101.43 [[ 1.22632781e-01 -9.91211557e-01 -4.96069643e-02 3.54691871e+02] [ 9.29649603e-01 1.32227447e-01 -3.43900447e-01 2.88191615e+02] [ 3.47437500e-01 -3.94362631e-03 9.37694850e-01 1.01425956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.822755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.70, Y:288.22, Z:101.44 [[ 1.21925497e-01 -9.91304783e-01 -4.94873823e-02 3.54695829e+02] [ 9.29677870e-01 1.31523371e-01 -3.44093970e-01 2.88215543e+02] [ 3.47610746e-01 -4.05349568e-03 9.37630172e-01 1.01435562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.852755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:354.70, Y:288.24, Z:101.44 [[ 1.21478047e-01 -9.91364456e-01 -4.93923064e-02 3.54700579e+02] [ 9.29602221e-01 1.31072324e-01 -3.44470256e-01 2.88239614e+02] [ 3.47969532e-01 -4.06962377e-03 9.37497010e-01 1.01443461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.70, Y:288.26, Z:101.45 [[ 1.21610930e-01 -9.91358879e-01 -4.91767799e-02 3.54703706e+02] [ 9.29753337e-01 1.31120166e-01 -3.44043942e-01 2.88264264e+02] [ 3.47519084e-01 -3.88277167e-03 9.37664871e-01 1.01453472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.71, Y:288.29, Z:101.46 [[ 1.21569541e-01 -9.91369815e-01 -4.90585019e-02 3.54708096e+02] [ 9.29699786e-01 1.31040943e-01 -3.44218796e-01 2.88288684e+02] [ 3.47676797e-01 -3.76315752e-03 9.37606892e-01 1.01462232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.71, Y:288.31, Z:101.47 [[ 1.21042189e-01 -9.91439481e-01 -4.89545073e-02 3.54714211e+02] [ 9.29662619e-01 1.30511461e-01 -3.44520208e-01 2.88313160e+02] [ 3.47960060e-01 -3.80969533e-03 9.37501617e-01 1.01471378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.972755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.72, Y:288.34, Z:101.48 [[ 1.19821107e-01 -9.91650721e-01 -4.76628729e-02 3.54719846e+02] [ 9.32048403e-01 1.28895437e-01 -3.38632163e-01 2.88341654e+02] [ 3.41948355e-01 -3.84882404e-03 9.39710865e-01 1.01478657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.002755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.71, Y:288.37, Z:101.48 [[ 1.17773176e-01 -9.92629079e-01 -2.85830441e-02 3.54713748e+02] [ 9.31752302e-01 1.20414012e-01 -3.42546514e-01 2.88367628e+02] [ 3.43463430e-01 1.37104736e-02 9.39065970e-01 1.01476967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.74, Y:288.38, Z:101.51 [[ 1.16650065e-01 -9.90827281e-01 -6.82206896e-02 3.54740192e+02] [ 9.30711686e-01 1.33030829e-01 -3.40703033e-01 2.88383569e+02] [ 3.46653314e-01 -2.37507620e-02 9.37692584e-01 1.01505384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.062755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:354.74, Y:288.41, Z:101.51 [[ 1.17574742e-01 -9.91689559e-01 -5.22302533e-02 3.54736875e+02] [ 9.30718615e-01 1.28382834e-01 -3.42462709e-01 2.88408743e+02] [ 3.46322161e-01 -8.34670421e-03 9.38078511e-01 1.01506693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.74, Y:288.43, Z:101.51 [[ 1.15944337e-01 -9.92098716e-01 -4.79275445e-02 3.54739042e+02] [ 9.31014369e-01 1.25364835e-01 -3.42776755e-01 2.88433743e+02] [ 3.46076807e-01 -4.87820914e-03 9.38193502e-01 1.01514648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.74, Y:288.46, Z:101.51 [[ 1.14202266e-01 -9.92947563e-01 -3.18273559e-02 3.54737099e+02] [ 9.32552265e-01 1.18190732e-01 -3.41141061e-01 2.88464070e+02] [ 3.42496883e-01 9.27840924e-03 9.39473148e-01 1.01513668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.152755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.75, Y:288.49, Z:101.53 [[ 1.12748118e-01 -9.92493877e-01 -4.73684165e-02 3.54749606e+02] [ 9.32845758e-01 1.22148392e-01 -3.38937401e-01 2.88486639e+02] [ 3.42179271e-01 -5.97287242e-03 9.39615704e-01 1.01528322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.76, Y:288.51, Z:101.54 [[ 1.12483600e-01 -9.92384860e-01 -5.01969012e-02 3.54756051e+02] [ 9.32722444e-01 1.22869209e-01 -3.39016223e-01 2.88511567e+02] [ 3.42602220e-01 -8.68601102e-03 9.39440404e-01 1.01539522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.77, Y:288.53, Z:101.56 [[ 1.11499192e-01 -9.91913416e-01 -6.06275934e-02 3.54765610e+02] [ 9.32036424e-01 1.25545152e-01 -3.39921343e-01 2.88531006e+02] [ 3.44784041e-01 -1.86061704e-02 9.38497616e-01 1.01555834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.76, Y:288.56, Z:101.56 [[ 1.11204061e-01 -9.92678479e-01 -4.71497105e-02 3.54761767e+02] [ 9.31992566e-01 1.20640982e-01 -3.41812244e-01 2.88558729e+02] [ 3.44997846e-01 -5.93227012e-03 9.38584730e-01 1.01560554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.272755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:354.76, Y:288.59, Z:101.56 [[ 1.10303348e-01 -9.93041384e-01 -4.12550709e-02 3.54762965e+02] [ 9.32223722e-01 1.17763740e-01 -3.42185087e-01 2.88587647e+02] [ 3.44662303e-01 -7.14795105e-04 9.38726470e-01 1.01564287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.77, Y:288.61, Z:101.58 [[ 1.10072373e-01 -9.92484197e-01 -5.34714075e-02 3.54772204e+02] [ 9.32134767e-01 1.21752678e-01 -3.41029414e-01 2.88607590e+02] [ 3.44976591e-01 -1.23046411e-02 9.38530632e-01 1.01580661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.77, Y:288.63, Z:101.59 [[ 1.09872497e-01 -9.92842918e-01 -4.68078375e-02 3.54772063e+02] [ 9.31933790e-01 1.19276940e-01 -3.42450615e-01 2.88633073e+02] [ 3.45582763e-01 -5.99590114e-03 9.38369119e-01 1.01587633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.362755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:354.78, Y:288.66, Z:101.60 [[ 1.09875659e-01 -9.92847111e-01 -4.67113824e-02 3.54776231e+02] [ 9.31806916e-01 1.19248790e-01 -3.42805482e-01 2.88657866e+02] [ 3.45923708e-01 -5.86001089e-03 9.38244344e-01 1.01595927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.392755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.78, Y:288.68, Z:101.61 [[ 1.11571432e-01 -9.92650646e-01 -4.68669432e-02 3.54780038e+02] [ 9.31634858e-01 1.20893487e-01 -3.42697032e-01 2.88681141e+02] [ 3.45844339e-01 -5.42767917e-03 9.38276203e-01 1.01605878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4227550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.78, Y:288.71, Z:101.61 [[ 1.10282396e-01 -9.93118586e-01 -3.94115049e-02 3.54778494e+02] [ 9.30855908e-01 1.17103681e-01 -3.46112707e-01 2.88707837e+02] [ 3.48346194e-01 1.48370633e-03 9.37364778e-01 1.01613665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.452755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.79, Y:288.73, Z:101.62 [[ 1.11873437e-01 -9.92382460e-01 -5.15886320e-02 3.54788619e+02] [ 9.31396515e-01 1.22811560e-01 -3.42662886e-01 2.88730917e+02] [ 3.46388318e-01 -9.71459740e-03 9.38040916e-01 1.01624235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.482755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.79, Y:288.75, Z:101.63 [[ 1.11454130e-01 -9.92731280e-01 -4.54156547e-02 3.54788122e+02] [ 9.30920511e-01 1.20290597e-01 -3.44843697e-01 2.88754649e+02] [ 3.47800201e-01 -3.84411018e-03 9.37560794e-01 1.01630607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.512755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:354.79, Y:288.78, Z:101.64 [[ 1.10448396e-01 -9.92845315e-01 -4.53798605e-02 3.54790908e+02] [ 9.31514237e-01 1.19329268e-01 -3.43572048e-01 2.88780197e+02] [ 3.46529043e-01 -4.32500463e-03 9.38029273e-01 1.01640379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5427550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.79, Y:288.80, Z:101.65 [[ 1.10706888e-01 -9.92786702e-01 -4.60276928e-02 3.54794535e+02] [ 9.31590908e-01 1.19794444e-01 -3.43202084e-01 2.88804668e+02] [ 3.46240327e-01 -4.88414534e-03 9.38133136e-01 1.01650679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.572755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:354.80, Y:288.83, Z:101.66 [[ 1.10827038e-01 -9.92785237e-01 -4.57694259e-02 3.54797979e+02] [ 9.31900546e-01 1.19813538e-01 -3.42353748e-01 2.88829338e+02] [ 3.45367544e-01 -4.71050111e-03 9.38455684e-01 1.01659496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.602755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.80, Y:288.85, Z:101.67 [[ 1.11311596e-01 -9.92743882e-01 -4.54897145e-02 3.54800273e+02] [ 9.32230433e-01 1.20167017e-01 -3.41330204e-01 2.88853421e+02] [ 3.44319835e-01 -4.41288649e-03 9.38842041e-01 1.01670078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.632755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.80, Y:288.88, Z:101.68 [[ 1.11717303e-01 -9.92709656e-01 -4.52413804e-02 3.54803568e+02] [ 9.32484152e-01 1.20458999e-01 -3.40533311e-01 2.88878377e+02] [ 3.43500437e-01 -4.14340725e-03 9.39143377e-01 1.01677638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.80, Y:288.91, Z:101.69 [[ 1.12161940e-01 -9.92781742e-01 -4.24748332e-02 3.54804985e+02] [ 9.32601089e-01 1.19926484e-01 -3.40401011e-01 2.88905149e+02] [ 3.43037766e-01 -1.43203775e-03 9.39320521e-01 1.01687410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.81, Y:288.93, Z:101.70 [[ 1.12118196e-01 -9.92512634e-01 -4.84580491e-02 3.54810379e+02] [ 9.32856575e-01 1.21929746e-01 -3.38986354e-01 2.88927540e+02] [ 3.42356717e-01 -7.19787127e-03 9.39542479e-01 1.01698262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.722755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.80, Y:288.96, Z:101.70 [[ 1.11961347e-01 -9.93232452e-01 -3.08861226e-02 3.54803329e+02] [ 9.33343578e-01 1.15777099e-01 -3.39802045e-01 2.88958744e+02] [ 3.41078324e-01 9.21733044e-03 9.39989690e-01 1.01697411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.752755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.82, Y:288.98, Z:101.72 [[ 1.11517640e-01 -9.92059805e-01 -5.81477354e-02 3.54821371e+02] [ 9.32726588e-01 1.24679342e-01 -3.38343279e-01 2.88977823e+02] [ 3.42906589e-01 -1.65046947e-02 9.39224503e-01 1.01718637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7827550960001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:354.82, Y:289.00, Z:101.72 [[ 1.10939522e-01 -9.92823344e-01 -4.46567954e-02 3.54816761e+02] [ 9.32698091e-01 1.19526512e-01 -3.40275893e-01 2.89004816e+02] [ 3.43171521e-01 -3.90126283e-03 9.39264653e-01 1.01723128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.812755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.82, Y:289.03, Z:101.73 [[ 1.09274778e-01 -9.93012856e-01 -4.45476202e-02 3.54819564e+02] [ 9.32808985e-01 1.17926271e-01 -3.40530165e-01 2.89029771e+02] [ 3.43404166e-01 -4.34306232e-03 9.39177681e-01 1.01731036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.82, Y:289.05, Z:101.74 [[ 1.08250035e-01 -9.93133228e-01 -4.43657714e-02 3.54822312e+02] [ 9.33043308e-01 1.16899794e-01 -3.40242008e-01 2.89054737e+02] [ 3.43091993e-01 -4.56397687e-03 9.39290719e-01 1.01740267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.82, Y:289.08, Z:101.75 [[ 1.05041924e-01 -9.93482739e-01 -4.42520196e-02 3.54824840e+02] [ 9.33337029e-01 1.13848031e-01 -3.40471168e-01 2.89078658e+02] [ 3.43290234e-01 -5.53830202e-03 9.39213044e-01 1.01748333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.83, Y:289.10, Z:101.76 [[ 1.03329952e-01 -9.93670029e-01 -4.40771396e-02 3.54827933e+02] [ 9.33611697e-01 1.12178365e-01 -3.40272263e-01 2.89103524e+02] [ 3.43062851e-01 -5.99061659e-03 9.39293347e-01 1.01756622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.932755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.83, Y:289.13, Z:101.76 [[ 1.01110878e-01 -9.93902545e-01 -4.39809219e-02 3.54831323e+02] [ 9.33732250e-01 1.10062906e-01 -3.40632121e-01 2.89127208e+02] [ 3.43395800e-01 -6.62479234e-03 9.39167417e-01 1.01764116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.962755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:354.83, Y:289.15, Z:101.77 [[ 9.82468206e-02 -9.94200856e-01 -4.37289450e-02 3.54834429e+02] [ 9.34350310e-01 1.07279240e-01 -3.39824460e-01 2.89151889e+02] [ 3.42544977e-01 -7.47148051e-03 9.39471722e-01 1.01772635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.992755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.84, Y:289.18, Z:101.78 [[ 9.74379967e-02 -9.94288881e-01 -4.35368649e-02 3.54836798e+02] [ 9.34584254e-01 1.06450192e-01 -3.39441644e-01 2.89175513e+02] [ 3.42137560e-01 -7.61435453e-03 9.39619025e-01 1.01782469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.022755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.84, Y:289.20, Z:101.79 [[ 9.51915078e-02 -9.94510884e-01 -4.34359236e-02 3.54840294e+02] [ 9.34788810e-01 1.04304920e-01 -3.39544347e-01 2.89200288e+02] [ 3.42211129e-01 -8.28167694e-03 9.39586588e-01 1.01791065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.052755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:354.84, Y:289.22, Z:101.80 [[ 9.40508918e-02 -9.94623571e-01 -4.33403013e-02 3.54843822e+02] [ 9.34779745e-01 1.03203350e-01 -3.39905717e-01 2.89224860e+02] [ 3.42551103e-01 -8.54520001e-03 9.39460335e-01 1.01798767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.082755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.85, Y:289.25, Z:101.81 [[ 9.41712443e-02 -9.94617360e-01 -4.32213428e-02 3.54846626e+02] [ 9.34695035e-01 1.03277573e-01 -3.40116060e-01 2.89249647e+02] [ 3.42749133e-01 -8.36962201e-03 9.39389686e-01 1.01808778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.112755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:354.85, Y:289.27, Z:101.82 [[ 9.44245021e-02 -9.94597783e-01 -4.31191845e-02 3.54849811e+02] [ 9.34545356e-01 1.03483576e-01 -3.40464576e-01 2.89274620e+02] [ 3.43087439e-01 -8.14863564e-03 9.39268124e-01 1.01817805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.142755096 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:354.85, Y:289.30, Z:101.83 [[ 9.44143708e-02 -9.94602480e-01 -4.30329394e-02 3.54853291e+02] [ 9.34377049e-01 1.03448502e-01 -3.40936854e-01 2.89299614e+02] [ 3.43548333e-01 -8.01965238e-03 9.39100755e-01 1.01825526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1727550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:354.86, Y:289.32, Z:101.83 [[ 9.54862663e-02 -9.94506890e-01 -4.28767786e-02 3.54856112e+02] [ 9.34302512e-01 1.04401127e-01 -3.40850730e-01 2.89323708e+02] [ 3.43454784e-01 -7.51331836e-03 9.39139160e-01 1.01834480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.202755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:354.86, Y:289.35, Z:101.84 [[ 9.67298253e-02 -9.94395295e-01 -4.26771434e-02 3.54858743e+02] [ 9.34321044e-01 1.05497942e-01 -3.40461997e-01 2.89348209e+02] [ 3.43056158e-01 -6.94132373e-03 9.39289247e-01 1.01844461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.232755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:354.85, Y:289.38, Z:101.84 [[ 9.95701584e-02 -9.94894952e-01 -1.64261335e-02 3.54851236e+02] [ 9.35201484e-01 9.92084430e-02 -3.39935095e-01 2.89383933e+02] [ 3.39829321e-01 1.84856469e-02 9.40305436e-01 1.01839218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.262755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:354.88, Y:289.39, Z:101.87 [[ 1.00573251e-01 -9.92403545e-01 -7.08535449e-02 3.54881400e+02] [ 9.34199670e-01 1.18694150e-01 -3.36426331e-01 2.89391150e+02] [ 3.42280585e-01 -3.23558685e-02 9.39040521e-01 1.01871190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2927550960001 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:354.86, Y:289.43, Z:101.86 [[ 1.04868131e-01 -9.94251142e-01 -2.16181019e-02 3.54862157e+02] [ 9.34813502e-01 1.05969030e-01 -3.38960591e-01 2.89425002e+02] [ 3.39302804e-01 1.53372700e-02 9.40552165e-01 1.01856657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.322755096 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:354.88, Y:289.44, Z:101.89 [[ 1.03553534e-01 -9.92878655e-01 -5.88951806e-02 3.54883656e+02] [ 9.33515721e-01 1.17456117e-01 -3.38751323e-01 2.89443426e+02] [ 3.43256557e-01 -1.99006806e-02 9.39030830e-01 1.01886357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.352755096 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:354.88, Y:289.47, Z:101.89 [[ 1.04067526e-01 -9.93798977e-01 -3.91604728e-02 3.54876194e+02] [ 9.33189324e-01 1.11187385e-01 -3.41752911e-01 2.89471911e+02] [ 3.43987844e-01 -9.78755238e-04 9.38973592e-01 1.01888542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.382755096 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:354.88, Y:289.50, Z:101.90 [[ 1.05129735e-01 -9.93410194e-01 -4.56500406e-02 3.54883942e+02] [ 9.33372460e-01 1.14408635e-01 -3.40186002e-01 2.89495035e+02] [ 3.43167001e-01 -6.84482640e-03 9.39249465e-01 1.01899847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4127550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:354.88, Y:289.52, Z:101.90 [[ 1.04570447e-01 -9.94126564e-01 -2.78818183e-02 3.54877142e+02] [ 9.32233875e-01 1.07748521e-01 -3.45442119e-01 2.89522651e+02] [ 3.46417412e-01 1.01306613e-02 9.38025771e-01 1.01904944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.442755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:354.89, Y:289.54, Z:101.92 [[ 1.05249856e-01 -9.93108530e-01 -5.15549745e-02 3.54893564e+02] [ 9.32973076e-01 1.16555697e-01 -3.40552505e-01 2.89541993e+02] [ 3.44214623e-01 -1.22563012e-02 9.38810991e-01 1.01920810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.472755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:354.89, Y:289.57, Z:101.93 [[ 1.04832592e-01 -9.93875359e-01 -3.49556570e-02 3.54886991e+02] [ 9.32713872e-01 1.10455059e-01 -3.43284886e-01 2.89570690e+02] [ 3.45043419e-01 3.38381806e-03 9.38580625e-01 1.01925401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.502755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:354.90, Y:289.59, Z:101.94 [[ 1.04620150e-01 -9.93114662e-01 -5.27057097e-02 3.54898520e+02] [ 9.34281281e-01 1.16308996e-01 -3.37032203e-01 2.89591827e+02] [ 3.40841771e-01 -1.39815982e-02 9.40016703e-01 1.01938361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5327550960001 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:354.89, Y:289.62, Z:101.94 [[ 1.04120743e-01 -9.93712267e-01 -4.11679626e-02 3.54894166e+02] [ 9.34226687e-01 1.11918287e-01 -3.38666200e-01 2.89619532e+02] [ 3.41144205e-01 -3.19803288e-03 9.40005534e-01 1.01942531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.562755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.90, Y:289.64, Z:101.95 [[ 1.03917698e-01 -9.93737381e-01 -4.10746837e-02 3.54896262e+02] [ 9.34099008e-01 1.11696997e-01 -3.39091174e-01 2.89644862e+02] [ 3.41555494e-01 -3.13024706e-03 9.39856396e-01 1.01951223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.592755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.90, Y:289.67, Z:101.96 [[ 1.03269698e-01 -9.93809999e-01 -4.09518775e-02 3.54898771e+02] [ 9.34110372e-01 1.11046560e-01 -3.39273451e-01 2.89668744e+02] [ 3.41720913e-01 -3.21690657e-03 9.39795972e-01 1.01958504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.622755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:354.90, Y:289.69, Z:101.97 [[ 1.02463495e-01 -9.93900169e-01 -4.07883030e-02 3.54900673e+02] [ 9.34246097e-01 1.10232493e-01 -3.39165193e-01 2.89693535e+02] [ 3.41592539e-01 -3.35426173e-03 9.39842160e-01 1.01967117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.652755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:354.90, Y:289.72, Z:101.97 [[ 1.01244779e-01 -9.94030155e-01 -4.06638107e-02 3.54903128e+02] [ 9.34339302e-01 1.09044876e-01 -3.39292328e-01 2.89718546e+02] [ 3.41700985e-01 -3.64221972e-03 9.39801666e-01 1.01974599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.682755096 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:354.90, Y:289.74, Z:101.98 [[ 9.96388744e-02 -9.94195414e-01 -4.05903093e-02 3.54904669e+02] [ 9.34290508e-01 1.07512978e-01 -3.39915000e-01 2.89742785e+02] [ 3.42305919e-01 -4.05439272e-03 9.39579810e-01 1.01982158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.712755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:354.91, Y:289.77, Z:101.99 [[ 9.86330505e-02 -9.94302998e-01 -4.04112446e-02 3.54905894e+02] [ 9.34484001e-01 1.06505478e-01 -3.39700213e-01 2.89767957e+02] [ 3.42068960e-01 -4.25799325e-03 9.39665204e-01 1.01991741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.742755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.91, Y:289.79, Z:102.00 [[ 9.77931553e-02 -9.94391907e-01 -4.02645412e-02 3.54907860e+02] [ 9.34578235e-01 1.05665930e-01 -3.39703155e-01 2.89791697e+02] [ 3.42052658e-01 -4.40972044e-03 9.39670439e-01 1.02000009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.772755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.91, Y:289.82, Z:102.01 [[ 9.64469555e-02 -9.94531512e-01 -4.00631642e-02 3.54909189e+02] [ 9.34878090e-01 1.04329735e-01 -3.39290825e-01 2.89816457e+02] [ 3.41615197e-01 -4.73060730e-03 9.39828005e-01 1.02008617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.802755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:354.91, Y:289.84, Z:102.02 [[ 9.55000765e-02 -9.94630589e-01 -3.98713691e-02 3.54910531e+02] [ 9.35126950e-01 1.03372067e-01 -3.38897925e-01 2.89841134e+02] [ 3.41199829e-01 -4.92001401e-03 9.39977910e-01 1.02017333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.832755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:354.91, Y:289.87, Z:102.03 [[ 9.46236020e-02 -9.94720691e-01 -3.97129866e-02 3.54912267e+02] [ 9.35267525e-01 1.02493318e-01 -3.38776883e-01 2.89866461e+02] [ 3.41058690e-01 -5.08597784e-03 9.40028246e-01 1.02026030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.862755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.91, Y:289.89, Z:102.03 [[ 9.35926707e-02 -9.94822698e-01 -3.96006562e-02 3.54914570e+02] [ 9.35274452e-01 1.01487283e-01 -3.39060512e-01 2.89890994e+02] [ 3.41324056e-01 -5.30390322e-03 9.39930719e-01 1.02034009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.892755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.92, Y:289.91, Z:102.04 [[ 9.19279562e-02 -9.94987597e-01 -3.93564787e-02 3.54915046e+02] [ 9.35742528e-01 9.98339863e-02 -3.38258918e-01 2.89914815e+02] [ 3.40492542e-01 -5.73207991e-03 9.40229744e-01 1.02042667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9227550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.92, Y:289.94, Z:102.05 [[ 9.08693283e-02 -9.95091040e-01 -3.91993335e-02 3.54916883e+02] [ 9.35879929e-01 9.87844115e-02 -3.38186929e-01 2.89938927e+02] [ 3.40399066e-01 -5.95505032e-03 9.40262205e-01 1.02051394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.952755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.92, Y:289.96, Z:102.06 [[ 8.94364189e-02 -9.95229185e-01 -3.89871349e-02 3.54918843e+02] [ 9.36232441e-01 9.73607442e-02 -3.37623611e-01 2.89962779e+02] [ 3.39808687e-01 -6.30517380e-03 9.40473445e-01 1.02059864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.982755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.92, Y:289.99, Z:102.07 [[ 8.86354252e-02 -9.95307850e-01 -3.88077922e-02 3.54920847e+02] [ 9.36532181e-01 9.65421855e-02 -3.37026826e-01 2.89986978e+02] [ 3.39192034e-01 -6.47223021e-03 9.40694889e-01 1.02069226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.012755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.92, Y:290.01, Z:102.08 [[ 8.82682354e-02 -9.95346979e-01 -3.86407843e-02 3.54923420e+02] [ 9.36668656e-01 9.61382064e-02 -3.36762934e-01 2.90011549e+02] [ 3.38910825e-01 -6.46814162e-03 9.40796267e-01 1.02078713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0427550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:354.93, Y:290.04, Z:102.09 [[ 8.93848191e-02 -9.95255248e-01 -3.84362529e-02 3.54925656e+02] [ 9.36779773e-01 9.71159046e-02 -3.36172810e-01 2.90035818e+02] [ 3.38310525e-01 -5.95755850e-03 9.41015673e-01 1.02087663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.93, Y:290.06, Z:102.10 [[ 8.94876912e-02 -9.95252581e-01 -3.82655664e-02 3.54927376e+02] [ 9.36876692e-01 9.71532497e-02 -3.35891814e-01 2.90060498e+02] [ 3.38014819e-01 -5.79193426e-03 9.41122965e-01 1.02096616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.102755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:354.93, Y:290.09, Z:102.10 [[ 9.07152110e-02 -9.95150724e-01 -3.80235193e-02 3.54928884e+02] [ 9.37094086e-01 9.82218581e-02 -3.34973344e-01 2.90085255e+02] [ 3.37083707e-01 -5.24443746e-03 9.41460074e-01 1.02104491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.132755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.93, Y:290.11, Z:102.11 [[ 9.10721858e-02 -9.95122292e-01 -3.79141162e-02 3.54931378e+02] [ 9.36972498e-01 9.85224603e-02 -3.35225092e-01 2.90108626e+02] [ 3.37325354e-01 -4.99480226e-03 9.41374876e-01 1.02112875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1627550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.94, Y:290.13, Z:102.12 [[ 9.18496167e-02 -9.95057434e-01 -3.77405693e-02 3.54935372e+02] [ 9.36996828e-01 9.91946098e-02 -3.34958765e-01 2.90131940e+02] [ 3.37046870e-01 -4.59695956e-03 9.41476646e-01 1.02120933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.192755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.94, Y:290.16, Z:102.13 [[ 9.14714543e-02 -9.95097884e-01 -3.75922229e-02 3.54937717e+02] [ 9.37033770e-01 9.87885854e-02 -3.34975417e-01 2.90156398e+02] [ 3.37047011e-01 -4.58449384e-03 9.41476657e-01 1.02129770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.94, Y:290.18, Z:102.14 [[ 9.18959178e-02 -9.95062972e-01 -3.74809490e-02 3.54940505e+02] [ 9.36913212e-01 9.91518251e-02 -3.35205235e-01 2.90180701e+02] [ 3.37266622e-01 -4.31240360e-03 9.41399293e-01 1.02139144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.92, Y:290.21, Z:102.13 [[ 9.02061339e-02 -9.95860506e-01 -1.11672292e-02 3.54922280e+02] [ 9.39246527e-01 8.87959615e-02 -3.31558802e-01 2.90209887e+02] [ 3.31177921e-01 1.94198565e-02 9.43368461e-01 1.02129259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.93, Y:290.24, Z:102.14 [[ 9.06910776e-02 -9.95790995e-01 -1.32447373e-02 3.54925032e+02] [ 9.38902717e-01 8.99288638e-02 -3.32226562e-01 2.90235215e+02] [ 3.32019303e-01 1.76944650e-02 9.43106616e-01 1.02137250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.94, Y:290.26, Z:102.16 [[ 9.20473174e-02 -9.95055337e-01 -3.73117620e-02 3.54942085e+02] [ 9.37567313e-01 9.92290251e-02 -3.33348368e-01 2.90256835e+02] [ 3.35402483e-01 -4.29846540e-03 9.42065124e-01 1.02156225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.97, Y:290.28, Z:102.19 [[ 9.44695628e-02 -9.93232614e-01 -6.75609052e-02 3.54966095e+02] [ 9.35051761e-01 1.11819120e-01 -3.36414461e-01 2.90275151e+02] [ 3.41692416e-01 -3.13920163e-02 9.39287408e-01 1.02185124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.372755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.95, Y:290.31, Z:102.18 [[ 9.18882146e-02 -9.95258937e-01 -3.18779604e-02 3.54949206e+02] [ 9.35621816e-01 9.72512711e-02 -3.39343496e-01 2.90305872e+02] [ 3.40834819e-01 1.35595279e-03 9.40122219e-01 1.02179509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.402755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.96, Y:290.33, Z:102.20 [[ 8.84846942e-02 -9.95127960e-01 -4.34833631e-02 3.54959391e+02] [ 9.35856657e-01 9.80046378e-02 -3.38478078e-01 2.90328104e+02] [ 3.41090570e-01 -1.07440656e-02 9.39969036e-01 1.02195452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.432755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:354.96, Y:290.35, Z:102.20 [[ 8.60857004e-02 -9.95574852e-01 -3.76824540e-02 3.54958077e+02] [ 9.36359830e-01 9.37695893e-02 -3.38286170e-01 2.90353402e+02] [ 3.40322672e-01 -6.16273433e-03 9.40288519e-01 1.02201992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.462755096 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:354.96, Y:290.38, Z:102.21 [[ 7.98651295e-02 -9.96099443e-01 -3.75161290e-02 3.54958625e+02] [ 9.37002606e-01 8.78604675e-02 -3.38092673e-01 2.90377770e+02] [ 3.40070108e-01 -8.15089556e-03 9.40364762e-01 1.02209571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.492755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.96, Y:290.41, Z:102.22 [[ 7.72572232e-02 -9.96476148e-01 -3.26589678e-02 3.54958557e+02] [ 9.37441119e-01 8.37553222e-02 -3.37918917e-01 2.90405611e+02] [ 3.39463503e-01 -4.50918217e-03 9.40608419e-01 1.02216795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.97, Y:290.43, Z:102.23 [[ 7.23575225e-02 -9.96550837e-01 -4.06302740e-02 3.54965312e+02] [ 9.37687453e-01 8.18519778e-02 -3.37701783e-01 2.90428673e+02] [ 3.39862663e-01 -1.36632338e-02 9.40375822e-01 1.02229116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.94, Y:290.46, Z:102.22 [[ 6.64546692e-02 -9.97772378e-01 -5.83597985e-03 3.54943856e+02] [ 9.39463303e-01 6.45393960e-02 -3.36516522e-01 2.90457956e+02] [ 3.36143541e-01 1.68804053e-02 9.41659478e-01 1.02218436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.582755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:355.00, Y:290.47, Z:102.27 [[ 7.02564485e-02 -9.94010058e-01 -8.37140148e-02 3.54996005e+02] [ 9.36819586e-01 9.45777537e-02 -3.36784964e-01 2.90471628e+02] [ 3.42685125e-01 -5.47636132e-02 9.37852788e-01 1.02266624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.612755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.96, Y:290.51, Z:102.25 [[ 6.73750794e-02 -9.97510334e-01 -2.08262621e-02 3.54962052e+02] [ 9.37201521e-01 7.04336906e-02 -3.41602699e-01 2.90508180e+02] [ 3.42219093e-01 3.49710449e-03 9.39613677e-01 1.02248483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.97, Y:290.53, Z:102.26 [[ 6.67493971e-02 -9.97052140e-01 -3.78358139e-02 3.54972402e+02] [ 9.37788633e-01 7.56411173e-02 -3.38867085e-01 2.90528858e+02] [ 3.40730096e-01 -1.28628225e-02 9.40073162e-01 1.02262916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6727550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.97, Y:290.55, Z:102.27 [[ 6.75280675e-02 -9.96732841e-01 -4.43125645e-02 3.54974411e+02] [ 9.37480704e-01 7.85871324e-02 -3.39048659e-01 2.90550885e+02] [ 3.41423331e-01 -1.86468734e-02 9.39724642e-01 1.02273472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.702755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.98, Y:290.58, Z:102.29 [[ 7.11972261e-02 -9.96307418e-01 -4.79841959e-02 3.54981648e+02] [ 9.36150034e-01 8.33494379e-02 -3.41578666e-01 2.90576639e+02] [ 3.44316815e-01 -2.06009531e-02 9.38627472e-01 1.02288324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.97, Y:290.60, Z:102.29 [[ 7.13828196e-02 -9.96907311e-01 -3.28680270e-02 3.54973676e+02] [ 9.37162114e-01 7.83143171e-02 -3.39991236e-01 2.90604990e+02] [ 3.41513786e-01 -6.53313652e-03 9.39854059e-01 1.02288704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.99, Y:290.63, Z:102.31 [[ 7.19029687e-02 -9.96194010e-01 -4.92692401e-02 3.54986257e+02] [ 9.36518246e-01 8.44262129e-02 -3.40302497e-01 2.90626074e+02] [ 3.43166924e-01 -2.16727825e-02 9.39024362e-01 1.02307940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.98, Y:290.65, Z:102.32 [[ 7.13435839e-02 -9.96573606e-01 -4.18466285e-02 3.54984674e+02] [ 9.36538487e-01 8.13641628e-02 -3.40991987e-01 2.90652390e+02] [ 3.43228430e-01 -1.48633876e-02 9.39134348e-01 1.02315203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.822755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.99, Y:290.67, Z:102.33 [[ 7.18736442e-02 -9.96043261e-01 -5.22685438e-02 3.54994456e+02] [ 9.35677916e-01 8.54826472e-02 -3.42344205e-01 2.90674849e+02] [ 3.45457692e-01 -2.43009966e-02 9.38119633e-01 1.02330104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.99, Y:290.70, Z:102.33 [[ 7.13358529e-02 -9.96676789e-01 -3.93265149e-02 3.54989291e+02] [ 9.35611863e-01 8.05277215e-02 -3.43723331e-01 2.90700836e+02] [ 3.45747941e-01 -1.22745569e-02 9.38247141e-01 1.02333152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.99, Y:290.73, Z:102.34 [[ 6.95836974e-02 -9.96776198e-01 -3.99414640e-02 3.54990730e+02] [ 9.35779231e-01 7.90938739e-02 -3.43600626e-01 2.90725775e+02] [ 3.45652051e-01 -1.34673904e-02 9.38266108e-01 1.02340732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.00, Y:290.75, Z:102.36 [[ 6.86346640e-02 -9.96300944e-01 -5.17079490e-02 3.54999440e+02] [ 9.35677992e-01 8.22668529e-02 -3.43130968e-01 2.90748463e+02] [ 3.46115557e-01 -2.48313112e-02 9.37863224e-01 1.02355814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.98, Y:290.77, Z:102.35 [[ 6.40516529e-02 -9.97660001e-01 -2.39146048e-02 3.54979478e+02] [ 9.37858858e-01 6.83675113e-02 -3.40215587e-01 2.90771941e+02] [ 3.41054465e-01 -6.37153250e-04 9.40043322e-01 1.02346506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:290.79, Z:102.38 [[ 6.53030479e-02 -9.96048296e-01 -6.01938828e-02 3.55011093e+02] [ 9.36146917e-01 8.20379988e-02 -3.41904543e-01 2.90794862e+02] [ 3.45491623e-01 -3.40229090e-02 9.37804873e-01 1.02377772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.00, Y:290.82, Z:102.38 [[ 6.30942294e-02 -9.97046975e-01 -4.37772447e-02 3.55004686e+02] [ 9.36205960e-01 7.43262764e-02 -3.43502555e-01 2.90821512e+02] [ 3.45741983e-01 -1.93114884e-02 9.38130880e-01 1.02380522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.00, Y:290.85, Z:102.38 [[ 6.01015518e-02 -9.97495600e-01 -3.72871558e-02 3.55003105e+02] [ 9.36269500e-01 6.92857913e-02 -3.44381915e-01 2.90845259e+02] [ 3.46102915e-01 -1.42129392e-02 9.38088890e-01 1.02384371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.062755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:355.01, Y:290.87, Z:102.40 [[ 5.98758476e-02 -9.97023623e-01 -4.85672604e-02 3.55012227e+02] [ 9.35986155e-01 7.29861693e-02 -3.44387770e-01 2.90867687e+02] [ 3.46907480e-01 -2.48377737e-02 9.37570416e-01 1.02397124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:290.89, Z:102.41 [[ 6.01206302e-02 -9.96876629e-01 -5.12103086e-02 3.55015514e+02] [ 9.35829022e-01 7.41396481e-02 -3.44568359e-01 2.90891984e+02] [ 3.47288858e-01 -2.72084261e-02 9.37363404e-01 1.02409321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.122755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:355.01, Y:290.92, Z:102.42 [[ 5.88194283e-02 -9.97189157e-01 -4.64118452e-02 3.55013789e+02] [ 9.36391426e-01 7.12278095e-02 -3.43653455e-01 2.90920295e+02] [ 3.45993313e-01 -2.32461541e-02 9.37948956e-01 1.02415623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:290.95, Z:102.42 [[ 5.70372935e-02 -9.97492435e-01 -4.18997651e-02 3.55011979e+02] [ 9.37086764e-01 6.79664876e-02 -3.42416345e-01 2.90947725e+02] [ 3.44405494e-01 -1.97332137e-02 9.38613582e-01 1.02422113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:290.97, Z:102.43 [[ 5.59895436e-02 -9.97438339e-01 -4.45188772e-02 3.55014494e+02] [ 9.37037885e-01 6.78888620e-02 -3.42565474e-01 2.90974080e+02] [ 3.44710274e-01 -2.25357900e-02 9.38438578e-01 1.02431647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:291.00, Z:102.43 [[ 5.40113955e-02 -9.98021073e-01 -3.21979217e-02 3.55008224e+02] [ 9.37795192e-01 6.17742652e-02 -3.41649117e-01 2.91002161e+02] [ 3.42962021e-01 -1.17421106e-02 9.39275878e-01 1.02433157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:291.03, Z:102.44 [[ 5.18278445e-02 -9.98054023e-01 -3.46704870e-02 3.55010957e+02] [ 9.38639437e-01 6.05376742e-02 -3.39545574e-01 2.91028343e+02] [ 3.40983697e-01 -1.49451712e-02 9.39950403e-01 1.02442563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.272755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:355.01, Y:291.05, Z:102.45 [[ 5.05345234e-02 -9.98096189e-01 -3.53590101e-02 3.55013124e+02] [ 9.38645909e-01 5.95588946e-02 -3.39700745e-01 2.91051936e+02] [ 3.41159963e-01 -1.60229749e-02 9.39868684e-01 1.02450053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:291.08, Z:102.46 [[ 5.03938444e-02 -9.97752557e-01 -4.41621551e-02 3.55019599e+02] [ 9.39069012e-01 6.23911586e-02 -3.38018838e-01 2.91077357e+02] [ 3.40014488e-01 -2.44372426e-02 9.40102638e-01 1.02464948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:291.10, Z:102.47 [[ 4.91765805e-02 -9.98405661e-01 -2.77092137e-02 3.55010523e+02] [ 9.38647095e-01 5.56791926e-02 -3.40354900e-01 2.91103860e+02] [ 3.41355085e-01 -9.27168286e-03 9.39888686e-01 1.02466806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.362755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:355.02, Y:291.13, Z:102.48 [[ 4.78317832e-02 -9.98065539e-01 -3.97152481e-02 3.55018995e+02] [ 9.39408915e-01 5.84615827e-02 -3.37776752e-01 2.91129460e+02] [ 3.39445152e-01 -2.11523938e-02 9.40387986e-01 1.02479588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.392755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:355.02, Y:291.15, Z:102.49 [[ 4.93390176e-02 -9.98192517e-01 -3.43126841e-02 3.55017053e+02] [ 9.38459083e-01 5.80900992e-02 -3.40470396e-01 2.91150600e+02] [ 3.41848228e-01 -1.54025752e-02 9.39628942e-01 1.02487028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:291.18, Z:102.49 [[ 4.69591394e-02 -9.98409508e-01 -3.11976482e-02 3.55015424e+02] [ 9.39763075e-01 5.47440697e-02 -3.37414360e-01 2.91181729e+02] [ 3.38585591e-01 -1.34737099e-02 9.40839124e-01 1.02494898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:291.21, Z:102.50 [[ 4.70353230e-02 -9.98364388e-01 -3.24996457e-02 3.55017056e+02] [ 9.39941627e-01 5.52478208e-02 -3.36834406e-01 2.91206546e+02] [ 3.38079010e-01 -1.47046548e-02 9.41002846e-01 1.02503916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.482755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:355.02, Y:291.23, Z:102.51 [[ 4.84562022e-02 -9.98204892e-01 -3.51992978e-02 3.55018905e+02] [ 9.39717375e-01 5.75034272e-02 -3.37082499e-01 2.91229667e+02] [ 3.38501479e-01 -1.67436541e-02 9.40816878e-01 1.02513566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:291.26, Z:102.52 [[ 4.93799816e-02 -9.98432850e-01 -2.63336614e-02 3.55012777e+02] [ 9.39967181e-01 5.53700119e-02 -3.36743018e-01 2.91257597e+02] [ 3.37673386e-01 -8.12441341e-03 9.41228282e-01 1.02518327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:291.28, Z:102.55 [[ 5.27574269e-02 -9.96454273e-01 -6.55403426e-02 3.55039029e+02] [ 9.38053886e-01 7.19583668e-02 -3.38934949e-01 2.91277647e+02] [ 3.42449354e-01 -4.35990373e-02 9.38524141e-01 1.02550820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.00, Y:291.31, Z:102.53 [[ 4.85795326e-02 -9.98795502e-01 -6.89738433e-03 3.55001982e+02] [ 9.39878249e-01 4.80488138e-02 -3.38112686e-01 2.91306411e+02] [ 3.38036841e-01 9.94265472e-03 9.41080357e-01 1.02530832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.01, Y:291.33, Z:102.55 [[ 5.10273402e-02 -9.98327841e-01 -2.71612425e-02 3.55014684e+02] [ 9.39559891e-01 5.72077627e-02 -3.37571449e-01 2.91328152e+02] [ 3.38560810e-01 -8.29424091e-03 9.40907957e-01 1.02545789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:291.35, Z:102.55 [[ 5.20685842e-02 -9.98276916e-01 -2.70566542e-02 3.55015905e+02] [ 9.39345075e-01 5.81559137e-02 -3.38006981e-01 2.91351981e+02] [ 3.38998071e-01 -7.81598989e-03 9.40754601e-01 1.02554290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:291.38, Z:102.56 [[ 5.58362607e-02 -9.98072454e-01 -2.70867038e-02 3.55019612e+02] [ 9.38860746e-01 6.17162573e-02 -3.38720539e-01 2.91380671e+02] [ 3.39739329e-01 -6.51775465e-03 9.40497053e-01 1.02563007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:291.41, Z:102.57 [[ 5.56632334e-02 -9.98073167e-01 -2.74145707e-02 3.55020685e+02] [ 9.39119053e-01 6.16597205e-02 -3.38014029e-01 2.91405430e+02] [ 3.39053107e-01 -6.93059187e-03 9.40741706e-01 1.02570792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:291.43, Z:102.58 [[ 5.50648245e-02 -9.98159945e-01 -2.53887460e-02 3.55021254e+02] [ 9.39550658e-01 6.04043591e-02 -3.37039870e-01 2.91432285e+02] [ 3.37953289e-01 -5.29497175e-03 9.41147989e-01 1.02578333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:291.45, Z:102.59 [[ 5.52070816e-02 -9.97841993e-01 -3.55462366e-02 3.55029616e+02] [ 9.39235383e-01 6.39787980e-02 -3.37258963e-01 2.91454332e+02] [ 3.38805362e-01 -1.47672001e-02 9.40740590e-01 1.02592594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:291.48, Z:102.60 [[ 5.33746741e-02 -9.98107115e-01 -3.05504633e-02 3.55027798e+02] [ 9.39726288e-01 6.05531422e-02 -3.36523135e-01 2.91475272e+02] [ 3.37736062e-01 -1.07472608e-02 9.41179499e-01 1.02600266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:291.50, Z:102.61 [[ 5.54771089e-02 -9.97943986e-01 -3.20950244e-02 3.55034295e+02] [ 9.39135577e-01 6.30689430e-02 -3.37707976e-01 2.91502868e+02] [ 3.39037843e-01 -1.14065170e-02 9.40703584e-01 1.02611817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:291.53, Z:102.61 [[ 5.40445272e-02 -9.98311055e-01 -2.13126018e-02 3.55029140e+02] [ 9.39594611e-01 5.80673554e-02 -3.37327955e-01 2.91528611e+02] [ 3.37995792e-01 -1.79447595e-03 9.41145910e-01 1.02614143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:291.55, Z:102.63 [[ 5.33573370e-02 -9.97981903e-01 -3.44255250e-02 3.55038274e+02] [ 9.39360472e-01 6.18585504e-02 -3.37306128e-01 2.91551594e+02] [ 3.38754924e-01 -1.43402207e-02 9.40765358e-01 1.02628698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:291.58, Z:102.64 [[ 5.28846126e-02 -9.97950241e-01 -3.60351852e-02 3.55041596e+02] [ 9.38928717e-01 6.19792585e-02 -3.38484025e-01 2.91576136e+02] [ 3.40023649e-01 -1.59338736e-02 9.40281889e-01 1.02639959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.03, Y:291.60, Z:102.64 [[ 4.82854615e-02 -9.98623063e-01 -2.05058943e-02 3.55031416e+02] [ 9.39550663e-01 5.23775461e-02 -3.38380179e-01 2.91599529e+02] [ 3.38988299e-01 -2.92748351e-03 9.40786035e-01 1.02640006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:291.62, Z:102.65 [[ 4.67562497e-02 -9.98582422e-01 -2.54361892e-02 3.55036034e+02] [ 9.39683445e-01 5.26074592e-02 -3.37975559e-01 2.91623326e+02] [ 3.38834585e-01 -8.09949633e-03 9.40811098e-01 1.02649983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:291.65, Z:102.67 [[ 4.57435008e-02 -9.98085339e-01 -4.16315747e-02 3.55050453e+02] [ 9.38860336e-01 5.71908064e-02 -3.39515069e-01 2.91647057e+02] [ 3.41245956e-01 -2.35556264e-02 9.39678844e-01 1.02669649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:291.67, Z:102.68 [[ 4.45193159e-02 -9.98367302e-01 -3.57877073e-02 3.55049631e+02] [ 9.39219427e-01 5.40350386e-02 -3.39038467e-01 2.91673398e+02] [ 3.40418710e-01 -1.85187493e-02 9.40091569e-01 1.02677787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.05, Y:291.70, Z:102.68 [[ 4.27565896e-02 -9.98589929e-01 -3.14647024e-02 3.55049328e+02] [ 9.40645093e-01 5.08488047e-02 -3.35561034e-01 2.91699919e+02] [ 3.36687812e-01 -1.52496725e-02 9.41492839e-01 1.02680319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.082755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.05, Y:291.73, Z:102.69 [[ 4.21722921e-02 -9.98695179e-01 -2.87999637e-02 3.55049366e+02] [ 9.40773723e-01 4.93990375e-02 -3.35416961e-01 2.91725476e+02] [ 3.36401992e-01 -1.29489470e-02 9.41629452e-01 1.02688164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.03, Y:291.75, Z:102.69 [[ 3.75875922e-02 -9.99285001e-01 4.08166182e-03 3.55028696e+02] [ 9.39618190e-01 3.39523076e-02 -3.40536192e-01 2.91752238e+02] [ 3.40154128e-01 1.66351392e-02 9.40222549e-01 1.02688446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.142755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.05, Y:291.77, Z:102.71 [[ 3.61738089e-02 -9.98856241e-01 -3.12676560e-02 3.55050312e+02] [ 9.38303870e-01 4.47151209e-02 -3.42908743e-01 2.91774494e+02] [ 3.43914675e-01 -1.69342472e-02 9.38848192e-01 1.02712215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:291.79, Z:102.73 [[ 3.88960922e-02 -9.97633336e-01 -5.66993833e-02 3.55065920e+02] [ 9.41107372e-01 5.56461834e-02 -3.33497251e-01 2.91789291e+02] [ 3.35863079e-01 -4.03884678e-02 9.41044507e-01 1.02726206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:291.82, Z:102.72 [[ 3.85206954e-02 -9.99111520e-01 -1.70975744e-02 3.55045308e+02] [ 9.40638425e-01 4.20298166e-02 -3.36797933e-01 2.91823628e+02] [ 3.37217303e-01 -3.10894487e-03 9.41421704e-01 1.02721962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:291.85, Z:102.73 [[ 3.69789799e-02 -9.99176985e-01 -1.66705448e-02 3.55042834e+02] [ 9.41193062e-01 4.04296277e-02 -3.35441599e-01 2.91847089e+02] [ 3.35839509e-01 -3.28591295e-03 9.41913492e-01 1.02727430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:291.87, Z:102.73 [[ 3.86667404e-02 -9.98996489e-01 -2.26030408e-02 3.55048634e+02] [ 9.44208683e-01 4.39312955e-02 -3.26404663e-01 2.91871354e+02] [ 3.27070094e-01 -8.72098298e-03 9.44959840e-01 1.02733104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:291.90, Z:102.74 [[ 3.98827322e-02 -9.98950724e-01 -2.25126254e-02 3.55047764e+02] [ 9.41397801e-01 4.51180893e-02 -3.34267168e-01 2.91897211e+02] [ 3.34932156e-01 -7.86184810e-03 9.42209447e-01 1.02744443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:291.92, Z:102.76 [[ 4.18187869e-02 -9.98799146e-01 -2.55236237e-02 3.55050777e+02] [ 9.40771082e-01 4.79660577e-02 -3.35632283e-01 2.91923464e+02] [ 3.36453505e-01 -9.97615218e-03 9.41647235e-01 1.02756342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:291.95, Z:102.76 [[ 4.22436121e-02 -9.98955900e-01 -1.73950081e-02 3.55046465e+02] [ 9.41158490e-01 4.56306597e-02 -3.34870931e-01 2.91949238e+02] [ 3.35315038e-01 -2.22530185e-03 9.42103430e-01 1.02760514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:291.97, Z:102.78 [[ 4.59364629e-02 -9.98204498e-01 -3.84398400e-02 3.55060551e+02] [ 9.40754252e-01 5.61702305e-02 -3.34404460e-01 2.91970235e+02] [ 3.35963211e-01 -2.08010849e-02 9.41645388e-01 1.02779040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.00, Z:102.79 [[ 4.69687096e-02 -9.98373292e-01 -3.23219792e-02 3.55059034e+02] [ 9.40526945e-01 5.50999718e-02 -3.35220912e-01 2.91997069e+02] [ 3.36456546e-01 -1.46547987e-02 9.41584956e-01 1.02788145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:292.03, Z:102.79 [[ 4.74422391e-02 -9.98830198e-01 -9.35254394e-03 3.55045351e+02] [ 9.39885214e-01 4.78085369e-02 -3.38127385e-01 2.92026355e+02] [ 3.38178974e-01 7.25120248e-03 9.41053878e-01 1.02790396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.04, Z:102.81 [[ 5.03319563e-02 -9.98003903e-01 -3.81432091e-02 3.55062442e+02] [ 9.40322307e-01 6.02231527e-02 -3.34913616e-01 2.92043031e+02] [ 3.36542201e-01 -1.90100529e-02 9.41476482e-01 1.02806036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:292.07, Z:102.81 [[ 5.02451769e-02 -9.98514834e-01 -2.10606025e-02 3.55049708e+02] [ 9.40496558e-01 5.44003646e-02 -3.35420371e-01 2.92065423e+02] [ 3.36067920e-01 -2.95416827e-03 9.41833120e-01 1.02806581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.09, Z:102.82 [[ 5.21427916e-02 -9.98217580e-01 -2.90308977e-02 3.55058396e+02] [ 9.40213944e-01 5.88689609e-02 -3.35458172e-01 2.92092450e+02] [ 3.36569263e-01 -9.80352923e-03 9.41607679e-01 1.02819939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:292.12, Z:102.82 [[ 4.92475732e-02 -9.98607006e-01 -1.89400186e-02 3.55050609e+02] [ 9.40704562e-01 5.27477111e-02 -3.35100891e-01 2.92115955e+02] [ 3.35633140e-01 -1.31405624e-03 9.41991862e-01 1.02823190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.592755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.05, Y:292.14, Z:102.83 [[ 4.78504489e-02 -9.98620764e-01 -2.16079659e-02 3.55052770e+02] [ 9.40935314e-01 5.23246173e-02 -3.34518864e-01 2.92139020e+02] [ 3.35188112e-01 -4.32482033e-03 9.42141298e-01 1.02832208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.17, Z:102.85 [[ 4.76732467e-02 -9.98236044e-01 -3.53844938e-02 3.55064484e+02] [ 9.40984025e-01 5.67661634e-02 -3.33656510e-01 2.92165404e+02] [ 3.35076597e-01 -1.73897543e-02 9.42030398e-01 1.02848454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:292.19, Z:102.85 [[ 4.40551246e-02 -9.98950660e-01 -1.25189983e-02 3.55048967e+02] [ 9.41124802e-01 4.57026389e-02 -3.34955783e-01 2.92188562e+02] [ 3.35176451e-01 2.97457895e-03 9.42150677e-01 1.02846801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.22, Z:102.86 [[ 4.47159019e-02 -9.98700305e-01 -2.44579106e-02 3.55059645e+02] [ 9.41134807e-01 5.03245082e-02 -3.34264446e-01 2.92215467e+02] [ 3.35060836e-01 -8.07125482e-03 9.42161924e-01 1.02860520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.24, Z:102.87 [[ 4.36426423e-02 -9.98629337e-01 -2.88923382e-02 3.55063169e+02] [ 9.41023022e-01 5.08030453e-02 -3.34506687e-01 2.92238783e+02] [ 3.35516009e-01 -1.25895997e-02 9.41950375e-01 1.02871253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:292.26, Z:102.87 [[ 3.94140074e-02 -9.99069062e-01 -1.75369746e-02 3.55053525e+02] [ 9.41794280e-01 4.30072337e-02 -3.33427521e-01 2.92262019e+02] [ 3.33871338e-01 -3.37450755e-03 9.42612615e-01 1.02873243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.29, Z:102.88 [[ 3.78677886e-02 -9.99066947e-01 -2.07669310e-02 3.55055501e+02] [ 9.41652573e-01 4.26316515e-02 -3.33875686e-01 2.92285410e+02] [ 3.34449491e-01 -6.91210016e-03 9.42388328e-01 1.02881682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.06, Y:292.31, Z:102.89 [[ 3.72447532e-02 -9.99092353e-01 -2.06712255e-02 3.55055980e+02] [ 9.41575249e-01 4.20146138e-02 -3.34171845e-01 2.92310873e+02] [ 3.34737028e-01 -7.01736637e-03 9.42285455e-01 1.02890346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.34, Z:102.90 [[ 3.65043182e-02 -9.99122340e-01 -2.05422732e-02 3.55056311e+02] [ 9.41573068e-01 4.12743780e-02 -3.34270226e-01 2.92335901e+02] [ 3.34824720e-01 -7.13974449e-03 9.42253379e-01 1.02898642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.36, Z:102.91 [[ 3.61204567e-02 -9.99138253e-01 -2.04465927e-02 3.55055316e+02] [ 9.41363656e-01 4.08854297e-02 -3.34907224e-01 2.92361360e+02] [ 3.35454587e-01 -7.15067734e-03 9.42029240e-01 1.02906831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.07, Y:292.38, Z:102.92 [[ 3.90242557e-02 -9.98587218e-01 -3.60648752e-02 3.55065398e+02] [ 9.42488849e-01 4.87740352e-02 -3.30659739e-01 2.92379286e+02] [ 3.31951619e-01 -2.10869925e-02 9.43060688e-01 1.02916458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:292.41, Z:102.92 [[ 3.55559309e-02 -9.99364527e-01 2.51360579e-03 3.55042715e+02] [ 9.40989771e-01 3.26317752e-02 -3.36858158e-01 2.92414608e+02] [ 3.36562070e-01 1.43425827e-02 9.41552050e-01 1.02917638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.952755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:355.06, Y:292.44, Z:102.93 [[ 3.49085700e-02 -9.99191519e-01 -1.99424224e-02 3.55055653e+02] [ 9.41193373e-01 3.95792367e-02 -3.35542127e-01 2.92436545e+02] [ 3.36060153e-01 -7.05637996e-03 9.41814090e-01 1.02932670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.46, Z:102.94 [[ 3.43326508e-02 -9.99214269e-01 -1.98018553e-02 3.55055486e+02] [ 9.41223584e-01 3.89893818e-02 -3.35526442e-01 2.92462048e+02] [ 3.36034870e-01 -7.11846110e-03 9.41822644e-01 1.02941055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.49, Z:102.95 [[ 3.36631669e-02 -9.99239965e-01 -1.96540959e-02 3.55055996e+02] [ 9.41306069e-01 3.83079217e-02 -3.35373505e-01 2.92486361e+02] [ 3.35871517e-01 -7.21078550e-03 9.41880209e-01 1.02949576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0427550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:355.06, Y:292.51, Z:102.96 [[ 3.15832559e-02 -9.99311986e-01 -1.94435559e-02 3.55055765e+02] [ 9.41793696e-01 3.62684708e-02 -3.34229311e-01 2.92511486e+02] [ 3.34704544e-01 -7.75576853e-03 9.42291206e-01 1.02957068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.072755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:355.06, Y:292.54, Z:102.97 [[ 3.04374013e-02 -9.99350913e-01 -1.92696085e-02 3.55056276e+02] [ 9.42029262e-01 3.51257413e-02 -3.33687057e-01 2.92535701e+02] [ 3.34147325e-01 -7.99596821e-03 9.42486939e-01 1.02965972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.56, Z:102.97 [[ 2.86082130e-02 -9.99408688e-01 -1.90747307e-02 3.55056654e+02] [ 9.42383106e-01 3.33290337e-02 -3.32871233e-01 2.92561027e+02] [ 3.33310145e-01 -8.45285283e-03 9.42779347e-01 1.02974153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.59, Z:102.98 [[ 2.78536449e-02 -9.99433389e-01 -1.88964618e-02 3.55057224e+02] [ 9.42647502e-01 3.25519954e-02 -3.32198817e-01 2.92585811e+02] [ 3.32625707e-01 -8.55975466e-03 9.43020079e-01 1.02982247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.61, Z:102.99 [[ 2.82236344e-02 -9.99425791e-01 -1.87487418e-02 3.55058229e+02] [ 9.42687527e-01 3.28505601e-02 -3.32055821e-01 2.92610652e+02] [ 3.32481058e-01 -8.30238294e-03 9.43073389e-01 1.02991168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.63, Z:103.00 [[ 2.83571274e-02 -9.99424930e-01 -1.85925294e-02 3.55057766e+02] [ 9.42816131e-01 3.29213241e-02 -3.31683480e-01 2.92634724e+02] [ 3.32104829e-01 -8.12374596e-03 9.43207500e-01 1.02998781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.66, Z:103.01 [[ 3.10292076e-02 -9.99348733e-01 -1.84200486e-02 3.55057428e+02] [ 9.42870983e-01 3.53816651e-02 -3.31273976e-01 2.92660160e+02] [ 3.31709960e-01 -7.08856031e-03 9.43354787e-01 1.03006805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.04, Y:292.69, Z:103.00 [[ 3.16624550e-02 -9.99489640e-01 4.23667016e-03 3.55043885e+02] [ 9.43794097e-01 2.85022373e-02 -3.29302787e-01 2.92689332e+02] [ 3.29013969e-01 1.44250790e-02 9.44214872e-01 1.03003287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:292.71, Z:103.03 [[ 3.35437525e-02 -9.98785439e-01 -3.60896722e-02 3.55068181e+02] [ 9.42960780e-01 4.35943226e-02 -3.30037124e-01 2.92707391e+02] [ 3.31209578e-01 -2.29604618e-02 9.43277813e-01 1.03027809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.73, Z:103.03 [[ 3.60568286e-02 -9.99167167e-01 -1.91017641e-02 3.55058647e+02] [ 9.42822350e-01 4.03484991e-02 -3.30844398e-01 2.92734297e+02] [ 3.31339587e-01 -6.08037037e-03 9.43491975e-01 1.03030730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.76, Z:103.04 [[ 3.67996468e-02 -9.99165536e-01 -1.77205629e-02 3.55058789e+02] [ 9.43026191e-01 4.05888238e-02 -3.30233479e-01 2.92759352e+02] [ 3.30677168e-01 -4.55847950e-03 9.43732923e-01 1.03038564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.78, Z:103.05 [[ 3.75282051e-02 -9.99141321e-01 -1.75572048e-02 3.55060124e+02] [ 9.43189536e-01 4.12200110e-02 -3.29688353e-01 2.92783905e+02] [ 3.30128964e-01 -4.18715970e-03 9.43926552e-01 1.03046562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.81, Z:103.06 [[ 3.73907454e-02 -9.99149065e-01 -1.74091587e-02 3.55061989e+02] [ 9.43250781e-01 4.10407080e-02 -3.29535469e-01 2.92808893e+02] [ 3.29969540e-01 -4.09962568e-03 9.43982678e-01 1.03055136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:292.83, Z:103.06 [[ 3.91484541e-02 -9.98903941e-01 -2.56576627e-02 3.55070151e+02] [ 9.44136218e-01 4.53862708e-02 -3.26415208e-01 2.92829293e+02] [ 3.27221944e-01 -1.14456778e-02 9.44878191e-01 1.03064031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.86, Z:103.07 [[ 3.51811635e-02 -9.99368966e-01 -4.89441286e-03 3.55059516e+02] [ 9.43604471e-01 3.48305075e-02 -3.29237661e-01 2.92859380e+02] [ 3.29200376e-01 6.96457412e-03 9.44234403e-01 1.03068261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:292.87, Z:103.08 [[ 3.96080361e-02 -9.98656267e-01 -3.34195222e-02 3.55080041e+02] [ 9.45037844e-01 4.83029808e-02 -3.23373306e-01 2.92872891e+02] [ 3.24553041e-01 -1.87745316e-02 9.45681152e-01 1.03080450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:292.91, Z:103.08 [[ 3.44002390e-02 -9.99308368e-01 1.41212644e-02 3.55054786e+02] [ 9.42964059e-01 2.77728940e-02 -3.31734005e-01 2.92907595e+02] [ 3.31112378e-01 2.47275739e-02 9.43267269e-01 1.03080598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:292.92, Z:103.10 [[ 3.62624808e-02 -9.99167642e-01 -1.86830485e-02 3.55075968e+02] [ 9.43398095e-01 4.03939158e-02 -3.29193509e-01 2.92924895e+02] [ 3.29674183e-01 -5.68817907e-03 9.44077633e-01 1.03095970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:292.95, Z:103.10 [[ 3.88531581e-02 -9.99039431e-01 -2.02644217e-02 3.55080440e+02] [ 9.44223577e-01 4.33428245e-02 -3.26440248e-01 2.92946615e+02] [ 3.27004997e-01 -6.45091017e-03 9.45000591e-01 1.03102339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.06, Y:292.98, Z:103.10 [[ 3.40833488e-02 -9.99246878e-01 1.85472986e-02 3.55059026e+02] [ 9.41479224e-01 2.58749421e-02 -3.36076416e-01 2.92980344e+02] [ 3.35343399e-01 2.89165060e-02 9.41652080e-01 1.03104311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:293.00, Z:103.13 [[ 3.32532942e-02 -9.98831119e-01 -3.50801256e-02 3.55091375e+02] [ 9.43675163e-01 4.29394212e-02 -3.28075285e-01 2.92999141e+02] [ 3.29198124e-01 -2.21946592e-02 9.43999996e-01 1.03126043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:293.02, Z:103.13 [[ 3.36591087e-02 -9.99300254e-01 -1.63115823e-02 3.55084307e+02] [ 9.43404662e-01 3.71557380e-02 -3.29555906e-01 2.93024763e+02] [ 3.29931369e-01 -4.29586477e-03 9.43995147e-01 1.03128626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:293.05, Z:103.14 [[ 3.71818066e-02 -9.99231592e-01 -1.23991306e-02 3.55085609e+02] [ 9.42814835e-01 3.91898475e-02 -3.31005050e-01 2.93045562e+02] [ 3.31236623e-01 6.17281511e-04 9.43547518e-01 1.03135089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:293.07, Z:103.15 [[ 3.52732129e-02 -9.99255813e-01 -1.56083585e-02 3.55089659e+02] [ 9.42966496e-01 3.84511246e-02 -3.30659490e-01 2.93072505e+02] [ 3.31013576e-01 -3.05473656e-03 9.43621047e-01 1.03145142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:293.10, Z:103.15 [[ 3.53417823e-02 -9.99241395e-01 -1.63582639e-02 3.55092462e+02] [ 9.42807567e-01 3.87657311e-02 -3.31075687e-01 2.93097038e+02] [ 3.31458672e-01 -3.72189011e-03 9.43462398e-01 1.03153847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:293.12, Z:103.16 [[ 3.62191216e-02 -9.99211631e-01 -1.62570283e-02 3.55097106e+02] [ 9.42524433e-01 3.95624648e-02 -3.31786838e-01 2.93120209e+02] [ 3.32168435e-01 -3.30561855e-03 9.43214294e-01 1.03162504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:293.14, Z:103.17 [[ 3.63167558e-02 -9.99209688e-01 -1.61583697e-02 3.55099352e+02] [ 9.42455866e-01 3.96224188e-02 -3.31974403e-01 2.93144542e+02] [ 3.32352273e-01 -3.17231696e-03 9.43149990e-01 1.03171302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:293.17, Z:103.18 [[ 3.64395787e-02 -9.99207637e-01 -1.60079961e-02 3.55103317e+02] [ 9.42566338e-01 3.96872647e-02 -3.31652859e-01 2.93168617e+02] [ 3.32025383e-01 -3.00330777e-03 9.43265670e-01 1.03179654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.19, Z:103.21 [[ 3.89905888e-02 -9.98326602e-01 -4.27051428e-02 3.55124134e+02] [ 9.40466822e-01 5.11047208e-02 -3.36021524e-01 2.93189656e+02] [ 3.37641661e-01 -2.70610928e-02 9.40885650e-01 1.03205498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:293.22, Z:103.19 [[ 3.57208714e-02 -9.99313976e-01 9.77739694e-03 3.55095042e+02] [ 9.41464318e-01 3.03680759e-02 -3.35742040e-01 2.93222489e+02] [ 3.35214792e-01 2.11980686e-02 9.41903225e-01 1.03193157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.24, Z:103.21 [[ 3.71239284e-02 -9.99018290e-01 -2.41716944e-02 3.55119489e+02] [ 9.41895690e-01 4.30615535e-02 -3.33133924e-01 2.93240438e+02] [ 3.33847754e-01 -1.03999749e-02 9.42569635e-01 1.03211507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.27, Z:103.22 [[ 3.67544854e-02 -9.99195337e-01 -1.60557478e-02 3.55115784e+02] [ 9.41888249e-01 4.00059740e-02 -3.33535678e-01 2.93266142e+02] [ 3.33909620e-01 -2.86378794e-03 9.42600745e-01 1.03217713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.29, Z:103.23 [[ 3.71875976e-02 -9.99181747e-01 -1.59034232e-02 3.55116997e+02] [ 9.42063563e-01 4.03619030e-02 -3.32997238e-01 2.93290455e+02] [ 3.33366654e-01 -2.59866822e-03 9.42793679e-01 1.03226467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.32, Z:103.24 [[ 3.93737499e-02 -9.99100674e-01 -1.57337635e-02 3.55116983e+02] [ 9.42175670e-01 4.23654757e-02 -3.32430704e-01 2.93315429e+02] [ 3.32798309e-01 -1.73492579e-03 9.42996435e-01 1.03235310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.34, Z:103.24 [[ 4.01504792e-02 -9.99071713e-01 -1.56093076e-02 3.55117435e+02] [ 9.42030208e-01 4.30569921e-02 -3.32753938e-01 2.93339319e+02] [ 3.33117137e-01 -1.34420921e-03 9.42884492e-01 1.03243773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.36, Z:103.26 [[ 4.16413739e-02 -9.98915474e-01 -2.08295766e-02 3.55120242e+02] [ 9.41015486e-01 4.62172134e-02 -3.35192219e-01 2.93364772e+02] [ 3.35791380e-01 -5.64308960e-03 9.41919479e-01 1.03256666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.39, Z:103.27 [[ 4.40576401e-02 -9.98686796e-01 -2.61459036e-02 3.55123787e+02] [ 9.40393293e-01 5.02917224e-02 -3.36349814e-01 2.93386878e+02] [ 3.37223041e-01 -9.76865326e-03 9.41374099e-01 1.03268458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:293.42, Z:103.27 [[ 4.21555448e-02 -9.99048623e-01 -1.11695548e-02 3.55114495e+02] [ 9.40148091e-01 4.34489316e-02 -3.37984848e-01 2.93416206e+02] [ 3.38148602e-01 3.74689973e-03 9.41085269e-01 1.03272334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:293.44, Z:103.28 [[ 4.05211482e-02 -9.99151861e-01 -7.32085250e-03 3.55111343e+02] [ 9.41215952e-01 4.06286819e-02 -3.35353310e-01 2.93440439e+02] [ 3.35366320e-01 6.69839800e-03 9.42063991e-01 1.03275652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.212755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:355.12, Y:293.46, Z:103.29 [[ 3.83466339e-02 -9.99152007e-01 -1.49934236e-02 3.55116598e+02] [ 9.41082613e-01 4.11549901e-02 -3.35663199e-01 2.93464158e+02] [ 3.35995613e-01 -1.23849643e-03 9.41862736e-01 1.03287664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.49, Z:103.30 [[ 3.73039487e-02 -9.99193497e-01 -1.48583615e-02 3.55117659e+02] [ 9.41092585e-01 4.01276703e-02 -3.35759612e-01 2.93488453e+02] [ 3.36085052e-01 -1.45793448e-03 9.41830511e-01 1.03296744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.51, Z:103.31 [[ 3.65178501e-02 -9.99224119e-01 -1.47514807e-02 3.55117653e+02] [ 9.40836189e-01 3.93527376e-02 -3.36568906e-01 2.93512407e+02] [ 3.36888280e-01 -1.58795399e-03 9.41543289e-01 1.03305842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.54, Z:103.31 [[ 3.55900426e-02 -9.99259284e-01 -1.46366954e-02 3.55117091e+02] [ 9.40596456e-01 3.84419341e-02 -3.37343335e-01 2.93537087e+02] [ 3.37656122e-01 -1.76116020e-03 9.41267891e-01 1.03314333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.332755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:355.12, Y:293.56, Z:103.32 [[ 3.33325040e-02 -9.99338959e-01 -1.45116971e-02 3.55116528e+02] [ 9.40520276e-01 3.62758589e-02 -3.37795312e-01 2.93561330e+02] [ 3.38098439e-01 -2.38898178e-03 9.41107719e-01 1.03322588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.59, Z:103.33 [[ 3.12781749e-02 -9.99407335e-01 -1.43754927e-02 3.55117021e+02] [ 9.40475855e-01 3.42974158e-02 -3.38125500e-01 2.93586526e+02] [ 3.38418147e-01 -2.94385530e-03 9.40991228e-01 1.03331806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.61, Z:103.34 [[ 2.90795891e-02 -9.99475723e-01 -1.42357617e-02 3.55117838e+02] [ 9.40498934e-01 3.21817153e-02 -3.38269261e-01 2.93610407e+02] [ 3.38550045e-01 -3.55198758e-03 9.40941683e-01 1.03340603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.63, Z:103.35 [[ 2.40890648e-02 -9.99610750e-01 -1.40736081e-02 3.55119118e+02] [ 9.40743170e-01 2.74293029e-02 -3.38008759e-01 2.93634591e+02] [ 3.38263219e-01 -5.09733574e-03 9.41037732e-01 1.03350013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:293.66, Z:103.34 [[ 1.87768412e-02 -9.99740959e-01 1.28625681e-02 3.55101153e+02] [ 9.42439782e-01 1.34020368e-02 -3.34107233e-01 2.93663541e+02] [ 3.33848301e-01 1.83956743e-02 9.42447299e-01 1.03343183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:293.68, Z:103.38 [[ 1.86915400e-02 -9.99166965e-01 -3.62767428e-02 3.55133711e+02] [ 9.41165162e-01 2.98284413e-02 -3.36627987e-01 2.93681426e+02] [ 3.37429643e-01 -2.78503111e-02 9.40938678e-01 1.03376492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.71, Z:103.38 [[ 1.72196518e-02 -9.99758038e-01 -1.36875903e-02 3.55121728e+02] [ 9.41246251e-01 2.08267608e-02 -3.37078241e-01 2.93708806e+02] [ 3.37281749e-01 -7.07902312e-03 9.41377134e-01 1.03377902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.73, Z:103.39 [[ 1.59260429e-02 -9.99781263e-01 -1.35568348e-02 3.55122354e+02] [ 9.41134052e-01 1.95678023e-02 -3.37466735e-01 2.93733586e+02] [ 3.37658196e-01 -7.38428916e-03 9.41239829e-01 1.03387208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.76, Z:103.40 [[ 1.58718645e-02 -9.99783700e-01 -1.34401011e-02 3.55123164e+02] [ 9.40927607e-01 1.94818737e-02 -3.38046884e-01 2.93758782e+02] [ 3.38235603e-01 -7.28072788e-03 9.41033298e-01 1.03396475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.78, Z:103.41 [[ 1.70174506e-02 -9.99766124e-01 -1.33455450e-02 3.55124364e+02] [ 9.40493135e-01 2.05362948e-02 -3.39191574e-01 2.93782677e+02] [ 3.39386313e-01 -6.77921764e-03 9.40622652e-01 1.03405106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:293.81, Z:103.41 [[ 1.75110393e-02 -9.99759494e-01 -1.32029131e-02 3.55125341e+02] [ 9.40459867e-01 2.09526674e-02 -3.39258345e-01 2.93807715e+02] [ 3.39453388e-01 -6.47604368e-03 9.40600584e-01 1.03414297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:293.83, Z:103.42 [[ 1.84193774e-02 -9.99744764e-01 -1.30818130e-02 3.55126223e+02] [ 9.40283683e-01 2.17688231e-02 -3.39695031e-01 2.93832893e+02] [ 3.39893104e-01 -6.04364430e-03 9.40444657e-01 1.03423741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:293.86, Z:103.43 [[ 2.02185688e-02 -9.99711700e-01 -1.29509100e-02 3.55126222e+02] [ 9.40184001e-01 2.34174386e-02 -3.39861248e-01 2.93857072e+02] [ 3.40066543e-01 -5.30473032e-03 9.40386413e-01 1.03432563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:293.88, Z:103.44 [[ 2.22296375e-02 -9.99520915e-01 -2.15356459e-02 3.55130797e+02] [ 9.40264050e-01 2.82217408e-02 -3.39274300e-01 2.93877757e+02] [ 3.39719532e-01 -1.27072490e-02 9.40440942e-01 1.03442534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:293.91, Z:103.45 [[ 2.15427301e-02 -9.99765569e-01 -2.17185285e-03 3.55120106e+02] [ 9.39555110e-01 2.09877414e-02 -3.41753873e-01 2.93905848e+02] [ 3.41719338e-01 5.32173599e-03 9.39786983e-01 1.03447147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:293.93, Z:103.44 [[ 2.02193014e-02 -9.99656143e-01 1.66966050e-02 3.55106841e+02] [ 9.40364108e-01 1.33427870e-02 -3.39907802e-01 2.93932950e+02] [ 3.39568143e-01 2.25735864e-02 9.40310539e-01 1.03443016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:293.95, Z:103.48 [[ 2.24102197e-02 -9.99205486e-01 -3.29572260e-02 3.55137204e+02] [ 9.39027409e-01 3.23513323e-02 -3.42316983e-01 2.93949865e+02] [ 3.43111217e-01 -2.32763398e-02 9.39006339e-01 1.03475079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:293.98, Z:103.48 [[ 2.11503341e-02 -9.99655710e-01 -1.55282213e-02 3.55127635e+02] [ 9.39576962e-01 2.51825310e-02 -3.41410271e-01 2.93979022e+02] [ 3.41683766e-01 -7.36901770e-03 9.39786093e-01 1.03479063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:294.00, Z:103.49 [[ 1.93541727e-02 -9.99738593e-01 -1.21721846e-02 3.55125690e+02] [ 9.39726422e-01 2.23465728e-02 -3.41196251e-01 2.94003793e+02] [ 3.41379067e-01 -4.83495232e-03 9.39913271e-01 1.03487393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:294.03, Z:103.50 [[ 1.78908498e-02 -9.99767556e-01 -1.20313011e-02 3.55125475e+02] [ 9.39758555e-01 2.09229986e-02 -3.41198018e-01 2.94029117e+02] [ 3.41370439e-01 -5.20219562e-03 9.39914443e-01 1.03496328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.05, Z:103.50 [[ 1.53733991e-02 -9.99810855e-01 -1.19127233e-02 3.55123800e+02] [ 9.39546208e-01 1.85207310e-02 -3.41920905e-01 2.94054471e+02] [ 3.42076865e-01 -5.93606745e-03 9.39653224e-01 1.03504288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.08, Z:103.51 [[ 1.41661743e-02 -9.99830245e-01 -1.17813783e-02 3.55123220e+02] [ 9.39427009e-01 1.73439137e-02 -3.42309923e-01 2.94078766e+02] [ 3.42456150e-01 -6.21852294e-03 9.39513233e-01 1.03512427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.10, Z:103.52 [[ 1.28371375e-02 -9.99850078e-01 -1.16201898e-02 3.55121925e+02] [ 9.39567940e-01 1.60377172e-02 -3.41986663e-01 2.94102602e+02] [ 3.42121753e-01 -6.52782796e-03 9.39632957e-01 1.03520630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.13, Z:103.53 [[ 1.17972439e-02 -9.99864694e-01 -1.14638185e-02 3.55122082e+02] [ 9.39678247e-01 1.50051786e-02 -3.41730356e-01 2.94127285e+02] [ 3.41856135e-01 -6.74082455e-03 9.39728123e-01 1.03529484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.15, Z:103.54 [[ 1.06948449e-02 -9.99878891e-01 -1.13059008e-02 3.55122262e+02] [ 9.39883300e-01 1.39113037e-02 -3.41212337e-01 2.94152586e+02] [ 3.41328293e-01 -6.97701436e-03 9.39918251e-01 1.03538654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:294.18, Z:103.53 [[ 1.25052381e-02 -9.99848606e-01 1.20988991e-02 3.55109729e+02] [ 9.40327839e-01 7.64432956e-03 -3.40183950e-01 2.94181993e+02] [ 3.40039960e-01 1.56310130e-02 9.40281073e-01 1.03534559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:294.20, Z:103.55 [[ 1.09013397e-02 -9.99746227e-01 -1.97140388e-02 3.55126095e+02] [ 9.39712375e-01 1.69816442e-02 -3.41543960e-01 2.94197723e+02] [ 3.41792062e-01 -1.48022395e-02 9.39659023e-01 1.03554447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.23, Z:103.56 [[ 9.18251124e-03 -9.99931841e-01 -7.21077707e-03 3.55119684e+02] [ 9.40938730e-01 1.10810303e-02 -3.38395504e-01 2.94231372e+02] [ 3.38452342e-01 -3.67757890e-03 9.40976348e-01 1.03558033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.25, Z:103.57 [[ 1.01205922e-02 -9.99896592e-01 -1.02165819e-02 3.55119686e+02] [ 9.39608462e-01 1.30048519e-02 -3.42004111e-01 2.94248397e+02] [ 3.42101611e-01 -6.13830264e-03 9.39642916e-01 1.03568504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.28, Z:103.58 [[ 7.91833653e-03 -9.99908493e-01 -1.09684064e-02 3.55120723e+02] [ 9.41491905e-01 1.11507897e-02 -3.36851085e-01 2.94281855e+02] [ 3.36942567e-01 -7.65936554e-03 9.41494047e-01 1.03577223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.30, Z:103.59 [[ 5.49753018e-03 -9.99717276e-01 -2.31332236e-02 3.55124998e+02] [ 9.41302734e-01 1.29816673e-02 -3.37313859e-01 2.94298949e+02] [ 3.37518800e-01 -1.99209735e-02 9.41107972e-01 1.03592413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:294.33, Z:103.58 [[ 6.76188331e-03 -9.99639610e-01 2.59793724e-02 3.55099300e+02] [ 9.41733607e-01 -2.37115726e-03 -3.36351292e-01 2.94332679e+02] [ 3.36291676e-01 2.67400163e-02 9.41378181e-01 1.03578174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:294.35, Z:103.60 [[ 6.58209923e-03 -9.99679499e-01 -2.44453498e-02 3.55132658e+02] [ 9.41529843e-01 1.44306719e-02 -3.36620426e-01 2.94351313e+02] [ 3.36865302e-01 -2.08003573e-02 9.41323066e-01 1.03604194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.38, Z:103.61 [[ 4.47950798e-03 -9.99971738e-01 -6.03799874e-03 3.55121952e+02] [ 9.41969051e-01 6.24633804e-03 -3.35641610e-01 2.94380986e+02] [ 3.35669839e-01 -4.18409868e-03 9.41970410e-01 1.03607690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.352755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:355.12, Y:294.40, Z:103.61 [[ 1.64680071e-03 -9.99978507e-01 6.34618275e-03 3.55115377e+02] [ 9.41854962e-01 -5.81404228e-04 -3.36019185e-01 2.94404461e+02] [ 3.36015652e-01 6.53054035e-03 9.41833761e-01 1.03610747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:294.43, Z:103.63 [[ 1.76614576e-03 -9.99935367e-01 -1.12313495e-02 3.55127805e+02] [ 9.41609350e-01 5.44455462e-03 -3.36663316e-01 2.94428508e+02] [ 3.36702706e-01 -9.98094720e-03 9.41558107e-01 1.03627505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.12, Y:294.46, Z:103.63 [[-8.13608417e-04 -9.99998667e-01 1.41546821e-03 3.55120568e+02] [ 9.41366068e-01 -1.24346221e-03 -3.37384617e-01 2.94457187e+02] [ 3.37385927e-01 1.05797478e-03 9.41365825e-01 1.03631405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.13, Y:294.48, Z:103.65 [[-1.19122931e-03 -9.99856058e-01 -1.69246528e-02 3.55133542e+02] [ 9.41429004e-01 4.58585788e-03 -3.37180070e-01 2.94481734e+02] [ 3.37209150e-01 -1.63350178e-02 9.41288031e-01 1.03648334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.472755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:355.13, Y:294.51, Z:103.66 [[-1.96114927e-03 -9.99989338e-01 -4.18061578e-03 3.55127701e+02] [ 9.40235108e-01 -4.20338681e-04 -3.40525719e-01 2.94510564e+02] [ 3.40520331e-01 -4.59858349e-03 9.40225908e-01 1.03656648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:294.53, Z:103.67 [[-3.37931461e-04 -9.99805455e-01 -1.97214964e-02 3.55138996e+02] [ 9.40826121e-01 6.36553599e-03 -3.38829884e-01 2.94530349e+02] [ 3.38889505e-01 -1.86690002e-02 9.40640937e-01 1.03670085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5327550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:355.13, Y:294.56, Z:103.68 [[-3.85156566e-04 -9.99959627e-01 -8.97750632e-03 3.55133748e+02] [ 9.40042264e-01 2.69979973e-03 -3.41047288e-01 2.94556876e+02] [ 3.41057757e-01 -8.57059196e-03 9.40003272e-01 1.03676705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.562755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.15, Y:294.57, Z:103.70 [[-4.59156469e-03 -9.99081556e-01 -4.26023630e-02 3.55147508e+02] [ 9.41398904e-01 1.00499323e-02 -3.37145522e-01 2.94572598e+02] [ 3.37264024e-01 -4.16538433e-02 9.40488137e-01 1.03701330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:294.61, Z:103.69 [[ 4.30037658e-04 -9.99739692e-01 2.28114736e-02 3.55117794e+02] [ 9.40450720e-01 -7.34997671e-03 -3.39850586e-01 2.94614229e+02] [ 3.39929784e-01 2.15992153e-02 9.40202752e-01 1.03686331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:294.63, Z:103.71 [[ 3.62983306e-03 -9.99758906e-01 -2.16553451e-02 3.55144418e+02] [ 9.40100928e-01 1.07935361e-02 -3.40725322e-01 2.94632560e+02] [ 3.40876913e-01 -1.91214340e-02 9.39913454e-01 1.03710484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:294.66, Z:103.72 [[ 6.14381654e-03 -9.99756871e-01 -2.11766898e-02 3.55144733e+02] [ 9.40618997e-01 1.29656243e-02 -3.39216444e-01 2.94655346e+02] [ 3.39408539e-01 -1.78351131e-02 9.40469964e-01 1.03718549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:294.69, Z:103.72 [[ 7.03421514e-03 -9.99958481e-01 -5.79271141e-03 3.55135275e+02] [ 9.39890920e-01 8.58919084e-03 -3.41366788e-01 2.94685728e+02] [ 3.41402369e-01 -3.04326943e-03 9.39912316e-01 1.03724233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.712755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.14, Y:294.71, Z:103.74 [[ 7.99150729e-03 -9.99817978e-01 -1.73247562e-02 3.55140982e+02] [ 9.39977323e-01 1.34215504e-02 -3.40972864e-01 2.94707314e+02] [ 3.41143324e-01 -1.35599908e-02 9.39913485e-01 1.03735852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:294.73, Z:103.74 [[ 7.43852614e-03 -9.99855421e-01 -1.52906699e-02 3.55138269e+02] [ 9.39813667e-01 1.22138845e-02 -3.41469022e-01 2.94732503e+02] [ 3.41606412e-01 -1.18303543e-02 9.39768643e-01 1.03743980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.772755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:355.14, Y:294.76, Z:103.75 [[ 5.60188007e-03 -9.99793478e-01 -1.95351006e-02 3.55140308e+02] [ 9.41098279e-01 1.18757622e-02 -3.37924541e-01 2.94760556e+02] [ 3.38086747e-01 -1.64914368e-02 9.40970448e-01 1.03753606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.802755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:355.13, Y:294.79, Z:103.76 [[ 3.33261980e-03 -9.99994063e-01 8.76151021e-04 3.55129351e+02] [ 9.40582683e-01 2.83712171e-03 -3.39552893e-01 2.94791739e+02] [ 3.39548391e-01 1.95569317e-03 9.40586554e-01 1.03758822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:294.81, Z:103.77 [[ 2.00145710e-03 -9.99934155e-01 -1.12995259e-02 3.55135945e+02] [ 9.41253129e-01 5.69958049e-03 -3.37653762e-01 2.94811175e+02] [ 3.37695932e-01 -9.95991461e-03 9.41202559e-01 1.03768187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:294.84, Z:103.78 [[ 1.25936043e-03 -9.99909819e-01 -1.33704472e-02 3.55137033e+02] [ 9.41090791e-01 5.70631342e-03 -3.38105842e-01 2.94835579e+02] [ 3.38151648e-01 -1.21570076e-02 9.41013109e-01 1.03778168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:294.86, Z:103.79 [[ 3.11124857e-04 -9.99964045e-01 -8.47416844e-03 3.55134629e+02] [ 9.40268107e-01 3.17743162e-03 -3.40420020e-01 2.94862279e+02] [ 3.40434707e-01 -7.86207719e-03 9.40235289e-01 1.03787119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9227550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.14, Y:294.89, Z:103.80 [[-1.77098535e-03 -9.99851556e-01 -1.71385557e-02 3.55138888e+02] [ 9.40442160e-01 4.16098800e-03 -3.39928272e-01 2.94887509e+02] [ 3.39949125e-01 -1.67198283e-02 9.40295188e-01 1.03800321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.952755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:355.14, Y:294.92, Z:103.81 [[-3.84200338e-03 -9.99868541e-01 -1.57524379e-02 3.55136845e+02] [ 9.41298287e-01 1.70132943e-03 -3.37571683e-01 2.94917489e+02] [ 3.37554107e-01 -1.61246943e-02 9.41168008e-01 1.03809531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.982755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:355.15, Y:294.93, Z:103.83 [[-6.43288201e-03 -9.99111320e-01 -4.16555866e-02 3.55146983e+02] [ 9.40141274e-01 8.15096176e-03 -3.40687461e-01 2.94928865e+02] [ 3.40724232e-01 -4.13537385e-02 9.39253356e-01 1.03831362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.12, Y:294.96, Z:103.83 [[-6.49348276e-03 -9.99963500e-01 5.55281138e-03 3.55123022e+02] [ 9.40747317e-01 -7.99150003e-03 -3.39014192e-01 2.94964317e+02] [ 3.39046193e-01 3.02240960e-03 9.40764872e-01 1.03825317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0427550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:355.13, Y:294.99, Z:103.84 [[-8.61581107e-03 -9.99962874e-01 1.37635713e-04 3.55127212e+02] [ 9.39942009e-01 -8.14563157e-03 -3.41236969e-01 2.94989867e+02] [ 3.41225421e-01 -2.81066366e-03 9.39977294e-01 1.03836636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.02, Z:103.84 [[-1.21311220e-02 -9.99904445e-01 6.62850314e-03 3.55123823e+02] [ 9.40256630e-01 -1.36626392e-02 -3.40192301e-01 2.95017452e+02] [ 3.40250357e-01 2.10557973e-03 9.40332527e-01 1.03841959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.04, Z:103.86 [[-1.34845075e-02 -9.99868883e-01 -8.96573522e-03 3.55132979e+02] [ 9.40616325e-01 -9.64262832e-03 -3.39334567e-01 2.95041802e+02] [ 3.39203621e-01 -1.30090764e-02 9.40623021e-01 1.03855390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.14, Y:295.07, Z:103.87 [[-1.46369316e-02 -9.99803164e-01 -1.33937939e-02 3.55135848e+02] [ 9.39926875e-01 -9.18879301e-03 -3.41252158e-01 2.95065667e+02] [ 3.41061914e-01 -1.75840713e-02 9.39876360e-01 1.03867493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1627550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:355.14, Y:295.08, Z:103.88 [[-1.40854569e-02 -9.99629729e-01 -2.32809903e-02 3.55142489e+02] [ 9.39034831e-01 -5.22507638e-03 -3.43782323e-01 2.95084949e+02] [ 3.43533385e-01 -2.67039919e-02 9.38760731e-01 1.03882645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.11, Z:103.89 [[-1.36941608e-02 -9.99897525e-01 -4.17246850e-03 3.55130881e+02] [ 9.38336361e-01 -1.14091627e-02 -3.45535389e-01 2.95110380e+02] [ 3.45452376e-01 -8.64699609e-03 9.38396444e-01 1.03887267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.13, Z:103.90 [[-1.34446871e-02 -9.99882245e-01 -7.39837522e-03 3.55132589e+02] [ 9.38343794e-01 -1.00603622e-02 -3.45557107e-01 2.95133089e+02] [ 3.45441986e-01 -1.15881267e-02 9.38368558e-01 1.03896072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:295.17, Z:103.88 [[-1.51652378e-02 -9.99528407e-01 2.67016753e-02 3.55108955e+02] [ 9.39594308e-01 -2.33785732e-02 -3.41490818e-01 2.95167185e+02] [ 3.41954020e-01 1.99099527e-02 9.39505743e-01 1.03884569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.15, Y:295.18, Z:103.92 [[-1.11071969e-02 -9.99453175e-01 -3.11445171e-02 3.55145148e+02] [ 9.37325581e-01 4.41629833e-04 -3.48454533e-01 2.95181150e+02] [ 3.48277743e-01 -3.30629057e-02 9.36808122e-01 1.03922821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.13, Y:295.21, Z:103.92 [[-7.64844653e-03 -9.99952045e-01 -6.11632752e-03 3.55130568e+02] [ 9.37437490e-01 -5.04098383e-03 -3.48117137e-01 2.95206511e+02] [ 3.48069610e-01 -8.39623002e-03 9.37431091e-01 1.03923304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:295.23, Z:103.94 [[-4.12756811e-03 -9.99649379e-01 -2.61549689e-02 3.55142375e+02] [ 9.39411581e-01 5.08900696e-03 -3.42753531e-01 2.95226287e+02] [ 3.42766457e-01 -2.59850192e-02 9.39061199e-01 1.03935215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.13, Y:295.25, Z:103.94 [[-1.23564516e-03 -9.99995264e-01 -2.81859799e-03 3.55127580e+02] [ 9.39331407e-01 -1.93871417e-04 -3.43010890e-01 2.95253347e+02] [ 3.43008720e-01 -3.07143736e-03 9.39327198e-01 1.03936221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.29, Z:103.94 [[-1.60586929e-03 -9.99904444e-01 1.37304211e-02 3.55117874e+02] [ 9.38584598e-01 -6.24473582e-03 -3.44992690e-01 2.95285524e+02] [ 3.45045467e-01 1.23331486e-02 9.38504938e-01 1.03939500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.30, Z:103.95 [[ 1.29645927e-03 -9.99998731e-01 -9.25915303e-04 3.55125431e+02] [ 9.37967103e-01 1.53707225e-03 -3.46720854e-01 2.95301536e+02] [ 3.46721837e-01 -4.18968627e-04 9.37967906e-01 1.03952696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.33, Z:103.96 [[-2.79448732e-04 -9.99983321e-01 -5.76882137e-03 3.55126042e+02] [ 9.38195581e-01 1.73444739e-03 -3.46101205e-01 2.95329889e+02] [ 3.46105438e-01 -5.50900025e-03 9.38179448e-01 1.03964139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.35, Z:103.97 [[ 1.31431071e-04 -9.99981817e-01 -6.02891345e-03 3.55125245e+02] [ 9.38406804e-01 2.20651867e-03 -3.45525401e-01 2.95352621e+02] [ 3.45532421e-01 -5.61216062e-03 9.38390031e-01 1.03971869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.38, Z:103.98 [[-1.89581054e-03 -9.99945343e-01 -1.02818809e-02 3.55126228e+02] [ 9.38245243e-01 1.77854661e-03 -3.45966330e-01 2.95379877e+02] [ 3.45965707e-01 -1.03028125e-02 9.38190589e-01 1.03983761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.40, Z:103.99 [[-2.28051962e-03 -9.99870456e-01 -1.59333261e-02 3.55129445e+02] [ 9.39413825e-01 3.31952998e-03 -3.42769085e-01 2.95401846e+02] [ 3.42777573e-01 -1.57496784e-02 9.39284559e-01 1.03993356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.582755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:355.12, Y:295.43, Z:104.00 [[-6.48316423e-03 -9.99957723e-01 6.52084883e-03 3.55117904e+02] [ 9.38259875e-01 -8.33835516e-03 -3.45830709e-01 2.95431842e+02] [ 3.45870461e-01 3.87617353e-03 9.38274267e-01 1.03997833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.612755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:355.13, Y:295.45, Z:104.01 [[-7.94659382e-03 -9.99865257e-01 -1.43638169e-02 3.55129945e+02] [ 9.40289619e-01 -2.58349827e-03 -3.40365624e-01 2.95450400e+02] [ 3.40282653e-01 -1.62108953e-02 9.40183452e-01 1.04008740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:295.47, Z:104.02 [[-8.96009973e-03 -9.99753959e-01 -2.02913408e-02 3.55136830e+02] [ 9.39935246e-01 -1.49584211e-03 -3.41349521e-01 2.95472950e+02] [ 3.41235183e-01 -2.21310722e-02 9.39717386e-01 1.04024605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:295.51, Z:104.02 [[-1.42212395e-02 -9.99585777e-01 2.50205969e-02 3.55109732e+02] [ 9.37845751e-01 -2.20124204e-02 -3.46353578e-01 2.95508133e+02] [ 3.46760875e-01 1.85398833e-02 9.37770318e-01 1.04022503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:295.52, Z:104.04 [[-1.14604954e-02 -9.99805243e-01 -1.60665499e-02 3.55135726e+02] [ 9.39006958e-01 -5.23788931e-03 -3.43858253e-01 2.95521480e+02] [ 3.43707129e-01 -1.90273880e-02 9.38884108e-01 1.04041206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.732755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:355.13, Y:295.55, Z:104.04 [[-1.37131267e-02 -9.99905636e-01 -8.18353780e-04 3.55126568e+02] [ 9.38564756e-01 -1.25896169e-02 -3.44873454e-01 2.95550638e+02] [ 3.44830608e-01 -5.49737138e-03 9.38648833e-01 1.04042255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.58, Z:104.05 [[-1.57796944e-02 -9.99870083e-01 3.28926228e-03 3.55121599e+02] [ 9.40156604e-01 -1.59570193e-02 -3.40368819e-01 2.95578808e+02] [ 3.40377086e-01 -2.27849429e-03 9.40286258e-01 1.04047793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:295.60, Z:104.05 [[-1.70050923e-02 -9.99596132e-01 2.27684119e-02 3.55110284e+02] [ 9.38885369e-01 -2.37942652e-02 -3.43406607e-01 2.95603559e+02] [ 3.43809673e-01 1.55372677e-02 9.38910806e-01 1.04049878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.15, Y:295.63, Z:104.08 [[-1.63398904e-02 -9.99153886e-01 -3.77428289e-02 3.55149125e+02] [ 9.39632042e-01 -2.44079046e-03 -3.42177831e-01 2.95626507e+02] [ 3.41796187e-01 -4.10555196e-02 9.38876888e-01 1.04082650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.65, Z:104.08 [[-1.48349403e-02 -9.99884577e-01 3.27998836e-03 3.55126944e+02] [ 9.39243607e-01 -1.50601372e-02 -3.42920746e-01 2.95651786e+02] [ 3.42930562e-01 -2.00650070e-03 9.39358613e-01 1.04077711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.85, Z:104.15 [[-1.88376791e-02 -9.99822549e-01 1.12691852e-04 3.55125674e+02] [ 9.39297723e-01 -1.77359496e-02 -3.42644458e-01 2.95849225e+02] [ 3.42585654e-01 -6.34877516e-03 9.39465147e-01 1.04150830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.65, Z:104.08 [[-1.08527935e-02 -9.99931522e-01 4.37824266e-03 3.55124098e+02] [ 9.40793327e-01 -1.16942929e-02 -3.38778924e-01 2.95654429e+02] [ 3.38806925e-01 4.42323771e-04 9.40855819e-01 1.04075860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:295.68, Z:104.08 [[-1.23642388e-02 -9.99690943e-01 2.15671861e-02 3.55112856e+02] [ 9.38224307e-01 -1.90578352e-02 -3.45502457e-01 2.95682381e+02] [ 3.45806701e-01 1.59629834e-02 9.38169979e-01 1.04083324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.15, Y:295.70, Z:104.11 [[-9.96495070e-03 -9.98879076e-01 -4.62740897e-02 3.55150013e+02] [ 9.40381702e-01 6.37231002e-03 -3.40061243e-01 2.95702964e+02] [ 3.39974933e-01 -4.69040007e-02 9.39264106e-01 1.04111861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.73, Z:104.10 [[-1.13939388e-02 -9.99932940e-01 2.07232098e-03 3.55121212e+02] [ 9.40616439e-01 -1.14211871e-02 -3.39279045e-01 2.95734417e+02] [ 3.39279962e-01 -1.91646549e-03 9.40683494e-01 1.04104691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.76, Z:104.12 [[-1.13099345e-02 -9.99925398e-01 -4.61351735e-03 3.55125510e+02] [ 9.40635867e-01 -9.07385866e-03 -3.39296081e-01 2.95757839e+02] [ 3.39228906e-01 -8.17705635e-03 9.40668318e-01 1.04115654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.78, Z:104.12 [[-1.36298635e-02 -9.99868367e-01 8.80202767e-03 3.55117131e+02] [ 9.40040041e-01 -1.58135261e-02 -3.40697305e-01 2.95783911e+02] [ 3.40791650e-01 3.63060070e-03 9.40131837e-01 1.04120283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.81, Z:104.13 [[-1.52254376e-02 -9.99864000e-01 -6.33781186e-03 3.55125300e+02] [ 9.40174330e-01 -1.21583417e-02 -3.40476731e-01 2.95808015e+02] [ 3.40353369e-01 -1.11425552e-02 9.40231582e-01 1.04133808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.84, Z:104.14 [[-1.75892696e-02 -9.99842512e-01 -2.35983382e-03 3.55121565e+02] [ 9.40066525e-01 -1.57337361e-02 -3.40627919e-01 2.95835988e+02] [ 3.40537145e-01 -8.20979707e-03 9.40195220e-01 1.04142322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.86, Z:104.15 [[-1.85492421e-02 -9.99815608e-01 -4.96751595e-03 3.55122620e+02] [ 9.39307809e-01 -1.57239049e-02 -3.42715041e-01 2.95860835e+02] [ 3.42573738e-01 -1.10231308e-02 9.39426274e-01 1.04152503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.86, Z:104.15 [[-1.35311197e-02 -9.99902887e-01 3.33561490e-03 3.55116281e+02] [ 9.40209847e-01 -1.38585931e-02 -3.40313654e-01 2.95862866e+02] [ 3.40326832e-01 -1.46864679e-03 9.40306062e-01 1.04148200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:295.88, Z:104.16 [[-1.30047221e-02 -9.99602842e-01 -2.50007124e-02 3.55133618e+02] [ 9.40548789e-01 -3.74186961e-03 -3.39638006e-01 2.95880621e+02] [ 3.39409566e-01 -2.79312877e-02 9.40223904e-01 1.04164505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.242755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:355.13, Y:295.90, Z:104.18 [[-1.33911762e-02 -9.99661058e-01 -2.23259076e-02 3.55130496e+02] [ 9.39192762e-01 -4.91284369e-03 -3.43355237e-01 2.95900743e+02] [ 3.43129176e-01 -2.55662613e-02 9.38940219e-01 1.04175616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.272755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:355.12, Y:295.93, Z:104.17 [[-9.58684321e-03 -9.99954038e-01 -1.18789724e-04 3.55119379e+02] [ 9.40785158e-01 -8.97931652e-03 -3.38884432e-01 2.95929068e+02] [ 3.38867790e-01 -3.36058752e-03 9.40828001e-01 1.04172096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.92, Z:104.18 [[-1.34658023e-02 -9.99909331e-01 3.52013855e-05 3.55118573e+02] [ 9.38984785e-01 -1.26574307e-02 -3.43725709e-01 2.95922743e+02] [ 3.43694990e-01 -4.59548887e-03 9.39070091e-01 1.04179145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:295.92, Z:104.17 [[-1.31440575e-02 -9.99827691e-01 1.31080921e-02 3.55111676e+02] [ 9.43482861e-01 -1.67428320e-02 -3.30998140e-01 2.95924192e+02] [ 3.31160572e-01 8.01660166e-03 9.43540359e-01 1.04167376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.95, Z:104.18 [[-1.48436116e-02 -9.99880730e-01 4.26527996e-03 3.55117463e+02] [ 9.43623619e-01 -1.54189834e-02 -3.30661035e-01 2.95949719e+02] [ 3.30687364e-01 -8.83385062e-04 9.43739947e-01 1.04179077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:295.96, Z:104.20 [[-1.08076976e-02 -9.99402567e-01 -3.28283697e-02 3.55140591e+02] [ 9.45557900e-01 4.65084927e-04 -3.25453593e-01 2.95962892e+02] [ 3.25274425e-01 -3.45585284e-02 9.44987966e-01 1.04195779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:295.96, Z:104.19 [[-5.77868429e-04 -9.99965036e-01 8.34221795e-03 3.55117453e+02] [ 9.44215514e-01 -3.29293775e-03 -3.29311738e-01 2.95963097e+02] [ 3.29327694e-01 7.68655275e-03 9.44184403e-01 1.04188401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:295.99, Z:104.19 [[-1.89505619e-03 -9.99978011e-01 6.35506257e-03 3.55114795e+02] [ 9.45445582e-01 -3.86196465e-03 -3.25757176e-01 2.95987213e+02] [ 3.25774556e-01 5.39103767e-03 9.45432111e-01 1.04193182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.01, Z:104.21 [[-1.12278241e-03 -9.99970234e-01 -7.63349297e-03 3.55122364e+02] [ 9.45221846e-01 1.43053099e-03 -3.26425514e-01 2.96011789e+02] [ 3.26426718e-01 -7.58184913e-03 9.45192104e-01 1.04207225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.04, Z:104.22 [[-8.56103753e-04 -9.99983700e-01 -5.64510871e-03 3.55120310e+02] [ 9.44962786e-01 1.03797587e-03 -3.27176185e-01 2.96037083e+02] [ 3.27176711e-01 -5.61451441e-03 9.44946494e-01 1.04215357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.06, Z:104.23 [[-1.07653347e-03 -9.99963507e-01 -8.47505046e-03 3.55121933e+02] [ 9.44819478e-01 1.75924841e-03 -3.27586721e-01 2.96060465e+02] [ 3.27589676e-01 -8.36005081e-03 9.44783104e-01 1.04225591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.09, Z:104.23 [[-1.24154102e-03 -9.99994895e-01 -2.94441225e-03 3.55118676e+02] [ 9.44563107e-01 -2.05976440e-04 -3.28329856e-01 2.96088101e+02] [ 3.28327574e-01 -3.18881817e-03 9.44558540e-01 1.04233189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.602755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:355.13, Y:296.10, Z:104.25 [[ 1.75818406e-03 -9.99788236e-01 -2.05034410e-02 3.55130246e+02] [ 9.44076439e-01 8.41996992e-03 -3.29619147e-01 2.96104993e+02] [ 3.29721984e-01 -1.87772844e-02 9.43891322e-01 1.04248448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.13, Z:104.24 [[ 3.75537693e-04 -9.99970631e-01 7.65478188e-03 3.55112500e+02] [ 9.44887517e-01 -2.15130661e-03 -3.27388075e-01 2.96132586e+02] [ 3.27394928e-01 7.35585441e-03 9.44858959e-01 1.04244458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.16, Z:104.27 [[-2.39209319e-03 -9.99856979e-01 -1.67421317e-02 3.55123435e+02] [ 9.43088017e-01 3.31172549e-03 -3.32526728e-01 2.96155950e+02] [ 3.32534615e-01 -1.65847387e-02 9.42945214e-01 1.04268256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.19, Z:104.26 [[-3.11246568e-03 -9.99807444e-01 1.93748991e-02 3.55102482e+02] [ 9.44295522e-01 -9.31458098e-03 -3.28966875e-01 2.96190986e+02] [ 3.29084000e-01 1.72717323e-02 9.44142684e-01 1.04259461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.21, Z:104.27 [[-3.72545016e-03 -9.99973651e-01 -6.23049384e-03 3.55115975e+02] [ 9.44278925e-01 -1.46717886e-03 -3.29143069e-01 2.96212016e+02] [ 3.29125255e-01 -7.10953012e-03 9.44259509e-01 1.04274013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.24, Z:104.28 [[-4.87968535e-03 -9.99986259e-01 -1.91595387e-03 3.55113005e+02] [ 9.44276477e-01 -3.97723013e-03 -3.29129330e-01 2.96238099e+02] [ 3.29117187e-01 -3.41523774e-03 9.44282910e-01 1.04280414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.26, Z:104.29 [[-5.66523617e-03 -9.99977584e-01 -3.56895853e-03 3.55114249e+02] [ 9.43900346e-01 -4.16902704e-03 -3.30204114e-01 2.96262889e+02] [ 3.30181833e-01 -5.23942548e-03 9.43902805e-01 1.04289725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.29, Z:104.30 [[-6.14021451e-03 -9.99970227e-01 -4.67367698e-03 3.55114848e+02] [ 9.43757672e-01 -4.24983374e-03 -3.30610640e-01 2.96288316e+02] [ 3.30580935e-01 -6.44083875e-03 9.43755668e-01 1.04299472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.842755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:355.12, Y:296.31, Z:104.31 [[-8.38705322e-03 -9.99953023e-01 -4.85891521e-03 3.55115743e+02] [ 9.43694414e-01 -6.30798500e-03 -3.30758313e-01 2.96312967e+02] [ 3.30712125e-01 -7.35941872e-03 9.43702988e-01 1.04305574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.34, Z:104.31 [[-9.10355141e-03 -9.99956766e-01 -1.89490140e-03 3.55114332e+02] [ 9.44042817e-01 -7.96968743e-03 -3.29726621e-01 2.96338333e+02] [ 3.29697264e-01 -4.79055130e-03 9.44074555e-01 1.04314846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.36, Z:104.33 [[-9.75911105e-03 -9.99918344e-01 -8.25015802e-03 3.55119731e+02] [ 9.43724654e-01 -6.48237439e-03 -3.30668651e-01 2.96363532e+02] [ 3.30588169e-01 -1.10129096e-02 9.43710855e-01 1.04327130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.39, Z:104.34 [[-1.06424096e-02 -9.99932733e-01 -4.61176556e-03 3.55117931e+02] [ 9.43490187e-01 -8.51374491e-03 -3.31291086e-01 2.96389382e+02] [ 3.31229538e-01 -7.87689099e-03 9.43517328e-01 1.04335390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.41, Z:104.35 [[-1.11710718e-02 -9.99926665e-01 -4.67673938e-03 3.55119036e+02] [ 9.43188858e-01 -8.98377754e-03 -3.32135620e-01 2.96414918e+02] [ 3.32069248e-01 -8.12135933e-03 9.43220048e-01 1.04345113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:296.44, Z:104.36 [[-1.05377545e-02 -9.99823367e-01 -1.55624683e-02 3.55127497e+02] [ 9.42675915e-01 -4.74170362e-03 -3.33675945e-01 2.96438175e+02] [ 3.33543214e-01 -1.81865593e-02 9.42559374e-01 1.04360362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.12, Y:296.47, Z:104.37 [[-1.07862200e-02 -9.99926762e-01 -5.48885829e-03 3.55122507e+02] [ 9.42528152e-01 -8.33352242e-03 -3.34022807e-01 2.96465148e+02] [ 3.33952603e-01 -8.77624692e-03 9.42549010e-01 1.04367010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:296.48, Z:104.38 [[-1.14460752e-02 -9.99771562e-01 -1.80502386e-02 3.55128272e+02] [ 9.42356160e-01 -4.74815451e-03 -3.34577828e-01 2.96484106e+02] [ 3.34415693e-01 -2.08393565e-02 9.42195238e-01 1.04383097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.51, Z:104.39 [[-1.15147140e-02 -9.99932408e-01 -1.60940738e-03 3.55118303e+02] [ 9.42642808e-01 -1.03179913e-02 -3.33643635e-01 2.96510138e+02] [ 3.33604478e-01 -5.35890734e-03 9.42697902e-01 1.04386330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.54, Z:104.39 [[-1.08136903e-02 -9.99879318e-01 1.11540606e-02 3.55111974e+02] [ 9.43189852e-01 -1.39037789e-02 -3.31963232e-01 2.96541410e+02] [ 3.32078254e-01 6.93064921e-03 9.43226378e-01 1.04388159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.56, Z:104.41 [[-1.09850613e-02 -9.99897744e-01 -9.15587292e-03 3.55121256e+02] [ 9.42522537e-01 -7.29577622e-03 -3.34062926e-01 2.96560191e+02] [ 3.33961967e-01 -1.22993183e-02 9.42506303e-01 1.04406095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.59, Z:104.41 [[-1.02251453e-02 -9.99946777e-01 1.37464462e-03 3.55114932e+02] [ 9.43469395e-01 -1.01030769e-02 -3.31305641e-01 2.96590635e+02] [ 3.31301897e-01 -2.09071318e-03 9.43522486e-01 1.04409113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.61, Z:104.43 [[-9.56616031e-03 -9.99866106e-01 -1.32762597e-02 3.55120639e+02] [ 9.43137000e-01 -4.61015606e-03 -3.32372299e-01 2.96610628e+02] [ 3.32266590e-01 -1.57008584e-02 9.43054821e-01 1.04425007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.64, Z:104.43 [[-9.20603952e-03 -9.99957249e-01 -8.65510704e-04 3.55112470e+02] [ 9.43031487e-01 -8.39407722e-03 -3.32597587e-01 2.96636694e+02] [ 3.32576103e-01 -3.87811037e-03 9.43068447e-01 1.04429367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.66, Z:104.44 [[-9.10679600e-03 -9.99958269e-01 -7.25869909e-04 3.55111445e+02] [ 9.42979372e-01 -8.34633838e-03 -3.32746516e-01 2.96660979e+02] [ 3.32726571e-01 -3.71473499e-03 9.43016028e-01 1.04437970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.69, Z:104.45 [[-8.46566715e-03 -9.99963997e-01 -5.80751537e-04 3.55110975e+02] [ 9.42796498e-01 -7.78813013e-03 -3.33277825e-01 2.96685964e+02] [ 3.33261303e-01 -3.36894965e-03 9.42828486e-01 1.04445601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.71, Z:104.45 [[-8.77923398e-03 -9.99961365e-01 -4.39519084e-04 3.55110639e+02] [ 9.42781838e-01 -8.13071988e-03 -3.33311112e-01 2.96710012e+02] [ 3.33294661e-01 -3.34058685e-03 9.42816795e-01 1.04453920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.73, Z:104.46 [[-9.36481192e-03 -9.99956107e-01 -2.91634862e-04 3.55110860e+02] [ 9.43094350e-01 -8.73534214e-03 -3.32410499e-01 2.96734860e+02] [ 3.32393361e-01 -3.38800099e-03 9.43134760e-01 1.04461922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.76, Z:104.47 [[-9.81030884e-03 -9.99951866e-01 -1.50752940e-04 3.55111110e+02] [ 9.43024397e-01 -9.20166361e-03 -3.32596325e-01 2.96759118e+02] [ 3.32578929e-01 -3.40503637e-03 9.43069277e-01 1.04470552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.78, Z:104.48 [[-1.01441262e-02 -9.99948547e-01 -4.33596263e-06 3.55111551e+02] [ 9.43369850e-01 -9.56871731e-03 -3.31604833e-01 2.96784848e+02] [ 3.31587729e-01 -3.36793168e-03 9.43418378e-01 1.04478554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.78, Z:104.48 [[-1.08134354e-02 -9.99941524e-01 1.37236615e-04 3.55111452e+02] [ 9.43340167e-01 -1.02468642e-02 -3.31669008e-01 2.96783077e+02] [ 3.31651020e-01 -3.45702057e-03 9.43395808e-01 1.04477339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.89, Z:104.51 [[-9.73353394e-03 -9.99945853e-01 3.68088773e-03 3.55109870e+02] [ 9.43708657e-01 -1.04031373e-02 -3.30614193e-01 2.96891015e+02] [ 3.30634584e-01 2.55641149e-04 9.43758818e-01 1.04514639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.12, Y:296.91, Z:104.53 [[-8.33683835e-03 -9.99913241e-01 -1.01984342e-02 3.55119170e+02] [ 9.44338821e-01 -4.51848428e-03 -3.28943421e-01 2.96910803e+02] [ 3.28868800e-01 -1.23731255e-02 9.44294561e-01 1.04525661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:296.94, Z:104.55 [[-5.31326705e-03 -9.99392939e-01 -3.44314331e-02 3.55138749e+02] [ 9.42409849e-01 6.51044171e-03 -3.34396905e-01 2.96935628e+02] [ 3.34418070e-01 -3.42252617e-02 9.41803157e-01 1.04552274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.96, Z:104.53 [[-1.12677503e-02 -9.99597619e-01 2.60314730e-02 3.55099035e+02] [ 9.44312124e-01 -1.91990901e-02 -3.28490498e-01 2.96964706e+02] [ 3.28858100e-01 2.08804866e-02 9.44148482e-01 1.04531905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:296.99, Z:104.55 [[-1.24028561e-02 -9.99922945e-01 -5.22120500e-04 3.55115914e+02] [ 9.44357569e-01 -1.15419899e-02 -3.28718064e-01 2.96986257e+02] [ 3.28686708e-01 -4.57011128e-03 9.44427955e-01 1.04547141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:297.01, Z:104.57 [[-1.22398944e-02 -9.99573385e-01 -2.65185504e-02 3.55133138e+02] [ 9.42999583e-01 -2.71845735e-03 -3.32782808e-01 2.97009394e+02] [ 3.32568748e-01 -2.90802084e-02 9.42630558e-01 1.04570517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.652755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:355.10, Y:297.01, Z:104.55 [[-2.27565461e-02 -9.99610852e-01 1.61333012e-02 3.55102812e+02] [ 9.48754884e-01 -2.66808948e-02 -3.14884582e-01 2.97012715e+02] [ 3.15192497e-01 8.14086283e-03 9.48992843e-01 1.04547268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.12, Y:297.00, Z:104.56 [[-1.13102561e-02 -9.99829329e-01 -1.46079155e-02 3.55123615e+02] [ 9.43045109e-01 -5.80827324e-03 -3.32614171e-01 2.97000819e+02] [ 3.32472557e-01 -1.75378747e-02 9.42949851e-01 1.04561167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:297.01, Z:104.54 [[-2.12223451e-02 -9.99636234e-01 1.66436456e-02 3.55099316e+02] [ 9.48724859e-01 -2.53875133e-02 -3.15081920e-01 2.97010922e+02] [ 3.15389845e-01 9.10346307e-03 9.48918528e-01 1.04544469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:297.01, Z:104.55 [[-2.11684486e-02 -9.99771449e-01 2.99125387e-03 3.55107276e+02] [ 9.48129550e-01 -2.10240271e-02 -3.17188187e-01 2.97010473e+02] [ 3.17178581e-01 -3.87828564e-03 9.48357900e-01 1.04548011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:297.01, Z:104.55 [[-2.16260672e-02 -9.99761043e-01 3.18897570e-03 3.55107616e+02] [ 9.47799116e-01 -2.15168537e-02 -3.18141260e-01 2.97007989e+02] [ 3.18133855e-01 -3.85763591e-03 9.48037958e-01 1.04546934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:297.00, Z:104.55 [[-2.20832062e-02 -9.99750415e-01 3.38218464e-03 3.55107741e+02] [ 9.47646427e-01 -2.20100006e-02 -3.18562098e-01 2.97004935e+02] [ 3.18557032e-01 -3.82975730e-03 9.47895960e-01 1.04545157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:297.00, Z:104.54 [[-2.27787012e-02 -9.99734148e-01 3.57279980e-03 3.55107224e+02] [ 9.47573480e-01 -2.27292891e-02 -3.18728537e-01 2.97002522e+02] [ 3.18725009e-01 -3.87473179e-03 9.47839309e-01 1.04544579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.862755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:355.11, Y:297.00, Z:104.54 [[-2.20890719e-02 -9.99748933e-01 3.76088733e-03 3.55105526e+02] [ 9.47599283e-01 -2.21357169e-02 -3.18693598e-01 2.97001022e+02] [ 3.18696834e-01 -3.47583165e-03 9.47850329e-01 1.04543434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:297.00, Z:104.54 [[-2.22830516e-02 -9.99743893e-01 3.95148610e-03 3.55103893e+02] [ 9.47541622e-01 -2.23797738e-02 -3.18847958e-01 2.97000843e+02] [ 3.18854732e-01 -3.36070796e-03 9.47797640e-01 1.04542962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:297.00, Z:104.54 [[-2.29890731e-02 -9.99727123e-01 4.14510708e-03 3.55102680e+02] [ 9.47407506e-01 -2.31094208e-02 -3.19194256e-01 2.96997711e+02] [ 3.19202946e-01 -3.41087450e-03 9.47680244e-01 1.04541284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:297.00, Z:104.54 [[-2.46271325e-02 -9.99687286e-01 4.33979012e-03 3.55102203e+02] [ 9.47236825e-01 -2.47223668e-02 -3.19579726e-01 2.96996139e+02] [ 3.19587079e-01 -3.75952324e-03 9.47549453e-01 1.04541090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.99, Z:104.54 [[-2.64427168e-02 -9.99640126e-01 4.51684974e-03 3.55102346e+02] [ 9.47471355e-01 -2.65029582e-02 -3.18740687e-01 2.96993114e+02] [ 3.18745690e-01 -4.14878396e-03 9.47831194e-01 1.04539839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.99, Z:104.54 [[-3.05825507e-02 -9.99521219e-01 4.69471784e-03 3.55102345e+02] [ 9.47594214e-01 -3.04874517e-02 -3.18018429e-01 2.96986116e+02] [ 3.18009298e-01 -5.27712726e-03 9.48072908e-01 1.04537899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.98, Z:104.54 [[-3.26069041e-02 -9.99456405e-01 4.86670014e-03 3.55101200e+02] [ 9.47863734e-01 -3.24673810e-02 -3.17017683e-01 2.96982842e+02] [ 3.17003362e-01 -5.72399660e-03 9.48407141e-01 1.04536725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.98, Z:104.54 [[-3.40011692e-02 -9.99409048e-01 5.04727271e-03 3.55099917e+02] [ 9.47940360e-01 -3.38492715e-02 -3.16643808e-01 2.96983232e+02] [ 3.16627533e-01 -5.98174616e-03 9.48531088e-01 1.04537065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.98, Z:104.54 [[-3.56540372e-02 -9.99350567e-01 5.21856172e-03 3.55098342e+02] [ 9.48181416e-01 -3.54772576e-02 -3.15742564e-01 2.96978052e+02] [ 3.15722651e-01 -6.30935388e-03 9.48830543e-01 1.04535161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.98, Z:104.53 [[-3.51432871e-02 -9.99367669e-01 5.40482242e-03 3.55096340e+02] [ 9.48194419e-01 -3.50514113e-02 -3.15751075e-01 2.96975469e+02] [ 3.15740863e-01 -5.97170824e-03 9.48826668e-01 1.04534120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.98, Z:104.53 [[-3.48737851e-02 -9.99376084e-01 5.59123126e-03 3.55095741e+02] [ 9.48190520e-01 -3.48543633e-02 -3.15784598e-01 2.96975823e+02] [ 3.15782453e-01 -5.71105173e-03 9.48814432e-01 1.04534262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.97, Z:104.53 [[-3.49544000e-02 -9.99372192e-01 5.78025047e-03 3.55094945e+02] [ 9.48133067e-01 -3.49896137e-02 -3.15942106e-01 2.96973116e+02] [ 3.15946004e-01 -5.56312013e-03 9.48760863e-01 1.04533199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.97, Z:104.53 [[-3.48169483e-02 -9.99375744e-01 5.99193338e-03 3.55093644e+02] [ 9.47700950e-01 -3.49187566e-02 -3.17243740e-01 2.96973225e+02] [ 3.17254929e-01 -5.36689794e-03 9.48325106e-01 1.04532897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.97, Z:104.53 [[-3.59878048e-02 -9.99332998e-01 6.19974607e-03 3.55092949e+02] [ 9.47314102e-01 -3.60889980e-02 -3.18266518e-01 2.96967353e+02] [ 3.18277976e-01 -5.58060642e-03 9.47981006e-01 1.04530395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.97, Z:104.53 [[-3.76102507e-02 -9.99272027e-01 6.39420640e-03 3.55092617e+02] [ 9.47141989e-01 -3.76868346e-02 -3.18593401e-01 2.96966527e+02] [ 3.18602451e-01 -5.92615628e-03 9.47869906e-01 1.04529953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.96, Z:104.53 [[-3.89597442e-02 -9.99219059e-01 6.58870979e-03 3.55092496e+02] [ 9.46980311e-01 -3.90258105e-02 -3.18912646e-01 2.96962892e+02] [ 3.18920724e-01 -6.18537668e-03 9.47761211e-01 1.04528734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.96, Z:104.53 [[-4.22906816e-02 -9.99082190e-01 6.80270914e-03 3.55092640e+02] [ 9.46439185e-01 -4.22419231e-02 -3.20106995e-01 2.96960685e+02] [ 3.20100557e-01 -7.09919250e-03 9.47356973e-01 1.04528254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.96, Z:104.53 [[-4.62099435e-02 -9.98907154e-01 7.00990088e-03 3.55094504e+02] [ 9.45979372e-01 -4.60137326e-02 -3.20945112e-01 2.96963442e+02] [ 3.20916920e-01 -8.19963384e-03 9.47071854e-01 1.04530006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.95, Z:104.53 [[-4.85278332e-02 -9.98795786e-01 7.21293796e-03 3.55095687e+02] [ 9.45667097e-01 -4.82685031e-02 -3.21533660e-01 2.96953168e+02] [ 3.21494622e-01 -8.78229372e-03 9.46870677e-01 1.04527123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.95, Z:104.53 [[-5.07106675e-02 -9.98685875e-01 7.41292813e-03 3.55096725e+02] [ 9.45405827e-01 -5.03951665e-02 -3.21975388e-01 2.96948875e+02] [ 3.21925848e-01 -9.31936140e-03 9.46719018e-01 1.04526278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.94, Z:104.53 [[-5.46317381e-02 -9.98477570e-01 7.61017905e-03 3.55097539e+02] [ 9.45078477e-01 -5.41666867e-02 -3.22323818e-01 2.96944613e+02] [ 3.22245320e-01 -1.04168940e-02 9.46598881e-01 1.04525038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:296.94, Z:104.51 [[-6.84520385e-02 -9.97345723e-01 2.48158598e-02 3.55082288e+02] [ 9.49601237e-01 -7.27615942e-02 -3.04898740e-01 2.96943191e+02] [ 3.05895096e-01 2.69423088e-03 9.52061412e-01 1.04507527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.95, Z:104.51 [[-6.89434889e-02 -9.97539511e-01 1.27168823e-02 3.55089324e+02] [ 9.50294566e-01 -6.95471319e-02 -3.03485476e-01 2.96947004e+02] [ 3.03623176e-01 -8.83856344e-03 9.52751199e-01 1.04512126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.94, Z:104.51 [[-7.08539549e-02 -9.97398829e-01 1.32398069e-02 3.55088444e+02] [ 9.51163270e-01 -7.15554604e-02 -3.00280287e-01 2.96941578e+02] [ 3.00446588e-01 -8.68282786e-03 9.53759119e-01 1.04508045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.94, Z:104.53 [[-5.81073006e-02 -9.98274636e-01 -8.44349111e-03 3.55108156e+02] [ 9.44848023e-01 -5.22628564e-02 -3.23312246e-01 2.96940339e+02] [ 3.22313134e-01 -2.67646177e-02 9.46254669e-01 1.04529657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:296.96, Z:104.51 [[-6.65699443e-02 -9.97461048e-01 2.52962339e-02 3.55082770e+02] [ 9.50453901e-01 -7.11074419e-02 -3.02623717e-01 2.96964518e+02] [ 3.03654121e-01 3.89726018e-03 9.52774363e-01 1.04514798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:297.30, Z:104.64 [[-5.93290428e-02 -9.98226507e-01 4.88929735e-03 3.55088222e+02] [ 9.46652336e-01 -5.78165572e-02 -3.17027759e-01 2.97296730e+02] [ 3.16748195e-01 -1.41804887e-02 9.48403656e-01 1.04640631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.94, Z:104.51 [[-6.43564412e-02 -9.97836441e-01 1.34419000e-02 3.55092663e+02] [ 9.48730447e-01 -6.53553024e-02 -3.09255919e-01 2.96943622e+02] [ 3.09465325e-01 -7.14987059e-03 9.50883848e-01 1.04514867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.94, Z:104.51 [[-6.49430453e-02 -9.97805069e-01 1.29400338e-02 3.55093090e+02] [ 9.48714128e-01 -6.57580441e-02 -3.09220607e-01 2.96941346e+02] [ 3.09392801e-01 -7.80533502e-03 9.50902293e-01 1.04514243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.98, Z:104.55 [[-4.96500346e-02 -9.98764941e-01 -1.86188173e-03 3.55109180e+02] [ 9.43149503e-01 -4.62717488e-02 -3.29132101e-01 2.96979586e+02] [ 3.28639451e-01 -1.80974530e-02 9.44282052e-01 1.04547838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.93, Z:104.52 [[-4.90415231e-02 -9.98754421e-01 9.19436848e-03 3.55099235e+02] [ 9.44081423e-01 -4.93580069e-02 -3.25997015e-01 2.96933584e+02] [ 3.26044775e-01 -7.30715765e-03 9.45326087e-01 1.04523624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:297.26, Z:104.63 [[-5.44502298e-02 -9.98447787e-01 1.17128121e-02 3.55085560e+02] [ 9.43785107e-01 -5.52923760e-02 -3.25902478e-01 2.97261044e+02] [ 3.26044237e-01 -6.69108723e-03 9.45330834e-01 1.04632986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.93, Z:104.52 [[-4.63333324e-02 -9.98872707e-01 1.03216777e-02 3.55097200e+02] [ 9.44002485e-01 -4.71624924e-02 -3.26550163e-01 2.96933463e+02] [ 3.26668841e-01 -5.38646784e-03 9.45123513e-01 1.04523311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.97, Z:104.55 [[-3.67088538e-02 -9.99306501e-01 -6.24318340e-03 3.55113146e+02] [ 9.36339819e-01 -3.22115941e-02 -3.49614297e-01 2.96965519e+02] [ 3.49170737e-01 -1.86796813e-02 9.36872919e-01 1.04549915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.96, Z:104.53 [[-4.05660104e-02 -9.98840827e-01 2.59114037e-02 3.55088884e+02] [ 9.42279560e-01 -4.68692738e-02 -3.31530546e-01 2.96959811e+02] [ 3.32360693e-01 1.09669145e-02 9.43088594e-01 1.04532431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.93, Z:104.52 [[-4.83766465e-02 -9.98779705e-01 9.93984564e-03 3.55095239e+02] [ 9.43735053e-01 -4.89653893e-02 -3.27057397e-01 2.96928946e+02] [ 3.27144999e-01 -6.44135933e-03 9.44952199e-01 1.04522785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.97, Z:104.55 [[-3.81689969e-02 -9.99265544e-01 -3.39119231e-03 3.55104959e+02] [ 9.38543542e-01 -3.46841573e-02 -3.43413788e-01 2.96965672e+02] [ 3.43043945e-01 -1.62905414e-02 9.39178082e-01 1.04548253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.97, Z:104.55 [[-3.74333230e-02 -9.99293514e-01 3.34940308e-03 3.55099073e+02] [ 9.37589196e-01 -3.62810925e-02 -3.45847051e-01 2.96967826e+02] [ 3.45724235e-01 -9.80584024e-03 9.38284924e-01 1.04547277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.97, Z:104.55 [[-3.91399929e-02 -9.99219724e-01 5.29197832e-03 3.55096957e+02] [ 9.37320772e-01 -3.85495727e-02 -3.46328892e-01 2.96967582e+02] [ 3.46262663e-01 -8.59502916e-03 9.38098233e-01 1.04546870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.96, Z:104.54 [[-3.94521663e-02 -9.99205411e-01 5.66339208e-03 3.55096954e+02] [ 9.37341931e-01 -3.89719406e-02 -3.46224339e-01 2.96962625e+02] [ 3.46169946e-01 -8.35076532e-03 9.38134656e-01 1.04544461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.96, Z:104.54 [[-4.50832307e-02 -9.98923119e-01 1.09592518e-02 3.55092486e+02] [ 9.38618185e-01 -4.61121484e-02 -3.41861922e-01 2.96956120e+02] [ 3.41999132e-01 -5.12568685e-03 9.39686289e-01 1.04539461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.95, Z:104.54 [[-4.69127648e-02 -9.98880791e-01 6.02980164e-03 3.55095385e+02] [ 9.38294056e-01 -4.61363028e-02 -3.42747291e-01 2.96954495e+02] [ 3.42641878e-01 -1.04214960e-02 9.39408290e-01 1.04540628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.95, Z:104.53 [[-5.42594635e-02 -9.98337552e-01 1.94433108e-02 3.55088347e+02] [ 9.40568310e-01 -5.76377935e-02 -3.34677666e-01 2.96952038e+02] [ 3.35241951e-01 1.28331457e-04 9.42132060e-01 1.04534083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.95, Z:104.54 [[-4.91353851e-02 -9.98791085e-01 1.44294823e-03 3.55096189e+02] [ 9.39545559e-01 -4.67108835e-02 -3.39222989e-01 2.96946817e+02] [ 3.38880299e-01 -1.53121366e-02 9.40704886e-01 1.04536034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.94, Z:104.53 [[-5.63290387e-02 -9.98279141e-01 1.63032482e-02 3.55088272e+02] [ 9.40345226e-01 -5.85334838e-02 -3.35148755e-01 2.96942108e+02] [ 3.35526297e-01 -3.54792559e-03 9.42024159e-01 1.04531156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:296.94, Z:104.52 [[-7.03185503e-02 -9.97391854e-01 1.62723815e-02 3.55078381e+02] [ 9.42263118e-01 -7.17683331e-02 -3.27092528e-01 2.96941626e+02] [ 3.27407265e-01 -7.66780750e-03 9.44852204e-01 1.04524510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.94, Z:104.54 [[-4.96708620e-02 -9.98765029e-01 1.10574744e-03 3.55094019e+02] [ 9.38790056e-01 -4.70659832e-02 -3.41259467e-01 2.96944058e+02] [ 3.40890065e-01 -1.59125872e-02 9.39968485e-01 1.04536684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.95, Z:104.54 [[-4.87577696e-02 -9.98779910e-01 7.83402748e-03 3.55089833e+02] [ 9.39527730e-01 -4.85243550e-02 -3.39017745e-01 2.96946041e+02] [ 3.38984254e-01 -9.16946305e-03 9.40747361e-01 1.04535293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.93, Z:104.53 [[-5.66629306e-02 -9.98272646e-01 1.55253233e-02 3.55088024e+02] [ 9.40355300e-01 -5.85871961e-02 -3.35111102e-01 2.96932784e+02] [ 3.35441832e-01 -4.38905712e-03 9.42050696e-01 1.04529579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.93, Z:104.53 [[-5.68218966e-02 -9.98310507e-01 1.21409576e-02 3.55091328e+02] [ 9.40410471e-01 -5.76019883e-02 -3.35127076e-01 2.96931110e+02] [ 3.35260224e-01 -7.62507242e-03 9.42094709e-01 1.04532779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.92, Z:104.53 [[-5.72926759e-02 -9.98281810e-01 1.22872630e-02 3.55090675e+02] [ 9.40932045e-01 -5.81070438e-02 -3.33572269e-01 2.96924422e+02] [ 3.33713105e-01 -7.54976841e-03 9.42644453e-01 1.04529500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:296.89, Z:104.51 [[-6.57903622e-02 -9.97757284e-01 1.23300716e-02 3.55083615e+02] [ 9.41883821e-01 -6.61762791e-02 -3.29356293e-01 2.96890900e+02] [ 3.29433598e-01 -1.00549748e-02 9.44125205e-01 1.04513245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.92, Z:104.53 [[-5.94725456e-02 -9.98148638e-01 1.27402268e-02 3.55089423e+02] [ 9.40325837e-01 -6.03017805e-02 -3.34889558e-01 2.96919058e+02] [ 3.35037815e-01 -7.93677010e-03 9.42171253e-01 1.04527889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.91, Z:104.53 [[-5.98614530e-02 -9.98121574e-01 1.30356869e-02 3.55090635e+02] [ 9.39425115e-01 -6.07467649e-02 -3.37328153e-01 2.96910827e+02] [ 3.37486383e-01 -7.94690169e-03 9.41296865e-01 1.04529564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.92, Z:104.53 [[-5.42139569e-02 -9.98480490e-01 9.87719920e-03 3.55091070e+02] [ 9.39376524e-01 -5.43538544e-02 -3.38551922e-01 2.96918789e+02] [ 3.38574353e-01 -9.07583026e-03 9.40895869e-01 1.04530544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.512755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.09, Y:296.91, Z:104.52 [[-6.39181623e-02 -9.97866330e-01 1.33137298e-02 3.55087558e+02] [ 9.40161765e-01 -6.46852982e-02 -3.34532014e-01 2.96914788e+02] [ 3.34679436e-01 -8.86561193e-03 9.42290335e-01 1.04524985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.91, Z:104.53 [[-5.19142830e-02 -9.98640687e-01 4.65685600e-03 3.55094833e+02] [ 9.38019838e-01 -5.03619348e-02 -3.42902988e-01 2.96913687e+02] [ 3.42671403e-01 -1.34333394e-02 9.39359279e-01 1.04533172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.92, Z:104.54 [[-5.24770647e-02 -9.98617488e-01 3.04467508e-03 3.55096182e+02] [ 9.36738969e-01 -5.02814969e-02 -3.46398435e-01 2.96921249e+02] [ 3.46072626e-01 -1.53259073e-02 9.38082541e-01 1.04537905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:296.94, Z:104.53 [[-7.17382676e-02 -9.97077540e-01 2.62678401e-02 3.55074024e+02] [ 9.41968808e-01 -7.63852575e-02 -3.26894566e-01 2.96943365e+02] [ 3.27945705e-01 1.29263618e-03 9.44695688e-01 1.04531164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.91, Z:104.54 [[-5.13659907e-02 -9.98679863e-01 -2.56604071e-04 3.55099270e+02] [ 9.36594584e-01 -4.80835182e-02 -3.47100217e-01 2.96906307e+02] [ 3.46629659e-01 -1.80694805e-02 9.37828009e-01 1.04536474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6627550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.10, Y:296.92, Z:104.54 [[-4.50904053e-02 -9.98971501e-01 4.77453771e-03 3.55095254e+02] [ 9.36709556e-01 -4.39401898e-02 -3.47339124e-01 2.96922012e+02] [ 3.47191680e-01 -1.11893068e-02 9.37727432e-01 1.04540339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.692755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.09, Y:296.93, Z:104.54 [[-4.91378862e-02 -9.98700480e-01 1.35210712e-02 3.55090420e+02] [ 9.37275549e-01 -5.07847495e-02 -3.44870200e-01 2.96925933e+02] [ 3.45108698e-01 -4.27322322e-03 9.38552996e-01 1.04541101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.722755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.09, Y:296.92, Z:104.54 [[-4.74220455e-02 -9.98806395e-01 1.17019497e-02 3.55091158e+02] [ 9.38003153e-01 -4.85561990e-02 -3.43208947e-01 2.96918975e+02] [ 3.43367493e-01 -5.29920462e-03 9.39186181e-01 1.04538334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.752755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:355.09, Y:296.92, Z:104.54 [[-4.38117654e-02 -9.98971463e-01 1.16852282e-02 3.55090258e+02] [ 9.39084107e-01 -4.51706209e-02 -3.40706112e-01 2.96921616e+02] [ 3.40883512e-01 -3.95352417e-03 9.40097229e-01 1.04538234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.91, Z:104.54 [[-4.00337442e-02 -9.99154217e-01 9.38877730e-03 3.55091971e+02] [ 9.39174499e-01 -4.08348203e-02 -3.41004073e-01 2.96911942e+02] [ 3.41099046e-01 -4.83396959e-03 9.40014933e-01 1.04535510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.91, Z:104.54 [[-4.16557510e-02 -9.99066554e-01 1.14376057e-02 3.55091170e+02] [ 9.40396484e-01 -4.30715059e-02 -3.37341517e-01 2.96914338e+02] [ 3.37519262e-01 -3.29633006e-03 9.41312850e-01 1.04535085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.91, Z:104.53 [[-3.90971654e-02 -9.99121554e-01 1.50841357e-02 3.55087718e+02] [ 9.41723273e-01 -4.18901426e-02 -3.33770120e-01 2.96913370e+02] [ 3.34108798e-01 1.15561601e-03 9.42533806e-01 1.04532424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.09, Y:296.91, Z:104.53 [[-3.88018959e-02 -9.99209962e-01 8.59447570e-03 3.55092190e+02] [ 9.42399772e-01 -3.94527549e-02 -3.32153804e-01 2.96906106e+02] [ 3.32230465e-01 -4.78876538e-03 9.43186082e-01 1.04532002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.902755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:355.09, Y:296.91, Z:104.53 [[-3.87970644e-02 -9.99181913e-01 1.14146037e-02 3.55090533e+02] [ 9.42193252e-01 -4.03841801e-02 -3.32627410e-01 2.96905187e+02] [ 3.32816261e-01 -2.15020441e-03 9.42989243e-01 1.04532176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.89, Z:104.53 [[-3.81675842e-02 -9.99198254e-01 1.20865869e-02 3.55090137e+02] [ 9.43179107e-01 -4.00179092e-02 -3.29866246e-01 2.96894688e+02] [ 3.30085457e-01 -1.19038151e-03 9.43950303e-01 1.04527898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.962755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:355.09, Y:296.91, Z:104.53 [[-3.69144069e-02 -9.99265742e-01 1.02617453e-02 3.55091382e+02] [ 9.42868831e-01 -3.82297776e-02 -3.30963521e-01 2.96907048e+02] [ 3.31112812e-01 -2.54184231e-03 9.43587751e-01 1.04533466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.992755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.09, Y:296.89, Z:104.52 [[-4.07647812e-02 -9.99060032e-01 1.47406245e-02 3.55088104e+02] [ 9.45034199e-01 -4.33420847e-02 -3.24086141e-01 2.96892838e+02] [ 3.24420399e-01 7.19093671e-04 9.45912727e-01 1.04523668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.89, Z:104.53 [[-4.28689317e-02 -9.99062655e-01 6.00549192e-03 3.55097623e+02] [ 9.42247012e-01 -4.24280397e-02 -3.32220454e-01 2.96890869e+02] [ 3.32163850e-01 -8.58327912e-03 9.43182646e-01 1.04530083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:296.87, Z:104.51 [[-5.50885369e-02 -9.98177962e-01 2.46172706e-02 3.55082900e+02] [ 9.47457855e-01 -6.00381033e-02 -3.14195863e-01 2.96872942e+02] [ 3.15101360e-01 6.01523602e-03 9.49038961e-01 1.04507094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.88, Z:104.53 [[-4.32520531e-02 -9.99062446e-01 1.86783457e-03 3.55100248e+02] [ 9.42738663e-01 -4.14323856e-02 -3.30948894e-01 2.96881172e+02] [ 3.30716000e-01 -1.25533393e-02 9.43646831e-01 1.04525250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.89, Z:104.53 [[-4.17525350e-02 -9.99100512e-01 7.40899445e-03 3.55098919e+02] [ 9.40394045e-01 -4.18020304e-02 -3.37507972e-01 2.96888290e+02] [ 3.37514098e-01 -7.12443917e-03 9.41293512e-01 1.04530333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.10, Y:296.88, Z:104.53 [[-4.43853089e-02 -9.98977305e-01 8.61911911e-03 3.55098868e+02] [ 9.38963833e-01 -4.46618951e-02 -3.41104436e-01 2.96875469e+02] [ 3.41140536e-01 -7.04698465e-03 9.39985891e-01 1.04526142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.85, Z:104.51 [[-5.91889480e-02 -9.97996781e-01 2.23404192e-02 3.55093176e+02] [ 9.41324410e-01 -6.32490799e-02 -3.31523618e-01 2.96849732e+02] [ 3.32272514e-01 1.40704773e-03 9.43182377e-01 1.04511799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.85, Z:104.51 [[-5.38120966e-02 -9.98505860e-01 9.50296435e-03 3.55098372e+02] [ 9.40716143e-01 -5.38848424e-02 -3.34887388e-01 2.96848588e+02] [ 3.34899085e-01 -9.08140051e-03 9.42210237e-01 1.04512348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.84, Z:104.51 [[-5.69821276e-02 -9.98244824e-01 1.61340628e-02 3.55096368e+02] [ 9.41207665e-01 -5.91022376e-02 -3.32618484e-01 2.96843799e+02] [ 3.32988240e-01 -3.76780535e-03 9.42923452e-01 1.04508064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.83, Z:104.50 [[-6.45323764e-02 -9.97762382e-01 1.74871794e-02 3.55093865e+02] [ 9.43626913e-01 -6.67134315e-02 -3.24218394e-01 2.96834079e+02] [ 3.24659547e-01 -4.42121029e-03 9.45820613e-01 1.04500377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.84, Z:104.50 [[-7.01318074e-02 -9.97395517e-01 1.68437808e-02 3.55093633e+02] [ 9.43600608e-01 -7.18074345e-02 -3.23205174e-01 2.96835065e+02] [ 3.23572900e-01 -6.77316116e-03 9.46179001e-01 1.04500764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:296.84, Z:104.48 [[-9.32878413e-02 -9.94421801e-01 4.92205383e-02 3.55065472e+02] [ 9.53343993e-01 -1.03471525e-01 -2.83599849e-01 2.96838933e+02] [ 2.87110797e-01 2.04676868e-02 9.57678685e-01 1.04476117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.11, Y:296.85, Z:104.52 [[-7.35320818e-02 -9.97156439e-01 -1.64945322e-02 3.55112000e+02] [ 9.42275312e-01 -6.40485580e-02 -3.28656384e-01 2.96848699e+02] [ 3.26665378e-01 -3.97091786e-02 9.44305518e-01 1.04519442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:296.82, Z:104.48 [[-9.51305384e-02 -9.94580800e-01 4.19429757e-02 3.55069102e+02] [ 9.50905164e-01 -1.03256508e-01 -2.91748973e-01 2.96819985e+02] [ 2.94498812e-01 1.21295553e-02 9.55574866e-01 1.04475196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.85, Z:104.52 [[-7.40773862e-02 -9.97182515e-01 -1.18140729e-02 3.55108123e+02] [ 9.41528414e-01 -6.60286234e-02 -3.30400464e-01 2.96845255e+02] [ 3.28689499e-01 -3.55984882e-02 9.43766900e-01 1.04518997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.09, Y:296.85, Z:104.51 [[-7.24599029e-02 -9.97269179e-01 1.42740340e-02 3.55092669e+02] [ 9.41676824e-01 -7.31222034e-02 -3.28478163e-01 2.96849252e+02] [ 3.28624896e-01 -1.03599687e-02 9.44403700e-01 1.04510280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.472755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:355.12, Y:296.85, Z:104.54 [[-5.21236000e-02 -9.98416277e-01 -2.11675996e-02 3.55120101e+02] [ 9.27860531e-01 -4.05805975e-02 -3.70712895e-01 2.96853757e+02] [ 3.69266795e-01 -3.89634709e-02 9.28506264e-01 1.04540987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.502755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:355.10, Y:296.86, Z:104.53 [[-4.88499000e-02 -9.98711180e-01 1.37719717e-02 3.55098315e+02] [ 9.27924331e-01 -5.04805388e-02 -3.69334742e-01 2.96863797e+02] [ 3.69553952e-01 -5.26261761e-03 9.29194372e-01 1.04531280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.08, Y:296.90, Z:104.51 [[-6.95360161e-02 -9.96771151e-01 4.01498957e-02 3.55075405e+02] [ 9.39092107e-01 -7.89845252e-02 -3.34465931e-01 2.96900364e+02] [ 3.36557212e-01 1.44470217e-02 9.41552190e-01 1.04514053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.11, Y:296.87, Z:104.54 [[-5.00277306e-02 -9.98736082e-01 -4.84412138e-03 3.55106445e+02] [ 9.29999119e-01 -4.48151583e-02 -3.64819462e-01 2.96868967e+02] [ 3.64141270e-01 -2.27561184e-02 9.31065677e-01 1.04538732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.10, Y:296.87, Z:104.53 [[-4.94184058e-02 -9.98707519e-01 1.18791061e-02 3.55097164e+02] [ 9.30008936e-01 -5.03494828e-02 -3.64071845e-01 2.96868629e+02] [ 3.64199396e-01 -6.94417538e-03 9.31295108e-01 1.04533358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.622755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:355.10, Y:296.87, Z:104.54 [[-4.97627967e-02 -9.98747391e-01 5.22615970e-03 3.55104199e+02] [ 9.25483822e-01 -4.80784778e-02 -3.75723510e-01 2.96874307e+02] [ 3.75504141e-01 -1.38603264e-02 9.26717072e-01 1.04537549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:296.85, Z:104.50 [[-6.70928678e-02 -9.96661758e-01 4.65176010e-02 3.55067290e+02] [ 9.40109120e-01 -7.87650590e-02 -3.31648773e-01 2.96849108e+02] [ 3.34205611e-01 2.14803537e-02 9.42255382e-01 1.04500734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.682755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:355.11, Y:296.88, Z:104.55 [[-4.66946332e-02 -9.98840043e-01 -1.17549646e-02 3.55107186e+02] [ 9.27521249e-01 -3.89857936e-02 -3.71731679e-01 2.96877948e+02] [ 3.70842210e-01 -2.82608539e-02 9.28265792e-01 1.04546935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.712755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:354.41, Y:296.43, Z:105.49 [[-1.08218411e-01 9.62157692e-01 2.50082689e-01 3.54414869e+02] [ 9.48848979e-01 2.49132148e-02 3.14745845e-01 2.96431715e+02] [ 2.96604772e-01 2.71351999e-01 -9.15638412e-01 1.05490501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.742755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:354.54, Y:296.42, Z:105.57 [[-1.86827400e-01 9.80892705e-01 5.42680680e-02 3.54543731e+02] [ 9.38110684e-01 1.61735428e-01 3.06251523e-01 2.96424864e+02] [ 2.91622816e-01 1.08125630e-01 -9.50402537e-01 1.05568734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.772755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:354.59, Y:296.39, Z:105.56 [[-2.65421965e-01 9.63538510e-01 3.38337062e-02 3.54590299e+02] [ 9.21992552e-01 2.43403279e-01 3.01138800e-01 2.96387171e+02] [ 2.81923596e-01 1.11123277e-01 -9.52979907e-01 1.05561918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.63, Y:296.39, Z:105.57 [[-3.38000731e-01 9.41103144e-01 8.96539504e-03 3.54630270e+02] [ 8.98189757e-01 3.19713847e-01 3.01725398e-01 2.96387725e+02] [ 2.81088360e-01 1.10036031e-01 -9.53352719e-01 1.05571735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.70, Y:296.43, Z:105.60 [[-4.31596562e-01 8.97362655e-01 -9.20036562e-02 3.54702660e+02] [ 8.67038098e-01 4.40819682e-01 2.32213146e-01 2.96427242e+02] [ 2.48936428e-01 2.04517202e-02 -9.68303869e-01 1.05600049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.862755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:355.02, Y:296.57, Z:105.67 [[-4.82912844e-01 6.89408912e-01 -5.39917158e-01 3.55019561e+02] [ 8.23959431e-01 5.66484761e-01 -1.36334803e-02 2.96571989e+02] [ 2.96455799e-01 -4.51453617e-01 -8.41607742e-01 1.05672438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:297.02, Z:104.53 [[-4.84707057e-01 -8.59037893e-01 1.64660157e-01 3.55072191e+02] [ 8.09268371e-01 -5.11871374e-01 -2.88222830e-01 2.97024249e+02] [ 3.31879154e-01 -6.44938268e-03 9.43299864e-01 1.04530800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.79, Y:296.36, Z:105.57 [[-5.31841561e-01 8.39944027e-01 -1.07882274e-01 3.54794755e+02] [ 7.90556887e-01 5.38115840e-01 2.92320289e-01 2.96357406e+02] [ 3.03585841e-01 7.01810043e-02 -9.50215904e-01 1.05565386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.82, Y:296.42, Z:105.60 [[-5.87488232e-01 7.93337510e-01 -1.59603170e-01 3.54817112e+02] [ 7.42723318e-01 6.06914959e-01 2.82871535e-01 2.96416124e+02] [ 3.21278151e-01 4.76427020e-02 -9.45785664e-01 1.05603846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.982755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:354.82, Y:296.33, Z:105.53 [[-6.56445456e-01 7.53220683e-01 -4.16889324e-02 3.54821722e+02] [ 6.96081371e-01 6.26096056e-01 3.51389318e-01 2.96333857e+02] [ 2.90774978e-01 2.01649032e-01 -9.35300797e-01 1.05526932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.92, Y:296.37, Z:105.57 [[-7.12478500e-01 6.85227985e-01 -1.51119142e-01 3.54924403e+02] [ 6.40213462e-01 7.22955372e-01 2.59734968e-01 2.96372478e+02] [ 2.87230065e-01 8.83070715e-02 -9.53782340e-01 1.05571376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0427550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.69, Y:296.66, Z:105.72 [[-7.63709515e-01 6.06198584e-01 -2.21970839e-01 3.54691925e+02] [ 5.78990071e-01 7.95264761e-01 1.79790039e-01 2.96656624e+02] [ 2.85514053e-01 8.78845125e-03 -9.58334226e-01 1.05715231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.072755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:355.01, Y:296.48, Z:105.61 [[-8.10191541e-01 5.39001414e-01 -2.30363065e-01 3.55011448e+02] [ 5.15424152e-01 8.42254303e-01 1.57941866e-01 2.96479217e+02] [ 2.79155172e-01 9.22847671e-03 -9.60201659e-01 1.05609398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.07, Y:296.47, Z:105.60 [[-8.46625445e-01 4.72770384e-01 -2.44363500e-01 3.55066815e+02] [ 4.43401575e-01 8.80553669e-01 1.67392592e-01 2.96471192e+02] [ 2.94313436e-01 3.33676670e-02 -9.55126274e-01 1.05600802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.132755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:355.10, Y:296.47, Z:105.58 [[-8.92974869e-01 3.96841003e-01 -2.12398452e-01 3.55096057e+02] [ 3.65532424e-01 9.14720353e-01 1.72257723e-01 2.96467820e+02] [ 2.62644114e-01 7.61832968e-02 -9.61880541e-01 1.05577484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.22, Y:296.68, Z:105.65 [[-9.16527332e-01 2.14586829e-01 -3.37535395e-01 3.55223455e+02] [ 2.83455942e-01 9.43864564e-01 -1.69624329e-01 2.96676330e+02] [ 2.82188552e-01 -2.51141748e-01 -9.25903582e-01 1.05647479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.99, Y:297.20, Z:104.52 [[-9.05690835e-01 -3.06927484e-01 2.92437396e-01 3.54990960e+02] [ 2.86457192e-01 -9.51576295e-01 -1.11556407e-01 2.97199005e+02] [ 3.12516221e-01 -1.72648202e-02 9.49755515e-01 1.04520949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.99, Y:297.19, Z:104.51 [[-9.05108856e-01 -3.04906974e-01 2.96327010e-01 3.54993686e+02] [ 2.90385351e-01 -9.52380286e-01 -9.29953667e-02 2.97187523e+02] [ 3.10570939e-01 1.87809274e-03 9.50548350e-01 1.04511105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.17, Y:296.54, Z:105.59 [[-9.31449858e-01 2.36683429e-01 -2.76373147e-01 3.55170510e+02] [ 2.15200687e-01 9.70789866e-01 1.06092887e-01 2.96539887e+02] [ 2.93410679e-01 3.93445131e-02 -9.55176519e-01 1.05591618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.23, Y:296.59, Z:105.60 [[-9.47767982e-01 1.36557413e-01 -2.88249763e-01 3.55230064e+02] [ 1.33038880e-01 9.90598610e-01 3.18598430e-02 2.96592912e+02] [ 2.89890512e-01 -8.15268657e-03 -9.57025091e-01 1.05598434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.312755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:354.98, Y:297.23, Z:104.52 [[-9.34566274e-01 -1.55790752e-01 3.19867351e-01 3.54976247e+02] [ 1.42965350e-01 -9.87698166e-01 -6.33501513e-02 2.97228973e+02] [ 3.25801763e-01 -1.34749669e-02 9.45342074e-01 1.04516242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.23, Y:296.54, Z:105.55 [[-9.58463746e-01 1.03083868e-01 -2.65934134e-01 3.55226578e+02] [ 6.04755058e-02 9.84651822e-01 1.63717752e-01 2.96542497e+02] [ 2.78729188e-01 1.40835028e-01 -9.49987123e-01 1.05550420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.05, Y:296.72, Z:105.69 [[-9.55400672e-01 -3.74180284e-02 -2.92932496e-01 3.55054749e+02] [-1.01820976e-02 9.95524343e-01 -9.39553502e-02 2.96715521e+02] [ 2.95137054e-01 -8.67823375e-02 -9.51505620e-01 1.05694123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.29, Y:296.69, Z:105.59 [[-9.52050216e-01 -8.02015623e-02 -2.95242437e-01 3.55290552e+02] [-8.62336695e-02 9.96247118e-01 7.44543493e-03 2.96688027e+02] [ 2.93537291e-01 3.25482666e-02 -9.55393358e-01 1.05591029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.432755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:354.44, Y:297.21, Z:104.65 [[-9.45276609e-01 1.10630120e-01 3.06941541e-01 3.54436587e+02] [-1.06370410e-01 -9.93854768e-01 3.06273680e-02 2.97213738e+02] [ 3.08443623e-01 -3.69816293e-03 9.51235436e-01 1.04654269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.85, Y:297.26, Z:104.52 [[-9.45820463e-01 1.08358426e-01 3.06075323e-01 3.54853715e+02] [-1.03616566e-01 -9.94110462e-01 3.17489709e-02 2.97255395e+02] [ 3.07712949e-01 -1.68564758e-03 9.51477745e-01 1.04522436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.492755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:355.31, Y:296.75, Z:105.60 [[-9.44359740e-01 -1.77653396e-01 -2.76810320e-01 3.55308115e+02] [-1.68055270e-01 9.84056732e-01 -5.82217772e-02 2.96746219e+02] [ 2.82740355e-01 -8.46286909e-03 -9.59159148e-01 1.05595989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.32, Y:296.86, Z:105.62 [[-9.24067154e-01 -2.79714755e-01 -2.60498657e-01 3.55321223e+02] [-2.35431397e-01 9.53415978e-01 -1.88600186e-01 2.96856269e+02] [ 3.01117837e-01 -1.12949675e-01 -9.46874025e-01 1.05624804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.33, Y:296.83, Z:105.60 [[-9.00321245e-01 -3.34507549e-01 -2.78435551e-01 3.55334899e+02] [-3.16648539e-01 9.42347364e-01 -1.08236539e-01 2.96831077e+02] [ 2.98588947e-01 -9.28144478e-03 -9.54336678e-01 1.05597493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.36, Y:296.91, Z:105.60 [[-8.71860564e-01 -4.14872224e-01 -2.60269468e-01 3.55355968e+02] [-3.82831805e-01 9.08755661e-01 -1.66141380e-01 2.96906510e+02] [ 3.05448796e-01 -4.52126868e-02 -9.51134505e-01 1.05602540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.80, Y:297.28, Z:104.50 [[-8.58111976e-01 4.17530654e-01 2.98851117e-01 3.54796536e+02] [-3.96744872e-01 -9.08637558e-01 1.30273924e-01 2.97282136e+02] [ 3.25940706e-01 -6.77803364e-03 9.45365916e-01 1.04503532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.642755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:355.39, Y:296.89, Z:105.57 [[-8.39413135e-01 -4.56821100e-01 -2.94448759e-01 3.55387858e+02] [-4.52431725e-01 8.87529262e-01 -8.71627424e-02 2.96892898e+02] [ 3.01149669e-01 6.00524090e-02 -9.51684078e-01 1.05569356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.14, Y:296.86, Z:105.68 [[-7.97785590e-01 -5.56581818e-01 -2.31850884e-01 3.55144710e+02] [-5.19937915e-01 8.29766012e-01 -2.02861849e-01 2.96856109e+02] [ 3.05291200e-01 -4.12921948e-02 -9.51363358e-01 1.05684796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.74, Y:297.27, Z:104.51 [[-7.78394633e-01 5.66954422e-01 2.69563498e-01 3.54736016e+02] [-5.38208447e-01 -8.23725407e-01 1.78348314e-01 2.97267265e+02] [ 3.23161667e-01 -6.25598160e-03 9.46323095e-01 1.04506036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.16, Y:296.85, Z:105.67 [[-7.54287084e-01 -6.04105825e-01 -2.57113100e-01 3.55157498e+02] [-5.80538173e-01 7.96596794e-01 -1.68549631e-01 2.96848510e+02] [ 3.06637285e-01 2.21291599e-02 -9.51569165e-01 1.05669164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.21, Y:296.62, Z:104.73 [[-7.64211434e-01 3.07374832e-01 -5.67011108e-01 3.55206118e+02] [-5.87072643e-01 3.25228703e-02 8.08880693e-01 2.96624068e+02] [ 2.67070396e-01 9.51032584e-01 1.55597006e-01 1.04730448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7927550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:354.69, Y:297.25, Z:104.54 [[-7.54858886e-01 6.24741549e-01 1.99714946e-01 3.54692681e+02] [-6.03725190e-01 -7.80831276e-01 1.60681093e-01 2.97250734e+02] [ 2.56327831e-01 7.18607446e-04 9.66589637e-01 1.04543528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.27, Y:297.01, Z:105.65 [[-7.22776767e-01 -6.72003824e-01 -1.61259434e-01 3.55271975e+02] [-6.47184463e-01 7.40019193e-01 -1.83095232e-01 2.97010788e+02] [ 2.42375773e-01 -2.79723798e-02 -9.69779114e-01 1.05651858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.29, Y:297.02, Z:105.63 [[-6.72266086e-01 -7.11609389e-01 -2.04133257e-01 3.55293988e+02] [-6.99124781e-01 7.00942592e-01 -1.41081620e-01 2.97017989e+02] [ 2.43480700e-01 4.78702307e-02 -9.68723691e-01 1.05631360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.25, Y:297.10, Z:105.66 [[-6.09261838e-01 -7.84590477e-01 -1.14968675e-01 3.55246897e+02] [-7.55979985e-01 6.18469283e-01 -2.14452812e-01 2.97098586e+02] [ 2.39362228e-01 -4.37438976e-02 -9.69944429e-01 1.05663721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.61, Y:297.24, Z:104.54 [[-5.84205385e-01 7.92820308e-01 1.73608836e-01 3.54607977e+02] [-7.69801794e-01 -6.09054742e-01 1.90938523e-01 2.97236576e+02] [ 2.57117223e-01 -2.20970800e-02 9.66127555e-01 1.04544861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.27, Y:297.11, Z:105.64 [[-5.52060978e-01 -8.15674198e-01 -1.72928540e-01 3.55267000e+02] [-7.94345042e-01 5.77545873e-01 -1.88299545e-01 2.97110880e+02] [ 2.53465245e-01 3.34120980e-02 -9.66767294e-01 1.05636620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.972755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:354.59, Y:297.21, Z:104.54 [[-5.21616612e-01 8.42881065e-01 1.32165126e-01 3.54593087e+02] [-8.14806522e-01 -5.38077894e-01 2.15783482e-01 2.97212450e+02] [ 2.52994944e-01 4.86724276e-03 9.67455357e-01 1.04539414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.23, Y:297.14, Z:105.65 [[-4.91561089e-01 -8.59775321e-01 -1.38398314e-01 3.55232814e+02] [-8.34701056e-01 5.10481497e-01 -2.06598131e-01 2.97143744e+02] [ 2.48277753e-01 1.39656166e-02 -9.68588209e-01 1.05649710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.21, Y:297.16, Z:105.66 [[-4.16432486e-01 -9.01156028e-01 -1.20423412e-01 3.55208285e+02] [-8.75265552e-01 4.33204971e-01 -2.15043409e-01 2.97161277e+02] [ 2.45955685e-01 1.58514028e-02 -9.69151451e-01 1.05655734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.062755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:354.51, Y:297.14, Z:104.57 [[-3.97499549e-01 9.09161192e-01 1.24177438e-01 3.54507162e+02] [-8.76765271e-01 -4.16237662e-01 2.40891818e-01 2.97141787e+02] [ 2.70696819e-01 -1.31200761e-02 9.62575242e-01 1.04572101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.092755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:355.38, Y:296.91, Z:105.36 [[-3.77538967e-01 -6.54163659e-01 -6.55388615e-01 3.55384254e+02] [-9.04901949e-01 4.10835898e-01 1.11203995e-01 2.96907470e+02] [ 1.96511558e-01 6.35046276e-01 -7.47060530e-01 1.05363449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.47, Y:297.09, Z:104.60 [[-3.53073346e-01 9.29398713e-01 1.07504627e-01 3.54468320e+02] [-9.07920655e-01 -3.68100736e-01 2.00454317e-01 2.97094120e+02] [ 2.25874516e-01 -2.68305955e-02 9.73786846e-01 1.04597886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.152755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.10, Y:296.85, Z:105.71 [[-3.02563682e-01 -9.37581523e-01 -1.71452928e-01 3.55095484e+02] [-9.33409379e-01 3.27872424e-01 -1.45762152e-01 2.96847382e+02] [ 1.92878587e-01 1.15933437e-01 -9.74349675e-01 1.05710061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.46, Y:297.10, Z:104.58 [[-2.71716856e-01 9.60373246e-01 6.20739843e-02 3.54463159e+02] [-9.39353083e-01 -2.78688395e-01 1.99871369e-01 2.97096410e+02] [ 2.09250415e-01 -4.00096853e-03 9.77853903e-01 1.04583808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.46, Y:297.09, Z:104.58 [[-2.73791943e-01 9.60105114e-01 5.68870963e-02 3.54463215e+02] [-9.40235775e-01 -2.79639211e-01 1.94315722e-01 2.97088514e+02] [ 2.02471381e-01 -2.85203825e-04 9.79288139e-01 1.04580575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.69, Y:297.21, Z:105.76 [[-2.46362416e-01 -8.06343625e-01 5.37694633e-01 3.54694800e+02] [-9.43481777e-01 7.26305012e-02 -3.23368130e-01 2.97208834e+02] [ 2.21692800e-01 -5.86970841e-01 -7.78663942e-01 1.05761886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.42, Y:296.98, Z:104.60 [[-2.15666849e-01 9.74633772e-01 5.98065298e-02 3.54419240e+02] [-9.44754094e-01 -2.23753316e-01 2.39529031e-01 2.96980693e+02] [ 2.46834992e-01 -4.84399260e-03 9.69045418e-01 1.04596007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.302755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.42, Y:296.98, Z:104.60 [[-2.15430543e-01 9.74671454e-01 6.00436366e-02 3.54418047e+02] [-9.44701889e-01 -2.23584711e-01 2.39892099e-01 2.96975969e+02] [ 2.47240820e-01 -5.04325169e-03 9.68940939e-01 1.04596889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.332755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.42, Y:296.98, Z:104.60 [[-2.14692738e-01 9.74811077e-01 6.04184731e-02 3.54418377e+02] [-9.44616632e-01 -2.22967446e-01 2.40800616e-01 2.96976838e+02] [ 2.48206461e-01 -5.37415113e-03 9.68692248e-01 1.04597162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.42, Y:296.97, Z:104.60 [[-2.14690193e-01 9.74804336e-01 6.05361732e-02 3.54417352e+02] [-9.44639969e-01 -2.22993548e-01 2.40684869e-01 2.96969677e+02] [ 2.48119830e-01 -5.51220802e-03 9.68713666e-01 1.04599652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.392755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:354.42, Y:296.97, Z:104.60 [[-2.14635021e-01 9.74808075e-01 6.06714440e-02 3.54419224e+02] [-9.44656539e-01 -2.22973391e-01 2.40638505e-01 2.96973142e+02] [ 2.48104475e-01 -5.66422577e-03 9.68716721e-01 1.04597203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4227550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:354.42, Y:296.96, Z:104.60 [[-2.16857102e-01 9.74695192e-01 5.42427818e-02 3.54418339e+02] [-9.45434701e-01 -2.23538068e-01 2.37031558e-01 2.96957141e+02] [ 2.43158847e-01 1.18968420e-04 9.69986475e-01 1.04596061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.32, Y:297.18, Z:105.60 [[-2.18740465e-01 -3.73453824e-01 9.01490350e-01 3.54321142e+02] [-9.35664541e-01 -1.81910368e-01 -3.02391279e-01 2.97182904e+02] [ 2.76919621e-01 -9.09637763e-01 -3.09636342e-01 1.05597210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.39, Y:296.84, Z:104.61 [[-1.88515025e-01 9.79695508e-01 6.82553859e-02 3.54386630e+02] [-9.33402602e-01 -2.00347446e-01 2.97691928e-01 2.96844128e+02] [ 3.05322237e-01 -7.59035343e-03 9.52218839e-01 1.04606242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.38, Y:296.84, Z:104.62 [[-1.88331070e-01 9.78734099e-01 8.13078829e-02 3.54380202e+02] [-9.30875012e-01 -2.04283968e-01 3.02885741e-01 2.96843904e+02] [ 3.13054499e-01 -1.86446809e-02 9.49552135e-01 1.04615203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.33, Y:296.59, Z:104.70 [[-1.87249208e-01 9.79518868e-01 7.40305382e-02 3.54327291e+02] [-9.30458325e-01 -2.01022432e-01 3.06328726e-01 2.96589379e+02] [ 3.14936566e-01 -1.15225191e-02 9.49042776e-01 1.04695878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.40, Y:296.83, Z:104.61 [[-1.96334341e-01 9.79148897e-01 5.21561577e-02 3.54397303e+02] [-9.30847605e-01 -2.02839071e-01 3.03939217e-01 2.96829335e+02] [ 3.08181056e-01 1.11242714e-02 9.51262681e-01 1.04611492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.39, Y:296.83, Z:104.62 [[-1.97009164e-01 9.77839606e-01 7.08314465e-02 3.54387122e+02] [-9.30969402e-01 -2.09238440e-01 2.99190990e-01 2.96830257e+02] [ 3.07381462e-01 -6.99854252e-03 9.51560643e-01 1.04617586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.39, Y:296.83, Z:104.62 [[-1.97293281e-01 9.77776765e-01 7.09081102e-02 3.54387734e+02] [-9.31048969e-01 -2.09529182e-01 2.98739586e-01 2.96830578e+02] [ 3.06957944e-01 -7.07960985e-03 9.51696748e-01 1.04618005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6627550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.39, Y:296.83, Z:104.62 [[-1.97887167e-01 9.77641999e-01 7.11111102e-02 3.54386511e+02] [-9.30881266e-01 -2.10157636e-01 2.98820744e-01 2.96826297e+02] [ 3.07084253e-01 -7.06320955e-03 9.51656121e-01 1.04619751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.39, Y:296.83, Z:104.62 [[-1.98130226e-01 9.77592834e-01 7.11102279e-02 3.54388101e+02] [-9.31077780e-01 -2.10383063e-01 2.98048879e-01 2.96826060e+02] [ 3.06330836e-01 -7.15666136e-03 9.51898209e-01 1.04620566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.722755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:354.39, Y:296.82, Z:104.62 [[-1.99082058e-01 9.77385361e-01 7.13035086e-02 3.54387655e+02] [-9.30845650e-01 -2.11349147e-01 2.98090447e-01 2.96822588e+02] [ 3.06419175e-01 -7.02810122e-03 9.51870734e-01 1.04620605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.752755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.39, Y:296.82, Z:104.62 [[-2.00403093e-01 9.77104380e-01 7.14536999e-02 3.54388305e+02] [-9.30592919e-01 -2.12652329e-01 2.97952692e-01 2.96818747e+02] [ 3.06325676e-01 -6.78366589e-03 9.51902601e-01 1.04623139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.39, Y:296.82, Z:104.62 [[-2.01616758e-01 9.76839848e-01 7.16560828e-02 3.54388266e+02] [-9.30288658e-01 -2.13870776e-01 2.98030709e-01 2.96817803e+02] [ 3.06453415e-01 -6.57285573e-03 9.51862964e-01 1.04624218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.02, Y:297.01, Z:105.70 [[-1.69135256e-01 -9.83174303e-01 -6.90040251e-02 3.55015318e+02] [-9.41466325e-01 1.81880957e-01 -2.83831775e-01 2.97008687e+02] [ 2.91606625e-01 1.69590059e-02 -9.56387980e-01 1.05697081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.842755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.98, Y:297.03, Z:105.70 [[-9.04806967e-02 -9.94835519e-01 -4.59949321e-02 3.54980422e+02] [-9.52570982e-01 9.99262578e-02 -2.87442634e-01 2.97034389e+02] [ 2.90554244e-01 1.78054279e-02 -9.56692844e-01 1.05698945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.94, Y:297.05, Z:105.70 [[-1.13287687e-02 -9.99687879e-01 -2.22666324e-02 3.54942708e+02] [-9.57202132e-01 1.72822303e-02 -2.88903796e-01 2.97054589e+02] [ 2.89198440e-01 1.80407437e-02 -9.57099156e-01 1.05700766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.902755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:354.35, Y:296.69, Z:104.64 [[ 2.39474531e-02 9.99710823e-01 -2.18860789e-03 3.54346788e+02] [-9.52024386e-01 2.34731366e-02 3.05120601e-01 2.96692676e+02] [ 3.05083740e-01 -5.22325319e-03 9.52311204e-01 1.04643126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.932755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:354.94, Y:297.03, Z:105.72 [[ 6.83159039e-02 -9.97662736e-01 1.41498485e-03 3.54943990e+02] [-9.55490776e-01 -6.58360153e-02 -2.87581285e-01 2.97025979e+02] [ 2.87002288e-01 1.82943704e-02 -9.57755189e-01 1.05717813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.962755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:354.95, Y:297.02, Z:105.72 [[ 1.44259617e-01 -9.89227520e-01 2.48611447e-02 3.54945418e+02] [-9.47347200e-01 -1.45323120e-01 -2.85332214e-01 2.97023814e+02] [ 2.85871378e-01 1.76097802e-02 -9.58106179e-01 1.05724579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.94, Y:297.02, Z:105.73 [[ 2.19985902e-01 -9.74321228e-01 4.80036204e-02 3.54944545e+02] [-9.32953957e-01 -2.24510600e-01 -2.81410564e-01 2.97020697e+02] [ 2.84961608e-01 1.71211892e-02 -9.58386012e-01 1.05732080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.45, Y:296.53, Z:104.68 [[ 2.60713964e-01 9.62415312e-01 -7.60591632e-02 3.54453106e+02] [-9.16625861e-01 2.71497406e-01 2.93404482e-01 2.96529051e+02] [ 3.03026832e-01 -6.77684973e-03 9.52957929e-01 1.04677686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.95, Y:296.99, Z:105.75 [[ 2.91961114e-01 -9.53813493e-01 7.07002795e-02 3.54951695e+02] [-9.13261343e-01 -2.99978208e-01 -2.75620745e-01 2.96992933e+02] [ 2.84099329e-01 1.59027075e-02 -9.58662962e-01 1.05747529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.95, Y:296.99, Z:105.76 [[ 3.64268363e-01 -9.26675839e-01 9.26307134e-02 3.54952495e+02] [-8.87270954e-01 -3.75547513e-01 -2.67795295e-01 2.96990262e+02] [ 2.82946664e-01 1.53608122e-02 -9.59012633e-01 1.05755317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.55, Y:296.43, Z:104.70 [[ 4.14432857e-01 9.01828164e-01 -1.22275796e-01 3.54546819e+02] [-8.58787457e-01 4.31998211e-01 2.75429934e-01 2.96426381e+02] [ 3.01213397e-01 -9.13829501e-03 9.53512969e-01 1.04703823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.142755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:354.97, Y:296.96, Z:105.77 [[ 4.32267486e-01 -8.94536139e-01 1.13797703e-01 3.54965140e+02] [-8.56601394e-01 -4.46773221e-01 -2.58123501e-01 2.96964117e+02] [ 2.81742566e-01 1.40991257e-02 -9.59386440e-01 1.05771576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.60, Y:296.37, Z:104.72 [[ 4.86030985e-01 8.61893423e-01 -1.44615387e-01 3.54604879e+02] [-8.20320883e-01 5.06991020e-01 2.64638915e-01 2.96369268e+02] [ 3.01409243e-01 -9.99169064e-03 9.53442518e-01 1.04720616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.98, Y:296.94, Z:105.79 [[ 4.98511764e-01 -8.56595218e-01 1.33156501e-01 3.54977585e+02] [-8.20762684e-01 -5.15822661e-01 -2.45510896e-01 2.96937721e+02] [ 2.78988600e-01 1.31001825e-02 -9.60205054e-01 1.05786991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.232755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:354.98, Y:296.94, Z:105.80 [[ 5.64230491e-01 -8.11575309e-01 1.51622791e-01 3.54979358e+02] [-7.77774082e-01 -5.84101916e-01 -2.32147430e-01 2.96936320e+02] [ 2.76968285e-01 1.30563815e-02 -9.60790352e-01 1.05796345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.98, Y:296.93, Z:105.80 [[ 6.25928078e-01 -7.61422417e-01 1.68671114e-01 3.54980356e+02] [-7.29860721e-01 -6.48127089e-01 -2.17335238e-01 2.96933743e+02] [ 2.74804240e-01 1.29298064e-02 -9.61413256e-01 1.05803189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2927550960001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:354.98, Y:296.93, Z:105.81 [[ 6.83863339e-01 -7.05901485e-01 1.84483136e-01 3.54982195e+02] [-6.76671649e-01 -7.08192087e-01 -2.01443412e-01 2.96933431e+02] [ 2.72848701e-01 1.29252564e-02 -9.61970126e-01 1.05812097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.98, Y:296.93, Z:105.82 [[ 7.37391644e-01 -6.45389311e-01 1.99314326e-01 3.54984428e+02] [-6.18504885e-01 -7.63743405e-01 -1.84791013e-01 2.96931972e+02] [ 2.71487147e-01 1.29864651e-02 -9.62354447e-01 1.05818242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.352755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:354.99, Y:296.93, Z:105.83 [[ 7.86041679e-01 -5.80669565e-01 2.12040882e-01 3.54988031e+02] [-5.56387784e-01 -8.14034986e-01 -1.66672359e-01 2.96932929e+02] [ 2.69390263e-01 1.30344642e-02 -9.62942879e-01 1.05827179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.382755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:354.99, Y:296.93, Z:105.83 [[ 8.29524831e-01 -5.11720886e-01 2.23674517e-01 3.54991247e+02] [-4.90022123e-01 -8.59050621e-01 -1.48021447e-01 2.96932811e+02] [ 2.67893399e-01 1.31820043e-02 -9.63358377e-01 1.05834764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:354.99, Y:296.93, Z:105.84 [[ 8.68035815e-01 -4.38174913e-01 2.33487835e-01 3.54994632e+02] [-4.19131764e-01 -8.98785579e-01 -1.28503100e-01 2.96932180e+02] [ 2.66162334e-01 1.36831245e-02 -9.63831097e-01 1.05842410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.442755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:355.02, Y:296.96, Z:105.83 [[ 8.99319444e-01 -3.81383512e-01 2.13941940e-01 3.55015898e+02] [-3.47679939e-01 -9.20339639e-01 -1.79146893e-01 2.96964519e+02] [ 2.65222920e-01 8.67269637e-02 -9.60278729e-01 1.05834328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.13, Y:297.13, Z:105.67 [[ 9.25817397e-01 -3.71299061e-01 7.07046963e-02 3.55128596e+02] [-2.83972709e-01 -8.06748649e-01 -5.18185409e-01 2.97125939e+02] [ 2.49442674e-01 4.59666862e-01 -8.52340735e-01 1.05671642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.20, Y:297.20, Z:105.52 [[ 9.49914015e-01 -3.11846429e-01 -2.03757110e-02 3.55201602e+02] [-2.30458441e-01 -6.54977387e-01 -7.19648199e-01 2.97196745e+02] [ 2.11074091e-01 6.88299664e-01 -6.94039841e-01 1.05518876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.20, Y:296.31, Z:104.77 [[ 9.59579655e-01 1.75147295e-01 -2.20295963e-01 3.55202941e+02] [-1.79514165e-01 9.83755368e-01 1.99510083e-04 2.96312400e+02] [ 2.16752280e-01 3.93547999e-02 9.75433057e-01 1.04771663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:355.23, Y:296.30, Z:104.77 [[ 9.60763344e-01 1.78393112e-01 -2.12390430e-01 3.55227923e+02] [-1.79398576e-01 9.83666805e-01 1.46890142e-02 2.96301611e+02] [ 2.11541835e-01 2.39898743e-02 9.77074479e-01 1.04771246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.25, Y:296.28, Z:104.78 [[ 9.60750761e-01 1.85604676e-01 -2.06176817e-01 3.55251142e+02] [-1.81448192e-01 9.82624491e-01 3.90597324e-02 2.96281063e+02] [ 2.09844059e-01 -1.16256825e-04 9.77734861e-01 1.04783627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.28, Y:296.27, Z:104.79 [[ 9.60611586e-01 1.86356897e-01 -2.06146763e-01 3.55279369e+02] [-1.82101321e-01 9.82481987e-01 3.96011799e-02 2.96274445e+02] [ 2.09915434e-01 -5.01754360e-04 9.77719417e-01 1.04789493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.31, Y:296.27, Z:104.79 [[ 9.60586838e-01 1.86745730e-01 -2.05910075e-01 3.55306127e+02] [-1.82463915e-01 9.82408082e-01 3.97653179e-02 2.96268482e+02] [ 2.09713725e-01 -6.26882578e-04 9.77762630e-01 1.04794759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.682755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:355.33, Y:296.26, Z:104.80 [[ 9.59946022e-01 1.89139546e-01 -2.06712039e-01 3.55332168e+02] [-1.83687271e-01 9.81933975e-01 4.54384831e-02 2.96257837e+02] [ 2.11571788e-01 -5.64812072e-03 9.77346140e-01 1.04802467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.712755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:355.36, Y:296.25, Z:104.81 [[ 9.59557270e-01 1.90731547e-01 -2.07053912e-01 3.55359452e+02] [-1.84485942e-01 9.81600430e-01 4.92496960e-02 2.96248978e+02] [ 2.12637680e-01 -9.05936790e-03 9.77089118e-01 1.04811498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.38, Y:296.23, Z:104.83 [[ 9.58848884e-01 1.95554667e-01 -2.05832918e-01 3.55381043e+02] [-1.84510796e-01 9.80208733e-01 7.17398460e-02 2.96231872e+02] [ 2.15788286e-01 -3.08092758e-02 9.75953997e-01 1.04834226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.42, Y:296.25, Z:104.82 [[ 9.58603684e-01 1.88054794e-01 -2.13809195e-01 3.55419830e+02] [-1.86626739e-01 9.82058910e-01 2.70325454e-02 2.96247772e+02] [ 2.15056825e-01 1.39890151e-02 9.76501341e-01 1.04821260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.802755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:355.44, Y:296.22, Z:104.84 [[ 9.57994128e-01 1.95063555e-01 -2.10231923e-01 3.55440460e+02] [-1.86022612e-01 9.80577725e-01 6.21523430e-02 2.96221632e+02] [ 2.18272398e-01 -2.04336881e-02 9.75673934e-01 1.04841710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.47, Y:296.23, Z:104.84 [[ 9.57949337e-01 1.89538453e-01 -2.15425724e-01 3.55470589e+02] [-1.86277993e-01 9.81854399e-01 3.55309631e-02 2.96230379e+02] [ 2.18251179e-01 6.09220911e-03 9.75873613e-01 1.04838300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.862755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:355.49, Y:296.21, Z:104.85 [[ 9.58934029e-01 1.93115176e-01 -2.07730734e-01 3.55488367e+02] [-1.83920306e-01 9.80927111e-01 6.28913737e-02 2.96212652e+02] [ 2.15913987e-01 -2.21027782e-02 9.76162188e-01 1.04852304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.52, Y:296.21, Z:104.85 [[ 9.59458173e-01 1.90950735e-01 -2.07310953e-01 3.55516495e+02] [-1.84838730e-01 9.81564046e-01 4.86484015e-02 2.96214197e+02] [ 2.12778426e-01 -8.35701322e-03 9.77064738e-01 1.04854778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.55, Y:296.22, Z:104.86 [[ 9.59400858e-01 1.85478620e-01 -2.12479825e-01 3.55549617e+02] [-1.82585461e-01 9.82624680e-01 3.33359748e-02 2.96217121e+02] [ 2.14971030e-01 6.81316384e-03 9.76596660e-01 1.04858099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.952755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:355.57, Y:296.21, Z:104.87 [[ 9.58882659e-01 1.89394841e-01 -2.11361397e-01 3.55572505e+02] [-1.84498190e-01 9.81898804e-01 4.28387245e-02 2.96206380e+02] [ 2.15648936e-01 -2.08151498e-03 9.76468742e-01 1.04865896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.60, Y:296.20, Z:104.87 [[ 9.59076841e-01 1.90434019e-01 -2.09538773e-01 3.55601851e+02] [-1.85273310e-01 9.81693593e-01 4.41756701e-02 2.96202005e+02] [ 2.14115421e-01 -3.54592019e-03 9.76801931e-01 1.04872856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.64, Y:296.20, Z:104.87 [[ 9.58120911e-01 1.93382138e-01 -2.11205275e-01 3.55637878e+02] [-1.91086862e-01 9.81069973e-01 3.14248328e-02 2.96199889e+02] [ 2.13284155e-01 1.02497639e-02 9.76936442e-01 1.04871838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0427550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:355.66, Y:296.18, Z:104.89 [[ 9.57864344e-01 1.99857238e-01 -2.06283745e-01 3.55661140e+02] [-1.92588131e-01 9.79740043e-01 5.49477865e-02 2.96181553e+02] [ 2.13086158e-01 -1.29047245e-02 9.76948186e-01 1.04886805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.69, Y:296.18, Z:104.89 [[ 9.57547845e-01 1.99731639e-01 -2.07868700e-01 3.55689025e+02] [-1.94519273e-01 9.79845820e-01 4.54358995e-02 2.96182157e+02] [ 2.12754263e-01 -3.07257937e-03 9.77100907e-01 1.04890072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.102755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:355.72, Y:296.18, Z:104.89 [[ 9.57356068e-01 1.99919908e-01 -2.08569866e-01 3.55717441e+02] [-1.95585141e-01 9.79811581e-01 4.14212256e-02 2.96179867e+02] [ 2.12640098e-01 1.13830499e-03 9.77129926e-01 1.04893480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.74, Y:296.17, Z:104.91 [[ 9.56998727e-01 2.07248456e-01 -2.02981561e-01 3.55736017e+02] [-1.99449247e-01 9.78167288e-01 5.83845363e-02 2.96169480e+02] [ 2.10650028e-01 -1.53894074e-02 9.77440398e-01 1.04908662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.76, Y:296.17, Z:104.91 [[ 9.56182795e-01 2.08942395e-01 -2.05079347e-01 3.55764701e+02] [-2.04548419e-01 9.77927243e-01 4.26409646e-02 2.96173290e+02] [ 2.09462186e-01 1.17609943e-03 9.77816041e-01 1.04910159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.79, Y:296.17, Z:104.92 [[ 9.55857713e-01 2.10835943e-01 -2.04656392e-01 3.55791425e+02] [-2.06509827e-01 9.77520120e-01 4.25218369e-02 2.96168009e+02] [ 2.09020872e-01 1.61873021e-03 9.77909840e-01 1.04916127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.82, Y:296.16, Z:104.92 [[ 9.55477051e-01 2.12855543e-01 -2.04343149e-01 3.55817766e+02] [-2.08602806e-01 9.77081371e-01 4.23894435e-02 2.96162622e+02] [ 2.08682713e-01 2.12441379e-03 9.77981090e-01 1.04922360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.84, Y:296.16, Z:104.93 [[ 9.55200864e-01 2.15767257e-01 -2.02572949e-01 3.55844242e+02] [-2.11667213e-01 9.76440804e-01 4.19564855e-02 2.96157966e+02] [ 2.06853329e-01 2.80118033e-03 9.78367954e-01 1.04928589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.88, Y:296.16, Z:104.92 [[ 9.55951820e-01 2.11802617e-01 -2.03213604e-01 3.55877604e+02] [-2.11462616e-01 9.77100117e-01 2.36415745e-02 2.96162267e+02] [ 2.03567383e-01 2.03718740e-02 9.78848971e-01 1.04923864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.312755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:355.90, Y:296.14, Z:104.95 [[ 9.55209817e-01 2.19608436e-01 -1.98359122e-01 3.55895710e+02] [-2.11765168e-01 9.75465067e-01 6.01948148e-02 2.96137212e+02] [ 2.06711683e-01 -1.54931252e-02 9.78279226e-01 1.04945209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.93, Y:296.14, Z:104.95 [[ 9.55535400e-01 2.15217452e-01 -2.01577648e-01 3.55926664e+02] [-2.10705554e-01 9.76565978e-01 4.38412998e-02 2.96140080e+02] [ 2.06289286e-01 5.81615954e-04 9.78490875e-01 1.04947008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.95, Y:296.14, Z:104.95 [[ 9.56017351e-01 2.12799552e-01 -2.01859297e-01 3.55952493e+02] [-2.08966227e-01 9.77089286e-01 4.03688302e-02 2.96137948e+02] [ 2.05825025e-01 3.58847361e-03 9.78582231e-01 1.04950807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:355.98, Y:296.13, Z:104.96 [[ 9.56057095e-01 2.12841743e-01 -2.01626445e-01 3.55979727e+02] [-2.08770533e-01 9.77083698e-01 4.15007425e-02 2.96131846e+02] [ 2.05839002e-01 2.41658104e-03 9.78582886e-01 1.04956825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.01, Y:296.14, Z:104.95 [[ 9.57298965e-01 2.04730238e-01 -2.04118155e-01 3.56012840e+02] [-2.03776347e-01 9.78674462e-01 2.59132737e-02 2.96135094e+02] [ 2.05070456e-01 1.67877019e-02 9.78603230e-01 1.04953160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.03, Y:296.11, Z:104.97 [[ 9.57755086e-01 2.08381945e-01 -1.98197276e-01 3.56032956e+02] [-2.01397764e-01 9.77964317e-01 5.49975949e-02 2.96113732e+02] [ 2.05290369e-01 -1.27577379e-02 9.78617956e-01 1.04970675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.492755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:356.06, Y:296.11, Z:104.97 [[ 9.58791799e-01 2.00461855e-01 -2.01328913e-01 3.56059898e+02] [-1.95479872e-01 9.79695785e-01 4.45397314e-02 2.96113027e+02] [ 2.06169605e-01 -3.34857900e-03 9.78510542e-01 1.04972639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.09, Y:296.11, Z:104.98 [[ 9.59642391e-01 1.96290311e-01 -2.01386679e-01 3.56086596e+02] [-1.91894631e-01 9.80545307e-01 4.13201164e-02 2.96109985e+02] [ 2.05579502e-01 -1.00751286e-03 9.78639900e-01 1.04978257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.11, Y:296.11, Z:104.98 [[ 9.61070760e-01 1.89025393e-01 -2.01525175e-01 3.56113900e+02] [-1.84474659e-01 9.81968966e-01 4.13043635e-02 2.96105730e+02] [ 2.05699041e-01 -2.52012805e-03 9.78612055e-01 1.04982813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.14, Y:296.10, Z:104.99 [[ 9.61753831e-01 1.85108314e-01 -2.01902155e-01 3.56140269e+02] [-1.80468405e-01 9.82712583e-01 4.13174833e-02 2.96100767e+02] [ 2.06059998e-01 -3.30028792e-03 9.78533794e-01 1.04988332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.612755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:356.17, Y:296.10, Z:104.99 [[ 9.63052882e-01 1.77889410e-01 -2.02199169e-01 3.56167515e+02] [-1.73084320e-01 9.84038663e-01 4.13488556e-02 2.96095870e+02] [ 2.06327324e-01 -4.82362890e-03 9.78471138e-01 1.04993472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.20, Y:296.12, Z:104.98 [[ 9.65407245e-01 1.63900914e-01 -2.02793841e-01 3.56200604e+02] [-1.66304818e-01 9.86060426e-01 5.24832891e-03 2.96115507e+02] [ 2.00827187e-01 2.86588180e-02 9.79207390e-01 1.04977148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6727550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:356.22, Y:296.07, Z:105.01 [[ 9.63864923e-01 1.78061261e-01 -1.98137824e-01 3.56218363e+02] [-1.66581541e-01 9.83298717e-01 7.33090948e-02 2.96068478e+02] [ 2.07882178e-01 -3.76539609e-02 9.77428862e-01 1.05013625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.26, Y:296.10, Z:104.99 [[ 9.65937711e-01 1.58805097e-01 -2.04316615e-01 3.56255951e+02] [-1.60809015e-01 9.86961653e-01 6.86703373e-03 2.96104085e+02] [ 2.02743184e-01 2.62228266e-02 9.78880772e-01 1.04988936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.28, Y:296.08, Z:105.00 [[ 9.66262996e-01 1.61993588e-01 -2.00234611e-01 3.56279254e+02] [-1.57587212e-01 9.86778992e-01 3.78614757e-02 2.96081922e+02] [ 2.03720624e-01 -5.02972895e-03 9.79016144e-01 1.05004336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.30, Y:296.06, Z:105.03 [[ 9.65190291e-01 1.67569167e-01 -2.00819015e-01 3.56301778e+02] [-1.56261511e-01 9.85159790e-01 7.10107661e-02 2.96056752e+02] [ 2.09738034e-01 -3.71586193e-02 9.77051275e-01 1.05030481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.34, Y:296.09, Z:105.01 [[ 9.66425870e-01 1.51356116e-01 -2.07635169e-01 3.56339465e+02] [-1.52571612e-01 9.88239330e-01 1.02435141e-02 2.96087617e+02] [ 2.06743659e-01 2.17796353e-02 9.78152701e-01 1.05009810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.36, Y:296.06, Z:105.03 [[ 9.66451947e-01 1.60386534e-01 -2.00616035e-01 3.56358632e+02] [-1.52750377e-01 9.86838052e-01 5.30846660e-02 2.96057586e+02] [ 2.06489602e-01 -2.06596039e-02 9.78230660e-01 1.05030843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.39, Y:296.05, Z:105.05 [[ 9.65668655e-01 1.61448206e-01 -2.03515418e-01 3.56385464e+02] [-1.52547849e-01 9.86545736e-01 5.87934000e-02 2.96047646e+02] [ 2.10269357e-01 -2.57291043e-02 9.77304871e-01 1.05045675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.42, Y:296.05, Z:105.05 [[ 9.65259661e-01 1.58502261e-01 -2.07727757e-01 3.56415020e+02] [-1.53022968e-01 9.87317274e-01 4.22915177e-02 2.96052126e+02] [ 2.11796504e-01 -9.03517808e-03 9.77272023e-01 1.05047237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.45, Y:296.06, Z:105.04 [[ 9.65236546e-01 1.58174895e-01 -2.08084387e-01 3.56446112e+02] [-1.56282145e-01 9.87380320e-01 2.56124003e-02 2.96057062e+02] [ 2.09509668e-01 7.79784947e-03 9.77775482e-01 1.05044382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.47, Y:296.04, Z:105.06 [[ 9.64693710e-01 1.65961159e-01 -2.04506577e-01 3.56466363e+02] [-1.57288998e-01 9.85843720e-01 5.80717719e-02 2.96035789e+02] [ 2.11249183e-01 -2.38548385e-02 9.77141100e-01 1.05064019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.50, Y:296.05, Z:105.05 [[ 9.64573810e-01 1.60703118e-01 -2.09217287e-01 3.56500934e+02] [-1.59600298e-01 9.86930779e-01 2.22571748e-02 2.96050510e+02] [ 2.10059777e-01 1.19224534e-02 9.77615847e-01 1.05054360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.52, Y:296.03, Z:105.08 [[ 9.63936892e-01 1.72236376e-01 -2.02880011e-01 3.56520248e+02] [-1.63104818e-01 9.84719338e-01 6.10298594e-02 2.96025463e+02] [ 2.10291432e-01 -2.57382258e-02 9.77299881e-01 1.05076868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:356.55, Y:296.03, Z:105.08 [[ 9.63566685e-01 1.70059837e-01 -2.06443445e-01 3.56549332e+02] [-1.64954401e-01 9.85413926e-01 4.18263060e-02 2.96030677e+02] [ 2.10545221e-01 -6.24868013e-03 9.77564148e-01 1.05077722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.58, Y:296.03, Z:105.08 [[ 9.63138081e-01 1.72760363e-01 -2.06201102e-01 3.56575743e+02] [-1.67734962e-01 9.84947854e-01 4.17457511e-02 2.96025655e+02] [ 2.10309344e-01 -5.61978862e-03 9.77618739e-01 1.05083966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.60, Y:296.02, Z:105.09 [[ 9.63011760e-01 1.73619564e-01 -2.06069399e-01 3.56602347e+02] [-1.68634588e-01 9.84798208e-01 4.16517151e-02 2.96020543e+02] [ 2.10168328e-01 -5.36066308e-03 9.77650519e-01 1.05089949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.63, Y:296.02, Z:105.10 [[ 9.62802651e-01 1.75559347e-01 -2.05401975e-01 3.56628966e+02] [-1.70665031e-01 9.84456888e-01 4.14497674e-02 2.96015902e+02] [ 2.09486283e-01 -4.85301154e-03 9.77799543e-01 1.05095637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.66, Y:296.01, Z:105.10 [[ 9.62657291e-01 1.76453728e-01 -2.05316883e-01 3.56656227e+02] [-1.71598198e-01 9.84298244e-01 4.13645401e-02 2.96010850e+02] [ 2.09391975e-01 -4.58786878e-03 9.77821023e-01 1.05101404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.68, Y:296.01, Z:105.11 [[ 9.62193621e-01 1.78567273e-01 -2.05662747e-01 3.56681909e+02] [-1.73757362e-01 9.83919299e-01 4.13665664e-02 2.96006543e+02] [ 2.09742260e-01 -4.06723004e-03 9.77748251e-01 1.05106961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.212755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:356.71, Y:296.01, Z:105.10 [[ 9.62589866e-01 1.76418470e-01 -2.05663010e-01 3.56712843e+02] [-1.75077536e-01 9.84241030e-01 2.48485859e-02 2.96009842e+02] [ 2.06805723e-01 1.20879762e-02 9.78307352e-01 1.05101914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.74, Y:296.00, Z:105.11 [[ 9.62814837e-01 1.80246618e-01 -2.01243002e-01 3.56738386e+02] [-1.75825107e-01 9.83617107e-01 3.97859017e-02 2.95995832e+02] [ 2.05117333e-01 -2.92288406e-03 9.78733026e-01 1.05111707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.76, Y:295.99, Z:105.12 [[ 9.62014803e-01 1.83647297e-01 -2.01993041e-01 3.56763900e+02] [-1.78061843e-01 9.82960108e-01 4.56443337e-02 2.95986397e+02] [ 2.06933560e-01 -7.94327156e-03 9.78322752e-01 1.05120650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.79, Y:295.98, Z:105.13 [[ 9.60838542e-01 1.85451839e-01 -2.05905102e-01 3.56788870e+02] [-1.78455451e-01 9.82561662e-01 5.22133371e-02 2.95978106e+02] [ 2.11997519e-01 -1.34236990e-02 9.77178007e-01 1.05132904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.82, Y:295.98, Z:105.14 [[ 9.60251337e-01 1.84865549e-01 -2.09146120e-01 3.56817413e+02] [-1.80071549e-01 9.82760436e-01 4.19065951e-02 2.95978498e+02] [ 2.13287618e-01 -2.57959815e-03 9.76986048e-01 1.05135743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.362755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:356.84, Y:295.97, Z:105.14 [[ 9.60036997e-01 1.85515470e-01 -2.09554227e-01 3.56844494e+02] [-1.80732428e-01 9.82638479e-01 4.19214717e-02 2.95973045e+02] [ 2.13693129e-01 -2.37291957e-03 9.76897956e-01 1.05141006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.87, Y:295.96, Z:105.15 [[ 9.59434508e-01 1.88886390e-01 -2.09302071e-01 3.56871317e+02] [-1.82895544e-01 9.81969695e-01 4.77989280e-02 2.95962758e+02] [ 2.14556858e-01 -7.57952489e-03 9.76682090e-01 1.05151094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.90, Y:295.96, Z:105.15 [[ 9.59498027e-01 1.87454178e-01 -2.10296144e-01 3.56898541e+02] [-1.83741822e-01 9.82269030e-01 3.72356687e-02 2.95963701e+02] [ 2.13547371e-01 2.91264604e-03 9.76928368e-01 1.05152135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.92, Y:295.96, Z:105.16 [[ 9.59401087e-01 1.89153255e-01 -2.09214246e-01 3.56924541e+02] [-1.84506779e-01 9.81946584e-01 4.16911788e-02 2.95955135e+02] [ 2.13323237e-01 -1.39711545e-03 9.76980678e-01 1.05159329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.482755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:356.95, Y:295.95, Z:105.16 [[ 9.58922997e-01 1.90766028e-01 -2.09940489e-01 3.56949740e+02] [-1.86139824e-01 9.81635051e-01 4.17683208e-02 2.95947682e+02] [ 2.14052919e-01 -9.74317726e-04 9.76821580e-01 1.05163861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:356.98, Y:295.94, Z:105.17 [[ 9.58895015e-01 1.92017607e-01 -2.08924839e-01 3.56975820e+02] [-1.87472917e-01 9.81391259e-01 4.15343436e-02 2.95941057e+02] [ 2.13012336e-01 -6.59326143e-04 9.77049287e-01 1.05171226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.00, Y:295.93, Z:105.18 [[ 9.58717177e-01 1.93026343e-01 -2.08811413e-01 3.57002500e+02] [-1.88525398e-01 9.81193507e-01 4.14424500e-02 2.95934348e+02] [ 2.12883887e-01 -3.65333913e-04 9.77077437e-01 1.05177162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.572755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:357.03, Y:295.93, Z:105.18 [[ 9.58246627e-01 1.95106278e-01 -2.09038135e-01 3.57028341e+02] [-1.90659057e-01 9.80782093e-01 4.14199295e-02 2.95926219e+02] [ 2.13102147e-01 1.64505900e-04 9.77029911e-01 1.05182146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.05, Y:295.92, Z:105.19 [[ 9.57929395e-01 1.96595542e-01 -2.09096788e-01 3.57054443e+02] [-1.92187869e-01 9.80484530e-01 4.13993835e-02 2.95918819e+02] [ 2.13155100e-01 5.28179583e-04 9.77018231e-01 1.05189272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.08, Y:295.91, Z:105.20 [[ 9.57509795e-01 1.98985123e-01 -2.08758025e-01 3.57079078e+02] [-1.94662465e-01 9.80001865e-01 4.12658357e-02 2.95909384e+02] [ 2.12794542e-01 1.12490997e-03 9.77096320e-01 1.05195456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6627550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:357.11, Y:295.90, Z:105.20 [[ 9.57368154e-01 1.99541399e-01 -2.08876636e-01 3.57105428e+02] [-1.95233756e-01 9.79888560e-01 4.12576206e-02 2.95902387e+02] [ 2.12908429e-01 1.28103818e-03 9.77071318e-01 1.05200472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.14, Y:295.90, Z:105.20 [[ 9.57648726e-01 1.98428564e-01 -2.08650480e-01 3.57135213e+02] [-1.96737682e-01 9.80025953e-01 2.90416402e-02 2.95900931e+02] [ 2.10245576e-01 1.32377219e-02 9.77558981e-01 1.05200334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.722755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:357.16, Y:295.88, Z:105.22 [[ 9.57060599e-01 2.04205336e-01 -2.05755172e-01 3.57155569e+02] [-1.97469076e-01 9.78876187e-01 5.29846620e-02 2.95878707e+02] [ 2.12228589e-01 -1.00792487e-02 9.77168069e-01 1.05215473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.19, Y:295.88, Z:105.22 [[ 9.57093838e-01 1.98599389e-01 -2.11020538e-01 3.57186712e+02] [-1.95774498e-01 9.80044958e-01 3.44125910e-02 2.95881006e+02] [ 2.13643934e-01 8.37636118e-03 9.76875686e-01 1.05218940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.21, Y:295.86, Z:105.23 [[ 9.57453252e-01 2.04236075e-01 -2.03889421e-01 3.57207601e+02] [-1.98455008e-01 9.78902650e-01 4.86334344e-02 2.95861260e+02] [ 2.09520596e-01 -6.10136343e-03 9.77785198e-01 1.05227999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.24, Y:295.87, Z:105.22 [[ 9.58153918e-01 1.96943769e-01 -2.07735943e-01 3.57238721e+02] [-1.95467597e-01 9.80315524e-01 2.78189246e-02 2.95866527e+02] [ 2.09125534e-01 1.39508340e-02 9.77789285e-01 1.05224742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.27, Y:295.85, Z:105.23 [[ 9.57866658e-01 1.99261864e-01 -2.06848194e-01 3.57265585e+02] [-1.96265275e-01 9.79921602e-01 3.51225796e-02 2.95852792e+02] [ 2.09693604e-01 6.95436969e-03 9.77742414e-01 1.05232599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.29, Y:295.83, Z:105.25 [[ 9.57112379e-01 2.03716012e-01 -2.05999226e-01 3.57286180e+02] [-1.95828473e-01 9.78909433e-01 5.82025030e-02 2.95830677e+02] [ 2.13511368e-01 -1.53658222e-02 9.76819731e-01 1.05250641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.32, Y:295.83, Z:105.25 [[ 9.57280727e-01 1.99519674e-01 -2.09297658e-01 3.57315385e+02] [-1.95254638e-01 9.79892583e-01 4.10627945e-02 2.95832133e+02] [ 2.13282058e-01 1.55771669e-03 9.76989425e-01 1.05250330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.932755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:357.34, Y:295.82, Z:105.25 [[ 9.57510216e-01 1.98121872e-01 -2.09575547e-01 3.57340765e+02] [-1.93827733e-01 9.80176507e-01 4.10466280e-02 2.95821692e+02] [ 2.13553263e-01 1.31898757e-03 9.76930532e-01 1.05253624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.962755096 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:357.37, Y:295.81, Z:105.26 [[ 9.57596052e-01 1.97267294e-01 -2.09989085e-01 3.57367599e+02] [-1.92943018e-01 9.80349050e-01 4.10941903e-02 2.95813329e+02] [ 2.13969139e-01 1.16429343e-03 9.76839727e-01 1.05258777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.992755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:357.40, Y:295.81, Z:105.26 [[ 9.58433469e-01 1.92427343e-01 -2.10658501e-01 3.57398493e+02] [-1.91459035e-01 9.81177529e-01 2.51812180e-02 2.95813896e+02] [ 2.11538942e-01 1.61979513e-02 9.77235336e-01 1.05255532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.42, Y:295.79, Z:105.28 [[ 9.58165166e-01 1.96065888e-01 -2.08513028e-01 3.57418283e+02] [-1.89604678e-01 9.80548680e-01 5.07380765e-02 2.95789480e+02] [ 2.14405180e-01 -9.08041191e-03 9.76702598e-01 1.05275381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.052755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:357.44, Y:295.78, Z:105.28 [[ 9.58398986e-01 1.95051563e-01 -2.08389710e-01 3.57444326e+02] [-1.89584692e-01 9.80781882e-01 4.60927888e-02 2.95783981e+02] [ 2.13375322e-01 -4.66778317e-03 9.76959152e-01 1.05278487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.082755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.47, Y:295.78, Z:105.28 [[ 9.58474397e-01 1.91554499e-01 -2.11266905e-01 3.57472624e+02] [-1.87597161e-01 9.81478963e-01 3.88117364e-02 2.95776497e+02] [ 2.14788586e-01 2.43301607e-03 9.76657537e-01 1.05281787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.50, Y:295.76, Z:105.29 [[ 9.58551462e-01 1.92512025e-01 -2.10043363e-01 3.57497449e+02] [-1.87408410e-01 9.81290215e-01 4.41316550e-02 2.95764970e+02] [ 2.14609371e-01 -2.93856984e-03 9.76695542e-01 1.05289193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.142755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:357.52, Y:295.76, Z:105.29 [[ 9.58670429e-01 1.90426133e-01 -2.11397485e-01 3.57524683e+02] [-1.85953408e-01 9.81701527e-01 4.10297754e-02 2.95758738e+02] [ 2.15342375e-01 -2.39494768e-05 9.76538612e-01 1.05292958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1727550960001 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:357.55, Y:295.75, Z:105.30 [[ 9.58984193e-01 1.88844692e-01 -2.11392999e-01 3.57549461e+02] [-1.84348989e-01 9.82006917e-01 4.09617492e-02 2.95747876e+02] [ 2.15324796e-01 -3.11584415e-04 9.76542439e-01 1.05298820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.202755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:357.58, Y:295.74, Z:105.30 [[ 9.59175281e-01 1.89003659e-01 -2.10381550e-01 3.57575303e+02] [-1.84561698e-01 9.81976353e-01 4.07360110e-02 2.95742704e+02] [ 2.14288963e-01 -2.44598693e-04 9.76770280e-01 1.05304167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.60, Y:295.74, Z:105.31 [[ 9.58970985e-01 1.91527239e-01 -2.09026234e-01 3.57600579e+02] [-1.87208757e-01 9.81487237e-01 4.04436063e-02 2.95735962e+02] [ 2.12902633e-01 3.47296533e-04 9.77073359e-01 1.05311614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.63, Y:295.73, Z:105.32 [[ 9.58823457e-01 1.92186009e-01 -2.09098339e-01 3.57626746e+02] [-1.87890109e-01 9.81358368e-01 4.04111530e-02 2.95729963e+02] [ 2.12966863e-01 5.40348254e-04 9.77059273e-01 1.05318188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.65, Y:295.72, Z:105.32 [[ 9.58791657e-01 1.92715305e-01 -2.08756724e-01 3.57653549e+02] [-1.88460636e-01 9.81254445e-01 4.02778146e-02 2.95724084e+02] [ 2.12605615e-01 7.24392425e-04 9.77137824e-01 1.05324240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.68, Y:295.72, Z:105.33 [[ 9.58847382e-01 1.92424119e-01 -2.08769385e-01 3.57681083e+02] [-1.88176938e-01 9.81311586e-01 4.02120887e-02 2.95718985e+02] [ 2.12605592e-01 7.28327511e-04 9.77137827e-01 1.05330011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.352755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.71, Y:295.71, Z:105.34 [[ 9.58664804e-01 1.93978269e-01 -2.08168742e-01 3.57707348e+02] [-1.89805461e-01 9.81005173e-01 4.00342047e-02 2.95713989e+02] [ 2.11980379e-01 1.13218100e-03 9.77273266e-01 1.05335867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.73, Y:295.71, Z:105.34 [[ 9.58639800e-01 1.94709474e-01 -2.07600471e-01 3.57734334e+02] [-1.90583283e-01 9.80860069e-01 3.98940694e-02 2.95708850e+02] [ 2.11394766e-01 1.32113672e-03 9.77399871e-01 1.05341527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.76, Y:295.69, Z:105.35 [[ 9.59178003e-01 2.00950237e-01 -1.98988847e-01 3.57756166e+02] [-1.93149740e-01 9.79449273e-01 5.80715012e-02 2.95694312e+02] [ 2.06568963e-01 -1.72662624e-02 9.78279684e-01 1.05352970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.79, Y:295.71, Z:105.35 [[ 9.58422715e-01 1.92212603e-01 -2.10903329e-01 3.57793259e+02] [-1.92348651e-01 9.81121419e-01 2.00688388e-02 2.95710122e+02] [ 2.10779257e-01 2.13325399e-02 9.77300889e-01 1.05346124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.82, Y:295.70, Z:105.36 [[ 9.58459706e-01 1.95968922e-01 -2.07246651e-01 3.57816307e+02] [-1.91907194e-01 9.80608643e-01 3.97280498e-02 2.95695601e+02] [ 2.11013321e-01 1.69438849e-03 9.77481717e-01 1.05358410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.84, Y:295.69, Z:105.36 [[ 9.58640552e-01 1.94792117e-01 -2.07519452e-01 3.57841969e+02] [-1.90698662e-01 9.80843453e-01 3.97509808e-02 2.95691212e+02] [ 2.11287274e-01 1.46677966e-03 9.77422906e-01 1.05363887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:357.87, Y:295.69, Z:105.37 [[ 9.58788897e-01 1.93967088e-01 -2.07606889e-01 3.57868652e+02] [-1.89857414e-01 9.81007156e-01 3.97381821e-02 2.95685985e+02] [ 2.11371743e-01 1.31517943e-03 9.77404858e-01 1.05369465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:357.89, Y:295.68, Z:105.38 [[ 9.59375375e-01 1.92000795e-01 -2.06723451e-01 3.57894912e+02] [-1.86943960e-01 9.81388586e-01 4.39135326e-02 2.95678777e+02] [ 2.11307468e-01 -3.48386126e-03 9.77413432e-01 1.05376630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.592755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:357.92, Y:295.68, Z:105.38 [[ 9.59369268e-01 1.89286500e-01 -2.09239643e-01 3.57922737e+02] [-1.85922882e-01 9.81911393e-01 3.58147800e-02 2.95677714e+02] [ 2.12234044e-01 4.54283820e-03 9.77208306e-01 1.05379679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.622755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:357.95, Y:295.67, Z:105.39 [[ 9.59572547e-01 1.88821420e-01 -2.08727089e-01 3.57947722e+02] [-1.84578679e-01 9.82011385e-01 3.98038979e-02 2.95670490e+02] [ 2.12488206e-01 3.31842650e-04 9.77163575e-01 1.05386920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.652755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:357.98, Y:295.67, Z:105.39 [[ 9.59950811e-01 1.86442051e-01 -2.09126284e-01 3.57975045e+02] [-1.82133670e-01 9.82465946e-01 3.98496114e-02 2.95665483e+02] [ 2.12889096e-01 -1.64729006e-04 9.77076356e-01 1.05392420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.682755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:358.00, Y:295.66, Z:105.40 [[ 9.60040102e-01 1.85173586e-01 -2.09842192e-01 3.58001175e+02] [-1.80819191e-01 9.82705752e-01 3.99227311e-02 2.95660107e+02] [ 2.13605765e-01 -3.83927453e-04 9.76919869e-01 1.05398277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.712755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.03, Y:295.65, Z:105.40 [[ 9.60461868e-01 1.82140165e-01 -2.10565813e-01 3.58027364e+02] [-1.77689916e-01 9.83272036e-01 4.00299663e-02 2.95653043e+02] [ 2.14334540e-01 -1.03183471e-03 9.76759766e-01 1.05404755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.05, Y:295.65, Z:105.41 [[ 9.60757374e-01 1.80382772e-01 -2.10730455e-01 3.58053236e+02] [-1.75897363e-01 9.83595547e-01 3.99989777e-02 2.95647562e+02] [ 2.14488664e-01 -1.36238128e-03 9.76725528e-01 1.05410436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.772755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:358.08, Y:295.64, Z:105.42 [[ 9.61379905e-01 1.76608662e-01 -2.11087799e-01 3.58079348e+02] [-1.72024018e-01 9.84278734e-01 4.00388654e-02 2.95642373e+02] [ 2.14840442e-01 -2.18038929e-03 9.76646728e-01 1.05415693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.11, Y:295.64, Z:105.42 [[ 9.61736042e-01 1.74798969e-01 -2.10971814e-01 3.58105551e+02] [-1.70182454e-01 9.84600828e-01 3.99892763e-02 2.95636848e+02] [ 2.14713107e-01 -2.55542734e-03 9.76673821e-01 1.05421351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.13, Y:295.63, Z:105.43 [[ 9.62128572e-01 1.72920931e-01 -2.10729598e-01 3.58132297e+02] [-1.68277080e-01 9.84931317e-01 3.99139631e-02 2.95630770e+02] [ 2.14456140e-01 -2.94140294e-03 9.76729191e-01 1.05427996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.16, Y:295.62, Z:105.43 [[ 9.62520109e-01 1.71076606e-01 -2.10446752e-01 3.58159392e+02] [-1.66416240e-01 9.85252266e-01 3.97945645e-02 2.95624814e+02] [ 2.14151058e-01 -3.28131143e-03 9.76795044e-01 1.05434783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.18, Y:295.62, Z:105.44 [[ 9.63263721e-01 1.68856561e-01 -2.08831191e-01 3.58184706e+02] [-1.64230931e-01 9.85633767e-01 3.94243344e-02 2.95619031e+02] [ 2.12488131e-01 -3.67949006e-03 9.77156720e-01 1.05441258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.21, Y:295.61, Z:105.45 [[ 9.63560008e-01 1.68019361e-01 -2.08138427e-01 3.58211726e+02] [-1.63412110e-01 9.85776295e-01 3.92629547e-02 2.95613577e+02] [ 2.11774864e-01 -3.81987342e-03 9.77311013e-01 1.05447052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.24, Y:295.61, Z:105.45 [[ 9.64383467e-01 1.66789237e-01 -2.05294615e-01 3.58240488e+02] [-1.62852895e-01 9.85991674e-01 3.60465354e-02 2.95609169e+02] [ 2.08430955e-01 -1.32986035e-03 9.78036180e-01 1.05449750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.27, Y:295.60, Z:105.46 [[ 9.63543909e-01 1.69016139e-01 -2.07404631e-01 3.58265176e+02] [-1.63796032e-01 9.85590470e-01 4.22171233e-02 2.95601542e+02] [ 2.11551403e-01 -6.70599653e-03 9.77343867e-01 1.05459302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.012755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:358.29, Y:295.60, Z:105.46 [[ 9.63262407e-01 1.69144915e-01 -2.08603769e-01 3.58292658e+02] [-1.64577870e-01 9.85585265e-01 3.91894191e-02 2.95598663e+02] [ 2.12225492e-01 -3.41813023e-03 9.77214745e-01 1.05463419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0427550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:358.32, Y:295.59, Z:105.47 [[ 9.62807755e-01 1.71786081e-01 -2.08544405e-01 3.58318782e+02] [-1.67296719e-01 9.85130379e-01 3.91144909e-02 2.95593753e+02] [ 2.12162754e-01 -2.77094037e-03 9.77230417e-01 1.05468891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.072755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:358.35, Y:295.59, Z:105.47 [[ 9.62654081e-01 1.73216632e-01 -2.08069987e-01 3.58345406e+02] [-1.68787077e-01 9.84880772e-01 3.89972753e-02 2.95589282e+02] [ 2.11679106e-01 -2.42136138e-03 9.77336223e-01 1.05474148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.102755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.37, Y:295.59, Z:105.48 [[ 9.61878293e-01 1.76815768e-01 -2.08629656e-01 3.58372136e+02] [-1.72451759e-01 9.84242656e-01 3.90741056e-02 2.95586025e+02] [ 2.12251125e-01 -1.60598276e-03 9.77213836e-01 1.05479694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.40, Y:295.58, Z:105.48 [[ 9.61187037e-01 1.76867720e-01 -2.11748173e-01 3.58401175e+02] [-1.73626470e-01 9.84225982e-01 3.39568125e-02 2.95584552e+02] [ 2.14413918e-01 4.12623985e-03 9.76734174e-01 1.05483714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.43, Y:295.57, Z:105.49 [[ 9.61110968e-01 1.81313293e-01 -2.08305537e-01 3.58426035e+02] [-1.75828392e-01 9.83404902e-01 4.47121332e-02 2.95573796e+02] [ 2.12955590e-01 -6.34729400e-03 9.77041262e-01 1.05493167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.192755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:358.45, Y:295.57, Z:105.50 [[ 9.60486396e-01 1.83715581e-01 -2.09080051e-01 3.58453944e+02] [-1.79521065e-01 9.82979442e-01 3.90333710e-02 2.95571296e+02] [ 2.12692430e-01 4.32515268e-05 9.77119199e-01 1.05497672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.48, Y:295.57, Z:105.50 [[ 9.60320963e-01 1.85187064e-01 -2.08541120e-01 3.58479984e+02] [-1.81063524e-01 9.82703190e-01 3.88643780e-02 2.95566741e+02] [ 2.12131204e-01 4.36913201e-04 9.77241097e-01 1.05503507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.252755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:358.51, Y:295.56, Z:105.51 [[ 9.59662206e-01 1.86531404e-01 -2.10367502e-01 3.58506272e+02] [-1.82373716e-01 9.82448694e-01 3.91713138e-02 2.95561935e+02] [ 2.13981957e-01 7.74273652e-04 9.76837306e-01 1.05511379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.53, Y:295.56, Z:105.51 [[ 9.59988642e-01 1.87191976e-01 -2.08280993e-01 3.58534891e+02] [-1.84136331e-01 9.82307528e-01 3.41428188e-02 2.95560829e+02] [ 2.10987250e-01 5.57537980e-03 9.77472913e-01 1.05513967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.312755096 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:358.56, Y:295.55, Z:105.52 [[ 9.60042942e-01 1.90254086e-01 -2.05233850e-01 3.58560137e+02] [-1.85233890e-01 9.81727423e-01 4.35852330e-02 2.95550981e+02] [ 2.09775967e-01 -3.82743095e-03 9.77741988e-01 1.05519590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:358.59, Y:295.55, Z:105.53 [[ 9.59991976e-01 1.89784498e-01 -2.05905925e-01 3.58586904e+02] [-1.85897694e-01 9.81824527e-01 3.82445553e-02 2.95548173e+02] [ 2.09421711e-01 1.56297044e-03 9.77824168e-01 1.05527833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.61, Y:295.54, Z:105.53 [[ 9.60140631e-01 1.89380082e-01 -2.05584906e-01 3.58612734e+02] [-1.85510918e-01 9.81902648e-01 3.81167793e-02 2.95543156e+02] [ 2.09082922e-01 1.54077613e-03 9.77896701e-01 1.05533358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.64, Y:295.54, Z:105.54 [[ 9.60196023e-01 1.88928509e-01 -2.05741625e-01 3.58639449e+02] [-1.85053335e-01 9.81989712e-01 3.80981508e-02 2.95538363e+02] [ 2.09233986e-01 1.49148105e-03 9.77864466e-01 1.05539152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.67, Y:295.53, Z:105.54 [[ 9.60185453e-01 1.88291465e-01 -2.06373984e-01 3.58665839e+02] [-1.84392191e-01 9.82112159e-01 3.81474319e-02 2.95534003e+02] [ 2.09865235e-01 1.42514187e-03 9.77729284e-01 1.05544322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.462755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:358.69, Y:295.53, Z:105.55 [[ 9.60477967e-01 1.87398116e-01 -2.05825222e-01 3.58693940e+02] [-1.83506147e-01 9.82283240e-01 3.80148619e-02 2.95529046e+02] [ 2.09302579e-01 1.25775615e-03 9.77850116e-01 1.05547364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.72, Y:295.52, Z:105.56 [[ 9.60807947e-01 1.85528941e-01 -2.05978398e-01 3.58718916e+02] [-1.81603057e-01 9.82638371e-01 3.79758074e-02 2.95523601e+02] [ 2.09447889e-01 9.18849133e-04 9.77819379e-01 1.05555546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.75, Y:295.52, Z:105.56 [[ 9.61223566e-01 1.83370252e-01 -2.05972347e-01 3.58745443e+02] [-1.79402259e-01 9.83043804e-01 3.79434971e-02 2.95518211e+02] [ 2.09437548e-01 4.79720733e-04 9.77821908e-01 1.05561360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.552755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:358.77, Y:295.51, Z:105.56 [[ 9.61604730e-01 1.79878788e-01 -2.07267857e-01 3.58774448e+02] [-1.76536065e-01 9.83683408e-01 3.46694566e-02 2.95514138e+02] [ 2.10122251e-01 3.25193833e-03 9.77669711e-01 1.05563405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.582755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:358.80, Y:295.50, Z:105.57 [[ 9.62530898e-01 1.76341875e-01 -2.06004402e-01 3.58798185e+02] [-1.71465649e-01 9.84318425e-01 4.14339273e-02 2.95503208e+02] [ 2.10080465e-01 -4.55875678e-03 9.77673471e-01 1.05574723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.83, Y:295.50, Z:105.58 [[ 9.63091841e-01 1.72398139e-01 -2.06719585e-01 3.58825272e+02] [-1.68184742e-01 9.85025787e-01 3.79221901e-02 2.95499185e+02] [ 2.10161837e-01 -1.75547191e-03 9.77665035e-01 1.05579042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.85, Y:295.49, Z:105.59 [[ 9.64060776e-01 1.67191758e-01 -2.06479385e-01 3.58852131e+02] [-1.62884840e-01 9.85920369e-01 3.78094593e-02 2.95492151e+02] [ 2.09893661e-01 -2.81825510e-03 9.77720159e-01 1.05585276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.88, Y:295.49, Z:105.59 [[ 9.64244863e-01 1.62909349e-01 -2.09027243e-01 3.58880094e+02] [-1.59905266e-01 9.86635736e-01 3.13086191e-02 2.95490216e+02] [ 2.11334215e-01 3.23538178e-03 9.77408503e-01 1.05588501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.90, Y:295.48, Z:105.60 [[ 9.65013407e-01 1.64136632e-01 -2.04470757e-01 3.58904249e+02] [-1.58321843e-01 9.86379985e-01 4.45950714e-02 2.95477682e+02] [ 2.09005547e-01 -1.06626547e-02 9.77856323e-01 1.05599113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.732755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:358.94, Y:295.49, Z:105.59 [[ 9.66542771e-01 1.55194078e-01 -2.04229945e-01 3.58937423e+02] [-1.54744391e-01 9.87785584e-01 1.82705854e-02 2.95487206e+02] [ 2.04570882e-01 1.39441362e-02 9.78752428e-01 1.05588444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.96, Y:295.46, Z:105.62 [[ 9.65977922e-01 1.63157095e-01 -2.00664936e-01 3.58956679e+02] [-1.55148756e-01 9.86352344e-01 5.51173045e-02 2.95462137e+02] [ 2.06919109e-01 -2.21091841e-02 9.78108208e-01 1.05615526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:358.99, Y:295.46, Z:105.62 [[ 9.65837343e-01 1.58576228e-01 -2.04967820e-01 3.58986515e+02] [-1.54197087e-01 9.87336978e-01 3.72686269e-02 2.95464322e+02] [ 2.08282227e-01 -4.38999074e-03 9.78058915e-01 1.05615128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.01, Y:295.46, Z:105.62 [[ 9.65686920e-01 1.58289349e-01 -2.05896223e-01 3.59013518e+02] [-1.53877991e-01 9.87382947e-01 3.73695093e-02 2.95459039e+02] [ 2.09213615e-01 -4.40434913e-03 9.77860044e-01 1.05621110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.04, Y:295.46, Z:105.63 [[ 9.65389621e-01 1.59000076e-01 -2.06741036e-01 3.59041260e+02] [-1.54582590e-01 9.87269636e-01 3.74551650e-02 2.95455114e+02] [ 2.10064522e-01 -4.20026279e-03 9.77678503e-01 1.05626412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.882755096 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:359.07, Y:295.45, Z:105.63 [[ 9.65459484e-01 1.59490171e-01 -2.06036088e-01 3.59069645e+02] [-1.55128589e-01 9.87191368e-01 3.72602285e-02 2.95451300e+02] [ 2.09339688e-01 -4.01115327e-03 9.77834754e-01 1.05628081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.10, Y:295.46, Z:105.63 [[ 9.65474923e-01 1.57646542e-01 -2.07378257e-01 3.59101299e+02] [-1.56550755e-01 9.87429494e-01 2.17911815e-02 2.95455177e+02] [ 2.08206711e-01 1.14263833e-02 9.78018100e-01 1.05625484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.12, Y:295.44, Z:105.65 [[ 9.64705036e-01 1.65934837e-01 -2.04474505e-01 3.59121082e+02] [-1.58412925e-01 9.85963420e-01 5.27397400e-02 2.95435343e+02] [ 2.10355742e-01 -1.84868883e-02 9.77450099e-01 1.05648755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.15, Y:295.44, Z:105.65 [[ 9.64040041e-01 1.66249980e-01 -2.07334857e-01 3.59150937e+02] [-1.62015869e-01 9.86080657e-01 3.73603541e-02 2.95439550e+02] [ 2.10660050e-01 -2.42534011e-03 9.77556372e-01 1.05648430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.002755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:359.18, Y:295.44, Z:105.65 [[ 9.63756685e-01 1.69292309e-01 -2.06187211e-01 3.59178606e+02] [-1.65188836e-01 9.85564450e-01 3.70858926e-02 2.95435622e+02] [ 2.09489142e-01 -1.68195155e-03 9.77809527e-01 1.05651175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.21, Y:295.43, Z:105.66 [[ 9.63231888e-01 1.71283046e-01 -2.06993834e-01 3.59205340e+02] [-1.67207404e-01 9.85221151e-01 3.71613765e-02 2.95430995e+02] [ 2.10299817e-01 -1.18412107e-03 9.77636223e-01 1.05660272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.23, Y:295.43, Z:105.67 [[ 9.63140270e-01 1.72387205e-01 -2.06502961e-01 3.59232906e+02] [-1.68371084e-01 9.85028880e-01 3.70038463e-02 2.95427275e+02] [ 2.09790370e-01 -8.70767073e-04 9.77746001e-01 1.05665617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.092755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:359.26, Y:295.42, Z:105.67 [[ 9.63048628e-01 1.73587388e-01 -2.05924157e-01 3.59259990e+02] [-1.69635886e-01 9.84818323e-01 3.68311952e-02 2.95423708e+02] [ 2.09191314e-01 -5.38105262e-04 9.77874585e-01 1.05670962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.29, Y:295.42, Z:105.68 [[ 9.63091169e-01 1.74829456e-01 -2.04670619e-01 3.59287321e+02] [-1.70968613e-01 9.84598711e-01 3.65391795e-02 2.95419936e+02] [ 2.07906552e-01 -1.98309381e-04 9.78148673e-01 1.05676805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.31, Y:295.42, Z:105.68 [[ 9.63138160e-01 1.74970337e-01 -2.04328818e-01 3.59313145e+02] [-1.71140056e-01 9.84573700e-01 3.64102971e-02 2.95415480e+02] [ 2.07547502e-01 -9.93011164e-05 9.78224936e-01 1.05682470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.182755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:359.34, Y:295.41, Z:105.69 [[ 9.63394296e-01 1.74650389e-01 -2.03392903e-01 3.59340293e+02] [-1.70854865e-01 9.84630501e-01 3.62131491e-02 2.95410470e+02] [ 2.06591496e-01 -1.36874208e-04 9.78427276e-01 1.05688656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.212755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:359.37, Y:295.41, Z:105.69 [[ 9.63446135e-01 1.74350558e-01 -2.03404592e-01 3.59367905e+02] [-1.70562310e-01 9.84683637e-01 3.61473772e-02 2.95405761e+02] [ 2.06591489e-01 -1.32893709e-04 9.78427278e-01 1.05694417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.242755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:359.40, Y:295.40, Z:105.70 [[ 9.63587029e-01 1.73452351e-01 -2.03505087e-01 3.59395326e+02] [-1.69653992e-01 9.84842228e-01 3.61013766e-02 2.95400720e+02] [ 2.06682272e-01 -2.61367870e-04 9.78408080e-01 1.05700761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.272755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:359.42, Y:295.40, Z:105.71 [[ 9.63889580e-01 1.72129617e-01 -2.03195159e-01 3.59422216e+02] [-1.68328100e-01 9.85074194e-01 3.59789204e-02 2.95396224e+02] [ 2.06355345e-01 -4.76251524e-04 9.78477003e-01 1.05706494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.302755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:359.45, Y:295.39, Z:105.71 [[ 9.64292155e-01 1.70445928e-01 -2.02703786e-01 3.59448745e+02] [-1.66640126e-01 9.85366732e-01 3.58255827e-02 2.95391653e+02] [ 2.05843892e-01 -7.67743993e-04 9.78584541e-01 1.05711953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.332755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:359.48, Y:295.39, Z:105.72 [[ 9.64685779e-01 1.68549632e-01 -2.02416326e-01 3.59476141e+02] [-1.64719640e-01 9.85692508e-01 3.57452161e-02 2.95387667e+02] [ 2.05545099e-01 -1.14095728e-03 9.78646979e-01 1.05715120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.362755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:359.50, Y:295.40, Z:105.71 [[ 9.66338091e-01 1.59425219e-01 -2.01926454e-01 3.59502944e+02] [-1.58942462e-01 9.87110535e-01 1.87105673e-02 2.95396435e+02] [ 2.02306666e-01 1.40139537e-02 9.79221947e-01 1.05710078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.53, Y:295.37, Z:105.74 [[ 9.65310956e-01 1.66806891e-01 -2.00873641e-01 3.59527059e+02] [-1.60111689e-01 9.85869690e-01 4.92463324e-02 2.95370292e+02] [ 2.06249862e-01 -1.53758063e-02 9.78378546e-01 1.05735101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.56, Y:295.37, Z:105.74 [[ 9.65651870e-01 1.61748765e-01 -2.03356345e-01 3.59555836e+02] [-1.57748801e-01 9.86828732e-01 3.58380973e-02 2.95372143e+02] [ 2.06474652e-01 -2.52790617e-03 9.78448684e-01 1.05735172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.59, Y:295.38, Z:105.74 [[ 9.65147412e-01 1.55016346e-01 -2.10856365e-01 3.59586184e+02] [-1.54230354e-01 9.87826948e-01 2.02711290e-02 2.95375606e+02] [ 2.11431956e-01 1.29558243e-02 9.77306848e-01 1.05736625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.61, Y:295.35, Z:105.75 [[ 9.66920737e-01 1.56920870e-01 -2.01097315e-01 3.59607222e+02] [-1.49332403e-01 9.87394281e-01 5.24630186e-02 2.95353862e+02] [ 2.06794881e-01 -2.06972354e-02 9.78165375e-01 1.05753380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.64, Y:295.36, Z:105.75 [[ 9.67315911e-01 1.50553254e-01 -2.04043245e-01 3.59636919e+02] [-1.46314954e-01 9.88590414e-01 3.57900605e-02 2.95358029e+02] [ 2.07103506e-01 -4.76571691e-03 9.78307429e-01 1.05752889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.66, Y:295.37, Z:105.75 [[ 9.68647996e-01 1.41433484e-01 -2.04248940e-01 3.59664200e+02] [-1.40876803e-01 9.89875287e-01 1.73390236e-02 2.95366080e+02] [ 2.04633297e-01 1.19785273e-02 9.78765411e-01 1.05745453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.69, Y:295.36, Z:105.75 [[ 9.68499603e-01 1.41940494e-01 -2.04600626e-01 3.59688973e+02] [-1.39781645e-01 9.89865650e-01 2.50417169e-02 2.95357357e+02] [ 2.06081566e-01 4.34651930e-03 9.78525164e-01 1.05754220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.72, Y:295.36, Z:105.76 [[ 9.68464899e-01 1.37708564e-01 -2.07634513e-01 3.59717708e+02] [-1.36938044e-01 9.90413310e-01 1.81506707e-02 2.95357985e+02] [ 2.08143488e-01 1.08547766e-02 9.78038068e-01 1.05757999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.632755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:359.74, Y:295.34, Z:105.77 [[ 9.69974942e-01 1.45354936e-01 -1.94988603e-01 3.59737860e+02] [-1.37356612e-01 9.89048280e-01 5.40061213e-02 2.95335030e+02] [ 2.00703199e-01 -2.56016104e-02 9.79317509e-01 1.05774933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.77, Y:295.33, Z:105.79 [[ 9.69557168e-01 1.43821586e-01 -1.98177318e-01 3.59769240e+02] [-1.36531309e-01 9.89370813e-01 5.00459434e-02 2.95330470e+02] [ 2.03268541e-01 -2.14649946e-02 9.78887713e-01 1.05786641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.80, Y:295.35, Z:105.77 [[ 9.69468569e-01 1.37471599e-01 -2.03057266e-01 3.59802028e+02] [-1.38722233e-01 9.90297952e-01 8.13070140e-03 2.95349861e+02] [ 2.02204936e-01 2.02860980e-02 9.79133106e-01 1.05768622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.83, Y:295.32, Z:105.80 [[ 9.68861306e-01 1.48275037e-01 -1.98298472e-01 3.59825119e+02] [-1.40462996e-01 9.88667502e-01 5.29784634e-02 2.95320862e+02] [ 2.03906639e-01 -2.34751857e-02 9.78708843e-01 1.05796482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.86, Y:295.33, Z:105.80 [[ 9.69012960e-01 1.45489907e-01 -1.99616057e-01 3.59856539e+02] [-1.40987448e-01 9.89332160e-01 3.66662854e-02 2.95326433e+02] [ 2.02821160e-01 -7.38674724e-03 9.79187936e-01 1.05797361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.89, Y:295.32, Z:105.81 [[ 9.68925464e-01 1.46641514e-01 -1.99197672e-01 3.59885871e+02] [-1.41582748e-01 9.89138580e-01 3.94866533e-02 2.95321360e+02] [ 2.02824485e-01 -1.00566701e-02 9.79163465e-01 1.05805356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.91, Y:295.32, Z:105.81 [[ 9.69047251e-01 1.46437654e-01 -1.98754722e-01 3.59912568e+02] [-1.42633383e-01 9.89211726e-01 3.34047755e-02 2.95321885e+02] [ 2.01502218e-01 -4.02174746e-03 9.79479802e-01 1.05807090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.94, Y:295.32, Z:105.82 [[ 9.69649231e-01 1.45841883e-01 -1.96240962e-01 3.59937880e+02] [-1.41054074e-01 9.89263322e-01 3.82338721e-02 2.95319715e+02] [ 1.99710085e-01 -9.39285763e-03 9.79810010e-01 1.05815806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.97, Y:295.32, Z:105.82 [[ 9.69964106e-01 1.44156056e-01 -1.95930256e-01 3.59966032e+02] [-1.40221849e-01 9.89540295e-01 3.38797396e-02 2.95317975e+02] [ 1.98764853e-01 -5.38842857e-03 9.80032397e-01 1.05819919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.99, Y:295.31, Z:105.83 [[ 9.70671880e-01 1.42261502e-01 -1.93798261e-01 3.59992271e+02] [-1.38389179e-01 9.89813009e-01 3.34461237e-02 2.95314458e+02] [ 1.96582135e-01 -5.64562955e-03 9.80471107e-01 1.05825387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.02, Y:295.31, Z:105.83 [[ 9.71097559e-01 1.40463188e-01 -1.92975709e-01 3.60019408e+02] [-1.36594306e-01 9.90067986e-01 3.32772896e-02 2.95311083e+02] [ 1.95733306e-01 -5.95611166e-03 9.80639076e-01 1.05830522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.962755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:360.05, Y:295.31, Z:105.83 [[ 9.71725652e-01 1.36725615e-01 -1.92497698e-01 3.60047262e+02] [-1.32815974e-01 9.90586779e-01 3.31323302e-02 2.95308781e+02] [ 1.95215713e-01 -6.62876591e-03 9.80737929e-01 1.05832371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.07, Y:295.31, Z:105.84 [[ 9.72155674e-01 1.35119365e-01 -1.91457836e-01 3.60074661e+02] [-1.31233816e-01 9.90805650e-01 3.28914793e-02 2.95305351e+02] [ 1.94141781e-01 -6.84989586e-03 9.80949564e-01 1.05839167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.10, Y:295.30, Z:105.84 [[ 9.72455847e-01 1.33322674e-01 -1.91192812e-01 3.60102265e+02] [-1.29426194e-01 9.91047006e-01 3.27824986e-02 2.95301452e+02] [ 1.93851714e-01 -7.13417458e-03 9.81004901e-01 1.05844219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.14, Y:295.28, Z:105.85 [[ 9.71569387e-01 1.37585232e-01 -1.92673896e-01 3.60135449e+02] [-1.31965545e-01 9.90374032e-01 4.17656863e-02 2.95284397e+02] [ 1.96565565e-01 -1.51519465e-02 9.80373601e-01 1.05854774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.16, Y:295.29, Z:105.85 [[ 9.70781736e-01 1.33957916e-01 -1.99093189e-01 3.60161323e+02] [-1.32376812e-01 9.90970720e-01 2.12934526e-02 2.95290944e+02] [ 2.00147947e-01 5.68402668e-03 9.79749198e-01 1.05851271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.112755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:360.18, Y:295.30, Z:105.85 [[ 9.71948712e-01 1.26035236e-01 -1.98571955e-01 3.60183677e+02] [-1.24951906e-01 9.91998987e-01 1.80286407e-02 2.95297574e+02] [ 1.99255423e-01 7.28903017e-03 9.79920480e-01 1.05853317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.142755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.21, Y:295.29, Z:105.86 [[ 9.71704204e-01 1.25349785e-01 -2.00195834e-01 3.60210550e+02] [-1.23305161e-01 9.92109132e-01 2.27003891e-02 2.95291143e+02] [ 2.01461604e-01 2.62711597e-03 9.79492889e-01 1.05860347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.24, Y:295.26, Z:105.88 [[ 9.70787647e-01 1.37486485e-01 -1.96643870e-01 3.60240464e+02] [-1.29529984e-01 9.90167198e-01 5.28290036e-02 2.95260196e+02] [ 2.01973584e-01 -2.58144668e-02 9.79050706e-01 1.05881081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.27, Y:295.27, Z:105.88 [[ 9.70956683e-01 1.31375767e-01 -1.99958816e-01 3.60271260e+02] [-1.27348863e-01 9.91311292e-01 3.29270422e-02 2.95266961e+02] [ 2.02547248e-01 -6.50620387e-03 9.79250878e-01 1.05878751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.232755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:360.30, Y:295.26, Z:105.89 [[ 9.72747731e-01 1.28680767e-01 -1.92881083e-01 3.60303178e+02] [-1.21942792e-01 9.91449246e-01 4.64580335e-02 2.95256027e+02] [ 1.97210060e-01 -2.16714889e-02 9.80121696e-01 1.05888543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.32, Y:295.26, Z:105.89 [[ 9.73603942e-01 1.23942962e-01 -1.91659873e-01 3.60322795e+02] [-1.18792663e-01 9.92184808e-01 3.81786730e-02 2.95264922e+02] [ 1.94893992e-01 -1.44031198e-02 9.80718554e-01 1.05888797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.36, Y:295.27, Z:105.88 [[ 9.70812747e-01 1.25668077e-01 -2.04279576e-01 3.60357498e+02] [-1.26122422e-01 9.91955378e-01 1.08472377e-02 2.95268511e+02] [ 2.03999375e-01 1.52335983e-02 9.78852488e-01 1.05884152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.38, Y:295.25, Z:105.90 [[ 9.70707956e-01 1.31164748e-01 -2.01300457e-01 3.60380985e+02] [-1.26969235e-01 9.91334969e-01 3.36718306e-02 2.95251669e+02] [ 2.03972740e-01 -7.12654880e-03 9.78950629e-01 1.05898243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.41, Y:295.24, Z:105.91 [[ 9.72958018e-01 1.29472267e-01 -1.91284156e-01 3.60413892e+02] [-1.22251596e-01 9.91282367e-01 4.91305996e-02 2.95240599e+02] [ 1.95977661e-01 -2.44172175e-02 9.80304318e-01 1.05908208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.382755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.44, Y:295.25, Z:105.91 [[ 9.70586756e-01 1.31915106e-01 -2.01394523e-01 3.60439454e+02] [-1.28746323e-01 9.91258928e-01 2.88118552e-02 2.95246595e+02] [ 2.03434838e-01 -2.03560062e-03 9.79086372e-01 1.05908790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.47, Y:295.24, Z:105.91 [[ 9.71021439e-01 1.33251167e-01 -1.98397305e-01 3.60465317e+02] [-1.29053967e-01 9.91054611e-01 3.39975141e-02 2.95241133e+02] [ 2.01152773e-01 -7.40835587e-03 9.79531867e-01 1.05914513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.442755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.50, Y:295.22, Z:105.93 [[ 9.71824213e-01 1.40105184e-01 -1.89547452e-01 3.60500065e+02] [-1.30395948e-01 9.89469656e-01 6.28227364e-02 2.95219588e+02] [ 1.96353243e-01 -3.63364368e-02 9.79859718e-01 1.05931370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.472755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:360.52, Y:295.24, Z:105.92 [[ 9.70276950e-01 1.33543785e-01 -2.01813521e-01 3.60524301e+02] [-1.32708723e-01 9.90996572e-01 1.77253608e-02 2.95242507e+02] [ 2.02363619e-01 9.58390564e-03 9.79263557e-01 1.05920322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.502755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:360.55, Y:295.22, Z:105.94 [[ 9.71346957e-01 1.38632920e-01 -1.93044042e-01 3.60552501e+02] [-1.31779246e-01 9.90117915e-01 4.79660884e-02 2.95222290e+02] [ 1.97786043e-01 -2.11525157e-02 9.80016965e-01 1.05938722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.58, Y:295.23, Z:105.94 [[ 9.69760008e-01 1.39148352e-01 -2.00507516e-01 3.60580932e+02] [-1.36056675e-01 9.90271017e-01 2.91872263e-02 2.95229662e+02] [ 2.02618136e-01 -1.02421887e-03 9.79257291e-01 1.05938545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.61, Y:295.22, Z:105.95 [[ 9.69628902e-01 1.43221387e-01 -1.98261006e-01 3.60606550e+02] [-1.38030535e-01 9.89626654e-01 3.98328764e-02 2.95220015e+02] [ 2.01909296e-01 -1.12570355e-02 9.79339530e-01 1.05946150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.63, Y:295.21, Z:105.96 [[ 9.68829833e-01 1.45401606e-01 -2.00567017e-01 3.60632297e+02] [-1.39890190e-01 9.89298579e-01 4.14615153e-02 2.95214629e+02] [ 2.04449236e-01 -1.21117948e-02 9.78802235e-01 1.05956175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.66, Y:295.21, Z:105.96 [[ 9.70424098e-01 1.42017422e-01 -1.95213017e-01 3.60663959e+02] [-1.35998776e-01 9.89732934e-01 4.39664848e-02 2.95210160e+02] [ 1.99452759e-01 -1.61174050e-02 9.79774886e-01 1.05961320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.652755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:360.69, Y:295.21, Z:105.96 [[ 9.70284890e-01 1.41724790e-01 -1.96115568e-01 3.60691291e+02] [-1.37009451e-01 9.89860584e-01 3.74757783e-02 2.95209880e+02] [ 1.99438318e-01 -9.49249516e-03 9.79864404e-01 1.05964558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.72, Y:295.21, Z:105.97 [[ 9.69325946e-01 1.41292146e-01 -2.01106292e-01 3.60717497e+02] [-1.37720117e-01 9.89963254e-01 3.17163125e-02 2.95208452e+02] [ 2.03569105e-01 -3.04706257e-03 9.79055839e-01 1.05969141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.74, Y:295.20, Z:105.98 [[ 9.70337767e-01 1.42012643e-01 -1.95645158e-01 3.60743562e+02] [-1.35668181e-01 9.89707772e-01 4.55265891e-02 2.95197847e+02] [ 2.00096885e-01 -1.76333461e-02 9.79617426e-01 1.05979746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.77, Y:295.20, Z:105.98 [[ 9.70702138e-01 1.38119819e-01 -1.96622162e-01 3.60772591e+02] [-1.33920459e-01 9.90389232e-01 3.45612412e-02 2.95198991e+02] [ 1.99506065e-01 -7.21694057e-03 9.79870015e-01 1.05980910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:360.81, Y:295.21, Z:105.98 [[ 9.69623597e-01 1.26391790e-01 -2.09416322e-01 3.60806870e+02] [-1.28660273e-01 9.91684743e-01 2.81149610e-03 2.95211520e+02] [ 2.08030322e-01 2.42174682e-02 9.77822530e-01 1.05976617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.82, Y:295.18, Z:106.00 [[ 9.72003746e-01 1.38388958e-01 -1.89887371e-01 3.60821332e+02] [-1.28726744e-01 9.89716919e-01 6.23686300e-02 2.95176220e+02] [ 1.96565874e-01 -3.61789589e-02 9.79822913e-01 1.06000048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.85, Y:295.19, Z:105.99 [[ 9.72353195e-01 1.29548097e-01 -1.94284725e-01 3.60852770e+02] [-1.25597300e-01 9.91546497e-01 3.25708840e-02 2.95187691e+02] [ 1.96861834e-01 -7.26876630e-03 9.80404296e-01 1.05993502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.862755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:360.88, Y:295.19, Z:105.99 [[ 9.72173258e-01 1.22705258e-01 -1.99555949e-01 3.60881344e+02] [-1.20928996e-01 9.92436604e-01 2.11131445e-02 2.95193420e+02] [ 2.00637322e-01 3.60646613e-03 9.79658950e-01 1.05992501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.91, Y:295.17, Z:106.01 [[ 9.73789723e-01 1.25063668e-01 -1.89980670e-01 3.60909811e+02] [-1.19071576e-01 9.91967911e-01 4.26804879e-02 2.95174969e+02] [ 1.93792507e-01 -1.89405226e-02 9.80859685e-01 1.06006814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.93, Y:295.17, Z:106.01 [[ 9.72911108e-01 1.27030819e-01 -1.93150584e-01 3.60931811e+02] [-1.22426176e-01 9.91837451e-01 3.56412966e-02 2.95173954e+02] [ 1.96101526e-01 -1.10291260e-02 9.80521570e-01 1.06007970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:360.97, Y:295.18, Z:106.01 [[ 9.71808932e-01 1.18323452e-01 -2.03928813e-01 3.60970173e+02] [-1.19150046e-01 9.92841862e-01 8.26463560e-03 2.95184612e+02] [ 2.03446963e-01 1.62664809e-02 9.78950834e-01 1.06006721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.982755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:360.99, Y:295.16, Z:106.03 [[ 9.72031002e-01 1.29322366e-01 -1.96039427e-01 3.60993099e+02] [-1.21111488e-01 9.91203666e-01 5.33600939e-02 2.95155175e+02] [ 2.01215652e-01 -2.81250389e-02 9.79143117e-01 1.06029234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.012755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:361.02, Y:295.17, Z:106.02 [[ 9.71452888e-01 1.23383104e-01 -2.02622544e-01 3.61019722e+02] [-1.21535852e-01 9.92352367e-01 2.15827988e-02 2.95168907e+02] [ 2.03735914e-01 3.65923114e-03 9.79019044e-01 1.06020497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0427550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:361.06, Y:295.16, Z:106.03 [[ 9.71824347e-01 1.21123802e-01 -2.02204014e-01 3.61055267e+02] [-1.18485994e-01 9.92637293e-01 2.51450491e-02 2.95162779e+02] [ 2.03760909e-01 -4.78227365e-04 9.79020563e-01 1.06028937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.072755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:361.08, Y:295.16, Z:106.04 [[ 9.71605426e-01 1.23954267e-01 -2.01539665e-01 3.61081635e+02] [-1.19828833e-01 9.92259469e-01 3.25913572e-02 2.95155365e+02] [ 2.04019479e-01 -7.51567666e-03 9.78937979e-01 1.06036616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.102755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:361.11, Y:295.15, Z:106.04 [[ 9.71611197e-01 1.23803097e-01 -2.01604748e-01 3.61109256e+02] [-1.19205321e-01 9.92258250e-01 3.48375671e-02 2.95150293e+02] [ 2.04356973e-01 -9.81621145e-03 9.78847215e-01 1.06043723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.14, Y:295.14, Z:106.06 [[ 9.72654289e-01 1.25608119e-01 -1.95361804e-01 3.61137669e+02] [-1.17765823e-01 9.91715439e-01 5.13000892e-02 2.95136939e+02] [ 2.00187025e-01 -2.68903081e-02 9.79388619e-01 1.06056988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.16, Y:295.14, Z:106.06 [[ 9.71313075e-01 1.27814613e-01 -2.00535121e-01 3.61162930e+02] [-1.22626638e-01 9.91719928e-01 3.81351729e-02 2.95138438e+02] [ 2.03748908e-01 -1.24502443e-02 9.78944010e-01 1.06059803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.19, Y:295.14, Z:106.06 [[ 9.71104729e-01 1.25136947e-01 -2.03215033e-01 3.61190177e+02] [-1.20643872e-01 9.92099659e-01 3.43994664e-02 2.95139343e+02] [ 2.05914209e-01 -8.88883617e-03 9.78529676e-01 1.06061336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.222755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:361.22, Y:295.12, Z:106.07 [[ 9.71889816e-01 1.30008981e-01 -1.96285124e-01 3.61219272e+02] [-1.22250942e-01 9.91178287e-01 5.11889713e-02 2.95122076e+02] [ 2.01208579e-01 -2.57539986e-02 9.79209804e-01 1.06074827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.252755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:361.24, Y:295.14, Z:106.07 [[ 9.71527080e-01 1.24773984e-01 -2.01411482e-01 3.61240778e+02] [-1.22861751e-01 9.92179519e-01 2.20179770e-02 2.95139982e+02] [ 2.02583618e-01 3.35470645e-03 9.79259222e-01 1.06071341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.27, Y:295.13, Z:106.08 [[ 9.71606176e-01 1.26710060e-01 -1.99814912e-01 3.61265570e+02] [-1.23154164e-01 9.91928601e-01 3.01778579e-02 2.95131901e+02] [ 2.02025965e-01 -4.71295456e-03 9.79368826e-01 1.06079527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.30, Y:295.12, Z:106.09 [[ 9.70692941e-01 1.33333306e-01 -1.99943602e-01 3.61296828e+02] [-1.27570708e-01 9.90961196e-01 4.14924350e-02 2.95115046e+02] [ 2.03668674e-01 -1.47694668e-02 9.78928462e-01 1.06092984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.32, Y:295.13, Z:106.09 [[ 9.71429254e-01 1.27390983e-01 -2.00241711e-01 3.61320932e+02] [-1.25180290e-01 9.91850506e-01 2.37164115e-02 2.95125898e+02] [ 2.01631099e-01 2.02749960e-03 9.79459437e-01 1.06088556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.35, Y:295.13, Z:106.09 [[ 9.70512217e-01 1.22667466e-01 -2.07505973e-01 3.61353443e+02] [-1.22827103e-01 9.92353525e-01 1.21648938e-02 2.95128327e+02] [ 2.07411521e-01 1.36811796e-02 9.78158109e-01 1.06091494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.402755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.38, Y:295.10, Z:106.11 [[ 9.70653486e-01 1.35328168e-01 -1.98791591e-01 3.61377604e+02] [-1.27935626e-01 9.90539737e-01 4.96337181e-02 2.95100546e+02] [ 2.03627810e-01 -2.27446149e-02 9.78784143e-01 1.06110552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.40, Y:295.11, Z:106.11 [[ 9.71024007e-01 1.29021035e-01 -2.01161505e-01 3.61403075e+02] [-1.25300489e-01 9.91628916e-01 3.11749807e-02 2.95110497e+02] [ 2.03499794e-01 -5.06601960e-03 9.79061882e-01 1.06108601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.462755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:361.43, Y:295.11, Z:106.11 [[ 9.70742812e-01 1.30368815e-01 -2.01649115e-01 3.61434066e+02] [-1.27594481e-01 9.91465538e-01 2.67532163e-02 2.95106974e+02] [ 2.03415934e-01 -2.41178240e-04 9.79092386e-01 1.06110760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.46, Y:295.10, Z:106.12 [[ 9.70270946e-01 1.34320580e-01 -2.01326284e-01 3.61458818e+02] [-1.29973057e-01 9.90909376e-01 3.47219483e-02 2.95098692e+02] [ 2.04159974e-01 -7.52270498e-03 9.78908634e-01 1.06116034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.49, Y:295.09, Z:106.13 [[ 9.70083225e-01 1.34748234e-01 -2.01944175e-01 3.61487879e+02] [-1.29343150e-01 9.90801295e-01 3.97887427e-02 2.95091684e+02] [ 2.05448013e-01 -1.24782962e-02 9.78588477e-01 1.06129962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.52, Y:295.10, Z:106.13 [[ 9.70347569e-01 1.29674257e-01 -2.03985743e-01 3.61516907e+02] [-1.28223934e-01 9.91536051e-01 2.03686734e-02 2.95099451e+02] [ 2.04900510e-01 6.39116155e-03 9.78761939e-01 1.06125992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.582755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:361.54, Y:295.09, Z:106.14 [[ 9.70521243e-01 1.31322951e-01 -2.02096015e-01 3.61538961e+02] [-1.26949068e-01 9.91308646e-01 3.45123546e-02 2.95090346e+02] [ 2.04871792e-01 -7.83907249e-03 9.78757426e-01 1.06136612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.57, Y:295.09, Z:106.14 [[ 9.71919380e-01 1.23350753e-01 -2.00392893e-01 3.61574681e+02] [-1.19690343e-01 9.92347942e-01 3.03279318e-02 2.95089346e+02] [ 2.02600448e-01 -5.49121059e-03 9.79246090e-01 1.06142108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.59, Y:295.08, Z:106.15 [[ 9.70521601e-01 1.29698286e-01 -2.03140779e-01 3.61592827e+02] [-1.25231094e-01 9.91518896e-01 3.47484138e-02 2.95081377e+02] [ 2.05924730e-01 -8.28454431e-03 9.78532765e-01 1.06148922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.62, Y:295.08, Z:106.15 [[ 9.70530780e-01 1.28163643e-01 -2.04068826e-01 3.61619656e+02] [-1.24656089e-01 9.91746195e-01 3.00057321e-02 2.95079797e+02] [ 2.06230125e-01 -3.68306484e-03 9.78496587e-01 1.06152952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.702755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:361.65, Y:295.08, Z:106.16 [[ 9.70680374e-01 1.26176725e-01 -2.04594832e-01 3.61647039e+02] [-1.22613064e-01 9.91999356e-01 3.00551839e-02 2.95075289e+02] [ 2.06750206e-01 -4.08797794e-03 9.78385221e-01 1.06158457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.67, Y:295.07, Z:106.16 [[ 9.70748617e-01 1.24791774e-01 -2.05119808e-01 3.61673751e+02] [-1.21192734e-01 9.92173510e-01 3.00673719e-02 2.95070958e+02] [ 2.07266600e-01 -4.32882934e-03 9.78274919e-01 1.06164490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.70, Y:295.07, Z:106.17 [[ 9.70938862e-01 1.22558730e-01 -2.05565280e-01 3.61699275e+02] [-1.18908204e-01 9.92449895e-01 3.00673427e-02 2.95066325e+02] [ 2.07698256e-01 -4.75015323e-03 9.78181410e-01 1.06170279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.73, Y:295.07, Z:106.16 [[ 9.71816924e-01 1.14342343e-01 -2.06149693e-01 3.61734276e+02] [-1.14402556e-01 9.93365946e-01 1.16684583e-02 2.95073230e+02] [ 2.06116284e-01 1.22444467e-02 9.78450894e-01 1.06164993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.76, Y:295.06, Z:106.18 [[ 9.71623591e-01 1.19422830e-01 -2.04170973e-01 3.61757708e+02] [-1.15614027e-01 9.92825020e-01 3.05266543e-02 2.95059110e+02] [ 2.06351630e-01 -6.05538896e-03 9.78459165e-01 1.06177972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.79, Y:295.06, Z:106.18 [[ 9.71785612e-01 1.18248969e-01 -2.04083084e-01 3.61786181e+02] [-1.15179425e-01 9.92980490e-01 2.68969454e-02 2.95058003e+02] [ 2.05831056e-01 -2.63189230e-03 9.78584002e-01 1.06181899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.81, Y:295.04, Z:106.20 [[ 9.70907188e-01 1.24362061e-01 -2.04629691e-01 3.61808904e+02] [-1.16807761e-01 9.91962785e-01 4.86392841e-02 2.95041566e+02] [ 2.09033920e-01 -2.33218945e-02 9.77630252e-01 1.06202586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.84, Y:295.05, Z:106.19 [[ 9.71180002e-01 1.17931852e-01 -2.07126731e-01 3.61842017e+02] [-1.16457491e-01 9.93007343e-01 1.93408598e-02 2.95053923e+02] [ 2.07959268e-01 5.33800316e-03 9.78122921e-01 1.06194247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.87, Y:295.04, Z:106.20 [[ 9.71160497e-01 1.20414018e-01 -2.05785700e-01 3.61868827e+02] [-1.16886227e-01 9.92714172e-01 2.92606132e-02 2.95044271e+02] [ 2.07809768e-01 -4.36323751e-03 9.78159528e-01 1.06203774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.89, Y:295.03, Z:106.22 [[ 9.70670271e-01 1.23461568e-01 -2.06292188e-01 3.61892425e+02] [-1.17576838e-01 9.92233717e-01 4.05947978e-02 2.95034451e+02] [ 2.09701962e-01 -1.51489802e-02 9.77647992e-01 1.06217810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.93, Y:295.04, Z:106.21 [[ 9.71146499e-01 1.18281549e-01 -2.07084412e-01 3.61925181e+02] [-1.17695572e-01 9.92933507e-01 1.51922152e-02 2.95044592e+02] [ 2.07418010e-01 9.61905169e-03 9.78205113e-01 1.06209508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.95, Y:295.03, Z:106.23 [[ 9.70549300e-01 1.25990975e-01 -2.05329808e-01 3.61946620e+02] [-1.19460534e-01 9.91865802e-01 4.39478366e-02 2.95025606e+02] [ 2.09196645e-01 -1.81247334e-02 9.77705609e-01 1.06230336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:361.98, Y:295.03, Z:106.23 [[ 9.70423092e-01 1.23248885e-01 -2.07578263e-01 3.61975993e+02] [-1.19644421e-01 9.92367070e-01 2.98799423e-02 2.95029956e+02] [ 2.09676502e-01 -4.16060490e-03 9.77761962e-01 1.06231049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.01, Y:295.03, Z:106.23 [[ 9.70361363e-01 1.23422578e-01 -2.07763550e-01 3.62005111e+02] [-1.20241364e-01 9.92351957e-01 2.79214685e-02 2.95028174e+02] [ 2.09620705e-01 -2.11214173e-03 9.77780496e-01 1.06234796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.03, Y:295.02, Z:106.24 [[ 9.70236919e-01 1.24850282e-01 -2.07491516e-01 3.62030234e+02] [-1.20833029e-01 9.92157744e-01 3.19748427e-02 2.95022067e+02] [ 2.09856382e-01 -5.95134460e-03 9.77714110e-01 1.06243228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.06, Y:295.02, Z:106.25 [[ 9.70204333e-01 1.24573693e-01 -2.07809884e-01 3.62057315e+02] [-1.21025759e-01 9.92203403e-01 2.97518391e-02 2.95019484e+02] [ 2.09895971e-01 -3.71501420e-03 9.77716667e-01 1.06248289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.08, Y:295.02, Z:106.25 [[ 9.69961737e-01 1.25304597e-01 -2.08501769e-01 3.62083985e+02] [-1.21764138e-01 9.92112146e-01 2.97822801e-02 2.95016366e+02] [ 2.10588994e-01 -3.49963395e-03 9.77568426e-01 1.06254128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.11, Y:295.01, Z:106.26 [[ 9.70020019e-01 1.25337101e-01 -2.08210887e-01 3.62109915e+02] [-1.21813696e-01 9.92108187e-01 2.97114156e-02 2.95013176e+02] [ 2.10291668e-01 -3.45773028e-03 9.77632579e-01 1.06259310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.14, Y:295.02, Z:106.25 [[ 9.70929698e-01 1.19848388e-01 -2.07200112e-01 3.62141608e+02] [-1.20332882e-01 9.92680055e-01 1.03104944e-02 2.95022131e+02] [ 2.06919114e-01 1.49222214e-02 9.78244247e-01 1.06252024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.16, Y:295.00, Z:106.28 [[ 9.70228021e-01 1.29103362e-01 -2.04914397e-01 3.62162393e+02] [-1.21878200e-01 9.91405316e-01 4.75521222e-02 2.94996982e+02] [ 2.09292362e-01 -2.11618035e-02 9.77624102e-01 1.06277563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.20, Y:295.01, Z:106.27 [[ 9.70428597e-01 1.24475050e-01 -2.06819487e-01 3.62195415e+02] [-1.22129332e-01 9.92221014e-01 2.41223084e-02 2.95005048e+02] [ 2.08213267e-01 1.84974799e-03 9.78081701e-01 1.06272211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.22, Y:295.00, Z:106.28 [[ 9.70364864e-01 1.26194257e-01 -2.06075329e-01 3.62217969e+02] [-1.21444031e-01 9.91959958e-01 3.55919821e-02 2.94995889e+02] [ 2.08909978e-01 -9.51059022e-03 9.77888628e-01 1.06284705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.25, Y:295.00, Z:106.29 [[ 9.70391736e-01 1.24806723e-01 -2.06792556e-01 3.62246211e+02] [-1.21366057e-01 9.92175492e-01 2.92928954e-02 2.94995025e+02] [ 2.08830457e-01 -3.32798637e-03 9.77946197e-01 1.06288652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.27, Y:294.99, Z:106.29 [[ 9.70280976e-01 1.25038685e-01 -2.07171801e-01 3.62273137e+02] [-1.21604313e-01 9.92146646e-01 2.92817876e-02 2.94992065e+02] [ 2.09206163e-01 -3.21857690e-03 9.77866260e-01 1.06294272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4227550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:362.30, Y:294.99, Z:106.30 [[ 9.70285050e-01 1.25534161e-01 -2.06852836e-01 3.62299308e+02] [-1.22135515e-01 9.92084638e-01 2.91716977e-02 2.94989115e+02] [ 2.08877566e-01 -3.04078455e-03 9.77937072e-01 1.06299191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.33, Y:294.99, Z:106.30 [[ 9.70080745e-01 1.26279214e-01 -2.07356958e-01 3.62326884e+02] [-1.22886405e-01 9.91990615e-01 2.92156069e-02 2.94986099e+02] [ 2.09385480e-01 -2.86014666e-03 9.77828994e-01 1.06304623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.35, Y:294.98, Z:106.31 [[ 9.69978708e-01 1.27985360e-01 -2.06787458e-01 3.62350876e+02] [-1.24184927e-01 9.91764964e-01 3.13107006e-02 2.94981467e+02] [ 2.09091868e-01 -4.69082743e-03 9.77884751e-01 1.06310251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.512755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:362.38, Y:294.98, Z:106.31 [[ 9.70000269e-01 1.25262623e-01 -2.08347674e-01 3.62381242e+02] [-1.22571228e-01 9.92123502e-01 2.58311902e-02 2.94980600e+02] [ 2.09942307e-01 4.81168933e-04 9.77713658e-01 1.06314307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5427550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:362.41, Y:294.98, Z:106.32 [[ 9.69624035e-01 1.22585272e-01 -2.11665023e-01 3.62409286e+02] [-1.21043846e-01 9.92440079e-01 2.02750300e-02 2.94978862e+02] [ 2.12550272e-01 5.96159204e-03 9.77131947e-01 1.06318758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.43, Y:294.97, Z:106.33 [[ 9.70299939e-01 1.24781201e-01 -2.07238222e-01 3.62433181e+02] [-1.19811188e-01 9.92128698e-01 3.64132733e-02 2.94965810e+02] [ 2.10150680e-01 -1.05023393e-02 9.77612599e-01 1.06330188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.46, Y:294.97, Z:106.33 [[ 9.70617305e-01 1.19026099e-01 -2.09128752e-01 3.62462102e+02] [-1.16358937e-01 9.92891126e-01 2.50561392e-02 2.94968058e+02] [ 2.10624416e-01 1.40769604e-05 9.77567059e-01 1.06332231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.49, Y:294.96, Z:106.34 [[ 9.70972378e-01 1.19783793e-01 -2.07037401e-01 3.62487744e+02] [-1.15946482e-01 9.92783515e-01 3.06154510e-02 2.94961337e+02] [ 2.09210553e-01 -5.72149906e-03 9.77853879e-01 1.06339520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.51, Y:294.96, Z:106.35 [[ 9.71325484e-01 1.19459195e-01 -2.05563383e-01 3.62514445e+02] [-1.15212969e-01 9.92807432e-01 3.25480330e-02 2.94956451e+02] [ 2.07973016e-01 -7.93116615e-03 9.78102408e-01 1.06345824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.55, Y:294.97, Z:106.34 [[ 9.71768550e-01 1.10805396e-01 -2.08297982e-01 3.62553265e+02] [-1.13159163e-01 9.93576680e-01 6.19987448e-04 2.94968258e+02] [ 2.07028715e-01 2.29683410e-02 9.78065216e-01 1.06335677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.57, Y:294.94, Z:106.36 [[ 9.71479331e-01 1.20126365e-01 -2.04444532e-01 3.62570726e+02] [-1.12604427e-01 9.92475981e-01 4.80798311e-02 2.94940879e+02] [ 2.08681943e-01 -2.36872028e-02 9.77696662e-01 1.06364680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.60, Y:294.94, Z:106.37 [[ 9.71742829e-01 1.17732591e-01 -2.04584728e-01 3.62601354e+02] [-1.12854489e-01 9.92980998e-01 3.53921133e-02 2.94944990e+02] [ 2.07315553e-01 -1.13037275e-02 9.78208816e-01 1.06365407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.63, Y:294.93, Z:106.38 [[ 9.70651968e-01 1.26252769e-01 -2.04682668e-01 3.62633264e+02] [-1.17973265e-01 9.91643233e-01 5.22111711e-02 2.94926735e+02] [ 2.09563988e-01 -2.65317932e-02 9.77434908e-01 1.06381459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.66, Y:294.95, Z:106.37 [[ 9.71530052e-01 1.13369559e-01 -2.08030530e-01 3.62660043e+02] [-1.13453690e-01 9.93475952e-01 1.15668616e-02 2.94953335e+02] [ 2.07984659e-01 1.23642778e-02 9.78053938e-01 1.06368421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.68, Y:294.94, Z:106.38 [[ 9.71227246e-01 1.18821842e-01 -2.06395270e-01 3.62684167e+02] [-1.15394203e-01 9.92907651e-01 2.86107442e-02 2.94942932e+02] [ 2.08331024e-01 -3.97071654e-03 9.78050315e-01 1.06378858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.71, Y:294.94, Z:106.38 [[ 9.71102888e-01 1.19477130e-01 -2.06602025e-01 3.62711771e+02] [-1.16063062e-01 9.92829657e-01 2.86118385e-02 2.94940137e+02] [ 2.08539078e-01 -3.80617545e-03 9.78006629e-01 1.06384489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.74, Y:294.92, Z:106.40 [[ 9.69708520e-01 1.30604977e-01 -2.06416391e-01 3.62742017e+02] [-1.22466690e-01 9.91120929e-01 5.17804448e-02 2.94919001e+02] [ 2.11346389e-01 -2.49328063e-02 9.77093168e-01 1.06403441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.77, Y:294.94, Z:106.39 [[ 9.69395526e-01 1.25026593e-01 -2.11283374e-01 3.62768650e+02] [-1.25433302e-01 9.92035043e-01 1.15308645e-02 2.94938575e+02] [ 2.11042176e-01 1.53240029e-02 9.77356831e-01 1.06392089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.80, Y:294.91, Z:106.42 [[ 9.69370086e-01 1.33233772e-01 -2.06325953e-01 3.62796730e+02] [-1.24738732e-01 9.90734928e-01 5.37080108e-02 2.94911934e+02] [ 2.11570049e-01 -2.63261013e-02 9.77008214e-01 1.06416812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.83, Y:294.94, Z:106.40 [[ 9.70077045e-01 1.23235390e-01 -2.09197431e-01 3.62829100e+02] [-1.24154325e-01 9.92224029e-01 8.78526361e-03 2.94938437e+02] [ 2.08653373e-01 1.74503833e-02 9.77833960e-01 1.06400852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.85, Y:294.92, Z:106.41 [[ 9.70165607e-01 1.27519498e-01 -2.06197653e-01 3.62853567e+02] [-1.23778600e-01 9.91825633e-01 3.09963104e-02 2.94922700e+02] [ 2.08464752e-01 -4.54869755e-03 9.78019303e-01 1.06414375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.88, Y:294.92, Z:106.42 [[ 9.70325153e-01 1.27630969e-01 -2.05376324e-01 3.62875069e+02] [-1.23608919e-01 9.91803553e-01 3.23503921e-02 2.94921943e+02] [ 2.07821880e-01 -6.00405370e-03 9.78148260e-01 1.06420821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.90, Y:294.90, Z:106.44 [[ 9.69376473e-01 1.34804062e-01 -2.05273276e-01 3.62901040e+02] [-1.26892504e-01 9.90589434e-01 5.12919723e-02 2.94904662e+02] [ 2.10255904e-01 -2.36735912e-02 9.77359717e-01 1.06437136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.95, Y:294.93, Z:106.42 [[ 9.69577669e-01 1.17789120e-01 -2.14580678e-01 3.62945208e+02] [-1.20611473e-01 9.92699788e-01 -6.03829719e-05 2.94932407e+02] [ 2.13007081e-01 2.59394377e-02 9.76706266e-01 1.06422812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:362.96, Y:294.91, Z:106.44 [[ 9.70699607e-01 1.26290379e-01 -2.04433396e-01 3.62956287e+02] [-1.21090230e-01 9.91921468e-01 3.78015497e-02 2.94908529e+02] [ 2.07555847e-01 -1.19390624e-02 9.78150310e-01 1.06438872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1727550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:362.99, Y:294.91, Z:106.44 [[ 9.71259745e-01 1.22007997e-01 -2.04373573e-01 3.62985522e+02] [-1.18570189e-01 9.92521203e-01 2.90305273e-02 2.94909134e+02] [ 2.06387061e-01 -3.96356934e-03 9.78462402e-01 1.06442308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.01, Y:294.89, Z:106.46 [[ 9.70400616e-01 1.26911799e-01 -2.05465423e-01 3.63011732e+02] [-1.20595628e-01 9.91768701e-01 4.30295155e-02 2.94894618e+02] [ 2.09235129e-01 -1.69776366e-02 9.77717966e-01 1.06457227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.04, Y:294.91, Z:106.45 [[ 9.72344721e-01 1.16740068e-01 -2.02280749e-01 3.63039538e+02] [-1.15287454e-01 9.93150633e-01 1.89900665e-02 2.94909368e+02] [ 2.03112155e-01 4.85554154e-03 9.79143440e-01 1.06448523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.07, Y:294.90, Z:106.45 [[ 9.71830104e-01 1.17258372e-01 -2.04442469e-01 3.63069447e+02] [-1.15964159e-01 9.93084021e-01 1.83423470e-02 2.94903820e+02] [ 2.05179343e-01 5.88235402e-03 9.78706716e-01 1.06452768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.09, Y:294.89, Z:106.47 [[ 9.71326934e-01 1.23172270e-01 -2.03353334e-01 3.63091750e+02] [-1.18022581e-01 9.92309852e-01 3.73072081e-02 2.94887871e+02] [ 2.06384730e-01 -1.22372108e-02 9.78394396e-01 1.06469548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.13, Y:294.90, Z:106.46 [[ 9.71862703e-01 1.10322525e-01 -2.08114939e-01 3.63128303e+02] [-1.10631862e-01 9.93809221e-01 1.01893800e-02 2.94902893e+02] [ 2.07950663e-01 1.31214649e-02 9.78051302e-01 1.06461758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.15, Y:294.89, Z:106.47 [[ 9.71451971e-01 1.16095048e-01 -2.06888876e-01 3.63150921e+02] [-1.11819627e-01 9.93204047e-01 3.22814569e-02 2.94887071e+02] [ 2.09230586e-01 -8.22564798e-03 9.77831734e-01 1.06474943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.17, Y:294.88, Z:106.48 [[ 9.72188936e-01 1.20004111e-01 -2.01116100e-01 3.63170737e+02] [-1.13671991e-01 9.92596599e-01 4.27863347e-02 2.94878272e+02] [ 2.04761693e-01 -1.87351338e-02 9.78632538e-01 1.06481137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.20, Y:294.89, Z:106.48 [[ 9.71163503e-01 1.12390084e-01 -2.10261553e-01 3.63204725e+02] [-1.10916422e-01 9.93651394e-01 1.88269469e-02 2.94887855e+02] [ 2.11042647e-01 5.03741531e-03 9.77463874e-01 1.06483306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.23, Y:294.89, Z:106.48 [[ 9.71414451e-01 1.10821665e-01 -2.09934570e-01 3.63233839e+02] [-1.11558008e-01 9.93722683e-01 8.36899584e-03 2.94890330e+02] [ 2.09544210e-01 1.52901189e-02 9.77679618e-01 1.06481065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.26, Y:294.87, Z:106.50 [[ 9.71724255e-01 1.20409865e-01 -2.03109420e-01 3.63255264e+02] [-1.14409285e-01 9.92584197e-01 4.10746665e-02 2.94870091e+02] [ 2.06548995e-01 -1.66756462e-02 9.78294146e-01 1.06496356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.29, Y:294.88, Z:106.50 [[ 9.71449604e-01 1.18478212e-01 -2.05544594e-01 3.63286145e+02] [-1.15524673e-01 9.92954916e-01 2.63549879e-02 2.94875205e+02] [ 2.07219007e-01 -1.85707061e-03 9.78292816e-01 1.06497696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.32, Y:294.87, Z:106.50 [[ 9.71331843e-01 1.18744427e-01 -2.05947109e-01 3.63315850e+02] [-1.15532705e-01 9.92920288e-01 2.75952205e-02 2.94872524e+02] [ 2.07765842e-01 -3.01048973e-03 9.78173958e-01 1.06504546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.34, Y:294.86, Z:106.51 [[ 9.70169659e-01 1.26301458e-01 -2.06926978e-01 3.63336842e+02] [-1.21587196e-01 9.91949422e-01 3.53963004e-02 2.94864792e+02] [ 2.09731700e-01 -9.18074563e-03 9.77715873e-01 1.06514867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.37, Y:294.87, Z:106.52 [[ 9.70478705e-01 1.24348000e-01 -2.06660731e-01 3.63369988e+02] [-1.20895948e-01 9.92232668e-01 2.93002158e-02 2.94865420e+02] [ 2.08698952e-01 -3.45079046e-03 9.77973844e-01 1.06519704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.40, Y:294.87, Z:106.52 [[ 9.70512286e-01 1.23125314e-01 -2.07234312e-01 3.63399821e+02] [-1.21851198e-01 9.92367429e-01 1.89518143e-02 2.94868564e+02] [ 2.07986030e-01 6.85878059e-03 9.78107749e-01 1.06519617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.42, Y:294.86, Z:106.53 [[ 9.70405262e-01 1.25171490e-01 -2.06508416e-01 3.63424760e+02] [-1.22128402e-01 9.92134080e-01 2.74703448e-02 2.94860916e+02] [ 2.08322542e-01 -1.43682424e-03 9.78059126e-01 1.06528295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.46, Y:294.86, Z:106.54 [[ 9.69657050e-01 1.21693832e-01 -2.12027868e-01 3.63457310e+02] [-1.20505046e-01 9.92539016e-01 1.85697700e-02 2.94862723e+02] [ 2.12705757e-01 7.54411952e-03 9.77087175e-01 1.06535732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.48, Y:294.84, Z:106.54 [[ 9.69796511e-01 1.32803732e-01 -2.04592023e-01 3.63477850e+02] [-1.25767639e-01 9.90942058e-01 4.70780136e-02 2.94844220e+02] [ 2.08990977e-01 -1.99250375e-02 9.77714562e-01 1.06544107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.51, Y:294.86, Z:106.55 [[ 9.69366188e-01 1.25771323e-01 -2.10975754e-01 3.63507882e+02] [-1.24043583e-01 9.92044728e-01 2.14580229e-02 2.94857157e+02] [ 2.11996189e-01 5.36950669e-03 9.77255742e-01 1.06546786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.53, Y:294.85, Z:106.56 [[ 9.68715702e-01 1.29895523e-01 -2.11464046e-01 3.63533198e+02] [-1.25433154e-01 9.91504106e-01 3.44402675e-02 2.94847362e+02] [ 2.14141107e-01 -6.83822566e-03 9.76778801e-01 1.06559778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.56, Y:294.85, Z:106.56 [[ 9.68883890e-01 1.27004530e-01 -2.12447306e-01 3.63560397e+02] [-1.26512712e-01 9.91836514e-01 1.59644391e-02 2.94854559e+02] [ 2.12740551e-01 1.14095969e-02 9.77042107e-01 1.06557527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.58, Y:294.83, Z:106.58 [[ 9.68950300e-01 1.35540657e-01 -2.06794698e-01 3.63583655e+02] [-1.26484905e-01 9.90360221e-01 5.64641605e-02 2.94828215e+02] [ 2.12454433e-01 -2.85545575e-02 9.76753680e-01 1.06579491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.62, Y:294.85, Z:106.57 [[ 9.69530050e-01 1.25253354e-01 -2.10530472e-01 3.63616680e+02] [-1.25622041e-01 9.92009462e-01 1.16760714e-02 2.94850063e+02] [ 2.10310687e-01 1.51269655e-02 9.77517565e-01 1.06566823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.64, Y:294.84, Z:106.57 [[ 9.68760847e-01 1.29852057e-01 -2.11283848e-01 3.63642772e+02] [-1.26871653e-01 9.91533380e-01 2.76611740e-02 2.94836704e+02] [ 2.13086849e-01 8.86867355e-06 9.77033262e-01 1.06574447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.67, Y:294.84, Z:106.58 [[ 9.69412515e-01 1.25873914e-01 -2.10701530e-01 3.63668937e+02] [-1.22833993e-01 9.92045937e-01 2.75076042e-02 2.94835712e+02] [ 2.12488087e-01 -7.84905460e-04 9.77163342e-01 1.06582569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.70, Y:294.83, Z:106.59 [[ 9.69283935e-01 1.25586375e-01 -2.11463272e-01 3.63695715e+02] [-1.21128462e-01 9.92055828e-01 3.39577796e-02 2.94828601e+02] [ 2.14048006e-01 -7.30050930e-03 9.76795861e-01 1.06591771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.73, Y:294.83, Z:106.59 [[ 9.69377062e-01 1.21002054e-01 -2.13697485e-01 3.63725090e+02] [-1.19079623e-01 9.92643274e-01 2.18945978e-02 2.94831380e+02] [ 2.14774662e-01 4.22289508e-03 9.76654500e-01 1.06593297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.75, Y:294.82, Z:106.60 [[ 9.69501129e-01 1.21801800e-01 -2.12677885e-01 3.63749975e+02] [-1.17078287e-01 9.92515835e-01 3.47129857e-02 2.94820013e+02] [ 2.15314273e-01 -8.75431639e-03 9.76505569e-01 1.06603972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.77, Y:294.80, Z:106.62 [[ 9.68793384e-01 1.27589027e-01 -2.12509811e-01 3.63773417e+02] [-1.17002399e-01 9.91211781e-01 6.17223078e-02 2.94801033e+02] [ 2.18517318e-01 -3.49320056e-02 9.75207638e-01 1.06624275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.80, Y:294.82, Z:106.62 [[ 9.69246363e-01 1.17884281e-01 -2.16020332e-01 3.63804408e+02] [-1.14553193e-01 9.93024635e-01 2.79220446e-02 2.94818794e+02] [ 2.17805081e-01 -2.31752144e-03 9.75989537e-01 1.06617230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.84, Y:294.83, Z:106.61 [[ 9.69886428e-01 1.10464742e-01 -2.17066482e-01 3.63837785e+02] [-1.12786741e-01 9.93617761e-01 1.70178356e-03 2.94831725e+02] [ 2.15869099e-01 2.28316843e-02 9.76155339e-01 1.06611276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.132755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:363.86, Y:294.82, Z:106.62 [[ 9.69825875e-01 1.12515678e-01 -2.16282211e-01 3.63862594e+02] [-1.11361159e-01 9.93624887e-01 1.75578202e-02 2.94820966e+02] [ 2.16878918e-01 7.05740929e-03 9.76173001e-01 1.06620814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1627550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:363.88, Y:294.80, Z:106.65 [[ 9.69964552e-01 1.17494675e-01 -2.12987719e-01 3.63880078e+02] [-1.07962857e-01 9.92582874e-01 5.58861262e-02 2.94800651e+02] [ 2.17974284e-01 -3.12127987e-02 9.75455264e-01 1.06645938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.192755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.91, Y:294.82, Z:106.64 [[ 9.70364078e-01 1.07454521e-01 -2.16441868e-01 3.63913564e+02] [-1.06549181e-01 9.94180572e-01 1.58827832e-02 2.94820407e+02] [ 2.16888977e-01 7.64962145e-03 9.76166305e-01 1.06636385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:363.94, Y:294.81, Z:106.64 [[ 9.70121911e-01 1.08668531e-01 -2.16920786e-01 3.63944624e+02] [-1.06922777e-01 9.94070069e-01 1.98044893e-02 2.94812345e+02] [ 2.17786585e-01 3.98100385e-03 9.75988297e-01 1.06643270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:363.97, Y:294.80, Z:106.65 [[ 9.70185063e-01 1.10017915e-01 -2.15956018e-01 3.63966799e+02] [-1.05811421e-01 9.93903477e-01 3.09809724e-02 2.94804911e+02] [ 2.18047899e-01 -7.20666346e-03 9.75911460e-01 1.06651449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.00, Y:294.81, Z:106.65 [[ 9.70107011e-01 1.08981939e-01 -2.16830175e-01 3.63996227e+02] [-1.06469366e-01 9.94043600e-01 2.32722218e-02 2.94805756e+02] [ 2.18074899e-01 5.09225783e-04 9.75931903e-01 1.06654452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.02, Y:294.80, Z:106.66 [[ 9.69818584e-01 1.11684927e-01 -2.16744991e-01 3.64023889e+02] [-1.08989546e-01 9.93743667e-01 2.43885769e-02 2.94803194e+02] [ 2.18112798e-01 -2.95570178e-05 9.75923566e-01 1.06659964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.05, Y:294.80, Z:106.66 [[ 9.70013417e-01 1.10523566e-01 -2.16468272e-01 3.64051924e+02] [-1.08905727e-01 9.93862244e-01 1.94263259e-02 2.94804304e+02] [ 2.17286710e-01 4.73083779e-03 9.76096361e-01 1.06661643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.08, Y:294.79, Z:106.67 [[ 9.69193626e-01 1.15866741e-01 -2.17344458e-01 3.64077640e+02] [-1.11283905e-01 9.93232229e-01 3.32510399e-02 2.94793077e+02] [ 2.19726210e-01 -8.03975587e-03 9.75528449e-01 1.06674348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.11, Y:294.80, Z:106.68 [[ 9.69294420e-01 1.14499306e-01 -2.17619477e-01 3.64105724e+02] [-1.11838284e-01 9.93423179e-01 2.45476196e-02 2.94795395e+02] [ 2.18998918e-01 5.44318173e-04 9.75724950e-01 1.06676242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.13, Y:294.79, Z:106.68 [[ 9.68836760e-01 1.15680765e-01 -2.19028064e-01 3.64132341e+02] [-1.12699299e-01 9.93286261e-01 2.61011785e-02 2.94791710e+02] [ 2.20576971e-01 -6.03471979e-04 9.75369384e-01 1.06683986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.16, Y:294.79, Z:106.69 [[ 9.68903722e-01 1.14781704e-01 -2.19204787e-01 3.64160219e+02] [-1.12394088e-01 9.93388746e-01 2.33745028e-02 2.94791322e+02] [ 2.20438534e-01 1.98967940e-03 9.75398838e-01 1.06688250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.19, Y:294.79, Z:106.69 [[ 9.68905726e-01 1.14739232e-01 -2.19218162e-01 3.64186675e+02] [-1.12399986e-01 9.93393200e-01 2.31558480e-02 2.94788569e+02] [ 2.20426716e-01 2.20428464e-03 9.75401048e-01 1.06693003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.522755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:364.21, Y:294.79, Z:106.70 [[ 9.68477128e-01 1.14063091e-01 -2.21453528e-01 3.64212778e+02] [-1.11643691e-01 9.93471477e-01 2.34544284e-02 2.94786139e+02] [ 2.22683048e-01 2.00881186e-03 9.74888827e-01 1.06698592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.24, Y:294.78, Z:106.71 [[ 9.69509473e-01 1.12323929e-01 -2.17795128e-01 3.64239596e+02] [-1.08756314e-01 9.93664423e-01 2.83386280e-02 2.94781378e+02] [ 2.19598376e-01 -3.78797286e-03 9.75583008e-01 1.06705139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.27, Y:294.78, Z:106.71 [[ 9.69752585e-01 1.09119903e-01 -2.18340951e-01 3.64267781e+02] [-1.07308507e-01 9.94021076e-01 2.01738696e-02 2.94783576e+02] [ 2.19236878e-01 3.86617927e-03 9.75664002e-01 1.06707688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.30, Y:294.78, Z:106.71 [[ 9.70311869e-01 1.05575914e-01 -2.17597342e-01 3.64297586e+02] [-1.04771454e-01 9.94379173e-01 1.52644520e-02 2.94780892e+02] [ 2.17985824e-01 7.98671115e-03 9.75919255e-01 1.06710886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.32, Y:294.77, Z:106.72 [[ 9.70560013e-01 1.05628921e-01 -2.16461987e-01 3.64322694e+02] [-1.02350921e-01 9.94399802e-01 2.63310271e-02 2.94771546e+02] [ 2.18031075e-01 -3.40075822e-03 9.75935902e-01 1.06720274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.35, Y:294.77, Z:106.73 [[ 9.70279674e-01 1.01042727e-01 -2.19881152e-01 3.64349783e+02] [-9.81502012e-02 9.94880509e-01 2.40688882e-02 2.94771527e+02] [ 2.21187459e-01 -1.77217369e-03 9.75229700e-01 1.06728020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.38, Y:294.76, Z:106.74 [[ 9.70753665e-01 1.05169464e-01 -2.15816370e-01 3.64376956e+02] [-9.88679523e-02 9.94303499e-01 3.98206085e-02 2.94755184e+02] [ 2.18774884e-01 -1.73186791e-02 9.75621655e-01 1.06738654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.40, Y:294.77, Z:106.74 [[ 9.70989447e-01 9.69656937e-02 -2.18579843e-01 3.64403360e+02] [-9.59274584e-02 9.95269452e-01 1.53831339e-02 2.94769059e+02] [ 2.19037477e-01 6.03094805e-03 9.75697808e-01 1.06736206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.44, Y:294.76, Z:106.75 [[ 9.71283898e-01 9.19419082e-02 -2.19440825e-01 3.64436300e+02] [-8.97673039e-02 9.95764297e-01 1.98820468e-02 2.94763457e+02] [ 2.20339332e-01 3.87499296e-04 9.75423205e-01 1.06745721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.46, Y:294.76, Z:106.75 [[ 9.71498981e-01 9.61039952e-02 -2.16688144e-01 3.64456672e+02] [-9.24076290e-02 9.95351021e-01 2.71509653e-02 2.94757457e+02] [ 2.18290082e-01 -6.35349746e-03 9.75863245e-01 1.06751697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.49, Y:294.75, Z:106.76 [[ 9.71377541e-01 9.79811752e-02 -2.16391688e-01 3.64490337e+02] [-9.53383851e-02 9.95187331e-01 2.26443917e-02 2.94751529e+02] [ 2.17568990e-01 -1.36581949e-03 9.76043989e-01 1.06755642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.51, Y:294.75, Z:106.76 [[ 9.71726435e-01 9.76182406e-02 -2.14984685e-01 3.64510691e+02] [-9.36006757e-02 9.95192759e-01 2.88146816e-02 2.94749734e+02] [ 2.16764040e-01 -7.87727607e-03 9.76192245e-01 1.06764293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.54, Y:294.75, Z:106.77 [[ 9.71233071e-01 9.83142524e-02 -2.16888521e-01 3.64544615e+02] [-9.69725395e-02 9.95144463e-01 1.68471182e-02 2.94749365e+02] [ 2.17491722e-01 4.66975228e-03 9.76050995e-01 1.06766072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.58, Y:294.74, Z:106.77 [[ 9.71260802e-01 9.79459807e-02 -2.16930955e-01 3.64576600e+02] [-9.55125415e-02 9.95191669e-01 2.17001592e-02 2.94743429e+02] [ 2.18013323e-01 -3.56887177e-04 9.75945728e-01 1.06773601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.60, Y:294.74, Z:106.78 [[ 9.71331581e-01 9.90247293e-02 -2.16122794e-01 3.64603463e+02] [-9.49473083e-02 9.95054108e-01 2.91947203e-02 2.94736066e+02] [ 2.17944874e-01 -7.83747620e-03 9.75929611e-01 1.06781992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.972755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.63, Y:294.72, Z:106.80 [[ 9.69855206e-01 1.09627317e-01 -2.17629802e-01 3.64628988e+02] [-1.00581660e-01 9.93555856e-01 5.22502683e-02 2.94716938e+02] [ 2.21955421e-01 -2.87856279e-02 9.74631817e-01 1.06800867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.65, Y:294.75, Z:106.79 [[ 9.70530010e-01 9.98580102e-02 -2.19316844e-01 3.64650621e+02] [-1.00636598e-01 9.94893857e-01 7.64775981e-03 2.94746079e+02] [ 2.18960671e-01 1.46489207e-02 9.75623715e-01 1.06785468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.69, Y:294.72, Z:106.81 [[ 9.69773613e-01 1.07407409e-01 -2.19095386e-01 3.64685468e+02] [-1.00787103e-01 9.94054322e-01 4.12063716e-02 2.94717922e+02] [ 2.22218585e-01 -1.78788626e-02 9.74832933e-01 1.06808594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.71, Y:294.73, Z:106.81 [[ 9.70829672e-01 9.90731494e-02 -2.18344359e-01 3.64711339e+02] [-9.67292093e-02 9.95080102e-01 2.14254819e-02 2.94732230e+02] [ 2.19392817e-01 3.19783591e-04 9.75636556e-01 1.06805138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.74, Y:294.73, Z:106.81 [[ 9.70467315e-01 1.01572558e-01 -2.18806322e-01 3.64735033e+02] [-9.95046198e-02 9.94826324e-01 2.04796330e-02 2.94730010e+02] [ 2.19754458e-01 1.89742548e-03 9.75553370e-01 1.06808871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.122755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:364.77, Y:294.71, Z:106.82 [[ 9.69949068e-01 1.05255531e-01 -2.19362895e-01 3.64770507e+02] [-1.00271130e-01 9.94387051e-01 3.37652697e-02 2.94712022e+02] [ 2.21685603e-01 -1.07548264e-02 9.75058884e-01 1.06820643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.152755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:364.80, Y:294.71, Z:106.82 [[ 9.69709435e-01 1.05367170e-01 -2.20366447e-01 3.64795028e+02] [-1.02800953e-01 9.94433357e-01 2.31141090e-02 2.94714442e+02] [ 2.21575214e-01 2.39911213e-04 9.75143255e-01 1.06823000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.182755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:364.82, Y:294.71, Z:106.83 [[ 9.70646312e-01 1.00588457e-01 -2.18466699e-01 3.64824977e+02] [-9.67840351e-02 9.94909381e-01 2.80744533e-02 2.94709189e+02] [ 2.20178534e-01 -6.10627592e-03 9.75440478e-01 1.06828609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.85, Y:294.71, Z:106.83 [[ 9.70643992e-01 1.03461004e-01 -2.17131439e-01 3.64845468e+02] [-1.00518248e-01 9.94631424e-01 2.45847955e-02 2.94707776e+02] [ 2.18509320e-01 -2.03741222e-03 9.75832735e-01 1.06831886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.88, Y:294.71, Z:106.83 [[ 9.71523628e-01 9.77064860e-02 -2.15859407e-01 3.64875586e+02] [-9.58119255e-02 9.95213304e-01 1.92497766e-02 2.94707114e+02] [ 2.16706982e-01 1.98029265e-03 9.76234686e-01 1.06834154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.90, Y:294.70, Z:106.85 [[ 9.71145666e-01 9.86465934e-02 -2.17128868e-01 3.64895570e+02] [-9.37323799e-02 9.95055583e-01 3.28424730e-02 2.94698764e+02] [ 2.19295090e-01 -1.15428198e-02 9.75590297e-01 1.06848457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.93, Y:294.71, Z:106.85 [[ 9.71694802e-01 9.37078731e-02 -2.16859506e-01 3.64931313e+02] [-9.31763266e-02 9.95568649e-01 1.26979367e-02 2.94705011e+02] [ 2.17088422e-01 7.86765308e-03 9.76120237e-01 1.06845731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:364.96, Y:294.70, Z:106.85 [[ 9.72070701e-01 9.33544710e-02 -2.15321840e-01 3.64959318e+02] [-9.20120063e-02 9.95624925e-01 1.62726765e-02 2.94701217e+02] [ 2.15898918e-01 3.99400240e-03 9.76407551e-01 1.06850762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.362755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:364.99, Y:294.68, Z:106.87 [[ 9.71629260e-01 9.97107774e-02 -2.14462914e-01 3.64986650e+02] [-9.14838859e-02 9.94650224e-01 4.79753188e-02 2.94677531e+02] [ 2.18099241e-01 -2.69943228e-02 9.75553191e-01 1.06874201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.02, Y:294.70, Z:106.86 [[ 9.72282182e-01 9.07143719e-02 -2.15495386e-01 3.65016728e+02] [-9.22086693e-02 9.95734785e-01 3.13050517e-03 2.94703315e+02] [ 2.14860233e-01 1.68268084e-02 9.76499841e-01 1.06858547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.04, Y:294.69, Z:106.87 [[ 9.72150441e-01 9.82204042e-02 -2.12782220e-01 3.65037654e+02] [-9.42210038e-02 9.95132306e-01 2.88807351e-02 2.94686105e+02] [ 2.14583139e-01 -8.02786494e-03 9.76672734e-01 1.06872466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.07, Y:294.69, Z:106.88 [[ 9.71968380e-01 9.63762145e-02 -2.14450679e-01 3.65067973e+02] [-9.35087849e-02 9.95341072e-01 2.35001469e-02 2.94686848e+02] [ 2.15716424e-01 -2.78837724e-03 9.76452072e-01 1.06878194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.482755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:365.09, Y:294.68, Z:106.89 [[ 9.72105384e-01 9.85352637e-02 -2.12842486e-01 3.65093956e+02] [-9.41121543e-02 9.95083835e-01 3.08393137e-02 2.94679558e+02] [ 2.14834877e-01 -9.94799808e-03 9.76599720e-01 1.06886146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.12, Y:294.68, Z:106.89 [[ 9.71989648e-01 9.85266039e-02 -2.13374397e-01 3.65122490e+02] [-9.52889300e-02 9.95124748e-01 2.54313940e-02 2.94681092e+02] [ 2.14839812e-01 -4.38683375e-03 9.76639448e-01 1.06892459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5427550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:365.15, Y:294.68, Z:106.91 [[ 9.71480898e-01 9.74443539e-02 -2.16169987e-01 3.65148449e+02] [-9.16168079e-02 9.95112572e-01 3.68419454e-02 2.94676195e+02] [ 2.18703512e-01 -1.59864420e-02 9.75660396e-01 1.06906567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.572755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:365.18, Y:294.68, Z:106.91 [[ 9.71261934e-01 9.46394687e-02 -2.18388706e-01 3.65178704e+02] [-9.15697463e-02 9.95505578e-01 2.41583473e-02 2.94680853e+02] [ 2.19693508e-01 -3.46628471e-03 9.75562785e-01 1.06908727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.21, Y:294.68, Z:106.92 [[ 9.70968352e-01 9.41650165e-02 -2.19894088e-01 3.65205916e+02] [-9.19239303e-02 9.95556530e-01 2.04251511e-02 2.94680183e+02] [ 2.20840330e-01 3.81353530e-04 9.75309901e-01 1.06915524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.24, Y:294.68, Z:106.92 [[ 9.70964512e-01 9.48508157e-02 -2.19616118e-01 3.65237288e+02] [-9.33268084e-02 9.95484729e-01 1.73280520e-02 2.94675675e+02] [ 2.20268072e-01 3.67114785e-03 9.75432468e-01 1.06918191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.26, Y:294.67, Z:106.93 [[ 9.71654808e-01 9.18499815e-02 -2.17831392e-01 3.65262695e+02] [-8.86845900e-02 9.95763665e-01 2.42851402e-02 2.94671784e+02] [ 2.19139175e-01 -4.27848559e-03 9.75684230e-01 1.06926862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.29, Y:294.66, Z:106.94 [[ 9.71560939e-01 9.47474991e-02 -2.17007496e-01 3.65285646e+02] [-8.91895283e-02 9.95389391e-01 3.52872305e-02 2.94662157e+02] [ 2.19350336e-01 -1.49288985e-02 9.75531936e-01 1.06937977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.31, Y:294.66, Z:106.94 [[ 9.72268487e-01 9.10096835e-02 -2.15432652e-01 3.65314739e+02] [-8.67432286e-02 9.95802765e-01 2.91969990e-02 2.94662154e+02] [ 2.17185640e-01 -9.69999827e-03 9.76082121e-01 1.06942974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.34, Y:294.66, Z:106.95 [[ 9.72918412e-01 9.10425866e-02 -2.12464139e-01 3.65342600e+02] [-8.60201766e-02 9.95753859e-01 3.27838543e-02 2.94656935e+02] [ 2.14546713e-01 -1.36198128e-02 9.76618763e-01 1.06950377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.37, Y:294.67, Z:106.95 [[ 9.71922414e-01 8.56424364e-02 -2.19162482e-01 3.65371515e+02] [-8.56545481e-02 9.96279941e-01 9.46451376e-03 2.94666833e+02] [ 2.19157749e-01 9.57349027e-03 9.75642470e-01 1.06950866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.40, Y:294.66, Z:106.96 [[ 9.72183754e-01 8.68433743e-02 -2.17524658e-01 3.65399406e+02] [-8.34834628e-02 9.96205311e-01 2.46067020e-02 2.94656220e+02] [ 2.18836149e-01 -5.76252418e-03 9.75744605e-01 1.06962804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.43, Y:294.65, Z:106.97 [[ 9.72934531e-01 8.81644861e-02 -2.13601083e-01 3.65429667e+02] [-8.46137055e-02 9.96081631e-01 2.57275345e-02 2.94650762e+02] [ 2.15032370e-01 -6.95762764e-03 9.76582138e-01 1.06965107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:365.45, Y:294.65, Z:106.98 [[ 9.72617784e-01 8.96743414e-02 -2.14413524e-01 3.65451156e+02] [-8.46974765e-02 9.95882851e-01 3.23061103e-02 2.94646559e+02] [ 2.16427781e-01 -1.32612130e-02 9.76208562e-01 1.06976242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.48, Y:294.65, Z:106.98 [[ 9.72532409e-01 8.89652696e-02 -2.15095084e-01 3.65479274e+02] [-8.55791886e-02 9.96017086e-01 2.50233246e-02 2.94648395e+02] [ 2.16464586e-01 -5.92833138e-03 9.76272471e-01 1.06979491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.51, Y:294.65, Z:106.98 [[ 9.72387852e-01 8.56740119e-02 -2.17075628e-01 3.65511630e+02] [-8.37399427e-02 9.96323061e-01 1.81102354e-02 2.94650334e+02] [ 2.17829031e-01 5.67727781e-04 9.75986778e-01 1.06984702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.54, Y:294.64, Z:107.00 [[ 9.72998294e-01 9.00733178e-02 -2.12511452e-01 3.65535448e+02] [-8.39846109e-02 9.95760233e-01 3.75252473e-02 2.94636585e+02] [ 2.14990476e-01 -1.86643100e-02 9.76437780e-01 1.06995655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.57, Y:294.65, Z:106.99 [[ 9.72813934e-01 8.35323094e-02 -2.15998618e-01 3.65570417e+02] [-8.40728457e-02 9.96437078e-01 6.70122139e-03 2.94649256e+02] [ 2.15788800e-01 1.16405769e-02 9.76370673e-01 1.06987700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.022755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:365.60, Y:294.63, Z:107.01 [[ 9.72153423e-01 8.95200779e-02 -2.16573033e-01 3.65595091e+02] [-8.37316277e-02 9.95845902e-01 3.57764497e-02 2.94629470e+02] [ 2.18876078e-01 -1.66461855e-02 9.75610664e-01 1.07005124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.62, Y:294.63, Z:107.01 [[ 9.72113766e-01 8.79177053e-02 -2.17405849e-01 3.65622674e+02] [-8.26061714e-02 9.96021803e-01 3.34183966e-02 2.94627961e+02] [ 2.19479035e-01 -1.45274185e-02 9.75509051e-01 1.07012680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.082755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:365.65, Y:294.63, Z:107.01 [[ 9.72077036e-01 8.53399111e-02 -2.18593998e-01 3.65647900e+02] [-8.24646532e-02 9.96345346e-01 2.22605724e-02 2.94632094e+02] [ 2.19694827e-01 -3.61271305e-03 9.75561957e-01 1.07014945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.68, Y:294.63, Z:107.02 [[ 9.72250330e-01 8.20339099e-02 -2.19088415e-01 3.65675904e+02] [-7.96252630e-02 9.96627874e-01 1.98166251e-02 2.94632968e+02] [ 2.19975256e-01 -1.82174764e-03 9.75503751e-01 1.07022205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.142755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:365.70, Y:294.61, Z:107.03 [[ 9.73474593e-01 9.14940241e-02 -2.09704699e-01 3.65698235e+02] [-8.28312862e-02 9.95321253e-01 4.97451617e-02 2.94611945e+02] [ 2.13274929e-01 -3.10555411e-02 9.76498519e-01 1.07032300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.73, Y:294.63, Z:107.03 [[ 9.73227872e-01 8.39663263e-02 -2.13955991e-01 3.65729973e+02] [-8.12941827e-02 9.96463093e-01 2.12734442e-02 2.94626805e+02] [ 2.14985501e-01 -3.31053139e-03 9.76611629e-01 1.07032898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.76, Y:294.62, Z:107.04 [[ 9.72640539e-01 8.40361913e-02 -2.16583240e-01 3.65757691e+02] [-8.12832745e-02 9.96456875e-01 2.16038535e-02 2.94624250e+02] [ 2.17631364e-01 -3.40818877e-03 9.76025089e-01 1.07040798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.79, Y:294.62, Z:107.05 [[ 9.72895850e-01 8.59757754e-02 -2.14666792e-01 3.65785344e+02] [-8.16391813e-02 9.96239853e-01 2.90034297e-02 2.94617835e+02] [ 2.16353206e-01 -1.06920952e-02 9.76256611e-01 1.07049870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.81, Y:294.62, Z:107.05 [[ 9.72531592e-01 8.49308414e-02 -2.16723454e-01 3.65810983e+02] [-8.34224143e-02 9.96383944e-01 1.61163609e-02 2.94624056e+02] [ 2.17308546e-01 2.40592363e-03 9.76099999e-01 1.07051195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.84, Y:294.61, Z:107.06 [[ 9.73084472e-01 9.16261818e-02 -2.11450357e-01 3.65836699e+02] [-8.53419101e-02 9.95600758e-01 3.86767309e-02 2.94609341e+02] [ 2.14063936e-01 -1.95901489e-02 9.76623191e-01 1.07063361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.86, Y:294.60, Z:107.08 [[ 9.71850942e-01 9.66960592e-02 -2.14838587e-01 3.65864807e+02] [-8.95094130e-02 9.95059239e-01 4.29555039e-02 2.94603649e+02] [ 2.17930749e-01 -2.25162712e-02 9.75704467e-01 1.07076120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.90, Y:294.62, Z:107.07 [[ 9.72560844e-01 8.80893519e-02 -2.15326893e-01 3.65895089e+02] [-8.85007942e-02 9.96045962e-01 7.74931563e-03 2.94623610e+02] [ 2.15158115e-01 1.15199201e-02 9.76511279e-01 1.07066608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.92, Y:294.61, Z:107.08 [[ 9.72605757e-01 9.28639024e-02 -2.13106398e-01 3.65920478e+02] [-8.97854606e-02 9.95669500e-01 2.41001649e-02 2.94612986e+02] [ 2.14421576e-01 -4.30610302e-03 9.76731716e-01 1.07077051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4127550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:365.95, Y:294.60, Z:107.09 [[ 9.71393745e-01 1.00209094e-01 -2.15295912e-01 3.65949072e+02] [-9.43094374e-02 9.94835297e-01 3.75294929e-02 2.94602289e+02] [ 2.17944769e-01 -1.61514783e-02 9.75827448e-01 1.07091385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:365.98, Y:294.62, Z:107.09 [[ 9.72172628e-01 9.41242921e-02 -2.14525054e-01 3.65976924e+02] [-9.33501642e-02 9.95538251e-01 1.37599719e-02 2.94617523e+02] [ 2.14863045e-01 6.64888100e-03 9.76621556e-01 1.07086777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.00, Y:294.61, Z:107.10 [[ 9.71813320e-01 9.79672752e-02 -2.14432469e-01 3.66003700e+02] [-9.50076128e-02 9.95184996e-01 2.40910284e-02 2.94611793e+02] [ 2.15760108e-01 -3.03926534e-03 9.76441672e-01 1.07095495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.03, Y:294.61, Z:107.10 [[ 9.71403017e-01 9.98511363e-02 -2.15420353e-01 3.66031816e+02] [-9.61379655e-02 9.94983243e-01 2.76737897e-02 2.94606615e+02] [ 2.17102901e-01 -6.17232840e-03 9.76129209e-01 1.07103594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.06, Y:294.60, Z:107.11 [[ 9.71385815e-01 9.97105887e-02 -2.15562975e-01 3.66058617e+02] [-9.57616639e-02 9.94990075e-01 2.87132993e-02 2.94604411e+02] [ 2.17346041e-01 -7.24902242e-03 9.76067698e-01 1.07110811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.562755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:366.09, Y:294.61, Z:107.11 [[ 9.71743849e-01 9.58659134e-02 -2.15693342e-01 3.66085533e+02] [-9.41598744e-02 9.95390788e-01 1.81960568e-02 2.94610791e+02] [ 2.16443548e-01 2.62775175e-03 9.76291599e-01 1.07112404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.11, Y:294.61, Z:107.12 [[ 9.71645437e-01 9.69299492e-02 -2.15661144e-01 3.66111006e+02] [-9.39699852e-02 9.95286635e-01 2.39615514e-02 2.94605903e+02] [ 2.16967246e-01 -3.01645757e-03 9.76174224e-01 1.07120599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.622755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.14, Y:294.61, Z:107.13 [[ 9.72248072e-01 8.99265929e-02 -2.15978924e-01 3.66143790e+02] [-8.74690323e-02 9.95947329e-01 2.09305242e-02 2.94609905e+02] [ 2.16985843e-01 -1.45819435e-03 9.76173662e-01 1.07125820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.17, Y:294.60, Z:107.14 [[ 9.71760396e-01 9.76110765e-02 -2.14834379e-01 3.66165815e+02] [-9.06974946e-02 9.94999562e-01 4.18310380e-02 2.94595222e+02] [ 2.17843285e-01 -2.11648061e-02 9.75754249e-01 1.07139491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.19, Y:294.61, Z:107.13 [[ 9.72443462e-01 8.91695418e-02 -2.15412410e-01 3.66194933e+02] [-8.87395364e-02 9.95986303e-01 1.16867003e-02 2.94612752e+02] [ 2.15589908e-01 7.75094216e-03 9.76453232e-01 1.07132692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.22, Y:294.61, Z:107.14 [[ 9.72434350e-01 9.05514599e-02 -2.14876402e-01 3.66221353e+02] [-8.75642348e-02 9.95883983e-01 2.34007960e-02 2.94607247e+02] [ 2.16110943e-01 -3.94025016e-03 9.76360863e-01 1.07141782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.25, Y:294.61, Z:107.15 [[ 9.72318914e-01 9.00194223e-02 -2.15621042e-01 3.66248176e+02] [-8.70128827e-02 9.95931954e-01 2.34158390e-02 2.94606038e+02] [ 2.16851766e-01 -4.00585474e-03 9.76196325e-01 1.07147940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.28, Y:294.61, Z:107.15 [[ 9.72327533e-01 8.87458418e-02 -2.16109566e-01 3.66276054e+02] [-8.57008205e-02 9.96045149e-01 2.34399516e-02 2.94605805e+02] [ 2.17335083e-01 -4.27054319e-03 9.76087713e-01 1.07154282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.31, Y:294.60, Z:107.16 [[ 9.72218520e-01 8.81834223e-02 -2.16829040e-01 3.66307000e+02] [-8.60401837e-02 9.96104245e-01 1.93240773e-02 2.94604481e+02] [ 2.17688391e-01 -1.31215374e-04 9.76018313e-01 1.07159073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.33, Y:294.60, Z:107.17 [[ 9.72259991e-01 8.90555891e-02 -2.16285949e-01 3.66333170e+02] [-8.56790663e-02 9.96010153e-01 2.49574356e-02 2.94598700e+02] [ 2.17645601e-01 -5.73393788e-03 9.76011022e-01 1.07166513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.36, Y:294.60, Z:107.17 [[ 9.72295691e-01 8.78590253e-02 -2.16614589e-01 3.66356821e+02] [-8.35456770e-02 9.96081637e-01 2.90084799e-02 2.94596422e+02] [ 2.18314472e-01 -1.01076075e-02 9.75826126e-01 1.07174453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.39, Y:294.61, Z:107.17 [[ 9.73664646e-01 8.25532752e-02 -2.12513796e-01 3.66387572e+02] [-8.20221851e-02 9.96566105e-01 1.13295898e-02 2.94605038e+02] [ 2.12719341e-01 6.39962493e-03 9.77092384e-01 1.07170464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.41, Y:294.59, Z:107.19 [[ 9.72403316e-01 8.64291001e-02 -2.16706717e-01 3.66410295e+02] [-8.08568282e-02 9.96129624e-01 3.44665787e-02 2.94591663e+02] [ 2.18846896e-01 -1.59931976e-02 9.75628133e-01 1.07189107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.44, Y:294.60, Z:107.18 [[ 9.73926125e-01 7.98909448e-02 -2.12333089e-01 3.66442606e+02] [-7.98633833e-02 9.96767672e-01 8.72061709e-03 2.94604413e+02] [ 2.12343457e-01 8.46440208e-03 9.77158437e-01 1.07181572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.47, Y:294.60, Z:107.19 [[ 9.73882023e-01 8.15388729e-02 -2.11908511e-01 3.66468480e+02] [-7.86611196e-02 9.96658861e-01 2.19896304e-02 2.94595820e+02] [ 2.12993505e-01 -4.74634506e-03 9.77042087e-01 1.07191376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.012755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:366.50, Y:294.60, Z:107.19 [[ 9.72987148e-01 7.76348569e-02 -2.17413980e-01 3.66498844e+02] [-7.79853853e-02 9.96930061e-01 6.98089884e-03 2.94602638e+02] [ 2.17288494e-01 1.01627882e-02 9.76054521e-01 1.07193622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.53, Y:294.60, Z:107.20 [[ 9.73198931e-01 7.91232769e-02 -2.15924404e-01 3.66527201e+02] [-7.83180303e-02 9.96852582e-01 1.22969869e-02 2.94598470e+02] [ 2.16217778e-01 4.94335958e-03 9.76332646e-01 1.07198809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.56, Y:294.59, Z:107.21 [[ 9.72740377e-01 8.11710183e-02 -2.17226666e-01 3.66555715e+02] [-7.84487141e-02 9.96693960e-01 2.11411977e-02 2.94590960e+02] [ 2.18224559e-01 -3.52374394e-03 9.75892220e-01 1.07208837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.58, Y:294.58, Z:107.22 [[ 9.73708294e-01 8.37601271e-02 -2.11840503e-01 3.66581694e+02] [-7.88211055e-02 9.96385645e-01 3.16682785e-02 2.94582286e+02] [ 2.13727375e-01 -1.41381628e-02 9.76791033e-01 1.07216441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.61, Y:294.59, Z:107.22 [[ 9.72284904e-01 8.13330911e-02 -2.19196245e-01 3.66608638e+02] [-7.92003757e-02 9.96686770e-01 1.85143964e-02 2.94587237e+02] [ 2.19975830e-01 -6.40843152e-04 9.75505112e-01 1.07221043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.64, Y:294.58, Z:107.23 [[ 9.71903855e-01 8.31756971e-02 -2.20192416e-01 3.66636283e+02] [-7.95307851e-02 9.96509194e-01 2.53826647e-02 2.94579880e+02] [ 2.21534988e-01 -7.15743391e-03 9.75126156e-01 1.07230690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.192755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:366.66, Y:294.58, Z:107.24 [[ 9.71594379e-01 8.46342333e-02 -2.21000927e-01 3.66662841e+02] [-8.09948410e-02 9.96388397e-01 2.54950777e-02 2.94575175e+02] [ 2.22360516e-01 -6.87093922e-03 9.74940301e-01 1.07235999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.69, Y:294.56, Z:107.26 [[ 9.70928945e-01 9.14969663e-02 -2.21190618e-01 3.66685567e+02] [-8.21538497e-02 9.95308913e-01 5.10970840e-02 2.94557457e+02] [ 2.24828222e-01 -3.14399771e-02 9.73891061e-01 1.07255966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.72, Y:294.57, Z:107.25 [[ 9.70753780e-01 8.64071187e-02 -2.23988634e-01 3.66716159e+02] [-8.32411057e-02 9.96250959e-01 2.35572529e-02 2.94568922e+02] [ 2.25184405e-01 -4.22323083e-03 9.74307009e-01 1.07254621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.74, Y:294.56, Z:107.26 [[ 9.70681844e-01 8.90877793e-02 -2.23249021e-01 3.66742274e+02] [-8.60296707e-02 9.96017578e-01 2.34068429e-02 2.94564199e+02] [ 2.24445213e-01 -3.51455772e-03 9.74480371e-01 1.07260527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.77, Y:294.56, Z:107.27 [[ 9.70579333e-01 9.02153761e-02 -2.23241895e-01 3.66769093e+02] [-8.71945056e-02 9.95917074e-01 2.33730691e-02 2.94560628e+02] [ 2.24439025e-01 -3.21995115e-03 9.74482815e-01 1.07266325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.80, Y:294.57, Z:107.26 [[ 9.71301603e-01 8.66394820e-02 -2.21510263e-01 3.66802713e+02] [-8.97040704e-02 9.95961242e-01 -3.79278751e-03 2.94570864e+02] [ 2.20287032e-01 2.35543128e-02 9.75150664e-01 1.07256887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.82, Y:294.54, Z:107.29 [[ 9.70203524e-01 9.90201741e-02 -2.21133732e-01 3.66820798e+02] [-9.01452783e-02 9.94677896e-01 4.98970086e-02 2.94536874e+02] [ 2.24897646e-01 -2.84760917e-02 9.73966201e-01 1.07285702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.86, Y:294.56, Z:107.27 [[ 9.71846726e-01 8.93382506e-02 -2.18019765e-01 3.66856335e+02] [-9.09511090e-02 9.95851841e-01 2.64711666e-03 2.94558172e+02] [ 2.17351873e-01 1.72565477e-02 9.75940764e-01 1.07271469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.88, Y:294.54, Z:107.28 [[ 9.71077819e-01 9.34873058e-02 -2.19699782e-01 3.66879675e+02] [-9.07869316e-02 9.95618871e-01 2.23784946e-02 2.94541401e+02] [ 2.20829354e-01 -1.78539063e-03 9.75310827e-01 1.07284088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.91, Y:294.54, Z:107.29 [[ 9.70771790e-01 9.13426289e-02 -2.21942910e-01 3.66907347e+02] [-8.97267733e-02 9.95814860e-01 1.73744088e-02 2.94540092e+02] [ 2.22601072e-01 3.04763523e-03 9.74904854e-01 1.07289026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.93, Y:294.52, Z:107.31 [[ 9.70529810e-01 9.77259654e-02 -2.20276016e-01 3.66927916e+02] [-8.85867705e-02 9.94761087e-01 5.10172925e-02 2.94517163e+02] [ 2.24107724e-01 -3.00002622e-02 9.74102516e-01 1.07311247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.522755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:366.96, Y:294.53, Z:107.30 [[ 9.71056690e-01 8.75086096e-02 -2.22241194e-01 3.66961929e+02] [-8.76833570e-02 9.96106830e-01 9.10008312e-03 2.94533580e+02] [ 2.22172307e-01 1.06501574e-02 9.74949250e-01 1.07300577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:366.98, Y:294.52, Z:107.32 [[ 9.70492305e-01 9.04907891e-02 -2.23508622e-01 3.66984190e+02] [-8.69564598e-02 9.95882466e-01 2.56259251e-02 2.94520110e+02] [ 2.24907228e-01 -5.43424463e-03 9.74365028e-01 1.07316015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.01, Y:294.52, Z:107.32 [[ 9.71224636e-01 8.99587189e-02 -2.20522416e-01 3.67012016e+02] [-8.74609720e-02 9.95944783e-01 2.10847774e-02 2.94517286e+02] [ 2.21524909e-01 -1.19095037e-03 9.75153986e-01 1.07317125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.04, Y:294.51, Z:107.32 [[ 9.71154017e-01 8.99003893e-02 -2.20856959e-01 3.67040866e+02] [-8.71749414e-02 9.95948361e-01 2.20769629e-02 2.94508806e+02] [ 2.21946854e-01 -2.18693873e-03 9.75056312e-01 1.07324425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.07, Y:294.50, Z:107.33 [[ 9.71146332e-01 8.96685651e-02 -2.20984954e-01 3.67068381e+02] [-8.68442651e-02 9.95968152e-01 2.24836371e-02 2.94503614e+02] [ 2.22110052e-01 -2.64362577e-03 9.75018018e-01 1.07330400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.09, Y:294.49, Z:107.34 [[ 9.70674266e-01 9.24297149e-02 -2.21919392e-01 3.67091736e+02] [-8.66641221e-02 9.95601282e-01 3.56008074e-02 2.94491575e+02] [ 2.24233804e-01 -1.53243383e-02 9.74414884e-01 1.07344199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.12, Y:294.49, Z:107.35 [[ 9.70220211e-01 9.04742901e-02 -2.24693447e-01 3.67119475e+02] [-8.75242607e-02 9.95895069e-01 2.30762969e-02 2.94491149e+02] [ 2.25858907e-01 -2.72296190e-03 9.74156219e-01 1.07347008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.15, Y:294.49, Z:107.35 [[ 9.70387628e-01 9.08862960e-02 -2.23802439e-01 3.67146068e+02] [-8.79878067e-02 9.95858035e-01 2.29111402e-02 2.94486961e+02] [ 2.24957766e-01 -2.54080123e-03 9.74365203e-01 1.07351543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.17, Y:294.48, Z:107.36 [[ 9.70182585e-01 9.26335524e-02 -2.23974947e-01 3.67171780e+02] [-8.97839653e-02 9.95698045e-01 2.28963445e-02 2.94480294e+02] [ 2.25132386e-01 -2.10427580e-03 9.74325911e-01 1.07357457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.20, Y:294.48, Z:107.36 [[ 9.70166039e-01 9.37639893e-02 -2.23575875e-01 3.67197918e+02] [-9.09616467e-02 9.95592815e-01 2.28238113e-02 2.94475116e+02] [ 2.24730587e-01 -1.80605678e-03 9.74419264e-01 1.07363816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.23, Y:294.47, Z:107.37 [[ 9.70281114e-01 9.44258603e-02 -2.22796583e-01 3.67225027e+02] [-9.16678580e-02 9.95530588e-01 2.27123811e-02 2.94470084e+02] [ 2.23945450e-01 -1.61410888e-03 9.74600344e-01 1.07369976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.25, Y:294.46, Z:107.38 [[ 9.70394596e-01 9.58407172e-02 -2.21695476e-01 3.67251586e+02] [-9.31627316e-02 9.95395948e-01 2.25302309e-02 2.94462917e+02] [ 2.22834093e-01 -1.20945815e-03 9.74855633e-01 1.07375753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.28, Y:294.46, Z:107.38 [[ 9.70332701e-01 9.63536812e-02 -2.21744035e-01 3.67278018e+02] [-9.37036751e-02 9.95346636e-01 2.24654172e-02 2.94458199e+02] [ 2.22876805e-01 -1.02069799e-03 9.74846084e-01 1.07381731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.31, Y:294.45, Z:107.39 [[ 9.70270575e-01 9.70379533e-02 -2.21717493e-01 3.67305017e+02] [-9.44133329e-02 9.95280334e-01 2.24316440e-02 2.94450701e+02] [ 2.22847782e-01 -8.31676587e-04 9.74852899e-01 1.07387507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.33, Y:294.45, Z:107.39 [[ 9.70109513e-01 9.74279471e-02 -2.22250597e-01 3.67331089e+02] [-9.48168745e-02 9.95242355e-01 2.24146421e-02 2.94445509e+02] [ 2.23377020e-01 -6.71550582e-04 9.74731889e-01 1.07393294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.36, Y:294.44, Z:107.40 [[ 9.69952729e-01 9.77717928e-02 -2.22783260e-01 3.67358235e+02] [-9.51642996e-02 9.95208703e-01 2.24364568e-02 2.94439819e+02] [ 2.23909492e-01 -5.61289586e-04 9.74609781e-01 1.07399481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.38, Y:294.43, Z:107.41 [[ 9.69647028e-01 9.89488059e-02 -2.23592880e-01 3.67383782e+02] [-9.63691813e-02 9.95092501e-01 2.24476044e-02 2.94431548e+02] [ 2.24716762e-01 -2.18790124e-04 9.74424101e-01 1.07405612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.41, Y:294.43, Z:107.41 [[ 9.69454716e-01 9.96785084e-02 -2.24102096e-01 3.67409917e+02] [-9.71133464e-02 9.95019696e-01 2.24678288e-02 2.94426488e+02] [ 2.25225559e-01 -1.82381877e-05 9.74306650e-01 1.07411595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.44, Y:294.42, Z:107.42 [[ 9.69351487e-01 9.98491666e-02 -2.24472357e-01 3.67437250e+02] [-9.72872752e-02 9.95002583e-01 2.24732076e-02 2.94421653e+02] [ 2.25594506e-01 5.38667523e-05 9.74221287e-01 1.07417606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.46, Y:294.41, Z:107.42 [[ 9.69276754e-01 1.00691908e-01 -2.24418613e-01 3.67462962e+02] [-9.81695399e-02 9.94917603e-01 2.23987604e-02 2.94414180e+02] [ 2.25533403e-01 3.20474193e-04 9.74235383e-01 1.07423409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.49, Y:294.42, Z:107.42 [[ 9.67789502e-01 9.60465540e-02 -2.32719871e-01 3.67491847e+02] [-9.90276680e-02 9.95084036e-01 -1.13245592e-03 2.94422465e+02] [ 2.31467060e-01 2.41416851e-02 9.72543150e-01 1.07423923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.51, Y:294.39, Z:107.44 [[ 9.69047378e-01 1.08269090e-01 -2.21867040e-01 3.67514716e+02] [-1.00823262e-01 9.93901935e-01 4.46498961e-02 2.94392761e+02] [ 2.25348284e-01 -2.08985060e-02 9.74054107e-01 1.07443812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.54, Y:294.40, Z:107.44 [[ 9.68915330e-01 1.04290198e-01 -2.24335993e-01 3.67544756e+02] [-1.01891886e-01 9.94546090e-01 2.22737270e-02 2.94401820e+02] [ 2.25435416e-01 1.27666192e-03 9.74257278e-01 1.07442157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.212755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:367.57, Y:294.40, Z:107.45 [[ 9.68797492e-01 1.05000312e-01 -2.24513596e-01 3.67571580e+02] [-1.02633932e-01 9.94471031e-01 2.22181295e-02 2.94398581e+02] [ 2.25605178e-01 1.51784513e-03 9.74217635e-01 1.07448574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.242755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:367.60, Y:294.40, Z:107.46 [[ 9.68497815e-01 1.06556521e-01 -2.25072633e-01 3.67597768e+02] [-1.04236469e-01 9.94304717e-01 2.22010944e-02 2.94396547e+02] [ 2.26156452e-01 1.95906501e-03 9.74089021e-01 1.07455110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.63, Y:294.39, Z:107.46 [[ 9.68413868e-01 1.06721716e-01 -2.25355400e-01 3.67625385e+02] [-1.04407866e-01 9.94286849e-01 2.21959366e-02 2.94394943e+02] [ 2.26436699e-01 2.03402348e-03 9.74023760e-01 1.07461339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.65, Y:294.39, Z:107.47 [[ 9.68287245e-01 1.05792944e-01 -2.26335293e-01 3.67651175e+02] [-1.03450930e-01 9.94386364e-01 2.22185648e-02 2.94392645e+02] [ 2.27415296e-01 1.90064359e-03 9.73796011e-01 1.07467379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.68, Y:294.39, Z:107.47 [[ 9.68578572e-01 1.02977554e-01 -2.26387221e-01 3.67682338e+02] [-1.02845777e-01 9.94619905e-01 1.24093106e-02 2.94394851e+02] [ 2.26447116e-01 1.12635773e-02 9.73958334e-01 1.07467696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.362755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:367.70, Y:294.38, Z:107.48 [[ 9.68457607e-01 1.05839260e-01 -2.25583499e-01 3.67703769e+02] [-1.01001563e-01 9.94341697e-01 3.29131220e-02 2.94382208e+02] [ 2.27790579e-01 -9.09067735e-03 9.73667711e-01 1.07483433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.73, Y:294.39, Z:107.49 [[ 9.68787850e-01 9.96045751e-02 -2.27000069e-01 3.67732595e+02] [-9.71088463e-02 9.95026936e-01 2.21645960e-02 2.94386106e+02] [ 2.28078878e-01 5.70923552e-04 9.73642491e-01 1.07486035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.76, Y:294.38, Z:107.49 [[ 9.69082936e-01 9.73191837e-02 -2.26731649e-01 3.67759756e+02] [-9.47851506e-02 9.95253216e-01 2.20637860e-02 2.94384079e+02] [ 2.27802632e-01 1.09154931e-04 9.73707322e-01 1.07491993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.79, Y:294.38, Z:107.50 [[ 9.69330846e-01 9.22798041e-02 -2.27776531e-01 3.67785800e+02] [-8.96019384e-02 9.95732608e-01 2.20922114e-02 2.94383121e+02] [ 2.28843184e-01 -1.00544326e-03 9.73462781e-01 1.07497814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.81, Y:294.38, Z:107.50 [[ 9.69420906e-01 8.96395897e-02 -2.28446606e-01 3.67813400e+02] [-8.68814422e-02 9.95972986e-01 2.21229964e-02 2.94380698e+02] [ 2.29509745e-01 -1.59872461e-03 9.73305051e-01 1.07504359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.84, Y:294.38, Z:107.51 [[ 9.69328574e-01 8.86770916e-02 -2.29212760e-01 3.67837700e+02] [-8.63076440e-02 9.96060426e-01 2.03622005e-02 2.94378587e+02] [ 2.30115420e-01 4.51504882e-05 9.73163343e-01 1.07509462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.87, Y:294.39, Z:107.51 [[ 9.70476482e-01 7.77714215e-02 -2.28313389e-01 3.67871468e+02] [-7.93868993e-02 9.96841638e-01 2.11407843e-03 2.94387245e+02] [ 2.27756707e-01 1.60734286e-02 9.73585398e-01 1.07505241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.89, Y:294.36, Z:107.53 [[ 9.70050289e-01 8.56554380e-02 -2.27300646e-01 3.67892456e+02] [-7.82817067e-02 9.96076416e-01 4.12764754e-02 2.94362811e+02] [ 2.29944367e-01 -2.22467744e-02 9.72949469e-01 1.07531753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.92, Y:294.37, Z:107.53 [[ 9.70100873e-01 7.96307847e-02 -2.29266731e-01 3.67922547e+02] [-7.66237875e-02 9.96817268e-01 2.20029224e-02 2.94372591e+02] [ 2.30289147e-01 -3.77776896e-03 9.73114915e-01 1.07531665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.96, Y:294.38, Z:107.53 [[ 9.70719559e-01 7.40374179e-02 -2.28521332e-01 3.67955705e+02] [-7.53593016e-02 9.97152085e-01 2.94859880e-03 2.94381636e+02] [ 2.28088830e-01 1.43589455e-02 9.73534440e-01 1.07525436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:367.98, Y:294.36, Z:107.55 [[ 9.70264836e-01 8.26468190e-02 -2.27498685e-01 3.67975317e+02] [-7.52514877e-02 9.96321078e-01 4.10063710e-02 2.94358426e+02] [ 2.30050781e-01 -2.26674253e-02 9.72914604e-01 1.07550714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.00, Y:294.37, Z:107.55 [[ 9.70176357e-01 7.79849635e-02 -2.29512923e-01 3.68004533e+02] [-7.49693370e-02 9.96946569e-01 2.18434912e-02 2.94366960e+02] [ 2.30515585e-01 -3.98560700e-03 9.73060471e-01 1.07551258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.03, Y:294.36, Z:107.56 [[ 9.70198802e-01 7.76846892e-02 -2.29519879e-01 3.68032309e+02] [-7.46781181e-02 9.96970029e-01 2.17701670e-02 2.94364527e+02] [ 2.30515649e-01 -3.98127732e-03 9.73060474e-01 1.07557543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.06, Y:294.37, Z:107.56 [[ 9.69580538e-01 7.41621184e-02 -2.33267144e-01 3.68062563e+02] [-7.40354013e-02 9.97212141e-01 9.31155844e-03 2.94368766e+02] [ 2.33307393e-01 8.24172073e-03 9.72368107e-01 1.07560919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.09, Y:294.35, Z:107.58 [[ 9.70418839e-01 8.05469393e-02 -2.27594963e-01 3.68086191e+02] [-7.46657852e-02 9.96616906e-01 3.43476707e-02 2.94352167e+02] [ 2.29591588e-01 -1.63380701e-02 9.73149922e-01 1.07576344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.12, Y:294.38, Z:107.56 [[ 9.71104336e-01 7.09672160e-02 -2.27859657e-01 3.68118728e+02] [-7.46172932e-02 9.97184539e-01 -7.43337553e-03 2.94375236e+02] [ 2.26690601e-01 2.42208540e-02 9.73665611e-01 1.07559366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.14, Y:294.34, Z:107.59 [[ 9.70572538e-01 8.45467500e-02 -2.25479035e-01 3.68139000e+02] [-7.54468337e-02 9.95960368e-01 4.86900580e-02 2.94340711e+02] [ 2.28684769e-01 -3.02455539e-02 9.73030566e-01 1.07594018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.17, Y:294.35, Z:107.59 [[ 9.70429485e-01 7.96248560e-02 -2.27873862e-01 3.68169506e+02] [-7.67768817e-02 9.96819690e-01 2.13498573e-02 2.94354598e+02] [ 2.28849131e-01 -3.22308652e-03 9.73456567e-01 1.07591035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.20, Y:294.35, Z:107.60 [[ 9.70331911e-01 8.02926689e-02 -2.28054969e-01 3.68195822e+02] [-7.74757181e-02 9.96766840e-01 2.12927097e-02 2.94352346e+02] [ 2.29027280e-01 -2.99227317e-03 9.73415405e-01 1.07597147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.22, Y:294.35, Z:107.60 [[ 9.70367357e-01 8.04428187e-02 -2.27851148e-01 3.68222856e+02] [-7.76430951e-02 9.96754951e-01 2.12395367e-02 2.94349386e+02] [ 2.28820328e-01 -2.91908472e-03 9.73464296e-01 1.07603915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.25, Y:294.35, Z:107.61 [[ 9.70464705e-01 7.98325335e-02 -2.27651101e-01 3.68249199e+02] [-7.70381543e-02 9.96803816e-01 2.11488737e-02 2.94346739e+02] [ 2.28611855e-01 -2.98641481e-03 9.73513072e-01 1.07610346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.992755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:368.27, Y:294.36, Z:107.60 [[ 9.71193282e-01 6.93699385e-02 -2.27972413e-01 3.68273302e+02] [-7.03140982e-02 9.97516930e-01 3.98779949e-03 2.94363457e+02] [ 2.27682975e-01 1.21567505e-02 9.73659425e-01 1.07600657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.30, Y:294.35, Z:107.61 [[ 9.71161270e-01 7.29347891e-02 -2.26994063e-01 3.68299041e+02] [-7.34878850e-02 9.97277910e-01 6.02511956e-03 2.94354979e+02] [ 2.26815605e-01 1.08299508e-02 9.73877504e-01 1.07610112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.052755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:368.33, Y:294.33, Z:107.63 [[ 9.70454211e-01 8.15061314e-02 -2.27102125e-01 3.68325731e+02] [-7.43340109e-02 9.96432010e-01 3.99712880e-02 2.94329025e+02] [ 2.29549732e-01 -2.19088928e-02 9.73050318e-01 1.07633998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.35, Y:294.34, Z:107.64 [[ 9.70972648e-01 7.43302226e-02 -2.27348046e-01 3.68354797e+02] [-7.13689261e-02 9.97224028e-01 2.12300431e-02 2.94335993e+02] [ 2.28294968e-01 -4.38820521e-03 9.73582123e-01 1.07636996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.112755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.38, Y:294.33, Z:107.64 [[ 9.71109778e-01 7.25149425e-02 -2.27348593e-01 3.68381442e+02] [-6.95214799e-02 9.97356058e-01 2.11579417e-02 2.94333280e+02] [ 2.28281763e-01 -4.74107343e-03 9.73583566e-01 1.07643786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.41, Y:294.33, Z:107.65 [[ 9.71288907e-01 7.08514413e-02 -2.27107754e-01 3.68408272e+02] [-6.78368948e-02 9.97474092e-01 2.10616043e-02 2.94330794e+02] [ 2.28026346e-01 -5.05061774e-03 9.73641863e-01 1.07650541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.43, Y:294.33, Z:107.66 [[ 9.71431466e-01 6.92633344e-02 -2.26987879e-01 3.68434867e+02] [-6.62262824e-02 9.97584088e-01 2.09777972e-02 2.94328799e+02] [ 2.27892488e-01 -5.34592890e-03 9.73671626e-01 1.07656946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.46, Y:294.33, Z:107.66 [[ 9.71401890e-01 6.64882325e-02 -2.27942282e-01 3.68462315e+02] [-6.33576420e-02 9.97769235e-01 2.10324282e-02 2.94327011e+02] [ 2.28832206e-01 -5.98905498e-03 9.73447458e-01 1.07663605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.49, Y:294.33, Z:107.67 [[ 9.71388208e-01 6.47780770e-02 -2.28492343e-01 3.68489653e+02] [-6.16030999e-02 9.97879610e-01 2.10081326e-02 2.94325208e+02] [ 2.29368716e-01 -6.33121565e-03 9.73319016e-01 1.07669758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.52, Y:294.32, Z:107.68 [[ 9.71469773e-01 6.30979039e-02 -2.28615691e-01 3.68515612e+02] [-5.98910399e-02 9.97985148e-01 2.09453516e-02 2.94323747e+02] [ 2.29476672e-01 -6.65574452e-03 9.73291405e-01 1.07675802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.54, Y:294.33, Z:107.68 [[ 9.71204937e-01 6.24222712e-02 -2.29922661e-01 3.68536412e+02] [-6.12723956e-02 9.98047194e-01 1.21446037e-02 2.94328978e+02] [ 2.30231761e-01 2.29301321e-03 9.73133125e-01 1.07676966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.322755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:368.57, Y:294.32, Z:107.69 [[ 9.71375407e-01 6.26487403e-02 -2.29139595e-01 3.68569436e+02] [-5.86869363e-02 9.97986197e-01 2.40706172e-02 2.94318600e+02] [ 2.30186146e-01 -9.93410479e-03 9.73095911e-01 1.07688824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.60, Y:294.33, Z:107.69 [[ 9.71967706e-01 5.86110093e-02 -2.27691739e-01 3.68598139e+02] [-5.78006040e-02 9.98275717e-01 1.02314946e-02 2.94327732e+02] [ 2.27898812e-01 3.21603767e-03 9.73679510e-01 1.07687860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.63, Y:294.33, Z:107.69 [[ 9.72564790e-01 5.58795682e-02 -2.25821177e-01 3.68626610e+02] [-5.62705301e-02 9.98404448e-01 4.71024541e-03 2.94330474e+02] [ 2.25724074e-01 8.12605853e-03 9.74157384e-01 1.07688908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.65, Y:294.31, Z:107.71 [[ 9.72312790e-01 6.26534579e-02 -2.25127479e-01 3.68651890e+02] [-5.76593860e-02 9.97923792e-01 2.86967092e-02 2.94313434e+02] [ 2.26458016e-01 -1.49214651e-02 9.73906626e-01 1.07705942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.67, Y:294.32, Z:107.70 [[ 9.71952605e-01 6.40838764e-02 -2.26277245e-01 3.68673664e+02] [-6.37873265e-02 9.97926202e-01 8.62977326e-03 2.94323430e+02] [ 2.26361021e-01 6.04588988e-03 9.74024710e-01 1.07702347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.71, Y:294.32, Z:107.71 [[ 9.72572975e-01 6.07121005e-02 -2.24534741e-01 3.68709842e+02] [-5.99244322e-02 9.98149491e-01 1.03274392e-02 2.94320683e+02] [ 2.24746238e-01 3.41092861e-03 9.74411358e-01 1.07710817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.73, Y:294.32, Z:107.72 [[ 9.72429130e-01 6.80225136e-02 -2.23057222e-01 3.68730040e+02] [-6.58059739e-02 9.97681346e-01 1.73639164e-02 2.94315123e+02] [ 2.23721167e-01 -2.20668043e-03 9.74650691e-01 1.07716964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.77, Y:294.31, Z:107.73 [[ 9.72837924e-01 6.46490278e-02 -2.22276577e-01 3.68765269e+02] [-6.22748506e-02 9.97902412e-01 1.76810551e-02 2.94313708e+02] [ 2.22953395e-01 -3.35856034e-03 9.74823319e-01 1.07725645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.562755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:368.79, Y:294.31, Z:107.74 [[ 9.70633416e-01 7.12473225e-02 -2.29770736e-01 3.68788278e+02] [-6.84857137e-02 9.97451969e-01 1.99819174e-02 2.94307842e+02] [ 2.30608932e-01 -3.65910383e-03 9.73039635e-01 1.07736569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.82, Y:294.31, Z:107.74 [[ 9.72611481e-01 6.52747099e-02 -2.23083213e-01 3.68822111e+02] [-6.34797088e-02 9.97867128e-01 1.52158186e-02 2.94310578e+02] [ 2.23600613e-01 -6.37822458e-04 9.74680645e-01 1.07739609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.84, Y:294.31, Z:107.74 [[ 9.72136146e-01 6.86020005e-02 -2.24154141e-01 3.68842768e+02] [-6.70277170e-02 9.97643788e-01 1.46340957e-02 2.94308558e+02] [ 2.24629915e-01 7.98206965e-04 9.74443823e-01 1.07744088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.88, Y:294.29, Z:107.76 [[ 9.72392990e-01 6.86726380e-02 -2.23015563e-01 3.68877376e+02] [-6.23618560e-02 9.97431752e-01 3.52264111e-02 2.94294899e+02] [ 2.24861894e-01 -2.03462508e-02 9.74178197e-01 1.07763412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.91, Y:294.30, Z:107.76 [[ 9.72490861e-01 6.30961951e-02 -2.24232904e-01 3.68907493e+02] [-6.08680774e-02 9.98003715e-01 1.68422565e-02 2.94303768e+02] [ 2.24847954e-01 -2.73031475e-03 9.74390037e-01 1.07763023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.712755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:368.93, Y:294.30, Z:107.77 [[ 9.72459810e-01 6.40167538e-02 -2.24106610e-01 3.68933729e+02] [-6.00889559e-02 9.97896960e-01 2.43099892e-02 2.94297199e+02] [ 2.25191551e-01 -1.01741553e-02 9.74261388e-01 1.07772891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.95, Y:294.30, Z:107.78 [[ 9.71351090e-01 6.58164652e-02 -2.28353349e-01 3.68952674e+02] [-6.38069094e-02 9.97831088e-01 1.61802048e-02 2.94299675e+02] [ 2.28922995e-01 -1.14613812e-03 9.73443860e-01 1.07776660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:368.99, Y:294.30, Z:107.79 [[ 9.72128887e-01 6.06070630e-02 -2.26477836e-01 3.68990060e+02] [-5.73868075e-02 9.98135690e-01 2.07821631e-02 2.94295276e+02] [ 2.27315157e-01 -7.20610106e-03 9.73794584e-01 1.07785971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.802755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:369.01, Y:294.30, Z:107.79 [[ 9.71313175e-01 6.06829610e-02 -2.29931066e-01 3.69009760e+02] [-5.93064953e-02 9.98156477e-01 1.28991283e-02 2.94298462e+02] [ 2.30289940e-01 1.10731246e-03 9.73121430e-01 1.07788147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.04, Y:294.29, Z:107.80 [[ 9.72407830e-01 5.81503847e-02 -2.25923761e-01 3.69043214e+02] [-5.26905981e-02 9.98156330e-01 3.01270857e-02 2.94287503e+02] [ 2.27259134e-01 -1.73917559e-02 9.73679009e-01 1.07801649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.07, Y:294.29, Z:107.80 [[ 9.72521494e-01 5.17814395e-02 -2.26981554e-01 3.69071853e+02] [-4.87216406e-02 9.98630403e-01 1.90662062e-02 2.94292969e+02] [ 2.27657956e-01 -7.48338166e-03 9.73712408e-01 1.07802852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.892755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:369.09, Y:294.28, Z:107.82 [[ 9.71832025e-01 5.51841396e-02 -2.29122731e-01 3.69092548e+02] [-4.62766363e-02 9.97955914e-01 4.40734158e-02 2.94280063e+02] [ 2.31086538e-01 -3.22289277e-02 9.72399254e-01 1.07823031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.12, Y:294.29, Z:107.82 [[ 9.71412264e-01 4.89531470e-02 -2.32296799e-01 3.69121547e+02] [-4.52364374e-02 9.98749135e-01 2.13032774e-02 2.94290457e+02] [ 2.33049090e-01 -1.01859853e-02 9.72411625e-01 1.07823897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.15, Y:294.27, Z:107.84 [[ 9.70685074e-01 5.59527635e-02 -2.33751526e-01 3.69154002e+02] [-4.86505352e-02 9.98134240e-01 3.68939655e-02 2.94272322e+02] [ 2.35379721e-01 -2.44402848e-02 9.71596140e-01 1.07839970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.18, Y:294.29, Z:107.83 [[ 9.71011700e-01 4.48168320e-02 -2.34792952e-01 3.69177250e+02] [-4.30751953e-02 9.98993084e-01 1.25437606e-02 2.94292036e+02] [ 2.35118706e-01 -2.06638608e-03 9.71964466e-01 1.07834473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.20, Y:294.29, Z:107.84 [[ 9.69506803e-01 5.24973323e-02 -2.39375413e-01 3.69204949e+02] [-5.15593258e-02 9.98618012e-01 1.01834373e-02 2.94285575e+02] [ 2.39579202e-01 2.46912320e-03 9.70873684e-01 1.07840057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.23, Y:294.28, Z:107.85 [[ 9.70872333e-01 4.88998399e-02 -2.34554297e-01 3.69228934e+02] [-4.23271316e-02 9.98559392e-01 3.29780931e-02 2.94279337e+02] [ 2.35829020e-01 -2.20895075e-02 9.71543477e-01 1.07853915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.26, Y:294.28, Z:107.86 [[ 9.70319971e-01 5.06939635e-02 -2.36451424e-01 3.69262770e+02] [-4.57515385e-02 9.98605361e-01 2.63463509e-02 2.94275020e+02] [ 2.37457261e-01 -1.47463740e-02 9.71286052e-01 1.07861329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.102755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.29, Y:294.27, Z:107.87 [[ 9.70162366e-01 5.07771873e-02 -2.37079441e-01 3.69288747e+02] [-4.60661333e-02 9.98616117e-01 2.53724605e-02 2.94273947e+02] [ 2.38039693e-01 -1.36940731e-02 9.71158884e-01 1.07868100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.32, Y:294.28, Z:107.87 [[ 9.70584261e-01 4.77126869e-02 -2.35986637e-01 3.69316857e+02] [-4.45530241e-02 9.98831865e-01 1.87065174e-02 2.94276695e+02] [ 2.36603511e-01 -7.64233300e-03 9.71576231e-01 1.07869948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.34, Y:294.27, Z:107.88 [[ 9.70445250e-01 4.96917636e-02 -2.36149836e-01 3.69341431e+02] [-4.38812078e-02 9.98592180e-01 2.98009812e-02 2.94268776e+02] [ 2.37298243e-01 -1.85576806e-02 9.71259572e-01 1.07881655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.37, Y:294.28, Z:107.88 [[ 9.70800726e-01 4.42840679e-02 -2.35764442e-01 3.69366147e+02] [-3.98437624e-02 9.98927963e-01 2.35669137e-02 2.94275970e+02] [ 2.36555332e-01 -1.34850345e-02 9.71524435e-01 1.07883664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.40, Y:294.26, Z:107.90 [[ 9.70046964e-01 5.29935560e-02 -2.37066594e-01 3.69398223e+02] [-4.51035569e-02 9.98236824e-01 3.85864177e-02 2.94259305e+02] [ 2.38693435e-01 -2.67380907e-02 9.70726799e-01 1.07901178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.252755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:369.42, Y:294.28, Z:107.89 [[ 9.70861570e-01 4.11937047e-02 -2.36073908e-01 3.69422692e+02] [-3.97597379e-02 9.99150538e-01 1.08335170e-02 2.94280181e+02] [ 2.36319645e-01 -1.13160859e-03 9.71674712e-01 1.07891763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.45, Y:294.25, Z:107.92 [[ 9.70132614e-01 5.36609667e-02 -2.36565448e-01 3.69452191e+02] [-4.51025649e-02 9.98122223e-01 4.14461803e-02 2.94253887e+02] [ 2.38345273e-01 -2.95385828e-02 9.70731169e-01 1.07916612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.48, Y:294.26, Z:107.92 [[ 9.70875265e-01 5.03158614e-02 -2.34242468e-01 3.69482572e+02] [-4.47506427e-02 9.98576691e-01 2.90167466e-02 2.94259947e+02] [ 2.35369072e-01 -1.76891405e-02 9.71745077e-01 1.07917568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.51, Y:294.28, Z:107.91 [[ 9.71939153e-01 3.89204826e-02 -2.31990258e-01 3.69506603e+02] [-3.88101074e-02 9.99233886e-01 5.04160037e-03 2.94279510e+02] [ 2.32008748e-01 4.10343804e-03 9.72705044e-01 1.07909491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.54, Y:294.27, Z:107.92 [[ 9.70412272e-01 4.62606918e-02 -2.36980951e-01 3.69536902e+02] [-4.48019913e-02 9.98929232e-01 1.15399787e-02 2.94268439e+02] [ 2.37261047e-01 -5.81318453e-04 9.71445757e-01 1.07921943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.56, Y:294.25, Z:107.93 [[ 9.71413847e-01 5.12469986e-02 -2.31794916e-01 3.69562498e+02] [-4.41151179e-02 9.98382971e-01 3.58510638e-02 2.94252808e+02] [ 2.33257356e-01 -2.46005598e-02 9.72103811e-01 1.07933916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.59, Y:294.27, Z:107.93 [[ 9.72113608e-01 4.22268190e-02 -2.30677326e-01 3.69587247e+02] [-3.90810657e-02 9.99070441e-01 1.81913453e-02 2.94267757e+02] [ 2.31231060e-01 -8.66893864e-03 9.72860240e-01 1.07931200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.61, Y:294.26, Z:107.94 [[ 9.72302406e-01 4.43098762e-02 -2.29487835e-01 3.69614080e+02] [-4.09405956e-02 9.98972748e-01 1.94246428e-02 2.94264306e+02] [ 2.30112797e-01 -9.49125826e-03 9.73117679e-01 1.07937040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.64, Y:294.26, Z:107.94 [[ 9.72138785e-01 4.23802027e-02 -2.30543058e-01 3.69640232e+02] [-3.89424129e-02 9.99052267e-01 1.94436893e-02 2.94263612e+02] [ 2.31148592e-01 -9.92406151e-03 9.72867844e-01 1.07943218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.67, Y:294.26, Z:107.95 [[ 9.71990136e-01 4.38444159e-02 -2.30895739e-01 3.69666210e+02] [-4.04438510e-02 9.98992632e-01 1.94426460e-02 2.94261600e+02] [ 2.31515593e-01 -9.55974732e-03 9.72784221e-01 1.07949116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.552755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:369.68, Y:294.24, Z:107.96 [[ 9.73709364e-01 5.35946122e-02 -2.21399397e-01 3.69684415e+02] [-4.38588529e-02 9.97851904e-01 4.86618765e-02 2.94242145e+02] [ 2.23531824e-01 -3.76722013e-02 9.73968341e-01 1.07959566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.73, Y:294.27, Z:107.95 [[ 9.72412733e-01 4.36047442e-02 -2.29155193e-01 3.69729312e+02] [-4.72982701e-02 9.98824059e-01 -1.06476861e-02 2.94267455e+02] [ 2.28421431e-01 2.11925897e-02 9.73331662e-01 1.07949892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.75, Y:294.24, Z:107.97 [[ 9.72481933e-01 5.56863891e-02 -2.26225367e-01 3.69751342e+02] [-4.96933819e-02 9.98248389e-01 3.21048527e-02 2.94241006e+02] [ 2.27616912e-01 -1.99794856e-02 9.73545768e-01 1.07969728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.78, Y:294.24, Z:107.97 [[ 9.72464219e-01 5.33619171e-02 -2.26860858e-01 3.69780119e+02] [-4.91871958e-02 9.98500714e-01 2.40196763e-02 2.94243394e+02] [ 2.27802464e-01 -1.21996263e-02 9.73630940e-01 1.07973598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.81, Y:294.24, Z:107.98 [[ 9.72480008e-01 5.43476587e-02 -2.26558968e-01 3.69808038e+02] [-4.97757969e-02 9.98425881e-01 2.58482007e-02 2.94240462e+02] [ 2.27607126e-01 -1.38597052e-02 9.73654407e-01 1.07980477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.84, Y:294.24, Z:107.98 [[ 9.72445800e-01 5.42300136e-02 -2.26733923e-01 3.69835632e+02] [-5.12057775e-02 9.98503483e-01 1.92031884e-02 2.94243335e+02] [ 2.27436001e-01 -7.06397308e-03 9.73767409e-01 1.07982834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.86, Y:294.23, Z:108.00 [[ 9.71594797e-01 6.07111941e-02 -2.28730630e-01 3.69862429e+02] [-5.41654345e-02 9.97925598e-01 3.47937676e-02 2.94230530e+02] [ 2.30368522e-01 -2.14161496e-02 9.72867767e-01 1.07998804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.89, Y:294.25, Z:107.99 [[ 9.72167233e-01 5.50224442e-02 -2.27735376e-01 3.69885409e+02] [-5.38522884e-02 9.98484365e-01 1.13536162e-02 2.94246853e+02] [ 2.28014916e-01 1.22645750e-03 9.73656867e-01 1.07991431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.91, Y:294.24, Z:108.00 [[ 9.71686684e-01 5.67220607e-02 -2.29363459e-01 3.69910387e+02] [-5.38048135e-02 9.98371493e-01 1.89579788e-02 2.94239705e+02] [ 2.30065274e-01 -6.08035741e-03 9.73156205e-01 1.07999690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.94, Y:294.24, Z:108.01 [[ 9.72032055e-01 5.70998564e-02 -2.27800987e-01 3.69937937e+02] [-5.46719474e-02 9.98360336e-01 1.69593050e-02 2.94238456e+02] [ 2.28395844e-01 -4.03066452e-03 9.73560010e-01 1.08005507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:369.97, Y:294.22, Z:108.02 [[ 9.71611132e-01 6.65576472e-02 -2.27028386e-01 3.69966672e+02] [-5.90354189e-02 9.97463292e-01 3.97718533e-02 2.94216404e+02] [ 2.29099602e-01 -2.52400596e-02 9.73075697e-01 1.08023427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.00, Y:294.24, Z:108.01 [[ 9.71903431e-01 5.44181653e-02 -2.29003023e-01 3.69995009e+02] [-5.57320330e-02 9.98445495e-01 7.31072779e-04 2.94240377e+02] [ 2.28686821e-01 1.20522719e-02 9.73425437e-01 1.08012559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.02, Y:294.23, Z:108.02 [[ 9.72002357e-01 5.66050454e-02 -2.28051062e-01 3.70024458e+02] [-5.47255892e-02 9.98395246e-01 1.45616794e-02 2.94229076e+02] [ 2.28509360e-01 -1.67375798e-03 9.73540277e-01 1.08023611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.05, Y:294.21, Z:108.04 [[ 9.71663991e-01 6.69398375e-02 -2.26689540e-01 3.70050426e+02] [-5.93576036e-02 9.97430687e-01 4.01086088e-02 2.94206659e+02] [ 2.28791968e-01 -2.55163430e-02 9.73140870e-01 1.08041625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.08, Y:294.21, Z:108.05 [[ 9.71228742e-01 6.29233766e-02 -2.29685392e-01 3.70079334e+02] [-5.83373488e-02 9.97939552e-01 2.67096496e-02 2.94210366e+02] [ 2.30892798e-01 -1.25419426e-02 9.72898358e-01 1.08045570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.11, Y:294.22, Z:108.04 [[ 9.71534161e-01 5.49867009e-02 -2.30429680e-01 3.70112711e+02] [-5.55700760e-02 9.98446927e-01 3.96249044e-03 2.94220376e+02] [ 2.30289690e-01 8.95530002e-03 9.73080912e-01 1.08041904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.14, Y:294.20, Z:108.06 [[ 9.72249370e-01 6.35078131e-02 -2.25161987e-01 3.70135684e+02] [-5.69264122e-02 9.97743141e-01 3.56091037e-02 2.94200042e+02] [ 2.26915285e-01 -2.18032646e-02 9.73670412e-01 1.08057673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.062755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:370.16, Y:294.20, Z:108.06 [[ 9.72377947e-01 6.02985944e-02 -2.25488822e-01 3.70164378e+02] [-5.66785202e-02 9.98138923e-01 2.24997006e-02 2.94203749e+02] [ 2.26425870e-01 -9.09783994e-03 9.73985911e-01 1.08059404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.19, Y:294.21, Z:108.06 [[ 9.71474180e-01 5.66136708e-02 -2.30288535e-01 3.70193959e+02] [-5.56321257e-02 9.98393371e-01 1.07584163e-02 2.94206451e+02] [ 2.30527621e-01 2.35991708e-03 9.73062920e-01 1.08063347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.22, Y:294.19, Z:108.08 [[ 9.72015576e-01 6.49639629e-02 -2.25755184e-01 3.70216833e+02] [-5.75337332e-02 9.97567972e-01 3.93447615e-02 2.94187551e+02] [ 2.27762133e-01 -2.52551825e-02 9.73389227e-01 1.08078255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.25, Y:294.20, Z:108.07 [[ 9.72164862e-01 5.93473611e-02 -2.26656946e-01 3.70247427e+02] [-5.75899169e-02 9.98236976e-01 1.43646015e-02 2.94197171e+02] [ 2.27109846e-01 -9.11606103e-04 9.73868722e-01 1.08074263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.27, Y:294.19, Z:108.09 [[ 9.71759365e-01 6.31679109e-02 -2.27362161e-01 3.70271630e+02] [-5.85295046e-02 9.97917981e-01 2.70924583e-02 2.94186792e+02] [ 2.28600162e-01 -1.30199554e-02 9.73433329e-01 1.08086446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.30, Y:294.20, Z:108.08 [[ 9.72775740e-01 5.69249326e-02 -2.24648417e-01 3.70298753e+02] [-5.76944188e-02 9.98329342e-01 3.14313162e-03 2.94199153e+02] [ 2.24452029e-01 9.90339767e-03 9.74434815e-01 1.08077980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.33, Y:294.18, Z:108.10 [[ 9.72117240e-01 6.51195476e-02 -2.25272092e-01 3.70325116e+02] [-5.99106987e-02 9.97756154e-01 2.98892161e-02 2.94177762e+02] [ 2.26712989e-01 -1.55596138e-02 9.73837317e-01 1.08097208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.35, Y:294.18, Z:108.10 [[ 9.72020180e-01 6.45457310e-02 -2.25855305e-01 3.70353220e+02] [-6.07323351e-02 9.97870319e-01 2.37993697e-02 2.94177578e+02] [ 2.26910453e-01 -9.41674761e-03 9.73870100e-01 1.08101821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.302755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:370.38, Y:294.19, Z:108.09 [[ 9.72510698e-01 5.89940350e-02 -2.25261286e-01 3.70380808e+02] [-5.98909036e-02 9.98200843e-01 2.85602100e-03 2.94188668e+02] [ 2.25024494e-01 1.07135910e-02 9.74294204e-01 1.08094841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.332755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:370.41, Y:294.16, Z:108.12 [[ 9.71460137e-01 7.06474850e-02 -2.26437928e-01 3.70406146e+02] [-6.30963473e-02 9.97188469e-01 4.04228712e-02 2.94160623e+02] [ 2.28657065e-01 -2.49818019e-02 9.73186445e-01 1.08120490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.44, Y:294.16, Z:108.13 [[ 9.70853794e-01 7.04630643e-02 -2.29080481e-01 3.70435033e+02] [-6.46709915e-02 9.97370618e-01 3.27034081e-02 2.94159465e+02] [ 2.30782523e-01 -1.69353660e-02 9.72857965e-01 1.08127952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.46, Y:294.17, Z:108.12 [[ 9.71717205e-01 6.46708697e-02 -2.27119685e-01 3.70464228e+02] [-6.31919088e-02 9.97906189e-01 1.37847857e-02 2.94167017e+02] [ 2.27535614e-01 9.57213015e-04 9.73769289e-01 1.08124065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.49, Y:294.18, Z:108.11 [[ 9.73021884e-01 5.68898395e-02 -2.23588819e-01 3.70491032e+02] [-6.00415635e-02 9.98169057e-01 -7.31735023e-03 2.94180055e+02] [ 2.22763158e-01 2.05445642e-02 9.74656091e-01 1.08114397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.52, Y:294.17, Z:108.13 [[ 9.73288868e-01 6.33575478e-02 -2.20668530e-01 3.70516098e+02] [-6.13115282e-02 9.97988564e-01 1.61159373e-02 2.94165161e+02] [ 2.21245735e-01 -2.15593755e-03 9.75215708e-01 1.08128223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.482755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:370.54, Y:294.16, Z:108.13 [[ 9.73326001e-01 6.44450068e-02 -2.20189322e-01 3.70543537e+02] [-6.24500333e-02 9.97919566e-01 1.60166354e-02 2.94163633e+02] [ 2.20763425e-01 -1.83857713e-03 9.75325653e-01 1.08133893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.512755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:370.57, Y:294.15, Z:108.15 [[ 9.72185764e-01 7.07742991e-02 -2.23261817e-01 3.70567617e+02] [-6.43292618e-02 9.97278481e-01 3.60191149e-02 2.94148767e+02] [ 2.25203433e-01 -2.06550029e-02 9.74092801e-01 1.08153638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.60, Y:294.15, Z:108.16 [[ 9.71994063e-01 7.11925548e-02 -2.23962410e-01 3.70596404e+02] [-6.57369859e-02 9.97332320e-01 3.17315562e-02 2.94147516e+02] [ 2.25624001e-01 -1.61202704e-02 9.74081078e-01 1.08161119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.572755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:370.63, Y:294.17, Z:108.14 [[ 9.73496651e-01 5.95625492e-02 -2.20808905e-01 3.70629185e+02] [-6.44861565e-02 9.97803589e-01 -1.51503492e-02 2.94173729e+02] [ 2.19421525e-01 2.89879318e-02 9.75199413e-01 1.08141278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.65, Y:294.16, Z:108.16 [[ 9.73630972e-01 6.55576788e-02 -2.18506111e-01 3.70653238e+02] [-6.36918184e-02 9.97847996e-01 1.55797536e-02 2.94155251e+02] [ 2.19057257e-01 -1.25187914e-03 9.75711203e-01 1.08156724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.68, Y:294.15, Z:108.16 [[ 9.73725734e-01 6.49085428e-02 -2.18277522e-01 3.70679549e+02] [-6.30460985e-02 9.97890337e-01 1.54940329e-02 2.94154266e+02] [ 2.18822725e-01 -1.32539240e-03 9.75763731e-01 1.08162393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.71, Y:294.15, Z:108.17 [[ 9.73753485e-01 6.27473794e-02 -2.18785094e-01 3.70706471e+02] [-6.08290839e-02 9.98027847e-01 1.54996828e-02 2.94154623e+02] [ 2.19326181e-01 -1.78437332e-03 9.75649959e-01 1.08167106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.692755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.73, Y:294.14, Z:108.19 [[ 9.73181256e-01 6.86792961e-02 -2.19548168e-01 3.70732351e+02] [-6.08589276e-02 9.97254096e-01 4.21954866e-02 2.94135953e+02] [ 2.21843266e-01 -2.77023906e-02 9.74688742e-01 1.08189953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.76, Y:294.17, Z:108.17 [[ 9.73892230e-01 5.47792363e-02 -2.20302430e-01 3.70764423e+02] [-5.81937771e-02 9.98264426e-01 -9.03441865e-03 2.94165272e+02] [ 2.19425180e-01 2.16187806e-02 9.75389778e-01 1.08170884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.752755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:370.79, Y:294.13, Z:108.20 [[ 9.73507057e-01 6.57778420e-02 -2.18991519e-01 3.70786607e+02] [-5.72007019e-02 9.97335076e-01 4.52860551e-02 2.94132377e+02] [ 2.21386742e-01 -3.15598256e-02 9.74675273e-01 1.08202231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7827550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:370.82, Y:294.16, Z:108.19 [[ 9.74442456e-01 5.33793586e-02 -2.18202990e-01 3.70819542e+02] [-5.48570028e-02 9.98493965e-01 -7.15045756e-04 2.94158165e+02] [ 2.17836200e-01 1.26667330e-02 9.75903143e-01 1.08187609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.812755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:370.84, Y:294.14, Z:108.21 [[ 9.73575125e-01 6.14428622e-02 -2.19946019e-01 3.70843592e+02] [-5.53558935e-02 9.97896530e-01 3.37378149e-02 2.94136611e+02] [ 2.21556318e-01 -2.06709889e-02 9.74928463e-01 1.08209360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.87, Y:294.15, Z:108.21 [[ 9.73576667e-01 5.58752895e-02 -2.21419119e-01 3.70872463e+02] [-5.43678063e-02 9.98437619e-01 1.29020628e-02 2.94147871e+02] [ 2.21794084e-01 -5.23075527e-04 9.75093386e-01 1.08206617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.90, Y:294.14, Z:108.21 [[ 9.73988284e-01 5.55871779e-02 -2.19674507e-01 3.70898942e+02] [-5.30806662e-02 9.98440347e-01 1.73007524e-02 2.94144866e+02] [ 2.20293591e-01 -5.19026095e-03 9.75419804e-01 1.08211593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.93, Y:294.14, Z:108.22 [[ 9.73977569e-01 5.47293907e-02 -2.19937240e-01 3.70925840e+02] [-5.28874084e-02 9.98498675e-01 1.42589523e-02 2.94144625e+02] [ 2.20387426e-01 -2.25598902e-03 9.75409808e-01 1.08215216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.932755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:370.95, Y:294.14, Z:108.22 [[ 9.74431198e-01 5.26831700e-02 -2.18422352e-01 3.70953810e+02] [-5.13287886e-02 9.98611213e-01 1.18743859e-02 2.94143939e+02] [ 2.18744590e-01 -3.59417372e-04 9.75782084e-01 1.08219172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:370.98, Y:294.14, Z:108.23 [[ 9.74567094e-01 5.29311527e-02 -2.17755076e-01 3.70979443e+02] [-5.08594699e-02 9.98591485e-01 1.51116227e-02 2.94140223e+02] [ 2.18248241e-01 -3.65238250e-03 9.75886451e-01 1.08225719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.00, Y:294.13, Z:108.23 [[ 9.74983863e-01 5.59805028e-02 -2.15110788e-01 3.71003628e+02] [-5.23060720e-02 9.98372140e-01 2.27408319e-02 2.94133506e+02] [ 2.16033661e-01 -1.09203437e-02 9.76324845e-01 1.08233109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.03, Y:294.14, Z:108.24 [[ 9.74898116e-01 5.19784739e-02 -2.16499195e-01 3.71034457e+02] [-5.09228329e-02 9.98647859e-01 1.04555483e-02 2.94138754e+02] [ 2.16749921e-01 8.31658003e-04 9.76226808e-01 1.08235370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.06, Y:294.13, Z:108.24 [[ 9.75095890e-01 5.26843611e-02 -2.15435290e-01 3.71061748e+02] [-5.09188433e-02 9.98608261e-01 1.37409403e-02 2.94134780e+02] [ 2.15859393e-01 -2.42901863e-03 9.76421437e-01 1.08242058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.09, Y:294.14, Z:108.25 [[ 9.74520821e-01 5.34656090e-02 -2.17831582e-01 3.71090162e+02] [-5.31638099e-02 9.98559484e-01 7.25033178e-03 2.94136021e+02] [ 2.17905436e-01 4.51515754e-03 9.75959443e-01 1.08246330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.11, Y:294.13, Z:108.25 [[ 9.75438476e-01 5.65930467e-02 -2.12877915e-01 3.71114971e+02] [-5.35041399e-02 9.98362320e-01 2.02480786e-02 2.94128074e+02] [ 2.13675190e-01 -8.36090518e-03 9.76868982e-01 1.08253796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.14, Y:294.13, Z:108.26 [[ 9.75111635e-01 5.84497044e-02 -2.13871296e-01 3.71142687e+02] [-5.56212206e-02 9.98266853e-01 1.92241934e-02 2.94125773e+02] [ 2.14624274e-01 -6.84995210e-03 9.76672667e-01 1.08260853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.17, Y:294.13, Z:108.27 [[ 9.74999894e-01 5.83938070e-02 -2.14395357e-01 3.71171178e+02] [-5.64015289e-02 9.98289337e-01 1.54034591e-02 2.94126026e+02] [ 2.14928066e-01 -2.92614501e-03 9.76625499e-01 1.08265678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.20, Y:294.12, Z:108.28 [[ 9.73236901e-01 6.19522773e-02 -2.21295842e-01 3.71199381e+02] [-5.82588795e-02 9.98032250e-01 2.31847076e-02 2.94117832e+02] [ 2.22296732e-01 -9.67176523e-03 9.74931085e-01 1.08279622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.23, Y:294.14, Z:108.26 [[ 9.74832995e-01 5.17250535e-02 -2.16852834e-01 3.71229146e+02] [-5.60909904e-02 9.98327186e-01 -1.40225101e-02 2.94140096e+02] [ 2.15764764e-01 2.58330958e-02 9.76103590e-01 1.08263813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.25, Y:294.12, Z:108.28 [[ 9.75029500e-01 5.71919554e-02 -2.14584610e-01 3.71252051e+02] [-5.54738688e-02 9.98361630e-01 1.40252148e-02 2.94122580e+02] [ 2.15035170e-01 -1.77115970e-03 9.76604699e-01 1.08278358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.27, Y:294.11, Z:108.30 [[ 9.75206191e-01 6.23699604e-02 -2.12327276e-01 3.71274849e+02] [-5.57237553e-02 9.97754881e-01 3.71491659e-02 2.94107799e+02] [ 2.14167568e-01 -2.43964234e-02 9.76492226e-01 1.08295521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.31, Y:294.13, Z:108.28 [[ 9.75167333e-01 4.79951224e-02 -2.16206246e-01 3.71309400e+02] [-5.13151008e-02 9.98634773e-01 -9.76480513e-03 2.94132065e+02] [ 2.15442412e-01 2.06169643e-02 9.76298882e-01 1.08282779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.33, Y:294.12, Z:108.30 [[ 9.75263162e-01 5.12757824e-02 -2.15017579e-01 3.71334323e+02] [-4.94259140e-02 9.98680021e-01 1.39747935e-02 2.94117116e+02] [ 2.15450328e-01 -3.00166095e-03 9.76510187e-01 1.08295915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.36, Y:294.12, Z:108.30 [[ 9.75181184e-01 4.76561221e-02 -2.16218762e-01 3.71361754e+02] [-4.57125103e-02 9.98856750e-01 1.39842595e-02 2.94116224e+02] [ 2.16638005e-01 -3.75328434e-03 9.76244789e-01 1.08301217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.39, Y:294.10, Z:108.32 [[ 9.74372079e-01 4.96213513e-02 -2.19400943e-01 3.71387788e+02] [-4.39670826e-02 9.98564772e-01 3.05825289e-02 2.94104510e+02] [ 2.20603599e-01 -2.01523429e-02 9.75155339e-01 1.08317977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.42, Y:294.12, Z:108.31 [[ 9.75250286e-01 3.94634309e-02 -2.17553483e-01 3.71418979e+02] [-4.08345545e-02 9.99164285e-01 -1.80856757e-03 2.94121556e+02] [ 2.17300298e-01 1.06475056e-02 9.76046726e-01 1.08307764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.44, Y:294.10, Z:108.33 [[ 9.74932967e-01 4.28848200e-02 -2.18326823e-01 3.71442767e+02] [-3.73844534e-02 9.98872373e-01 2.92640448e-02 2.94101004e+02] [ 2.19335615e-01 -2.03684531e-02 9.75436833e-01 1.08329404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.47, Y:294.11, Z:108.33 [[ 9.75134705e-01 3.84777094e-02 -2.18247047e-01 3.71472350e+02] [-3.60854767e-02 9.99237058e-01 1.49378995e-02 2.94107182e+02] [ 2.18655313e-01 -6.69091547e-03 9.75779220e-01 1.08330751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.50, Y:294.10, Z:108.34 [[ 9.75044534e-01 3.77783803e-02 -2.18771458e-01 3.71499476e+02] [-3.46902356e-02 9.99237059e-01 1.79412481e-02 2.94104478e+02] [ 2.19282339e-01 -9.90428250e-03 9.75611173e-01 1.08339101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.53, Y:294.10, Z:108.34 [[ 9.75102282e-01 3.68031210e-02 -2.18680290e-01 3.71526615e+02] [-3.44181118e-02 9.99299302e-01 1.47071037e-02 2.94104744e+02] [ 2.19068328e-01 -6.81436772e-03 9.75685724e-01 1.08343674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:371.55, Y:294.10, Z:108.35 [[ 9.75136098e-01 3.69015773e-02 -2.18512848e-01 3.71553877e+02] [-3.40368842e-02 9.99278338e-01 1.68610330e-02 2.94102450e+02] [ 2.18977354e-01 -9.00430545e-03 9.75688393e-01 1.08350256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.58, Y:294.10, Z:108.35 [[ 9.74844182e-01 3.70586967e-02 -2.19785063e-01 3.71581948e+02] [-3.52634295e-02 9.99304953e-01 1.20872185e-02 2.94103142e+02] [ 2.20080238e-01 -4.03277952e-03 9.75473437e-01 1.08354789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.61, Y:294.11, Z:108.35 [[ 9.75720003e-01 3.48957008e-02 -2.16223881e-01 3.71610863e+02] [-3.66728604e-02 9.99318452e-01 -4.21103219e-03 2.94112132e+02] [ 2.15929567e-01 1.20383365e-02 9.76334728e-01 1.08349322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.64, Y:294.10, Z:108.36 [[ 9.75704759e-01 4.03613291e-02 -2.15339698e-01 3.71635727e+02] [-3.83867795e-02 9.99173835e-01 1.33455209e-02 2.94100829e+02] [ 2.15700435e-01 -4.75509076e-03 9.76448008e-01 1.08360903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.66, Y:294.10, Z:108.37 [[ 9.75681454e-01 4.35489157e-02 -2.14823629e-01 3.71663460e+02] [-4.16668951e-02 9.99043250e-01 1.32836108e-02 2.94101015e+02] [ 2.15196583e-01 -4.00953905e-03 9.76562519e-01 1.08366612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.69, Y:294.10, Z:108.37 [[ 9.75541699e-01 4.49604579e-02 -2.15167264e-01 3.71690329e+02] [-4.31216851e-02 9.98982162e-01 1.32347895e-02 2.94100430e+02] [ 2.15543301e-01 -3.63271405e-03 9.76487526e-01 1.08372254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.72, Y:294.10, Z:108.38 [[ 9.75435953e-01 4.62679372e-02 -2.15369405e-01 3.71718043e+02] [-4.44640062e-02 9.98923564e-01 1.32160947e-02 2.94099525e+02] [ 2.15749055e-01 -3.31526739e-03 9.76443216e-01 1.08378117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.75, Y:294.10, Z:108.38 [[ 9.75558861e-01 4.78248444e-02 -2.14470729e-01 3.71745214e+02] [-4.60878242e-02 9.98851555e-01 1.30951896e-02 2.94098581e+02] [ 2.14850697e-01 -2.89063900e-03 9.76642628e-01 1.08383939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.77, Y:294.10, Z:108.39 [[ 9.75631987e-01 4.81305511e-02 -2.14069325e-01 3.71771397e+02] [-4.64218492e-02 9.98837267e-01 1.30048853e-02 2.94096954e+02] [ 2.14446352e-01 -2.75048820e-03 9.76731896e-01 1.08390163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.79, Y:294.09, Z:108.40 [[ 9.76616757e-01 5.14437257e-02 -2.08742075e-01 3.71794686e+02] [-4.68381990e-02 9.98538874e-01 2.69499571e-02 2.94086959e+02] [ 2.09823483e-01 -1.65426768e-02 9.77599328e-01 1.08399462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.83, Y:294.10, Z:108.40 [[ 9.75851843e-01 4.23552039e-02 -2.14287700e-01 3.71826976e+02] [-4.39836006e-02 9.99028232e-01 -2.83466200e-03 2.94101826e+02] [ 2.13959399e-01 1.21913547e-02 9.76766475e-01 1.08397117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.85, Y:294.09, Z:108.41 [[ 9.75980885e-01 4.38423513e-02 -2.13399065e-01 3.71852424e+02] [-4.20697274e-02 9.99032130e-01 1.28429236e-02 2.94091368e+02] [ 2.13755587e-01 -3.55680740e-03 9.76880698e-01 1.08407682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.88, Y:294.09, Z:108.41 [[ 9.76107618e-01 4.02429061e-02 -2.13528516e-01 3.71880115e+02] [-3.83968117e-02 9.99180746e-01 1.27875970e-02 2.94088494e+02] [ 2.13868192e-01 -4.28325660e-03 9.76853137e-01 1.08413854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.91, Y:294.09, Z:108.42 [[ 9.76239517e-01 3.79896199e-02 -2.13338217e-01 3.71907027e+02] [-3.61086262e-02 9.99267068e-01 1.27080297e-02 2.94086048e+02] [ 2.13664628e-01 -4.70273081e-03 9.76895753e-01 1.08419640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.93, Y:294.08, Z:108.43 [[ 9.76634882e-01 3.60636000e-02 -2.11857793e-01 3.71932913e+02] [-3.33097711e-02 9.99307968e-01 1.65543043e-02 2.94080561e+02] [ 2.12308188e-01 -9.11057647e-03 9.77160289e-01 1.08426376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.96, Y:294.08, Z:108.43 [[ 9.76445933e-01 3.13989417e-02 -2.13465330e-01 3.71962639e+02] [-3.04953579e-02 9.99506580e-01 7.52525330e-03 2.94083729e+02] [ 2.13596287e-01 -8.38301345e-04 9.76921657e-01 1.08429917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:371.99, Y:294.09, Z:108.43 [[ 9.76943133e-01 2.68702959e-02 -2.11802037e-01 3.71991130e+02] [-2.76657401e-02 9.99616916e-01 -7.92496847e-04 2.94088265e+02] [ 2.11699605e-01 6.63388447e-03 9.77312268e-01 1.08428623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.02, Y:294.07, Z:108.45 [[ 9.76539917e-01 3.37264943e-02 -2.12678898e-01 3.72016349e+02] [-2.91806474e-02 9.99274395e-01 2.44780055e-02 2.94067737e+02] [ 2.13350134e-01 -1.76976415e-02 9.76815496e-01 1.08448131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.05, Y:294.09, Z:108.44 [[ 9.76938117e-01 2.60292113e-02 -2.11930169e-01 3.72047568e+02] [-2.81497859e-02 9.99579245e-01 -6.99447092e-03 2.94085092e+02] [ 2.11658938e-01 1.27989541e-02 9.77259782e-01 1.08437372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.07, Y:294.06, Z:108.46 [[ 9.76252009e-01 3.77381048e-02 -2.13325690e-01 3.72070995e+02] [-3.19122403e-02 9.99019422e-01 3.06888075e-02 2.94059433e+02] [ 2.14274645e-01 -2.31523094e-02 9.76499026e-01 1.08462010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.10, Y:294.07, Z:108.46 [[ 9.76595745e-01 3.62140694e-02 -2.12012479e-01 3.72099618e+02] [-3.49720397e-02 9.99342119e-01 9.60650839e-03 2.94069537e+02] [ 2.12220891e-01 -1.96716637e-03 9.77219742e-01 1.08456087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.13, Y:294.06, Z:108.47 [[ 9.75713923e-01 3.96624539e-02 -2.15428016e-01 3.72128831e+02] [-3.75643841e-02 9.99198554e-01 1.38263075e-02 2.94064430e+02] [ 2.15803748e-01 -5.39809994e-03 9.76421837e-01 1.08468010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.16, Y:294.06, Z:108.47 [[ 9.75558487e-01 4.14002537e-02 -2.15804675e-01 3.72155436e+02] [-3.96294885e-02 9.99135903e-01 1.25279774e-02 2.94063300e+02] [ 2.16136860e-01 -3.66954579e-03 9.76356181e-01 1.08472934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.18, Y:294.06, Z:108.48 [[ 9.75293767e-01 4.35896180e-02 -2.16568728e-01 3.72182980e+02] [-4.18662663e-02 9.99044509e-01 1.25413307e-02 2.94061114e+02] [ 2.16908470e-01 -3.16455757e-03 9.76186817e-01 1.08479495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.21, Y:294.06, Z:108.49 [[ 9.75131639e-01 4.53322739e-02 -2.16940708e-01 3.72209332e+02] [-4.36608029e-02 9.98968284e-01 1.24940754e-02 2.94059264e+02] [ 2.17283272e-01 -2.71156269e-03 9.76104824e-01 1.08485273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.24, Y:294.05, Z:108.49 [[ 9.75349482e-01 5.00537339e-02 -2.14913966e-01 3.72235625e+02] [-4.73229797e-02 9.98720385e-01 1.78361638e-02 2.94054604e+02] [ 2.15531725e-01 -7.22612387e-03 9.76470101e-01 1.08492429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.26, Y:294.06, Z:108.50 [[ 9.74888337e-01 4.97709474e-02 -2.17061242e-01 3.72263973e+02] [-4.95023280e-02 9.98751682e-01 6.67818511e-03 2.94059364e+02] [ 2.17122660e-01 4.23455202e-03 9.76135144e-01 1.08495874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.29, Y:294.05, Z:108.50 [[ 9.74847755e-01 5.20005123e-02 -2.16720563e-01 3.72291010e+02] [-5.05263161e-02 9.98646473e-01 1.23415257e-02 2.94054841e+02] [ 2.17068992e-01 -1.08101700e-03 9.76155666e-01 1.08504035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.32, Y:294.05, Z:108.51 [[ 9.74864472e-01 5.26587148e-02 -2.16486306e-01 3.72317007e+02] [-5.12191429e-02 9.98612195e-01 1.22590298e-02 2.94054020e+02] [ 2.16831410e-01 -8.62649585e-04 9.76208684e-01 1.08509565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.34, Y:294.05, Z:108.52 [[ 9.75041921e-01 5.55586483e-02 -2.14956947e-01 3.72342561e+02] [-5.33204523e-02 9.98446012e-01 1.62015447e-02 2.94050263e+02] [ 2.15523043e-01 -4.33558357e-03 9.76489130e-01 1.08516261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.37, Y:294.05, Z:108.52 [[ 9.74991693e-01 5.15458301e-02 -2.16181005e-01 3.72373182e+02] [-5.12115362e-02 9.98662221e-01 7.15164970e-03 2.94054323e+02] [ 2.16260440e-01 4.09816232e-03 9.76327111e-01 1.08520302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.40, Y:294.05, Z:108.53 [[ 9.75057865e-01 5.14999561e-02 -2.15893295e-01 3.72399761e+02] [-5.00630021e-02 9.98672484e-01 1.21229570e-02 2.94050326e+02] [ 2.16231025e-01 -1.01231804e-03 9.76341702e-01 1.08527913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.43, Y:294.05, Z:108.53 [[ 9.75170392e-01 4.82545069e-02 -2.16134700e-01 3.72425947e+02] [-4.67510928e-02 9.98833690e-01 1.20662982e-02 2.94049522e+02] [ 2.16464873e-01 -1.66216338e-03 9.76288992e-01 1.08533791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.46, Y:294.06, Z:108.53 [[ 9.75342876e-01 4.25381221e-02 -2.16556651e-01 3.72455638e+02] [-4.34498640e-02 9.99055457e-01 5.51484770e-04 2.94055939e+02] [ 2.16375563e-01 8.87147029e-03 9.76269898e-01 1.08532011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.48, Y:294.04, Z:108.55 [[ 9.75292877e-01 4.56553119e-02 -2.16146704e-01 3.72480521e+02] [-4.16336383e-02 9.98865280e-01 2.31255669e-02 2.94040433e+02] [ 2.16957243e-01 -1.35552270e-02 9.76086989e-01 1.08549389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.51, Y:294.05, Z:108.55 [[ 9.75375046e-01 3.77307619e-02 -2.17301426e-01 3.72507584e+02] [-3.59795555e-02 9.99280343e-01 1.20111873e-02 2.94045461e+02] [ 2.17598235e-01 -3.89700363e-03 9.76030646e-01 1.08551800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.53, Y:294.04, Z:108.56 [[ 9.75512301e-01 3.68510938e-02 -2.16835762e-01 3.72532490e+02] [-3.49807938e-02 9.99310325e-01 1.24586641e-02 2.94043594e+02] [ 2.17145331e-01 -4.56849298e-03 9.76128595e-01 1.08557449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.56, Y:294.05, Z:108.56 [[ 9.75761723e-01 2.99802226e-02 -2.16772340e-01 3.72562265e+02] [-2.84882512e-02 9.99544056e-01 1.00050048e-02 2.94045341e+02] [ 2.16973456e-01 -3.58703582e-03 9.76170914e-01 1.08562847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.59, Y:294.04, Z:108.57 [[ 9.75767514e-01 2.81467701e-02 -2.16991978e-01 3.72588164e+02] [-2.61814546e-02 9.99586051e-01 1.19271961e-02 2.94044099e+02] [ 2.17237866e-01 -5.95700485e-03 9.76100519e-01 1.08568664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.62, Y:294.04, Z:108.57 [[ 9.75684469e-01 2.63360497e-02 -2.17591887e-01 3.72615825e+02] [-2.43262495e-02 9.99633119e-01 1.19105713e-02 2.94043536e+02] [ 2.17825734e-01 -6.32776490e-03 9.75967166e-01 1.08574722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.64, Y:294.04, Z:108.58 [[ 9.75544185e-01 2.40013510e-02 -2.18489083e-01 3.72643313e+02] [-2.19324638e-02 9.99688751e-01 1.18898077e-02 2.94043880e+02] [ 2.18706450e-01 -6.80702889e-03 9.75766956e-01 1.08580813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.67, Y:294.04, Z:108.59 [[ 9.75438005e-01 2.30428804e-02 -2.19065573e-01 3.72670690e+02] [-2.09549026e-02 9.99710189e-01 1.18503057e-02 2.94043158e+02] [ 2.19275150e-01 -6.96874078e-03 9.75638173e-01 1.08586984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.70, Y:294.04, Z:108.59 [[ 9.75159238e-01 2.28610912e-02 -2.20322107e-01 3.72697997e+02] [-2.07601582e-02 9.99714294e-01 1.18467440e-02 2.94043996e+02] [ 2.20529989e-01 -6.97854007e-03 9.75355230e-01 1.08593096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.73, Y:294.04, Z:108.60 [[ 9.75096755e-01 2.33950593e-02 -2.20542491e-01 3.72725388e+02] [-2.13197000e-02 9.99703235e-01 1.17861470e-02 2.94044117e+02] [ 2.20752779e-01 -6.79073397e-03 9.75306155e-01 1.08598871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.75, Y:294.05, Z:108.61 [[ 9.75021759e-01 2.55046111e-02 -2.20640169e-01 3.72752953e+02] [-2.34969300e-02 9.99655214e-01 1.17195314e-02 2.94045259e+02] [ 2.20862998e-01 -6.24243152e-03 9.75284865e-01 1.08605311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.78, Y:294.05, Z:108.61 [[ 9.75068618e-01 2.63310420e-02 -2.20335806e-01 3.72780567e+02] [-2.43659369e-02 9.99635431e-01 1.16321633e-02 2.94045399e+02] [ 2.20561765e-01 -5.97346903e-03 9.75354718e-01 1.08611226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.81, Y:294.05, Z:108.62 [[ 9.74954705e-01 2.74109293e-02 -2.20707872e-01 3.72807797e+02] [-2.54824837e-02 9.99608190e-01 1.15805661e-02 2.94045445e+02] [ 2.20938830e-01 -5.66634265e-03 9.75271206e-01 1.08617650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.84, Y:294.05, Z:108.62 [[ 9.74841299e-01 2.95449779e-02 -2.20933330e-01 3.72835128e+02] [-2.76826466e-02 9.99550361e-01 1.15216032e-02 2.94045066e+02] [ 2.21174395e-01 -5.11571535e-03 9.75220855e-01 1.08624195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.86, Y:294.04, Z:108.63 [[ 9.74860268e-01 3.05529193e-02 -2.20712429e-01 3.72862259e+02] [-2.87359490e-02 9.99521581e-01 1.14391713e-02 2.94043860e+02] [ 2.20956336e-01 -4.80921249e-03 9.75271844e-01 1.08630649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.89, Y:294.04, Z:108.64 [[ 9.75092952e-01 3.28914973e-02 -2.19344216e-01 3.72888979e+02] [-3.11714840e-02 9.99450187e-01 1.12987649e-02 2.94043502e+02] [ 2.19595251e-01 -4.18006132e-03 9.75582110e-01 1.08637247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.92, Y:294.04, Z:108.64 [[ 9.75229248e-01 3.42753382e-02 -2.18524862e-01 3.72916797e+02] [-3.26098073e-02 9.99405125e-01 1.12248593e-02 2.94042445e+02] [ 2.18779602e-01 -3.82075748e-03 9.75766820e-01 1.08643614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.94, Y:294.04, Z:108.65 [[ 9.75347180e-01 3.52167826e-02 -2.17847782e-01 3.72943700e+02] [-3.36006967e-02 9.99373478e-01 1.11195705e-02 2.94041311e+02] [ 2.18102891e-01 -3.52560453e-03 9.75919412e-01 1.08650169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:372.97, Y:294.04, Z:108.66 [[ 9.75477530e-01 3.73568175e-02 -2.16905641e-01 3.72970277e+02] [-3.58227895e-02 9.99297603e-01 1.10013363e-02 2.94039495e+02] [ 2.17164262e-01 -2.96139124e-03 9.76130582e-01 1.08656873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.00, Y:294.04, Z:108.66 [[ 9.75462807e-01 3.79282489e-02 -2.16872680e-01 3.72997032e+02] [-3.64155780e-02 9.99276537e-01 1.09684965e-02 2.94037862e+02] [ 2.17131797e-01 -2.80181638e-03 9.76138275e-01 1.08663242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.02, Y:294.04, Z:108.67 [[ 9.75377516e-01 3.88023279e-02 -2.17101544e-01 3.73024065e+02] [-3.73183971e-02 9.99243623e-01 1.09324568e-02 2.94036013e+02] [ 2.17361539e-01 -2.56139088e-03 9.76087804e-01 1.08669355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.05, Y:294.03, Z:108.68 [[ 9.75367122e-01 3.87139159e-02 -2.17164016e-01 3.73051055e+02] [-3.72417770e-02 9.99247174e-01 1.08690480e-02 2.94034683e+02] [ 2.17421312e-01 -2.51373822e-03 9.76074615e-01 1.08675711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.08, Y:294.03, Z:108.68 [[ 9.75493241e-01 3.84322089e-02 -2.16646955e-01 3.73078395e+02] [-3.69756485e-02 9.99258084e-01 1.07742122e-02 2.94033380e+02] [ 2.16900297e-01 -2.49950957e-03 9.76190562e-01 1.08681438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.11, Y:294.03, Z:108.69 [[ 9.75683366e-01 3.78810851e-02 -2.15886529e-01 3.73105655e+02] [-3.64367930e-02 9.99279021e-01 1.06676445e-02 2.94031632e+02] [ 2.16134981e-01 -2.54203051e-03 9.76360184e-01 1.08688639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.13, Y:294.03, Z:108.69 [[ 9.75974947e-01 3.62496732e-02 -2.14846143e-01 3.73131953e+02] [-3.47953487e-02 9.99338787e-01 1.05485528e-02 2.94030157e+02] [ 2.15086465e-01 -2.81947677e-03 9.76590940e-01 1.08694130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.16, Y:294.03, Z:108.70 [[ 9.76032070e-01 3.46816259e-02 -2.14845485e-01 3.73159237e+02] [-3.31963948e-02 9.99393497e-01 1.05184683e-02 2.94029075e+02] [ 2.15079978e-01 -3.13426689e-03 9.76591409e-01 1.08699978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.19, Y:294.04, Z:108.69 [[ 9.76839119e-01 2.85615033e-02 -2.12060313e-01 3.73192570e+02] [-3.14797236e-02 9.99450312e-01 -1.03971459e-02 2.94039138e+02] [ 2.11646788e-01 1.68319389e-02 9.77201271e-01 1.08692047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.21, Y:294.01, Z:108.72 [[ 9.76407400e-01 3.61420628e-02 -2.12890442e-01 3.73212455e+02] [-3.00216114e-02 9.99039662e-01 3.19132720e-02 2.94014948e+02] [ 2.13839407e-01 -2.47690409e-02 9.76554762e-01 1.08718425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.24, Y:294.03, Z:108.72 [[ 9.76336080e-01 3.12874482e-02 -2.13983536e-01 3.73242438e+02] [-2.97595585e-02 9.99503410e-01 1.03586497e-02 2.94025595e+02] [ 2.14201370e-01 -3.74546784e-03 9.76782343e-01 1.08717568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.27, Y:294.02, Z:108.72 [[ 9.76550240e-01 2.78798507e-02 -2.13476799e-01 3.73270337e+02] [-2.62925462e-02 9.99601519e-01 1.02716028e-02 2.94024470e+02] [ 2.13678103e-01 -4.41788756e-03 9.76894135e-01 1.08723071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.30, Y:294.02, Z:108.73 [[ 9.76525003e-01 2.62463161e-02 -2.13799087e-01 3.73297478e+02] [-2.46302831e-02 9.99644393e-01 1.02193864e-02 2.94023620e+02] [ 2.13991280e-01 -4.71355424e-03 9.76824198e-01 1.08729043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.32, Y:294.02, Z:108.73 [[ 9.76647298e-01 2.38354372e-02 -2.13522663e-01 3.73324707e+02] [-2.21818861e-02 9.99702559e-01 1.01369496e-02 2.94023441e+02] [ 2.13700772e-01 -5.16388900e-03 9.76885518e-01 1.08734869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.36, Y:294.03, Z:108.73 [[ 9.77351183e-01 1.83870409e-02 -2.10823581e-01 3.73355062e+02] [-2.07292683e-02 9.99745466e-01 -8.90514297e-03 2.94033675e+02] [ 2.10606180e-01 1.30736706e-02 9.77483563e-01 1.08726683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.38, Y:294.03, Z:108.74 [[ 9.77171962e-01 2.01952994e-02 -2.11487842e-01 3.73382801e+02] [-1.97570251e-02 9.99796050e-01 4.18543972e-03 2.94025587e+02] [ 2.11529236e-01 8.84762612e-05 9.77371667e-01 1.08736919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.40, Y:294.01, Z:108.76 [[ 9.76394098e-01 2.69525618e-02 -2.14308481e-01 3.73404670e+02] [-1.98346709e-02 9.99180090e-01 3.52949520e-02 2.94008020e+02] [ 2.15084057e-01 -3.02110446e-02 9.76128138e-01 1.08761555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.43, Y:294.02, Z:108.76 [[ 9.76249778e-01 2.07015839e-02 -2.15656707e-01 3.73434763e+02] [-1.89808224e-02 9.99769363e-01 1.00473836e-02 2.94021304e+02] [ 2.15814965e-01 -5.71541434e-03 9.76417552e-01 1.08759532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.46, Y:294.02, Z:108.77 [[ 9.76230180e-01 2.04248118e-02 -2.15771783e-01 3.73461945e+02] [-1.87107491e-02 9.99775091e-01 9.98378966e-03 2.94020839e+02] [ 2.15927171e-01 -5.70922509e-03 9.76392780e-01 1.08765966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.49, Y:294.02, Z:108.77 [[ 9.76262997e-01 2.02861875e-02 -2.15636342e-01 3.73489125e+02] [-1.85861204e-02 9.99778159e-01 9.90902346e-03 2.94020416e+02] [ 2.15789521e-01 -5.66596991e-03 9.76423463e-01 1.08772340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.52, Y:294.03, Z:108.76 [[ 9.76828782e-01 1.53899698e-02 -2.13468217e-01 3.73522728e+02] [-1.84717171e-02 9.99751873e-01 -1.24494120e-02 2.94031986e+02] [ 2.13223654e-01 1.61040685e-02 9.76870684e-01 1.08764200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.55, Y:294.01, Z:108.78 [[ 9.76983104e-01 2.25267126e-02 -2.12123932e-01 3.73547849e+02] [-1.94894763e-02 9.99675572e-01 1.63985046e-02 2.94014671e+02] [ 2.12424518e-01 -1.18868775e-02 9.77105177e-01 1.08781911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.57, Y:294.01, Z:108.80 [[ 9.76801356e-01 2.46182884e-02 -2.12727645e-01 3.73570870e+02] [-1.93568905e-02 9.99453902e-01 2.67807576e-02 2.94009519e+02] [ 2.13270771e-01 -2.20417346e-02 9.76744460e-01 1.08797729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.60, Y:294.02, Z:108.80 [[ 9.76900079e-01 2.12513183e-02 -2.12637290e-01 3.73599247e+02] [-1.96702005e-02 9.99760924e-01 9.54873529e-03 2.94018102e+02] [ 2.12789377e-01 -5.14554212e-03 9.77084543e-01 1.08798971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.63, Y:294.02, Z:108.81 [[ 9.77064375e-01 2.24105440e-02 -2.11761600e-01 3.73625519e+02] [-2.08844487e-02 9.99737321e-01 9.44083532e-03 2.94017956e+02] [ 2.11917549e-01 -4.80177959e-03 9.77275752e-01 1.08805108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.65, Y:294.02, Z:108.81 [[ 9.77075108e-01 2.31100456e-02 -2.11636856e-01 3.73653060e+02] [-2.16083639e-02 9.99722265e-01 9.40588811e-03 2.94017452e+02] [ 2.11795448e-01 -4.61713293e-03 9.77303111e-01 1.08811543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.68, Y:294.02, Z:108.82 [[ 9.77336951e-01 2.43906726e-02 -2.10279764e-01 3.73679376e+02] [-2.29525343e-02 9.99693509e-01 9.27734138e-03 2.94017773e+02] [ 2.10441596e-01 -4.24063505e-03 9.77597234e-01 1.08817016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.71, Y:294.03, Z:108.81 [[ 9.77874669e-01 2.09641089e-02 -2.08138505e-01 3.73713346e+02] [-2.33862340e-02 9.99684329e-01 -9.18289787e-03 2.94026001e+02] [ 2.07880290e-01 1.38472990e-02 9.78056255e-01 1.08811999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.73, Y:294.01, Z:108.84 [[ 9.77626992e-01 2.90274732e-02 -2.08333554e-01 3.73733780e+02] [-2.35181657e-02 9.99306364e-01 2.88736260e-02 2.94005481e+02] [ 2.09027174e-01 -2.33280131e-02 9.77631548e-01 1.08836070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.77, Y:294.01, Z:108.84 [[ 9.77426876e-01 2.91933868e-02 -2.09247336e-01 3.73765675e+02] [-2.59324343e-02 9.99495974e-01 1.83114125e-02 2.94007086e+02] [ 2.09676442e-01 -1.24717739e-02 9.77691283e-01 1.08841774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.79, Y:294.02, Z:108.84 [[ 9.77949265e-01 2.35510542e-02 -2.07510443e-01 3.73790940e+02] [-2.34156850e-02 9.99720981e-01 3.10890935e-03 2.94018723e+02] [ 2.07525762e-01 1.81864355e-03 9.78227862e-01 1.08840048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.82, Y:294.02, Z:108.84 [[ 9.78141031e-01 2.38624421e-02 -2.06568894e-01 3.73823278e+02] [-2.43914090e-02 9.99702485e-01 -1.40160342e-05 2.94019157e+02] [ 2.06507102e-01 5.05221603e-03 9.78432058e-01 1.08841275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.85, Y:294.01, Z:108.86 [[ 9.77085036e-01 2.95138437e-02 -2.10793182e-01 3.73848969e+02] [-2.68127707e-02 9.99517786e-01 1.56611074e-02 2.94008928e+02] [ 2.11153754e-01 -9.65028442e-03 9.77405220e-01 1.08855755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.88, Y:294.02, Z:108.85 [[ 9.76942313e-01 2.33568066e-02 -2.12222000e-01 3.73876713e+02] [-2.54625147e-02 9.99649890e-01 -7.19425361e-03 2.94022688e+02] [ 2.11979664e-01 1.24320766e-02 9.77194999e-01 1.08851718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.90, Y:294.00, Z:108.88 [[ 9.77673618e-01 3.28978414e-02 -2.07538018e-01 3.73902829e+02] [-2.51905278e-02 9.98895187e-01 3.96716762e-02 2.93997049e+02] [ 2.08613840e-01 -3.35579590e-02 9.77422186e-01 1.08875942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.93, Y:294.01, Z:108.87 [[ 9.77654278e-01 2.57170928e-02 -2.08640224e-01 3.73932843e+02] [-2.43195078e-02 9.99661336e-01 9.26145734e-03 2.94013378e+02] [ 2.08807743e-01 -3.98047583e-03 9.77948609e-01 1.08871610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.96, Y:294.01, Z:108.88 [[ 9.77521334e-01 2.53193339e-02 -2.09310712e-01 3.73959526e+02] [-2.34997641e-02 9.99661373e-01 1.11759183e-02 2.94012089e+02] [ 2.09522800e-01 -6.00594627e-03 9.77785316e-01 1.08877938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:373.98, Y:294.02, Z:108.88 [[ 9.77684033e-01 2.19417208e-02 -2.08931789e-01 3.73983175e+02] [-2.11715628e-02 9.99758318e-01 5.92211955e-03 2.94018102e+02] [ 2.09011235e-01 -1.36654924e-03 9.77912285e-01 1.08879782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.01, Y:294.01, Z:108.89 [[ 9.77291869e-01 2.41676159e-02 -2.10514916e-01 3.74013696e+02] [-2.25493038e-02 9.99694867e-01 1.00847499e-02 2.94012332e+02] [ 2.10694405e-01 -5.10877926e-03 9.77538627e-01 1.08887631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.04, Y:294.02, Z:108.89 [[ 9.77023536e-01 2.19558123e-02 -2.11997531e-01 3.74037209e+02] [-2.03354142e-02 9.99744977e-01 9.82103325e-03 2.94015021e+02] [ 2.12159096e-01 -5.28432302e-03 9.77220852e-01 1.08893101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.07, Y:294.03, Z:108.89 [[ 9.75657344e-01 1.62267909e-02 -2.18699427e-01 3.74071509e+02] [-2.14469788e-02 9.99538432e-01 -2.15162942e-02 2.94029950e+02] [ 2.18249341e-01 2.56829724e-02 9.75555027e-01 1.08887039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.09, Y:294.01, Z:108.90 [[ 9.75855287e-01 2.29859621e-02 -2.17205212e-01 3.74094797e+02] [-2.19043954e-02 9.99732786e-01 7.38610175e-03 2.94014009e+02] [ 2.17316948e-01 -2.45001760e-03 9.76098018e-01 1.08898603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.13, Y:294.01, Z:108.91 [[ 9.75626353e-01 2.30447573e-02 -2.18225019e-01 3.74125767e+02] [-2.07447664e-02 9.99702541e-01 1.28251179e-02 2.94009774e+02] [ 2.18455658e-01 -7.98549598e-03 9.75814202e-01 1.08908767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.15, Y:294.01, Z:108.91 [[ 9.75460975e-01 2.18948640e-02 -2.19081040e-01 3.74151146e+02] [-2.12548505e-02 9.99760158e-01 5.27811748e-03 2.94013237e+02] [ 2.19144059e-01 -4.92062856e-04 9.75692390e-01 1.08910550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.18, Y:294.01, Z:108.92 [[ 9.75912702e-01 2.30383809e-02 -2.16941538e-01 3.74177862e+02] [-2.07201688e-02 9.99701380e-01 1.29547586e-02 2.94008083e+02] [ 2.17175212e-01 -8.14764818e-03 9.76098634e-01 1.08918034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.20, Y:294.01, Z:108.92 [[ 9.75699065e-01 2.06818062e-02 -2.18136648e-01 3.74204533e+02] [-1.93247377e-02 9.99778367e-01 8.35299297e-03 2.94008790e+02] [ 2.18261056e-01 -3.93457392e-03 9.75882488e-01 1.08923235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.23, Y:294.00, Z:108.94 [[ 9.74933456e-01 2.51235770e-02 -2.21073658e-01 3.74233991e+02] [-2.05142221e-02 9.99522166e-01 2.31215726e-02 2.93996148e+02] [ 2.21548918e-01 -1.80068406e-02 9.74982990e-01 1.08939527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.26, Y:294.02, Z:108.93 [[ 9.75155892e-01 1.38794201e-02 -2.21084482e-01 3.74261382e+02] [-1.68144196e-02 9.99793649e-01 -1.13989196e-02 2.94016598e+02] [ 2.20880651e-01 1.48331308e-02 9.75188042e-01 1.08931658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.29, Y:294.00, Z:108.95 [[ 9.75360051e-01 1.67156335e-02 -2.19984905e-01 3.74291450e+02] [-1.46237213e-02 9.99831071e-01 1.11344740e-02 2.94001751e+02] [ 2.20133863e-01 -7.64312316e-03 9.75439729e-01 1.08946839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.31, Y:293.99, Z:108.97 [[ 9.74122907e-01 2.29463998e-02 -2.24851119e-01 3.74314014e+02] [-1.68067478e-02 9.99432819e-01 2.91817406e-02 2.93987540e+02] [ 2.25393203e-01 -2.46475859e-02 9.73956057e-01 1.08965369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.35, Y:294.00, Z:108.97 [[ 9.74177744e-01 1.39595180e-02 -2.25350517e-01 3.74346327e+02] [-1.27067932e-02 9.99894704e-01 7.00851719e-03 2.93997604e+02] [ 2.25424624e-01 -3.96405905e-03 9.74252547e-01 1.08966380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.37, Y:293.99, Z:108.98 [[ 9.74740009e-01 1.59392077e-02 -2.22773107e-01 3.74370629e+02] [-1.18462328e-02 9.99735809e-01 1.96971694e-02 2.93989123e+02] [ 2.23028209e-01 -1.65605970e-02 9.74671311e-01 1.08977883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.40, Y:294.01, Z:108.96 [[ 9.74974485e-01 3.07521679e-03 -2.22295516e-01 3.74401828e+02] [-8.40265704e-03 9.99699605e-01 -2.30237808e-02 2.94014381e+02] [ 2.22157936e-01 2.43154718e-02 9.74707448e-01 1.08963936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.43, Y:293.99, Z:108.99 [[ 9.74720372e-01 1.36830750e-02 -2.23008902e-01 3.74427133e+02] [-8.91749784e-03 9.99710156e-01 2.23625252e-02 2.93985353e+02] [ 2.23250252e-01 -1.98085275e-02 9.74559874e-01 1.08989022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.46, Y:293.99, Z:108.99 [[ 9.75241487e-01 9.03503241e-03 -2.20957938e-01 3.74457594e+02] [-8.08148335e-03 9.99953724e-01 5.21916739e-03 2.93994151e+02] [ 2.20994868e-01 -3.30428067e-03 9.75269373e-01 1.08988012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.48, Y:293.99, Z:108.99 [[ 9.75181021e-01 8.71440629e-03 -2.21237509e-01 3.74483541e+02] [-8.09013050e-03 9.99960326e-01 3.72775317e-03 2.93993599e+02] [ 2.21261217e-01 -1.84539382e-03 9.75212832e-01 1.08993361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.51, Y:293.98, Z:109.00 [[ 9.75805108e-01 1.62263018e-02 -2.18039213e-01 3.74505911e+02] [-1.13080178e-02 9.99653121e-01 2.37858669e-02 2.93980741e+02] [ 2.18349537e-01 -2.07447791e-02 9.75650108e-01 1.09004728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.54, Y:293.99, Z:109.01 [[ 9.75701555e-01 1.19999743e-02 -2.18774944e-01 3.74537632e+02] [-1.08324431e-02 9.99919970e-01 6.53540297e-03 2.93989238e+02] [ 2.18835860e-01 -4.00673572e-03 9.75753459e-01 1.09007260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.56, Y:293.99, Z:109.01 [[ 9.75652586e-01 1.39334989e-02 -2.18878708e-01 3.74562761e+02] [-1.21229013e-02 9.99880305e-01 9.61304621e-03 2.93985651e+02] [ 2.18986453e-01 -6.72554842e-03 9.75704720e-01 1.09014688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.59, Y:293.99, Z:109.02 [[ 9.75338707e-01 1.42472521e-02 -2.20253086e-01 3.74586981e+02] [-1.30173839e-02 9.99890527e-01 7.03433494e-03 2.93985097e+02] [ 2.20329194e-01 -3.99374017e-03 9.75417396e-01 1.09019822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.62, Y:293.98, Z:109.03 [[ 9.75313152e-01 1.30291696e-02 -2.20441594e-01 3.74619264e+02] [-1.17331068e-02 9.99905331e-01 7.18776653e-03 2.93982833e+02] [ 2.20514375e-01 -4.42385845e-03 9.75373692e-01 1.09028151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.65, Y:293.98, Z:109.04 [[ 9.74447873e-01 1.39241326e-02 -2.24181760e-01 3.74645034e+02] [-1.27945297e-02 9.99897080e-01 6.49070327e-03 2.93980578e+02] [ 2.24249065e-01 -3.45655180e-03 9.74525736e-01 1.09037224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.68, Y:293.99, Z:109.04 [[ 9.74648585e-01 1.09863883e-02 -2.23471330e-01 3.74675422e+02] [-1.22023345e-02 9.99917302e-01 -4.06096044e-03 2.93985035e+02] [ 2.23408234e-01 6.68488126e-03 9.74702043e-01 1.09038696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.70, Y:293.96, Z:109.06 [[ 9.75385121e-01 1.91001164e-02 -2.19679427e-01 3.74699349e+02] [-1.26293888e-02 9.99445092e-01 3.08221834e-02 2.93964242e+02] [ 2.20146233e-01 -2.72890822e-02 9.75085095e-01 1.09057936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.072755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:374.73, Y:293.98, Z:109.06 [[ 9.73590695e-01 1.40681574e-02 -2.27866730e-01 3.74730558e+02] [-1.39447149e-02 9.99900453e-01 2.15174990e-03 2.93977778e+02] [ 2.27874317e-01 1.08261290e-03 9.73689953e-01 1.09057415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.75, Y:293.97, Z:109.07 [[ 9.75497619e-01 1.71317598e-02 -2.19341967e-01 3.74754270e+02] [-1.29857065e-02 9.99708987e-01 2.03301194e-02 2.93967169e+02] [ 2.19626427e-01 -1.69836727e-02 9.75436204e-01 1.09066004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.78, Y:293.97, Z:109.07 [[ 9.74792984e-01 1.74432902e-02 -2.22428347e-01 3.74778599e+02] [-1.52864624e-02 9.99817996e-01 1.14148183e-02 2.93969111e+02] [ 2.22586976e-01 -7.72694221e-03 9.74882215e-01 1.09070815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.81, Y:293.97, Z:109.07 [[ 9.74686788e-01 1.15292058e-02 -2.23277277e-01 3.74810121e+02] [-1.21129221e-02 9.99925861e-01 -1.24488305e-03 2.93974152e+02] [ 2.23246370e-01 3.91791132e-03 9.74754178e-01 1.09073482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.192755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:374.84, Y:293.97, Z:109.08 [[ 9.73987545e-01 1.10736551e-02 -2.26330813e-01 3.74839329e+02] [-1.10484791e-02 9.99938014e-01 1.37801636e-03 2.93971322e+02] [ 2.26332043e-01 1.15844050e-03 9.74049518e-01 1.09081402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.86, Y:293.96, Z:109.10 [[ 9.74266381e-01 1.34564087e-02 -2.24997654e-01 3.74862791e+02] [-9.03495416e-03 9.99745544e-01 2.06692492e-02 2.93958668e+02] [ 2.25218535e-01 -1.81045111e-02 9.74140051e-01 1.09095851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.89, Y:293.94, Z:109.12 [[ 9.72546503e-01 2.04073909e-02 -2.31812077e-01 3.74892660e+02] [-1.09451852e-02 9.99056329e-01 4.20315958e-02 2.93941370e+02] [ 2.32451077e-01 -3.83404554e-02 9.71852101e-01 1.09122867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.93, Y:293.98, Z:109.10 [[ 9.74129926e-01 9.71117381e-04 -2.25986601e-01 3.74926207e+02] [-6.65204161e-03 9.99680676e-01 -2.43781954e-02 2.93980224e+02] [ 2.25890764e-01 2.52508020e-02 9.73825323e-01 1.09095123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.95, Y:293.95, Z:109.12 [[ 9.73831860e-01 1.15427250e-02 -2.26976375e-01 3.74948389e+02] [-7.18572306e-03 9.99773901e-01 2.00127840e-02 2.93951225e+02] [ 2.27156058e-01 -1.78580973e-02 9.73694620e-01 1.09119725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:374.98, Y:293.96, Z:109.12 [[ 9.73748496e-01 8.63695308e-03 -2.27462677e-01 3.74977328e+02] [-6.71088533e-03 9.99934794e-01 9.23964950e-03 2.93956554e+02] [ 2.27527647e-01 -7.47061887e-03 9.73742964e-01 1.09122833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.00, Y:293.96, Z:109.13 [[ 9.73492261e-01 5.86476107e-03 -2.28644751e-01 3.75004218e+02] [-5.45262627e-03 9.99982172e-01 2.43419994e-03 2.93959161e+02] [ 2.28654950e-01 -1.12296043e-03 9.73506884e-01 1.09126045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.03, Y:293.95, Z:109.14 [[ 9.73069935e-01 8.98145744e-03 -2.30335051e-01 3.75032192e+02] [-5.25410584e-03 9.99845224e-01 1.67905617e-02 2.93948208e+02] [ 2.30450205e-01 -1.51281860e-02 9.72966516e-01 1.09141146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.06, Y:293.94, Z:109.15 [[ 9.72838078e-01 1.06253759e-02 -2.31242675e-01 3.75056542e+02] [-5.65793577e-03 9.99739001e-01 2.21340950e-02 2.93943848e+02] [ 2.31417504e-01 -2.02245342e-02 9.72644286e-01 1.09151196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.09, Y:293.96, Z:109.14 [[ 9.73245489e-01 1.97961344e-03 -2.29759221e-01 3.75087291e+02] [-4.63673995e-03 9.99928467e-01 -1.10255179e-02 2.93960787e+02] [ 2.29720959e-01 1.17958693e-02 9.73185048e-01 1.09141862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.11, Y:293.95, Z:109.15 [[ 9.72526580e-01 5.33061955e-03 -2.32730822e-01 3.75114208e+02] [-4.66691526e-03 9.99983322e-01 3.40234908e-03 2.93948501e+02] [ 2.32745078e-01 -2.22273989e-03 9.72535238e-01 1.09153656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.14, Y:293.94, Z:109.16 [[ 9.72671293e-01 7.46378416e-03 -2.32066471e-01 3.75140343e+02] [-5.38135629e-03 9.99939389e-01 9.60518328e-03 2.93943021e+02] [ 2.32124097e-01 -8.09385368e-03 9.72652504e-01 1.09160591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.552755096 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:375.17, Y:293.93, Z:109.17 [[ 9.71932832e-01 1.26777726e-02 -2.34916675e-01 3.75166887e+02] [-7.56910701e-03 9.99715127e-01 2.26356745e-02 2.93932552e+02] [ 2.35136724e-01 -2.02222457e-02 9.71751914e-01 1.09170730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.19, Y:293.93, Z:109.18 [[ 9.71045610e-01 1.53333700e-02 -2.38401577e-01 3.75191121e+02] [-1.30077654e-02 9.99851257e-01 1.13252430e-02 2.93934759e+02] [ 2.38539771e-01 -7.89625568e-03 9.71100627e-01 1.09183202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.22, Y:293.94, Z:109.19 [[ 9.71338477e-01 1.33850760e-02 -2.37323414e-01 3.75218669e+02] [-1.14909548e-02 9.99890142e-01 9.36274665e-03 2.93940750e+02] [ 2.37422664e-01 -6.36732344e-03 9.71385575e-01 1.09188406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.642755096 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:375.25, Y:293.94, Z:109.19 [[ 9.70947949e-01 1.67949180e-02 -2.38700675e-01 3.75247042e+02] [-1.64296504e-02 9.99858828e-01 3.51993823e-03 2.93944413e+02] [ 2.38726094e-01 5.04091835e-04 9.71086813e-01 1.09190262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.28, Y:293.92, Z:109.21 [[ 9.70738349e-01 2.84423330e-02 -2.38449349e-01 3.75277350e+02] [-2.25340467e-02 9.99368665e-01 2.74679427e-02 2.93924783e+02] [ 2.39080060e-01 -2.12909566e-02 9.70766409e-01 1.09211276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.702755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:375.31, Y:293.93, Z:109.21 [[ 9.70510273e-01 2.54270239e-02 -2.39714992e-01 3.75309100e+02] [-2.39110012e-02 9.99671473e-01 9.23095454e-03 2.93933966e+02] [ 2.39870955e-01 -3.22691076e-03 9.70799419e-01 1.09209656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.732755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:375.33, Y:293.94, Z:109.21 [[ 9.71241935e-01 2.22875322e-02 -2.37049297e-01 3.75331336e+02] [-2.45705063e-02 9.99675778e-01 -6.68046672e-03 2.93943008e+02] [ 2.36823549e-01 1.23127707e-02 9.71474653e-01 1.09206641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.762755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:375.36, Y:293.93, Z:109.23 [[ 9.70624132e-01 2.98206574e-02 -2.38745727e-01 3.75362593e+02] [-2.50067696e-02 9.99418794e-01 2.31675410e-02 2.93925304e+02] [ 2.39297838e-01 -1.65167150e-02 9.70805719e-01 1.09226211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7927550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:375.39, Y:293.93, Z:109.23 [[ 9.70078918e-01 2.41795903e-02 -2.41582783e-01 3.75390890e+02] [-2.17308340e-02 9.99681967e-01 1.27959303e-02 2.93932867e+02] [ 2.41815352e-01 -7.16326683e-03 9.70295843e-01 1.09230020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.822755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:375.42, Y:293.94, Z:109.23 [[ 9.70644073e-01 2.32883981e-02 -2.39390338e-01 3.75420579e+02] [-2.29777723e-02 9.99727615e-01 4.08878733e-03 2.93935059e+02] [ 2.39420353e-01 1.53189948e-03 9.70914800e-01 1.09231768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.852755096 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:375.45, Y:293.93, Z:109.24 [[ 9.70692132e-01 2.23145063e-02 -2.39288211e-01 3.75448002e+02] [-1.94992166e-02 9.99710070e-01 1.41264816e-02 2.93928481e+02] [ 2.39534060e-01 -9.04653185e-03 9.70845814e-01 1.09242919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.882755096 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:375.47, Y:293.94, Z:109.24 [[ 9.71490276e-01 1.65143764e-02 -2.36503528e-01 3.75468620e+02] [-1.47638210e-02 9.99848950e-01 9.17099758e-03 2.93936700e+02] [ 2.36619257e-01 -5.41783922e-03 9.71587348e-01 1.09244811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9127550960001 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:375.50, Y:293.93, Z:109.25 [[ 9.71125063e-01 1.76673883e-02 -2.37915898e-01 3.75504134e+02] [-1.61740547e-02 9.99835341e-01 8.22748415e-03 2.93931597e+02] [ 2.38022081e-01 -4.14185132e-03 9.71250912e-01 1.09253258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.942755096 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:375.53, Y:293.93, Z:109.26 [[ 9.71157709e-01 1.42575718e-02 -2.38011399e-01 3.75531357e+02] [-9.82320380e-03 9.99755571e-01 1.98066427e-02 2.93928538e+02] [ 2.38235617e-01 -1.68973393e-02 9.71060385e-01 1.09257157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.972755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:375.56, Y:293.94, Z:109.26 [[ 9.71779929e-01 9.19737113e-03 -2.35709944e-01 3.75560282e+02] [-1.16138703e-02 9.99893253e-01 -8.86571311e-03 2.93942406e+02] [ 2.35603242e-01 1.13530268e-02 9.71783011e-01 1.09256145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.002755096 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:375.58, Y:293.93, Z:109.27 [[ 9.71680097e-01 1.17986588e-02 -2.36005469e-01 3.75581797e+02] [-8.48261012e-03 9.99850593e-01 1.50611448e-02 2.93932943e+02] [ 2.36147909e-01 -1.26326722e-02 9.71635004e-01 1.09269364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0327550960001 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:375.61, Y:293.93, Z:109.26 [[ 9.72889304e-01 1.27750173e-02 -2.30918172e-01 3.75611792e+02] [-1.25007019e-02 9.99918349e-01 2.65104709e-03 2.93934526e+02] [ 2.30933184e-01 3.07463880e-04 9.72969563e-01 1.09263539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.062755096 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:375.64, Y:293.94, Z:109.27 [[ 9.71536650e-01 8.66951759e-03 -2.36730600e-01 3.75644298e+02] [-1.04662128e-02 9.99925167e-01 -6.33395313e-03 2.93940199e+02] [ 2.36657973e-01 8.63134045e-03 9.71554684e-01 1.09273151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:375.67, Y:293.93, Z:109.28 [[ 9.72516217e-01 1.26900535e-02 -2.32489074e-01 3.75667728e+02] [-1.12547280e-02 9.99908542e-01 7.49922290e-03 2.93933138e+02] [ 2.32562977e-01 -4.67651460e-03 9.72570096e-01 1.09283199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.122755096 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:375.70, Y:293.93, Z:109.29 [[ 9.72093031e-01 1.34408410e-02 -2.34210338e-01 3.75697437e+02] [-1.21850967e-02 9.99902583e-01 6.80791482e-03 2.93933450e+02] [ 2.34279026e-01 -3.76405094e-03 9.72162111e-01 1.09289178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.152755096 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:375.72, Y:293.92, Z:109.31 [[ 9.71258313e-01 1.94399036e-02 -2.37232756e-01 3.75721158e+02] [-1.44181002e-02 9.99634129e-01 2.28850838e-02 2.93924990e+02] [ 2.37590843e-01 -1.88068823e-02 9.71183244e-01 1.09306866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.182755096 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:375.75, Y:293.94, Z:109.30 [[ 9.71506377e-01 1.63034287e-02 -2.36452020e-01 3.75750536e+02] [-1.63592830e-02 9.99864689e-01 1.72582534e-03 2.93936495e+02] [ 2.36448163e-01 2.19153519e-03 9.71641633e-01 1.09304997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.212755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:375.78, Y:293.93, Z:109.32 [[ 9.71347166e-01 1.77264575e-02 -2.37003072e-01 3.75776504e+02] [-1.57787082e-02 9.99824367e-01 1.01126989e-02 2.93932024e+02] [ 2.37140709e-01 -6.08333915e-03 9.71456266e-01 1.09316579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.242755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:375.81, Y:293.94, Z:109.31 [[ 9.72640495e-01 1.50253502e-02 -2.31829044e-01 3.75808308e+02] [-1.65549582e-02 9.99852127e-01 -4.65383602e-03 2.93938187e+02] [ 2.31724837e-01 8.36442951e-03 9.72745412e-01 1.09314197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.272755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:375.83, Y:293.93, Z:109.32 [[ 9.72852442e-01 1.78616698e-02 -2.30735970e-01 3.75834675e+02] [-1.65759873e-02 9.99834408e-01 7.50954571e-03 2.93930387e+02] [ 2.30831895e-01 -3.48100337e-03 9.72987420e-01 1.09324731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.302755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:375.86, Y:293.93, Z:109.33 [[ 9.72474959e-01 1.66370225e-02 -2.32412703e-01 3.75863915e+02] [-1.67659767e-02 9.99858432e-01 1.42063981e-03 2.93931461e+02] [ 2.32403436e-01 2.51508933e-03 9.72616223e-01 1.09330135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.332755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:375.89, Y:293.92, Z:109.34 [[ 9.72660249e-01 1.75995737e-02 -2.31564884e-01 3.75891614e+02] [-1.55350103e-02 9.99821682e-01 1.07362927e-02 2.93924848e+02] [ 2.31712546e-01 -6.84540228e-03 9.72760215e-01 1.09338562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.362755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:375.91, Y:293.92, Z:109.36 [[ 9.70022595e-01 1.97125182e-02 -2.42213918e-01 3.75913593e+02] [-1.62493458e-02 9.99735302e-01 1.62875354e-02 2.93920248e+02] [ 2.42470873e-01 -1.18634596e-02 9.70086148e-01 1.09355090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.392755096 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:375.95, Y:293.94, Z:109.34 [[ 9.70867504e-01 4.31494972e-03 -2.39578112e-01 3.75947870e+02] [-1.05188544e-02 9.99641479e-01 -2.46224966e-02 2.93941268e+02] [ 2.39385973e-01 2.64252691e-02 9.70564816e-01 1.09343688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4227550960001 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:375.98, Y:293.93, Z:109.36 [[ 9.71104049e-01 7.39971223e-03 -2.38541758e-01 3.75975205e+02] [-6.97180857e-03 9.99972218e-01 2.63750517e-03 2.93925317e+02] [ 2.38554648e-01 -8.98224476e-04 9.71128660e-01 1.09360280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.452755096 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:376.00, Y:293.91, Z:109.37 [[ 9.71675944e-01 1.32561896e-02 -2.35945192e-01 3.75995355e+02] [-8.13405960e-03 9.99709932e-01 2.26691388e-02 2.93912345e+02] [ 2.36177259e-01 -2.01078646e-02 9.71501918e-01 1.09371108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.482755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:376.03, Y:293.93, Z:109.37 [[ 9.71226894e-01 1.53325299e-04 -2.38156037e-01 3.76030815e+02] [-3.99777414e-03 9.99869388e-01 -1.56596513e-02 2.93932683e+02] [ 2.38122530e-01 1.61611685e-02 9.71100653e-01 1.09366199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.512755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:376.05, Y:293.91, Z:109.39 [[ 9.72386150e-01 7.44497784e-03 -2.33258971e-01 3.76054864e+02] [-3.02942468e-03 9.99809488e-01 1.92823833e-02 2.93913405e+02] [ 2.33358089e-01 -1.80432820e-02 9.72223453e-01 1.09385601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5427550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:376.08, Y:293.91, Z:109.40 [[ 9.69983266e-01 9.33775445e-03 -2.42992326e-01 3.76079265e+02] [-4.98957058e-03 9.99816343e-01 1.85036277e-02 2.93911292e+02] [ 2.43120481e-01 -1.67357819e-02 9.69851713e-01 1.09403740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.572755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.11, Y:293.92, Z:109.41 [[ 9.69971379e-01 4.98849129e-03 -2.43167922e-01 3.76108213e+02] [-4.22615668e-03 9.99984384e-01 3.65657754e-03 2.93919485e+02] [ 2.43182366e-01 -2.51910982e-03 9.69977315e-01 1.09405885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.14, Y:293.92, Z:109.41 [[ 9.70026569e-01 3.78485917e-03 -2.42969401e-01 3.76136018e+02] [-3.00611495e-03 9.99989089e-01 3.57578566e-03 2.93920857e+02] [ 2.42980283e-01 -2.73821315e-03 9.70027363e-01 1.09411719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.632755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.16, Y:293.92, Z:109.42 [[ 9.69971110e-01 3.05268037e-03 -2.43201000e-01 3.76161935e+02] [-2.27040869e-03 9.99991309e-01 3.49679072e-03 2.93920060e+02] [ 2.43209561e-01 -2.83962031e-03 9.69969611e-01 1.09419455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.19, Y:293.92, Z:109.43 [[ 9.70784278e-01 4.01493685e-03 -2.39920331e-01 3.76188232e+02] [-1.03809082e-03 9.99920923e-01 1.25327316e-02 2.93915360e+02] [ 2.39951677e-01 -1.19175197e-02 9.70711680e-01 1.09428407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.22, Y:293.94, Z:109.41 [[ 9.71740640e-01 -7.48128179e-03 -2.35932530e-01 3.76220602e+02] [ 1.67263737e-03 9.99690773e-01 -2.48104773e-02 2.93938982e+02] [ 2.36045187e-01 2.37147195e-02 9.71452666e-01 1.09414359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.25, Y:293.93, Z:109.43 [[ 9.70354983e-01 -3.31602809e-03 -2.41661357e-01 3.76247961e+02] [ 1.52336452e-03 9.99969925e-01 -7.60454231e-03 2.93930765e+02] [ 2.41679306e-01 7.01096719e-03 9.70330851e-01 1.09428800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.27, Y:293.91, Z:109.45 [[ 9.70753425e-01 9.11782290e-03 -2.39905511e-01 3.76270176e+02] [-8.93686959e-04 9.99408873e-01 3.43672115e-02 2.93905387e+02] [ 2.40077051e-01 -3.31476878e-02 9.70187735e-01 1.09454705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.30, Y:293.94, Z:109.43 [[ 9.71532629e-01 -5.49319915e-03 -2.36842090e-01 3.76299552e+02] [ 6.72634071e-04 9.99791070e-01 -2.04295001e-02 2.93938524e+02] [ 2.36904830e-01 1.96886179e-02 9.71333341e-01 1.09434071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.812755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:376.33, Y:293.92, Z:109.47 [[ 9.69312166e-01 3.22981344e-03 -2.45811905e-01 3.76330879e+02] [-4.23008941e-04 9.99934123e-01 1.14704491e-02 2.93917357e+02] [ 2.45832759e-01 -1.10144652e-02 9.69249677e-01 1.09465591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.35, Y:293.92, Z:109.47 [[ 9.68573026e-01 2.75641050e-03 -2.48714083e-01 3.76352224e+02] [-1.55911836e-03 9.99986231e-01 5.01078399e-03 2.93920896e+02] [ 2.48724470e-01 -4.46553552e-03 9.68563987e-01 1.09472978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.39, Y:293.93, Z:109.47 [[ 9.69620129e-01 -5.87896989e-04 -2.44614922e-01 3.76385103e+02] [ 1.12146219e-04 9.99998075e-01 -1.95882012e-03 2.93927102e+02] [ 2.44615603e-01 1.87187878e-03 9.69618329e-01 1.09474879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.41, Y:293.92, Z:109.49 [[ 9.70000877e-01 4.01426473e-03 -2.43068273e-01 3.76408705e+02] [-6.94249728e-04 9.99905321e-01 1.37428952e-02 2.93918534e+02] [ 2.43100427e-01 -1.31618704e-02 9.69911825e-01 1.09487745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.44, Y:293.93, Z:109.49 [[ 9.69035255e-01 1.13912819e-03 -2.46919780e-01 3.76435989e+02] [-2.69610983e-04 9.99993644e-01 3.55523723e-03 2.93925663e+02] [ 2.46922260e-01 -3.37857793e-03 9.69029402e-01 1.09494896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.47, Y:293.93, Z:109.50 [[ 9.69879108e-01 1.21580174e-03 -2.43583739e-01 3.76466248e+02] [-1.41562060e-03 9.99998790e-01 -6.45283552e-04 2.93927066e+02] [ 2.43582660e-01 9.70669195e-04 9.69879655e-01 1.09495329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.992755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:376.49, Y:293.92, Z:109.50 [[ 9.68803604e-01 2.99785204e-03 -2.47811602e-01 3.76492608e+02] [-2.41199041e-03 9.99993533e-01 2.66770257e-03 2.93924116e+02] [ 2.47817997e-01 -1.98676066e-03 9.68804569e-01 1.09504899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.52, Y:293.92, Z:109.52 [[ 9.69112691e-01 3.65474166e-03 -2.46591230e-01 3.76521806e+02] [-2.00685558e-03 9.99973948e-01 6.93364976e-03 2.93921426e+02] [ 2.46610147e-01 -6.22461499e-03 9.69094779e-01 1.09515764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.052755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:376.55, Y:293.92, Z:109.52 [[ 9.68853135e-01 3.75498223e-03 -2.47607560e-01 3.76549709e+02] [-1.33689081e-03 9.99949771e-01 9.93322969e-03 2.93919676e+02] [ 2.47632422e-01 -9.29281645e-03 9.68809490e-01 1.09523795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.57, Y:293.93, Z:109.52 [[ 9.68500115e-01 2.53535030e-03 -2.49000201e-01 3.76573943e+02] [-3.24030888e-03 9.99991819e-01 -2.42132322e-03 2.93925182e+02] [ 2.48992025e-01 3.15188938e-03 9.68500406e-01 1.09523986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.60, Y:293.92, Z:109.54 [[ 9.67775617e-01 1.06461380e-03 -2.51811878e-01 3.76604605e+02] [-1.23949043e-03 9.99999088e-01 -5.35859505e-04 2.93924355e+02] [ 2.51811078e-01 8.30710178e-04 9.67776054e-01 1.09536164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.63, Y:293.92, Z:109.54 [[ 9.69295014e-01 5.51518262e-03 -2.45838886e-01 3.76628745e+02] [-2.83181998e-03 9.99932512e-01 1.12673038e-02 2.93918393e+02] [ 2.45884436e-01 -1.02251699e-02 9.69245217e-01 1.09541080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.66, Y:293.93, Z:109.55 [[ 9.68343340e-01 9.68134369e-06 -2.49622068e-01 3.76659680e+02] [-1.04081169e-03 9.99991463e-01 -3.99877231e-03 2.93927019e+02] [ 2.49619898e-01 4.13199410e-03 9.68335083e-01 1.09545304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.68, Y:293.92, Z:109.55 [[ 9.68190314e-01 4.49987659e-03 -2.50174472e-01 3.76677500e+02] [-3.32764095e-03 9.99981415e-01 5.10844777e-03 2.93922168e+02] [ 2.50192810e-01 -4.11345883e-03 9.68187295e-01 1.09551032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.71, Y:293.93, Z:109.56 [[ 9.69233337e-01 -1.20841319e-03 -2.46140770e-01 3.76710077e+02] [ 1.03189093e-03 9.99999110e-01 -8.46137878e-04 2.93926730e+02] [ 2.46141573e-01 5.66114611e-04 9.69233721e-01 1.09556628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.74, Y:293.93, Z:109.56 [[ 9.69215205e-01 -8.13475683e-04 -2.46213777e-01 3.76737609e+02] [ 1.26031143e-03 9.99997833e-01 1.65725526e-03 2.93925129e+02] [ 2.46211895e-01 -1.91654304e-03 9.69214130e-01 1.09564428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.77, Y:293.93, Z:109.57 [[ 9.68827933e-01 -4.98254524e-03 -2.47684499e-01 3.76766062e+02] [ 4.16125706e-03 9.99983972e-01 -3.83925242e-03 2.93928759e+02] [ 2.47699658e-01 2.68889612e-03 9.68833138e-01 1.09570666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:376.79, Y:293.93, Z:109.58 [[ 9.68854737e-01 -5.28196882e-03 -2.47573422e-01 3.76791552e+02] [ 4.61041710e-03 9.99983953e-01 -3.29219353e-03 2.93928163e+02] [ 2.47586839e-01 2.04824056e-03 9.68863542e-01 1.09575432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.82, Y:293.92, Z:109.59 [[ 9.70034097e-01 -7.40766796e-03 -2.42855877e-01 3.76817869e+02] [ 9.32547417e-03 9.99933746e-01 6.74824409e-03 2.93923189e+02] [ 2.42789798e-01 -8.81077307e-03 9.70038909e-01 1.09585367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.85, Y:293.93, Z:109.59 [[ 9.69473246e-01 -1.40082079e-02 -2.44796642e-01 3.76847261e+02] [ 1.15656749e-02 9.99867986e-01 -1.14125188e-02 2.93934307e+02] [ 2.44924195e-01 8.23289328e-03 9.69507276e-01 1.09586044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.88, Y:293.93, Z:109.60 [[ 9.68995798e-01 -1.52712654e-02 -2.46604809e-01 3.76876504e+02] [ 1.49368693e-02 9.99883232e-01 -3.22669576e-03 2.93930874e+02] [ 2.46625289e-01 -5.56849153e-04 9.69110756e-01 1.09596512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.90, Y:293.93, Z:109.60 [[ 9.69382167e-01 -1.39929925e-02 -2.45157930e-01 3.76900414e+02] [ 1.55922013e-02 9.99867929e-01 4.58340232e-03 2.93926822e+02] [ 2.45061416e-01 -8.26562026e-03 9.69472321e-01 1.09602891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.93, Y:293.93, Z:109.61 [[ 9.68608658e-01 -1.58223554e-02 -2.48086521e-01 3.76929703e+02] [ 1.61316657e-02 9.99869567e-01 -7.86098969e-04 2.93929013e+02] [ 2.48066600e-01 -3.24062655e-03 9.68737560e-01 1.09610271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.96, Y:293.92, Z:109.62 [[ 9.68057661e-01 -1.39564623e-02 -2.50338936e-01 3.76956563e+02] [ 1.62635997e-02 9.99842176e-01 7.14967722e-03 2.93924338e+02] [ 2.50199642e-01 -1.09927120e-02 9.68131861e-01 1.09622022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:376.99, Y:293.92, Z:109.63 [[ 9.67081299e-01 -1.55081097e-02 -2.53994607e-01 3.76987765e+02] [ 1.78739975e-02 9.99815677e-01 7.00943002e-03 2.93924419e+02] [ 2.53839087e-01 -1.13185876e-02 9.67180235e-01 1.09631806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.562755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:377.01, Y:293.92, Z:109.65 [[ 9.66491310e-01 -1.09540707e-02 -2.56465508e-01 3.77014525e+02] [ 1.69777369e-02 9.99629288e-01 2.12848320e-02 2.93915114e+02] [ 2.56137278e-01 -2.49258091e-02 9.66318994e-01 1.09647337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.04, Y:293.93, Z:109.65 [[ 9.66688427e-01 -1.43502466e-02 -2.55553429e-01 3.77038771e+02] [ 1.54817209e-02 9.99877231e-01 2.41638534e-03 2.93926014e+02] [ 2.55487379e-01 -6.29229860e-03 9.66791915e-01 1.09645380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.622755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:377.07, Y:293.93, Z:109.65 [[ 9.66351250e-01 -1.65412799e-02 -2.56693683e-01 3.77071846e+02] [ 1.80565180e-02 9.99830677e-01 3.54687192e-03 2.93926395e+02] [ 2.56591549e-01 -8.06251823e-03 9.66486302e-01 1.09654729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.10, Y:293.93, Z:109.66 [[ 9.66419974e-01 -1.45806731e-02 -2.56553771e-01 3.77096142e+02] [ 1.60153410e-02 9.99865608e-01 3.50348322e-03 2.93928013e+02] [ 2.56468209e-01 -7.49463229e-03 9.66523610e-01 1.09661702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.13, Y:293.93, Z:109.67 [[ 9.66401611e-01 -1.68418195e-02 -2.56484462e-01 3.77127466e+02] [ 1.81395475e-02 9.99831834e-01 2.69451282e-03 2.93930171e+02] [ 2.56395950e-01 -7.25649361e-03 9.66544598e-01 1.09668891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.712755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:377.15, Y:293.93, Z:109.68 [[ 9.66180228e-01 -1.44464407e-02 -2.57462749e-01 3.77154906e+02] [ 1.71142345e-02 9.99820537e-01 8.12384283e-03 2.93929174e+02] [ 2.57299183e-01 -1.22553742e-02 9.66254074e-01 1.09678650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.18, Y:293.94, Z:109.68 [[ 9.66743182e-01 -1.72761521e-02 -2.55164955e-01 3.77183094e+02] [ 1.71937311e-02 9.99848916e-01 -2.55371920e-03 2.93936372e+02] [ 2.55170522e-01 -1.91844700e-03 9.66894164e-01 1.09679859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.772755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:377.21, Y:293.93, Z:109.69 [[ 9.67471737e-01 -1.42256102e-02 -2.52578839e-01 3.77209170e+02] [ 1.65452655e-02 9.99838177e-01 7.06222499e-03 2.93931615e+02] [ 2.52437502e-01 -1.10114870e-02 9.67550544e-01 1.09690419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.24, Y:293.93, Z:109.70 [[ 9.67852881e-01 -1.42793015e-02 -2.51111333e-01 3.77235590e+02] [ 1.54968298e-02 9.99875793e-01 2.87172824e-03 2.93934458e+02] [ 2.51039137e-01 -6.67084005e-03 9.67953951e-01 1.09696874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.27, Y:293.94, Z:109.70 [[ 9.67532075e-01 -1.77753482e-02 -2.52122432e-01 3.77265448e+02] [ 1.64850720e-02 9.99837978e-01 -7.22915529e-03 2.93941529e+02] [ 2.52210083e-01 2.83818317e-03 9.67668341e-01 1.09699510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.29, Y:293.94, Z:109.71 [[ 9.67621851e-01 -1.47074752e-02 -2.51975482e-01 3.77293678e+02] [ 1.48469682e-02 9.99888869e-01 -1.34771012e-03 2.93939947e+02] [ 2.51967301e-01 -2.43699820e-03 9.67732680e-01 1.09707998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.31, Y:293.93, Z:109.72 [[ 9.68098486e-01 -8.27431897e-03 -2.50433339e-01 3.77312366e+02] [ 1.14834905e-02 9.99869577e-01 1.13559560e-02 2.93932174e+02] [ 2.50306714e-01 -1.38695327e-02 9.68067242e-01 1.09716908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.35, Y:293.95, Z:109.72 [[ 9.67829874e-01 -1.67568394e-02 -2.51046896e-01 3.77348571e+02] [ 1.40738480e-02 9.99823087e-01 -1.24788811e-02 2.93947710e+02] [ 2.51211589e-01 8.54423805e-03 9.67894485e-01 1.09716581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.38, Y:293.95, Z:109.72 [[ 9.67725831e-01 -1.46190323e-02 -2.51581000e-01 3.77377233e+02] [ 1.32127561e-02 9.99886219e-01 -7.27814739e-03 2.93945043e+02] [ 2.51658775e-01 3.71917284e-03 9.67808880e-01 1.09724335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.41, Y:293.94, Z:109.73 [[ 9.68062009e-01 -1.27234472e-02 -2.50387822e-01 3.77406959e+02] [ 1.33239843e-02 9.99910984e-01 7.03422315e-04 2.93940154e+02] [ 2.50356583e-01 -4.01711983e-03 9.68145363e-01 1.09734049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.43, Y:293.94, Z:109.74 [[ 9.67215561e-01 -1.30786703e-02 -2.53619807e-01 3.77433400e+02] [ 1.33968861e-02 9.99910146e-01 -4.72433106e-04 2.93939723e+02] [ 2.53603197e-01 -2.94077102e-03 9.67303867e-01 1.09741200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.46, Y:293.93, Z:109.75 [[ 9.67567613e-01 -1.06021772e-02 -2.52389598e-01 3.77457674e+02] [ 1.30683191e-02 9.99881823e-01 8.09683931e-03 2.93933469e+02] [ 2.52273927e-01 -1.11325473e-02 9.67591821e-01 1.09749687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.49, Y:293.94, Z:109.75 [[ 9.66837790e-01 -1.43520456e-02 -2.54987662e-01 3.77486654e+02] [ 1.39009573e-02 9.99897000e-01 -3.57113974e-03 2.93939103e+02] [ 2.55012651e-01 -9.18597392e-05 9.66937712e-01 1.09754014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.52, Y:293.94, Z:109.76 [[ 9.66322105e-01 -1.85229553e-02 -2.56668052e-01 3.77519805e+02] [ 1.72188040e-02 9.99824893e-01 -7.32775608e-03 2.93938480e+02] [ 2.56758839e-01 2.66145581e-03 9.66471839e-01 1.09762802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.55, Y:293.93, Z:109.77 [[ 9.67140901e-01 -1.67975409e-02 -2.53685477e-01 3.77546666e+02] [ 1.94693314e-02 9.99778249e-01 8.02478206e-03 2.93929531e+02] [ 2.53494425e-01 -1.27001816e-02 9.67253473e-01 1.09774593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.57, Y:293.93, Z:109.78 [[ 9.66744596e-01 -1.81749690e-02 -2.55097150e-01 3.77569908e+02] [ 1.92077434e-02 9.99814301e-01 1.55779194e-03 2.93931607e+02] [ 2.55021466e-01 -6.40582755e-03 9.66914173e-01 1.09779532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.192755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.60, Y:293.93, Z:109.79 [[ 9.66210254e-01 -1.90813440e-02 -2.57047948e-01 3.77599130e+02] [ 2.25892342e-02 9.99687563e-01 1.07006003e-02 2.93925173e+02] [ 2.56763455e-01 -1.61455461e-02 9.66339407e-01 1.09791974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.63, Y:293.93, Z:109.79 [[ 9.66386451e-01 -2.43470332e-02 -2.55938372e-01 3.77626211e+02] [ 2.37860764e-02 9.99703089e-01 -5.28745374e-03 2.93934601e+02] [ 2.55991115e-01 -9.78046018e-04 9.66678640e-01 1.09791995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.252755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.64, Y:293.90, Z:109.83 [[ 9.65320961e-01 -1.09197626e-02 -2.60837500e-01 3.77643369e+02] [ 2.53222466e-02 9.98330178e-01 5.19195548e-02 2.93903949e+02] [ 2.59834998e-01 -5.67240260e-02 9.63985559e-01 1.09831178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2827550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:377.69, Y:293.96, Z:109.79 [[ 9.64366501e-01 -4.15848309e-02 -2.61281369e-01 3.77690186e+02] [ 2.89550819e-02 9.98226999e-01 -5.20044352e-02 2.93961756e+02] [ 2.62980712e-01 4.25859118e-02 9.63860771e-01 1.09793608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.70, Y:293.90, Z:109.85 [[ 9.65389329e-01 -9.29015160e-03 -2.60647535e-01 3.77700149e+02] [ 2.50261601e-02 9.98053663e-01 5.71189673e-02 2.93900642e+02] [ 2.59609584e-01 -6.16650484e-02 9.63742853e-01 1.09849200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.73, Y:293.93, Z:109.84 [[ 9.65451152e-01 -2.19685945e-02 -2.59656415e-01 3.77732677e+02] [ 2.29721347e-02 9.99735761e-01 8.30652972e-04 2.93929722e+02] [ 2.59569555e-01 -6.76681700e-03 9.65700707e-01 1.09836859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.76, Y:293.93, Z:109.84 [[ 9.65708347e-01 -2.11428783e-02 -2.58767016e-01 3.77759467e+02] [ 2.20891174e-02 9.99755725e-01 7.49444144e-04 2.93929763e+02] [ 2.58687960e-01 -6.43967945e-03 9.65939475e-01 1.09843775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.79, Y:293.93, Z:109.85 [[ 9.65996691e-01 -1.80340230e-02 -2.57924732e-01 3.77786128e+02] [ 1.88435489e-02 9.99822222e-01 6.66818521e-04 2.93929700e+02] [ 2.57866854e-01 -5.50436180e-03 9.66164783e-01 1.09850675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.81, Y:293.93, Z:109.86 [[ 9.66163258e-01 -1.64626711e-02 -2.57405400e-01 3.77812052e+02] [ 1.71995238e-02 9.99851891e-01 6.11157154e-04 2.93930028e+02] [ 2.57357215e-01 -5.01772790e-03 9.66303310e-01 1.09857261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.84, Y:293.94, Z:109.86 [[ 9.64705399e-01 -2.20758885e-02 -2.62404551e-01 3.77843496e+02] [ 1.78852067e-02 9.99671675e-01 -1.83483289e-02 2.93941514e+02] [ 2.62723453e-01 1.30075723e-02 9.64783494e-01 1.09860440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.492755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:377.86, Y:293.92, Z:109.88 [[ 9.66583234e-01 -6.17210584e-03 -2.56278669e-01 3.77863959e+02] [ 1.21389962e-02 9.99690668e-01 2.17074390e-02 2.93920027e+02] [ 2.56065413e-01 -2.40930123e-02 9.66359163e-01 1.09877550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.89, Y:293.93, Z:109.88 [[ 9.66667956e-01 -1.03325145e-02 -2.55824748e-01 3.77892626e+02] [ 1.08099430e-02 9.99941465e-01 4.60142491e-04 2.93931366e+02] [ 2.55805019e-01 -3.21025594e-03 9.66723066e-01 1.09877439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.92, Y:293.94, Z:109.88 [[ 9.65382497e-01 -1.44344733e-02 -2.60438632e-01 3.77921628e+02] [ 9.09398752e-03 9.99723185e-01 -2.16991666e-02 2.93943060e+02] [ 2.60679754e-01 1.85795700e-02 9.65246531e-01 1.09880124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.582755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:377.94, Y:293.92, Z:109.90 [[ 9.67111244e-01 -1.86886261e-03 -2.54346905e-01 3.77944232e+02] [ 7.28430071e-03 9.99766353e-01 2.03513511e-02 2.93919832e+02] [ 2.54249444e-01 -2.15347598e-02 9.66898896e-01 1.09895224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.97, Y:293.93, Z:109.90 [[ 9.66732261e-01 -8.97085028e-03 -2.55633058e-01 3.77974934e+02] [ 7.27619235e-03 9.99944843e-01 -7.57423788e-03 2.93934986e+02] [ 2.55686906e-01 5.46222480e-03 9.66744212e-01 1.09897056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.00, Y:293.93, Z:109.91 [[ 9.66273439e-01 -8.58604610e-03 -2.57375057e-01 3.78003226e+02] [ 6.73256974e-03 9.99944677e-01 -8.08185453e-03 2.93934834e+02] [ 2.57430210e-01 6.07648585e-03 9.66277788e-01 1.09905507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:378.03, Y:293.92, Z:109.92 [[ 9.67933708e-01 2.12378888e-03 -2.51196787e-01 3.78027669e+02] [ 3.60392704e-03 9.99743947e-01 2.23394877e-02 2.93916738e+02] [ 2.51179912e-01 -2.25284381e-02 9.67678212e-01 1.09918451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.06, Y:293.92, Z:109.93 [[ 9.67160123e-01 2.63406395e-04 -2.54167713e-01 3.78058274e+02] [ 2.98933871e-03 9.99918508e-01 1.24113094e-02 2.93919896e+02] [ 2.54150270e-01 -1.27635169e-02 9.67080520e-01 1.09927458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.09, Y:293.94, Z:109.91 [[ 9.67070891e-01 -1.10195428e-02 -2.54268482e-01 3.78088983e+02] [ 4.28686869e-03 9.99625767e-01 -2.70175563e-02 2.93942250e+02] [ 2.54471047e-01 2.50378766e-02 9.66756221e-01 1.09914579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.12, Y:293.92, Z:109.93 [[ 9.67946011e-01 -2.72728067e-03 -2.51143547e-01 3.78115409e+02] [ 5.82455006e-03 9.99915868e-01 1.15901794e-02 2.93919968e+02] [ 2.51090808e-01 -1.26814661e-02 9.67880461e-01 1.09934399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.14, Y:293.91, Z:109.96 [[ 9.66842416e-01 2.25450673e-03 -2.55363779e-01 3.78142949e+02] [ 5.14734123e-03 9.99585840e-01 2.83134940e-02 2.93907688e+02] [ 2.55321850e-01 -2.86891315e-02 9.66430384e-01 1.09955494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.17, Y:293.93, Z:109.94 [[ 9.68003397e-01 -1.29128392e-02 -2.50604635e-01 3.78170286e+02] [ 8.92440674e-03 9.99814892e-01 -1.70451473e-02 2.93933292e+02] [ 2.50778347e-01 1.42632628e-02 9.67939451e-01 1.09941110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.20, Y:293.95, Z:109.94 [[ 9.66689463e-01 -2.29225111e-02 -2.54923599e-01 3.78204673e+02] [ 1.27736816e-02 9.99061163e-01 -4.13959605e-02 2.93947301e+02] [ 2.55633166e-01 3.67607260e-02 9.66074704e-01 1.09936781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.23, Y:293.91, Z:109.96 [[ 9.68440204e-01 -6.27711455e-03 -2.49166952e-01 3.78225353e+02] [ 1.27164522e-02 9.99625233e-01 2.42422256e-02 2.93910450e+02] [ 2.48921401e-01 -2.66456655e-02 9.68157087e-01 1.09964431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.25, Y:293.90, Z:109.98 [[ 9.67661356e-01 -5.09252761e-03 -2.52201440e-01 3.78253087e+02] [ 1.27275322e-02 9.99508434e-01 2.86513701e-02 2.93902758e+02] [ 2.51931558e-01 -3.09347256e-02 9.67250502e-01 1.09982202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.29, Y:293.94, Z:109.97 [[ 9.65572700e-01 -2.79622007e-02 -2.58626133e-01 3.78287885e+02] [ 1.85894100e-02 9.99081201e-01 -3.86159054e-02 2.93942398e+02] [ 2.59468293e-01 3.24787568e-02 9.65205333e-01 1.09965988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.31, Y:293.90, Z:109.99 [[ 9.67738715e-01 -9.47062592e-03 -2.51777853e-01 3.78305271e+02] [ 1.82955216e-02 9.99296681e-01 3.27325037e-02 2.93901875e+02] [ 2.51290776e-01 -3.62829182e-02 9.67231356e-01 1.09993135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.002755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:378.34, Y:293.93, Z:109.98 [[ 9.67326751e-01 -2.56237653e-02 -2.52234769e-01 3.78341867e+02] [ 2.07035691e-02 9.99540451e-01 -2.21415695e-02 2.93932072e+02] [ 2.52686205e-01 1.61959725e-02 9.67412721e-01 1.09975627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.37, Y:293.92, Z:109.99 [[ 9.67644502e-01 -1.99622807e-02 -2.51526588e-01 3.78367546e+02] [ 2.20041754e-02 9.99743789e-01 5.30780156e-03 2.93917014e+02] [ 2.51356188e-01 -1.06707002e-02 9.67835835e-01 1.09992463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.062755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:378.39, Y:293.91, Z:110.01 [[ 9.66897882e-01 -1.83825861e-02 -2.54500622e-01 3.78391093e+02] [ 2.32427462e-02 9.99600160e-01 1.61026171e-02 2.93912732e+02] [ 2.54102855e-01 -2.14848797e-02 9.66938539e-01 1.10007346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.42, Y:293.91, Z:110.02 [[ 9.66348953e-01 -1.74194937e-02 -2.56644231e-01 3.78422331e+02] [ 2.19562871e-02 9.99649049e-01 1.48222881e-02 2.93911699e+02] [ 2.56295965e-01 -1.99584570e-02 9.66392280e-01 1.10017718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.45, Y:293.94, Z:110.00 [[ 9.67555889e-01 -3.38756647e-02 -2.50375800e-01 3.78453125e+02] [ 2.63634173e-02 9.99097699e-01 -3.32980226e-02 2.93943016e+02] [ 2.51277878e-01 2.56169362e-02 9.67575941e-01 1.09997483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.48, Y:293.93, Z:110.02 [[ 9.67638483e-01 -2.58602882e-02 -2.51011974e-01 3.78478992e+02] [ 2.63627513e-02 9.99651516e-01 -1.36114481e-03 2.93925466e+02] [ 2.50959700e-01 -5.30027014e-03 9.67983025e-01 1.10015828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.51, Y:293.92, Z:110.03 [[ 9.67534973e-01 -2.56970864e-02 -2.51427396e-01 3.78506525e+02] [ 2.71221584e-02 9.99629698e-01 2.20368204e-03 2.93923935e+02] [ 2.51277664e-01 -8.95139310e-03 9.67873653e-01 1.10025411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.212755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:378.53, Y:293.92, Z:110.03 [[ 9.67183073e-01 -2.61379282e-02 -2.52732491e-01 3.78533113e+02] [ 2.77282530e-02 9.99611764e-01 2.73220265e-03 2.93923740e+02] [ 2.52562957e-01 -9.65037060e-03 9.67532337e-01 1.10031756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.57, Y:293.94, Z:110.03 [[ 9.65067979e-01 -3.82071321e-02 -2.59198788e-01 3.78568795e+02] [ 3.11651994e-02 9.99026401e-01 -3.12246739e-02 2.93944988e+02] [ 2.60139438e-01 2.20559510e-02 9.65319122e-01 1.10033677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.59, Y:293.92, Z:110.06 [[ 9.67532781e-01 -2.56642354e-02 -2.51439186e-01 3.78585786e+02] [ 3.34930127e-02 9.99076735e-01 2.69053020e-02 2.93915221e+02] [ 2.50516537e-01 -3.44532175e-02 9.67499065e-01 1.10056087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.62, Y:293.93, Z:110.05 [[ 9.67866138e-01 -3.48203061e-02 -2.49043542e-01 3.78616230e+02] [ 3.61925596e-02 9.99344400e-01 9.31865074e-04 2.93931408e+02] [ 2.48847821e-01 -9.91544387e-03 9.68491841e-01 1.10053024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.64, Y:293.94, Z:110.06 [[ 9.67676243e-01 -3.86488536e-02 -2.49216683e-01 3.78639654e+02] [ 3.73034689e-02 9.99252730e-01 -1.01208788e-02 2.93938575e+02] [ 2.49421611e-01 4.97087229e-04 9.68394864e-01 1.10055238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.67, Y:293.92, Z:110.08 [[ 9.68517591e-01 -3.32649741e-02 -2.46712623e-01 3.78666360e+02] [ 4.13087078e-02 9.98767953e-01 2.74984712e-02 2.93919646e+02] [ 2.45493926e-01 -3.68241327e-02 9.68698465e-01 1.10078948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.70, Y:293.94, Z:110.08 [[ 9.68373284e-01 -4.22689472e-02 -2.45899409e-01 3.78696518e+02] [ 4.31867311e-02 9.99065636e-01 -1.66155744e-03 2.93936129e+02] [ 2.45739882e-01 -9.01058383e-03 9.69293929e-01 1.10075477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.73, Y:293.95, Z:110.07 [[ 9.68792058e-01 -5.16427690e-02 -2.42435503e-01 3.78728689e+02] [ 4.69075621e-02 9.98579608e-01 -2.52675138e-02 2.93951935e+02] [ 2.43396034e-01 1.31069082e-02 9.69838430e-01 1.10066412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.75, Y:293.94, Z:110.09 [[ 9.67421073e-01 -4.54353884e-02 -2.49062427e-01 3.78749224e+02] [ 4.65202571e-02 9.98916173e-01 -1.53161281e-03 2.93939051e+02] [ 2.48862075e-01 -1.01047336e-02 9.68486222e-01 1.10087268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.78, Y:293.93, Z:110.10 [[ 9.68084060e-01 -4.37407867e-02 -2.46779246e-01 3.78776935e+02] [ 4.75824124e-02 9.98820969e-01 9.62220324e-03 2.93934837e+02] [ 2.46067403e-01 -2.10574534e-02 9.69023951e-01 1.10097516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.512755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:378.81, Y:293.96, Z:110.09 [[ 9.68873176e-01 -5.19922671e-02 -2.42036304e-01 3.78811283e+02] [ 4.88019478e-02 9.98624651e-01 -1.91618420e-02 2.93955135e+02] [ 2.42699687e-01 6.75355164e-03 9.70077962e-01 1.10088790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.84, Y:293.95, Z:110.10 [[ 9.67262685e-01 -5.01911677e-02 -2.48764438e-01 3.78836624e+02] [ 4.79220423e-02 9.98735829e-01 -1.51730461e-02 2.93954267e+02] [ 2.49211510e-01 2.75502143e-03 9.68445163e-01 1.10100745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.86, Y:293.94, Z:110.11 [[ 9.69099479e-01 -4.23043255e-02 -2.43015521e-01 3.78859784e+02] [ 4.58007993e-02 9.98912240e-01 8.75344147e-03 2.93943295e+02] [ 2.42380870e-01 -1.96132607e-02 9.69982904e-01 1.10110759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.89, Y:293.95, Z:110.12 [[ 9.68053409e-01 -4.52907601e-02 -2.46619839e-01 3.78889071e+02] [ 4.58766110e-02 9.98941420e-01 -3.37282925e-03 2.93951174e+02] [ 2.46511530e-01 -8.04900355e-03 9.69106433e-01 1.10117496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.92, Y:293.95, Z:110.12 [[ 9.68313721e-01 -4.45034968e-02 -2.45739651e-01 3.78915966e+02] [ 4.54761671e-02 9.98963947e-01 -1.71804658e-03 2.93952956e+02] [ 2.45561511e-01 -9.51168937e-03 9.69334345e-01 1.10124595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.95, Y:293.96, Z:110.13 [[ 9.68887218e-01 -4.33408810e-02 -2.43678327e-01 3.78945074e+02] [ 4.39022580e-02 9.99030930e-01 -3.12930626e-03 2.93958046e+02] [ 2.43577813e-01 -7.66608395e-03 9.69851061e-01 1.10129790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:378.97, Y:293.96, Z:110.14 [[ 9.68707543e-01 -4.23480276e-02 -2.44565615e-01 3.78971825e+02] [ 4.25266636e-02 9.99084960e-01 -4.55247036e-03 2.93960357e+02] [ 2.44534616e-01 -5.99054726e-03 9.69622058e-01 1.10136846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.00, Y:293.96, Z:110.15 [[ 9.68265307e-01 -3.69690047e-02 -2.47175219e-01 3.79000401e+02] [ 3.76854804e-02 9.99287968e-01 -1.83326790e-03 2.93960366e+02] [ 2.47066996e-01 -7.53982716e-03 9.68969066e-01 1.10148629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.02, Y:293.95, Z:110.17 [[ 9.68682398e-01 -2.94771220e-02 -2.46547178e-01 3.79023433e+02] [ 3.81571421e-02 9.98806113e-01 3.05021630e-02 2.93946784e+02] [ 2.45353712e-01 -3.89544441e-02 9.68650663e-01 1.10172869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.05, Y:293.97, Z:110.17 [[ 9.67468541e-01 -3.84044266e-02 -2.50059437e-01 3.79052175e+02] [ 3.53049079e-02 9.99234182e-01 -1.68705014e-02 2.93974331e+02] [ 2.50515838e-01 7.49335403e-03 9.68083501e-01 1.10165901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.08, Y:293.97, Z:110.17 [[ 9.67264449e-01 -3.12569314e-02 -2.51838223e-01 3.79083222e+02] [ 2.84570156e-02 9.99486139e-01 -1.47531624e-02 2.93974504e+02] [ 2.52169952e-01 7.10364529e-03 9.67656888e-01 1.10173051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.11, Y:293.96, Z:110.20 [[ 9.66694203e-01 -1.96088984e-02 -2.55181914e-01 3.79106252e+02] [ 2.58421704e-02 9.99443401e-01 2.10966841e-02 2.93956425e+02] [ 2.54626197e-01 -2.69884967e-02 9.66662879e-01 1.10197185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.872755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:379.14, Y:293.96, Z:110.20 [[ 9.66941995e-01 -2.06141868e-02 -2.54161825e-01 3.79138137e+02] [ 2.49559088e-02 9.99592335e-01 1.38696406e-02 2.93964315e+02] [ 2.53772301e-01 -1.97539773e-02 9.67062252e-01 1.10199973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.17, Y:293.98, Z:110.20 [[ 9.67116407e-01 -2.43241325e-02 -2.53168307e-01 3.79166473e+02] [ 2.44468137e-02 9.99697589e-01 -2.66171524e-03 2.93975396e+02] [ 2.53156490e-01 -3.61496994e-03 9.67418588e-01 1.10204239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.932755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:379.19, Y:293.98, Z:110.21 [[ 9.66747216e-01 -2.52100322e-02 -2.54488259e-01 3.79191950e+02] [ 2.41737397e-02 9.99681850e-01 -7.19921686e-03 2.93979182e+02] [ 2.54588786e-01 8.07889941e-04 9.67049067e-01 1.10206305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.22, Y:293.98, Z:110.22 [[ 9.67211004e-01 -2.39240189e-02 -2.52844845e-01 3.79217195e+02] [ 2.39517270e-02 9.99708708e-01 -2.96892013e-03 2.93979277e+02] [ 2.52842222e-01 -3.18449848e-03 9.67502284e-01 1.10215990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.25, Y:293.99, Z:110.21 [[ 9.68025570e-01 -3.05842515e-02 -2.48980118e-01 3.79250694e+02] [ 2.63999423e-02 9.99448793e-01 -2.01284107e-02 2.93991094e+02] [ 2.49458491e-01 1.29117555e-02 9.68299410e-01 1.10212659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.27, Y:293.98, Z:110.24 [[ 9.67185784e-01 -2.36292424e-02 -2.52969008e-01 3.79269925e+02] [ 2.87721961e-02 9.99447320e-01 1.66497712e-02 2.93975485e+02] [ 2.52435775e-01 -2.33818959e-02 9.67331105e-01 1.10236108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.052755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:379.30, Y:293.98, Z:110.24 [[ 9.66762439e-01 -2.49281930e-02 -2.54458193e-01 3.79303055e+02] [ 2.78066596e-02 9.99583503e-01 7.72081065e-03 2.93978598e+02] [ 2.54159746e-01 -1.45398221e-02 9.67052955e-01 1.10239876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.33, Y:293.99, Z:110.24 [[ 9.67523340e-01 -3.15501713e-02 -2.50805051e-01 3.79328320e+02] [ 2.98382843e-02 9.99498255e-01 -1.06262003e-02 2.93990959e+02] [ 2.51014469e-01 2.79750436e-03 9.67979292e-01 1.10242012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.36, Y:293.99, Z:110.24 [[ 9.68282011e-01 -3.78148492e-02 -2.46981751e-01 3.79356982e+02] [ 3.82014569e-02 9.99264844e-01 -3.22803562e-03 2.93992482e+02] [ 2.46922248e-01 -6.30941387e-03 9.69014755e-01 1.10244238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.38, Y:294.00, Z:110.26 [[ 9.67771662e-01 -3.98728977e-02 -2.48652693e-01 3.79382687e+02] [ 3.87570382e-02 9.99204605e-01 -9.38344832e-03 2.93996352e+02] [ 2.48829062e-01 -5.56006553e-04 9.68547257e-01 1.10256071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.41, Y:293.99, Z:110.27 [[ 9.67438089e-01 -3.98337970e-02 -2.49953622e-01 3.79410151e+02] [ 4.16722243e-02 9.99129201e-01 2.06513181e-03 2.93989721e+02] [ 2.49653700e-01 -1.24140106e-02 9.68255608e-01 1.10265113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.44, Y:293.99, Z:110.27 [[ 9.67860066e-01 -4.29871371e-02 -2.47788215e-01 3.79437181e+02] [ 4.34922514e-02 9.99047850e-01 -3.43758746e-03 2.93994549e+02] [ 2.47700055e-01 -7.44976369e-03 9.68808125e-01 1.10268362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.47, Y:294.02, Z:110.26 [[ 9.67854889e-01 -5.56961453e-02 -2.45264862e-01 3.79466770e+02] [ 4.91939294e-02 9.98258288e-01 -3.25629749e-02 2.94016769e+02] [ 2.46651314e-01 1.94506922e-02 9.68909077e-01 1.10263427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.49, Y:293.99, Z:110.29 [[ 9.66906575e-01 -4.65938169e-02 -2.50839973e-01 3.79491062e+02] [ 5.22718133e-02 9.98504430e-01 1.60174924e-02 2.93991538e+02] [ 2.49718508e-01 -2.85992790e-02 9.67896042e-01 1.10289815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2927550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:379.52, Y:294.02, Z:110.27 [[ 9.67117995e-01 -6.17232271e-02 -2.46724596e-01 3.79524212e+02] [ 5.77278588e-02 9.98058048e-01 -2.34014465e-02 2.94018999e+02] [ 2.47689882e-01 8.38907737e-03 9.68803048e-01 1.10273049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.55, Y:294.01, Z:110.29 [[ 9.67520322e-01 -5.82892709e-02 -2.45981277e-01 3.79552079e+02] [ 5.93362245e-02 9.98233053e-01 -3.15989012e-03 2.94008041e+02] [ 2.45730828e-01 -1.15383424e-02 9.69269429e-01 1.10287525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.58, Y:293.99, Z:110.31 [[ 9.65359809e-01 -5.04398340e-02 -2.56000514e-01 3.79576339e+02] [ 5.78349996e-02 9.98095979e-01 2.14366312e-02 2.93991645e+02] [ 2.54431824e-01 -3.54998518e-02 9.66438931e-01 1.10313594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.61, Y:294.02, Z:110.30 [[ 9.66365781e-01 -6.46980156e-02 -2.48900269e-01 3.79607277e+02] [ 6.17266111e-02 9.97898009e-01 -1.97329485e-02 2.94021137e+02] [ 2.49653765e-01 3.70547610e-03 9.68328078e-01 1.10301061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.63, Y:294.02, Z:110.31 [[ 9.65784640e-01 -6.24752991e-02 -2.51707900e-01 3.79631793e+02] [ 5.82051469e-02 9.98006853e-01 -2.43819912e-02 2.94023276e+02] [ 2.52729481e-01 8.89705726e-03 9.67496073e-01 1.10309047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.66, Y:294.03, Z:110.32 [[ 9.63658403e-01 -6.43889981e-02 -2.59261528e-01 3.79660704e+02] [ 5.98959534e-02 9.97886457e-01 -2.52010794e-02 2.94025636e+02] [ 2.60336240e-01 8.75651547e-03 9.65478309e-01 1.10322400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.69, Y:294.00, Z:110.34 [[ 9.65995518e-01 -5.13136104e-02 -2.53415811e-01 3.79685692e+02] [ 5.85002755e-02 9.98068580e-01 2.09004389e-02 2.94003100e+02] [ 2.51853881e-01 -3.50146250e-02 9.67131635e-01 1.10338759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.72, Y:294.02, Z:110.34 [[ 9.65595275e-01 -5.80603527e-02 -2.53485227e-01 3.79716069e+02] [ 5.77861500e-02 9.98292510e-01 -8.53375908e-03 2.94020424e+02] [ 2.53547877e-01 -6.40777792e-03 9.67301615e-01 1.10338650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.74, Y:294.02, Z:110.35 [[ 9.65999460e-01 -5.53539829e-02 -2.52548966e-01 3.79741855e+02] [ 5.69025351e-02 9.98379048e-01 -1.17378695e-03 2.94019488e+02] [ 2.52204571e-01 -1.32367989e-02 9.67583403e-01 1.10347839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.77, Y:294.02, Z:110.35 [[ 9.65980655e-01 -5.48967626e-02 -2.52720637e-01 3.79769289e+02] [ 5.49864211e-02 9.98464532e-01 -6.71354473e-03 2.94024106e+02] [ 2.52701144e-01 -7.41104901e-03 9.67515999e-01 1.10353675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.80, Y:294.03, Z:110.36 [[ 9.66012564e-01 -5.44000164e-02 -2.52706082e-01 3.79795460e+02] [ 5.43793033e-02 9.98495309e-01 -7.07173712e-03 2.94026570e+02] [ 2.52710540e-01 -6.91059376e-03 9.67517249e-01 1.10361357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.82, Y:294.02, Z:110.37 [[ 9.65787110e-01 -4.77800696e-02 -2.54896691e-01 3.79824126e+02] [ 5.09579415e-02 9.98683524e-01 5.87435960e-03 2.94021991e+02] [ 2.54280448e-01 -1.86623914e-02 9.66950448e-01 1.10372551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.85, Y:294.04, Z:110.37 [[ 9.65055499e-01 -5.13602724e-02 -2.56963046e-01 3.79847968e+02] [ 4.66393810e-02 9.98612836e-01 -2.44371179e-02 2.94038826e+02] [ 2.57861693e-01 1.15985776e-02 9.66112219e-01 1.10372677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.88, Y:294.02, Z:110.40 [[ 9.64667240e-01 -3.69415692e-02 -2.60868618e-01 3.79878913e+02] [ 4.30811103e-02 9.98912034e-01 1.78540361e-02 2.94016949e+02] [ 2.59925246e-01 -2.84617134e-02 9.65209199e-01 1.10398149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.90, Y:294.03, Z:110.40 [[ 9.65461281e-01 -4.17108224e-02 -2.57186163e-01 3.79904381e+02] [ 4.06904277e-02 9.99128606e-01 -9.29071503e-03 2.94033515e+02] [ 2.57349576e-01 -1.49518935e-03 9.66317215e-01 1.10395943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.93, Y:294.03, Z:110.41 [[ 9.65184672e-01 -3.90820240e-02 -2.58633225e-01 3.79931861e+02] [ 3.93420620e-02 9.99217091e-01 -4.17220587e-03 2.94031954e+02] [ 2.58593797e-01 -6.14821523e-03 9.65966587e-01 1.10406206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.96, Y:294.03, Z:110.42 [[ 9.64839088e-01 -3.66231219e-02 -2.60277317e-01 3.79959132e+02] [ 3.72432691e-02 9.99302974e-01 -2.55048308e-03 2.94032288e+02] [ 2.60189303e-01 -7.23277238e-03 9.65530535e-01 1.10416653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:379.99, Y:294.02, Z:110.43 [[ 9.64230947e-01 -3.24075183e-02 -2.63074960e-01 3.79986418e+02] [ 3.61993300e-02 9.99298690e-01 9.57796855e-03 2.94023310e+02] [ 2.62580065e-01 -1.87585110e-02 9.64727852e-01 1.10430295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.02, Y:294.04, Z:110.43 [[ 9.64779375e-01 -3.93192656e-02 -2.60105272e-01 3.80016099e+02] [ 3.61400516e-02 9.99202200e-01 -1.69958888e-02 2.94041485e+02] [ 2.60566025e-01 6.99706506e-03 9.65430675e-01 1.10428363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.04, Y:294.04, Z:110.44 [[ 9.65054910e-01 -3.72776418e-02 -2.59382724e-01 3.80039932e+02] [ 3.69180930e-02 9.99298693e-01 -6.25913618e-03 2.94036098e+02] [ 2.59434143e-01 -3.53550541e-03 9.65754330e-01 1.10437573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.07, Y:294.01, Z:110.47 [[ 9.62299165e-01 -2.61224006e-02 -2.70735918e-01 3.80069914e+02] [ 3.33702330e-02 9.99196438e-01 2.22014787e-02 2.94014951e+02] [ 2.69938409e-01 -3.03989851e-02 9.62397609e-01 1.10467714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.10, Y:294.02, Z:110.47 [[ 9.63037750e-01 -3.15017096e-02 -2.67518101e-01 3.80095766e+02] [ 3.52613457e-02 9.99335223e-01 9.26008002e-03 2.94023656e+02] [ 2.67048552e-01 -1.83508548e-02 9.63508338e-01 1.10469353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.12, Y:294.03, Z:110.47 [[ 9.62776691e-01 -3.68055368e-02 -2.67780499e-01 3.80123750e+02] [ 3.67705476e-02 9.99310479e-01 -5.14724752e-03 2.94032584e+02] [ 2.67785306e-01 -4.89078565e-03 9.63466196e-01 1.10472198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.982755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.15, Y:294.03, Z:110.48 [[ 9.62772109e-01 -3.69446817e-02 -2.67777813e-01 3.80150177e+02] [ 3.77992103e-02 9.99283423e-01 -1.96499671e-03 2.94031625e+02] [ 2.67658526e-01 -8.22994585e-03 9.63478688e-01 1.10479877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.18, Y:294.04, Z:110.48 [[ 9.62892576e-01 -4.28925380e-02 -2.66454720e-01 3.80176423e+02] [ 3.97931639e-02 9.99062925e-01 -1.70227885e-02 2.94040784e+02] [ 2.66935183e-01 5.78804030e-03 9.63697103e-01 1.10480259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.21, Y:294.04, Z:110.49 [[ 9.63831604e-01 -4.25899048e-02 -2.63086941e-01 3.80205753e+02] [ 4.30529879e-02 9.99064754e-01 -4.00720145e-03 2.94036671e+02] [ 2.63011557e-01 -7.46441151e-03 9.64763807e-01 1.10487213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.23, Y:294.04, Z:110.50 [[ 9.63822784e-01 -4.27223657e-02 -2.63097778e-01 3.80233234e+02] [ 4.34009829e-02 9.99052497e-01 -3.23465280e-03 2.94036879e+02] [ 2.62986684e-01 -8.30107009e-03 9.64763752e-01 1.10495053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.26, Y:294.03, Z:110.51 [[ 9.63204382e-01 -4.16999134e-02 -2.65515417e-01 3.80257926e+02] [ 4.39992108e-02 9.99027877e-01 2.71493365e-03 2.94032039e+02] [ 2.65144091e-01 -1.42975048e-02 9.64102792e-01 1.10506008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.29, Y:294.05, Z:110.50 [[ 9.63873351e-01 -4.91140990e-02 -2.61793751e-01 3.80286669e+02] [ 4.54568737e-02 9.98765850e-01 -2.00112328e-02 2.94046351e+02] [ 2.62453492e-01 7.38796851e-03 9.64916360e-01 1.10502282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.31, Y:294.04, Z:110.51 [[ 9.63627241e-01 -4.47690003e-02 -2.63473485e-01 3.80312193e+02] [ 4.53444061e-02 9.98963801e-01 -3.89984520e-03 2.94037746e+02] [ 2.63375066e-01 -8.18905161e-03 9.64658755e-01 1.10513793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.34, Y:294.01, Z:110.54 [[ 9.62099060e-01 -3.10687472e-02 -2.70924587e-01 3.80338302e+02] [ 4.08251946e-02 9.98702231e-01 3.04492639e-02 2.94014318e+02] [ 2.69626969e-01 -4.03557571e-02 9.62118865e-01 1.10541452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.222755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:380.37, Y:294.06, Z:110.52 [[ 9.63535098e-01 -5.08634571e-02 -2.62703299e-01 3.80367541e+02] [ 4.34467475e-02 9.98478110e-01 -3.39682921e-02 2.94055640e+02] [ 2.64031238e-01 2.13160377e-02 9.64278555e-01 1.10520980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.39, Y:294.01, Z:110.56 [[ 9.61798854e-01 -2.50920457e-02 -2.72604758e-01 3.80393210e+02] [ 3.67637390e-02 9.98609143e-01 3.77916213e-02 2.94008277e+02] [ 2.71277335e-01 -4.63699082e-02 9.61383607e-01 1.10563041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.42, Y:294.03, Z:110.56 [[ 9.61548355e-01 -3.62883928e-02 -2.72227687e-01 3.80423693e+02] [ 3.66373420e-02 9.99321392e-01 -3.80266723e-03 2.94030960e+02] [ 2.72180944e-01 -6.31725044e-03 9.62225351e-01 1.10559212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.45, Y:294.05, Z:110.55 [[ 9.61725733e-01 -4.53083983e-02 -2.70242045e-01 3.80449798e+02] [ 3.75262492e-02 9.98720559e-01 -3.38972765e-02 2.94050680e+02] [ 2.71432118e-01 2.24587128e-02 9.62195516e-01 1.10551225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.47, Y:294.02, Z:110.58 [[ 9.63068000e-01 -2.52867258e-02 -2.68068291e-01 3.80472616e+02] [ 3.30618615e-02 9.99152254e-01 2.45293159e-02 2.94015527e+02] [ 2.67220771e-01 -3.24862359e-02 9.63087589e-01 1.10577888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.50, Y:294.03, Z:110.59 [[ 9.62142129e-01 -2.97292786e-02 -2.70921932e-01 3.80504439e+02] [ 3.20846624e-02 9.99476042e-01 4.26803248e-03 2.94025010e+02] [ 2.70653095e-01 -1.27988926e-02 9.62591861e-01 1.10585496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.53, Y:294.05, Z:110.57 [[ 9.63900624e-01 -4.13641766e-02 -2.63029641e-01 3.80533339e+02] [ 3.49310058e-02 9.98966279e-01 -2.90894944e-02 2.94046826e+02] [ 2.63961005e-01 1.88514919e-02 9.64349112e-01 1.10573725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.56, Y:294.03, Z:110.59 [[ 9.63164578e-01 -3.34533936e-02 -2.66823663e-01 3.80555093e+02] [ 3.40875923e-02 9.99416303e-01 -2.25581764e-03 2.94029895e+02] [ 2.66743384e-01 -6.92265260e-03 9.63742727e-01 1.10589649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.59, Y:294.04, Z:110.59 [[ 9.62514090e-01 -3.78726044e-02 -2.68574558e-01 3.80585738e+02] [ 3.45457931e-02 9.99256748e-01 -1.71037904e-02 2.94036631e+02] [ 2.69022704e-01 7.18451813e-03 9.63107038e-01 1.10594692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.61, Y:294.02, Z:110.61 [[ 9.63432978e-01 -3.34652376e-02 -2.65851415e-01 3.80609327e+02] [ 3.65811682e-02 9.99307712e-01 6.77609267e-03 2.94020830e+02] [ 2.65440605e-01 -1.62534665e-02 9.63990202e-01 1.10608671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.64, Y:294.01, Z:110.62 [[ 9.61711434e-01 -3.09930751e-02 -2.72305979e-01 3.80637125e+02] [ 3.55154750e-02 9.99300711e-01 1.16935972e-02 2.94014777e+02] [ 2.71753138e-01 -2.09169423e-02 9.62139654e-01 1.10623882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.66, Y:294.02, Z:110.63 [[ 9.60866836e-01 -3.39772092e-02 -2.74919031e-01 3.80663602e+02] [ 3.69748248e-02 9.99299787e-01 5.72701319e-03 2.94015987e+02] [ 2.74531941e-01 -1.56679800e-02 9.61450325e-01 1.10633916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.69, Y:294.04, Z:110.62 [[ 9.62265655e-01 -4.85349540e-02 -2.67748328e-01 3.80692020e+02] [ 4.07844533e-02 9.98574366e-01 -3.44363764e-02 2.94042033e+02] [ 2.69037985e-01 2.22169731e-02 9.62873288e-01 1.10619411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.72, Y:294.03, Z:110.63 [[ 9.61658595e-01 -4.41059047e-02 -2.70679543e-01 3.80717101e+02] [ 4.17069843e-02 9.99023044e-01 -1.46111346e-02 2.94029956e+02] [ 2.71059539e-01 2.76169571e-03 9.62558621e-01 1.10633066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.75, Y:294.02, Z:110.65 [[ 9.61135390e-01 -4.47656165e-02 -2.72423939e-01 3.80747315e+02] [ 4.47415851e-02 9.98978708e-01 -6.30332624e-03 2.94024553e+02] [ 2.72427887e-01 -6.13032892e-03 9.62156674e-01 1.10645558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:380.77, Y:294.00, Z:110.68 [[ 9.60044535e-01 -2.87509550e-02 -2.78366437e-01 3.80771751e+02] [ 4.11854949e-02 9.98393045e-01 3.89240740e-02 2.93995812e+02] [ 2.76800010e-01 -4.88335040e-02 9.59685909e-01 1.10675817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.80, Y:294.04, Z:110.65 [[ 9.60480573e-01 -5.24210290e-02 -2.73366246e-01 3.80802235e+02] [ 4.34754804e-02 9.98305288e-01 -3.86837670e-02 2.94040938e+02] [ 2.74930812e-01 2.52702778e-02 9.61131865e-01 1.10652779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.732755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:380.83, Y:294.02, Z:110.67 [[ 9.60040334e-01 -4.55754993e-02 -2.76125751e-01 3.80832886e+02] [ 4.48314855e-02 9.98953935e-01 -9.00962726e-03 2.94024487e+02] [ 2.76247524e-01 -3.72952204e-03 9.61079287e-01 1.10671041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.85, Y:294.02, Z:110.68 [[ 9.61257711e-01 -3.94750364e-02 -2.72810070e-01 3.80853924e+02] [ 4.24311909e-02 9.99087167e-01 4.94229245e-03 2.94016520e+02] [ 2.72365943e-01 -1.63264729e-02 9.62055216e-01 1.10678305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.88, Y:294.02, Z:110.68 [[ 9.60784332e-01 -4.26007397e-02 -2.74004826e-01 3.80882826e+02] [ 4.07710832e-02 9.99091921e-01 -1.23714496e-02 2.94024236e+02] [ 2.74283041e-01 7.14821398e-04 9.61648742e-01 1.10681488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.91, Y:294.02, Z:110.69 [[ 9.60882803e-01 -3.79193169e-02 -2.74347159e-01 3.80907434e+02] [ 3.81372442e-02 9.99262191e-01 -4.54139049e-03 2.94018854e+02] [ 2.74316950e-01 -6.09910058e-03 9.61619994e-01 1.10691235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.94, Y:294.02, Z:110.70 [[ 9.60607261e-01 -3.82477700e-02 -2.75264962e-01 3.80935203e+02] [ 3.76576560e-02 9.99263073e-01 -7.43053670e-03 2.94018517e+02] [ 2.75346313e-01 -3.22800572e-03 9.61339684e-01 1.10698842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.96, Y:294.02, Z:110.71 [[ 9.60713949e-01 -3.70572993e-02 -2.75055384e-01 3.80960965e+02] [ 3.79366277e-02 9.99277889e-01 -2.12427199e-03 2.94015953e+02] [ 2.74935483e-01 -8.39385595e-03 9.61426036e-01 1.10708037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:380.99, Y:294.02, Z:110.71 [[ 9.60477462e-01 -3.58705697e-02 -2.76036859e-01 3.80990575e+02] [ 3.51622274e-02 9.99353351e-01 -7.51655815e-03 2.94016810e+02] [ 2.76127983e-01 -2.48658612e-03 9.61117659e-01 1.10714061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.02, Y:294.02, Z:110.72 [[ 9.60426338e-01 -3.49152429e-02 -2.76337068e-01 3.81015364e+02] [ 3.47625035e-02 9.99380726e-01 -5.45274955e-03 2.94015473e+02] [ 2.76356324e-01 -4.36920403e-03 9.61045312e-01 1.10722633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.04, Y:294.01, Z:110.73 [[ 9.60550468e-01 -3.37975514e-02 -2.76044426e-01 3.81044599e+02] [ 3.29113783e-02 9.99427496e-01 -7.84352879e-03 2.94014473e+02] [ 2.76151481e-01 -1.55089727e-03 9.61112873e-01 1.10729942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.07, Y:294.01, Z:110.74 [[ 9.60795843e-01 -3.14935775e-02 -2.75462345e-01 3.81073121e+02] [ 3.02826472e-02 9.99503954e-01 -8.64914490e-03 2.94012929e+02] [ 2.75598095e-01 -3.16665223e-05 9.61272952e-01 1.10737432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.10, Y:294.01, Z:110.75 [[ 9.60524745e-01 -2.88127349e-02 -2.76698464e-01 3.81100460e+02] [ 2.93253851e-02 9.99567305e-01 -2.28591702e-03 2.94009017e+02] [ 2.76644601e-01 -5.91860916e-03 9.60954075e-01 1.10747830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.13, Y:294.01, Z:110.75 [[ 9.60214932e-01 -2.99880295e-02 -2.77647264e-01 3.81125108e+02] [ 2.95140887e-02 9.99547027e-01 -5.88724354e-03 2.94009681e+02] [ 2.77698044e-01 -2.54148680e-03 9.60665050e-01 1.10754182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.15, Y:294.01, Z:110.76 [[ 9.60123950e-01 -3.05813997e-02 -2.77897064e-01 3.81152595e+02] [ 2.96440243e-02 9.99531814e-01 -7.57526621e-03 2.94009385e+02] [ 2.77998618e-01 -9.64792786e-04 9.60580990e-01 1.10761754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.18, Y:294.01, Z:110.77 [[ 9.60167833e-01 -3.13239842e-02 -2.77662640e-01 3.81178807e+02] [ 3.03923176e-02 9.99508696e-01 -7.65990286e-03 2.94008813e+02] [ 2.77766161e-01 -1.08401882e-03 9.60648107e-01 1.10768934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.21, Y:294.01, Z:110.77 [[ 9.60645216e-01 -3.56634391e-02 -2.75479380e-01 3.81209863e+02] [ 3.18968704e-02 9.99326496e-01 -1.81423513e-02 2.94011630e+02] [ 2.75940862e-01 8.64143289e-03 9.61135769e-01 1.10771042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.23, Y:294.00, Z:110.79 [[ 9.60029985e-01 -3.16524916e-02 -2.78101687e-01 3.81233204e+02] [ 3.40087239e-02 9.99414866e-01 3.65126915e-03 2.93999120e+02] [ 2.77823388e-01 -1.29632113e-02 9.60544700e-01 1.10788981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.212755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:381.26, Y:294.00, Z:110.79 [[ 9.59898332e-01 -3.80965367e-02 -2.77747812e-01 3.81259914e+02] [ 3.73996795e-02 9.99269878e-01 -7.80863629e-03 2.94001972e+02] [ 2.77842505e-01 -2.89218223e-03 9.60622287e-01 1.10791754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.29, Y:294.00, Z:110.80 [[ 9.59883567e-01 -3.99137226e-02 -2.77543568e-01 3.81286397e+02] [ 3.92802808e-02 9.99197440e-01 -7.84451033e-03 2.94001040e+02] [ 2.77633926e-01 -3.37217274e-03 9.60681025e-01 1.10800916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.32, Y:294.00, Z:110.80 [[ 9.60014586e-01 -4.34429485e-02 -2.76558684e-01 3.81317291e+02] [ 4.08054292e-02 9.99050154e-01 -1.52874503e-02 2.94002901e+02] [ 2.76960127e-01 3.39107947e-03 9.60875428e-01 1.10804072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.34, Y:293.99, Z:110.82 [[ 9.59634859e-01 -4.28170079e-02 -2.77970576e-01 3.81339515e+02] [ 4.49610696e-02 9.98987841e-01 1.34021171e-03 2.93992674e+02] [ 2.77631842e-01 -1.37839683e-02 9.60588654e-01 1.10819538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.37, Y:294.00, Z:110.82 [[ 9.59610427e-01 -4.48986147e-02 -2.77726383e-01 3.81367042e+02] [ 4.44058644e-02 9.98980999e-01 -8.06740971e-03 2.93996596e+02] [ 2.77805595e-01 -4.59110962e-03 9.60626344e-01 1.10823528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.362755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:381.40, Y:294.00, Z:110.83 [[ 9.59057212e-01 -4.78295391e-02 -2.79144405e-01 3.81398299e+02] [ 4.55427090e-02 9.98854584e-01 -1.46758838e-02 2.93998029e+02] [ 2.79526610e-01 1.36201980e-03 9.60136980e-01 1.10828412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.42, Y:293.99, Z:110.84 [[ 9.58945703e-01 -4.40702791e-02 -2.80144514e-01 3.81424510e+02] [ 4.49904290e-02 9.98982456e-01 -3.14857869e-03 2.93992518e+02] [ 2.79998213e-01 -9.58450587e-03 9.59952675e-01 1.10840912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.45, Y:294.00, Z:110.85 [[ 9.58895230e-01 -4.35340335e-02 -2.80401010e-01 3.81450683e+02] [ 4.35457311e-02 9.99032249e-01 -6.19152404e-03 2.93995034e+02] [ 2.80399194e-01 -6.27324412e-03 9.59862979e-01 1.10847264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.452755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:381.48, Y:294.00, Z:110.86 [[ 9.58686126e-01 -3.96876777e-02 -2.81683865e-01 3.81478285e+02] [ 3.96350017e-02 9.99196882e-01 -5.88701658e-03 2.93995943e+02] [ 2.81691282e-01 -5.52073936e-03 9.59489210e-01 1.10856037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:381.50, Y:294.00, Z:110.87 [[ 9.58488316e-01 -3.85586012e-02 -2.82512624e-01 3.81500222e+02] [ 3.99692107e-02 9.99200615e-01 -7.70785425e-04 2.93996914e+02] [ 2.82316508e-01 -1.05530178e-02 9.59263271e-01 1.10866053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.53, Y:294.00, Z:110.87 [[ 9.58107355e-01 -3.90839038e-02 -2.83730057e-01 3.81528211e+02] [ 3.81094780e-02 9.99233439e-01 -8.95559822e-03 2.94002713e+02] [ 2.83862580e-01 -2.23237983e-03 9.58862374e-01 1.10870894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5427550960001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:381.55, Y:294.00, Z:110.88 [[ 9.58155705e-01 -3.91093744e-02 -2.83563224e-01 3.81554294e+02] [ 3.81099076e-02 9.99232639e-01 -9.04256181e-03 2.94003760e+02] [ 2.83699277e-01 -2.14238608e-03 9.58910908e-01 1.10876147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.59, Y:294.01, Z:110.88 [[ 9.58405113e-01 -4.13230876e-02 -2.82404040e-01 3.81585429e+02] [ 3.66211491e-02 9.99089001e-01 -2.19102591e-02 2.94009630e+02] [ 2.83052170e-01 1.06569439e-02 9.59045306e-01 1.10879220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.602755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:381.61, Y:294.00, Z:110.90 [[ 9.58214690e-01 -3.59522309e-02 -2.83781687e-01 3.81606264e+02] [ 3.93670676e-02 9.99204719e-01 6.33749038e-03 2.93997264e+02] [ 2.83328154e-01 -1.72443292e-02 9.58867973e-01 1.10897651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.632755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:381.64, Y:294.01, Z:110.90 [[ 9.58279818e-01 -4.20338058e-02 -2.82724159e-01 3.81638019e+02] [ 3.93269856e-02 9.99110092e-01 -1.52450467e-02 2.94008335e+02] [ 2.83113368e-01 3.49033163e-03 9.59080100e-01 1.10897470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.67, Y:294.01, Z:110.91 [[ 9.58905621e-01 -4.50264824e-02 -2.80129659e-01 3.81665073e+02] [ 4.24837321e-02 9.98982352e-01 -1.51457426e-02 2.94011271e+02] [ 2.80526545e-01 2.62238433e-03 9.59842686e-01 1.10905340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.692755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:381.69, Y:294.01, Z:110.92 [[ 9.58837033e-01 -4.41537772e-02 -2.80503097e-01 3.81691470e+02] [ 4.43655893e-02 9.98999679e-01 -5.59793906e-03 2.94007313e+02] [ 2.80469674e-01 -7.07717392e-03 9.59836796e-01 1.10916035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.72, Y:294.01, Z:110.92 [[ 9.58924403e-01 -4.63169377e-02 -2.79854839e-01 3.81717641e+02] [ 4.56665170e-02 9.98917558e-01 -8.84767537e-03 2.94010692e+02] [ 2.79961710e-01 -4.29574393e-03 9.60001556e-01 1.10923511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.74, Y:294.01, Z:110.93 [[ 9.58800134e-01 -4.85723048e-02 -2.79898257e-01 3.81744808e+02] [ 4.79949979e-02 9.98807743e-01 -8.92032601e-03 2.94011689e+02] [ 2.79997827e-01 -4.88090650e-03 9.59988226e-01 1.10931233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7827550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:381.77, Y:294.00, Z:110.95 [[ 9.58154916e-01 -4.60582850e-02 -2.82520425e-01 3.81766986e+02] [ 5.00506271e-02 9.98722665e-01 6.92622951e-03 2.94004616e+02] [ 2.81840542e-01 -2.07767253e-02 9.59236278e-01 1.10946673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.80, Y:294.02, Z:110.94 [[ 9.58617317e-01 -5.49970206e-02 -2.79335223e-01 3.81799426e+02] [ 4.99113511e-02 9.98433356e-01 -2.52921000e-02 2.94023003e+02] [ 2.80288594e-01 1.03034467e-02 9.59860481e-01 1.10941168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.82, Y:294.01, Z:110.96 [[ 9.58094200e-01 -4.66173709e-02 -2.82634615e-01 3.81820267e+02] [ 5.07027726e-02 9.98688168e-01 7.15346082e-03 2.94008288e+02] [ 2.81930371e-01 -2.11840479e-02 9.59200971e-01 1.10963488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:381.85, Y:294.02, Z:110.97 [[ 9.57949148e-01 -5.11185558e-02 -2.82347876e-01 3.81849017e+02] [ 5.03347410e-02 9.98681999e-01 -1.00339311e-02 2.94019168e+02] [ 2.82488662e-01 -4.59991152e-03 9.59259609e-01 1.10965045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.88, Y:294.03, Z:110.97 [[ 9.58262292e-01 -5.25649289e-02 -2.81016562e-01 3.81880798e+02] [ 4.86437743e-02 9.98597172e-01 -2.09158301e-02 2.94025616e+02] [ 2.81721783e-01 6.37314510e-03 9.59474971e-01 1.10966214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.932755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:381.91, Y:294.02, Z:110.98 [[ 9.58119810e-01 -4.95098158e-02 -2.82055328e-01 3.81908378e+02] [ 4.92928490e-02 9.98753366e-01 -7.86952010e-03 2.94020140e+02] [ 2.82093326e-01 -6.36336756e-03 9.59365865e-01 1.10978445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.962755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:381.94, Y:294.02, Z:110.99 [[ 9.58043430e-01 -4.99181930e-02 -2.82242735e-01 3.81936001e+02] [ 4.97886686e-02 9.98730587e-01 -7.63569474e-03 2.94021294e+02] [ 2.82265612e-01 -6.73716280e-03 9.59312637e-01 1.10986344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.96, Y:294.02, Z:111.00 [[ 9.58183456e-01 -4.87960426e-02 -2.81963492e-01 3.81956973e+02] [ 5.18037891e-02 9.98652099e-01 3.21766255e-03 2.94018128e+02] [ 2.81426424e-01 -1.76898883e-02 9.59419739e-01 1.11001187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:381.98, Y:294.03, Z:111.00 [[ 9.58357075e-01 -5.33121892e-02 -2.80552183e-01 3.81984808e+02] [ 5.24837370e-02 9.98566882e-01 -1.04708714e-02 2.94026749e+02] [ 2.80708344e-01 -4.68959332e-03 9.59781659e-01 1.11004494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.02, Y:294.02, Z:111.02 [[ 9.58263831e-01 -4.69593955e-02 -2.82002208e-01 3.82017864e+02] [ 5.03763165e-02 9.98718412e-01 4.87439158e-03 2.94016453e+02] [ 2.81411899e-01 -1.88771856e-02 9.59401373e-01 1.11021101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.04, Y:294.04, Z:111.02 [[ 9.58598531e-01 -5.71777443e-02 -2.78961577e-01 3.82038981e+02] [ 5.40909441e-02 9.98359829e-01 -1.87569325e-02 2.94036417e+02] [ 2.79576511e-01 2.89107288e-03 9.60119064e-01 1.11017101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.112755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:382.07, Y:294.03, Z:111.02 [[ 9.58532042e-01 -5.47122152e-02 -2.79683569e-01 3.82065534e+02] [ 5.38767877e-02 9.98490476e-01 -1.06799216e-02 2.94034028e+02] [ 2.79845702e-01 -4.83140518e-03 9.60032833e-01 1.11024704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.142755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:382.09, Y:294.04, Z:111.03 [[ 9.58656798e-01 -5.49874378e-02 -2.79201586e-01 3.82092291e+02] [ 5.41542304e-02 9.98475221e-01 -1.07029229e-02 2.94036051e+02] [ 2.79364391e-01 -4.85951722e-03 9.60172860e-01 1.11033598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1727550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:382.13, Y:294.02, Z:111.05 [[ 9.58431774e-01 -4.71384475e-02 -2.81400961e-01 3.82126853e+02] [ 5.00113970e-02 9.98744044e-01 3.03221525e-03 2.94024321e+02] [ 2.80904600e-01 -1.69794266e-02 9.59585486e-01 1.11047491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.202755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:382.15, Y:294.04, Z:111.05 [[ 9.58537475e-01 -5.70733982e-02 -2.79192652e-01 3.82146667e+02] [ 5.46459101e-02 9.98369841e-01 -1.64768192e-02 2.94042060e+02] [ 2.79677912e-01 5.36912142e-04 9.60093734e-01 1.11045708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.17, Y:294.04, Z:111.06 [[ 9.58738583e-01 -5.59445219e-02 -2.78730228e-01 3.82171550e+02] [ 5.50871709e-02 9.98421900e-01 -1.09139210e-02 2.94040549e+02] [ 2.78900938e-01 -4.89086261e-03 9.60307423e-01 1.11055752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.262755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:382.20, Y:294.04, Z:111.06 [[ 9.58666072e-01 -5.64386069e-02 -2.78879986e-01 3.82198711e+02] [ 5.55891314e-02 9.98393573e-01 -1.09600126e-02 2.94041814e+02] [ 2.79050553e-01 -4.99570398e-03 9.60263418e-01 1.11062051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.23, Y:294.04, Z:111.07 [[ 9.58875794e-01 -5.70902585e-02 -2.78025024e-01 3.82225692e+02] [ 5.62477714e-02 9.98356104e-01 -1.10126118e-02 2.94044038e+02] [ 2.78196692e-01 -5.07856110e-03 9.60510702e-01 1.11071086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.322755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:382.25, Y:294.04, Z:111.08 [[ 9.58629829e-01 -5.69214256e-02 -2.78906441e-01 3.82251944e+02] [ 5.60420683e-02 9.98366346e-01 -1.11321825e-02 2.94044734e+02] [ 2.79084464e-01 -4.95885161e-03 9.60253754e-01 1.11076929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.28, Y:294.05, Z:111.09 [[ 9.58945685e-01 -5.77116788e-02 -2.77655426e-01 3.82277763e+02] [ 5.68618161e-02 9.98320136e-01 -1.11193141e-02 2.94046227e+02] [ 2.77830717e-01 -5.12517350e-03 9.60616378e-01 1.11086079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.382755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:382.32, Y:294.05, Z:111.09 [[ 9.59511305e-01 -5.66188851e-02 -2.75920925e-01 3.82315126e+02] [ 5.36390707e-02 9.98391944e-01 -1.83405590e-02 2.94045948e+02] [ 2.76515651e-01 2.79783173e-03 9.61005342e-01 1.11089549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:382.34, Y:294.04, Z:111.10 [[ 9.59545252e-01 -5.44957099e-02 -2.76230208e-01 3.82340000e+02] [ 5.50692646e-02 9.98466346e-01 -5.68613027e-03 2.94040942e+02] [ 2.76116436e-01 -9.75569512e-03 9.61074680e-01 1.11100523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.36, Y:294.04, Z:111.11 [[ 9.59096391e-01 -5.66206702e-02 -2.77359358e-01 3.82356641e+02] [ 6.07094286e-02 9.98136418e-01 6.16904003e-03 2.94040723e+02] [ 2.76493181e-01 -2.27550322e-02 9.60746444e-01 1.11113633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.472755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:382.39, Y:294.06, Z:111.11 [[ 9.57597385e-01 -6.49161601e-02 -2.80701158e-01 3.82385113e+02] [ 5.97875942e-02 9.97851156e-01 -2.68050964e-02 2.94058251e+02] [ 2.81838059e-01 8.88604329e-03 9.59420839e-01 1.11110218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.502755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:382.42, Y:294.05, Z:111.12 [[ 9.58801597e-01 -6.06429429e-02 -2.77528255e-01 3.82421908e+02] [ 6.00331064e-02 9.98139010e-01 -1.07025092e-02 2.94045122e+02] [ 2.77660809e-01 -6.39930032e-03 9.60657860e-01 1.11122685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5327550960001 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:382.45, Y:294.04, Z:111.13 [[ 9.58354988e-01 -5.87782208e-02 -2.79465273e-01 3.82446999e+02] [ 6.06761414e-02 9.98155768e-01 -1.86261909e-03 2.94040446e+02] [ 2.79059355e-01 -1.51718241e-02 9.60153994e-01 1.11133362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.47, Y:294.05, Z:111.14 [[ 9.58890565e-01 -6.36478019e-02 -2.76546275e-01 3.82474791e+02] [ 6.30497788e-02 9.97949065e-01 -1.10629815e-02 2.94048629e+02] [ 2.76683231e-01 -6.82799285e-03 9.60936922e-01 1.11136916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.592755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:382.50, Y:294.04, Z:111.15 [[ 9.59123823e-01 -6.09786881e-02 -2.76338726e-01 3.82499741e+02] [ 6.41318918e-02 9.97938596e-01 2.37910545e-03 2.94042711e+02] [ 2.75624006e-01 -2.00039820e-02 9.61057360e-01 1.11150390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.53, Y:294.05, Z:111.15 [[ 9.59265919e-01 -6.45826929e-02 -2.75023586e-01 3.82525948e+02] [ 6.29947368e-02 9.97906877e-01 -1.46125988e-02 2.94052890e+02] [ 2.75391649e-01 -3.30767038e-03 9.61326427e-01 1.11150997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.56, Y:294.05, Z:111.16 [[ 9.59540506e-01 -6.42322540e-02 -2.74146376e-01 3.82558204e+02] [ 6.47917152e-02 9.97874093e-01 -7.02335390e-03 2.94050615e+02] [ 2.74014692e-01 -1.10232213e-02 9.61662330e-01 1.11162510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.58, Y:294.06, Z:111.16 [[ 9.59876589e-01 -6.47205804e-02 -2.72851938e-01 3.82581896e+02] [ 6.32410701e-02 9.97896921e-01 -1.42232646e-02 2.94056462e+02] [ 2.73198647e-01 -3.60286985e-03 9.61950892e-01 1.11164434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.712755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:382.61, Y:294.06, Z:111.17 [[ 9.58899706e-01 -6.40902229e-02 -2.76412369e-01 3.82610266e+02] [ 6.31230156e-02 9.97928658e-01 -1.24047596e-02 2.94056309e+02] [ 2.76634848e-01 -5.55306193e-03 9.60959065e-01 1.11174700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.64, Y:294.05, Z:111.19 [[ 9.59274912e-01 -5.82436676e-02 -2.76404267e-01 3.82635475e+02] [ 6.05167101e-02 9.98167137e-01 -3.06627433e-04 2.94051254e+02] [ 2.75915515e-01 -1.64329369e-02 9.61041408e-01 1.11188041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:382.67, Y:294.06, Z:111.19 [[ 9.58292250e-01 -6.41772631e-02 -2.78491009e-01 3.82667497e+02] [ 6.21370545e-02 9.97936851e-01 -1.61563498e-02 2.94061710e+02] [ 2.78953310e-01 -1.82210620e-03 9.60302937e-01 1.11192125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.802755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:382.69, Y:294.05, Z:111.20 [[ 9.59239783e-01 -5.72135174e-02 -2.76741128e-01 3.82689752e+02] [ 6.04947978e-02 9.98162969e-01 3.32658299e-03 2.94052350e+02] [ 2.76042420e-01 -1.99323893e-02 9.60938750e-01 1.11202828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.832755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:382.72, Y:294.06, Z:111.21 [[ 9.58893364e-01 -6.14641074e-02 -2.77030105e-01 3.82720238e+02] [ 6.20057169e-02 9.98052538e-01 -6.81347571e-03 2.94059740e+02] [ 2.76909384e-01 -1.06440536e-02 9.60837082e-01 1.11207912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.862755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:382.75, Y:294.06, Z:111.22 [[ 9.59087310e-01 -6.06419030e-02 -2.76539495e-01 3.82746219e+02] [ 6.03606290e-02 9.98131070e-01 -9.53735105e-03 2.94062706e+02] [ 2.76601025e-01 -7.54494551e-03 9.60955226e-01 1.11215704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.77, Y:294.06, Z:111.22 [[ 9.59133998e-01 -6.05629970e-02 -2.76394823e-01 3.82772078e+02] [ 6.01086479e-02 9.98140502e-01 -1.01236790e-02 2.94063782e+02] [ 2.76493988e-01 -6.90375438e-03 9.60990850e-01 1.11222535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.80, Y:294.07, Z:111.23 [[ 9.59319785e-01 -6.36380705e-02 -2.75055897e-01 3.82802695e+02] [ 6.23694314e-02 9.97963636e-01 -1.33654676e-02 2.94067485e+02] [ 2.75346336e-01 -4.33332244e-03 9.61335331e-01 1.11229004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.952755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:382.83, Y:294.07, Z:111.24 [[ 9.59519568e-01 -6.19486171e-02 -2.74744549e-01 3.82827177e+02] [ 6.19192634e-02 9.98042467e-01 -8.78854846e-03 2.94066387e+02] [ 2.74751166e-01 -8.57919589e-03 9.61477090e-01 1.11237314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.982755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:382.85, Y:294.06, Z:111.25 [[ 9.60085161e-01 -5.81587736e-02 -2.73594664e-01 3.82849984e+02] [ 6.00869076e-02 9.98192258e-01 -1.33441607e-03 2.94063316e+02] [ 2.73177683e-01 -1.51583042e-02 9.61844155e-01 1.11245751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.012755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:382.88, Y:294.08, Z:111.24 [[ 9.59679251e-01 -6.68574849e-02 -2.73030790e-01 3.82881511e+02] [ 6.19950547e-02 9.97727037e-01 -2.64078370e-02 2.94079829e+02] [ 2.74175762e-01 8.41649448e-03 9.61642768e-01 1.11244486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0427550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:382.91, Y:294.08, Z:111.26 [[ 9.59555447e-01 -6.42326396e-02 -2.74093983e-01 3.82907810e+02] [ 6.20367505e-02 9.97934454e-01 -1.66813668e-02 2.94076430e+02] [ 2.74599318e-01 -9.97203664e-04 9.61558225e-01 1.11255758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.072755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:382.93, Y:294.08, Z:111.27 [[ 9.59367325e-01 -6.38084740e-02 -2.74850533e-01 3.82934619e+02] [ 6.23643037e-02 9.97955266e-01 -1.39993450e-02 2.94076730e+02] [ 2.75181813e-01 -3.71034794e-03 9.61385044e-01 1.11265184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.102755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:382.96, Y:294.08, Z:111.27 [[ 9.59605734e-01 -6.42482246e-02 -2.73914221e-01 3.82962109e+02] [ 6.38884996e-02 9.97904470e-01 -1.02434260e-02 2.94077053e+02] [ 2.73998348e-01 -7.67031828e-03 9.61699575e-01 1.11273090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:382.99, Y:294.08, Z:111.28 [[ 9.58962751e-01 -6.54204544e-02 -2.75881507e-01 3.82989600e+02] [ 6.40119884e-02 9.97849274e-01 -1.41170766e-02 2.94080332e+02] [ 2.76211707e-01 -4.12197320e-03 9.61087979e-01 1.11282060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1627550960001 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:383.02, Y:294.08, Z:111.30 [[ 9.58994318e-01 -6.22636909e-02 -2.76501594e-01 3.83019359e+02] [ 6.32867674e-02 9.97981674e-01 -5.23097225e-03 2.94075915e+02] [ 2.76269224e-01 -1.24824194e-02 9.60999222e-01 1.11295953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.192755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:383.04, Y:294.08, Z:111.31 [[ 9.58160560e-01 -6.11560616e-02 -2.79621667e-01 3.83043570e+02] [ 6.17860601e-02 9.98067797e-01 -6.56933957e-03 2.94076101e+02] [ 2.79483136e-01 -1.09822390e-02 9.60087791e-01 1.11306086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.222755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:383.07, Y:294.07, Z:111.32 [[ 9.57410442e-01 -5.97205349e-02 -2.82486644e-01 3.83070536e+02] [ 6.22715421e-02 9.98059243e-01 5.23661501e-05 2.94071791e+02] [ 2.81935279e-01 -1.76410149e-02 9.59271230e-01 1.11320188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.252755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:383.09, Y:294.08, Z:111.32 [[ 9.58684653e-01 -6.30021439e-02 -2.77406681e-01 3.83091681e+02] [ 6.43735848e-02 9.97917155e-01 -4.17060037e-03 2.94079258e+02] [ 2.77091643e-01 -1.38593720e-02 9.60743535e-01 1.11323400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.13, Y:294.08, Z:111.33 [[ 9.57391780e-01 -6.35428088e-02 -2.81714912e-01 3.83127202e+02] [ 6.14149579e-02 9.97977809e-01 -1.63858463e-02 2.94082399e+02] [ 2.82186434e-01 -1.61383497e-03 9.59358229e-01 1.11331495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.15, Y:294.07, Z:111.35 [[ 9.57807269e-01 -5.66678853e-02 -2.81769385e-01 3.83154256e+02] [ 6.28467144e-02 9.97939400e-01 1.29322934e-02 2.94068674e+02] [ 2.80455926e-01 -3.00949247e-02 9.59395002e-01 1.11350748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.18, Y:294.09, Z:111.34 [[ 9.57842588e-01 -6.99991973e-02 -2.78635405e-01 3.83182384e+02] [ 6.42355497e-02 9.97490514e-01 -2.97736398e-02 2.94094847e+02] [ 2.80020304e-01 1.06201618e-02 9.59935332e-01 1.11338172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.21, Y:294.08, Z:111.36 [[ 9.55988769e-01 -6.41220352e-02 -2.86310736e-01 3.83207952e+02] [ 6.44913179e-02 9.97884987e-01 -8.15002832e-03 2.94082664e+02] [ 2.86227781e-01 -1.06732211e-02 9.58102155e-01 1.11359357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4027550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:383.23, Y:294.08, Z:111.36 [[ 9.56932178e-01 -6.38523440e-02 -2.83202552e-01 3.83234720e+02] [ 6.56873001e-02 9.97835681e-01 -3.02206344e-03 2.94082128e+02] [ 2.82782577e-01 -1.57109012e-02 9.59055359e-01 1.11364438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.26, Y:294.08, Z:111.37 [[ 9.57262790e-01 -6.76801125e-02 -2.81189176e-01 3.83262520e+02] [ 6.95055742e-02 9.97575464e-01 -3.48846898e-03 2.94083087e+02] [ 2.80743523e-01 -1.62048336e-02 9.59646017e-01 1.11373202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.462755096 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:383.29, Y:294.09, Z:111.37 [[ 9.56522523e-01 -7.44416513e-02 -2.81998411e-01 3.83289915e+02] [ 7.23306031e-02 9.97220004e-01 -1.79038346e-02 2.94092366e+02] [ 2.82547247e-01 -3.27169410e-03 9.59247804e-01 1.11374099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.492755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:383.32, Y:294.08, Z:111.39 [[ 9.56800602e-01 -6.89739092e-02 -2.82445054e-01 3.83316481e+02] [ 7.39671903e-02 9.97235822e-01 7.04065880e-03 2.94080582e+02] [ 2.81178704e-01 -2.76281737e-02 9.59257640e-01 1.11393392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.34, Y:294.10, Z:111.39 [[ 9.56452591e-01 -7.94938446e-02 -2.80854357e-01 3.83343478e+02] [ 7.64790840e-02 9.96835091e-01 -2.16967820e-02 2.94098022e+02] [ 2.81690239e-01 -7.27540642e-04 9.59505122e-01 1.11390079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.552755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:383.36, Y:294.10, Z:111.40 [[ 9.56666231e-01 -8.06183246e-02 -2.79804232e-01 3.83364563e+02] [ 8.09304891e-02 9.96664889e-01 -1.04572671e-02 2.94098157e+02] [ 2.79714102e-01 -1.26405791e-02 9.60000124e-01 1.11397975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.40, Y:294.10, Z:111.41 [[ 9.56587196e-01 -7.99132676e-02 -2.80276304e-01 3.83396745e+02] [ 7.98629555e-02 9.96738126e-01 -1.16196764e-02 2.94097343e+02] [ 2.80290645e-01 -1.12684604e-02 9.59849038e-01 1.11408674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:383.42, Y:294.10, Z:111.42 [[ 9.56546130e-01 -7.94423969e-02 -2.80550186e-01 3.83422934e+02] [ 8.00491104e-02 9.96747395e-01 -9.31503725e-03 2.94097499e+02] [ 2.80377676e-01 -1.35475300e-02 9.59794157e-01 1.11417262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.642755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:383.45, Y:294.10, Z:111.43 [[ 9.56288564e-01 -7.99599644e-02 -2.81280262e-01 3.83449822e+02] [ 8.06170587e-02 9.96702185e-01 -9.25447052e-03 2.94099020e+02] [ 2.81092639e-01 -1.38260431e-02 9.59581038e-01 1.11425179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.48, Y:294.11, Z:111.43 [[ 9.55869509e-01 -8.05898021e-02 -2.82522152e-01 3.83477722e+02] [ 7.95072322e-02 9.96716644e-01 -1.53144032e-02 2.94105067e+02] [ 2.82828716e-01 -7.82398321e-03 9.59138521e-01 1.11433000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.702755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:383.50, Y:294.11, Z:111.44 [[ 9.55518704e-01 -7.78201088e-02 -2.84478534e-01 3.83502419e+02] [ 7.70783605e-02 9.96929260e-01 -1.38194202e-02 2.94106175e+02] [ 2.84680403e-01 -8.72242455e-03 9.58582802e-01 1.11440956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.53, Y:294.10, Z:111.45 [[ 9.56198817e-01 -7.43198847e-02 -2.83126080e-01 3.83528467e+02] [ 7.60176165e-02 9.97093933e-01 -5.00113274e-03 2.94104497e+02] [ 2.82674980e-01 -1.67404926e-02 9.59069659e-01 1.11450850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.56, Y:294.12, Z:111.45 [[ 9.56547864e-01 -8.14774709e-02 -2.79960008e-01 3.83558480e+02] [ 7.58000985e-02 9.96638980e-01 -3.10658697e-02 2.94124215e+02] [ 2.81550226e-01 8.49499511e-03 9.59508888e-01 1.11445213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7927550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:383.58, Y:294.12, Z:111.46 [[ 9.56888715e-01 -7.38164832e-02 -2.80918340e-01 3.83583433e+02] [ 7.36706421e-02 9.97220909e-01 -1.10948058e-02 2.94115454e+02] [ 2.80956622e-01 -1.00789400e-02 9.59667542e-01 1.11459736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.822755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:383.61, Y:294.12, Z:111.47 [[ 9.57126091e-01 -7.33781113e-02 -2.80223660e-01 3.83611111e+02] [ 7.28447354e-02 9.97267037e-01 -1.23329157e-02 2.94118641e+02] [ 2.80362785e-01 -8.60866294e-03 9.59855510e-01 1.11467260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.64, Y:294.12, Z:111.47 [[ 9.57316150e-01 -7.19720802e-02 -2.79938937e-01 3.83637565e+02] [ 7.04732028e-02 9.97394329e-01 -1.54298274e-02 2.94122064e+02] [ 2.80320025e-01 -4.95697058e-03 9.59893802e-01 1.11474383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.67, Y:294.12, Z:111.48 [[ 9.57243682e-01 -7.22337586e-02 -2.80119291e-01 3.83665031e+02] [ 7.07510369e-02 9.97374882e-01 -1.54154091e-02 2.94123841e+02] [ 2.80497458e-01 -5.06242739e-03 9.59841418e-01 1.11482465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.69, Y:294.13, Z:111.49 [[ 9.57401515e-01 -7.20964180e-02 -2.79614816e-01 3.83690580e+02] [ 7.04198458e-02 9.97388297e-01 -1.60508539e-02 2.94126060e+02] [ 2.80041755e-01 -4.32332038e-03 9.59978086e-01 1.11489717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.72, Y:294.13, Z:111.50 [[ 9.57700049e-01 -7.21485044e-02 -2.78577115e-01 3.83718864e+02] [ 7.01800082e-02 9.97388686e-01 -1.70462845e-02 2.94128425e+02] [ 2.79079526e-01 -3.22531662e-03 9.60262576e-01 1.11497437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.75, Y:294.12, Z:111.51 [[ 9.57457502e-01 -6.72463857e-02 -2.80629748e-01 3.83746629e+02] [ 6.82779406e-02 9.97647622e-01 -6.11114917e-03 2.94122949e+02] [ 2.80380553e-01 -1.33096556e-02 9.59796644e-01 1.11512389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.78, Y:294.13, Z:111.52 [[ 9.57578864e-01 -6.98114661e-02 -2.79587335e-01 3.83775629e+02] [ 6.82128619e-02 9.97551060e-01 -1.54560189e-02 2.94129847e+02] [ 2.79981649e-01 -4.27109519e-03 9.59995851e-01 1.11517002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.80, Y:294.13, Z:111.53 [[ 9.57621599e-01 -6.77866793e-02 -2.79938993e-01 3.83802660e+02] [ 6.72874552e-02 9.97668444e-01 -1.14050222e-02 2.94128948e+02] [ 2.80059408e-01 -7.91468679e-03 9.59950044e-01 1.11526946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.062755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:383.82, Y:294.13, Z:111.53 [[ 9.57629867e-01 -6.89593005e-02 -2.79624129e-01 3.83823597e+02] [ 6.91869738e-02 9.97562494e-01 -9.06824218e-03 2.94133839e+02] [ 2.79567883e-01 -1.06623278e-02 9.60066723e-01 1.11534428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.86, Y:294.14, Z:111.54 [[ 9.57724527e-01 -6.62312835e-02 -2.79959190e-01 3.83859009e+02] [ 6.40118466e-02 9.97803065e-01 -1.70741394e-02 2.94135614e+02] [ 2.80474980e-01 -1.56838268e-03 9.59860055e-01 1.11542875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.122755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:383.88, Y:294.14, Z:111.55 [[ 9.57830314e-01 -6.70318193e-02 -2.79406200e-01 3.83878475e+02] [ 6.68108139e-02 9.97712231e-01 -1.03256233e-02 2.94139338e+02] [ 2.79459129e-01 -8.77716064e-03 9.60117470e-01 1.11550802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.91, Y:294.14, Z:111.56 [[ 9.57938351e-01 -6.52300965e-02 -2.79462251e-01 3.83913247e+02] [ 6.17432131e-02 9.97865365e-01 -2.12717898e-02 2.94144556e+02] [ 2.80253262e-01 3.12216591e-03 9.59921018e-01 1.11556368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.182755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:383.93, Y:294.14, Z:111.57 [[ 9.57799762e-01 -6.36178357e-02 -2.80307663e-01 3.83931635e+02] [ 6.41978042e-02 9.97911779e-01 -7.12198186e-03 2.94143166e+02] [ 2.80175404e-01 -1.11737039e-02 9.59883791e-01 1.11566555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.96, Y:294.15, Z:111.57 [[ 9.58058347e-01 -6.49105700e-02 -2.79125101e-01 3.83958619e+02] [ 6.25973612e-02 9.97890593e-01 -1.72027624e-02 2.94150051e+02] [ 2.79652953e-01 -9.91244647e-04 9.60100642e-01 1.11572973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:383.99, Y:294.16, Z:111.57 [[ 9.58144323e-01 -6.78919409e-02 -2.78118932e-01 3.83989106e+02] [ 6.08550064e-02 9.97571880e-01 -3.38675693e-02 2.94159956e+02] [ 2.79742961e-01 1.55250899e-02 9.59949398e-01 1.11571496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.02, Y:294.14, Z:111.59 [[ 9.59713508e-01 -5.74531396e-02 -2.75043849e-01 3.84015211e+02] [ 6.09510460e-02 9.98132004e-01 4.18015088e-03 2.94142055e+02] [ 2.74289905e-01 -2.07759575e-02 9.61422596e-01 1.11590455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.04, Y:294.15, Z:111.60 [[ 9.59003651e-01 -5.77881630e-02 -2.77439228e-01 3.84035124e+02] [ 5.84809371e-02 9.98271766e-01 -5.78454393e-03 2.94148738e+02] [ 2.77294026e-01 -1.06775073e-02 9.60725775e-01 1.11597174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.07, Y:294.17, Z:111.60 [[ 9.57503833e-01 -7.05802084e-02 -2.79651290e-01 3.84068653e+02] [ 6.25029368e-02 9.97332183e-01 -3.77080749e-02 2.94169876e+02] [ 2.81566675e-01 1.86265994e-02 9.59360859e-01 1.11597839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.10, Y:294.17, Z:111.61 [[ 9.56926798e-01 -6.94891046e-02 -2.81890703e-01 3.84098455e+02] [ 6.46080972e-02 9.97556528e-01 -2.65850923e-02 2.94166524e+02] [ 2.83049285e-01 7.22756531e-03 9.59078133e-01 1.11607792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.392755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:384.12, Y:294.16, Z:111.62 [[ 9.57557222e-01 -6.48574917e-02 -2.80851691e-01 3.84121382e+02] [ 6.55155316e-02 9.97826603e-01 -7.05589561e-03 2.94157014e+02] [ 2.80698916e-01 -1.16437240e-02 9.59725243e-01 1.11621848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.15, Y:294.16, Z:111.63 [[ 9.56942715e-01 -7.16074639e-02 -2.81305903e-01 3.84148998e+02] [ 6.93612310e-02 9.97430153e-01 -1.79474334e-02 2.94162594e+02] [ 2.81868160e-01 -2.33705804e-03 9.59450300e-01 1.11627817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.18, Y:294.16, Z:111.64 [[ 9.56749931e-01 -7.38591168e-02 -2.81379461e-01 3.84175464e+02] [ 7.16774462e-02 9.97264479e-01 -1.80527817e-02 2.94163317e+02] [ 2.81943104e-01 -2.89656348e-03 9.59426754e-01 1.11635772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.20, Y:294.15, Z:111.65 [[ 9.56497403e-01 -7.09245363e-02 -2.82988388e-01 3.84199393e+02] [ 7.49905565e-02 9.97177934e-01 3.54746012e-03 2.94150979e+02] [ 2.81938174e-01 -2.46145931e-02 9.59116775e-01 1.11653341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.23, Y:294.18, Z:111.64 [[ 9.55901405e-01 -8.61540232e-02 -2.80766787e-01 3.84230712e+02] [ 7.80162457e-02 9.96147091e-01 -4.00554525e-02 2.94176965e+02] [ 2.83135956e-01 1.63846928e-02 9.58939817e-01 1.11644277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.26, Y:294.17, Z:111.66 [[ 9.56199235e-01 -8.02359548e-02 -2.81505266e-01 3.84255180e+02] [ 7.86593438e-02 9.96758030e-01 -1.69155908e-02 2.94165768e+02] [ 2.81949872e-01 -5.96834449e-03 9.59410573e-01 1.11658269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.28, Y:294.17, Z:111.66 [[ 9.55602778e-01 -8.57390850e-02 -2.81908036e-01 3.84283267e+02] [ 8.30408950e-02 9.96313584e-01 -2.15279604e-02 2.94169823e+02] [ 2.82714593e-01 -2.83771689e-03 9.59199878e-01 1.11664951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.31, Y:294.17, Z:111.67 [[ 9.55462808e-01 -8.56922372e-02 -2.82396288e-01 3.84309763e+02] [ 8.38990530e-02 9.96303256e-01 -1.84599812e-02 2.94169313e+02] [ 2.82934218e-01 -6.05495561e-03 9.59120204e-01 1.11673450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.34, Y:294.17, Z:111.68 [[ 9.55396778e-01 -8.60889622e-02 -2.82499005e-01 3.84335306e+02] [ 8.42846389e-02 9.96268898e-01 -1.85575276e-02 2.94170396e+02] [ 2.83042571e-01 -6.08052453e-03 9.59088072e-01 1.11680855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.36, Y:294.18, Z:111.68 [[ 9.55703853e-01 -8.91333640e-02 -2.80509159e-01 3.84363731e+02] [ 8.51785863e-02 9.96018945e-01 -2.62844038e-02 2.94176072e+02] [ 2.81735254e-01 1.22673237e-03 9.59491398e-01 1.11683377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.39, Y:294.17, Z:111.69 [[ 9.55816345e-01 -8.68416370e-02 -2.80844520e-01 3.84390403e+02] [ 8.44695113e-02 9.96213829e-01 -2.05647599e-02 2.94174096e+02] [ 2.81567072e-01 -4.06666575e-03 9.59532931e-01 1.11692543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.42, Y:294.17, Z:111.70 [[ 9.55682038e-01 -8.54418727e-02 -2.81729532e-01 3.84416852e+02] [ 8.34977221e-02 9.96328304e-01 -1.89219884e-02 2.94174687e+02] [ 2.82311837e-01 -5.44036978e-03 9.59307265e-01 1.11701006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.44, Y:294.18, Z:111.70 [[ 9.56358173e-01 -8.59967249e-02 -2.79255455e-01 3.84444715e+02] [ 8.13847522e-02 9.96286829e-01 -2.80905219e-02 2.94182948e+02] [ 2.80634225e-01 4.13746420e-03 9.59805873e-01 1.11702477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7827550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:384.47, Y:294.18, Z:111.71 [[ 9.56604726e-01 -8.27203690e-02 -2.79400676e-01 3.84471642e+02] [ 7.94772587e-02 9.96572762e-01 -2.29367566e-02 2.94182191e+02] [ 2.80340441e-01 -2.64590028e-04 9.59900603e-01 1.11711399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.50, Y:294.17, Z:111.73 [[ 9.55890807e-01 -7.32364120e-02 -2.84445412e-01 3.84497005e+02] [ 7.58259333e-02 9.97119235e-01 -1.91292418e-03 2.94169699e+02] [ 2.83766087e-01 -1.97397922e-02 9.58690330e-01 1.11733084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.842755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:384.53, Y:294.19, Z:111.72 [[ 9.57336923e-01 -8.21415277e-02 -2.77053758e-01 3.84526082e+02] [ 7.42828264e-02 9.96483625e-01 -3.87614117e-02 2.94193317e+02] [ 2.79263455e-01 1.65273944e-02 9.60072272e-01 1.11721221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.55, Y:294.19, Z:111.73 [[ 9.57536432e-01 -7.64657976e-02 -2.77987344e-01 3.84552100e+02] [ 7.27368224e-02 9.97069092e-01 -2.37187994e-02 2.94186589e+02] [ 2.78986266e-01 2.49169845e-03 9.60291859e-01 1.11733579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.58, Y:294.19, Z:111.74 [[ 9.57858317e-01 -7.62975039e-02 -2.76922618e-01 3.84579785e+02] [ 7.21463242e-02 9.97076566e-01 -2.51640568e-02 2.94189816e+02] [ 2.78033008e-01 4.12465210e-03 9.60562665e-01 1.11739626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.61, Y:294.19, Z:111.75 [[ 9.57711957e-01 -7.20088293e-02 -2.78572318e-01 3.84606562e+02] [ 6.94639004e-02 9.97403337e-01 -1.90092062e-02 2.94186159e+02] [ 2.79217790e-01 -1.14537567e-03 9.60227116e-01 1.11751666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.63, Y:294.19, Z:111.76 [[ 9.57701927e-01 -7.23583342e-02 -2.78516231e-01 3.84633385e+02] [ 6.91085519e-02 9.97377819e-01 -2.14824258e-02 2.94189002e+02] [ 2.79340344e-01 1.32590717e-03 9.60191238e-01 1.11758520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.66, Y:294.19, Z:111.77 [[ 9.57515188e-01 -7.22107215e-02 -2.79195767e-01 3.84660045e+02] [ 6.87586987e-02 9.97387367e-01 -2.21513497e-02 2.94190924e+02] [ 2.80065896e-01 2.01311611e-03 9.59978667e-01 1.11766114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.69, Y:294.19, Z:111.78 [[ 9.57037223e-01 -6.96655203e-02 -2.81471970e-01 3.84686328e+02] [ 6.82534121e-02 9.97557784e-01 -1.48303439e-02 2.94188085e+02] [ 2.81817718e-01 -5.01823117e-03 9.59454841e-01 1.11777669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.052755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:384.71, Y:294.19, Z:111.78 [[ 9.56942354e-01 -7.14601438e-02 -2.81344593e-01 3.84714923e+02] [ 6.84283686e-02 9.97443350e-01 -2.05990847e-02 2.94193113e+02] [ 2.82097307e-01 4.60185143e-04 9.59385688e-01 1.11782731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.74, Y:294.18, Z:111.80 [[ 9.55963942e-01 -6.61779552e-02 -2.85925550e-01 3.84739775e+02] [ 6.77247681e-02 9.97693953e-01 -4.48686568e-03 2.94184672e+02] [ 2.85563124e-01 -1.50749597e-02 9.58241331e-01 1.11803364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.77, Y:294.20, Z:111.81 [[ 9.56002851e-01 -7.16309418e-02 -2.84477691e-01 3.84767940e+02] [ 6.89927539e-02 9.97430508e-01 -1.92971801e-02 2.94195089e+02] [ 2.85129003e-01 -1.17874016e-03 9.58488426e-01 1.11806275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.79, Y:294.20, Z:111.81 [[ 9.55929972e-01 -7.28139454e-02 -2.84422255e-01 3.84794456e+02] [ 7.01997624e-02 9.97344513e-01 -1.93885393e-02 2.94197614e+02] [ 2.85078731e-01 -1.43228890e-03 9.58503034e-01 1.11814128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.82, Y:294.20, Z:111.82 [[ 9.56206260e-01 -7.53326573e-02 -2.82833129e-01 3.84820804e+02] [ 7.28282795e-02 9.97156304e-01 -1.93738882e-02 2.94199861e+02] [ 2.83488324e-01 -2.07281701e-03 9.58973448e-01 1.11821742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.85, Y:294.20, Z:111.83 [[ 9.56133793e-01 -7.69309542e-02 -2.82647834e-01 3.84847891e+02] [ 7.44793999e-02 9.97033342e-01 -1.94250745e-02 2.94202273e+02] [ 2.83303704e-01 -2.47847090e-03 9.59027043e-01 1.11829522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.88, Y:294.21, Z:111.83 [[ 9.56851483e-01 -8.08556456e-02 -2.79101422e-01 3.84877531e+02] [ 7.56050517e-02 9.96700043e-01 -2.95448858e-02 2.94210764e+02] [ 2.80569270e-01 7.16859032e-03 9.59807010e-01 1.11829684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.90, Y:294.20, Z:111.85 [[ 9.56031244e-01 -7.79410700e-02 -2.82717970e-01 3.84901200e+02] [ 7.85516801e-02 9.96867654e-01 -9.19315852e-03 2.94202558e+02] [ 2.82548924e-01 -1.34190248e-02 9.59159025e-01 1.11846550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.93, Y:294.21, Z:111.85 [[ 9.55408943e-01 -8.30875928e-02 -2.83355260e-01 3.84928176e+02] [ 7.83769580e-02 9.96532146e-01 -2.79416395e-02 2.94214248e+02] [ 2.84694229e-01 4.48716888e-03 9.58607877e-01 1.11848401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:384.96, Y:294.21, Z:111.86 [[ 9.55721244e-01 -8.27019517e-02 -2.82413335e-01 3.84956583e+02] [ 8.17476974e-02 9.96537417e-01 -1.51819257e-02 2.94211087e+02] [ 2.82691030e-01 -8.57695097e-03 9.59172673e-01 1.11859216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:384.98, Y:294.21, Z:111.87 [[ 9.56012542e-01 -8.09590257e-02 -2.81932007e-01 3.84980507e+02] [ 7.97934194e-02 9.96688828e-01 -1.56330130e-02 2.94211872e+02] [ 2.82264115e-01 -7.55096238e-03 9.59307017e-01 1.11866736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.01, Y:294.22, Z:111.87 [[ 9.55527748e-01 -8.66224982e-02 -2.81892293e-01 3.85010591e+02] [ 8.28675170e-02 9.96240920e-01 -2.52389495e-02 2.94221038e+02] [ 2.83018898e-01 7.56802197e-04 9.59114034e-01 1.11872069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.04, Y:294.22, Z:111.88 [[ 9.55455851e-01 -8.53264422e-02 -2.82530558e-01 3.85036007e+02] [ 8.31052984e-02 9.96342865e-01 -1.98596158e-02 2.94221085e+02] [ 2.83191856e-01 -4.50480022e-03 9.59052699e-01 1.11880854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.06, Y:294.23, Z:111.89 [[ 9.55456022e-01 -8.48013233e-02 -2.82688037e-01 3.85062978e+02] [ 8.25432560e-02 9.96388559e-01 -1.99110561e-02 2.94225033e+02] [ 2.83355610e-01 -4.30985260e-03 9.59005226e-01 1.11888259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.09, Y:294.23, Z:111.89 [[ 9.55934416e-01 -8.63406253e-02 -2.80597021e-01 3.85092637e+02] [ 8.18989768e-02 9.96260057e-01 -2.75400848e-02 2.94231631e+02] [ 2.81925432e-01 3.34590594e-03 9.59430485e-01 1.11891525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.12, Y:294.23, Z:111.91 [[ 9.55813218e-01 -8.12474295e-02 -2.82524244e-01 3.85115027e+02] [ 8.14798650e-02 9.96614865e-01 -1.09472519e-02 2.94226030e+02] [ 2.82457297e-01 -1.25565092e-02 9.59197690e-01 1.11906867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.14, Y:294.24, Z:111.91 [[ 9.56109152e-01 -8.23943816e-02 -2.81187579e-01 3.85141367e+02] [ 7.99911926e-02 9.96594214e-01 -2.00345004e-02 2.94235517e+02] [ 2.81880645e-01 -3.33736065e-03 9.59443674e-01 1.11911858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.17, Y:294.24, Z:111.92 [[ 9.56394517e-01 -8.18565114e-02 -2.80373038e-01 3.85168171e+02] [ 7.94270620e-02 9.96639285e-01 -2.00369068e-02 2.94238713e+02] [ 2.81070935e-01 -3.10601887e-03 9.59681969e-01 1.11919545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.19, Y:294.24, Z:111.93 [[ 9.56507108e-01 -8.11992441e-02 -2.80180006e-01 3.85194361e+02] [ 7.87195289e-02 9.96693905e-01 -2.01120805e-02 2.94242058e+02] [ 2.80886790e-01 -2.81829012e-03 9.59736771e-01 1.11927405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.22, Y:294.25, Z:111.93 [[ 9.56831960e-01 -7.96049503e-02 -2.79527551e-01 3.85221638e+02] [ 7.70592972e-02 9.96823825e-01 -2.01028940e-02 2.94247004e+02] [ 2.80240013e-01 -2.30510522e-03 9.59927196e-01 1.11934861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:385.25, Y:294.26, Z:111.93 [[ 9.57487390e-01 -8.33243048e-02 -2.76179214e-01 3.85251521e+02] [ 7.73445843e-02 9.96474772e-01 -3.24937686e-02 2.94257722e+02] [ 2.77913139e-01 9.75140720e-03 9.60556712e-01 1.11934581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.27, Y:294.25, Z:111.95 [[ 9.57183263e-01 -7.46065890e-02 -2.79703518e-01 3.85274473e+02] [ 7.55668849e-02 9.97113539e-01 -7.36452144e-03 2.94245882e+02] [ 2.79445606e-01 -1.40871269e-02 9.60058179e-01 1.11954534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.30, Y:294.26, Z:111.96 [[ 9.57314197e-01 -7.69501718e-02 -2.78618375e-01 3.85302180e+02] [ 7.42502136e-02 9.97034086e-01 -2.02469081e-02 2.94255869e+02] [ 2.79350020e-01 -1.30482126e-03 9.60188452e-01 1.11958269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.742755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:385.33, Y:294.26, Z:111.96 [[ 9.57286904e-01 -7.64872320e-02 -2.78839536e-01 3.85328587e+02] [ 7.37363672e-02 9.97069983e-01 -2.03567416e-02 2.94258472e+02] [ 2.79579562e-01 -1.07337230e-03 9.60121928e-01 1.11964883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.772755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:385.36, Y:294.26, Z:111.97 [[ 9.57273244e-01 -7.66685924e-02 -2.78836625e-01 3.85355884e+02] [ 7.39136750e-02 9.97056042e-01 -2.03965307e-02 2.94260648e+02] [ 2.79579515e-01 -1.08478665e-03 9.60121929e-01 1.11972954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.802755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:385.38, Y:294.26, Z:111.98 [[ 9.57245741e-01 -7.56933903e-02 -2.79197246e-01 3.85382398e+02] [ 7.28755203e-02 9.97130860e-01 -2.04745357e-02 2.94263774e+02] [ 2.79945977e-01 -7.47482421e-04 9.60015464e-01 1.11980358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.41, Y:294.27, Z:111.99 [[ 9.57169597e-01 -7.52803604e-02 -2.79569722e-01 3.85407626e+02] [ 7.24108187e-02 9.97162266e-01 -2.05934339e-02 2.94265740e+02] [ 2.80326659e-01 -5.32463610e-04 9.59904517e-01 1.11988450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.44, Y:294.27, Z:112.00 [[ 9.56956212e-01 -7.62310781e-02 -2.80042195e-01 3.85436618e+02] [ 7.26565424e-02 9.97088560e-01 -2.31393922e-02 2.94268931e+02] [ 2.80990810e-01 1.79648745e-03 9.59708777e-01 1.11995514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.46, Y:294.27, Z:112.01 [[ 9.56686585e-01 -7.52124629e-02 -2.81236312e-01 3.85462046e+02] [ 7.32479734e-02 9.97160093e-01 -1.75066757e-02 2.94267842e+02] [ 2.81754347e-01 -3.85158809e-03 9.59478845e-01 1.12005263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.49, Y:294.27, Z:112.01 [[ 9.56329300e-01 -7.75171057e-02 -2.81825068e-01 3.85487741e+02] [ 7.46383901e-02 9.96990523e-01 -2.09525027e-02 2.94270949e+02] [ 2.82601099e-01 -9.97477089e-04 9.59237001e-01 1.12011420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.51, Y:294.27, Z:112.02 [[ 9.56203030e-01 -7.89517283e-02 -2.81855265e-01 3.85514956e+02] [ 7.61215268e-02 9.96877485e-01 -2.09950516e-02 2.94272591e+02] [ 2.82632764e-01 -1.37972114e-03 9.59227198e-01 1.12019140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.54, Y:294.27, Z:112.03 [[ 9.55912079e-01 -8.08734450e-02 -2.82296978e-01 3.85541973e+02] [ 7.80888069e-02 9.96722653e-01 -2.11208813e-02 2.94274184e+02] [ 2.83079911e-01 -1.85452859e-03 9.59094534e-01 1.12027013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.57, Y:294.28, Z:112.03 [[ 9.55672111e-01 -8.30358297e-02 -2.82481625e-01 3.85568360e+02] [ 8.03127458e-02 9.96543670e-01 -2.12267935e-02 2.94275666e+02] [ 2.83267859e-01 -2.40102034e-03 9.59037828e-01 1.12034307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.60, Y:294.27, Z:112.05 [[ 9.54622475e-01 -8.13723456e-02 -2.86486426e-01 3.85599797e+02] [ 8.24227084e-02 9.96561955e-01 -8.41231458e-03 2.94265822e+02] [ 2.86186003e-01 -1.55824026e-02 9.58047369e-01 1.12050973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.62, Y:294.28, Z:112.05 [[ 9.54606192e-01 -8.69644586e-02 -2.84893317e-01 3.85624200e+02] [ 8.36594625e-02 9.96210764e-01 -2.37741234e-02 2.94275380e+02] [ 2.85881292e-01 -1.13909638e-03 9.58264363e-01 1.12052064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:385.65, Y:294.28, Z:112.06 [[ 9.55184736e-01 -9.36723480e-02 -2.80798167e-01 3.85648994e+02] [ 9.03328287e-02 9.95601735e-01 -2.48428011e-02 2.94281402e+02] [ 2.81890226e-01 -1.63582833e-03 9.59445269e-01 1.12055915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.67, Y:294.28, Z:112.07 [[ 9.54348022e-01 -8.85799811e-02 -2.85260303e-01 3.85673222e+02] [ 8.59794382e-02 9.96061581e-01 -2.16532382e-02 2.94277920e+02] [ 2.86054872e-01 -3.86179559e-03 9.58205457e-01 1.12068958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.70, Y:294.28, Z:112.07 [[ 9.55480897e-01 -9.35232933e-02 -2.79838613e-01 3.85700329e+02] [ 9.12180108e-02 9.95603547e-01 -2.12803219e-02 2.94284653e+02] [ 2.80598521e-01 -5.19338052e-03 9.59811179e-01 1.12073134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.73, Y:294.27, Z:112.10 [[ 9.54429860e-01 -8.29162181e-02 -2.86685444e-01 3.85730689e+02] [ 8.72142501e-02 9.96187078e-01 2.23178230e-03 2.94268295e+02] [ 2.85407284e-01 -2.71331357e-02 9.58022169e-01 1.12096930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.76, Y:294.30, Z:112.08 [[ 9.55197153e-01 -9.69795461e-02 -2.79630770e-01 3.85755490e+02] [ 8.93643208e-02 9.95200022e-01 -3.98865317e-02 2.94298541e+02] [ 2.82156726e-01 1.31104877e-02 9.59278738e-01 1.12084061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.252755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:385.78, Y:294.29, Z:112.10 [[ 9.55435119e-01 -8.70325838e-02 -2.82079887e-01 3.85776298e+02] [ 8.49740450e-02 9.96191403e-01 -1.95473878e-02 2.94290101e+02] [ 2.82706818e-01 -5.29320821e-03 9.59191762e-01 1.12095981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.81, Y:294.30, Z:112.10 [[ 9.54940310e-01 -9.13727874e-02 -2.82382751e-01 3.85807296e+02] [ 8.72103255e-02 9.95815708e-01 -2.73026652e-02 2.94298181e+02] [ 2.83695899e-01 1.44572396e-03 9.58913211e-01 1.12102883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.83, Y:294.30, Z:112.11 [[ 9.54884473e-01 -8.95437988e-02 -2.83156410e-01 3.85832825e+02] [ 8.69341053e-02 9.95975620e-01 -2.17950685e-02 2.94298180e+02] [ 2.83968494e-01 -3.80417669e-03 9.58826065e-01 1.12111987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.86, Y:294.30, Z:112.12 [[ 9.54654677e-01 -8.97234833e-02 -2.83873466e-01 3.85859768e+02] [ 8.70959340e-02 9.95959368e-01 -2.18914543e-02 2.94301064e+02] [ 2.84690616e-01 -3.82544543e-03 9.58611819e-01 1.12119665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:385.89, Y:294.31, Z:112.13 [[ 9.54033580e-01 -9.13862582e-02 -2.85426840e-01 3.85886232e+02] [ 8.75430873e-02 9.95815521e-01 -2.62232147e-02 2.94305834e+02] [ 2.86628919e-01 3.06805897e-05 9.58041681e-01 1.12126401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4027550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:385.91, Y:294.30, Z:112.14 [[ 9.54241370e-01 -9.07150349e-02 -2.84945944e-01 3.85913142e+02] [ 8.89496046e-02 9.95851843e-01 -1.91592204e-02 2.94304033e+02] [ 2.85501973e-01 -7.06330833e-03 9.58352093e-01 1.12136607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.432755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:385.94, Y:294.31, Z:112.14 [[ 9.53855140e-01 -9.34922876e-02 -2.85341138e-01 3.85940189e+02] [ 9.09364137e-02 9.95608678e-01 -2.22245114e-02 2.94307412e+02] [ 2.86165934e-01 -4.74893535e-03 9.58168308e-01 1.12144412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.97, Y:294.31, Z:112.15 [[ 9.54061723e-01 -9.40253771e-02 -2.84474001e-01 3.85966767e+02] [ 9.14799485e-02 9.95558261e-01 -2.22523802e-02 2.94309931e+02] [ 2.85302730e-01 -4.79352275e-03 9.58425466e-01 1.12151962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.99, Y:294.31, Z:112.16 [[ 9.53491107e-01 -9.57518524e-02 -2.85808138e-01 3.85992458e+02] [ 9.32290496e-02 9.95391464e-01 -2.24538984e-02 2.94313051e+02] [ 2.86640983e-01 -5.23602858e-03 9.58023763e-01 1.12159878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.02, Y:294.32, Z:112.17 [[ 9.53323374e-01 -9.76096049e-02 -2.85739233e-01 3.86019142e+02] [ 9.51558951e-02 9.95208198e-01 -2.24944257e-02 2.94316381e+02] [ 2.86565699e-01 -5.74531070e-03 9.58043366e-01 1.12167999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.05, Y:294.32, Z:112.18 [[ 9.53357042e-01 -9.87306778e-02 -2.85241308e-01 3.86045860e+02] [ 9.63064385e-02 9.95096267e-01 -2.25497058e-02 2.94319106e+02] [ 2.86068908e-01 -5.97265364e-03 9.58190434e-01 1.12176191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.07, Y:294.33, Z:112.18 [[ 9.52692853e-01 -1.01715634e-01 -2.86409247e-01 3.86072971e+02] [ 9.71605906e-02 9.94813145e-01 -3.01102345e-02 2.94325738e+02] [ 2.87986366e-01 8.58113575e-04 9.57634125e-01 1.12182959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.10, Y:294.32, Z:112.20 [[ 9.53554376e-01 -9.90966291e-02 -2.84453705e-01 3.86098794e+02] [ 9.87731986e-02 9.94988953e-01 -1.55189942e-02 2.94319956e+02] [ 2.84566174e-01 -1.32981975e-02 9.58564161e-01 1.12195848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.13, Y:294.33, Z:112.20 [[ 9.53446281e-01 -1.01333329e-01 -2.84027719e-01 3.86125897e+02] [ 9.89771239e-02 9.94831339e-01 -2.26745509e-02 2.94325792e+02] [ 2.84857364e-01 -6.49328057e-03 9.58547922e-01 1.12201983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.15, Y:294.32, Z:112.22 [[ 9.51489699e-01 -1.00744113e-01 -2.90719755e-01 3.86150180e+02] [ 9.82187690e-02 9.94891918e-01 -2.33054573e-02 2.94324275e+02] [ 2.91582623e-01 -6.37923394e-03 9.56524375e-01 1.12218324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.18, Y:294.35, Z:112.20 [[ 9.54368562e-01 -1.15491547e-01 -2.75394901e-01 3.86178058e+02] [ 1.05985804e-01 9.93149466e-01 -4.92051535e-02 2.94351172e+02] [ 2.79191078e-01 1.77719015e-02 9.60071092e-01 1.12199658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.732755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:386.20, Y:294.34, Z:112.21 [[ 9.54360082e-01 -1.07861889e-01 -2.78500711e-01 3.86202380e+02] [ 1.06128777e-01 9.94123395e-01 -2.13391135e-02 2.94337875e+02] [ 2.79165750e-01 -9.19174186e-03 9.60198936e-01 1.12214770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.23, Y:294.33, Z:112.24 [[ 9.53040276e-01 -1.00049307e-01 -2.85839761e-01 3.86231236e+02] [ 1.03016283e-01 9.94668668e-01 -4.67829823e-03 2.94327940e+02] [ 2.84783915e-01 -2.49875431e-02 9.58266009e-01 1.12240245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.26, Y:294.34, Z:112.24 [[ 9.52716468e-01 -1.05452121e-01 -2.84975758e-01 3.86259312e+02] [ 1.03150020e-01 9.94397080e-01 -2.31197143e-02 2.94340752e+02] [ 2.85817084e-01 -7.36872269e-03 9.58255862e-01 1.12242615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.822755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:386.29, Y:294.34, Z:112.25 [[ 9.52359350e-01 -1.06148880e-01 -2.85909224e-01 3.86286691e+02] [ 1.03834230e-01 9.94321908e-01 -2.32894098e-02 2.94343854e+02] [ 2.86757950e-01 -7.50727708e-03 9.57973653e-01 1.12249383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.31, Y:294.32, Z:112.29 [[ 9.50748504e-01 -8.67057935e-02 -2.97589295e-01 3.86313743e+02] [ 9.91542947e-02 9.94706696e-01 2.69632140e-02 2.94315756e+02] [ 2.93676197e-01 -5.51424920e-02 9.54313155e-01 1.12289194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.34, Y:294.38, Z:112.25 [[ 9.51984595e-01 -1.18752015e-01 -2.82175990e-01 3.86343771e+02] [ 1.03608424e-01 9.92287401e-01 -6.80515184e-02 2.94377404e+02] [ 2.88080934e-01 3.55481877e-02 9.56946029e-01 1.12252867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:386.37, Y:294.36, Z:112.27 [[ 9.52342621e-01 -1.08657936e-01 -2.85021028e-01 3.86370527e+02] [ 1.03949407e-01 9.94079069e-01 -3.16437303e-02 2.94360363e+02] [ 2.86771780e-01 5.07906134e-04 9.57998793e-01 1.12268158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:386.40, Y:294.36, Z:112.28 [[ 9.52179117e-01 -1.05669747e-01 -2.86685949e-01 3.86395639e+02] [ 1.05510708e-01 9.94288644e-01 -1.60493980e-02 2.94355803e+02] [ 2.86744520e-01 -1.49665359e-02 9.57890173e-01 1.12283841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.972755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:386.42, Y:294.36, Z:112.29 [[ 9.51587039e-01 -1.08939674e-01 -2.87426956e-01 3.86422796e+02] [ 1.06632553e-01 9.94015539e-01 -2.37193235e-02 2.94362757e+02] [ 2.88290836e-01 -8.07806938e-03 9.57508819e-01 1.12288378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.45, Y:294.37, Z:112.30 [[ 9.51973841e-01 -1.09113092e-01 -2.86077156e-01 3.86449174e+02] [ 1.06808621e-01 9.93997175e-01 -2.36967260e-02 2.94366752e+02] [ 2.86945508e-01 -7.99684338e-03 9.57913527e-01 1.12297823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.47, Y:294.37, Z:112.30 [[ 9.51907998e-01 -1.09498174e-01 -2.86149109e-01 3.86474958e+02] [ 1.07182945e-01 9.93954617e-01 -2.37914866e-02 2.94372326e+02] [ 2.87024352e-01 -8.02299795e-03 9.57889687e-01 1.12304582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.51, Y:294.35, Z:112.34 [[ 9.50787603e-01 -9.34286594e-02 -2.95421767e-01 3.86505655e+02] [ 1.02719119e-01 9.94580897e-01 1.60506285e-02 2.94349333e+02] [ 2.92321257e-01 -4.56062022e-02 9.55232096e-01 1.12335804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.53, Y:294.40, Z:112.31 [[ 9.51914451e-01 -1.17741423e-01 -2.82835351e-01 3.86530684e+02] [ 1.07068583e-01 9.92840272e-01 -5.29576486e-02 2.94396617e+02] [ 2.87045636e-01 2.01283707e-02 9.57705410e-01 1.12311352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.122755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:386.56, Y:294.39, Z:112.33 [[ 9.51931294e-01 -1.12706094e-01 -2.84823012e-01 3.86557117e+02] [ 1.08963409e-01 9.93622472e-01 -2.90061837e-02 2.94387270e+02] [ 2.86275719e-01 -3.42339222e-03 9.58141166e-01 1.12326458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.58, Y:294.39, Z:112.34 [[ 9.52173392e-01 -1.11779224e-01 -2.84378686e-01 3.86582647e+02] [ 1.09513294e-01 9.93697748e-01 -2.39086793e-02 2.94387460e+02] [ 2.85258954e-01 -8.37803835e-03 9.58413866e-01 1.12336405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.182755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:386.61, Y:294.39, Z:112.34 [[ 9.51977431e-01 -1.12971901e-01 -2.84563386e-01 3.86610111e+02] [ 1.10736212e-01 9.93560306e-01 -2.39877031e-02 2.94391232e+02] [ 2.85440821e-01 -8.67571940e-03 9.58357068e-01 1.12343441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.64, Y:294.40, Z:112.35 [[ 9.52178815e-01 -1.13699834e-01 -2.83598047e-01 3.86636608e+02] [ 1.11484536e-01 9.93476444e-01 -2.39948514e-02 2.94398219e+02] [ 2.84476190e-01 -8.76940748e-03 9.58642997e-01 1.12351546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.66, Y:294.40, Z:112.36 [[ 9.52149032e-01 -1.14093376e-01 -2.83539985e-01 3.86663087e+02] [ 1.11869129e-01 9.93431135e-01 -2.40806571e-02 2.94402699e+02] [ 2.84424892e-01 -8.79099675e-03 9.58658020e-01 1.12358773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.272755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:386.69, Y:294.41, Z:112.36 [[ 9.51813066e-01 -1.14385973e-01 -2.84548303e-01 3.86689613e+02] [ 1.12130040e-01 9.93397293e-01 -2.42625930e-02 2.94406658e+02] [ 2.85444815e-01 -8.81295951e-03 9.58354626e-01 1.12364949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.72, Y:294.42, Z:112.37 [[ 9.51329556e-01 -1.17374885e-01 -2.84947738e-01 3.86717593e+02] [ 1.12231255e-01 9.93087417e-01 -3.43733601e-02 2.94419251e+02] [ 2.87012582e-01 7.20351190e-04 9.57926541e-01 1.12371314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.332755096 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:386.74, Y:294.41, Z:112.38 [[ 9.52039184e-01 -1.10706154e-01 -2.85246456e-01 3.86743622e+02] [ 1.11673902e-01 9.93660866e-01 -1.29237118e-02 2.94410513e+02] [ 2.84868975e-01 -1.95507046e-02 9.58367068e-01 1.12382807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.77, Y:294.42, Z:112.39 [[ 9.52504767e-01 -1.13495140e-01 -2.82583654e-01 3.86769015e+02] [ 1.11162884e-01 9.93504380e-01 -2.43281633e-02 2.94421259e+02] [ 2.83509226e-01 -8.24012247e-03 9.58934106e-01 1.12388405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.392755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:386.80, Y:294.43, Z:112.39 [[ 9.51971860e-01 -1.13941147e-01 -2.84195343e-01 3.86796344e+02] [ 1.11589181e-01 9.93452147e-01 -2.45089060e-02 2.94426259e+02] [ 2.85127047e-01 -8.38133682e-03 9.58453087e-01 1.12394244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.82, Y:294.43, Z:112.40 [[ 9.52135787e-01 -1.14072925e-01 -2.83592684e-01 3.86822318e+02] [ 1.11708654e-01 9.93437676e-01 -2.45511761e-02 2.94431089e+02] [ 2.84532281e-01 -8.30370363e-03 9.58630497e-01 1.12402916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.452755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:386.85, Y:294.43, Z:112.41 [[ 9.51527375e-01 -1.15618814e-01 -2.85005166e-01 3.86848388e+02] [ 1.13269996e-01 9.93255439e-01 -2.47697764e-02 2.94434968e+02] [ 2.85946783e-01 -8.71341368e-03 9.58205883e-01 1.12409515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.88, Y:294.44, Z:112.42 [[ 9.51275208e-01 -1.17019307e-01 -2.85275238e-01 3.86875387e+02] [ 1.13119478e-01 9.93123224e-01 -3.01702905e-02 2.94441738e+02] [ 2.86843970e-01 -3.56993666e-03 9.57970664e-01 1.12416617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.512755096 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:386.90, Y:294.44, Z:112.42 [[ 9.51292970e-01 -1.15661512e-01 -2.85769314e-01 3.86902991e+02] [ 1.14820894e-01 9.93189751e-01 -1.97555129e-02 2.94439421e+02] [ 2.86108106e-01 -1.40190076e-02 9.58094786e-01 1.12424706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:386.93, Y:294.45, Z:112.43 [[ 9.51548604e-01 -1.17484989e-01 -2.84169898e-01 3.86929458e+02] [ 1.15162797e-01 9.93033818e-01 -2.49272329e-02 2.94446204e+02] [ 2.85118894e-01 -9.00632647e-03 9.58449843e-01 1.12432382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.572755096 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:386.96, Y:294.45, Z:112.44 [[ 9.51282468e-01 -1.17730467e-01 -2.84958248e-01 3.86960033e+02] [ 1.15354641e-01 9.93005449e-01 -2.51691178e-02 2.94448458e+02] [ 2.85928265e-01 -8.92831592e-03 9.58209430e-01 1.12439626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.99, Y:294.46, Z:112.45 [[ 9.51029981e-01 -1.21435037e-01 -2.84245506e-01 3.86985696e+02] [ 1.18174990e-01 9.92579159e-01 -2.86580733e-02 2.94456951e+02] [ 2.85616259e-01 -6.33602283e-03 9.58323123e-01 1.12447703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.632755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:387.01, Y:294.45, Z:112.46 [[ 9.52025206e-01 -1.17555853e-01 -2.82539605e-01 3.87010438e+02] [ 1.17792092e-01 9.92905915e-01 -1.62131657e-02 2.94454326e+02] [ 2.82441197e-01 -1.78455887e-02 9.59118608e-01 1.12457558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6627550960001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:387.04, Y:294.47, Z:112.46 [[ 9.51123764e-01 -1.23122375e-01 -2.83203932e-01 3.87038439e+02] [ 1.17943469e-01 9.92391475e-01 -3.53341114e-02 2.94467998e+02] [ 2.85399587e-01 2.05058932e-04 9.58408594e-01 1.12459724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.06, Y:294.46, Z:112.47 [[ 9.52176901e-01 -1.17927455e-01 -2.81872782e-01 3.87064415e+02] [ 1.16686465e-01 9.92941509e-01 -2.12468494e-02 2.94463934e+02] [ 2.82388773e-01 -1.26599793e-02 9.59216506e-01 1.12471548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.09, Y:294.47, Z:112.48 [[ 9.52088871e-01 -1.19466184e-01 -2.81521956e-01 3.87091817e+02] [ 1.16813182e-01 9.92806904e-01 -2.62513175e-02 2.94469207e+02] [ 2.82633086e-01 -7.89188824e-03 9.59195630e-01 1.12478442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.752755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:387.12, Y:294.48, Z:112.48 [[ 9.51700909e-01 -1.20265341e-01 -2.82491819e-01 3.87117828e+02] [ 1.16569162e-01 9.92731789e-01 -2.99203356e-02 2.94475474e+02] [ 2.84036989e-01 -4.45462402e-03 9.58802975e-01 1.12484610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.15, Y:294.48, Z:112.49 [[ 9.51815930e-01 -1.18319738e-01 -2.82925564e-01 3.87145440e+02] [ 1.15945233e-01 9.92936265e-01 -2.51848543e-02 2.94476590e+02] [ 2.83906918e-01 -8.83252488e-03 9.58811164e-01 1.12494987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.17, Y:294.48, Z:112.50 [[ 9.51685912e-01 -1.19832989e-01 -2.82725978e-01 3.87173399e+02] [ 1.16315653e-01 9.92781266e-01 -2.92579359e-02 2.94482866e+02] [ 2.84191121e-01 -5.04109130e-03 9.58754397e-01 1.12501134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.842755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.20, Y:294.48, Z:112.51 [[ 9.51318243e-01 -1.18215985e-01 -2.84637633e-01 3.87199018e+02] [ 1.15050717e-01 9.92968376e-01 -2.78771609e-02 2.94484624e+02] [ 2.85931695e-01 -6.22771200e-03 9.58229765e-01 1.12510192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.872755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.23, Y:294.48, Z:112.52 [[ 9.52166377e-01 -1.14991466e-01 -2.83118621e-01 3.87227021e+02] [ 1.15704185e-01 9.93181326e-01 -1.42616638e-02 2.94481705e+02] [ 2.82828097e-01 -1.91785326e-02 9.58978859e-01 1.12520758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9027550960001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:387.25, Y:294.50, Z:112.52 [[ 9.51013072e-01 -1.20856134e-01 -2.84548647e-01 3.87253695e+02] [ 1.14388599e-01 9.92658287e-01 -3.93036122e-02 2.94498290e+02] [ 2.87209655e-01 4.82912782e-03 9.57855570e-01 1.12522439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.28, Y:294.50, Z:112.53 [[ 9.51405135e-01 -1.15782638e-01 -2.85346544e-01 3.87280556e+02] [ 1.13039413e-01 9.93247004e-01 -2.61243067e-02 2.94495035e+02] [ 2.86444341e-01 -7.40060630e-03 9.58068302e-01 1.12534993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.31, Y:294.50, Z:112.54 [[ 9.51783632e-01 -1.14388180e-01 -2.84645854e-01 3.87306739e+02] [ 1.11926167e-01 9.93403066e-01 -2.49575896e-02 2.94497568e+02] [ 2.85622918e-01 -8.10509427e-03 9.58307809e-01 1.12542775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.33, Y:294.50, Z:112.55 [[ 9.51807369e-01 -1.14516237e-01 -2.84514964e-01 3.87334769e+02] [ 1.11128875e-01 9.93409320e-01 -2.80766071e-02 2.94503013e+02] [ 2.85855045e-01 -4.89430632e-03 9.58260371e-01 1.12550506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.36, Y:294.50, Z:112.56 [[ 9.53172865e-01 -1.08519558e-01 -2.82285307e-01 3.87361350e+02] [ 1.08985387e-01 9.93943338e-01 -1.41005519e-02 2.94500312e+02] [ 2.82105786e-01 -1.73247099e-02 9.59226866e-01 1.12559228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.39, Y:294.52, Z:112.56 [[ 9.52453030e-01 -1.12269380e-01 -2.83246909e-01 3.87385143e+02] [ 1.05951664e-01 9.93660995e-01 -3.75775330e-02 2.94515146e+02] [ 2.85670212e-01 5.78035362e-03 9.58310554e-01 1.12561550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.41, Y:294.51, Z:112.57 [[ 9.53289214e-01 -1.07328830e-01 -2.82347654e-01 3.87414564e+02] [ 1.06924894e-01 9.94123696e-01 -1.68862222e-02 2.94507421e+02] [ 2.82500872e-01 -1.40925394e-02 9.59163520e-01 1.12574187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.112755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:387.44, Y:294.52, Z:112.58 [[ 9.52264524e-01 -1.12484802e-01 -2.83794724e-01 3.87441802e+02] [ 1.06098210e-01 9.93635857e-01 -3.78279449e-02 2.94520437e+02] [ 2.86243682e-01 5.91209781e-03 9.58138613e-01 1.12577129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.47, Y:294.51, Z:112.59 [[ 9.53660776e-01 -1.05507636e-01 -2.81778748e-01 3.87467732e+02] [ 1.05702547e-01 9.94291285e-01 -1.45537959e-02 2.94510130e+02] [ 2.81705690e-01 -1.59053470e-02 9.59369024e-01 1.12590309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.49, Y:294.52, Z:112.60 [[ 9.53658844e-01 -1.08819231e-01 -2.80523056e-01 3.87493869e+02] [ 1.05859908e-01 9.94048161e-01 -2.57280789e-02 2.94518685e+02] [ 2.81653138e-01 -5.16033489e-03 9.59502413e-01 1.12595149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.52, Y:294.52, Z:112.60 [[ 9.54035137e-01 -1.09166712e-01 -2.79104973e-01 3.87520352e+02] [ 1.06234073e-01 9.94010009e-01 -2.56597580e-02 2.94521032e+02] [ 2.80234328e-01 -5.17014731e-03 9.59917700e-01 1.12602571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.55, Y:294.52, Z:112.61 [[ 9.54163143e-01 -1.09456465e-01 -2.78553368e-01 3.87546546e+02] [ 1.06521079e-01 9.93978251e-01 -2.57001306e-02 2.94523363e+02] [ 2.79689035e-01 -5.14968788e-03 9.60076833e-01 1.12610185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.58, Y:294.52, Z:112.62 [[ 9.52623132e-01 -1.08814680e-01 -2.84022067e-01 3.87575951e+02] [ 1.04956870e-01 9.94059250e-01 -2.88142989e-02 2.94524452e+02] [ 2.85470181e-01 -2.36089958e-03 9.58384684e-01 1.12621597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.60, Y:294.53, Z:112.62 [[ 9.53640202e-01 -1.12255441e-01 -2.79229442e-01 3.87601855e+02] [ 1.05558873e-01 9.93649750e-01 -3.89550825e-02 2.94533237e+02] [ 2.81829185e-01 7.67398744e-03 9.59433906e-01 1.12621314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.63, Y:294.52, Z:112.64 [[ 9.53426992e-01 -1.08627437e-01 -2.81384170e-01 3.87630136e+02] [ 1.07518904e-01 9.94013271e-01 -1.94242960e-02 2.94524676e+02] [ 2.81809611e-01 -1.17344694e-02 9.59398585e-01 1.12637082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.65, Y:294.53, Z:112.64 [[ 9.53220718e-01 -1.10493829e-01 -2.81356317e-01 3.87654433e+02] [ 1.07830871e-01 9.93855375e-01 -2.49799436e-02 2.94528932e+02] [ 2.82387618e-01 -6.52749705e-03 9.59278179e-01 1.12642807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.68, Y:294.53, Z:112.65 [[ 9.53569223e-01 -1.10550469e-01 -2.80150552e-01 3.87683372e+02] [ 1.09768538e-01 9.93784421e-01 -1.85308742e-02 2.94526066e+02] [ 2.80457851e-01 -1.30812451e-02 9.59777201e-01 1.12650602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.71, Y:294.50, Z:112.68 [[ 9.51984348e-01 -9.63282718e-02 -2.90597083e-01 3.87711622e+02] [ 1.04698378e-01 9.94414343e-01 1.33552687e-02 2.94503375e+02] [ 2.87687418e-01 -4.31390501e-02 9.56752305e-01 1.12676668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.442755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:387.74, Y:294.55, Z:112.66 [[ 9.50839924e-01 -1.26066144e-01 -2.82861743e-01 3.87741948e+02] [ 1.12673675e-01 9.91620478e-01 -6.31939169e-02 2.94549687e+02] [ 2.88458110e-01 2.82162272e-02 9.57076676e-01 1.12664377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.77, Y:294.53, Z:112.68 [[ 9.50965200e-01 -1.16005717e-01 -2.86719134e-01 3.87768280e+02] [ 1.13707288e-01 9.93206860e-01 -2.47140838e-02 2.94529008e+02] [ 2.87638386e-01 -9.09982144e-03 9.57695856e-01 1.12682583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.79, Y:294.53, Z:112.69 [[ 9.50723847e-01 -1.17369461e-01 -2.86964418e-01 3.87794811e+02] [ 1.14402931e-01 9.93063494e-01 -2.71452901e-02 2.94531628e+02] [ 2.88159915e-01 -7.02189577e-03 9.57556555e-01 1.12690302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.82, Y:294.53, Z:112.70 [[ 9.51062001e-01 -1.15391108e-01 -2.86646057e-01 3.87820402e+02] [ 1.13897850e-01 9.93250231e-01 -2.19376047e-02 2.94528628e+02] [ 2.87242667e-01 -1.17843473e-02 9.57785352e-01 1.12698922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.85, Y:294.53, Z:112.71 [[ 9.51695706e-01 -1.13197494e-01 -2.85414804e-01 3.87846138e+02] [ 1.12434984e-01 9.93475255e-01 -1.91125942e-02 2.94527817e+02] [ 2.85716043e-01 -1.39012351e-02 9.58213493e-01 1.12706410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.88, Y:294.53, Z:112.72 [[ 9.49447780e-01 -1.10796170e-01 -2.93722866e-01 3.87876023e+02] [ 1.10033849e-01 9.93742901e-01 -1.91728803e-02 2.94525737e+02] [ 2.94009294e-01 -1.41158088e-02 9.55698320e-01 1.12723157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.90, Y:294.54, Z:112.72 [[ 9.51078382e-01 -1.16348070e-01 -2.86204539e-01 3.87901821e+02] [ 1.09127481e-01 9.93177362e-01 -4.11086455e-02 2.94540954e+02] [ 2.89034781e-01 7.86476347e-03 9.57286290e-01 1.12716718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.93, Y:294.54, Z:112.73 [[ 9.50910821e-01 -1.11495207e-01 -2.88682230e-01 3.87927255e+02] [ 1.06650922e-01 9.93764964e-01 -3.25081115e-02 2.94536579e+02] [ 2.90506784e-01 1.24089002e-04 9.56872924e-01 1.12727175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.96, Y:294.54, Z:112.74 [[ 9.50738903e-01 -1.10347191e-01 -2.89687826e-01 3.87955153e+02] [ 1.06428483e-01 9.93888644e-01 -2.92974723e-02 2.94537134e+02] [ 2.91150335e-01 -2.97678931e-03 9.56672683e-01 1.12738052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:387.98, Y:294.52, Z:112.75 [[ 9.52241625e-01 -9.72061109e-02 -2.89459600e-01 3.87981285e+02] [ 1.00211067e-01 9.94956210e-01 -4.45891043e-03 2.94523202e+02] [ 2.88433060e-01 -2.47610953e-02 9.57179846e-01 1.12752101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.01, Y:294.54, Z:112.75 [[ 9.52248969e-01 -1.02638013e-01 -2.87554062e-01 3.88010221e+02] [ 9.88863548e-02 9.94716406e-01 -2.75818962e-02 2.94537801e+02] [ 2.88865694e-01 -2.17034075e-03 9.57367171e-01 1.12753696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.04, Y:294.54, Z:112.76 [[ 9.53259309e-01 -9.56168241e-02 -2.86625388e-01 3.88035204e+02] [ 9.24306260e-02 9.95413735e-01 -2.46591742e-02 2.94535004e+02] [ 2.87668680e-01 -2.98637663e-03 9.57725332e-01 1.12762479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.06, Y:294.54, Z:112.77 [[ 9.53529668e-01 -9.48895690e-02 -2.85967030e-01 3.88062449e+02] [ 9.09988105e-02 9.95487734e-01 -2.68958855e-02 2.94537205e+02] [ 2.87228810e-01 -3.76634804e-04 9.57861926e-01 1.12770203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.09, Y:294.54, Z:112.78 [[ 9.53714612e-01 -9.37922802e-02 -2.85712175e-01 3.88089193e+02] [ 8.98317374e-02 9.95591787e-01 -2.69676405e-02 2.94537908e+02] [ 2.86982051e-01 5.34116745e-05 9.57935958e-01 1.12778287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.12, Y:294.54, Z:112.79 [[ 9.53496348e-01 -9.33251486e-02 -2.86592274e-01 3.88115017e+02] [ 8.92896898e-02 9.95635641e-01 -2.71481533e-02 2.94536360e+02] [ 2.87875088e-01 2.95929769e-04 9.57667921e-01 1.12786163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.14, Y:294.54, Z:112.80 [[ 9.53335903e-01 -9.47331184e-02 -2.86664077e-01 3.88144130e+02] [ 9.09356465e-02 9.95502427e-01 -2.65636097e-02 2.94536836e+02] [ 2.87891238e-01 -7.43940320e-04 9.57662822e-01 1.12795100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.17, Y:294.54, Z:112.80 [[ 9.53471902e-01 -9.39844065e-02 -2.86458135e-01 3.88171283e+02] [ 9.11588545e-02 9.95565722e-01 -2.32154244e-02 2.94535488e+02] [ 2.87369788e-01 -3.97794059e-03 9.57811454e-01 1.12803993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.20, Y:294.53, Z:112.82 [[ 9.52972238e-01 -9.17593838e-02 -2.88832356e-01 3.88197155e+02] [ 9.05739132e-02 9.95736020e-01 -1.74969973e-02 2.94531812e+02] [ 2.89206294e-01 -9.48652409e-03 9.57219789e-01 1.12816086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.23, Y:294.54, Z:112.81 [[ 9.53017757e-01 -1.00422584e-01 -2.85783937e-01 3.88225213e+02] [ 9.41559951e-02 9.94919970e-01 -3.56216608e-02 2.94541743e+02] [ 2.87909366e-01 7.03980429e-03 9.57631787e-01 1.12814765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.25, Y:294.53, Z:112.83 [[ 9.52768364e-01 -9.49787625e-02 -2.88463999e-01 3.88249854e+02] [ 9.41934838e-02 9.95414915e-01 -1.66353697e-02 2.94529934e+02] [ 2.88721373e-01 -1.13217750e-02 9.57346221e-01 1.12829852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0427550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:388.28, Y:294.54, Z:112.83 [[ 9.52461790e-01 -1.05267876e-01 -2.85893709e-01 3.88278477e+02] [ 9.75690087e-02 9.94380421e-01 -4.10836665e-02 2.94542339e+02] [ 2.88611897e-01 1.12362567e-02 9.57380238e-01 1.12827031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.30, Y:294.52, Z:112.85 [[ 9.51546705e-01 -9.67331937e-02 -2.91893060e-01 3.88304885e+02] [ 9.76812253e-02 9.95152911e-01 -1.13605688e-02 2.94523587e+02] [ 2.91577172e-01 -1.77023600e-02 9.56383490e-01 1.12849583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.33, Y:294.54, Z:112.85 [[ 9.52409589e-01 -1.04925432e-01 -2.86193341e-01 3.88331776e+02] [ 9.97738788e-02 9.94477044e-01 -3.25665685e-02 2.94537031e+02] [ 2.88029769e-01 2.46209242e-03 9.57618290e-01 1.12845773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.36, Y:294.53, Z:112.86 [[ 9.51057384e-01 -1.02914169e-01 -2.91373517e-01 3.88358947e+02] [ 1.01137248e-01 9.94646667e-01 -2.11958479e-02 2.94526226e+02] [ 2.91995051e-01 -9.31024811e-03 9.56374513e-01 1.12862331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.39, Y:294.54, Z:112.86 [[ 9.51991101e-01 -1.10454285e-01 -2.85504455e-01 3.88386779e+02] [ 1.03439434e-01 9.93847782e-01 -3.95837084e-02 2.94538930e+02] [ 2.88120160e-01 8.15091880e-03 9.57559573e-01 1.12858675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.192755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:388.41, Y:294.52, Z:112.88 [[ 9.50920616e-01 -9.95011107e-02 -2.93000872e-01 3.88413393e+02] [ 1.01499149e-01 9.94800022e-01 -8.41661022e-03 2.94518467e+02] [ 2.92314736e-01 -2.17358109e-02 9.56075128e-01 1.12884330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.44, Y:294.55, Z:112.87 [[ 9.52296471e-01 -1.12187215e-01 -2.83805320e-01 3.88441383e+02] [ 1.02053959e-01 9.93506772e-01 -5.02919847e-02 2.94547957e+02] [ 2.87604625e-01 1.89294231e-02 9.57562142e-01 1.12870806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.252755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:388.47, Y:294.54, Z:112.89 [[ 9.52724100e-01 -1.03619675e-01 -2.85621696e-01 3.88466734e+02] [ 9.97979016e-02 9.94615216e-01 -2.79454947e-02 2.94538364e+02] [ 2.86979388e-01 -1.88009959e-03 9.57934912e-01 1.12885201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.49, Y:294.54, Z:112.89 [[ 9.52930032e-01 -9.89675166e-02 -2.86582945e-01 3.88492520e+02] [ 9.49020654e-02 9.95090567e-01 -2.80777835e-02 2.94541310e+02] [ 2.87954774e-01 -4.41150298e-04 9.57643908e-01 1.12892444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.52, Y:294.54, Z:112.90 [[ 9.52937379e-01 -9.69970502e-02 -2.87231483e-01 3.88519413e+02] [ 9.28138418e-02 9.95284650e-01 -2.81790003e-02 2.94544465e+02] [ 2.88610366e-01 1.93765236e-04 9.57446614e-01 1.12900520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.54, Y:294.53, Z:112.93 [[ 9.51611945e-01 -8.38009994e-02 -2.95655372e-01 3.88544806e+02] [ 8.78414613e-02 9.96134393e-01 3.85334179e-04 2.94528324e+02] [ 2.94480193e-01 -2.63374885e-02 9.55294589e-01 1.12926691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.57, Y:294.56, Z:112.91 [[ 9.53219036e-01 -9.93910987e-02 -2.85473080e-01 3.88574359e+02] [ 8.70488514e-02 9.94649236e-01 -5.56362732e-02 2.94564802e+02] [ 2.89475331e-01 2.81834510e-02 9.56770467e-01 1.12908235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.60, Y:294.55, Z:112.93 [[ 9.53113169e-01 -9.05762837e-02 -2.88740755e-01 3.88600396e+02] [ 8.59864742e-02 9.95886626e-01 -2.85684249e-02 2.94551728e+02] [ 2.90140678e-01 2.40114256e-03 9.56980993e-01 1.12925160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.63, Y:294.56, Z:112.93 [[ 9.53061426e-01 -9.01850222e-02 -2.89033872e-01 3.88626281e+02] [ 8.55381736e-02 9.95921568e-01 -2.86958580e-02 2.94555126e+02] [ 2.90443004e-01 2.62548576e-03 9.56888692e-01 1.12932418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.462755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:388.65, Y:294.56, Z:112.94 [[ 9.52890486e-01 -9.03266773e-02 -2.89552781e-01 3.88653014e+02] [ 8.56560345e-02 9.95908713e-01 -2.87902764e-02 2.94558936e+02] [ 2.90968667e-01 2.63203757e-03 9.56728962e-01 1.12940495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.68, Y:294.56, Z:112.95 [[ 9.52849331e-01 -9.16048456e-02 -2.89286546e-01 3.88678761e+02] [ 8.69707413e-02 9.95792683e-01 -2.88621178e-02 2.94563129e+02] [ 2.90713336e-01 2.34178433e-03 9.56807333e-01 1.12947793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.70, Y:294.56, Z:112.97 [[ 9.51948786e-01 -8.64840324e-02 -2.93792478e-01 3.88704562e+02] [ 8.69310943e-02 9.96147229e-01 -1.15621734e-02 2.94555159e+02] [ 2.93660506e-01 -1.45331047e-02 9.55799297e-01 1.12966743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.73, Y:294.58, Z:112.96 [[ 9.52771728e-01 -9.99653555e-02 -2.86762902e-01 3.88732714e+02] [ 9.08567673e-02 9.94849831e-01 -4.49317459e-02 2.94579939e+02] [ 2.89777642e-01 1.67553470e-02 9.56947322e-01 1.12958573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.76, Y:294.57, Z:112.97 [[ 9.52721243e-01 -9.56314679e-02 -2.88403981e-01 3.88759324e+02] [ 9.11486459e-02 9.95415948e-01 -2.89657482e-02 2.94573655e+02] [ 2.89851959e-01 1.30865133e-03 9.57070598e-01 1.12971829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.78, Y:294.58, Z:112.98 [[ 9.52522381e-01 -9.71179814e-02 -2.88564051e-01 3.88784695e+02] [ 9.26692544e-02 9.95272421e-01 -2.90726085e-02 2.94575976e+02] [ 2.90023315e-01 9.51294784e-04 9.57019107e-01 1.12979512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.81, Y:294.58, Z:112.99 [[ 9.52237020e-01 -9.90176773e-02 -2.88860101e-01 3.88810969e+02] [ 9.46323038e-02 9.95085587e-01 -2.91444912e-02 2.94578164e+02] [ 2.90326343e-01 4.16966658e-04 9.56927605e-01 1.12987769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:388.84, Y:294.57, Z:113.01 [[ 9.51140601e-01 -9.68306333e-02 -2.93181488e-01 3.88837808e+02] [ 9.73195322e-02 9.95168864e-01 -1.29553641e-02 2.94567807e+02] [ 2.93019564e-01 -1.62099125e-02 9.55969023e-01 1.13006494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.87, Y:294.59, Z:113.00 [[ 9.51640139e-01 -1.09402889e-01 -2.87074996e-01 3.88865182e+02] [ 1.00958996e-01 9.93912665e-01 -4.41009645e-02 2.94589276e+02] [ 2.90152248e-01 1.29854446e-02 9.56892393e-01 1.12999365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.89, Y:294.58, Z:113.01 [[ 9.51200782e-01 -1.09619825e-01 -2.88445085e-01 3.88891151e+02] [ 1.05662185e-01 9.93970180e-01 -2.93050042e-02 2.94582657e+02] [ 2.89918223e-01 -2.60279498e-03 9.57047883e-01 1.13011677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.92, Y:294.59, Z:113.02 [[ 9.51158513e-01 -1.11128128e-01 -2.88006982e-01 3.88917350e+02] [ 1.07221327e-01 9.93801685e-01 -2.93563821e-02 2.94585921e+02] [ 2.89484144e-01 -2.95791798e-03 9.57178239e-01 1.13019352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.94, Y:294.59, Z:113.03 [[ 9.51085506e-01 -1.12552228e-01 -2.87694901e-01 3.88943282e+02] [ 1.08705235e-01 9.93640182e-01 -2.93659805e-02 2.94589880e+02] [ 2.89170420e-01 -3.34438341e-03 9.57271792e-01 1.13027174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:388.97, Y:294.59, Z:113.04 [[ 9.50792716e-01 -1.14973582e-01 -2.87705208e-01 3.88970413e+02] [ 1.11222471e-01 9.93360339e-01 -2.94074656e-02 2.94593220e+02] [ 2.89176024e-01 -4.03888008e-03 9.57267421e-01 1.13035362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.00, Y:294.60, Z:113.04 [[ 9.50633940e-01 -1.16114682e-01 -2.87771600e-01 3.88995703e+02] [ 1.12384408e-01 9.93226552e-01 -2.95086529e-02 2.94595916e+02] [ 2.89248782e-01 -4.28911396e-03 9.57244350e-01 1.13043081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.02, Y:294.60, Z:113.05 [[ 9.50512953e-01 -1.17243285e-01 -2.87713640e-01 3.89022816e+02] [ 1.13552811e-01 9.93092619e-01 -2.95433441e-02 2.94599673e+02] [ 2.89190051e-01 -4.58936133e-03 9.57260702e-01 1.13051365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.05, Y:294.60, Z:113.06 [[ 9.50558122e-01 -1.17361276e-01 -2.87516240e-01 3.89049972e+02] [ 1.13652902e-01 9.93078980e-01 -2.96168558e-02 2.94603580e+02] [ 2.89002206e-01 -4.52451213e-03 9.57317739e-01 1.13059472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.08, Y:294.61, Z:113.07 [[ 9.50544451e-01 -1.17432284e-01 -2.87532444e-01 3.89075654e+02] [ 1.13698070e-01 9.93070930e-01 -2.97132305e-02 2.94606796e+02] [ 2.89029404e-01 -4.44813765e-03 9.57309886e-01 1.13067084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.10, Y:294.61, Z:113.07 [[ 9.50112956e-01 -1.18056874e-01 -2.88700444e-01 3.89101987e+02] [ 1.14307480e-01 9.92996107e-01 -2.98752522e-02 2.94609979e+02] [ 2.90205396e-01 -4.61575608e-03 9.56953250e-01 1.13074967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.13, Y:294.61, Z:113.08 [[ 9.49201423e-01 -1.19524882e-01 -2.91084971e-01 3.89129174e+02] [ 1.15750652e-01 9.92818560e-01 -3.02174227e-02 2.94614938e+02] [ 2.92606296e-01 -5.01085453e-03 9.56219874e-01 1.13081744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.16, Y:294.61, Z:113.09 [[ 9.48392310e-01 -1.17177390e-01 -2.94654860e-01 3.89157163e+02] [ 1.15454472e-01 9.93039449e-01 -2.33006094e-02 2.94612305e+02] [ 2.95334204e-01 -1.19211023e-02 9.55319630e-01 1.13094841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.18, Y:294.61, Z:113.11 [[ 9.47969462e-01 -1.16726945e-01 -2.96190344e-01 3.89184069e+02] [ 1.17100532e-01 9.92982263e-01 -1.65436110e-02 2.94610897e+02] [ 2.96042843e-01 -1.90012086e-02 9.54985649e-01 1.13108737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.21, Y:294.62, Z:113.11 [[ 9.47804182e-01 -1.20835783e-01 -2.95069391e-01 3.89211789e+02] [ 1.18156584e-01 9.92628858e-01 -2.69624076e-02 2.94620948e+02] [ 2.96152416e-01 -9.30930859e-03 9.55095327e-01 1.13113956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.24, Y:294.64, Z:113.11 [[ 9.48448087e-01 -1.30355093e-01 -2.88883674e-01 3.89236704e+02] [ 1.21902176e-01 9.91421880e-01 -4.71435635e-02 2.94640059e+02] [ 2.92550998e-01 9.49767411e-03 9.56202754e-01 1.13108692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.26, Y:294.61, Z:113.13 [[ 9.49398170e-01 -1.14861702e-01 -2.92318155e-01 3.89259042e+02] [ 1.19414582e-01 9.92841852e-01 -2.28353751e-03 2.94614511e+02] [ 2.90487989e-01 -3.27390639e-02 9.56318400e-01 1.13132724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.29, Y:294.64, Z:113.13 [[ 9.48133899e-01 -1.28089862e-01 -2.90921118e-01 3.89290350e+02] [ 1.22129972e-01 9.91761957e-01 -3.86327590e-02 2.94637941e+02] [ 2.93472962e-01 1.09884035e-03 9.55966743e-01 1.13132377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.32, Y:294.64, Z:113.14 [[ 9.47322148e-01 -1.27221199e-01 -2.93931140e-01 3.89315461e+02] [ 1.22066809e-01 9.91872598e-01 -3.58949007e-02 2.94637681e+02] [ 2.96108836e-01 -1.87520209e-03 9.55152365e-01 1.13142246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.34, Y:294.64, Z:113.15 [[ 9.47833013e-01 -1.28629566e-01 -2.91662500e-01 3.89342763e+02] [ 1.26350358e-01 9.91625739e-01 -2.67204308e-02 2.94635988e+02] [ 2.92657079e-01 -1.15251548e-02 9.56148004e-01 1.13149844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.37, Y:294.65, Z:113.15 [[ 9.48470228e-01 -1.35272576e-01 -2.86540672e-01 3.89368201e+02] [ 1.29180188e-01 9.90807846e-01 -4.01533493e-02 2.94648859e+02] [ 2.89338393e-01 1.06887861e-03 9.57226281e-01 1.13148379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.40, Y:294.64, Z:113.17 [[ 9.47889016e-01 -1.28028932e-01 -2.91744761e-01 3.89396005e+02] [ 1.28616926e-01 9.91544360e-01 -1.72472478e-02 2.94636541e+02] [ 2.91486019e-01 -2.11748376e-02 9.56340696e-01 1.13168324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.42, Y:294.64, Z:113.18 [[ 9.47621439e-01 -1.29814640e-01 -2.91824891e-01 3.89422614e+02] [ 1.28772160e-01 9.91410590e-01 -2.28642241e-02 2.94642072e+02] [ 2.92286399e-01 -1.59122926e-02 9.56198442e-01 1.13176441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.45, Y:294.66, Z:113.17 [[ 9.48725364e-01 -1.38513796e-01 -2.84137488e-01 3.89448760e+02] [ 1.30568738e-01 9.90333511e-01 -4.68117741e-02 2.94661065e+02] [ 2.87874952e-01 7.31204417e-03 9.57640092e-01 1.13169877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.48, Y:294.64, Z:113.20 [[ 9.48178576e-01 -1.25563422e-01 -2.91875341e-01 3.89477213e+02] [ 1.28396083e-01 9.91677361e-01 -9.51086849e-03 2.94638711e+02] [ 2.90640385e-01 -2.84576489e-02 9.56409080e-01 1.13197533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.50, Y:294.67, Z:113.19 [[ 9.49232080e-01 -1.38534771e-01 -2.82429772e-01 3.89503440e+02] [ 1.30062277e-01 9.90312731e-01 -4.86261132e-02 2.94665471e+02] [ 2.86430206e-01 9.42400748e-03 9.58054761e-01 1.13185821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.53, Y:294.66, Z:113.20 [[ 9.49461911e-01 -1.33189796e-01 -2.84222726e-01 3.89528414e+02] [ 1.29833966e-01 9.91060251e-01 -3.07037647e-02 2.94656762e+02] [ 2.85771274e-01 -7.74970847e-03 9.58266519e-01 1.13199462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.55, Y:294.66, Z:113.21 [[ 9.49359321e-01 -1.31672815e-01 -2.85270309e-01 3.89553775e+02] [ 1.28206024e-01 9.91266670e-01 -3.08804944e-02 2.94658535e+02] [ 2.86845070e-01 -7.25668685e-03 9.57949501e-01 1.13207456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.58, Y:294.66, Z:113.21 [[ 9.49470043e-01 -1.30981966e-01 -2.85219849e-01 3.89580954e+02] [ 1.27473900e-01 9.91360002e-01 -3.09152154e-02 2.94662531e+02] [ 2.86804886e-01 -7.00501570e-03 9.57963406e-01 1.13214790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.61, Y:294.67, Z:113.22 [[ 9.48901404e-01 -1.31555480e-01 -2.86843652e-01 3.89607524e+02] [ 1.26459453e-01 9.91307134e-01 -3.63066542e-02 2.94669177e+02] [ 2.89126498e-01 -1.82265607e-03 9.57289165e-01 1.13221983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.63, Y:294.67, Z:113.23 [[ 9.49413765e-01 -1.26978400e-01 -2.87210704e-01 3.89633769e+02] [ 1.24694661e-01 9.91846298e-01 -2.63090070e-02 2.94666677e+02] [ 2.88209549e-01 -1.08355079e-02 9.57506056e-01 1.13232311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.602755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.66, Y:294.67, Z:113.24 [[ 9.49473794e-01 -1.27736503e-01 -2.86675601e-01 3.89660995e+02] [ 1.23981828e-01 9.91790991e-01 -3.12911739e-02 2.94672855e+02] [ 2.88319303e-01 -5.83241542e-03 9.57516560e-01 1.13238850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.69, Y:294.68, Z:113.25 [[ 9.49503055e-01 -1.27051435e-01 -2.86883046e-01 3.89686290e+02] [ 1.23233150e-01 9.91880691e-01 -3.14051762e-02 2.94676226e+02] [ 2.88543827e-01 -5.53419075e-03 9.57450695e-01 1.13246813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.71, Y:294.68, Z:113.25 [[ 9.49517197e-01 -1.26596108e-01 -2.87037487e-01 3.89712559e+02] [ 1.22741098e-01 9.91939881e-01 -3.14625993e-02 2.94680099e+02] [ 2.88706973e-01 -5.35701720e-03 9.57402520e-01 1.13254771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.692755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:389.74, Y:294.68, Z:113.26 [[ 9.49265736e-01 -1.26996380e-01 -2.87691645e-01 3.89739364e+02] [ 1.23113905e-01 9.91888494e-01 -3.16256546e-02 2.94683689e+02] [ 2.89374376e-01 -5.39769146e-03 9.57200781e-01 1.13263008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.77, Y:294.69, Z:113.27 [[ 9.49047720e-01 -1.27760279e-01 -2.88072450e-01 3.89765989e+02] [ 1.23874155e-01 9.91789581e-01 -3.17587797e-02 2.94687621e+02] [ 2.89764765e-01 -5.54413388e-03 9.57081838e-01 1.13270877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.79, Y:294.69, Z:113.28 [[ 9.48537787e-01 -1.29347674e-01 -2.89041946e-01 3.89791389e+02] [ 1.25479340e-01 9.91581413e-01 -3.19567919e-02 2.94691111e+02] [ 2.90742158e-01 -5.95656803e-03 9.56782900e-01 1.13278803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.82, Y:294.69, Z:113.29 [[ 9.48589938e-01 -1.25765761e-01 -2.90448108e-01 3.89817610e+02] [ 1.23439046e-01 9.92001029e-01 -2.63962037e-02 2.94687934e+02] [ 2.91444561e-01 -1.08134643e-02 9.56526600e-01 1.13289363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.84, Y:294.70, Z:113.29 [[ 9.47414316e-01 -1.35700800e-01 -2.89812709e-01 3.89844567e+02] [ 1.30110020e-01 9.90749175e-01 -3.85675274e-02 2.94700398e+02] [ 2.92365347e-01 -1.16810991e-03 9.56305986e-01 1.13293571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.87, Y:294.70, Z:113.30 [[ 9.47072632e-01 -1.35818709e-01 -2.90872324e-01 3.89870911e+02] [ 1.32143426e-01 9.90702929e-01 -3.23391738e-02 2.94699543e+02] [ 2.92560328e-01 -7.80931899e-03 9.56215179e-01 1.13303699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.90, Y:294.70, Z:113.31 [[ 9.46818784e-01 -1.37568163e-01 -2.90876592e-01 3.89896387e+02] [ 1.33946478e-01 9.90457870e-01 -3.24275928e-02 2.94702201e+02] [ 2.92562014e-01 -8.25884113e-03 9.56210887e-01 1.13311514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.92, Y:294.70, Z:113.32 [[ 9.46391085e-01 -1.40269631e-01 -2.90978256e-01 3.89922837e+02] [ 1.36757741e-01 9.90071930e-01 -3.24791197e-02 2.94704793e+02] [ 2.92645238e-01 -9.05557983e-03 9.56178206e-01 1.13319711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.95, Y:294.71, Z:113.33 [[ 9.46200279e-01 -1.41878723e-01 -2.90818603e-01 3.89949688e+02] [ 1.38416247e-01 9.89838934e-01 -3.25549756e-02 2.94707947e+02] [ 2.92482434e-01 -9.45049265e-03 9.56224196e-01 1.13327844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:389.98, Y:294.71, Z:113.34 [[ 9.46030244e-01 -1.43158766e-01 -2.90744469e-01 3.89976520e+02] [ 1.39727903e-01 9.89651761e-01 -3.26420752e-02 2.94710420e+02] [ 2.92408775e-01 -9.74472460e-03 9.56243771e-01 1.13336412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.00, Y:294.71, Z:113.35 [[ 9.46099796e-01 -1.44203449e-01 -2.90000935e-01 3.90002417e+02] [ 1.40809308e-01 9.89498117e-01 -3.26529402e-02 2.94711543e+02] [ 2.91664046e-01 -9.94189101e-03 9.56469154e-01 1.13345315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.03, Y:294.71, Z:113.35 [[ 9.46093515e-01 -1.44703760e-01 -2.89772124e-01 3.90028739e+02] [ 1.41318021e-01 9.89424289e-01 -3.26924160e-02 2.94714760e+02] [ 2.91438293e-01 -1.00199404e-02 9.56537152e-01 1.13353725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.06, Y:294.72, Z:113.36 [[ 9.46355670e-01 -1.43896338e-01 -2.89317801e-01 3.90055641e+02] [ 1.40456063e-01 9.89545635e-01 -3.27342530e-02 2.94718281e+02] [ 2.91003506e-01 -9.65819324e-03 9.56673235e-01 1.13361844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.08, Y:294.72, Z:113.37 [[ 9.46661119e-01 -1.42717303e-01 -2.88902228e-01 3.90082486e+02] [ 1.39204873e-01 9.89720880e-01 -3.27808269e-02 2.94721773e+02] [ 2.90610959e-01 -9.18426358e-03 9.56797220e-01 1.13369551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.11, Y:294.73, Z:113.38 [[ 9.46762959e-01 -1.41571552e-01 -2.89132142e-01 3.90108074e+02] [ 1.37974412e-01 9.89889365e-01 -3.28953809e-02 2.94725317e+02] [ 2.90865883e-01 -8.74870900e-03 9.56723836e-01 1.13377658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.13, Y:294.73, Z:113.39 [[ 9.46914056e-01 -1.40143288e-01 -2.89333079e-01 3.90134453e+02] [ 1.36462948e-01 9.90096679e-01 -3.29610441e-02 2.94729121e+02] [ 2.91086989e-01 -8.27196902e-03 9.56660828e-01 1.13385778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.16, Y:294.73, Z:113.39 [[ 9.47357213e-01 -1.36437503e-01 -2.89653448e-01 3.90160750e+02] [ 1.32551063e-01 9.90623633e-01 -3.30912990e-02 2.94733538e+02] [ 2.91452445e-01 -7.04459170e-03 9.56559379e-01 1.13393559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.19, Y:294.74, Z:113.40 [[ 9.47619962e-01 -1.34651345e-01 -2.89629804e-01 3.90187532e+02] [ 1.30655543e-01 9.90872385e-01 -3.31820078e-02 2.94737228e+02] [ 2.91454177e-01 -6.39780656e-03 9.56563396e-01 1.13401438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.21, Y:294.74, Z:113.41 [[ 9.47717877e-01 -1.33314616e-01 -2.89927644e-01 3.90213987e+02] [ 1.29220412e-01 9.91056235e-01 -3.33110248e-02 2.94741076e+02] [ 2.91775446e-01 -5.89511598e-03 9.56468680e-01 1.13409079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.24, Y:294.75, Z:113.42 [[ 9.47884079e-01 -1.30273018e-01 -2.90765736e-01 3.90239541e+02] [ 1.25985661e-01 9.91466172e-01 -3.35028759e-02 2.94745778e+02] [ 2.92648912e-01 -4.87547070e-03 9.56207532e-01 1.13416218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.27, Y:294.75, Z:113.42 [[ 9.47974882e-01 -1.29269647e-01 -2.90917481e-01 3.90265867e+02] [ 1.24918293e-01 9.91599162e-01 -3.35637102e-02 2.94750075e+02] [ 2.92812300e-01 -4.52336081e-03 9.56159242e-01 1.13423613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.29, Y:294.75, Z:113.43 [[ 9.47922665e-01 -1.27616505e-01 -2.91816121e-01 3.90291396e+02] [ 1.23131989e-01 9.91815810e-01 -3.37625786e-02 2.94754344e+02] [ 2.93736504e-01 -3.92758580e-03 9.55878361e-01 1.13430634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.32, Y:294.76, Z:113.44 [[ 9.47719811e-01 -1.27401415e-01 -2.92568009e-01 3.90318113e+02] [ 1.22862868e-01 9.91843948e-01 -3.39160388e-02 2.94757491e+02] [ 2.94502761e-01 -3.80284291e-03 9.55643062e-01 1.13439103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.34, Y:294.76, Z:113.45 [[ 9.47630750e-01 -1.27541615e-01 -2.92795317e-01 3.90344190e+02] [ 1.22973048e-01 9.91826128e-01 -3.40376467e-02 2.94760262e+02] [ 2.94743262e-01 -3.75081204e-03 9.55569119e-01 1.13447341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.37, Y:294.77, Z:113.45 [[ 9.48043866e-01 -1.31967655e-01 -2.89477749e-01 3.90373569e+02] [ 1.23386418e-01 9.91207718e-01 -4.77812935e-02 2.94771367e+02] [ 2.93238164e-01 9.58113961e-03 9.55991413e-01 1.13447493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.40, Y:294.76, Z:113.47 [[ 9.47603787e-01 -1.23463956e-01 -2.94624701e-01 3.90396841e+02] [ 1.23239196e-01 9.92187238e-01 -1.94058149e-02 2.94757712e+02] [ 2.94718787e-01 -1.79202875e-02 9.55415983e-01 1.13468671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.42, Y:294.77, Z:113.47 [[ 9.47727019e-01 -1.26628089e-01 -2.92880224e-01 3.90423101e+02] [ 1.21950264e-01 9.91944932e-01 -3.42547228e-02 2.94769282e+02] [ 2.94858664e-01 -3.25269425e-03 9.55535341e-01 1.13471776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.45, Y:294.77, Z:113.48 [[ 9.47690186e-01 -1.26921502e-01 -2.92872402e-01 3.90450290e+02] [ 1.22236741e-01 9.91907362e-01 -3.43214758e-02 2.94772671e+02] [ 2.94858425e-01 -3.27364209e-03 9.55535343e-01 1.13479903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.48, Y:294.79, Z:113.48 [[ 9.48079587e-01 -1.32500449e-01 -2.89117154e-01 3.90480095e+02] [ 1.22593647e-01 9.91083487e-01 -5.21950112e-02 2.94787260e+02] [ 2.93455099e-01 1.40410984e-02 9.55869736e-01 1.13477976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.562755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:390.50, Y:294.77, Z:113.50 [[ 9.47507213e-01 -1.21210327e-01 -2.95868447e-01 3.90502344e+02] [ 1.22006045e-01 9.92402881e-01 -1.58444418e-02 2.94768550e+02] [ 2.95541209e-01 -2.10850161e-02 9.55097281e-01 1.13502537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.53, Y:294.79, Z:113.49 [[ 9.48058079e-01 -1.31677021e-01 -2.89563537e-01 3.90533802e+02] [ 1.21119872e-01 9.91158987e-01 -5.41649336e-02 2.94792330e+02] [ 2.94135779e-01 1.62796044e-02 9.55624988e-01 1.13493843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.56, Y:294.77, Z:113.52 [[ 9.47376247e-01 -1.19721002e-01 -2.96892453e-01 3.90555909e+02] [ 1.21035553e-01 9.92549144e-01 -1.40211363e-02 2.94771107e+02] [ 2.96358974e-01 -2.26512507e-02 9.54807980e-01 1.13520610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.59, Y:294.79, Z:113.51 [[ 9.47556309e-01 -1.28846454e-01 -2.92464756e-01 3.90587602e+02] [ 1.20146662e-01 9.91614520e-01 -4.75964625e-02 2.94792140e+02] [ 2.96144934e-01 9.96166425e-03 9.55091066e-01 1.13514752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.61, Y:294.79, Z:113.53 [[ 9.47516266e-01 -1.26443319e-01 -2.93640960e-01 3.90614178e+02] [ 1.21031216e-01 9.91973467e-01 -3.66071914e-02 2.94788369e+02] [ 2.95912776e-01 -8.53813376e-04 9.55214583e-01 1.13525970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.64, Y:294.78, Z:113.54 [[ 9.46639330e-01 -1.22169929e-01 -2.98242329e-01 3.90637173e+02] [ 1.21785399e-01 9.92355990e-01 -1.99475776e-02 2.94781718e+02] [ 2.98399556e-01 -1.74383996e-02 9.54281723e-01 1.13544966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.66, Y:294.79, Z:113.55 [[ 9.46989972e-01 -1.26192724e-01 -2.95441010e-01 3.90663394e+02] [ 1.22069805e-01 9.91991334e-01 -3.24369558e-02 2.94791059e+02] [ 2.97168229e-01 -5.34695465e-03 9.54810166e-01 1.13549911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.772755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:390.69, Y:294.80, Z:113.56 [[ 9.47060160e-01 -1.27295344e-01 -2.94742173e-01 3.90689845e+02] [ 1.22338052e-01 9.91861323e-01 -3.52777239e-02 2.94795691e+02] [ 2.96834052e-01 -2.64805652e-03 9.54925407e-01 1.13557711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.72, Y:294.80, Z:113.57 [[ 9.47213359e-01 -1.27637550e-01 -2.94101187e-01 3.90716704e+02] [ 1.22688259e-01 9.91817344e-01 -3.52979808e-02 2.94798972e+02] [ 2.96200006e-01 -2.64804355e-03 9.55122267e-01 1.13566179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:390.74, Y:294.80, Z:113.57 [[ 9.47324675e-01 -1.28074441e-01 -2.93552206e-01 3.90743238e+02] [ 1.23134669e-01 9.91760939e-01 -3.53283562e-02 2.94802135e+02] [ 2.95658271e-01 -2.67903031e-03 9.55290013e-01 1.13574601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.862755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:390.77, Y:294.81, Z:113.58 [[ 9.47358371e-01 -1.28164552e-01 -2.93404098e-01 3.90769480e+02] [ 1.23203499e-01 9.91749501e-01 -3.54094020e-02 2.94805102e+02] [ 2.95521598e-01 -2.60301816e-03 9.55332513e-01 1.13582914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.80, Y:294.81, Z:113.59 [[ 9.47403873e-01 -1.28509180e-01 -2.93106280e-01 3.90796316e+02] [ 1.23544237e-01 9.91704896e-01 -3.54714138e-02 2.94808460e+02] [ 2.95233335e-01 -2.60583695e-03 9.55421628e-01 1.13591378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.82, Y:294.81, Z:113.60 [[ 9.47630853e-01 -1.27960988e-01 -2.92611949e-01 3.90821884e+02] [ 1.22957126e-01 9.91776470e-01 -3.55102749e-02 2.94812502e+02] [ 2.94749576e-01 -2.32809212e-03 9.55571697e-01 1.13599209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.952755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:390.85, Y:294.82, Z:113.61 [[ 9.47651400e-01 -1.27316233e-01 -2.92826572e-01 3.90847446e+02] [ 1.21022422e-01 9.91859999e-01 -3.95893414e-02 2.94817795e+02] [ 2.95483329e-01 2.07831391e-03 9.55345635e-01 1.13605616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.88, Y:294.82, Z:113.62 [[ 9.47827520e-01 -1.25854206e-01 -2.92888565e-01 3.90875393e+02] [ 1.21426369e-01 9.92040782e-01 -3.33275228e-02 2.94818571e+02] [ 2.94751810e-01 -3.97565176e-03 9.55565573e-01 1.13616119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.90, Y:294.82, Z:113.62 [[ 9.47859133e-01 -1.26067807e-01 -2.92694332e-01 3.90901760e+02] [ 1.20917953e-01 9.92020408e-01 -3.56981686e-02 2.94822905e+02] [ 2.94859140e-01 -1.55516424e-03 9.55539465e-01 1.13623746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.93, Y:294.83, Z:113.63 [[ 9.48022597e-01 -1.25707541e-01 -2.92319636e-01 3.90927232e+02] [ 1.20524822e-01 9.92066437e-01 -3.57484621e-02 2.94826277e+02] [ 2.94494351e-01 -1.34142236e-03 9.55652279e-01 1.13631369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.072755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:390.95, Y:294.83, Z:113.64 [[ 9.48201091e-01 -1.25751496e-01 -2.91721189e-01 3.90954041e+02] [ 1.20579064e-01 9.92060912e-01 -3.57188439e-02 2.94829637e+02] [ 2.93896887e-01 -1.30682121e-03 9.55836237e-01 1.13639983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:390.98, Y:294.83, Z:113.65 [[ 9.48151433e-01 -1.26280977e-01 -2.91653863e-01 3.90979493e+02] [ 1.21105976e-01 9.91993566e-01 -3.58065282e-02 2.94833165e+02] [ 2.93840439e-01 -1.37101452e-03 9.55853502e-01 1.13648130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.132755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:391.01, Y:294.84, Z:113.66 [[ 9.48182801e-01 -1.26832765e-01 -2.91312248e-01 3.91005842e+02] [ 1.21675232e-01 9.91923024e-01 -3.58308937e-02 2.94836854e+02] [ 2.93503857e-01 -1.47124807e-03 9.55956757e-01 1.13656187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.04, Y:294.84, Z:113.67 [[ 9.48130146e-01 -1.24882443e-01 -2.92324481e-01 3.91035696e+02] [ 1.20929910e-01 9.92157050e-01 -3.16282182e-02 2.94836067e+02] [ 2.93981604e-01 -5.36310607e-03 9.55796032e-01 1.13667885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.06, Y:294.85, Z:113.67 [[ 9.48433703e-01 -1.29397556e-01 -2.89360993e-01 3.91058484e+02] [ 1.24193944e-01 9.91591727e-01 -3.63553603e-02 2.94845183e+02] [ 2.91632261e-01 -1.45623404e-03 9.56529406e-01 1.13673097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:391.08, Y:294.85, Z:113.68 [[ 9.48544739e-01 -1.30224222e-01 -2.88625241e-01 3.91084983e+02] [ 1.25249230e-01 9.91481981e-01 -3.57226956e-02 2.94848581e+02] [ 2.90818686e-01 -2.26551414e-03 9.56775501e-01 1.13681530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.11, Y:294.85, Z:113.69 [[ 9.48552528e-01 -1.32374027e-01 -2.87619920e-01 3.91110933e+02] [ 1.27502701e-01 9.91195834e-01 -3.56914595e-02 2.94852675e+02] [ 2.89812289e-01 -2.81709256e-03 9.57079360e-01 1.13690330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.14, Y:294.86, Z:113.70 [[ 9.48448376e-01 -1.33445535e-01 -2.87468202e-01 3.91136035e+02] [ 1.28599686e-01 9.91051463e-01 -3.57647529e-02 2.94856185e+02] [ 2.89668428e-01 -3.04729865e-03 9.57122205e-01 1.13698372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.16, Y:294.86, Z:113.71 [[ 9.48278957e-01 -1.34085548e-01 -2.87729187e-01 3.91162255e+02] [ 1.29247125e-01 9.90964582e-01 -3.58382147e-02 2.94859636e+02] [ 2.89934820e-01 -3.20354523e-03 9.57041032e-01 1.13706391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.19, Y:294.86, Z:113.71 [[ 9.47801067e-01 -1.34951713e-01 -2.88896475e-01 3.91188811e+02] [ 1.30084633e-01 9.90846382e-01 -3.60754232e-02 2.94864770e+02] [ 2.91120467e-01 -3.38866731e-03 9.56680402e-01 1.13713740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.21, Y:294.87, Z:113.72 [[ 9.47536248e-01 -1.35021281e-01 -2.89731448e-01 3.91214061e+02] [ 1.30099108e-01 9.90837135e-01 -3.62766231e-02 2.94869502e+02] [ 2.91974794e-01 -3.32038744e-03 9.56420250e-01 1.13720875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4027550960001 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:391.24, Y:294.87, Z:113.73 [[ 9.47677545e-01 -1.33973429e-01 -2.89755742e-01 3.91240733e+02] [ 1.28982199e-01 9.90980596e-01 -3.63462512e-02 2.94874797e+02] [ 2.92011750e-01 -2.92880663e-03 9.56410247e-01 1.13728152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.432755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:391.27, Y:294.88, Z:113.74 [[ 9.47815205e-01 -1.33379254e-01 -2.89579545e-01 3.91265873e+02] [ 1.28339919e-01 9.91061524e-01 -3.64132085e-02 2.94878985e+02] [ 2.91847911e-01 -2.65162268e-03 9.56461063e-01 1.13736223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:391.29, Y:294.88, Z:113.75 [[ 9.47902464e-01 -1.32636691e-01 -2.89634989e-01 3.91292627e+02] [ 1.27549278e-01 9.91161861e-01 -3.64602184e-02 2.94883518e+02] [ 2.91911117e-01 -2.38200282e-03 9.56442484e-01 1.13745232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.32, Y:294.89, Z:113.75 [[ 9.48412925e-01 -1.31434341e-01 -2.88509856e-01 3.91319110e+02] [ 1.26306048e-01 9.91323034e-01 -3.64063878e-02 2.94890162e+02] [ 2.90791516e-01 -1.91225097e-03 9.56784531e-01 1.13752976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.34, Y:294.90, Z:113.76 [[ 9.48620127e-01 -1.30697380e-01 -2.88163236e-01 3.91344661e+02] [ 1.25519414e-01 9.91421042e-01 -3.64581214e-02 2.94895148e+02] [ 2.90456076e-01 -1.58517275e-03 9.56887013e-01 1.13760797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.37, Y:294.90, Z:113.77 [[ 9.48901670e-01 -1.30049713e-01 -2.87528595e-01 3.91369754e+02] [ 1.24853344e-01 9.91506568e-01 -3.64193284e-02 2.94900087e+02] [ 2.89822814e-01 -1.34054490e-03 9.57079380e-01 1.13768559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.40, Y:294.91, Z:113.78 [[ 9.49425112e-01 -1.28641803e-01 -2.86431917e-01 3.91396019e+02] [ 1.23410866e-01 9.91690748e-01 -3.63210590e-02 2.94906127e+02] [ 2.88724288e-01 -8.64685231e-04 9.57411896e-01 1.13776637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.42, Y:294.91, Z:113.78 [[ 9.49668965e-01 -1.28466491e-01 -2.85701275e-01 3.91422576e+02] [ 1.23226720e-01 9.91713595e-01 -3.63224639e-02 2.94910916e+02] [ 2.88000057e-01 -7.11714238e-04 9.57630127e-01 1.13784858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.45, Y:294.91, Z:113.79 [[ 9.50737483e-01 -1.23400730e-01 -2.84377386e-01 3.91445805e+02] [ 1.20866667e-01 9.92314606e-01 -2.65136276e-02 2.94910548e+02] [ 2.85463635e-01 -9.16424726e-03 9.58345726e-01 1.13793786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6727550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:391.47, Y:294.93, Z:113.79 [[ 9.49589392e-01 -1.32577451e-01 -2.84083097e-01 3.91473981e+02] [ 1.20886129e-01 9.90948106e-01 -5.83814672e-02 2.94933462e+02] [ 2.89251673e-01 2.10967160e-02 9.57020584e-01 1.13793758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.50, Y:294.92, Z:113.81 [[ 9.50330188e-01 -1.24308731e-01 -2.85341678e-01 3.91501015e+02] [ 1.21611277e-01 9.92204327e-01 -2.72262802e-02 2.94921443e+02] [ 2.86501712e-01 -8.82680986e-03 9.58039069e-01 1.13810723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.53, Y:294.94, Z:113.81 [[ 9.49607959e-01 -1.29129083e-01 -2.85605328e-01 3.91525833e+02] [ 1.20137753e-01 9.91554138e-01 -4.88601202e-02 2.94937763e+02] [ 2.89502408e-01 1.20859767e-02 9.57100980e-01 1.13812789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.55, Y:294.94, Z:113.82 [[ 9.49247776e-01 -1.26842774e-01 -2.87818641e-01 3.91551615e+02] [ 1.19806200e-01 9.91908173e-01 -4.20077546e-02 2.94939664e+02] [ 2.90818042e-01 5.39330982e-03 9.56763178e-01 1.13822987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.58, Y:294.93, Z:113.84 [[ 9.49966637e-01 -1.22958742e-01 -2.87131565e-01 3.91579936e+02] [ 1.21629988e-01 9.92319710e-01 -2.25330580e-02 2.94934486e+02] [ 2.87696948e-01 -1.35181555e-02 9.57626089e-01 1.13836373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.61, Y:294.94, Z:113.84 [[ 9.49513637e-01 -1.25175907e-01 -2.87671420e-01 3.91610600e+02] [ 1.20396517e-01 9.92132452e-01 -3.43202151e-02 2.94943039e+02] [ 2.89704216e-01 -2.04712481e-03 9.57114035e-01 1.13842850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.64, Y:294.95, Z:113.85 [[ 9.48908500e-01 -1.27032408e-01 -2.88851910e-01 3.91635958e+02] [ 1.19690813e-01 9.91878908e-01 -4.30155944e-02 2.94952552e+02] [ 2.91970492e-01 6.24494328e-03 9.56406939e-01 1.13847613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.66, Y:294.96, Z:113.85 [[ 9.48860757e-01 -1.27861610e-01 -2.88642813e-01 3.91662892e+02] [ 1.20857703e-01 9.91779407e-01 -4.20359686e-02 2.94957235e+02] [ 2.91644785e-01 5.00157355e-03 9.56513619e-01 1.13854587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.69, Y:294.95, Z:113.87 [[ 9.49132774e-01 -1.26039111e-01 -2.88550029e-01 3.91687511e+02] [ 1.24752224e-01 9.91923072e-01 -2.29238497e-02 2.94953753e+02] [ 2.89108733e-01 -1.42394809e-02 9.57190356e-01 1.13868281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.72, Y:294.96, Z:113.87 [[ 9.49108136e-01 -1.28955662e-01 -2.87339839e-01 3.91718546e+02] [ 1.24461911e-01 9.91643982e-01 -3.39329709e-02 2.94961967e+02] [ 2.89314671e-01 -3.55680657e-03 9.57227439e-01 1.13873905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.74, Y:294.98, Z:113.88 [[ 9.48831643e-01 -1.35425379e-01 -2.85269137e-01 3.91741800e+02] [ 1.26618147e-01 9.90731403e-01 -4.91846806e-02 2.94975269e+02] [ 2.89285946e-01 1.05477317e-02 9.57184615e-01 1.13875203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.77, Y:294.96, Z:113.89 [[ 9.50107245e-01 -1.28561509e-01 -2.84197400e-01 3.91768168e+02] [ 1.27673896e-01 9.91578183e-01 -2.17274825e-02 2.94963996e+02] [ 2.84597259e-01 -1.56411509e-02 9.58519564e-01 1.13890103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.79, Y:294.98, Z:113.89 [[ 9.47975505e-01 -1.39783743e-01 -2.86012146e-01 3.91791291e+02] [ 1.32341328e-01 9.90169017e-01 -4.52889642e-02 2.94983101e+02] [ 2.89531027e-01 5.08160148e-03 9.57155140e-01 1.13894641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.82, Y:294.98, Z:113.91 [[ 9.47748721e-01 -1.41228116e-01 -2.86054157e-01 3.91819666e+02] [ 1.38195625e-01 9.89923757e-01 -3.08694676e-02 2.94980611e+02] [ 2.87531443e-01 -1.02749346e-02 9.57716083e-01 1.13907109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.85, Y:294.99, Z:113.91 [[ 9.47281228e-01 -1.45464888e-01 -2.85478969e-01 3.91845771e+02] [ 1.40755381e-01 9.89350407e-01 -3.70633851e-02 2.94988699e+02] [ 2.87830155e-01 -5.07325188e-03 9.57668034e-01 1.13913325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.88, Y:295.02, Z:113.90 [[ 9.47367345e-01 -1.61548898e-01 -2.76400195e-01 3.91875900e+02] [ 1.47684724e-01 9.86525285e-01 -7.04065640e-02 2.95016625e+02] [ 2.84049884e-01 2.58807932e-02 9.58460144e-01 1.13901771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.90, Y:295.00, Z:113.92 [[ 9.47271371e-01 -1.54022735e-01 -2.80987450e-01 3.91903131e+02] [ 1.48685639e-01 9.88060908e-01 -4.03512501e-02 2.95004569e+02] [ 2.83847725e-01 -3.55521445e-03 9.58862779e-01 1.13917008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.182755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.93, Y:295.02, Z:113.92 [[ 9.46694119e-01 -1.60243291e-01 -2.79450055e-01 3.91930856e+02] [ 1.52799914e-01 9.87072707e-01 -4.83699984e-02 2.95018407e+02] [ 2.83588490e-01 3.09164842e-03 9.58941088e-01 1.13919905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.212755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:391.96, Y:295.02, Z:113.93 [[ 9.46130942e-01 -1.58959229e-01 -2.82078367e-01 3.91958667e+02] [ 1.53646670e-01 9.87274689e-01 -4.10047561e-02 2.95019702e+02] [ 2.85006916e-01 -4.54453316e-03 9.58514687e-01 1.13931356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:391.98, Y:294.99, Z:113.97 [[ 9.43676324e-01 -1.42213246e-01 -2.98748034e-01 3.91980354e+02] [ 1.52368071e-01 9.88264244e-01 1.08515374e-02 2.94993191e+02] [ 2.93698768e-01 -5.57600006e-02 9.54270327e-01 1.13970464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.01, Y:295.03, Z:113.96 [[ 9.43424892e-01 -1.58059862e-01 -2.91490228e-01 3.92007466e+02] [ 1.53615692e-01 9.87391066e-01 -3.82243630e-02 2.95028747e+02] [ 2.93856585e-01 -8.71565756e-03 9.55809785e-01 1.13964583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.03, Y:295.04, Z:113.97 [[ 9.42831842e-01 -1.60871660e-01 -2.91870566e-01 3.92032156e+02] [ 1.53569194e-01 9.86975269e-01 -4.79199512e-02 2.95039699e+02] [ 2.95777992e-01 3.58128195e-04 9.55256641e-01 1.13970867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.332755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:392.06, Y:295.04, Z:113.98 [[ 9.43505435e-01 -1.57181081e-01 -2.91704648e-01 3.92060388e+02] [ 1.55223968e-01 9.87423829e-01 -2.99950198e-02 2.95036222e+02] [ 2.92750770e-01 -1.69790890e-02 9.56038021e-01 1.13983467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.08, Y:295.06, Z:113.99 [[ 9.42351982e-01 -1.63599033e-01 -2.91904262e-01 3.92083395e+02] [ 1.54989193e-01 9.86517647e-01 -5.25479137e-02 2.95055162e+02] [ 2.96565494e-01 4.27662458e-03 9.55002942e-01 1.13986410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.11, Y:295.05, Z:114.00 [[ 9.42338357e-01 -1.60505046e-01 -2.93660607e-01 3.92110478e+02] [ 1.55269446e-01 9.87011902e-01 -4.12177727e-02 2.95052519e+02] [ 2.96462174e-01 -6.75543140e-03 9.55020703e-01 1.13997836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.14, Y:295.05, Z:114.01 [[ 9.43430818e-01 -1.57958564e-01 -2.91525957e-01 3.92139313e+02] [ 1.56955576e-01 9.87237026e-01 -2.69815264e-02 2.95051224e+02] [ 2.92067181e-01 -2.03014208e-02 9.56182312e-01 1.14009096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.17, Y:295.07, Z:114.01 [[ 9.43519793e-01 -1.61157595e-01 -2.89479931e-01 3.92165329e+02] [ 1.56809298e-01 9.86885409e-01 -3.83149265e-02 2.95065382e+02] [ 2.91858262e-01 -9.24225327e-03 9.56416926e-01 1.14014763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.19, Y:295.07, Z:114.02 [[ 9.43695065e-01 -1.60743090e-01 -2.89138866e-01 3.92191255e+02] [ 1.56356587e-01 9.86955225e-01 -3.83666616e-02 2.95072059e+02] [ 2.91534290e-01 -9.00233713e-03 9.56518016e-01 1.14022621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.22, Y:295.09, Z:114.03 [[ 9.42290194e-01 -1.64909768e-01 -2.91365679e-01 3.92216968e+02] [ 1.54559875e-01 9.86258404e-01 -5.83575616e-02 2.95089180e+02] [ 2.96985581e-01 9.95631529e-03 9.54830056e-01 1.14027332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.24, Y:295.08, Z:114.04 [[ 9.43075344e-01 -1.56186152e-01 -2.93623539e-01 3.92243099e+02] [ 1.52996776e-01 9.87643325e-01 -3.39506962e-02 2.95081539e+02] [ 2.95297957e-01 -1.29053902e-02 9.55318045e-01 1.14041178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.27, Y:295.09, Z:114.05 [[ 9.43468154e-01 -1.54697866e-01 -2.93149132e-01 3.92269650e+02] [ 1.49496927e-01 9.87944276e-01 -4.02091636e-02 2.95092790e+02] [ 2.95835279e-01 -5.88882897e-03 9.55220817e-01 1.14048061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.29, Y:295.10, Z:114.06 [[ 9.43292979e-01 -1.53780566e-01 -2.94193632e-01 3.92294606e+02] [ 1.47663532e-01 9.88100923e-01 -4.30354188e-02 2.95099531e+02] [ 2.97311010e-01 -2.84666244e-03 9.54776445e-01 1.14056125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.32, Y:295.10, Z:114.07 [[ 9.43922149e-01 -1.48371295e-01 -2.94952431e-01 3.92319474e+02] [ 1.44075139e-01 9.88898045e-01 -3.63732158e-02 2.95102688e+02] [ 2.97074623e-01 -8.16182857e-03 9.54819382e-01 1.14065210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.35, Y:295.11, Z:114.07 [[ 9.44690115e-01 -1.46532311e-01 -2.93409046e-01 3.92348134e+02] [ 1.44418811e-01 9.89092198e-01 -2.89798230e-02 2.95105126e+02] [ 2.94455078e-01 -1.49968332e-02 9.55547645e-01 1.14074522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.38, Y:295.11, Z:114.08 [[ 9.44762794e-01 -1.46128042e-01 -2.93376651e-01 3.92376612e+02] [ 1.41516862e-01 9.89243956e-01 -3.70050485e-02 2.95114632e+02] [ 2.95628554e-01 -6.55674993e-03 9.55280465e-01 1.14082197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.40, Y:295.14, Z:114.08 [[ 9.44433677e-01 -1.57005956e-01 -2.88780470e-01 3.92402098e+02] [ 1.43201619e-01 9.87322623e-01 -6.84641167e-02 2.95140023e+02] [ 2.95868766e-01 2.33059864e-02 9.54944242e-01 1.14076588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.43, Y:295.11, Z:114.10 [[ 9.44243731e-01 -1.39229717e-01 -2.98360289e-01 3.92429605e+02] [ 1.40156617e-01 9.89958377e-01 -1.83992885e-02 2.95112323e+02] [ 2.97925995e-01 -2.44437559e-02 9.54275958e-01 1.14103966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.45, Y:295.13, Z:114.11 [[ 9.44221710e-01 -1.46606681e-01 -2.94875982e-01 3.92454023e+02] [ 1.39784321e-01 9.89194728e-01 -4.42055849e-02 2.95130997e+02] [ 2.98170600e-01 5.20833975e-04 9.54512452e-01 1.14105999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.48, Y:295.12, Z:114.12 [[ 9.45850420e-01 -1.40018389e-01 -2.92851214e-01 3.92480862e+02] [ 1.39026217e-01 9.89990301e-01 -2.43087295e-02 2.95124636e+02] [ 2.93323531e-01 -1.77215746e-02 9.55848969e-01 1.14117671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.51, Y:295.15, Z:114.11 [[ 9.44998941e-01 -1.53203178e-01 -2.88973680e-01 3.92509495e+02] [ 1.39152506e-01 9.87886064e-01 -6.86855438e-02 2.95154855e+02] [ 2.95995915e-01 2.46963545e-02 9.54869891e-01 1.14113747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.54, Y:295.12, Z:114.14 [[ 9.44764974e-01 -1.33905073e-01 -2.99146413e-01 3.92536895e+02] [ 1.37098456e-01 9.90502954e-01 -1.03880589e-02 2.95122357e+02] [ 2.97696420e-01 -3.11982373e-02 9.54150676e-01 1.14144720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.56, Y:295.16, Z:114.13 [[ 9.45085840e-01 -1.50212959e-01 -2.90256477e-01 3.92563722e+02] [ 1.38147246e-01 9.88485070e-01 -6.17462934e-02 2.95155462e+02] [ 2.96189288e-01 1.82574145e-02 9.54954749e-01 1.14134881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.59, Y:295.15, Z:114.15 [[ 9.44175700e-01 -1.43364121e-01 -2.96612503e-01 3.92591586e+02] [ 1.37577717e-01 9.89666445e-01 -4.04066685e-02 2.95145154e+02] [ 2.99340308e-01 -2.65627641e-03 9.54142717e-01 1.14151575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.62, Y:295.15, Z:114.16 [[ 9.42622004e-01 -1.45065090e-01 -3.00698981e-01 3.92615934e+02] [ 1.37764099e-01 9.89421081e-01 -4.54640288e-02 2.95147426e+02] [ 3.04113154e-01 1.42986966e-03 9.52634843e-01 1.14163998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.65, Y:295.12, Z:114.19 [[ 9.43157968e-01 -1.30737808e-01 -3.05549789e-01 3.92646026e+02] [ 1.37624484e-01 9.90483965e-01 1.00778003e-03 2.95123615e+02] [ 3.02510412e-01 -4.30016280e-02 9.52175567e-01 1.14187360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.022755096 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:392.67, Y:295.15, Z:114.18 [[ 9.43713288e-01 -1.46636358e-01 -2.96484417e-01 3.92673277e+02] [ 1.38325276e-01 9.89176935e-01 -4.89398457e-02 2.95154291e+02] [ 3.00451908e-01 5.17389374e-03 9.53782932e-01 1.14180128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.70, Y:295.16, Z:114.18 [[ 9.43267418e-01 -1.50223971e-01 -2.96106968e-01 3.92698095e+02] [ 1.39009832e-01 9.88549940e-01 -5.86965337e-02 2.95161858e+02] [ 3.01534152e-01 1.42047479e-02 9.53349558e-01 1.14184690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.72, Y:295.16, Z:114.20 [[ 9.43176822e-01 -1.45484578e-01 -2.98750264e-01 3.92723619e+02] [ 1.38997745e-01 9.89360017e-01 -4.29695778e-02 2.95155060e+02] [ 3.01822977e-01 -9.97703235e-04 9.53363464e-01 1.14196521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.75, Y:295.16, Z:114.20 [[ 9.43932828e-01 -1.49111499e-01 -2.94544696e-01 3.92754768e+02] [ 1.40606551e-01 9.88803642e-01 -4.99715459e-02 2.95160376e+02] [ 2.98698201e-01 5.75486877e-03 9.54330271e-01 1.14198573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.78, Y:295.16, Z:114.21 [[ 9.43600031e-01 -1.47911409e-01 -2.96211406e-01 3.92779371e+02] [ 1.40859674e-01 9.89000237e-01 -4.51340677e-02 2.95159317e+02] [ 2.99628995e-01 8.64265512e-04 9.54055407e-01 1.14207774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.80, Y:295.15, Z:114.23 [[ 9.42750346e-01 -1.42180569e-01 -3.01672789e-01 3.92803481e+02] [ 1.39579218e-01 9.89747838e-01 -3.02796798e-02 2.95150794e+02] [ 3.02885172e-01 -1.35610732e-02 9.52930569e-01 1.14225230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.83, Y:295.17, Z:114.22 [[ 9.42598166e-01 -1.53059261e-01 -2.96785378e-01 3.92833648e+02] [ 1.41320404e-01 9.88098262e-01 -6.07483987e-02 2.95171805e+02] [ 3.02551222e-01 1.53194996e-02 9.53010006e-01 1.14222568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.86, Y:295.15, Z:114.24 [[ 9.42870012e-01 -1.40242847e-01 -3.02205369e-01 3.92858520e+02] [ 1.40333365e-01 9.89870224e-01 -2.15287282e-02 2.95149098e+02] [ 3.02163347e-01 -2.21107040e-02 9.52999700e-01 1.14244393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.89, Y:295.16, Z:114.25 [[ 9.43587663e-01 -1.43417239e-01 -2.98452370e-01 3.92887914e+02] [ 1.39732792e-01 9.89613368e-01 -3.37657819e-02 2.95157934e+02] [ 3.00195051e-01 -9.84260789e-03 9.53827057e-01 1.14248899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.92, Y:295.16, Z:114.26 [[ 9.43207805e-01 -1.43939451e-01 -2.99400187e-01 3.92917207e+02] [ 1.38502877e-01 9.89577211e-01 -3.94195007e-02 2.95157776e+02] [ 3.01953623e-01 -4.28700655e-03 9.53312977e-01 1.14257636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.94, Y:295.17, Z:114.26 [[ 9.42285995e-01 -1.50397427e-01 -2.99128264e-01 3.92941070e+02] [ 1.41302390e-01 9.88603099e-01 -5.19379199e-02 2.95167440e+02] [ 3.03530458e-01 6.67283599e-03 9.52798370e-01 1.14263530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:392.97, Y:295.16, Z:114.28 [[ 9.42901898e-01 -1.46201817e-01 -2.99267504e-01 3.92969320e+02] [ 1.42996761e-01 9.89182556e-01 -3.27077589e-02 2.95158220e+02] [ 3.00812128e-01 -1.19540756e-02 9.53608496e-01 1.14277192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.00, Y:295.16, Z:114.28 [[ 9.42586545e-01 -1.50211066e-01 -2.98273769e-01 3.92995590e+02] [ 1.44392303e-01 9.88646369e-01 -4.15838878e-02 2.95161997e+02] [ 3.01133639e-01 -3.87202318e-03 9.53574087e-01 1.14283866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:393.03, Y:295.16, Z:114.29 [[ 9.42877114e-01 -1.49690294e-01 -2.97616471e-01 3.93027225e+02] [ 1.43201301e-01 9.88731812e-01 -4.36209938e-02 2.95162956e+02] [ 3.00792512e-01 -1.48982891e-03 9.53688443e-01 1.14290579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.05, Y:295.16, Z:114.30 [[ 9.42252395e-01 -1.49531082e-01 -2.99667950e-01 3.93048572e+02] [ 1.45575172e-01 9.88705820e-01 -3.56184125e-02 2.95159921e+02] [ 3.01609505e-01 -1.00626787e-02 9.53378439e-01 1.14303069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.08, Y:295.18, Z:114.29 [[ 9.43896158e-01 -1.60949666e-01 -2.88366518e-01 3.93080998e+02] [ 1.46427356e-01 9.86641790e-01 -7.13933361e-02 2.95182689e+02] [ 2.96005191e-01 2.51631488e-02 9.54854828e-01 1.14291694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.11, Y:295.17, Z:114.31 [[ 9.44316889e-01 -1.51967169e-01 -2.91841727e-01 3.93105886e+02] [ 1.46828625e-01 9.88370308e-01 -3.95662665e-02 2.95165594e+02] [ 2.94460471e-01 -5.48762576e-03 9.55647904e-01 1.14308424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.13, Y:295.15, Z:114.34 [[ 9.42813003e-01 -1.42637680e-01 -3.01260905e-01 3.93128658e+02] [ 1.46322927e-01 9.89181986e-01 -1.04210856e-02 2.95149160e+02] [ 2.99488300e-01 -3.42562425e-02 9.53484802e-01 1.14337339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.562755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:393.15, Y:295.17, Z:114.34 [[ 9.42558273e-01 -1.51875327e-01 -2.97519388e-01 3.93154893e+02] [ 1.46051329e-01 9.88391526e-01 -4.18473485e-02 2.95165441e+02] [ 3.00421222e-01 -4.00953762e-03 9.53798204e-01 1.14336275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.19, Y:295.17, Z:114.34 [[ 9.43131852e-01 -1.51217121e-01 -2.96033261e-01 3.93187988e+02] [ 1.44081724e-01 9.88500363e-01 -4.59073969e-02 2.95167335e+02] [ 2.99570970e-01 6.43745837e-04 9.54073802e-01 1.14341721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.21, Y:295.18, Z:114.34 [[ 9.43808723e-01 -1.58679166e-01 -2.89906912e-01 3.93212246e+02] [ 1.46625998e-01 9.87184957e-01 -6.29815621e-02 2.95181409e+02] [ 2.96185604e-01 1.69346575e-02 9.54980264e-01 1.14336530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.24, Y:295.15, Z:114.37 [[ 9.42950042e-01 -1.45476091e-01 -2.99469407e-01 3.93239524e+02] [ 1.45577944e-01 9.89099966e-01 -2.20979769e-02 2.95154324e+02] [ 2.99419907e-01 -2.27588523e-02 9.53849964e-01 1.14366147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.27, Y:295.17, Z:114.36 [[ 9.44366514e-01 -1.56235852e-01 -2.89417079e-01 3.93266394e+02] [ 1.47764114e-01 9.87704832e-01 -5.10385396e-02 2.95174770e+02] [ 2.93832697e-01 5.43362935e-03 9.55841421e-01 1.14357200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.29, Y:295.16, Z:114.37 [[ 9.45065867e-01 -1.50407063e-01 -2.90220988e-01 3.93289403e+02] [ 1.47332105e-01 9.88551353e-01 -3.25495483e-02 2.95163152e+02] [ 2.91794032e-01 -1.19974021e-02 9.56405931e-01 1.14369484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.32, Y:295.18, Z:114.38 [[ 9.43683635e-01 -1.58584640e-01 -2.90365475e-01 3.93321625e+02] [ 1.49967667e-01 9.87330739e-01 -5.18431379e-02 2.95176986e+02] [ 2.94908285e-01 5.37808798e-03 9.55510429e-01 1.14375843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.34, Y:295.15, Z:114.40 [[ 9.43206875e-01 -1.44699696e-01 -2.99036434e-01 3.93344336e+02] [ 1.47197793e-01 9.89003972e-01 -1.42812180e-02 2.95154731e+02] [ 2.97814709e-01 -3.05473600e-02 9.54134822e-01 1.14401292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.38, Y:295.20, Z:114.38 [[ 9.41952432e-01 -1.69733493e-01 -2.89682858e-01 3.93375958e+02] [ 1.52108579e-01 9.84915928e-01 -8.24839097e-02 2.95198746e+02] [ 2.99313543e-01 3.36326714e-02 9.53561873e-01 1.14383653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.40, Y:295.17, Z:114.41 [[ 9.42545130e-01 -1.56084835e-01 -2.95374681e-01 3.93403704e+02] [ 1.53975068e-01 9.87602584e-01 -3.05420079e-02 2.95169487e+02] [ 2.96479942e-01 -1.66931157e-02 9.54893179e-01 1.14409064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.43, Y:295.16, Z:114.43 [[ 9.40032731e-01 -1.49097155e-01 -3.06771093e-01 3.93428808e+02] [ 1.50979431e-01 9.88377912e-01 -1.77289459e-02 2.95160161e+02] [ 3.05849107e-01 -2.96503356e-02 9.51618191e-01 1.14434995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.45, Y:295.19, Z:114.41 [[ 9.41143288e-01 -1.66969256e-01 -2.93888719e-01 3.93454705e+02] [ 1.53632838e-01 9.85780722e-01 -6.80684844e-02 2.95194015e+02] [ 3.01075178e-01 1.89112393e-02 9.53412871e-01 1.14414370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.48, Y:295.17, Z:114.44 [[ 9.39760016e-01 -1.54440670e-01 -3.04957689e-01 3.93478368e+02] [ 1.53386323e-01 9.87781654e-01 -2.75688299e-02 2.95170289e+02] [ 3.05489358e-01 -2.08682546e-02 9.51966789e-01 1.14444210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.51, Y:295.18, Z:114.44 [[ 9.40640180e-01 -1.61159118e-01 -2.98703517e-01 3.93509171e+02] [ 1.54549838e-01 9.86923574e-01 -4.57843475e-02 2.95183814e+02] [ 3.02176108e-01 -3.09798337e-03 9.53247084e-01 1.14441634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.53, Y:295.17, Z:114.46 [[ 9.40511024e-01 -1.53395208e-01 -3.03164845e-01 3.93529388e+02] [ 1.51012775e-01 9.88031854e-01 -3.14356088e-02 2.95174606e+02] [ 3.04358596e-01 -1.62162279e-02 9.52419487e-01 1.14458882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.56, Y:295.20, Z:114.45 [[ 9.39861382e-01 -1.66728242e-01 -2.98097763e-01 3.93562886e+02] [ 1.52269577e-01 9.85766606e-01 -7.12613123e-02 2.95201865e+02] [ 3.05736093e-01 2.15845351e-02 9.51871603e-01 1.14451910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.59, Y:295.18, Z:114.47 [[ 9.40380287e-01 -1.55338770e-01 -3.02580209e-01 3.93590728e+02] [ 1.51835837e-01 9.87778036e-01 -3.52197434e-02 2.95184047e+02] [ 3.04353076e-01 -1.28225668e-02 9.52472985e-01 1.14473451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.61, Y:295.18, Z:114.49 [[ 9.39501498e-01 -1.49011977e-01 -3.08435350e-01 3.93614673e+02] [ 1.49040662e-01 9.88549196e-01 -2.36086587e-02 2.95176775e+02] [ 3.08421490e-01 -2.37890386e-02 9.50952294e-01 1.14493928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.102755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:393.65, Y:295.20, Z:114.49 [[ 9.40122815e-01 -1.58202572e-01 -3.01895741e-01 3.93645030e+02] [ 1.48807207e-01 9.87389243e-01 -5.40268214e-02 2.95197052e+02] [ 3.06635789e-01 5.86758534e-03 9.51808838e-01 1.14487640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.67, Y:295.18, Z:114.51 [[ 9.38789564e-01 -1.47492389e-01 -3.11320010e-01 3.93668657e+02] [ 1.44416438e-01 9.88965011e-01 -3.30469210e-02 2.95182619e+02] [ 3.12758767e-01 -1.39356224e-02 9.49730358e-01 1.14511464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.70, Y:295.20, Z:114.50 [[ 9.40701336e-01 -1.56387202e-01 -3.01038269e-01 3.93698419e+02] [ 1.45092620e-01 9.87617357e-01 -5.96664795e-02 2.95201932e+02] [ 3.06641694e-01 1.24499058e-02 9.51743596e-01 1.14503083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.73, Y:295.19, Z:114.52 [[ 9.40568671e-01 -1.48207100e-01 -3.05557247e-01 3.93726010e+02] [ 1.44489813e-01 9.88891306e-01 -3.48809317e-02 2.95189622e+02] [ 3.07332507e-01 -1.13419978e-02 9.51534597e-01 1.14523056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.222755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:393.75, Y:295.19, Z:114.54 [[ 9.38485886e-01 -1.45127329e-01 -3.13340551e-01 3.93748835e+02] [ 1.40839465e-01 9.89362820e-01 -3.64068196e-02 2.95188773e+02] [ 3.15291116e-01 -9.96342938e-03 9.48942697e-01 1.14538074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.78, Y:295.20, Z:114.54 [[ 9.40548197e-01 -1.48046059e-01 -3.05698304e-01 3.93778079e+02] [ 1.41229341e-01 9.88979495e-01 -4.44278380e-02 2.95197135e+02] [ 3.08906721e-01 -1.38704702e-03 9.51091328e-01 1.14541485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2827550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:393.80, Y:295.20, Z:114.55 [[ 9.40660127e-01 -1.46320158e-01 -3.06184483e-01 3.93802039e+02] [ 1.40106625e-01 9.89232407e-01 -4.23010539e-02 2.95196988e+02] [ 3.09077110e-01 -3.10755982e-03 9.51031904e-01 1.14551123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.83, Y:295.21, Z:114.55 [[ 9.41420644e-01 -1.52979414e-01 -3.00540295e-01 3.93832447e+02] [ 1.42103387e-01 9.88159378e-01 -5.78590670e-02 2.95210027e+02] [ 3.05832957e-01 1.17619263e-02 9.52012531e-01 1.14551058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.86, Y:295.21, Z:114.57 [[ 9.41341392e-01 -1.48522360e-01 -3.03014015e-01 3.93859732e+02] [ 1.42345614e-01 9.88904114e-01 -4.25015135e-02 2.95205642e+02] [ 3.05964231e-01 -3.12428214e-03 9.52037882e-01 1.14565577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.89, Y:295.21, Z:114.57 [[ 9.41366019e-01 -1.49569527e-01 -3.02421849e-01 3.93885804e+02] [ 1.42826285e-01 9.88750257e-01 -4.44250225e-02 2.95210056e+02] [ 3.05664311e-01 -1.37358260e-03 9.52138353e-01 1.14571873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4027550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:393.91, Y:295.21, Z:114.58 [[ 9.41326780e-01 -1.50566220e-01 -3.02049180e-01 3.93913909e+02] [ 1.43318463e-01 9.88599914e-01 -4.61522349e-02 2.95213562e+02] [ 3.05554761e-01 1.55110554e-04 9.52174492e-01 1.14580211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:393.94, Y:295.21, Z:114.59 [[ 9.40892642e-01 -1.50163493e-01 -3.03598356e-01 3.93941375e+02] [ 1.42832688e-01 9.88661148e-01 -4.63460563e-02 2.95213060e+02] [ 3.07115385e-01 2.42894145e-04 9.51672255e-01 1.14590123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.462755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:393.97, Y:295.22, Z:114.59 [[ 9.40834656e-01 -1.54560331e-01 -3.01564678e-01 3.93970026e+02] [ 1.45969366e-01 9.87975540e-01 -5.09634878e-02 2.95220354e+02] [ 3.05815459e-01 3.92901043e-03 9.52082700e-01 1.14594577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:393.99, Y:295.21, Z:114.61 [[ 9.41272169e-01 -1.48738449e-01 -3.03123041e-01 3.93990256e+02] [ 1.44614143e-01 9.88827847e-01 -3.61419301e-02 2.95213808e+02] [ 3.05112199e-01 -9.81648605e-03 9.52265815e-01 1.14606198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.522755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:394.02, Y:295.23, Z:114.61 [[ 9.40733909e-01 -1.56213753e-01 -3.01026536e-01 3.94017527e+02] [ 1.47408834e-01 9.87713267e-01 -5.18954513e-02 2.95225615e+02] [ 3.05434686e-01 4.44584028e-03 9.52202650e-01 1.14607488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.552755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:394.04, Y:295.22, Z:114.64 [[ 9.38348994e-01 -1.50453703e-01 -3.11231182e-01 3.94042691e+02] [ 1.49176626e-01 9.88412581e-01 -2.80518022e-02 2.95217537e+02] [ 3.11845314e-01 -2.01060375e-02 9.49920127e-01 1.14637279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.06, Y:295.22, Z:114.64 [[ 9.40528776e-01 -1.44456072e-01 -3.07470430e-01 3.94061944e+02] [ 1.45417909e-01 9.89169958e-01 -1.99104635e-02 2.95215549e+02] [ 3.07016700e-01 -2.59853431e-02 9.51349309e-01 1.14644971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.612755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:394.10, Y:295.26, Z:114.62 [[ 9.41014652e-01 -1.68296465e-01 -2.93543397e-01 3.94101831e+02] [ 1.46658131e-01 9.84672872e-01 -9.43966509e-02 2.95264190e+02] [ 3.04930842e-01 4.57781056e-02 9.51273645e-01 1.14620557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:394.11, Y:295.21, Z:114.67 [[ 9.40003213e-01 -1.36344384e-01 -3.12736582e-01 3.94114042e+02] [ 1.44159539e-01 9.89552658e-01 1.88811289e-03 2.95212338e+02] [ 3.09211882e-01 -4.68587936e-02 9.49838021e-01 1.14671592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6727550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:394.16, Y:295.28, Z:114.64 [[ 9.39418492e-01 -1.74188349e-01 -2.95214018e-01 3.94157376e+02] [ 1.49387942e-01 9.83213431e-01 -1.04759691e-01 2.95279861e+02] [ 3.08506305e-01 5.43117762e-02 9.49670517e-01 1.14635384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.18, Y:295.25, Z:114.67 [[ 9.38850962e-01 -1.55032417e-01 -3.07447267e-01 3.94183400e+02] [ 1.48965036e-01 9.87895777e-01 -4.32591342e-02 2.95249191e+02] [ 3.10432424e-01 -5.18501329e-03 9.50581309e-01 1.14668428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.21, Y:295.25, Z:114.68 [[ 9.38153643e-01 -1.56017035e-01 -3.09073498e-01 3.94211354e+02] [ 1.50399302e-01 9.87729493e-01 -4.20772862e-02 2.95253491e+02] [ 3.11845783e-01 -7.00947917e-03 9.50106876e-01 1.14679714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.24, Y:295.26, Z:114.69 [[ 9.37198106e-01 -1.56786758e-01 -3.11572821e-01 3.94237871e+02] [ 1.51655520e-01 9.87591282e-01 -4.07929326e-02 2.95256731e+02] [ 3.14102393e-01 -9.02067898e-03 9.49346256e-01 1.14690673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.26, Y:295.27, Z:114.70 [[ 9.36456353e-01 -1.62489320e-01 -3.10880555e-01 3.94263949e+02] [ 1.55112795e-01 9.86706278e-01 -4.84844417e-02 2.95266457e+02] [ 3.14626000e-01 -2.81798823e-03 9.49211536e-01 1.14696546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.29, Y:295.28, Z:114.70 [[ 9.35630644e-01 -1.67161024e-01 -3.10889836e-01 3.94290475e+02] [ 1.56228568e-01 9.85901054e-01 -5.99311783e-02 2.95276522e+02] [ 3.16524774e-01 7.50357318e-03 9.48554565e-01 1.14700712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.32, Y:295.27, Z:114.72 [[ 9.36198139e-01 -1.63284188e-01 -3.11241578e-01 3.94319376e+02] [ 1.59368454e-01 9.86481454e-01 -3.81580551e-02 2.95269662e+02] [ 3.13264651e-01 -1.38785887e-02 9.49564449e-01 1.14718541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.882755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:394.34, Y:295.28, Z:114.72 [[ 9.35820144e-01 -1.69645384e-01 -3.08967802e-01 3.94343087e+02] [ 1.62675402e-01 9.85492579e-01 -4.83848104e-02 2.95280196e+02] [ 3.12693736e-01 -4.98198129e-03 9.49840938e-01 1.14722575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.37, Y:295.28, Z:114.74 [[ 9.35088032e-01 -1.69351623e-01 -3.11336475e-01 3.94369397e+02] [ 1.64052181e-01 9.85499219e-01 -4.33378754e-02 2.95281922e+02] [ 3.14161193e-01 -1.05506991e-02 9.49311028e-01 1.14735706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.40, Y:295.29, Z:114.74 [[ 9.35200336e-01 -1.74455753e-01 -3.08164765e-01 3.94396983e+02] [ 1.66360085e-01 9.84662768e-01 -5.25695334e-02 2.95293312e+02] [ 3.12609428e-01 -2.10327120e-03 9.49879425e-01 1.14739920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.42, Y:295.30, Z:114.75 [[ 9.34951662e-01 -1.73967296e-01 -3.09193741e-01 3.94423511e+02] [ 1.66729038e-01 9.84739253e-01 -4.99002160e-02 2.95296258e+02] [ 3.13156220e-01 -4.89728513e-03 9.49689001e-01 1.14750531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.45, Y:295.30, Z:114.76 [[ 9.35049737e-01 -1.73324254e-01 -3.09258296e-01 3.94449471e+02] [ 1.67299165e-01 9.84827099e-01 -4.61147912e-02 2.95298996e+02] [ 3.12558762e-01 -8.61903127e-03 9.49859323e-01 1.14759604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.48, Y:295.30, Z:114.77 [[ 9.34766234e-01 -1.73325040e-01 -3.10113717e-01 3.94475124e+02] [ 1.66647844e-01 9.84841859e-01 -4.81145362e-02 2.95304759e+02] [ 3.13752424e-01 -6.70393845e-03 9.49481160e-01 1.14769430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.50, Y:295.31, Z:114.78 [[ 9.34426447e-01 -1.73049693e-01 -3.11289287e-01 3.94500395e+02] [ 1.66305613e-01 9.84890724e-01 -4.82980777e-02 2.95308990e+02] [ 3.14943898e-01 -6.63815450e-03 9.49087075e-01 1.14778413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.53, Y:295.32, Z:114.78 [[ 9.34065313e-01 -1.74579850e-01 -3.11518648e-01 3.94528385e+02] [ 1.66437126e-01 9.84639669e-01 -5.27579948e-02 2.95316434e+02] [ 3.15944101e-01 -2.56885564e-03 9.48774328e-01 1.14784717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.55, Y:295.32, Z:114.80 [[ 9.34208737e-01 -1.72365878e-01 -3.12320412e-01 3.94554263e+02] [ 1.65905880e-01 9.85003869e-01 -4.73562842e-02 2.95317157e+02] [ 3.15799421e-01 -7.57513823e-03 9.48795733e-01 1.14795658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.58, Y:295.32, Z:114.80 [[ 9.34430669e-01 -1.70326957e-01 -3.12774763e-01 3.94578028e+02] [ 1.66783744e-01 9.85250888e-01 -3.82605657e-02 2.95316184e+02] [ 3.14678419e-01 -1.64139002e-02 9.49056414e-01 1.14804732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.61, Y:295.33, Z:114.81 [[ 9.33958611e-01 -1.75398468e-01 -3.11378693e-01 3.94608349e+02] [ 1.63870075e-01 9.84466299e-01 -6.30294026e-02 2.95333235e+02] [ 3.17597090e-01 7.84120356e-03 9.48193337e-01 1.14809867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.64, Y:295.33, Z:114.82 [[ 9.34214991e-01 -1.71560984e-01 -3.12744593e-01 3.94635627e+02] [ 1.63323333e-01 9.85171520e-01 -5.25601081e-02 2.95332256e+02] [ 3.17124330e-01 -1.97604826e-03 9.48381914e-01 1.14823918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.66, Y:295.34, Z:114.83 [[ 9.34065642e-01 -1.73178834e-01 -3.12298683e-01 3.94661378e+02] [ 1.63138143e-01 9.84884438e-01 -5.82115944e-02 2.95339978e+02] [ 3.17659129e-01 3.42562307e-03 9.48198789e-01 1.14828876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.69, Y:295.34, Z:114.84 [[ 9.34225850e-01 -1.67310538e-01 -3.15006739e-01 3.94689078e+02] [ 1.61820923e-01 9.85852019e-01 -4.37011055e-02 2.95335802e+02] [ 3.17861685e-01 -1.01479788e-02 9.48082785e-01 1.14844990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.71, Y:295.34, Z:114.85 [[ 9.33660931e-01 -1.69385470e-01 -3.15572223e-01 3.94714005e+02] [ 1.60840180e-01 9.85549210e-01 -5.31337125e-02 2.95344330e+02] [ 3.20012034e-01 -1.14782172e-03 9.47412783e-01 1.14851811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.74, Y:295.33, Z:114.87 [[ 9.35683542e-01 -1.58239142e-01 -3.15367537e-01 3.94735305e+02] [ 1.57032836e-01 9.87155506e-01 -2.94056901e-02 2.95333032e+02] [ 3.15969932e-01 -2.20086384e-02 9.48513902e-01 1.14866334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.77, Y:295.35, Z:114.88 [[ 9.33796740e-01 -1.63727100e-01 -3.18146326e-01 3.94768634e+02] [ 1.55580257e-01 9.86503955e-01 -5.10365624e-02 2.95346397e+02] [ 3.22208677e-01 -1.83951166e-03 9.46666882e-01 1.14878353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.79, Y:295.35, Z:114.89 [[ 9.33463457e-01 -1.63691259e-01 -3.19141264e-01 3.94794201e+02] [ 1.54610248e-01 9.86511252e-01 -5.37700810e-02 2.95351985e+02] [ 3.23638140e-01 8.49895684e-04 9.46180550e-01 1.14886607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.82, Y:295.35, Z:114.90 [[ 9.33063281e-01 -1.61827898e-01 -3.21254798e-01 3.94822599e+02] [ 1.54789522e-01 9.86804257e-01 -4.75138108e-02 2.95352977e+02] [ 3.24704663e-01 -5.39348434e-03 9.45800081e-01 1.14899297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:394.84, Y:295.35, Z:114.92 [[ 9.32955763e-01 -1.54363846e-01 -3.25215847e-01 3.94839079e+02] [ 1.52331219e-01 9.87815512e-01 -3.18702595e-02 2.95347816e+02] [ 3.26172874e-01 -1.98069840e-02 9.45102608e-01 1.14916628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.88, Y:295.38, Z:114.90 [[ 9.34947150e-01 -1.67525610e-01 -3.12744300e-01 3.94877176e+02] [ 1.51479351e-01 9.85603011e-01 -7.51046738e-02 2.95376809e+02] [ 3.20823680e-01 2.28445971e-02 9.46863396e-01 1.14903812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.90, Y:295.36, Z:114.92 [[ 9.35020183e-01 -1.55991799e-01 -3.18439658e-01 3.94899765e+02] [ 1.48378472e-01 9.87755916e-01 -4.81879587e-02 2.95364342e+02] [ 3.22057583e-01 -2.19287580e-03 9.46717542e-01 1.14920851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.92, Y:295.36, Z:114.94 [[ 9.35361059e-01 -1.50200634e-01 -3.20217832e-01 3.94923540e+02] [ 1.47332028e-01 9.88525811e-01 -3.33165764e-02 2.95358879e+02] [ 3.21547763e-01 -1.60153143e-02 9.46757913e-01 1.14935617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.572755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:394.96, Y:295.38, Z:114.94 [[ 9.34871206e-01 -1.58677741e-01 -3.17548740e-01 3.94955372e+02] [ 1.47645483e-01 9.87298255e-01 -5.86768061e-02 2.95377061e+02] [ 3.22826020e-01 7.97061926e-03 9.46424762e-01 1.14937011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:394.98, Y:295.37, Z:114.95 [[ 9.35380742e-01 -1.51569564e-01 -3.19514531e-01 3.94979632e+02] [ 1.46746815e-01 9.88394394e-01 -3.92669555e-02 2.95370166e+02] [ 3.21758046e-01 -1.01581858e-02 9.46767432e-01 1.14951883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.01, Y:295.38, Z:114.96 [[ 9.35706162e-01 -1.53269552e-01 -3.17745846e-01 3.95007279e+02] [ 1.48267959e-01 9.88137154e-01 -4.00197065e-02 2.95375934e+02] [ 3.20110278e-01 -9.66484209e-03 9.47330988e-01 1.14961308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6627550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:395.03, Y:295.39, Z:114.97 [[ 9.34720395e-01 -1.57178958e-01 -3.18735875e-01 3.95034292e+02] [ 1.48683390e-01 9.87570103e-01 -5.09758810e-02 2.95386028e+02] [ 3.22786357e-01 2.57465121e-04 9.46471818e-01 1.14967615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.692755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:395.06, Y:295.39, Z:114.98 [[ 9.35404225e-01 -1.58737370e-01 -3.15945221e-01 3.95059558e+02] [ 1.51305522e-01 9.87316801e-01 -4.80850685e-02 2.95390796e+02] [ 3.19570922e-01 -2.82528022e-03 9.47558148e-01 1.14976240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.09, Y:295.40, Z:114.99 [[ 9.34666674e-01 -1.61616623e-01 -3.16667453e-01 3.95089172e+02] [ 1.52911889e-01 9.86853500e-01 -5.23270818e-02 2.95396702e+02] [ 3.20961311e-01 4.86161151e-04 9.47092182e-01 1.14986020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.12, Y:295.40, Z:115.00 [[ 9.33979610e-01 -1.64144237e-01 -3.17393696e-01 3.95115365e+02] [ 1.57276838e-01 9.86419794e-01 -4.73284914e-02 2.95395509e+02] [ 3.20852123e-01 -5.71483089e-03 9.47112061e-01 1.14998354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.14, Y:295.38, Z:115.02 [[ 9.32434523e-01 -1.56612011e-01 -3.25635590e-01 3.95140194e+02] [ 1.56741159e-01 9.87297008e-01 -2.60158980e-02 2.95383526e+02] [ 3.25573446e-01 -2.67823784e-02 9.45137363e-01 1.15022541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.16, Y:295.40, Z:115.03 [[ 9.31419138e-01 -1.66452535e-01 -3.23654048e-01 3.95162472e+02] [ 1.61678650e-01 9.85958328e-01 -4.17874399e-02 2.95399618e+02] [ 3.26065029e-01 -1.34063283e-02 9.45252277e-01 1.15027177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.20, Y:295.42, Z:115.02 [[ 9.31986275e-01 -1.80048187e-01 -3.14617600e-01 3.95196344e+02] [ 1.65261412e-01 9.83522460e-01 -7.32955447e-02 2.95422916e+02] [ 3.22630206e-01 1.63162929e-02 9.46384451e-01 1.15017603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.22, Y:295.41, Z:115.04 [[ 9.32218279e-01 -1.68767756e-01 -3.20135168e-01 3.95219911e+02] [ 1.66367695e-01 9.85440780e-01 -3.50465170e-02 2.95405487e+02] [ 3.21388972e-01 -2.05891463e-02 9.46723411e-01 1.15041226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.25, Y:295.42, Z:115.05 [[ 9.32105617e-01 -1.72743946e-01 -3.18337319e-01 3.95245185e+02] [ 1.67384065e-01 9.84894204e-01 -4.43393967e-02 2.95415068e+02] [ 3.21187943e-01 -1.19555936e-02 9.46940003e-01 1.15045755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.27, Y:295.42, Z:115.05 [[ 9.31397159e-01 -1.75116690e-01 -3.19113581e-01 3.95270060e+02] [ 1.68936122e-01 9.84497224e-01 -4.71784111e-02 2.95420321e+02] [ 3.22428162e-01 -9.96797273e-03 9.46541452e-01 1.15053085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.30, Y:295.43, Z:115.06 [[ 9.30914997e-01 -1.80293473e-01 -3.17634275e-01 3.95298997e+02] [ 1.71519842e-01 9.83609157e-01 -5.56234621e-02 2.95431628e+02] [ 3.22456529e-01 -2.69986578e-03 9.46580423e-01 1.15060429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.992755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:395.33, Y:295.44, Z:115.07 [[ 9.29478142e-01 -1.80118825e-01 -3.21912399e-01 3.95326718e+02] [ 1.72898781e-01 9.83611272e-01 -5.11358653e-02 2.95435536e+02] [ 3.25847196e-01 -8.12859234e-03 9.45387503e-01 1.15070945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.35, Y:295.43, Z:115.09 [[ 9.30143356e-01 -1.72648150e-01 -3.24077080e-01 3.95349609e+02] [ 1.70858820e-01 9.84701762e-01 -3.42009420e-02 2.95429942e+02] [ 3.25024001e-01 -2.35596484e-02 9.45412260e-01 1.15087424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.38, Y:295.45, Z:115.08 [[ 9.30198712e-01 -1.81555030e-01 -3.19011171e-01 3.95377301e+02] [ 1.71573938e-01 9.83380663e-01 -5.93704900e-02 2.95450663e+02] [ 3.24488428e-01 4.92350231e-04 9.45889538e-01 1.15084589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.40, Y:295.45, Z:115.10 [[ 9.28891249e-01 -1.77508521e-01 -3.25041187e-01 3.95404207e+02] [ 1.70896409e-01 9.84068394e-01 -4.90286996e-02 2.95448251e+02] [ 3.28565771e-01 -1.00060415e-02 9.44428088e-01 1.15102414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.43, Y:295.45, Z:115.11 [[ 9.29731344e-01 -1.73608984e-01 -3.24745361e-01 3.95429785e+02] [ 1.69167751e-01 9.84687918e-01 -4.20948526e-02 2.95450141e+02] [ 3.27080878e-01 -1.57995384e-02 9.44864262e-01 1.15113807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.45, Y:295.45, Z:115.12 [[ 9.31248552e-01 -1.66755031e-01 -3.23989035e-01 3.95453433e+02] [ 1.65546023e-01 9.85698862e-01 -3.15002964e-02 2.95447276e+02] [ 3.24608456e-01 -2.43004908e-02 9.45536269e-01 1.15121129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.48, Y:295.48, Z:115.12 [[ 9.32058770e-01 -1.79366729e-01 -3.14792035e-01 3.95482333e+02] [ 1.66178777e-01 9.83714868e-01 -6.84811867e-02 2.95476077e+02] [ 3.21948852e-01 1.15167354e-02 9.46687014e-01 1.15120397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.51, Y:295.47, Z:115.14 [[ 9.32065996e-01 -1.73095867e-01 -3.18262157e-01 3.95509286e+02] [ 1.66272334e-01 9.84876263e-01 -4.87058304e-02 2.95469383e+02] [ 3.21879622e-01 -7.52114333e-03 9.46750728e-01 1.15136955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.232755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:395.53, Y:295.47, Z:115.15 [[ 9.30906110e-01 -1.68793712e-01 -3.23917423e-01 3.95533332e+02] [ 1.63406248e-01 9.85578403e-01 -4.39728177e-02 2.95469247e+02] [ 3.26668351e-01 -1.19955661e-02 9.45062905e-01 1.15145958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.56, Y:295.47, Z:115.16 [[ 9.32142037e-01 -1.63033667e-01 -3.23312924e-01 3.95560931e+02] [ 1.60321386e-01 9.86437081e-01 -3.51985665e-02 2.95467851e+02] [ 3.24666408e-01 -1.90239125e-02 9.45637253e-01 1.15159142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.59, Y:295.49, Z:115.16 [[ 9.32517914e-01 -1.73441556e-01 -3.16746535e-01 3.95587498e+02] [ 1.60423261e-01 9.84775721e-01 -6.69414392e-02 2.95492542e+02] [ 3.23534725e-01 1.16105790e-02 9.46145061e-01 1.15162186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.61, Y:295.49, Z:115.18 [[ 9.32926023e-01 -1.66481243e-01 -3.19269528e-01 3.95612499e+02] [ 1.58805233e-01 9.86036752e-01 -5.01240733e-02 2.95487622e+02] [ 3.23156206e-01 -3.93961947e-03 9.46337438e-01 1.15175618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.352755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:395.64, Y:295.49, Z:115.18 [[ 9.32345214e-01 -1.67697668e-01 -3.20327793e-01 3.95641925e+02] [ 1.60048876e-01 9.85828624e-01 -5.02621296e-02 2.95493519e+02] [ 3.24217150e-01 -4.40644745e-03 9.45972422e-01 1.15184636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:395.67, Y:295.50, Z:115.19 [[ 9.32146564e-01 -1.68781919e-01 -3.20336459e-01 3.95668486e+02] [ 1.58112899e-01 9.85642853e-01 -5.92323983e-02 2.95502171e+02] [ 3.25734699e-01 4.56395030e-03 9.45450198e-01 1.15193440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4127550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:395.69, Y:295.49, Z:115.22 [[ 9.30458418e-01 -1.60503153e-01 -3.29371934e-01 3.95687582e+02] [ 1.57444002e-01 9.86866772e-01 -3.61297700e-02 2.95492921e+02] [ 3.30845159e-01 -1.82403867e-02 9.43508754e-01 1.15218085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.72, Y:295.52, Z:115.21 [[ 9.31111742e-01 -1.70530604e-01 -3.22413147e-01 3.95721342e+02] [ 1.56189676e-01 9.85240284e-01 -7.00454685e-02 2.95515035e+02] [ 3.29599317e-01 1.48625533e-02 9.44003917e-01 1.15210487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.472755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:395.74, Y:295.50, Z:115.23 [[ 9.32674203e-01 -1.59166899e-01 -3.23704696e-01 3.95742104e+02] [ 1.54434468e-01 9.87175318e-01 -4.04337340e-02 2.95502831e+02] [ 3.25988998e-01 -1.22796619e-02 9.45293808e-01 1.15226200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.502755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:395.77, Y:295.51, Z:115.23 [[ 9.32603160e-01 -1.63047461e-01 -3.21973403e-01 3.95769213e+02] [ 1.54813655e-01 9.86616002e-01 -5.12015275e-02 2.95513032e+02] [ 3.26012390e-01 -2.09517292e-03 9.45363175e-01 1.15232389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.80, Y:295.50, Z:115.25 [[ 9.32154716e-01 -1.54189413e-01 -3.27586950e-01 3.95795164e+02] [ 1.52214755e-01 9.87834873e-01 -3.18265940e-02 2.95501096e+02] [ 3.28509137e-01 -2.01962577e-02 9.44284840e-01 1.15254709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.82, Y:295.52, Z:115.25 [[ 9.31414431e-01 -1.65338938e-01 -3.24237866e-01 3.95822237e+02] [ 1.57249409e-01 9.86231263e-01 -5.11909996e-02 2.95516806e+02] [ 3.28237386e-01 -3.30617711e-03 9.44589481e-01 1.15254853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.592755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:395.85, Y:295.52, Z:115.27 [[ 9.31036499e-01 -1.66493170e-01 -3.24732294e-01 3.95854352e+02] [ 1.59437983e-01 9.86019876e-01 -4.84183238e-02 2.95519929e+02] [ 3.28253816e-01 -6.69543527e-03 9.44565828e-01 1.15268740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.87, Y:295.52, Z:115.27 [[ 9.30723735e-01 -1.72075815e-01 -3.22712322e-01 3.95874518e+02] [ 1.64022274e-01 9.85074143e-01 -5.22075275e-02 2.95524164e+02] [ 3.26879217e-01 -4.34122384e-03 9.45056152e-01 1.15269941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.91, Y:295.54, Z:115.28 [[ 9.30180897e-01 -1.79379854e-01 -3.20291066e-01 3.95907155e+02] [ 1.67567182e-01 9.83760646e-01 -6.43135284e-02 2.95537111e+02] [ 3.26626298e-01 6.15294399e-03 9.45133537e-01 1.15276360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.682755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:395.93, Y:295.53, Z:115.29 [[ 9.30058025e-01 -1.74143357e-01 -3.23521502e-01 3.95930220e+02] [ 1.69442777e-01 9.84606946e-01 -4.28754950e-02 2.95528827e+02] [ 3.26008001e-01 -1.49416834e-02 9.45248925e-01 1.15291799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.712755096 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:395.96, Y:295.53, Z:115.31 [[ 9.27596709e-01 -1.73938549e-01 -3.30620214e-01 3.95955439e+02] [ 1.70430575e-01 9.84565054e-01 -3.98129805e-02 2.95527874e+02] [ 3.32442121e-01 -1.94174036e-02 9.42923751e-01 1.15305828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:395.98, Y:295.55, Z:115.30 [[ 9.29837345e-01 -1.82407030e-01 -3.19578139e-01 3.95977399e+02] [ 1.72089703e-01 9.83222312e-01 -6.04898355e-02 2.95545605e+02] [ 3.25250128e-01 1.24960090e-03 9.45627196e-01 1.15297569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.772755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:396.01, Y:295.55, Z:115.31 [[ 9.28581863e-01 -1.85062830e-01 -3.21694690e-01 3.96005460e+02] [ 1.74027492e-01 9.82723467e-01 -6.30001504e-02 2.95549928e+02] [ 3.27795907e-01 2.51707697e-03 9.44745208e-01 1.15307129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.03, Y:295.54, Z:115.32 [[ 9.29808981e-01 -1.79275621e-01 -3.21427302e-01 3.96030487e+02] [ 1.74147154e-01 9.83695884e-01 -4.48907174e-02 2.95544420e+02] [ 3.24234525e-01 -1.42358578e-02 9.45869607e-01 1.15322828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.06, Y:295.56, Z:115.33 [[ 9.29044916e-01 -1.85679833e-01 -3.19997725e-01 3.96061156e+02] [ 1.76650158e-01 9.82604761e-01 -5.72940221e-02 2.95557027e+02] [ 3.25069633e-01 -3.29892880e-03 9.45684330e-01 1.15328930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.09, Y:295.56, Z:115.34 [[ 9.29137420e-01 -1.86115209e-01 -3.19475797e-01 3.96087785e+02] [ 1.77267139e-01 9.82520472e-01 -5.68320693e-02 2.95562373e+02] [ 3.24468823e-01 -3.82775809e-03 9.45888646e-01 1.15336068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.11, Y:295.55, Z:115.36 [[ 9.29068270e-01 -1.72411682e-01 -3.27271083e-01 3.96112123e+02] [ 1.72492275e-01 9.84583365e-01 -2.90174547e-02 2.95547313e+02] [ 3.27228612e-01 -2.94925373e-02 9.44484847e-01 1.15363097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.14, Y:295.58, Z:115.35 [[ 9.29307083e-01 -1.91082495e-01 -3.16031369e-01 3.96139621e+02] [ 1.76958788e-01 9.81500652e-01 -7.30893833e-02 2.95580857e+02] [ 3.24151097e-01 1.19979534e-02 9.45929234e-01 1.15350019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.952755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:396.17, Y:295.58, Z:115.36 [[ 9.28805417e-01 -1.85744756e-01 -3.20654616e-01 3.96165192e+02] [ 1.75770788e-01 9.82597854e-01 -6.00507132e-02 2.95578685e+02] [ 3.26228643e-01 -5.86286960e-04 9.45290711e-01 1.15363699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.19, Y:295.57, Z:115.38 [[ 9.30532030e-01 -1.74510636e-01 -3.21956798e-01 3.96193252e+02] [ 1.76175349e-01 9.84061206e-01 -2.42030667e-02 2.95566180e+02] [ 3.21048888e-01 -3.41991227e-02 9.46444944e-01 1.15383701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.22, Y:295.59, Z:115.38 [[ 9.30199447e-01 -1.82919626e-01 -3.18228532e-01 3.96219470e+02] [ 1.75932404e-01 9.83089297e-01 -5.08254295e-02 2.95586182e+02] [ 3.22144032e-01 -8.70892419e-03 9.46650610e-01 1.15382890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.24, Y:295.61, Z:115.39 [[ 9.28970831e-01 -1.90264070e-01 -3.17510281e-01 3.96244957e+02] [ 1.73114857e-01 9.81510604e-01 -8.16589299e-02 2.95607186e+02] [ 3.27176468e-01 2.08930168e-02 9.44732259e-01 1.15387829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.27, Y:295.59, Z:115.41 [[ 9.30091115e-01 -1.74535940e-01 -3.23214671e-01 3.96267264e+02] [ 1.70129983e-01 9.84523102e-01 -4.20719755e-02 2.95588521e+02] [ 3.25555382e-01 -1.58577359e-02 9.45389986e-01 1.15409532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.30, Y:295.61, Z:115.42 [[ 9.28771634e-01 -1.80991466e-01 -3.23458408e-01 3.96298096e+02] [ 1.70521436e-01 9.83483935e-01 -6.06777472e-02 2.95605944e+02] [ 3.29098302e-01 1.19917838e-03 9.44294906e-01 1.15416125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.32, Y:295.60, Z:115.43 [[ 9.29982501e-01 -1.76634019e-01 -3.22386371e-01 3.96321393e+02] [ 1.70351841e-01 9.84221343e-01 -4.78393073e-02 2.95604635e+02] [ 3.25749596e-01 -1.04293931e-02 9.45398555e-01 1.15425205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.35, Y:295.62, Z:115.43 [[ 9.29210039e-01 -1.78880055e-01 -3.23373823e-01 3.96348621e+02] [ 1.68663245e-01 9.83870535e-01 -5.95942946e-02 2.95617130e+02] [ 3.28818207e-01 8.34338424e-04 9.44392869e-01 1.15431889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.37, Y:295.62, Z:115.45 [[ 9.28649315e-01 -1.76247089e-01 -3.26416012e-01 3.96374097e+02] [ 1.68477655e-01 9.84324162e-01 -5.21653626e-02 2.95617446e+02] [ 3.30493161e-01 -6.55047592e-03 9.43785655e-01 1.15445138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.40, Y:295.62, Z:115.46 [[ 9.28924671e-01 -1.75246802e-01 -3.26170989e-01 3.96400669e+02] [ 1.68846674e-01 9.84469404e-01 -4.80707184e-02 2.95619977e+02] [ 3.29529599e-01 -1.04188104e-02 9.44087757e-01 1.15456286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.43, Y:295.63, Z:115.46 [[ 9.28361002e-01 -1.77501005e-01 -3.26556647e-01 3.96426309e+02] [ 1.68519120e-01 9.84115445e-01 -5.58399327e-02 2.95628798e+02] [ 3.31281084e-01 -3.19142294e-03 9.43526713e-01 1.15464077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.45, Y:295.63, Z:115.47 [[ 9.28829394e-01 -1.74725683e-01 -3.26721430e-01 3.96450110e+02] [ 1.68866629e-01 9.84543700e-01 -4.64517481e-02 2.95628340e+02] [ 3.29787839e-01 -1.20265974e-02 9.43978465e-01 1.15474202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.312755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:396.48, Y:295.63, Z:115.49 [[ 9.28409321e-01 -1.74346519e-01 -3.28114957e-01 3.96477800e+02] [ 1.67409043e-01 9.84643562e-01 -4.95102749e-02 2.95633483e+02] [ 3.31708224e-01 -8.96361036e-03 9.43339445e-01 1.15486692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.342755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:396.51, Y:295.64, Z:115.49 [[ 9.28341782e-01 -1.77278830e-01 -3.26731928e-01 3.96505375e+02] [ 1.68852912e-01 9.84148791e-01 -5.42203910e-02 2.95641970e+02] [ 3.31164960e-01 -4.83458314e-03 9.43560489e-01 1.15492451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.53, Y:295.64, Z:115.51 [[ 9.28616277e-01 -1.75210018e-01 -3.27067669e-01 3.96530865e+02] [ 1.68337387e-01 9.84488622e-01 -4.94436897e-02 2.95643290e+02] [ 3.30657429e-01 -9.14350156e-03 9.43706555e-01 1.15505202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4027550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:396.56, Y:295.64, Z:115.52 [[ 9.27937634e-01 -1.73179780e-01 -3.30061375e-01 3.96560968e+02] [ 1.68512059e-01 9.84763894e-01 -4.29390235e-02 2.95643379e+02] [ 3.32468695e-01 -1.57745858e-02 9.42982359e-01 1.15521602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.432755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:396.58, Y:295.65, Z:115.52 [[ 9.28053277e-01 -1.78179268e-01 -3.27061558e-01 3.96583709e+02] [ 1.69625705e-01 9.83986945e-01 -5.47431572e-02 2.95654814e+02] [ 3.31578399e-01 -4.67348094e-03 9.43416093e-01 1.15522556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.61, Y:295.66, Z:115.53 [[ 9.27519358e-01 -1.80454139e-01 -3.27328801e-01 3.96611160e+02] [ 1.71088549e-01 9.83579634e-01 -5.74439988e-02 2.95660785e+02] [ 3.32319949e-01 -2.72178861e-03 9.43162787e-01 1.15532678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.64, Y:295.67, Z:115.54 [[ 9.27951053e-01 -1.83741042e-01 -3.24262353e-01 3.96638989e+02] [ 1.74262699e-01 9.82971740e-01 -5.83015464e-02 2.95667292e+02] [ 3.29453116e-01 -2.40585143e-03 9.44168871e-01 1.15539155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.66, Y:295.66, Z:115.55 [[ 9.28230375e-01 -1.78742729e-01 -3.26250529e-01 3.96660582e+02] [ 1.73847042e-01 9.83773082e-01 -4.43591010e-02 2.95661318e+02] [ 3.28885355e-01 -1.55422246e-02 9.44241951e-01 1.15552220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.69, Y:295.68, Z:115.55 [[ 9.27476686e-01 -1.90297138e-01 -3.21829142e-01 3.96691371e+02] [ 1.78328873e-01 9.81716927e-01 -6.65634243e-02 2.95680418e+02] [ 3.28611946e-01 4.34459603e-03 9.44455035e-01 1.15553636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.582755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.71, Y:295.67, Z:115.57 [[ 9.27150712e-01 -1.84305969e-01 -3.26225178e-01 3.96714686e+02] [ 1.77499566e-01 9.82809411e-01 -5.07894316e-02 2.95674114e+02] [ 3.29977970e-01 -1.08153698e-02 9.43926675e-01 1.15568238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.74, Y:295.67, Z:115.58 [[ 9.28642190e-01 -1.77449972e-01 -3.25783962e-01 3.96742685e+02] [ 1.75883301e-01 9.83805846e-01 -3.45126442e-02 2.95667870e+02] [ 3.26632434e-01 -2.52500610e-02 9.44814102e-01 1.15583616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.642755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:396.77, Y:295.70, Z:115.58 [[ 9.25360712e-01 -1.96154873e-01 -3.24393001e-01 3.96767551e+02] [ 1.80669665e-01 9.80485246e-01 -7.75058320e-02 2.95697354e+02] [ 3.33265698e-01 1.31128769e-02 9.42741760e-01 1.15577207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6727550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:396.80, Y:295.69, Z:115.59 [[ 9.24120246e-01 -1.94478838e-01 -3.28906907e-01 3.96796670e+02] [ 1.83443053e-01 9.80906497e-01 -6.45839775e-02 2.95694429e+02] [ 3.35187139e-01 -6.52325946e-04 9.42151345e-01 1.15592273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.82, Y:295.69, Z:115.61 [[ 9.25467497e-01 -1.89038823e-01 -3.28289865e-01 3.96823486e+02] [ 1.83609919e-01 9.81838062e-01 -4.77641893e-02 2.95689727e+02] [ 3.31356771e-01 -1.60730709e-02 9.43368617e-01 1.15607271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.732755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:396.85, Y:295.69, Z:115.62 [[ 9.23249895e-01 -1.89405763e-01 -3.34267989e-01 3.96850340e+02] [ 1.84288257e-01 9.81734706e-01 -4.72737349e-02 2.95693684e+02] [ 3.37116403e-01 -1.79561944e-02 9.41291722e-01 1.15623069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.762755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:396.88, Y:295.69, Z:115.63 [[ 9.25588718e-01 -1.85400984e-01 -3.30018183e-01 3.96879197e+02] [ 1.81826246e-01 9.82434955e-01 -4.19615840e-02 2.95693213e+02] [ 3.32001117e-01 -2.11667986e-02 9.43041476e-01 1.15632542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.91, Y:295.71, Z:115.63 [[ 9.25928924e-01 -1.89219308e-01 -3.26881753e-01 3.96906199e+02] [ 1.80542351e-01 9.81914958e-01 -5.69866145e-02 2.95705379e+02] [ 3.31753051e-01 -6.25044553e-03 9.43345560e-01 1.15634861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.93, Y:295.71, Z:115.65 [[ 9.24948638e-01 -1.87287269e-01 -3.30746876e-01 3.96931163e+02] [ 1.78664827e-01 9.82281920e-01 -5.65783421e-02 2.95707383e+02] [ 3.35483079e-01 -6.76077274e-03 9.42021972e-01 1.15647403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:396.96, Y:295.71, Z:115.66 [[ 9.26465344e-01 -1.83052533e-01 -3.28867354e-01 3.96957690e+02] [ 1.78230728e-01 9.82957913e-01 -4.50283163e-02 2.95706673e+02] [ 3.31505315e-01 -1.68970933e-02 9.43302027e-01 1.15658424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:396.98, Y:295.71, Z:115.67 [[ 9.26139042e-01 -1.83790506e-01 -3.29374445e-01 3.96983269e+02] [ 1.77669680e-01 9.82876000e-01 -4.88697597e-02 2.95712725e+02] [ 3.32716035e-01 -1.32596598e-02 9.42933837e-01 1.15667521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.01, Y:295.72, Z:115.68 [[ 9.26536976e-01 -1.83406664e-01 -3.28468001e-01 3.97009386e+02] [ 1.75975147e-01 9.82994346e-01 -5.24867964e-02 2.95718413e+02] [ 3.32508616e-01 -9.17124708e-03 9.43055623e-01 1.15675301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.03, Y:295.73, Z:115.68 [[ 9.24843942e-01 -1.87390251e-01 -3.30981232e-01 3.97034398e+02] [ 1.74774443e-01 9.82273689e-01 -6.77664671e-02 2.95730211e+02] [ 3.37812931e-01 4.82634613e-03 9.41200898e-01 1.15681686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.06, Y:295.71, Z:115.70 [[ 9.27094014e-01 -1.73423547e-01 -3.32296498e-01 3.97059011e+02] [ 1.72349963e-01 9.84484627e-01 -3.29470718e-02 2.95714265e+02] [ 3.32854592e-01 -2.67262561e-02 9.42599347e-01 1.15700767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.09, Y:295.74, Z:115.70 [[ 9.25193699e-01 -1.88398321e-01 -3.29427824e-01 3.97087882e+02] [ 1.74132692e-01 9.82043965e-01 -7.25772499e-02 2.95742470e+02] [ 3.37186039e-01 9.78386060e-03 9.41387195e-01 1.15699287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0327550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:397.11, Y:295.73, Z:115.72 [[ 9.27243841e-01 -1.77933118e-01 -3.29482420e-01 3.97114279e+02] [ 1.75563739e-01 9.83765291e-01 -3.71917564e-02 2.95729164e+02] [ 3.30751014e-01 -2.33593386e-02 9.43428910e-01 1.15718793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.062755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:397.14, Y:295.75, Z:115.72 [[ 9.27858859e-01 -1.86584284e-01 -3.22899742e-01 3.97141454e+02] [ 1.76994313e-01 9.82436217e-01 -5.90939362e-02 2.95746951e+02] [ 3.28254400e-01 -2.32058576e-03 9.44586504e-01 1.15717855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.17, Y:295.75, Z:115.73 [[ 9.27098780e-01 -1.86624310e-01 -3.25052642e-01 3.97166950e+02] [ 1.77445240e-01 9.82423377e-01 -5.79439044e-02 2.95750808e+02] [ 3.30153055e-01 -3.95932097e-03 9.43919109e-01 1.15727140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.19, Y:295.75, Z:115.74 [[ 9.27029426e-01 -1.85768333e-01 -3.25740034e-01 3.97193381e+02] [ 1.77634946e-01 9.82568333e-01 -5.48205861e-02 2.95753652e+02] [ 3.30245771e-01 -7.04251691e-03 9.43868706e-01 1.15738056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.22, Y:295.76, Z:115.75 [[ 9.26827291e-01 -1.86478545e-01 -3.25909381e-01 3.97220151e+02] [ 1.78075223e-01 9.82438211e-01 -5.57169347e-02 2.95758694e+02] [ 3.30575842e-01 -6.39640998e-03 9.43757754e-01 1.15746856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.24, Y:295.76, Z:115.76 [[ 9.26550750e-01 -1.86654485e-01 -3.26594262e-01 3.97244820e+02] [ 1.78729194e-01 9.82393306e-01 -5.43991419e-02 2.95762642e+02] [ 3.30997860e-01 -7.96836356e-03 9.43597860e-01 1.15756547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.27, Y:295.76, Z:115.77 [[ 9.25968868e-01 -1.85449672e-01 -3.28922596e-01 3.97272338e+02] [ 1.79173089e-01 9.82567448e-01 -4.95803816e-02 2.95763998e+02] [ 3.32383301e-01 -1.30241878e-02 9.43054459e-01 1.15770029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.30, Y:295.77, Z:115.78 [[ 9.25747530e-01 -1.86661796e-01 -3.28859977e-01 3.97297088e+02] [ 1.79943695e-01 9.82351846e-01 -5.10403500e-02 2.95770181e+02] [ 3.32583489e-01 -1.19258014e-02 9.42998409e-01 1.15779275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.33, Y:295.78, Z:115.79 [[ 9.25386712e-01 -1.89469027e-01 -3.28269587e-01 3.97325833e+02] [ 1.80503446e-01 9.81870169e-01 -5.78746744e-02 2.95778912e+02] [ 3.33283573e-01 -5.69733713e-03 9.42809419e-01 1.15786207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.35, Y:295.78, Z:115.80 [[ 9.24859564e-01 -1.89684139e-01 -3.29628144e-01 3.97349015e+02] [ 1.82597586e-01 9.81777724e-01 -5.26367035e-02 2.95781810e+02] [ 3.33605917e-01 -1.15077446e-02 9.42642384e-01 1.15796901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.38, Y:295.79, Z:115.81 [[ 9.24644778e-01 -1.90754641e-01 -3.29612957e-01 3.97377896e+02] [ 1.82146925e-01 9.81611141e-01 -5.71144936e-02 2.95788137e+02] [ 3.34446605e-01 -7.22736835e-03 9.42386987e-01 1.15805200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.40, Y:295.79, Z:115.82 [[ 9.24412749e-01 -1.91101015e-01 -3.30062831e-01 3.97401740e+02] [ 1.83741910e-01 9.81508347e-01 -5.36681977e-02 2.95791948e+02] [ 3.34215471e-01 -1.10348088e-02 9.42432094e-01 1.15815142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.43, Y:295.80, Z:115.82 [[ 9.24541663e-01 -1.92524303e-01 -3.28872477e-01 3.97430187e+02] [ 1.82846997e-01 9.81282912e-01 -6.04220290e-02 2.95799883e+02] [ 3.34349651e-01 -4.27066168e-03 9.42439426e-01 1.15821791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.46, Y:295.80, Z:115.84 [[ 9.24459265e-01 -1.87629910e-01 -3.31918790e-01 3.97457149e+02] [ 1.81730037e-01 9.82125361e-01 -4.90302970e-02 2.95797388e+02] [ 3.35185412e-01 -1.49931016e-02 9.42032880e-01 1.15837442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.48, Y:295.81, Z:115.84 [[ 9.24840622e-01 -1.92355287e-01 -3.28129955e-01 3.97484011e+02] [ 1.82446786e-01 9.81319400e-01 -6.10361077e-02 2.95811028e+02] [ 3.33740909e-01 -3.41758392e-03 9.42658648e-01 1.15840320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.51, Y:295.81, Z:115.85 [[ 9.25049623e-01 -1.87484102e-01 -3.30352702e-01 3.97509507e+02] [ 1.80597255e-01 9.82196516e-01 -5.17168737e-02 2.95811850e+02] [ 3.34167364e-01 -1.18201167e-02 9.42439631e-01 1.15854164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.54, Y:295.82, Z:115.86 [[ 9.25127004e-01 -1.86766116e-01 -3.30542653e-01 3.97536405e+02] [ 1.79485081e-01 9.82347602e-01 -5.27095415e-02 2.95816978e+02] [ 3.34552138e-01 -1.05644544e-02 9.42318024e-01 1.15864398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.56, Y:295.82, Z:115.88 [[ 9.24947978e-01 -1.84213865e-01 -3.32470284e-01 3.97563082e+02] [ 1.77283590e-01 9.82819495e-01 -5.13455823e-02 2.95820753e+02] [ 3.36216845e-01 -1.14495329e-02 9.41715000e-01 1.15876238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.58, Y:295.83, Z:115.88 [[ 9.26144533e-01 -1.82661819e-01 -3.29986310e-01 3.97582229e+02] [ 1.76046169e-01 9.83106250e-01 -5.00983770e-02 2.95825293e+02] [ 3.33562664e-01 -1.16944877e-02 9.42655392e-01 1.15881744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.602755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.61, Y:295.85, Z:115.88 [[ 9.24510744e-01 -1.93464485e-01 -3.28407334e-01 3.97613246e+02] [ 1.77285459e-01 9.80997887e-01 -7.88226592e-02 2.95847655e+02] [ 3.37416285e-01 1.46505504e-02 9.41241527e-01 1.15884782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.64, Y:295.84, Z:115.90 [[ 9.25691401e-01 -1.81871139e-01 -3.31690094e-01 3.97638981e+02] [ 1.75142243e-01 9.83255224e-01 -5.03424121e-02 2.95838009e+02] [ 3.35291850e-01 -1.14914090e-02 9.42044226e-01 1.15903221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.66, Y:295.85, Z:115.91 [[ 9.25719388e-01 -1.83403176e-01 -3.30767124e-01 3.97664506e+02] [ 1.74123259e-01 9.83029082e-01 -5.77487232e-02 2.95847494e+02] [ 3.35745001e-01 -4.13513673e-03 9.41943838e-01 1.15909695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.69, Y:295.85, Z:115.92 [[ 9.25801499e-01 -1.82126592e-01 -3.31242342e-01 3.97689158e+02] [ 1.72722244e-01 9.83268405e-01 -5.78815232e-02 2.95853219e+02] [ 3.36241894e-01 -3.62611961e-03 9.41768677e-01 1.15918501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.71, Y:295.86, Z:115.93 [[ 9.25902448e-01 -1.82041391e-01 -3.31006931e-01 3.97714749e+02] [ 1.72618046e-01 9.83284597e-01 -5.79172909e-02 2.95857983e+02] [ 3.36017360e-01 -3.51200816e-03 9.41849245e-01 1.15927969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.74, Y:295.86, Z:115.94 [[ 9.25843959e-01 -1.82277141e-01 -3.31040795e-01 3.97740801e+02] [ 1.72826076e-01 9.83241036e-01 -5.80363110e-02 2.95863102e+02] [ 3.36071587e-01 -3.47991383e-03 9.41830016e-01 1.15937434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.77, Y:295.87, Z:115.95 [[ 9.25759080e-01 -1.82527515e-01 -3.31140201e-01 3.97766119e+02] [ 1.73044923e-01 9.83194688e-01 -5.81692412e-02 2.95867900e+02] [ 3.36192774e-01 -3.45142735e-03 9.41786869e-01 1.15946791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.79, Y:295.87, Z:115.96 [[ 9.25459426e-01 -1.83235895e-01 -3.31586276e-01 3.97790898e+02] [ 1.73753357e-01 9.83062151e-01 -5.82973190e-02 2.95872825e+02] [ 3.36652079e-01 -3.66242526e-03 9.41621986e-01 1.15955506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.82, Y:295.88, Z:115.96 [[ 9.25307693e-01 -1.83923722e-01 -3.31628915e-01 3.97816767e+02] [ 1.74464233e-01 9.82932929e-01 -5.83531317e-02 2.95877492e+02] [ 3.36701506e-01 -3.86278275e-03 9.41603513e-01 1.15964993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.84, Y:295.88, Z:115.97 [[ 9.24977084e-01 -1.85079536e-01 -3.31908060e-01 3.97843079e+02] [ 1.75635837e-01 9.82714694e-01 -5.85139626e-02 2.95882130e+02] [ 3.37000665e-01 -4.17087541e-03 9.41495170e-01 1.15974384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.87, Y:295.89, Z:115.98 [[ 9.24408513e-01 -1.87861938e-01 -3.31928900e-01 3.97868925e+02] [ 1.78550080e-01 9.82182378e-01 -5.86314451e-02 2.95886094e+02] [ 3.37029333e-01 -5.06652453e-03 9.41480515e-01 1.15983943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.90, Y:295.89, Z:115.99 [[ 9.24122868e-01 -1.89484201e-01 -3.31802144e-01 3.97895340e+02] [ 1.80240475e-01 9.81868154e-01 -5.87222183e-02 2.95890703e+02] [ 3.36912891e-01 -5.53763126e-03 9.41519537e-01 1.15993528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.92, Y:295.89, Z:116.00 [[ 9.23762481e-01 -1.90963707e-01 -3.31957440e-01 3.97920638e+02] [ 1.81763336e-01 9.81578987e-01 -5.88623999e-02 2.95894778e+02] [ 3.37083030e-01 -5.96281514e-03 9.41456040e-01 1.16002920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.992755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:397.95, Y:295.90, Z:116.01 [[ 9.23471639e-01 -1.92833626e-01 -3.31685583e-01 3.97945852e+02] [ 1.83738232e-01 9.81209542e-01 -5.88905541e-02 2.95898812e+02] [ 3.36809138e-01 -6.55956595e-03 9.41550093e-01 1.16012144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:397.97, Y:295.90, Z:116.02 [[ 9.23330309e-01 -1.93588027e-01 -3.31639587e-01 3.97971598e+02] [ 1.84525948e-01 9.81059442e-01 -5.89283122e-02 2.95903602e+02] [ 3.36765964e-01 -6.78581246e-03 9.41563932e-01 1.16021450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.00, Y:295.91, Z:116.03 [[ 9.23130241e-01 -1.94012686e-01 -3.31948243e-01 3.97996395e+02] [ 1.84918177e-01 9.80975269e-01 -5.90998330e-02 2.95908428e+02] [ 3.37099134e-01 -6.82642096e-03 9.41444408e-01 1.16030625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.02, Y:295.91, Z:116.04 [[ 9.22699701e-01 -1.93439353e-01 -3.33476354e-01 3.98021761e+02] [ 1.84204478e-01 9.81090044e-01 -5.94225217e-02 2.95913490e+02] [ 3.38664985e-01 -6.59869483e-03 9.40883885e-01 1.16039490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.05, Y:295.92, Z:116.05 [[ 9.22519978e-01 -1.92884787e-01 -3.34293806e-01 3.98047389e+02] [ 1.83550193e-01 9.81200795e-01 -5.96181754e-02 2.95918462e+02] [ 3.39508788e-01 -6.36073476e-03 9.40581376e-01 1.16048485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.07, Y:295.92, Z:116.06 [[ 9.22394488e-01 -1.92276934e-01 -3.34989537e-01 3.98072927e+02] [ 1.82824529e-01 9.81322127e-01 -5.98504405e-02 2.95923500e+02] [ 3.40240504e-01 -6.03858794e-03 9.40319060e-01 1.16057850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.10, Y:295.93, Z:116.07 [[ 9.22355372e-01 -1.90103479e-01 -3.36335005e-01 3.98098577e+02] [ 1.80391104e-01 9.81750603e-01 -6.02063436e-02 2.95929054e+02] [ 3.41642529e-01 -5.14019855e-03 9.39815919e-01 1.16067364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.202755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:398.12, Y:295.93, Z:116.08 [[ 9.22312497e-01 -1.89192350e-01 -3.36965744e-01 3.98123753e+02] [ 1.79341721e-01 9.81928833e-01 -6.04343727e-02 2.95934876e+02] [ 3.42310101e-01 -4.69263923e-03 9.39575316e-01 1.16076751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.232755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:398.15, Y:295.94, Z:116.09 [[ 9.22228829e-01 -1.87873323e-01 -3.37931356e-01 3.98149553e+02] [ 1.77850005e-01 9.82184566e-01 -6.06865164e-02 2.95942620e+02] [ 3.43312340e-01 -4.13423852e-03 9.39212194e-01 1.16086547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.18, Y:295.95, Z:116.10 [[ 9.22143791e-01 -1.87582716e-01 -3.38324628e-01 3.98175463e+02] [ 1.77474322e-01 9.82241024e-01 -6.08722911e-02 2.95948838e+02] [ 3.43734919e-01 -3.91092863e-03 9.39058577e-01 1.16096485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.21, Y:295.94, Z:116.12 [[ 9.21824782e-01 -1.79941733e-01 -3.43307506e-01 3.98205566e+02] [ 1.74611677e-01 9.83531434e-01 -4.66549078e-02 2.95943700e+02] [ 3.46048889e-01 -1.69378489e-02 9.38063578e-01 1.16116256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.23, Y:295.97, Z:116.11 [[ 9.22103883e-01 -1.90494546e-01 -3.36802995e-01 3.98225859e+02] [ 1.77391789e-01 9.81678380e-01 -6.95680298e-02 2.95966826e+02] [ 3.43884549e-01 4.40286475e-03 9.39001615e-01 1.16113961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.25, Y:295.97, Z:116.13 [[ 9.22000927e-01 -1.88032576e-01 -3.38464239e-01 3.98251014e+02] [ 1.77849927e-01 9.82155406e-01 -6.11568686e-02 2.95967739e+02] [ 3.43923965e-01 -3.80915055e-03 9.38989775e-01 1.16126748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.28, Y:295.97, Z:116.14 [[ 9.21809698e-01 -1.88544655e-01 -3.38700155e-01 3.98276990e+02] [ 1.78339900e-01 9.82056928e-01 -6.13112651e-02 2.95973595e+02] [ 3.44182744e-01 -3.88643311e-03 9.38894634e-01 1.16136585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.30, Y:295.98, Z:116.15 [[ 9.21374470e-01 -1.89631255e-01 -3.39277280e-01 3.98301791e+02] [ 1.79421359e-01 9.81846462e-01 -6.15264240e-02 2.95980427e+02] [ 3.44785530e-01 -4.18471426e-03 9.38672161e-01 1.16145778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.33, Y:295.99, Z:116.16 [[ 9.21091720e-01 -1.90579587e-01 -3.39513571e-01 3.98327895e+02] [ 1.80389540e-01 9.81661599e-01 -6.16451083e-02 2.95986462e+02] [ 3.45035734e-01 -4.46389793e-03 9.38578934e-01 1.16155365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.35, Y:295.99, Z:116.16 [[ 9.20169302e-01 -1.93116211e-01 -3.40579778e-01 3.98353389e+02] [ 1.82987860e-01 9.81161474e-01 -6.19484073e-02 2.95992996e+02] [ 3.46126999e-01 -5.31894192e-03 9.38172591e-01 1.16164900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.38, Y:296.00, Z:116.17 [[ 9.19621043e-01 -1.94945164e-01 -3.41018358e-01 3.98378941e+02] [ 1.84871214e-01 9.80796389e-01 -6.21375776e-02 2.95998466e+02] [ 3.46582994e-01 -5.90145384e-03 9.38000747e-01 1.16174209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5327550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:398.40, Y:296.00, Z:116.18 [[ 9.18993768e-01 -1.96756326e-01 -3.41668556e-01 3.98404982e+02] [ 1.86720685e-01 9.80431031e-01 -6.23729093e-02 2.96003606e+02] [ 3.47254719e-01 -6.47627179e-03 9.37748483e-01 1.16184112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.562755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:398.43, Y:296.01, Z:116.19 [[ 9.18022631e-01 -2.00416492e-01 -3.42151543e-01 3.98430015e+02] [ 1.90554122e-01 9.79680130e-01 -6.25777043e-02 2.96008233e+02] [ 3.47740672e-01 -7.75063824e-03 9.37558720e-01 1.16193574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.592755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:398.46, Y:296.01, Z:116.20 [[ 9.17596784e-01 -2.02038494e-01 -3.42339873e-01 3.98455854e+02] [ 1.92254658e-01 9.79342278e-01 -6.26645767e-02 2.96012709e+02] [ 3.47928568e-01 -8.31562130e-03 9.37484166e-01 1.16203401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.48, Y:296.02, Z:116.21 [[ 9.17271752e-01 -2.03070284e-01 -3.42600339e-01 3.98480517e+02] [ 1.93298465e-01 9.79126436e-01 -6.28261565e-02 2.96017493e+02] [ 3.48207175e-01 -8.59546098e-03 9.37378196e-01 1.16213285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.51, Y:296.02, Z:116.22 [[ 9.17298908e-01 -2.03945187e-01 -3.42007419e-01 3.98506599e+02] [ 1.94247761e-01 9.78942245e-01 -6.27685227e-02 2.96022812e+02] [ 3.47606848e-01 -8.85667804e-03 9.37598549e-01 1.16222829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.53, Y:296.03, Z:116.23 [[ 9.17277813e-01 -2.04219397e-01 -3.41900353e-01 3.98531814e+02] [ 1.94503390e-01 9.78885268e-01 -6.28654369e-02 2.96029091e+02] [ 3.47519561e-01 -8.83570727e-03 9.37631103e-01 1.16232299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.56, Y:296.03, Z:116.24 [[ 9.17463202e-01 -2.03968570e-01 -3.41552478e-01 3.98556812e+02] [ 1.94213534e-01 9.78939566e-01 -6.29160516e-02 2.96034688e+02] [ 3.47192132e-01 -8.61095152e-03 9.37754486e-01 1.16240592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.58, Y:296.04, Z:116.25 [[ 9.17426330e-01 -2.02546260e-01 -3.42496630e-01 3.98581920e+02] [ 1.92621393e-01 9.79239645e-01 -6.31404461e-02 2.96040172e+02] [ 3.48175140e-01 -8.04547020e-03 9.37394977e-01 1.16249294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.61, Y:296.05, Z:116.26 [[ 9.17302949e-01 -2.02000102e-01 -3.43149032e-01 3.98607539e+02] [ 1.91980371e-01 9.79354429e-01 -6.33122423e-02 2.96045082e+02] [ 3.48853604e-01 -7.80137179e-03 9.37144760e-01 1.16258770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.63, Y:296.05, Z:116.27 [[ 9.17406918e-01 -2.01249343e-01 -3.43312173e-01 3.98633675e+02] [ 1.91126816e-01 9.79512083e-01 -6.34556571e-02 2.96049907e+02] [ 3.49048831e-01 -7.40150384e-03 9.37075307e-01 1.16268162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.66, Y:296.06, Z:116.28 [[ 9.17941555e-01 -1.99413797e-01 -3.42953990e-01 3.98658381e+02] [ 1.89147644e-01 9.79893286e-01 -6.35005235e-02 2.96055175e+02] [ 3.48721193e-01 -6.57916997e-03 9.37203417e-01 1.16276383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.68, Y:296.06, Z:116.29 [[ 9.18154884e-01 -1.98492830e-01 -3.42917200e-01 3.98684644e+02] [ 1.88148077e-01 9.80082881e-01 -6.35440544e-02 2.96060573e+02] [ 3.48700317e-01 -6.17592788e-03 9.37213928e-01 1.16285708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.71, Y:296.07, Z:116.29 [[ 9.18204399e-01 -1.97702770e-01 -3.43240873e-01 3.98710255e+02] [ 1.87241322e-01 9.80245086e-01 -6.37201595e-02 2.96065966e+02] [ 3.49057831e-01 -5.76074411e-03 9.37083478e-01 1.16294917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.74, Y:296.07, Z:116.30 [[ 9.18168464e-01 -1.95976669e-01 -3.44325162e-01 3.98736591e+02] [ 1.85285419e-01 9.80595818e-01 -6.40402618e-02 2.96071553e+02] [ 3.50194211e-01 -4.99868300e-03 9.36663775e-01 1.16304261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.76, Y:296.08, Z:116.31 [[ 9.18064195e-01 -1.95717350e-01 -3.44750422e-01 3.98761491e+02] [ 1.84935801e-01 9.80648701e-01 -6.42407550e-02 2.96076505e+02] [ 3.50652084e-01 -4.77955860e-03 9.36493605e-01 1.16313216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.79, Y:296.08, Z:116.32 [[ 9.17760177e-01 -1.95322036e-01 -3.45782532e-01 3.98786376e+02] [ 1.84415510e-01 9.80728574e-01 -6.45165349e-02 2.96081038e+02] [ 3.51720311e-01 -4.55695571e-03 9.36094043e-01 1.16322158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:398.81, Y:296.09, Z:116.33 [[ 9.17707028e-01 -1.95597149e-01 -3.45768082e-01 3.98812752e+02] [ 1.84680357e-01 9.80673643e-01 -6.45938936e-02 2.96086192e+02] [ 3.51720026e-01 -4.57830281e-03 9.36094046e-01 1.16331863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0427550960001 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:398.84, Y:296.09, Z:116.34 [[ 9.17224648e-01 -1.95892511e-01 -3.46879041e-01 3.98838591e+02] [ 1.84884473e-01 9.80614588e-01 -6.49057886e-02 2.96091185e+02] [ 3.52869206e-01 -4.59935969e-03 9.35661354e-01 1.16341558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.072755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:398.87, Y:296.08, Z:116.37 [[ 9.15599642e-01 -1.84345185e-01 -3.57343181e-01 3.98868970e+02] [ 1.81960683e-01 9.82467068e-01 -4.06050489e-02 2.96077172e+02] [ 3.58563253e-01 -2.78444412e-02 9.33090071e-01 1.16368622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.102755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:398.89, Y:296.09, Z:116.37 [[ 9.14951763e-01 -1.90770486e-01 -3.55626059e-01 3.98893960e+02] [ 1.80731472e-01 9.81602652e-01 -6.15822046e-02 2.96092720e+02] [ 3.60831550e-01 -7.92807431e-03 9.32597308e-01 1.16371978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.132755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:398.92, Y:296.10, Z:116.38 [[ 9.15214067e-01 -1.95322079e-01 -3.52466307e-01 3.98919841e+02] [ 1.83108530e-01 9.80736494e-01 -6.80234917e-02 2.96103504e+02] [ 3.58963060e-01 -2.28353089e-03 9.33348974e-01 1.16377188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:398.95, Y:296.11, Z:116.39 [[ 9.15290105e-01 -1.96904876e-01 -3.51386529e-01 3.98946215e+02] [ 1.85668500e-01 9.80409578e-01 -6.57591658e-02 2.96109459e+02] [ 3.57451019e-01 -5.05269621e-03 9.33918219e-01 1.16385762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.192755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:398.97, Y:296.13, Z:116.38 [[ 9.16469009e-01 -2.05207506e-01 -3.43474069e-01 3.98971087e+02] [ 1.88538045e-01 9.78666778e-01 -8.16378760e-02 2.96127447e+02] [ 3.52899366e-01 1.00606538e-02 9.35607194e-01 1.16383814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.00, Y:296.13, Z:116.39 [[ 9.16940853e-01 -2.04714455e-01 -3.42507613e-01 3.98996500e+02] [ 1.90624551e-01 9.78816479e-01 -7.47032869e-02 2.96130792e+02] [ 3.50544938e-01 3.20813578e-03 9.36540418e-01 1.16392239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.02, Y:296.11, Z:116.42 [[ 9.16744213e-01 -1.90614823e-01 -3.51064150e-01 3.99018237e+02] [ 1.89118903e-01 9.81183599e-01 -3.88945386e-02 2.96113855e+02] [ 3.51872262e-01 -3.07365238e-02 9.35543253e-01 1.16417725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.05, Y:296.17, Z:116.39 [[ 9.17138945e-01 -2.20161049e-01 -3.32242784e-01 3.99046840e+02] [ 1.91512578e-01 9.74481901e-01 -1.17080989e-01 2.96169059e+02] [ 3.49541253e-01 4.37508631e-02 9.35898913e-01 1.16394887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.08, Y:296.16, Z:116.41 [[ 9.16557886e-01 -2.09861145e-01 -3.40411430e-01 3.99076285e+02] [ 1.91217101e-01 9.77609671e-01 -8.78370726e-02 2.96157440e+02] [ 3.51223094e-01 1.54152751e-02 9.36164893e-01 1.16413503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.342755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:399.10, Y:296.15, Z:116.43 [[ 9.17458754e-01 -1.99593483e-01 -3.44139326e-01 3.99101082e+02] [ 1.91802060e-01 9.79781791e-01 -5.69175906e-02 2.96145875e+02] [ 3.48541825e-01 -1.37870898e-02 9.37191823e-01 1.16430715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.372755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:399.13, Y:296.17, Z:116.43 [[ 9.16251511e-01 -2.09057245e-01 -3.41728308e-01 3.99128878e+02] [ 1.89874959e-01 9.77760512e-01 -8.90611061e-02 2.96170753e+02] [ 3.52747315e-01 1.67167247e-02 9.35569283e-01 1.16431443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.15, Y:296.12, Z:116.49 [[ 9.12525939e-01 -1.74640798e-01 -3.69860787e-01 3.99150533e+02] [ 1.83971131e-01 9.82878730e-01 -1.01992335e-02 2.96123533e+02] [ 3.65309503e-01 -5.87366420e-02 9.29031202e-01 1.16487241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.432755096 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:399.18, Y:296.20, Z:116.44 [[ 9.15444452e-01 -2.15912984e-01 -3.39621906e-01 3.99179266e+02] [ 1.86211987e-01 9.75378402e-01 -1.18161195e-01 2.96199585e+02] [ 3.56772408e-01 4.49283402e-02 9.33110333e-01 1.16444638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.462755096 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:399.21, Y:296.18, Z:116.47 [[ 9.14428051e-01 -1.95131324e-01 -3.54605563e-01 3.99205557e+02] [ 1.82865721e-01 9.80773840e-01 -6.81381127e-02 2.96175571e+02] [ 3.61083740e-01 -2.53780012e-03 9.32529942e-01 1.16472726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.492755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:399.23, Y:296.15, Z:116.51 [[ 9.12925145e-01 -1.77137642e-01 -3.67681839e-01 3.99229820e+02] [ 1.80508364e-01 9.83242644e-01 -2.55075401e-02 2.96152607e+02] [ 3.66038809e-01 -4.30831724e-02 9.29601759e-01 1.16509103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.26, Y:296.21, Z:116.48 [[ 9.14010552e-01 -2.06867963e-01 -3.48984753e-01 3.99257356e+02] [ 1.80314101e-01 9.77736683e-01 -1.07321036e-01 2.96208851e+02] [ 3.63416478e-01 3.51656879e-02 9.30962855e-01 1.16483305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.28, Y:296.17, Z:116.53 [[ 9.12469437e-01 -1.82916117e-01 -3.65979808e-01 3.99283182e+02] [ 1.80605807e-01 9.82706286e-01 -4.08643841e-02 2.96174070e+02] [ 3.67125413e-01 -2.88105770e-02 9.29725165e-01 1.16525730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.31, Y:296.19, Z:116.53 [[ 9.13892301e-01 -1.88310519e-01 -3.59638723e-01 3.99308708e+02] [ 1.79817064e-01 9.82032036e-01 -5.72617179e-02 2.96188980e+02] [ 3.63959731e-01 -1.23381364e-02 9.31332961e-01 1.16528888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.34, Y:296.22, Z:116.52 [[ 9.15087103e-01 -2.00996056e-01 -3.49594307e-01 3.99340157e+02] [ 1.80321862e-01 9.79381522e-01 -9.10816107e-02 2.96217291e+02] [ 3.60693249e-01 2.03081109e-02 9.32463383e-01 1.16522459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.642755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:399.37, Y:296.21, Z:116.54 [[ 9.14863826e-01 -1.93569033e-01 -3.54337705e-01 3.99365180e+02] [ 1.80911138e-01 9.81086031e-01 -6.88575273e-02 2.96209706e+02] [ 3.60964458e-01 -1.10837676e-03 9.32578914e-01 1.16538155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.39, Y:296.20, Z:116.57 [[ 9.13806558e-01 -1.82899405e-01 -3.62636709e-01 3.99386840e+02] [ 1.82438555e-01 9.82563835e-01 -3.58397047e-02 2.96196505e+02] [ 3.62868776e-01 -3.34083600e-02 9.31241179e-01 1.16565513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.41, Y:296.22, Z:116.57 [[ 9.13370801e-01 -1.95294599e-01 -3.57230738e-01 3.99411905e+02] [ 1.83208296e-01 9.80738077e-01 -6.77314102e-02 2.96219786e+02] [ 3.63577365e-01 -3.58374215e-03 9.31557114e-01 1.16565880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.44, Y:296.24, Z:116.56 [[ 9.15020618e-01 -2.05983098e-01 -3.46854770e-01 3.99444995e+02] [ 1.85676386e-01 9.78370320e-01 -9.11909850e-02 2.96239488e+02] [ 3.58136214e-01 1.90388912e-02 9.33475213e-01 1.16563692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.46, Y:296.21, Z:116.60 [[ 9.13153494e-01 -1.88595624e-01 -3.61361851e-01 3.99464884e+02] [ 1.87786005e-01 9.81485848e-01 -3.77087093e-02 2.96213547e+02] [ 3.61783240e-01 -3.34248588e-02 9.31662850e-01 1.16597019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.49, Y:296.23, Z:116.60 [[ 9.13203422e-01 -2.01243630e-01 -3.54345186e-01 3.99491457e+02] [ 1.89565898e-01 9.79526931e-01 -6.77625363e-02 2.96234741e+02] [ 3.60727431e-01 -5.29078341e-03 9.32656275e-01 1.16596896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.52, Y:296.25, Z:116.60 [[ 9.13238262e-01 -2.08935919e-01 -3.49773724e-01 3.99522050e+02] [ 1.88603799e-01 9.77768884e-01 -9.16330549e-02 2.96251944e+02] [ 3.61143301e-01 1.77141586e-02 9.32342064e-01 1.16595815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.852755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:399.55, Y:296.23, Z:116.62 [[ 9.13549158e-01 -1.94384893e-01 -3.57270835e-01 3.99545454e+02] [ 1.91727259e-01 9.80496131e-01 -4.32203182e-02 2.96230192e+02] [ 3.58704048e-01 -2.90146727e-02 9.33000297e-01 1.16624004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.57, Y:296.25, Z:116.63 [[ 9.13753067e-01 -2.04344610e-01 -3.51139023e-01 3.99570515e+02] [ 1.93005768e-01 9.78879514e-01 -6.74067508e-02 2.96247836e+02] [ 3.57497003e-01 -6.17873164e-03 9.33893846e-01 1.16625470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.60, Y:296.25, Z:116.63 [[ 9.13867267e-01 -2.05004252e-01 -3.50456668e-01 3.99596856e+02] [ 1.93737357e-01 9.78740371e-01 -6.73284637e-02 2.96252708e+02] [ 3.56808710e-01 -6.36726930e-03 9.34155770e-01 1.16634890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:399.62, Y:296.26, Z:116.64 [[ 9.14144132e-01 -2.05938807e-01 -3.49184354e-01 3.99621919e+02] [ 1.94774754e-01 9.78542782e-01 -6.72072918e-02 2.96256813e+02] [ 3.55532419e-01 -6.57514523e-03 9.34640822e-01 1.16644278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.65, Y:296.26, Z:116.65 [[ 9.14473794e-01 -2.06737722e-01 -3.47846511e-01 3.99647762e+02] [ 1.95696945e-01 9.78372770e-01 -6.70032014e-02 2.96261582e+02] [ 3.54175644e-01 -6.79982781e-03 9.35154199e-01 1.16653583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.67, Y:296.27, Z:116.66 [[ 9.14581912e-01 -2.07214902e-01 -3.47277858e-01 3.99672474e+02] [ 1.96197993e-01 9.78271514e-01 -6.70163675e-02 2.96265979e+02] [ 3.53618826e-01 -6.84326117e-03 9.35364579e-01 1.16663168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0327550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:399.70, Y:296.27, Z:116.67 [[ 9.14844937e-01 -2.07550379e-01 -3.46383577e-01 3.99697650e+02] [ 1.96594934e-01 9.78200015e-01 -6.68966583e-02 2.96270059e+02] [ 3.52716847e-01 -6.89718716e-03 9.35704684e-01 1.16672767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.062755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:399.72, Y:296.28, Z:116.68 [[ 9.15450196e-01 -2.08066342e-01 -3.44469645e-01 3.99723897e+02] [ 1.97241191e-01 9.78089875e-01 -6.66041158e-02 2.96275262e+02] [ 3.50780347e-01 -6.97085213e-03 9.36431821e-01 1.16682520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.75, Y:296.27, Z:116.70 [[ 9.15522260e-01 -2.03196641e-01 -3.47174475e-01 3.99754745e+02] [ 1.95102838e-01 9.79035545e-01 -5.85173857e-02 2.96273234e+02] [ 3.51786688e-01 -1.41607562e-02 9.35973076e-01 1.16698332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.122755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:399.78, Y:296.28, Z:116.71 [[ 9.15653930e-01 -2.03045432e-01 -3.46915599e-01 3.99779344e+02] [ 1.95324865e-01 9.79052485e-01 -5.74841655e-02 2.96278420e+02] [ 3.51320476e-01 -1.51256406e-02 9.36133077e-01 1.16709142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.80, Y:296.30, Z:116.71 [[ 9.16159322e-01 -2.11090506e-01 -3.40724076e-01 3.99801058e+02] [ 1.98451739e-01 9.77465066e-01 -7.19649292e-02 2.96295868e+02] [ 3.48236995e-01 -1.68594482e-03 9.37405010e-01 1.16709167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.83, Y:296.30, Z:116.72 [[ 9.16162394e-01 -2.09463704e-01 -3.41718341e-01 3.99827377e+02] [ 1.98756844e-01 9.77791294e-01 -6.64823542e-02 2.96298633e+02] [ 3.48054858e-01 -7.01022612e-03 9.37447957e-01 1.16720223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.86, Y:296.29, Z:116.74 [[ 9.15432298e-01 -2.01375323e-01 -3.48470498e-01 3.99858582e+02] [ 1.96369660e-01 9.79252721e-01 -5.00306455e-02 2.96292104e+02] [ 3.51315620e-01 -2.26293644e-02 9.35983572e-01 1.16741128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.88, Y:296.31, Z:116.75 [[ 9.15640611e-01 -2.07020505e-01 -3.44593649e-01 3.99884182e+02] [ 1.97243045e-01 9.78288333e-01 -6.36169666e-02 2.96305854e+02] [ 3.50281963e-01 -9.71842240e-03 9.36593881e-01 1.16745163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.91, Y:296.31, Z:116.76 [[ 9.15733176e-01 -2.06158581e-01 -3.44864308e-01 3.99910493e+02] [ 1.98265070e-01 9.78405563e-01 -5.84252980e-02 2.96308703e+02] [ 3.49462034e-01 -1.48725625e-02 9.36832479e-01 1.16757780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.93, Y:296.33, Z:116.76 [[ 9.16471967e-01 -2.15348084e-01 -3.37200736e-01 3.99931136e+02] [ 2.02067534e-01 9.76537349e-01 -7.44548086e-02 2.96330231e+02] [ 3.45322813e-01 9.84236579e-05 9.38483961e-01 1.16755854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.96, Y:296.33, Z:116.77 [[ 9.14486304e-01 -2.11113248e-01 -3.45175312e-01 3.99961224e+02] [ 1.96643838e-01 9.77458661e-01 -7.68489952e-02 2.96332423e+02] [ 3.53618439e-01 2.40075566e-03 9.35386677e-01 1.16771710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:399.98, Y:296.33, Z:116.78 [[ 9.17009955e-01 -2.07258284e-01 -3.40788420e-01 3.99982106e+02] [ 2.01523634e-01 9.78072030e-01 -5.25673741e-02 2.96330133e+02] [ 3.44210646e-01 -2.04721154e-02 9.38669230e-01 1.16782275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.01, Y:296.34, Z:116.79 [[ 9.17136761e-01 -2.09809699e-01 -3.38880588e-01 4.00013124e+02] [ 1.98495316e-01 9.77730576e-01 -6.81361139e-02 2.96344225e+02] [ 3.45629530e-01 -4.77607472e-03 9.38358896e-01 1.16788608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.04, Y:296.34, Z:116.81 [[ 9.17162420e-01 -2.03622439e-01 -3.42565320e-01 4.00039578e+02] [ 1.97345110e-01 9.78873810e-01 -5.34880585e-02 2.96341364e+02] [ 3.46219589e-01 -1.85463538e-02 9.37970164e-01 1.16805841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.06, Y:296.35, Z:116.81 [[ 9.16614852e-01 -2.04680936e-01 -3.43399078e-01 4.00064319e+02] [ 1.95811372e-01 9.78760151e-01 -6.07163319e-02 2.96353188e+02] [ 3.48532810e-01 -1.15879529e-02 9.37224946e-01 1.16814124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.09, Y:296.36, Z:116.82 [[ 9.17082278e-01 -2.04425575e-01 -3.42301447e-01 4.00089686e+02] [ 1.96143833e-01 9.78795889e-01 -5.90440955e-02 2.96359352e+02] [ 3.47113372e-01 -1.29920242e-02 9.37733179e-01 1.16824435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.12, Y:296.37, Z:116.83 [[ 9.17188852e-01 -2.04283066e-01 -3.42100919e-01 4.00115015e+02] [ 1.95033209e-01 9.78858725e-01 -6.16250224e-02 2.96367203e+02] [ 3.47457418e-01 -1.01992563e-02 9.37640293e-01 1.16833018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5427550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:400.13, Y:296.38, Z:116.84 [[ 9.17981831e-01 -2.09011893e-01 -3.37080683e-01 4.00134412e+02] [ 1.97013107e-01 9.77910392e-01 -6.98362467e-02 2.96382487e+02] [ 3.44231309e-01 -2.30090701e-03 9.38882054e-01 1.16835219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.17, Y:296.38, Z:116.86 [[ 9.17914706e-01 -1.97952163e-01 -3.43871393e-01 4.00166367e+02] [ 1.92050418e-01 9.80032206e-01 -5.15122588e-02 2.96375442e+02] [ 3.47202003e-01 -1.87567847e-02 9.37602769e-01 1.16858050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.19, Y:296.39, Z:116.86 [[ 9.18650380e-01 -2.02513071e-01 -3.39219599e-01 4.00192119e+02] [ 1.92553088e-01 9.79252328e-01 -6.31520947e-02 2.96390366e+02] [ 3.44970707e-01 -7.30308567e-03 9.38585040e-01 1.16863333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.22, Y:296.40, Z:116.87 [[ 9.19439705e-01 -2.04461458e-01 -3.35896029e-01 4.00218459e+02] [ 1.93903064e-01 9.78860253e-01 -6.50707863e-02 2.96402759e+02] [ 3.42099739e-01 -5.30260470e-03 9.39648685e-01 1.16871939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.24, Y:296.41, Z:116.88 [[ 9.19731633e-01 -2.03651673e-01 -3.35588615e-01 4.00242862e+02] [ 1.93798095e-01 9.79017598e-01 -6.29828686e-02 2.96408797e+02] [ 3.41373727e-01 -7.10909764e-03 9.39900760e-01 1.16880971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.27, Y:296.41, Z:116.89 [[ 9.19678498e-01 -2.01132273e-01 -3.37249566e-01 4.00268673e+02] [ 1.93210230e-01 9.79484472e-01 -5.72710721e-02 2.96411980e+02] [ 3.41849774e-01 -1.24890927e-02 9.39671621e-01 1.16893997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.29, Y:296.42, Z:116.90 [[ 9.19771631e-01 -2.02334339e-01 -3.36275128e-01 4.00292204e+02] [ 1.92696857e-01 9.79286883e-01 -6.21701109e-02 2.96424497e+02] [ 3.41888970e-01 -7.61685583e-03 9.39709485e-01 1.16901725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.32, Y:296.43, Z:116.91 [[ 9.19935768e-01 -2.03139457e-01 -3.35339446e-01 4.00317429e+02] [ 1.92381309e-01 9.79140062e-01 -6.53771389e-02 2.96434289e+02] [ 3.41624963e-01 -4.37027316e-03 9.39826200e-01 1.16910029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.34, Y:296.44, Z:116.92 [[ 9.20120504e-01 -2.02798124e-01 -3.35039070e-01 4.00343935e+02] [ 1.92140823e-01 9.79210068e-01 -6.50349655e-02 2.96442536e+02] [ 3.41262599e-01 -4.53467719e-03 9.39957060e-01 1.16919295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.37, Y:296.45, Z:116.93 [[ 9.20077892e-01 -2.00498836e-01 -3.36536609e-01 4.00369328e+02] [ 1.90367600e-01 9.79676103e-01 -6.32053011e-02 2.96451412e+02] [ 3.42369463e-01 -5.91186641e-03 9.39546806e-01 1.16929305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.39, Y:296.46, Z:116.94 [[ 9.19872303e-01 -2.01813350e-01 -3.36312829e-01 4.00394735e+02] [ 1.90499112e-01 9.79420194e-01 -6.66796253e-02 2.96461793e+02] [ 3.42848414e-01 -2.73055482e-03 9.39386773e-01 1.16937346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.872755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.42, Y:296.48, Z:116.94 [[ 9.20293667e-01 -2.09239647e-01 -3.30572740e-01 4.00419949e+02] [ 1.91989250e-01 9.77761209e-01 -8.43987294e-02 2.96484444e+02] [ 3.40880762e-01 1.42052037e-02 9.39999212e-01 1.16936292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.45, Y:296.48, Z:116.95 [[ 9.20147962e-01 -2.02642845e-01 -3.35057616e-01 4.00445567e+02] [ 1.91662802e-01 9.79246156e-01 -6.58964004e-02 2.96481504e+02] [ 3.41457317e-01 -3.58364305e-03 9.39890450e-01 1.16951417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.47, Y:296.49, Z:116.96 [[ 9.20171437e-01 -2.04472274e-01 -3.33879642e-01 4.00470008e+02] [ 1.91878643e-01 9.78871893e-01 -7.06569439e-02 2.96492658e+02] [ 3.41272783e-01 9.52129194e-04 9.39963819e-01 1.16959018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.50, Y:296.50, Z:116.97 [[ 9.19984901e-01 -2.04101490e-01 -3.34619731e-01 4.00496316e+02] [ 1.92208380e-01 9.78949062e-01 -6.86634782e-02 2.96497135e+02] [ 3.41589990e-01 -1.14735324e-03 9.39848372e-01 1.16969862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.992755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:400.52, Y:296.49, Z:116.99 [[ 9.18918474e-01 -1.93731731e-01 -3.43594027e-01 4.00522300e+02] [ 1.89960827e-01 9.80761925e-01 -4.49547739e-02 2.96489787e+02] [ 3.45693105e-01 -2.39596332e-02 9.38041690e-01 1.16994508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.55, Y:296.52, Z:116.99 [[ 9.19154622e-01 -2.09518417e-01 -3.33551816e-01 4.00545242e+02] [ 1.92225944e-01 9.77711629e-01 -8.44343409e-02 2.96522606e+02] [ 3.43808039e-01 1.34909019e-02 9.38943038e-01 1.16988089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.57, Y:296.52, Z:117.00 [[ 9.17311654e-01 -2.06304018e-01 -3.40555402e-01 4.00572480e+02] [ 1.93154100e-01 9.78487686e-01 -7.24799396e-02 2.96522981e+02] [ 3.48182170e-01 7.07021276e-04 9.37426625e-01 1.17003516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.59, Y:296.52, Z:117.02 [[ 9.17082465e-01 -1.98721666e-01 -3.45643533e-01 4.00591466e+02] [ 1.90067300e-01 9.79988856e-01 -5.91292135e-02 2.96520222e+02] [ 3.50477067e-01 -1.14691682e-02 9.36501086e-01 1.17019155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.62, Y:296.53, Z:117.02 [[ 9.19117831e-01 -2.02760661e-01 -3.37802497e-01 4.00619329e+02] [ 1.93491007e-01 9.79186588e-01 -6.12768850e-02 2.96531765e+02] [ 3.43196216e-01 -9.04106763e-03 9.39220217e-01 1.17022290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.64, Y:296.54, Z:117.04 [[ 9.16169934e-01 -2.10731248e-01 -3.40917870e-01 4.00643924e+02] [ 1.98813129e-01 9.77537099e-01 -6.99611340e-02 2.96544504e+02] [ 3.48002863e-01 -3.68266111e-03 9.37486238e-01 1.17036458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.67, Y:296.56, Z:117.04 [[ 9.15587454e-01 -2.16037607e-01 -3.39156846e-01 4.00669377e+02] [ 2.02411669e-01 9.76384921e-01 -7.55116013e-02 2.96555287e+02] [ 3.47460976e-01 4.88171322e-04 9.37694317e-01 1.17043364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.202755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:400.70, Y:296.56, Z:117.06 [[ 9.14859813e-01 -2.15801068e-01 -3.41264447e-01 4.00695921e+02] [ 2.05352250e-01 9.76397219e-01 -6.69247631e-02 2.96556551e+02] [ 3.47652092e-01 -8.85264562e-03 9.37581812e-01 1.17056320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.72, Y:296.56, Z:117.07 [[ 9.12950368e-01 -2.20421721e-01 -3.43417952e-01 4.00719353e+02] [ 2.10938301e-01 9.75319666e-01 -6.52424812e-02 2.96561819e+02] [ 3.49323142e-01 -1.28768522e-02 9.36913832e-01 1.17068402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.74, Y:296.58, Z:117.08 [[ 9.10457892e-01 -2.31681871e-01 -3.42622150e-01 4.00742997e+02] [ 2.15678876e-01 9.72786365e-01 -8.46717870e-02 2.96579426e+02] [ 3.52915074e-01 3.19373647e-03 9.35649908e-01 1.17075900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.77, Y:296.57, Z:117.09 [[ 9.10694259e-01 -2.27333083e-01 -3.44899458e-01 4.00769237e+02] [ 2.18257692e-01 9.73691480e-01 -6.54865009e-02 2.96574608e+02] [ 3.50712912e-01 -1.56387792e-02 9.36352435e-01 1.17090076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.80, Y:296.58, Z:117.09 [[ 9.11777718e-01 -2.33725059e-01 -3.37689192e-01 4.00795635e+02] [ 2.25429531e-01 9.72143280e-01 -6.41792026e-02 2.96582653e+02] [ 3.43282567e-01 -1.76079491e-02 9.39067111e-01 1.17092787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.82, Y:296.59, Z:117.10 [[ 9.10475383e-01 -2.37201372e-01 -3.38777341e-01 4.00818812e+02] [ 2.26307537e-01 9.71396225e-01 -7.19324237e-02 2.96592664e+02] [ 3.46149499e-01 -1.11751648e-02 9.38112808e-01 1.17102365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.84, Y:296.60, Z:117.12 [[ 9.09593634e-01 -2.38266987e-01 -3.40394277e-01 4.00841732e+02] [ 2.27315252e-01 9.71130684e-01 -7.23392757e-02 2.96597345e+02] [ 3.47803388e-01 -1.15774661e-02 9.37496008e-01 1.17116782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.87, Y:296.60, Z:117.13 [[ 9.08750853e-01 -2.39562187e-01 -3.41733589e-01 4.00866425e+02] [ 2.28588032e-01 9.70806069e-01 -7.26848534e-02 2.96603777e+02] [ 3.49169584e-01 -1.20637859e-02 9.36981892e-01 1.17127503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.89, Y:296.61, Z:117.14 [[ 9.09017878e-01 -2.40188504e-01 -3.40581826e-01 4.00891711e+02] [ 2.29280688e-01 9.70650678e-01 -7.25784156e-02 2.96609746e+02] [ 3.48018481e-01 -1.21137582e-02 9.37409406e-01 1.17136440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.92, Y:296.62, Z:117.15 [[ 9.08590256e-01 -2.40522079e-01 -3.41486275e-01 4.00917128e+02] [ 2.29233676e-01 9.70577639e-01 -7.36951056e-02 2.96617070e+02] [ 3.49164242e-01 -1.13214993e-02 9.36993146e-01 1.17146317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.94, Y:296.64, Z:117.14 [[ 9.10070335e-01 -2.50564134e-01 -3.30135730e-01 4.00944079e+02] [ 2.31663034e-01 9.68037767e-01 -9.60995353e-02 2.96640923e+02] [ 3.43662952e-01 1.09770915e-02 9.39028902e-01 1.17141786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:400.97, Y:296.64, Z:117.16 [[ 9.10401761e-01 -2.42970450e-01 -3.34864143e-01 4.00971006e+02] [ 2.30955605e-01 9.69998755e-01 -7.59073360e-02 2.96635987e+02] [ 3.43261041e-01 -8.23257819e-03 9.39203962e-01 1.17155707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.562755096 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:401.00, Y:296.64, Z:117.17 [[ 9.10577040e-01 -2.39244933e-01 -3.37062779e-01 4.00996153e+02] [ 2.28465231e-01 9.70891053e-01 -7.19319168e-02 2.96639959e+02] [ 3.44460583e-01 -1.15075738e-02 9.38730250e-01 1.17167114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.592755096 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:401.02, Y:296.65, Z:117.18 [[ 9.09772133e-01 -2.42441272e-01 -3.36952363e-01 4.01019827e+02] [ 2.26059267e-01 9.70159410e-01 -8.76808215e-02 2.96653823e+02] [ 3.48154956e-01 3.59836368e-03 9.37430093e-01 1.17175252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.622755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.05, Y:296.64, Z:117.20 [[ 9.08466438e-01 -2.30518748e-01 -3.48639983e-01 4.01045995e+02] [ 2.27281318e-01 9.72504423e-01 -5.07774577e-02 2.96639163e+02] [ 3.50759081e-01 -3.31097387e-02 9.35880234e-01 1.17200767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6527550960001 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:401.07, Y:296.67, Z:117.20 [[ 9.10924473e-01 -2.38040328e-01 -3.36976864e-01 4.01070867e+02] [ 2.21800771e-01 9.71246773e-01 -8.65108364e-02 2.96667168e+02] [ 3.47880760e-01 4.06310980e-03 9.37529983e-01 1.17195932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.682755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.10, Y:296.65, Z:117.22 [[ 9.10613296e-01 -2.21338565e-01 -3.48988058e-01 4.01099050e+02] [ 2.19554654e-01 9.74552259e-01 -4.52067380e-02 2.96648326e+02] [ 3.50113095e-01 -3.54560954e-02 9.36036157e-01 1.17221143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.712755096 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:401.13, Y:296.68, Z:117.22 [[ 9.11750118e-01 -2.34170525e-01 -3.37455015e-01 4.01125664e+02] [ 2.22803212e-01 9.72154188e-01 -7.26289446e-02 2.96675959e+02] [ 3.45065864e-01 -8.96661234e-03 9.38535641e-01 1.17215929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.742755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.15, Y:296.67, Z:117.24 [[ 9.12422070e-01 -2.20115229e-01 -3.45014858e-01 4.01149919e+02] [ 2.13591370e-01 9.75239477e-01 -5.73296522e-02 2.96668465e+02] [ 3.49091240e-01 -2.13833562e-02 9.36844736e-01 1.17241354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.772755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.17, Y:296.69, Z:117.24 [[ 9.12932782e-01 -2.28495210e-01 -3.38147416e-01 4.01174597e+02] [ 2.11466772e-01 9.73513504e-01 -8.69095017e-02 2.96691893e+02] [ 3.49049481e-01 7.83559052e-03 9.37071536e-01 1.17239007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.20, Y:296.69, Z:117.26 [[ 9.12635219e-01 -2.20275230e-01 -3.44348341e-01 4.01198263e+02] [ 2.05063442e-01 9.75433618e-01 -8.04875240e-02 2.96692792e+02] [ 3.53618356e-01 2.84249302e-03 9.35385471e-01 1.17256891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.832755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.23, Y:296.70, Z:117.26 [[ 9.16145912e-01 -2.15826808e-01 -3.37780191e-01 4.01226602e+02] [ 2.04738524e-01 9.76411167e-01 -6.85811201e-02 2.96695313e+02] [ 3.44613995e-01 -6.32630501e-03 9.38723161e-01 1.17259573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.862755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.25, Y:296.71, Z:117.27 [[ 9.11724942e-01 -2.21837880e-01 -3.45753647e-01 4.01251100e+02] [ 2.08811909e-01 9.75076070e-01 -7.49949661e-02 2.96708019e+02] [ 3.53772831e-01 -3.82269785e-03 9.35323565e-01 1.17269610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.892755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.27, Y:296.71, Z:117.29 [[ 9.12385587e-01 -2.11276255e-01 -3.50592191e-01 4.01272834e+02] [ 1.97059949e-01 9.77426294e-01 -7.61919712e-02 2.96705989e+02] [ 3.58775580e-01 4.28777287e-04 9.33423751e-01 1.17291517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.30, Y:296.72, Z:117.29 [[ 9.14600057e-01 -2.15190632e-01 -3.42344457e-01 4.01300158e+02] [ 1.98157611e-01 9.76526990e-01 -8.44310365e-02 2.96719081e+02] [ 3.52477370e-01 9.38247106e-03 9.35773302e-01 1.17293253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.952755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.33, Y:296.72, Z:117.30 [[ 9.15804200e-01 -2.11366906e-01 -3.41506513e-01 4.01327965e+02] [ 1.96357953e-01 9.77395424e-01 -7.83692485e-02 2.96722958e+02] [ 3.50351568e-01 4.71336701e-03 9.36606408e-01 1.17302062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.982755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.35, Y:296.74, Z:117.31 [[ 9.15653355e-01 -2.13142389e-01 -3.40806771e-01 4.01353083e+02] [ 1.92749047e-01 9.76826320e-01 -9.30491598e-02 2.96735826e+02] [ 3.52741745e-01 1.95105950e-02 9.35517289e-01 1.17310349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.38, Y:296.72, Z:117.33 [[ 9.15602125e-01 -2.02355795e-01 -3.47454861e-01 4.01380246e+02] [ 1.92336696e-01 9.79273404e-01 -6.34838165e-02 2.96723276e+02] [ 3.53099623e-01 -8.70240272e-03 9.35545255e-01 1.17328822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.40, Y:296.73, Z:117.34 [[ 9.14952924e-01 -2.03992331e-01 -3.48207230e-01 4.01404186e+02] [ 1.90327331e-01 9.78972078e-01 -7.34110215e-02 2.96729968e+02] [ 3.55860441e-01 8.94276152e-04 9.34538681e-01 1.17340550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.43, Y:296.72, Z:117.36 [[ 9.13643785e-01 -1.95966455e-01 -3.56163141e-01 4.01430469e+02] [ 1.87002726e-01 9.80537571e-01 -5.98001045e-02 2.96721437e+02] [ 3.60950155e-01 -1.19674845e-02 9.32508319e-01 1.17356447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.46, Y:296.74, Z:117.36 [[ 9.14319924e-01 -2.04773953e-01 -3.49409079e-01 4.01456251e+02] [ 1.88881441e-01 9.78787233e-01 -7.93684739e-02 2.96739969e+02] [ 3.58249741e-01 6.57128671e-03 9.33602668e-01 1.17364803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.132755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:401.48, Y:296.74, Z:117.38 [[ 9.13671909e-01 -2.02995704e-01 -3.52131207e-01 4.01483626e+02] [ 1.89703667e-01 9.79179313e-01 -7.22522775e-02 2.96740457e+02] [ 3.59466495e-01 -7.85705021e-04 9.33157662e-01 1.17377627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.51, Y:296.75, Z:117.39 [[ 9.12694617e-01 -2.06753819e-01 -3.52478927e-01 4.01507028e+02] [ 1.89220756e-01 9.78343061e-01 -8.39068580e-02 2.96748289e+02] [ 3.62193375e-01 9.88500887e-03 9.32050560e-01 1.17385650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.54, Y:296.74, Z:117.40 [[ 9.12743564e-01 -2.02513472e-01 -3.54806258e-01 4.01537023e+02] [ 1.91510571e-01 9.79251020e-01 -6.62656937e-02 2.96742922e+02] [ 3.60864085e-01 -7.46556337e-03 9.32588536e-01 1.17401173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.222755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:401.57, Y:296.75, Z:117.41 [[ 9.12752136e-01 -2.04774514e-01 -3.53483999e-01 4.01565010e+02] [ 1.93873157e-01 9.78777078e-01 -6.63975223e-02 2.96746095e+02] [ 3.59578556e-01 -7.92657869e-03 9.33081150e-01 1.17411356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.252755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.59, Y:296.75, Z:117.42 [[ 9.11486268e-01 -2.06029891e-01 -3.56011893e-01 4.01588140e+02] [ 1.92080777e-01 9.78545592e-01 -7.45218120e-02 2.96752796e+02] [ 3.63727589e-01 -4.57432810e-04 9.31505250e-01 1.17421848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.61, Y:296.76, Z:117.43 [[ 9.12061817e-01 -2.07686184e-01 -3.53567097e-01 4.01614641e+02] [ 1.93429613e-01 9.78195333e-01 -7.56232465e-02 2.96757930e+02] [ 3.61563588e-01 5.82729035e-04 9.32347270e-01 1.17430086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.64, Y:296.76, Z:117.44 [[ 9.10667737e-01 -2.07031515e-01 -3.57522343e-01 4.01641209e+02] [ 1.93055603e-01 9.78333842e-01 -7.47825390e-02 2.96761301e+02] [ 3.65258549e-01 -9.19645751e-04 9.30905659e-01 1.17442279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.66, Y:296.77, Z:117.45 [[ 9.12096862e-01 -2.10887672e-01 -3.51576030e-01 4.01664254e+02] [ 1.94315175e-01 9.77487518e-01 -8.22177929e-02 2.96770687e+02] [ 3.60999900e-01 6.67403297e-03 9.32541972e-01 1.17446719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.69, Y:296.78, Z:117.46 [[ 9.08758095e-01 -2.12938140e-01 -3.58909561e-01 4.01691176e+02] [ 1.94655463e-01 9.77024135e-01 -8.67933825e-02 2.96775281e+02] [ 3.69144925e-01 9.01048227e-03 9.29328164e-01 1.17459678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4027550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.72, Y:296.78, Z:117.47 [[ 9.09507417e-01 -2.13069422e-01 -3.56928116e-01 4.01719474e+02] [ 1.95925005e-01 9.77015741e-01 -8.39859142e-02 2.96779197e+02] [ 3.66619218e-01 6.45466898e-03 9.30348691e-01 1.17468181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.74, Y:296.77, Z:117.49 [[ 9.07975656e-01 -2.06266889e-01 -3.64738507e-01 4.01743891e+02] [ 1.96005180e-01 9.78420655e-01 -6.53834244e-02 2.96770924e+02] [ 3.70354125e-01 -1.21240792e-02 9.28811514e-01 1.17489011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.77, Y:296.76, Z:117.51 [[ 9.10456843e-01 -1.95135052e-01 -3.64678830e-01 4.01768232e+02] [ 1.94239576e-01 9.80157258e-01 -3.95314603e-02 2.96758027e+02] [ 3.65156576e-01 -3.48433729e-02 9.30293832e-01 1.17506447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.80, Y:296.81, Z:117.49 [[ 9.09416946e-01 -2.26096981e-01 -3.49057265e-01 4.01796654e+02] [ 1.98125227e-01 9.73480994e-01 -1.14372853e-01 2.96808542e+02] [ 3.65659970e-01 3.48555609e-02 9.30095628e-01 1.17492281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.82, Y:296.80, Z:117.51 [[ 9.09199231e-01 -2.22241012e-01 -3.52087619e-01 4.01820021e+02] [ 2.01772559e-01 9.74880799e-01 -9.43147026e-02 2.96801324e+02] [ 3.64204054e-01 1.47092350e-02 9.31203010e-01 1.17507303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.85, Y:296.79, Z:117.52 [[ 9.08255726e-01 -2.15549220e-01 -3.58622463e-01 4.01846257e+02] [ 2.01867895e-01 9.76486056e-01 -7.56593319e-02 2.96793658e+02] [ 3.66498144e-01 -3.67634034e-03 9.30411519e-01 1.17524030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.582755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.87, Y:296.80, Z:117.53 [[ 9.09343730e-01 -2.19393407e-01 -3.53497545e-01 4.01871113e+02] [ 2.03432525e-01 9.75632359e-01 -8.21992002e-02 2.96801411e+02] [ 3.62917606e-01 2.83442913e-03 9.31816923e-01 1.17529506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.90, Y:296.80, Z:117.54 [[ 9.08451186e-01 -2.19047558e-01 -3.55998048e-01 4.01896082e+02] [ 2.03705671e-01 9.75713970e-01 -8.05372488e-02 2.96802683e+02] [ 3.64993756e-01 6.45337834e-04 9.31009743e-01 1.17542293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.642755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:401.92, Y:296.82, Z:117.54 [[ 9.08883895e-01 -2.29290036e-01 -3.48362088e-01 4.01921373e+02] [ 2.08831688e-01 9.73253520e-01 -9.57439894e-02 2.96815525e+02] [ 3.60997771e-01 1.42711271e-02 9.32457476e-01 1.17543455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.95, Y:296.81, Z:117.56 [[ 9.07544126e-01 -2.26691420e-01 -3.53517551e-01 4.01949487e+02] [ 2.09921946e-01 9.73960306e-01 -8.56393587e-02 2.96813127e+02] [ 3.63725770e-01 3.51040475e-03 9.31499459e-01 1.17558835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:401.98, Y:296.78, Z:117.60 [[ 9.04079853e-01 -2.04281087e-01 -3.75378285e-01 4.01975959e+02] [ 2.04759011e-01 9.78031416e-01 -3.90934278e-02 2.96781660e+02] [ 3.75117804e-01 -4.15185062e-02 9.26046892e-01 1.17596739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.00, Y:296.83, Z:117.57 [[ 9.07439922e-01 -2.36570257e-01 -3.47256823e-01 4.02000235e+02] [ 2.09364696e-01 9.71114207e-01 -1.14471051e-01 2.96834032e+02] [ 3.64306480e-01 3.11722827e-02 9.30757260e-01 1.17571982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.03, Y:296.81, Z:117.61 [[ 9.03133778e-01 -2.19402699e-01 -3.69068874e-01 4.02025373e+02] [ 2.06261306e-01 9.75600134e-01 -7.52373111e-02 2.96809008e+02] [ 3.76570912e-01 -8.17527112e-03 9.26351722e-01 1.17607643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.06, Y:296.83, Z:117.60 [[ 9.07022561e-01 -2.32456998e-01 -3.51103714e-01 4.02055700e+02] [ 2.11308028e-01 9.72495851e-01 -9.79833472e-02 2.96828423e+02] [ 3.64223820e-01 1.46820730e-02 9.31195708e-01 1.17597704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.08, Y:296.82, Z:117.61 [[ 9.06970164e-01 -2.26513833e-01 -3.55100838e-01 4.02082070e+02] [ 2.11685706e-01 9.74005818e-01 -8.06339174e-02 2.96824695e+02] [ 3.64134980e-01 -2.03721406e-03 9.31343957e-01 1.17612580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.10, Y:296.82, Z:117.63 [[ 9.04554865e-01 -2.19905613e-01 -3.65269788e-01 4.02099829e+02] [ 2.05320661e-01 9.75514198e-01 -7.88382876e-02 2.96820351e+02] [ 3.73662846e-01 -3.68387791e-03 9.27557279e-01 1.17629400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.13, Y:296.81, Z:117.65 [[ 9.06581925e-01 -2.13438552e-01 -3.64078560e-01 4.02130780e+02] [ 2.08962613e-01 9.76531964e-01 -5.21531401e-02 2.96812602e+02] [ 3.66665842e-01 -2.87977130e-02 9.29906905e-01 1.17649550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.15, Y:296.84, Z:117.65 [[ 9.04755372e-01 -2.30045877e-01 -3.58464240e-01 4.02154282e+02] [ 2.07027560e-01 9.73013584e-01 -1.01902676e-01 2.96839611e+02] [ 3.72232865e-01 1.79850163e-02 9.27965104e-01 1.17645995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.18, Y:296.85, Z:117.65 [[ 9.06261531e-01 -2.31731574e-01 -3.53539978e-01 4.02178685e+02] [ 2.09405218e-01 9.72626715e-01 -1.00730972e-01 2.96847105e+02] [ 3.67204974e-01 1.72554883e-02 9.29979976e-01 1.17649987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.21, Y:296.83, Z:117.67 [[ 9.07046592e-01 -2.20390714e-01 -3.58740035e-01 4.02211921e+02] [ 2.10621824e-01 9.75294415e-01 -6.66277029e-02 2.96832883e+02] [ 3.64561280e-01 -1.51240497e-02 9.31056570e-01 1.17673068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.23, Y:296.87, Z:117.66 [[ 9.06214038e-01 -2.38473340e-01 -3.49151233e-01 4.02233220e+02] [ 2.09288446e-01 9.70504939e-01 -1.19659971e-01 2.96867991e+02] [ 3.67388709e-01 3.53642268e-02 9.29394915e-01 1.17661774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.26, Y:296.85, Z:117.68 [[ 9.07082885e-01 -2.24010868e-01 -3.56398333e-01 4.02263005e+02] [ 2.10942636e-01 9.74564732e-01 -7.56755417e-02 2.96849709e+02] [ 3.64285390e-01 -6.53561511e-03 9.31264431e-01 1.17684107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.29, Y:296.85, Z:117.69 [[ 9.08805125e-01 -2.20862257e-01 -3.53967666e-01 4.02287909e+02] [ 2.08203643e-01 9.75283595e-01 -7.39807623e-02 2.96851112e+02] [ 3.61558416e-01 -6.46326172e-03 9.32327055e-01 1.17692678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.31, Y:296.88, Z:117.69 [[ 9.09435437e-01 -2.32463607e-01 -3.44801186e-01 4.02308916e+02] [ 2.07607174e-01 9.72242669e-01 -1.07904838e-01 2.96876398e+02] [ 3.60314373e-01 2.65492840e-02 9.32453049e-01 1.17686572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.34, Y:296.88, Z:117.70 [[ 9.08141661e-01 -2.34306308e-01 -3.46957169e-01 4.02340679e+02] [ 2.09876246e-01 9.71858353e-01 -1.06973376e-01 2.96882951e+02] [ 3.62257760e-01 2.43289114e-02 9.31760387e-01 1.17698450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:402.37, Y:296.86, Z:117.73 [[ 9.07532598e-01 -2.16944850e-01 -3.59610229e-01 4.02370372e+02] [ 2.07273405e-01 9.76070708e-01 -6.57549194e-02 2.96859863e+02] [ 3.65270201e-01 -1.48629039e-02 9.30782882e-01 1.17727942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.39, Y:296.87, Z:117.73 [[ 9.08305919e-01 -2.22120260e-01 -3.54461490e-01 4.02392555e+02] [ 2.05103497e-01 9.75007110e-01 -8.54031061e-02 2.96874431e+02] [ 3.64572233e-01 4.87085548e-03 9.31162371e-01 1.17728646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.42, Y:296.87, Z:117.74 [[ 9.09215432e-01 -2.17765328e-01 -3.54831736e-01 4.02417852e+02] [ 2.05259679e-01 9.75979892e-01 -7.30185915e-02 2.96870168e+02] [ 3.62209557e-01 -6.44301806e-03 9.32074420e-01 1.17740514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.44, Y:296.88, Z:117.75 [[ 9.07587940e-01 -2.23028867e-01 -3.55727782e-01 4.02444131e+02] [ 2.05443039e-01 9.74794097e-01 -8.70036030e-02 2.96881050e+02] [ 3.66165657e-01 5.88162426e-03 9.30531095e-01 1.17750932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.47, Y:296.89, Z:117.76 [[ 9.07062668e-01 -2.27410587e-01 -3.54290476e-01 4.02473218e+02] [ 2.08215664e-01 9.73751301e-01 -9.19491250e-02 2.96890272e+02] [ 3.65901016e-01 9.63479195e-03 9.30603899e-01 1.17756807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.49, Y:296.88, Z:117.77 [[ 9.08330232e-01 -2.18290989e-01 -3.56770562e-01 4.02494199e+02] [ 2.06711202e-01 9.75837961e-01 -7.07866692e-02 2.96880322e+02] [ 3.63602349e-01 -9.45079994e-03 9.31506315e-01 1.17770914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.52, Y:296.89, Z:117.78 [[ 9.07892982e-01 -2.24745574e-01 -3.53864042e-01 4.02524499e+02] [ 2.10308396e-01 9.74414441e-01 -7.92898181e-02 2.96888040e+02] [ 3.62630269e-01 -2.43390990e-03 9.31929914e-01 1.17781472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.55, Y:296.90, Z:117.79 [[ 9.06188647e-01 -2.34023018e-01 -3.52214939e-01 4.02554933e+02] [ 2.13596721e-01 9.72155632e-01 -9.63839637e-02 2.96904211e+02] [ 3.64963803e-01 1.21100976e-02 9.30942946e-01 1.17787563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.392755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:402.58, Y:296.89, Z:117.81 [[ 9.05363392e-01 -2.25609889e-01 -3.59746170e-01 4.02582072e+02] [ 2.14060335e-01 9.74148227e-01 -7.22039172e-02 2.96893706e+02] [ 3.66736011e-01 -1.16366021e-02 9.30252271e-01 1.17808214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.60, Y:296.89, Z:117.82 [[ 9.06148374e-01 -2.22628260e-01 -3.59627283e-01 4.02603326e+02] [ 2.13771607e-01 9.74733824e-01 -6.47740120e-02 2.96889605e+02] [ 3.64961402e-01 -1.81832363e-02 9.30845070e-01 1.17818713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.63, Y:296.90, Z:117.82 [[ 9.06235058e-01 -2.30421833e-01 -3.54462691e-01 4.02628445e+02] [ 2.15068276e-01 9.73090001e-01 -8.27132766e-02 2.96903382e+02] [ 3.63983046e-01 -1.27600882e-03 9.31404700e-01 1.17821597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.482755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:402.66, Y:296.91, Z:117.83 [[ 9.03126578e-01 -2.35989465e-01 -3.58707900e-01 4.02659345e+02] [ 2.18418385e-01 9.71752700e-01 -8.93873563e-02 2.96910295e+02] [ 3.69669844e-01 2.37969692e-03 9.29160128e-01 1.17834325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.69, Y:296.91, Z:117.85 [[ 9.03064854e-01 -2.34554403e-01 -3.59802866e-01 4.02686900e+02] [ 2.19694265e-01 9.72091495e-01 -8.22955414e-02 2.96910409e+02] [ 3.69064087e-01 -4.72841504e-03 9.29391920e-01 1.17846436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.71, Y:296.91, Z:117.86 [[ 9.03888109e-01 -2.31774528e-01 -3.59537000e-01 4.02711900e+02] [ 2.21464044e-01 9.72635689e-01 -7.02388392e-02 2.96905843e+02] [ 3.65978091e-01 -1.61364662e-02 9.30483558e-01 1.17858882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.73, Y:296.91, Z:117.87 [[ 9.04290834e-01 -2.32174503e-01 -3.58263992e-01 4.02734331e+02] [ 2.20462072e-01 9.72597382e-01 -7.38295874e-02 2.96910418e+02] [ 3.65587969e-01 -1.22202028e-02 9.30696569e-01 1.17867672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.76, Y:296.94, Z:117.87 [[ 9.01483653e-01 -2.45460925e-01 -3.56477429e-01 4.02761439e+02] [ 2.20395072e-01 9.69187502e-01 -1.10007261e-01 2.96936349e+02] [ 3.72495953e-01 2.06038791e-02 9.27805069e-01 1.17869272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.78, Y:296.91, Z:117.90 [[ 9.06502126e-01 -2.19507765e-01 -3.60652515e-01 4.02781743e+02] [ 2.16016710e-01 9.75082040e-01 -5.05153070e-02 2.96907286e+02] [ 3.62754292e-01 -3.21147365e-02 9.31331288e-01 1.17895035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.81, Y:296.94, Z:117.89 [[ 9.06105280e-01 -2.35153080e-01 -3.51676342e-01 4.02812770e+02] [ 2.17294790e-01 9.71944622e-01 -9.00368064e-02 2.96937083e+02] [ 3.62982362e-01 5.16538855e-03 9.31781693e-01 1.17894721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.84, Y:296.94, Z:117.91 [[ 9.07241188e-01 -2.28875440e-01 -3.52887318e-01 4.02835566e+02] [ 2.16070345e-01 9.73427313e-01 -7.58476911e-02 2.96936151e+02] [ 3.60869827e-01 -7.43633512e-03 9.32586548e-01 1.17906494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.86, Y:296.95, Z:117.91 [[ 9.06611782e-01 -2.31485909e-01 -3.52802141e-01 4.02861886e+02] [ 2.18071015e-01 9.72817864e-01 -7.79130073e-02 2.96945133e+02] [ 3.61247988e-01 -6.29907052e-03 9.32448504e-01 1.17911662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.752755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:402.89, Y:296.96, Z:117.93 [[ 9.05598595e-01 -2.32208320e-01 -3.54923206e-01 4.02893410e+02] [ 2.13110377e-01 9.72631450e-01 -9.25852592e-02 2.96956606e+02] [ 3.66708540e-01 8.20726251e-03 9.30299676e-01 1.17925777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.91, Y:296.95, Z:117.94 [[ 9.05368198e-01 -2.24594914e-01 -3.60368633e-01 4.02913886e+02] [ 2.10857247e-01 9.74435152e-01 -7.75587286e-02 2.96952580e+02] [ 3.68575159e-01 -5.76713163e-03 9.29580062e-01 1.17939029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.94, Y:296.96, Z:117.95 [[ 9.06856921e-01 -2.20628768e-01 -3.59073074e-01 4.02940825e+02] [ 2.10351245e-01 9.75259112e-01 -6.79854219e-02 2.96955760e+02] [ 3.65188827e-01 -1.38784176e-02 9.30830012e-01 1.17952370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.96, Y:296.97, Z:117.96 [[ 9.06999273e-01 -2.24686041e-01 -3.56186050e-01 4.02964357e+02] [ 2.10377668e-01 9.74425590e-01 -7.89683820e-02 2.96968657e+02] [ 3.64819895e-01 -3.30932557e-03 9.31072228e-01 1.17957223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:402.99, Y:296.97, Z:117.97 [[ 9.06213552e-01 -2.26550391e-01 -3.57004087e-01 4.02992227e+02] [ 2.12561202e-01 9.73987958e-01 -7.85187402e-02 2.96974894e+02] [ 3.65506133e-01 -4.73047119e-03 9.30796911e-01 1.17970962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.02, Y:296.98, Z:117.98 [[ 9.05869519e-01 -2.26321535e-01 -3.58020919e-01 4.03016066e+02] [ 2.13573073e-01 9.74017973e-01 -7.53361167e-02 2.96977430e+02] [ 3.65768995e-01 -8.21893605e-03 9.30669378e-01 1.17978551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.04, Y:296.99, Z:117.99 [[ 9.05430805e-01 -2.31165982e-01 -3.56029980e-01 4.03042288e+02] [ 2.14667856e-01 9.72913546e-01 -8.57726262e-02 2.96990236e+02] [ 3.66214104e-01 1.23298551e-03 9.30529801e-01 1.17990548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.07, Y:297.00, Z:118.00 [[ 9.05633558e-01 -2.33029751e-01 -3.54295065e-01 4.03069994e+02] [ 2.18128618e-01 9.72465047e-01 -8.20465621e-02 2.96995530e+02] [ 3.63658857e-01 -2.97777289e-03 9.31527438e-01 1.18002360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.10, Y:297.00, Z:118.02 [[ 9.04135995e-01 -2.34386978e-01 -3.57212608e-01 4.03098026e+02] [ 2.21037286e-01 9.72109785e-01 -7.83905937e-02 2.97000133e+02] [ 3.65623606e-01 -8.08154787e-03 9.30727709e-01 1.18016744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.022755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:403.12, Y:297.00, Z:118.02 [[ 9.04056888e-01 -2.35664295e-01 -3.56571850e-01 4.03116971e+02] [ 2.23636895e-01 9.71763868e-01 -7.52430990e-02 2.97003931e+02] [ 3.64235752e-01 -1.17185797e-02 9.31233049e-01 1.18021171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.052755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:403.15, Y:297.01, Z:118.04 [[ 9.03993390e-01 -2.36518110e-01 -3.56167284e-01 4.03146872e+02] [ 2.24006383e-01 9.71570244e-01 -7.66315982e-02 2.97009302e+02] [ 3.64166296e-01 -1.05092869e-02 9.31274645e-01 1.18039060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.17, Y:297.01, Z:118.05 [[ 9.05484771e-01 -2.31800385e-01 -3.55479833e-01 4.03166759e+02] [ 2.21227741e-01 9.72653852e-01 -7.07302749e-02 2.97010067e+02] [ 3.62154134e-01 -1.45968138e-02 9.32003925e-01 1.18047599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.112755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:403.20, Y:297.03, Z:118.06 [[ 9.03070372e-01 -2.44075681e-01 -3.53399157e-01 4.03197505e+02] [ 2.27002958e-01 9.69755883e-01 -8.96838060e-02 2.97027868e+02] [ 3.64600548e-01 7.68133838e-04 9.31163708e-01 1.18055359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.142755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:403.23, Y:297.03, Z:118.07 [[ 9.02896173e-01 -2.40972220e-01 -3.55964730e-01 4.03226095e+02] [ 2.29412133e-01 9.70432348e-01 -7.50408618e-02 2.97027546e+02] [ 3.63522452e-01 -1.39085212e-02 9.31481605e-01 1.18071989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.24, Y:297.03, Z:118.08 [[ 9.03909513e-01 -2.38378035e-01 -3.55138713e-01 4.03244768e+02] [ 2.27006031e-01 9.71075751e-01 -7.40280281e-02 2.97031698e+02] [ 3.62513248e-01 -1.37039908e-02 9.31877860e-01 1.18079114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:403.27, Y:297.05, Z:118.08 [[ 9.01890224e-01 -2.49840962e-01 -3.52382630e-01 4.03273362e+02] [ 2.30240641e-01 9.68264708e-01 -9.72250050e-02 2.97051420e+02] [ 3.65490453e-01 6.55347881e-03 9.30792018e-01 1.18081802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.30, Y:297.06, Z:118.09 [[ 9.00685134e-01 -2.51578568e-01 -3.54223820e-01 4.03303226e+02] [ 2.34414911e-01 9.67836571e-01 -9.13346646e-02 2.97058399e+02] [ 3.65808611e-01 -7.71570439e-04 9.30689779e-01 1.18093192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.32, Y:297.05, Z:118.10 [[ 9.03007416e-01 -2.43303679e-01 -3.54091693e-01 4.03323089e+02] [ 2.31998462e-01 9.69839570e-01 -7.47523996e-02 2.97054643e+02] [ 3.61599670e-01 -1.46467572e-02 9.32218403e-01 1.18103779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2927550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:403.35, Y:297.09, Z:118.10 [[ 9.00551546e-01 -2.61957859e-01 -3.46965406e-01 4.03351682e+02] [ 2.39605150e-01 9.64992736e-01 -1.06669547e-01 2.97085138e+02] [ 3.62762023e-01 1.29267269e-02 9.31792152e-01 1.18101825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.322755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:403.37, Y:297.07, Z:118.13 [[ 9.00290596e-01 -2.46718383e-01 -3.58618017e-01 4.03371991e+02] [ 2.39510529e-01 9.68704629e-01 -6.51617089e-02 2.97067415e+02] [ 3.63471525e-01 -2.72283173e-02 9.31207318e-01 1.18128736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.352755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:403.40, Y:297.10, Z:118.12 [[ 9.01328892e-01 -2.61868030e-01 -3.45009222e-01 4.03403214e+02] [ 2.42826404e-01 9.65092334e-01 -9.81433892e-02 2.97095208e+02] [ 3.58666371e-01 4.68212335e-03 9.33454076e-01 1.18123114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.43, Y:297.07, Z:118.16 [[ 8.98853834e-01 -2.43795283e-01 -3.64178041e-01 4.03431306e+02] [ 2.40624532e-01 9.69068350e-01 -5.48303489e-02 2.97072533e+02] [ 3.66280794e-01 -3.83457014e-02 9.29713928e-01 1.18162184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.46, Y:297.09, Z:118.16 [[ 8.98956590e-01 -2.54847896e-01 -3.56271806e-01 4.03456705e+02] [ 2.43059820e-01 9.66845418e-01 -7.83062087e-02 2.97093023e+02] [ 3.64415936e-01 -1.62014787e-02 9.31095343e-01 1.18163021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.48, Y:297.09, Z:118.18 [[ 8.99199371e-01 -2.48223037e-01 -3.60313496e-01 4.03477831e+02] [ 2.40753812e-01 9.68321901e-01 -6.62593186e-02 2.97090792e+02] [ 3.65346538e-01 -2.71665101e-02 9.30475087e-01 1.18180016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.472755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:403.50, Y:297.14, Z:118.16 [[ 8.98947718e-01 -2.77232442e-01 -3.39168357e-01 4.03503584e+02] [ 2.46913389e-01 9.60218186e-01 -1.30440841e-01 2.97141265e+02] [ 3.61838057e-01 3.35142876e-02 9.31638349e-01 1.18156783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.53, Y:297.12, Z:118.19 [[ 9.00015047e-01 -2.58622406e-01 -3.50838091e-01 4.03532148e+02] [ 2.48004716e-01 9.65794489e-01 -7.57275772e-02 2.97118861e+02] [ 3.58422343e-01 -1.88535420e-02 9.33369149e-01 1.18185470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.56, Y:297.13, Z:118.19 [[ 9.00476677e-01 -2.63532767e-01 -3.45965656e-01 4.03556445e+02] [ 2.49170772e-01 9.64612541e-01 -8.62355644e-02 2.97134024e+02] [ 3.56448708e-01 -8.55141510e-03 9.34275758e-01 1.18188598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.58, Y:297.14, Z:118.20 [[ 9.00085133e-01 -2.58430235e-01 -3.50799896e-01 4.03577323e+02] [ 2.44432817e-01 9.65980958e-01 -8.44593796e-02 2.97137790e+02] [ 3.60692877e-01 -9.72637477e-03 9.32633929e-01 1.18202025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.60, Y:297.15, Z:118.21 [[ 9.00461390e-01 -2.61702539e-01 -3.47391806e-01 4.03602155e+02] [ 2.44014994e-01 9.65148499e-01 -9.45783164e-02 2.97151615e+02] [ 3.60036066e-01 3.95312834e-04 9.32938302e-01 1.18206720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.63, Y:297.15, Z:118.22 [[ 9.00387549e-01 -2.55880203e-01 -3.51891438e-01 4.03628060e+02] [ 2.41933047e-01 9.66660714e-01 -8.38776790e-02 2.97151396e+02] [ 3.61622266e-01 -9.61174981e-03 9.32275148e-01 1.18223077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.65, Y:297.15, Z:118.24 [[ 8.99974470e-01 -2.47671672e-01 -3.58754368e-01 4.03651275e+02] [ 2.38861251e-01 9.68566586e-01 -6.94555400e-02 2.97149066e+02] [ 3.64679663e-01 -2.31843043e-02 9.30844365e-01 1.18244894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.68, Y:297.17, Z:118.25 [[ 9.00085417e-01 -2.53649338e-01 -3.54271443e-01 4.03677723e+02] [ 2.38516863e-01 9.67273751e-01 -8.65517024e-02 2.97166147e+02] [ 3.64631250e-01 -6.59578796e-03 9.31128642e-01 1.18249413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.71, Y:297.15, Z:118.28 [[ 9.00422634e-01 -2.34708825e-01 -3.66266088e-01 4.03709662e+02] [ 2.33104498e-01 9.71201215e-01 -4.93000315e-02 2.97148322e+02] [ 3.67289222e-01 -4.09874083e-02 9.29203239e-01 1.18282485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.74, Y:297.17, Z:118.28 [[ 9.00490561e-01 -2.45784112e-01 -3.58757467e-01 4.03735496e+02] [ 2.33475586e-01 9.69230113e-01 -7.79880663e-02 2.97170719e+02] [ 3.66886768e-01 -1.35335924e-02 9.30167158e-01 1.18281979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.76, Y:297.17, Z:118.29 [[ 8.99840806e-01 -2.43591611e-01 -3.61869660e-01 4.03760210e+02] [ 2.31864545e-01 9.69756977e-01 -7.62249176e-02 2.97174871e+02] [ 3.69493378e-01 -1.53144528e-02 9.29107158e-01 1.18294061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.79, Y:297.18, Z:118.31 [[ 9.00631204e-01 -2.42727909e-01 -3.60481062e-01 4.03785981e+02] [ 2.32755105e-01 9.69899268e-01 -7.15574626e-02 2.97180185e+02] [ 3.66999312e-01 -1.94569238e-02 9.30017706e-01 1.18305355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.81, Y:297.19, Z:118.31 [[ 9.00493370e-01 -2.47560837e-01 -3.57526675e-01 4.03811877e+02] [ 2.32609780e-01 9.68849648e-01 -8.49885255e-02 2.97194020e+02] [ 3.67429424e-01 -6.63259769e-03 9.30027756e-01 1.18310214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.84, Y:297.19, Z:118.33 [[ 9.00501820e-01 -2.44182118e-01 -3.59821576e-01 4.03837398e+02] [ 2.34280608e-01 9.69527158e-01 -7.16218337e-02 2.97193975e+02] [ 3.66345561e-01 -1.98036260e-02 9.30268105e-01 1.18325360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:403.86, Y:297.21, Z:118.33 [[ 9.00020790e-01 -2.48426988e-01 -3.58115356e-01 4.03862418e+02] [ 2.35123899e-01 9.68584679e-01 -8.09967413e-02 2.97205187e+02] [ 3.66986824e-01 -1.13027279e-02 9.30157470e-01 1.18333932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9227550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:403.89, Y:297.21, Z:118.34 [[ 8.99263236e-01 -2.49236190e-01 -3.59453687e-01 4.03886988e+02] [ 2.36950230e-01 9.68334703e-01 -7.86288261e-02 2.97209183e+02] [ 3.67668629e-01 -1.44646211e-02 9.29844371e-01 1.18344587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:403.91, Y:297.21, Z:118.36 [[ 8.99258160e-01 -2.48861931e-01 -3.59725592e-01 4.03912552e+02] [ 2.38216396e-01 9.68357002e-01 -7.44154898e-02 2.97213113e+02] [ 3.66861978e-01 -1.87737975e-02 9.30085928e-01 1.18356410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.982755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:403.94, Y:297.22, Z:118.36 [[ 8.98305497e-01 -2.54277280e-01 -3.58315921e-01 4.03936969e+02] [ 2.39201216e-01 9.67099070e-01 -8.66150557e-02 2.97224961e+02] [ 3.68551234e-01 -7.90282324e-03 9.29573845e-01 1.18361575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.012755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:403.96, Y:297.26, Z:118.34 [[ 8.97829322e-01 -2.78033312e-01 -3.41467400e-01 4.03956890e+02] [ 2.49468585e-01 9.60168504e-01 -1.25864486e-01 2.97260957e+02] [ 3.62860763e-01 2.78194365e-02 9.31428014e-01 1.18342255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0427550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:403.99, Y:297.21, Z:118.40 [[ 8.95812492e-01 -2.39845521e-01 -3.74157862e-01 4.03989718e+02] [ 2.45211405e-01 9.68873695e-01 -3.39871950e-02 2.97209424e+02] [ 3.70663386e-01 -6.13016212e-02 9.26742017e-01 1.18401775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.072755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:404.01, Y:297.24, Z:118.39 [[ 8.96522212e-01 -2.57523835e-01 -3.60457206e-01 4.04013468e+02] [ 2.43514835e-01 9.66198532e-01 -8.46222310e-02 2.97241883e+02] [ 3.70065464e-01 -1.19109673e-02 9.28929320e-01 1.18391196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.04, Y:297.25, Z:118.40 [[ 8.95252784e-01 -2.60630503e-01 -3.61378186e-01 4.04039627e+02] [ 2.46449324e-01 9.65359707e-01 -8.56934486e-02 2.97248291e+02] [ 3.71194267e-01 -1.23441112e-02 9.28473176e-01 1.18400825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.07, Y:297.26, Z:118.41 [[ 8.94280233e-01 -2.64913052e-01 -3.60671512e-01 4.04067268e+02] [ 2.50907039e-01 9.64177421e-01 -8.60671739e-02 2.97256785e+02] [ 3.70551646e-01 -1.35268488e-02 9.28713359e-01 1.18410040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.09, Y:297.26, Z:118.42 [[ 8.95538469e-01 -2.64282965e-01 -3.58001907e-01 4.04087334e+02] [ 2.51364747e-01 9.64319354e-01 -8.30899967e-02 2.97260798e+02] [ 3.67187439e-01 -1.55787706e-02 9.30016498e-01 1.18418064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.11, Y:297.27, Z:118.42 [[ 8.95589956e-01 -2.70155059e-01 -3.53461277e-01 4.04112818e+02] [ 2.52918101e-01 9.62807354e-01 -9.50496393e-02 2.97274644e+02] [ 3.65993257e-01 -4.27125249e-03 9.30607700e-01 1.18421682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.222755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:404.14, Y:297.27, Z:118.44 [[ 8.95943993e-01 -2.65194684e-01 -3.56309053e-01 4.04139290e+02] [ 2.52507185e-01 9.64062731e-01 -8.26024931e-02 2.97273678e+02] [ 3.65410021e-01 -1.59633884e-02 9.30709776e-01 1.18437559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.16, Y:297.29, Z:118.44 [[ 8.97076053e-01 -2.69442104e-01 -3.50222084e-01 4.04162098e+02] [ 2.53733065e-01 9.62989105e-01 -9.09478749e-02 2.97285950e+02] [ 3.61765238e-01 -7.27576213e-03 9.32240836e-01 1.18438584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.19, Y:297.30, Z:118.44 [[ 8.96416704e-01 -2.77679957e-01 -3.45443099e-01 4.04188033e+02] [ 2.56045874e-01 9.60639048e-01 -1.07764235e-01 2.97304138e+02] [ 3.61770098e-01 8.15238005e-03 9.32231696e-01 1.18439803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.22, Y:297.31, Z:118.45 [[ 8.95878163e-01 -2.76704736e-01 -3.47615890e-01 4.04216376e+02] [ 2.59218034e-01 9.60949218e-01 -9.68638813e-02 2.97306851e+02] [ 3.60843912e-01 -3.33007144e-03 9.32620277e-01 1.18453065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.24, Y:297.34, Z:118.44 [[ 8.97923625e-01 -2.90234372e-01 -3.30903570e-01 4.04239389e+02] [ 2.63734011e-01 9.56665473e-01 -1.23432344e-01 2.97335289e+02] [ 3.52388329e-01 2.35622921e-02 9.35557205e-01 1.18438702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.26, Y:297.31, Z:118.47 [[ 8.99234602e-01 -2.67014055e-01 -3.46526516e-01 4.04263394e+02] [ 2.58480563e-01 9.63362490e-01 -7.15577508e-02 2.97308339e+02] [ 3.52937572e-01 -2.52231635e-02 9.35306828e-01 1.18469437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.29, Y:297.33, Z:118.47 [[ 8.99153592e-01 -2.77714797e-01 -3.38226714e-01 4.04287961e+02] [ 2.58005012e-01 9.60649221e-01 -1.02890661e-01 2.97333184e+02] [ 3.53491488e-01 5.25032038e-03 9.35423007e-01 1.18465723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.432755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:404.31, Y:297.32, Z:118.49 [[ 9.01252375e-01 -2.64099567e-01 -3.43504840e-01 4.04313922e+02] [ 2.53500195e-01 9.64321542e-01 -7.62995052e-02 2.97323296e+02] [ 3.51399784e-01 -1.83134335e-02 9.36046372e-01 1.18485015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.35, Y:297.35, Z:118.48 [[ 8.99916036e-01 -2.79790680e-01 -3.34467193e-01 4.04345828e+02] [ 2.56156230e-01 9.59915452e-01 -1.13781854e-01 2.97354437e+02] [ 3.52895329e-01 1.67182602e-02 9.35513435e-01 1.18482193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.492755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:404.37, Y:297.33, Z:118.51 [[ 9.03033154e-01 -2.59023595e-01 -3.42692136e-01 4.04368692e+02] [ 2.51594418e-01 9.65524013e-01 -6.68104044e-02 2.97333901e+02] [ 3.48182958e-01 -2.58874183e-02 9.37069085e-01 1.18505739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.522755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:404.40, Y:297.36, Z:118.51 [[ 9.02116712e-01 -2.68091874e-01 -3.38100851e-01 4.04395216e+02] [ 2.50545756e-01 9.63392396e-01 -9.54039583e-02 2.97356141e+02] [ 3.51300815e-01 1.35577196e-03 9.36261662e-01 1.18508158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.552755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:404.42, Y:297.36, Z:118.52 [[ 9.02972603e-01 -2.64629973e-01 -3.38543137e-01 4.04421684e+02] [ 2.50425072e-01 9.64322659e-01 -8.58434180e-02 2.97358350e+02] [ 3.49181559e-01 -7.26543468e-03 9.37026922e-01 1.18520203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.582755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:404.45, Y:297.36, Z:118.54 [[ 9.02985452e-01 -2.60651868e-01 -3.41581435e-01 4.04447269e+02] [ 2.47767949e-01 9.65371423e-01 -8.16643074e-02 2.97360683e+02] [ 3.51038911e-01 -1.08912501e-02 9.36297530e-01 1.18535513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.612755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:404.47, Y:297.36, Z:118.55 [[ 9.03507064e-01 -2.51997853e-01 -3.46658432e-01 4.04470704e+02] [ 2.42099836e-01 9.67549892e-01 -7.23524425e-02 2.97357150e+02] [ 3.53641988e-01 -1.85550065e-02 9.35196801e-01 1.18551607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.642755096 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:404.49, Y:297.37, Z:118.56 [[ 9.02842203e-01 -2.59209486e-01 -3.43054512e-01 4.04490049e+02] [ 2.46963101e-01 9.65737390e-01 -7.97528710e-02 2.97374700e+02] [ 3.51973269e-01 -1.27175484e-02 9.35923652e-01 1.18558573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6727550960001 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:404.52, Y:297.39, Z:118.56 [[ 9.02292191e-01 -2.66602615e-01 -3.38809458e-01 4.04517499e+02] [ 2.47874769e-01 9.63795148e-01 -9.82700977e-02 2.97392814e+02] [ 3.52741976e-01 4.68602569e-03 9.35708897e-01 1.18563139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.55, Y:297.38, Z:118.59 [[ 9.03381058e-01 -2.50251756e-01 -3.48248075e-01 4.04551517e+02] [ 2.41691607e-01 9.67926070e-01 -6.85878295e-02 2.97378025e+02] [ 3.54242616e-01 -2.22076908e-02 9.34889827e-01 1.18588452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.732755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:404.57, Y:297.39, Z:118.59 [[ 9.04369607e-01 -2.52426695e-01 -3.44087746e-01 4.04572344e+02] [ 2.40349177e-01 9.67540585e-01 -7.80864248e-02 2.97389704e+02] [ 3.52629957e-01 -1.20822172e-02 9.35684847e-01 1.18592014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.762755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:404.60, Y:297.40, Z:118.60 [[ 9.03183220e-01 -2.60071428e-01 -3.41500986e-01 4.04600174e+02] [ 2.44202605e-01 9.65585967e-01 -8.94920578e-02 2.97404985e+02] [ 3.53022887e-01 -2.56770556e-03 9.35611163e-01 1.18598160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:404.62, Y:297.42, Z:118.60 [[ 9.01647692e-01 -2.69417747e-01 -3.38297972e-01 4.04621279e+02] [ 2.45595960e-01 9.62853083e-01 -1.12234424e-01 2.97423177e+02] [ 3.55969191e-01 1.81112946e-02 9.34322170e-01 1.18599420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.822755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:404.65, Y:297.42, Z:118.62 [[ 9.02239544e-01 -2.61769056e-01 -3.42696319e-01 4.04646267e+02] [ 2.45863235e-01 9.65125451e-01 -8.99118066e-02 2.97417734e+02] [ 3.54281069e-01 -3.13443845e-03 9.35133734e-01 1.18616064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.67, Y:297.43, Z:118.62 [[ 9.01941557e-01 -2.63219219e-01 -3.42369787e-01 4.04671040e+02] [ 2.47425640e-01 9.64729160e-01 -8.98788118e-02 2.97425223e+02] [ 3.53951948e-01 -3.64562814e-03 9.35256504e-01 1.18624963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.69, Y:297.44, Z:118.63 [[ 9.02593685e-01 -2.66089522e-01 -3.38409525e-01 4.04691175e+02] [ 2.51157081e-01 9.63932553e-01 -8.80576767e-02 2.97435642e+02] [ 3.49635183e-01 -5.51364581e-03 9.36869702e-01 1.18627351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.73, Y:297.43, Z:118.65 [[ 9.01083134e-01 -2.58648013e-01 -3.48066647e-01 4.04728686e+02] [ 2.50600846e-01 9.65642213e-01 -6.88064890e-02 2.97429428e+02] [ 3.53904508e-01 -2.52254294e-02 9.34941323e-01 1.18654481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.942755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:404.75, Y:297.45, Z:118.65 [[ 8.99983225e-01 -2.67781355e-01 -3.43981599e-01 4.04750810e+02] [ 2.49794997e-01 9.63479274e-01 -9.64891092e-02 2.97451294e+02] [ 3.57257126e-01 9.13697020e-04 9.34005627e-01 1.18653576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.78, Y:297.45, Z:118.67 [[ 9.01344500e-01 -2.64398904e-01 -3.43032524e-01 4.04781135e+02] [ 2.54125197e-01 9.64223105e-01 -7.54598507e-02 2.97449991e+02] [ 3.50711387e-01 -1.91578863e-02 9.36287615e-01 1.18666804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.002755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:404.80, Y:297.48, Z:118.66 [[ 9.00506565e-01 -2.79839954e-01 -3.32832579e-01 4.04796327e+02] [ 2.58137594e-01 9.59971892e-01 -1.08714994e-01 2.97478614e+02] [ 3.49932719e-01 1.19819641e-02 9.36698204e-01 1.18658929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.83, Y:297.47, Z:118.68 [[ 9.01180171e-01 -2.73100573e-01 -3.36586357e-01 4.04826040e+02] [ 2.61812922e-01 9.61843452e-01 -7.94428607e-02 2.97470884e+02] [ 3.45439275e-01 -1.65303271e-02 9.38295506e-01 1.18678253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.86, Y:297.47, Z:118.70 [[ 9.00678312e-01 -2.66846797e-01 -3.42886811e-01 4.04858280e+02] [ 2.58643654e-01 9.63406574e-01 -7.03649970e-02 2.97467838e+02] [ 3.49116082e-01 -2.53092710e-02 9.36737638e-01 1.18698446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.88, Y:297.50, Z:118.69 [[ 9.00626498e-01 -2.81796537e-01 -3.30851359e-01 4.04876390e+02] [ 2.64036401e-01 9.59473269e-01 -9.84673778e-02 2.97495414e+02] [ 3.45190802e-01 1.32552750e-03 9.38531594e-01 1.18690459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.91, Y:297.48, Z:118.71 [[ 9.00316897e-01 -2.70901628e-01 -3.40649075e-01 4.04908256e+02] [ 2.61286766e-01 9.62362291e-01 -7.47532361e-02 2.97484965e+02] [ 3.48078598e-01 -2.17054938e-02 9.37214042e-01 1.18713953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1527550960001 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:404.93, Y:297.50, Z:118.72 [[ 9.00169683e-01 -2.74880062e-01 -3.37839450e-01 4.04933949e+02] [ 2.61820383e-01 9.61400054e-01 -8.46169255e-02 2.97498227e+02] [ 3.48058371e-01 -1.22836630e-02 9.37392384e-01 1.18719333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.96, Y:297.51, Z:118.72 [[ 9.00149509e-01 -2.78399268e-01 -3.34999565e-01 4.04959044e+02] [ 2.63206825e-01 9.60444617e-01 -9.09302208e-02 2.97511050e+02] [ 3.47063436e-01 -6.32337827e-03 9.37820338e-01 1.18723975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:404.98, Y:297.51, Z:118.74 [[ 9.00215440e-01 -2.72494862e-01 -3.39644979e-01 4.04980151e+02] [ 2.57894494e-01 9.62123612e-01 -8.83661971e-02 2.97511441e+02] [ 3.50859788e-01 -8.04395493e-03 9.36393456e-01 1.18738080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.01, Y:297.52, Z:118.74 [[ 9.00327807e-01 -2.75010502e-01 -3.37311523e-01 4.05007406e+02] [ 2.59697117e-01 9.61422791e-01 -9.06842081e-02 2.97523039e+02] [ 3.49238095e-01 -5.95331562e-03 9.37015107e-01 1.18744374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.03, Y:297.52, Z:118.76 [[ 8.99225452e-01 -2.71003515e-01 -3.43439488e-01 4.05029559e+02] [ 2.56290261e-01 9.62541251e-01 -8.84852703e-02 2.97523260e+02] [ 3.54554493e-01 -8.45198898e-03 9.34997153e-01 1.18761500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.05, Y:297.55, Z:118.76 [[ 9.00261245e-01 -2.81964669e-01 -3.31701094e-01 4.05054248e+02] [ 2.60612286e-01 9.59362244e-01 -1.08191131e-01 2.97551338e+02] [ 3.48727582e-01 1.09549017e-02 9.37160106e-01 1.18755642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.08, Y:297.53, Z:118.78 [[ 9.00832571e-01 -2.65478387e-01 -3.43543163e-01 4.05084567e+02] [ 2.57537792e-01 9.63768682e-01 -6.94565543e-02 2.97533977e+02] [ 3.49535355e-01 -2.59066211e-02 9.36564938e-01 1.18782357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.11, Y:297.55, Z:118.79 [[ 9.00201517e-01 -2.70657577e-01 -3.41147628e-01 4.05111810e+02] [ 2.56377669e-01 9.62634053e-01 -8.72133685e-02 2.97549600e+02] [ 3.52005283e-01 -8.95302716e-03 9.35955193e-01 1.18788431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.14, Y:297.55, Z:118.80 [[ 9.01857258e-01 -2.67398760e-01 -3.39339636e-01 4.05137253e+02] [ 2.56579534e-01 9.63429231e-01 -7.72726316e-02 2.97552644e+02] [ 3.47592331e-01 -1.73787219e-02 9.37484694e-01 1.18798426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.16, Y:297.57, Z:118.80 [[ 8.99840589e-01 -2.76448783e-01 -3.37435898e-01 4.05161908e+02] [ 2.55238607e-01 9.60978270e-01 -1.06649040e-01 2.97574689e+02] [ 3.53751563e-01 9.84046663e-03 9.35287655e-01 1.18800542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.19, Y:297.57, Z:118.82 [[ 9.01776559e-01 -2.66720056e-01 -3.40087414e-01 4.05188830e+02] [ 2.55675724e-01 9.63627608e-01 -7.77930439e-02 2.97568293e+02] [ 3.48466586e-01 -1.68001523e-02 9.37170632e-01 1.18817140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.21, Y:297.58, Z:118.82 [[ 9.01406583e-01 -2.70299146e-01 -3.38237409e-01 4.05212213e+02] [ 2.54638219e-01 9.62766759e-01 -9.07719412e-02 2.97581443e+02] [ 3.50179312e-01 -4.30574610e-03 9.36672787e-01 1.18823541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.24, Y:297.58, Z:118.84 [[ 9.02925039e-01 -2.64898964e-01 -3.38459617e-01 4.05236958e+02] [ 2.54230344e-01 9.64124546e-01 -7.63596272e-02 2.97580668e+02] [ 3.46544811e-01 -1.70996856e-02 9.37877548e-01 1.18837008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.26, Y:297.60, Z:118.83 [[ 9.03730184e-01 -2.76297145e-01 -3.27004039e-01 4.05260339e+02] [ 2.57649151e-01 9.61052936e-01 -9.99708402e-02 2.97604781e+02] [ 3.41889850e-01 6.09435295e-03 9.39720272e-01 1.18832849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.29, Y:297.60, Z:118.85 [[ 9.02162049e-01 -2.71978397e-01 -3.34860253e-01 4.05289137e+02] [ 2.56437912e-01 9.62294891e-01 -9.07090937e-02 2.97602628e+02] [ 3.46905224e-01 -4.03656196e-03 9.37891503e-01 1.18850855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.602755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:405.32, Y:297.60, Z:118.87 [[ 9.02689422e-01 -2.68421430e-01 -3.36306026e-01 4.05316216e+02] [ 2.58265775e-01 9.63119844e-01 -7.54914290e-02 2.97602340e+02] [ 3.44166525e-01 -1.87110220e-02 9.38722164e-01 1.18865421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:405.34, Y:297.62, Z:118.87 [[ 9.02541469e-01 -2.72918302e-01 -3.33068307e-01 4.05341798e+02] [ 2.58817912e-01 9.62006062e-01 -8.69346085e-02 2.97616123e+02] [ 3.44139776e-01 -7.74195437e-03 9.38886509e-01 1.18871307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6627550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:405.36, Y:297.63, Z:118.87 [[ 9.01880706e-01 -2.81777624e-01 -3.27433296e-01 4.05362851e+02] [ 2.61112672e-01 9.59422316e-01 -1.06437740e-01 2.97634950e+02] [ 3.44138585e-01 1.04971611e-02 9.38860183e-01 1.18869508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.692755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:405.39, Y:297.62, Z:118.89 [[ 9.00884685e-01 -2.72359140e-01 -3.37975272e-01 4.05391679e+02] [ 2.60454332e-01 9.62078520e-01 -8.10460459e-02 2.97624131e+02] [ 3.47232381e-01 -1.50139821e-02 9.37658922e-01 1.18892975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.42, Y:297.64, Z:118.90 [[ 9.01092090e-01 -2.76523771e-01 -3.34017440e-01 4.05418091e+02] [ 2.62648783e-01 9.60961706e-01 -8.69954981e-02 2.97635142e+02] [ 3.45034293e-01 -9.33831912e-03 9.38543623e-01 1.18899392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.752755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.44, Y:297.65, Z:118.90 [[ 8.99635358e-01 -2.81878620e-01 -3.33467641e-01 4.05441823e+02] [ 2.63324331e-01 9.59446258e-01 -1.00613985e-01 2.97648530e+02] [ 3.48305211e-01 2.70575547e-03 9.37377277e-01 1.18904517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.47, Y:297.64, Z:118.92 [[ 8.99171518e-01 -2.75734739e-01 -3.39795433e-01 4.05468864e+02] [ 2.64248480e-01 9.61078262e-01 -8.06307393e-02 2.97641409e+02] [ 3.48802699e-01 -1.72895622e-02 9.37036684e-01 1.18923599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.50, Y:297.62, Z:118.96 [[ 8.99309984e-01 -2.59226994e-01 -3.52197272e-01 4.05498039e+02] [ 2.63040492e-01 9.64039871e-01 -3.79055090e-02 2.97621871e+02] [ 3.49358343e-01 -5.85533409e-02 9.35157877e-01 1.18957834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.52, Y:297.70, Z:118.91 [[ 8.98856012e-01 -3.03228505e-01 -3.16402187e-01 4.05516502e+02] [ 2.69188317e-01 9.51742780e-01 -1.47388370e-01 2.97696827e+02] [ 3.45825852e-01 4.73091504e-02 9.37105290e-01 1.18913717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.54, Y:297.66, Z:118.95 [[ 9.00896662e-01 -2.78478200e-01 -3.32919054e-01 4.05543554e+02] [ 2.68440295e-01 9.60230415e-01 -7.67942597e-02 2.97663957e+02] [ 3.41064529e-01 -2.01851969e-02 9.39823146e-01 1.18945298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.57, Y:297.65, Z:118.98 [[ 8.99617121e-01 -2.61045940e-01 -3.50062927e-01 4.05574935e+02] [ 2.61935297e-01 9.64001542e-01 -4.57266678e-02 2.97647636e+02] [ 3.49397963e-01 -5.05573437e-02 9.35609437e-01 1.18982514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.59, Y:297.72, Z:118.94 [[ 9.00535595e-01 -2.97277503e-01 -3.17272325e-01 4.05592770e+02] [ 2.64562481e-01 9.53749627e-01 -1.42717701e-01 2.97716680e+02] [ 3.45025123e-01 4.45840162e-02 9.37533962e-01 1.18943322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.62, Y:297.67, Z:118.99 [[ 9.00639946e-01 -2.63253255e-01 -3.45753396e-01 4.05624073e+02] [ 2.59008343e-01 9.64050680e-01 -5.93377206e-02 2.97669969e+02] [ 3.48944645e-01 -3.61110929e-02 9.36447342e-01 1.18993293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.65, Y:297.69, Z:118.99 [[ 9.00782436e-01 -2.72797366e-01 -3.37894364e-01 4.05650525e+02] [ 2.59114613e-01 9.62017832e-01 -8.59145393e-02 2.97692382e+02] [ 3.48497664e-01 -1.01630593e-02 9.37254550e-01 1.18993259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.68, Y:297.69, Z:119.01 [[ 9.01261292e-01 -2.69857401e-01 -3.38976500e-01 4.05678585e+02] [ 2.60023728e-01 9.62681852e-01 -7.50420784e-02 2.97694839e+02] [ 3.46577185e-01 -2.05094129e-02 9.37797216e-01 1.19006585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.70, Y:297.71, Z:119.01 [[ 9.01352461e-01 -2.75304421e-01 -3.34322026e-01 4.05702920e+02] [ 2.60271203e-01 9.61338638e-01 -8.99273296e-02 2.97711357e+02] [ 3.46154072e-01 -5.95817622e-03 9.38158760e-01 1.19009265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.73, Y:297.72, Z:119.02 [[ 9.01446607e-01 -2.73175088e-01 -3.35811532e-01 4.05729233e+02] [ 2.60434440e-01 9.61885608e-01 -8.33665353e-02 2.97716225e+02] [ 3.45785941e-01 -1.23064078e-02 9.38232719e-01 1.19020982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.112755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:405.75, Y:297.73, Z:119.03 [[ 9.01582607e-01 -2.75804900e-01 -3.33287355e-01 4.05754148e+02] [ 2.60521387e-01 9.61200246e-01 -9.06790678e-02 2.97729153e+02] [ 3.45365619e-01 -5.07381347e-03 9.38454499e-01 1.19026084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.77, Y:297.75, Z:119.02 [[ 9.02566686e-01 -2.86584267e-01 -3.21314233e-01 4.05772582e+02] [ 2.65062276e-01 9.57952993e-01 -1.09854691e-01 2.97754132e+02] [ 3.39286557e-01 1.39829023e-02 9.40579136e-01 1.19017657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.80, Y:297.73, Z:119.05 [[ 9.02387755e-01 -2.68642096e-01 -3.36938814e-01 4.05804651e+02] [ 2.59651821e-01 9.62985106e-01 -7.23921143e-02 2.97734689e+02] [ 3.43914629e-01 -2.21610192e-02 9.38739377e-01 1.19049923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.83, Y:297.75, Z:119.06 [[ 9.01846061e-01 -2.76075994e-01 -3.32348804e-01 4.05831108e+02] [ 2.62436139e-01 9.61089264e-01 -8.62247012e-02 2.97751099e+02] [ 3.43221437e-01 -9.45892966e-03 9.39206885e-01 1.19055240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:405.85, Y:297.76, Z:119.06 [[ 9.01771233e-01 -2.76137155e-01 -3.32501001e-01 4.05853736e+02] [ 2.60508958e-01 9.61110088e-01 -9.16650514e-02 2.97759602e+02] [ 3.44882193e-01 -3.95858298e-03 9.38637631e-01 1.19063119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.88, Y:297.76, Z:119.08 [[ 9.01594689e-01 -2.76396081e-01 -3.32764517e-01 4.05882995e+02] [ 2.63832313e-01 9.60960604e-01 -8.33500316e-02 2.97764472e+02] [ 3.42811213e-01 -1.26460866e-02 9.39319194e-01 1.19075710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.91, Y:297.78, Z:119.08 [[ 9.01290259e-01 -2.80999032e-01 -3.29720205e-01 4.05908452e+02] [ 2.66248863e-01 9.59685398e-01 -9.00859595e-02 2.97777395e+02] [ 3.41741733e-01 -6.59403192e-03 9.39770773e-01 1.19081420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.93, Y:297.79, Z:119.09 [[ 9.01172152e-01 -2.82316291e-01 -3.28916805e-01 4.05933319e+02] [ 2.67645532e-01 9.59296917e-01 -9.00849294e-02 2.97785060e+02] [ 3.40961320e-01 -6.85108341e-03 9.40052361e-01 1.19089463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.96, Y:297.79, Z:119.10 [[ 9.01029998e-01 -2.84542083e-01 -3.27384707e-01 4.05958967e+02] [ 2.69857066e-01 9.58639320e-01 -9.04865649e-02 2.97793593e+02] [ 3.39591089e-01 -6.81596715e-03 9.40548476e-01 1.19097048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:405.98, Y:297.80, Z:119.10 [[ 9.00353132e-01 -2.87979159e-01 -3.26239546e-01 4.05983255e+02] [ 2.72398309e-01 9.57625464e-01 -9.35555045e-02 2.97802642e+02] [ 3.39357332e-01 -4.63410914e-03 9.40646122e-01 1.19103997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.01, Y:297.81, Z:119.11 [[ 9.00165770e-01 -2.91195456e-01 -3.23893182e-01 4.06007974e+02] [ 2.75041286e-01 9.56659030e-01 -9.56859051e-02 2.97812549e+02] [ 3.37718638e-01 -2.95082078e-03 9.41242484e-01 1.19109620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.03, Y:297.82, Z:119.12 [[ 8.99471263e-01 -2.91357930e-01 -3.25671620e-01 4.06034066e+02] [ 2.77264824e-01 9.56568510e-01 -9.00050151e-02 2.97816192e+02] [ 3.37750891e-01 -9.34035998e-03 9.41189191e-01 1.19121643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.06, Y:297.82, Z:119.13 [[ 8.99348208e-01 -2.91594148e-01 -3.25800021e-01 4.06058205e+02] [ 2.77817439e-01 9.56486472e-01 -8.91689394e-02 2.97822378e+02] [ 3.37624454e-01 -1.03190017e-02 9.41224334e-01 1.19130944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.08, Y:297.83, Z:119.14 [[ 8.98874447e-01 -2.89909906e-01 -3.28598502e-01 4.06084845e+02] [ 2.77908698e-01 9.56923916e-01 -8.40438876e-02 2.97826354e+02] [ 3.38808921e-01 -1.57754788e-02 9.40722940e-01 1.19144668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.11, Y:297.84, Z:119.15 [[ 8.98758224e-01 -2.92731048e-01 -3.26408010e-01 4.06111308e+02] [ 2.78459009e-01 9.56149466e-01 -9.07677184e-02 2.97838395e+02] [ 3.38665374e-01 -9.31301762e-03 9.40860793e-01 1.19151476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.14, Y:297.85, Z:119.16 [[ 8.98753365e-01 -2.92323023e-01 -3.26786841e-01 4.06136733e+02] [ 2.78753263e-01 9.56252598e-01 -8.87557692e-02 2.97845077e+02] [ 3.38436120e-01 -1.13233518e-02 9.40921237e-01 1.19161998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.16, Y:297.85, Z:119.17 [[ 8.98851851e-01 -2.91128103e-01 -3.27581712e-01 4.06162240e+02] [ 2.78509737e-01 9.56581679e-01 -8.59291477e-02 2.97850632e+02] [ 3.38375054e-01 -1.39971232e-02 9.40907224e-01 1.19173203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.19, Y:297.86, Z:119.18 [[ 8.99823613e-01 -2.91332326e-01 -3.24719789e-01 4.06185840e+02] [ 2.78285181e-01 9.56546144e-01 -8.70450056e-02 2.97859547e+02] [ 3.35968486e-01 -1.20395536e-02 9.41796276e-01 1.19180079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.21, Y:297.87, Z:119.19 [[ 8.98506821e-01 -2.95641930e-01 -3.24470864e-01 4.06213286e+02] [ 2.78999647e-01 9.55295211e-01 -9.78276875e-02 2.97873795e+02] [ 3.38887429e-01 -2.62841194e-03 9.40823258e-01 1.19187664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.23, Y:297.89, Z:119.19 [[ 8.98955585e-01 -2.99422671e-01 -3.19726321e-01 4.06233018e+02] [ 2.81545134e-01 9.54119214e-01 -1.01925773e-01 2.97887154e+02] [ 3.35575914e-01 1.60935262e-03 9.42011792e-01 1.19189565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.712755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:406.26, Y:297.89, Z:119.20 [[ 8.99021129e-01 -2.97040536e-01 -3.21757563e-01 4.06258990e+02] [ 2.81199955e-01 9.54854972e-01 -9.58048384e-02 2.97892168e+02] [ 3.35689729e-01 -4.34763824e-03 9.41962581e-01 1.19200539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.29, Y:297.89, Z:119.22 [[ 8.98196505e-01 -2.88504826e-01 -3.31674544e-01 4.06289330e+02] [ 2.77799800e-01 9.57270654e-01 -8.03751607e-02 2.97887581e+02] [ 3.40690929e-01 -1.99464334e-02 9.39963739e-01 1.19222826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.32, Y:297.90, Z:119.23 [[ 8.98245643e-01 -2.89582139e-01 -3.30600893e-01 4.06315159e+02] [ 2.76513403e-01 9.57061526e-01 -8.70262785e-02 2.97898232e+02] [ 3.41606651e-01 -1.32446023e-02 9.39749688e-01 1.19231091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.34, Y:297.91, Z:119.24 [[ 8.97911137e-01 -2.89124211e-01 -3.31907790e-01 4.06340759e+02] [ 2.76713401e-01 9.57168570e-01 -8.51940314e-02 2.97905029e+02] [ 3.42323361e-01 -1.53466636e-02 9.39456862e-01 1.19243252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.37, Y:297.92, Z:119.24 [[ 8.98184694e-01 -2.94949229e-01 -3.25989583e-01 4.06365978e+02] [ 2.78064362e-01 9.55510219e-01 -9.83891850e-02 2.97922429e+02] [ 3.40506192e-01 -2.27442518e-03 9.40239523e-01 1.19244944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.39, Y:297.94, Z:119.24 [[ 8.99027362e-01 -3.00885279e-01 -3.18147532e-01 4.06386020e+02] [ 2.80937582e-01 9.53629076e-01 -1.08007684e-01 2.97940733e+02] [ 3.35892659e-01 7.72226498e-03 9.41868615e-01 1.19243431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.41, Y:297.93, Z:119.27 [[ 8.99671676e-01 -2.86784150e-01 -3.29159120e-01 4.06413208e+02] [ 2.78151644e-01 9.57672491e-01 -7.41286952e-02 2.97926893e+02] [ 3.36485569e-01 -2.48646627e-02 9.41360298e-01 1.19268480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.44, Y:297.96, Z:119.26 [[ 9.00296634e-01 -3.00253226e-01 -3.15141193e-01 4.06435142e+02] [ 2.80177684e-01 9.53814734e-01 -1.08341676e-01 2.97957889e+02] [ 3.33116251e-01 9.24411690e-03 9.42840448e-01 1.19260634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.46, Y:297.97, Z:119.27 [[ 8.99247665e-01 -3.03017210e-01 -3.15490424e-01 4.06463005e+02] [ 2.82265832e-01 9.52927245e-01 -1.10705309e-01 2.97969276e+02] [ 3.34185034e-01 1.04993238e-02 9.42449005e-01 1.19269719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.982755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:406.49, Y:297.96, Z:119.29 [[ 9.00065955e-01 -2.95090919e-01 -3.20628486e-01 4.06487664e+02] [ 2.81167037e-01 9.55425742e-01 -9.00374869e-02 2.97963643e+02] [ 3.32905954e-01 -9.11048460e-03 9.42916022e-01 1.19285520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.51, Y:297.98, Z:119.29 [[ 8.99058984e-01 -2.99190183e-01 -3.19653214e-01 4.06511681e+02] [ 2.83289367e-01 9.54185295e-01 -9.63200793e-02 2.97975033e+02] [ 3.33826419e-01 -3.95692407e-03 9.42626259e-01 1.19294609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.54, Y:297.99, Z:119.30 [[ 8.98785672e-01 -3.01975594e-01 -3.17797195e-01 4.06540547e+02] [ 2.83944676e-01 9.53313198e-01 -1.02807431e-01 2.97986699e+02] [ 3.34005595e-01 2.16502457e-03 9.42568605e-01 1.19301617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.57, Y:297.99, Z:119.31 [[ 8.98636904e-01 -3.00176456e-01 -3.19915318e-01 4.06567020e+02] [ 2.84609463e-01 9.53869603e-01 -9.55522563e-02 2.97990857e+02] [ 3.33840035e-01 -5.18414298e-03 9.42615487e-01 1.19313461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.59, Y:298.00, Z:119.32 [[ 8.98939792e-01 -2.98167192e-01 -3.20941701e-01 4.06589503e+02] [ 2.83403546e-01 9.54485018e-01 -9.29557985e-02 2.97996172e+02] [ 3.34050415e-01 -7.39435012e-03 9.42526203e-01 1.19322572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.62, Y:298.00, Z:119.34 [[ 8.98028652e-01 -2.93782297e-01 -3.27469851e-01 4.06621451e+02] [ 2.83547235e-01 9.55636436e-01 -7.97494071e-02 2.97995541e+02] [ 3.36371085e-01 -2.12359180e-02 9.41490058e-01 1.19344255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.65, Y:298.02, Z:119.34 [[ 8.97692906e-01 -3.02897774e-01 -3.20000602e-01 4.06645830e+02] [ 2.85548730e-01 9.53022816e-01 -1.01041748e-01 2.98017157e+02] [ 3.35573196e-01 -6.71305706e-04 9.42013896e-01 1.19343584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.67, Y:298.02, Z:119.36 [[ 8.97446450e-01 -2.97680938e-01 -3.25539443e-01 4.06666389e+02] [ 2.82777044e-01 9.54629731e-01 -9.33767636e-02 2.98015496e+02] [ 3.38566114e-01 -8.25443627e-03 9.40906399e-01 1.19357282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.70, Y:298.03, Z:119.36 [[ 8.96823532e-01 -3.03654559e-01 -3.21716431e-01 4.06697249e+02] [ 2.87124807e-01 9.52775061e-01 -9.88889713e-02 2.98030865e+02] [ 3.36551479e-01 -3.68681160e-03 9.41657852e-01 1.19363573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.72, Y:298.03, Z:119.38 [[ 8.96354887e-01 -3.00167095e-01 -3.26263132e-01 4.06723613e+02] [ 2.87303380e-01 9.53773241e-01 -8.81667329e-02 2.98031872e+02] [ 3.37645797e-01 -1.47078187e-02 9.41158327e-01 1.19378697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.75, Y:298.04, Z:119.39 [[ 8.95792703e-01 -2.98337213e-01 -3.29469787e-01 4.06750381e+02] [ 2.87660112e-01 9.54221123e-01 -8.19372302e-02 2.98035584e+02] [ 3.38831955e-01 -2.13765428e-02 9.40604035e-01 1.19393946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.78, Y:298.05, Z:119.40 [[ 8.95800061e-01 -3.03797061e-01 -3.24421941e-01 4.06775147e+02] [ 2.88326751e-01 9.52706951e-01 -9.60059909e-02 2.98052177e+02] [ 3.38245376e-01 -7.53735186e-03 9.41027765e-01 1.19396624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.80, Y:298.06, Z:119.40 [[ 8.96242752e-01 -3.02236925e-01 -3.24656390e-01 4.06796486e+02] [ 2.86562891e-01 9.53209118e-01 -9.63020573e-02 2.98058768e+02] [ 3.38571469e-01 -6.72445294e-03 9.40916650e-01 1.19404729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.83, Y:298.07, Z:119.42 [[ 8.95860425e-01 -3.03457606e-01 -3.24572920e-01 4.06826010e+02] [ 2.88526498e-01 9.52802106e-01 -9.44489632e-02 2.98067348e+02] [ 3.37915018e-01 -9.03479941e-03 9.41133260e-01 1.19415138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.85, Y:298.07, Z:119.42 [[ 8.96062019e-01 -3.02880122e-01 -3.24555835e-01 4.06848985e+02] [ 2.87096273e-01 9.53006409e-01 -9.67187390e-02 2.98074886e+02] [ 3.38597974e-01 -6.51278195e-03 9.40908601e-01 1.19423244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.88, Y:298.08, Z:119.44 [[ 8.96245107e-01 -3.00896474e-01 -3.25892651e-01 4.06876894e+02] [ 2.87971398e-01 9.53545441e-01 -8.84509195e-02 2.98078671e+02] [ 3.37368022e-01 -1.45740585e-02 9.41260015e-01 1.19436376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:406.90, Y:298.09, Z:119.44 [[ 8.96211053e-01 -3.02539616e-01 -3.24461908e-01 4.06904046e+02] [ 2.87719399e-01 9.53093053e-01 -9.39743605e-02 2.98088244e+02] [ 3.37673357e-01 -9.13312464e-03 9.41219045e-01 1.19444089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.492755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:406.92, Y:298.10, Z:119.45 [[ 8.97093567e-01 -3.05576685e-01 -3.19133236e-01 4.06922214e+02] [ 2.89200400e-01 9.52160300e-01 -9.87617909e-02 2.98101775e+02] [ 3.34045298e-01 -3.69489198e-03 9.42549779e-01 1.19447411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.522755096 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:406.95, Y:298.11, Z:119.46 [[ 8.97370723e-01 -3.04537192e-01 -3.19347592e-01 4.06947268e+02] [ 2.87873603e-01 9.52496509e-01 -9.93941075e-02 2.98110573e+02] [ 3.34446669e-01 -2.73837978e-03 9.42410700e-01 1.19456713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:406.98, Y:298.11, Z:119.48 [[ 8.97215398e-01 -2.94985684e-01 -3.28615240e-01 4.06981577e+02] [ 2.82410378e-01 9.55381523e-01 -8.65478188e-02 2.98107411e+02] [ 3.39483296e-01 -1.51523183e-02 9.40490032e-01 1.19477441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.01, Y:298.12, Z:119.48 [[ 8.97065553e-01 -2.97592225e-01 -3.26668429e-01 4.07007047e+02] [ 2.83150484e-01 9.54642081e-01 -9.21102655e-02 2.98119124e+02] [ 3.39262727e-01 -9.86737741e-03 9.40639908e-01 1.19484740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.612755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:407.03, Y:298.13, Z:119.49 [[ 8.98263492e-01 -2.95390535e-01 -3.25372296e-01 4.07027904e+02] [ 2.79707928e-01 9.55360433e-01 -9.51310537e-02 2.98126980e+02] [ 3.38948631e-01 -5.55645836e-03 9.40788473e-01 1.19490680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.642755096 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:407.05, Y:298.15, Z:119.49 [[ 8.97776237e-01 -3.03195906e-01 -3.19484070e-01 4.07048678e+02] [ 2.83019292e-01 9.52899148e-01 -1.09010524e-01 2.98146807e+02] [ 3.37487642e-01 7.44690244e-03 9.41300502e-01 1.19491082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6727550960001 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:407.07, Y:298.15, Z:119.50 [[ 8.97435607e-01 -3.00609310e-01 -3.22867425e-01 4.07074793e+02] [ 2.83174565e-01 9.53746958e-01 -1.00890566e-01 2.98149254e+02] [ 3.38262468e-01 -8.85056206e-04 9.41051391e-01 1.19503672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.702755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:407.11, Y:298.15, Z:119.52 [[ 8.96812661e-01 -2.94952870e-01 -3.29742104e-01 4.07109377e+02] [ 2.80298472e-01 9.55463238e-01 -9.23188328e-02 2.98148202e+02] [ 3.42286163e-01 -9.63350973e-03 9.39546368e-01 1.19522762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.732755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:407.13, Y:298.16, Z:119.53 [[ 8.97083421e-01 -2.96317251e-01 -3.27776482e-01 4.07130589e+02] [ 2.78607013e-01 9.55089238e-01 -1.00909269e-01 2.98159892e+02] [ 3.42956947e-01 -7.96794347e-04 9.39350785e-01 1.19527006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.762755096 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:407.16, Y:298.17, Z:119.54 [[ 8.96744746e-01 -2.99173723e-01 -3.26104193e-01 4.07160234e+02] [ 2.82630307e-01 9.54189798e-01 -9.81933769e-02 2.98169255e+02] [ 3.40542172e-01 -4.11253331e-03 9.40220249e-01 1.19536813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7927550960001 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:407.19, Y:298.18, Z:119.54 [[ 8.96653343e-01 -3.03307369e-01 -3.22517322e-01 4.07185724e+02] [ 2.85145114e-01 9.52892491e-01 -1.03383579e-01 2.98181907e+02] [ 3.38681335e-01 7.34993449e-04 9.40900852e-01 1.19541030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.822755096 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:407.21, Y:298.18, Z:119.56 [[ 8.95961047e-01 -3.01683029e-01 -3.25946549e-01 4.07210438e+02] [ 2.86398359e-01 9.53373900e-01 -9.51534918e-02 2.98182957e+02] [ 3.39455126e-01 -8.09673468e-03 9.40587402e-01 1.19555101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.852755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:407.24, Y:298.20, Z:119.56 [[ 8.95241834e-01 -3.06158182e-01 -3.23742532e-01 4.07236204e+02] [ 2.88822729e-01 9.51977225e-01 -1.01591309e-01 2.98195213e+02] [ 3.39298528e-01 -2.55541169e-03 9.40675278e-01 1.19561816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.882755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:407.26, Y:298.20, Z:119.57 [[ 8.95274629e-01 -3.03154121e-01 -3.26467331e-01 4.07259337e+02] [ 2.89044353e-01 9.52867951e-01 -9.21739106e-02 2.98196696e+02] [ 3.39023158e-01 -1.18425749e-02 9.40703488e-01 1.19574440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9127550960001 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:407.28, Y:298.20, Z:119.59 [[ 8.94717765e-01 -3.03842627e-01 -3.27352683e-01 4.07278418e+02] [ 2.90816051e-01 9.52599775e-01 -8.93291332e-02 2.98204705e+02] [ 3.38978091e-01 -1.52750522e-02 9.40670254e-01 1.19586424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.942755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:407.30, Y:298.22, Z:119.59 [[ 8.94341088e-01 -3.09003227e-01 -3.23529015e-01 4.07301947e+02] [ 2.91510873e-01 9.51057380e-01 -1.02524492e-01 2.98220376e+02] [ 3.39375056e-01 -2.62035978e-03 9.40647492e-01 1.19590957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.972755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:407.33, Y:298.23, Z:119.60 [[ 8.93702212e-01 -3.09783676e-01 -3.24546500e-01 4.07327004e+02] [ 2.92209359e-01 9.50802716e-01 -1.02897457e-01 2.98228320e+02] [ 3.40455646e-01 -2.87583939e-03 9.40256179e-01 1.19600720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.002755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:407.35, Y:298.24, Z:119.61 [[ 8.92694621e-01 -3.11667013e-01 -3.25514955e-01 4.07352022e+02] [ 2.94062793e-01 9.50184992e-01 -1.03322578e-01 2.98236351e+02] [ 3.41501664e-01 -3.48632739e-03 9.39874704e-01 1.19610252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0327550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:407.38, Y:298.24, Z:119.62 [[ 8.92272572e-01 -3.12352250e-01 -3.26014922e-01 4.07375617e+02] [ 2.94693816e-01 9.49959394e-01 -1.03598771e-01 2.98244356e+02] [ 3.42060246e-01 -3.63623936e-03 9.39670988e-01 1.19619466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.062755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:407.40, Y:298.28, Z:119.60 [[ 8.92771753e-01 -3.31388281e-01 -3.05189129e-01 4.07398175e+02] [ 3.00328079e-01 9.42733176e-01 -1.45111007e-01 2.98284849e+02] [ 3.35800004e-01 3.78941433e-02 9.41170756e-01 1.19598158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.092755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:407.43, Y:298.28, Z:119.62 [[ 8.91977054e-01 -3.24703650e-01 -3.14554408e-01 4.07427218e+02] [ 3.02918347e-01 9.45769604e-01 -1.17304436e-01 2.98278977e+02] [ 3.35585177e-01 9.34856370e-03 9.41963478e-01 1.19616306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.122755096 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:407.45, Y:298.27, Z:119.64 [[ 8.92374312e-01 -3.12832601e-01 -3.25275039e-01 4.07451911e+02] [ 3.02017787e-01 9.49536905e-01 -8.46458605e-02 2.98268088e+02] [ 3.35340638e-01 -2.27030557e-02 9.41823353e-01 1.19637610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1527550960001 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:407.48, Y:298.29, Z:119.65 [[ 8.90169267e-01 -3.19733645e-01 -3.24606027e-01 4.07478368e+02] [ 3.00844187e-01 9.47506613e-01 -1.08277392e-01 2.98287829e+02] [ 3.42186283e-01 -1.27063005e-03 9.39631275e-01 1.19646812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.182755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:407.50, Y:298.28, Z:119.68 [[ 8.89057581e-01 -3.08779796e-01 -3.37981737e-01 4.07503348e+02] [ 3.00328503e-01 9.50603455e-01 -7.84592934e-02 2.98275057e+02] [ 3.45513252e-01 -3.17507197e-02 9.37876583e-01 1.19678592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.212755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:407.53, Y:298.31, Z:119.67 [[ 8.89167634e-01 -3.21640008e-01 -3.25466780e-01 4.07529449e+02] [ 2.99431837e-01 9.46834917e-01 -1.17661446e-01 2.98306425e+02] [ 3.46007940e-01 7.16563353e-03 9.38204221e-01 1.19670815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.242755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:407.55, Y:298.30, Z:119.69 [[ 8.89027882e-01 -3.14700325e-01 -3.32555455e-01 4.07549305e+02] [ 2.99982414e-01 9.49084011e-01 -9.61773924e-02 2.98302546e+02] [ 3.45890122e-01 -1.42564045e-02 9.38166712e-01 1.19690898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.272755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:407.57, Y:298.31, Z:119.70 [[ 8.90980124e-01 -3.12274630e-01 -3.29604270e-01 4.07572234e+02] [ 2.99168705e-01 9.49833205e-01 -9.11864479e-02 2.98307839e+02] [ 3.41544295e-01 -1.73619701e-02 9.39705303e-01 1.19700030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.60, Y:298.34, Z:119.70 [[ 8.90830555e-01 -3.25832273e-01 -3.16629518e-01 4.07602908e+02] [ 3.01153930e-01 9.45285033e-01 -1.25469185e-01 2.98339693e+02] [ 3.40187054e-01 1.64175596e-02 9.40214461e-01 1.19695607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.63, Y:298.34, Z:119.71 [[ 8.90743385e-01 -3.19974049e-01 -3.22789141e-01 4.07629628e+02] [ 3.02360430e-01 9.47416717e-01 -1.04784225e-01 2.98338261e+02] [ 3.39344061e-01 -4.26280797e-03 9.40652665e-01 1.19711686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.362755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:407.65, Y:298.34, Z:119.72 [[ 8.91265659e-01 -3.17129196e-01 -3.24152122e-01 4.07653320e+02] [ 3.01700479e-01 9.48327140e-01 -9.82469201e-02 2.98343631e+02] [ 3.38559221e-01 -1.02327443e-02 9.40889444e-01 1.19722616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.68, Y:298.35, Z:119.73 [[ 8.92346831e-01 -3.15323733e-01 -3.22936644e-01 4.07677810e+02] [ 2.99931897e-01 9.48935605e-01 -9.77858673e-02 2.98352634e+02] [ 3.37280285e-01 -9.60009143e-03 9.41355325e-01 1.19732140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.70, Y:298.36, Z:119.74 [[ 8.93749280e-01 -3.12640252e-01 -3.21664885e-01 4.07700489e+02] [ 2.97569483e-01 9.49823272e-01 -9.63750733e-02 2.98359883e+02] [ 3.35655520e-01 -9.58250095e-03 9.41936063e-01 1.19738425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.72, Y:298.38, Z:119.74 [[ 8.93923585e-01 -3.20337468e-01 -3.13503639e-01 4.07723661e+02] [ 2.98747321e-01 9.47249839e-01 -1.16050768e-01 2.98382116e+02] [ 3.34141681e-01 1.00821464e-02 9.42468932e-01 1.19738738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.75, Y:298.38, Z:119.76 [[ 8.94020404e-01 -3.11133481e-01 -3.22371641e-01 4.07750334e+02] [ 2.95902033e-01 9.50323177e-01 -9.65807745e-02 2.98378589e+02] [ 3.36406755e-01 -9.04524083e-03 9.41673340e-01 1.19756477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.78, Y:298.39, Z:119.77 [[ 8.93729847e-01 -3.13462091e-01 -3.20918179e-01 4.07778813e+02] [ 2.96644602e-01 9.49589685e-01 -1.01397289e-01 2.98391761e+02] [ 3.36524799e-01 -4.57686167e-03 9.41663481e-01 1.19768137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.80, Y:298.40, Z:119.78 [[ 8.94030088e-01 -3.12906643e-01 -3.20623822e-01 4.07801573e+02] [ 2.94169705e-01 9.49783321e-01 -1.06657526e-01 2.98402424e+02] [ 3.37897007e-01 1.03722234e-03 9.41182521e-01 1.19775081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.83, Y:298.41, Z:119.78 [[ 8.94109864e-01 -3.15597481e-01 -3.17751129e-01 4.07828645e+02] [ 2.96737474e-01 9.48891434e-01 -1.07479850e-01 2.98414860e+02] [ 3.35431695e-01 1.81012625e-03 9.42062791e-01 1.19781395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.85, Y:298.42, Z:119.80 [[ 8.94379275e-01 -3.09688750e-01 -3.22767085e-01 4.07854437e+02] [ 2.95305446e-01 9.50771116e-01 -9.39626402e-02 2.98416060e+02] [ 3.35976794e-01 -1.12766400e-02 9.41802756e-01 1.19797817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.88, Y:298.44, Z:119.80 [[ 8.93715026e-01 -3.16468315e-01 -3.17995690e-01 4.07880888e+02] [ 2.96842324e-01 9.48595814e-01 -1.09775304e-01 2.98435785e+02] [ 3.36389786e-01 3.71325911e-03 9.41715522e-01 1.19801979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.91, Y:298.44, Z:119.81 [[ 8.93258945e-01 -3.15109960e-01 -3.20615301e-01 4.07907111e+02] [ 2.97924379e-01 9.49047675e-01 -1.02711126e-01 2.98440778e+02] [ 3.36644504e-01 -3.77148257e-03 9.41624264e-01 1.19813244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.93, Y:298.44, Z:119.82 [[ 8.93701162e-01 -3.11951876e-01 -3.22465906e-01 4.07927537e+02] [ 2.96472696e-01 9.50059546e-01 -9.74207321e-02 2.98443504e+02] [ 3.36752393e-01 -8.53731517e-03 9.41554534e-01 1.19822606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.95, Y:298.46, Z:119.83 [[ 8.91999349e-01 -3.19380121e-01 -3.19896076e-01 4.07948900e+02] [ 3.02106551e-01 9.47617611e-01 -1.03694237e-01 2.98458322e+02] [ 3.36257034e-01 -4.14750828e-03 9.41761119e-01 1.19825707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:407.98, Y:298.47, Z:119.84 [[ 8.92856375e-01 -3.19541716e-01 -3.17333554e-01 4.07977110e+02] [ 2.99103491e-01 9.47555621e-01 -1.12585290e-01 2.98468298e+02] [ 3.36666890e-01 5.60692029e-03 9.41607120e-01 1.19837832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.00, Y:298.47, Z:119.85 [[ 8.91966146e-01 -3.19062098e-01 -3.20305749e-01 4.08004653e+02] [ 3.00688575e-01 9.47733144e-01 -1.06715834e-01 2.98473742e+02] [ 3.37613352e-01 -1.12536812e-03 9.41284207e-01 1.19850754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.03, Y:298.48, Z:119.86 [[ 8.91216968e-01 -3.21071486e-01 -3.20383234e-01 4.08027683e+02] [ 3.03443566e-01 9.47047920e-01 -1.04986855e-01 2.98480801e+02] [ 3.37126561e-01 -3.65216463e-03 9.41452253e-01 1.19859250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.06, Y:298.48, Z:119.88 [[ 8.90487417e-01 -3.20837560e-01 -3.22638219e-01 4.08057491e+02] [ 3.07602229e-01 9.46987290e-01 -9.27143023e-02 2.98483468e+02] [ 3.35280523e-01 -1.66833155e-02 9.41970614e-01 1.19875650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.09, Y:298.50, Z:119.88 [[ 8.88644179e-01 -3.29639721e-01 -3.18824681e-01 4.08085076e+02] [ 3.10296033e-01 9.44106801e-01 -1.11259701e-01 2.98502119e+02] [ 3.37680166e-01 -5.97478504e-05 9.41260911e-01 1.19881722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.11, Y:298.51, Z:119.89 [[ 8.88573790e-01 -3.28578810e-01 -3.20113394e-01 4.08110411e+02] [ 3.12127083e-01 9.44439341e-01 -1.03009779e-01 2.98505751e+02] [ 3.36174514e-01 -8.38427022e-03 9.41762391e-01 1.19892892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.13, Y:298.50, Z:119.91 [[ 8.88331673e-01 -3.23435721e-01 -3.25969590e-01 4.08133708e+02] [ 3.12302107e-01 9.45944039e-01 -8.75058291e-02 2.98501615e+02] [ 3.36651502e-01 -2.40667903e-02 9.41321707e-01 1.19910073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.16, Y:298.53, Z:119.91 [[ 8.87222828e-01 -3.34808726e-01 -3.17393717e-01 4.08158954e+02] [ 3.14172338e-01 9.42281358e-01 -1.15765212e-01 2.98527224e+02] [ 3.37833385e-01 2.99321231e-03 9.41201171e-01 1.19909111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.19, Y:298.53, Z:119.92 [[ 8.86924482e-01 -3.30593108e-01 -3.22603721e-01 4.08185606e+02] [ 3.14026515e-01 9.43727733e-01 -1.03756027e-01 2.98528017e+02] [ 3.38751106e-01 -9.28236149e-03 9.40830232e-01 1.19924168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.21, Y:298.53, Z:119.94 [[ 8.84827945e-01 -3.29801934e-01 -3.29105138e-01 4.08210372e+02] [ 3.14812207e-01 9.43922110e-01 -9.95204748e-02 2.98531598e+02] [ 3.43471661e-01 -1.55478175e-02 9.39034336e-01 1.19942127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.24, Y:298.55, Z:119.94 [[ 8.85497211e-01 -3.34732163e-01 -3.22256215e-01 4.08237059e+02] [ 3.17565435e-01 9.42276374e-01 -1.06148152e-01 2.98546917e+02] [ 3.39185618e-01 -8.34354252e-03 9.40682466e-01 1.19944277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.26, Y:298.56, Z:119.95 [[ 8.83972754e-01 -3.38402301e-01 -3.22608204e-01 4.08261175e+02] [ 3.17952036e-01 9.41001518e-01 -1.15856141e-01 2.98560412e+02] [ 3.42780794e-01 -1.60263342e-04 9.39415404e-01 1.19952044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.28, Y:298.55, Z:119.97 [[ 8.85968938e-01 -3.30692669e-01 -3.25117516e-01 4.08284336e+02] [ 3.17787694e-01 9.43520180e-01 -9.37051334e-02 2.98554652e+02] [ 3.37742538e-01 -2.02985082e-02 9.41019632e-01 1.19965824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.31, Y:298.57, Z:119.97 [[ 8.86087875e-01 -3.34619354e-01 -3.20746265e-01 4.08308093e+02] [ 3.16990634e-01 9.42330762e-01 -1.07376317e-01 2.98569514e+02] [ 3.38179266e-01 -6.52870900e-03 9.41059063e-01 1.19971436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.34, Y:298.59, Z:119.98 [[ 8.83923013e-01 -3.42958654e-01 -3.17898519e-01 4.08335740e+02] [ 3.19648994e-01 9.39312106e-01 -1.24568410e-01 2.98589630e+02] [ 3.41327742e-01 8.49294254e-03 9.39905975e-01 1.19977606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.36, Y:298.58, Z:120.00 [[ 8.86166444e-01 -3.28942859e-01 -3.26352000e-01 4.08361932e+02] [ 3.18243021e-01 9.43978650e-01 -8.73251878e-02 2.98575983e+02] [ 3.36794318e-01 -2.64745955e-02 9.41205973e-01 1.19998687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.39, Y:298.61, Z:120.00 [[ 8.83281072e-01 -3.45519666e-01 -3.16908044e-01 4.08388904e+02] [ 3.19844514e-01 9.38294371e-01 -1.31541481e-01 2.98611336e+02] [ 3.42803202e-01 1.48268007e-02 9.39290227e-01 1.19996672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.41, Y:298.60, Z:120.01 [[ 8.84842911e-01 -3.32077765e-01 -3.26768084e-01 4.08414581e+02] [ 3.17170138e-01 9.43124422e-01 -9.95963294e-02 2.98599354e+02] [ 3.41256686e-01 -1.55139721e-02 9.39842110e-01 1.20014905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.44, Y:298.62, Z:120.02 [[ 8.83549163e-01 -3.37517500e-01 -3.24688796e-01 4.08439654e+02] [ 3.17261587e-01 9.41318423e-01 -1.15172533e-01 2.98616304e+02] [ 3.44508291e-01 -1.25068781e-03 9.38782442e-01 1.20021516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.46, Y:298.62, Z:120.03 [[ 8.84375755e-01 -3.34956096e-01 -3.25090660e-01 4.08464334e+02] [ 3.16062641e-01 9.42222589e-01 -1.11000001e-01 2.98622380e+02] [ 3.43487890e-01 -4.58330299e-03 9.39145922e-01 1.20030636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.49, Y:298.63, Z:120.04 [[ 8.84451905e-01 -3.33966334e-01 -3.25900776e-01 4.08494344e+02] [ 3.16551814e-01 9.42544734e-01 -1.06791259e-01 2.98630202e+02] [ 3.42840746e-01 -8.71274932e-03 9.39353134e-01 1.20044395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.52, Y:298.63, Z:120.06 [[ 8.86268388e-01 -3.25198384e-01 -3.29809576e-01 4.08516778e+02] [ 3.10934762e-01 9.45496195e-01 -9.67291020e-02 2.98629597e+02] [ 3.43289846e-01 -1.68213168e-02 9.39078870e-01 1.20058218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.54, Y:298.65, Z:120.06 [[ 8.85636776e-01 -3.32239213e-01 -3.24445074e-01 4.08544801e+02] [ 3.12357839e-01 9.43194540e-01 -1.13210602e-01 2.98649643e+02] [ 3.43627824e-01 -1.07948943e-03 9.39105294e-01 1.20062862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.57, Y:298.65, Z:120.08 [[ 8.86316886e-01 -3.27229374e-01 -3.27663416e-01 4.08569176e+02] [ 3.09710708e-01 9.44914266e-01 -1.05907074e-01 2.98651221e+02] [ 3.44269741e-01 -7.61364027e-03 9.38839911e-01 1.20076181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.59, Y:298.66, Z:120.09 [[ 8.86041863e-01 -3.28436345e-01 -3.27199305e-01 4.08594501e+02] [ 3.09780160e-01 9.44514948e-01 -1.09214311e-01 2.98661478e+02] [ 3.44914583e-01 -4.59140142e-03 9.38622847e-01 1.20085714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.62, Y:298.66, Z:120.09 [[ 8.85567323e-01 -3.24440128e-01 -3.32429119e-01 4.08618980e+02] [ 3.10175536e-01 9.45745280e-01 -9.67315993e-02 2.98662556e+02] [ 3.45776883e-01 -1.74490369e-02 9.38154507e-01 1.20093829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.65, Y:298.66, Z:120.11 [[ 8.89527713e-01 -3.15345802e-01 -3.30601683e-01 4.08648975e+02] [ 3.03949934e-01 9.48697902e-01 -8.71018291e-02 2.98662703e+02] [ 3.41108319e-01 -2.30068689e-02 9.39742411e-01 1.20109543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.67, Y:298.70, Z:120.11 [[ 8.87911218e-01 -3.31028551e-01 -3.19427249e-01 4.08667836e+02] [ 3.04520869e-01 9.43424708e-01 -1.31213033e-01 2.98695994e+02] [ 3.44790820e-01 1.92332600e-02 9.38482484e-01 1.20107676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.70, Y:298.68, Z:120.14 [[ 8.86444961e-01 -3.18950595e-01 -3.35389102e-01 4.08700759e+02] [ 3.03196692e-01 9.47680002e-01 -9.98718216e-02 2.98683804e+02] [ 3.49695721e-01 -1.31579930e-02 9.36770927e-01 1.20139076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.72, Y:298.70, Z:120.13 [[ 8.88016901e-01 -3.24385182e-01 -3.25883779e-01 4.08720477e+02] [ 3.02689134e-01 9.45911685e-01 -1.16749190e-01 2.98701239e+02] [ 3.46128981e-01 5.03377526e-03 9.38173433e-01 1.20134721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.75, Y:298.71, Z:120.15 [[ 8.87037348e-01 -3.24720105e-01 -3.28209684e-01 4.08745014e+02] [ 3.02346685e-01 9.45791336e-01 -1.18596929e-01 2.98708338e+02] [ 3.48928683e-01 5.96679601e-03 9.37130285e-01 1.20145380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.78, Y:298.71, Z:120.17 [[ 8.86480688e-01 -3.20476966e-01 -3.33836043e-01 4.08776234e+02] [ 3.04287248e-01 9.47182637e-01 -1.01263629e-01 2.98706474e+02] [ 3.48656365e-01 -1.18137990e-02 9.37176170e-01 1.20165301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.80, Y:298.71, Z:120.17 [[ 8.86246581e-01 -3.23004260e-01 -3.32016936e-01 4.08800710e+02] [ 3.05222399e-01 9.46368288e-01 -1.05954477e-01 2.98713856e+02] [ 3.48434047e-01 -7.43721255e-03 9.37303794e-01 1.20173889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.82, Y:298.71, Z:120.19 [[ 8.87794191e-01 -3.16731486e-01 -3.33920111e-01 4.08823420e+02] [ 3.03887877e-01 9.48299978e-01 -9.15385695e-02 2.98711171e+02] [ 3.45649581e-01 -2.02068634e-02 9.38146071e-01 1.20186890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.85, Y:298.74, Z:120.19 [[ 8.84850708e-01 -3.30110534e-01 -3.28734331e-01 4.08850919e+02] [ 3.06770617e-01 9.43914632e-01 -1.22134995e-01 2.98736047e+02] [ 3.50615193e-01 7.22520379e-03 9.36491742e-01 1.20189097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.87, Y:298.73, Z:120.20 [[ 8.86718313e-01 -3.20922135e-01 -3.32775626e-01 4.08874194e+02] [ 3.05348500e-01 9.47012811e-01 -9.96445164e-02 2.98729533e+02] [ 3.47120912e-01 -1.32559207e-02 9.37726694e-01 1.20203520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:408.90, Y:298.75, Z:120.21 [[ 8.85250697e-01 -3.27963649e-01 -3.29804560e-01 4.08898921e+02] [ 3.05571085e-01 9.44678430e-01 -1.19201410e-01 2.98747133e+02] [ 3.50652984e-01 4.74439435e-03 9.36493447e-01 1.20208551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.93, Y:298.74, Z:120.23 [[ 8.85454713e-01 -3.22726975e-01 -3.34390866e-01 4.08925683e+02] [ 3.05948540e-01 9.46429804e-01 -1.03276898e-01 2.98744440e+02] [ 3.49807722e-01 -1.08593813e-02 9.36758577e-01 1.20225851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.95, Y:298.76, Z:120.23 [[ 8.83920973e-01 -3.29488609e-01 -3.31844798e-01 4.08950712e+02] [ 3.07157288e-01 9.44153018e-01 -1.19287376e-01 2.98759541e+02] [ 3.52616100e-01 3.51206506e-03 9.35761482e-01 1.20231358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:408.98, Y:298.75, Z:120.25 [[ 8.84495657e-01 -3.22073772e-01 -3.37543951e-01 4.08976560e+02] [ 3.08190666e-01 9.46513515e-01 -9.55545842e-02 2.98752813e+02] [ 3.50265537e-01 -1.95102803e-02 9.36447224e-01 1.20250184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.00, Y:298.78, Z:120.25 [[ 8.82305240e-01 -3.36809549e-01 -3.28780766e-01 4.09002546e+02] [ 3.09959503e-01 9.41451321e-01 -1.32644321e-01 2.98781117e+02] [ 3.54206960e-01 1.51240572e-02 9.35044754e-01 1.20248131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.03, Y:298.77, Z:120.27 [[ 8.83845365e-01 -3.23464979e-01 -3.37916822e-01 4.09029161e+02] [ 3.10482690e-01 9.45976398e-01 -9.34299411e-02 2.98765457e+02] [ 3.49882652e-01 -2.23397037e-02 9.36527131e-01 1.20271658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.06, Y:298.79, Z:120.27 [[ 8.82220716e-01 -3.35493119e-01 -3.30349777e-01 4.09056271e+02] [ 3.12458891e-01 9.42031249e-01 -1.22256159e-01 2.98791199e+02] [ 3.52215913e-01 4.63619162e-03 9.35907291e-01 1.20273112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.08, Y:298.79, Z:120.29 [[ 8.81909814e-01 -3.29145502e-01 -3.37488251e-01 4.09080110e+02] [ 3.12064344e-01 9.44198077e-01 -1.05384238e-01 2.98786669e+02] [ 3.53342505e-01 -1.23786554e-02 9.35412125e-01 1.20290129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.072755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:409.11, Y:298.80, Z:120.30 [[ 8.82347991e-01 -3.29920474e-01 -3.35580844e-01 4.09107202e+02] [ 3.11741858e-01 9.43965928e-01 -1.08375924e-01 2.98797975e+02] [ 3.52532319e-01 -8.98931680e-03 9.35756462e-01 1.20299449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.102755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:409.13, Y:298.81, Z:120.31 [[ 8.82332755e-01 -3.29248526e-01 -3.36280116e-01 4.09133277e+02] [ 3.11275746e-01 9.44194226e-01 -1.07724986e-01 2.98805228e+02] [ 3.52982037e-01 -9.62656036e-03 9.35580574e-01 1.20310624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.16, Y:298.81, Z:120.32 [[ 8.82161393e-01 -3.29222485e-01 -3.36754856e-01 4.09158028e+02] [ 3.11024225e-01 9.44207815e-01 -1.08330672e-01 2.98813878e+02] [ 3.53631459e-01 -9.17378176e-03 9.35339849e-01 1.20320760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.18, Y:298.82, Z:120.33 [[ 8.81789566e-01 -3.27384746e-01 -3.39509043e-01 4.09183207e+02] [ 3.10472902e-01 9.44800329e-01 -1.04684841e-01 2.98818909e+02] [ 3.55040476e-01 -1.30983569e-02 9.34759164e-01 1.20333542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.20, Y:298.82, Z:120.35 [[ 8.81944950e-01 -3.21404544e-01 -3.44778516e-01 4.09199215e+02] [ 3.08922374e-01 9.46606941e-01 -9.22077316e-02 2.98819918e+02] [ 3.56005720e-01 -2.51876544e-02 9.34144266e-01 1.20350968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.23, Y:298.85, Z:120.35 [[ 8.83214209e-01 -3.31951031e-01 -3.31272055e-01 4.09230151e+02] [ 3.07290696e-01 9.43249730e-01 -1.25906218e-01 2.98848627e+02] [ 3.54266975e-01 9.40533996e-03 9.35097027e-01 1.20345135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.25, Y:298.85, Z:120.36 [[ 8.84667916e-01 -3.23524453e-01 -3.35700174e-01 4.09253166e+02] [ 3.06711090e-01 9.46151795e-01 -1.03561998e-01 2.98846034e+02] [ 3.51128161e-01 -1.13449894e-02 9.36258675e-01 1.20360654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2827550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:409.28, Y:298.87, Z:120.36 [[ 8.83071293e-01 -3.32302713e-01 -3.31300467e-01 4.09277015e+02] [ 3.07391354e-01 9.43119931e-01 -1.26630764e-01 2.98868537e+02] [ 3.54535820e-01 9.98509351e-03 9.34989118e-01 1.20363796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.30, Y:298.86, Z:120.38 [[ 8.83790842e-01 -3.21036600e-01 -3.40366345e-01 4.09303433e+02] [ 3.06770132e-01 9.46874400e-01 -9.65451062e-02 2.98859767e+02] [ 3.53278691e-01 -1.90885479e-02 9.35323363e-01 1.20384600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.33, Y:298.87, Z:120.39 [[ 8.83431884e-01 -3.25711552e-01 -3.36838376e-01 4.09326009e+02] [ 3.08928660e-01 9.45389882e-01 -1.03928118e-01 2.98874011e+02] [ 3.52294181e-01 -1.22456148e-02 9.35809198e-01 1.20391477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.35, Y:298.88, Z:120.40 [[ 8.83612088e-01 -3.26754968e-01 -3.35351858e-01 4.09350216e+02] [ 3.09786370e-01 9.45039187e-01 -1.04562616e-01 2.98883495e+02] [ 3.51087001e-01 -1.14946433e-02 9.36272285e-01 1.20400750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:409.37, Y:298.91, Z:120.40 [[ 8.81135980e-01 -3.37777219e-01 -3.30916810e-01 4.09374220e+02] [ 3.13248706e-01 9.41192891e-01 -1.26614337e-01 2.98907402e+02] [ 3.54223988e-01 7.90518527e-03 9.35127197e-01 1.20403232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.432755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:409.40, Y:298.91, Z:120.42 [[ 8.80836595e-01 -3.33879154e-01 -3.35636117e-01 4.09398690e+02] [ 3.15039307e-01 9.42581211e-01 -1.10864311e-01 2.98907561e+02] [ 3.53379581e-01 -8.08522730e-03 9.35445082e-01 1.20418529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.462755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:409.42, Y:298.90, Z:120.43 [[ 8.82277769e-01 -3.27125626e-01 -3.38488941e-01 4.09422288e+02] [ 3.15787553e-01 9.44574832e-01 -8.97586080e-02 2.98903839e+02] [ 3.49090475e-01 -2.76985698e-02 9.36679577e-01 1.20434114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.45, Y:298.93, Z:120.43 [[ 8.78966217e-01 -3.43165599e-01 -3.31143113e-01 4.09446759e+02] [ 3.20618733e-01 9.39273925e-01 -1.22344273e-01 2.98932637e+02] [ 3.53018438e-01 1.36579762e-03 9.35615368e-01 1.20433298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.47, Y:298.93, Z:120.45 [[ 8.78931260e-01 -3.39294646e-01 -3.35199916e-01 4.09472574e+02] [ 3.21951522e-01 9.40589023e-01 -1.07886550e-01 2.98933551e+02] [ 3.51890690e-01 -1.30932620e-02 9.35949523e-01 1.20447732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.50, Y:298.95, Z:120.46 [[ 8.78248887e-01 -3.42849120e-01 -3.33366725e-01 4.09496636e+02] [ 3.23329148e-01 9.39361141e-01 -1.14275583e-01 2.98946078e+02] [ 3.52331031e-01 -7.42477576e-03 9.35845990e-01 1.20456523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.52, Y:298.96, Z:120.47 [[ 8.76922259e-01 -3.46682422e-01 -3.32894352e-01 4.09521973e+02] [ 3.26884259e-01 9.37953793e-01 -1.15712418e-01 2.98957967e+02] [ 3.52354982e-01 -7.34712842e-03 9.35837586e-01 1.20465515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.55, Y:298.96, Z:120.48 [[ 8.75166153e-01 -3.46120851e-01 -3.38059998e-01 4.09546841e+02] [ 3.27041063e-01 9.38126413e-01 -1.13855065e-01 2.98964070e+02] [ 3.56550626e-01 -1.09174023e-02 9.34212215e-01 1.20479677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.57, Y:298.97, Z:120.49 [[ 8.75234604e-01 -3.44635970e-01 -3.39397166e-01 4.09573242e+02] [ 3.31061912e-01 9.38387348e-01 -9.91322130e-02 2.98968824e+02] [ 3.52650533e-01 -2.55975316e-02 9.35404922e-01 1.20489705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.60, Y:298.98, Z:120.50 [[ 8.74860110e-01 -3.48465517e-01 -3.36439553e-01 4.09595837e+02] [ 3.29158088e-01 9.37265323e-01 -1.14841919e-01 2.98983861e+02] [ 3.55351575e-01 -1.02711858e-02 9.34676287e-01 1.20499771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.62, Y:298.99, Z:120.51 [[ 8.74735414e-01 -3.48486817e-01 -3.36741583e-01 4.09619166e+02] [ 3.29487854e-01 9.37246841e-01 -1.14044347e-01 2.98992044e+02] [ 3.55352936e-01 -1.11936327e-02 9.34665177e-01 1.20509449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.64, Y:299.01, Z:120.52 [[ 8.74453105e-01 -3.52049423e-01 -3.33755854e-01 4.09643350e+02] [ 3.31174562e-01 9.35962373e-01 -1.19573601e-01 2.99005737e+02] [ 3.54478738e-01 -5.96994256e-03 9.35045017e-01 1.20515183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.67, Y:299.01, Z:120.53 [[ 8.74876114e-01 -3.49019981e-01 -3.35822630e-01 4.09667134e+02] [ 3.31138467e-01 9.37011429e-01 -1.11161586e-01 2.99009730e+02] [ 3.53467257e-01 -1.39511749e-02 9.35342859e-01 1.20527842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.69, Y:299.01, Z:120.54 [[ 8.75264281e-01 -3.46164173e-01 -3.37761459e-01 4.09690328e+02] [ 3.30177944e-01 9.37981482e-01 -1.05703663e-01 2.99014919e+02] [ 3.53404815e-01 -1.90027437e-02 9.35277463e-01 1.20540006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.71, Y:299.03, Z:120.55 [[ 8.77387894e-01 -3.46228371e-01 -3.32139127e-01 4.09711630e+02] [ 3.29256918e-01 9.38037373e-01 -1.08054471e-01 2.99025371e+02] [ 3.48970437e-01 -1.45534204e-02 9.37020721e-01 1.20545009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.74, Y:299.04, Z:120.56 [[ 8.75187041e-01 -3.51500283e-01 -3.32408173e-01 4.09738628e+02] [ 3.29487162e-01 9.36184827e-01 -1.22458894e-01 2.99043170e+02] [ 3.54239824e-01 -2.34978802e-03 9.35151659e-01 1.20555929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.76, Y:299.04, Z:120.57 [[ 8.78556932e-01 -3.42679589e-01 -3.32728743e-01 4.09757717e+02] [ 3.26811787e-01 9.39299090e-01 -1.04457056e-01 2.99040237e+02] [ 3.48327107e-01 -1.69682040e-02 9.37219455e-01 1.20565367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.78, Y:299.05, Z:120.57 [[ 8.80110410e-01 -3.40379981e-01 -3.30979056e-01 4.09778806e+02] [ 3.22306711e-01 9.40235217e-01 -1.09891406e-01 2.99048808e+02] [ 3.48602999e-01 -9.96020089e-03 9.37217554e-01 1.20574442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.81, Y:299.08, Z:120.59 [[ 8.74249681e-01 -3.58225033e-01 -3.27661902e-01 4.09807927e+02] [ 3.28390012e-01 9.33450440e-01 -1.44326976e-01 2.99082250e+02] [ 3.57557683e-01 1.85769171e-02 9.33706272e-01 1.20585075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.84, Y:299.07, Z:120.60 [[ 8.76736103e-01 -3.44039827e-01 -3.36110700e-01 4.09835810e+02] [ 3.24415171e-01 9.38917876e-01 -1.14839100e-01 2.99071494e+02] [ 3.55089569e-01 -8.35582555e-03 9.34794939e-01 1.20603258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.86, Y:299.09, Z:120.60 [[ 8.77709271e-01 -3.49473186e-01 -3.27864191e-01 4.09862014e+02] [ 3.25862732e-01 9.36937614e-01 -1.26338386e-01 2.99091855e+02] [ 3.51340171e-01 4.04965153e-03 9.36239117e-01 1.20603404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.89, Y:299.09, Z:120.62 [[ 8.79009375e-01 -3.41171992e-01 -3.33082860e-01 4.09886926e+02] [ 3.22429716e-01 9.39957380e-01 -1.11889243e-01 2.99092301e+02] [ 3.51257168e-01 -9.04411835e-03 9.36235337e-01 1.20618408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.91, Y:299.10, Z:120.63 [[ 8.80615094e-01 -3.37248776e-01 -3.32836775e-01 4.09909774e+02] [ 3.20151253e-01 9.41331971e-01 -1.06758121e-01 2.99097897e+02] [ 3.49313943e-01 -1.25452981e-02 9.36921760e-01 1.20628286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.93, Y:299.10, Z:120.64 [[ 8.80440772e-01 -3.31972400e-01 -3.38553353e-01 4.09933824e+02] [ 3.13713139e-01 9.43234061e-01 -1.09057663e-01 2.99104387e+02] [ 3.55539188e-01 -1.01898216e-02 9.34605828e-01 1.20643853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.96, Y:299.13, Z:120.64 [[ 8.79854490e-01 -3.43542678e-01 -3.28381645e-01 4.09955986e+02] [ 3.16237838e-01 9.39017565e-01 -1.35054221e-01 2.99131128e+02] [ 3.54753021e-01 1.49813619e-02 9.34840015e-01 1.20639204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:409.98, Y:299.12, Z:120.66 [[ 8.80887741e-01 -3.33997234e-01 -3.35384310e-01 4.09983326e+02] [ 3.16517084e-01 9.42501918e-01 -1.07271013e-01 2.99124678e+02] [ 3.51928577e-01 -1.16611433e-02 9.35954216e-01 1.20658358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.01, Y:299.15, Z:120.66 [[ 8.79699581e-01 -3.42491198e-01 -3.29891539e-01 4.10009122e+02] [ 3.17436277e-01 9.39481184e-01 -1.28877134e-01 2.99146320e+02] [ 3.54066177e-01 8.65361844e-03 9.35180334e-01 1.20661095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.04, Y:299.15, Z:120.68 [[ 8.79323607e-01 -3.39153329e-01 -3.34312749e-01 4.10036166e+02] [ 3.18160220e-01 9.40726207e-01 -1.17508628e-01 2.99148837e+02] [ 3.54350207e-01 -3.03690672e-03 9.35107859e-01 1.20676332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.06, Y:299.15, Z:120.69 [[ 8.80145945e-01 -3.32631604e-01 -3.38672899e-01 4.10060482e+02] [ 3.17141502e-01 9.42890026e-01 -1.01880648e-01 2.99146881e+02] [ 3.53220022e-01 -1.77373929e-02 9.35372119e-01 1.20692350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.09, Y:299.15, Z:120.71 [[ 8.78394761e-01 -3.29734035e-01 -3.45974148e-01 4.10085780e+02] [ 3.15379337e-01 9.43809581e-01 -9.87894177e-02 2.99150377e+02] [ 3.59107949e-01 -2.23369902e-02 9.33028692e-01 1.20712851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.11, Y:299.18, Z:120.70 [[ 8.79772837e-01 -3.40732727e-01 -3.31513143e-01 4.10105749e+02] [ 3.16442025e-01 9.40138468e-01 -1.26507338e-01 2.99176981e+02] [ 3.54773449e-01 6.39302980e-03 9.34930441e-01 1.20703275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.14, Y:299.17, Z:120.73 [[ 8.77686346e-01 -3.32830012e-01 -3.44805542e-01 4.10136137e+02] [ 3.15849919e-01 9.42855131e-01 -1.06127423e-01 2.99172065e+02] [ 3.60424066e-01 -1.57602123e-02 9.32655407e-01 1.20731641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.16, Y:299.18, Z:120.74 [[ 8.77513319e-01 -3.35489477e-01 -3.42661911e-01 4.10160115e+02] [ 3.16296824e-01 9.41992391e-01 -1.12279355e-01 2.99184275e+02] [ 3.60453455e-01 -9.85624441e-03 9.32725126e-01 1.20739355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.18, Y:299.21, Z:120.74 [[ 8.77724968e-01 -3.44736746e-01 -3.32799424e-01 4.10183411e+02] [ 3.18795720e-01 9.38652817e-01 -1.31530141e-01 2.99206184e+02] [ 3.57726390e-01 9.35225732e-03 9.33779613e-01 1.20735232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.21, Y:299.20, Z:120.75 [[ 8.77632109e-01 -3.38019893e-01 -3.39859432e-01 4.10207994e+02] [ 3.18870950e-01 9.41090187e-01 -1.12563656e-01 2.99202751e+02] [ 3.57887131e-01 -9.58182091e-03 9.33715690e-01 1.20752822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.23, Y:299.21, Z:120.77 [[ 8.77263790e-01 -3.35217202e-01 -3.43566109e-01 4.10233441e+02] [ 3.18777658e-01 9.41982005e-01 -1.05122346e-01 2.99206090e+02] [ 3.58871911e-01 -1.73011719e-02 9.33226458e-01 1.20769603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.26, Y:299.23, Z:120.77 [[ 8.77060048e-01 -3.43974107e-01 -3.35331904e-01 4.10256928e+02] [ 3.20308062e-01 9.38975583e-01 -1.25409730e-01 2.99227434e+02] [ 3.58006169e-01 2.58235154e-03 9.33715650e-01 1.20768320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.28, Y:299.23, Z:120.78 [[ 8.78656367e-01 -3.37841819e-01 -3.37380933e-01 4.10279087e+02] [ 3.20641398e-01 9.41100610e-01 -1.07325375e-01 2.99225709e+02] [ 3.53768402e-01 -1.38761702e-02 9.35230116e-01 1.20780132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.30, Y:299.23, Z:120.79 [[ 8.79135900e-01 -3.38277784e-01 -3.35690647e-01 4.10298358e+02] [ 3.17191919e-01 9.41041233e-01 -1.17603932e-01 2.99234821e+02] [ 3.55681538e-01 -3.08852216e-03 9.34602110e-01 1.20785239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.33, Y:299.26, Z:120.79 [[ 8.76865011e-01 -3.50910376e-01 -3.28587373e-01 4.10328171e+02] [ 3.20384407e-01 9.36158036e-01 -1.44782473e-01 2.99262504e+02] [ 3.58415381e-01 2.16804144e-02 9.33310438e-01 1.20789117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.35, Y:299.25, Z:120.81 [[ 8.77106978e-01 -3.40689645e-01 -3.38546769e-01 4.10354330e+02] [ 3.20101788e-01 9.40157092e-01 -1.16788218e-01 2.99253827e+02] [ 3.58075682e-01 -5.93366555e-03 9.33673711e-01 1.20809318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.38, Y:299.26, Z:120.82 [[ 8.77487786e-01 -3.41112344e-01 -3.37131361e-01 4.10375761e+02] [ 3.20153712e-01 9.40011504e-01 -1.17813294e-01 2.99262410e+02] [ 3.57094927e-01 -4.55413009e-03 9.34056997e-01 1.20815984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.40, Y:299.27, Z:120.82 [[ 8.78284307e-01 -3.42018658e-01 -3.34125596e-01 4.10399300e+02] [ 3.19902988e-01 9.39692956e-01 -1.20992675e-01 2.99272470e+02] [ 3.55357221e-01 -6.21808969e-04 9.34730367e-01 1.20824732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.692755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:410.42, Y:299.28, Z:120.83 [[ 8.77775015e-01 -3.43042890e-01 -3.34413814e-01 4.10424354e+02] [ 3.20725808e-01 9.39319647e-01 -1.21710957e-01 2.99281087e+02] [ 3.55873544e-01 -4.20303927e-04 9.34534025e-01 1.20834798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.45, Y:299.29, Z:120.84 [[ 8.77753787e-01 -3.43884223e-01 -3.33604453e-01 4.10448727e+02] [ 3.21082797e-01 9.39011554e-01 -1.23138695e-01 2.99288900e+02] [ 3.55603890e-01 9.70804771e-04 9.34636256e-01 1.20844100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.47, Y:299.30, Z:120.85 [[ 8.78017400e-01 -3.44918067e-01 -3.31838775e-01 4.10473119e+02] [ 3.22150302e-01 9.38631883e-01 -1.23245165e-01 2.99297823e+02] [ 3.53983939e-01 1.30943784e-03 9.35250585e-01 1.20851730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.50, Y:299.31, Z:120.86 [[ 8.77037894e-01 -3.47121927e-01 -3.32130847e-01 4.10500671e+02] [ 3.22925621e-01 9.37809269e-01 -1.27408081e-01 2.99308262e+02] [ 3.55701525e-01 4.48815555e-03 9.34588830e-01 1.20863219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.812755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.52, Y:299.30, Z:120.88 [[ 8.76725441e-01 -3.42056651e-01 -3.38156397e-01 4.10523936e+02] [ 3.23405606e-01 9.39612630e-01 -1.11968390e-01 2.99304082e+02] [ 3.56035554e-01 -1.11961387e-02 9.34405335e-01 1.20877499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.55, Y:299.33, Z:120.88 [[ 8.74615115e-01 -3.54382704e-01 -3.30849361e-01 4.10551784e+02] [ 3.25652159e-01 9.34976382e-01 -1.40605251e-01 2.99329718e+02] [ 3.59164408e-01 1.52336687e-02 9.33149969e-01 1.20880674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:410.58, Y:299.32, Z:120.90 [[ 8.74291318e-01 -3.44205083e-01 -3.42253636e-01 4.10575168e+02] [ 3.25792651e-01 9.38795041e-01 -1.11906301e-01 2.99316843e+02] [ 3.59824734e-01 -1.36650122e-02 9.32919840e-01 1.20901254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.60, Y:299.34, Z:120.91 [[ 8.72891477e-01 -3.52743669e-01 -3.37094012e-01 4.10602778e+02] [ 3.27567217e-01 9.35712002e-01 -1.30930395e-01 2.99337219e+02] [ 3.61607781e-01 3.86707876e-03 9.32322293e-01 1.20907360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.63, Y:299.33, Z:120.92 [[ 8.72982009e-01 -3.46657210e-01 -3.43119790e-01 4.10626726e+02] [ 3.27456860e-01 9.37909303e-01 -1.14447129e-01 2.99333839e+02] [ 3.61489165e-01 -1.24466444e-02 9.32293229e-01 1.20923406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.65, Y:299.32, Z:120.96 [[ 8.71927124e-01 -3.33968142e-01 -3.58061966e-01 4.10648229e+02] [ 3.24520190e-01 9.41762901e-01 -8.81435425e-02 2.99320506e+02] [ 3.66646611e-01 -3.93435916e-02 9.29528023e-01 1.20955374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.68, Y:299.36, Z:120.94 [[ 8.72321548e-01 -3.56937296e-01 -3.34142012e-01 4.10676700e+02] [ 3.28757207e-01 9.34053222e-01 -1.39510848e-01 2.99362021e+02] [ 3.61903048e-01 1.18467244e-02 9.32140461e-01 1.20939114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.71, Y:299.35, Z:120.96 [[ 8.71111991e-01 -3.47536883e-01 -3.46961114e-01 4.10705709e+02] [ 3.28196194e-01 9.37567900e-01 -1.15124678e-01 2.99353598e+02] [ 3.65309675e-01 -1.35848291e-02 9.30786922e-01 1.20964045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.73, Y:299.35, Z:120.98 [[ 8.70106988e-01 -3.43905927e-01 -3.53047509e-01 4.10727094e+02] [ 3.28459345e-01 9.38678723e-01 -1.04865220e-01 2.99354558e+02] [ 3.67461955e-01 -2.47177924e-02 9.29710031e-01 1.20982981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.75, Y:299.39, Z:120.97 [[ 8.71678055e-01 -3.55190815e-01 -3.37663818e-01 4.10752957e+02] [ 3.27019650e-01 9.34731610e-01 -1.39050226e-01 2.99386942e+02] [ 3.65014408e-01 1.07843272e-02 9.30939408e-01 1.20973482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.77, Y:299.37, Z:120.99 [[ 8.73745878e-01 -3.40179060e-01 -3.47629612e-01 4.10773342e+02] [ 3.23822807e-01 9.40150665e-01 -1.06092018e-01 2.99373569e+02] [ 3.62914494e-01 -1.98729330e-02 9.31610507e-01 1.20991568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.80, Y:299.39, Z:121.00 [[ 8.75024259e-01 -3.38683289e-01 -3.45870173e-01 4.10802581e+02] [ 3.19253121e-01 9.40835940e-01 -1.13600965e-01 2.99385830e+02] [ 3.63881838e-01 -1.10165314e-02 9.31379968e-01 1.21004034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.83, Y:299.42, Z:121.00 [[ 8.72885440e-01 -3.52438996e-01 -3.37428158e-01 4.10827170e+02] [ 3.23665703e-01 9.35743568e-01 -1.40087433e-01 2.99415133e+02] [ 3.65118503e-01 1.30663584e-02 9.30869351e-01 1.21003251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.85, Y:299.41, Z:121.02 [[ 8.73227540e-01 -3.43406890e-01 -3.45753339e-01 4.10854002e+02] [ 3.22820422e-01 9.39143161e-01 -1.17461046e-01 2.99410848e+02] [ 3.65048817e-01 -9.04601897e-03 9.30944430e-01 1.21022354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.88, Y:299.42, Z:121.04 [[ 8.72907559e-01 -3.40050317e-01 -3.49854507e-01 4.10878645e+02] [ 3.21263946e-01 9.40298478e-01 -1.12375483e-01 2.99415447e+02] [ 3.67180979e-01 -1.43022310e-02 9.30039556e-01 1.21037682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.262755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:410.90, Y:299.42, Z:121.05 [[ 8.72975081e-01 -3.36318145e-01 -3.53276965e-01 4.10901784e+02] [ 3.19545328e-01 9.41541897e-01 -1.06722258e-01 2.99421635e+02] [ 3.68517695e-01 -1.97221323e-02 9.29411505e-01 1.21052577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.93, Y:299.44, Z:121.06 [[ 8.72986138e-01 -3.40576820e-01 -3.49145574e-01 4.10926078e+02] [ 3.19220359e-01 9.40185867e-01 -1.18949138e-01 2.99439192e+02] [ 3.68773054e-01 -7.61342714e-03 9.29488284e-01 1.21057835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.95, Y:299.44, Z:121.07 [[ 8.72904787e-01 -3.37949838e-01 -3.51890807e-01 4.10946048e+02] [ 3.18951344e-01 9.41060566e-01 -1.12583534e-01 2.99444361e+02] [ 3.69198148e-01 -1.39613404e-02 9.29245828e-01 1.21072229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:410.97, Y:299.46, Z:121.08 [[ 8.72483367e-01 -3.41616053e-01 -3.49386958e-01 4.10972070e+02] [ 3.18790783e-01 9.39830221e-01 -1.22847846e-01 2.99460123e+02] [ 3.70331219e-01 -4.19863916e-03 9.28890284e-01 1.21076863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.00, Y:299.46, Z:121.09 [[ 8.73503485e-01 -3.37270378e-01 -3.51056055e-01 4.10995788e+02] [ 3.16121016e-01 9.41373387e-01 -1.17828901e-01 2.99464051e+02] [ 3.70215025e-01 -8.05224118e-03 9.28911189e-01 1.21090861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.02, Y:299.47, Z:121.10 [[ 8.74198534e-01 -3.36548148e-01 -3.50017524e-01 4.11020534e+02] [ 3.13965959e-01 9.41658249e-01 -1.21264669e-01 2.99474293e+02] [ 3.70408289e-01 -3.88419164e-03 9.28860922e-01 1.21096674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.04, Y:299.48, Z:121.11 [[ 8.73365568e-01 -3.37120071e-01 -3.51543231e-01 4.11042486e+02] [ 3.14351862e-01 9.41452814e-01 -1.21858546e-01 2.99481893e+02] [ 3.72042326e-01 -4.08121088e-03 9.28206794e-01 1.21110310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.472755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:411.07, Y:299.50, Z:121.11 [[ 8.72706385e-01 -3.42186730e-01 -3.48269735e-01 4.11066498e+02] [ 3.15946504e-01 9.39620091e-01 -1.31498636e-01 2.99498050e+02] [ 3.72238329e-01 4.72509441e-03 9.28125153e-01 1.21112740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.502755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:411.09, Y:299.50, Z:121.13 [[ 8.72050774e-01 -3.36772940e-01 -3.55121717e-01 4.11091148e+02] [ 3.17218163e-01 9.41491261e-01 -1.13872042e-01 2.99496850e+02] [ 3.72693016e-01 -1.33488559e-02 9.27858677e-01 1.21131910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.12, Y:299.51, Z:121.14 [[ 8.72078399e-01 -3.40966806e-01 -3.51028351e-01 4.11115823e+02] [ 3.18490280e-01 9.40059145e-01 -1.21871840e-01 2.99511017e+02] [ 3.71541663e-01 -5.51731864e-03 9.28399888e-01 1.21138606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.562755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:411.14, Y:299.52, Z:121.15 [[ 8.72194395e-01 -3.41132089e-01 -3.50579287e-01 4.11139337e+02] [ 3.20488440e-01 9.39961663e-01 -1.17299754e-01 2.99518549e+02] [ 3.69545800e-01 -1.00484211e-02 9.29158184e-01 1.21148263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.16, Y:299.52, Z:121.16 [[ 8.71708234e-01 -3.38027847e-01 -3.54770248e-01 4.11161728e+02] [ 3.17855816e-01 9.41060136e-01 -1.15643856e-01 2.99521665e+02] [ 3.72950981e-01 -1.19580855e-02 9.27773987e-01 1.21162015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.622755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:411.18, Y:299.56, Z:121.15 [[ 8.69095816e-01 -3.56853556e-01 -3.42531755e-01 4.11183548e+02] [ 3.19494848e-01 9.33633202e-01 -1.62024958e-01 2.99558942e+02] [ 3.77618201e-01 3.13780818e-02 9.25429581e-01 1.21154053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.21, Y:299.54, Z:121.18 [[ 8.69157940e-01 -3.40216426e-01 -3.58911212e-01 4.11214781e+02] [ 3.20848212e-01 9.40213604e-01 -1.14257620e-01 2.99540192e+02] [ 3.76325523e-01 -1.58481031e-02 9.26351952e-01 1.21184373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.682755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:411.23, Y:299.55, Z:121.18 [[ 8.70529719e-01 -3.42181027e-01 -3.53680864e-01 4.11230195e+02] [ 3.19091943e-01 9.39619687e-01 -1.23673669e-01 2.99553903e+02] [ 3.74644285e-01 -5.19510993e-03 9.27154071e-01 1.21184822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.712755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:411.26, Y:299.58, Z:121.19 [[ 8.68469499e-01 -3.51610376e-01 -3.49472279e-01 4.11258662e+02] [ 3.20542516e-01 9.36040645e-01 -1.45190929e-01 2.99577367e+02] [ 3.78170895e-01 1.40731698e-02 9.25628824e-01 1.21191662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.28, Y:299.58, Z:121.21 [[ 8.68853936e-01 -3.47805983e-01 -3.52312129e-01 4.11284322e+02] [ 3.21756900e-01 9.37565494e-01 -1.32073624e-01 2.99580086e+02] [ 3.76251692e-01 1.39382957e-03 9.26516445e-01 1.21205941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.31, Y:299.58, Z:121.22 [[ 8.68827403e-01 -3.42100547e-01 -3.57919208e-01 4.11311448e+02] [ 3.18293693e-01 9.39650573e-01 -1.25482769e-01 2.99580079e+02] [ 3.79246713e-01 -4.90055821e-03 9.25282614e-01 1.21224031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.34, Y:299.55, Z:121.27 [[ 8.66615769e-01 -3.16294369e-01 -3.85920952e-01 4.11339646e+02] [ 3.16027914e-01 9.46449454e-01 -6.60286996e-02 2.99551121e+02] [ 3.86139181e-01 -6.47402813e-02 9.20165871e-01 1.21273016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.35, Y:299.63, Z:121.22 [[ 8.68503218e-01 -3.62451446e-01 -3.38128836e-01 4.11351072e+02] [ 3.18996626e-01 9.30812493e-01 -1.78407553e-01 2.99630781e+02] [ 3.79398620e-01 4.70855765e-02 9.24034434e-01 1.21223822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.862755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:411.38, Y:299.62, Z:121.25 [[ 8.66655507e-01 -3.49913878e-01 -3.55624114e-01 4.11381217e+02] [ 3.20295263e-01 9.36744048e-01 -1.41143660e-01 2.99618028e+02] [ 3.82516898e-01 8.41821118e-03 9.23910145e-01 1.21250465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.892755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:411.41, Y:299.61, Z:121.27 [[ 8.67117082e-01 -3.39686965e-01 -3.64308567e-01 4.11408298e+02] [ 3.20078256e-01 9.40386749e-01 -1.14989876e-01 2.99611517e+02] [ 3.81651511e-01 -1.68975647e-02 9.24151826e-01 1.21271701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.43, Y:299.63, Z:121.28 [[ 8.66226831e-01 -3.43748767e-01 -3.62612552e-01 4.11431881e+02] [ 3.20330564e-01 9.39028295e-01 -1.24956759e-01 2.99626779e+02] [ 3.83457178e-01 -7.91498621e-03 9.23524740e-01 1.21279058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.46, Y:299.64, Z:121.29 [[ 8.65429464e-01 -3.46305309e-01 -3.62083521e-01 4.11456833e+02] [ 3.20633630e-01 9.38117599e-01 -1.30879510e-01 2.99638536e+02] [ 3.85001193e-01 -2.82916943e-03 9.22911739e-01 1.21287923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.48, Y:299.65, Z:121.29 [[ 8.65570791e-01 -3.49317934e-01 -3.58837271e-01 4.11479380e+02] [ 3.22582701e-01 9.37004224e-01 -1.34027928e-01 2.99651846e+02] [ 3.83050398e-01 2.55963690e-04 9.23727410e-01 1.21293171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.51, Y:299.66, Z:121.31 [[ 8.65162176e-01 -3.49354507e-01 -3.59785822e-01 4.11505874e+02] [ 3.23685556e-01 9.36986684e-01 -1.31467161e-01 2.99659260e+02] [ 3.83043170e-01 -2.71705919e-03 9.23726446e-01 1.21305349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0427550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:411.53, Y:299.67, Z:121.31 [[ 8.64396250e-01 -3.50486659e-01 -3.60524929e-01 4.11528084e+02] [ 3.24912166e-01 9.36561207e-01 -1.31473156e-01 2.99667872e+02] [ 3.83733250e-01 -3.49403246e-03 9.23437375e-01 1.21314400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.55, Y:299.68, Z:121.33 [[ 8.64228476e-01 -3.51780613e-01 -3.59665876e-01 4.11554999e+02] [ 3.26800191e-01 9.36069450e-01 -1.30290520e-01 2.99676962e+02] [ 3.82505917e-01 -4.93809953e-03 9.23939846e-01 1.21326362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.58, Y:299.69, Z:121.33 [[ 8.63505255e-01 -3.56917485e-01 -3.56326513e-01 4.11579287e+02] [ 3.30413707e-01 9.34135166e-01 -1.34975086e-01 2.99690469e+02] [ 3.81032095e-01 -1.18346841e-03 9.24561054e-01 1.21332922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.60, Y:299.70, Z:121.34 [[ 8.63354332e-01 -3.56194669e-01 -3.57413843e-01 4.11602293e+02] [ 3.30824734e-01 9.34402321e-01 -1.32088218e-01 2.99697762e+02] [ 3.81017444e-01 -4.20240418e-03 9.24558298e-01 1.21343759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.63, Y:299.70, Z:121.36 [[ 8.62653123e-01 -3.56092336e-01 -3.59204452e-01 4.11629808e+02] [ 3.32929645e-01 9.34394540e-01 -1.26746582e-01 2.99704934e+02] [ 3.80772165e-01 -1.02514758e-02 9.24612062e-01 1.21357565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.65, Y:299.71, Z:121.37 [[ 8.62231265e-01 -3.56452819e-01 -3.59859186e-01 4.11652008e+02] [ 3.32630501e-01 9.34270374e-01 -1.28436045e-01 2.99712720e+02] [ 3.81987166e-01 -8.95856774e-03 9.24124206e-01 1.21367054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.222755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:411.68, Y:299.72, Z:121.38 [[ 8.61667840e-01 -3.56742694e-01 -3.60919913e-01 4.11680586e+02] [ 3.34231240e-01 9.34117492e-01 -1.25355457e-01 2.99720738e+02] [ 3.81861247e-01 -1.26159441e-02 9.24133554e-01 1.21381464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.252755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:411.71, Y:299.73, Z:121.39 [[ 8.61487589e-01 -3.56945224e-01 -3.61149889e-01 4.11705706e+02] [ 3.34554523e-01 9.34034280e-01 -1.25112890e-01 2.99729498e+02] [ 3.81984825e-01 -1.30411265e-02 9.24076578e-01 1.21392203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2827550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:411.73, Y:299.73, Z:121.40 [[ 8.60928793e-01 -3.55300642e-01 -3.64092113e-01 4.11728981e+02] [ 3.34343875e-01 9.34594189e-01 -1.21440827e-01 2.99734463e+02] [ 3.83426377e-01 -1.71800629e-02 9.23411641e-01 1.21403856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.76, Y:299.75, Z:121.41 [[ 8.60878870e-01 -3.58290819e-01 -3.61268958e-01 4.11755909e+02] [ 3.35257949e-01 9.33535003e-01 -1.26942922e-01 2.99747655e+02] [ 3.82739701e-01 -1.18358104e-02 9.23780404e-01 1.21414792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.78, Y:299.76, Z:121.43 [[ 8.61295683e-01 -3.56469849e-01 -3.62075949e-01 4.11779894e+02] [ 3.34316797e-01 9.34204364e-01 -1.24476852e-01 2.99756564e+02] [ 3.82625176e-01 -1.38366967e-02 9.23800044e-01 1.21425397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:411.81, Y:299.77, Z:121.44 [[ 8.61530511e-01 -3.55254708e-01 -3.62711002e-01 4.11805733e+02] [ 3.33493691e-01 9.34653500e-01 -1.23307719e-01 2.99765741e+02] [ 3.82814755e-01 -1.47284688e-02 9.23707711e-01 1.21436800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.83, Y:299.78, Z:121.45 [[ 8.61640803e-01 -3.55650141e-01 -3.62060911e-01 4.11830201e+02] [ 3.33466215e-01 9.34520769e-01 -1.24383341e-01 2.99776639e+02] [ 3.82590394e-01 -1.35613196e-02 9.23818533e-01 1.21445969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.432755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:411.86, Y:299.78, Z:121.46 [[ 8.61810538e-01 -3.50629953e-01 -3.66525896e-01 4.11855688e+02] [ 3.31793101e-01 9.36254082e-01 -1.15505984e-01 2.99779543e+02] [ 3.83661224e-01 -2.20664895e-02 9.23210234e-01 1.21461917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.88, Y:299.79, Z:121.47 [[ 8.62349407e-01 -3.49345900e-01 -3.66484573e-01 4.11880533e+02] [ 3.29832850e-01 9.36778177e-01 -1.16862908e-01 2.99788851e+02] [ 3.84140328e-01 -2.01019919e-02 9.23055859e-01 1.21473063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:411.90, Y:299.80, Z:121.48 [[ 8.62734082e-01 -3.53045237e-01 -3.62006858e-01 4.11904796e+02] [ 3.29862364e-01 9.35547518e-01 -1.26260293e-01 2.99804421e+02] [ 3.83250213e-01 -1.04833795e-02 9.23585066e-01 1.21478579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.522755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:411.92, Y:299.82, Z:121.49 [[ 8.62262213e-01 -3.52755820e-01 -3.63410524e-01 4.11921795e+02] [ 3.28737771e-01 9.35673228e-01 -1.28246200e-01 2.99815459e+02] [ 3.85273091e-01 -8.88491361e-03 9.22759830e-01 1.21487613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.552755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:411.96, Y:299.82, Z:121.50 [[ 8.64409906e-01 -3.49506619e-01 -3.61442441e-01 4.11955014e+02] [ 3.26328649e-01 9.36886205e-01 -1.25514351e-01 2.99821926e+02] [ 3.82498533e-01 -9.45317506e-03 9.23907739e-01 1.21499098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.582755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:411.98, Y:299.82, Z:121.52 [[ 8.64499592e-01 -3.44720999e-01 -3.65797605e-01 4.11980954e+02] [ 3.25695051e-01 9.38492414e-01 -1.14694036e-01 2.99824565e+02] [ 3.82835720e-01 -1.99855221e-02 9.23600233e-01 1.21515120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.00, Y:299.84, Z:121.52 [[ 8.66301573e-01 -3.46660893e-01 -3.59649564e-01 4.12003039e+02] [ 3.23285372e-01 9.37959275e-01 -1.25375304e-01 2.99839608e+02] [ 3.80799360e-01 -7.65661982e-03 9.24625991e-01 1.21519082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.03, Y:299.84, Z:121.53 [[ 8.67040728e-01 -3.43579559e-01 -3.60823313e-01 4.12025563e+02] [ 3.21936618e-01 9.39051714e-01 -1.20576505e-01 2.99843946e+02] [ 3.80259372e-01 -1.16174961e-02 9.24806922e-01 1.21529332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:412.05, Y:299.85, Z:121.55 [[ 8.67315383e-01 -3.39362046e-01 -3.64139299e-01 4.12054787e+02] [ 3.19446109e-01 9.40519585e-01 -1.15659383e-01 2.99847567e+02] [ 3.81730547e-01 -1.60097202e-02 9.24134989e-01 1.21547887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.702755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:412.08, Y:299.86, Z:121.56 [[ 8.68057620e-01 -3.40027908e-01 -3.61741607e-01 4.12078377e+02] [ 3.17699065e-01 9.40368255e-01 -1.21551837e-01 2.99858487e+02] [ 3.81501340e-01 -9.41097138e-03 9.24320378e-01 1.21556226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.732755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:412.10, Y:299.87, Z:121.56 [[ 8.68007108e-01 -3.44564500e-01 -3.57545753e-01 4.12104158e+02] [ 3.20023406e-01 9.38756017e-01 -1.27758214e-01 2.99874295e+02] [ 3.79669173e-01 -3.52797144e-03 9.25115600e-01 1.21560174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.762755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.13, Y:299.88, Z:121.57 [[ 8.69406809e-01 -3.40951917e-01 -3.57608152e-01 4.12125374e+02] [ 3.17134490e-01 9.40069995e-01 -1.25276178e-01 2.99879929e+02] [ 3.78889846e-01 -4.49391639e-03 9.25430867e-01 1.21570309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.15, Y:299.90, Z:121.57 [[ 8.67077835e-01 -3.47396807e-01 -3.57059501e-01 4.12148300e+02] [ 3.17183595e-01 9.37665826e-01 -1.42047051e-01 2.99897406e+02] [ 3.84149184e-01 9.91243370e-03 9.23217823e-01 1.21574497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.822755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:412.18, Y:299.89, Z:121.59 [[ 8.69155011e-01 -3.37186859e-01 -3.61765933e-01 4.12178075e+02] [ 3.19709136e-01 9.41208094e-01 -1.09148484e-01 2.99891661e+02] [ 3.77300459e-01 -2.07929224e-02 9.25857450e-01 1.21591592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.852755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:412.20, Y:299.91, Z:121.60 [[ 8.64989347e-01 -3.47093846e-01 -3.62380038e-01 4.12195522e+02] [ 3.22503390e-01 9.37812697e-01 -1.28448079e-01 2.99910597e+02] [ 3.84428139e-01 -5.76257027e-03 9.23136934e-01 1.21601703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.23, Y:299.94, Z:121.60 [[ 8.66157481e-01 -3.59039078e-01 -3.47652354e-01 4.12225309e+02] [ 3.25000981e-01 9.33100672e-01 -1.53939916e-01 2.99936679e+02] [ 3.79665091e-01 2.03488533e-02 9.24900180e-01 1.21596809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.25, Y:299.91, Z:121.63 [[ 8.66302077e-01 -3.37120309e-01 -3.68606307e-01 4.12253258e+02] [ 3.23580233e-01 9.40896828e-01 -1.00044954e-01 2.99910707e+02] [ 3.80547690e-01 -3.26045634e-02 9.24186344e-01 1.21630711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.942755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:412.28, Y:299.92, Z:121.64 [[ 8.67836093e-01 -3.38307877e-01 -3.63879507e-01 4.12275089e+02] [ 3.22654439e-01 9.40669485e-01 -1.05047765e-01 2.99919182e+02] [ 3.77828835e-01 -2.62430967e-02 9.25503469e-01 1.21638151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.30, Y:299.95, Z:121.63 [[ 8.68768299e-01 -3.55664571e-01 -3.44593030e-01 4.12297686e+02] [ 3.25795646e-01 9.34534998e-01 -1.43183571e-01 2.99954218e+02] [ 3.72959570e-01 1.21264382e-02 9.27768349e-01 1.21627129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.33, Y:299.96, Z:121.65 [[ 8.66955501e-01 -3.55109986e-01 -3.49692805e-01 4.12329294e+02] [ 3.28602241e-01 9.34822768e-01 -1.34636398e-01 2.99957323e+02] [ 3.74711526e-01 1.81392616e-03 9.27139678e-01 1.21645867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.35, Y:299.95, Z:121.66 [[ 8.69209712e-01 -3.42090423e-01 -3.56999466e-01 4.12346052e+02] [ 3.26238847e-01 9.39347547e-01 -1.05803591e-01 2.99946459e+02] [ 3.71540967e-01 -2.45015857e-02 9.28093197e-01 1.21660878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.062755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:412.38, Y:299.98, Z:121.66 [[ 8.67894409e-01 -3.56759484e-01 -3.45661635e-01 4.12376113e+02] [ 3.27399416e-01 9.34141118e-01 -1.42091501e-01 2.99976984e+02] [ 3.73589237e-01 1.01510022e-02 9.27538700e-01 1.21662447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.092755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.40, Y:299.97, Z:121.69 [[ 8.64307689e-01 -3.47835506e-01 -3.63294204e-01 4.12397356e+02] [ 3.30527708e-01 9.37244965e-01 -1.11010407e-01 2.99968751e+02] [ 3.79109025e-01 -2.41316523e-02 9.25037302e-01 1.21690895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.122755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:412.42, Y:299.99, Z:121.70 [[ 8.64623976e-01 -3.53400855e-01 -3.57117930e-01 4.12421427e+02] [ 3.29443400e-01 9.35446529e-01 -1.28089175e-01 2.99987401e+02] [ 3.79331552e-01 -6.90117283e-03 9.25235077e-01 1.21695085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.45, Y:300.02, Z:121.69 [[ 8.64881869e-01 -3.70204576e-01 -3.39010213e-01 4.12453419e+02] [ 3.31308229e-01 9.28347864e-01 -1.68538128e-01 3.00022685e+02] [ 3.77112993e-01 3.34486977e-02 9.25563058e-01 1.21685798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.48, Y:299.99, Z:121.72 [[ 8.67088559e-01 -3.43058096e-01 -3.61204339e-01 4.12483755e+02] [ 3.30294431e-01 9.38707441e-01 -9.86606787e-02 2.99990821e+02] [ 3.72911546e-01 -3.37562360e-02 9.27252660e-01 1.21720625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.212755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:412.50, Y:300.02, Z:121.72 [[ 8.66092832e-01 -3.58658471e-01 -3.48205841e-01 4.12504203e+02] [ 3.30392989e-01 9.33449990e-01 -1.39683891e-01 3.00022834e+02] [ 3.75131549e-01 5.93444867e-03 9.26952590e-01 1.21717183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.242755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:412.52, Y:300.00, Z:121.76 [[ 8.64956372e-01 -3.36031810e-01 -3.72737304e-01 4.12523658e+02] [ 3.29807730e-01 9.40437175e-01 -8.24910970e-02 2.99997047e+02] [ 3.78255650e-01 -5.15804439e-02 9.24263015e-01 1.21755946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.272755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:412.55, Y:300.05, Z:121.73 [[ 8.67272057e-01 -3.65379039e-01 -3.38138044e-01 4.12552209e+02] [ 3.26925884e-01 9.30237776e-01 -1.66664773e-01 3.00054814e+02] [ 3.75444596e-01 3.39976218e-02 9.26221095e-01 1.21729118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.302755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:412.58, Y:300.03, Z:121.77 [[ 8.66996170e-01 -3.41650528e-01 -3.62756885e-01 4.12584020e+02] [ 3.26143081e-01 9.39438454e-01 -1.05290466e-01 3.00031690e+02] [ 3.76760310e-01 -2.70242177e-02 9.25916498e-01 1.21769005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.61, Y:300.05, Z:121.76 [[ 8.69844188e-01 -3.44610853e-01 -3.53007718e-01 4.12606233e+02] [ 3.21919209e-01 9.38723027e-01 -1.23154785e-01 3.00050802e+02] [ 3.73816949e-01 -6.51449129e-03 9.27479623e-01 1.21763464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:412.63, Y:300.06, Z:121.78 [[ 8.69249104e-01 -3.46666091e-01 -3.52460802e-01 4.12634359e+02] [ 3.23369695e-01 9.37973764e-01 -1.25049028e-01 3.00062884e+02] [ 3.73949243e-01 -5.27638661e-03 9.27434161e-01 1.21778656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.392755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:412.66, Y:300.07, Z:121.79 [[ 8.69774385e-01 -3.43913910e-01 -3.53858364e-01 4.12660296e+02] [ 3.22485723e-01 9.38949758e-01 -1.19901254e-01 3.00070169e+02] [ 3.73490935e-01 -9.82723070e-03 9.27581774e-01 1.21791169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4227550960001 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:412.68, Y:300.07, Z:121.81 [[ 8.68823541e-01 -3.36599938e-01 -3.63106233e-01 4.12681801e+02] [ 3.20544434e-01 9.41325818e-01 -1.05626559e-01 3.00068936e+02] [ 3.77355165e-01 -2.46208410e-02 9.25741267e-01 1.21813117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.452755096 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:412.71, Y:300.09, Z:121.81 [[ 8.71397228e-01 -3.40165244e-01 -3.53489007e-01 4.12710761e+02] [ 3.17961805e-01 9.40340450e-01 -1.21079021e-01 3.00089179e+02] [ 3.73586886e-01 -6.88807930e-03 9.27569616e-01 1.21812007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.482755096 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:412.73, Y:300.09, Z:121.82 [[ 8.71536002e-01 -3.38710983e-01 -3.54541771e-01 4.12727798e+02] [ 3.16298513e-01 9.40868724e-01 -1.21331343e-01 3.00094207e+02] [ 3.74673522e-01 -6.39640147e-03 9.27134747e-01 1.21822036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.512755096 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:412.75, Y:300.09, Z:121.85 [[ 8.69921236e-01 -3.30686742e-01 -3.65900699e-01 4.12746832e+02] [ 3.14119196e-01 9.43463869e-01 -1.05853948e-01 3.00093538e+02] [ 3.80218586e-01 -2.28518365e-02 9.24614309e-01 1.21845408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5427550960001 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:412.77, Y:300.12, Z:121.85 [[ 8.70285046e-01 -3.39974936e-01 -3.56400030e-01 4.12768716e+02] [ 3.13687802e-01 9.40431686e-01 -1.31103802e-01 3.00117120e+02] [ 3.79741888e-01 2.29933633e-03 9.25089624e-01 1.21845759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.572755096 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:412.80, Y:300.14, Z:121.85 [[ 8.71399366e-01 -3.47566436e-01 -3.46209065e-01 4.12802644e+02] [ 3.16525711e-01 9.37513069e-01 -1.44501625e-01 3.00138198e+02] [ 3.74799438e-01 1.63345541e-02 9.26962008e-01 1.21849959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.602755096 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:412.82, Y:300.12, Z:121.87 [[ 8.70901129e-01 -3.30080467e-01 -3.64112770e-01 4.12819785e+02] [ 3.13965783e-01 9.43665097e-01 -1.04506801e-01 3.00121661e+02] [ 3.78096166e-01 -2.33038595e-02 9.25472971e-01 1.21874267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.632755096 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:412.84, Y:300.15, Z:121.87 [[ 8.70949585e-01 -3.40669475e-01 -3.54106100e-01 4.12842126e+02] [ 3.14664644e-01 9.40180335e-01 -1.30564541e-01 3.00145742e+02] [ 3.77402946e-01 2.29046271e-03 9.26046311e-01 1.21874877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6627550960001 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:412.87, Y:300.16, Z:121.88 [[ 8.70704448e-01 -3.42618346e-01 -3.52826349e-01 4.12866817e+02] [ 3.16938186e-01 9.39473479e-01 -1.30152870e-01 3.00155096e+02] [ 3.76063759e-01 1.50053957e-03 9.26592574e-01 1.21884627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.692755096 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:412.89, Y:300.16, Z:121.90 [[ 8.70295145e-01 -3.44055846e-01 -3.52437137e-01 4.12891304e+02] [ 3.18492579e-01 9.38948636e-01 -1.30145824e-01 3.00164286e+02] [ 3.75697801e-01 1.01666584e-03 9.26741673e-01 1.21895193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.722755096 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:412.92, Y:300.17, Z:121.91 [[ 8.69622645e-01 -3.45639698e-01 -3.52547379e-01 4.12915689e+02] [ 3.20129414e-01 9.38367187e-01 -1.30323373e-01 3.00173258e+02] [ 3.75863824e-01 4.71369984e-04 9.26674789e-01 1.21905265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.752755096 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:412.94, Y:300.18, Z:121.92 [[ 8.68884537e-01 -3.47941414e-01 -3.52102875e-01 4.12940075e+02] [ 3.22623739e-01 9.37516200e-01 -1.30296961e-01 3.00182404e+02] [ 3.75437858e-01 -3.83731087e-04 9.26847489e-01 1.21915125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7827550960001 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:412.97, Y:300.21, Z:121.92 [[ 8.68495249e-01 -3.59492174e-01 -3.41293685e-01 4.12972829e+02] [ 3.28183366e-01 9.33007401e-01 -1.47624076e-01 3.00207143e+02] [ 3.71499234e-01 1.62038988e-02 9.28291847e-01 1.21917568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.812755096 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:413.00, Y:300.20, Z:121.94 [[ 8.65868195e-01 -3.53924016e-01 -3.53567617e-01 4.12999274e+02] [ 3.30726876e-01 9.35243175e-01 -1.26253467e-01 3.00204753e+02] [ 3.75355834e-01 -7.61545155e-03 9.26849504e-01 1.21938397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.842755096 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:413.02, Y:300.19, Z:121.96 [[ 8.67865870e-01 -3.38846292e-01 -3.63307064e-01 4.13016178e+02] [ 3.27169275e-01 9.40147078e-01 -9.53086452e-02 3.00193111e+02] [ 3.73857055e-01 -3.61477884e-02 9.26781657e-01 1.21956681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.872755096 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:413.04, Y:300.23, Z:121.95 [[ 8.67048404e-01 -3.60271031e-01 -3.44139288e-01 4.13044622e+02] [ 3.31647783e-01 9.32812611e-01 -1.40962341e-01 3.00233302e+02] [ 3.71802115e-01 8.08814086e-03 9.28276774e-01 1.21952981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9027550960001 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:413.07, Y:300.23, Z:121.97 [[ 8.67001697e-01 -3.53371198e-01 -3.51335812e-01 4.13069326e+02] [ 3.32020767e-01 9.35414780e-01 -1.21496506e-01 3.00231733e+02] [ 3.71578077e-01 -1.13131092e-02 9.28332778e-01 1.21969852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.932755096 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:413.09, Y:300.23, Z:121.98 [[ 8.67667150e-01 -3.45854200e-01 -3.57125452e-01 4.13086629e+02] [ 3.28392586e-01 9.38045812e-01 -1.10581939e-01 3.00231874e+02] [ 3.73245263e-01 -2.13290350e-02 9.27487491e-01 1.21983625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.962755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:413.11, Y:300.25, Z:121.99 [[ 8.68107851e-01 -3.52388577e-01 -3.49586970e-01 4.13108853e+02] [ 3.27371835e-01 9.35852962e-01 -1.30410564e-01 3.00254260e+02] [ 3.73117194e-01 -1.23449349e-03 9.27783399e-01 1.21986179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.992755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:413.14, Y:300.26, Z:122.00 [[ 8.67605951e-01 -3.50889001e-01 -3.52330559e-01 4.13138925e+02] [ 3.28617848e-01 9.36375901e-01 -1.23330785e-01 3.00261558e+02] [ 3.73189261e-01 -8.77958700e-03 9.27713692e-01 1.22003424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.022755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:413.16, Y:300.28, Z:122.00 [[ 8.67974579e-01 -3.57108214e-01 -3.45099774e-01 4.13161602e+02] [ 3.29346948e-01 9.34041857e-01 -1.38189717e-01 3.00281078e+02] [ 3.71686317e-01 6.28760404e-03 9.28337088e-01 1.22004842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.052755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:413.19, Y:300.26, Z:122.04 [[ 8.68150538e-01 -3.38188871e-01 -3.63239497e-01 4.13186547e+02] [ 3.26090904e-01 9.40429969e-01 -9.62091280e-02 3.00264272e+02] [ 3.74138165e-01 -3.49250898e-02 9.26715097e-01 1.22035629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.082755096 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:413.20, Y:300.30, Z:122.02 [[ 8.69212780e-01 -3.56717909e-01 -3.42376221e-01 4.13204212e+02] [ 3.26645223e-01 9.34117386e-01 -1.43970858e-01 3.00302548e+02] [ 3.71176564e-01 1.33057525e-02 9.28466971e-01 1.22021653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.112755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:413.23, Y:300.31, Z:122.04 [[ 8.69723217e-01 -3.51388878e-01 -3.46565120e-01 4.13229436e+02] [ 3.26465137e-01 9.36229591e-01 -1.29979485e-01 3.00305443e+02] [ 3.70137866e-01 -9.52532960e-05 9.28976830e-01 1.22036534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.142755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:413.26, Y:300.31, Z:122.05 [[ 8.69169328e-01 -3.48312565e-01 -3.51031389e-01 4.13255730e+02] [ 3.27126719e-01 9.37320066e-01 -1.20079991e-01 3.00309948e+02] [ 3.70854134e-01 -1.04619018e-02 9.28632199e-01 1.22053244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1727550960001 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:413.28, Y:300.31, Z:122.07 [[ 8.68996700e-01 -3.43775690e-01 -3.55897472e-01 4.13279530e+02] [ 3.24336631e-01 9.38924077e-01 -1.15010120e-01 3.00313739e+02] [ 3.73698389e-01 -1.54871723e-02 9.27420973e-01 1.22071768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.202755096 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:413.30, Y:300.33, Z:122.08 [[ 8.69029336e-01 -3.48708065e-01 -3.50985327e-01 4.13303272e+02] [ 3.24712195e-01 9.37225015e-01 -1.27166280e-01 3.00330280e+02] [ 3.73296135e-01 -3.45798828e-03 9.27705793e-01 1.22077760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.232755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:413.33, Y:300.36, Z:122.07 [[ 8.68991166e-01 -3.65187255e-01 -3.33905111e-01 4.13325542e+02] [ 3.31183039e-01 9.30601725e-01 -1.55878879e-01 3.00363060e+02] [ 3.67657652e-01 2.48736594e-02 9.29628502e-01 1.22068800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.262755096 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:413.35, Y:300.35, Z:122.09 [[ 8.69047872e-01 -3.51911973e-01 -3.47726560e-01 4.13350763e+02] [ 3.30931171e-01 9.35972585e-01 -1.20166056e-01 3.00350789e+02] [ 3.67750401e-01 -1.06435025e-02 9.29863624e-01 1.22091278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2927550960001 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:413.38, Y:300.35, Z:122.11 [[ 8.68349330e-01 -3.47170815e-01 -3.54177734e-01 4.13376791e+02] [ 3.30021217e-01 9.37556146e-01 -1.09883894e-01 3.00352496e+02] [ 3.70209992e-01 -2.14685615e-02 9.28699985e-01 1.22112270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.322755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:413.40, Y:300.39, Z:122.10 [[ 8.67995867e-01 -3.64602160e-01 -3.37117842e-01 4.13397460e+02] [ 3.33694709e-01 9.31030116e-01 -1.47752378e-01 3.00388081e+02] [ 3.67737700e-01 1.57540134e-02 9.29796104e-01 1.22102566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.352755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:413.42, Y:300.39, Z:122.12 [[ 8.67549719e-01 -3.58947597e-01 -3.44258780e-01 4.13423225e+02] [ 3.34519745e-01 9.33355050e-01 -1.30172544e-01 3.00388146e+02] [ 3.68040793e-01 -2.23020549e-03 9.29806970e-01 1.22119088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.382755096 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:413.45, Y:300.38, Z:122.14 [[ 8.67116119e-01 -3.49982470e-01 -3.54431808e-01 4.13450196e+02] [ 3.32532799e-01 9.36511222e-01 -1.11214512e-01 3.00384158e+02] [ 3.70852495e-01 -2.14243054e-02 9.28444627e-01 1.22142961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4127550960001 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:413.47, Y:300.41, Z:122.15 [[ 8.65842929e-01 -3.59046735e-01 -3.48427129e-01 4.13472531e+02] [ 3.35545726e-01 9.33299246e-01 -1.27912407e-01 3.00405230e+02] [ 3.71113309e-01 -6.16118060e-03 9.28567150e-01 1.22146929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.442755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:413.50, Y:300.41, Z:122.16 [[ 8.64967696e-01 -3.60162993e-01 -3.49447425e-01 4.13496839e+02] [ 3.37041013e-01 9.32857193e-01 -1.27203828e-01 3.00414944e+02] [ 3.71798656e-01 -7.75091232e-03 9.28281037e-01 1.22158006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.472755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:413.52, Y:300.43, Z:122.16 [[ 8.63503725e-01 -3.67080195e-01 -3.45851772e-01 4.13518258e+02] [ 3.40454785e-01 9.30188977e-01 -1.37255261e-01 3.00433015e+02] [ 3.72091193e-01 7.73538570e-04 9.28195855e-01 1.22161865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.502755096 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:413.54, Y:300.44, Z:122.18 [[ 8.62421272e-01 -3.65743343e-01 -3.49944792e-01 4.13543363e+02] [ 3.42510381e-01 9.30672603e-01 -1.28589058e-01 3.00438292e+02] [ 3.72714622e-01 -8.96178511e-03 9.27902741e-01 1.22175463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5327550960001 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:413.57, Y:300.45, Z:122.19 [[ 8.61456274e-01 -3.67999135e-01 -3.49956747e-01 4.13568306e+02] [ 3.44386563e-01 9.29786824e-01 -1.29978296e-01 3.00449105e+02] [ 3.73217073e-01 -8.54978281e-03 9.27704650e-01 1.22185743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.562755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:413.59, Y:300.46, Z:122.20 [[ 8.61423586e-01 -3.68288569e-01 -3.49732664e-01 4.13591109e+02] [ 3.47494604e-01 9.29580930e-01 -1.22991038e-01 3.00456051e+02] [ 3.70401008e-01 -1.55828328e-02 9.28741228e-01 1.22195804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.592755096 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:413.62, Y:300.48, Z:122.20 [[ 8.58577934e-01 -3.80491274e-01 -3.43613623e-01 4.13615182e+02] [ 3.51187841e-01 9.24770323e-01 -1.46516042e-01 3.00481257e+02] [ 3.73511757e-01 5.12251470e-03 9.27611302e-01 1.22199798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.622755096 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:413.64, Y:300.49, Z:122.21 [[ 8.57016333e-01 -3.80270483e-01 -3.47731743e-01 4.13640977e+02] [ 3.56193087e-01 9.24827036e-01 -1.33496960e-01 3.00485725e+02] [ 3.72356671e-01 -9.45056742e-03 9.28041592e-01 1.22214387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6527550960001 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:413.67, Y:300.49, Z:122.23 [[ 8.55995145e-01 -3.80021785e-01 -3.50507853e-01 4.13666380e+02] [ 3.58638067e-01 9.24818907e-01 -1.26841345e-01 3.00492113e+02] [ 3.72358764e-01 -1.71298839e-02 9.27930772e-01 1.22228613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.682755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:413.69, Y:300.51, Z:122.23 [[ 8.56845283e-01 -3.82857540e-01 -3.45306046e-01 4.13686945e+02] [ 3.60414986e-01 9.23712935e-01 -1.29828543e-01 3.00505014e+02] [ 3.68669498e-01 -1.32104993e-02 9.29466667e-01 1.22234112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.712755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:413.71, Y:300.52, Z:122.25 [[ 8.53752097e-01 -3.86025167e-01 -3.49416553e-01 4.13714255e+02] [ 3.62810139e-01 9.22387885e-01 -1.32549588e-01 3.00517435e+02] [ 3.73465072e-01 -1.36073793e-02 9.27544435e-01 1.22249646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.742755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:413.74, Y:300.53, Z:122.26 [[ 8.53497693e-01 -3.86432817e-01 -3.49587423e-01 4.13737780e+02] [ 3.63813373e-01 9.22191616e-01 -1.31158121e-01 3.00528094e+02] [ 3.73070393e-01 -1.52414254e-02 9.27677843e-01 1.22259762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.772755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:413.76, Y:300.54, Z:122.27 [[ 8.54564886e-01 -3.86346795e-01 -3.47066291e-01 4.13759434e+02] [ 3.63287777e-01 9.22259589e-01 -1.32133426e-01 3.00542973e+02] [ 3.71134541e-01 -1.31683555e-02 9.28485728e-01 1.22266489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.802755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:413.78, Y:300.56, Z:122.28 [[ 8.53993509e-01 -3.87061535e-01 -3.47675791e-01 4.13784542e+02] [ 3.62886133e-01 9.21990543e-01 -1.35081804e-01 3.00555856e+02] [ 3.72838761e-01 -1.08077398e-02 9.27833202e-01 1.22277607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.832755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:413.81, Y:300.57, Z:122.28 [[ 8.54661151e-01 -3.87934828e-01 -3.45052006e-01 4.13808739e+02] [ 3.62369078e-01 9.21663643e-01 -1.38653456e-01 3.00570447e+02] [ 3.71810393e-01 -6.53445560e-03 9.28285695e-01 1.22284378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.862755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:413.83, Y:300.58, Z:122.30 [[ 8.55029895e-01 -3.83706843e-01 -3.48845149e-01 4.13833866e+02] [ 3.61200239e-01 9.23339662e-01 -1.30300635e-01 3.00576861e+02] [ 3.72099807e-01 -1.45920126e-02 9.28078018e-01 1.22298035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.892755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:413.85, Y:300.60, Z:122.30 [[ 8.55720496e-01 -3.85619470e-01 -3.45021822e-01 4.13853535e+02] [ 3.59026955e-01 9.22651575e-01 -1.40761203e-01 3.00596153e+02] [ 3.72615188e-01 -3.41988734e-03 9.27979648e-01 1.22302079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9227550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:413.87, Y:300.60, Z:122.32 [[ 8.57205573e-01 -3.77323386e-01 -3.50464932e-01 4.13874374e+02] [ 3.56771442e-01 9.25895728e-01 -1.24222536e-01 3.00595677e+02] [ 3.71366052e-01 -1.85516291e-02 9.28301186e-01 1.22317320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.952755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:413.90, Y:300.62, Z:122.33 [[ 8.57045526e-01 -3.81253317e-01 -3.46581702e-01 4.13900011e+02] [ 3.56450300e-01 9.24440721e-01 -1.35471538e-01 3.00615383e+02] [ 3.72043211e-01 -7.43387572e-03 9.28185642e-01 1.22325805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.982755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:413.92, Y:300.63, Z:122.34 [[ 8.56611683e-01 -3.82237092e-01 -3.46570673e-01 4.13923007e+02] [ 3.57503947e-01 9.24031045e-01 -1.35490062e-01 3.00626943e+02] [ 3.72031388e-01 -7.83801354e-03 9.28187057e-01 1.22336207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.012755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:413.95, Y:300.64, Z:122.35 [[ 8.56427346e-01 -3.82834603e-01 -3.46366666e-01 4.13946207e+02] [ 3.57628566e-01 9.23792412e-01 -1.36782266e-01 3.00638413e+02] [ 3.72335883e-01 -6.72654089e-03 9.28073674e-01 1.22346475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:413.97, Y:300.66, Z:122.36 [[ 8.55598452e-01 -3.85838617e-01 -3.45079485e-01 4.13967318e+02] [ 3.56912529e-01 9.22563516e-01 -1.46594700e-01 3.00655517e+02] [ 3.74919639e-01 2.26300693e-03 9.27054552e-01 1.22355373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.00, Y:300.65, Z:122.37 [[ 8.56031827e-01 -3.76446443e-01 -3.54256385e-01 4.13995771e+02] [ 3.56886114e-01 9.26173226e-01 -1.21800893e-01 3.00652624e+02] [ 3.73954292e-01 -2.21637434e-02 9.27182267e-01 1.22374883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.01, Y:300.67, Z:122.38 [[ 8.56748064e-01 -3.81969293e-01 -3.46528807e-01 4.14014069e+02] [ 3.58027827e-01 9.24123831e-01 -1.33458684e-01 3.00671730e+02] [ 3.71212648e-01 -9.72648627e-03 9.28496939e-01 1.22377484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.132755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:414.04, Y:300.69, Z:122.39 [[ 8.55714048e-01 -3.86528873e-01 -3.44018749e-01 4.14038672e+02] [ 3.59715448e-01 9.22273406e-01 -1.41479899e-01 3.00687512e+02] [ 3.71965409e-01 -2.68252125e-03 9.28242716e-01 1.22386659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.07, Y:300.69, Z:122.40 [[ 8.55386416e-01 -3.81652783e-01 -3.50221692e-01 4.14067414e+02] [ 3.60233331e-01 9.24143486e-01 -1.27242934e-01 3.00689029e+02] [ 3.72217715e-01 -1.73196494e-02 9.27983837e-01 1.22404131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.09, Y:300.71, Z:122.41 [[ 8.53374424e-01 -3.92723721e-01 -3.42812154e-01 4.14086641e+02] [ 3.64757574e-01 9.19656121e-01 -1.45549066e-01 3.00713362e+02] [ 3.72429866e-01 -8.35479605e-04 9.28059964e-01 1.22406683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.222755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:414.11, Y:300.72, Z:122.42 [[ 8.53646925e-01 -3.87921871e-01 -3.47568049e-01 4.14110898e+02] [ 3.64699445e-01 9.21595852e-01 -1.32873627e-01 3.00716402e+02] [ 3.71861858e-01 -1.33307115e-02 9.28192356e-01 1.22419771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.13, Y:300.74, Z:122.43 [[ 8.52102299e-01 -3.92630965e-01 -3.46067332e-01 4.14134518e+02] [ 3.65265305e-01 9.19688856e-01 -1.44061324e-01 3.00736025e+02] [ 3.74837205e-01 -3.65140436e-03 9.27083457e-01 1.22428979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.16, Y:300.73, Z:122.45 [[ 8.52954562e-01 -3.81206505e-01 -3.56581149e-01 4.14163845e+02] [ 3.62876146e-01 9.24091802e-01 -1.19896809e-01 3.00731325e+02] [ 3.75219159e-01 -2.71282630e-02 9.26539066e-01 1.22448729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.18, Y:300.76, Z:122.45 [[ 8.52582437e-01 -3.92123991e-01 -3.45459062e-01 4.14180159e+02] [ 3.63229224e-01 9.19912251e-01 -1.47736191e-01 3.00758543e+02] [ 3.75722928e-01 4.76455091e-04 9.26731921e-01 1.22447821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.21, Y:300.76, Z:122.46 [[ 8.53649623e-01 -3.85221063e-01 -3.50552497e-01 4.14206346e+02] [ 3.61790147e-01 9.22728214e-01 -1.32968161e-01 3.00761506e+02] [ 3.74686816e-01 -1.33182186e-02 9.27055778e-01 1.22462855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.23, Y:300.77, Z:122.47 [[ 8.54210503e-01 -3.85373899e-01 -3.49014864e-01 4.14229197e+02] [ 3.60393441e-01 9.22717189e-01 -1.36782881e-01 3.00773381e+02] [ 3.74754567e-01 -8.94129372e-03 9.27080939e-01 1.22472006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.25, Y:300.78, Z:122.48 [[ 8.55096589e-01 -3.83132540e-01 -3.49312584e-01 4.14251725e+02] [ 3.57898186e-01 9.23659656e-01 -1.36973458e-01 3.00783845e+02] [ 3.75124930e-01 -7.89280301e-03 9.26940662e-01 1.22482279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.28, Y:300.80, Z:122.49 [[ 8.54581937e-01 -3.84338077e-01 -3.49247700e-01 4.14276137e+02] [ 3.56976829e-01 9.23187743e-01 -1.42449762e-01 3.00797418e+02] [ 3.77170063e-01 -2.93834292e-03 9.26139358e-01 1.22492314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.30, Y:300.80, Z:122.51 [[ 8.56018793e-01 -3.78291672e-01 -3.52316955e-01 4.14301534e+02] [ 3.54590341e-01 9.25612930e-01 -1.32311732e-01 3.00801541e+02] [ 3.76161555e-01 -1.16668607e-02 9.26480636e-01 1.22505856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.32, Y:300.81, Z:122.51 [[ 8.56359572e-01 -3.79488637e-01 -3.50195171e-01 4.14324178e+02] [ 3.53673366e-01 9.25177381e-01 -1.37702445e-01 3.00813473e+02] [ 3.76249164e-01 -5.93189821e-03 9.26499530e-01 1.22514496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.35, Y:300.82, Z:122.53 [[ 8.56833777e-01 -3.78693688e-01 -3.49895655e-01 4.14348045e+02] [ 3.52835592e-01 9.25505626e-01 -1.37645853e-01 3.00822653e+02] [ 3.75956013e-01 -5.51602445e-03 9.26621093e-01 1.22525264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.37, Y:300.84, Z:122.53 [[ 8.57835396e-01 -3.80866929e-01 -3.45049005e-01 4.14374792e+02] [ 3.51663680e-01 9.24620424e-01 -1.46320633e-01 3.00837864e+02] [ 3.74768048e-01 4.17781489e-03 9.27109193e-01 1.22531206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.40, Y:300.83, Z:122.56 [[ 8.58142281e-01 -3.67256815e-01 -3.58767692e-01 4.14401155e+02] [ 3.48276497e-01 9.29834839e-01 -1.18788272e-01 3.00830525e+02] [ 3.77220502e-01 -2.30131159e-02 9.25837507e-01 1.22556551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.42, Y:300.86, Z:122.56 [[ 8.58858371e-01 -3.77238248e-01 -3.46487522e-01 4.14419554e+02] [ 3.48805120e-01 9.26112701e-01 -1.43701958e-01 3.00856728e+02] [ 3.75096370e-01 2.56300789e-03 9.26982278e-01 1.22555983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.45, Y:300.87, Z:122.57 [[ 8.60152869e-01 -3.74676293e-01 -3.46055945e-01 4.14445023e+02] [ 3.46721158e-01 9.27153129e-01 -1.42026455e-01 3.00866305e+02] [ 3.74060798e-01 2.17954496e-03 9.27401622e-01 1.22565387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.47, Y:300.87, Z:122.58 [[ 8.60317691e-01 -3.70372125e-01 -3.50254137e-01 4.14468620e+02] [ 3.46073803e-01 9.28853036e-01 -1.32155066e-01 3.00869915e+02] [ 3.74281171e-01 -7.51844013e-03 9.27284788e-01 1.22579856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.49, Y:300.89, Z:122.58 [[ 8.60733756e-01 -3.74899084e-01 -3.44366197e-01 4.14493157e+02] [ 3.45183114e-01 9.27037737e-01 -1.46456999e-01 3.00888238e+02] [ 3.74147055e-01 7.19108638e-03 9.27341507e-01 1.22584257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.52, Y:300.89, Z:122.60 [[ 8.60528214e-01 -3.67259453e-01 -3.53003808e-01 4.14517754e+02] [ 3.44002165e-01 9.30060442e-01 -1.29035210e-01 3.00885785e+02] [ 3.75704278e-01 -1.03956355e-02 9.26681297e-01 1.22601566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.54, Y:300.90, Z:122.61 [[ 8.60285227e-01 -3.70846100e-01 -3.49832100e-01 4.14540231e+02] [ 3.44043957e-01 9.28693467e-01 -1.38427595e-01 3.00900186e+02] [ 3.76222120e-01 -1.27040459e-03 9.26528630e-01 1.22608529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.56, Y:300.91, Z:122.62 [[ 8.59903531e-01 -3.71171911e-01 -3.50424500e-01 4.14564624e+02] [ 3.44275998e-01 9.28563181e-01 -1.38724387e-01 3.00909404e+02] [ 3.76881885e-01 -1.35315441e-03 9.26260338e-01 1.22618657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.59, Y:300.92, Z:122.63 [[ 8.59323075e-01 -3.72183475e-01 -3.50775305e-01 4.14589225e+02] [ 3.45257014e-01 9.28157691e-01 -1.38999626e-01 3.00916987e+02] [ 3.77308161e-01 -1.66204863e-03 9.26086275e-01 1.22629294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.61, Y:300.92, Z:122.64 [[ 8.59070983e-01 -3.73180085e-01 -3.50333656e-01 4.14612795e+02] [ 3.46348790e-01 9.27756852e-01 -1.38959488e-01 3.00924995e+02] [ 3.76881363e-01 -1.96157416e-03 9.26259462e-01 1.22639432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.64, Y:300.93, Z:122.65 [[ 8.58282209e-01 -3.75548321e-01 -3.49735770e-01 4.14638564e+02] [ 3.48976266e-01 9.26798170e-01 -1.38782991e-01 3.00931723e+02] [ 3.76254190e-01 -2.93451090e-03 9.26511831e-01 1.22650263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.66, Y:300.95, Z:122.65 [[ 8.57505963e-01 -3.81333506e-01 -3.45352401e-01 4.14662182e+02] [ 3.51028847e-01 9.24413641e-01 -1.49124677e-01 3.00947466e+02] [ 3.76114706e-01 6.64664483e-03 9.26549270e-01 1.22654725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.69, Y:300.94, Z:122.67 [[ 8.56905102e-01 -3.75318794e-01 -3.53340414e-01 4.14690307e+02] [ 3.52274027e-01 9.26805191e-01 -1.30135114e-01 3.00943819e+02] [ 3.76319884e-01 -1.29592071e-02 9.26399160e-01 1.22674145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.71, Y:300.96, Z:122.68 [[ 8.55474609e-01 -3.81754313e-01 -3.49895466e-01 4.14714106e+02] [ 3.55523420e-01 9.24248409e-01 -1.39168875e-01 3.00955046e+02] [ 3.76518646e-01 -5.34059349e-03 9.26393646e-01 1.22681777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.74, Y:300.96, Z:122.69 [[ 8.54787234e-01 -3.83389861e-01 -3.49787077e-01 4.14739160e+02] [ 3.57270169e-01 9.23567325e-01 -1.39217176e-01 3.00963496e+02] [ 3.76426369e-01 -5.96742314e-03 9.26427320e-01 1.22692407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.76, Y:300.97, Z:122.70 [[ 8.53850317e-01 -3.85604144e-01 -3.49641359e-01 4.14763379e+02] [ 3.59632811e-01 9.22639177e-01 -1.39288158e-01 3.00970002e+02] [ 3.76302907e-01 -6.81126736e-03 9.26471656e-01 1.22702328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.79, Y:300.98, Z:122.71 [[ 8.53589509e-01 -3.86334767e-01 -3.49471599e-01 4.14786911e+02] [ 3.60419218e-01 9.22331630e-01 -1.39292327e-01 3.00977846e+02] [ 3.76142178e-01 -7.05781142e-03 9.26535077e-01 1.22712332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.81, Y:300.99, Z:122.72 [[ 8.53518618e-01 -3.86513644e-01 -3.49446951e-01 4.14811500e+02] [ 3.60587204e-01 9.22256631e-01 -1.39354138e-01 3.00987852e+02] [ 3.76142043e-01 -7.06474794e-03 9.26535079e-01 1.22722823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.84, Y:301.00, Z:122.73 [[ 8.53301308e-01 -3.87207690e-01 -3.49209225e-01 4.14836139e+02] [ 3.61340911e-01 9.21963740e-01 -1.39339898e-01 3.00995981e+02] [ 3.75911723e-01 -7.28466215e-03 9.26626845e-01 1.22733615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.86, Y:301.00, Z:122.74 [[ 8.53379228e-01 -3.87025657e-01 -3.49220610e-01 4.14861253e+02] [ 3.61090982e-01 9.22041776e-01 -1.39471382e-01 3.01003174e+02] [ 3.75974995e-01 -7.07843283e-03 9.26602773e-01 1.22744069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.88, Y:301.01, Z:122.75 [[ 8.53458253e-01 -3.86823983e-01 -3.49250937e-01 4.14884661e+02] [ 3.60817477e-01 9.22128013e-01 -1.39609010e-01 3.01011456e+02] [ 3.76058186e-01 -6.86538011e-03 9.26570617e-01 1.22753777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.91, Y:301.02, Z:122.76 [[ 8.53657069e-01 -3.85968723e-01 -3.49710956e-01 4.14908637e+02] [ 3.59793536e-01 9.22489470e-01 -1.39863469e-01 3.01018176e+02] [ 3.76587599e-01 -6.42830230e-03 9.26358709e-01 1.22764145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.93, Y:301.03, Z:122.77 [[ 8.53718279e-01 -3.85761622e-01 -3.49790038e-01 4.14933418e+02] [ 3.59528575e-01 9.22577197e-01 -1.39966135e-01 3.01026768e+02] [ 3.76701876e-01 -6.26786646e-03 9.26313344e-01 1.22774559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.96, Y:301.03, Z:122.78 [[ 8.53787681e-01 -3.85712977e-01 -3.49674271e-01 4.14957442e+02] [ 3.59438769e-01 9.22598604e-01 -1.40055659e-01 3.01034789e+02] [ 3.76630279e-01 -6.10869297e-03 9.26343520e-01 1.22784769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:414.98, Y:301.04, Z:122.80 [[ 8.53492780e-01 -3.86039394e-01 -3.50033800e-01 4.14981708e+02] [ 3.59711163e-01 9.22461457e-01 -1.40259544e-01 3.01040358e+02] [ 3.77038398e-01 -6.20055748e-03 9.26176873e-01 1.22795417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.01, Y:301.05, Z:122.81 [[ 8.53267459e-01 -3.86805724e-01 -3.49737008e-01 4.15006983e+02] [ 3.60557423e-01 9.22138575e-01 -1.40209819e-01 3.01048555e+02] [ 3.76739947e-01 -6.46379867e-03 9.26296514e-01 1.22806096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.03, Y:301.05, Z:122.82 [[ 8.53138626e-01 -3.88027950e-01 -3.48695850e-01 4.15031705e+02] [ 3.61984587e-01 9.21622188e-01 -1.39927488e-01 3.01054635e+02] [ 3.75661608e-01 -6.84497822e-03 9.26731624e-01 1.22816225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.392755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.06, Y:301.07, Z:122.83 [[ 8.52451989e-01 -3.90695868e-01 -3.47393646e-01 4.15055813e+02] [ 3.61759117e-01 9.20519813e-01 -1.47558855e-01 3.01066352e+02] [ 3.77433369e-01 1.14021311e-04 9.26036738e-01 1.22825254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.08, Y:301.07, Z:122.84 [[ 8.53024430e-01 -3.86743443e-01 -3.50398103e-01 4.15081492e+02] [ 3.63037622e-01 9.22096453e-01 -1.33947063e-01 3.01067037e+02] [ 3.74903997e-01 -1.29475766e-02 9.26973222e-01 1.22839365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.11, Y:301.08, Z:122.85 [[ 8.53216166e-01 -3.89245135e-01 -3.47146078e-01 4.15105233e+02] [ 3.63430835e-01 9.21106998e-01 -1.39570507e-01 3.01076204e+02] [ 3.74085823e-01 -7.07977593e-03 9.27367065e-01 1.22848083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.13, Y:301.08, Z:122.86 [[ 8.53292201e-01 -3.89369878e-01 -3.46819142e-01 4.15129425e+02] [ 3.63586354e-01 9.21054471e-01 -1.39512098e-01 3.01084281e+02] [ 3.73761130e-01 -7.05412223e-03 9.27498171e-01 1.22858557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.15, Y:301.09, Z:122.87 [[ 8.53609003e-01 -3.88918901e-01 -3.46545464e-01 4.15154629e+02] [ 3.63112572e-01 9.21247058e-01 -1.39474436e-01 3.01090522e+02] [ 3.73498234e-01 -6.77838024e-03 9.27606125e-01 1.22869492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.18, Y:301.10, Z:122.88 [[ 8.53796820e-01 -3.88684038e-01 -3.46346228e-01 4.15179342e+02] [ 3.62835187e-01 9.21347923e-01 -1.39530039e-01 3.01098917e+02] [ 3.73338477e-01 -6.53629460e-03 9.27672172e-01 1.22879600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.20, Y:301.11, Z:122.89 [[ 8.54018590e-01 -3.88302932e-01 -3.46226923e-01 4.15202651e+02] [ 3.62388470e-01 9.21510700e-01 -1.39615994e-01 3.01107365e+02] [ 3.73265114e-01 -6.23399030e-03 9.27703774e-01 1.22889346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.23, Y:301.12, Z:122.90 [[ 8.54514562e-01 -3.87252277e-01 -3.46179921e-01 4.15228115e+02] [ 3.61231712e-01 9.21956180e-01 -1.39672663e-01 3.01115031e+02] [ 3.73251274e-01 -5.69884121e-03 9.27712784e-01 1.22899421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.25, Y:301.12, Z:122.91 [[ 8.54711046e-01 -3.86615987e-01 -3.46405985e-01 4.15251648e+02] [ 3.60455392e-01 9.22225618e-01 -1.39899321e-01 3.01123122e+02] [ 3.73551788e-01 -5.29041007e-03 9.27594240e-01 1.22909334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.28, Y:301.13, Z:122.92 [[ 8.55209731e-01 -3.85420085e-01 -3.46507827e-01 4.15275906e+02] [ 3.59118510e-01 9.22729280e-01 -1.40016327e-01 3.01129989e+02] [ 3.73698022e-01 -4.69404948e-03 9.27538546e-01 1.22919554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.30, Y:301.14, Z:122.93 [[ 8.55184713e-01 -3.84920326e-01 -3.47124544e-01 4.15299950e+02] [ 3.58452241e-01 9.22939262e-01 -1.40339270e-01 3.01137779e+02] [ 3.74394308e-01 -4.41157248e-03 9.27259101e-01 1.22929973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.32, Y:301.15, Z:122.94 [[ 8.55023275e-01 -3.85012209e-01 -3.47420205e-01 4.15324840e+02] [ 3.58476124e-01 9.22901058e-01 -1.40529379e-01 3.01146541e+02] [ 3.74740001e-01 -4.38595856e-03 9.27119569e-01 1.22940623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.35, Y:301.15, Z:122.95 [[ 8.54699038e-01 -3.85397533e-01 -3.47790593e-01 4.15349848e+02] [ 3.58782515e-01 9.22739979e-01 -1.40804963e-01 3.01154095e+02] [ 3.75186170e-01 -4.43531771e-03 9.26938868e-01 1.22951115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.37, Y:301.16, Z:122.96 [[ 8.54213304e-01 -3.86074575e-01 -3.48232759e-01 4.15373359e+02] [ 3.59388491e-01 9.22456080e-01 -1.41119431e-01 3.01162533e+02] [ 3.75712050e-01 -4.60475064e-03 9.26725014e-01 1.22960911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.40, Y:301.17, Z:122.97 [[ 8.53230460e-01 -3.88000803e-01 -3.48501304e-01 4.15398261e+02] [ 3.61395004e-01 9.21643329e-01 -1.41305431e-01 3.01169218e+02] [ 3.76020522e-01 -5.38053252e-03 9.26595714e-01 1.22971512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.42, Y:301.18, Z:122.98 [[ 8.52682355e-01 -3.89212182e-01 -3.48492008e-01 4.15421906e+02] [ 3.62649430e-01 9.21130008e-01 -1.41438681e-01 3.01177093e+02] [ 3.76056103e-01 -5.77816070e-03 9.26578880e-01 1.22981719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.45, Y:301.18, Z:122.99 [[ 8.51643744e-01 -3.91441076e-01 -3.48535245e-01 4.15447306e+02] [ 3.65018992e-01 9.20178891e-01 -1.41534249e-01 3.01184200e+02] [ 3.76117094e-01 -6.68522584e-03 9.26548023e-01 1.22992178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.47, Y:301.19, Z:123.00 [[ 8.51065839e-01 -3.92532557e-01 -3.48719271e-01 4.15470572e+02] [ 3.66113686e-01 9.19711203e-01 -1.41746509e-01 3.01192571e+02] [ 3.76361140e-01 -7.03528595e-03 9.26446327e-01 1.23002201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.50, Y:301.20, Z:123.01 [[ 8.50287504e-01 -3.94710168e-01 -3.48159510e-01 4.15495152e+02] [ 3.66668433e-01 9.18799452e-01 -1.46156857e-01 3.01203724e+02] [ 3.77578364e-01 -3.38375311e-03 9.25971452e-01 1.23011435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.962755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.52, Y:301.21, Z:123.02 [[ 8.50204163e-01 -3.93276183e-01 -3.49981035e-01 4.15520088e+02] [ 3.68021957e-01 9.19359611e-01 -1.39060217e-01 3.01208668e+02] [ 3.76447500e-01 -1.05711303e-02 9.26377640e-01 1.23023921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.54, Y:301.22, Z:123.03 [[ 8.51012815e-01 -3.93332969e-01 -3.47945921e-01 4.15542460e+02] [ 3.66994435e-01 9.19368578e-01 -1.41691574e-01 3.01220347e+02] [ 3.75622514e-01 -7.11287145e-03 9.26745453e-01 1.23032841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.57, Y:301.23, Z:123.04 [[ 8.51322450e-01 -3.92910309e-01 -3.47665897e-01 4.15565373e+02] [ 3.66550833e-01 9.19551330e-01 -1.41653938e-01 3.01229853e+02] [ 3.75353930e-01 -6.84404717e-03 9.26856292e-01 1.23042660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.59, Y:301.24, Z:123.05 [[ 8.51930839e-01 -3.92036178e-01 -3.47162038e-01 4.15589678e+02] [ 3.65648632e-01 9.19927842e-01 -1.41540962e-01 3.01239733e+02] [ 3.74853202e-01 -6.35621412e-03 9.27062390e-01 1.23053790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.61, Y:301.25, Z:123.06 [[ 8.51682872e-01 -3.92443892e-01 -3.47309772e-01 4.15613395e+02] [ 3.66011501e-01 9.19753638e-01 -1.41735059e-01 3.01249306e+02] [ 3.75062485e-01 -6.40604861e-03 9.26977397e-01 1.23064193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.112755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:415.64, Y:301.26, Z:123.07 [[ 8.51414692e-01 -3.92983002e-01 -3.47357716e-01 4.15636834e+02] [ 3.66532696e-01 9.19522667e-01 -1.41886744e-01 3.01258667e+02] [ 3.75162372e-01 -6.51350165e-03 9.26936227e-01 1.23073720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.142755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:415.66, Y:301.27, Z:123.08 [[ 8.51037855e-01 -3.94328974e-01 -3.46755288e-01 4.15660213e+02] [ 3.68051157e-01 9.18942538e-01 -1.41714353e-01 3.01268261e+02] [ 3.74530260e-01 -7.01940550e-03 9.27188122e-01 1.23082815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.69, Y:301.29, Z:123.08 [[ 8.50821995e-01 -4.03336678e-01 -3.36781022e-01 4.15687383e+02] [ 3.69754532e-01 9.14959150e-01 -1.61651910e-01 3.01292938e+02] [ 3.73341022e-01 1.30106910e-02 9.27602934e-01 1.23079167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.71, Y:301.28, Z:123.11 [[ 8.50331266e-01 -3.88226819e-01 -3.55269862e-01 4.15710803e+02] [ 3.70566471e-01 9.21076382e-01 -1.19577545e-01 3.01278178e+02] [ 3.73653889e-01 -2.99705736e-02 9.27083888e-01 1.23111530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.73, Y:301.31, Z:123.11 [[ 8.47226880e-01 -4.06102979e-01 -3.42471875e-01 4.15733212e+02] [ 3.71497579e-01 9.13746793e-01 -1.64488135e-01 3.01314742e+02] [ 3.79731699e-01 1.21312966e-02 9.25017118e-01 1.23109175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.262755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.76, Y:301.32, Z:123.12 [[ 8.47251664e-01 -4.04786275e-01 -3.43966118e-01 4.15763008e+02] [ 3.73055665e-01 9.14398459e-01 -1.57178017e-01 3.01323660e+02] [ 3.78145592e-01 4.85082756e-03 9.25733429e-01 1.23118587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2927550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:415.79, Y:301.32, Z:123.14 [[ 8.49034357e-01 -3.93172954e-01 -3.52924480e-01 4.15790854e+02] [ 3.73454191e-01 9.19118165e-01 -1.25514005e-01 3.01316229e+02] [ 3.73728013e-01 -2.52354230e-02 9.27194988e-01 1.23141246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.81, Y:301.34, Z:123.15 [[ 8.48826711e-01 -3.98904445e-01 -3.46941577e-01 4.15813696e+02] [ 3.73591535e-01 9.16931478e-01 -1.40235624e-01 3.01335223e+02] [ 3.74062266e-01 -1.05786928e-02 9.27343255e-01 1.23146921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.84, Y:301.35, Z:123.16 [[ 8.49535224e-01 -3.97717823e-01 -3.46569527e-01 4.15838423e+02] [ 3.72119601e-01 9.17459235e-01 -1.40696677e-01 3.01347157e+02] [ 3.73920989e-01 -9.43853057e-03 9.27412534e-01 1.23157543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.86, Y:301.36, Z:123.17 [[ 8.50141071e-01 -3.96438170e-01 -3.46550050e-01 4.15861054e+02] [ 3.71228739e-01 9.18006151e-01 -1.39477346e-01 3.01357015e+02] [ 3.73429222e-01 -1.00739175e-02 9.27603974e-01 1.23167203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:415.89, Y:301.37, Z:123.18 [[ 8.50065794e-01 -3.96686833e-01 -3.46450145e-01 4.15886511e+02] [ 3.70262137e-01 9.17926462e-01 -1.42537576e-01 3.01369928e+02] [ 3.74558536e-01 -7.11105342e-03 9.27176001e-01 1.23178195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:415.91, Y:301.38, Z:123.19 [[ 8.50404821e-01 -3.92023559e-01 -3.50897663e-01 4.15908898e+02] [ 3.65617111e-01 9.19921898e-01 -1.41660968e-01 3.01377188e+02] [ 3.78332881e-01 -7.82501967e-03 9.25636538e-01 1.23191458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.472755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.93, Y:301.38, Z:123.21 [[ 8.49323044e-01 -3.87149520e-01 -3.58839264e-01 4.15928344e+02] [ 3.65609243e-01 9.21765948e-01 -1.29141078e-01 3.01380100e+02] [ 3.80762721e-01 -2.15124580e-02 9.24422503e-01 1.23211642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.95, Y:301.39, Z:123.22 [[ 8.51560255e-01 -3.86059663e-01 -3.54687284e-01 4.15951842e+02] [ 3.64057091e-01 9.22286529e-01 -1.29807521e-01 3.01390661e+02] [ 3.77236752e-01 -1.85874949e-02 9.25930310e-01 1.23220156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:415.97, Y:301.41, Z:123.23 [[ 8.51640235e-01 -3.91408544e-01 -3.48580353e-01 4.15974577e+02] [ 3.63784785e-01 9.20209330e-01 -1.44483283e-01 3.01408992e+02] [ 3.77318885e-01 -3.76045173e-03 9.26075763e-01 1.23225274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.562755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:416.00, Y:301.42, Z:123.23 [[ 8.53278839e-01 -3.91211172e-01 -3.44773899e-01 4.16004949e+02] [ 3.61462444e-01 9.20295765e-01 -1.49668321e-01 3.01421079e+02] [ 3.75845879e-01 3.08599525e-03 9.26677048e-01 1.23232693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.592755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:416.02, Y:301.43, Z:123.25 [[ 8.50235449e-01 -3.93504617e-01 -3.49648105e-01 4.16022859e+02] [ 3.63870795e-01 9.19322628e-01 -1.49813051e-01 3.01431613e+02] [ 3.80391542e-01 1.49632534e-04 9.24825525e-01 1.23245529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.05, Y:301.44, Z:123.25 [[ 8.53041303e-01 -3.89566495e-01 -3.47215324e-01 4.16054599e+02] [ 3.63703996e-01 9.20971228e-01 -1.39754786e-01 3.01436838e+02] [ 3.74219106e-01 -7.06699573e-03 9.27313387e-01 1.23254555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.08, Y:301.45, Z:123.26 [[ 8.52589565e-01 -3.94908719e-01 -3.42254493e-01 4.16079432e+02] [ 3.66688034e-01 9.18720223e-01 -1.46605042e-01 3.01452811e+02] [ 3.72331733e-01 -5.06698647e-04 9.28099577e-01 1.23260253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.682755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.10, Y:301.44, Z:123.29 [[ 8.50699532e-01 -3.84645057e-01 -3.58271527e-01 4.16098729e+02] [ 3.67093073e-01 9.22562822e-01 -1.18829772e-01 3.01443935e+02] [ 3.76235276e-01 -3.04305643e-02 9.26024297e-01 1.23287882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.712755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.13, Y:301.47, Z:123.29 [[ 8.48726412e-01 -3.96229827e-01 -3.50236209e-01 4.16126765e+02] [ 3.67011609e-01 9.18149621e-01 -1.49344410e-01 3.01467605e+02] [ 3.80743952e-01 -1.78820973e-03 9.24678779e-01 1.23291288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.742755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:416.15, Y:301.48, Z:123.30 [[ 8.46540508e-01 -4.03100059e-01 -3.47677309e-01 4.16146102e+02] [ 3.70538879e-01 9.15138685e-01 -1.58814756e-01 3.01484450e+02] [ 3.82191193e-01 5.61516395e-03 9.24066211e-01 1.23297492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.17, Y:301.50, Z:123.30 [[ 8.46966837e-01 -4.06419758e-01 -3.42739198e-01 4.16173832e+02] [ 3.73363547e-01 9.13649752e-01 -1.60760045e-01 3.01499092e+02] [ 3.78479642e-01 8.19210426e-03 9.25573363e-01 1.23300074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.20, Y:301.49, Z:123.33 [[ 8.45589515e-01 -3.95665531e-01 -3.58367354e-01 4.16202711e+02] [ 3.73347516e-01 9.18142252e-01 -1.32764595e-01 3.01489297e+02] [ 3.81562583e-01 -2.15312116e-02 9.24092204e-01 1.23327928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.832755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:416.23, Y:301.49, Z:123.35 [[ 8.45601019e-01 -3.91913650e-01 -3.62439799e-01 4.16228013e+02] [ 3.73930201e-01 9.19426179e-01 -1.21785496e-01 3.01491847e+02] [ 3.80966038e-01 -3.25452472e-02 9.24016063e-01 1.23346681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.862755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:416.25, Y:301.51, Z:123.35 [[ 8.43419019e-01 -4.03879509e-01 -3.54296063e-01 4.16245311e+02] [ 3.78038052e-01 9.14712463e-01 -1.42787750e-01 3.01512939e+02] [ 3.81748071e-01 -1.35074896e-02 9.24167711e-01 1.23348398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.27, Y:301.53, Z:123.36 [[ 8.42495780e-01 -4.07369411e-01 -3.52492588e-01 4.16268877e+02] [ 3.79566966e-01 9.13219621e-01 -1.48185163e-01 3.01525221e+02] [ 3.82269250e-01 -8.94916814e-03 9.24007648e-01 1.23356750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.29, Y:301.53, Z:123.37 [[ 8.41477135e-01 -4.09053423e-01 -3.52975251e-01 4.16292614e+02] [ 3.81255863e-01 9.12460035e-01 -1.48528287e-01 3.01534575e+02] [ 3.82831814e-01 -9.59072651e-03 9.23768272e-01 1.23367300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.32, Y:301.55, Z:123.37 [[ 8.41413455e-01 -4.13635100e-01 -3.47749050e-01 4.16321571e+02] [ 3.82338346e-01 9.10442739e-01 -1.57833483e-01 3.01550044e+02] [ 3.81891066e-01 -1.54580322e-04 9.24207331e-01 1.23371816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.35, Y:301.55, Z:123.39 [[ 8.41256728e-01 -4.08813179e-01 -3.53778041e-01 4.16347085e+02] [ 3.82886306e-01 9.12505603e-01 -1.43984730e-01 3.01552477e+02] [ 3.81687299e-01 -1.43286446e-02 9.24180445e-01 1.23388025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.012755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:416.37, Y:301.57, Z:123.40 [[ 8.40264505e-01 -4.12383509e-01 -3.51987789e-01 4.16369836e+02] [ 3.83028481e-01 9.10988452e-01 -1.52935355e-01 3.01568858e+02] [ 3.83724829e-01 -6.31519818e-03 9.23425890e-01 1.23396880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.39, Y:301.57, Z:123.41 [[ 8.40542990e-01 -4.11070217e-01 -3.52857988e-01 4.16394533e+02] [ 3.85898925e-01 9.11457446e-01 -1.42573997e-01 3.01574971e+02] [ 3.80222964e-01 -1.63279446e-02 9.24750721e-01 1.23408018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.41, Y:301.58, Z:123.43 [[ 8.38445486e-01 -4.09813052e-01 -3.59252600e-01 4.16412729e+02] [ 3.86424891e-01 9.11884101e-01 -1.38358917e-01 3.01580280e+02] [ 3.84298024e-01 -2.28177371e-02 9.22927072e-01 1.23426356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:416.43, Y:301.60, Z:123.43 [[ 8.38254281e-01 -4.15639444e-01 -3.52949875e-01 4.16434419e+02] [ 3.86154109e-01 9.09500476e-01 -1.53928195e-01 3.01599321e+02] [ 3.84986708e-01 -7.26207578e-03 9.22893546e-01 1.23431495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.46, Y:301.60, Z:123.45 [[ 8.39354397e-01 -4.10674208e-01 -3.56133250e-01 4.16458884e+02] [ 3.85961619e-01 9.11591432e-01 -1.41543952e-01 3.01602328e+02] [ 3.82776469e-01 -1.86482271e-02 9.23652758e-01 1.23446476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1627550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:416.48, Y:301.62, Z:123.45 [[ 8.39408782e-01 -4.13767964e-01 -3.52404554e-01 4.16480539e+02] [ 3.85872261e-01 9.10323931e-01 -1.49709515e-01 3.01617823e+02] [ 3.82747300e-01 -1.03156607e-02 9.23795482e-01 1.23453483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.51, Y:301.64, Z:123.46 [[ 8.38188186e-01 -4.18320058e-01 -3.49926984e-01 4.16505574e+02] [ 3.86184406e-01 9.08299618e-01 -1.60789949e-01 3.01637044e+02] [ 3.85100207e-01 -3.64108639e-04 9.22874693e-01 1.23463550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.53, Y:301.65, Z:123.47 [[ 8.41255372e-01 -4.15451124e-01 -3.45962082e-01 4.16534350e+02] [ 3.84323037e-01 9.09615475e-01 -1.57783048e-01 3.01651471e+02] [ 3.80243609e-01 -2.25361022e-04 9.24886343e-01 1.23469055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.55, Y:301.64, Z:123.50 [[ 8.40737916e-01 -4.01720975e-01 -3.63015173e-01 4.16554118e+02] [ 3.82895416e-01 9.15163854e-01 -1.25961188e-01 3.01642245e+02] [ 3.82819616e-01 -3.30964989e-02 9.23230071e-01 1.23498176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.58, Y:301.69, Z:123.49 [[ 8.40959566e-01 -4.19238111e-01 -3.42091236e-01 4.16578332e+02] [ 3.79014809e-01 9.07605277e-01 -1.80555905e-01 3.01686394e+02] [ 3.86179728e-01 2.21825711e-02 9.22156793e-01 1.23486045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.60, Y:301.67, Z:123.52 [[ 8.41662768e-01 -4.00202672e-01 -3.62548763e-01 4.16601882e+02] [ 3.78987589e-01 9.16033159e-01 -1.31345571e-01 3.01668270e+02] [ 3.84671538e-01 -2.68528046e-02 9.22662850e-01 1.23516770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.63, Y:301.70, Z:123.51 [[ 8.42409956e-01 -4.12189305e-01 -3.47052508e-01 4.16628875e+02] [ 3.77704139e-01 9.11062041e-01 -1.65243882e-01 3.01700441e+02] [ 3.84298127e-01 8.11992250e-03 9.23173340e-01 1.23512626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.372755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:416.66, Y:301.70, Z:123.53 [[ 8.43573015e-01 -4.00501286e-01 -3.57747519e-01 4.16655887e+02] [ 3.75584126e-01 9.16151959e-01 -1.40007691e-01 3.01696493e+02] [ 3.83824351e-01 -1.62575790e-02 9.23262996e-01 1.23534591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.68, Y:301.71, Z:123.54 [[ 8.43555010e-01 -4.04616628e-01 -3.53129337e-01 4.16676162e+02] [ 3.74123317e-01 9.14483968e-01 -1.54112999e-01 3.01713989e+02] [ 3.85287800e-01 -2.11112677e-03 9.22794048e-01 1.23539398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.70, Y:301.72, Z:123.56 [[ 8.45018579e-01 -3.99826125e-01 -3.55081218e-01 4.16703011e+02] [ 3.74030441e-01 9.16499909e-01 -1.41877220e-01 3.01719425e+02] [ 3.82158123e-01 -1.29222979e-02 9.24006593e-01 1.23555926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.73, Y:301.73, Z:123.57 [[ 8.44538283e-01 -4.01459256e-01 -3.54380521e-01 4.16727647e+02] [ 3.73205743e-01 9.15848840e-01 -1.48116088e-01 3.01733105e+02] [ 3.84021564e-01 -7.16713857e-03 9.23296307e-01 1.23566490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.492755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.75, Y:301.74, Z:123.58 [[ 8.44502265e-01 -3.98313808e-01 -3.57997256e-01 4.16751312e+02] [ 3.72532965e-01 9.17146147e-01 -1.41640865e-01 3.01738702e+02] [ 3.84753317e-01 -1.37497477e-02 9.22917022e-01 1.23581918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:416.78, Y:301.75, Z:123.59 [[ 8.43635697e-01 -4.01977236e-01 -3.55939760e-01 4.16776061e+02] [ 3.73881770e-01 9.15611810e-01 -1.47876419e-01 3.01753671e+02] [ 3.85345602e-01 -8.32556184e-03 9.22734768e-01 1.23591838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.552755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:416.79, Y:301.76, Z:123.60 [[ 8.41318563e-01 -4.03551324e-01 -3.59623978e-01 4.16790586e+02] [ 3.76083622e-01 9.14881731e-01 -1.46807790e-01 3.01764193e+02] [ 3.88257885e-01 -1.17365694e-02 9.21476027e-01 1.23604406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.582755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:416.82, Y:301.78, Z:123.61 [[ 8.41957742e-01 -4.07940452e-01 -3.53117187e-01 4.16821879e+02] [ 3.74784217e-01 9.13002490e-01 -1.61131142e-01 3.01780974e+02] [ 3.88128781e-01 3.32286450e-03 9.21599158e-01 1.23609380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:416.85, Y:301.77, Z:123.64 [[ 8.40423001e-01 -3.98833035e-01 -3.66907876e-01 4.16850401e+02] [ 3.76106990e-01 9.16694332e-01 -1.34963081e-01 3.01773428e+02] [ 3.90170106e-01 -2.45705395e-02 9.20414894e-01 1.23635207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.642755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:416.87, Y:301.80, Z:123.64 [[ 8.39999922e-01 -4.09883272e-01 -3.55521919e-01 4.16871951e+02] [ 3.79223388e-01 9.12128682e-01 -1.55598486e-01 3.01797421e+02] [ 3.88058956e-01 -4.11951010e-03 9.21625345e-01 1.23635064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:416.90, Y:301.81, Z:123.65 [[ 8.37898864e-01 -4.11806177e-01 -3.58247353e-01 4.16896366e+02] [ 3.83447309e-01 9.11202767e-01 -1.50591101e-01 3.01805663e+02] [ 3.88450325e-01 -1.11888711e-02 9.21401733e-01 1.23646863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.702755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:416.92, Y:301.82, Z:123.66 [[ 8.36585956e-01 -4.14310835e-01 -3.58427777e-01 4.16918465e+02] [ 3.84263589e-01 9.10100554e-01 -1.55107951e-01 3.01817218e+02] [ 3.90468223e-01 -7.96961033e-03 9.20581910e-01 1.23657800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.732755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:416.94, Y:301.82, Z:123.67 [[ 8.35567819e-01 -4.13839657e-01 -3.61335244e-01 4.16944068e+02] [ 3.86322132e-01 9.10226609e-01 -1.49139969e-01 3.01824323e+02] [ 3.90616987e-01 -1.49752434e-02 9.20431481e-01 1.23671749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.762755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:416.97, Y:301.84, Z:123.68 [[ 8.34675159e-01 -4.15964748e-01 -3.60958040e-01 4.16967021e+02] [ 3.88143591e-01 9.09262523e-01 -1.50287116e-01 3.01835010e+02] [ 3.90719761e-01 -1.46626275e-02 9.20392892e-01 1.23682406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7927550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:416.99, Y:301.84, Z:123.70 [[ 8.33925050e-01 -4.15765755e-01 -3.62915758e-01 4.16991012e+02] [ 3.89950677e-01 9.09249843e-01 -1.45613158e-01 3.01841836e+02] [ 3.90522060e-01 -2.00887856e-02 9.20374359e-01 1.23695438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.01, Y:301.86, Z:123.70 [[ 8.32414998e-01 -4.24888142e-01 -3.55746170e-01 4.17012979e+02] [ 3.92303913e-01 9.05238328e-01 -1.63221352e-01 3.01862763e+02] [ 3.91385885e-01 -3.69271294e-03 9.20219242e-01 1.23698873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.852755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:417.04, Y:301.87, Z:123.71 [[ 8.31472735e-01 -4.23403034e-01 -3.59698431e-01 4.17035944e+02] [ 3.93948066e-01 9.05858112e-01 -1.55647042e-01 3.01868140e+02] [ 3.91737172e-01 -1.22862301e-02 9.19995129e-01 1.23712697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.882755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:417.06, Y:301.87, Z:123.73 [[ 8.33982254e-01 -4.14230236e-01 -3.64536572e-01 4.17059419e+02] [ 3.93160688e-01 9.09629202e-01 -1.34161800e-01 3.01866107e+02] [ 3.87166985e-01 -3.14328892e-02 9.21473656e-01 1.23728742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:417.08, Y:301.90, Z:123.73 [[ 8.30432295e-01 -4.30748399e-01 -3.53324241e-01 4.17078881e+02] [ 3.95188332e-01 9.02468002e-01 -1.71399205e-01 3.01898311e+02] [ 3.92693755e-01 2.70581762e-03 9.19665316e-01 1.23727944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.942755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:417.10, Y:301.90, Z:123.74 [[ 8.29687373e-01 -4.27077035e-01 -3.59477494e-01 4.17103724e+02] [ 3.95723412e-01 9.04172495e-01 -1.60857330e-01 3.01902770e+02] [ 3.93728134e-01 -8.79236457e-03 9.19184884e-01 1.23744075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.13, Y:301.90, Z:123.77 [[ 8.30184538e-01 -4.16787509e-01 -3.70245601e-01 4.17127338e+02] [ 3.92969364e-01 9.08575736e-01 -1.41651726e-01 3.01898201e+02] [ 3.95434840e-01 -2.78981059e-02 9.18070250e-01 1.23768529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:417.15, Y:301.93, Z:123.76 [[ 8.30650872e-01 -4.31743124e-01 -3.51592099e-01 4.17147536e+02] [ 3.94979299e-01 9.01976460e-01 -1.74441450e-01 3.01931601e+02] [ 3.92441693e-01 6.02834192e-03 9.19757129e-01 1.23760223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.17, Y:301.94, Z:123.77 [[ 8.31009386e-01 -4.28314505e-01 -3.54922646e-01 4.17171114e+02] [ 3.95145103e-01 9.03625121e-01 -1.65293642e-01 3.01937437e+02] [ 3.91514684e-01 -2.88537757e-03 9.20167336e-01 1.23772828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.20, Y:301.94, Z:123.79 [[ 8.31858775e-01 -4.23966054e-01 -3.58139307e-01 4.17195015e+02] [ 3.92831383e-01 9.05643883e-01 -1.59664214e-01 3.01944465e+02] [ 3.92038880e-01 -7.87028111e-03 9.19914983e-01 1.23788255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.22, Y:301.92, Z:123.83 [[ 8.33366698e-01 -3.95191008e-01 -3.86424657e-01 4.17224913e+02] [ 3.87216475e-01 9.16325048e-01 -1.02038270e-01 3.01917490e+02] [ 3.94415199e-01 -6.45946970e-02 9.16659248e-01 1.23834851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.24, Y:302.00, Z:123.79 [[ 8.34257403e-01 -4.39834706e-01 -3.32505665e-01 4.17237223e+02] [ 3.89429842e-01 8.96940990e-01 -2.09383043e-01 3.01998134e+02] [ 3.90331889e-01 4.51917248e-02 9.19564421e-01 1.23794512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.26, Y:301.97, Z:123.84 [[ 8.33917961e-01 -4.11988903e-01 -3.67213805e-01 4.17264857e+02] [ 3.87500349e-01 9.10874870e-01 -1.41952281e-01 3.01967126e+02] [ 3.92968592e-01 -2.39189210e-02 9.19240758e-01 1.23837309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.29, Y:301.99, Z:123.84 [[ 8.34967079e-01 -4.19213808e-01 -3.56496508e-01 4.17290772e+02] [ 3.85505991e-01 9.07887535e-01 -1.64697768e-01 3.01991652e+02] [ 3.92702314e-01 8.56749728e-05 9.19665638e-01 1.23839572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.31, Y:301.99, Z:123.86 [[ 8.35600219e-01 -4.10931881e-01 -3.64564485e-01 4.17310516e+02] [ 3.84021895e-01 9.11508174e-01 -1.47241412e-01 3.01994651e+02] [ 3.92809698e-01 -1.69657882e-02 9.19463269e-01 1.23857018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.33, Y:302.01, Z:123.86 [[ 8.35964333e-01 -4.14497164e-01 -3.59660583e-01 4.17332030e+02] [ 3.82842818e-01 9.10037820e-01 -1.58941949e-01 3.02012203e+02] [ 3.93185720e-01 -4.82367021e-03 9.19446422e-01 1.23863361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.36, Y:302.02, Z:123.87 [[ 8.36224214e-01 -4.14107096e-01 -3.59505740e-01 4.17355291e+02] [ 3.82411323e-01 9.10216762e-01 -1.58956050e-01 3.02023415e+02] [ 3.93052979e-01 -4.55616743e-03 9.19504539e-01 1.23874186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.38, Y:302.03, Z:123.88 [[ 8.36732211e-01 -4.12942705e-01 -3.59663077e-01 4.17377266e+02] [ 3.81024924e-01 9.10749067e-01 -1.59236129e-01 3.02034881e+02] [ 3.93318210e-01 -3.80259795e-03 9.19394543e-01 1.23884725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.40, Y:302.04, Z:123.89 [[ 8.37611282e-01 -4.10526482e-01 -3.60382225e-01 4.17402785e+02] [ 3.78094365e-01 9.11845805e-01 -1.59943361e-01 3.02043893e+02] [ 3.94274005e-01 -2.28812501e-03 9.18990084e-01 1.23894343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.42, Y:302.05, Z:123.91 [[ 8.37377366e-01 -4.10016920e-01 -3.61504180e-01 4.17422326e+02] [ 3.80396109e-01 9.12031951e-01 -1.53285750e-01 3.02054429e+02] [ 3.92553113e-01 -9.15676601e-03 9.19683754e-01 1.23906700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.44, Y:302.08, Z:123.90 [[ 8.39054568e-01 -4.19681563e-01 -3.46200545e-01 4.17444900e+02] [ 3.80526272e-01 9.07502559e-01 -1.77873162e-01 3.02081353e+02] [ 3.88827967e-01 1.75068861e-02 9.21144028e-01 1.23901826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.47, Y:302.09, Z:123.92 [[ 8.36518942e-01 -4.19744088e-01 -3.52208688e-01 4.17474013e+02] [ 3.81440603e-01 9.07555424e-01 -1.75630914e-01 3.02091486e+02] [ 3.93368943e-01 1.25718920e-02 9.19294742e-01 1.23918613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.50, Y:302.09, Z:123.94 [[ 8.36287091e-01 -4.11678998e-01 -3.62138515e-01 4.17497862e+02] [ 3.82648382e-01 9.11259716e-01 -1.52269319e-01 3.02088079e+02] [ 3.92688321e-01 -1.12308509e-02 9.19603040e-01 1.23936617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.52, Y:302.10, Z:123.95 [[ 8.35399287e-01 -4.16497914e-01 -3.58660730e-01 4.17521771e+02] [ 3.85626028e-01 9.09111777e-01 -1.57506648e-01 3.02103469e+02] [ 3.91663884e-01 -6.72797119e-03 9.20083766e-01 1.23945500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.54, Y:302.12, Z:123.95 [[ 8.32300653e-01 -4.23803952e-01 -3.57303559e-01 4.17543895e+02] [ 3.88450116e-01 9.05751130e-01 -1.69473888e-01 3.02121036e+02] [ 3.95451806e-01 2.25861838e-03 9.18483951e-01 1.23953987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.57, Y:302.12, Z:123.97 [[ 8.31272757e-01 -4.20878752e-01 -3.63106981e-01 4.17567446e+02] [ 3.91059580e-01 9.07034182e-01 -1.56081381e-01 3.02124569e+02] [ 3.95041780e-01 -1.22502633e-02 9.18581473e-01 1.23969482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.59, Y:302.12, Z:123.99 [[ 8.31771075e-01 -4.13850728e-01 -3.69978992e-01 4.17593439e+02] [ 3.91576090e-01 9.09830462e-01 -1.37392487e-01 3.02123709e+02] [ 3.93478138e-01 -3.05958309e-02 9.18824711e-01 1.23990107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.61, Y:302.15, Z:123.99 [[ 8.30874042e-01 -4.25174591e-01 -3.58991496e-01 4.17611982e+02] [ 3.93537446e-01 9.05080992e-01 -1.61110758e-01 3.02148992e+02] [ 3.93416580e-01 -7.41385031e-03 9.19330425e-01 1.23988214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.632755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:417.64, Y:302.17, Z:124.00 [[ 8.27110509e-01 -4.33727150e-01 -3.57447851e-01 4.17636442e+02] [ 3.98849046e-01 9.01042812e-01 -1.70415052e-01 3.02167349e+02] [ 3.95989451e-01 -1.61565377e-03 9.18253638e-01 1.23998405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.66, Y:302.17, Z:124.01 [[ 8.27175680e-01 -4.30313426e-01 -3.61401094e-01 4.17664796e+02] [ 4.00609626e-01 9.02566397e-01 -1.57752424e-01 3.02174064e+02] [ 3.94071469e-01 -1.42917886e-02 9.18968673e-01 1.24012664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.69, Y:302.19, Z:124.03 [[ 8.24451567e-01 -4.34142949e-01 -3.63042028e-01 4.17687579e+02] [ 4.05210450e-01 9.00668218e-01 -1.56847863e-01 3.02185771e+02] [ 3.95074810e-01 -1.77949567e-02 9.18476583e-01 1.24026089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.71, Y:302.20, Z:124.03 [[ 8.24905240e-01 -4.35515357e-01 -3.60357764e-01 4.17709311e+02] [ 4.07294231e-01 8.99988562e-01 -1.55344772e-01 3.02197092e+02] [ 3.91972900e-01 -1.86269217e-02 9.19788173e-01 1.24034325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.752755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:417.73, Y:302.21, Z:124.04 [[ 8.24682864e-01 -4.37741822e-01 -3.58162353e-01 4.17732231e+02] [ 4.08868296e-01 8.98944403e-01 -1.57244008e-01 3.02210566e+02] [ 3.90800321e-01 -1.67647920e-02 9.20322797e-01 1.24041957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.75, Y:302.23, Z:124.05 [[ 8.24398745e-01 -4.41881236e-01 -3.53705643e-01 4.17753235e+02] [ 4.07606661e-01 8.97066836e-01 -1.70668984e-01 3.02229393e+02] [ 3.92713023e-01 -3.47348006e-03 9.19654509e-01 1.24046867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.78, Y:302.25, Z:124.06 [[ 8.20788377e-01 -4.50149976e-01 -3.51669502e-01 4.17776355e+02] [ 4.08361680e-01 8.92869931e-01 -1.89799962e-01 3.02254355e+02] [ 3.99433572e-01 1.21772540e-02 9.16681262e-01 1.24055439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.80, Y:302.24, Z:124.08 [[ 8.23006548e-01 -4.32200352e-01 -3.68596089e-01 4.17804208e+02] [ 4.08097763e-01 9.01257684e-01 -1.45570609e-01 3.02240277e+02] [ 3.95115726e-01 -3.06176750e-02 9.18120973e-01 1.24079906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.83, Y:302.26, Z:124.09 [[ 8.22531245e-01 -4.38867072e-01 -3.61715418e-01 4.17826468e+02] [ 4.07976381e-01 8.98442369e-01 -1.62347107e-01 3.02260789e+02] [ 3.96229257e-01 -1.40357795e-02 9.18044320e-01 1.24086032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.85, Y:302.28, Z:124.09 [[ 8.22611123e-01 -4.40459847e-01 -3.59591524e-01 4.17849703e+02] [ 4.06475158e-01 8.97748763e-01 -1.69779577e-01 3.02276259e+02] [ 3.97603932e-01 -6.50245324e-03 9.17534104e-01 1.24094572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.88, Y:302.26, Z:124.13 [[ 8.23307500e-01 -4.20176406e-01 -3.81597365e-01 4.17875309e+02] [ 4.03284011e-01 9.06129070e-01 -1.27640570e-01 3.02259138e+02] [ 3.99408021e-01 -4.88046776e-02 9.15473285e-01 1.24132387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.90, Y:302.29, Z:124.13 [[ 8.23868890e-01 -4.32795857e-01 -3.65961471e-01 4.17897209e+02] [ 3.98590534e-01 9.01466144e-01 -1.68773155e-01 3.02291365e+02] [ 4.02946198e-01 -6.82182624e-03 9.15198243e-01 1.24129432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.92, Y:302.31, Z:124.13 [[ 8.24381504e-01 -4.37162668e-01 -3.59560757e-01 4.17920634e+02] [ 4.01513115e-01 8.99380624e-01 -1.72921117e-01 3.02309432e+02] [ 3.98976635e-01 -1.81538918e-03 9.16959295e-01 1.24134579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.95, Y:302.32, Z:124.14 [[ 8.28388158e-01 -4.31466992e-01 -3.57224431e-01 4.17947973e+02] [ 3.99121640e-01 9.02103962e-01 -1.64043771e-01 3.02318565e+02] [ 3.93033047e-01 -6.68408379e-03 9.19500053e-01 1.24139087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.97, Y:302.32, Z:124.17 [[ 8.25123095e-01 -4.27208116e-01 -3.69682437e-01 4.17965238e+02] [ 3.98724373e-01 9.03936628e-01 -1.54652667e-01 3.02320038e+02] [ 4.00238370e-01 -1.97939111e-02 9.16197276e-01 1.24166978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:417.99, Y:302.35, Z:124.16 [[ 8.27236409e-01 -4.40294402e-01 -3.49028314e-01 4.17987016e+02] [ 3.98591177e-01 8.97707563e-01 -1.87739726e-01 3.02353647e+02] [ 3.95986108e-01 1.61855301e-02 9.18113844e-01 1.24157633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.01, Y:302.35, Z:124.18 [[ 8.28326559e-01 -4.29230804e-01 -3.60050037e-01 4.18011953e+02] [ 3.97827761e-01 9.03144735e-01 -1.61439339e-01 3.02347238e+02] [ 3.94472033e-01 -9.51340810e-03 9.18858700e-01 1.24176570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.04, Y:302.35, Z:124.20 [[ 8.26838414e-01 -4.23071584e-01 -3.70605818e-01 4.18036620e+02] [ 3.97284439e-01 9.05746167e-01 -1.47610824e-01 3.02348310e+02] [ 3.98124745e-01 -2.51856247e-02 9.16985481e-01 1.24202038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.06, Y:302.36, Z:124.21 [[ 8.28804791e-01 -4.23473251e-01 -3.65722606e-01 4.18059292e+02] [ 3.97032108e-01 9.05646334e-01 -1.48896687e-01 3.02360679e+02] [ 3.94269101e-01 -2.17973299e-02 9.18736498e-01 1.24209779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.08, Y:302.39, Z:124.21 [[ 8.26855600e-01 -4.36286098e-01 -3.54914436e-01 4.18080529e+02] [ 3.95972777e-01 8.99738279e-01 -1.83511822e-01 3.02392030e+02] [ 3.99393761e-01 1.12013233e-02 9.16711053e-01 1.24210503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.11, Y:302.41, Z:124.21 [[ 8.30195178e-01 -4.35720580e-01 -3.47740627e-01 4.18108747e+02] [ 3.97108130e-01 9.00013936e-01 -1.79666493e-01 3.02405522e+02] [ 3.91255798e-01 1.10676257e-02 9.20215414e-01 1.24209516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.13, Y:302.38, Z:124.25 [[ 8.30089009e-01 -4.12998971e-01 -3.74678645e-01 4.18134763e+02] [ 3.96126822e-01 9.09638523e-01 -1.25065179e-01 3.02380853e+02] [ 3.92473920e-01 -4.46050301e-02 9.18680910e-01 1.24248637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.16, Y:302.41, Z:124.25 [[ 8.29648817e-01 -4.28241683e-01 -3.58178588e-01 4.18155142e+02] [ 3.96360025e-01 9.03634666e-01 -1.62305639e-01 3.02412815e+02] [ 3.93168629e-01 -7.31099302e-03 9.19437316e-01 1.24246470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.18, Y:302.45, Z:124.23 [[ 8.31127449e-01 -4.46549847e-01 -3.31391609e-01 4.18179908e+02] [ 3.99395954e-01 8.94019300e-01 -2.03008284e-01 3.02453977e+02] [ 3.86923812e-01 3.63692899e-02 9.21394182e-01 1.24231353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.21, Y:302.41, Z:124.28 [[ 8.29547740e-01 -4.12017376e-01 -3.76951230e-01 4.18207964e+02] [ 3.97765421e-01 9.09735653e-01 -1.19011394e-01 3.02410394e+02] [ 3.91960735e-01 -5.12125318e-02 9.18555419e-01 1.24281924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.23, Y:302.45, Z:124.28 [[ 8.28797144e-01 -4.30478846e-01 -3.57467841e-01 4.18227629e+02] [ 3.98775792e-01 9.02565182e-01 -1.62339027e-01 3.02446148e+02] [ 3.92521544e-01 -8.00339929e-03 9.19707988e-01 1.24277562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.25, Y:302.49, Z:124.26 [[ 8.28841216e-01 -4.49081655e-01 -3.33688338e-01 4.18254585e+02] [ 4.02623843e-01 8.92890726e-01 -2.01594127e-01 3.02485427e+02] [ 3.88479446e-01 3.27386402e-02 9.20875617e-01 1.24264642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.29, Y:302.46, Z:124.29 [[ 8.30188857e-01 -4.26873179e-01 -3.58560665e-01 4.18287618e+02] [ 4.00445128e-01 9.04096065e-01 -1.49177764e-01 3.02463558e+02] [ 3.87853273e-01 -1.97381541e-02 9.21509764e-01 1.24291198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.31, Y:302.48, Z:124.30 [[ 8.28156068e-01 -4.37400504e-01 -3.50482990e-01 4.18306065e+02] [ 4.03880134e-01 8.99263428e-01 -1.67946788e-01 3.02484966e+02] [ 3.88636545e-01 -2.46696533e-03 9.21387839e-01 1.24300011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.33, Y:302.47, Z:124.33 [[ 8.28262637e-01 -4.19592375e-01 -3.71380187e-01 4.18329223e+02] [ 4.04003116e-01 9.06438042e-01 -1.23091662e-01 3.02465897e+02] [ 3.88281452e-01 -4.80865285e-02 9.20285390e-01 1.24332541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.35, Y:302.51, Z:124.32 [[ 8.27079524e-01 -4.45157773e-01 -3.43182195e-01 4.18350952e+02] [ 4.05938839e-01 8.95370009e-01 -1.83101625e-01 3.02514393e+02] [ 3.88784157e-01 1.21286231e-02 9.21249030e-01 1.24317528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.38, Y:302.52, Z:124.34 [[ 8.26431728e-01 -4.39954203e-01 -3.51355799e-01 4.18379102e+02] [ 4.06826144e-01 8.98009066e-01 -1.67547624e-01 3.02516256e+02] [ 3.89233975e-01 -4.47405250e-03 9.21128056e-01 1.24335601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.40, Y:302.52, Z:124.35 [[ 8.26252821e-01 -4.34806759e-01 -3.58119195e-01 4.18403037e+02] [ 4.06660752e-01 9.00350932e-01 -1.54903948e-01 3.02518418e+02] [ 3.89786234e-01 -1.76431970e-02 9.20736341e-01 1.24351845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.42, Y:302.51, Z:124.38 [[ 8.27137633e-01 -4.23739525e-01 -3.69172251e-01 4.18422996e+02] [ 4.05421231e-01 9.04810757e-01 -1.30196467e-01 3.02512166e+02] [ 3.89200413e-01 -4.19798709e-02 9.20196027e-01 1.24376792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.44, Y:302.54, Z:124.38 [[ 8.28000810e-01 -4.34519429e-01 -3.54411519e-01 4.18442944e+02] [ 4.03255563e-01 9.00620240e-01 -1.62074472e-01 3.02541174e+02] [ 3.89614694e-01 -8.72062313e-03 9.20936665e-01 1.24375668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.47, Y:302.57, Z:124.37 [[ 8.28470195e-01 -4.42118082e-01 -3.43756800e-01 4.18468636e+02] [ 4.03371092e-01 8.96881881e-01 -1.81368832e-01 3.02566504e+02] [ 3.88495685e-01 1.15971158e-02 9.21377561e-01 1.24373762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.49, Y:302.55, Z:124.40 [[ 8.30361379e-01 -4.21720688e-01 -3.64213730e-01 4.18491973e+02] [ 3.98585408e-01 9.06281625e-01 -1.40653076e-01 3.02550103e+02] [ 3.89396523e-01 -2.83773961e-02 9.20632973e-01 1.24404029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.52, Y:302.58, Z:124.40 [[ 8.30745293e-01 -4.35428084e-01 -3.46791930e-01 4.18515366e+02] [ 3.98441358e-01 9.00189163e-01 -1.75795207e-01 3.02583679e+02] [ 3.88724507e-01 7.86479291e-03 9.21320467e-01 1.24397735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.54, Y:302.57, Z:124.42 [[ 8.31467826e-01 -4.21781282e-01 -3.61610018e-01 4.18538631e+02] [ 3.95835153e-01 9.06458875e-01 -1.47128647e-01 3.02574660e+02] [ 3.89840719e-01 -2.08052210e-02 9.20647249e-01 1.24423688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.56, Y:302.59, Z:124.43 [[ 8.31835233e-01 -4.26941118e-01 -3.54642674e-01 4.18560849e+02] [ 3.94759037e-01 9.04267354e-01 -1.62683298e-01 3.02594173e+02] [ 3.90147982e-01 -4.67270182e-03 9.20740310e-01 1.24429276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.59, Y:302.61, Z:124.43 [[ 8.33033209e-01 -4.28666699e-01 -3.49714934e-01 4.18587724e+02] [ 3.92710512e-01 9.03443393e-01 -1.71954909e-01 3.02610957e+02] [ 3.89658989e-01 5.90741905e-03 9.20940267e-01 1.24434065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.61, Y:302.62, Z:124.45 [[ 8.32118751e-01 -4.25754434e-01 -3.55403357e-01 4.18613213e+02] [ 3.91698109e-01 9.04838674e-01 -1.66851930e-01 3.02616365e+02] [ 3.92620651e-01 -3.70203442e-04 9.19700434e-01 1.24448454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.64, Y:302.62, Z:124.47 [[ 8.33159189e-01 -4.18130469e-01 -3.61956733e-01 4.18639767e+02] [ 3.91150191e-01 9.08216518e-01 -1.48809560e-01 3.02615773e+02] [ 3.90956895e-01 -1.75973927e-02 9.20240750e-01 1.24466667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9227550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:418.66, Y:302.63, Z:124.47 [[ 8.32995763e-01 -4.22187938e-01 -3.57596705e-01 4.18661918e+02] [ 3.91257716e-01 9.06476210e-01 -1.58802644e-01 3.02630785e+02] [ 3.91197467e-01 -7.63054104e-03 9.20275131e-01 1.24474633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.952755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:418.68, Y:302.64, Z:124.49 [[ 8.32950872e-01 -4.22427473e-01 -3.57418348e-01 4.18681313e+02] [ 3.92346431e-01 9.06346042e-01 -1.56847477e-01 3.02639151e+02] [ 3.90201388e-01 -9.58557071e-03 9.20679637e-01 1.24485807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.70, Y:302.65, Z:124.49 [[ 8.32423139e-01 -4.26339118e-01 -3.53986828e-01 4.18704271e+02] [ 3.93802701e-01 9.04557046e-01 -1.63389053e-01 3.02651196e+02] [ 3.89860424e-01 -3.39214106e-03 9.20867712e-01 1.24494370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.73, Y:302.66, Z:124.50 [[ 8.32081796e-01 -4.27085815e-01 -3.53889238e-01 4.18727075e+02] [ 3.94597470e-01 9.04203694e-01 -1.63427406e-01 3.02660410e+02] [ 3.89785483e-01 -3.65882818e-03 9.20898415e-01 1.24504633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0427550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:418.75, Y:302.67, Z:124.52 [[ 8.30921738e-01 -4.28971091e-01 -3.54334403e-01 4.18751398e+02] [ 3.96519446e-01 9.03307249e-01 -1.63732532e-01 3.02669266e+02] [ 3.90309357e-01 -4.45156121e-03 9.20673009e-01 1.24515845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.072755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.78, Y:302.68, Z:124.53 [[ 8.30577902e-01 -4.29699755e-01 -3.54257632e-01 4.18775705e+02] [ 3.97264272e-01 9.02959858e-01 -1.63843199e-01 3.02679527e+02] [ 3.90283804e-01 -4.64935958e-03 9.20682864e-01 1.24526705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:418.80, Y:302.69, Z:124.54 [[ 8.30183825e-01 -4.30339710e-01 -3.54404502e-01 4.18798190e+02] [ 3.97867661e-01 9.02654230e-01 -1.64062993e-01 3.02689432e+02] [ 3.90507544e-01 -4.80364716e-03 9.20587195e-01 1.24536817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:418.82, Y:302.70, Z:124.55 [[ 8.29365469e-01 -4.31661370e-01 -3.54713095e-01 4.18822901e+02] [ 3.99211096e-01 9.02019864e-01 -1.64288361e-01 3.02698619e+02] [ 3.90875197e-01 -5.35030982e-03 9.20428137e-01 1.24547378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1627550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:418.85, Y:302.71, Z:124.56 [[ 8.28687447e-01 -4.32719562e-01 -3.55008304e-01 4.18845817e+02] [ 4.00243103e-01 9.01510497e-01 -1.64573031e-01 3.02708051e+02] [ 3.91257683e-01 -5.71002050e-03 9.20263452e-01 1.24558205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.192755096 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:418.87, Y:302.72, Z:124.57 [[ 8.27854426e-01 -4.34144271e-01 -3.55212333e-01 4.18870156e+02] [ 4.01720059e-01 9.00821269e-01 -1.64748402e-01 3.02717043e+02] [ 3.91507400e-01 -6.30822582e-03 9.20153336e-01 1.24569066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.222755096 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:418.89, Y:302.71, Z:124.60 [[ 8.25545295e-01 -4.23204316e-01 -3.73327031e-01 4.18894811e+02] [ 4.01395397e-01 9.05344019e-01 -1.38686489e-01 3.02708789e+02] [ 3.96682116e-01 -3.53597733e-02 9.17274760e-01 1.24598890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.252755096 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:418.92, Y:302.73, Z:124.60 [[ 8.24712736e-01 -4.32614420e-01 -3.64271419e-01 4.18915980e+02] [ 4.03340464e-01 9.01416101e-01 -1.57370528e-01 3.02729315e+02] [ 3.96440882e-01 -1.71399240e-02 9.17900240e-01 1.24603061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2827550960001 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:418.94, Y:302.77, Z:124.59 [[ 8.26296464e-01 -4.51511935e-01 -3.36706291e-01 4.18938507e+02] [ 4.05839654e-01 8.91808083e-01 -1.99931286e-01 3.02769129e+02] [ 3.90548753e-01 2.85537496e-02 9.20139313e-01 1.24587591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.312755096 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:418.96, Y:302.75, Z:124.61 [[ 8.28081098e-01 -4.32787250e-01 -3.56338170e-01 4.18962147e+02] [ 4.03826464e-01 9.01380298e-01 -1.56325768e-01 3.02748987e+02] [ 3.88852005e-01 -1.44483700e-02 9.21186931e-01 1.24610993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.342755096 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:418.99, Y:302.78, Z:124.62 [[ 8.25533494e-01 -4.45284671e-01 -3.46721807e-01 4.18987712e+02] [ 4.07294946e-01 8.95357798e-01 -1.80125626e-01 3.02777293e+02] [ 3.90647254e-01 7.48169793e-03 9.20510047e-01 1.24617298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.372755096 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:419.01, Y:302.78, Z:124.63 [[ 8.25151409e-01 -4.39384452e-01 -3.55058382e-01 4.19012472e+02] [ 4.07164416e-01 8.98262369e-01 -1.65353728e-01 3.02778320e+02] [ 3.91589440e-01 -8.12527742e-03 9.20104174e-01 1.24633990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4027550960001 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:419.04, Y:302.79, Z:124.64 [[ 8.25147281e-01 -4.39033752e-01 -3.55501519e-01 4.19035092e+02] [ 4.06635621e-01 8.98436489e-01 -1.65708619e-01 3.02789067e+02] [ 3.92147213e-01 -7.82556429e-03 9.19869188e-01 1.24644762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.432755096 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:419.06, Y:302.80, Z:124.66 [[ 8.25894041e-01 -4.37194570e-01 -3.56033624e-01 4.19058127e+02] [ 4.04488907e-01 8.99340739e-01 -1.66057098e-01 3.02799546e+02] [ 3.92794805e-01 -6.86608340e-03 9.19600510e-01 1.24656234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.462755096 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:419.08, Y:302.81, Z:124.67 [[ 8.26261772e-01 -4.36409199e-01 -3.56143924e-01 4.19081080e+02] [ 4.03548623e-01 8.99725907e-01 -1.66258238e-01 3.02810300e+02] [ 3.92988540e-01 -6.34856371e-03 9.19521454e-01 1.24666444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.492755096 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:419.10, Y:302.82, Z:124.68 [[ 8.26688067e-01 -4.35411524e-01 -3.56375707e-01 4.19103918e+02] [ 4.02382155e-01 9.00212861e-01 -1.66449413e-01 3.02821373e+02] [ 3.93287987e-01 -5.79748118e-03 9.19397057e-01 1.24678828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.522755096 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:419.13, Y:302.83, Z:124.69 [[ 8.27949924e-01 -4.32961451e-01 -3.56431348e-01 4.19125562e+02] [ 3.99639997e-01 9.01401266e-01 -1.66624219e-01 3.02831589e+02] [ 3.93429532e-01 -4.48771355e-03 9.19343823e-01 1.24690759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.552755096 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:419.15, Y:302.84, Z:124.70 [[ 8.28675824e-01 -4.31697504e-01 -3.56277482e-01 4.19148478e+02] [ 3.98259082e-01 9.02010414e-01 -1.66634080e-01 3.02842343e+02] [ 3.93301516e-01 -3.80510941e-03 9.19401674e-01 1.24702118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.582755096 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:419.16, Y:302.85, Z:124.72 [[ 8.27975439e-01 -4.26644900e-01 -3.63910432e-01 4.19164383e+02] [ 3.97902587e-01 9.04266895e-01 -1.54838348e-01 3.02846902e+02] [ 3.95133147e-01 -1.65985531e-02 9.18473889e-01 1.24719415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.612755096 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:419.19, Y:302.87, Z:124.72 [[ 8.29236200e-01 -4.33800822e-01 -3.52397747e-01 4.19186814e+02] [ 3.94611843e-01 9.00946324e-01 -1.80491591e-01 3.02873662e+02] [ 3.95788855e-01 1.06098369e-02 9.18280248e-01 1.24720811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.642755096 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:419.21, Y:302.88, Z:124.73 [[ 8.30137898e-01 -4.30461124e-01 -3.54364630e-01 4.19210727e+02] [ 3.92869823e-01 9.02582457e-01 -1.76063085e-01 3.02882367e+02] [ 3.95631612e-01 6.93746956e-03 9.18383090e-01 1.24733075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6727550960001 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:419.24, Y:302.89, Z:124.74 [[ 8.31780997e-01 -4.28926922e-01 -3.52366384e-01 4.19239916e+02] [ 3.89206601e-01 9.03242720e-01 -1.80750686e-01 3.02894358e+02] [ 3.95801207e-01 1.32016633e-02 9.18241320e-01 1.24742630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.702755096 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:419.27, Y:302.87, Z:124.78 [[ 8.31168341e-01 -4.06531064e-01 -3.79330572e-01 4.19267331e+02] [ 3.85173589e-01 9.12991913e-01 -1.34488186e-01 3.02874759e+02] [ 4.00999370e-01 -3.43257954e-02 9.15435003e-01 1.24781810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.732755096 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:419.29, Y:302.89, Z:124.78 [[ 8.33944258e-01 -4.11266393e-01 -3.67963218e-01 4.19287506e+02] [ 3.81983398e-01 9.11422582e-01 -1.52962615e-01 3.02894979e+02] [ 3.98278369e-01 -1.29935455e-02 9.17172562e-01 1.24784491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.762755096 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:419.31, Y:302.93, Z:124.78 [[ 8.34993835e-01 -4.22602509e-01 -3.52409443e-01 4.19308022e+02] [ 3.81745322e-01 9.06145262e-01 -1.82129828e-01 3.02925637e+02] [ 3.96302669e-01 1.75466273e-02 9.17952238e-01 1.24780410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7927550960001 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:419.33, Y:302.94, Z:124.78 [[ 8.34626872e-01 -4.27006149e-01 -3.47942142e-01 4.19325645e+02] [ 3.84923905e-01 9.03996081e-01 -1.86077060e-01 3.02941753e+02] [ 3.93994382e-01 2.13736665e-02 9.18864296e-01 1.24784316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.822755096 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:419.35, Y:302.95, Z:124.80 [[ 8.34754596e-01 -4.22400187e-01 -3.53217846e-01 4.19350607e+02] [ 3.84849742e-01 9.06358383e-01 -1.74370747e-01 3.02945797e+02] [ 3.93796192e-01 9.62098577e-03 9.19147429e-01 1.24799372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.852755096 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:419.38, Y:302.95, Z:124.82 [[ 8.34602527e-01 -4.12865994e-01 -3.64664631e-01 4.19381275e+02] [ 3.81512863e-01 9.10762768e-01 -1.57984545e-01 3.02945161e+02] [ 3.97349415e-01 -7.26994717e-03 9.17638595e-01 1.24823335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.882755096 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:419.41, Y:302.97, Z:124.83 [[ 8.31942332e-01 -4.22532151e-01 -3.59636675e-01 4.19407668e+02] [ 3.85101664e-01 9.06326422e-01 -1.73980243e-01 3.02967627e+02] [ 3.99460467e-01 6.24484709e-03 9.16729151e-01 1.24831131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9127550960001 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:419.43, Y:302.96, Z:124.85 [[ 8.33870177e-01 -4.12363109e-01 -3.66902158e-01 4.19429510e+02] [ 3.84246117e-01 9.10887460e-01 -1.50462476e-01 3.02963913e+02] [ 3.96251749e-01 -1.55145581e-02 9.18010811e-01 1.24847611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.942755096 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:419.45, Y:303.01, Z:124.84 [[ 8.29703390e-01 -4.38922393e-01 -3.44875945e-01 4.19447244e+02] [ 3.88752965e-01 8.97725296e-01 -2.07268970e-01 3.03007167e+02] [ 4.00578852e-01 3.79002208e-02 9.15478103e-01 1.24840061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.972755096 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:419.47, Y:303.00, Z:124.87 [[ 8.28165451e-01 -4.26386961e-01 -3.63780353e-01 4.19474699e+02] [ 3.90659714e-01 9.04540644e-01 -1.70854356e-01 3.02995885e+02] [ 4.01904185e-01 -6.18654071e-04 9.15681519e-01 1.24865226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.002755096 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:419.50, Y:303.01, Z:124.87 [[ 8.27622623e-01 -4.28136032e-01 -3.62960510e-01 4.19497566e+02] [ 3.92667100e-01 9.03713359e-01 -1.70630343e-01 3.03006355e+02] [ 4.01065259e-01 -1.30511861e-03 9.16048555e-01 1.24874865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0327550960001 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:419.52, Y:303.02, Z:124.88 [[ 8.24985972e-01 -4.36472809e-01 -3.59012022e-01 4.19518540e+02] [ 4.02518205e-01 8.99702425e-01 -1.68862790e-01 3.03024437e+02] [ 3.96708003e-01 -5.19944141e-03 9.17930131e-01 1.24881073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.062755096 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:419.54, Y:303.03, Z:124.90 [[ 8.24477642e-01 -4.33146901e-01 -3.64170812e-01 4.19542536e+02] [ 3.97816467e-01 9.01316253e-01 -1.71379905e-01 3.03027240e+02] [ 4.02465746e-01 -3.57424586e-03 9.15428068e-01 1.24897987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.092755096 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:419.56, Y:303.05, Z:124.90 [[ 8.22111044e-01 -4.40580750e-01 -3.60585681e-01 4.19560997e+02] [ 4.07179015e-01 8.97674493e-01 -1.68480724e-01 3.03045357e+02] [ 3.97917933e-01 -8.31305835e-03 9.17383351e-01 1.24902539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.122755096 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:419.59, Y:303.06, Z:124.91 [[ 8.19854766e-01 -4.46505715e-01 -3.58428248e-01 4.19586186e+02] [ 4.10768751e-01 8.94773140e-01 -1.75071588e-01 3.03062315e+02] [ 3.98882433e-01 -3.69784837e-03 9.16994619e-01 1.24913241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1527550960001 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:419.61, Y:303.07, Z:124.93 [[ 8.18582581e-01 -4.46625408e-01 -3.61176278e-01 4.19609708e+02] [ 4.13035694e-01 8.94666880e-01 -1.70213659e-01 3.03071790e+02] [ 3.99154199e-01 -9.84475819e-03 9.16830958e-01 1.24926655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.182755096 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:419.65, Y:303.05, Z:124.96 [[ 8.18428229e-01 -4.27330129e-01 -3.84140853e-01 4.19645035e+02] [ 4.08772841e-01 9.02829842e-01 -1.33428037e-01 3.03054681e+02] [ 4.03831646e-01 -4.78250756e-02 9.13582379e-01 1.24963769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.212755096 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:419.67, Y:303.08, Z:124.97 [[ 8.16836302e-01 -4.39489044e-01 -3.73668082e-01 4.19671573e+02] [ 4.12797109e-01 8.97785543e-01 -1.53556722e-01 3.03080686e+02] [ 4.02960299e-01 -2.88183991e-02 9.14763629e-01 1.24969302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.242755096 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:419.69, Y:303.08, Z:124.98 [[ 8.18764330e-01 -4.33474617e-01 -3.76463451e-01 4.19689536e+02] [ 4.09642089e-01 9.00496583e-01 -1.45942669e-01 3.03084580e+02] [ 4.02266493e-01 -3.47226229e-02 9.14863929e-01 1.24979668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.272755096 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:419.71, Y:303.13, Z:124.97 [[ 8.14630410e-01 -4.63288435e-01 -3.48914202e-01 4.19709141e+02] [ 4.19145548e-01 8.86080637e-01 -1.97934624e-01 3.03134168e+02] [ 4.00866941e-01 1.49977298e-02 9.16013517e-01 1.24967802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.302755096 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:419.74, Y:303.11, Z:125.00 [[ 8.15310473e-01 -4.38149899e-01 -3.78541277e-01 4.19735566e+02] [ 4.16027566e-01 8.97983789e-01 -1.43339386e-01 3.03110082e+02] [ 4.02728067e-01 -4.06175036e-02 9.14418024e-01 1.25002026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.332755096 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:419.76, Y:303.14, Z:125.00 [[ 8.14488736e-01 -4.53404498e-01 -3.61984060e-01 4.19758871e+02] [ 4.20584900e-01 8.91197397e-01 -1.69928050e-01 3.03142357e+02] [ 3.99645394e-01 -1.38405468e-02 9.16565327e-01 1.25002465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.362755096 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:419.78, Y:303.15, Z:125.01 [[ 8.14631343e-01 -4.53716095e-01 -3.61272030e-01 4.19780023e+02] [ 4.22037230e-01 8.90999978e-01 -1.67342807e-01 3.03154113e+02] [ 3.97819496e-01 -1.61475515e-02 9.17321593e-01 1.25011037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.392755096 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:419.79, Y:303.18, Z:125.01 [[ 8.13709881e-01 -4.63241930e-01 -3.51116995e-01 4.19789835e+02] [ 4.27152923e-01 8.86222476e-01 -1.79304498e-01 3.03177671e+02] [ 3.94229135e-01 -4.07880883e-03 9.19003130e-01 1.25008216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4227550960001 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:419.81, Y:303.18, Z:125.02 [[ 8.14554744e-01 -4.59026804e-01 -3.54675856e-01 4.19812879e+02] [ 4.26590828e-01 8.88329501e-01 -1.69973420e-01 3.03183922e+02] [ 3.93091382e-01 -1.28488112e-02 9.19409633e-01 1.25022330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.452755096 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:419.85, Y:303.16, Z:125.07 [[ 8.15911669e-01 -4.32645288e-01 -3.83544266e-01 4.19851738e+02] [ 4.18898551e-01 8.99578662e-01 -1.23621334e-01 3.03161985e+02] [ 3.98512425e-01 -5.98020482e-02 9.15211212e-01 1.25066491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.482755096 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:419.87, Y:303.20, Z:125.06 [[ 8.16592452e-01 -4.49978117e-01 -3.61519655e-01 4.19869949e+02] [ 4.17162702e-01 8.92949628e-01 -1.69163357e-01 3.03203025e+02] [ 3.98938651e-01 -1.26749953e-02 9.16890014e-01 1.25057262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.512755096 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:419.88, Y:303.23, Z:125.05 [[ 8.15842481e-01 -4.63701012e-01 -3.45517607e-01 4.19878486e+02] [ 4.22322697e-01 8.85929187e-01 -1.91762915e-01 3.03234170e+02] [ 3.95024790e-01 1.05284047e-02 9.18610128e-01 1.25047509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5427550960001 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:419.90, Y:303.23, Z:125.07 [[ 8.16994014e-01 -4.54336414e-01 -3.55104498e-01 4.19903467e+02] [ 4.21154365e-01 8.90773371e-01 -1.70738990e-01 3.03233669e+02] [ 3.93890571e-01 -1.00610769e-02 9.19102275e-01 1.25065162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.572755096 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:419.93, Y:303.25, Z:125.08 [[ 8.17307516e-01 -4.53604031e-01 -3.55319304e-01 4.19926500e+02] [ 4.20270319e-01 8.91151454e-01 -1.70944276e-01 3.03246168e+02] [ 3.94184327e-01 -9.61611501e-03 9.18981092e-01 1.25076351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.602755096 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:419.96, Y:303.26, Z:125.08 [[ 8.19602273e-01 -4.53916495e-01 -3.49588228e-01 4.19956616e+02] [ 4.16755771e-01 8.91042530e-01 -1.79882845e-01 3.03263670e+02] [ 3.93149770e-01 1.73947700e-03 9.19472802e-01 1.25082362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.632755096 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:419.98, Y:303.27, Z:125.10 [[ 8.19855556e-01 -4.47703872e-01 -3.56928719e-01 4.19983017e+02] [ 4.16683617e-01 8.94072477e-01 -1.64344666e-01 3.03266901e+02] [ 3.92697887e-01 -1.39874621e-02 9.19561156e-01 1.25099008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6627550960001 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:420.01, Y:303.28, Z:125.11 [[ 8.19821839e-01 -4.46293321e-01 -3.58767926e-01 4.20005127e+02] [ 4.16358582e-01 8.94727016e-01 -1.61583098e-01 3.03276231e+02] [ 3.93112813e-01 -1.69067529e-02 9.19334802e-01 1.25110965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.692755096 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:420.02, Y:303.29, Z:125.12 [[ 8.19101378e-01 -4.45241801e-01 -3.61707991e-01 4.20018773e+02] [ 4.17793327e-01 8.95099875e-01 -1.55707897e-01 3.03286226e+02] [ 3.93092442e-01 -2.35786316e-02 9.19196595e-01 1.25124143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.722755096 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:420.05, Y:303.30, Z:125.13 [[ 8.20530792e-01 -4.47061336e-01 -3.56181668e-01 4.20051004e+02] [ 4.14502822e-01 8.94447758e-01 -1.67781461e-01 3.03303062e+02] [ 3.93594499e-01 -9.96845124e-03 9.19230113e-01 1.25132555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.752755096 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:420.07, Y:303.32, Z:125.14 [[ 8.20179417e-01 -4.48955938e-01 -3.54604413e-01 4.20074866e+02] [ 4.16683554e-01 8.93493297e-01 -1.67465053e-01 3.03317848e+02] [ 3.92021097e-01 -1.04064372e-02 9.19897367e-01 1.25141345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7827550960001 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:420.09, Y:303.33, Z:125.14 [[ 8.20102697e-01 -4.53207487e-01 -3.49334425e-01 4.20093770e+02] [ 4.19027164e-01 8.91392536e-01 -1.72729796e-01 3.03334945e+02] [ 3.89676536e-01 -4.72444126e-03 9.20939671e-01 1.25143605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.812755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:420.12, Y:303.33, Z:125.16 [[ 8.21133968e-01 -4.40333480e-01 -3.63105265e-01 4.20115650e+02] [ 4.15662657e-01 8.97358882e-01 -1.48228178e-01 3.03327232e+02] [ 3.91105564e-01 -2.92141075e-02 9.19882043e-01 1.25164731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.842755096 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:420.14, Y:303.36, Z:125.16 [[ 8.21486371e-01 -4.55223029e-01 -3.43412487e-01 4.20136434e+02] [ 4.17855796e-01 8.90363754e-01 -1.80690121e-01 3.03361984e+02] [ 3.88016335e-01 4.93757294e-03 9.21639270e-01 1.25158777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.872755096 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:420.16, Y:303.38, Z:125.17 [[ 8.19068873e-01 -4.58398670e-01 -3.44959186e-01 4.20164827e+02] [ 4.21731897e-01 8.88745118e-01 -1.79650560e-01 3.03376505e+02] [ 3.88932370e-01 1.66588979e-03 9.21264803e-01 1.25171931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9027550960001 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:420.19, Y:303.36, Z:125.19 [[ 8.22534913e-01 -4.40413751e-01 -3.59822241e-01 4.20188230e+02] [ 4.18275646e-01 8.97160369e-01 -1.41946317e-01 3.03362082e+02] [ 3.85333364e-01 -3.37490786e-02 9.22160072e-01 1.25193474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.932755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:420.21, Y:303.40, Z:125.19 [[ 8.18739257e-01 -4.60225151e-01 -3.43305752e-01 4.20207786e+02] [ 4.22642775e-01 8.87792867e-01 -1.82200192e-01 3.03398161e+02] [ 3.88637508e-01 4.07875417e-03 9.21381708e-01 1.25191148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.962755096 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:420.24, Y:303.40, Z:125.21 [[ 8.17974807e-01 -4.53688078e-01 -3.53672650e-01 4.20236580e+02] [ 4.23652763e-01 8.91010039e-01 -1.63154673e-01 3.03398763e+02] [ 3.89147212e-01 -1.63779836e-02 9.21029972e-01 1.25212729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.992755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:420.26, Y:303.42, Z:125.22 [[ 8.16371663e-01 -4.59599453e-01 -3.49722248e-01 4.20256537e+02] [ 4.23497880e-01 8.88123258e-01 -1.78568266e-01 3.03418480e+02] [ 3.92666339e-01 -2.32855867e-03 9.19678054e-01 1.25218391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.022755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:420.27, Y:303.42, Z:125.24 [[ 8.15999438e-01 -4.52019173e-01 -3.60310400e-01 4.20273706e+02] [ 4.26217196e-01 8.91551329e-01 -1.53215957e-01 3.03416804e+02] [ 3.90491767e-01 -2.85463535e-02 9.20163728e-01 1.25238344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.052755096 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:420.29, Y:303.44, Z:125.24 [[ 8.16967030e-01 -4.57197783e-01 -3.51475546e-01 4.20293865e+02] [ 4.25001586e-01 8.89292261e-01 -1.68916920e-01 3.03437172e+02] [ 3.89792925e-01 -1.13781105e-02 9.20832240e-01 1.25242563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.082755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:420.33, Y:303.46, Z:125.24 [[ 8.19494966e-01 -4.60021418e-01 -3.41772287e-01 4.20325690e+02] [ 4.24447579e-01 8.87907769e-01 -1.77381079e-01 3.03456436e+02] [ 3.85061364e-01 2.98481615e-04 9.22890924e-01 1.25244982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.112755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:420.35, Y:303.46, Z:125.26 [[ 8.19261185e-01 -4.52229249e-01 -3.52561793e-01 4.20348778e+02] [ 4.21538834e-01 8.91792299e-01 -1.64351776e-01 3.03455444e+02] [ 3.88736573e-01 -1.39714565e-02 9.21243006e-01 1.25264165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.142755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:420.37, Y:303.48, Z:125.27 [[ 8.20476976e-01 -4.57681226e-01 -3.42557187e-01 4.20371658e+02] [ 4.24815730e-01 8.89097996e-01 -1.70400557e-01 3.03476746e+02] [ 3.82556045e-01 -5.71394779e-03 9.23914619e-01 1.25267102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1727550960001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:420.40, Y:303.49, Z:125.28 [[ 8.18805056e-01 -4.59722698e-01 -3.43821642e-01 4.20395712e+02] [ 4.25086256e-01 8.88058125e-01 -1.75084098e-01 3.03491206e+02] [ 3.85823737e-01 -2.79410985e-03 9.22568283e-01 1.25279043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.202755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:420.43, Y:303.49, Z:125.30 [[ 8.18445809e-01 -4.49595717e-01 -3.57785059e-01 4.20426147e+02] [ 4.24474579e-01 8.92780972e-01 -1.50875670e-01 3.03488199e+02] [ 3.87256748e-01 -2.83871024e-02 9.21534798e-01 1.25303727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.232755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:420.45, Y:303.50, Z:125.31 [[ 8.20599193e-01 -4.51715825e-01 -3.50099668e-01 4.20445183e+02] [ 4.23947083e-01 8.91949417e-01 -1.57146772e-01 3.03503916e+02] [ 3.83256879e-01 -1.94692184e-02 9.23436578e-01 1.25307980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.262755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.47, Y:303.51, Z:125.33 [[ 8.18839951e-01 -4.47212599e-01 -3.59863898e-01 4.20474401e+02] [ 4.23061006e-01 8.93894823e-01 -1.48227632e-01 3.03509220e+02] [ 3.87969740e-01 -3.08696760e-02 9.21155005e-01 1.25333038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.49, Y:303.55, Z:125.32 [[ 8.18042152e-01 -4.65172011e-01 -3.38263267e-01 4.20491703e+02] [ 4.26759421e-01 8.85191234e-01 -1.85237350e-01 3.03546777e+02] [ 3.85594909e-01 7.17492478e-03 9.22640280e-01 1.25322369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.52, Y:303.54, Z:125.34 [[ 8.18470998e-01 -4.56257632e-01 -3.49190778e-01 4.20515799e+02] [ 4.26233030e-01 8.89720603e-01 -1.63470646e-01 3.03544229e+02] [ 3.85266959e-01 -1.50406608e-02 9.22682583e-01 1.25340058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.54, Y:303.54, Z:125.36 [[ 8.20017090e-01 -4.48753367e-01 -3.55235680e-01 4.20539403e+02] [ 4.25233162e-01 8.93124551e-01 -1.46646838e-01 3.03544497e+02] [ 3.83077969e-01 -3.08050777e-02 9.23202208e-01 1.25357928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.56, Y:303.57, Z:125.36 [[ 8.19632628e-01 -4.56933571e-01 -3.45563405e-01 4.20561664e+02] [ 4.27020744e-01 8.89393704e-01 -1.63193515e-01 3.03568295e+02] [ 3.81910513e-01 -1.38040127e-02 9.24096212e-01 1.25362133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.58, Y:303.59, Z:125.37 [[ 8.18120176e-01 -4.62730550e-01 -3.41408575e-01 4.20582194e+02] [ 4.27001895e-01 8.86498974e-01 -1.78294562e-01 3.03589388e+02] [ 3.85160693e-01 8.42703708e-05 9.22849519e-01 1.25367327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.61, Y:303.59, Z:125.39 [[ 8.17477616e-01 -4.56919595e-01 -3.50649158e-01 4.20608174e+02] [ 4.27037955e-01 8.89360094e-01 -1.63331590e-01 3.03592443e+02] [ 3.86482772e-01 -1.62205807e-02 9.22153979e-01 1.25385630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.63, Y:303.60, Z:125.39 [[ 8.18654962e-01 -4.55744015e-01 -3.49430175e-01 4.20631240e+02] [ 4.27183713e-01 8.89920677e-01 -1.59860138e-01 3.03604936e+02] [ 3.83820439e-01 -1.84005843e-02 9.23224398e-01 1.25394339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.65, Y:303.62, Z:125.40 [[ 8.17457680e-01 -4.60136734e-01 -3.46463747e-01 4.20654601e+02] [ 4.27511933e-01 8.87804252e-01 -1.70402927e-01 3.03623750e+02] [ 3.86000634e-01 -8.82020438e-03 9.22456348e-01 1.25403089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.68, Y:303.63, Z:125.42 [[ 8.17764153e-01 -4.56192803e-01 -3.50927224e-01 4.20679389e+02] [ 4.27834342e-01 8.89663672e-01 -1.59550389e-01 3.03630635e+02] [ 3.84992942e-01 -1.96641289e-02 9.22710007e-01 1.25417471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.70, Y:303.64, Z:125.43 [[ 8.17512777e-01 -4.53809600e-01 -3.54583849e-01 4.20701880e+02] [ 4.26495790e-01 8.90800052e-01 -1.56769287e-01 3.03639851e+02] [ 3.87006718e-01 -2.30676240e-02 9.21788308e-01 1.25431513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.72, Y:303.67, Z:125.43 [[ 8.15624682e-01 -4.65594314e-01 -3.43479712e-01 4.20720047e+02] [ 4.27428028e-01 8.84990123e-01 -1.84655796e-01 3.03669359e+02] [ 3.89950842e-01 3.79696879e-03 9.20827847e-01 1.25431065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.75, Y:303.67, Z:125.45 [[ 8.17250577e-01 -4.52656616e-01 -3.56655973e-01 4.20747571e+02] [ 4.26389119e-01 8.91303617e-01 -1.54175814e-01 3.03666099e+02] [ 3.87677461e-01 -2.60739531e-02 9.21426251e-01 1.25453722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.77, Y:303.69, Z:125.46 [[ 8.14834460e-01 -4.63649649e-01 -3.47956615e-01 4.20765842e+02] [ 4.25699811e-01 8.86017222e-01 -1.83720313e-01 3.03694013e+02] [ 3.93477412e-01 1.57657676e-03 9.19332933e-01 1.25457662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.80, Y:303.69, Z:125.48 [[ 8.16672829e-01 -4.50179363e-01 -3.61087292e-01 4.20795492e+02] [ 4.28207255e-01 8.92164060e-01 -1.43811811e-01 3.03685842e+02] [ 3.86890213e-01 -3.71729999e-02 9.21376216e-01 1.25479888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.82, Y:303.71, Z:125.48 [[ 8.16186820e-01 -4.59062720e-01 -3.50856799e-01 4.20816165e+02] [ 4.28833639e-01 8.88257978e-01 -1.64619181e-01 3.03710462e+02] [ 3.87221880e-01 -1.60991917e-02 9.21845991e-01 1.25483803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.84, Y:303.72, Z:125.49 [[ 8.16101883e-01 -4.59364062e-01 -3.50659914e-01 4.20838257e+02] [ 4.28921692e-01 8.88111071e-01 -1.65181439e-01 3.03722574e+02] [ 3.87303368e-01 -1.56007601e-02 9.21820328e-01 1.25494839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.86, Y:303.74, Z:125.50 [[ 8.15388155e-01 -4.63053432e-01 -3.47453129e-01 4.20858698e+02] [ 4.30683469e-01 8.86266011e-01 -1.70423905e-01 3.03738108e+02] [ 3.86851272e-01 -1.06806856e-02 9.22080266e-01 1.25502694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.88, Y:303.75, Z:125.51 [[ 8.14746497e-01 -4.65480209e-01 -3.45711326e-01 4.20880821e+02] [ 4.32779030e-01 8.85004558e-01 -1.71666079e-01 3.03752704e+02] [ 3.85863261e-01 -9.75227626e-03 9.22504437e-01 1.25512297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.90, Y:303.77, Z:125.52 [[ 8.14502021e-01 -4.66305851e-01 -3.45174319e-01 4.20902502e+02] [ 4.33350053e-01 8.84576387e-01 -1.72430705e-01 3.03765617e+02] [ 3.85738499e-01 -9.13615193e-03 9.22562920e-01 1.25521285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:420.93, Y:303.78, Z:125.53 [[ 8.13142873e-01 -4.66947382e-01 -3.47503683e-01 4.20926324e+02] [ 4.35139528e-01 8.84188594e-01 -1.69894440e-01 3.03777607e+02] [ 3.86590557e-01 -1.30641352e-02 9.22158918e-01 1.25534190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.95, Y:303.78, Z:125.55 [[ 8.13664662e-01 -4.63026707e-01 -3.51505457e-01 4.20949330e+02] [ 4.34088925e-01 8.86108738e-01 -1.62413391e-01 3.03784619e+02] [ 3.86673795e-01 -2.04345889e-02 9.21990132e-01 1.25549743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:420.97, Y:303.80, Z:125.56 [[ 8.13458654e-01 -4.65785975e-01 -3.48322328e-01 4.20969888e+02] [ 4.33906562e-01 8.84802335e-01 -1.69852652e-01 3.03799597e+02] [ 3.87311393e-01 -1.29712340e-02 9.21857707e-01 1.25558663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.00, Y:303.81, Z:125.58 [[ 8.13572832e-01 -4.61895308e-01 -3.53202452e-01 4.20996519e+02] [ 4.35862228e-01 8.86505995e-01 -1.55342332e-01 3.03805265e+02] [ 3.84867985e-01 -2.75653067e-02 9.22559910e-01 1.25576743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.02, Y:303.83, Z:125.58 [[ 8.12933056e-01 -4.68561392e-01 -3.45817971e-01 4.21017937e+02] [ 4.35139517e-01 8.83385003e-01 -1.74024530e-01 3.03829369e+02] [ 3.87031585e-01 -9.00877190e-03 9.22022448e-01 1.25581851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.04, Y:303.84, Z:125.59 [[ 8.12708265e-01 -4.67620109e-01 -3.47615751e-01 4.21039322e+02] [ 4.35074723e-01 8.83853167e-01 -1.71795124e-01 3.03839536e+02] [ 3.87576137e-01 -1.16195094e-02 9.21764463e-01 1.25591838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.06, Y:303.85, Z:125.61 [[ 8.14160068e-01 -4.62284792e-01 -3.51334818e-01 4.21061913e+02] [ 4.33019557e-01 8.86519165e-01 -1.63027097e-01 3.03846608e+02] [ 3.86829997e-01 -1.94046944e-02 9.21946859e-01 1.25605849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.09, Y:303.86, Z:125.62 [[ 8.13895256e-01 -4.64617025e-01 -3.48863200e-01 4.21085031e+02] [ 4.32495866e-01 8.85425536e-01 -1.70202660e-01 3.03863417e+02] [ 3.87971440e-01 -1.23547544e-02 9.21588586e-01 1.25616133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.11, Y:303.88, Z:125.62 [[ 8.13553886e-01 -4.67704000e-01 -3.45518515e-01 4.21107613e+02] [ 4.32628458e-01 8.83871831e-01 -1.77772899e-01 3.03881635e+02] [ 3.88539178e-01 -4.85330959e-03 9.21419423e-01 1.25623924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.13, Y:303.89, Z:125.64 [[ 8.13591925e-01 -4.66161417e-01 -3.47507862e-01 4.21130528e+02] [ 4.32875762e-01 8.84648949e-01 -1.73247832e-01 3.03891705e+02] [ 3.88183920e-01 -9.47469309e-03 9.21533220e-01 1.25635091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.15, Y:303.90, Z:125.65 [[ 8.15213339e-01 -4.63396859e-01 -3.47405474e-01 4.21152886e+02] [ 4.32642858e-01 8.86032837e-01 -1.66631241e-01 3.03900659e+02] [ 3.85029051e-01 -1.44624871e-02 9.22791128e-01 1.25645135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.17, Y:303.92, Z:125.65 [[ 8.14008717e-01 -4.69690806e-01 -3.41731409e-01 4.21174510e+02] [ 4.32478448e-01 8.82829936e-01 -1.83231264e-01 3.03922547e+02] [ 3.87752758e-01 1.36037620e-03 9.21762414e-01 1.25651463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.20, Y:303.93, Z:125.66 [[ 8.12500417e-01 -4.68858471e-01 -3.46431533e-01 4.21198915e+02] [ 4.34725680e-01 8.83239105e-01 -1.75790407e-01 3.03930868e+02] [ 3.88402698e-01 -7.77290479e-03 9.21456958e-01 1.25664155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.22, Y:303.95, Z:125.67 [[ 8.11475965e-01 -4.72473182e-01 -3.43912562e-01 4.21219884e+02] [ 4.35170951e-01 8.81344979e-01 -1.84003455e-01 3.03946907e+02] [ 3.90042308e-01 -3.46374752e-04 9.20796871e-01 1.25672348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.24, Y:303.94, Z:125.69 [[ 8.12937099e-01 -4.63194219e-01 -3.52965138e-01 4.21244895e+02] [ 4.36943754e-01 8.85836017e-01 -1.56124014e-01 3.03941998e+02] [ 3.84984973e-01 -2.73069093e-02 9.22518782e-01 1.25689895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.27, Y:303.97, Z:125.69 [[ 8.12218108e-01 -4.71730511e-01 -3.43179356e-01 4.21265403e+02] [ 4.37656225e-01 8.81714166e-01 -1.76173658e-01 3.03965216e+02] [ 3.85692589e-01 -7.10314580e-03 9.22600007e-01 1.25693806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.29, Y:303.98, Z:125.70 [[ 8.11036834e-01 -4.74764972e-01 -3.41785716e-01 4.21288454e+02] [ 4.38751865e-01 8.80108051e-01 -1.81401819e-01 3.03979138e+02] [ 3.86931590e-01 -2.83556379e-03 9.22104064e-01 1.25703847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.31, Y:303.98, Z:125.72 [[ 8.10649523e-01 -4.70930305e-01 -3.47954019e-01 4.21313899e+02] [ 4.38979482e-01 8.82058446e-01 -1.71084519e-01 3.03984123e+02] [ 3.87484665e-01 -1.40550915e-02 9.21769000e-01 1.25719322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.34, Y:304.00, Z:125.73 [[ 8.10362351e-01 -4.74241563e-01 -3.44104343e-01 4.21336577e+02] [ 4.39598415e-01 8.80367164e-01 -1.78064289e-01 3.04000556e+02] [ 3.87383652e-01 -6.97112794e-03 9.21892244e-01 1.25727057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.36, Y:304.01, Z:125.74 [[ 8.09995964e-01 -4.73433115e-01 -3.46074595e-01 4.21362263e+02] [ 4.40095727e-01 8.80764942e-01 -1.74839551e-01 3.04008800e+02] [ 3.87585203e-01 -1.06866201e-02 9.21771939e-01 1.25739522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.39, Y:304.01, Z:125.75 [[ 8.11794781e-01 -4.67931693e-01 -3.49326729e-01 4.21386233e+02] [ 4.39839405e-01 8.83472877e-01 -1.61297780e-01 3.04011271e+02] [ 3.84097033e-01 -2.27069649e-02 9.23013469e-01 1.25752366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.41, Y:304.03, Z:125.76 [[ 8.11335033e-01 -4.74954597e-01 -3.40813138e-01 4.21408679e+02] [ 4.40037350e-01 8.79996683e-01 -1.78809867e-01 3.04031048e+02] [ 3.84840999e-01 -4.89580104e-03 9.22969900e-01 1.25757716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.43, Y:304.04, Z:125.77 [[ 8.10345597e-01 -4.76057066e-01 -3.41627990e-01 4.21432146e+02] [ 4.39797726e-01 8.79410658e-01 -1.82249431e-01 3.04043054e+02] [ 3.87192425e-01 -2.56218907e-03 9.21995369e-01 1.25768314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.46, Y:304.05, Z:125.78 [[ 8.10524555e-01 -4.71823127e-01 -3.47034412e-01 4.21459141e+02] [ 4.40609648e-01 8.81556210e-01 -1.69475034e-01 3.04045086e+02] [ 3.85892581e-01 -1.55430336e-02 9.22412776e-01 1.25784140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.48, Y:304.07, Z:125.79 [[ 8.09235262e-01 -4.78439559e-01 -3.40930900e-01 4.21482498e+02] [ 4.40874305e-01 8.78120483e-01 -1.85833970e-01 3.04065817e+02] [ 3.88288730e-01 7.57278353e-05 9.21537767e-01 1.25790856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.51, Y:304.07, Z:125.81 [[ 8.09091597e-01 -4.74509893e-01 -3.46714794e-01 4.21507967e+02] [ 4.41296064e-01 8.80173962e-01 -1.74790105e-01 3.04070111e+02] [ 3.88108968e-01 -1.15826686e-02 9.21540705e-01 1.25805691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.53, Y:304.07, Z:125.82 [[ 8.09681723e-01 -4.71889609e-01 -3.48906441e-01 4.21531722e+02] [ 4.39870239e-01 8.81536356e-01 -1.71487101e-01 3.04074922e+02] [ 3.88496694e-01 -1.46235884e-02 9.21334071e-01 1.25818396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.55, Y:304.10, Z:125.82 [[ 8.08867413e-01 -4.78680589e-01 -3.41465083e-01 4.21554978e+02] [ 4.42496444e-01 8.77982551e-01 -1.82602129e-01 3.04095021e+02] [ 3.87208479e-01 -3.39617285e-03 9.21985932e-01 1.25823095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.58, Y:304.10, Z:125.84 [[ 8.08339333e-01 -4.75460546e-01 -3.47166807e-01 4.21581149e+02] [ 4.42945387e-01 8.79631077e-01 -1.73345183e-01 3.04097998e+02] [ 3.87797508e-01 -1.36542062e-02 9.21643454e-01 1.25838997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.60, Y:304.10, Z:125.85 [[ 8.08706204e-01 -4.73336253e-01 -3.49209203e-01 4.21603659e+02] [ 4.42802003e-01 8.80686631e-01 -1.68277876e-01 3.04104259e+02] [ 3.87195895e-01 -1.85431726e-02 9.21810984e-01 1.25851492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.762755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:421.63, Y:304.12, Z:125.86 [[ 8.07363588e-01 -4.77642279e-01 -3.46441755e-01 4.21628115e+02] [ 4.43722989e-01 8.78488841e-01 -1.77108063e-01 3.04120269e+02] [ 3.88939515e-01 -1.07335692e-02 9.21200762e-01 1.25861288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.65, Y:304.13, Z:125.87 [[ 8.07067813e-01 -4.78887635e-01 -3.45410159e-01 4.21651087e+02] [ 4.44006095e-01 8.77836012e-01 -1.79617714e-01 3.04129634e+02] [ 3.89230179e-01 -8.40054015e-03 9.21102220e-01 1.25869175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.822755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.68, Y:304.14, Z:125.88 [[ 8.06475432e-01 -4.78632331e-01 -3.47143298e-01 4.21676100e+02] [ 4.44922487e-01 8.77935681e-01 -1.76841514e-01 3.04139135e+02] [ 3.89411554e-01 -1.18335236e-02 9.20987844e-01 1.25881100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.69, Y:304.16, Z:125.88 [[ 8.06369298e-01 -4.84237308e-01 -3.39533186e-01 4.21694562e+02] [ 4.47481919e-01 8.74932547e-01 -1.85075579e-01 3.04155410e+02] [ 3.86689136e-01 -2.69569673e-03 9.22206184e-01 1.25882547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.72, Y:304.15, Z:125.90 [[ 8.07556486e-01 -4.75688795e-01 -3.48672757e-01 4.21722375e+02] [ 4.44189246e-01 8.79454182e-01 -1.71044603e-01 3.04153829e+02] [ 3.88005715e-01 -1.67485104e-02 9.21504776e-01 1.25902215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.75, Y:304.17, Z:125.91 [[ 8.07055894e-01 -4.79112278e-01 -3.45126366e-01 4.21747476e+02] [ 4.43996803e-01 8.77719018e-01 -1.80211445e-01 3.04171246e+02] [ 3.89265491e-01 -7.79429384e-03 9.21092626e-01 1.25911323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.77, Y:304.18, Z:125.93 [[ 8.08559060e-01 -4.73272304e-01 -3.49636343e-01 4.21769868e+02] [ 4.41784153e-01 8.80760464e-01 -1.70551363e-01 3.04176671e+02] [ 3.88663104e-01 -1.65629460e-02 9.21231057e-01 1.25925767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.79, Y:304.20, Z:125.93 [[ 8.09532657e-01 -4.77265510e-01 -3.41869141e-01 4.21792409e+02] [ 4.40354489e-01 8.78757772e-01 -1.84045382e-01 3.04199780e+02] [ 3.88258678e-01 -1.55286433e-03 9.21549124e-01 1.25930240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.002755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:421.81, Y:304.21, Z:125.94 [[ 8.10775279e-01 -4.76359857e-01 -3.40183382e-01 4.21808196e+02] [ 4.41121315e-01 8.79240197e-01 -1.79857335e-01 3.04210775e+02] [ 3.84779719e-01 -4.23825966e-03 9.22998703e-01 1.25936317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.84, Y:304.23, Z:125.94 [[ 8.11057873e-01 -4.79996252e-01 -3.34348210e-01 4.21835015e+02] [ 4.39661658e-01 8.77220243e-01 -1.92827051e-01 3.04231731e+02] [ 3.85853280e-01 9.39380976e-03 9.22512332e-01 1.25942455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.86, Y:304.23, Z:125.96 [[ 8.10936838e-01 -4.72942893e-01 -3.44538045e-01 4.21861540e+02] [ 4.39154875e-01 8.81049457e-01 -1.75769308e-01 3.04232808e+02] [ 3.86683903e-01 -8.76775498e-03 9.22170638e-01 1.25961551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.88, Y:304.25, Z:125.97 [[ 8.10889466e-01 -4.76654930e-01 -3.39497204e-01 4.21884046e+02] [ 4.40149168e-01 8.79089821e-01 -1.82947526e-01 3.04250889e+02] [ 3.85651376e-01 -1.07919040e-03 9.22643946e-01 1.25968098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.91, Y:304.26, Z:125.98 [[ 8.10679270e-01 -4.76202772e-01 -3.40631826e-01 4.21906535e+02] [ 4.40662153e-01 8.79327580e-01 -1.80554352e-01 3.04261594e+02] [ 3.85507442e-01 -3.73188379e-03 9.22697179e-01 1.25979533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.93, Y:304.27, Z:125.99 [[ 8.10440287e-01 -4.76937507e-01 -3.40172243e-01 4.21929642e+02] [ 4.41622150e-01 8.78927077e-01 -1.80158458e-01 3.04274630e+02] [ 3.84910921e-01 -4.21992481e-03 9.22944080e-01 1.25989895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.95, Y:304.29, Z:126.00 [[ 8.09933217e-01 -4.79832066e-01 -3.37297157e-01 4.21951482e+02] [ 4.43317245e-01 8.77359965e-01 -1.83600962e-01 3.04291063e+02] [ 3.84028650e-01 -8.25128268e-04 9.23320808e-01 1.25997471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:421.97, Y:304.28, Z:126.01 [[ 8.12378732e-01 -4.68762032e-01 -3.46847161e-01 4.21973718e+02] [ 4.42983895e-01 8.82906713e-01 -1.55695232e-01 3.04284744e+02] [ 3.79217700e-01 -2.71642112e-02 9.24908667e-01 1.26014735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.242755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:421.99, Y:304.33, Z:126.01 [[ 8.08650752e-01 -4.90673383e-01 -3.24535964e-01 4.21993535e+02] [ 4.45549820e-01 8.71050072e-01 -2.06777972e-01 3.04329409e+02] [ 3.84147522e-01 2.26142226e-02 9.22994734e-01 1.26010434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.02, Y:304.33, Z:126.03 [[ 8.06650170e-01 -4.85489444e-01 -3.37068988e-01 4.22019899e+02] [ 4.49646660e-01 8.74234057e-01 -1.83119345e-01 3.04327889e+02] [ 3.83579698e-01 -3.84869411e-03 9.23499758e-01 1.26028719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.04, Y:304.33, Z:126.04 [[ 8.07848229e-01 -4.79570992e-01 -3.42626478e-01 4.22041976e+02] [ 4.50288149e-01 8.77275125e-01 -1.66219547e-01 3.04328146e+02] [ 3.80291759e-01 -2.00004762e-02 9.24650290e-01 1.26042608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.332755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.06, Y:304.36, Z:126.04 [[ 8.04200446e-01 -4.94851558e-01 -3.29216612e-01 4.22063434e+02] [ 4.53466255e-01 8.68917164e-01 -1.98371666e-01 3.04361030e+02] [ 3.84226493e-01 1.02419581e-02 9.23182054e-01 1.26044393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.09, Y:304.35, Z:126.07 [[ 8.03950996e-01 -4.82756986e-01 -3.47287329e-01 4.22088147e+02] [ 4.56049709e-01 8.75275174e-01 -1.60972148e-01 3.04347237e+02] [ 3.81682407e-01 -2.89665664e-02 9.23839531e-01 1.26067369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.11, Y:304.39, Z:126.06 [[ 7.99493383e-01 -5.02992941e-01 -3.28341944e-01 4.22106780e+02] [ 4.59098341e-01 8.64178214e-01 -2.05972637e-01 3.04388138e+02] [ 3.87348737e-01 1.39325182e-02 9.21827989e-01 1.26064031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4227550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:422.13, Y:304.39, Z:126.08 [[ 7.97783592e-01 -5.00564571e-01 -3.36119698e-01 4.22134433e+02] [ 4.62401721e-01 8.65695671e-01 -1.91717643e-01 3.04393177e+02] [ 3.86944427e-01 -2.47313742e-03 9.22099720e-01 1.26080573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.452755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:422.16, Y:304.40, Z:126.10 [[ 7.97066861e-01 -4.96446414e-01 -3.43839174e-01 4.22159666e+02] [ 4.62766601e-01 8.67931944e-01 -1.80391833e-01 3.04397967e+02] [ 3.87983881e-01 -1.53329336e-02 9.21538610e-01 1.26098334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.482755096 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:422.18, Y:304.41, Z:126.11 [[ 7.96415706e-01 -4.95716296e-01 -3.46391942e-01 4.22181772e+02] [ 4.62899584e-01 8.68290954e-01 -1.78310952e-01 3.04407753e+02] [ 3.89160634e-01 -1.83350430e-02 9.20987420e-01 1.26111973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.512755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:422.20, Y:304.43, Z:126.11 [[ 7.96494040e-01 -5.04237653e-01 -3.33678939e-01 4.22201968e+02] [ 4.64083334e-01 8.63562097e-01 -1.97198287e-01 3.04434046e+02] [ 3.87587286e-01 2.21242527e-03 9.21830354e-01 1.26111330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5427550960001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:422.23, Y:304.43, Z:126.13 [[ 7.97195713e-01 -4.94686088e-01 -3.46070324e-01 4.22227769e+02] [ 4.62478274e-01 8.68858714e-01 -1.76630634e-01 3.04432849e+02] [ 3.88062934e-01 -1.92408223e-02 9.21432011e-01 1.26133191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.572755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:422.25, Y:304.45, Z:126.14 [[ 7.97887010e-01 -4.96940331e-01 -3.41213464e-01 4.22250588e+02] [ 4.61706235e-01 8.67719306e-01 -1.84093883e-01 3.04450463e+02] [ 3.87561185e-01 -1.06542657e-02 9.21782412e-01 1.26141654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.602755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:422.27, Y:304.46, Z:126.15 [[ 7.97611379e-01 -4.96904822e-01 -3.41908886e-01 4.22273907e+02] [ 4.61995101e-01 8.67725786e-01 -1.83337085e-01 3.04462703e+02] [ 3.87784238e-01 -1.17284851e-02 9.21675554e-01 1.26153257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.30, Y:304.46, Z:126.18 [[ 7.97980458e-01 -4.84217392e-01 -3.58832421e-01 4.22302549e+02] [ 4.58308107e-01 8.74189610e-01 -1.60456239e-01 3.04457703e+02] [ 3.91383276e-01 -3.64148647e-02 9.19506982e-01 1.26182989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6627550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:422.32, Y:304.50, Z:126.17 [[ 7.98081414e-01 -5.03287240e-01 -3.31312557e-01 4.22316241e+02] [ 4.60437821e-01 8.64063378e-01 -2.03448992e-01 3.04500559e+02] [ 3.88668329e-01 9.82002807e-03 9.21325403e-01 1.26167549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.34, Y:304.50, Z:126.19 [[ 7.99868790e-01 -4.93589525e-01 -3.41437110e-01 4.22341670e+02] [ 4.58068664e-01 8.69646783e-01 -1.84085775e-01 3.04501514e+02] [ 3.87792495e-01 -9.15717443e-03 9.21701214e-01 1.26186966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.36, Y:304.50, Z:126.21 [[ 7.99836141e-01 -4.86349796e-01 -3.51747101e-01 4.22362414e+02] [ 4.56750951e-01 8.73392565e-01 -1.69008863e-01 3.04502645e+02] [ 3.89410729e-01 -2.54814263e-02 9.20711671e-01 1.26208841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.38, Y:304.52, Z:126.21 [[ 8.01178975e-01 -4.90174205e-01 -3.43280495e-01 4.22382438e+02] [ 4.53343240e-01 8.71602511e-01 -1.86518012e-01 3.04524911e+02] [ 3.90630460e-01 -6.18958253e-03 9.20526769e-01 1.26213131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.40, Y:304.54, Z:126.22 [[ 8.01979680e-01 -4.88933556e-01 -3.43180086e-01 4.22404202e+02] [ 4.51951214e-01 8.72304079e-01 -1.86616437e-01 3.04536956e+02] [ 3.90600427e-01 -5.43806628e-03 9.20544260e-01 1.26223470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.812755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:422.43, Y:304.56, Z:126.22 [[ 8.03641416e-01 -4.94317000e-01 -3.31377697e-01 4.22428302e+02] [ 4.50796666e-01 8.69169144e-01 -2.03291330e-01 3.04562497e+02] [ 3.88513630e-01 1.39893714e-02 9.21336777e-01 1.26222348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.45, Y:304.55, Z:126.25 [[ 8.04236693e-01 -4.77340703e-01 -3.54046884e-01 4.22451866e+02] [ 4.47556392e-01 8.78400585e-01 -1.67647515e-01 3.04550923e+02] [ 3.91019972e-01 -2.36276626e-02 9.20078863e-01 1.26251985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.47, Y:304.58, Z:126.25 [[ 8.04546543e-01 -4.84169350e-01 -3.43925719e-01 4.22471145e+02] [ 4.46491839e-01 8.74969550e-01 -1.87278733e-01 3.04575033e+02] [ 3.91599154e-01 -2.88556934e-03 9.20131391e-01 1.26254931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9027550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:422.49, Y:304.59, Z:126.27 [[ 8.05375725e-01 -4.83007534e-01 -3.43618487e-01 4.22494233e+02] [ 4.45241358e-01 8.75613459e-01 -1.87246373e-01 3.04587284e+02] [ 3.91318380e-01 -2.18947833e-03 9.20252754e-01 1.26266069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.52, Y:304.60, Z:126.28 [[ 8.05376108e-01 -4.82964221e-01 -3.43678464e-01 4.22516286e+02] [ 4.45115500e-01 8.75637749e-01 -1.87431920e-01 3.04598972e+02] [ 3.91460748e-01 -2.02342136e-03 9.20192582e-01 1.26277056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.54, Y:304.61, Z:126.29 [[ 8.05444427e-01 -4.83284215e-01 -3.43067985e-01 4.22539005e+02] [ 4.45566971e-01 8.75461014e-01 -1.87184633e-01 3.04610906e+02] [ 3.90806025e-01 -2.09294355e-03 9.20470679e-01 1.26287657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.56, Y:304.62, Z:126.30 [[ 8.04897086e-01 -4.84277324e-01 -3.42952117e-01 4.22561568e+02] [ 4.46608513e-01 8.74911178e-01 -1.87273240e-01 3.04622348e+02] [ 3.90744825e-01 -2.42965021e-03 9.20495833e-01 1.26298822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.58, Y:304.63, Z:126.31 [[ 8.04372527e-01 -4.85047543e-01 -3.43094329e-01 4.22584364e+02] [ 4.47349078e-01 8.74483732e-01 -1.87502013e-01 3.04634412e+02] [ 3.90977800e-01 -2.66146364e-03 9.20396261e-01 1.26310114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.61, Y:304.65, Z:126.32 [[ 8.03544188e-01 -4.86243485e-01 -3.43342412e-01 4.22606158e+02] [ 4.48527092e-01 8.73817869e-01 -1.87791853e-01 3.04645474e+02] [ 3.91331300e-01 -3.09932177e-03 9.20244646e-01 1.26320637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.63, Y:304.67, Z:126.32 [[ 8.03387192e-01 -4.91391239e-01 -3.36308891e-01 4.22632097e+02] [ 4.49618711e-01 8.70900270e-01 -1.98433197e-01 3.04666593e+02] [ 3.90399839e-01 8.20791854e-03 9.20608818e-01 1.26324316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.65, Y:304.66, Z:126.35 [[ 8.02649632e-01 -4.82358677e-01 -3.50832831e-01 4.22654572e+02] [ 4.50120410e-01 8.75788779e-01 -1.74314744e-01 3.04662270e+02] [ 3.91337686e-01 -1.80033530e-02 9.20071027e-01 1.26348126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.67, Y:304.68, Z:126.35 [[ 8.01603984e-01 -4.89734956e-01 -3.42915041e-01 4.22674957e+02] [ 4.52290714e-01 8.71859734e-01 -1.87866213e-01 3.04682402e+02] [ 3.90978468e-01 -4.50298382e-03 9.20388809e-01 1.26353091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.70, Y:304.69, Z:126.36 [[ 8.00968865e-01 -4.90970749e-01 -3.42631874e-01 4.22697756e+02] [ 4.53654816e-01 8.71161696e-01 -1.87815356e-01 3.04694621e+02] [ 3.90699610e-01 -5.00234753e-03 9.20504640e-01 1.26364350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.202755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:422.72, Y:304.71, Z:126.37 [[ 8.00138660e-01 -4.94991396e-01 -3.38764878e-01 4.22722979e+02] [ 4.54937291e-01 8.68895650e-01 -1.95070271e-01 3.04712820e+02] [ 3.90909435e-01 1.96649014e-03 9.20427046e-01 1.26370301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.74, Y:304.71, Z:126.39 [[ 7.99671219e-01 -4.88835030e-01 -3.48663526e-01 4.22743546e+02] [ 4.55365480e-01 8.72228863e-01 -1.78491151e-01 3.04713889e+02] [ 3.91367118e-01 -1.60350977e-02 9.20094916e-01 1.26389344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.77, Y:304.72, Z:126.40 [[ 7.99542864e-01 -4.86943301e-01 -3.51592705e-01 4.22770897e+02] [ 4.53313492e-01 8.73276047e-01 -1.78594019e-01 3.04724861e+02] [ 3.94002649e-01 -1.65881438e-02 9.18959600e-01 1.26404805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.78, Y:304.76, Z:126.39 [[ 7.99458478e-01 -5.01282005e-01 -3.31032466e-01 4.22784102e+02] [ 4.55757103e-01 8.65126174e-01 -2.09385211e-01 3.04759494e+02] [ 3.91345889e-01 1.65243843e-02 9.20095289e-01 1.26392904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.322755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:422.81, Y:304.75, Z:126.42 [[ 7.98844517e-01 -4.87843720e-01 -3.51931730e-01 4.22811825e+02] [ 4.55524636e-01 8.72703625e-01 -1.75743246e-01 3.04749368e+02] [ 3.92867335e-01 -1.99220447e-02 9.19379339e-01 1.26423694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.83, Y:304.77, Z:126.43 [[ 7.98967397e-01 -4.92781195e-01 -3.44699569e-01 4.22831607e+02] [ 4.54846538e-01 8.70137459e-01 -1.89671899e-01 3.04770537e+02] [ 3.93402752e-01 -5.24374184e-03 9.19351281e-01 1.26429440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.85, Y:304.80, Z:126.42 [[ 7.99737412e-01 -5.04678361e-01 -3.25145850e-01 4.22846359e+02] [ 4.56696982e-01 8.62963343e-01 -2.16153038e-01 3.04804303e+02] [ 3.89676711e-01 2.43725425e-02 9.20629155e-01 1.26418331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.88, Y:304.80, Z:126.44 [[ 7.99263641e-01 -4.95842014e-01 -3.39585527e-01 4.22875150e+02] [ 4.56612396e-01 8.68412564e-01 -1.93299606e-01 3.04803949e+02] [ 3.90746404e-01 -5.61614732e-04 9.20498198e-01 1.26441994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.442755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:422.90, Y:304.81, Z:126.45 [[ 7.99372746e-01 -4.94933859e-01 -3.40651857e-01 4.22896556e+02] [ 4.57136948e-01 8.68921209e-01 -1.89741252e-01 3.04814689e+02] [ 3.89908994e-01 -4.05056431e-03 9.20844487e-01 1.26452918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.92, Y:304.83, Z:126.47 [[ 8.00010481e-01 -4.93005784e-01 -3.41948136e-01 4.22917947e+02] [ 4.54942648e-01 8.70018684e-01 -1.89985992e-01 3.04825546e+02] [ 3.91165460e-01 -3.57600580e-03 9.20313422e-01 1.26465567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.94, Y:304.84, Z:126.48 [[ 7.99607876e-01 -4.94722226e-01 -3.40407351e-01 4.22940745e+02] [ 4.55456945e-01 8.69050959e-01 -1.93156418e-01 3.04840308e+02] [ 3.91390108e-01 -5.91498996e-04 9.20224665e-01 1.26476839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:422.96, Y:304.86, Z:126.49 [[ 8.00021693e-01 -4.95116836e-01 -3.38857800e-01 4.22961407e+02] [ 4.55066862e-01 8.68824391e-01 -1.95085437e-01 3.04855168e+02] [ 3.90998006e-01 1.86962536e-03 9.20389626e-01 1.26485343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:422.98, Y:304.85, Z:126.51 [[ 8.01196072e-01 -4.81952713e-01 -3.54692030e-01 4.22984782e+02] [ 4.49025586e-01 8.76007548e-01 -1.76030677e-01 3.04849247e+02] [ 3.95551358e-01 -1.82307098e-02 9.18262906e-01 1.26514123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.00, Y:304.89, Z:126.51 [[ 8.01122825e-01 -4.97807860e-01 -3.32249235e-01 4.23004663e+02] [ 4.52476584e-01 8.67131108e-01 -2.08203225e-01 3.04887927e+02] [ 3.91748849e-01 1.64613575e-02 9.19924922e-01 1.26506013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.03, Y:304.89, Z:126.52 [[ 8.02241868e-01 -4.90366971e-01 -3.40511703e-01 4.23027448e+02] [ 4.51253344e-01 8.71516002e-01 -1.91912159e-01 3.04889787e+02] [ 3.90868782e-01 3.02923930e-04 9.20446361e-01 1.26521483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.05, Y:304.89, Z:126.55 [[ 8.02956558e-01 -4.78991775e-01 -3.54721928e-01 4.23049326e+02] [ 4.47173504e-01 8.77594637e-01 -1.72810619e-01 3.04885343e+02] [ 3.94076927e-01 -1.98628276e-02 9.18862799e-01 1.26547575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.07, Y:304.92, Z:126.55 [[ 8.01135594e-01 -4.91338507e-01 -3.41713669e-01 4.23073218e+02] [ 4.50235874e-01 8.70960487e-01 -1.96762516e-01 3.04916144e+02] [ 3.94296105e-01 3.78170241e-03 9.18975669e-01 1.26552044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.09, Y:304.92, Z:126.56 [[ 8.01495534e-01 -4.88162261e-01 -3.45401964e-01 4.23093402e+02] [ 4.48465823e-01 8.72752819e-01 -1.92823555e-01 3.04924963e+02] [ 3.95579720e-01 -3.53757722e-04 9.18431576e-01 1.26563593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.11, Y:304.94, Z:126.57 [[ 8.00843440e-01 -4.90863441e-01 -3.43078514e-01 4.23114495e+02] [ 4.48061435e-01 8.71209045e-01 -2.00588512e-01 3.04942297e+02] [ 3.97354672e-01 6.91974318e-03 9.17639026e-01 1.26571848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.14, Y:304.95, Z:126.59 [[ 8.00023332e-01 -4.88364703e-01 -3.48514828e-01 4.23140669e+02] [ 4.50767008e-01 8.72614105e-01 -1.88025874e-01 3.04949723e+02] [ 3.95944155e-01 -6.67389981e-03 9.18250339e-01 1.26587568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.17, Y:304.96, Z:126.61 [[ 8.00268159e-01 -4.82301932e-01 -3.56308462e-01 4.23173542e+02] [ 4.48686132e-01 8.75828245e-01 -1.77779751e-01 3.04955182e+02] [ 3.97808532e-01 -1.75991914e-02 9.17299646e-01 1.26608064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.19, Y:304.98, Z:126.61 [[ 7.99401290e-01 -4.90108558e-01 -3.47492704e-01 4.23192036e+02] [ 4.51016255e-01 8.71654893e-01 -1.91838695e-01 3.04977361e+02] [ 3.96915502e-01 -3.36875753e-03 9.17848972e-01 1.26611148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.21, Y:304.99, Z:126.62 [[ 7.97637814e-01 -4.94226336e-01 -3.45708325e-01 4.23208287e+02] [ 4.57036443e-01 8.69297876e-01 -1.88252207e-01 3.04990522e+02] [ 3.93562711e-01 -7.84422374e-03 9.19264304e-01 1.26620356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.892755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:423.23, Y:305.00, Z:126.63 [[ 7.97026633e-01 -4.96355887e-01 -3.44063046e-01 4.23230867e+02] [ 4.58400013e-01 8.68098952e-01 -1.90456392e-01 3.05004588e+02] [ 3.93214921e-01 -5.91968837e-03 9.19427530e-01 1.26630771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.26, Y:305.01, Z:126.64 [[ 7.99740115e-01 -4.90835020e-01 -3.45682993e-01 4.23255417e+02] [ 4.51943405e-01 8.71247122e-01 -1.91508779e-01 3.05009910e+02] [ 3.95174528e-01 -3.07189644e-03 9.18600923e-01 1.26644015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.27, Y:305.03, Z:126.65 [[ 7.95797286e-01 -4.98804782e-01 -3.43366378e-01 4.23274449e+02] [ 4.61095517e-01 8.66687511e-01 -1.90377738e-01 3.05030255e+02] [ 3.92552677e-01 -6.82261080e-03 9.19704217e-01 1.26652453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.30, Y:305.04, Z:126.66 [[ 7.95625608e-01 -4.99219182e-01 -3.43161915e-01 4.23297264e+02] [ 4.61527770e-01 8.66448450e-01 -1.90418491e-01 3.05043688e+02] [ 3.92392673e-01 -6.87692522e-03 9.19772091e-01 1.26663072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.012755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:423.32, Y:305.06, Z:126.67 [[ 7.95682906e-01 -4.99061653e-01 -3.43258181e-01 4.23318948e+02] [ 4.61268847e-01 8.66540909e-01 -1.90625034e-01 3.05056869e+02] [ 3.92580901e-01 -6.65722457e-03 9.19693382e-01 1.26673311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0427550960001 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:423.35, Y:305.06, Z:126.69 [[ 7.97290773e-01 -4.91892626e-01 -3.49812905e-01 4.23353243e+02] [ 4.56705846e-01 8.70548223e-01 -1.83209064e-01 3.05062531e+02] [ 3.94648190e-01 -1.36907020e-02 9.18730304e-01 1.26691966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.072755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:423.37, Y:305.07, Z:126.70 [[ 7.98820626e-01 -4.89192085e-01 -3.50109571e-01 4.23371833e+02] [ 4.54178366e-01 8.72072589e-01 -1.82239980e-01 3.05072082e+02] [ 3.94471317e-01 -1.34351381e-02 9.18810033e-01 1.26701056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:423.39, Y:305.09, Z:126.71 [[ 7.99311652e-01 -4.89229714e-01 -3.48934335e-01 4.23393704e+02] [ 4.53752578e-01 8.72074782e-01 -1.83287131e-01 3.05086523e+02] [ 3.93966345e-01 -1.18263147e-02 9.19048779e-01 1.26711936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.132755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:423.42, Y:305.11, Z:126.72 [[ 7.97748277e-01 -4.93490539e-01 -3.46503644e-01 4.23418564e+02] [ 4.56216297e-01 8.69715691e-01 -1.88311728e-01 3.05105498e+02] [ 3.94289712e-01 -7.85525278e-03 9.18952620e-01 1.26723090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.44, Y:305.12, Z:126.73 [[ 7.99330541e-01 -4.92143974e-01 -3.44768031e-01 4.23436843e+02] [ 4.54220829e-01 8.70498780e-01 -1.89513359e-01 3.05118095e+02] [ 3.93388008e-01 -5.11700478e-03 9.19358304e-01 1.26731218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.46, Y:305.13, Z:126.75 [[ 7.98131304e-01 -4.91939880e-01 -3.47824059e-01 4.23463266e+02] [ 4.56982863e-01 8.70529038e-01 -1.82608479e-01 3.05129666e+02] [ 3.92623337e-01 -1.32040912e-02 9.19604571e-01 1.26746841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.47, Y:305.14, Z:126.75 [[ 7.97372020e-01 -4.93847470e-01 -3.46860977e-01 4.23474711e+02] [ 4.59621034e-01 8.69421016e-01 -1.81261142e-01 3.05143197e+02] [ 3.91083580e-01 -1.48920379e-02 9.20234677e-01 1.26754525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.252755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:423.51, Y:305.16, Z:126.76 [[ 7.99272563e-01 -4.96308856e-01 -3.38881821e-01 4.23505320e+02] [ 4.56661066e-01 8.68145811e-01 -1.94379838e-01 3.05163788e+02] [ 3.90671268e-01 6.08337434e-04 9.20530059e-01 1.26761854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.53, Y:305.17, Z:126.78 [[ 8.00036868e-01 -4.89573308e-01 -3.46783774e-01 4.23528056e+02] [ 4.55039501e-01 8.71866221e-01 -1.81075522e-01 3.05169845e+02] [ 3.90998801e-01 -1.29332215e-02 9.20300315e-01 1.26777060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.55, Y:305.18, Z:126.79 [[ 8.00801116e-01 -4.88334177e-01 -3.46766931e-01 4.23548460e+02] [ 4.53530325e-01 8.72574680e-01 -1.81448813e-01 3.05182763e+02] [ 3.91187701e-01 -1.19649063e-02 9.20233136e-01 1.26786333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.342755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:423.57, Y:305.20, Z:126.79 [[ 8.00724220e-01 -4.89945551e-01 -3.44665173e-01 4.23570164e+02] [ 4.53465461e-01 8.71719713e-01 -1.85671263e-01 3.05198823e+02] [ 3.91420234e-01 -7.62227418e-03 9.20180472e-01 1.26794902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.372755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:423.60, Y:305.21, Z:126.81 [[ 8.02877747e-01 -4.84763936e-01 -3.46974423e-01 4.23597239e+02] [ 4.49832170e-01 8.74578897e-01 -1.81004894e-01 3.05210143e+02] [ 3.91201153e-01 -1.07554563e-02 9.20242347e-01 1.26805615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4027550960001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:423.61, Y:305.22, Z:126.82 [[ 8.01989384e-01 -4.85722432e-01 -3.47687716e-01 4.23611772e+02] [ 4.48924116e-01 8.74083125e-01 -1.85595875e-01 3.05219549e+02] [ 3.94056045e-01 -7.23947908e-03 9.19057900e-01 1.26817155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.432755096 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:423.63, Y:305.24, Z:126.83 [[ 8.00173114e-01 -4.89558064e-01 -3.46490823e-01 4.23626687e+02] [ 4.52348083e-01 8.71943929e-01 -1.87336585e-01 3.05236077e+02] [ 3.93832706e-01 -6.83276130e-03 9.19156740e-01 1.26827141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.462755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:423.65, Y:305.26, Z:126.83 [[ 7.99520195e-01 -4.94802838e-01 -3.40496124e-01 4.23646914e+02] [ 4.52660031e-01 8.68986588e-01 -1.99902992e-01 3.05257195e+02] [ 3.94799132e-01 5.69749289e-03 9.18749794e-01 1.26834058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.492755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:423.67, Y:305.27, Z:126.85 [[ 7.99359461e-01 -4.93223070e-01 -3.43155149e-01 4.23670561e+02] [ 4.52845478e-01 8.69902466e-01 -1.95449924e-01 3.05267488e+02] [ 3.94911922e-01 8.38488664e-04 9.18718603e-01 1.26846896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.522755096 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:423.70, Y:305.27, Z:126.87 [[ 7.99657739e-01 -4.88658618e-01 -3.48941623e-01 4.23701907e+02] [ 4.50245396e-01 8.72459646e-01 -1.89982235e-01 3.05274448e+02] [ 3.97273941e-01 -5.18859500e-03 9.17685400e-01 1.26865213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.552755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:423.73, Y:305.29, Z:126.88 [[ 7.98844536e-01 -4.88063537e-01 -3.51626779e-01 4.23730283e+02] [ 4.54526788e-01 8.72639901e-01 -1.78619715e-01 3.05285875e+02] [ 3.94021327e-01 -1.71344069e-02 9.18941568e-01 1.26879140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.582755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:423.74, Y:305.30, Z:126.88 [[ 8.00646878e-01 -4.92796021e-01 -3.40758945e-01 4.23743517e+02] [ 4.54597927e-01 8.70141024e-01 -1.90250687e-01 3.05302281e+02] [ 3.90263118e-01 -2.58469138e-03 9.20699744e-01 1.26880234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.612755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:423.77, Y:305.32, Z:126.90 [[ 7.96775214e-01 -4.94216703e-01 -3.47705491e-01 4.23770893e+02] [ 4.57692074e-01 8.69277187e-01 -1.86748861e-01 3.05315074e+02] [ 3.94546857e-01 -1.03451835e-02 9.18817585e-01 1.26899364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.79, Y:305.34, Z:126.90 [[ 7.96754217e-01 -5.01358395e-01 -3.37375870e-01 4.23785265e+02] [ 4.60639694e-01 8.65236673e-01 -1.97930726e-01 3.05335575e+02] [ 3.91144206e-01 2.29342302e-03 9.20326546e-01 1.26897579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6727550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:423.81, Y:305.34, Z:126.91 [[ 7.96293244e-01 -4.99129823e-01 -3.41740383e-01 4.23809810e+02] [ 4.62319028e-01 8.66489809e-01 -1.88299039e-01 3.05344104e+02] [ 3.90100225e-01 -8.05182905e-03 9.20737195e-01 1.26911545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.83, Y:305.37, Z:126.92 [[ 7.93971809e-01 -5.09955017e-01 -3.30990403e-01 4.23830137e+02] [ 4.64712761e-01 8.60099131e-01 -2.10408020e-01 3.05373141e+02] [ 3.91983183e-01 1.32425726e-02 9.19877067e-01 1.26915338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.86, Y:305.38, Z:126.93 [[ 7.93056425e-01 -5.04572993e-01 -3.41273501e-01 4.23855615e+02] [ 4.66519634e-01 8.63343289e-01 -1.92348115e-01 3.05376292e+02] [ 3.91689850e-01 -6.66788065e-03 9.20073150e-01 1.26932813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.88, Y:305.40, Z:126.94 [[ 7.90454955e-01 -5.09996635e-01 -3.39240913e-01 4.23877081e+02] [ 4.67682799e-01 8.60173769e-01 -2.03405720e-01 3.05395967e+02] [ 3.95542367e-01 2.12591942e-03 9.18445271e-01 1.26942690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.90, Y:305.40, Z:126.96 [[ 7.91337808e-01 -5.01754819e-01 -3.49323023e-01 4.23902352e+02] [ 4.68234542e-01 8.64778681e-01 -1.81422839e-01 3.05396009e+02] [ 3.93116887e-01 -1.99983537e-02 9.19271004e-01 1.26961398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.92, Y:305.42, Z:126.97 [[ 7.90162467e-01 -5.10136213e-01 -3.39712112e-01 4.23921256e+02] [ 4.69030389e-01 8.60093244e-01 -2.00624288e-01 3.05421038e+02] [ 3.94529808e-01 -8.09521605e-04 9.18882787e-01 1.26965101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.852755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:423.95, Y:305.43, Z:126.98 [[ 7.89461243e-01 -5.07964415e-01 -3.44562186e-01 4.23946201e+02] [ 4.69927073e-01 8.61325920e-01 -1.93096365e-01 3.05431242e+02] [ 3.94866423e-01 -9.47700325e-03 9.18689662e-01 1.26980839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:423.97, Y:305.45, Z:126.99 [[ 7.89636873e-01 -5.08015127e-01 -3.44084641e-01 4.23965818e+02] [ 4.68607048e-01 8.61325468e-01 -1.96280086e-01 3.05446195e+02] [ 3.96082117e-01 -6.25049430e-03 9.18193818e-01 1.26989932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:423.99, Y:305.46, Z:127.00 [[ 7.89717768e-01 -5.07030743e-01 -3.45348625e-01 4.23989861e+02] [ 4.69234622e-01 8.61868318e-01 -1.92358707e-01 3.05459205e+02] [ 3.95176817e-01 -1.01404428e-02 9.18549103e-01 1.27002505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.01, Y:305.47, Z:127.02 [[ 7.89937834e-01 -5.03246377e-01 -3.50344549e-01 4.24011099e+02] [ 4.67152075e-01 8.64006978e-01 -1.87778811e-01 3.05466897e+02] [ 3.97199141e-01 -1.53305958e-02 9.17604389e-01 1.27017523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.03, Y:305.49, Z:127.02 [[ 7.89543208e-01 -5.11002650e-01 -3.39849694e-01 4.24029789e+02] [ 4.67209198e-01 8.59566408e-01 -2.07029359e-01 3.05493123e+02] [ 3.97915932e-01 4.67772077e-03 9.17409957e-01 1.27020123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.05, Y:305.50, Z:127.04 [[ 7.91333037e-01 -5.01980456e-01 -3.49009522e-01 4.24054649e+02] [ 4.66238839e-01 8.64748300e-01 -1.86632587e-01 3.05495367e+02] [ 3.95491302e-01 -1.50332625e-02 9.18346684e-01 1.27037835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.08, Y:305.51, Z:127.05 [[ 7.89616323e-01 -5.04236114e-01 -3.49645542e-01 4.24075410e+02] [ 4.62987997e-01 8.63555955e-01 -1.99782954e-01 3.05511666e+02] [ 4.02676270e-01 -4.12980784e-03 9.15333145e-01 1.27053358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.10, Y:305.54, Z:127.06 [[ 7.90071096e-01 -5.10028413e-01 -3.40086285e-01 4.24098086e+02] [ 4.66931086e-01 8.60151061e-01 -2.05220644e-01 3.05535774e+02] [ 3.97193938e-01 3.34204056e-03 9.17728613e-01 1.27055272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.12, Y:305.53, Z:127.09 [[ 7.87779951e-01 -4.97132083e-01 -3.63679036e-01 4.24119424e+02] [ 4.65579372e-01 8.67156032e-01 -1.76850970e-01 3.05527002e+02] [ 4.03284761e-01 -3.00018092e-02 9.14582579e-01 1.27087340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.14, Y:305.56, Z:127.09 [[ 7.86807798e-01 -5.08701501e-01 -3.49508614e-01 4.24137424e+02] [ 4.66224442e-01 8.60938345e-01 -2.03518882e-01 3.05555524e+02] [ 4.04435729e-01 -2.81921556e-03 9.14562077e-01 1.27089710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.16, Y:305.58, Z:127.09 [[ 7.88315144e-01 -5.13868243e-01 -3.38376510e-01 4.24164025e+02] [ 4.68400457e-01 8.57829668e-01 -2.11492963e-01 3.05577745e+02] [ 3.98948926e-01 8.22739346e-03 9.16936238e-01 1.27089948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.19, Y:305.58, Z:127.11 [[ 7.87556093e-01 -5.08331289e-01 -3.48360017e-01 4.24190124e+02] [ 4.69373755e-01 8.61107846e-01 -1.95401014e-01 3.05581309e+02] [ 3.99303993e-01 -9.62179016e-03 9.16768096e-01 1.27108201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.21, Y:305.60, Z:127.12 [[ 7.85928891e-01 -5.12112046e-01 -3.46492468e-01 4.24212209e+02] [ 4.71853204e-01 8.58890344e-01 -1.99153032e-01 3.05597087e+02] [ 3.99587702e-01 -6.97345998e-03 9.16668446e-01 1.27118676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.23, Y:305.61, Z:127.13 [[ 7.85403422e-01 -5.11527100e-01 -3.48541950e-01 4.24233898e+02] [ 4.73332010e-01 8.59178550e-01 -1.94342552e-01 3.05607271e+02] [ 3.98871249e-01 -1.23387566e-02 9.16923924e-01 1.27130870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.26, Y:305.62, Z:127.14 [[ 7.84163788e-01 -5.14948740e-01 -3.46287380e-01 4.24256417e+02] [ 4.74783330e-01 8.57184201e-01 -1.99539555e-01 3.05624372e+02] [ 3.99584714e-01 -7.93978225e-03 9.16661888e-01 1.27141109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.302755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:424.28, Y:305.64, Z:127.15 [[ 7.82544222e-01 -5.16734523e-01 -3.47289467e-01 4.24278434e+02] [ 4.75601905e-01 8.56117252e-01 -2.02153603e-01 3.05638425e+02] [ 4.01780249e-01 -6.97739781e-03 9.15709532e-01 1.27152384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.30, Y:305.65, Z:127.17 [[ 7.82719603e-01 -5.13388624e-01 -3.51826867e-01 4.24302471e+02] [ 4.76108406e-01 8.57995396e-01 -1.92781448e-01 3.05646710e+02] [ 4.00837634e-01 -1.66139104e-02 9.15998455e-01 1.27167197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.32, Y:305.66, Z:127.18 [[ 7.82381982e-01 -5.14489762e-01 -3.50968261e-01 4.24323523e+02] [ 4.77115142e-01 8.57341667e-01 -1.93200432e-01 3.05659461e+02] [ 4.00299358e-01 -1.62957346e-02 9.16239528e-01 1.27177618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.34, Y:305.68, Z:127.19 [[ 7.81676030e-01 -5.17982084e-01 -3.47386162e-01 4.24344685e+02] [ 4.76501686e-01 8.55365367e-01 -2.03214743e-01 3.05678650e+02] [ 4.02403688e-01 -6.68199853e-03 9.15437941e-01 1.27187080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.37, Y:305.69, Z:127.20 [[ 7.81312113e-01 -5.16095315e-01 -3.50994312e-01 4.24368335e+02] [ 4.76505294e-01 8.56445970e-01 -1.98602634e-01 3.05689358e+02] [ 4.03105553e-01 -1.20800037e-02 9.15073760e-01 1.27201353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.39, Y:305.70, Z:127.21 [[ 7.80597616e-01 -5.17015033e-01 -3.51230433e-01 4.24391467e+02] [ 4.76635334e-01 8.55907918e-01 -2.00600085e-01 3.05704412e+02] [ 4.04334168e-01 -1.08208868e-02 9.14547314e-01 1.27213488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.41, Y:305.71, Z:127.24 [[ 7.76235736e-01 -5.14135211e-01 -3.64860340e-01 4.24408457e+02] [ 4.76789331e-01 8.57386517e-01 -1.93804787e-01 3.05709180e+02] [ 4.12468201e-01 -2.35233163e-02 9.10668237e-01 1.27238187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.44, Y:305.73, Z:127.25 [[ 7.77479633e-01 -5.17744151e-01 -3.57024391e-01 4.24438973e+02] [ 4.75027522e-01 8.55484684e-01 -2.06142690e-01 3.05729679e+02] [ 4.12158070e-01 -9.32466908e-03 9.11064639e-01 1.27247626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:424.46, Y:305.74, Z:127.25 [[ 7.79050562e-01 -5.17883143e-01 -3.53379783e-01 4.24458717e+02] [ 4.79220829e-01 8.55303848e-01 -1.96984073e-01 3.05742806e+02] [ 4.04261819e-01 -1.58863999e-02 9.14505333e-01 1.27250804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.48, Y:305.76, Z:127.26 [[ 7.78691572e-01 -5.20919971e-01 -3.49688175e-01 4.24479375e+02] [ 4.79381062e-01 8.53560593e-01 -2.04029683e-01 3.05760571e+02] [ 4.04763182e-01 -8.75769423e-03 9.14379609e-01 1.27260333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.51, Y:305.76, Z:127.28 [[ 7.77823101e-01 -5.13459764e-01 -3.62422811e-01 4.24506190e+02] [ 4.76684682e-01 8.57798919e-01 -1.92230928e-01 3.05762790e+02] [ 4.09588742e-01 -2.32397458e-02 9.11974219e-01 1.27283467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.52, Y:305.79, Z:127.28 [[ 7.78582732e-01 -5.21349976e-01 -3.49289468e-01 4.24522393e+02] [ 4.79505331e-01 8.53305186e-01 -2.04804535e-01 3.05786813e+02] [ 4.04825353e-01 -8.02888810e-03 9.14358776e-01 1.27284455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.55, Y:305.79, Z:127.31 [[ 7.78743515e-01 -5.13288879e-01 -3.60684161e-01 4.24549018e+02] [ 4.76897845e-01 8.57905125e-01 -1.91225630e-01 3.05789280e+02] [ 4.07586779e-01 -2.30937793e-02 9.12874413e-01 1.27307570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.56, Y:305.82, Z:127.30 [[ 7.79523472e-01 -5.24744038e-01 -3.42033408e-01 4.24563918e+02] [ 4.77437604e-01 8.51235188e-01 -2.17834777e-01 3.05820493e+02] [ 4.05458373e-01 6.50771098e-03 9.14090344e-01 1.27302383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.722755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:424.59, Y:305.83, Z:127.32 [[ 7.79048498e-01 -5.21570619e-01 -3.47918851e-01 4.24588354e+02] [ 4.77765961e-01 8.53202088e-01 -2.09250768e-01 3.05829536e+02] [ 4.05984142e-01 -3.20728722e-03 9.13874493e-01 1.27317554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.752755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:424.61, Y:305.83, Z:127.33 [[ 7.80052587e-01 -5.14221616e-01 -3.56502584e-01 4.24612961e+02] [ 4.76090407e-01 8.57478199e-01 -1.95112951e-01 3.05834402e+02] [ 4.06024490e-01 -1.75290975e-02 9.13694065e-01 1.27333587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7827550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:424.63, Y:305.86, Z:127.34 [[ 7.82206302e-01 -5.16336792e-01 -3.48639667e-01 4.24633246e+02] [ 4.71876389e-01 8.56385432e-01 -2.09610748e-01 3.05857175e+02] [ 4.06799673e-01 -5.55978921e-04 9.13517223e-01 1.27340768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.812755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:424.66, Y:305.87, Z:127.36 [[ 7.84159081e-01 -5.10029991e-01 -3.53502397e-01 4.24656554e+02] [ 4.68120897e-01 8.60131071e-01 -2.02576815e-01 3.05865153e+02] [ 4.07378646e-01 -6.62941042e-03 9.13235287e-01 1.27355388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.68, Y:305.88, Z:127.37 [[ 7.84666260e-01 -5.10943467e-01 -3.51049331e-01 4.24677772e+02] [ 4.66981007e-01 8.59613431e-01 -2.07348711e-01 3.05880934e+02] [ 4.07710190e-01 -1.23383263e-03 9.13110551e-01 1.27366369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.70, Y:305.89, Z:127.38 [[ 7.85035895e-01 -5.10376837e-01 -3.51047187e-01 4.24700462e+02] [ 4.66608140e-01 8.59949620e-01 -2.06793362e-01 3.05893628e+02] [ 4.07425437e-01 -1.46126246e-03 9.13237307e-01 1.27377361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.72, Y:305.91, Z:127.39 [[ 7.84854859e-01 -5.11144812e-01 -3.50333887e-01 4.24722670e+02] [ 4.66636122e-01 8.59494571e-01 -2.08614027e-01 3.05907564e+02] [ 4.07742051e-01 2.53286017e-04 9.13097123e-01 1.27388538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.75, Y:305.91, Z:127.41 [[ 7.85270744e-01 -5.05886253e-01 -3.56971929e-01 4.24747391e+02] [ 4.65925851e-01 8.62525927e-01 -1.97388264e-01 3.05911234e+02] [ 4.07753553e-01 -1.13192206e-02 9.13021859e-01 1.27406371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.962755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:424.77, Y:305.92, Z:127.42 [[ 7.87583881e-01 -5.02346108e-01 -3.56875354e-01 4.24767241e+02] [ 4.64483344e-01 8.64542776e-01 -1.91888017e-01 3.05918971e+02] [ 4.04928208e-01 -1.46347485e-02 9.14231355e-01 1.27417591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.79, Y:305.94, Z:127.42 [[ 7.87346288e-01 -5.08963350e-01 -3.47911096e-01 4.24787339e+02] [ 4.64613930e-01 8.60785942e-01 -2.07801487e-01 3.05939591e+02] [ 4.05240321e-01 1.96738776e-03 9.14208079e-01 1.27423720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.022755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:424.81, Y:305.95, Z:127.45 [[ 7.83137158e-01 -5.07336308e-01 -3.59591520e-01 4.24809069e+02] [ 4.67109672e-01 8.61655967e-01 -1.98387371e-01 3.05945103e+02] [ 4.10493296e-01 -1.26041547e-02 9.11776502e-01 1.27448511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.83, Y:305.96, Z:127.45 [[ 7.87965597e-01 -5.07050330e-01 -3.49299558e-01 4.24833799e+02] [ 4.63278167e-01 8.61916259e-01 -2.06091489e-01 3.05960466e+02] [ 4.05565726e-01 5.70144459e-04 9.14065707e-01 1.27451637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.86, Y:305.99, Z:127.46 [[ 7.83827121e-01 -5.19865338e-01 -3.39639624e-01 4.24856045e+02] [ 4.68028885e-01 8.54035990e-01 -2.27093572e-01 3.05986959e+02] [ 4.08122539e-01 1.90409460e-02 9.12728566e-01 1.27455386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.89, Y:305.98, Z:127.48 [[ 7.82945020e-01 -5.08681936e-01 -3.58105827e-01 4.24886053e+02] [ 4.68126287e-01 8.60877137e-01 -1.99369845e-01 3.05982169e+02] [ 4.09700958e-01 -1.15431235e-02 9.12146853e-01 1.27479777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.142755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:424.90, Y:305.99, Z:127.50 [[ 7.80413420e-01 -5.07542508e-01 -3.65178718e-01 4.24903888e+02] [ 4.69664557e-01 8.61382453e-01 -1.93482488e-01 3.05987759e+02] [ 4.12759127e-01 -2.05151706e-02 9.10609154e-01 1.27497521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.93, Y:306.03, Z:127.49 [[ 7.79375518e-01 -5.26375447e-01 -3.39856868e-01 4.24925143e+02] [ 4.68845313e-01 8.49775672e-01 -2.40967590e-01 3.06028163e+02] [ 4.15641521e-01 2.84639405e-02 9.09083016e-01 1.27490208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.96, Y:306.01, Z:127.52 [[ 7.79652785e-01 -5.06289069e-01 -3.68528036e-01 4.24958502e+02] [ 4.70372320e-01 8.61973921e-01 -1.89078926e-01 3.06010352e+02] [ 4.13390150e-01 -2.59294765e-02 9.10184732e-01 1.27520571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:424.98, Y:306.03, Z:127.53 [[ 7.80150156e-01 -5.11634708e-01 -3.59993971e-01 4.24977694e+02] [ 4.70624806e-01 8.59111603e-01 -2.01095862e-01 3.06025778e+02] [ 4.12162620e-01 -1.25371246e-02 9.11024037e-01 1.27525597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.262755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.00, Y:306.05, Z:127.53 [[ 7.78332437e-01 -5.19404231e-01 -3.52729163e-01 4.25000882e+02] [ 4.71563798e-01 8.54522850e-01 -2.17757394e-01 3.06048107e+02] [ 4.14519241e-01 3.15333895e-03 9.10035085e-01 1.27533572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.03, Y:306.05, Z:127.55 [[ 7.77133388e-01 -5.16931697e-01 -3.58950300e-01 4.25025275e+02] [ 4.73752195e-01 8.55977595e-01 -2.07029503e-01 3.06051232e+02] [ 4.14273527e-01 -9.16395332e-03 9.10106294e-01 1.27549683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.322755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:425.05, Y:306.06, Z:127.56 [[ 7.77306752e-01 -5.18157249e-01 -3.56801457e-01 4.25046611e+02] [ 4.75133585e-01 8.55241143e-01 -2.06907378e-01 3.06062933e+02] [ 4.12361843e-01 -8.69785307e-03 9.10978626e-01 1.27559105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.352755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:425.07, Y:306.06, Z:127.57 [[ 7.82057604e-01 -5.10482265e-01 -3.57482534e-01 4.25071128e+02] [ 4.73869121e-01 8.59653281e-01 -1.90903885e-01 3.06063817e+02] [ 4.04764081e-01 -2.01020991e-02 9.14200167e-01 1.27572979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.382755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:425.09, Y:306.09, Z:127.57 [[ 7.77856648e-01 -5.26129836e-01 -3.43695259e-01 4.25088296e+02] [ 4.76983357e-01 8.50357540e-01 -2.22213707e-01 3.06093213e+02] [ 4.09177116e-01 8.91349085e-03 9.12411441e-01 1.27574112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4127550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:425.11, Y:306.10, Z:127.59 [[ 7.77267312e-01 -5.24712756e-01 -3.47177259e-01 4.25110279e+02] [ 4.76589295e-01 8.51263417e-01 -2.19575133e-01 3.06101968e+02] [ 4.10753173e-01 5.20760835e-03 9.11731710e-01 1.27586412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.442755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:425.13, Y:306.11, Z:127.60 [[ 7.77065379e-01 -5.22617231e-01 -3.50771474e-01 4.25133548e+02] [ 4.76673958e-01 8.52567145e-01 -2.14268993e-01 3.06112086e+02] [ 4.11036902e-01 -7.02610495e-04 9.11618435e-01 1.27600555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.472755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:425.16, Y:306.12, Z:127.61 [[ 7.76390901e-01 -5.24285602e-01 -3.49773894e-01 4.25159771e+02] [ 4.77473833e-01 8.51541748e-01 -2.16553436e-01 3.06124868e+02] [ 4.11382922e-01 1.12223540e-03 9.11461920e-01 1.27613653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.502755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:425.18, Y:306.13, Z:127.63 [[ 7.77068289e-01 -5.20766347e-01 -3.53507124e-01 4.25182276e+02] [ 4.77792601e-01 8.53663457e-01 -2.07299137e-01 3.06130465e+02] [ 4.09730528e-01 -7.81750272e-03 9.12173109e-01 1.27626412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5327550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:425.21, Y:306.15, Z:127.63 [[ 7.76076699e-01 -5.27538739e-01 -3.45554389e-01 4.25205298e+02] [ 4.77854297e-01 8.49488923e-01 -2.23660102e-01 3.06151174e+02] [ 4.11533994e-01 8.45274399e-03 9.11355212e-01 1.27633171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.23, Y:306.14, Z:127.66 [[ 7.78307127e-01 -5.13203399e-01 -3.61746165e-01 4.25232624e+02] [ 4.75461908e-01 8.58015300e-01 -1.94282577e-01 3.06143764e+02] [ 4.10090223e-01 -2.07850080e-02 9.11808090e-01 1.27657142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.25, Y:306.15, Z:127.68 [[ 7.77246551e-01 -5.10958034e-01 -3.67164386e-01 4.25253306e+02] [ 4.72173492e-01 8.59355448e-01 -1.96368043e-01 3.06151312e+02] [ 4.15860544e-01 -2.07389061e-02 9.09191897e-01 1.27676373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.27, Y:306.18, Z:127.68 [[ 7.77232574e-01 -5.18973477e-01 -3.55775290e-01 4.25273945e+02] [ 4.70950751e-01 8.54788193e-01 -2.18042507e-01 3.06176071e+02] [ 4.17270795e-01 1.91709838e-03 9.08780176e-01 1.27679672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.30, Y:306.18, Z:127.69 [[ 7.79505442e-01 -5.12085385e-01 -3.60748977e-01 4.25297304e+02] [ 4.68371346e-01 8.58901967e-01 -2.07161034e-01 3.06179925e+02] [ 4.15932144e-01 -7.48133010e-03 9.09364878e-01 1.27694044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.682755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:425.32, Y:306.22, Z:127.68 [[ 7.80940174e-01 -5.26359697e-01 -3.36270595e-01 4.25317757e+02] [ 4.68412049e-01 8.49674501e-01 -2.42163982e-01 3.06218918e+02] [ 4.13185911e-01 3.16023837e-02 9.10098178e-01 1.27682068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.35, Y:306.21, Z:127.71 [[ 7.81705396e-01 -5.11473749e-01 -3.56835086e-01 4.25346000e+02] [ 4.66829498e-01 8.59292961e-01 -2.09011549e-01 3.06210707e+02] [ 4.13529798e-01 -3.19568802e-03 9.10484977e-01 1.27709900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.742755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:425.37, Y:306.22, Z:127.72 [[ 7.83130489e-01 -5.09872466e-01 -3.56000992e-01 4.25369726e+02] [ 4.64683582e-01 8.60249323e-01 -2.09857740e-01 3.06223738e+02] [ 4.13250296e-01 -1.08182104e-03 9.10616836e-01 1.27721795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.39, Y:306.22, Z:127.75 [[ 7.81373970e-01 -5.01855372e-01 -3.70939219e-01 4.25389174e+02] [ 4.63560807e-01 8.64700606e-01 -1.93401757e-01 3.06222785e+02] [ 4.17811079e-01 -2.08337850e-02 9.08295027e-01 1.27747625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.802755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:425.41, Y:306.25, Z:127.75 [[ 7.81728645e-01 -5.10967759e-01 -3.57508427e-01 4.25407988e+02] [ 4.63790290e-01 8.59597919e-01 -2.14452755e-01 3.06247119e+02] [ 4.16891944e-01 1.83492453e-03 9.08954202e-01 1.27749312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.832755096 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:425.43, Y:306.26, Z:127.76 [[ 7.82526910e-01 -5.10410336e-01 -3.56557043e-01 4.25430147e+02] [ 4.63372984e-01 8.59927993e-01 -2.14031129e-01 3.06259462e+02] [ 4.15857083e-01 2.26621669e-03 9.09427155e-01 1.27760941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.862755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:425.45, Y:306.27, Z:127.77 [[ 7.80628176e-01 -5.12845155e-01 -3.57224716e-01 4.25451493e+02] [ 4.65788937e-01 8.58480385e-01 -2.14597520e-01 3.06273419e+02] [ 4.16725710e-01 1.12954961e-03 9.09031576e-01 1.27772378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.892755096 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:425.47, Y:306.29, Z:127.78 [[ 7.80421494e-01 -5.13573028e-01 -3.56630112e-01 4.25472753e+02] [ 4.66678028e-01 8.58045421e-01 -2.14405399e-01 3.06286981e+02] [ 4.16117665e-01 8.95143997e-04 9.09310337e-01 1.27783423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9227550960001 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:425.49, Y:306.30, Z:127.79 [[ 7.79913898e-01 -5.14372854e-01 -3.56587829e-01 4.25493837e+02] [ 4.67500551e-01 8.57566438e-01 -2.14529809e-01 3.06300230e+02] [ 4.16146065e-01 6.09773087e-04 9.09297576e-01 1.27794555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.952755096 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:425.51, Y:306.32, Z:127.80 [[ 7.78437645e-01 -5.18652865e-01 -3.53601526e-01 4.25513709e+02] [ 4.67391626e-01 8.54927468e-01 -2.25042423e-01 3.06318948e+02] [ 4.19022555e-01 9.91110173e-03 9.07921731e-01 1.27802265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.982755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:425.54, Y:306.32, Z:127.82 [[ 7.79718030e-01 -5.10263029e-01 -3.62865588e-01 4.25536574e+02] [ 4.67902264e-01 8.59950042e-01 -2.03846504e-01 3.06319629e+02] [ 4.16061612e-01 -1.08428358e-02 9.09271779e-01 1.27819966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.56, Y:306.35, Z:127.83 [[ 7.77748973e-01 -5.19601452e-01 -3.53724280e-01 4.25556912e+02] [ 4.69961959e-01 8.54386223e-01 -2.21720408e-01 3.06347188e+02] [ 4.17423397e-01 6.20586398e-03 9.08690924e-01 1.27825204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.58, Y:306.36, Z:127.84 [[ 7.77380282e-01 -5.17283299e-01 -3.57907651e-01 4.25578877e+02] [ 4.70172103e-01 8.55814010e-01 -2.15686289e-01 3.06357965e+02] [ 4.17873297e-01 -6.07924701e-04 9.08505112e-01 1.27839238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.60, Y:306.37, Z:127.85 [[ 7.76092317e-01 -5.19043542e-01 -3.58154320e-01 4.25598932e+02] [ 4.71966055e-01 8.54746653e-01 -2.16000468e-01 3.06373078e+02] [ 4.18244855e-01 -1.40037806e-03 9.08333243e-01 1.27849475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.102755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:425.62, Y:306.38, Z:127.86 [[ 7.78784937e-01 -5.11768162e-01 -3.62749736e-01 4.25620163e+02] [ 4.71211218e-01 8.58992695e-01 -2.00228714e-01 3.06376151e+02] [ 4.14070054e-01 -1.49966381e-02 9.10121471e-01 1.27863434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.64, Y:306.41, Z:127.86 [[ 7.74950256e-01 -5.28818676e-01 -3.46125569e-01 4.25639659e+02] [ 4.74233035e-01 8.48550113e-01 -2.34660893e-01 3.06412860e+02] [ 4.17797953e-01 1.77063394e-02 9.08367413e-01 1.27864701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1627550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:425.66, Y:306.43, Z:127.86 [[ 7.75320832e-01 -5.33782922e-01 -3.37569844e-01 4.25662508e+02] [ 4.77144821e-01 8.45236877e-01 -2.40639651e-01 3.06434904e+02] [ 4.13775817e-01 2.55032318e-02 9.10021516e-01 1.27864613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.192755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:425.69, Y:306.41, Z:127.91 [[ 7.72933405e-01 -5.14157016e-01 -3.71774817e-01 4.25689832e+02] [ 4.78610502e-01 8.57142966e-01 -1.90362609e-01 3.06414489e+02] [ 4.16540440e-01 -3.07977118e-02 9.08595379e-01 1.27905638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.71, Y:306.44, Z:127.91 [[ 7.74792413e-01 -5.20558667e-01 -3.58769272e-01 4.25706466e+02] [ 4.78563327e-01 8.53731697e-01 -2.05229950e-01 3.06435612e+02] [ 4.13126929e-01 -1.26832081e-02 9.10585129e-01 1.27907634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.252755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.72, Y:306.47, Z:127.91 [[ 7.70653489e-01 -5.36767097e-01 -3.43473849e-01 4.25724876e+02] [ 4.81750245e-01 8.43549894e-01 -2.37361070e-01 3.06469590e+02] [ 4.17144941e-01 1.74545263e-02 9.08672349e-01 1.27910063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.75, Y:306.48, Z:127.93 [[ 7.68828135e-01 -5.33368498e-01 -3.52734099e-01 4.25749729e+02] [ 4.83318927e-01 8.45877814e-01 -2.25595966e-01 3.06475990e+02] [ 4.18695730e-01 2.96145928e-03 9.08121752e-01 1.27928429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.312755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:425.77, Y:306.48, Z:127.95 [[ 7.69965191e-01 -5.26224834e-01 -3.60889219e-01 4.25773844e+02] [ 4.84175240e-01 8.50202855e-01 -2.06711009e-01 3.06477872e+02] [ 4.15605511e-01 -1.55733429e-02 9.09411640e-01 1.27945579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.80, Y:306.49, Z:127.95 [[ 7.73048193e-01 -5.26346601e-01 -3.54056137e-01 4.25798788e+02] [ 4.82058506e-01 8.50239517e-01 -2.11452974e-01 3.06492615e+02] [ 4.12330073e-01 -7.21243322e-03 9.11005978e-01 1.27954895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.82, Y:306.51, Z:127.96 [[ 7.68313193e-01 -5.32946257e-01 -3.54489950e-01 4.25816876e+02] [ 4.87778887e-01 8.46112837e-01 -2.14860014e-01 3.06510585e+02] [ 4.14447338e-01 -7.83293004e-03 9.10039587e-01 1.27964791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.84, Y:306.52, Z:127.98 [[ 7.68439486e-01 -5.32563049e-01 -3.54791989e-01 4.25838231e+02] [ 4.87210141e-01 8.46357112e-01 -2.15188100e-01 3.06523780e+02] [ 4.14881954e-01 -7.49922165e-03 9.09844342e-01 1.27975505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.432755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:425.86, Y:306.53, Z:127.99 [[ 7.72051440e-01 -5.24567264e-01 -3.58839463e-01 4.25856707e+02] [ 4.82913556e-01 8.51241703e-01 -2.05382719e-01 3.06526811e+02] [ 4.13196167e-01 -1.47224173e-02 9.10523025e-01 1.27986498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.88, Y:306.56, Z:127.99 [[ 7.70292212e-01 -5.36329312e-01 -3.44964893e-01 4.25878443e+02] [ 4.84687249e-01 8.43951444e-01 -2.29835226e-01 3.06558393e+02] [ 4.14400988e-01 9.84019965e-03 9.10041203e-01 1.27990836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.90, Y:306.56, Z:128.01 [[ 7.70979715e-01 -5.28977330e-01 -3.54645263e-01 4.25901757e+02] [ 4.83564088e-01 8.48614024e-01 -2.14522751e-01 3.06561448e+02] [ 4.14434616e-01 -6.10102361e-03 9.10058639e-01 1.28008061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:425.93, Y:306.58, Z:128.01 [[ 7.72361511e-01 -5.33019270e-01 -3.45468022e-01 4.25928491e+02] [ 4.82735300e-01 8.46066306e-01 -2.26138092e-01 3.06584027e+02] [ 4.12824813e-01 7.89074926e-03 9.10776268e-01 1.28011266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.552755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:425.95, Y:306.58, Z:128.04 [[ 7.71909443e-01 -5.20626797e-01 -3.64833592e-01 4.25948354e+02] [ 4.81979512e-01 8.53477914e-01 -1.98169626e-01 3.06577226e+02] [ 4.14549831e-01 -2.28733113e-02 9.09739111e-01 1.28037653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.582755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.97, Y:306.60, Z:128.04 [[ 7.71739416e-01 -5.27575624e-01 -3.55080602e-01 4.25967848e+02] [ 4.81732874e-01 8.49493324e-01 -2.15161637e-01 3.06600725e+02] [ 4.15152636e-01 -5.00528325e-03 9.09738004e-01 1.28042610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.612755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:425.99, Y:306.61, Z:128.05 [[ 7.71882866e-01 -5.27621815e-01 -3.54699961e-01 4.25989500e+02] [ 4.81810421e-01 8.49465436e-01 -2.15098098e-01 3.06613919e+02] [ 4.14795806e-01 -4.86760122e-03 9.09901503e-01 1.28053599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.02, Y:306.63, Z:128.07 [[ 7.72898724e-01 -5.25452875e-01 -3.55706112e-01 4.26016746e+02] [ 4.79585366e-01 8.50810230e-01 -2.14755276e-01 3.06626817e+02] [ 4.15482176e-01 -4.60736687e-03 9.09589651e-01 1.28067051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.03, Y:306.64, Z:128.08 [[ 7.72813230e-01 -5.24444698e-01 -3.57375812e-01 4.26033013e+02] [ 4.80401570e-01 8.51397389e-01 -2.10563097e-01 3.06637882e+02] [ 4.14697533e-01 -8.95795444e-03 9.09915222e-01 1.28079469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.06, Y:306.65, Z:128.10 [[ 7.73222837e-01 -5.21644859e-01 -3.60573274e-01 4.26058571e+02] [ 4.78919937e-01 8.53070824e-01 -2.07137306e-01 3.06648747e+02] [ 4.15646650e-01 -1.25224340e-02 9.09439965e-01 1.28095122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.07, Y:306.67, Z:128.10 [[ 7.73534339e-01 -5.27696142e-01 -3.50972090e-01 4.26074240e+02] [ 4.79984806e-01 8.49432432e-01 -2.19269537e-01 3.06670337e+02] [ 4.13834765e-01 1.15124509e-03 9.10351285e-01 1.28099117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.10, Y:306.69, Z:128.11 [[ 7.74391027e-01 -5.27686692e-01 -3.49092097e-01 4.26100482e+02] [ 4.79301182e-01 8.49431294e-01 -2.20764251e-01 3.06687570e+02] [ 4.13024109e-01 3.63760022e-03 9.10712827e-01 1.28108727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7927550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:426.12, Y:306.70, Z:128.12 [[ 7.74730254e-01 -5.25148729e-01 -3.52153158e-01 4.26123321e+02] [ 4.79392837e-01 8.51006148e-01 -2.14408592e-01 3.06698889e+02] [ 4.12280902e-01 -2.71087846e-03 9.11052748e-01 1.28121787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.14, Y:306.70, Z:128.14 [[ 7.75249429e-01 -5.18012828e-01 -3.61456820e-01 4.26142532e+02] [ 4.76834493e-01 8.55241092e-01 -2.02956991e-01 3.06703082e+02] [ 4.14267050e-01 -1.50127879e-02 9.10031553e-01 1.28141725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.16, Y:306.72, Z:128.15 [[ 7.75617190e-01 -5.22799393e-01 -3.53693044e-01 4.26162710e+02] [ 4.76216405e-01 8.52455018e-01 -2.15727555e-01 3.06724655e+02] [ 4.14289645e-01 -1.11243008e-03 9.10144413e-01 1.28147603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.882755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:426.18, Y:306.74, Z:128.16 [[ 7.75797673e-01 -5.22246395e-01 -3.54113929e-01 4.26184675e+02] [ 4.75415910e-01 8.52794386e-01 -2.16151445e-01 3.06738649e+02] [ 4.14870683e-01 -6.61607965e-04 9.09880145e-01 1.28158755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9127550960001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:426.21, Y:306.75, Z:128.17 [[ 7.76010731e-01 -5.21807434e-01 -3.54294152e-01 4.26205450e+02] [ 4.74805716e-01 8.53063263e-01 -2.16431519e-01 3.06752212e+02] [ 4.15170901e-01 -2.67707035e-04 9.09743399e-01 1.28169281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.23, Y:306.77, Z:128.18 [[ 7.76518174e-01 -5.20839251e-01 -3.54606825e-01 4.26226599e+02] [ 4.73600979e-01 8.53654699e-01 -2.16738936e-01 3.06766836e+02] [ 4.15597928e-01 3.59583631e-04 9.09548368e-01 1.28179957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.25, Y:306.78, Z:128.19 [[ 7.76605753e-01 -5.20023005e-01 -3.55611557e-01 4.26252730e+02] [ 4.72561606e-01 8.54152101e-01 -2.17047729e-01 3.06781257e+02] [ 4.16616171e-01 5.12145912e-04 9.09082342e-01 1.28191471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.27, Y:306.80, Z:128.20 [[ 7.76937357e-01 -5.20213423e-01 -3.54607301e-01 4.26274931e+02] [ 4.72817172e-01 8.54035831e-01 -2.16948661e-01 3.06795789e+02] [ 4.15706947e-01 8.91098127e-04 9.09498181e-01 1.28201928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0327550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:426.29, Y:306.80, Z:128.22 [[ 7.76534474e-01 -5.17435840e-01 -3.59519627e-01 4.26293374e+02] [ 4.73665348e-01 8.55680556e-01 -2.08451250e-01 3.06803273e+02] [ 4.15494103e-01 -8.42240746e-03 9.09556878e-01 1.28216764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.32, Y:306.82, Z:128.23 [[ 7.77405959e-01 -5.19484525e-01 -3.54648846e-01 4.26316083e+02] [ 4.71696519e-01 8.54477716e-01 -2.17647024e-01 3.06819871e+02] [ 4.16103797e-01 1.91346725e-03 9.09315110e-01 1.28226084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.34, Y:306.83, Z:128.24 [[ 7.75745894e-01 -5.22148440e-01 -3.54371719e-01 4.26335918e+02] [ 4.75312981e-01 8.52854278e-01 -2.16141507e-01 3.06834407e+02] [ 4.15085387e-01 -7.66591753e-04 9.09782136e-01 1.28238261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.36, Y:306.85, Z:128.25 [[ 7.76275288e-01 -5.21400833e-01 -3.54313209e-01 4.26358394e+02] [ 4.73651212e-01 8.53310750e-01 -2.17980031e-01 3.06847446e+02] [ 4.15994239e-01 1.39163075e-03 9.09366184e-01 1.28248896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:426.38, Y:306.87, Z:128.26 [[ 7.73622357e-01 -5.28025561e-01 -3.50281967e-01 4.26378562e+02] [ 4.77422624e-01 8.49196576e-01 -2.25682993e-01 3.06867714e+02] [ 4.16624636e-01 7.36087326e-03 9.09048805e-01 1.28258088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.40, Y:306.88, Z:128.26 [[ 7.72663087e-01 -5.30824564e-01 -3.48162371e-01 4.26403773e+02] [ 4.81041281e-01 8.47460496e-01 -2.24521701e-01 3.06884536e+02] [ 4.14235489e-01 5.99915767e-03 9.10149971e-01 1.28264866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.43, Y:306.89, Z:128.28 [[ 7.71752536e-01 -5.28265870e-01 -3.54024286e-01 4.26426890e+02] [ 4.83400574e-01 8.49053075e-01 -2.13149622e-01 3.06891589e+02] [ 4.13185079e-01 -6.63678113e-03 9.10622888e-01 1.28280600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.242755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:426.45, Y:306.91, Z:128.28 [[ 7.69347548e-01 -5.37254709e-01 -3.45632360e-01 4.26445419e+02] [ 4.87122560e-01 8.43398405e-01 -2.26695260e-01 3.06914840e+02] [ 4.13298877e-01 6.04212249e-03 9.10575385e-01 1.28283685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.47, Y:306.93, Z:128.29 [[ 7.68091256e-01 -5.39213774e-01 -3.45375634e-01 4.26466922e+02] [ 4.88476670e-01 8.42141801e-01 -2.28446341e-01 3.06929230e+02] [ 4.14036672e-01 6.75969763e-03 9.10235102e-01 1.28294547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.49, Y:306.94, Z:128.31 [[ 7.66372550e-01 -5.37346221e-01 -3.52039988e-01 4.26491505e+02] [ 4.91710924e-01 8.43333197e-01 -2.16816710e-01 3.06937477e+02] [ 4.13392648e-01 -6.93953324e-03 9.10526420e-01 1.28311282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.51, Y:306.95, Z:128.32 [[ 7.66040495e-01 -5.38547133e-01 -3.50925841e-01 4.26513220e+02] [ 4.91724545e-01 8.42584532e-01 -2.19677670e-01 3.06952800e+02] [ 4.13991465e-01 -4.27685839e-03 9.10270716e-01 1.28322693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.53, Y:306.97, Z:128.33 [[ 7.63929089e-01 -5.43347859e-01 -3.48117008e-01 4.26531073e+02] [ 4.95177192e-01 8.39506296e-01 -2.23671023e-01 3.06967924e+02] [ 4.13777591e-01 -1.51080158e-03 9.10376748e-01 1.28327856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.56, Y:306.97, Z:128.35 [[ 7.62048821e-01 -5.38792407e-01 -3.59143895e-01 4.26556395e+02] [ 4.94424238e-01 8.42321267e-01 -2.14568300e-01 3.06972258e+02] [ 4.18122311e-01 -1.40579263e-02 9.08281954e-01 1.28351123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.57, Y:307.00, Z:128.35 [[ 7.59728267e-01 -5.53500497e-01 -3.41247944e-01 4.26574410e+02] [ 5.01316600e-01 8.32817236e-01 -2.34727753e-01 3.07004427e+02] [ 4.14119097e-01 7.25605014e-03 9.10193783e-01 1.28348754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.60, Y:307.01, Z:128.36 [[ 7.59425356e-01 -5.48678274e-01 -3.49607323e-01 4.26596071e+02] [ 5.02155930e-01 8.35999517e-01 -2.21233427e-01 3.07010598e+02] [ 4.13657528e-01 -7.54711611e-03 9.10401280e-01 1.28364989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.62, Y:307.03, Z:128.37 [[ 7.58802590e-01 -5.53195550e-01 -3.43792543e-01 4.26615946e+02] [ 5.04808410e-01 8.33049360e-01 -2.26268055e-01 3.07031207e+02] [ 4.11566639e-01 -1.85658046e-03 9.11377778e-01 1.28373019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.64, Y:307.01, Z:128.42 [[ 7.58342925e-01 -5.31546764e-01 -3.77324855e-01 4.26644659e+02] [ 5.01149804e-01 8.45576860e-01 -1.83980022e-01 3.07010256e+02] [ 4.16851151e-01 -4.95763288e-02 9.07621786e-01 1.28420985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.66, Y:307.05, Z:128.42 [[ 7.57274857e-01 -5.47849123e-01 -3.55522333e-01 4.26659718e+02] [ 5.02389150e-01 8.36478352e-01 -2.18881495e-01 3.07045762e+02] [ 4.17300771e-01 -1.28571095e-02 9.08677479e-01 1.28418195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.68, Y:307.06, Z:128.43 [[ 7.56922745e-01 -5.49365636e-01 -3.53928462e-01 4.26680741e+02] [ 5.04418082e-01 8.35473342e-01 -2.18052044e-01 3.07060887e+02] [ 4.15488095e-01 -1.34793643e-02 9.09498736e-01 1.28428993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.70, Y:307.08, Z:128.44 [[ 7.57008818e-01 -5.49840097e-01 -3.53006399e-01 4.26702186e+02] [ 5.05110062e-01 8.35160116e-01 -2.17649734e-01 3.07076075e+02] [ 4.14489416e-01 -1.35443161e-02 9.09953337e-01 1.28440393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.72, Y:307.09, Z:128.45 [[ 7.57461602e-01 -5.49734551e-01 -3.52198586e-01 4.26722071e+02] [ 5.05131491e-01 8.35233573e-01 -2.17317866e-01 3.07092902e+02] [ 4.13635224e-01 -1.32966578e-02 9.10345594e-01 1.28449956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.74, Y:307.11, Z:128.46 [[ 7.57347962e-01 -5.50114490e-01 -3.51849559e-01 4.26742605e+02] [ 5.05575085e-01 8.34982503e-01 -2.17251128e-01 3.07108866e+02] [ 4.13301219e-01 -1.33516716e-02 9.10496478e-01 1.28460085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.77, Y:307.12, Z:128.47 [[ 7.58291375e-01 -5.48305996e-01 -3.52639652e-01 4.26765607e+02] [ 5.03293653e-01 8.36188179e-01 -2.17910140e-01 3.07121415e+02] [ 4.14354545e-01 -1.22419193e-02 9.10033212e-01 1.28471454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.78, Y:307.14, Z:128.48 [[ 7.57803222e-01 -5.50099250e-01 -3.50891852e-01 4.26784363e+02] [ 5.05661250e-01 8.34998148e-01 -2.16990307e-01 3.07138797e+02] [ 4.12360252e-01 -1.29964584e-02 9.10928161e-01 1.28481902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.80, Y:307.15, Z:128.49 [[ 7.58821894e-01 -5.49541828e-01 -3.49561314e-01 4.26804949e+02] [ 5.05328576e-01 8.35372790e-01 -2.16322287e-01 3.07153758e+02] [ 4.10892155e-01 -1.24932330e-02 9.11598352e-01 1.28492135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.83, Y:307.17, Z:128.50 [[ 7.59010960e-01 -5.49431888e-01 -3.49323579e-01 4.26826363e+02] [ 5.05202904e-01 8.35448169e-01 -2.16324716e-01 3.07168377e+02] [ 4.10697441e-01 -1.22864563e-02 9.11688902e-01 1.28503585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.85, Y:307.18, Z:128.51 [[ 7.59957218e-01 -5.48771842e-01 -3.48302300e-01 4.26848007e+02] [ 5.04672510e-01 8.35889770e-01 -2.15856318e-01 3.07183946e+02] [ 4.09598199e-01 -1.17370289e-02 9.12190527e-01 1.28513849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.87, Y:307.20, Z:128.52 [[ 7.60242703e-01 -5.48801563e-01 -3.47631813e-01 4.26868684e+02] [ 5.04809066e-01 8.35872496e-01 -2.15603751e-01 3.07198433e+02] [ 4.08899547e-01 -1.15765122e-02 9.12505970e-01 1.28524609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.89, Y:307.21, Z:128.54 [[ 7.60459569e-01 -5.48792505e-01 -3.47171473e-01 4.26890180e+02] [ 5.04855360e-01 8.35880599e-01 -2.15463895e-01 3.07213590e+02] [ 4.08438869e-01 -1.14197984e-02 9.12714237e-01 1.28535772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.91, Y:307.23, Z:128.55 [[ 7.61302926e-01 -5.48290979e-01 -3.46113937e-01 4.26910931e+02] [ 5.04512208e-01 8.36215757e-01 -2.14966601e-01 3.07229066e+02] [ 4.07290176e-01 -1.09640038e-02 9.13232995e-01 1.28546427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.94, Y:307.23, Z:128.57 [[ 7.62089832e-01 -5.39128314e-01 -3.58552295e-01 4.26941262e+02] [ 5.00920237e-01 8.41810883e-01 -2.01080466e-01 3.07230905e+02] [ 4.10241397e-01 -2.63647217e-02 9.11595797e-01 1.28571501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.962755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:426.95, Y:307.26, Z:128.57 [[ 7.61339912e-01 -5.51325663e-01 -3.41176717e-01 4.26951221e+02] [ 5.04409243e-01 8.34285949e-01 -2.22571943e-01 3.07260932e+02] [ 4.07348565e-01 -2.63978561e-03 9.13268952e-01 1.28566289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:426.97, Y:307.27, Z:128.58 [[ 7.61940654e-01 -5.48357814e-01 -3.44601433e-01 4.26973153e+02] [ 5.04816306e-01 8.36176659e-01 -2.14404040e-01 3.07269812e+02] [ 4.05717805e-01 -1.05972680e-02 9.13936957e-01 1.28580136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.00, Y:307.28, Z:128.60 [[ 7.62615188e-01 -5.43249873e-01 -3.51137652e-01 4.27002971e+02] [ 5.02107570e-01 8.39386854e-01 -2.08129041e-01 3.07277422e+02] [ 4.07806404e-01 -1.75865058e-02 9.12899037e-01 1.28599680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.02, Y:307.30, Z:128.60 [[ 7.61895254e-01 -5.49603817e-01 -3.42711638e-01 4.27016683e+02] [ 5.06547413e-01 8.35354115e-01 -2.13525694e-01 3.07297945e+02] [ 4.03640114e-01 -1.09154807e-02 9.14852726e-01 1.28603526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.04, Y:307.31, Z:128.61 [[ 7.61614364e-01 -5.50147612e-01 -3.42463380e-01 4.27037042e+02] [ 5.07105049e-01 8.34995241e-01 -2.13605752e-01 3.07311166e+02] [ 4.03469986e-01 -1.09797000e-02 9.14927001e-01 1.28614461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.06, Y:307.32, Z:128.63 [[ 7.61090003e-01 -5.50872564e-01 -3.42463760e-01 4.27058357e+02] [ 5.07834757e-01 8.34513822e-01 -2.13753457e-01 3.07324870e+02] [ 4.03541656e-01 -1.12293812e-02 9.14892362e-01 1.28625717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.08, Y:307.34, Z:128.64 [[ 7.59720849e-01 -5.52424303e-01 -3.43003821e-01 4.27080380e+02] [ 5.09329488e-01 8.33477555e-01 -2.14239672e-01 3.07338210e+02] [ 4.04237187e-01 -1.19396148e-02 9.14576264e-01 1.28636813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.10, Y:307.35, Z:128.65 [[ 7.59076153e-01 -5.53501753e-01 -3.42694038e-01 4.27101848e+02] [ 5.10518986e-01 8.32756467e-01 -2.14212586e-01 3.07351436e+02] [ 4.03947718e-01 -1.23481471e-02 9.14698729e-01 1.28647804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.12, Y:307.36, Z:128.66 [[ 7.57354280e-01 -5.55363107e-01 -3.43491360e-01 4.27123571e+02] [ 5.12287606e-01 8.31502552e-01 -2.14860222e-01 3.07364902e+02] [ 4.04939383e-01 -1.32410581e-02 9.14247653e-01 1.28659574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.15, Y:307.38, Z:128.67 [[ 7.56453546e-01 -5.56671142e-01 -3.43358811e-01 4.27145175e+02] [ 5.13686309e-01 8.30618546e-01 -2.14940007e-01 3.07379096e+02] [ 4.04851095e-01 -1.37865900e-02 9.14278689e-01 1.28670714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.18, Y:307.38, Z:128.70 [[ 7.56652627e-01 -5.45910302e-01 -3.59803757e-01 4.27177824e+02] [ 5.09767430e-01 8.37175098e-01 -1.98179268e-01 3.07377331e+02] [ 4.09406850e-01 -3.34633726e-02 9.11738029e-01 1.28699397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2927550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:427.19, Y:307.41, Z:128.70 [[ 7.54251147e-01 -5.59309979e-01 -3.43915040e-01 4.27194039e+02] [ 5.13420072e-01 8.28908808e-01 -2.22058591e-01 3.07407127e+02] [ 4.09273792e-01 -9.08493737e-03 9.12366389e-01 1.28696493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.22, Y:307.41, Z:128.71 [[ 7.53953369e-01 -5.53811060e-01 -3.53337836e-01 4.27217128e+02] [ 5.13978732e-01 8.32267552e-01 -2.07741633e-01 3.07410113e+02] [ 4.09121230e-01 -2.49806289e-02 9.12138031e-01 1.28713715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.24, Y:307.43, Z:128.72 [[ 7.52965858e-01 -5.57607833e-01 -3.49450886e-01 4.27238156e+02] [ 5.15410795e-01 8.29881602e-01 -2.13654486e-01 3.07427976e+02] [ 4.09138276e-01 -1.92362256e-02 9.12269609e-01 1.28722949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.25, Y:307.45, Z:128.73 [[ 7.52769857e-01 -5.60644097e-01 -3.44986578e-01 4.27253434e+02] [ 5.12347318e-01 8.28039650e-01 -2.27707191e-01 3.07447561e+02] [ 4.13325257e-01 -5.34183798e-03 9.10567788e-01 1.28726993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.28, Y:307.45, Z:128.74 [[ 7.53355067e-01 -5.55255662e-01 -3.52345418e-01 4.27278389e+02] [ 5.12365293e-01 8.31469319e-01 -2.14803581e-01 3.07454658e+02] [ 4.12235309e-01 -1.87061967e-02 9.10885354e-01 1.28744929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.30, Y:307.48, Z:128.75 [[ 7.54153892e-01 -5.58677483e-01 -3.45154134e-01 4.27295693e+02] [ 5.11504848e-01 8.29355299e-01 -2.24794523e-01 3.07476148e+02] [ 4.11843049e-01 -7.01834861e-03 9.11227768e-01 1.28749720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.32, Y:307.48, Z:128.77 [[ 7.54410449e-01 -5.49581535e-01 -3.58922012e-01 4.27320559e+02] [ 5.09071482e-01 8.35056222e-01 -2.08632049e-01 3.07475501e+02] [ 4.14380382e-01 -2.53227628e-02 9.09751426e-01 1.28774724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.502755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:427.34, Y:307.51, Z:128.77 [[ 7.54396134e-01 -5.61398558e-01 -3.40173680e-01 4.27339065e+02] [ 5.11349410e-01 8.27545121e-01 -2.31712869e-01 3.07509223e+02] [ 4.11592340e-01 8.55682649e-04 9.11367661e-01 1.28773092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.36, Y:307.52, Z:128.79 [[ 7.54575255e-01 -5.57174509e-01 -3.46659415e-01 4.27360562e+02] [ 5.09327153e-01 8.30373417e-01 -2.25977520e-01 3.07517238e+02] [ 4.13765677e-01 -6.04600807e-03 9.10363340e-01 1.28787634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.39, Y:307.52, Z:128.80 [[ 7.54419654e-01 -5.50422786e-01 -3.57611161e-01 4.27386040e+02] [ 5.13359597e-01 8.34277696e-01 -2.01103579e-01 3.07519958e+02] [ 4.09039008e-01 -3.18666288e-02 9.11960310e-01 1.28803633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.41, Y:307.55, Z:128.81 [[ 7.56102132e-01 -5.59559540e-01 -3.39415213e-01 4.27405037e+02] [ 5.11754113e-01 8.28786154e-01 -2.26321096e-01 3.07552106e+02] [ 4.07942758e-01 -2.57526816e-03 9.13003874e-01 1.28809736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.43, Y:307.56, Z:128.83 [[ 7.56245860e-01 -5.54717775e-01 -3.46958771e-01 4.27428444e+02] [ 5.11672491e-01 8.31901516e-01 -2.14781587e-01 3.07559579e+02] [ 4.07778691e-01 -1.51015729e-02 9.12955903e-01 1.28825879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.45, Y:307.57, Z:128.84 [[ 7.55832992e-01 -5.50737042e-01 -3.54125965e-01 4.27445559e+02] [ 5.11801581e-01 8.34266424e-01 -2.05082118e-01 3.07566013e+02] [ 4.08381722e-01 -2.62343976e-02 9.12434176e-01 1.28842659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.47, Y:307.59, Z:128.85 [[ 7.56186525e-01 -5.57837592e-01 -3.42051400e-01 4.27468651e+02] [ 5.10385759e-01 8.29939006e-01 -2.25183534e-01 3.07592665e+02] [ 4.09497639e-01 -4.29740904e-03 9.12301055e-01 1.28846809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.49, Y:307.60, Z:128.86 [[ 7.56023159e-01 -5.55630212e-01 -3.45982730e-01 4.27491583e+02] [ 5.10948582e-01 8.31349891e-01 -2.18606737e-01 3.07603320e+02] [ 4.09097213e-01 -1.15076291e-02 9.12418240e-01 1.28859745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.51, Y:307.61, Z:128.88 [[ 7.55306402e-01 -5.52981670e-01 -3.51743531e-01 4.27514393e+02] [ 5.10254323e-01 8.33000615e-01 -2.13893668e-01 3.07614368e+02] [ 4.11281855e-01 -1.79234010e-02 9.11331985e-01 1.28876018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.53, Y:307.63, Z:128.89 [[ 7.54311580e-01 -5.51840713e-01 -3.55648519e-01 4.27530141e+02] [ 5.11078585e-01 8.33611677e-01 -2.09500006e-01 3.07625290e+02] [ 4.12083391e-01 -2.37360613e-02 9.10836911e-01 1.28890010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.56, Y:307.65, Z:128.90 [[ 7.54425030e-01 -5.56121248e-01 -3.48671811e-01 4.27556358e+02] [ 5.11327660e-01 8.30999088e-01 -2.19053740e-01 3.07648096e+02] [ 4.11566396e-01 -1.30259169e-02 9.11286688e-01 1.28897742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.58, Y:307.66, Z:128.90 [[ 7.54383173e-01 -5.57836881e-01 -3.46011622e-01 4.27575051e+02] [ 5.12502380e-01 8.29878358e-01 -2.20552081e-01 3.07664338e+02] [ 4.10179642e-01 -1.09510011e-02 9.11938999e-01 1.28904327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.862755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.60, Y:307.68, Z:128.92 [[ 7.53229924e-01 -5.59624982e-01 -3.45636457e-01 4.27595610e+02] [ 5.12483334e-01 8.28710218e-01 -2.24944900e-01 3.07681374e+02] [ 4.12317249e-01 -7.69769402e-03 9.11007811e-01 1.28916139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.62, Y:307.69, Z:128.93 [[ 7.52098442e-01 -5.56239894e-01 -3.53475761e-01 4.27621902e+02] [ 5.15123055e-01 8.30696080e-01 -2.11168799e-01 3.07689798e+02] [ 4.11091440e-01 -2.32637890e-02 9.11297221e-01 1.28934270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.64, Y:307.71, Z:128.94 [[ 7.50629059e-01 -5.60693203e-01 -3.49541339e-01 4.27640586e+02] [ 5.17525530e-01 8.27819852e-01 -2.16521637e-01 3.07709716e+02] [ 4.10759470e-01 -1.83691338e-02 9.11558683e-01 1.28942972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.66, Y:307.72, Z:128.96 [[ 7.49794221e-01 -5.59731248e-01 -3.52859118e-01 4.27660469e+02] [ 5.17597345e-01 8.28381060e-01 -2.14191054e-01 3.07721427e+02] [ 4.12191236e-01 -2.20397278e-02 9.10830739e-01 1.28957082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.68, Y:307.74, Z:128.96 [[ 7.48083522e-01 -5.65032719e-01 -3.48007286e-01 4.27677369e+02] [ 5.17496872e-01 8.25005187e-01 -2.27075824e-01 3.07744965e+02] [ 4.15413086e-01 -1.02209993e-02 9.09575450e-01 1.28964682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.70, Y:307.75, Z:128.98 [[ 7.48538184e-01 -5.58008741e-01 -3.58213390e-01 4.27703733e+02] [ 5.20878820e-01 8.29115446e-01 -2.03107932e-01 3.07748879e+02] [ 4.10336256e-01 -3.45517256e-02 9.11279505e-01 1.28984420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:427.72, Y:307.78, Z:128.99 [[ 7.46565692e-01 -5.69677343e-01 -3.43667561e-01 4.27717510e+02] [ 5.19265281e-01 8.21860916e-01 -2.34324993e-01 3.07780817e+02] [ 4.15936576e-01 -3.51563261e-03 9.09386829e-01 1.28986146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.74, Y:307.78, Z:129.01 [[ 7.47157785e-01 -5.59255061e-01 -3.59150415e-01 4.27744384e+02] [ 5.23036331e-01 8.28155356e-01 -2.01473826e-01 3.07779545e+02] [ 4.10107596e-01 -3.73159774e-02 9.11273437e-01 1.29008446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.76, Y:307.81, Z:129.01 [[ 7.44597982e-01 -5.71946346e-01 -3.44167435e-01 4.27756585e+02] [ 5.20647734e-01 8.20285919e-01 -2.36763486e-01 3.07812898e+02] [ 4.17731712e-01 -2.89638104e-03 9.08565808e-01 1.29009427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.79, Y:307.81, Z:129.03 [[ 7.46125028e-01 -5.60077327e-01 -3.60015042e-01 4.27785916e+02] [ 5.24275951e-01 8.27526563e-01 -2.00834546e-01 3.07809662e+02] [ 4.10404886e-01 -3.88995475e-02 9.11073353e-01 1.29032974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.80, Y:307.84, Z:129.04 [[ 7.45304667e-01 -5.66965742e-01 -3.50814483e-01 4.27802569e+02] [ 5.25157359e-01 8.23392389e-01 -2.15022610e-01 3.07836082e+02] [ 4.10768428e-01 -2.39754526e-02 9.11424421e-01 1.29040066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.81, Y:307.85, Z:129.05 [[ 7.42468670e-01 -5.68617601e-01 -3.54138812e-01 4.27813652e+02] [ 5.22554110e-01 8.22403707e-01 -2.24920752e-01 3.07852027e+02] [ 4.19138971e-01 -1.80600803e-02 9.07742451e-01 1.29054159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.83, Y:307.87, Z:129.07 [[ 7.42269162e-01 -5.69646220e-01 -3.52901792e-01 4.27834948e+02] [ 5.22777788e-01 8.21732153e-01 -2.26847202e-01 3.07867348e+02] [ 4.19213401e-01 -1.61075357e-02 9.07744828e-01 1.29065591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.86, Y:307.87, Z:129.09 [[ 7.44108147e-01 -5.58058346e-01 -3.67251887e-01 4.27864669e+02] [ 5.17452968e-01 8.29159222e-01 -2.11512200e-01 3.07871334e+02] [ 4.22546437e-01 -3.26476270e-02 9.05753079e-01 1.29091245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.87, Y:307.91, Z:129.09 [[ 7.42531382e-01 -5.72315605e-01 -3.47997119e-01 4.27872610e+02] [ 5.21834698e-01 8.20003474e-01 -2.35123053e-01 3.07905328e+02] [ 4.19923439e-01 -7.01072642e-03 9.07532454e-01 1.29086057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.89, Y:307.92, Z:129.10 [[ 7.42659190e-01 -5.68815474e-01 -3.53420831e-01 4.27894056e+02] [ 5.21530171e-01 8.22322719e-01 -2.27577738e-01 3.07915280e+02] [ 4.20075718e-01 -1.53069277e-02 9.07359956e-01 1.29100082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.91, Y:307.93, Z:129.11 [[ 7.42568054e-01 -5.68715500e-01 -3.53773041e-01 4.27914489e+02] [ 5.21251066e-01 8.22395097e-01 -2.27955326e-01 3.07930728e+02] [ 4.20582942e-01 -1.51322317e-02 9.07127888e-01 1.29112495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.93, Y:307.95, Z:129.12 [[ 7.43036452e-01 -5.68323332e-01 -3.53419612e-01 4.27934111e+02] [ 5.20837096e-01 8.22673318e-01 -2.27897635e-01 3.07947829e+02] [ 4.20268428e-01 -1.47377937e-02 9.07280136e-01 1.29124536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4027550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:427.95, Y:307.96, Z:129.14 [[ 7.43120128e-01 -5.68260194e-01 -3.53345195e-01 4.27953927e+02] [ 5.20709648e-01 8.22720367e-01 -2.28018993e-01 3.07963173e+02] [ 4.20278406e-01 -1.45447485e-02 9.07278630e-01 1.29135411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:427.98, Y:307.98, Z:129.15 [[ 7.44833660e-01 -5.68523107e-01 -3.49291132e-01 4.27976940e+02] [ 5.18668470e-01 8.22631576e-01 -2.32938422e-01 3.07983346e+02] [ 4.19768790e-01 -7.66591927e-03 9.07598698e-01 1.29145556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.00, Y:307.99, Z:129.16 [[ 7.45223498e-01 -5.65135749e-01 -3.53925873e-01 4.27999279e+02] [ 5.18560865e-01 8.24848523e-01 -2.25210001e-01 3.07994339e+02] [ 4.19209457e-01 -1.57003219e-02 9.07753784e-01 1.29159354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.02, Y:308.01, Z:129.17 [[ 7.47318405e-01 -5.62107770e-01 -3.54330435e-01 4.28021899e+02] [ 5.21813629e-01 8.26610672e-01 -2.10773181e-01 3.08005795e+02] [ 4.11370562e-01 -2.73797730e-02 9.11056864e-01 1.29170627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.04, Y:308.03, Z:129.18 [[ 7.48449562e-01 -5.65340253e-01 -3.46718404e-01 4.28037564e+02] [ 5.20928109e-01 8.24706502e-01 -2.20211466e-01 3.08029980e+02] [ 4.10435328e-01 -1.57981870e-02 9.11752850e-01 1.29176022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.552755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:428.05, Y:308.04, Z:129.19 [[ 7.47054234e-01 -5.61749671e-01 -3.55453624e-01 4.28053209e+02] [ 5.14640454e-01 8.27182554e-01 -2.25641807e-01 3.08040842e+02] [ 4.20779247e-01 -1.43641473e-02 9.07049335e-01 1.29194484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.07, Y:308.06, Z:129.21 [[ 7.47377279e-01 -5.62139276e-01 -3.54156233e-01 4.28072585e+02] [ 5.13418536e-01 8.26975130e-01 -2.29158335e-01 3.08058367e+02] [ 4.21697297e-01 -1.05626420e-02 9.06675146e-01 1.29205351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.09, Y:308.08, Z:129.22 [[ 7.48266704e-01 -5.60465284e-01 -3.54930423e-01 4.28091071e+02] [ 5.11262613e-01 8.28123563e-01 -2.29830163e-01 3.08075280e+02] [ 4.22738074e-01 -9.48839668e-03 9.06202235e-01 1.29216632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.642755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.12, Y:308.09, Z:129.23 [[ 7.50379238e-01 -5.55331801e-01 -3.58521395e-01 4.28117474e+02] [ 5.11200461e-01 8.31393036e-01 -2.17852493e-01 3.08085183e+02] [ 4.19052608e-01 -1.98043143e-02 9.07745945e-01 1.29231715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.13, Y:308.12, Z:129.23 [[ 7.48709170e-01 -5.66158419e-01 -3.44817668e-01 4.28128044e+02] [ 5.11067770e-01 8.24272939e-01 -2.43688031e-01 3.08117172e+02] [ 4.22189903e-01 6.22626680e-03 9.06486029e-01 1.29231815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.15, Y:308.12, Z:129.25 [[ 7.47936042e-01 -5.56856693e-01 -3.61251023e-01 4.28152561e+02] [ 5.10956526e-01 8.30404168e-01 -2.22153882e-01 3.08117068e+02] [ 4.23692231e-01 -1.84266723e-02 9.05618767e-01 1.29253537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.17, Y:308.14, Z:129.26 [[ 7.47998616e-01 -5.64810779e-01 -3.48549645e-01 4.28171129e+02] [ 5.11787931e-01 8.25220379e-01 -2.38923502e-01 3.08144104e+02] [ 4.22576840e-01 3.30947658e-04 9.06327041e-01 1.29257700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.19, Y:308.15, Z:129.27 [[ 7.47215059e-01 -5.62328021e-01 -3.54198888e-01 4.28193744e+02] [ 5.13555167e-01 8.26846918e-01 -2.29314771e-01 3.08154648e+02] [ 4.21818381e-01 -1.05532196e-02 9.06618930e-01 1.29273197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.22, Y:308.16, Z:129.29 [[ 7.47592608e-01 -5.58933001e-01 -3.58746698e-01 4.28218168e+02] [ 5.14873694e-01 8.28938691e-01 -2.18553714e-01 3.08163487e+02] [ 4.19535902e-01 -2.13200969e-02 9.07488336e-01 1.29290380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.822755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.23, Y:308.20, Z:129.28 [[ 7.46025858e-01 -5.74707208e-01 -3.36388234e-01 4.28229294e+02] [ 5.20978598e-01 8.18338483e-01 -2.42700283e-01 3.08199768e+02] [ 4.14761040e-01 5.80961661e-03 9.09911825e-01 1.29283551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.26, Y:308.21, Z:129.30 [[ 7.45589338e-01 -5.69418223e-01 -3.46207203e-01 4.28255481e+02] [ 5.23259716e-01 8.21938548e-01 -2.24980652e-01 3.08205789e+02] [ 4.12669128e-01 -1.34131075e-02 9.10782235e-01 1.29299860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.27, Y:308.23, Z:129.31 [[ 7.43724628e-01 -5.76243075e-01 -3.38847454e-01 4.28271096e+02] [ 5.21428187e-01 8.17257802e-01 -2.45361633e-01 3.08230628e+02] [ 4.18313667e-01 5.79687607e-03 9.08284136e-01 1.29306242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.29, Y:308.24, Z:129.32 [[ 7.43380102e-01 -5.73744277e-01 -3.43807401e-01 4.28293560e+02] [ 5.22121863e-01 8.19030087e-01 -2.37862306e-01 3.08241374e+02] [ 4.18060742e-01 -2.68725585e-03 9.08415100e-01 1.29318628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.32, Y:308.24, Z:129.34 [[ 7.44568204e-01 -5.66840542e-01 -3.52576218e-01 4.28318223e+02] [ 5.23668743e-01 8.23527478e-01 -2.18113595e-01 3.08244632e+02] [ 4.13991832e-01 -2.22326968e-02 9.10009050e-01 1.29335415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.34, Y:308.27, Z:129.34 [[ 7.43791060e-01 -5.72906578e-01 -3.44315135e-01 4.28335604e+02] [ 5.22725426e-01 8.19602014e-01 -2.34543529e-01 3.08267949e+02] [ 4.16572909e-01 -5.53089606e-03 9.09085486e-01 1.29343732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.36, Y:308.27, Z:129.36 [[ 7.43658348e-01 -5.65551786e-01 -3.56543741e-01 4.28357322e+02] [ 5.20219987e-01 8.24474154e-01 -2.22740958e-01 3.08271484e+02] [ 4.19932646e-01 -1.98380079e-02 9.07338430e-01 1.29360783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.38, Y:308.28, Z:129.38 [[ 7.42392602e-01 -5.63880748e-01 -3.61789616e-01 4.28377939e+02] [ 5.20974141e-01 8.25412841e-01 -2.17438696e-01 3.08282332e+02] [ 4.21235289e-01 -2.70581547e-02 9.06547675e-01 1.29380604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.40, Y:308.29, Z:129.39 [[ 7.47509824e-01 -5.59178351e-01 -3.58536797e-01 4.28396928e+02] [ 5.16002714e-01 8.28727390e-01 -2.16684362e-01 3.08293018e+02] [ 4.18294468e-01 -2.30322713e-02 9.08019412e-01 1.29387164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.41, Y:308.33, Z:129.39 [[ 7.46289537e-01 -5.72399551e-01 -3.39721476e-01 4.28412679e+02] [ 5.15629049e-01 8.19907993e-01 -2.48752018e-01 3.08328854e+02] [ 4.20925897e-01 1.04707665e-02 9.07034593e-01 1.29393247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.44, Y:308.34, Z:129.40 [[ 7.47887574e-01 -5.67993907e-01 -3.43579830e-01 4.28436799e+02] [ 5.14747857e-01 8.23028237e-01 -2.40123227e-01 3.08338588e+02] [ 4.19164431e-01 2.72819687e-03 9.07906238e-01 1.29403909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.46, Y:308.35, Z:129.42 [[ 7.48360743e-01 -5.65008651e-01 -3.47449886e-01 4.28461755e+02] [ 5.12927679e-01 8.25084489e-01 -2.36940460e-01 3.08350503e+02] [ 4.20548921e-01 -8.99725008e-04 9.07269417e-01 1.29419548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.49, Y:308.35, Z:129.44 [[ 7.48803861e-01 -5.55600849e-01 -3.61386877e-01 4.28485825e+02] [ 5.12346905e-01 8.31123254e-01 -2.16182297e-01 3.08349946e+02] [ 4.20468105e-01 -2.32773093e-02 9.07008677e-01 1.29439655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.51, Y:308.37, Z:129.45 [[ 7.47966591e-01 -5.61531121e-01 -3.53876786e-01 4.28507135e+02] [ 5.13533828e-01 8.27374297e-01 -2.27452810e-01 3.08374055e+02] [ 4.20510388e-01 -1.16005981e-02 9.07213558e-01 1.29448647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.53, Y:308.39, Z:129.45 [[ 7.49405359e-01 -5.63724211e-01 -3.47284641e-01 4.28526198e+02] [ 5.13774525e-01 8.25950627e-01 -2.32037280e-01 3.08391959e+02] [ 4.17645000e-01 -4.53602045e-03 9.08598965e-01 1.29453750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.55, Y:308.40, Z:129.47 [[ 7.48525616e-01 -5.60984940e-01 -3.53560884e-01 4.28545886e+02] [ 5.10988591e-01 8.27793890e-01 -2.31620240e-01 3.08400705e+02] [ 4.22611006e-01 -7.29189547e-03 9.06281836e-01 1.29469796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.57, Y:308.42, Z:129.48 [[ 7.49402624e-01 -5.62936735e-01 -3.48565546e-01 4.28567608e+02] [ 5.12195773e-01 8.26492667e-01 -2.33592301e-01 3.08417927e+02] [ 4.19584554e-01 -3.47911602e-03 9.07709589e-01 1.29479462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.332755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.59, Y:308.44, Z:129.49 [[ 7.47308115e-01 -5.68417500e-01 -3.44139692e-01 4.28586910e+02] [ 5.12240242e-01 8.22701921e-01 -2.46518731e-01 3.08439757e+02] [ 4.23249946e-01 7.94324904e-03 9.05978139e-01 1.29488647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.62, Y:308.44, Z:129.51 [[ 7.48641968e-01 -5.56424962e-01 -3.60453138e-01 4.28616125e+02] [ 5.11865105e-01 8.30646212e-01 -2.19136911e-01 3.08436830e+02] [ 4.21342281e-01 -2.04482949e-02 9.06671137e-01 1.29509183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.64, Y:308.45, Z:129.52 [[ 7.48377087e-01 -5.60380986e-01 -3.54830785e-01 4.28636139e+02] [ 5.13255194e-01 8.28125253e-01 -2.25339013e-01 3.08453757e+02] [ 4.20120032e-01 -1.34801887e-02 9.07368417e-01 1.29517743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.65, Y:308.47, Z:129.53 [[ 7.45784496e-01 -5.62923087e-01 -3.56262661e-01 4.28653626e+02] [ 5.13930138e-01 8.26428211e-01 -2.29983099e-01 3.08467294e+02] [ 4.23888309e-01 -1.15762891e-02 9.05640487e-01 1.29532331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.67, Y:308.51, Z:129.53 [[ 7.43945245e-01 -5.80701903e-01 -3.30652042e-01 4.28669646e+02] [ 5.18435523e-01 8.13761854e-01 -2.62709447e-01 3.08506376e+02] [ 4.21627894e-01 2.40196796e-02 9.06450756e-01 1.29527162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.482755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:428.70, Y:308.49, Z:129.56 [[ 7.42172270e-01 -5.60949680e-01 -3.66763926e-01 4.28700628e+02] [ 5.18167395e-01 8.27337580e-01 -2.16829611e-01 3.08486664e+02] [ 4.25068080e-01 -2.91201837e-02 9.04692844e-01 1.29559444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.72, Y:308.52, Z:129.56 [[ 7.41957411e-01 -5.75929951e-01 -3.43225715e-01 4.28717541e+02] [ 5.19627690e-01 8.17477205e-01 -2.48431242e-01 3.08523458e+02] [ 4.23658191e-01 5.97581589e-03 9.05802421e-01 1.29558294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5427550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:428.74, Y:308.53, Z:129.57 [[ 7.39614692e-01 -5.73633842e-01 -3.52014664e-01 4.28743249e+02] [ 5.22135187e-01 8.19072748e-01 -2.37686096e-01 3.08530392e+02] [ 4.24670406e-01 -8.00311413e-03 9.05312651e-01 1.29574107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.77, Y:308.54, Z:129.58 [[ 7.40001767e-01 -5.73469881e-01 -3.51467894e-01 4.28765503e+02] [ 5.23477365e-01 8.19159111e-01 -2.34413737e-01 3.08542743e+02] [ 4.22337345e-01 -1.05189076e-02 9.06377692e-01 1.29584973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.79, Y:308.56, Z:129.60 [[ 7.37833932e-01 -5.76400999e-01 -3.51230661e-01 4.28787547e+02] [ 5.24809549e-01 8.17124277e-01 -2.38501265e-01 3.08558736e+02] [ 4.24471467e-01 -8.35487847e-03 9.05402767e-01 1.29598964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.632755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.81, Y:308.55, Z:129.63 [[ 7.38208167e-01 -5.62994658e-01 -3.71598866e-01 4.28811651e+02] [ 5.23456612e-01 8.25546859e-01 -2.10868582e-01 3.08549426e+02] [ 4.25490162e-01 -3.88509738e-02 9.04128710e-01 1.29625307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.82, Y:308.59, Z:129.62 [[ 7.37508748e-01 -5.83129650e-01 -3.40647410e-01 4.28823782e+02] [ 5.22634216e-01 8.12275836e-01 -2.58962244e-01 3.08593932e+02] [ 4.27708222e-01 1.29529286e-02 9.03824042e-01 1.29620074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.85, Y:308.59, Z:129.64 [[ 7.38027156e-01 -5.72562300e-01 -3.57055080e-01 4.28854132e+02] [ 5.21851188e-01 8.19769999e-01 -2.35899313e-01 3.08593305e+02] [ 4.27770096e-01 -1.22295189e-02 9.03804837e-01 1.29642434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.88, Y:308.60, Z:129.66 [[ 7.39673763e-01 -5.68085693e-01 -3.60778838e-01 4.28875933e+02] [ 5.20349019e-01 8.22759900e-01 -2.28698589e-01 3.08601957e+02] [ 4.26754757e-01 -1.85685685e-02 9.04176745e-01 1.29656193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.90, Y:308.62, Z:129.67 [[ 7.40269467e-01 -5.70221704e-01 -3.56157725e-01 4.28896674e+02] [ 5.19878569e-01 8.21409910e-01 -2.34546444e-01 3.08620553e+02] [ 4.26294958e-01 -1.15311975e-02 9.04510719e-01 1.29666849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7827550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:428.92, Y:308.63, Z:129.69 [[ 7.35027145e-01 -5.66770291e-01 -3.72164659e-01 4.28915139e+02] [ 5.20864018e-01 8.23389844e-01 -2.25232857e-01 3.08625581e+02] [ 4.34091892e-01 -2.82949158e-02 9.00424137e-01 1.29689514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.94, Y:308.65, Z:129.70 [[ 7.39258846e-01 -5.72014071e-01 -3.55381852e-01 4.28938218e+02] [ 5.15914696e-01 8.20243495e-01 -2.47047839e-01 3.08654008e+02] [ 4.32814493e-01 -7.14419511e-04 9.01482726e-01 1.29695829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:428.96, Y:308.66, Z:129.71 [[ 7.40162920e-01 -5.63916020e-01 -3.66275272e-01 4.28963647e+02] [ 5.15595184e-01 8.25608780e-01 -2.29198056e-01 3.08657310e+02] [ 4.31648536e-01 -1.92058638e-02 9.01837389e-01 1.29713429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.872755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:428.98, Y:308.67, Z:129.73 [[ 7.42342950e-01 -5.60246470e-01 -3.67492636e-01 4.28979854e+02] [ 5.14059347e-01 8.28014929e-01 -2.23906823e-01 3.08665538e+02] [ 4.29732396e-01 -2.26973732e-02 9.02670980e-01 1.29725640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.00, Y:308.70, Z:129.73 [[ 7.42158568e-01 -5.70646792e-01 -3.51515146e-01 4.28999379e+02] [ 5.11284048e-01 8.21151980e-01 -2.53570600e-01 3.08697237e+02] [ 4.33346607e-01 8.46550624e-03 9.01187579e-01 1.29731027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.02, Y:308.70, Z:129.75 [[ 7.43781174e-01 -5.61994068e-01 -3.61873228e-01 4.29023495e+02] [ 5.11117645e-01 8.27068413e-01 -2.33915784e-01 3.08698821e+02] [ 4.30753199e-01 -1.09776359e-02 9.02402999e-01 1.29746319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.05, Y:308.70, Z:129.77 [[ 7.44217506e-01 -5.54979710e-01 -3.71668972e-01 4.29048320e+02] [ 5.08191640e-01 8.31570736e-01 -2.24123555e-01 3.08701636e+02] [ 4.33453066e-01 -2.20823914e-02 9.00905549e-01 1.29770300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.07, Y:308.72, Z:129.78 [[ 7.44409811e-01 -5.61174052e-01 -3.61853171e-01 4.29068542e+02] [ 5.08862267e-01 8.27659987e-01 -2.36723762e-01 3.08724994e+02] [ 4.32334624e-01 -7.91393387e-03 9.01678514e-01 1.29777623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.08, Y:308.75, Z:129.78 [[ 7.41899364e-01 -5.70577939e-01 -3.52173465e-01 4.29081444e+02] [ 5.12247189e-01 8.21220730e-01 -2.51394770e-01 3.08749309e+02] [ 4.32652459e-01 6.10975221e-03 9.01540083e-01 1.29782901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.12, Y:308.75, Z:129.81 [[ 7.42578439e-01 -5.58923316e-01 -3.69028439e-01 4.29115873e+02] [ 5.07645092e-01 8.29111236e-01 -2.34245636e-01 3.08749048e+02] [ 4.36890973e-01 -1.33897171e-02 8.99414806e-01 1.29808363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.14, Y:308.76, Z:129.82 [[ 7.43417518e-01 -5.55622714e-01 -3.72308736e-01 4.29138501e+02] [ 5.06803742e-01 8.31221884e-01 -2.28517277e-01 3.08758178e+02] [ 4.36440559e-01 -1.88037135e-02 8.99536580e-01 1.29823194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.16, Y:308.78, Z:129.83 [[ 7.43139937e-01 -5.59066694e-01 -3.67678482e-01 4.29158243e+02] [ 5.07417777e-01 8.29036875e-01 -2.35000128e-01 3.08777042e+02] [ 4.36199764e-01 -1.19286172e-02 8.99770790e-01 1.29833082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.18, Y:308.79, Z:129.84 [[ 7.42429244e-01 -5.62199466e-01 -3.64322080e-01 4.29181366e+02] [ 5.10597979e-01 8.26926562e-01 -2.35546525e-01 3.08792446e+02] [ 4.33691736e-01 -1.11454892e-02 9.00992373e-01 1.29844086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.19, Y:308.81, Z:129.85 [[ 7.39662240e-01 -5.71587334e-01 -3.55229069e-01 4.29190811e+02] [ 5.16166382e-01 8.20539382e-01 -2.45534903e-01 3.08814019e+02] [ 4.31824081e-01 -1.74440723e-03 9.01956163e-01 1.29846300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.23, Y:308.81, Z:129.87 [[ 7.39596308e-01 -5.62633383e-01 -3.69379179e-01 4.29226196e+02] [ 5.12396441e-01 8.26533025e-01 -2.33008681e-01 3.08814168e+02] [ 4.36402552e-01 -1.69362164e-02 8.99592117e-01 1.29871355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.232755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:429.25, Y:308.83, Z:129.88 [[ 7.38870868e-01 -5.64305620e-01 -3.68278439e-01 4.29246520e+02] [ 5.12798909e-01 8.25438769e-01 -2.35983301e-01 3.08828585e+02] [ 4.37158004e-01 -1.44915956e-02 8.99267965e-01 1.29881641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.26, Y:308.84, Z:129.89 [[ 7.38703722e-01 -5.67461280e-01 -3.63736865e-01 4.29263637e+02] [ 5.13228869e-01 8.23363568e-01 -2.42215945e-01 3.08844675e+02] [ 4.36935853e-01 -7.75444013e-03 8.99459243e-01 1.29888975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.28, Y:308.86, Z:129.90 [[ 7.36843084e-01 -5.70286797e-01 -3.63091227e-01 4.29284821e+02] [ 5.14936397e-01 8.21421358e-01 -2.45168227e-01 3.08861079e+02] [ 4.38067091e-01 -6.31837557e-03 8.98920075e-01 1.29899630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.30, Y:308.87, Z:129.91 [[ 7.37190128e-01 -5.69970611e-01 -3.62883202e-01 4.29304872e+02] [ 5.15035043e-01 8.21636546e-01 -2.44238185e-01 3.08873034e+02] [ 4.37366688e-01 -6.84758691e-03 8.99257188e-01 1.29909189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.352755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:429.32, Y:308.89, Z:129.91 [[ 7.36076530e-01 -5.74359727e-01 -3.58193030e-01 4.29322436e+02] [ 5.15100142e-01 8.18599102e-01 -2.54101069e-01 3.08892583e+02] [ 4.39161913e-01 2.53255263e-03 8.98404363e-01 1.29914616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.35, Y:308.90, Z:129.93 [[ 7.36377919e-01 -5.69310831e-01 -3.65558119e-01 4.29349373e+02] [ 5.16453535e-01 8.22032463e-01 -2.39871583e-01 3.08898379e+02] [ 4.37062131e-01 -1.21576454e-02 8.99349146e-01 1.29934027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.37, Y:308.90, Z:129.96 [[ 7.36067801e-01 -5.58455978e-01 -3.82532498e-01 4.29374602e+02] [ 5.12763674e-01 8.28930351e-01 -2.23490241e-01 3.08895366e+02] [ 4.41902259e-01 -3.16447983e-02 8.96504880e-01 1.29962209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.39, Y:308.93, Z:129.96 [[ 7.36208944e-01 -5.76390353e-01 -3.54641442e-01 4.29385438e+02] [ 5.15356896e-01 8.17141438e-01 -2.58238534e-01 3.08932694e+02] [ 4.38638418e-01 7.35060563e-03 8.98633578e-01 1.29955340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.41, Y:308.95, Z:129.96 [[ 7.35500433e-01 -5.78707316e-01 -3.52330748e-01 4.29408519e+02] [ 5.15039059e-01 8.15433975e-01 -2.64201059e-01 3.08948346e+02] [ 4.40197548e-01 1.28558963e-02 8.97808913e-01 1.29964315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.502755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:429.44, Y:308.95, Z:129.98 [[ 7.35330436e-01 -5.68284371e-01 -3.69245209e-01 4.29437301e+02] [ 5.15459419e-01 8.22711651e-01 -2.39681305e-01 3.08946443e+02] [ 4.39989475e-01 -1.40859626e-02 8.97892448e-01 1.29983742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.47, Y:308.94, Z:130.02 [[ 7.34850468e-01 -5.56220304e-01 -3.88089890e-01 4.29466068e+02] [ 5.12308253e-01 8.30197351e-01 -2.19801304e-01 3.08939821e+02] [ 4.44449147e-01 -3.73005629e-02 8.95027164e-01 1.30018268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.562755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:429.48, Y:308.97, Z:130.02 [[ 7.34027018e-01 -5.68664927e-01 -3.71247273e-01 4.29482423e+02] [ 5.12967509e-01 8.22507012e-01 -2.45655350e-01 3.08968548e+02] [ 4.45049067e-01 -1.01201241e-02 8.95449000e-01 1.30021080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.51, Y:308.97, Z:130.04 [[ 7.32961336e-01 -5.61944339e-01 -3.83387845e-01 4.29510081e+02] [ 5.16915024e-01 8.26449246e-01 -2.23115444e-01 3.08972008e+02] [ 4.42229056e-01 -3.46439431e-02 8.96232815e-01 1.30036474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.52, Y:309.00, Z:130.04 [[ 7.32104999e-01 -5.76640991e-01 -3.62639542e-01 4.29521808e+02] [ 5.10012433e-01 8.16905880e-01 -2.69354974e-01 3.09001942e+02] [ 4.51563493e-01 1.22454482e-02 8.92154953e-01 1.30044401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.54, Y:309.02, Z:130.04 [[ 7.33314942e-01 -5.79272318e-01 -3.55939289e-01 4.29540112e+02] [ 5.16760823e-01 8.15093803e-01 -2.61878491e-01 3.09017928e+02] [ 4.41822870e-01 8.10393045e-03 8.97065705e-01 1.30043863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.56, Y:309.02, Z:130.06 [[ 7.33050036e-01 -5.74603966e-01 -3.63961436e-01 4.29564955e+02] [ 5.17685294e-01 8.18412501e-01 -2.49405120e-01 3.09023705e+02] [ 4.41179760e-01 -5.59105118e-03 8.97401337e-01 1.30059926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.58, Y:309.04, Z:130.07 [[ 7.30864206e-01 -5.80162974e-01 -3.59511385e-01 4.29584384e+02] [ 5.17078573e-01 8.14474885e-01 -2.63173726e-01 3.09041337e+02] [ 4.45496645e-01 6.44862269e-03 8.95260384e-01 1.30069457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.742755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:429.61, Y:309.04, Z:130.09 [[ 7.31787105e-01 -5.70126838e-01 -3.73420702e-01 4.29612147e+02] [ 5.18127404e-01 8.21340328e-01 -2.38629543e-01 3.09040204e+02] [ 4.42754589e-01 -1.88534768e-02 8.96444600e-01 1.30088874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.64, Y:309.05, Z:130.11 [[ 7.32326097e-01 -5.65086029e-01 -3.79968772e-01 4.29636603e+02] [ 5.15043271e-01 8.24668203e-01 -2.33779349e-01 3.09045376e+02] [ 4.45453609e-01 -2.44976409e-02 8.94969803e-01 1.30110033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.67, Y:309.06, Z:130.13 [[ 7.32252171e-01 -5.64326248e-01 -3.81238304e-01 4.29665627e+02] [ 5.15371932e-01 8.25110986e-01 -2.31481385e-01 3.09057318e+02] [ 4.45194934e-01 -2.69767742e-02 8.95027220e-01 1.30125721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.67, Y:309.10, Z:130.11 [[ 7.29904281e-01 -5.89262589e-01 -3.46423645e-01 4.29667546e+02] [ 5.19030818e-01 8.07566203e-01 -2.80078270e-01 3.09100976e+02] [ 4.44799674e-01 2.46257800e-02 8.95291473e-01 1.30111403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.70, Y:309.09, Z:130.14 [[ 7.30287155e-01 -5.75936270e-01 -3.67393637e-01 4.29698419e+02] [ 5.20276193e-01 8.17425996e-01 -2.47239608e-01 3.09093496e+02] [ 4.42711368e-01 -1.05902532e-02 8.96601635e-01 1.30136462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.73, Y:309.08, Z:130.17 [[ 7.30635565e-01 -5.59278835e-01 -3.91636127e-01 4.29732664e+02] [ 5.16521247e-01 8.27887654e-01 -2.18650026e-01 3.09084521e+02] [ 4.46517046e-01 -4.25348958e-02 8.93763565e-01 1.30171519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9227550960001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:429.75, Y:309.12, Z:130.17 [[ 7.30362248e-01 -5.78012052e-01 -3.63968479e-01 4.29746750e+02] [ 5.17214554e-01 8.16028198e-01 -2.58044733e-01 3.09122799e+02] [ 4.46161508e-01 2.16336680e-04 8.94952436e-01 1.30166518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.76, Y:309.14, Z:130.17 [[ 7.28238265e-01 -5.84090456e-01 -3.58479245e-01 4.29760328e+02] [ 5.22223991e-01 8.11681746e-01 -2.61638770e-01 3.09142184e+02] [ 4.43791768e-01 3.32890158e-03 8.96123756e-01 1.30168808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.80, Y:309.13, Z:130.20 [[ 7.30197771e-01 -5.66352668e-01 -3.82172567e-01 4.29795541e+02] [ 5.17137593e-01 8.23693975e-01 -2.32587502e-01 3.09131880e+02] [ 4.46519793e-01 -2.78009260e-02 8.94341760e-01 1.30202207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.81, Y:309.15, Z:130.21 [[ 7.30967248e-01 -5.70647266e-01 -3.74230651e-01 4.29813413e+02] [ 5.14826064e-01 8.21100139e-01 -2.46472486e-01 3.09152217e+02] [ 4.47929690e-01 -1.25003782e-02 8.93981394e-01 1.30209621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0427550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:429.84, Y:309.16, Z:130.22 [[ 7.32554177e-01 -5.66764499e-01 -3.77017746e-01 4.29837219e+02] [ 5.13114337e-01 8.23710484e-01 -2.41277260e-01 3.09163270e+02] [ 4.47300855e-01 -1.67045463e-02 8.94227546e-01 1.30223686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.072755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:429.86, Y:309.18, Z:130.23 [[ 7.33099313e-01 -5.69708255e-01 -3.71480688e-01 4.29856459e+02] [ 5.12207528e-01 8.21814182e-01 -2.49529355e-01 3.09183131e+02] [ 4.47447031e-01 -7.34540625e-03 8.94280269e-01 1.30233471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.88, Y:309.20, Z:130.24 [[ 7.32429791e-01 -5.70917915e-01 -3.70943844e-01 4.29876925e+02] [ 5.12955821e-01 8.20980354e-01 -2.50734089e-01 3.09200300e+02] [ 4.47686192e-01 -6.63268820e-03 8.94166137e-01 1.30244272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:429.90, Y:309.22, Z:130.25 [[ 7.32807331e-01 -5.71653358e-01 -3.69060772e-01 4.29895280e+02] [ 5.13216953e-01 8.20480824e-01 -2.51832437e-01 3.09218589e+02] [ 4.46768145e-01 -4.86358905e-03 8.94636558e-01 1.30253336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.92, Y:309.24, Z:130.26 [[ 7.32811596e-01 -5.72919138e-01 -3.67084222e-01 4.29915418e+02] [ 5.14029789e-01 8.19605356e-01 -2.53022601e-01 3.09235813e+02] [ 4.45825685e-01 -3.27432949e-03 8.95113813e-01 1.30262760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.94, Y:309.25, Z:130.28 [[ 7.32546242e-01 -5.70975657e-01 -3.70624881e-01 4.29936950e+02] [ 5.13917144e-01 8.20926885e-01 -2.48934164e-01 3.09248730e+02] [ 4.46391277e-01 -8.11469409e-03 8.94801084e-01 1.30276861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.95, Y:309.26, Z:130.29 [[ 7.31143225e-01 -5.68347089e-01 -3.77374048e-01 4.29950985e+02] [ 5.14933686e-01 8.22592857e-01 -2.41214201e-01 3.09258155e+02] [ 4.47518585e-01 -1.79604804e-02 8.94094255e-01 1.30292178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:429.97, Y:309.29, Z:130.29 [[ 7.34002622e-01 -5.76683857e-01 -3.58714205e-01 4.29970887e+02] [ 5.11830274e-01 8.16884951e-01 -2.65948770e-01 3.09288179e+02] [ 4.46396598e-01 1.16063042e-02 8.94759952e-01 1.30290475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.00, Y:309.30, Z:130.31 [[ 7.33968360e-01 -5.71735127e-01 -3.66618863e-01 4.29995553e+02] [ 5.13151530e-01 8.20432480e-01 -2.52123092e-01 3.09298003e+02] [ 4.44933651e-01 -3.08065806e-03 8.95558237e-01 1.30307978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.02, Y:309.32, Z:130.32 [[ 7.31506742e-01 -5.77551716e-01 -3.62397437e-01 4.30016474e+02] [ 5.13493255e-01 8.16320796e-01 -2.64471237e-01 3.09321288e+02] [ 4.48578381e-01 7.37385306e-03 8.93713076e-01 1.30319313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.04, Y:309.32, Z:130.34 [[ 7.33009797e-01 -5.67116525e-01 -3.75600165e-01 4.30038325e+02] [ 5.13886522e-01 8.23467151e-01 -2.40463084e-01 3.09320052e+02] [ 4.45664986e-01 -1.67540661e-02 8.95043028e-01 1.30337175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.05, Y:309.34, Z:130.36 [[ 7.28814535e-01 -5.72149952e-01 -3.76130038e-01 4.30052516e+02] [ 5.18397681e-01 8.19950618e-01 -2.42785561e-01 3.09336201e+02] [ 4.47317804e-01 -1.80392938e-02 8.94193137e-01 1.30355173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.07, Y:309.36, Z:130.36 [[ 7.28265170e-01 -5.79776478e-01 -3.65361570e-01 4.30069462e+02] [ 5.19475139e-01 8.14772359e-01 -2.57471519e-01 3.09360037e+02] [ 4.46962439e-01 -2.28871247e-03 8.94549797e-01 1.30361325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.09, Y:309.37, Z:130.37 [[ 7.27279100e-01 -5.80582001e-01 -3.66045968e-01 4.30089511e+02] [ 5.20769421e-01 8.14192250e-01 -2.56690848e-01 3.09374008e+02] [ 4.47061876e-01 -3.93965764e-03 8.94494359e-01 1.30373885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.11, Y:309.39, Z:130.38 [[ 7.24836720e-01 -5.86386119e-01 -3.61611737e-01 4.30108568e+02] [ 5.23543550e-01 8.10028907e-01 -2.64112328e-01 3.09392839e+02] [ 4.47787763e-01 2.11882121e-03 8.94137366e-01 1.30383573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.14, Y:309.41, Z:130.39 [[ 7.27230406e-01 -5.85878370e-01 -3.57606589e-01 4.30137168e+02] [ 5.23570122e-01 8.10389153e-01 -2.62951989e-01 3.09409051e+02] [ 4.43858384e-01 3.99455642e-03 8.96088042e-01 1.30393192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.15, Y:309.41, Z:130.42 [[ 7.23158579e-01 -5.80263233e-01 -3.74614802e-01 4.30154010e+02] [ 5.29312543e-01 8.14033798e-01 -2.39117559e-01 3.09410052e+02] [ 4.43700238e-01 -2.53683996e-02 8.95816133e-01 1.30415530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.17, Y:309.43, Z:130.42 [[ 7.22720206e-01 -5.86169880e-01 -3.66169874e-01 4.30172097e+02] [ 5.30141734e-01 8.10081800e-01 -2.50434060e-01 3.09432044e+02] [ 4.43424454e-01 -1.31281768e-02 8.96215602e-01 1.30423582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.582755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:430.20, Y:309.46, Z:130.43 [[ 7.25349280e-01 -5.90910235e-01 -3.53119691e-01 4.30202102e+02] [ 5.27959426e-01 8.06714090e-01 -2.65464163e-01 3.09458111e+02] [ 4.41732121e-01 6.12137021e-03 8.97126113e-01 1.30427328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:430.22, Y:309.45, Z:130.45 [[ 7.21377091e-01 -5.80485827e-01 -3.77692068e-01 4.30216726e+02] [ 5.32356650e-01 8.13622236e-01 -2.33699069e-01 3.09452510e+02] [ 4.42957662e-01 -3.24817294e-02 8.95953931e-01 1.30454232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.642755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:430.24, Y:309.49, Z:130.45 [[ 7.24703408e-01 -5.92227996e-01 -3.52237096e-01 4.30242196e+02] [ 5.29701414e-01 8.05752319e-01 -2.64914350e-01 3.09488038e+02] [ 4.40705551e-01 5.40384430e-03 8.97635458e-01 1.30450138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.27, Y:309.49, Z:130.47 [[ 7.23689413e-01 -5.86241256e-01 -3.64135722e-01 4.30266705e+02] [ 5.31659359e-01 8.10006319e-01 -2.47443102e-01 3.09493666e+02] [ 4.40013591e-01 -1.45242112e-02 8.97873648e-01 1.30468245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.29, Y:309.50, Z:130.49 [[ 7.24781106e-01 -5.80594474e-01 -3.70947981e-01 4.30289911e+02] [ 5.31992150e-01 8.13724367e-01 -2.34173028e-01 3.09498979e+02] [ 4.37808977e-01 -2.76172277e-02 8.98643750e-01 1.30485819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.31, Y:309.52, Z:130.49 [[ 7.24833501e-01 -5.84323733e-01 -3.64941326e-01 4.30305935e+02] [ 5.29312407e-01 8.11408428e-01 -2.47880495e-01 3.09516005e+02] [ 4.40958923e-01 -1.34958848e-02 8.97425813e-01 1.30485537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.32, Y:309.55, Z:130.50 [[ 7.24057698e-01 -5.95215186e-01 -3.48510161e-01 4.30322603e+02] [ 5.33397114e-01 8.03548232e-01 -2.64192652e-01 3.09548380e+02] [ 4.37296202e-01 5.39640939e-03 8.99301346e-01 1.30495615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.35, Y:309.56, Z:130.51 [[ 7.23193068e-01 -5.91989166e-01 -3.55725476e-01 4.30345558e+02] [ 5.34481046e-01 8.05923519e-01 -2.54592406e-01 3.09556818e+02] [ 4.37403474e-01 -6.00906060e-03 8.99245291e-01 1.30510424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.38, Y:309.57, Z:130.53 [[ 7.24091517e-01 -5.84556403e-01 -3.66040008e-01 4.30378398e+02] [ 5.34366357e-01 8.11021714e-01 -2.38110008e-01 3.09567699e+02] [ 4.36055125e-01 -2.31860290e-02 8.99621218e-01 1.30528961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.39, Y:309.58, Z:130.54 [[ 7.21708488e-01 -5.91025572e-01 -3.60313242e-01 4.30387805e+02] [ 5.36032920e-01 8.06544614e-01 -2.49308030e-01 3.09584101e+02] [ 4.37956126e-01 -1.32120377e-02 8.98899257e-01 1.30536295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.41, Y:309.60, Z:130.54 [[ 7.19101207e-01 -5.93716435e-01 -3.61101439e-01 4.30407607e+02] [ 5.41272825e-01 8.04439096e-01 -2.44747767e-01 3.09598965e+02] [ 4.35794887e-01 -1.94559816e-02 8.99835697e-01 1.30544434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:430.43, Y:309.62, Z:130.56 [[ 7.20069460e-01 -5.95227146e-01 -3.56657564e-01 4.30427330e+02] [ 5.37729115e-01 8.03518532e-01 -2.55353419e-01 3.09618243e+02] [ 4.38574248e-01 -7.91295792e-03 8.98660122e-01 1.30559619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.45, Y:309.63, Z:130.57 [[ 7.21239446e-01 -5.89879222e-01 -3.63120043e-01 4.30451779e+02] [ 5.37966693e-01 8.07238286e-01 -2.42813070e-01 3.09626715e+02] [ 4.36354786e-01 -2.02201246e-02 8.99547468e-01 1.30574531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.47, Y:309.62, Z:130.59 [[ 7.22813155e-01 -5.79592692e-01 -3.76315630e-01 4.30471906e+02] [ 5.34468789e-01 8.14071028e-01 -2.27225605e-01 3.09622132e+02] [ 4.38045952e-01 -3.68873026e-02 8.98195453e-01 1.30592112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.49, Y:309.68, Z:130.58 [[ 7.22898180e-01 -6.02258269e-01 -3.38678608e-01 4.30494785e+02] [ 5.39251522e-01 7.98219728e-01 -2.68427016e-01 3.09679928e+02] [ 4.32002336e-01 1.14124470e-02 9.01800276e-01 1.30582849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0327550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:430.51, Y:309.66, Z:130.61 [[ 7.17049735e-01 -5.88354273e-01 -3.73736439e-01 4.30512238e+02] [ 5.42708287e-01 8.07724975e-01 -2.30321688e-01 3.09664422e+02] [ 4.37387006e-01 -3.76777573e-02 8.98483719e-01 1.30612603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.062755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:430.53, Y:309.69, Z:130.62 [[ 7.16476257e-01 -5.97146306e-01 -3.60663363e-01 4.30528271e+02] [ 5.42891698e-01 8.01948175e-01 -2.49294461e-01 3.09691039e+02] [ 4.38098593e-01 -1.71875836e-02 8.98762599e-01 1.30617437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.55, Y:309.71, Z:130.63 [[ 7.18759511e-01 -5.99569350e-01 -3.51996250e-01 4.30548316e+02] [ 5.41535312e-01 8.00303143e-01 -2.57399272e-01 3.09711262e+02] [ 4.36032419e-01 -5.61022436e-03 8.99913471e-01 1.30630956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.58, Y:309.70, Z:130.67 [[ 7.18934650e-01 -5.82794662e-01 -3.78791963e-01 4.30579616e+02] [ 5.38335071e-01 8.11596813e-01 -2.26949256e-01 3.09704636e+02] [ 4.39691165e-01 -4.07553137e-02 8.97223876e-01 1.30665156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.59, Y:309.75, Z:130.65 [[ 7.17887339e-01 -6.03129720e-01 -3.47666952e-01 4.30586237e+02] [ 5.41753967e-01 7.97640724e-01 -2.65088505e-01 3.09747497e+02] [ 4.37196075e-01 1.95373105e-03 8.99364095e-01 1.30654829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.61, Y:309.76, Z:130.67 [[ 7.18128219e-01 -6.00258281e-01 -3.52110576e-01 4.30606196e+02] [ 5.43026931e-01 7.99771680e-01 -2.55904301e-01 3.09758800e+02] [ 4.35216743e-01 -7.43342619e-03 9.00295025e-01 1.30665994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.63, Y:309.76, Z:130.69 [[ 7.18732934e-01 -5.90382461e-01 -3.67248580e-01 4.30632231e+02] [ 5.40619782e-01 8.06674043e-01 -2.38761890e-01 3.09760824e+02] [ 4.37210729e-01 -2.69358134e-02 8.98955639e-01 1.30690593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.65, Y:309.78, Z:130.69 [[ 7.19531035e-01 -5.92180637e-01 -3.62763261e-01 4.30647532e+02] [ 5.42035786e-01 8.05443116e-01 -2.39705222e-01 3.09776991e+02] [ 4.34133963e-01 -2.41553225e-02 9.00524415e-01 1.30693049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.67, Y:309.80, Z:130.71 [[ 7.19928942e-01 -5.93706904e-01 -3.59464088e-01 4.30669818e+02] [ 5.38608020e-01 8.04567717e-01 -2.50144338e-01 3.09796974e+02] [ 4.37725621e-01 -1.35240924e-02 8.99006885e-01 1.30712090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.69, Y:309.81, Z:130.72 [[ 7.18881372e-01 -5.94408257e-01 -3.60400328e-01 4.30690506e+02] [ 5.39203070e-01 8.04038008e-01 -2.50565223e-01 3.09812098e+02] [ 4.38713599e-01 -1.42022924e-02 8.98514704e-01 1.30724808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.332755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:430.71, Y:309.83, Z:130.74 [[ 7.18628682e-01 -5.94862708e-01 -3.60154378e-01 4.30711556e+02] [ 5.40383832e-01 8.03676778e-01 -2.49176544e-01 3.09826847e+02] [ 4.37673544e-01 -1.55561915e-02 8.98999374e-01 1.30737294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.73, Y:309.84, Z:130.75 [[ 7.18438825e-01 -5.94644634e-01 -3.60892524e-01 4.30731939e+02] [ 5.40816197e-01 8.03806050e-01 -2.47817826e-01 3.09840236e+02] [ 4.37451135e-01 -1.71345748e-02 8.99078924e-01 1.30749438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.392755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:430.75, Y:309.86, Z:130.76 [[ 7.17479172e-01 -5.96028954e-01 -3.60517856e-01 4.30753771e+02] [ 5.42987415e-01 8.02740851e-01 -2.46519355e-01 3.09856631e+02] [ 4.36335084e-01 -1.88841558e-02 8.99586062e-01 1.30762888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4227550960001 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:430.77, Y:309.87, Z:130.78 [[ 7.16164225e-01 -5.95896834e-01 -3.63339739e-01 4.30774423e+02] [ 5.43983012e-01 8.02740646e-01 -2.44315245e-01 3.09868833e+02] [ 4.37254258e-01 -2.26808080e-02 8.99051887e-01 1.30777917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.452755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:430.79, Y:309.88, Z:130.79 [[ 7.15191673e-01 -5.97496572e-01 -3.62627519e-01 4.30793171e+02] [ 5.45348570e-01 8.01557783e-01 -2.45153130e-01 3.09883552e+02] [ 4.37145065e-01 -2.24269223e-02 8.99111353e-01 1.30790092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.482755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:430.81, Y:309.91, Z:130.80 [[ 7.12471107e-01 -6.04830786e-01 -3.55759248e-01 4.30810312e+02] [ 5.46217317e-01 7.96301482e-01 -2.59904966e-01 3.09906279e+02] [ 4.40490142e-01 -9.14708294e-03 8.97710848e-01 1.30797875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.512755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:430.83, Y:309.92, Z:130.81 [[ 7.11216080e-01 -6.03088852e-01 -3.61186273e-01 4.30833450e+02] [ 5.48305886e-01 7.97449788e-01 -2.51862048e-01 3.09918979e+02] [ 4.39923110e-01 -1.89122212e-02 8.97836280e-01 1.30813577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5427550960001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:430.86, Y:309.93, Z:130.83 [[ 7.12876612e-01 -5.96175688e-01 -3.69298640e-01 4.30858880e+02] [ 5.49296818e-01 8.02059431e-01 -2.34464657e-01 3.09926814e+02] [ 4.35981586e-01 -3.57101974e-02 8.99246818e-01 1.30828445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.572755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:430.87, Y:309.95, Z:130.83 [[ 7.11560920e-01 -6.02761736e-01 -3.61053107e-01 4.30872440e+02] [ 5.51074981e-01 7.97550000e-01 -2.45418750e-01 3.09947320e+02] [ 4.35886938e-01 -2.43369424e-02 8.99672324e-01 1.30833956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.602755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:430.89, Y:309.97, Z:130.85 [[ 7.11868312e-01 -6.04294507e-01 -3.57871003e-01 4.30893843e+02] [ 5.50407503e-01 7.96536998e-01 -2.50160733e-01 3.09965551e+02] [ 4.36228251e-01 -1.88933866e-02 8.99637679e-01 1.30849197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.632755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:430.91, Y:309.98, Z:130.86 [[ 7.12723844e-01 -6.02388001e-01 -3.59379214e-01 4.30913274e+02] [ 5.50759150e-01 7.97865019e-01 -2.45103590e-01 3.09977365e+02] [ 4.34383564e-01 -2.32402178e-02 9.00428127e-01 1.30859384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6627550960001 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:430.93, Y:310.00, Z:130.86 [[ 7.11082839e-01 -6.11178141e-01 -3.47595276e-01 4.30926574e+02] [ 5.53071638e-01 7.91460110e-01 -2.60197345e-01 3.10002310e+02] [ 4.34134725e-01 -7.22322159e-03 9.00818997e-01 1.30858847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.692755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:430.95, Y:310.02, Z:130.88 [[ 7.13258093e-01 -6.06737633e-01 -3.50902177e-01 4.30951197e+02] [ 5.48895626e-01 7.94860783e-01 -2.58669532e-01 3.10015288e+02] [ 4.35862919e-01 -8.11053280e-03 8.99976519e-01 1.30879612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.97, Y:310.02, Z:130.89 [[ 7.14543833e-01 -5.99005012e-01 -3.61414037e-01 4.30973859e+02] [ 5.50237630e-01 8.00238537e-01 -2.38446714e-01 3.10019483e+02] [ 4.32048217e-01 -2.84829742e-02 9.01400609e-01 1.30893574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:430.99, Y:310.05, Z:130.90 [[ 7.14484967e-01 -6.09347724e-01 -3.43811844e-01 4.30988765e+02] [ 5.48590119e-01 7.92902604e-01 -2.65243928e-01 3.10051276e+02] [ 4.34235090e-01 9.01018799e-04 9.00799131e-01 1.30897267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.01, Y:310.07, Z:130.91 [[ 7.13650842e-01 -6.08617694e-01 -3.46824132e-01 4.31010308e+02] [ 5.48821820e-01 7.93459385e-01 -2.63090885e-01 3.10066450e+02] [ 4.35312631e-01 -2.58961953e-03 9.00275629e-01 1.30909678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.812755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:431.03, Y:310.07, Z:130.92 [[ 7.15825038e-01 -6.02080360e-01 -3.53685956e-01 4.31032348e+02] [ 5.48237089e-01 7.98286693e-01 -2.49348051e-01 3.10074233e+02] [ 4.32470356e-01 -1.54141807e-02 9.01516386e-01 1.30922821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.842755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:431.05, Y:310.10, Z:130.93 [[ 7.15082089e-01 -6.08901705e-01 -3.43360335e-01 4.31048598e+02] [ 5.49461034e-01 7.93245022e-01 -2.62402186e-01 3.10099185e+02] [ 4.32146015e-01 -1.02402105e-03 9.01803068e-01 1.30927371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.07, Y:310.11, Z:130.94 [[ 7.14140506e-01 -6.08368694e-01 -3.46252610e-01 4.31068493e+02] [ 5.48112739e-01 7.93653534e-01 -2.63981996e-01 3.10114170e+02] [ 4.35402989e-01 -1.26523037e-03 9.00234767e-01 1.30940495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9027550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:431.09, Y:310.12, Z:130.96 [[ 7.15259028e-01 -6.03921231e-01 -3.51686893e-01 4.31091390e+02] [ 5.47487629e-01 7.96980308e-01 -2.55107203e-01 3.10123934e+02] [ 4.34352184e-01 -1.00764930e-02 9.00686763e-01 1.30955651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.932755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:431.11, Y:310.15, Z:130.96 [[ 7.14942612e-01 -6.09141983e-01 -3.43224570e-01 4.31109051e+02] [ 5.48138351e-01 7.93059068e-01 -2.65709733e-01 3.10147366e+02] [ 4.34052312e-01 1.83266012e-03 9.00885804e-01 1.30962417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.962755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:431.14, Y:310.15, Z:130.98 [[ 7.16538889e-01 -6.00724178e-01 -3.54545460e-01 4.31135026e+02] [ 5.45291282e-01 7.99358502e-01 -2.52355706e-01 3.10149483e+02] [ 4.35005102e-01 -1.25078711e-02 9.00341110e-01 1.30984324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.992755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:431.15, Y:310.17, Z:130.99 [[ 7.14888800e-01 -6.04563117e-01 -3.51336650e-01 4.31151854e+02] [ 5.45334386e-01 7.96541580e-01 -2.61020917e-01 3.10169328e+02] [ 4.37657869e-01 -4.99502605e-03 8.99127710e-01 1.30994605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0227550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:431.18, Y:310.16, Z:131.03 [[ 7.16186459e-01 -5.87237116e-01 -3.77133300e-01 4.31180759e+02] [ 5.41516597e-01 8.08468545e-01 -2.30517652e-01 3.10158003e+02] [ 4.40268932e-01 -3.91303202e-02 8.97012868e-01 1.31029984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.052755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:431.18, Y:310.21, Z:131.01 [[ 7.16337652e-01 -6.13483100e-01 -3.32413681e-01 4.31184626e+02] [ 5.45095246e-01 7.89428578e-01 -2.82265287e-01 3.10210728e+02] [ 4.35581843e-01 2.10001355e-02 8.99904135e-01 1.31008594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.082755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:431.21, Y:310.21, Z:131.03 [[ 7.15459987e-01 -6.05352795e-01 -3.48805104e-01 4.31210668e+02] [ 5.44892154e-01 7.95956081e-01 -2.63716626e-01 3.10211916e+02] [ 4.37275140e-01 -1.38246993e-03 8.99326715e-01 1.31031989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.112755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.24, Y:310.22, Z:131.04 [[ 7.19834986e-01 -5.98304076e-01 -3.51951454e-01 4.31235901e+02] [ 5.44522821e-01 8.01164589e-01 -2.48254302e-01 3.10218069e+02] [ 4.30502603e-01 -1.29434670e-02 9.02496524e-01 1.31044208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.26, Y:310.22, Z:131.07 [[ 7.21759756e-01 -5.89622410e-01 -3.62502784e-01 4.31258681e+02] [ 5.42513912e-01 8.07169039e-01 -2.32716131e-01 3.10219522e+02] [ 4.29815669e-01 -2.86976655e-02 9.02460489e-01 1.31065616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.27, Y:310.27, Z:131.05 [[ 7.20526398e-01 -6.13437106e-01 -3.23321244e-01 4.31265489e+02] [ 5.46580554e-01 7.89356437e-01 -2.79582033e-01 3.10268861e+02] [ 4.26721698e-01 2.47251309e-02 9.04044944e-01 1.31050709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.30, Y:310.25, Z:131.10 [[ 7.20756031e-01 -5.87755889e-01 -3.67496611e-01 4.31303079e+02] [ 5.41820521e-01 8.08356734e-01 -2.30195382e-01 3.10246175e+02] [ 4.32367052e-01 -3.32024954e-02 9.01086193e-01 1.31096669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.232755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:431.31, Y:310.31, Z:131.07 [[ 7.19739873e-01 -6.19597386e-01 -3.13167038e-01 4.31305105e+02] [ 5.46071982e-01 7.83803996e-01 -2.95730766e-01 3.10308088e+02] [ 4.28695585e-01 4.18374786e-02 9.02479762e-01 1.31069267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.34, Y:310.30, Z:131.10 [[ 7.19995491e-01 -6.02243353e-01 -3.44832476e-01 4.31336431e+02] [ 5.47338338e-01 7.98274773e-01 -2.51352604e-01 3.10295161e+02] [ 4.26646502e-01 -7.76729291e-03 9.04385113e-01 1.31097691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.36, Y:310.31, Z:131.11 [[ 7.19550355e-01 -6.02139257e-01 -3.45941615e-01 4.31357776e+02] [ 5.48098381e-01 7.98327615e-01 -2.49521908e-01 3.10308759e+02] [ 4.26421681e-01 -1.00664615e-02 9.04468472e-01 1.31110455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.39, Y:310.30, Z:131.14 [[ 7.19049365e-01 -5.88436176e-01 -3.69744341e-01 4.31386721e+02] [ 5.43532871e-01 8.07709417e-01 -2.28423984e-01 3.10304710e+02] [ 4.33058922e-01 -3.67200824e-02 9.00617347e-01 1.31144189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.40, Y:310.34, Z:131.14 [[ 7.18327835e-01 -6.04898238e-01 -3.43661523e-01 4.31399049e+02] [ 5.45788078e-01 7.96302751e-01 -2.60801273e-01 3.10342851e+02] [ 4.31416847e-01 -2.25548471e-04 9.02152678e-01 1.31138911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:310.34, Z:131.17 [[ 7.17654164e-01 -5.92327479e-01 -3.66224876e-01 4.31428591e+02] [ 5.43389040e-01 8.05190458e-01 -2.37479845e-01 3.10340213e+02] [ 4.35546613e-01 -2.85741844e-02 8.99712545e-01 1.31167924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.43, Y:310.39, Z:131.15 [[ 7.16223558e-01 -6.18641527e-01 -3.22965131e-01 4.31430684e+02] [ 5.50182760e-01 7.85251399e-01 -2.84040790e-01 3.10391907e+02] [ 4.29328249e-01 2.57468583e-02 9.02781454e-01 1.31145272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.47, Y:310.37, Z:131.19 [[ 7.16075252e-01 -5.90173359e-01 -3.72735348e-01 4.31469367e+02] [ 5.45801147e-01 8.06278756e-01 -2.28069454e-01 3.10367103e+02] [ 4.35129109e-01 -4.01244885e-02 8.99473560e-01 1.31192567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.48, Y:310.40, Z:131.19 [[ 7.15893387e-01 -6.05545631e-01 -3.47578979e-01 4.31481317e+02] [ 5.45584738e-01 7.95809077e-01 -2.62726487e-01 3.10402843e+02] [ 4.35699383e-01 -1.54963126e-03 9.00090910e-01 1.31188866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.50, Y:310.42, Z:131.20 [[ 7.15583654e-01 -6.03924267e-01 -3.51020675e-01 4.31502835e+02] [ 5.46744543e-01 7.96998776e-01 -2.56638571e-01 3.10415281e+02] [ 4.34753309e-01 -8.27227160e-03 9.00511593e-01 1.31201783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.51, Y:310.44, Z:131.20 [[ 7.14710468e-01 -6.12305496e-01 -3.38039829e-01 4.31514306e+02] [ 5.50844621e-01 7.90605959e-01 -2.67418066e-01 3.10441350e+02] [ 4.30997855e-01 4.91906955e-03 9.02339544e-01 1.31201090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.562755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:431.54, Y:310.45, Z:131.22 [[ 7.14050864e-01 -6.08442829e-01 -3.46307215e-01 4.31536799e+02] [ 5.50677882e-01 7.93575864e-01 -2.58826619e-01 3.10451195e+02] [ 4.32302248e-01 -5.88835290e-03 9.01709540e-01 1.31216147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.56, Y:310.47, Z:131.23 [[ 7.14251007e-01 -6.08268717e-01 -3.46200328e-01 4.31555415e+02] [ 5.50432528e-01 7.93711296e-01 -2.58933216e-01 3.10466006e+02] [ 4.32284086e-01 -5.61661125e-03 9.01719980e-01 1.31229153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.58, Y:310.48, Z:131.25 [[ 7.15263528e-01 -6.04613064e-01 -3.50486988e-01 4.31581269e+02] [ 5.47345930e-01 7.96478793e-01 -2.56970747e-01 3.10478554e+02] [ 4.34523324e-01 -8.03582346e-03 9.00624731e-01 1.31246485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6527550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:431.60, Y:310.49, Z:131.26 [[ 7.15105319e-01 -6.03686094e-01 -3.52402445e-01 4.31602171e+02] [ 5.47369649e-01 7.97150764e-01 -2.54827642e-01 3.10492718e+02] [ 4.34753782e-01 -1.06658000e-02 9.00486196e-01 1.31260246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.62, Y:310.51, Z:131.27 [[ 7.15129806e-01 -6.06336468e-01 -3.47772123e-01 4.31621126e+02] [ 5.48445039e-01 7.95187158e-01 -2.58622162e-01 3.10512354e+02] [ 4.33355974e-01 -5.78547876e-03 9.01204265e-01 1.31268782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.712755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:431.64, Y:310.53, Z:131.28 [[ 7.14392051e-01 -6.05533862e-01 -3.50674693e-01 4.31636257e+02] [ 5.50363776e-01 7.95723284e-01 -2.52832293e-01 3.10525073e+02] [ 4.32138533e-01 -1.23772679e-02 9.01722292e-01 1.31281102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.66, Y:310.55, Z:131.29 [[ 7.15209298e-01 -6.08301667e-01 -3.44158020e-01 4.31661156e+02] [ 5.48651624e-01 7.93705366e-01 -2.62703610e-01 3.10547514e+02] [ 4.32963112e-01 -9.34792008e-04 9.01411155e-01 1.31291433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.68, Y:310.56, Z:131.31 [[ 7.14496015e-01 -6.07141667e-01 -3.47670018e-01 4.31683345e+02] [ 5.49812374e-01 7.94562134e-01 -2.57638058e-01 3.10561242e+02] [ 4.32668231e-01 -7.07191201e-03 9.01525479e-01 1.31305094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.802755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:431.70, Y:310.57, Z:131.32 [[ 7.13018327e-01 -6.04531023e-01 -3.55171940e-01 4.31698216e+02] [ 5.52137810e-01 7.96330509e-01 -2.46984939e-01 3.10568953e+02] [ 4.32144310e-01 -1.99990693e-02 9.01582682e-01 1.31320980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.72, Y:310.59, Z:131.33 [[ 7.12786713e-01 -6.10766518e-01 -3.44817868e-01 4.31715082e+02] [ 5.52625501e-01 7.91794074e-01 -2.60129198e-01 3.10592808e+02] [ 4.31902949e-01 -5.13851095e-03 9.01905449e-01 1.31327447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.73, Y:310.61, Z:131.34 [[ 7.11649430e-01 -6.12097915e-01 -3.44806078e-01 4.31734398e+02] [ 5.54022838e-01 7.90760798e-01 -2.60299934e-01 3.10607715e+02] [ 4.31988176e-01 -5.78814224e-03 9.01860695e-01 1.31339491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.75, Y:310.62, Z:131.35 [[ 7.10744168e-01 -6.13109556e-01 -3.44875919e-01 4.31753530e+02] [ 5.55031571e-01 7.89973263e-01 -2.60542126e-01 3.10622523e+02] [ 4.32183622e-01 -6.23822619e-03 9.01764050e-01 1.31350982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9227550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:431.78, Y:310.64, Z:131.36 [[ 7.10295407e-01 -6.16660383e-01 -3.39426586e-01 4.31780182e+02] [ 5.55603076e-01 7.87227974e-01 -2.67539415e-01 3.10644765e+02] [ 4.32187062e-01 1.44556188e-03 9.01782820e-01 1.31359774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.952755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:431.80, Y:310.65, Z:131.38 [[ 7.09911220e-01 -6.11113702e-01 -3.50094420e-01 4.31804072e+02] [ 5.56186188e-01 7.91407094e-01 -2.53637015e-01 3.10651771e+02] [ 4.32068263e-01 -1.46579175e-02 9.01721776e-01 1.31377861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.82, Y:310.67, Z:131.39 [[ 7.08696339e-01 -6.14251701e-01 -3.47050928e-01 4.31823770e+02] [ 5.57762587e-01 7.89032756e-01 -2.57542631e-01 3.10670711e+02] [ 4.32030549e-01 -1.10525044e-02 9.01791243e-01 1.31387912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.012755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:431.85, Y:310.68, Z:131.41 [[ 7.08199271e-01 -6.11110157e-01 -3.53550801e-01 4.31847291e+02] [ 5.57818339e-01 7.91295422e-01 -2.50380223e-01 3.10680553e+02] [ 4.32773028e-01 -1.98980292e-02 9.01283293e-01 1.31405731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0427550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:431.87, Y:310.70, Z:131.42 [[ 7.07058911e-01 -6.15272714e-01 -3.48578805e-01 4.31866494e+02] [ 5.59209812e-01 7.88202910e-01 -2.56944661e-01 3.10700924e+02] [ 4.32841868e-01 -1.32536755e-02 9.01372430e-01 1.31415035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.072755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:431.89, Y:310.71, Z:131.43 [[ 7.06558409e-01 -6.14410865e-01 -3.51104692e-01 4.31888360e+02] [ 5.59593759e-01 7.88806527e-01 -2.54242186e-01 3.10714027e+02] [ 4.33162833e-01 -1.68390397e-02 9.01158369e-01 1.31429664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:431.91, Y:310.73, Z:131.44 [[ 7.06337727e-01 -6.15666130e-01 -3.49345433e-01 4.31907856e+02] [ 5.60139993e-01 7.87866313e-01 -2.55948942e-01 3.10731591e+02] [ 4.32816593e-01 -1.48959547e-02 9.01358923e-01 1.31440144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:431.93, Y:310.75, Z:131.45 [[ 7.06901820e-01 -6.15399116e-01 -3.48674268e-01 4.31927894e+02] [ 5.58893490e-01 7.88115546e-01 -2.57899115e-01 3.10749231e+02] [ 4.33506498e-01 -1.25624243e-02 9.01062873e-01 1.31451446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:431.95, Y:310.76, Z:131.46 [[ 7.07164285e-01 -6.13813415e-01 -3.50929859e-01 4.31948471e+02] [ 5.58427151e-01 7.89299969e-01 -2.55273726e-01 3.10763940e+02] [ 4.33679365e-01 -1.54482998e-02 9.00934825e-01 1.31464587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.192755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:431.97, Y:310.77, Z:131.48 [[ 7.08357820e-01 -6.09162382e-01 -3.56581536e-01 4.31967209e+02] [ 5.56374839e-01 7.92740324e-01 -2.49017705e-01 3.10773377e+02] [ 4.34368780e-01 -2.19993559e-02 9.00466430e-01 1.31479367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.222755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:431.99, Y:310.80, Z:131.49 [[ 7.09254361e-01 -6.14549647e-01 -3.45379476e-01 4.31985552e+02] [ 5.54517122e-01 7.88869903e-01 -2.64943462e-01 3.10802339e+02] [ 4.35280385e-01 -3.60652718e-03 9.00287721e-01 1.31485895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.252755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:432.01, Y:310.81, Z:131.50 [[ 7.10178308e-01 -6.07899679e-01 -3.55112308e-01 4.32006526e+02] [ 5.52630740e-01 7.93852103e-01 -2.53767816e-01 3.10809335e+02] [ 4.36172027e-01 -1.60255792e-02 8.99720592e-01 1.31502708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2827550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:432.02, Y:310.82, Z:131.52 [[ 7.09084095e-01 -6.03287987e-01 -3.65025137e-01 4.32017672e+02] [ 5.51649993e-01 7.97061672e-01 -2.45713201e-01 3.10816100e+02] [ 4.39183368e-01 -2.71347919e-02 8.97987568e-01 1.31521166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.312755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:432.03, Y:310.85, Z:131.52 [[ 7.10908172e-01 -6.10669546e-01 -3.48844201e-01 4.32031233e+02] [ 5.48595255e-01 7.91885256e-01 -2.68255452e-01 3.10845111e+02] [ 4.40060014e-01 -6.69280586e-04 8.97968115e-01 1.31524162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.342755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:432.05, Y:310.88, Z:131.52 [[ 7.13004008e-01 -6.18082726e-01 -3.31057440e-01 4.32054285e+02] [ 5.48916883e-01 7.85821152e-01 -2.84912921e-01 3.10876771e+02] [ 4.36251694e-01 2.14210367e-02 8.99569674e-01 1.31523955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.09, Y:310.86, Z:131.56 [[ 7.12210399e-01 -5.97623652e-01 -3.68242201e-01 4.32085379e+02] [ 5.46629147e-01 8.01284481e-01 -2.43186672e-01 3.10862364e+02] [ 4.40400868e-01 -2.80918435e-02 8.97361646e-01 1.31560187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4027550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:432.10, Y:310.89, Z:131.56 [[ 7.14519435e-01 -6.08514682e-01 -3.45212773e-01 4.32098184e+02] [ 5.48515575e-01 7.93541863e-01 -2.63480504e-01 3.10893051e+02] [ 4.34272542e-01 -1.09264189e-03 9.00780864e-01 1.31556194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.432755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:432.11, Y:310.90, Z:131.58 [[ 7.10782565e-01 -6.07586608e-01 -3.54438514e-01 4.32113228e+02] [ 5.47420838e-01 7.94226037e-01 -2.63695713e-01 3.10902913e+02] [ 4.41722280e-01 -6.59671329e-03 8.97127589e-01 1.31576708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.462755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:432.13, Y:310.92, Z:131.59 [[ 7.10192895e-01 -6.10843656e-01 -3.49994400e-01 4.32131400e+02] [ 5.47887084e-01 7.91751239e-01 -2.70092056e-01 3.10921282e+02] [ 4.42092519e-01 6.00481943e-05 8.96969454e-01 1.31586310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.492755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.15, Y:310.94, Z:131.60 [[ 7.08713669e-01 -6.12703160e-01 -3.49742438e-01 4.32151310e+02] [ 5.49985816e-01 7.90312528e-01 -2.70040201e-01 3.10935272e+02] [ 4.41860315e-01 -9.72198618e-04 8.97083339e-01 1.31598102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.18, Y:310.94, Z:131.63 [[ 7.06708725e-01 -6.04916593e-01 -3.66931457e-01 4.32184285e+02] [ 5.50938245e-01 7.95903561e-01 -2.51007114e-01 3.10938767e+02] [ 4.43880422e-01 -2.47676560e-02 8.95743677e-01 1.31628088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.20, Y:310.96, Z:131.64 [[ 7.06707229e-01 -6.09168057e-01 -3.59832141e-01 4.32200878e+02] [ 5.51881568e-01 7.92880231e-01 -2.58394416e-01 3.10957404e+02] [ 4.42709416e-01 -1.59755241e-02 8.96522814e-01 1.31635031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.582755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:432.22, Y:310.97, Z:131.65 [[ 7.03658386e-01 -6.11001243e-01 -3.62687686e-01 4.32221796e+02] [ 5.54911629e-01 7.91358270e-01 -2.56564169e-01 3.10971308e+02] [ 4.43776926e-01 -2.07260859e-02 8.95897578e-01 1.31651167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.612755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:432.23, Y:311.02, Z:131.64 [[ 7.00052313e-01 -6.32537093e-01 -3.31396418e-01 4.32230497e+02] [ 5.60565489e-01 7.74275918e-01 -2.93705864e-01 3.11016332e+02] [ 4.42372119e-01 1.98400741e-02 8.96612112e-01 1.31642875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.642755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:432.26, Y:311.01, Z:131.66 [[ 7.00132713e-01 -6.19901687e-01 -3.54310716e-01 4.32256426e+02] [ 5.62693231e-01 7.84497960e-01 -2.60651644e-01 3.11011638e+02] [ 4.39534427e-01 -1.68774988e-02 8.98067167e-01 1.31662766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6727550960001 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:432.27, Y:311.03, Z:131.67 [[ 7.01227270e-01 -6.20737036e-01 -3.50664866e-01 4.32273911e+02] [ 5.61236538e-01 7.83945907e-01 -2.65409802e-01 3.11027371e+02] [ 4.39651980e-01 -1.06933445e-02 8.98104553e-01 1.31674087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.702755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.30, Y:311.02, Z:131.70 [[ 7.00907587e-01 -6.06981908e-01 -3.74568441e-01 4.32300598e+02] [ 5.61580786e-01 7.93397524e-01 -2.34834813e-01 3.11023192e+02] [ 4.39722156e-01 -4.57529371e-02 8.96967722e-01 1.31702591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.31, Y:311.08, Z:131.68 [[ 7.01553313e-01 -6.35603341e-01 -3.22228711e-01 4.32305329e+02] [ 5.62224246e-01 7.71517476e-01 -2.97766152e-01 3.11083534e+02] [ 4.37866243e-01 2.77340369e-02 8.98612250e-01 1.31684224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.762755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:432.33, Y:311.08, Z:131.71 [[ 7.02955468e-01 -6.20713698e-01 -3.47229196e-01 4.32334372e+02] [ 5.61352136e-01 7.83990031e-01 -2.65034733e-01 3.11078712e+02] [ 4.36734918e-01 -8.61023616e-03 8.99549040e-01 1.31707158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.35, Y:311.10, Z:131.72 [[ 7.04669683e-01 -6.20339634e-01 -3.44411638e-01 4.32351260e+02] [ 5.59249849e-01 7.84325791e-01 -2.68463518e-01 3.11098748e+02] [ 4.36669491e-01 -3.43405398e-03 8.99615453e-01 1.31718596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.37, Y:311.12, Z:131.73 [[ 7.05774587e-01 -6.20092813e-01 -3.42588871e-01 4.32368858e+02] [ 5.56914942e-01 7.84526682e-01 -2.72696961e-01 3.11116180e+02] [ 4.37867536e-01 1.66972355e-03 8.99037949e-01 1.31728949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.39, Y:311.12, Z:131.74 [[ 7.08412784e-01 -6.12659823e-01 -3.50427267e-01 4.32392528e+02] [ 5.56657918e-01 7.90230851e-01 -2.56256053e-01 3.11123537e+02] [ 4.33916225e-01 -1.35330490e-02 9.00851578e-01 1.31744822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.882755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:432.41, Y:311.15, Z:131.75 [[ 7.08564970e-01 -6.20222906e-01 -3.36540088e-01 4.32407703e+02] [ 5.53659317e-01 7.84335081e-01 -2.79785349e-01 3.11154345e+02] [ 4.37489479e-01 1.19175418e-02 8.99144553e-01 1.31751046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:432.43, Y:311.16, Z:131.77 [[ 7.08987660e-01 -6.14773327e-01 -3.45528948e-01 4.32430642e+02] [ 5.52850558e-01 7.88703752e-01 -2.68891526e-01 3.11162865e+02] [ 4.37827316e-01 -3.85097297e-04 8.99059004e-01 1.31768002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.45, Y:311.17, Z:131.78 [[ 7.10275579e-01 -6.11970660e-01 -3.47851280e-01 4.32451095e+02] [ 5.52517904e-01 7.90862914e-01 -2.63172601e-01 3.11174643e+02] [ 4.36156587e-01 -5.26898887e-03 8.99855360e-01 1.31781480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.972755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:432.48, Y:311.18, Z:131.80 [[ 7.13373714e-01 -6.02087435e-01 -3.58592616e-01 4.32477716e+02] [ 5.47238955e-01 7.98254901e-01 -2.51631952e-01 3.11180114e+02] [ 4.37752750e-01 -1.67282287e-02 8.98939762e-01 1.31804573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.49, Y:311.22, Z:131.80 [[ 7.13181048e-01 -6.16715133e-01 -3.33219504e-01 4.32487001e+02] [ 5.50006849e-01 7.87023420e-01 -2.79439802e-01 3.11216765e+02] [ 4.34586308e-01 1.60181611e-02 9.00487734e-01 1.31799082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0327550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:432.51, Y:311.23, Z:131.81 [[ 7.14010727e-01 -6.15379887e-01 -3.33910581e-01 4.32512280e+02] [ 5.48225935e-01 7.88049522e-01 -2.80046914e-01 3.11233641e+02] [ 4.35473313e-01 1.68980603e-02 9.00043027e-01 1.31810675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.53, Y:311.23, Z:131.83 [[ 7.13894931e-01 -6.05629602e-01 -3.51520715e-01 4.32533057e+02] [ 5.48288186e-01 7.95695929e-01 -2.57386973e-01 3.11231640e+02] [ 4.35584772e-01 -8.98739969e-03 9.00102846e-01 1.31831711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.55, Y:311.25, Z:131.84 [[ 7.14048958e-01 -6.10145889e-01 -3.43301733e-01 4.32552032e+02] [ 5.49266612e-01 7.92288259e-01 -2.65679324e-01 3.11253472e+02] [ 4.34097079e-01 1.14386461e-03 9.00865371e-01 1.31840281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.122755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:432.57, Y:311.27, Z:131.85 [[ 7.13353302e-01 -6.12076771e-01 -3.41304984e-01 4.32571930e+02] [ 5.49419003e-01 7.90782820e-01 -2.69817142e-01 3.11269776e+02] [ 4.35046923e-01 4.95550525e-03 9.00394146e-01 1.31850653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.59, Y:311.28, Z:131.86 [[ 7.13605020e-01 -6.10095637e-01 -3.44312635e-01 4.32592805e+02] [ 5.49521829e-01 7.92327778e-01 -2.65032925e-01 3.11281024e+02] [ 4.34503896e-01 -7.84827836e-05 9.00669950e-01 1.31863589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.61, Y:311.30, Z:131.87 [[ 7.12174939e-01 -6.14377598e-01 -3.39627772e-01 4.32612793e+02] [ 5.51500149e-01 7.88992559e-01 -2.70810502e-01 3.11301036e+02] [ 4.34343691e-01 5.55968580e-03 9.00730064e-01 1.31874586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.212755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.63, Y:311.31, Z:131.89 [[ 7.11931028e-01 -6.12105083e-01 -3.44211531e-01 4.32634449e+02] [ 5.52846544e-01 7.90769845e-01 -2.62761777e-01 3.11310868e+02] [ 4.33029918e-01 -3.22789351e-03 9.01373769e-01 1.31888546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.242755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:432.65, Y:311.34, Z:131.90 [[ 7.08189794e-01 -6.22641722e-01 -3.32843057e-01 4.32650084e+02] [ 5.53447731e-01 7.82294785e-01 -2.85850448e-01 3.11338845e+02] [ 4.38363803e-01 1.82251350e-02 8.98612831e-01 1.31896118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.68, Y:311.34, Z:131.91 [[ 7.10893830e-01 -6.14833907e-01 -3.41480935e-01 4.32677032e+02] [ 5.55189659e-01 7.88654598e-01 -2.64174879e-01 3.11344337e+02] [ 4.31734183e-01 -1.78639221e-03 9.01999115e-01 1.31909718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.70, Y:311.36, Z:131.93 [[ 7.07077728e-01 -6.15185247e-01 -3.48694994e-01 4.32696230e+02] [ 5.55921462e-01 7.88346972e-01 -2.63553374e-01 3.11357019e+02] [ 4.37026790e-01 -7.49430967e-03 8.99417267e-01 1.31930695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.71, Y:311.38, Z:131.94 [[ 7.05560427e-01 -6.20171859e-01 -3.42886787e-01 4.32713236e+02] [ 5.57465633e-01 7.84465756e-01 -2.71745369e-01 3.11378613e+02] [ 4.37511773e-01 5.85178411e-04 8.99212492e-01 1.31938680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.73, Y:311.38, Z:131.96 [[ 7.05616796e-01 -6.12475354e-01 -3.56340959e-01 4.32733472e+02] [ 5.56415206e-01 7.90301724e-01 -2.56564425e-01 3.11380232e+02] [ 4.38756261e-01 -1.72373606e-02 8.98440770e-01 1.31959727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.392755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:432.75, Y:311.41, Z:131.96 [[ 7.04760357e-01 -6.24912295e-01 -3.35853336e-01 4.32748117e+02] [ 5.63037358e-01 7.80692453e-01 -2.71124008e-01 3.11412627e+02] [ 4.31626891e-01 1.97947807e-03 9.02050059e-01 1.31957492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.77, Y:311.43, Z:131.97 [[ 7.02983524e-01 -6.29863105e-01 -3.30282659e-01 4.32765162e+02] [ 5.65141744e-01 7.76654625e-01 -2.78248816e-01 3.11433742e+02] [ 4.31774218e-01 8.94781543e-03 9.01937338e-01 1.31965438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.79, Y:311.43, Z:131.99 [[ 7.03660537e-01 -6.20458596e-01 -3.46255656e-01 4.32788394e+02] [ 5.66742326e-01 7.84030621e-01 -2.53178042e-01 3.11432179e+02] [ 4.28561530e-01 -1.80863385e-02 9.03331556e-01 1.31986833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.80, Y:311.47, Z:131.99 [[ 7.01463213e-01 -6.33420149e-01 -3.26692938e-01 4.32802829e+02] [ 5.69103808e-01 7.73752582e-01 -2.78258510e-01 3.11467006e+02] [ 4.29034051e-01 9.26591322e-03 9.03240791e-01 1.31990003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.82, Y:311.47, Z:132.01 [[ 7.00152777e-01 -6.26682803e-01 -3.42132655e-01 4.32824874e+02] [ 5.70486920e-01 7.79160272e-01 -2.59718974e-01 3.11470456e+02] [ 4.29337587e-01 -1.33392438e-02 9.03045570e-01 1.32011268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.85, Y:311.48, Z:132.04 [[ 7.00407712e-01 -6.18773142e-01 -3.55737032e-01 4.32848429e+02] [ 5.66264045e-01 7.85146178e-01 -2.50779804e-01 3.11475144e+02] [ 4.34481378e-01 -2.57929819e-02 9.00311421e-01 1.32035815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.86, Y:311.53, Z:132.02 [[ 6.97550736e-01 -6.41303364e-01 -3.19613776e-01 4.32855716e+02] [ 5.71545010e-01 7.67007094e-01 -2.91610046e-01 3.11525404e+02] [ 4.32156537e-01 2.07391438e-02 9.01560101e-01 1.32022316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.602755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:432.88, Y:311.52, Z:132.05 [[ 6.97450052e-01 -6.29743486e-01 -3.42032991e-01 4.32882496e+02] [ 5.72871642e-01 7.76689203e-01 -2.61862489e-01 3.11523387e+02] [ 4.30559528e-01 -1.33049948e-02 9.02464110e-01 1.32045523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.91, Y:311.53, Z:132.07 [[ 6.96802537e-01 -6.24905395e-01 -3.52078786e-01 4.32905150e+02] [ 5.71620892e-01 7.80316355e-01 -2.53684731e-01 3.11531668e+02] [ 4.33261792e-01 -2.44874255e-02 9.00935395e-01 1.32069405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.91, Y:311.56, Z:132.06 [[ 6.97963890e-01 -6.35770897e-01 -3.29608518e-01 4.32912573e+02] [ 5.72082009e-01 7.71861271e-01 -2.77402871e-01 3.11563465e+02] [ 4.30776722e-01 5.05408413e-03 9.02444387e-01 1.32062417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.94, Y:311.56, Z:132.09 [[ 6.96489783e-01 -6.26245478e-01 -3.50312123e-01 4.32942747e+02] [ 5.72037585e-01 7.79309573e-01 -2.55831176e-01 3.11564669e+02] [ 4.33214708e-01 -2.22079001e-02 9.01017106e-01 1.32094889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.722755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:432.95, Y:311.60, Z:132.09 [[ 6.96182289e-01 -6.39381725e-01 -3.26375904e-01 4.32952173e+02] [ 5.75657362e-01 7.68866974e-01 -2.78320279e-01 3.11601655e+02] [ 4.28892553e-01 5.88095683e-03 9.03336367e-01 1.32089682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.97, Y:311.61, Z:132.11 [[ 6.96606261e-01 -6.34101416e-01 -3.35641344e-01 4.32973838e+02] [ 5.75502706e-01 7.73212293e-01 -2.66344486e-01 3.11610292e+02] [ 4.28411429e-01 -7.62526544e-03 9.03551605e-01 1.32105664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:432.99, Y:311.63, Z:132.12 [[ 6.96293692e-01 -6.34870811e-01 -3.34834509e-01 4.32992376e+02] [ 5.76567035e-01 7.72577702e-01 -2.65883715e-01 3.11628538e+02] [ 4.27487485e-01 -7.92138677e-03 9.03986561e-01 1.32117666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.01, Y:311.64, Z:132.14 [[ 6.97128085e-01 -6.32193203e-01 -3.38148173e-01 4.33012268e+02] [ 5.72278011e-01 7.74786057e-01 -2.68708846e-01 3.11640796e+02] [ 4.31868396e-01 -6.19028050e-03 9.01915389e-01 1.32135097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.03, Y:311.66, Z:132.15 [[ 6.96927607e-01 -6.32464059e-01 -3.38054915e-01 4.33032344e+02] [ 5.72522169e-01 7.74564961e-01 -2.68826129e-01 3.11657052e+02] [ 4.31868356e-01 -6.19158224e-03 9.01915399e-01 1.32147357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.06, Y:311.66, Z:132.17 [[ 6.97043682e-01 -6.25471095e-01 -3.50593804e-01 4.33055901e+02] [ 5.72285655e-01 7.79880562e-01 -2.53526011e-01 3.11663352e+02] [ 4.31994484e-01 -2.39211005e-02 9.01558954e-01 1.32166872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.06, Y:311.71, Z:132.15 [[ 6.95869018e-01 -6.47551167e-01 -3.10554015e-01 4.33056916e+02] [ 5.78341247e-01 7.61651474e-01 -2.92247212e-01 3.11710853e+02] [ 4.25778947e-01 2.37595843e-02 9.04515213e-01 1.32148892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.08, Y:311.72, Z:132.17 [[ 6.94045330e-01 -6.44363472e-01 -3.21086897e-01 4.33080913e+02] [ 5.80428699e-01 7.64678284e-01 -2.79945793e-01 3.11721271e+02] [ 4.25915021e-01 7.92702043e-03 9.04728444e-01 1.32165740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.10, Y:311.73, Z:132.18 [[ 6.94412962e-01 -6.39858055e-01 -3.29199497e-01 4.33102891e+02] [ 5.81106379e-01 7.68474991e-01 -2.67883492e-01 3.11730848e+02] [ 4.24388990e-01 -5.27815849e-03 9.05464592e-01 1.32180651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.12, Y:311.76, Z:132.19 [[ 6.88960926e-01 -6.48480193e-01 -3.23737983e-01 4.33122197e+02] [ 5.85194080e-01 7.61225337e-01 -2.79434922e-01 3.11757874e+02] [ 4.27645567e-01 3.07019181e-03 9.03941283e-01 1.32192125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.14, Y:311.76, Z:132.21 [[ 6.87730663e-01 -6.43169929e-01 -3.36688252e-01 4.33144885e+02] [ 5.86320495e-01 7.65570952e-01 -2.64819552e-01 3.11764387e+02] [ 4.28082718e-01 -1.52826964e-02 9.03610329e-01 1.32210687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.16, Y:311.78, Z:132.22 [[ 6.86240489e-01 -6.45391841e-01 -3.35474831e-01 4.33164411e+02] [ 5.87227284e-01 7.63740432e-01 -2.68075865e-01 3.11783680e+02] [ 4.29229668e-01 -1.30354610e-02 9.03101306e-01 1.32222723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.19, Y:311.79, Z:132.24 [[ 6.85699162e-01 -6.40541239e-01 -3.45721826e-01 4.33186606e+02] [ 5.86091931e-01 7.67529221e-01 -2.59605746e-01 3.11792087e+02] [ 4.31639790e-01 -2.46133301e-02 9.01710195e-01 1.32242445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.21, Y:311.81, Z:132.25 [[ 6.84653271e-01 -6.43065988e-01 -3.43097701e-01 4.33205985e+02] [ 5.86097561e-01 7.65564283e-01 -2.65331827e-01 3.11812259e+02] [ 4.33289219e-01 -1.94284228e-02 9.01045498e-01 1.32254773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.22, Y:311.83, Z:132.27 [[ 6.81765978e-01 -6.44957455e-01 -3.45289780e-01 4.33220338e+02] [ 5.88286719e-01 7.63894312e-01 -2.65300239e-01 3.11830130e+02] [ 4.34872266e-01 -2.22567153e-02 9.00217058e-01 1.32265961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.24, Y:311.85, Z:132.28 [[ 6.81252792e-01 -6.47519089e-01 -3.41487428e-01 4.33237786e+02] [ 5.88294622e-01 7.61875772e-01 -2.71025358e-01 3.11850586e+02] [ 4.35665091e-01 -1.62584356e-02 8.99961995e-01 1.32275096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.26, Y:311.87, Z:132.29 [[ 6.82318408e-01 -6.48161540e-01 -3.38124546e-01 4.33261399e+02] [ 5.87089173e-01 7.61424096e-01 -2.74881154e-01 3.11870627e+02] [ 4.35623569e-01 -1.09527886e-02 9.00062299e-01 1.32285627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.28, Y:311.88, Z:132.30 [[ 6.81291123e-01 -6.43579936e-01 -3.48779690e-01 4.33279161e+02] [ 5.87521743e-01 7.64966524e-01 -2.63902288e-01 3.11880371e+02] [ 4.36647005e-01 -2.51213653e-02 8.99282108e-01 1.32299768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.30, Y:311.90, Z:132.31 [[ 6.81494268e-01 -6.46659011e-01 -3.42633456e-01 4.33296147e+02] [ 5.86692044e-01 7.62623996e-01 -2.72391421e-01 3.11902362e+02] [ 4.37444862e-01 -1.53871303e-02 8.99113579e-01 1.32308105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.31, Y:311.92, Z:132.32 [[ 6.83111435e-01 -6.44437802e-01 -3.43596692e-01 4.33314768e+02] [ 5.83753605e-01 7.64531414e-01 -2.73355896e-01 3.11919367e+02] [ 4.38851337e-01 -1.38432688e-02 8.98453042e-01 1.32319177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.33, Y:311.94, Z:132.33 [[ 6.84383254e-01 -6.43117673e-01 -3.43539256e-01 4.33333726e+02] [ 5.82196066e-01 7.65660117e-01 -2.73518419e-01 3.11935910e+02] [ 4.38938836e-01 -1.28157778e-02 8.98425542e-01 1.32330183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.352755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:433.35, Y:311.95, Z:132.34 [[ 6.85021085e-01 -6.41979175e-01 -3.44396359e-01 4.33353178e+02] [ 5.80531426e-01 7.66628138e-01 -2.74343876e-01 3.11952587e+02] [ 4.40146994e-01 -1.20015701e-02 8.97845525e-01 1.32340813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.37, Y:311.97, Z:132.35 [[ 6.86628452e-01 -6.40222765e-01 -3.44465065e-01 4.33372672e+02] [ 5.78445403e-01 7.68114624e-01 -2.74592133e-01 3.11969319e+02] [ 4.40388788e-01 -1.07114623e-02 8.97743271e-01 1.32353128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.40, Y:311.99, Z:132.37 [[ 6.90981292e-01 -6.35142239e-01 -3.45165454e-01 4.33396511e+02] [ 5.72882311e-01 7.72352135e-01 -2.74368434e-01 3.11985503e+02] [ 4.40852257e-01 -8.15572787e-03 8.97542630e-01 1.32365392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.41, Y:312.01, Z:132.37 [[ 6.92544408e-01 -6.36831903e-01 -3.38861876e-01 4.33414594e+02] [ 5.72600080e-01 7.71002021e-01 -2.78720349e-01 3.12007033e+02] [ 4.38761201e-01 -1.00611798e-03 8.98603136e-01 1.32371587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.44, Y:312.02, Z:132.39 [[ 6.96188615e-01 -6.30446576e-01 -3.43305296e-01 4.33435738e+02] [ 5.69209950e-01 7.76204066e-01 -2.71122262e-01 3.12018300e+02] [ 4.37403069e-01 -6.66055824e-03 8.99240898e-01 1.32385292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.46, Y:312.04, Z:132.40 [[ 6.97280805e-01 -6.30129120e-01 -3.41667634e-01 4.33455584e+02] [ 5.67952013e-01 7.76481452e-01 -2.72959824e-01 3.12035663e+02] [ 4.37298514e-01 -3.72117517e-03 8.99308714e-01 1.32396763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.48, Y:312.05, Z:132.41 [[ 6.98604367e-01 -6.29058643e-01 -3.40935716e-01 4.33475754e+02] [ 5.66973625e-01 7.77352358e-01 -2.72514624e-01 3.12051347e+02] [ 4.36454863e-01 -2.92165223e-03 8.99721411e-01 1.32408544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.50, Y:312.06, Z:132.43 [[ 6.99883733e-01 -6.22024176e-01 -3.51067921e-01 4.33496779e+02] [ 5.64061459e-01 7.82868466e-01 -2.62586435e-01 3.12056203e+02] [ 4.38175116e-01 -1.42439093e-02 8.98776768e-01 1.32428856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.592755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:433.51, Y:312.08, Z:132.44 [[ 7.00827078e-01 -6.26301570e-01 -3.41449485e-01 4.33513665e+02] [ 5.63510049e-01 7.79580412e-01 -2.73332775e-01 3.12078054e+02] [ 4.37376077e-01 -8.51205896e-04 8.99278290e-01 1.32436816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.54, Y:312.09, Z:132.45 [[ 7.02835071e-01 -6.23688581e-01 -3.42104396e-01 4.33535578e+02] [ 5.60256753e-01 7.81672353e-01 -2.74045077e-01 3.12089252e+02] [ 4.38332333e-01 9.42193530e-04 8.98812482e-01 1.32450642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.56, Y:312.10, Z:132.46 [[ 7.04887940e-01 -6.21924319e-01 -3.41091093e-01 4.33560661e+02] [ 5.60517844e-01 7.83076364e-01 -2.69464572e-01 3.12103953e+02] [ 4.34686943e-01 -1.24531686e-03 9.00580763e-01 1.32463858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.58, Y:312.12, Z:132.47 [[ 7.03986280e-01 -6.25514659e-01 -3.36355063e-01 4.33575008e+02] [ 5.61797476e-01 7.80198283e-01 -2.75089505e-01 3.12121951e+02] [ 4.34496161e-01 4.69581237e-03 9.00661444e-01 1.32471846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.712755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.60, Y:312.13, Z:132.49 [[ 7.06021057e-01 -6.21366640e-01 -3.39761335e-01 4.33599732e+02] [ 5.62256051e-01 7.83508359e-01 -2.64542594e-01 3.12128277e+02] [ 4.30583789e-01 -4.26022442e-03 9.02540554e-01 1.32487414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.62, Y:312.15, Z:132.49 [[ 7.06939452e-01 -6.28322485e-01 -3.24726757e-01 4.33618105e+02] [ 5.62886957e-01 7.77810939e-01 -2.79586152e-01 3.12153661e+02] [ 4.28246289e-01 1.48660250e-02 9.03539771e-01 1.32491421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.64, Y:312.15, Z:132.51 [[ 7.05956287e-01 -6.19468704e-01 -3.43342753e-01 4.33643208e+02] [ 5.63685587e-01 7.84929984e-01 -2.57183745e-01 3.12151621e+02] [ 4.28817303e-01 -1.19768793e-02 9.03311837e-01 1.32514871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.67, Y:312.17, Z:132.53 [[ 7.04792964e-01 -6.21829935e-01 -3.41459237e-01 4.33670467e+02] [ 5.62568933e-01 7.83134134e-01 -2.64985137e-01 3.12165398e+02] [ 4.32184075e-01 -5.33469809e-03 9.01769631e-01 1.32530900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.69, Y:312.18, Z:132.55 [[ 7.05066803e-01 -6.20119186e-01 -3.43995637e-01 4.33691124e+02] [ 5.65294339e-01 7.84374940e-01 -2.55339509e-01 3.12175940e+02] [ 4.28162485e-01 -1.44273749e-02 9.03586596e-01 1.32545033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.862755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.70, Y:312.21, Z:132.54 [[ 7.00236351e-01 -6.35439921e-01 -3.25399999e-01 4.33697740e+02] [ 5.73120518e-01 7.72129123e-01 -2.74498614e-01 3.12207779e+02] [ 4.25678193e-01 5.72049196e-03 9.04856537e-01 1.32543260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.892755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:433.72, Y:312.22, Z:132.56 [[ 6.98792415e-01 -6.33996220e-01 -3.31267195e-01 4.33718961e+02] [ 5.75066814e-01 7.73326034e-01 -2.66955063e-01 3.12219427e+02] [ 4.25426047e-01 -3.95459741e-03 9.04984552e-01 1.32558538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.75, Y:312.22, Z:132.59 [[ 6.98329349e-01 -6.22253187e-01 -3.53747215e-01 4.33750320e+02] [ 5.71953488e-01 7.82244621e-01 -2.46905976e-01 3.12217749e+02] [ 4.30354886e-01 -2.99052640e-02 9.02164257e-01 1.32590822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.75, Y:312.26, Z:132.58 [[ 6.95535274e-01 -6.43729165e-01 -3.19129198e-01 4.33752203e+02] [ 5.79395298e-01 7.65183563e-01 -2.80704834e-01 3.12260460e+02] [ 4.24890306e-01 1.03381569e-02 9.05185810e-01 1.32576955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.78, Y:312.27, Z:132.60 [[ 6.93219711e-01 -6.41011454e-01 -3.29470406e-01 4.33775808e+02] [ 5.83271971e-01 7.67491859e-01 -2.65988823e-01 3.12266131e+02] [ 4.23367737e-01 -7.78215804e-03 9.05924499e-01 1.32595040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.80, Y:312.28, Z:132.61 [[ 6.92115864e-01 -6.42566702e-01 -3.28760801e-01 4.33796079e+02] [ 5.85167728e-01 7.66182008e-01 -2.65600943e-01 3.12280863e+02] [ 4.22556932e-01 -8.55358464e-03 9.06296020e-01 1.32608314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.82, Y:312.30, Z:132.62 [[ 6.92094101e-01 -6.43884556e-01 -3.26218385e-01 4.33820890e+02] [ 5.86671333e-01 7.65084234e-01 -2.65448416e-01 3.12296395e+02] [ 4.20502679e-01 -7.66769212e-03 9.07258896e-01 1.32622384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.072755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:433.84, Y:312.31, Z:132.63 [[ 6.92923090e-01 -6.42466461e-01 -3.27252864e-01 4.33840891e+02] [ 5.89122530e-01 7.66169214e-01 -2.56747698e-01 3.12309247e+02] [ 4.15682855e-01 -1.48856265e-02 9.09387806e-01 1.32634944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.102755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:433.86, Y:312.33, Z:132.65 [[ 6.92422512e-01 -6.43985299e-01 -3.25321380e-01 4.33859989e+02] [ 5.89861073e-01 7.64931761e-01 -2.58734063e-01 3.12326290e+02] [ 4.15469589e-01 -1.27411281e-02 9.09517831e-01 1.32646137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.88, Y:312.34, Z:132.66 [[ 6.90303133e-01 -6.47102472e-01 -3.23635559e-01 4.33878464e+02] [ 5.90619320e-01 7.62355314e-01 -2.64543369e-01 3.12344583e+02] [ 4.17911956e-01 -8.53029679e-03 9.08447484e-01 1.32656163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1627550960001 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:433.90, Y:312.35, Z:132.67 [[ 6.89498467e-01 -6.44442909e-01 -3.30583123e-01 4.33896830e+02] [ 5.91502869e-01 7.64423735e-01 -2.56477502e-01 3.12354721e+02] [ 4.17990693e-01 -1.87000211e-02 9.08258823e-01 1.32671422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.92, Y:312.38, Z:132.68 [[ 6.88139849e-01 -6.49539738e-01 -3.23359980e-01 4.33916355e+02] [ 5.91968373e-01 7.60291871e-01 -2.67450399e-01 3.12379294e+02] [ 4.19567627e-01 -7.37560393e-03 9.07694115e-01 1.32679672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.94, Y:312.38, Z:132.70 [[ 6.87961326e-01 -6.41636942e-01 -3.39133084e-01 4.33940254e+02] [ 5.89914656e-01 7.66583128e-01 -2.53675000e-01 3.12382696e+02] [ 4.22740952e-01 -2.55409869e-02 9.05890582e-01 1.32702638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.95, Y:312.41, Z:132.70 [[ 6.86075540e-01 -6.50759753e-01 -3.25287714e-01 4.33951770e+02] [ 5.93013863e-01 7.59231174e-01 -2.68146571e-01 3.12411179e+02] [ 4.21467569e-01 -8.93132046e-03 9.06799493e-01 1.32702965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:433.97, Y:312.43, Z:132.72 [[ 6.84979336e-01 -6.50432522e-01 -3.28239004e-01 4.33971441e+02] [ 5.93639199e-01 7.59459902e-01 -2.66107420e-01 3.12426406e+02] [ 4.22369282e-01 -1.25774554e-02 9.06336581e-01 1.32715385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.00, Y:312.44, Z:132.73 [[ 6.84808776e-01 -6.50084539e-01 -3.29282604e-01 4.33995839e+02] [ 5.95617770e-01 7.59663724e-01 -2.61056506e-01 3.12443117e+02] [ 4.19852847e-01 -1.73527838e-02 9.07426288e-01 1.32728631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.01, Y:312.46, Z:132.74 [[ 6.83577668e-01 -6.50812482e-01 -3.30400795e-01 4.34011278e+02] [ 5.95299596e-01 7.59058259e-01 -2.63531688e-01 3.12458329e+02] [ 4.22303164e-01 -1.65430829e-02 9.06303682e-01 1.32740546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.04, Y:312.47, Z:132.76 [[ 6.83004127e-01 -6.49177887e-01 -3.34773706e-01 4.34036413e+02] [ 5.94684820e-01 7.60354806e-01 -2.61171467e-01 3.12474117e+02] [ 4.24093537e-01 -2.07036515e-02 9.05381704e-01 1.32757144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.05, Y:312.49, Z:132.77 [[ 6.82279363e-01 -6.48368690e-01 -3.37806028e-01 4.34054595e+02] [ 5.94469005e-01 7.60963719e-01 -2.59886170e-01 3.12489869e+02] [ 4.25560187e-01 -2.35002426e-02 9.04624931e-01 1.32766720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.07, Y:312.51, Z:132.78 [[ 6.80130781e-01 -6.51047916e-01 -3.36984766e-01 4.34074288e+02] [ 5.97068873e-01 7.58659657e-01 -2.60661249e-01 3.12510268e+02] [ 4.25359710e-01 -2.39193754e-02 9.04708230e-01 1.32776950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.08, Y:312.54, Z:132.78 [[ 6.75319539e-01 -6.58828552e-01 -3.31494283e-01 4.34083123e+02] [ 5.98221613e-01 7.52201538e-01 -2.76267530e-01 3.12535082e+02] [ 4.31363446e-01 -1.17381830e-02 9.02101875e-01 1.32778042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.492755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.10, Y:312.55, Z:132.79 [[ 6.74515242e-01 -6.57804372e-01 -3.35145636e-01 4.34102389e+02] [ 5.98063663e-01 7.53031561e-01 -2.74341619e-01 3.12549960e+02] [ 4.32838358e-01 -1.53908233e-02 9.01340157e-01 1.32790081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.12, Y:312.57, Z:132.80 [[ 6.73601829e-01 -6.58285344e-01 -3.36037174e-01 4.34121547e+02] [ 5.98171999e-01 7.52607111e-01 -2.75268588e-01 3.12567975e+02] [ 4.34109244e-01 -1.55866044e-02 9.00725387e-01 1.32801312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.552755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:434.16, Y:312.56, Z:132.83 [[ 6.77052560e-01 -6.41603010e-01 -3.60479416e-01 4.34156806e+02] [ 5.92936741e-01 7.65715024e-01 -2.49211803e-01 3.12563313e+02] [ 4.35919547e-01 -4.50120005e-02 8.98859315e-01 1.32832847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.15, Y:312.62, Z:132.82 [[ 6.72579721e-01 -6.65572115e-01 -3.23496953e-01 4.34152366e+02] [ 5.96328168e-01 7.46309875e-01 -2.95659073e-01 3.12616699e+02] [ 4.38211405e-01 5.94395200e-03 8.98852287e-01 1.32815308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.19, Y:312.61, Z:132.85 [[ 6.74111597e-01 -6.44138457e-01 -3.61468121e-01 4.34191903e+02] [ 5.90074789e-01 7.63996485e-01 -2.61000219e-01 3.12606446e+02] [ 4.44280652e-01 -3.73499508e-02 8.95108755e-01 1.32852423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.642755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.20, Y:312.65, Z:132.84 [[ 6.72959475e-01 -6.58451142e-01 -3.36997979e-01 4.34195962e+02] [ 5.94573377e-01 7.52558824e-01 -2.83086058e-01 3.12647875e+02] [ 4.40009142e-01 -9.86458124e-03 8.97939110e-01 1.32842225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:434.21, Y:312.66, Z:132.85 [[ 6.72773300e-01 -6.54793257e-01 -3.44415269e-01 4.34211604e+02] [ 5.90873622e-01 7.55688341e-01 -2.82495123e-01 3.12659786e+02] [ 4.45246505e-01 -1.34507217e-02 8.95307002e-01 1.32852129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.25, Y:312.66, Z:132.88 [[ 6.73517453e-01 -6.40569102e-01 -3.68843417e-01 4.34247454e+02] [ 5.87439726e-01 7.66734834e-01 -2.58905897e-01 3.12660605e+02] [ 4.48652214e-01 -4.22956354e-02 8.92705030e-01 1.32883597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.26, Y:312.69, Z:132.89 [[ 6.73198142e-01 -6.47374919e-01 -3.57365326e-01 4.34263543e+02] [ 5.87870768e-01 7.61704260e-01 -2.72423534e-01 3.12686916e+02] [ 4.48566854e-01 -2.66896121e-02 8.93350683e-01 1.32890686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.27, Y:312.72, Z:132.89 [[ 6.72935083e-01 -6.52681574e-01 -3.48087830e-01 4.34271314e+02] [ 5.82010152e-01 7.57622843e-01 -2.95418027e-01 3.12717801e+02] [ 4.56533194e-01 -3.79349639e-03 8.89698293e-01 1.32890851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.30, Y:312.72, Z:132.91 [[ 6.73288726e-01 -6.40648590e-01 -3.69122847e-01 4.34300924e+02] [ 5.84413111e-01 7.66931037e-01 -2.65100170e-01 3.12721206e+02] [ 4.52927818e-01 -3.72312753e-02 8.90769456e-01 1.32912809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.822755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:434.31, Y:312.75, Z:132.91 [[ 6.73435563e-01 -6.48024946e-01 -3.55736154e-01 4.34309438e+02] [ 5.79992932e-01 7.61531987e-01 -2.89270172e-01 3.12751593e+02] [ 4.58358748e-01 -1.15196334e-02 8.88692611e-01 1.32913769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.33, Y:312.77, Z:132.93 [[ 6.74219466e-01 -6.43618833e-01 -3.62191814e-01 4.34329085e+02] [ 5.79620702e-01 7.65064267e-01 -2.80564626e-01 3.12771209e+02] [ 4.57676691e-01 -2.07717412e-02 8.88876021e-01 1.32926092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.882755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:434.34, Y:312.79, Z:132.93 [[ 6.74549208e-01 -6.44299238e-01 -3.60363507e-01 4.34343048e+02] [ 5.75380446e-01 7.64685242e-01 -2.90161718e-01 3.12791351e+02] [ 4.62515630e-01 -1.16177580e-02 8.86535008e-01 1.32933890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.36, Y:312.82, Z:132.94 [[ 6.77093270e-01 -6.47113772e-01 -3.50411859e-01 4.34356406e+02] [ 5.74302904e-01 7.62393145e-01 -2.98216141e-01 3.12819728e+02] [ 4.60131371e-01 6.77593625e-04 8.87850586e-01 1.32938717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.38, Y:312.84, Z:132.95 [[ 6.77672915e-01 -6.44514498e-01 -3.54062821e-01 4.34376320e+02] [ 5.74102421e-01 7.64577428e-01 -2.92963763e-01 3.12835557e+02] [ 4.59527834e-01 -4.73471501e-03 8.88150749e-01 1.32951013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.972755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:434.39, Y:312.86, Z:132.95 [[ 6.78870905e-01 -6.48529869e-01 -3.44301181e-01 4.34390707e+02] [ 5.75294696e-01 7.61171481e-01 -2.99422761e-01 3.12860857e+02] [ 4.56256844e-01 5.19475745e-03 8.89832966e-01 1.32954577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.002755096 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:434.41, Y:312.88, Z:132.96 [[ 6.80446243e-01 -6.47708313e-01 -3.42734374e-01 4.34406589e+02] [ 5.75098426e-01 7.61867191e-01 -2.98027154e-01 3.12880852e+02] [ 4.54152739e-01 5.68545830e-03 8.90905699e-01 1.32962204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0327550960001 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:434.42, Y:312.90, Z:132.97 [[ 6.80683346e-01 -6.47939451e-01 -3.41825469e-01 4.34424623e+02] [ 5.75328350e-01 7.61666222e-01 -2.98097060e-01 3.12899938e+02] [ 4.53505758e-01 6.24782093e-03 8.91231447e-01 1.32972248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.062755096 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:434.45, Y:312.91, Z:132.99 [[ 6.80754717e-01 -6.44760033e-01 -3.47645675e-01 4.34449192e+02] [ 5.76238904e-01 7.64377456e-01 -2.89267749e-01 3.12914975e+02] [ 4.52240800e-01 -3.40657886e-03 8.91889373e-01 1.32989818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.092755096 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:434.46, Y:312.93, Z:133.00 [[ 6.81973169e-01 -6.39855245e-01 -3.54256776e-01 4.34464369e+02] [ 5.73747220e-01 7.68430814e-01 -2.83422319e-01 3.12925765e+02] [ 4.53571080e-01 -9.96742343e-03 8.91164365e-01 1.33003813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.122755096 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:434.49, Y:312.92, Z:133.04 [[ 6.81179395e-01 -6.26390245e-01 -3.78985346e-01 4.34486903e+02] [ 5.70280695e-01 7.78594769e-01 -2.61858961e-01 3.12921354e+02] [ 4.59101906e-01 -3.77550976e-02 8.87580978e-01 1.33035960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1527550960001 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:434.49, Y:312.96, Z:133.04 [[ 6.83964956e-01 -6.39314711e-01 -3.51381046e-01 4.34493141e+02] [ 5.68100074e-01 7.68944609e-01 -2.93234537e-01 3.12960108e+02] [ 4.57661715e-01 9.42548594e-04 8.89125900e-01 1.33038369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.182755096 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:434.51, Y:312.97, Z:133.05 [[ 6.86217371e-01 -6.36257730e-01 -3.52536270e-01 4.34514989e+02] [ 5.64059533e-01 7.71470058e-01 -2.94399038e-01 3.12972182e+02] [ 4.59284840e-01 3.17029034e-03 8.88283392e-01 1.33051554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.212755096 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:434.53, Y:312.99, Z:133.06 [[ 6.85130042e-01 -6.38389941e-01 -3.50792115e-01 4.34529129e+02] [ 5.67113999e-01 7.69710784e-01 -2.93133112e-01 3.12993616e+02] [ 4.57141704e-01 1.89518176e-03 8.89391855e-01 1.33063910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.242755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:434.55, Y:313.01, Z:133.08 [[ 6.85648399e-01 -6.39128486e-01 -3.48426537e-01 4.34548193e+02] [ 5.67325483e-01 7.69088772e-01 -2.94353967e-01 3.13014440e+02] [ 4.56100942e-01 4.15207255e-03 8.89918362e-01 1.33078295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.57, Y:313.02, Z:133.09 [[ 6.87077011e-01 -6.34898623e-01 -3.53311363e-01 4.34567662e+02] [ 5.65951024e-01 7.72592180e-01 -2.87751216e-01 3.13024464e+02] [ 4.55658447e-01 -2.24968233e-03 8.90151852e-01 1.33093178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.59, Y:313.04, Z:133.11 [[ 6.88824779e-01 -6.31541687e-01 -3.55915047e-01 4.34592882e+02] [ 5.62891725e-01 7.75335792e-01 -2.86369196e-01 3.13038274e+02] [ 4.56807760e-01 -3.08343666e-03 8.89560095e-01 1.33110656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.60, Y:313.06, Z:133.12 [[ 6.89638100e-01 -6.35971617e-01 -3.46322672e-01 4.34602427e+02] [ 5.65255245e-01 7.71694446e-01 -2.91503328e-01 3.13058834e+02] [ 4.52643125e-01 5.27109417e-03 8.91676184e-01 1.33118583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.62, Y:313.07, Z:133.13 [[ 6.90514866e-01 -6.34915873e-01 -3.46512704e-01 4.34621569e+02] [ 5.64583021e-01 7.72565374e-01 -2.90497429e-01 3.13073922e+02] [ 4.52145146e-01 4.95760417e-03 8.91930597e-01 1.33131854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.392755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:434.64, Y:313.09, Z:133.15 [[ 6.92647728e-01 -6.32843186e-01 -3.46047146e-01 4.34639947e+02] [ 5.62362059e-01 7.74252869e-01 -2.90312607e-01 3.13089992e+02] [ 4.51650351e-01 6.48058162e-03 8.92171487e-01 1.33145299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.67, Y:313.09, Z:133.17 [[ 6.92999767e-01 -6.23455121e-01 -3.62015243e-01 4.34665642e+02] [ 5.58749831e-01 7.81789023e-01 -2.76775271e-01 3.13093372e+02] [ 4.55576503e-01 -1.04707571e-02 8.90135053e-01 1.33169832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.67, Y:313.13, Z:133.17 [[ 6.94551667e-01 -6.36028096e-01 -3.36253243e-01 4.34672787e+02] [ 5.60358941e-01 7.71378282e-01 -3.01617978e-01 3.13129611e+02] [ 4.51215957e-01 2.10667582e-02 8.92166101e-01 1.33166988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.70, Y:313.14, Z:133.18 [[ 6.95944847e-01 -6.29987433e-01 -3.44639819e-01 4.34695313e+02] [ 5.59508212e-01 7.76555818e-01 -2.89675029e-01 3.13138645e+02] [ 4.50123684e-01 8.76903465e-03 8.92923162e-01 1.33183569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.72, Y:313.15, Z:133.21 [[ 6.95997275e-01 -6.23511745e-01 -3.56119217e-01 4.34719610e+02] [ 5.57402698e-01 7.81803678e-01 -2.79437366e-01 3.13145484e+02] [ 4.52647794e-01 -4.01416683e-03 8.91680358e-01 1.33205668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.73, Y:313.17, Z:133.22 [[ 6.96525158e-01 -6.26930368e-01 -3.49014351e-01 4.34734950e+02] [ 5.57184997e-01 7.79054142e-01 -2.87436120e-01 3.13165654e+02] [ 4.52103509e-01 5.74092859e-03 8.91947005e-01 1.33215808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.75, Y:313.19, Z:133.22 [[ 6.98171448e-01 -6.32904995e-01 -3.34645927e-01 4.34748511e+02] [ 5.58767642e-01 7.73943256e-01 -2.97977447e-01 3.13191918e+02] [ 4.47588373e-01 2.10500296e-02 8.93991915e-01 1.33218894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.602755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:434.78, Y:313.19, Z:133.25 [[ 6.98843568e-01 -6.21548280e-01 -3.53970907e-01 4.34775269e+02] [ 5.56445584e-01 7.83368395e-01 -2.76951746e-01 3.13192829e+02] [ 4.49428503e-01 -3.41960207e-03 8.93309760e-01 1.33245030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.79, Y:313.22, Z:133.25 [[ 6.99577478e-01 -6.27126477e-01 -3.42496328e-01 4.34789103e+02] [ 5.56925575e-01 7.78838373e-01 -2.88521564e-01 3.13217443e+02] [ 4.47688795e-01 1.10982238e-02 8.94120558e-01 1.33252546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:434.81, Y:313.24, Z:133.26 [[ 7.00898223e-01 -6.30519713e-01 -3.33446506e-01 4.34805214e+02] [ 5.57101264e-01 7.75868080e-01 -2.96085973e-01 3.13238997e+02] [ 4.45398543e-01 2.17626623e-02 8.95067888e-01 1.33258056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.692755096 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:434.83, Y:313.25, Z:133.27 [[ 7.00343023e-01 -6.26938269e-01 -3.41274166e-01 4.34827473e+02] [ 5.56908268e-01 7.78980160e-01 -2.88171982e-01 3.13249759e+02] [ 4.46511848e-01 1.17608323e-02 8.94700426e-01 1.33272443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.722755096 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:434.85, Y:313.27, Z:133.28 [[ 6.99514303e-01 -6.27323586e-01 -3.42264311e-01 4.34846775e+02] [ 5.56807404e-01 7.78670422e-01 -2.89202160e-01 3.13265653e+02] [ 4.47934432e-01 1.17257452e-02 8.93989514e-01 1.33284900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.752755096 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:434.87, Y:313.28, Z:133.30 [[ 6.97516678e-01 -6.28771116e-01 -3.43682074e-01 4.34866414e+02] [ 5.57700055e-01 7.77512298e-01 -2.90594692e-01 3.13280177e+02] [ 4.49934588e-01 1.10231327e-02 8.92993481e-01 1.33297633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7827550960001 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:434.89, Y:313.29, Z:133.32 [[ 6.95287987e-01 -6.23427694e-01 -3.57648607e-01 4.34890425e+02] [ 5.57180948e-01 7.81866275e-01 -2.79704344e-01 3.13285228e+02] [ 4.54008818e-01 -4.79991983e-03 8.90984261e-01 1.33320935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.812755096 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:434.91, Y:313.31, Z:133.33 [[ 6.94357769e-01 -6.29627150e-01 -3.48478035e-01 4.34906950e+02] [ 5.59558038e-01 7.76878151e-01 -2.88712902e-01 3.13307320e+02] [ 4.52506453e-01 5.47636058e-03 8.91744313e-01 1.33330194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.842755096 meters Centerline goodness : 0.988012 Centerline is valid? [True, True] Translation: X:434.92, Y:313.33, Z:133.33 [[ 6.92307364e-01 -6.40720692e-01 -3.31945037e-01 4.34921463e+02] [ 5.65290852e-01 7.67467277e-01 -3.02390860e-01 3.13332481e+02] [ 4.48505035e-01 2.17019264e-02 8.93516793e-01 1.33334082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.872755096 meters Centerline goodness : 0.988264 Centerline is valid? [True, True] Translation: X:434.95, Y:313.33, Z:133.36 [[ 6.89739234e-01 -6.34345397e-01 -3.49092690e-01 4.34947532e+02] [ 5.67372698e-01 7.73046076e-01 -2.83704048e-01 3.13334901e+02] [ 4.49831091e-01 -2.38384902e-03 8.93110467e-01 1.33355465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9027550960001 meters Centerline goodness : 0.987939 Centerline is valid? [True, True] Translation: X:434.96, Y:313.36, Z:133.36 [[ 6.86256722e-01 -6.45639887e-01 -3.34963950e-01 4.34963533e+02] [ 5.74318241e-01 7.63574270e-01 -2.95148933e-01 3.13357658e+02] [ 4.46329778e-01 1.01720325e-02 8.94810739e-01 1.33361606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.932755096 meters Centerline goodness : 0.988389 Centerline is valid? [True, True] Translation: X:434.99, Y:313.37, Z:133.38 [[ 6.84016920e-01 -6.45496501e-01 -3.39786876e-01 4.34985381e+02] [ 5.77386731e-01 7.63762251e-01 -2.88603164e-01 3.13369385e+02] [ 4.45808722e-01 1.22101350e-03 8.95127417e-01 1.33376262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.962755096 meters Centerline goodness : 0.988424 Centerline is valid? [True, True] Translation: X:435.01, Y:313.38, Z:133.39 [[ 6.82051098e-01 -6.46995201e-01 -3.40886359e-01 4.35006083e+02] [ 5.79628486e-01 7.62492553e-01 -2.87464651e-01 3.13384990e+02] [ 4.45911559e-01 -1.52186327e-03 8.95075732e-01 1.33390151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.992755096 meters Centerline goodness : 0.988615 Centerline is valid? [True, True] Translation: X:435.03, Y:313.40, Z:133.40 [[ 6.79758517e-01 -6.51100885e-01 -3.37632932e-01 4.35025745e+02] [ 5.84132464e-01 7.58989269e-01 -2.87618766e-01 3.13402125e+02] [ 4.43528605e-01 -1.71105104e-03 8.96258584e-01 1.33400930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0227550960001 meters Centerline goodness : 0.989280 Centerline is valid? [True, True] Translation: X:435.05, Y:313.42, Z:133.41 [[ 6.78854833e-01 -6.52373974e-01 -3.36993048e-01 4.35045544e+02] [ 5.86019494e-01 7.57891767e-01 -2.86672674e-01 3.13418121e+02] [ 4.42422047e-01 -2.87536543e-03 8.96802355e-01 1.33413263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.052755096 meters Centerline goodness : 0.989063 Centerline is valid? [True, True] Translation: X:435.07, Y:313.43, Z:133.43 [[ 6.77633124e-01 -6.54217013e-01 -3.35877135e-01 4.35065248e+02] [ 5.88437551e-01 7.56296895e-01 -2.85930508e-01 3.13432447e+02] [ 4.41083437e-01 -3.88673510e-03 8.97457684e-01 1.33425523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.082755096 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:435.09, Y:313.45, Z:133.44 [[ 6.76526593e-01 -6.53763921e-01 -3.38975670e-01 4.35086275e+02] [ 5.89045539e-01 7.56659057e-01 -2.83711868e-01 3.13446058e+02] [ 4.41969594e-01 -7.73348324e-03 8.96996695e-01 1.33440888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.112755096 meters Centerline goodness : 0.988886 Centerline is valid? [True, True] Translation: X:435.11, Y:313.46, Z:133.45 [[ 6.76159126e-01 -6.55854638e-01 -3.35653885e-01 4.35105145e+02] [ 5.89531525e-01 7.54878921e-01 -2.87420243e-01 3.13463875e+02] [ 4.41883942e-01 -3.53672622e-03 8.97065256e-01 1.33451554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.142755096 meters Centerline goodness : 0.989152 Centerline is valid? [True, True] Translation: X:435.13, Y:313.48, Z:133.46 [[ 6.76132053e-01 -6.56312805e-01 -3.34811811e-01 4.35125657e+02] [ 5.89555821e-01 7.54485110e-01 -2.88402762e-01 3.13478962e+02] [ 4.41892951e-01 -2.39190073e-03 8.97064601e-01 1.33462394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1727550960001 meters Centerline goodness : 0.989691 Centerline is valid? [True, True] Translation: X:435.15, Y:313.49, Z:133.47 [[ 6.76032655e-01 -6.55649179e-01 -3.36309387e-01 4.35145414e+02] [ 5.89572529e-01 7.55053189e-01 -2.86877874e-01 3.13494294e+02] [ 4.42022717e-01 -4.33996490e-03 8.96993357e-01 1.33474341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.202755096 meters Centerline goodness : 0.989371 Centerline is valid? [True, True] Translation: X:435.16, Y:313.51, Z:133.49 [[ 6.75077465e-01 -6.55882043e-01 -3.37770873e-01 4.35163183e+02] [ 5.90360771e-01 7.54835827e-01 -2.85826932e-01 3.13510286e+02] [ 4.42430308e-01 -6.45135228e-03 8.96779685e-01 1.33486993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.232755096 meters Centerline goodness : 0.988839 Centerline is valid? [True, True] Translation: X:435.18, Y:313.53, Z:133.50 [[ 6.77773034e-01 -6.55883766e-01 -3.32325442e-01 4.35184378e+02] [ 5.88935781e-01 7.54861896e-01 -2.88683501e-01 3.13527807e+02] [ 4.40202635e-01 -5.64507625e-05 8.97898456e-01 1.33497268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.262755096 meters Centerline goodness : 0.988946 Centerline is valid? [True, True] Translation: X:435.21, Y:313.54, Z:133.51 [[ 6.78378484e-01 -6.54384717e-01 -3.34040828e-01 4.35205054e+02] [ 5.88801926e-01 7.56155947e-01 -2.85552931e-01 3.13542095e+02] [ 4.39448433e-01 -2.97091884e-03 8.98262906e-01 1.33510668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2927550960001 meters Centerline goodness : 0.988985 Centerline is valid? [True, True] Translation: X:435.22, Y:313.56, Z:133.52 [[ 6.78684868e-01 -6.53725853e-01 -3.34707872e-01 4.35223526e+02] [ 5.88858797e-01 7.56718732e-01 -2.83940271e-01 3.13557018e+02] [ 4.38898812e-01 -4.38970993e-03 8.98525772e-01 1.33523746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.322755096 meters Centerline goodness : 0.989094 Centerline is valid? [True, True] Translation: X:435.24, Y:313.58, Z:133.53 [[ 6.80471318e-01 -6.54249479e-01 -3.30024855e-01 4.35243930e+02] [ 5.87653453e-01 7.56276755e-01 -2.87591532e-01 3.13575252e+02] [ 4.37746736e-01 1.75754364e-03 8.99096605e-01 1.33533982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.352755096 meters Centerline goodness : 0.989257 Centerline is valid? [True, True] Translation: X:435.26, Y:313.59, Z:133.55 [[ 6.80302790e-01 -6.51087552e-01 -3.36560714e-01 4.35263964e+02] [ 5.87482600e-01 7.58972851e-01 -2.80756844e-01 3.13587379e+02] [ 4.38237732e-01 -6.72389902e-03 8.98833956e-01 1.33550141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.382755096 meters Centerline goodness : 0.989292 Centerline is valid? [True, True] Translation: X:435.28, Y:313.61, Z:133.56 [[ 6.82430878e-01 -6.53673052e-01 -3.27107993e-01 4.35281592e+02] [ 5.86711937e-01 7.56761957e-01 -2.88236784e-01 3.13610036e+02] [ 4.35955503e-01 4.78351775e-03 8.99955508e-01 1.33555942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4127550960001 meters Centerline goodness : 0.989315 Centerline is valid? [True, True] Translation: X:435.30, Y:313.62, Z:133.57 [[ 6.82636718e-01 -6.51328774e-01 -3.31327542e-01 4.35301013e+02] [ 5.85983884e-01 7.58795642e-01 -2.84344971e-01 3.13623211e+02] [ 4.36611956e-01 -4.82820640e-05 8.99649931e-01 1.33568711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.442755096 meters Centerline goodness : 0.989040 Centerline is valid? [True, True] Translation: X:435.32, Y:313.64, Z:133.58 [[ 6.82990420e-01 -6.49273860e-01 -3.34615512e-01 4.35322675e+02] [ 5.85700050e-01 7.60540882e-01 -2.80237432e-01 3.13636090e+02] [ 4.36439616e-01 -4.58484053e-03 8.99721869e-01 1.33584074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.472755096 meters Centerline goodness : 0.989464 Centerline is valid? [True, True] Translation: X:435.34, Y:313.66, Z:133.59 [[ 6.84928805e-01 -6.53230069e-01 -3.22742947e-01 4.35337460e+02] [ 5.84304753e-01 7.57070365e-01 -2.92288246e-01 3.13658956e+02] [ 4.35270592e-01 1.16164017e-02 9.00224734e-01 1.33587960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.502755096 meters Centerline goodness : 0.989232 Centerline is valid? [True, True] Translation: X:435.36, Y:313.67, Z:133.61 [[ 6.84134929e-01 -6.46976976e-01 -3.36719753e-01 4.35363094e+02] [ 5.84526232e-01 7.62477093e-01 -2.77412628e-01 3.13666105e+02] [ 4.36220682e-01 -7.03386051e-03 8.99812226e-01 1.33608455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5327550960001 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:435.38, Y:313.68, Z:133.62 [[ 6.85699977e-01 -6.46893466e-01 -3.33683062e-01 4.35381735e+02] [ 5.81872481e-01 7.62580308e-01 -2.82658256e-01 3.13682687e+02] [ 4.37309911e-01 -3.42231308e-04 8.99310805e-01 1.33619073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.562755096 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:435.40, Y:313.71, Z:133.62 [[ 6.84949281e-01 -6.53846128e-01 -3.21449412e-01 4.35395308e+02] [ 5.83722940e-01 7.56490866e-01 -2.94939146e-01 3.13708244e+02] [ 4.36018362e-01 1.43809596e-02 8.99822858e-01 1.33623880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.592755096 meters Centerline goodness : 0.989889 Centerline is valid? [True, True] Translation: X:435.42, Y:313.71, Z:133.65 [[ 6.85280002e-01 -6.44090379e-01 -3.39910138e-01 4.35421539e+02] [ 5.80427053e-01 7.64926532e-01 -2.79270185e-01 3.13709670e+02] [ 4.39881523e-01 -5.91476689e-03 8.98036336e-01 1.33647663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.622755096 meters Centerline goodness : 0.990375 Centerline is valid? [True, True] Translation: X:435.44, Y:313.73, Z:133.66 [[ 6.84768539e-01 -6.47192558e-01 -3.35013195e-01 4.35440258e+02] [ 5.81305251e-01 7.62326562e-01 -2.84503809e-01 3.13730197e+02] [ 4.39518205e-01 7.43277899e-05 8.98233679e-01 1.33657821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6527550960001 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:435.47, Y:313.74, Z:133.68 [[ 6.83983557e-01 -6.42958176e-01 -3.44632091e-01 4.35465870e+02] [ 5.82709277e-01 7.65760582e-01 -2.72140829e-01 3.13740297e+02] [ 4.38880841e-01 -1.46804643e-02 8.98425340e-01 1.33676731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.682755096 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:435.48, Y:313.76, Z:133.69 [[ 6.83946494e-01 -6.47356668e-01 -3.36372617e-01 4.35482866e+02] [ 5.83097091e-01 7.62177735e-01 -2.81216790e-01 3.13763747e+02] [ 4.38423284e-01 -3.80065663e-03 8.98760580e-01 1.33685561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.712755096 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:435.49, Y:313.79, Z:133.68 [[ 6.84516466e-01 -6.56530176e-01 -3.16868009e-01 4.35492043e+02] [ 5.84631311e-01 7.54043091e-01 -2.99374761e-01 3.13792481e+02] [ 4.35480697e-01 1.96759942e-02 8.99983010e-01 1.33682963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.742755096 meters Centerline goodness : 0.990913 Centerline is valid? [True, True] Translation: X:435.51, Y:313.80, Z:133.70 [[ 6.83301731e-01 -6.53763773e-01 -3.25102559e-01 4.35514488e+02] [ 5.84449283e-01 7.56628622e-01 -2.93141883e-01 3.13804028e+02] [ 4.37627445e-01 1.02983989e-02 8.99097416e-01 1.33698991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7727550960001 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:435.54, Y:313.81, Z:133.71 [[ 6.82850433e-01 -6.50048304e-01 -3.33395393e-01 4.35538464e+02] [ 5.86753226e-01 7.59879328e-01 -2.79828624e-01 3.13812915e+02] [ 4.35242390e-01 -4.53972521e-03 9.00301868e-01 1.33714841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.802755096 meters Centerline goodness : 0.991603 Centerline is valid? [True, True] Translation: X:435.57, Y:313.81, Z:133.74 [[ 6.81926870e-01 -6.40283864e-01 -3.53570811e-01 4.35566447e+02] [ 5.83321320e-01 7.67718917e-01 -2.65224248e-01 3.13813995e+02] [ 4.41261806e-01 -2.53818507e-02 8.97019387e-01 1.33743999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.832755096 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:435.57, Y:313.86, Z:133.73 [[ 6.83699216e-01 -6.59451560e-01 -3.12536432e-01 4.35567308e+02] [ 5.84952301e-01 7.51293238e-01 -3.05596591e-01 3.13856928e+02] [ 4.36332657e-01 2.61172449e-02 8.99406305e-01 1.33731364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.862755096 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:435.60, Y:313.85, Z:133.77 [[ 6.80647375e-01 -6.43272118e-01 -3.50599677e-01 4.35604284e+02] [ 5.85425587e-01 7.65288818e-01 -2.67600274e-01 3.13847302e+02] [ 4.40449807e-01 -2.31085977e-02 8.97479783e-01 1.33766864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.892755096 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:435.61, Y:313.89, Z:133.76 [[ 6.80661905e-01 -6.61497241e-01 -3.14834514e-01 4.35608224e+02] [ 5.89270463e-01 7.49694306e-01 -3.01195565e-01 3.13889513e+02] [ 4.35269678e-01 1.94896674e-02 9.00089140e-01 1.33755146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9227550960001 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:435.63, Y:313.90, Z:133.77 [[ 6.80485095e-01 -6.54773277e-01 -3.28955911e-01 4.35633254e+02] [ 5.89480595e-01 7.55825346e-01 -2.85027499e-01 3.13895330e+02] [ 4.35261605e-01 4.38381035e-05 9.00304023e-01 1.33773228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.952755096 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:435.66, Y:313.89, Z:133.81 [[ 6.80266569e-01 -6.39526672e-01 -3.58110362e-01 4.35664269e+02] [ 5.83905038e-01 7.68165941e-01 -2.62632811e-01 3.13891151e+02] [ 4.43048871e-01 -3.04421235e-02 8.95980455e-01 1.33807980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.982755096 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:435.68, Y:313.92, Z:133.81 [[ 6.81086837e-01 -6.50073530e-01 -3.36934899e-01 4.35676772e+02] [ 5.83940283e-01 7.59868194e-01 -2.85681771e-01 3.13923516e+02] [ 4.41740270e-01 -2.17576697e-03 8.97140346e-01 1.33809340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.012755096 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:435.69, Y:313.95, Z:133.82 [[ 6.81483203e-01 -6.53676927e-01 -3.29070084e-01 4.35692502e+02] [ 5.81231510e-01 7.56666249e-01 -2.99376218e-01 3.13945813e+02] [ 4.44691552e-01 1.27539617e-02 8.95592966e-01 1.33815544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0427550960001 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:435.71, Y:313.96, Z:133.82 [[ 6.83264372e-01 -6.53836110e-01 -3.25035596e-01 4.35707055e+02] [ 5.83113469e-01 7.56528862e-01 -2.96045206e-01 3.13961738e+02] [ 4.39463855e-01 1.27445081e-02 8.98169860e-01 1.33818249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.072755096 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:435.73, Y:313.98, Z:133.83 [[ 6.81196398e-01 -6.54933856e-01 -3.27159154e-01 4.35727401e+02] [ 5.84158970e-01 7.55609788e-01 -2.96331142e-01 3.13978385e+02] [ 4.41281956e-01 1.07467520e-02 8.97304153e-01 1.33832477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.102755096 meters Centerline goodness : 0.993756 Centerline is valid? [True, True] Translation: X:435.75, Y:313.99, Z:133.85 [[ 6.80503746e-01 -6.51746958e-01 -3.34873938e-01 4.35751503e+02] [ 5.87334077e-01 7.58423669e-01 -2.82545964e-01 3.13986925e+02] [ 4.38124793e-01 -4.40928852e-03 8.98903345e-01 1.33848908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.132755096 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:435.77, Y:314.01, Z:133.86 [[ 6.79946944e-01 -6.54256396e-01 -3.31090201e-01 4.35769445e+02] [ 5.87947961e-01 7.56272660e-01 -2.86999753e-01 3.14005939e+02] [ 4.38165891e-01 4.80795760e-04 8.98893999e-01 1.33860211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1627550960001 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:435.79, Y:314.02, Z:133.87 [[ 6.79236713e-01 -6.55107481e-01 -3.30865042e-01 4.35787370e+02] [ 5.88862113e-01 7.55535681e-01 -2.87066623e-01 3.14021336e+02] [ 4.38039837e-01 1.52301914e-04 8.98955548e-01 1.33872117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.192755096 meters Centerline goodness : 0.994129 Centerline is valid? [True, True] Translation: X:435.81, Y:314.04, Z:133.88 [[ 6.78297261e-01 -6.56341109e-01 -3.30347050e-01 4.35806667e+02] [ 5.89713377e-01 7.54464015e-01 -2.88135704e-01 3.14038754e+02] [ 4.38350269e-01 6.31584351e-04 8.98804007e-01 1.33884236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.222755096 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:435.83, Y:314.05, Z:133.90 [[ 6.77774571e-01 -6.56523482e-01 -3.31056715e-01 4.35825616e+02] [ 5.90242753e-01 7.54305374e-01 -2.87466339e-01 3.14054214e+02] [ 4.38446261e-01 -5.66451662e-04 8.98757228e-01 1.33896620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.252755096 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:435.85, Y:314.07, Z:133.91 [[ 6.76778285e-01 -6.57476464e-01 -3.31203642e-01 4.35845178e+02] [ 5.91144068e-01 7.53474396e-01 -2.87793372e-01 3.14070257e+02] [ 4.38770833e-01 -1.01676364e-03 8.98598421e-01 1.33909569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2827550960001 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:435.86, Y:314.08, Z:133.92 [[ 6.77672854e-01 -6.56050015e-01 -3.32201566e-01 4.35862838e+02] [ 5.90597396e-01 7.54712897e-01 -2.85662667e-01 3.14083469e+02] [ 4.38125803e-01 -2.61154530e-03 8.98909873e-01 1.33921356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.312755096 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:435.88, Y:314.10, Z:133.93 [[ 6.76824411e-01 -6.58460977e-01 -3.29147168e-01 4.35881475e+02] [ 5.91525962e-01 7.52614100e-01 -2.89256034e-01 3.14102626e+02] [ 4.38184610e-01 1.07644967e-03 8.98884358e-01 1.33932797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.342755096 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:435.90, Y:314.12, Z:133.95 [[ 6.75228900e-01 -6.60788452e-01 -3.27756854e-01 4.35901287e+02] [ 5.92635241e-01 7.50565696e-01 -2.92291989e-01 3.14121909e+02] [ 4.39146222e-01 3.12373575e-03 8.98410172e-01 1.33945605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.372755096 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:435.92, Y:314.13, Z:133.96 [[ 6.75411370e-01 -6.58073020e-01 -3.32805322e-01 4.35921834e+02] [ 5.93047094e-01 7.52939468e-01 -2.85267071e-01 3.14132841e+02] [ 4.38308825e-01 -4.69660580e-03 8.98812169e-01 1.33959409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4027550960001 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:435.94, Y:314.15, Z:133.97 [[ 6.75876390e-01 -6.57526225e-01 -3.32941991e-01 4.35941796e+02] [ 5.93732253e-01 7.53402130e-01 -2.82607929e-01 3.14147713e+02] [ 4.36661330e-01 -6.67037158e-03 8.99601239e-01 1.33971296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.432755096 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:435.96, Y:314.17, Z:133.98 [[ 6.73610168e-01 -6.65622400e-01 -3.21241594e-01 4.35957060e+02] [ 5.94877256e-01 7.46219384e-01 -2.98793712e-01 3.14173424e+02] [ 4.38600492e-01 1.01711643e-02 8.98624591e-01 1.33979845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.462755096 meters Centerline goodness : 0.995984 Centerline is valid? [True, True] Translation: X:435.98, Y:314.18, Z:134.00 [[ 6.73177177e-01 -6.60416410e-01 -3.32690028e-01 4.35980992e+02] [ 5.96527797e-01 7.50860860e-01 -2.83482905e-01 3.14181505e+02] [ 4.37020683e-01 -7.62462740e-03 8.99419139e-01 1.33996919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.492755096 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:435.99, Y:314.21, Z:134.00 [[ 6.71726578e-01 -6.66903484e-01 -3.22526197e-01 4.35994152e+02] [ 5.95681519e-01 7.45084704e-01 -3.00020518e-01 3.14207375e+02] [ 4.40394065e-01 9.40886086e-03 8.97755279e-01 1.34003292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5227550960001 meters Centerline goodness : 0.996145 Centerline is valid? [True, True] Translation: X:436.02, Y:314.22, Z:134.02 [[ 6.71990314e-01 -6.62136044e-01 -3.31669831e-01 4.36016147e+02] [ 5.96158307e-01 7.49372508e-01 -2.88159883e-01 3.14216603e+02] [ 4.39345298e-01 -4.08707500e-03 8.98308970e-01 1.34018295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.552755096 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:436.03, Y:314.24, Z:134.03 [[ 6.71875066e-01 -6.63302217e-01 -3.29566480e-01 4.36034403e+02] [ 5.96015839e-01 7.48351154e-01 -2.91093921e-01 3.14235508e+02] [ 4.39714699e-01 -8.48094838e-04 8.98137108e-01 1.34029588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.582755096 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:436.06, Y:314.25, Z:134.04 [[ 6.71937512e-01 -6.62168760e-01 -3.31711491e-01 4.36055807e+02] [ 5.97359758e-01 7.49329677e-01 -2.85773258e-01 3.14251946e+02] [ 4.37791389e-01 -6.12932358e-03 8.99055689e-01 1.34043737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.612755096 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:436.07, Y:314.27, Z:134.05 [[ 6.71753721e-01 -6.64873861e-01 -3.26633873e-01 4.36071143e+02] [ 5.96490703e-01 7.46951594e-01 -2.93704201e-01 3.14272481e+02] [ 4.39255938e-01 2.46282183e-03 8.98358590e-01 1.34052770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.642755096 meters Centerline goodness : 0.996714 Centerline is valid? [True, True] Translation: X:436.09, Y:314.29, Z:134.07 [[ 6.72185262e-01 -6.63614204e-01 -3.28303462e-01 4.36089193e+02] [ 5.95532074e-01 7.48073868e-01 -2.92791798e-01 3.14288263e+02] [ 4.39896037e-01 1.29508984e-03 8.98047771e-01 1.34065440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6727550960001 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:436.11, Y:314.30, Z:134.08 [[ 6.72791331e-01 -6.60697507e-01 -3.32912346e-01 4.36110158e+02] [ 5.96640007e-01 7.50613551e-01 -2.83901389e-01 3.14300983e+02] [ 4.37461459e-01 -7.62243101e-03 8.99204855e-01 1.34079351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.702755096 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:436.13, Y:314.32, Z:134.09 [[ 6.72511197e-01 -6.63118043e-01 -3.28638329e-01 4.36127918e+02] [ 5.96725334e-01 7.48513117e-01 -2.89217892e-01 3.14321556e+02] [ 4.37775703e-01 -1.60454623e-03 8.99082788e-01 1.34090124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.732755096 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:436.14, Y:314.34, Z:134.10 [[ 6.71514742e-01 -6.65877744e-01 -3.25076577e-01 4.36144508e+02] [ 5.98236672e-01 7.46058477e-01 -2.92420304e-01 3.14340210e+02] [ 4.37242308e-01 1.89181551e-03 8.99341751e-01 1.34101206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.762755096 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:436.17, Y:314.35, Z:134.12 [[ 6.71153988e-01 -6.63340617e-01 -3.30955511e-01 4.36166607e+02] [ 5.99801360e-01 7.48271698e-01 -2.83421585e-01 3.14352156e+02] [ 4.35649691e-01 -8.28803831e-03 9.00078139e-01 1.34116081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7927550960001 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:436.19, Y:314.38, Z:134.12 [[ 6.71867372e-01 -6.66591528e-01 -3.22877637e-01 4.36185652e+02] [ 5.99367279e-01 7.45419050e-01 -2.91734992e-01 3.14375480e+02] [ 4.35147216e-01 2.48493223e-03 9.00355889e-01 1.34123331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.822755096 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:436.21, Y:314.39, Z:134.14 [[ 6.72794965e-01 -6.62323830e-01 -3.29657518e-01 4.36206840e+02] [ 5.98972435e-01 7.49182976e-01 -2.82766493e-01 3.14386970e+02] [ 4.34256787e-01 -7.21189355e-03 9.00760252e-01 1.34139423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.852755096 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:436.22, Y:314.40, Z:134.15 [[ 6.73051165e-01 -6.60712952e-01 -3.32356022e-01 4.36223567e+02] [ 5.98457062e-01 7.50567585e-01 -2.80173957e-01 3.14401044e+02] [ 4.34570219e-01 -1.03294003e-02 9.00578719e-01 1.34152411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.882755096 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:436.24, Y:314.43, Z:134.16 [[ 6.74784298e-01 -6.65153575e-01 -3.19745012e-01 4.36240799e+02] [ 5.97970636e-01 7.46687015e-01 -2.91358233e-01 3.14427808e+02] [ 4.32547419e-01 5.40583205e-03 9.01594980e-01 1.34158797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9127550960001 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:436.26, Y:314.43, Z:134.18 [[ 6.75439902e-01 -6.58227109e-01 -3.32442495e-01 4.36261560e+02] [ 5.97151378e-01 7.52734105e-01 -2.77131014e-01 3.14433977e+02] [ 4.32655950e-01 -1.13331492e-02 9.01487875e-01 1.34177136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.942755096 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:436.28, Y:314.45, Z:134.19 [[ 6.77994621e-01 -6.59541434e-01 -3.24543358e-01 4.36277929e+02] [ 5.95018543e-01 7.51668180e-01 -2.84513410e-01 3.14454840e+02] [ 4.31597298e-01 -2.10754445e-04 9.02066366e-01 1.34185866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.972755096 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:436.30, Y:314.47, Z:134.20 [[ 6.79087977e-01 -6.58553960e-01 -3.24262549e-01 4.36296729e+02] [ 5.93942207e-01 7.52533277e-01 -2.84475522e-01 3.14470932e+02] [ 4.31360840e-01 5.90692575e-04 9.02179293e-01 1.34198213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.002755096 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:436.32, Y:314.49, Z:134.21 [[ 6.81055526e-01 -6.56726128e-01 -3.23842807e-01 4.36315929e+02] [ 5.92001632e-01 7.54126745e-01 -2.84300755e-01 3.14487280e+02] [ 4.30926256e-01 1.90913041e-03 9.02385127e-01 1.34209194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0327550960001 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:436.33, Y:314.50, Z:134.22 [[ 6.81815480e-01 -6.56084002e-01 -3.23545104e-01 4.36334905e+02] [ 5.91318901e-01 7.54683786e-01 -2.84243453e-01 3.14504240e+02] [ 4.30661826e-01 2.48325087e-03 9.02509958e-01 1.34220524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.062755096 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:436.35, Y:314.52, Z:134.23 [[ 6.82286444e-01 -6.55620657e-01 -3.23491519e-01 4.36353916e+02] [ 5.90735333e-01 7.55084709e-01 -2.84392070e-01 3.14521289e+02] [ 4.30716815e-01 2.93898369e-03 9.02482348e-01 1.34232400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.092755096 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:436.37, Y:314.54, Z:134.24 [[ 6.83066765e-01 -6.55037884e-01 -3.23025023e-01 4.36372822e+02] [ 5.90195096e-01 7.55588097e-01 -2.84176666e-01 3.14537146e+02] [ 4.30220344e-01 3.46385152e-03 9.02717263e-01 1.34243128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.122755096 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:436.39, Y:314.55, Z:134.25 [[ 6.83062859e-01 -6.55141805e-01 -3.22822468e-01 4.36392578e+02] [ 5.90297952e-01 7.55497510e-01 -2.84203872e-01 3.14553721e+02] [ 4.30085408e-01 3.56766751e-03 9.02781155e-01 1.34254815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1527550960001 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:436.41, Y:314.57, Z:134.27 [[ 6.82971165e-01 -6.55176366e-01 -3.22946307e-01 4.36411436e+02] [ 5.90190468e-01 7.55466847e-01 -2.84508445e-01 3.14569210e+02] [ 4.30378437e-01 3.71123261e-03 9.02640918e-01 1.34266422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.182755096 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:436.43, Y:314.59, Z:134.27 [[ 6.82865179e-01 -6.58408295e-01 -3.16533829e-01 4.36431085e+02] [ 5.90469389e-01 7.52562413e-01 -2.91540246e-01 3.14591087e+02] [ 4.30163979e-01 1.21791455e-02 9.02668610e-01 1.34273342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.212755096 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:436.45, Y:314.60, Z:134.29 [[ 6.82634380e-01 -6.51929027e-01 -3.30149735e-01 4.36453381e+02] [ 5.90177275e-01 7.58258194e-01 -2.77011364e-01 3.14596112e+02] [ 4.30930491e-01 -5.74939053e-03 9.02366808e-01 1.34292437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.242755096 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:436.47, Y:314.62, Z:134.30 [[ 6.82136078e-01 -6.55997680e-01 -3.23043984e-01 4.36471309e+02] [ 5.90824946e-01 7.54754309e-01 -2.85082121e-01 3.14616559e+02] [ 4.30832049e-01 3.60235567e-03 9.02424938e-01 1.34300477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2727550960001 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:436.49, Y:314.64, Z:134.31 [[ 6.81118119e-01 -6.60276133e-01 -3.16407231e-01 4.36489255e+02] [ 5.92154682e-01 7.50931037e-01 -2.92327574e-01 3.14638120e+02] [ 4.30616930e-01 1.17475843e-02 9.02458339e-01 1.34307051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.302755096 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:436.51, Y:314.64, Z:134.33 [[ 6.80582582e-01 -6.53974904e-01 -3.30339483e-01 4.36513596e+02] [ 5.91953300e-01 7.56489955e-01 -2.78054381e-01 3.14642813e+02] [ 4.31739088e-01 -6.30657850e-03 9.01976489e-01 1.34327493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.332755096 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:436.53, Y:314.67, Z:134.33 [[ 6.78211848e-01 -6.62160282e-01 -3.18704331e-01 4.36531812e+02] [ 5.94482750e-01 7.49315121e-01 -2.91748366e-01 3.14666463e+02] [ 4.31994155e-01 8.40297098e-03 9.01837258e-01 1.34332358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.362755096 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:436.55, Y:314.67, Z:134.35 [[ 6.76845357e-01 -6.58146620e-01 -3.29732301e-01 4.36554896e+02] [ 5.95748560e-01 7.52856744e-01 -2.79804175e-01 3.14672097e+02] [ 4.32393358e-01 -7.05338702e-03 9.01657492e-01 1.34350892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.392755096 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:436.58, Y:314.69, Z:134.36 [[ 6.74147176e-01 -6.63833022e-01 -3.23807512e-01 4.36575152e+02] [ 5.98705207e-01 7.47880615e-01 -2.86751917e-01 3.14689029e+02] [ 4.32524752e-01 -5.52248626e-04 9.01621891e-01 1.34360929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4227550960001 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:436.60, Y:314.70, Z:134.37 [[ 6.72421896e-01 -6.65592836e-01 -3.23782288e-01 4.36595564e+02] [ 6.00576189e-01 7.46313511e-01 -2.86922262e-01 3.14703930e+02] [ 4.32616499e-01 -1.52312092e-03 9.01576755e-01 1.34373121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.452755096 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:436.62, Y:314.72, Z:134.38 [[ 6.69747074e-01 -6.68067421e-01 -3.24229516e-01 4.36617424e+02] [ 6.03040532e-01 7.44094855e-01 -2.87515153e-01 3.14716275e+02] [ 4.33337022e-01 -2.96110717e-03 9.01227084e-01 1.34384800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.482755096 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:436.64, Y:314.73, Z:134.40 [[ 6.67873543e-01 -6.69820914e-01 -3.24476307e-01 4.36637551e+02] [ 6.04785429e-01 7.42512287e-01 -2.87941120e-01 3.14730929e+02] [ 4.33796629e-01 -3.93028599e-03 9.01002241e-01 1.34396328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.512755096 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:436.66, Y:314.75, Z:134.41 [[ 6.65997104e-01 -6.71381279e-01 -3.25107730e-01 4.36657858e+02] [ 6.06154954e-01 7.41096660e-01 -2.88707315e-01 3.14745534e+02] [ 4.34768939e-01 -4.78742516e-03 9.00529317e-01 1.34407992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5427550960001 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:436.68, Y:314.77, Z:134.42 [[ 6.65605403e-01 -6.75050949e-01 -3.18238375e-01 4.36677064e+02] [ 6.06875194e-01 7.37762055e-01 -2.95651230e-01 3.14768107e+02] [ 4.34363841e-01 3.65608075e-03 9.00730085e-01 1.34415113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.572755096 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:436.70, Y:314.78, Z:134.43 [[ 6.65354586e-01 -6.71759619e-01 -3.25641350e-01 4.36698879e+02] [ 6.07139730e-01 7.40741650e-01 -2.87546790e-01 3.14779928e+02] [ 4.34378433e-01 -6.38922648e-03 9.00707808e-01 1.34431077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.602755096 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:436.72, Y:314.79, Z:134.45 [[ 6.65836585e-01 -6.70291825e-01 -3.27674399e-01 4.36719866e+02] [ 6.06737230e-01 7.42042694e-01 -2.85030831e-01 3.14794873e+02] [ 4.34202229e-01 -9.02830200e-03 9.00770178e-01 1.34445748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.632755096 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:436.74, Y:314.81, Z:134.46 [[ 6.66279411e-01 -6.68617365e-01 -3.30185654e-01 4.36737234e+02] [ 6.06198653e-01 7.43509166e-01 -2.82342546e-01 3.14808306e+02] [ 4.34275189e-01 -1.20390738e-02 9.00699795e-01 1.34460467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6627550960001 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:436.75, Y:314.83, Z:134.47 [[ 6.66177352e-01 -6.71206181e-01 -3.25099981e-01 4.36754630e+02] [ 6.05468691e-01 7.41260812e-01 -2.89724132e-01 3.14827948e+02] [ 4.35448504e-01 -3.83020445e-03 9.00205493e-01 1.34469811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.692755096 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:436.78, Y:314.84, Z:134.48 [[ 6.65401437e-01 -6.71294739e-01 -3.26503142e-01 4.36777915e+02] [ 6.05067223e-01 7.41179293e-01 -2.90769516e-01 3.14843693e+02] [ 4.37189414e-01 -4.07789617e-03 8.99360210e-01 1.34484296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.722755096 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:436.79, Y:314.86, Z:134.50 [[ 6.65105766e-01 -6.70673555e-01 -3.28376769e-01 4.36793859e+02] [ 6.06136029e-01 7.41709042e-01 -2.87170351e-01 3.14857037e+02] [ 4.36157579e-01 -8.04233415e-03 8.99834367e-01 1.34495858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.752755096 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:436.81, Y:314.88, Z:134.51 [[ 6.65217405e-01 -6.72136475e-01 -3.25143605e-01 4.36810389e+02] [ 6.06188255e-01 7.40416828e-01 -2.90376860e-01 3.14875114e+02] [ 4.35914676e-01 -3.93449311e-03 8.99979397e-01 1.34505606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7827550960001 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:436.83, Y:314.89, Z:134.52 [[ 6.65332684e-01 -6.72175470e-01 -3.24826964e-01 4.36828048e+02] [ 6.06262677e-01 7.40382242e-01 -2.90309665e-01 3.14892048e+02] [ 4.35635151e-01 -3.77795624e-03 9.00115405e-01 1.34517129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.812755096 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:436.84, Y:314.91, Z:134.53 [[ 6.65786365e-01 -6.71908858e-01 -3.24448767e-01 4.36844951e+02] [ 6.06029958e-01 7.40625890e-01 -2.90174052e-01 3.14908854e+02] [ 4.35265673e-01 -3.43174522e-03 9.00295517e-01 1.34529340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.842755096 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:436.86, Y:314.92, Z:134.54 [[ 6.66190350e-01 -6.71743249e-01 -3.23962072e-01 4.36862898e+02] [ 6.05951873e-01 7.40777380e-01 -2.89950343e-01 3.14924776e+02] [ 4.34755961e-01 -3.14330367e-03 9.00542822e-01 1.34541390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.872755096 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:436.88, Y:314.94, Z:134.55 [[ 6.66215354e-01 -6.71789545e-01 -3.23814622e-01 4.36881149e+02] [ 6.05970628e-01 7.40735956e-01 -2.90016968e-01 3.14940706e+02] [ 4.34691500e-01 -3.00839305e-03 9.00574400e-01 1.34553988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9027550960001 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:436.90, Y:314.95, Z:134.57 [[ 6.66750510e-01 -6.71517453e-01 -3.23277075e-01 4.36899658e+02] [ 6.05802627e-01 7.40983958e-01 -2.89734278e-01 3.14954881e+02] [ 4.34104751e-01 -2.66162369e-03 9.00858469e-01 1.34566738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.932755096 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:436.92, Y:314.96, Z:134.59 [[ 6.67218253e-01 -6.64214889e-01 -3.37102926e-01 4.36924660e+02] [ 6.02959785e-01 7.47347858e-01 -2.79124839e-01 3.14959580e+02] [ 4.37332024e-01 -1.70223203e-02 8.99139000e-01 1.34592606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.962755096 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:436.93, Y:314.99, Z:134.59 [[ 6.67164105e-01 -6.74631041e-01 -3.15856004e-01 4.36933142e+02] [ 6.04778204e-01 7.38106097e-01 -2.99069747e-01 3.14992920e+02] [ 4.34896977e-01 8.50577349e-03 9.00440043e-01 1.34588325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.992755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:436.96, Y:314.99, Z:134.62 [[ 6.67762132e-01 -6.63470090e-01 -3.37492481e-01 4.36960660e+02] [ 6.00989808e-01 7.48054930e-01 -2.81469488e-01 3.14993285e+02] [ 4.39209501e-01 -1.48748756e-02 8.98261517e-01 1.34616791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0227550960001 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:436.97, Y:315.02, Z:134.61 [[ 6.67236380e-01 -6.73358997e-01 -3.18407404e-01 4.36969049e+02] [ 6.02848429e-01 7.39269300e-01 -3.00091109e-01 3.15024863e+02] [ 4.37457867e-01 8.28030170e-03 8.99200785e-01 1.34613080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.052755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:437.00, Y:315.03, Z:134.64 [[ 6.66235331e-01 -6.65124042e-01 -3.37254344e-01 4.36996037e+02] [ 6.00459129e-01 7.46640385e-01 -2.86316207e-01 3.15028535e+02] [ 4.42243506e-01 -1.17534766e-02 8.96818007e-01 1.34638442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.082755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:437.01, Y:315.06, Z:134.64 [[ 6.64891320e-01 -6.73687697e-01 -3.22590172e-01 4.37005538e+02] [ 6.02962312e-01 7.38997072e-01 -3.00532491e-01 3.15056219e+02] [ 4.40858234e-01 5.31172889e-03 8.97561030e-01 1.34637461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.112755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:437.03, Y:315.07, Z:134.65 [[ 6.61254868e-01 -6.74854833e-01 -3.27586560e-01 4.37026458e+02] [ 6.05703407e-01 7.37948681e-01 -2.97582135e-01 3.15068907e+02] [ 4.42566812e-01 -1.64265958e-03 8.96734029e-01 1.34652209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.142755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:437.05, Y:315.08, Z:134.67 [[ 6.59301128e-01 -6.74567516e-01 -3.32085364e-01 4.37046780e+02] [ 6.07284428e-01 7.38170064e-01 -2.93786624e-01 3.15081970e+02] [ 4.43314388e-01 -7.97641731e-03 8.96330704e-01 1.34668263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1727550960001 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:437.07, Y:315.10, Z:134.69 [[ 6.52275870e-01 -6.79115644e-01 -3.36657292e-01 4.37073278e+02] [ 6.18508878e-01 7.33618934e-01 -2.81513815e-01 3.15101532e+02] [ 4.38158599e-01 -2.46008552e-02 8.98560983e-01 1.34687509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.202755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:437.08, Y:315.12, Z:134.69 [[ 6.54204838e-01 -6.80649104e-01 -3.29746611e-01 4.37081085e+02] [ 6.12512467e-01 7.32568939e-01 -2.96936403e-01 3.15115977e+02] [ 4.43671621e-01 -7.71667857e-03 8.96156206e-01 1.34690933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.232755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:437.10, Y:315.13, Z:134.71 [[ 6.50381254e-01 -6.80643077e-01 -3.37237641e-01 4.37102948e+02] [ 6.20667315e-01 7.32125452e-01 -2.80649971e-01 3.15126377e+02] [ 4.37922720e-01 -2.67829008e-02 8.98613581e-01 1.34709767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.262755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:437.11, Y:315.15, Z:134.71 [[ 6.47434386e-01 -6.88970427e-01 -3.25804339e-01 4.37112542e+02] [ 6.18961899e-01 7.24766942e-01 -3.02653345e-01 3.15152033e+02] [ 4.44651418e-01 -5.71228996e-03 8.95685484e-01 1.34714048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2927550960001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:437.13, Y:315.17, Z:134.73 [[ 6.43265288e-01 -6.90895746e-01 -3.29958842e-01 4.37125840e+02] [ 6.24399720e-01 7.22787684e-01 -2.96146845e-01 3.15166280e+02] [ 4.43096783e-01 -1.55252230e-02 8.96339338e-01 1.34726580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.322755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:437.15, Y:315.18, Z:134.75 [[ 6.39695483e-01 -6.92838422e-01 -3.32813177e-01 4.37146375e+02] [ 6.25390019e-01 7.20890561e-01 -2.98670593e-01 3.15184586e+02] [ 4.46852340e-01 -1.70798101e-02 8.94444669e-01 1.34745970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.352755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:437.16, Y:315.20, Z:134.75 [[ 6.39428824e-01 -6.93427464e-01 -3.32098076e-01 4.37163381e+02] [ 6.29505748e-01 7.20173365e-01 -2.91672482e-01 3.15201257e+02] [ 4.41421898e-01 -2.25538560e-02 8.97016182e-01 1.34753665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.18, Y:315.23, Z:134.77 [[ 6.36520662e-01 -6.98466179e-01 -3.27087822e-01 4.37179937e+02] [ 6.31587281e-01 7.15453883e-01 -2.98702607e-01 3.15225093e+02] [ 4.42649921e-01 -1.64541272e-02 8.96543534e-01 1.34765062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:437.20, Y:315.24, Z:134.78 [[ 6.33667326e-01 -6.98919348e-01 -3.31628503e-01 4.37196824e+02] [ 6.30997162e-01 7.14962504e-01 -3.01116588e-01 3.15240098e+02] [ 4.47558154e-01 -1.84489007e-02 8.94064504e-01 1.34781605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.22, Y:315.25, Z:134.81 [[ 6.31299100e-01 -6.92811012e-01 -3.48531703e-01 4.37220941e+02] [ 6.32994612e-01 7.19954616e-01 -2.84575426e-01 3.15250604e+02] [ 4.48083997e-01 -4.09664796e-02 8.93052339e-01 1.34806617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.22, Y:315.29, Z:134.80 [[ 6.29016715e-01 -7.08686964e-01 -3.19532095e-01 4.37222162e+02] [ 6.36830390e-01 7.05479513e-01 -3.11039726e-01 3.15289381e+02] [ 4.45853146e-01 -7.83856177e-03 8.95071801e-01 1.34798691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.24, Y:315.30, Z:134.82 [[ 6.28530194e-01 -7.04502744e-01 -3.29584099e-01 4.37242008e+02] [ 6.37522167e-01 7.09384459e-01 -3.00564763e-01 3.15301054e+02] [ 4.45550538e-01 -2.12031400e-02 8.95005668e-01 1.34815520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.26, Y:315.32, Z:134.83 [[ 6.28431841e-01 -7.04506081e-01 -3.29764468e-01 4.37256760e+02] [ 6.37344648e-01 7.09385577e-01 -3.00938372e-01 3.15321808e+02] [ 4.45943070e-01 -2.10543632e-02 8.94813663e-01 1.34828698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.28, Y:315.33, Z:134.85 [[ 6.30691672e-01 -6.96853588e-01 -3.41501233e-01 4.37283718e+02] [ 6.33783265e-01 7.16473162e-01 -2.91521837e-01 3.15333226e+02] [ 4.47824507e-01 -3.25773715e-02 8.93527798e-01 1.34852065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.29, Y:315.36, Z:134.85 [[ 6.29734464e-01 -7.05063388e-01 -3.26067669e-01 4.37288603e+02] [ 6.35895762e-01 7.08978855e-01 -3.04935344e-01 3.15362462e+02] [ 4.46173829e-01 -1.53167529e-02 8.94815239e-01 1.34853086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.31, Y:315.38, Z:134.87 [[ 6.30466618e-01 -7.02841572e-01 -3.29432191e-01 4.37305241e+02] [ 6.35382089e-01 7.11079431e-01 -3.01090758e-01 3.15378779e+02] [ 4.45871556e-01 -1.94876416e-02 8.94884790e-01 1.34866613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.33, Y:315.39, Z:134.89 [[ 6.33736970e-01 -6.92374866e-01 -3.44955791e-01 4.37329067e+02] [ 6.30156588e-01 7.20722655e-01 -2.88897092e-01 3.15390519e+02] [ 4.48642539e-01 -3.42913962e-02 8.93053175e-01 1.34893283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.34, Y:315.43, Z:134.89 [[ 6.34561127e-01 -7.01565972e-01 -3.24248923e-01 4.37338454e+02] [ 6.31151516e-01 7.12532168e-01 -3.06505585e-01 3.15425596e+02] [ 4.46071677e-01 -1.01536698e-02 8.94939642e-01 1.34891683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.36, Y:315.44, Z:134.91 [[ 6.36392459e-01 -6.94372464e-01 -3.35933801e-01 4.37355892e+02] [ 6.30620133e-01 7.19140891e-01 -2.91812658e-01 3.15438633e+02] [ 4.44210407e-01 -2.61392436e-02 8.95541096e-01 1.34911880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.37, Y:315.45, Z:134.93 [[ 6.36079871e-01 -6.92227401e-01 -3.40915858e-01 4.37372570e+02] [ 6.30318965e-01 7.20980280e-01 -2.87898312e-01 3.15454641e+02] [ 4.45084711e-01 -3.17594096e-02 8.94925103e-01 1.34930513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.38, Y:315.49, Z:134.93 [[ 6.37634270e-01 -7.01356628e-01 -3.18624258e-01 4.37378907e+02] [ 6.31112494e-01 7.12785516e-01 -3.05996450e-01 3.15487704e+02] [ 4.41723395e-01 -5.97392646e-03 8.97131403e-01 1.34925815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.40, Y:315.50, Z:134.96 [[ 6.35141263e-01 -6.90849537e-01 -3.45430880e-01 4.37402488e+02] [ 6.31213766e-01 7.21995632e-01 -2.83357527e-01 3.15495121e+02] [ 4.45157003e-01 -3.80686688e-02 8.94642956e-01 1.34957430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.41, Y:315.52, Z:134.96 [[ 6.35958877e-01 -6.97833259e-01 -3.29522456e-01 4.37410422e+02] [ 6.29936397e-01 7.16073674e-01 -3.00696906e-01 3.15523404e+02] [ 4.45798658e-01 -1.63473220e-02 8.94983979e-01 1.34962329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.862755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:437.42, Y:315.55, Z:134.96 [[ 6.35451816e-01 -7.06105871e-01 -3.12434775e-01 4.37416054e+02] [ 6.31090308e-01 7.08094398e-01 -3.16744925e-01 3.15552775e+02] [ 4.44888765e-01 4.10157950e-03 8.95576442e-01 1.34961826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.43, Y:315.58, Z:134.97 [[ 6.33059769e-01 -7.09242249e-01 -3.10178596e-01 4.37427861e+02] [ 6.34008047e-01 7.04949751e-01 -3.17930251e-01 3.15578026e+02] [ 4.44149890e-01 4.61312515e-03 8.95940620e-01 1.34973277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9227550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:437.45, Y:315.58, Z:135.00 [[ 6.31683773e-01 -6.99961984e-01 -3.33209890e-01 4.37450392e+02] [ 6.32897180e-01 7.13855247e-01 -2.99752976e-01 3.15581794e+02] [ 4.47679316e-01 -2.15385092e-02 8.93934742e-01 1.34999843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.46, Y:315.62, Z:135.00 [[ 6.29258224e-01 -7.08620038e-01 -3.19204839e-01 4.37460725e+02] [ 6.36816077e-01 7.05549010e-01 -3.10911368e-01 3.15617435e+02] [ 4.45532684e-01 -7.63123810e-03 8.95233150e-01 1.35004551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.47, Y:315.64, Z:135.02 [[ 6.28635388e-01 -7.09349017e-01 -3.18812674e-01 4.37472363e+02] [ 6.33981669e-01 7.04854305e-01 -3.18194364e-01 3.15636840e+02] [ 4.50427345e-01 -2.09315404e-03 8.92810633e-01 1.35017078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.49, Y:315.65, Z:135.03 [[ 6.28868123e-01 -7.02577049e-01 -3.33032091e-01 4.37492635e+02] [ 6.37322905e-01 7.11146990e-01 -2.96798709e-01 3.15645920e+02] [ 4.45358730e-01 -2.56017332e-02 8.94986119e-01 1.35031759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.50, Y:315.68, Z:135.04 [[ 6.28499307e-01 -7.05424135e-01 -3.27666615e-01 4.37503952e+02] [ 6.39106303e-01 7.08466393e-01 -2.99363497e-01 3.15677223e+02] [ 4.43319021e-01 -2.12640484e-02 8.96111648e-01 1.35042965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.072755096 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:437.52, Y:315.69, Z:135.05 [[ 6.30937969e-01 -7.01844141e-01 -3.30654021e-01 4.37519706e+02] [ 6.36730909e-01 7.11937169e-01 -2.96174302e-01 3.15692889e+02] [ 4.43273086e-01 -2.36700234e-02 8.96074049e-01 1.35053434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.52, Y:315.73, Z:135.06 [[ 6.29327973e-01 -7.12688112e-01 -3.09874098e-01 4.37522782e+02] [ 6.36863452e-01 7.01469733e-01 -3.19914298e-01 3.15725273e+02] [ 4.45366418e-01 3.98352900e-03 8.95339536e-01 1.35060589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.54, Y:315.74, Z:135.08 [[ 6.30482669e-01 -7.06630931e-01 -3.21192049e-01 4.37539394e+02] [ 6.33074221e-01 7.07561785e-01 -3.13963931e-01 3.15743371e+02] [ 4.49119845e-01 -5.38958883e-03 8.93455269e-01 1.35080534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.56, Y:315.75, Z:135.11 [[ 6.30692547e-01 -6.96478326e-01 -3.42264302e-01 4.37562574e+02] [ 6.34995591e-01 7.16699114e-01 -2.88310560e-01 3.15751535e+02] [ 4.46102578e-01 -3.55010017e-02 8.94277456e-01 1.35106345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.57, Y:315.78, Z:135.11 [[ 6.34005432e-01 -6.96846024e-01 -3.35324816e-01 4.37570072e+02] [ 6.33161799e-01 7.16712167e-01 -2.92283777e-01 3.15778710e+02] [ 4.44008163e-01 -2.70053612e-02 8.95615689e-01 1.35114766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:437.58, Y:315.81, Z:135.13 [[ 6.33078955e-01 -7.03124840e-01 -3.23769203e-01 4.37579031e+02] [ 6.33022930e-01 7.10980205e-01 -3.06250092e-01 3.15808239e+02] [ 4.45525541e-01 -1.10728415e-02 8.95200751e-01 1.35125398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.252755096 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:437.60, Y:315.82, Z:135.14 [[ 6.33758795e-01 -6.99177720e-01 -3.30908304e-01 4.37597478e+02] [ 6.34040185e-01 7.14593691e-01 -2.95548474e-01 3.15823827e+02] [ 4.43105895e-01 -2.25027175e-02 8.96186808e-01 1.35139087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2827550960001 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:437.61, Y:315.85, Z:135.15 [[ 6.33732710e-01 -7.01304883e-01 -3.26426581e-01 4.37607293e+02] [ 6.34891245e-01 7.12631364e-01 -2.98445383e-01 3.15849064e+02] [ 4.41923024e-01 -1.81107769e-02 8.96870136e-01 1.35150723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.312755096 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:437.61, Y:315.91, Z:135.13 [[ 6.35108398e-01 -7.24606796e-01 -2.67548713e-01 4.37606294e+02] [ 6.40015366e-01 6.87587596e-01 -3.42933856e-01 3.15908906e+02] [ 4.32455379e-01 4.65648845e-02 9.00452140e-01 1.35133294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.342755096 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:437.65, Y:315.87, Z:135.19 [[ 6.34059439e-01 -6.79421583e-01 -3.69262699e-01 4.37651734e+02] [ 6.35760669e-01 7.29856873e-01 -2.51231602e-01 3.15867040e+02] [ 4.40201091e-01 -7.54669314e-02 8.94722159e-01 1.35187947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.372755096 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:437.65, Y:315.92, Z:135.19 [[ 6.33630000e-01 -7.02157090e-01 -3.24789846e-01 4.37648320e+02] [ 6.35207575e-01 7.11832587e-01 -2.99675999e-01 3.15915832e+02] [ 4.41615624e-01 -1.64252671e-02 8.97053985e-01 1.35189656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4027550960001 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:437.66, Y:315.94, Z:135.20 [[ 6.32849189e-01 -7.07236720e-01 -3.15147785e-01 4.37655813e+02] [ 6.32093140e-01 7.06975085e-01 -3.17245161e-01 3.15943482e+02] [ 4.47169059e-01 1.56559018e-03 8.94448088e-01 1.35200222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.432755096 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:437.65, Y:316.01, Z:135.19 [[ 6.35495369e-01 -7.30144253e-01 -2.51067733e-01 4.37649810e+02] [ 6.38095335e-01 6.79736700e-01 -3.61652266e-01 3.16009097e+02] [ 4.34718276e-01 6.96231909e-02 8.97871167e-01 1.35187346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.462755096 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:437.70, Y:315.99, Z:135.21 [[ 6.36454180e-01 -7.06131644e-01 -3.10329143e-01 4.37696285e+02] [ 6.37877093e-01 7.08061800e-01 -3.02921280e-01 3.15992925e+02] [ 4.33634513e-01 -5.15633692e-03 9.01074093e-01 1.35211163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.492755096 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:437.74, Y:315.96, Z:135.26 [[ 6.35307937e-01 -6.63752967e-01 -3.94735131e-01 4.37736907e+02] [ 6.34835952e-01 7.39928480e-01 -2.22461590e-01 3.15957805e+02] [ 4.39735306e-01 -1.09260438e-01 8.91456683e-01 1.35257479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5227550960001 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:437.72, Y:316.02, Z:135.25 [[ 6.35264893e-01 -7.00821473e-01 -3.24480785e-01 4.37723180e+02] [ 6.33643226e-01 7.13175683e-01 -2.99794443e-01 3.16020256e+02] [ 4.41514188e-01 -1.51561663e-02 8.97126252e-01 1.35252566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 15997.03 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/24545 [00:00